CN101546196A - Action surplus of robot calculation display method and device - Google Patents
Action surplus of robot calculation display method and device Download PDFInfo
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- CN101546196A CN101546196A CN200910126845A CN200910126845A CN101546196A CN 101546196 A CN101546196 A CN 101546196A CN 200910126845 A CN200910126845 A CN 200910126845A CN 200910126845 A CN200910126845 A CN 200910126845A CN 101546196 A CN101546196 A CN 101546196A
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Abstract
The present invention provides an action surplus of robot calculation display method and device, capable of quantificationally informing movable zone to the robot for operators and operators on-the-spot of production line. In the power surplus of robot calculation display method and device, aiming at each teaching point of a plurality of teaching points in teaching program for the robot (1), one or a plurality of parameter representing position posture of the robot varies, thereby calculating action surplus of continuous action zone from teaching point in action range of each joint Theta 1 to Theta 6 of the robot (1) (step S2-2). The action surplus of each teaching point is displayed with number value quantificationally (step S2-3).
Description
Technical field
The present invention relates to a kind of action surplus amount computing display packing and device thereof that contains the robot of industrial robot.
Background technology
In recent years, utilize industrial robot, just constantly increase and weld and various operations such as application, deburring, cut-out.
In the robot of playback system, workpiece that teaching uses impart knowledge to students (online teaching) is set in production line.In addition, based on not stopping the purpose that production line carries out the teaching of robot, the off line of imparting knowledge to students outside production line teaching is also known.Constructing the model of robot, workpiece and operating environment in computing machine, to carry out the off line teaching also be the normal method of using.
Which kind of method no matter when with playback system robot being moved in the reality, all has the alignment error and the individual difference of object workpiece.Thus, the training data of teaching is constant to be moved robot can not correctly to carry out operation even keep.In welding robot etc., normally according to (the Star チ セ Application シ Application グ: touch sensing) etc., proofread and correct the whole or a part of departure of training data robot is moved of the contact induction by lead.
But, unclearly be, when the departure of workpiece is big or the taught point in when teaching be near the actuating range boundary of robot the time, utilize the training data robot of having proofreaied and correct correctly to move.With respect to this, known have a following method: show each joint angles of taught point with numerical value and chart, joint angles is shown whether near the actuating range boundary, impel the operator to revise training data.In addition, in patent documentation 1, disclose following method: give the position deviation permission zone of allowed band in advance at each taught point, and allow the zone whether to be included in the movable range of robot by this position deviation of simplation verification as each taught point.
Patent documentation 1:JP spy opens flat 8-328632 communique
Summary of the invention
In the former method of each joint angles of demonstration taught point, because along a large amount of rotary-type joint angles that adopt among the converting machine people intuitively in the operating space of the front end machining tool of rectangular axes, even, also have the situation of the allowed band that still limits this taught point in the reality so the operator plans numerically to give certain taught point affluence fully by revising.
In the latter's method, even distinguishing that by simulation predefined position deviation allowed band is not included under the situation in the movable range of robot, the guide that does not also show correcting taught point needs to come correcting taught point by operator's experience and intuition repetition test.In addition, in the latter's method, the position deviation zone is defined as rule of thumb waiting with respect to taught point the zone that contains of permission radius of decision.That is, the position deviation zone in the latter's the method is defined as the zone that can move in all directions with respect to taught point.But, as the characteristic of robot, movable zone is not isotropy but has directivity, as the method for patent documentation 1, comprehensive when defining allowed band equably, in boundary vicinity reality, can produce the improper of the so-called condition that does not satisfy allowed band.On the contrary, even under the situation of the allowed band that discontented feet all direction is set equably, if though give one's full attention to individual difference in the making of the position deviation error of error, workpiece of robot and workpiece, robot also can carry out operation, but in the method for patent documentation 1, the allowance of the guide of judging is not shown for this reason quantitatively, but can not 100% effectively utilizes the operating space of robot.
In view of the foregoing carry out the present invention, its purpose is, but the site work personnel of operator and production line are notified quantitatively the operating space of robot with identification mode intuitively, provide the correction guide of training data to the operator, and the allowance of workpiece foozle in the scene and work piece configuration error is shown and provides on-the-spot utilization guide to the site work personnel.
The 1st mode of the present invention provides a kind of action surplus amount computing display packing of robot, comprise: the 1st step, each taught point of contained a plurality of taught points in the tutorial program at robot, 1 parameter or a plurality of parameter in a plurality of parameters of posture of the above-mentioned robot of expression are changed, thereby reckoner is shown in the actuating range in each joint of above-mentioned robot the action surplus amount of starting at zone that can continuous action from above-mentioned taught point; And the 2nd step, show the above-mentioned action surplus amount of each taught point quantitatively with numerical value.
