JP2002236510A - Robot off-line programming method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a programming method which requires neither a long time for instruction nor a master work and can use CLDATA generated by CAD/CAM software used by an NC machine tool as a robot off-line programming method for carrying out unidirectional chamfering and polishing operation for a work. SOLUTION: This method consists of a stage where processing condition data generated by a three-dimensional CAD/CAM system which performs the chamfering and polishing operation for the work by generating an omnidirectional floating load on an articulated robot are inputted as three-dimensional CAD by a processing condition input device, a stage where the input data are converted into CLDATA standardized by ISO or JIS and stored in a storage part, and stage where the CLDATA is translated into a robot language and inputted to a program.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot offline programming method for performing a chamfering and polishing operation on a workpiece by attaching a load-balanced floating device (hereinafter simply referred to as a "balanced floating device") or the like to an industrial articulated robot. About.

[0002]

2. Description of the Related Art Conventionally, when a workpiece, for example, a flange or the like is chamfered or polished by a tool provided on a robot, a load applied to the tool to be machined is kept within a predetermined range, and a uniform finished surface is formed. To achieve this, floating devices have been used. As such a floating device, as shown in FIG. 9, a cutting jig provided at the tip of a spindle 4 provided through the body 3, a tool 29 composed of a grindstone or a buff wheel, etc.
Some of them are designed to perform chamfering or polishing work.

In the one-way floating device 1 provided with such a tool 29 provided at the tip of the spindle 4 and capable of applying the floating load 11 only in one direction orthogonal to the axial direction of the spindle 4, the robot flange An air cylinder 7 is provided in a casing 5 fixed via a mounting block 10 mounted on the front of
The balance between the elastic force of the spring 6 provided on the rod 14 that operates inside the air cylinder 7 and the pressure of the air 8 introduced to the piston 13 corresponds to the movement of the rod 14 that moves left and right inside the air cylinder 7. Then, the base block 2 provided with the rollers for driving the lower end of the casing 5 is moved left and right.

[0004] By moving the body 3 and the like constituting a grinding tool having one end fixed to the lower end of the base block 2 to the left and right, a buff provided at the tip of a spindle 4 that rotates through the inside of the body 3. Tools 29 such as wheels
The floating load 11 is generated only in one direction. That is, the floating load 11 generated on the tool 29 provided at the tip of the spindle 4 is caused by the spring force of the spring 6 installed in the casing 5 and the piston 1
Depending on the magnitude of the air 8 pressure acting on 3, the tool 29 can generate the floating load 11 in a predetermined range in one direction.

However, in such a one-way floating device 1, the axial direction of the body 3 shown in FIG.
When the casing 5 of the one-way floating device 1 is used in a horizontal posture by matching the direction of the main body load 12 acting on the one-way floating device 1, in other words, when the body 3 is used in a vertical state. In particular, although there is no problem, the axial load of the body 3 constituting the grinding tool and the main body load 1 of the one-way floating device 1 as a whole.
When the tool 29 is used in a posture in which the direction of the axis of the body 3 and the direction of the main body load 12 are orthogonal to each other as shown in FIG. Is added to or subtracted from the floating load 11, the floating load 11 applied to the tool 29 changes extremely, and it is difficult to apply a predetermined load to the tool 29 to perform machining. In addition, it is difficult to make the machined surface of the workpiece a uniform finished surface.

Further, the magnitude of the floating load 11 depends on the magnitude of the inclination angle of the body 3 from the vertical direction in the axial direction.
Since the one-way component changes, in the one-way floating device 1 as shown in FIG. 9, the axial direction of the body 3 is set to the vertical direction, and the one-way floating device 1 can be used only for a machining operation performed in a horizontal posture in which the tool 29 is operated in the horizontal direction. There is a problem that.

Further, in order to solve such a problem,
The floating load 11 is applied in all directions of the spindle 4 so that the floating load applied to the tool 29 is maintained in a predetermined range and a uniform finished surface is formed even when the axial direction of the body 3 is inclined in any direction. As a conventional floating device that can be used, there is an omnidirectional floating device 15 shown in FIGS. As shown in FIG. 11, the omnidirectional floating device 15 has a plurality of spring members 16 arranged along the outer peripheral portion on the lower end side of the casing 5 directly fixed to the front end (lower end) surface of the robot flange 9. The omnidirectional floating device 15 is connected to the casing 5 via the spring member 16.

