JP2000024970A - Robot simulation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily perform the evaluation by judging a part to be reflected in a program for simulation and a part to be not reflected therein, converting a program for a real robot, and executing the arrangement, the motion and the numerical display of a model of a variation part on the basis of the standard model of a fixed part and the libraries of peripheral equipments. SOLUTION: A program conversion part 11 comprises a judgement part 16 for judging a part to be reflected in a program for simulation and a part not to be reflected therein from a program for real robot, and the part to be reflected is converted into the program for simulation. A plurality of hands can be selectively mounted on a fixed part, and the fixed part comprises a memory part 12 comprising the standard model, the program, the teaching point, the data, and the memories of libraries of the peripheral equipments, an input part 13 for inputting the program to at least a robot in the standard system model, and performing the configuration of the model, an output part 14 comprising a display means of at least the motion of the model and a numerical value, and an operation.control part 15, to evaluate a system.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot simulation apparatus in an automated assembly system constructed by a fixed portion and a variable portion that changes according to a unit to be assembled.

[0002]

2. Description of the Related Art In a system in which multiple parts are assembled or disassembled using a single robot or a plurality of robots, a simulation apparatus has been conventionally used in order to efficiently perform a robot work plan and an optimal layout with peripheral devices. Is used.

[0003] Such a simulation apparatus is disclosed in, for example, JP-A-62-226203 and JP-A-63-1.
No. 8403, Japanese Patent Application Laid-Open No. 1-92809, etc., input a geometric model of a robot and its peripheral devices, define the motion of the robot, and then teach the robot's teaching points, robot and Define input / output to / from peripheral devices and describe operation using simulation language. Then, these data are simulated (simulated execution) on a CRT screen, and the simulation execution is repeated while changing the operation command, the teaching point, and the input / output signal until a series of operations becomes a target operation. At this time, it is checked whether or not there is interference between the robot and peripheral devices and the like, so that the simulation execution can be performed reliably, thereby completing the robot program.

[0004] Alternatively, as disclosed in Japanese Patent Application Laid-Open No. 9-244724, after selecting a shape similar to the shape of a workpiece to be coated from among basic shapes stored in advance,
Enter dimensional information about the size of the work. Based on this, a three-dimensional model of the work is created, and an operation program that defines the teaching points and the passing order of each teaching point is created. Then
A three-dimensional model of the work environment including the robot model and a three-dimensional model of the work are displayed on the display unit, and a simulation of the operation of operating the robot model is performed according to the created operation program. If there are additions and corrections, these are performed to complete the operation program.

[0005]

A robot that executes a simple sequence with a relatively simple configuration such as painting and welding (here, the simple configuration means that devices such as various component feeders are arranged around the robot. It is a configuration in which a robot exists almost independently in each process, and a simple sequence is to input an external operation start signal,
This is a sequence in which a predetermined work is performed at a predetermined place, and then a work completion signal is output and the operation is completed.) Creation is possible.

However, for a robot that executes a complicated sequence with a complicated configuration, such as a multi-part assembly robot formed by a plurality of robots, the ratio of input / output of signals to / from various peripheral devices is the ratio of the operation command of the robot. Therefore, it is difficult to create a program according to the conventional example for the following reason.

[0007] In order to create a program of a robot having a high input / output ratio such as a multi-component assembly robot offline, and to verify the operation and check for interference, in addition to the robot program, the parts arranged around the robot are required. It is necessary to create models such as a feeder, a workbench for assembling parts, a robot hand for handling parts, and other models such as actuators and sensors such as air cylinders, and also programs. Therefore, it takes much time to operate the robot. In addition, an error routine or a retry routine is required to use the program as a program for an actual robot, and it is difficult to confirm all of them in the simulation apparatus. Further, there is a problem that no information can be obtained until all necessary models are created and program debugging is completed.