Because of the actuating range in each joint of robot and motion limits that distinguished point produces are shown as with numerical value quantitatively as the action surplus amount with respect to the affluence amount of the deviation in each taught point of robot (controlling under the situation of machining tool is the front end of this machining tool).Thus, the operator can hold quantitatively with respect to what of the affluence amount of deviation, intuitively holds the direction that needs correcting taught point, can shorten the time that authenticates to correction from tutorial program.
At the object-point on the interpolation track that is set between the adjacent taught point, preferably carry out the above-mentioned the 1st and the 2nd step.
Except that each taught point, also calculate and the rich amount of display action, thereby more the checking of the tutorial program of probe and correction operation just become possibility at the object-point on the track between taught point.
Preferably also comprise the 3rd step, in the 3rd step, the rich value of each taught point that will calculate in above-mentioned the 1st step and the action surplus amount in each object-point and predefined permission relatively; In above-mentioned the 2nd step, only above-mentioned taught point and the above-mentioned object-point of above-mentioned action surplus amount below the rich value of above-mentioned permission shown with above-mentioned action surplus amount.
By the rich amount of display action only is to allow following taught point and the object-point of rich value, and just can express the action surplus amount to the operator is the taught point etc. that allows below the affluence value, the correction guide when the correction operation of carrying out tutorial program is provided.
Instead scheme also may further include the 3rd step, and in the 3rd step, the rich value of each taught point that will calculate in above-mentioned the 1st step and the action surplus amount in each object-point and predefined permission relatively; In above-mentioned the 2nd step, can above-mentioned taught point and the above-mentioned object-point of above-mentioned action surplus amount below the rich value of above-mentioned permission be shown with above-mentioned action surplus amount can above-mentioned action surplus amount being carried out identification mode above the above-mentioned taught point and the above-mentioned object-point of the rich value of above-mentioned permission.
By with other mutually distinctively the rich amount of display action be to allow following taught point and the object-point of rich value, just can express the action surplus amount to the operator is the taught point etc. that allows below the affluence value, the correction guide when the correction operation of carrying out tutorial program is provided.
Also can be in above-mentioned the 2nd step, as with from less to more tactic tabulation above-mentioned taught point and above-mentioned object-point being shown with above-mentioned action surplus amount by above-mentioned action surplus amount.
By showing taught point and object-point as the tactic tabulation of measuring by the action affluence with from less to more, even under the situation that has a plurality of taught points and object-point, also can express about the taught point of whole the needs correction of tutorial program etc., further improve the operating efficiency of the correction of tutorial program the operator.
Also can also comprise the 4th step,, calculate the minimum value of the above-mentioned action surplus amount of each parameter at all taught points and the object-point that in above-mentioned the 2nd step, calculate; In above-mentioned the 2nd step, the minimum value of the above-mentioned action surplus amount of above-mentioned each parameter can be shown as the above-mentioned action surplus amount with above-mentioned each parameter in the track integral body of above-mentioned tutorial program appointment.
Action surplus amount with the minimum value of the action surplus amount of each parameter in the track integral body of tutorial program appointment (each direction), each parameter of promptly being allowed as tutorial program integral body, not only can be used in the correction of tutorial program, the fault processing the when maximum magnitude that also can be used as the correction of workpiece deviation is used in metering before the processing.In addition, action surplus amount by each parameter that will be allowed as tutorial program integral body as the allowance of the foozle in the making of workpiece, the guide at position that needs the to reduce error configuration error during with the configuration workpiece encircling and use of relevant operation indication, just can avoid in actual job, robot can improve productivity in the situation that action temporarily stops because of the action boundary midway.
A plurality of parameters of representing the posture of above-mentioned robot can be the parameters in the conventional coordinates of setting arbitrarily.
By the established standards coordinate system make coordinate axis with want to know that the direction of action surplus amount is consistent, the operator just can access the action surplus amount of easier assurance.For example, when to the metering before implementing processing with respect to the workpiece of the frame of reference tilted configuration of robot by contact induction etc., robot is moved on the direction that tilts with respect to the frame of reference.In the case, because the action surplus quantitative change of the relevant direction that tilts with respect to the frame of reference gets important (operator wonders the allowance of deviation in this direction), so, as long as the established standards coordinate system makes coordinate axis consistent with the inclination with respect to the frame of reference of workpiece.
