JP2005135095A - Robot operation data generating device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot operation data generating device capable of flexibly and speedily generating teaching data on an interactive basis. <P>SOLUTION: The device includes a storage part 13 which stores, in the form of a database, instruction points indicating operation goal positions of a robot based upon shape data on a work, a program representing instructions for placing the robot in predetermined operation, and attribute information representing information relating to the operation, a display part 14 which relates and displays the teaching points, program, and attribute information stored in the storage part by predetermined items as choices together with item names, an input part 15 which selectively inputs choices displayed by the items at the display part, and a control part 16 which relates the teaching points, program, and attribute information stored in the storage part by the items based upon the choices selectively inputted from the input part to generate teaching data. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a robot operation data creation device that creates teaching data for a robot that performs operations such as welding and painting.

  As a conventional technique for automating the teaching work for the welding robot, a welding line data editing module for setting the auxiliary condition data necessary for calculating the operation data of the welding robot to the selected welding line, and the auxiliary condition A robot motion determination module that generates motion data of a welding robot based on data and the like is separated, and numerical control of the welding robot (abbreviation: NC) based on workpiece shape data and parameter information input interactively There is an apparatus for creating data (see, for example, Patent Document 1).

Japanese Patent No. 3378738

  In such a conventional technique, when the target work and the work content are changed, the items necessary for the work are identified, and the welding line data editing module is recreated accordingly, and the interface part between the modules is also changed. There is a need. In addition, such conventional techniques are limited to specific work such as arc welding, and when trying to automate another work with a robot, it is necessary to redesign and develop each module, which increases the cost. Unavoidable.

  In addition, if an attempt is made to create a robot teaching apparatus that can be used as versatilely as possible, there is a problem that the number of items to be input becomes very large and the operability is lowered. Furthermore, since the robot teaching device of the prior art needs to set the internal structure of the program for each application, the maintainability is low and the expandability for newly adding a function is also low.

  Accordingly, an object of the present invention is to provide a robot motion data creation device that can flexibly and quickly create teaching data in an interactive format.

The present invention is a robot motion data creation device for creating teaching data of a robot that performs a predetermined work on a work target,
A memory for storing a teaching point representing a robot operation target position based on shape data of a work object, a program representing a command for causing the robot to perform a predetermined motion, and attribute information representing information related to the motion as a database Means,
Display means for associating teaching points, programs, and attribute information stored in the storage means with predetermined items, and displaying them together with item names;
An input means for selecting and inputting options displayed on the display means for each item by an input operation of the operator;
Creation of robot motion data, comprising creation means for associating teaching points, programs and attribute information stored in the storage means with each item based on an option selected and input from the input means; Device.

  Further, the present invention is characterized in that the display means changes the display form of the item based on the work on the work target of the robot.

  Further, the present invention is characterized in that the input means inputs a teaching point, a program, and attribute information for each item by an operator's input operation.

  According to the present invention, the input means includes a pointing device, and selection input is performed by an operation of the pointing device by an operator.

  According to the present invention, the storage means stores the teaching data created by the creating means.

  According to the present invention, the storage means includes a teaching point that represents an operation target position of the robot based on the shape data of the work object, a program that represents a command for causing the robot to perform a predetermined operation, and information related to the operation Attribute information representing the data is stored in a database, and the display unit displays teaching points, programs, and attribute information stored in the storage unit in association with predetermined items and displayed as options together with item names. The input means selects and inputs options displayed on the display means for each item by the operator's input operation, and the creation means selectively inputs teaching points, programs, and attribute information stored in the storage means from the input means. Based on the selected options, teaching data is created in association with each item. In this way, teaching data can be easily created in an interactive format. As a result, the operator can create teaching data flexibly and quickly.

  Further, according to the present invention, the display means changes the display mode of the item based on the work on the work target of the robot, so that the operator can easily confirm the work item for the work target of the robot. Can do.

  Further, according to the present invention, the input means inputs teaching points, programs, and attribute information for each item by an operator's input operation, so that the degree of freedom in creating teaching data can be improved and the robot should be Teaching data can be created flexibly corresponding to the work.

  According to the present invention, the input means includes a pointing device and performs selection input by operating the pointing device by the operator. Therefore, the operability is improved and information is input by the operator in a short time. Can do.

  Further, according to the present invention, since the storage means stores the teaching data created by the creating means, when the teaching data is changed and then returned to the original teaching data, it is stored without inputting each information each time. The teaching data stored in the means can be called up.

  FIG. 1 is a block diagram schematically showing a configuration of a robot teaching system 1 including a robot motion data creation device 10 according to an embodiment of the present invention. FIG. 2 is a block diagram showing the configuration of the robot motion data creation device 10. The robot teaching system 1 teaches when a robot performs a work on a linear or curved work target portion to be subjected to arc welding, cutting, scoring, chamfering or the like of a work that is a work target. Used to simplify. The robot teaching system 1 includes a robot motion data creation device 10, 3D-CAD 11 and a robot simulator 12.

  The robot motion data creation device 10 creates teaching data for a robot that performs a predetermined work on a workpiece. The robot motion data creation device 10 includes a storage unit 13, a display unit 14, an input unit 15, and a control unit 16. The storage unit 13 that is a storage unit is realized by a storage device such as a hard disk, for example, and is a program that represents a teaching point that represents the target position of the robot based on the shape data of the work target, and a command that causes the robot to perform a predetermined operation. And attribute information representing information related to the operation is stored in a database.

  The display unit 14 that is a display means is realized by, for example, a liquid crystal display device and a display control device that controls the display device, and associates teaching points, programs, and attribute information stored in the storage unit 13 with predetermined items. , Displayed as an option together with the item name. The input unit 15 that is an input means is realized by an input device such as a keyboard and a mouse and a pointing device, for example, and by the operator's input operation, an option displayed on the display unit 14 is selected and input for each item, or for each item. Input teaching points, programs, and attribute information. The control unit 16 serving as a creation unit is realized by, for example, a central processing unit (abbreviation: CPU), and controls the robot motion data creation device 10 in an integrated manner, and teach points, programs, and programs stored in the storage unit 14 The teaching data is created by associating the attribute information with each item based on the option selected and input from the input means.