Further, with respect to off-line teaching, the positional relationship between the robot hand attached to the tip of the robot and the work becomes much more important in assembly work than in painting and welding. Even if all necessary devices, from robot arms and hands to conveyors, component feeders, and workpieces, are accurately three-dimensionally modeled and constructed in a virtual space, there will be errors in the position of the actual system. Occurs. Some reasons are as follows: (1) Even if only the robot arm is considered, there is a mechanical error for each joint. In the case of a scalar robot in which joints are continuously arranged, the error of each joint is maximized at the most important arm tip. (2) Since each module such as a robot, a conveyor, and a component feeder cannot be accurately arranged as instructed in the drawing, errors occur between the modules. (3) In the case of a SCARA type robot, since the arm has a cantilever structure, an error occurs due to bending of the arm.

As described above, it is difficult to make an actual robot perform an assembling operation even when teaching is performed in a virtual space and teaching data is created. Even if the error is set within a few millimeters, there is a problem that the teaching work by the operator in the actual system is not required.

[0010] In addition to the above, since the robot language for the simulator and the language for the real robot are often different, the program creator considers the correspondence of the real robot in the field, and In addition, it is desirable to learn languages for real robots. The program developer is familiar with the operation of the simulator, and there is also a problem that the program cannot be developed unless the user is familiar with the operation and the program of the actual robot.

In view of such a background, the present invention can evaluate the operation of a robot based on a created robot program, accurately evaluate input / output with basic peripheral equipment, and can perform peripheral evaluation in a process. It is an object of the present invention to provide a robot simulation device for easily and easily evaluating a layout of a robot.

[0012]

According to one aspect of the present invention, there is provided a robot simulation in an automated assembling system constructed by a fixed part and a variable part which is converted according to a unit to be assembled. In the device, a program conversion unit that determines a part to be reflected in the simulation program and a part that is not reflected in the real robot program, and creates a simulation program from the real robot program,
A storage unit having a library of a standard system model constituted by fixed parts, a hand, a work, and a peripheral device, which are variable parts, and at least a program input to a robot in the standard system model and model placement can be performed. An input unit and an output unit having at least model operation and numerical value display means are provided.

According to another aspect of the present invention, there is provided a computer system comprising:
According to the invention described in claim 1, in the invention described in claim 1, the determination unit of the program conversion unit has a function of determining and converting only the input / output with a peripheral device that is a fixed portion among the input / output portions in the actual robot program. It is characterized by having.

According to another aspect of the present invention, the above object is achieved.
According to the invention described in claim 1 or 2, virtual input / output is set in advance in the standard system model, and input / output of signals with the robot is confirmed for peripheral devices other than the robot. The program is set for the following.

According to another aspect of the present invention, there is provided an electronic apparatus comprising:
The invention described in any one of claims 1 to 3 is characterized in that the hand library has a dedicated hand for fastening parts in addition to a general-purpose robot hand. is there.

According to another aspect of the present invention, the above object is achieved.
According to the invention described in any one of claims 1 to 4, the work model in the work library is characterized in that a teaching point is set in advance at the position of the center of gravity.

[0017]

Embodiments of the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a front view of the automated assembly system, and FIG. 2 is a plan view of the same. The automated assembly system includes a robot (robot main body) 1, a large component supply device 2, a conveyor 3, an assembly work table 4, a component supply table 5, a component pallet 6a to 6c, and a rotary turret 7.
, And variable parts such as robot hands 8a to 8d and peripheral devices (suppliers) 9a and 9b that are changed according to the unit to be assembled.
In FIG. 1 and FIG. 2, the fluctuating portion is indicated by oblique lines. The workpieces 10a to 10c are supplied by a component feeder (the large component feeder 2 or the feeders 9a and 9b).

Next, the fixed portion will be described in detail. The robot 1 is an industrial robot having a plurality of degrees of freedom. The robot 1 has a rotary turret 7 at its tip and a plurality of hands 8a.
To 8d can be selectively attached.
In some cases, a plurality of robots 1 have a common work space and are controlled by an interlock signal so as not to simultaneously enter the interference area.