The 2nd mode of the present invention provides a kind of action surplus amount computing display device of robot, comprise: operational part, each taught point of contained a plurality of taught points in the tutorial program at robot, 1 parameter or a plurality of parameter in a plurality of parameters of posture of the above-mentioned robot of expression are changed, thereby reckoner is shown in the actuating range in each joint of above-mentioned robot the action surplus amount of starting at zone that can continuous action from above-mentioned taught point; And display part, show the above-mentioned action surplus amount of each taught point quantitatively with numerical value.
The invention effect
Action surplus amount computing display packing and device thereof according to robot of the present invention, change by 1 parameter in a plurality of parameters that make the posture of representing robot or a plurality of parameter, calculating and indicator gauge are shown in the interior action surplus amount of starting at the zone of energy continuous action from taught point of actuating range in each joint of robot.Thus, but can notify the operating space of robot quantitatively with identification mode intuitively for the site work personnel of operator and production line, can realize to the operator correction guide of training data is provided, to the workpiece foozle in the site work personnel prompting at the scene and the allowance of work piece configuration error.
Description of drawings
Fig. 1 is the synoptic diagram of representing the relevant robot of the 1st embodiment of the present invention, control device, reaching the off line teaching system.
Fig. 2 is the process flow diagram that is illustrated in the process of carrying out in the 1st embodiment of the present invention.
Fig. 3 A is the actuating range in posture when decision of expression robot and the outboard profile of the relation between the action surplus amount.
Fig. 3 B is the actuating range in posture when decision of expression robot and the planimetric map of the relation between the action surplus amount.
Fig. 4 is the 3-D display figure of actuating range in posture when decision of expression robot.
Fig. 5 is the 3-D display figure of the relation between the configuration of the actuating range in posture when decision of expression robot and workpiece.
Fig. 6 is the process flow diagram of detailed content of the step S2-2 of presentation graphs 2.
Fig. 7 is the process flow diagram of detailed content of the step S6-1 (calculating of higher limit) of presentation graphs 6.
Fig. 8 is the process flow diagram of detailed content of the step S6-1 (calculating of lower limit) of presentation graphs 6.
Fig. 9 is the 3-D display figure of the relation between the rich degree in the actuating range in posture when decision of expression robot and xy space.
Figure 10 is the process flow diagram of the program of seeking of the action surplus amount of expression when x composition and y composition are changed.
Figure 11 is the process flow diagram of detailed content of the step S10-4 of expression Figure 10.
Figure 12 is the process flow diagram that is illustrated in the process of carrying out when carrying out the actual machine teaching.
Symbol description
1 welding robot, 2 welding torches
3 control device, 4 teaching control stands
5 computing machines, 6 off line teaching systems
7 graphics devices, 8 keyboards
9 mouse W workpiece
Embodiment
Below, with reference to accompanying drawing, embodiments of the present invention are described.
(the 1st embodiment)
In the present embodiment, as shown in Figure 1, showing with the workpiece W that is made of slab is object, is suitable for the example that carries out the welding robot 1 of solder bond position operation of the present invention.Welding robot (is designated hereinafter simply as " robot ".) 1 control welding torch 2 as machining tool at front end.Though the robot 1 in the present embodiment is a kind of 6 articulated robots as the common rotary joint θ of having of industrial robot 1～θ 6, even if the robot of other form that describes in detail later also can be suitable for the present invention.
Tutorial program is except using the teaching control stand 3 that attaches on control device 3 makes, and the off line teaching system 6 that also uses computing machines 5 such as utilizing personal computer to construct is made in advance.By the tutorial program that off line teaching system 6 forms, can submit to control device 3 by disk (floppy disk) and memory storage etc., also can send control device 3 to by data communication.
Off line teaching system 6 comprises graphics device 7 as display device, comprises that keyboard 8, mouse 9 are as input media.In addition, in off line teaching system 6, magnetic memory apparatus is set and communicator (whichsoever all illustrates.) as the data input mechanism of the CAD information that is used to obtain workpiece W.When the control device 3 of above-mentioned robot 1 is submitted tutorial program to, also use these devices.And the computing machine 5 of off line teaching system 6 comprises: the operational part 5a that carries out various computings; The storage part 5b of the operation result of storage operational part 5a etc.; Control is to the display control unit 5c of the demonstration of graphics device 7; And control is from the input and output control part 5d of the input and output between the input of keyboard 8, mouse 9 and magnetic memory apparatus, the communicator.
With reference to Fig. 2, carry out following 4 processes in the present embodiment substantially.
Process 1: use off line teaching system 6, be formed for making the tutorial program (the step S2-1 of Fig. 2) of robot 1 action by the off line teaching.