  The robot motion data creation apparatus 10 may be realized by causing software such as a personal computer and a workstation to have the functions described above. In this case, this software is used as add-in software for 3D-CAD11. The 3D-CAD 11 stores shape data representing the three-dimensional shape of the workpiece, and displays the workpiece three-dimensionally on the display device based on the three-dimensional shape data. The robot simulator 12 has an interference check function, a speed excess check function, and a movable range excess check function based on the teaching data created by the robot motion data creation device 10, and simulates the robot motion and displays the simulation on the display device. The result is displayed as an animation, for example. The robot motion data for which the simulation result is valid is given to the robot controller 17 that controls the robot, and the robot controller 17 controls the robot based on the robot motion data.

  FIG. 3 is a flowchart showing a procedure for creating teaching data of the robot motion data creation device 10. The procedure starts at step s0 and proceeds to step s1.

  In step s1, the control unit 16 reads workpiece shape data from the 3D-CAD 11, and proceeds to step s2.

  In step s2, the operator performs an input operation on the input unit 15, registers a route on which the robot is to perform work, inputs the route, and proceeds to step s3. In the registration of the route in step s2, line registration, which is a method for designating the edge line and the surface to which the line belongs, in the shape data of the workpiece, or surface registration, which is a method for designating two surfaces and designating the intersection line thereof. Do one. At this time, the workpiece is displayed three-dimensionally on the display unit 14, and line registration and surface registration are performed by placing the mouse pointer on the ridgeline and surface and double-clicking the left button of the mouse.

  In step s3, the control unit 16 automatically sets a preset default input value based on the workpiece shape data and the input route, and generates a teaching point based on the input value. Proceed to s4.

  In step s4, the display unit 14 displays the generated teaching point indicated by an arrow together with the workpiece image, and proceeds to step s5.

  In step s5, the control unit 16 determines whether or not the teaching point is valid. If it is determined to be valid, the control unit 16 proceeds to step s6, and if it is not valid, the control unit 16 proceeds to step s7, step s8, and step s9. Here, the teaching point is valid if the robot can operate at the teaching point, or sufficient work quality for the robot is guaranteed at the teaching point.

  When it is determined in step s5 that the teaching point is valid and the process proceeds to step s6, in step s6, the control unit 16 outputs the teaching data to the robot simulator 12, proceeds to step s10, and ends all procedures. .

  If it is determined in step s5 that the teaching point is not valid and the process proceeds to step s7, the operator performs an input operation on the input unit 15, changes the default input value, and returns to step s3.

  When it is determined in step s5 that the teaching point is not valid and the process proceeds to step s8, the control unit 16 divides or integrates the registered route by a predetermined method, re-registers the route, and returns to step s3. .

  If it is determined in step s5 that the teaching point is not valid and the process proceeds to step s9, the operator performs an input operation on the input unit 15, corrects the teaching point, and returns to step s4.

  FIG. 4 is a diagram for explaining the relationship among the workpiece, path, element, and teaching point in the present embodiment. FIG. 5 is a diagram illustrating an example of paths, elements, and teaching points. The workpiece is an object to be worked by the robot, and the 3D-CAD 11 stores workpiece shape data. A path is a linear part where a robot performs work on a work, and is a unit of work on the work. As shown in FIG. 4, the work includes at least one route, and the route is managed with a serial number starting from 1. The element is a shape element that serves as a reference for teaching the path, and is a line segment and a curve that configure the path (in the present embodiment, the curve has both ends). For example, in the case of a route in which a line segment and a curve are continuous, the line segment and an arc having the same diameter are elements. As shown in FIG. 4, the path includes at least one element, and the elements are managed with serial numbers starting from 1.

  The teaching point is one point on the tool tip locus for teaching the path to the robot, and is represented by six coordinate values representing the position and posture of the tool tip. Teaching points can be registered in units of workpieces, paths and elements. As shown in FIG. 4, for example, the teaching point of a workpiece may be registered in units of workpieces, or approach / department points may be registered as teaching points in units of paths. Each teaching point is managed by being given a name and an array number.

  FIG. 6 is a diagram for explaining a data set and factors. The data set is input information set by the operator selecting and inputting options on the route information input screen 20 displayed on the display unit 14 with respect to routes and elements in the work, and includes a plurality of factors. For example, for the input item “start processing” of the route as shown in FIG. 6, a data set of options “start end open”, “start end semi open”, and “start end close” can be selected.

  The factor is an element constituting the data set, and includes a plurality of attributes such as “attribute information factor”, “fixed teaching point factor”, “AS program factor”, “input item designation factor”, and “equally spaced teaching point generation factor”. There are types. Here, the “AS program” is a program written in a robot language. For example, as shown in FIG. 6, a data set “start end open” has an attribute information factor “end type = open” (n.endtype = 1) and “open end rod teaching point” (n.start_pos [0] = 10,0,0 n.start_pos [1] = 0,0,0 n.start_pos [2] = 0,0,2) and “open end processing program” (LWC n ARC ON; LWC n.frame + n.start_pos [1]; WISET; LWC n.frame + n.start_pos [2]).

  FIG. 7 is a diagram showing the main window 21 displayed on the display unit 14. The menu of the main window 21 includes “project”, “route registration”, “route edit”, “input information”, “NC information”, “tree”, and “help”. The “project” menu has a pull-down menu for performing a project-related operation that is an operation for one work. The pull-down menu includes “New”, “Open”, “Overwrite”, “Save As”, “System Settings”, and “Exit Application”.

  The “route registration” menu includes a pull-down menu for performing operations related to route registration. The pull-down menu includes “automatic registration”, “part”, “surface”, and “line”. When “automatic registration” is selected, the route is automatically registered by the control unit 16. When “surface” and “line” are selected, the above-described surface registration and line registration are performed. When “parts” is selected, two parts among the parts constituting the workpiece are designated, and locations where these parts come into contact are registered as a route.