The large component supply device 2 is a device for supplying the workpieces arranged on the assembly component pallets 6a to 6c into the operating range of the robot 1. Exchanges signals for positioning confirmation. The conveyor 3 transports a pallet (not shown) for transferring units in the preceding and following processes. The assembling worktable 4 is a worktable for performing the assembling work in the present process, and an actuator or the like for fixing the work 10 is installed according to a unit to be assembled.

The component feeder holder 5 is a feeder 9a for feeding components other than the workpiece supplied by the large component feeder 2, for example, components such as screws for fastening and bearings.
It is a stand for placing 9b. Here, the work 10a, 1
If both 0b and 10c are large parts, they are supplied from the large parts supply machine 2 as described above, otherwise they are supplied from the supply machines 9a and 9b.

Next, a detailed description will be given of the variable portion. As the robot hands 8a to 8d, dedicated ones are attached to parts to be assembled. Peripheral devices 9a, 9
b may be a component feeder for supplying a component to be assembled, or may be a device for adjusting the direction of the D cut of the work.

FIG. 3 is a block diagram showing an example of the robot simulation apparatus according to the present invention. This device includes a program conversion unit 11, a storage unit 12, an input unit 13, and an output unit 1.
4. An arithmetic and control unit 15 is provided. The program conversion unit 11 includes a determination unit 16 and a conversion processing unit 17. The storage unit 12 includes a standard model storage unit 18, a hand library storage unit 19, a work library storage unit 20, a peripheral device library storage unit 21, a program storage unit 22, a teaching point storage unit 23, and a data storage unit 24. The input unit 13 includes a keyboard 25, a mouse 26, and an input port 27. The output unit 14 includes a CRT 28 and an output port 29.

The respective components will be described below. The program conversion unit 11 will be described. Usually, the program description language for a real robot is different from the program description language for simulation. Therefore, when a program is described in a program language for a real robot, a means for converting the program is required to use the program in a simulation. The program conversion unit 11 according to the present invention includes a determination unit 16 that determines a part that is reflected from the real robot program to the simulation program and a part that is not reflected.

In the determination section 16, a predetermined conversion is performed in a conversion processing section 17 for a portion reflected in the simulation program. Also, the conversion processing unit 1
7 also adds a statement specific to the simulation program. Further, the conversion processing unit 17 has a function of adding a statement at a predetermined position so as to perform the assembling operation of the robot 1 at least three times.

Next, the storage section 12 will be described. The standard system model stored in the standard model storage unit 18 will be described. The standard system model is a three-dimensional model including only fixed parts. Of the fixed parts, in the real system, virtual input / output is set in advance between the robot body 1, the large component supply device 2, and the assembling worktable 4, which mutually input and output signals. These are provided with standardized input / output channels. Thereby, consistency with the robot program can be obtained.

Further, the large-sized component supply device 2 and the assembling worktable 4 incorporate a general-purpose program for standardizing the robot 1 or only inputting and outputting signals. Operations that depend on a specific unit or robot, such as loading and unloading operations depending on the number of workpieces in the large component supply device 2 or rotating operations for assembling the workpieces on the assembly worktable 4, are programmed. Not.

The hand library storage unit 19 stores general-purpose hands that model standard dimensions and standard gripping mechanisms. In addition, a plurality of hands having the same shape and dimensions as those of the general-purpose hand, but having a part or the whole of a different color are prepared. In addition, a model of an E-shaped retaining ring, a C-shaped retaining ring, and a dedicated hand model for assembling screws, which are common as fastening parts for unit assembly, are provided.

The work library storage unit 20 stores several types of general-purpose works. In each case, actual parts are deformed such as rollers and shafts are cylindrical, and molded parts and plate parts are rectangular parallelepiped.
Various fastening parts are also modeled.