The spindle 4 is rotatably driven on the opposite (lower) surface of the base block 2 whose one surface is connected to the lower end of the casing 5 via a spring member 16. The base end of the grinding tool is fixed from the body 3 or the like that is made to penetrate, and the casing 5 of FIG. A plurality of air cylinders 17 having the same structure as the air cylinder 7 to be provided are provided.

A predetermined pressure of air 8 is introduced into the air cylinder 17 disposed on the base block 2 on the side opposite to the side on which the floating load 11 is applied to the tool 29 provided at the tip of the spindle 4. , The gap formed between the base block 2 and the casing 5 is fluctuated against the strength of the spring material 16 by the distal end portion of the rod 14 protruding from the air cylinder 17. To change the inclination of the base block 2 so that a floating load 11 of an arbitrary magnitude can be generated in a required direction on a tool 29 provided at the tip of the spindle 4 by the inclination of the body 3 accompanying the inclination of the base block 2. ing.

However, in such an omnidirectional floating device 15, when used in a vertical posture in which the axial direction of the body 3 shown in FIG. 1, no problem occurs, but the axial direction of the body 3 does not coincide with the direction of the main body load 12. In particular, the axial direction of the body 3 and the direction of the main body load 12 as shown in FIG. In the case where grinding is performed in the state, the floating load 11 may be added to or subtracted from the processing load of the tool 29 depending on the direction in which the floating load 11 is generated. 4
The processing load applied to the tool 29 provided at the tip of the tool changes extremely, and it is difficult to apply a predetermined load to the tool 29 to perform a grinding operation, and to form a uniform finished surface on the processing surface. .

The magnitude of the floating load 11 of the omnidirectional floating device 15 is also the same as the floating load 11 generated in the unidirectional floating device 1 described above, and the inclination angle of the body 3 in the direction of the main body load 12 from the vertical direction. Therefore, in the omnidirectional floating device 15, although adopted to solve the problem of the one-way floating device 1,
There is a disadvantage that the body 3 can be used only in a specific posture to be operated with the axial direction of the body 3 being vertical and the tool 29 being close to the horizontal direction.

The omnidirectional floating device 15
Then, the pressure of the air 8 introduced into the air cylinder 17 is changed in accordance with the floating load 11 that changes according to the inclination of the body 3 that performs the machining operation, or the pressure of the air 8 is changed, and By changing the air cylinder 17 to be drawn in and out, the floating load 11 fluctuating due to the inclination angle of the main body load 12 acting in the vertical direction can be adjusted to a desired size regardless of the change in the attitude angle of the body 3. Naturally, it is possible to solve the problem of the one-way floating device 1 described above.

However, when the floating load 11 is set to a desired constant size and a predetermined load is applied to the tool 29 regardless of the change (fluctuation) in the attitude angle of the body 3, the attitude angle of the body 3 It is necessary to control the pressure of the air 8 corresponding to the above, and to select an air cylinder 17 for introducing and drawing the air 8, which complicates the apparatus. Depending on the processing operation, it may be necessary to create a pressure control program according to the processing step. There will be a new problem that requires an enormous amount of time for preparation work before the work.

[0014] In view of such circumstances, the present applicant sets the robot in any posture for processing a workpiece.
The floating load 11 applied to the tool 29 is kept constant, and the main body load 12 is not affected by the floating load 11 despite the change in the posture angle during the work. Japanese Patent Application No. 2000-89658 “Load Balanced Floating Apparatus” discloses a balanced floating apparatus 20 capable of applying a floating load 11 of a desired size to the tool 29 without the need for selecting the air cylinder 17. Proposed.

FIGS. 13 and 14 are views showing an embodiment of a balanced floating device 20 proposed by the present applicant. As shown in these figures, the balanced floating device 20 proposed by the present applicant is provided at the distal end of the arm of the robot 21 in the same manner as the one-way floating device 1 and the omnidirectional floating device 15 described above. The tool 29 mounted on the tip of the spindle 4 of the floating device 20 mounted on the robot flange 9 via the mounting block 10 via the mounting block 10 is subjected to an optimum predetermined floating load 11 for processing, and Flange 23 attached to object 22
A uniform floating load 1
14, the outer periphery of the flange 23 is chamfered, polished, and the like, and as shown in FIG. 14B, the outer periphery of the flange 23 as a workpiece can be finished to a uniform surface.

