JP7190152B2 - Teaching data creation method for articulated robots - Google Patents

Description

For example, in an automobile production line, an articulated robot that works on a part placed on a jig can perform a motion trajectory of a tool attached to the tip of an arm of the robot. Regarding how to create data.

2. Description of the Related Art Conventionally, many articulated robots work in place of humans in production lines of automobiles and the like. These articulated robots are designed to reproduce the motion of the tool attached to the tip of the arm based on teaching data prepared in advance. In recent years, this teaching data is first created while examining the posture of the robot on the data displayed in 3D using an information processing system such as a workstation or a personal computer in offline work, and then the created teaching data is transferred to the production line. It is designed to be used by writing to the control unit of the robot installed in the.

By the way, if the teaching data created in the off-line work as described above is written as it is to the control unit of the robot installed on the site, the robot may be affected during operation due to variations in the installation positions of the robots and jigs installed on the production line. There is a risk of contact with a workpiece such as a jig.

In order to avoid this, for example, in Patent Document 1, a robot in an information processing system and a work object (stationary gun) on which the robot works are considered in consideration of variations in installation positions of robots and work objects in a production line. ) are calibrated for variations in the positional relationship between Specifically, at the site of the production line, a first reference tool having a reference coordinate system creation target is attached to the work piece, and a second reference tool is attached to the tip of the arm of the robot. By operating the second reference instrument to approach or contact the coordinate system creation target, real coordinate system data is obtained from the coordinate position of the coordinate system creation target. On the other hand, in the information processing system, design coordinate system data is acquired based on the design coordinate position of the coordinate system creation target of the work subject using the virtual model. After that, the real coordinate system data is loaded into the information processing system, and the coordinate position of the work subject is moved so that the design coordinate system data coincides with the real coordinate system data. As a result, in the information processing system, the relative positional relationship between the robot and the work piece is made to conform to the relative positional relationship between the robot and the work piece in the actual production line. ing.

JP-A-2000-288742

However, if the coordinate position of the work object is moved in the information processing system as in Patent Document 1, in the case of a process in which a plurality of robots work on one work object, the work object Since variations in the relative positional relationship between the robot and the work object occur in each robot, each robot other than the robot whose relative positional relationship variation with the work object has been calibrated and the work object If the teaching data created by a robot other than the robot calibrated with the work piece is written to the control unit of the robot installed on the site, the robot will move during operation. The possibility of coming into contact with the work piece increases.

In addition, each robot installed in the field and the tool attached to each robot have assembly errors between the tools and the robot, installation errors of the robot, and instrumental differences that exist in the robots and tools themselves. However, Patent Document 1 does not disclose how to solve these influences on the teaching data.

The present invention has been made in view of this point, and its object is to improve the efficiency of equipment installed on site even when a plurality of robots work on a single work piece. An object of the present invention is to create teaching data for an articulated robot in consideration of variations in an information processing system.

In order to achieve the above object, the present invention is characterized in that an information processing system calibrates the motion trajectory of a tool at the tip of an arm of a robot.

Specifically, in a facility in which one or more articulated robots and a work object on which the robot works are arranged, the movement of a tool attached to the tip of the arm of the robot on the work object. The object of the present invention is a teaching data creation method for an articulated robot that creates teaching data that allows the robot to execute a trajectory, and the following solutions are taken.

That is, in the first invention, after attaching a first reference tool having a coordinate system creation target serving as a reference position to the work subject and attaching a second reference tool to the tool, the robot is operated to a coordinate system data acquisition step of acquiring first coordinate system data based on the coordinate position of the second reference instrument brought into contact with or approaching the coordinate system creation target; and reproducing a virtual model of the facility in an information processing system. and using the virtual model to acquire simulated teaching data of the motion trajectory and design coordinate system data based on the design coordinate position of the coordinate system creation target, or in other equipment having the same configuration as the equipment The above information processing system stores the already acquired teaching data of the motion trajectory and the second coordinate system data acquired using the first and second reference instruments at the reference position of the work piece in the other equipment. and a coordinate position of the simulated teaching data so that the design coordinate system data matches the first coordinate system data after the first coordinate system data is acquired into the information processing system. or the simulated teaching data or the acquired final teaching data is obtained by calibrating completed teaching data , wherein said first reference instrument has a plurality of said coordinates system creation targets at predetermined intervals, said simulated teaching data or said acquired teaching data is area data divided into a plurality of areas, and the final teaching data is obtained by calibrating each area data using the coordinate system creation target positioned closest to each other. do.