  The “route editing” menu has a pull-down menu for performing operations related to route editing. The pull-down menu includes “move up”, “move down”, “split”, “integration”, “change start”, and “change direction”. “Move Up” and “Move Down” change the working order of the route. “Division” divides one route into two or more routes. “Integration” integrates two or more routes into one route. The “start end change” changes the start end at which work is started in a closed path such as a circumference.

  The “input information” menu has a pull-down menu for performing operations related to the input information. The pull-down menu includes “edit”, “expand”, “delete”, data set list ”,“ factor list ”, and“ teach point ”. “Edit” edits input information relating to a selected location. “Development” performs development of a hierarchy lower than the selected location. “Delete” deletes a layer lower than the selected location. “Data set list” displays a list of registered data sets. “Factor list” displays a list of registered factors. “Teaching point” displays a list of teaching points of the selected route.

  The “NC information” menu has a pull-down menu for performing processing related to NC information which is robot operation data including teaching data. The pull-down menu includes “filtering” and “NC information creation”. “Filtering” narrows down the route for creating NC information by condition. “NC information creation” creates NC information, which is robot operation data, and saves it as a file.

  The “Tree” menu has a pull-down menu for performing operations related to the data generator tree display. The pull-down menu includes “select all routes”, “all route input information”, “× all route input information”, “all route information”, “× all route information”, “all teaching point information” and “× all teaching”. Point information ”.

The “help” menu is a menu selected when the operator needs assistance.
A data generator tree 22 is displayed on the main screen. In the highest hierarchy of the data generator tree 22, there are “system setting”, “data set list”, “factor list”, and “work”. “System setting” is a setting related to the robot motion data creation device 10. The “data set list” displays a list of data sets registered in the robot motion data creation device 10. The “factor list” displays a list of factors registered in the robot motion data creation device 10. “Work” is the root of an information tree related to a work, and the next lower layer can be expanded and folded. Each of these “system settings”, “data set list”, “factor list”, and “work” exists in one generator tree.

  There is “reference point information”, “input information”, “teaching information”, and “route” in the hierarchy immediately below “work”. “Reference point information” is a setting relating to a reference point, and there is only one “work”. “Input information” is a route of information related to a workpiece, and only one item exists in one “work”, and the next lower layer can be expanded and folded. In the hierarchy immediately below “input information”, there are “input items” and “values”, which are settings of input items and their values registered in the database of the storage unit 13.

  “Teaching information” is a route of teaching points taught in units of workpieces, and there is only one in one “work”, and the next lower layer can be expanded and folded. There is a “teaching point name” in the hierarchy immediately below “teaching information”. “Teaching point name” is a route of information about the teaching point, and the hierarchy one level below can be expanded and displayed.

  The “route” is a route of information related to the route, and at least one “work” exists, and the lower hierarchy can be expanded and folded. In the hierarchy immediately below “route”, there are “start point”, “end point”, “input information”, “teaching information”, and “element”. The “start point” is the start point of the route, and there is only one “route”. The “end point” is the end point of the route, and only one “end point” exists in one “route”. “Input information” is a route of input information related to “route”, and there is only one route in one “route”, and the next lower layer can be expanded and folded. In the hierarchy immediately below “input information”, there are “input items and values”, which are settings of input items and their values registered in the database of the storage unit 13. “Teaching information” is a route of teaching point information taught in units of routes, and only one exists in one “route”, and the next lower layer can be expanded and folded.

  The “element” is a route of information related to the element, and at least one element exists in one “route”, and the lower hierarchy can be expanded and folded. In the hierarchy immediately below “element”, there are “start point”, “end point”, “first reference plane”, “second reference plane”, “input information”, and “teaching information”. The “start point” is the start point of an element, and there is only one “element”. The “end point” is an end point of the element, and only one “end point” exists in one “element”. The “first reference plane” is a plane serving as a first reference at the time of route registration, and only one “element” exists in one “element”. The “second reference plane” is a second reference plane at the time of route registration, and there is only one “element” in one “element”.

  “Input information” is a route of input information related to an element, and only one “element” exists in one “element”, and the next lower hierarchy can be expanded and folded. There is an “input item and value” one level below the “input information”, which is an input item registered in the database of the storage unit 13 and its value setting. “Teaching information” is a route of teaching point information taught in path units, and there is only one in one path, and one level below can be expanded and folded. There is a “teaching point name” in the hierarchy immediately below “teaching information”. “Teaching point name” is a route of information relating to the teaching point. At least one is present in one “teaching information”, and the next lower layer can be expanded and folded. “Input information” exists in the hierarchy immediately below “teaching point name”. “Input information” is a route of input information related to teaching points, and only one “teaching point name” exists, and one level below can be expanded and folded. There is an “input item and value” one level below the “input information”. “Input item and value” is a setting of the input item and its value registered in the database of the storage unit 13.

  While the main window 21 shown in FIG. 7 is displayed on the display unit 14, the operator operates the mouse of the input unit 15, places the mouse pointer on “system setting” of the data generator tree 22, and moves the left side of the mouse. When the button is double-clicked, a system setting window 23 is displayed on the display unit 14.

  FIG. 8 is a diagram showing the system setting window 23. On the system setting screen 23, initial settings relating to the work directory and screen display are performed.

  FIG. 9 is a diagram showing the data set list window 24. While the main window 21 shown in FIG. 7 is displayed on the display unit 14, the operator operates the mouse of the input unit 15 to place the mouse pointer on the “data set list” of the data generator tree 22 and move the mouse. When the left button is double-clicked, a data set list window 24 shown in FIG. 9 is displayed on the display unit 14. The data set list screen 24 is a screen for displaying a list of data sets corresponding to input items defined at that level, and for adding, editing, and deleting data sets and factors. In the data set list window 24, a level 24a, a data set display section 24b, a “new” button 24c, an “edit” button 24d, a “delete” button 24e, and a “cancel” button 24f are displayed.