This balance type floating device 20
As shown in FIG. 13, a bracket 25 having a base end portion fixed perpendicular to the front surface of the mounting block 10 and having a bracket 25 substantially perpendicular to the distal end portion and substantially parallel to the front surface of the mounting block 10 is provided. Provided at the upper ends of the base block 24 and the bracket 25,
7, an air GR 28, a spindle 4, and a tool 29 mounted on the tip of the spindle 4.

In this balance type floating device 20, a bearing 26 for supporting the position of the center of gravity is provided on the mounting block 10 side behind the bearing 26, and a cylinder-side end is pivotally attached to the base block 24. A piston 13 is different from an air cylinder 7 in which a rod-side end is pivotally attached to a side surface of the body 3 and a spring 6 is provided on a rod 14 shown in FIG.
Due to the differential pressure of the air 8 introduced to both sides of the rod 14
And an electropneumatic regulator 32 for adjusting the pressure and flow rate of the air 8 introduced from the air source 31 to both sides of the piston 13 of the air cylinder 30.

An electropneumatic regulator 3 for adjusting the flow rate
Reference numeral 2 denotes a sequencer 34 for applying a floating load 11 set to a predetermined size by the robot controller 33.
The sequencer 34 sends this to the converter 35 as an instruction value corresponding to the attitude of the body 3 in the axial direction.
The converter 35 changes the voltage to a predetermined voltage corresponding to the indicated value, and controls the pressure and flow rate of the air 8 supplied to the air cylinder 30 by this voltage control.

Thus, the electropneumatic regulator 32 supplies the air 8 at a predetermined pressure to both sides of the piston 13 of the air cylinder 30 while maintaining the predetermined air 8 pressure.
By extending and contracting the amount of protrusion of the rod 14 from the air cylinder 30, the body 3 can be rotated around the bearing 26 to generate a floating load 11 in a desired direction as indicated by an arrow on the tool 29, and The floating load 11 can be maintained at a constant load required for the machining operation of the tool 29 set in the robot controller 33.

As described above, since the balanced floating device 20 proposed by the present applicant has the above-described configuration, the outer periphery of the flange 23 can be controlled by the robot 21 equipped with the balanced floating device 20 as shown in FIG. When performing the chamfering operation of the surface, the balance type floating device 20 is attached to the tip of the arm of the robot 21,
The floating load 11 is set in advance in accordance with the required processing accuracy of the workpiece 22, and this is set to the robot controller 3.
Instructed by the robot program 3 and the robot 21
The load of the balance type floating device 20 is received by the bearing 26 so that the indicated value corresponding to the required chamfering is performed by the sequencer 34 so that the main body load 12 that changes in accordance with the posture change does not affect the floating load 11. The electropneumatic regulator 32 is controlled so that the robot 21 operates the balanced floating device 20 along the shape of the outer peripheral surface of the flange 23.

Further, in such a balanced floating device 20, the main body load 12 in a horizontal posture as shown in FIG. 13 acts on a bearing 26 installed at the center of gravity, and the floating load 11 required for the tool 29 is reduced. The floating load 11 which is generated in proportion to the pressure difference of the air 8 introduced into the piston 13 side and the rod 14 side of the air cylinder 30 and has a direction and a size necessary for the machining operation like the conventional apparatus. Can be generated on the tool.

Moreover, the floating load 11 is
The body load is 12
Since the floating load 11 is applied to the bearing 26, the floating load 11 having a desired constant pressure can be applied to the tool 29 in any posture without affecting the floating load 11.

As described above, the present applicant has filed Japanese Patent Application No. 2000-8.
9658 "The proposed load-balanced floating device is a robot 21 that processes a workpiece in the same manner as the omnidirectional floating device 15 shown in FIGS. 11 and 12.
The floating load 11 applied to the tool 29 is kept constant, and the main body load 12 does not affect the floating load 11 irrespective of the change in the posture angle during the work. In addition, the floating load 11 having a desired size can be applied to the tool 29 by eliminating the pressure control of the air 8 or the operation of selecting the air cylinder 17.
1. It is possible to solve the above-mentioned problem occurring in the omnidirectional floating device 15 shown in FIG.