In the first invention, the positional relationship of the teaching data created for each robot in the information processing system relative to the work object is calibrated by moving each teaching data with respect to the work object. Even if there is one or more robots working on the object in the process, the information processing system creates teaching data that takes into account the relative variation of each robot that exists on the object to be worked on in advance. can do. In addition, since the movement trajectory of the tool is calibrated rather than the position of the tool or the robot itself, the teaching data created by the information processing system is written to the control unit of the robot installed on site and executed. The influence of assembly errors between the tool and the robot main body at the site and installation errors in the robot main body are less likely to affect the operation of the robot. Therefore, it is possible to reduce the number of on-site corrections of the teaching data caused by errors from the design values of each robot installed on-site.

In addition , since the teaching data is calibrated for each area close to each coordinate system creation target, the operation of the tool in the area close to the coordinate system creation target used for calibration and the operation of the tool in the area far from the coordinate system creation target may vary depending on the machine difference of the robot. It is possible to reduce the influence of the resulting variation on the final teaching data.

1 is a schematic front view of a welding line in which vertical articulated robots that reproduce motions based on teaching data created by a teaching data creating method according to an embodiment of the present invention are arranged; FIG. FIG. 2 is a view corresponding to the arrow II in FIG. 1 ; FIG. 3 is a partially enlarged view of FIG. 2 showing the motion trajectory during work of the welding gun attached to the tip of the arm of the robot; 1 is a schematic configuration diagram of an information processing system used in an embodiment of the present invention; FIG. FIG. 2 is a block diagram showing procedures of a teaching data creation method according to an embodiment of the present invention; 1 is a perspective view of a first reference instrument according to an embodiment of the present invention; FIG. FIG. 3 is a diagram equivalent to FIG. 2 showing a state in which the robot is operated to acquire real coordinate system data in the facility on site. 8 is a view in the direction of arrow VIII of FIG. 6; FIG. FIG. 7 is a view in the direction of arrow IX of FIG. 6; FIG. 7 is a view in the direction of arrow X in FIG. 6; FIG. 4 is a perspective view showing a second reference instrument according to an embodiment of the present invention; FIG. 10 is a perspective view of the first reference instrument displayed on the display section of the information processing system, showing a state immediately before calibrating a partial area of simulated teaching data created in the information processing system; FIG. 13 is a diagram showing a state immediately after obtaining a partial area of the final teaching data after FIG. 12; FIG. 14 is a view after FIG. 13 and showing a state immediately before obtaining final teaching data by calibrating a partial area of simulated teaching data; FIG. 15 is a diagram showing a state immediately after the final teaching data is obtained after FIG. 14;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail based on the drawings. It should be noted that the following description of preferred embodiments is merely exemplary in nature.

1 and 2 show a production line 1 according to an embodiment of the invention. This production line 1 assembles two press-formed works W1 and W2 together by spot welding. The production line 1 includes a workpiece positioning device 2 (work piece) that positions workpieces W1 and W2, and a pair of vertical articulated robots 3 that perform welding work. On the opposite side of the robot 3 in the work positioning device 2, the worker H1 sets the works W1 and W2 on the work positioning device 2. As shown in FIG.

The work positioning device 2 includes a grid-like rotating frame 4 in plan view having a vertically extending rotating shaft 4a in the center, and four jigs 5 for positioning the works W1 and W2. The rotating frame 4 is a robot. 3 (hereinafter referred to as work welding area X1) and the position corresponding to worker H1 (hereinafter referred to as work setting area X2), rotation in the R1 direction (normal rotation) and rotation in the R2 direction. (Reverse) and alternately.

The rotating frame 4 includes a first horizontal frame 41 extending horizontally on both sides from the rotating shaft 4a so as to be symmetrical with respect to the rotating shaft 4a, and a first horizontal frame 41 extending symmetrically with respect to the first horizontal frame 41 from the rotating shaft 4a. A pair of second horizontal frames 42 extending in the horizontal direction perpendicular to the first horizontal frame 41 from both ends of the frame 41 in the longitudinal direction, and between one end of the second horizontal frames 42 in the longitudinal direction and each second horizontal frame 42 and a pair of support frames 43 bridging between the other ends in the longitudinal direction and detachably supporting the jigs 5 one by one in the upper and lower directions.