  When the mouse pointer is placed on the level 24a and the right button of the mouse is clicked, a pull-down menu having “work”, “path”, “element”, and “teach point” is displayed and selected from these. In response to this, an input item and a list of data sets applicable to each input item are displayed on the data set display unit 24b. In the data set display unit 24b, there is a work (route / element / teaching point) input item at the top level of the input item tree, and the root of the input item tree. There are “first input item” (“target workpiece” in FIG. 9) and “second input item” (“weight” in FIG. 9).

  The “first input item” is the root of the data set, and the next lower hierarchy can be expanded and folded. The “first input item” is an item in a format for selecting a data set. There is at least one “data set” one level below the “first input item”. The “data set” is the root of “factor”, and the next lower hierarchy can be expanded and folded. There is a “factor” in the hierarchy immediately below the “data set”. The “second input item” is an item in a format by direct input from the keyboard.

  In the state selected by placing the mouse pointer on the “first input item” or “data set” and clicking the left mouse button, place the mouse pointer on the “delete” button 24e and click the left mouse button ( Hereinafter, this operation is simply expressed as “... button is pressed”), and a confirmation dialog for deleting the selected first input item and data set is displayed on the display unit 14. The entered first input item and data set are deleted. When the “Cancel” button 24f is pressed, the data set list window 24 is closed.

  FIG. 10 is a diagram showing the data set editing window 25. When the data set list window 24 shown in FIG. 9 is displayed on the display unit 14, the state is selected by placing the mouse pointer on the “first input item” or “data set” and clicking the left mouse button. When the “new” button 24 c or the “edit” button 24 d is pressed, the data set editing window 25 is displayed on the display unit 14. In the data set editing window 25, a data set name 25a, a factor list 25b, a “remove selected factor” button 25c, an “OK” button 25d, and a “cancel” button 25e are displayed.

  FIG. 10 shows the data set editing window 25 when “data set: rotor R100” in FIG. 9 is selected, and therefore “rotor R100” is displayed in the data set name 25a. Factors belonging to the data set are displayed in the factor list 25b as icons. When the “remove selected factor” button 25c is pressed while the mouse pointer is placed on the icon displayed in the factor list 25b and the left button of the mouse is selected, the factor corresponding to the selected icon is deleted. .

  FIG. 11 is a diagram showing the attribute information factor editing window 26. When the mouse pointer is placed on the icon displayed in the factor list 25b and the left button of the mouse is double-clicked, or when the right button of the mouse is clicked and “Edit” is selected from the pop-up menu displayed on the display unit 14, A factor editing window corresponding to the factor is displayed. The attribute information factor is a factor for outputting attribute information as parameters in real value format or character string format to robot motion data including teaching data.

  In the attribute information factor editing window 26, a factor name 26a, an item name 26b of information to be output, an output value 26c, an “OK” button 26d and a “cancel” button 26e are displayed. The factor name 26 a can be freely changed by an input operation of the input unit 15 by the operator, and the change result is registered in the database of the storage unit 14. For the item name 26b, candidates registered in the database are displayed in a combo box, and the operator performs an input operation on the input unit 15 and selects the item name displayed from the combo box. When the control unit 16 is selected as described above, the control unit 16 reads the variable name and variable type based on the information registered in the database of the storage unit 13, and the display unit 14 displays the read variable name and variable type. indicate. The value 26 c is input by an input operation of the input unit 15 by the operator, and the input value is registered in the database of the storage unit 13. When the “OK” button 26d is pressed, the input information is registered in the database, and the attribute information factor editing window 26 is closed. When the “Cancel” button 26e is pressed, the attribute information factor editing window 26 is closed.

  The attribute information factor can be output in any unit of work unit, path unit, element unit, and teaching point unit. When NC information is output, the information is output according to a format defined by a database such as an array number. The attribute information factor defines one variable with one factor. When it is desired to output a set of several parameters as a whole, such as welding conditions, a comma-separated parameter group is output as a character string variable, and conversion processing to a real number is performed by an AS program.

  FIG. 12 is a view showing the fixed teaching point factor editing window 27. The fixed teaching point factor is a set of teaching point group position and orientation information that can be fixedly expressed by the value of each axis that represents the position and orientation of the tool tip of the robot or the relative value from the reference coordinate system, and is registered in the database. This is a factor for outputting each axis value or XYZ converted value to the teaching data. Thereby, fixed processes such as touch sensing and edge processing can be patterned.

  As the fixed teaching point factor, a teaching point group can be defined in units of a work unit, a path unit, and an element unit. In the case of a work unit, each axis value indicating the position and orientation of the tool tip of the robot, the teaching point in the coordinate system in 3D-CAD11, the work coordinate system based on the work, and the robot base coordinate system based on the robot base Groups can be defined. In the case of a path unit, a teaching point group can be defined in a path start end coordinate system, a path end coordinate system, and a coordinate system that can be used in a work unit. In the case of element unit, define the teaching point group in each coordinate system defined in element start coordinate system, element end coordinate system, element center coordinate system (only for arc elements), element midpoint coordinate system, and path unit. Can do. A teaching point name is individually set for each teaching point, and in the case of each axis value, a name starting from # is given. When NC information is output, the information set in the factor is output as it is in accordance with a format defined by a database such as an array number. Each reference coordinate system is automatically calculated by the control unit 16 and registered in the NC information in a fixed format.

  The fixed teaching point factor editing window 27 includes a factor name 27a, a reference coordinate system 27b, a definition unit 27c, a teaching point name 27d, a teaching point coordinate value / each axis value 27e, an “edit” button 27f, and “OK”. "Button 27g and" cancel "button 27h are displayed. The factor name 27 a can be freely changed by an input operation of the input unit 15 by the operator, and the change result is registered in the database of the storage unit 14. The reference coordinate system 27b displays a reference coordinate system. The definition unit 27c displays a unit serving as a reference for the fixed teaching point. The teaching point name 27d displays the name of the teaching point in the factor. In the coordinate value / each axis value 27e of the teaching point, the value of the teaching point in the XYZ coordinate system or the posture of the robot in the OAT coordinate system at the teaching point is displayed.