Process 2: utilize off line teaching system 6, calculate also display device people 1 action surplus amount (the step S2-2 of Fig. 2, S2-3).
Process 3: the operator estimates tutorial program according to the result of calculation of the action surplus amount that shows, if necessary, then revises tutorial program (taught point) (the step S2-4 of Fig. 2, S2-5) with off line teaching system 6.
Process 4: revised tutorial program is downloaded in the control device 3, by contact induction metering workpiece W, according to the correction tutorial programs such as configuration error of metering result at workpiece W.Robot 1 actual execution processing action after this, (the step S2-6 of Fig. 2～S2-8).
At first, the process 1 (the step S2-1 of Fig. 2) of utilizing off line teaching system 6 to be formed for making the tutorial program of robot 1 action is described.In the tutorial program in forming this process 1, use the desirable workpiece W that do not have distortion and mismachining tolerance so-called Utopian data not have the state that disposes error and be present in the reference position on the production line and not have the robot 1 of scale error to move error freely.Promptly, in off line teaching system 6, utilize cad data etc., obtain information and the shape of robot 1 and the configuration information of acting characteristic, peripheral unit (not shown) etc. etc. of the shape that relates to workpiece W, in computing machine 5, form the model of robot 1, workpiece W, peripheral unit etc., in graphics device 7, show.For the model of robot 1, to the selection of the characteristic portion of position by carrying out workpiece W with mouse 9 that prefer the position with carry out operation based on the numerical value input of keyboard 8 and indicate.For example, be taught point with the starting point and the terminal point of sealing wire to be welded, carry out the indication and the points of proximity before and after the operation of the required posture of welding and dodge a little setting.In the present embodiment, use is the frame of reference in the rectangular coordinate system that the base portion place of robot 1 has horizontal vertical direction fixing in the three dimensions of initial point, and the posture of setting the front end of the welding torch 2 in this frame of reference is taught point, the points of proximity, dodges a little.Below, be labeled as (x, y, z, α, β, γ) with each coordinate axis in the frame of reference with around the anglec of rotation of each coordinate axis.In addition, on off line teaching system 6, also be formed for detecting the program of contact induction action of the position deviation etc. of workpiece W.So far, be the routine work of teaching of the robot of at present known use off line teaching system.
Then, for the tutorial program that forms, declarative procedure 2, it has great action surplus (the step S2-2 of Fig. 2) at the object-point of each taught point and any setting on the track of interpolation between the adjacent taught point but calculate apart from the actuating range of robot 1.
The meaning of declarative procedure 2 at first.In off line teaching system 6, though be hypothetical machine people 1 and workpiece W according to design drawing, their configuration relation also is desirable state, but has the error of the robot 1 of actual machine, the foozle of practical work piece W and the configuration error of the workpiece W that individual difference, each operation produce etc.Thus, carrying out tutorial program before the workpiece W with robot 1 welding reality, need measure these margins of error by contact induction, and carry out the correction (the step S2-7 of Fig. 2) of taught point contained in the tutorial program in view of the above on production line.But, suppose the tutorial program that is formed by process 1 (the step S2-1 of Fig. 2) is not carried out will existing one or more taught points and object-point to surpass the situation of the action boundary of robot 1 under the situation that any processing just revised according to the result of contact induction.This results from, and among a plurality of taught points that contain in the tutorial program that is formed by process 1 (the step S2-1 of Fig. 2) etc., existence taught point etc. since then rises and makes robot 1 action, and the narrower and small taught point of allowed band that posture is changed.Therefore, in the present embodiment, hold in advance and represent that quantitatively the index of this allowed band is that what kind of degree is the action surplus amount be, if be starved of then still adopt the robot 1 of actual machine to carry out operation (the step S2-7 of Fig. 2, S2-8).On the other hand, when the action surplus quantity not sufficient, revise, adopt the robot 1 of actual machine to carry out operation on this basis so that it enters the essential rich scope (the step S2-4 of Fig. 2, S2-5) of taught point.Also in some cases, according to the posture of robot at this moment, though the action surplus amount has sufficient affluence in a certain direction, the affluence amount of other direction is extremely few.Even when can not guarantee the action surplus amount fully by the correction of taught point, as the point that needing behind the actual job to carry out at the scene being careful, can represent quantitative guide (direction that the needs during configuration workpiece W suppress and position, when workpiece is made to the error reduction of the less direction of affluence amount etc.) as indicating for the operation at the scene of the such operation of the deviation of doing one's utmost not produce the less direction of action surplus amount.For above this purpose, the program of teaching in the process 2 is carried out the computing of action surplus amount.