Both second horizontal frames 42 support each support frame 43 rotatably around the central axis of each support frame 43, and each support frame 43 is attached to each support frame 43 by rotational movement. The upper and lower positions of each jig 5 can be alternately switched.

Both side surfaces of each support frame 43 are provided with engagement/disengagement units 44 that can be engaged/disengaged with the jig 5 in order to attach/detach the jig 5 to/from each support frame 43 .

Positioning portions 45 are provided on the upper and lower surfaces of each support frame 43 to determine the position of the jig 5 with respect to each support frame 43 when the jig 5 is attached to each support frame 43 .

A welding gun 6 (tool) is attached to the tip of the arm 3a of the robot 3, and the posture of the welding gun 6 can be freely changed to perform welding.

A coordinate system creation unit 7 (first reference tool) used to acquire real coordinate system data 12 (first coordinate system data) is detachably attached to a portion of the workpiece positioning device 2 where the jig 5 is detachable. It's becoming

As shown in FIGS. 6 and 7, the coordinate system creation unit 7 includes a main body frame 71 having a rectangular cross-sectional shape and an elongated square bar extending in the horizontal direction. A positioned portion (not shown) corresponding to the positioning portion 45 is provided.

A pair of substantially L-shaped engaged plates 72 are fixed to both ends of the body frame 71 . are engaged with each of the engaged plates 72, the coordinate system forming unit 7 is attached to a predetermined position in the workpiece positioning device 2. As shown in FIG.

Three first mounting frames 73 extending upward are provided on the upper surface of the body frame 71 at regular intervals in the longitudinal direction of the body frame 71 .

Two second mounting frames 74 extending obliquely upward are provided on the side surface of the main body frame 71 on the side of the robot 3 at a predetermined interval in the longitudinal direction of the main body frame 71 . 74 are positioned outside the two first mounting frames 73 positioned at both ends of the three first mounting frames 73 .

A coordinate system creation target 75 is provided at the upper end of each first mounting frame 73 and each second mounting frame 74 .

The coordinate system creation target 75 is provided on the robot 3 side and includes a first branch portion 75a and a second branch portion 75b extending in opposite directions along the longitudinal direction of the body frame 71, and the first branch portion 75a and the second branch portion 75b. A third branch portion 75c is provided farther from the robot 3 than the second branch portion 75b and extends in the same direction as the first branch portion 75a. A first target portion 76, a second target portion 77 and a third target portion 78 are attached to the lower surface of the extension end side of the portion 75c.

As shown in FIG. 8, the first target portion 76 has a substantially rectangular plate shape, and the lower surface of the first target portion 76 has a quadrangular pyramid shape with a gently angled truncated surface whose diameter gradually decreases downward.

As shown in FIG. 9, the second target portion 77 is in the shape of a substantially rectangular plate, and the lower surface of the second target portion 77 has a triangular cross section with a gently sloping surface whose width in the longitudinal direction of the main body frame 71 gradually narrows as it goes downward. It has a shape.

As shown in FIG. 10, the third target portion 78 has a substantially rectangular plate shape, and the lower surface thereof is an inclined surface in which the width in the horizontal direction intersecting the longitudinal direction of the body frame 71 gradually narrows downward. has a smooth triangular cross-section.

The lower end portion of the first target portion 76, the lower end portion of the second target portion 77, and the lower end portion of the third target portion 78 are guaranteed to be positioned on the same plane.

A coordinate system creating tool 8 (second reference tool) is detachable from the tip of the shank of the welding gun 6 .

As shown in FIG. 11, the coordinate system creation tool 8 includes a tool main body 81 having a substantially elliptical plate shape in a plan view, and a disk-shaped projection projecting upward from the central portion of the upper surface of the tool main body 81. A pin 83 having a sharp tip protrudes upward from the center of the projecting portion 82 .

A control panel 9 is connected to the workpiece positioning device 2 and the robot 3 as shown in FIG.