In the embodiment, since it is assumed that the roller is used for assembling the unit of the copying machine, the total length of the rollers is A3.
A model having an approximate size, such as a need for a vertical length, can be prepared in advance. When a workpiece is gripped by an automated assembling robot, the position of the center of gravity is often gripped, so a teaching point is set in advance. In the peripheral device library storage unit 21, a standardized screw aligner, parts feeder, and the like are modeled and stored. When a model that is not included in the above library is required, a new model can be created, or data can be obtained from three-dimensional CAD.

The program storage section 22 stores a program for operating a robot model in the apparatus. The teaching point storage unit 23 stores teaching points for operating a robot model in the apparatus. Data storage unit 2
Numeral 4 stores numerical results such as a tact time that can be obtained as a simulation result and a motion amount of each axis of the robot.

Next, the input section 13 will be described. The input unit 13 includes at least the robot 1 in the standard system model.
This is a means for inputting a program to the system and arranging models constituting the system. A keyboard 25 and a mouse 26, which are general pointer devices, are used.
Input port 27 for inputting data from another system
Having.

Next, the output unit 14 will be described. The output unit 14 is a unit having at least an operation of the model and a numerical value display unit. A general CRT 28 is used. Further, it has a port 29 for outputting data to another system.

Next, the operation / control section 15 will be described.
The calculation / control unit 15 has a function of performing arrangement of a three-dimensional model, setting of a teaching point, and execution of a simulation based on input information from the input unit 13.

FIG. 4 is a diagram showing a flow of development of the automated production system. This processing block includes a program development block 100, a work block 110 in the simulation device, and a device development block 120 in a variable portion. The program development block 100 and the device development block 120 of the variable part start simultaneously in time, and enter the stages S1 and S21 of the respective concepts. At the stage of program development (S2), a program is created in a real robot program language. Here, the program may be described from scratch, or may be selectively created using a modularized library of past programs. When the creation of the program is completed, the real robot program is converted into the simulation robot program (S3).

On the other hand, the work block 110 in the simulation apparatus first duplicates a standard system model which is the basis of the system model (S11). There, a model of the automated assembly system to be developed is created using various libraries (S12). When a plurality of robot hands 8a to 8d can be attached to the tip of the robot arm, all-purpose hands may be selected,
When standard fastening parts are assembled, a dedicated hand may be selected.

Similarly, the peripheral device library storage unit 21 and the work library storage unit 20 similarly select and arrange as necessary. At this time, if there is no desired model,
It may be newly created on the simulation device, or data may be received from a three-dimensional CAD system.

After the creation of the model required for the simulation device is completed, a teaching point is set (S13), a simulation program is downloaded to the robot model (S14), and the model is operated. At this time, the basic operation of the robot 1, interference with the peripheral devices 9a and 9b, tact time, each axis operation amount, and the like can be confirmed by the output unit 14 (S15). The obtained information is used for program creation processing (S
2) Feed back to the device design processing (S22) of the variable part.

The teaching data obtained from a system model created using a library containing general-purpose models is inferior in accuracy to teaching data obtained by accurately modeling all devices, but the final Teaching work by the actual machine is still performed, and if the auxiliary data is used, teaching data with sufficient accuracy can be obtained.

Next, the operation of the program converter 11 will be described. Generally, an actual robot program includes an error handling routine, a retry operation routine, and the like, in addition to a description of a standard assembly operation. The statements that make up the program include (1) robot operation statements, (2) input / output statements, (3) robot state setting statements that define hand systems, etc. (4) GOTO, IF statements, etc. It can be classified as a program control statement. Of these, the input / output statement includes the standardized input / output set in the fixed portion described above and the interlock set in a case where a plurality of robots 1 work with a common work space. Judge only the signal and reflect it in the simulation program.

For the part where the program is controlled by the input / output statement which is not reflected in the simulation program, such as the input from the hand opening / closing sensor, which is a variable part, all of the subsequent operations, state settings, and program control are performed. All comments are not reflected in the simulation program.