The content of calculation process of the action surplus amount of the process 2 in the present embodiment then, is described.In the computing of this action surplus amount, the posture of contained each taught point and the object-point on the track of interpolation between adjacent teaching, set arbitrarily in the tutorial program to robot 1, its higher limit and lower limit (action surplus amount) are asked in the zone of energy continuous action in the actuating range of each the joint θ 1～θ 6 that seeks in robot 1.The taught point in the frame of reference and the posture of object-point are expressed as (xte, yte, zte, α te, β te, γ te).In the present embodiment, make in the vectorial composition of posture of expression taught point and object-point 1 to carry out order and change, seek the zone of energy continuous action in the actuating range of each joint θ 1～θ 6, ask higher limit and lower limit.But the vectorial composition integral body at the expression posture is carried out seeking of this operating space, and each the vectorial composition at taught point and object-point calculates movable higher limit and lower limit by taught point and object-point.
Fig. 3 A, 3B, and Fig. 4 be that taught point in robot 1 (front end of welding torch 2) is under the situation of a certain posture, schematically show the movable zone of relevant position composition xte, yte, zte.Under the situation of the robot of 6 such multi-joint type of present embodiment, known, but the operating space A (with reference to Fig. 4) of the front end of the welding torch 2 the during decision of the posture of robot 1, the zone of circular arc that has been the combination shown in Fig. 3 A when seeing from the side has been the combination shown in Fig. 3 B when top is seen fan-shaped zone.As shown in Figure 5, workpiece 5 also can be configured to hold sealing wire in this regional A.The action surplus amount of position composition xte, yte, zte also can directly be calculated by regional thus A.The higher limit xte-up and the lower limit xte-down that the position composition xte that is directly calculated by regional A are changed and do not make other composition yte, zte, α te, β te, the position composition xte when γ te changes have been shown among Fig. 3 A.In addition, higher limit yte-up and the lower limit yte-down that the position composition yte that is directly calculated by regional A is changed and do not make other composition xte, zte, α te, β te, the position composition yte when γ te changes has been shown among Fig. 3 B.And, higher limit zte-up and the lower limit zte-down of the position composition zte when not making other composition xte, yte, α te, β te, γ te variation in that the position composition zte that is directly calculated by regional A is changed.
Then, specifically describe an example of the calculating of the action surplus amount in the process 2 (the step S2-2 of Fig. 2) with reference to Fig. 6 and Fig. 7.Begin order till to the end the taught point by the initial taught point in the path of the welding torch of from taught point and object-point, setting 2, to the calculating (the step S6-1 of Fig. 6, S6-8) of each taught point and each object-point repeating step S6-2～S6-7 by tutorial program.In step S6-2, at the position composition xte calculating upper limit value xte-up and the lower limit xte-down of taught point or set point.Similarly, in step S6-3, at position composition yte calculating upper limit value yte-up and lower limit yte-down, in step S6-4, at position composition zte calculating upper limit value zte-up and lower limit zte-down.In step S6-4, at the posture composition α te calculating upper limit value α te-up and the lower limit α te-down of taught point or set point.Similarly, in step S6-6, at posture composition β te calculating upper limit value β te-up and lower limit β te-down, in step S6-7, at posture composition γ te calculating upper limit value γ te-up and lower limit β te-down.The order of also commutative step S6-2～S6-7.In addition, also can be at first at any one value of each composition calculating upper limit value and lower limit.At all taught points and object-point, calculate the upper lower limit value (step S6-8) of each composition xte, yte, zte, α te, β te, γ te, storage computation result (step S6-9).
Below, at position composition xte, the computing method of higher limit xte-up and lower limit xte-down are described.The computing method of the upper lower limit value of other composition yte, zte, α te, β te, γ te are identical with the situation of position composition xte.
With reference to Fig. 7, the computing method of higher limit xte-up are described.In the calculating of this higher limit xte-up, add enough little value Δ x in proper order by the position composition xte of taught point or object-point, can continuous action in the actuating range of each joint θ 1～θ 6 when confirming additive operation.Up to detect in the actuating range of each joint θ 1～θ 6 can not continuous action till, all additive operations of repetition values Δ x.Particularly, in step S7-1, it is xte that xi is set at initial value.Then, in step S7-2, calculate inverse kinematics (the キ ネ マ テ イ Network ス: kinematics) of (xi, yte, zte, α te, β te, γ te), confirm to have or not the separating of joint angles (step S7-3) of each rotary joint θ 1～θ 6, whether the pattern of separating identical, promptly separate and whether continuity (step S7-4) is arranged and separate in the movable range whether (each joint angles) be in each rotary joint θ 1～θ 6 (step S7-5).If it is in the movable range that identical and each joint angles of the pattern of separating, separating is arranged, then in step S8-6, the value of adding Δ x on xi, repeating step S8-2～S8-5.On the other hand, if in step S7-3, do not have the pattern difference separate, in step S7-4, separate or in step S7-5 each joint angles outside movable range, stipulate in step S7-7 that then this xi-1 constantly is higher limit xte-up.