The control panel 9 includes a jig switching control section 9a for switching the position of each jig 5, a data storage section 9b capable of storing teaching data 10 (final teaching data) for both robots 3, and real coordinate system data 12. , and can cause the robot 3 to execute the operation trajectory of each welding gun 6 when working on the jig 5 based on the teaching data 10 .

The jig switching control unit 9a outputs an operation signal to a drive motor (not shown) so that each jig 5 alternately moves between the work welding region X1 and the work setting region X2, and rotates the rotating frame 4 around the rotating shaft 4a. It is designed to rotate.

Further, the jig switching control unit 9a outputs an operation signal to a drive motor (not shown) so that the two jigs 5 attached to each support frame 43 move to the upper position and the lower position, respectively. It has become.

The teaching data 10 stored in the data storage unit 9b is, as shown in FIG. Data 20 and second area data 30 which is the locus of movement of the welding gun 6 of the other robot 3 in the area on the other side in the longitudinal direction of the jig 5 during work.

The data storage unit 9b stores first region data 20 and second region data 30 corresponding to each of the four jigs 5. FIG.

The data storage unit 9b operates the robot 3 in a state in which the coordinate system creation unit 7 is attached to the work positioning device 2 and the coordinate system creation tool 8 is attached to the lower shank tip of the welding gun 6. When the tip of the pin 83 of the coordinate system creation tool 8 approaches or contacts the lower tip of the first target portion 76, the lower sharp portion of the second target portion 77, and the lower sharp portion of the third target portion 78, respectively. The coordinate positions of the tips of the pins 83 are respectively stored. In the case of the embodiment of the present invention, the data storage section 9b stores the lower tip of the first target section 76 of the coordinate system creation target 75 located on the upper side on one longitudinal direction side of the coordinate system creation unit 7, the second target, and the second target. The tip of the pin 83 of the coordinate system creation tool 8 is approached or brought into contact with the lower sharp portion of the portion 77 and the lower sharp portion of the third target portion 78, respectively, and their coordinate positions are stored. The lower tip of the first target portion 76, the lower sharp portion of the second target portion 77, and the lower sharp portion of the third target portion 78 of the coordinate system creation target 75 positioned on the upper side of the unit 7 in the other longitudinal direction are brought close to or brought into contact with the tips of the pins 83 of the coordinate system creation tool 8, and their coordinate positions are stored.

As shown in FIG. 7, the data calculation unit 9c calculates the actual coordinates from the coordinate positions of the tip of the pin 83 with respect to the first target unit 76, the second target unit 77, and the third target unit 78 stored in the data storage unit 9b. System data 12 are calculated. In the embodiment of the present invention, for the sake of convenience, the real coordinate system data 12 obtained from the coordinate system creation target 75 positioned on one longitudinal side of the coordinate system creation unit 7 is referred to as the real coordinate system data 12A. , the real coordinate system data 12 obtained from the coordinate system creation target 75 positioned on the other longitudinal side of the coordinate system creation unit 7 will be referred to as real coordinate system data 12B.

As shown in FIG. 4, the teaching data 10 is created by offline work using an information processing system 11. The information processing system 11 includes a display section 11a, an operation section 11b, a storage section 11c, and a calculation section 11d. ing.

The display unit 11a can display a virtual model of the workpiece positioning device 2 or the like, as shown in FIGS. 12 to 15, for example. 12 to 15, only the coordinate system creation unit 7 is displayed on the display section 11a. Also, the reference numerals of the virtual models displayed on the display unit 11a are the same as those of the objects actually installed on the production line 1. FIG.

The operation unit 11b can operate a virtual model of the robot 3, and the operator can, for example, set a plurality of teaching points Tn ( _n is a natural number) at which the welding gun 6 performs welding in a three-dimensional virtual model. It can be specified while operating the operation unit 11b in the space.

The storage unit 11c stores virtual models of the workpiece positioning device 2, the robot 3, the jig 5, the welding gun 6, the coordinate system creation unit 7, and the coordinate system creation tool 8, and the welding gun 6 is connected to each teaching point T. It is possible to store simulated teaching data 10A for reproducing the motion of the arm 3a moving _n in order. In the embodiment of the present invention, as shown in FIG. 12, the storage unit 11c stores first region simulation data that is a motion trajectory of the welding gun 6 of one of the robots 3 in the one longitudinal direction region of the jig 5 during work. 20A, and second area simulation data 30A, which is an operation trajectory of the welding gun 6 of the other robot 3 in the area on the other side in the longitudinal direction of the jig 5 during work.