By the above-described program conversion, the simulation program does not convert the error processing portion, the retry operation portion, and the like described in the real robot program.
It consists of a minimum number of statements that reproduce the robot's assembly operation when no retry or the like occurs.

In the program conversion according to the present invention, the assembly work of one unit is performed at least three times.
A control statement is added. In the robot assembling operation, the posture of the robot is not returned to the work origin after the unit assembly is completed in order to reduce the tact time.
Therefore, when the tact time is measured three times, the first time is from the posture of the work origin to the assembly completion posture, the second time is from the assembly completion posture to the assembly completion posture, and the third time is the time from the assembly completion posture to the work origin. It is the second time that the correct tact time is obtained.

[0043]

According to the first aspect of the present invention, the robot in the simulator can be operated in a simple procedure and in a short time without being familiar with the operation of the simulator. In addition, information can be fed back not only to the design of a robot program, such as to consider a tact time reduction plan, etc., but also to the device design from an early stage of development, and the feedback loop can be run in a short time.

According to the second aspect of the present invention, it is possible to obtain a simulation program which does not depend on a variable portion, so that the operation of the robot and the confirmation of signals from the fixed portion can be performed at an early stage.

According to the third aspect of the present invention, a program is created and converted by the fact that a program which can be generally used for virtual input / output and all robot programs is preset in the peripheral device of the fixed part. Later, even if the user is not familiar with the operation of the simulator, the robot in the simulator can be operated by a simple procedure.

According to the fourth aspect of the invention, more accurate interference check can be performed than when a general-purpose hand is used. Also,
In the case of a robot that can attach multiple robot hands to one robot arm and assemble multiple parts,
The difference between the shape and the general-purpose hand can be recognized, and the operation of the robot can be easily confirmed in the simulation device.

According to the fifth aspect of the present invention, since it is not necessary to add a teaching point to the work model, the robot can be easily operated in a shorter time.

[Brief description of the drawings]

FIG. 1 is a front configuration diagram of an automated assembly system.

FIG. 2 is a plan view of the same.

FIG. 3 is a block diagram illustrating an example of a robot simulation device according to the present invention.

FIG. 4 is a diagram showing a flow of development of an automated production system.

[Explanation of symbols]

 11 Program conversion unit 12 Storage unit 13 Input unit 14 Output unit 15 Operation / control unit

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Toshiyuki Muto 1-3-6 Nakamagome, Ota-ku, Tokyo F-term in Ricoh Co., Ltd. 3F059 AA03 BA03 BA06 BB02 FA07 5H004 GA27 GB16 HA07 HB07 MA36 MA49

Claims (5)

[Claims] 1. A robot simulation apparatus in an automated assembly system constructed by a fixed part and a variable part converted according to an assembly target unit, wherein a part reflected in the simulation program among real robot programs, It has a program conversion unit that determines the part that is not reflected and creates a simulation program from the actual robot program, a standard system model composed of fixed parts, and libraries for hands, works, and peripheral devices that are variable parts A storage unit, at least an input unit capable of inputting a program to the robot in the standard system model and arranging the model, and an output unit having at least model operation and numerical display means. Characteristic robot simulation equipment . 2. The program conversion unit according to claim 1, wherein the determination unit of the program conversion unit has a function of determining and converting only input / output with a peripheral device that is a fixed portion among input / output portions in the real robot program. A robot simulation device characterized by the following. 3. The standard system model according to claim 1, wherein virtual input / output is set in advance in the standard system model, and peripheral devices other than the robot are used to confirm input / output of signals with the robot. A robot simulation device, wherein a program is set. 4. The robot simulation apparatus according to claim 1, wherein the hand library has a dedicated hand for fastening parts in addition to the general-purpose robot hand. 5. The robot simulation apparatus according to claim 1, wherein a teaching point is set in advance at a position of the center of gravity of the work model in the work library.