TEACHING SYSTEM

To provide a teaching system that can appropriately measure an electrode position of a welding gun.SOLUTION: A teaching system 100 is for teaching a multi-joint arm 52 that moves a welding gun 53 provided with a lower electrode for spot welding with respect to a work-piece 61, and comprises: a marke...

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Bibliographische Detailangaben
Hauptverfasser:	HAYASHI TETSUSHI, ASAMI DAISUKE
Format:	Patent
Sprache:	eng ; jpn
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES CLADDING OR PLATING BY SOLDERING OR WELDING CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING FUNCTIONAL ELEMENTS OF SUCH SYSTEMS HAND TOOLS MACHINE TOOLS MANIPULATORS METAL-WORKING NOT OTHERWISE PROVIDED FOR MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS REGULATING SOLDERING OR UNSOLDERING TRANSPORTING WELDING WORKING BY LASER BEAM
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Beschreibung
Zusammenfassung:	To provide a teaching system that can appropriately measure an electrode position of a welding gun.SOLUTION: A teaching system 100 is for teaching a multi-joint arm 52 that moves a welding gun 53 provided with a lower electrode for spot welding with respect to a work-piece 61, and comprises: a marker 1a provided in the welding gun 53 instead of the lower electrode; an imaging part 2 that images the marker 1a; a robot control part 50b that corrects motion of the multi-joint arm 52 on the basis of an imaged result by the imaging part 2; and a deviation calculating part 3. The marker 1a includes an absorber for absorbing light and a felt sheet for reflecting light, where a reflector is provided in the felt sheet.SELECTED DRAWING: Figure 2 【課題】溶接ガンの電極位置を適切に計測することが可能な教示システムを提供する。【解決手段】教示システム１００は、スポット溶接用の下部電極が設けられた溶接ガン５３をワーク６１に対して移動させる多関節アーム５２を教示するものであり、下部電極に代えて溶接ガン５３に設けられるマーカー１ａと、マーカー１ａを撮像する撮像部２と、撮像部２の撮像結果に基づいて多関節アーム５２の動作を補正するロボット制御部５０ｂおよびずれ算出部３とを備える。マーカー１ａは、光を吸収する吸収体と光を反射するフェルトシートとを含み、反射体がフェルトシートに設けられている。【選択図】図２