  FIG. 13 is a diagram showing a fixed teaching point factor point editing window 28. The fixed teaching point factor point editing window 28 displays a teaching point name 28a, a position / posture 28b, an “OK” button 28c, and a “cancel” button 28d. The fixed teaching point factor can be edited by the following two methods. The teaching point name 28a can be freely changed by the operator, and the change result can be registered in the database. The position / posture 28b allows the operator to freely change the position of the teaching point in the XYZ coordinate system and the posture of the robot at the teaching point in the OAT coordinate system, and the change result can be registered in the database. . When the “OK” button 28 c is pressed, the input information is registered in the database and the fixed teaching point factor point editing window 28 is closed. When the “Cancel” button 28d is pressed, the fixed teaching point factor point editing window 28 is closed.

  FIG. 14 is a diagram showing the AS program factor editing window 29. The AS program factor is a factor for storing a robot program described in a robot language in a text format and outputting it as robot operation data. The AS program factor can be defined in any of a work unit, a path unit, an element unit, and a teaching point unit. In the AS program factor, the program name and the program content are managed separately, and when the NC information is output, the file content specified by the selected program name is output. By creating multiple AS program factors with the same program name and different processing contents, it is possible to change the processing contents by selecting the data set name on the input screen by including them in separate data sets. Become.

  The AS program factor editing window 29 includes a factor name 29a, a program name 29b, a file path 29c describing the program contents, a “reference” button 29d, an “edit” button 29e, and an “OK” button 29f. , “Cancel” button 29g is displayed. The factor name 29a can be freely changed by the operator, and the change result can be registered in the database. The program name 29b displays candidates registered in [PROGRAMLIST] of the database in a combo box, and the operator selects from these. A file in which the contents of the program are described is directly input to the path 29c or selected by a file selection dialog displayed by pressing the “reference” button 29d. When the “edit” button 29e is pressed, the file is opened with an editor. When the “OK” button 29f is pressed, the input information is registered in the database and the AS program factor editing window 29 is closed. When the “Cancel” button 29g is pressed, the AS program factor editing window 29 is closed.

  FIG. 15 is a diagram showing the input item designation factor editing window 30. The input item specification factor is a factor for setting a default value (data set name) of the input item. The input item specification factor can be defined in units of work units, path units, and element units. The input item specification factor is for setting a default value of an input item of a unit belonging to a unit in which the factor is defined. That is, the input item designating factor defined for each work sets the default value of the input item of the route or teaching point belonging to the work. The input item specification factor defined for each path sets the default value of the input item of the element or teaching point belonging to the path. The input item specification factor defined for each element sets the default value of the input item of the teaching point belonging to the element. As a result, it is possible to automatically set a default value according to the target workpiece, and the input labor is reduced.

  The input item designation factor editing window 30 includes a factor name 30a, a first IF condition designation unit 30b, a second IF condition designation unit 30c, a THEN clause designation unit 30d, a priority designation unit 30e, An “OK” button 30f and a “Cancel” button 30g are displayed. The factor name 30a can be freely changed by the operator, and the change result can be registered in the database. In the IF condition designating units 30b and 30c, a condition related to the unit to which the rule belongs is described as the IF clause of the rule. For example, in the input item designation factor for the work unit, a description such as “when the route length is 300 mm or less for all belonging routes” can be described. In the input item designation factor for the route unit, “all belonging arc elements” "When the radius is 100 mm or less" can be described. Two IF conditions can be described, and these two conditions are processed by AND.

  In the THEN clause specifying unit 30d, a default value applied to the input item of the unit to which it belongs is set. For example, in the input item specification factor for the work unit, a description such as “Apply“ Horizontal fillet ”data set to the input item“ Welding method ”for the path unit” can be used. It is possible to describe “apply“ low speed ”data set to“ cutting speed ”” as a unit input item ”. Items that can be selected in the THEN clause designating unit 30d are input items of the unit to which they belong. The priority designation unit 30e describes the application priority order of rules to be defined. When a plurality of input item designating factors are defined at the same level and there is an overlap in the THEN clause designating unit 30d, the rules are applied in the priority order defined here. Assume that the highest priority is 1, and the rule application processing is performed in order from the lowest priority, and the setting by the rule with the higher priority is overwritten.

  FIG. 16 is a diagram showing an equally spaced teaching point generation factor editing window 31. FIG. 17 is a diagram for explaining the equally-spaced teaching point generation factor. The equally spaced teaching point generation factor is to generate teaching points on the path at equal intervals as shown in FIG. 17 (1), or to generate teaching points on the element at equal intervals as shown in FIG. 17 (2). It is a factor to do. The equidistant teaching point generation factor can be defined in path units or element units. When defining the equidistant teaching point generation factor in path units, the division by element is ignored, and FIG. 17 (1). As shown in Fig. 5, the teaching points are created by equally dividing the entire route. This factor is used in combination with an input item designation factor when teaching points are generated at equal intervals on the path and teaching points are always generated for each element end.

  The equidistant teaching point generation factor editing window 31 includes a factor name 31a, a teaching point name 31b, a reference system selection unit 31c, an array selection unit 31d, a generation rule specification unit 31e, a default direction specification unit 31f, a shift amount specification unit 31g, A start / end process selection unit 31h, an “OK” button 31i, and a “cancel” button 31j are displayed. The factor name 31a can be freely changed by the operator, and the change result can be registered in the database. In the teaching point name 31b, a teaching point name to be output as an XYZ conversion value is set in the robot operation data. The reference system selection unit 31c selects a reference coordinate system. The items that can be selected by the reference system selection unit 31c are “CAD coordinate system”, “work coordinate system”, “robot base coordinate system”, “element start system”, “element end system”, “teach point first reference surface coordinates” System "and" teach point second reference plane coordinate system ".