Further, the storage section 11c takes in the real coordinate system data 12 obtained by the control panel 9 and stores them.

The calculation unit 11d calculates the design coordinate system data 13 based on the design coordinate positions of the first target unit 76, the second target unit 77, and the third target unit 78 in the workpiece positioning device 2, which is a virtual model, and calculates the design coordinates. The system data 13 are stored in the storage section 11c. In the case of the embodiment of the present invention, a first target portion 76, a second target portion 77, and a third target of a coordinate system creation target 75 positioned on one longitudinal side of the coordinate system creation unit 7, which is a virtual model, are located above the coordinate system creation unit 7. Design coordinate system data 13 (hereinafter referred to as design coordinate system data 13A) is calculated from the coordinate position of the unit 78, and a coordinate system positioned on the other longitudinal side of the coordinate system creation unit 7, which is a virtual model, is created. The design coordinate system data 13 (hereinafter referred to as design coordinate system data 13B) is calculated by the calculation unit 11d from the coordinate positions of the first target portion 76, the second target portion 77 and the third target portion 78 of the target 75. It's becoming

Further, the calculation unit 11d uses the real coordinate system data 12, the design coordinate system data 13, and the simulated teaching data 10A stored in the storage unit 11c so that the design coordinate system data 13 matches the real coordinate system data 12. An operation is performed to obtain the final teaching data 10 by moving the coordinate position of the simulated teaching data 10A.

Specifically, as shown in FIGS. 12 and 13, the coordinate position of the first area simulation data 20A is moved in the longitudinal direction of the coordinate system creation unit 7 positioned closest to the first area simulation data 20A. The design coordinate system data 13A obtained from the coordinate system creation target 75 positioned on the upper side of one side is used, and the coordinate position of the second area simulation data 30A is moved to the position closest to the second area simulation data 30A. The design coordinate system data 13B obtained from the coordinate system creation target 75 located above the coordinate system creation unit 7 located on the other longitudinal direction side of the coordinate system creation unit 7 located at .

That is, assuming that a predetermined range of space surrounding the coordinate system creation target 75 positioned on one longitudinal side of the coordinate system creation unit 7 is defined as a region A1, a portion of the simulated teaching data 10A located in the region A1 is The coordinate position is moved using the design coordinate system data 13A obtained from the coordinate system creation target 75 in the area A1, and the coordinate system creation target positioned above the coordinate system creation unit 7 on the other side in the longitudinal direction. Assuming that a predetermined range of space surrounding 75 is an area A2, a portion of the simulated teaching data 10A located in the area A2 is coordinate position using the design coordinate system data 13B obtained from the coordinate system creation target 75 in the area A2. are to be moved.

The teaching data 10 created by the information processing system 11 is written out from the information processing system 11 and is also written to the control panel 9 to be used for the reproduction operation of the robot 3 .

Next, a method for creating teaching data 10 in information processing system 11 will be described in detail.

As shown in FIG. 3, the teaching data 10 to be created is such that the welding gun 6 of one of the robots 3 changes its attitude toward the other side in the longitudinal direction of the jig 5 in the region on the one side in the longitudinal direction of the jig 5. The first area data 20 which is an operation trajectory for performing welding, and the welding gun 6 of the other robot 3 perform welding while changing the posture toward the other longitudinal direction side of the jig 5 in the other longitudinal direction side area of the jig 5. and a second area data 30 which is an operation trajectory for performing

As shown in FIG. 5, the teaching data 10 is obtained by a coordinate system data acquisition step S1 for obtaining actual coordinate system data 12 on the production line 1, and simulated teaching data 10A and design coordinates using a virtual model on the information processing system 11. A pre-calibration teaching data acquisition step S2 for obtaining system data 13; a teaching data calibration step S3 for calculating final teaching data 10 in the information processing system 11; It is obtained through a teaching data writing step S4 in which the teaching data is written from.

First, in the production line 1, one of the four jigs 5 of the workpiece positioning device 2 is removed, and the coordinate system creation unit 7 is attached to the corresponding portion.