In the calculating of lower limit xte-down shown in Figure 8, deduct enough little value Δ x in order from the position of taught point or object-point composition xte, can continuous action in the actuating range of each joint θ 1～θ 6 when confirming subtraction.The processing of the step S8-1 of Fig. 8～8-7, except that in step S8-6 in xi this point of the value of deducting Δ x and stipulate that in step S8-7 this xi-1 constantly is this point of lower limit xte-down, identical with step S7-1～S7-7 of Fig. 7.
Then, declarative procedure 3 (the step S2-3 of Fig. 2～S2-5).With the action surplus amount that calculates in the process 2, promptly each composition xte, yte, zte, α te, the upper lower limit value of β te, γ te of relevant all taught point and object-point show (step S2-3) in graphics device 7, if the operator needs just to carry out the correction (step S2-4, S2-5) of display dot with reference to the action surplus amount that shows.Under the situation of correcting taught point (step S2-5), the calculating of the action surplus amount of implementation 2 once more shows revised action surplus amount (step S2-2, S2-3) once more.In step S2-4 under the situation of unnecessary correction, and implementation 4 (step S2-6～S2-8).
As the mode of the demonstration (step S2-3) of action surplus amount, each taught point and object-point are shown in graphics device 7 as tabulation together with relevant their each composition xte, yte, zte, α te, the upper lower limit value of β te, γ te.
When the rich value of the upper lower limit value of each composition xte, yte of each taught point and object-point, zte, α te, β te, γ te and predefined permission is relatively rather than merely as the tabulation demonstration in process 2, preferably, show the higher limit or taught point and the object-point (also but visual identity ground show the upper lower limit value itself that allow affluence value below) of lower limit below the rich value of permission of any one composition can the upper lower limit value of any one composition all be surpassed taught point that allows rich value and the mode that object-point is carried out visual identity.For example, just can realize the demonstration that to discern according to the color coding of the demonstration on the graphics device 7.Have again, set the rich value of permission respectively at higher limit and the lower limit of for example each composition xte, yte, zte, α te, β te, γ te.In addition, also can be in graphics device 7 only the higher limit of any one composition or lower limit be shown at the upper lower limit value that allows taught point below the rich value and object-point with each composition xte, yte, zte, α te, β te, γ te.By the demonstration of these modes, the operator can easily hold the taught point that needs correction.In addition, owing to express the direction of not having rich amount, effectively utilize as guidance to the operator so can also comprise the direction of needs correction.
In addition, under the situation that has a plurality of taught points and set point, because the operator finds out the taught point of need revising and has any problem, thus also can from the action surplus amount less, promptly begin in order graphics device 7, to show taught point and object-point as tabulating with the upper lower limit value of each composition with respect to the less point of affluence amount of the upper lower limit value of each composition xte, yte of allowing rich value, zte, α te, β te, γ te.By the demonstration of this mode, the operator can hold the taught point that needs correction apace, can more effectively carry out the correction operation of taught point.
In process 2, also can calculate the minimum value of action surplus amount by each upper lower limit value of each composition xte, yte, zte, α te, β te, γ te, as in graphics device 7, showing at above-mentioned action surplus amount by the track of tutorial program appointment all each composition xte, yte, zte, α te, β te, γ te at all taught points and object-point.By the demonstration of this mode, can express the allowance of integral body of the foozle of alignment error as workpiece and robot, workpiece, can effectively utilize as the guide of the operation of the automated job in the robot.
The robot 1 of actual machine will consider that in process 3 tutorial program that the correction of action surplus amount finishes downloads to control device 3, carry out actual job (the step S2-6 of the 4th process: Fig. 2～S2-8).In the time of action surplus amount abundance, robot 1 work, no problem especially.In addition, when the action surplus amount is little, strict etc., the boundary value of the position deviation of using the workpiece W by contact induction when detecting under the situation of offset residual quantity on the throne value beyond the mark, or skipped operation or stopped before operation.Thus, can prevent action that the actuating range boundary of robot 1 causes stopping midway.In addition, owing to know the foozle that relates to workpiece W and the allowance of alignment error in advance, so, just can prevent action that the actuating range boundary of robot 1 causes stopping midway by considering when operation, in this scope, to make the configuration workpiece.