  The array selection unit 31d selects an array format at the time of output. Items that can be selected by the array selection unit 31d are [PTID], [EID, TID], [PID, PTID], [PID, EID, PTID], and [PID, EID, TID]. [PTID] is used when a teaching point number is uniquely determined for each route, is output as a subscript, and an NC information file is output for each route. [EID, TID] outputs an element number and a teaching point number unique within the element as subscripts. The teaching point number is set as an integer starting from 1 for each element, and an NC information file is output for each path. Used in cases. [PID, PTID] outputs a route number and a teaching point number uniquely determined for each route as subscripts. [PID, EID, PTID] outputs a route number, an element number, and a teaching point number uniquely determined for each route as subscripts. [PID, EID, TID] outputs the route number, element number, and teaching point number as subscripts, and the teaching point number is set as an integer starting from 1 for each element. The end point is left and the teaching point generation interval is defined in millimeters.

  The default direction designating unit 31f and the shift amount designating unit 31g describe the default value in the tool direction of the teaching point to be generated and the shift amount of the target position. In the start / end processing 31h, a method for determining the posture of the connection point of the element is selected. When the “OK” button 31 i is pressed, the input information is registered in the database, and the equally spaced teaching point generation factor editing window 31 is closed. When the “Cancel” button 31j is pressed, the equally spaced teaching point generation factor editing window 31 is closed.

  FIG. 18 is a diagram showing the factor list window 32. The factor list window 32 includes a combo box 32a for selecting units (levels), a combo box 32b for selecting the type of factor to be displayed, a list display section 32c for registered factors, and a “new” button 32d. Then, an “edit” button 32e, a “delete” button 32f, and a “close” button 32g are displayed. The factor is displayed on the list display part 32c as an icon. Place the mouse pointer on the icon displayed in the list display part 32c and double-click the left mouse button, or place the mouse pointer on the icon and click the right mouse button to display "Edit" in the pop-up menu. By selecting, the factor editing screens 26 to 31 corresponding to the respective factor types shown in FIGS. 11 to 16 are opened.

  When the “new” button 32d is pressed with the mouse pointer placed on one of the factor icons and the left mouse button double-clicked to select the factor, the new factor shown in FIGS. Edit screens 26-31 are displayed. When the “delete” button 32f is pressed while the icon is selected, a confirmation dialog is displayed asking whether or not the icon can be deleted. When the “OK” button displayed in the dialog is pressed, the icon is selected. The factor corresponding to the icon is deleted from the database and deleted from the list display part 32c. When the “Close” button 32g is pressed, the factor list window 32 is closed.

  Further, the factor displayed on the data set is added by dragging and dropping the icon displayed on the list display section 32c onto the data set editing screen. Since a factor is managed by a unique name, if a factor with the same name already exists at the drop destination, a warning dialog box is displayed as an operation impossible. Each factor is defined in a defined unit and can be used only in that unit. For example, an attribute information factor defined in work units (eg, material n.material = "ALUMI") cannot be added to a data set defined in path units. When such processing is performed, a warning dialog box is displayed as being inoperable.

  Referring to FIG. 7 again, with the main window 21 displayed on the display unit 14, the operator operates the mouse of the input unit 15 and places the mouse pointer on “work” in the data generator tree 22. When the left button of the mouse is double-clicked, a work unit information input window 33 shown in FIG. 19 is displayed on the display unit 14. When the mouse pointer is placed on “work” and the right button of the mouse is clicked, a pop-up menu including “input information”, “deployment” and “deletion” is displayed on the display unit 14.

  FIG. 19 shows an information input window 33 for each work. The information input window 33 for each work includes a combo box 33a for selecting a target work, a weight input display section 33b for inputting and displaying the weight of the target work, an “OK” button 33c, and a “cancel” button 33d. Is displayed. When the target workpiece is selected in the combo box 33a, the weight of the target workpiece is input to the weight input display section 33b, and the “OK” button 33c is pressed, the input information is registered in the database and the information input window 33 closes. When the “Cancel” button 33d is pressed, the information input window 33 is closed.

  FIG. 20 is a diagram showing the route information input window 34. While the main window 21 is displayed on the display unit 14, the operator operates the mouse of the input unit 15, places the mouse pointer on “input information” of “path 1” of the data generator tree 22, and moves the mouse. When the left button is double-clicked, a route information input window 34 for each route is displayed on the display unit 14. If you place the mouse pointer on "Route 1" and click the right mouse button, "Input Information", "Expand", "Delete", "Move Up", "Move Down", "Split", "Merge" "," Start end change "and" Direction change "pop-up menus are displayed on the display unit 14.

  While the main window 21 shown in FIG. 7 is displayed on the display unit 14, the operator operates the mouse of the input unit 15, places the mouse pointer on “element 1” of the data generator tree 22, and moves the left side of the mouse. When the button is double-clicked, an element unit information input window is displayed on the display unit 14. Further, when a mouse pointer is placed on “Element 1” and the right button of the mouse is clicked, a pop-up menu including “Input Information” and “Development” is displayed on the display unit 14.

  FIG. 21 is a diagram showing an information input window 35 for each element. In the element unit information input window 35, a combo box 35a for selecting a welding condition, a combo box 35b for selecting a teaching point generation rule, a combo box 35c for selecting a start end process, an “OK” button 35d, and “ Cancel button 35e is displayed. A welding condition is selected in a combo box 35a for selecting a welding condition, a teaching point generation rule is selected in a combo box 35b for selecting a teaching point generation rule, and a starting edge process is selected in a combo box 35c for selecting a starting edge process. When the “OK” button 35d is pressed, the input information is registered in the database and the information input window 35 is closed. When the “Cancel” button 35e is pressed, the information input window 35 is closed.