However, even in the robot having the conventional omnidirectional floating device 15 shown in FIGS. 11 and 12, in order to solve the above-mentioned problem of the omnidirectional floating device 15, FIGS. 13 and 14 proposed by the present applicant. The robot 21 provided with the balance type floating device 20 shown in FIG.
In the programming operation for moving the tool 29 along the outer peripheral surface of the flange 23 as shown in FIG. 15, the position of the tool 29 at which the operator 37 actually moves the robot 21 to perform machining by the teaching pendant 36 as shown in FIG. And the robot controller 33
In the teaching playback system that reproduces this position, the operation of the worker 37 to actually move the robot 21 is performed using software having functions equivalent to those of the robot controller 33 and the teaching pendant 36 on a computer. It is performed by offline teaching method that is performed virtually, but with these methods,
Move the robot 1 to all positions to be operated and
In order to teach the machining by the method, if the number of the positions is large, there is a disadvantage that it takes much time for programming.

In the teaching playback system shown in FIG. 15, the disadvantage that a high-precision master work is required and the fact that the master work is taught visually, so that the position of the tool 29 is accurately adjusted. In addition to this, there is a drawback that the position of the tool 29 is not visible to the operator 37 in a narrow portion or the like, so that a portion that cannot be taught appears.

In particular, a balance type 45 as shown in FIG.
When performing the contour chamfering of the flange 23 using the floating device 40, it is necessary to match the direction of the normal line of the flange 23 as a work with the direction of the floating load 11 applied to the tool 29 of the balanced type 45-degree floating device 40. However, it is extremely difficult to accurately teach and store this using the teaching playback method that has been used conventionally.

On the other hand, CA used in NC machine tools
D / CAM software uses a 3D model and CLDA
Although TA (CUTTER LOCATION DATA) can be generated, this CLDATA is
Since the tool center axis position and the tool center axis vector DATA are premised on the rotary tool 38 as shown in FIG. 18, it cannot be used with a directional tool, for example, a tool using a flat file 39 as shown in FIG. However, even if a tool 29 having a central axis is used and a tool that does not output the attitude data of the tool 29 whose direction must be controlled, such as a balanced type 45-degree floating device 40 shown in FIG. The 29 offline robot program has a disadvantage that it cannot be used as it is.

[0028]

SUMMARY OF THE INVENTION The present invention addresses the disadvantages of conventional omni-directional floating devices, including balanced floating devices previously proposed by the applicant, ie, all locations where chamfering, polishing, etc. are performed. Since it is necessary to teach the tool by moving the tool, programming takes a lot of time if there are many positions to perform the work. Robots have drawbacks that require high-precision master work, or even if there is a master work, it is visually recognized and taught, so not only can the tool not be accurately adjusted to the processing part,
The disadvantage is that some parts cannot be taught in a narrow part.The normal direction of the work must be aligned with the floating load direction of the tool. The disadvantage is that it is difficult to perform the operation, or the CLDATA generated by CAD / CAM software used in NC machine tools does not output the data of the tool whose direction needs to be controlled. It is proposed in view of the actual situation such as not being able to do, etc.When chamfering and polishing work on the workpiece by attaching a directional tool such as a file or a directional device such as a balance type floating device to the robot. A robot offline program that enables robot programming work and can be performed easily and accurately in a short period of time And to provide a timing method.

[0029]

For this reason, the robot offline programming method of the present invention employs the following means.

(1) A chamfering and polishing work of a workpiece created by a three-dimensional CAD / CAM system for generating a one-way floating load on the articulated robot and chamfering and polishing the workpiece. (2) three-dimensional CAD by converting machining conditions including a tool movement trajectory, a feed rate, and a tool type and shape into machining condition input data by a machining condition input device and performing three-dimensional CAD data. The machining condition input data output from the data via the machining condition input device is converted into CLDATA standardized by ISO and JIS by a numerical control processor, and C
Inputting to the LDATA storage unit, (3) CLDATA
Translating the CLDATA output from the storage unit into a robot language determined by each robot maker by a robot language processor and inputting it into a robot program.

The robot language processor is a CLD
Input CLDATA output from the ATA storage unit,
A robot program that controls the external device by determining the record type of LDATA, converting the X, Y, and Z components of the tool vector into robot trajectory data based on the determination result, or assigning a function to be controlled by a robot program It is also preferable that the language can be automatically translated into a robot language by a robot language processor.

The robot off-line programming method of the present invention adopts the above-described steps, so that even when there are many teaching places for chamfering and polishing work, a long time is not required for programming and a high-precision master work is required. In addition, since the robot can be operated without teaching the position to the robot, the operation stop of the robot due to the teaching can be eliminated, and the tool can be accurately set in the processing section even in a narrow part, and the teaching playback method has a problem. In addition, it is possible to solve the problem of the load-balanced floating in which the normal direction of the workpiece and the direction of the floating load applied to the tool always need to match.