(the 2nd embodiment)
Also can in the calculating of the action surplus amount of process 2, calculate the upper lower limit value when a plurality of compositions are changed.With reference to Fig. 9, for example, when seeking the combination of the xte composition of accompanying drawing and yte composition, but because to surround the area B of the upper lower limit value of xte composition and yte composition respectively be operating space, so by seeking this extraneous part, just can shorten operation time.In addition, if only know trend simply, then just enough in the area B of the upper lower limit value that surrounds each composition.
Processing when Figure 10 shows the combination of seeking xte composition and yte composition in the calculating of action surplus amount.Calculating (step S10-1, S10-5) at each taught point and each object-point repeating step S10-2～S10-4.In addition, the storage computation result (step S10-6) for the demonstration of back.Though calculate the higher limit xte-up and the lower limit xte-down of xte composition in step S10-2, these computing method are by with reference to Fig. 7,8 explanation.In addition, in step S10-3, similarly, calculate the higher limit yte-up and the lower limit yte-down of yte composition.After this, in step S10-4, ask the action surplus amount in xy space.
Below with reference to Figure 11, describe step S10-4 in detail.Figure 11 shows the program with regard to the rich degree in 1 taught point or object-point (xte, yte, zte, α te, β te, γ te) calculating xy space.In step S11-1, it is xte-down that xi is set at initial value.In addition, in step S11-2, it is yte that yi-up and yi-down are set at initial value.Yi-up is the higher limit of the y composition (yj) of the value of x composition when being xi, and yi-down is the lower limit of the yj of the value of x composition when being xi.And in step S11-3, it is yte-down that the value of yj is set at initial value.The processing of step S11-2～11-16 repeatedly.Particularly, till xi arrives xi-up from xi-down, all repeat this processing with fixing increment, and, with regard to each xi, till arriving yj-up, all repeats yj-down up to yj.
In step S11-4, calculate the inverse kinematics of (xi, yj, zte, α te, β te, γ te), confirm to have or not the pattern of separating (step S11-5), separating whether identical (step S11-6) and separate in the movable range that whether is in each rotary joint θ 1～θ 6 (step S11-7) of the joint angles of each rotary joint θ 1～θ 6.If it is in the movable range that identical and each joint angles of the pattern of separating, separating is arranged, then move on to step S11-8.In step S11-8, if yj less than lower limit yi-down, then is set at lower limit yi-down yj (step S11-9), on yj, add enough little value Δ y, return step S11-4.On the other hand, in step S11-8,, then move on to step S11-11 if yj is more than the lower limit yi-down.At step S11-11, if yj surpasses higher limit yi-up, then in step S11-12, higher limit yi-up is set at yj, return step S11-4 through step S11-10.
If in step S11-5, do not have the pattern difference separate, in step 11-6, separate or in step S11-7 each joint angles outside movable range, then move on to step S11-13.In step S11-13, if yj less than higher limit yj-up, then returns step S11-4 through step S11-10.In step S11-13, if yj more than higher limit yj-up, then in step S11-14, stores the value xi of this x composition constantly and upper lower limit value yi-up, the yi-down of the y composition corresponding with it.Then, in step S11-15, behind the value of adding Δ x on the xi, move on to step S11-16.In step S11-16, if xi more than xte-up, then if end process less than xte-up, is then returned step S11-2.
(the 3rd embodiment)
Though in the 1st embodiment, to the direction calculating action surplus amount (bound of each composition) of the frame of reference of robot 1, also the conventional coordinates that can just set arbitrarily calculates the action surplus amount.Make coordinate axis and want to know that the direction of action surplus amount is consistent by the established standards coordinate system, just can obtain the action surplus amount of the easier assurance of operator.With reference to Fig. 5, for example when the workpiece W with respect to the frame of reference (x, y, z, α, β, the γ) tilted configuration of robot 1 being implemented, robot 1 is moved on the direction that tilts with respect to the frame of reference according to the metering before the processing of contact induction etc.In the case, because the action surplus quantitative change of the relevant direction that tilts with respect to the frame of reference gets important (operator wonders the allowance of deviation in this direction), thus also can the established standards coordinate system (x ', y ', z ', α ', β ', γ ') make coordinate axis consistent with inclination with respect to the frame of reference of workpiece.
(the 4th embodiment)
Though in the 1st embodiment, illustrated based on the calculating of the action surplus amount in advance of the off line teaching system that has used computing machines such as PC 5 etc., but also can with calculate at each taught point and object-point function, the rich amount of display action of action surplus amount function, and be assembled into the control device 5 of robot 1 according to the function of the action surplus amount correction tutorial program that shows.