  While the main window 21 shown in FIG. 7 is displayed on the display unit 14, the operator operates the mouse of the input unit 15 to display “n.tpo [1,1,1]” in the data generator tree 22. When the left mouse button is double-clicked with the mouse pointer placed on the teaching point, an information input window in units of teaching points is displayed on the display unit 14. If you place the mouse pointer on a teaching point such as "n.tpo [1,1,1]" and click the right button of the mouse, "Edit", "Input information", "Register fixed teaching point factor", "Expand" ”And“ Delete ”are displayed on the display unit 14. When “Register fixed teaching point factor” is selected from the pop-up menu, a fixed teaching point factor editing window 27 shown in FIG. 12 is displayed on the display unit 14.

  FIG. 22 is a diagram showing an information input window 36 in units of teaching points. In the information input window 36 for each teaching point, a combo box 36a for selecting a welding condition, an “OK” button 36b, and a “cancel” button 36c are displayed. When the welding condition is selected in the combo box 36a for selecting the welding condition and the “OK” button 36b is pressed, the input information is registered in the database and the information input window 36 is closed. When the “Cancel” button 36c is pressed, the information input window 36 is closed.

  Further, when “Development” in each of the above-described pop-up menus is selected, information (including teaching points) in a hierarchy lower than that unit is recreated based on the data set set for that unit. For example, if a route is “expanded” while a route is selected, the information about the route and the information belonging to it, such as element units and teaching points, are used using the data set and factor information set for the route. Unit information is recreated. If the information on the path or the elements belonging to the path and the teaching point has been changed manually, an overwrite confirmation dialog box is displayed prior to the expansion process.

  FIG. 23 shows an INPUT table and a DATASET table. CTRLID in the INPUT table represents a position for displaying the input item of each window described above. When LEVELID in the INPUT table is 1, it represents a work unit, when it is 2, it represents a path unit, when it is 3, it represents an element unit, and when it is 4, it represents a teaching point unit. CTRLNAME in the INPUT table represents an item name displayed in the window. The ITEMID in the INPUT table represents the input method and item. When it is 0, the DATASET table is referred to as the input screen in the selection format, and an item having a matching CTRLID is set as an option. When the ITEMID is other than 0, Enter a value directly.

  FIG. 24 is a diagram showing a teaching point list display window 37. The teaching point list display window 37 displays a list of teaching point information belonging to the designated work unit or path unit, and can perform processing such as deletion and duplication according to the input from the input unit 15. . When an element is selected, a teaching point list display window 37 relating to a route to which the element belongs is displayed. In the teaching point list display window 37, a path number 37a, a reference coordinate system 37b, a teaching point list 37c, a “delete” button 37d, a “duplicate” button 37e, an “edit” button 37f and a “cancel” button 37g are displayed. .

  The number of the selected route is displayed in the route number 37a, and this number can be changed by a spin box or direct input. When the number is changed, the display content of the teaching point list 37c changes accordingly. When a workpiece is selected, “work” is displayed instead of “route”, and the state cannot be changed. In the reference coordinate system 37b, it is specified which reference coordinate system is used to display information defined among the teaching points belonging to this unit. The items that can be selected here are “all”, “teaching point first reference surface”, “teaching point second reference surface”, “each axis value”, “CAD”, “workpiece”, “robot base”, “robot base”, “ The path start point, the path end point, the element start point, the element end point, the element center, and the element midpoint.

  In the teaching point list 37c, all teaching points belonging to this route are displayed in a list format. The display contents vary depending on the selected reference coordinate system 37b.

  When “All” is selected in the reference coordinate system 37b, the name of the teaching point is displayed in “Teaching point name”. In “Element”, an element number to which the teaching point belongs is displayed. When the teaching point is defined in a work unit or a path unit, the element number is blank.

  When “teach point first reference surface” or “teach point second reference surface” is selected in the reference coordinate system 37b, the name of the teach point is displayed in “teach point name”. In “Element”, the number of the element to which the teaching point belongs is displayed. When the teaching point is defined in a work unit or a path unit, it is blank. In “From Start”, the distance from the start is displayed. In “From End”, the distance from the end is displayed. In “OAT”, the posture of the tool at the teaching point is displayed as a relative value from the reference coordinate system.

  When any one other than “All”, “Teaching point first reference surface”, and “Teaching point second reference surface” is selected in the reference coordinate system 37b, “Teaching point name” includes the teaching point. The name is displayed. In “Element”, the number of the element to which the teaching point belongs is displayed. When the teaching point is defined in a work unit or a path unit, it is blank. In “XYZ” and “OAT”, the coordinate and orientation value of the teaching point are displayed.

  In order to change these pieces of information, when the “edit” button 37f is pressed, a teaching point data input window 38 shown in FIG. When the “delete” button 37d is pressed, the selected teaching point is deleted. The “Duplicate” button 37e duplicates the information of the selected teaching point. More specifically, a duplicate of the selected teaching point is created in accordance with a predetermined rule that separately defines the teaching point name, and is added to the teaching point list 37c. At this time, the generation source data set and the factor of the newly generated point are “none”. When the “edit” button 37f is pressed, a teaching point data input window 38 shown in FIG. 25 described later is displayed on the display unit 14 for the selected teaching point. If a plurality of teaching points are selected at this time, editing is possible only when the posture (OAT) and the shift amount (XYZ) are all the same.

  FIG. 25 is a diagram showing the teaching point data input window 38. In the teaching point data input window 38, by inputting information from the input unit 15, the position, posture, and other information can be corrected with respect to the teaching points automatically generated from the data set. The teaching point data input window 38 includes a teaching point name 38a, a generation information display unit 38b, a position designation unit 38c, a posture designation unit 38d, a shift amount designation unit 38e, an “information input” button 38f, and an “acquire from CAD” button 38g. "OK" button 38h and "Cancel" button 38i are displayed.