Next, a coordinate system forming tool 8 is attached to the lower shank tip of the welding gun 6 of the robot 3 on one side.

Next, the lower tip of the first target portion 76, the lower sharp portion of the second target portion 77, and the third target portion of the coordinate system creation target 75 positioned on the one side in the longitudinal direction of the coordinate system creation unit 7 are located on the upper side. The tips of the pins 83 of the coordinate system creation tool 8 are brought close to or brought into contact with the lower sharp portions of the 78, and their coordinate positions are stored in the data storage section 9b.

After that, the data calculation section 9c calculates the actual coordinate system data 12A based on the coordinate positions of the tips of the pins 83 stored in the data storage section 9b.

Next, the coordinate system creation tool 8 is removed from the welding gun 6 of the robot 3 on one side, and the coordinate system creation tool 8 is attached to the lower shank tip of the welding gun 6 of the robot 3 on the other side.

Next, the lower tip of the first target portion 76, the lower sharp portion of the second target portion 77, and the third target portion of the coordinate system creation target 75 positioned on the upper side of the coordinate system creation unit 7 in the other longitudinal direction. The tips of the pins 83 of the coordinate system creation tool 8 are brought close to or brought into contact with the lower sharp portions of the 78, and their coordinate positions are stored in the data storage section 9b.

After that, the data calculation section 9c calculates the actual coordinate system data 12B based on the coordinate positions of the tips of the pins 83 stored in the data storage section 9b.

Next, in the information processing system 11, the operator operates the virtual model of each robot 3 displayed on the display unit 11a by using the operation unit 11b to generate the first region simulation data 20A and the second region simulation data 20A in a three-dimensional virtual space. Region simulation data 30A are created and stored in the storage unit 11c.

A first target portion 76 , a second target portion 77 and a second target portion 76 of a coordinate system creation target 75 positioned above one longitudinal side of the coordinate system creation unit 7 , which is a virtual model imported into the information processing system 11 , are also shown. 3 The design coordinate system data 13A is calculated by the calculation section 11d from the coordinate position of the target section 78 and stored in the storage section 11c.

Further, a first target portion 76, a second target portion 77, and a second target portion 76 of a coordinate system creation target 75 located on the upper side on the other longitudinal direction side of the coordinate system creation unit 7, which is a virtual model imported into the information processing system 11, are also displayed. 3 Design coordinate system data 13B is calculated from the coordinate position of the target section 78 by the calculation section 11d and stored in the storage section 11c.

After that, the first area data 20 is obtained by moving the coordinate position of the first area simulation data 20A so that the design coordinate system data 13A matches the real coordinate system data 12A by the calculation unit 11d, and the real coordinate system data 12A is obtained. The second area data 30 is obtained by moving the coordinate position of the second area simulation data 30A so that the design coordinate system data 13B coincides with 12B.

The obtained first area data 20 and second area data 30 are written from the information processing system 11 as the teaching data 10 and written to the control panel 9 to be used for the reproduction operation of each robot 3 .

As described above, according to the embodiment of the present invention, the relative positional relationship of the first area simulation data 20A and the second area simulation data 30A created for each robot 3 by the information processing system 11 with respect to the workpiece positioning device 2 is determined as a workpiece positioning apparatus. Since calibration is performed by moving the first area simulation data 20A and the second area simulation data 30A with respect to the device 2, one or more robots 3 working on the work positioning device 2 are present in the process. However, the information processing system 11 can create the teaching data 10 in consideration of the relative variations of the robots 3 existing with respect to the workpiece positioning device 2 in the field.

In addition, since the motion trajectory of the welding gun 6 is calibrated rather than the position of the welding gun 6 or the robot 3 itself, the teaching data 10 created by the information processing system 11 is applied to the control panel of the robot 3 installed on site. 9 is written and executed, the influence of assembly error between the welding gun 6 and the robot 3 at the site and deviation of the installation error in the robot 3 is reduced. Therefore, on-site correction of the teaching data 10 due to errors from the design values of each robot 3 installed on-site can be reduced.

Furthermore, since the teaching data 10 is calibrated for each area close to each coordinate system creation target 75, the operation of the welding gun 6 in the area close to the coordinate system creation target 75 used for calibration and the operation of the welding gun 6 in the area far from the coordinate system creation target 75 are corrected. In (1) and (2), it is possible to reduce the influence on the teaching data 10 of the variation caused by the machine difference of the robot 3 .