Further, since the position data of the tool is not output, the CLDATA which cannot use the directional tool can be used.
In addition, the robot can be chamfered and polished by attaching a directional tool such as a file or a directional device such as a balance type floating to the robot, and the robot can be programmed in a short time. Accurate work can be performed between them. Moreover,
Further, there is an advantage that the motion of the robot is calculated using the three-dimensional data, CLDATA standardized by ISO and JIS is output, and the CLDATA is automatically generated through a processor that translates the CLDATA into a robot language.

[0034]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a robot off-line programming method according to the present invention will be described below with reference to the drawings. The same members as those shown in FIGS. 9 to 18 are denoted by the same reference numerals, and description thereof will be omitted as much as possible. FIG. 1 is a block diagram showing one embodiment of a programming device 50 employed in the robot offline programming method of the present invention.

In the robot off-line programming method according to the present embodiment, as shown in FIG.
A three-dimensional CAD / CAM system 51 for outputting to the D data 52, a processing condition input device 53 for inputting the processing condition input data obtained from the three-dimensional CAD data 52 and outputting to the numerical control processor 54, an input from the processing condition input device 53 The numerical control processor 54 converts the input processing condition input data into CLDATA standardized by ISO and JIS, and outputs the CLDATA to the CLDATA storage unit 55.
A robot language processor 56 that translates CLDATA output from the A storage unit 55 into a robot language determined by each robot maker by a robot language processor, and CLDATA translated into a robot language from the robot language processor 56 are input. This is performed by the programming device 50 including the robot program 57.

As described above, according to the robot off-line programming method of the present embodiment, the weighing applied to the tool 29 is kept within a predetermined range by using the above-mentioned programming device 50, and the workpiece is chamfered, polished, etc. When creating a robot program 57 for realizing various surfaces, the numerical control processor 54 inputs machining condition inputs 53 such as motion trajectories, feed rates, and tool shapes to the three-dimensional CAD data 52 created by the three-dimensional CAD / CAM system 51. Output, and the ISO and JIS
It is standardized to make CLDATA for processing work.

The CLDATA is automatically generated by the robot language processor 56 into the robot language 57 translated into the robot language of each robot maker.
Further, the robot language processor 56 uses the CLDATA reading device 58
The CLDATA output from the DATA storage unit 55 is read, and the record type code of the CLDATA stored in the CLDATA storage unit 55 shown in FIG. In the case of the 5000 type record 61 for transmitting information, the trajectory control data conversion device 60 converts the X, Y, and Z components of the tool axis vector into trajectory control data of the robot 21, and then notifies the end of conversion to CLDATA.
The process is completed when the 4000 type record 62 is input to the robot language processor 56.

The major word of the 2000 type record 63 which conveys the post-processor command determined by the record type determining device 59 is added to the robot program 5.
7, the 2000 record processing device 64 assigns the function of the external device to be controlled by the external device 64.
Can also be automatically generated by the robot language processor 56.

According to the data flow of the programming device 50 described above, the robot off-line programming method of the present embodiment makes it possible to accurately operate the tool 29 along the processing portion without teaching the position of the tool 29 to the robot 21. Robot programs that can be created.

Generally, in the case of a trajectory control articulated robot, a tool coordinate system is provided at the tip of the robot arm, and the base coordinate system of the robot of each axis of the tool coordinate system or a work coordinate system defined in advance. Is determined by a method of designating the X, Y, and Z components with respect to the reference coordinate system. Therefore, in this case, in the robot language processor 56 shown in FIG. 1, the tool tip position P (x, y, z) output by CLDATA shown in FIG. Work coordinate system component (i
x, iy, iz), (jx, zy, zz), (kx, k
(y, kz) is calculated and used as the posture DATA of the robot 21.

In such a conversion, the above-described FIG.
Although it can be used as it is for the rotary tool 38 and the positioning operation shown in FIG. 7, it cannot be applied to the tool requiring the direction control of the tool 29. This is because when performing the finishing of the workpiece using the balanced type 45-degree floating device 40 shown in FIG. 16 that requires the direction control of the flat file 39,
As shown in FIG. 4, if the relationship between the normal direction of the workpiece and the float direction 65 of the balanced type 45-degree floating device 40 shown in FIG. 16, for example, is not determined, the pressure applied to the tool 29 even if the floating pressure is constant. This is because it is not possible to obtain a changed and uniform finished surface.