  In the teaching point name 38a, the teaching point name and the array subscript can be freely changed. In the generation information display unit 38b, information (a reference coordinate system, a generation source data set, and a generation source factor) on which the teaching point is generated is displayed. When the “factor edit” button 38j displayed on the generation information display unit 38b is pressed, a factor editing window (see FIGS. 11 to 16) corresponding to the factor is displayed on the display unit 14, and the factor can be edited. Become. The position designation unit 38c can input a position from the path start end or path end only when the reference coordinate system is "teach point first reference plane" or "teach point second reference plane". When the reference coordinate system is other than “teach point first reference surface” and “teach point second reference surface”, the position from the path start end or the path end is both set to zero and editing is impossible. The posture designation unit 38d can designate the posture of the robot tool using an OAT coordinate system, which is one of the posture coordinate systems.

  The shift amount designation unit 38e designates a reference coordinate system for shifting the teaching point and a shift amount. The shift reference coordinate system can be specified only when the reference coordinate system of the teaching point is “teaching point first reference plane” or “teaching point second reference plane”. In this case, the teaching point first reference plane, The teaching point is selected from the second reference plane (only when a route is registered as an intersection line of two planes) and the tool coordinate system. When the reference coordinate system of the teaching point is other than “teaching point first reference surface” and “teaching point second reference surface”, the shift reference coordinate system is the same coordinate system as the reference coordinate system and cannot be changed. For example, when the teaching point is defined on the basis of the element start end coordinate system, the operator cannot change the shift reference coordinate system as the element start end coordinate system.

  When the “information input” button 38 f is pressed, an information input window for each teaching point is displayed on the display unit 14. When the “acquire from CAD” button 38g is pressed, the position of the point currently specified on the screen of the 3D-CAD 11 is fetched based on the reference coordinate system of the generation information. When the teaching point data input window 38 is displayed in a state where a plurality of teaching points are selected, only the posture designation unit 38d and the shift amount designation unit 38e are made active.

  As described above, according to the robot motion data creation device 10 of the present embodiment, the storage unit 13 has a teaching point that represents a robot motion target position based on workpiece shape data, and causes the robot to perform a predetermined motion. A program representing an instruction and attribute information representing information related to the operation are stored in a database, and the display unit 14 associates teaching points, programs and attribute information registered in the database with predetermined items. Are displayed as options along with the item name. The input unit 15 selects and inputs options displayed on the display unit 14 for each item by the operator's input operation, and the control unit 16 inputs teaching points, programs, and attribute information registered in the database. The teaching data is created in association with each item based on the option selected and input from. In this way, teaching data can be easily created in an interactive format. As a result, the operator can create teaching data flexibly and quickly.

  Further, according to the robot motion data creation device 10 of the present embodiment, the display unit 14 changes the display mode of items based on the work on the work target of the robot, and the input unit 15 performs the input operation of the operator. Thus, the teaching point, program, and attribute information are input for each item, and the storage unit 13 stores the input teaching point, program, and attribute information in a database. As a result, the degree of freedom in creating the teaching data can be improved, and the teaching data can be flexibly created in accordance with the work to be performed by the robot.

  Further, according to the robot motion data creation device 10 of the present embodiment, the teaching data created by the control unit 16 is registered in the database of the storage unit 13, so that the teaching data is changed to the original teaching data after being changed. When returning, the teaching data registered in the database can be called without inputting each information each time.

1 is a block diagram schematically showing a configuration of a robot teaching system 1 including a robot motion data creation device 10 according to an embodiment of the present invention. 1 is a block diagram showing a configuration of a robot motion data creation device 10. FIG. 4 is a flowchart showing a procedure for creating teaching data of the robot motion data creation device 10. It is a figure for demonstrating the relationship of the workpiece | work, path | route, element, and teaching point in this Embodiment. It is a figure which shows an example of a path | route, an element, and a teaching point. It is a figure for demonstrating a data set and a factor. It is a figure which shows the main window 21 displayed on the display part 14. FIG. It is a figure which shows the system setting window. It is a figure which shows the data set list window 24. FIG. It is a figure which shows the data set edit window. It is a figure which shows the attribute information factor edit window. FIG. 10 is a diagram showing a fixed teaching point factor editing window 27. It is a figure which shows the fixed teaching point factor point edit window. It is a figure which shows AS program factor edit window 29. FIG. It is a figure which shows the input item designation | designated factor edit window. It is a figure which shows the equidistant teaching point generation factor edit window. It is a figure for demonstrating an equal interval teaching point production | generation factor. FIG. 10 is a diagram showing a factor list window 32. It is a figure which shows the information input window 33 of a work unit. It is a figure which shows the route information input window.

It is a figure which shows the information input window 35 of an element unit. It is a figure which shows the information input window 36 of a teaching point unit. It is a figure which shows an INPUT table and a DATASET table. It is a figure which shows the teaching point list display window. It is a figure which shows the teaching point data input window.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Robot motion data preparation apparatus 13 Memory | storage part 14 Display part 15 Input part 16 Control part

Claims (5)

A robot motion data creation device for creating teaching data of a robot that performs a predetermined work on a work object,
A memory for storing a teaching point representing a robot operation target position based on shape data of a work object, a program representing a command for causing the robot to perform a predetermined motion, and attribute information representing information related to the motion as a database Means,
Display means for associating teaching points, programs, and attribute information stored in the storage means with predetermined items, and displaying them together with item names;
An input means for selecting and inputting options displayed on the display means for each item by an input operation of the operator;
Creation of robot motion data, comprising creation means for associating teaching points, programs and attribute information stored in the storage means with each item based on an option selected and input from the input means; apparatus.   2. The robot motion data creation device according to claim 1, wherein the display means changes a display form of the item based on a work on the work target of the robot.   3. The robot motion data creation apparatus according to claim 1, wherein the input means inputs a teaching point, a program, and attribute information for each item by an input operation of an operator.   The robot motion data creation apparatus according to claim 1, wherein the input unit includes a pointing device and performs selection input by operating the pointing device by an operator.   5. The robot motion data creation device according to claim 1, wherein the storage means stores the teaching data created by the creation means.

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