In the embodiment of the present invention, the simulation teaching data 10A and the design coordinate system data 13 are obtained by the information processing system 11 using the virtual model in the pre-calibration teaching data acquisition step S2. Acquired teaching data 10B of the motion trajectory of the welding gun 6 of each robot 3 already acquired in another production line having the same configuration as the production line 1, and a coordinate system creation unit in the work positioning device 2 of the other production line 7 and the other equipment coordinate system data 14 acquired using the coordinate system creation tool 8 are imported into the information processing system 11, and in the teaching data calibration step S3, the other equipment coordinate system data 14 is added to the actual coordinate system data 12. An operation may be performed to obtain the final taught data 10 by moving the coordinate positions of the acquired taught data 10B so that they match. This eliminates the need to create the simulated teaching data 10A in the information processing system 11, thereby shortening the development period.

Further, in the embodiment of the present invention, the motion trajectory of the welding gun 6 of each robot 3 is composed of one piece of teaching data (the first area data 20 or the second area data 30). For example, even if the motion trajectory of the welding gun 6 of each robot 3 is composed of teaching data consisting of a plurality of area data, and each area data is calibrated using the closest coordinate system creation target 75. good.

Also, in the embodiment of the present invention, the case where two robots 3 work on the work positioning device 2 is described, but the case where one robot 3 works on the work positioning device 2 is also described. The method of the present invention can be applied even when three or more robots 3 work on the workpiece positioning device 2 .

Further, the teaching data 10 of the embodiment of the present invention relates to the motion trajectory of the robot 3 having the welding gun 6 attached to the tip of the arm 3a. Any number other than 6 may be used.

For example, in an automobile production line, an articulated robot that works on a part placed on a jig can perform a motion trajectory of a tool attached to the tip of an arm of the robot. Good for how you create data.

2 Work positioning device (workpiece)
3 robot 6 welding gun (tool)
7 Coordinate system creation unit (first reference instrument)
8 Coordinate system creation tool (second reference instrument)
10 teaching data (final teaching data)
10A simulated teaching data 10B acquired teaching data 11 information processing system 12 actual coordinate system data (first coordinate system data)
13 Design coordinate system data 14 Other facility coordinate system data 20 First area data 20A First area simulated data 30 Second area data 30A Second area simulated data 75 Target for coordinate system creation S1 Coordinate system data acquisition process S2 Teaching data before calibration Acquisition process S3 Teaching data calibration process

Claims (1)

In a facility in which one or more articulated robots and an object to be worked by the robot are arranged, the robot is provided with a movement trajectory of a tool attached to the tip of an arm of the robot when working on the object to be worked. A teaching data creation method for an articulated robot that creates teaching data that can be executed, comprising:
After attaching a first reference instrument having a coordinate system creation target serving as a reference position to the work piece and attaching a second reference instrument to the tool, the robot is operated to approach or approach the coordinate system creation target. a coordinate system data acquisition step of acquiring first coordinate system data based on the coordinate position of the second reference instrument brought into contact;
In the information processing system, reproducing the virtual model of the equipment and using the virtual model to obtain the simulated teaching data of the motion trajectory and the design coordinate system data based on the design coordinate position of the target for creating the coordinate system. Alternatively, using the first and second reference instruments at the acquired teaching data of the motion trajectory already acquired in another facility having the same configuration as the above facility and the reference position of the work subject in the other facility a pre-calibration teaching data acquiring step of importing the acquired second coordinate system data into the information processing system;
After loading the first coordinate system data into the information processing system, the coordinate position of the simulated teaching data is moved so that the design coordinate system data matches the first coordinate system data, or a teaching data calibrating step of moving the coordinate position of the acquired teaching data so that the second coordinate system data matches the coordinate system data, and calibrating the simulated teaching data or the acquired teaching data to final teaching data. so as to obtain
The first reference instrument has a plurality of the coordinate system creation targets at predetermined intervals,
The simulated teaching data or the acquired teaching data is region data divided into a plurality of regions. A teaching data creation method for an articulated robot, wherein the teaching data is the final teaching data .

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