As shown in FIG. 5, when the float direction 65 is perpendicular to the work normal direction (work tangential direction), no floating occurs at all. Therefore, as shown in FIG. 6, the normal direction of the work and the float direction 65 in one direction of the balanced-type 45-degree floating device 40 must always match, and it is necessary to calculate this from CLDATA.

Here, as shown in FIG. 7, the setting of the tool coordinate system is carried out by CLDATA. The tool coordinate system Z-axis 66 of the X-, Y-, and Z-axis direction components of the tool axis vector of the tool tip 69, and the balance type 45 are output. The method of calculating these components of the tool coordinate system X axis 67, Y axis 68 and Z axis 66 from CLDATA 55 with the float direction 65 of the degree floating device 40 as the X axis 67 will be described with reference to FIG.
The operation up to 71 will be described below.

(1) The tool coordinate diameter Y-axis (moving direction vector) 6
8 is calculated.

(2) The tool coordinate system X axis (float direction vector) 67 is calculated from the tool coordinate system Y axis 68 and the tool coordinate system Z axis (tool axis vector) 66.

By programming this formula into the robot language processor 56 shown in FIG. 1, a computer calculates a robot program in which the float direction 65 of the balanced type 45-degree floating device 40 always coincides with the work normal direction, and automatically calculates the robot program. Can be generated.

[0047]

As described above, the robot off-line programming method of the present invention provides a three-dimensional CAD / CAM system for generating a one-way floating load on an articulated robot and chamfering and polishing a workpiece. The process of chamfering and polishing the work piece created in the above, making the machining condition of the tool into machining condition input data by the machining condition input device and inputting it to the three-dimensional CAD data, and the machining output from the three-dimensional CAD data Condition input data
ISO and JIS standardized C with numerical control processor
Step of converting to LDATA and inputting to storage unit, CLDA
CLDATA from the TA storage unit is translated into a robot language of each robot maker by a robot language processor and input to a robot program.

The robot off-line programming method of the present invention does not require programming time, does not require a high-precision master work, and does not teach the robot a position, even when there are many chamfering and polishing work sites to be taught. Work can be performed, and tools can be accurately set in the processing area even in narrow areas, and the problem of the teaching playback method that requires matching the normal direction of the work with the direction of the floating load is eliminated, and 3D data is used. To calculate the movement of the robot, and CLDA standardized by ISO and JIS
Since a TA is output and this CLDATA can be automatically generated through a processor that translates the CLDATA into a robot language, it is possible to solve the problem that has occurred in the teaching playback method.

Further, even in CLDATA where a directional tool cannot be used because the position data of the tool is not output, a directional tool such as a file or a directional device such as a balance type floating is mounted on the robot. This makes it possible to perform a robot programming operation for chamfering and polishing all the workpieces, and to perform an accurate operation in a short time.

[Brief description of the drawings]

FIG. 1 is a flowchart showing an embodiment of an offline programming method according to the present invention;

FIG. 2 is a flowchart showing a robot language processor process by the robot language processor shown in FIG. 1;

FIG. 3 shows a CLDA from a CLDATA storage unit shown in FIG. 1;
A diagram showing a tool tip position output in TA and a workpiece coordinate system component of a tool vector component,

FIG. 4 is an explanatory diagram showing a first example of a workpiece normal direction and a floating direction in finishing in a load-balanced floating device,

FIG. 5 is an explanatory view showing a second example of a normal direction and a floating direction of a workpiece in finishing in a load-balanced floating device;

FIG. 6 is a view showing a third example of a normal direction and a floating direction of a workpiece in finishing in a load-balanced floating device,

FIG. 7 is an explanatory diagram of a floating direction and a tool coordinate system of the load-balanced floating device,

FIG. 8 is an explanatory diagram of a method of calculating a tool coordinate system from a vector component of a tool axis when performing finishing using a load-balanced floating device,

FIG. 9 is a side view showing a conventional one-way floating device with a partially broken surface;

10 is a side view when the orientation of the one-way floating device shown in FIG. 9 is changed by 90 °;

FIG. 11 is a side view showing a conventional omnidirectional floating device with a partially broken surface;

12 is a side view when the posture of the omnidirectional floating device shown in FIG. 14 is changed by 90 °;

FIG. 13 is a side view and a block diagram showing a balanced floating device proposed by the present applicant,

14A and 14B are views showing the balance type floating device shown in FIG. 13; FIG. 14A is a side view showing a state in which the robot is mounted on a robot to perform flange processing; FIG. 14B is a front view of the processed flange;