Even if (teaching is used) actual workpiece is formed teaching with under the situation (actual machine teaching) of program, also can produce the configuration error of the foozle of workpiece W and individual difference, every operation in the robot 1 that is utilizing teaching control stand 3 operation actual machine.As previously mentioned, if in the control device 5 of robot 1, pack 3 functions into, even if the situation of actual machine teaching then also can realize the calculating of action surplus amount and demonstration with the 1st embodiment and in the same manner based on this correction of tutorial program.With reference to Figure 12, in the case, at first form tutorial program (step S12-2), after this calculate the action surplus amount and show (step S12-2, S12-3), then carry out the correction (step S12-4, S12-5) of taught point if necessary by the actual machine teaching.After correction is finished, carry out the correction of taught point according to contact induction and result thereof after, robot 1 is actual to carry out welding action (step S12-6, S12-7).
The invention is not restricted to embodiment, can carry out various variations.For example, though with the artificial example of welding robot of rotation multi-joint type the present invention has been described, the present invention also can be applicable to the translation joint type, possess both robots of rotary joint peace movable joint.The present invention also can be applicable to other the robot that contains the industrial robot that carries out the various operations beyond the welding such as application, deburring, cut-out.
Claims (8)
1. the action surplus amount computing display packing of a robot comprises:
The 1st step, each taught point of contained a plurality of taught points in the tutorial program at robot, 1 parameter or a plurality of parameter in a plurality of parameters of posture of the above-mentioned robot of expression are changed, come reckoner to be shown in the actuating range in each joint of above-mentioned robot the action surplus amount of starting at zone that can continuous action from above-mentioned taught point; And
The 2nd step shows the above-mentioned action surplus amount of each taught point quantitatively with numerical value.
2. the action surplus amount computing display packing of robot according to claim 1 is characterized in that,
At the object-point of on the interpolation track between the adjacent taught point, setting, also carry out the above-mentioned the 1st and the 2nd step.
3. the action surplus amount computing display packing of robot according to claim 2 is characterized in that,
Also comprise the 3rd step, in the 3rd step, the rich value of each taught point that will calculate in above-mentioned the 1st step and the action surplus amount in each object-point and predefined permission compares,
In above-mentioned the 2nd step, only above-mentioned taught point and the above-mentioned object-point of above-mentioned action surplus amount below the rich value of above-mentioned permission shown with above-mentioned action surplus amount.
4. the action surplus amount computing display packing of robot according to claim 2 is characterized in that,
Also comprise the 3rd step, in the 3rd step, the rich value of each taught point that will calculate in above-mentioned the 1st step and the action surplus amount in each object-point and predefined permission compares,
In above-mentioned the 2nd step, can above-mentioned action surplus amount being carried out identification mode above the above-mentioned taught point and the above-mentioned object-point of the rich value of above-mentioned permission, above-mentioned taught point and the above-mentioned object-point of above-mentioned action surplus amount below the rich value of above-mentioned permission shown with above-mentioned action surplus amount.
5. the action surplus amount computing display packing of robot according to claim 2 is characterized in that,
In above-mentioned the 2nd step, as with from less to more tactic tabulation above-mentioned taught point and above-mentioned object-point being shown with above-mentioned action surplus amount by above-mentioned action surplus amount.
6. the action surplus amount computing display packing of robot according to claim 2 is characterized in that,
Also comprise the 4th step,, calculate the minimum value of the above-mentioned action surplus amount of each parameter at all taught points and the object-point that in above-mentioned the 2nd step, calculate;
In above-mentioned the 2nd step, the minimum value of the above-mentioned action surplus amount of above-mentioned each parameter is shown as the above-mentioned action surplus amount by above-mentioned each parameter in the track integral body of above-mentioned tutorial program appointment.
7. according to the action surplus amount computing display packing of each described robot in the claim 1 to 6, it is characterized in that,
A plurality of parameters of representing the posture of above-mentioned robot are the parameters in the conventional coordinates of setting arbitrarily.
8. the action surplus amount computing display device of a robot comprises:
Operational part, each taught point of contained a plurality of taught points in the tutorial program at robot, 1 parameter or a plurality of parameter in a plurality of parameters of posture of the above-mentioned robot of expression are changed, come reckoner to be shown in the actuating range in each joint of above-mentioned robot the action surplus amount of starting at zone that can continuous action from above-mentioned taught point; And
Display part shows the above-mentioned action surplus amount of each taught point quantitatively with numerical value.
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| JP2009226561A (en) | 2009-10-08 |
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