FIG. 15 is a configuration diagram showing processing by a teaching playback method,

FIG. 16 is a diagram showing finishing by a robot equipped with a load-balanced floating device, and FIG.
Is a side view of mounting a robot and performing flange processing.
FIG. 16B is a front view of the processed flange,

17A and 17B are diagrams showing the movement of the tool when performing contour contouring with a rotary tool. FIG. 17A is a side view showing the rotary tool processing contour contouring, and FIG. ), A side view showing a part of

FIG. 18 is a diagram illustrating the movement of a tool when contour contouring is performed with a flat file.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 One-way floating device 2 Base block 3 Body 4 Spindle 5 Casing 6 Spring 7 Air cylinder 8 Air 9 Robot flange 10 Mounting block 11 Floating load 12 Body load 13 Piston 14 Rod 15 Omnidirectional floating device 16 Spring material 17 Air cylinder 20 Balance Mold floating device 21 Robot 22 Workpiece 23 Flange 24 Base block 25 Bracket 26 Bearing 27 Exchange adapter 28 Air GR 29 Tool 30 Air cylinder 31 Air source 32 Electro-pneumatic regulator 33 Robot controller 34 Sequencer 35 Converter 36 Teaching pendant 37 Worker 38 Rotating tool 39 Flat file 40 Balance type 45 degree floating device 50 Program Device 51 3D CAD / CAM system 52 3D CAD data 53 Machining condition input device 54 Numerical control processor 55 CLDATA storage unit 56 Robot language processor 57 Robot program 58 CLDATA reading device 59 Record type judgment device 60 Trajectory control data conversion device 61 5000 type record 62 14000 type record 63 2000 type record 64 2000 record processing device (external device) 65 Float direction 66 Tool coordinate system Z axis 67 Tool coordinate system X axis 68 Tool coordinate system Y axis 69 Tool tip 70 point S 71 point E

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[Procedure amendment]

[Submission date] March 7, 2001 (2001.3.7)

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0002

[Correction method] Change

[Correction contents]

[0002]

2. Description of the Related Art Conventionally, when a workpiece, for example, a flange or the like is chamfered or polished with a tool provided on a robot, a load applied to the tool to be machined is kept within a predetermined range, and a uniform finished surface is obtained. To achieve this, floating devices have been used. As such a floating device, as shown in FIG. 9, a cutting machine provided at the tip of a spindle 4 provided through the body 3.
Tools, such as tools , whetstones or buff wheels 29,
Some of them are designed to perform chamfering or polishing work.

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0024

[Correction method] Change

[Correction contents]

However, even in the robot having the conventional omnidirectional floating device 15 shown in FIGS. 11 and 12, in order to solve the above-mentioned problem of the omnidirectional floating device 15, FIGS. 13 and 14 proposed by the present applicant. The robot 21 provided with the balance type floating device 20 shown in FIG.
In the programming operation for moving the tool 29 along the outer peripheral surface of the flange 23 as shown in FIG. 15, the position of the tool 29 at which the operator 37 actually moves the robot 21 to perform machining by the teaching pendant 36 as shown in FIG. And the robot controller 33
In the teaching playback system that reproduces this position, the operation of the worker 37 to actually move the robot 21 is performed using software having functions equivalent to those of the robot controller 33 and the teaching pendant 36 on a computer. It is performed by offline teaching method that is performed virtually, but with these methods,
Move the robot 21 to all positions to operate
In order to teach the machining by No. 9, there is a disadvantage that if the number of positions is large, programming takes a long time.

[Procedure amendment 3]

[Document name to be amended] Statement

[Correction target item name] 0030

[Correction method] Change

[Correction contents]

(1) Chamfering and polishing work created by a three-dimensional CAD / CAM system for chamfering and polishing work by generating a floating load in one direction on the articulated robot. (2) three-dimensional CAD by converting machining conditions including a tool movement trajectory, a feed rate, and a tool type and shape into machining condition input data by a machining condition input device and performing three-dimensional CAD data. the machining condition input data output through the processing condition input device from the data, and converts to the by Ri standardized to ISO and JIS numerical control processor CLDATA, C
Inputting to the LDATA storage unit, (3) CLDATA
Translating the CLDATA output from the storage unit into a robot language determined by each robot maker by a robot language processor and inputting it into a robot program.

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0035

[Correction method] Change

[Correction contents]

As shown in FIG. 1 , the robot off-line programming method according to the present embodiment creates processing condition input data corresponding to the shape of a processing portion of a workpiece and generates a three-dimensional C
A three-dimensional CAD / CAM system 51 that outputs AD data 52 , a processing condition input device 53 that inputs processing condition input data to the three-dimensional CAD data 52 , and outputs the processed data to a numerical control processor 54, and a processing input from the processing condition input device 53. Numerical control processor 54, which converts condition input data into CLDATA standardized by ISO and JIS and outputs it to CLDATA storage unit 55, CLDATA storage unit 55
A robot language processor 56 that translates CLDATA output from the robot language into a robot language determined by each robot maker by a robot language processor, and a robot program 57 that inputs CLDATA translated from the robot language processor 56 into a robot language.
Is implemented by a programming device 50 composed of

[Procedure amendment 5]

[Document name to be amended] Statement

[Correction target item name] 0036

[Correction method] Change

[Correction contents]

As described above, according to the robot off-line programming method of the present embodiment, the weighing applied to the tool 29 is kept within a predetermined range by using the above-mentioned programming device 50, and the workpiece is chamfered, polished, etc. When creating a robot program 57 for realizing various surfaces, machining conditions such as an operation trajectory, a feed speed, and a tool shape are numerically input to a three-dimensional CAD data 52 created by a three-dimensional CAD / CAM system 51 by a machining condition input device 53. and outputs to the control processor 54, by a numerical control processor 54 in ISO and JIS in the standardized CLDATA have to perform the processing operation.

[Procedure amendment 6]

[Document name to be amended] Statement

[Correction target item name] 0037

[Correction method] Change

[Correction contents]

The CLDATA is translated into the robot language of each robot maker by the robot language processor 56 and automatically generated in the robot program 57. The robot language processor 56, as shown the flow chart of FIG. 2, CLDATA read- device 58
Output from the CLDATA storage unit 55
Is read, and the CLDATA storage unit 55 shown in FIG.
The record type code of CLDATA stored in is stored in the record type judging device 59. If the record type code is a 5000 type record 61 that conveys information on the position of the tool 29, the path control data converting device 60 converts the tool axis vector into After converting the X, Y, and Z components into the trajectory control data of the robot 21, the processing is completed when the 14000 type record 62 that informs the end of the conversion to CLDATA is input to the robot language processor 56.

[Procedure amendment 7]

[Document name to be amended] Statement

[Correction target item name] 0043

[Correction method] Change

[Correction contents]

Here, as shown in FIG. 7, the setting of the tool coordinate system is performed using CLDATA to output the X-, Y-, and Z-axis components of the tool axis vector of the tool tip 69 in the tool coordinate system Z-axis 66 and the balance type 45. The method of calculating these components of the tool coordinate system X axis 67, Y axis 68 and Z axis 66 from CLDATA 55 with the float direction 65 of the degree floating device 40 as the X axis 67 will be described with reference to FIG.
The operation up to 71 will be described below.

[Procedure amendment 8]

[Document name to be amended] Statement

[Correction target item name] 0047

[Correction method] Change

[Correction contents]

[0047]

As described above, the robot off-line programming method of the present invention provides a three-dimensional CAD / CAM system for generating a one-way floating load on an articulated robot and chamfering and polishing a workpiece. The process of chamfering and polishing the workpiece created in step 3, inputting the processing conditions of the tool into the processing condition input data by the processing condition input device and inputting the data into the three-dimensional CAD data, and the processing output from the three-dimensional CAD data Condition input data
C standardized by ISO and JIS with numerical control processor
Step of converting to LDATA and inputting to storage unit, CLDA
CLDATA from the TA storage unit is translated into a robot language of each robot maker by a robot language processor and input to a robot program.

Claims (1)

[Claims] 1. A robot off-line programming method for generating a one-way floating load on a tool mounted on an articulated robot to chamfer and polish a workpiece, created by a three-dimensional CAD / CAM system. Chamfering the workpiece, and inputting the machining trajectory, feed speed, type, and machining condition of the tool for performing the polishing work into machining condition input data by the machining condition input device into the three-dimensional CAD data; The processing condition input data output from the three-dimensional CAD data is converted into a CL standardized by ISO and JIS by a numerical control processor.
Converting the data into data and inputting the data to the CLDATA storage unit; and outputting the CLDATA output from the CLDATA storage unit.
Translating A into a robot language determined by each robot maker by a robot language processor and inputting it into a robot program.