JP2003114706A - Display system for articulated general purpose robot model - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a system suitable for teaching the articulated general purpose robot in a virtual space on a display. SOLUTION: The real robot is first displayed on the screen 35, and a 3D robot model RM capable of reproducing the real robot behavior, a 3D model WM of the workpiece, and a 3D model of the working tool TM are constructed. Measurements are made of the attitude of the robot grasping the workpiece at the workpiece delivery spot on the working site, the position of the workpiece at the spot, and the position of the working tool relative to the robot. Based on the measured data, the 3D robot, workpiece, and tool models are assembled for their 3D display on the screen 35, where the behavior of the robot relative to the working tool and the workpiece grasped by the robot are reproduced.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a machining facility for machining a work by using a multi-joint general-purpose robot and a machining tool, and a system for displaying the multi-joint general-purpose robot on a display as a three-dimensional model. is there.

[0002]

2. Description of the Related Art It is known to perform a deburring operation on a metal processed product by using a multi-joint general-purpose robot. In this case, if it is a small and lightweight work, the robot picks up the unprocessed work at a predetermined position and moves the work by the robot, so that the deburring target edge of the work is deviated from the deburring tool rotating at the fixed position. If it is a large and heavy work, the work will be supported at a fixed position, and a deburring tool equipped with a drive actuator will be gripped by the robot to rotate the deburring tool. The robot is moved by a robot so as to be brought into sliding contact with the deburring target edge of the fixed position work.

In any case, in order to automatically operate the robot during the actual machining work, at the site where the workpieces and tools are prepared, the teaching for taking in the motion path information of the robot during the desired machining work. It is necessary to perform the work by manually operating the robot and record the motion path information of the robot obtained by this teaching work in a controller that automatically controls the robot.

[0004]

That is, at the site where the robot is installed, it is necessary for an engineer with robot teaching skills to actually operate the robot manually to perform the teaching work. Depending on the circumstances and the circumstances of the technician in charge, etc., the date and time when the teaching work is carried out is restricted, and when the environment at the site is bad (high temperature in the atmosphere, dirt due to dust, etc.), the teaching work will be adversely affected. .

Further, in this type of equipment, it is necessary to verify in advance whether or not the robot may interfere with installations and the like in the vicinity thereof prior to automatic operation, or the robot during unmanned automatic operation. In some cases, it is necessary to regularly monitor the operating status of the robot, but such verification or monitoring work requires visual confirmation of the operating status of the robot on the site, which is also affected by the environment of the site. Not only that, depending on the situation around the robot, the direction of the line of sight with respect to the robot is restricted, and it is not possible to verify or monitor the operation of the robot from any viewpoint in the three-dimensional space around the robot. The monitoring work could not be performed effectively.

[0006]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a multi-joint general-purpose robot model display system useful for solving the above-mentioned conventional problems. As indicated by the reference numerals of the embodiments to be described later, the multi-joint general-purpose robot 1, the processing tool T, and the workpiece transfer section 17 are arranged at fixed positions, and the unprocessed workpiece W set in the workpiece transfer section 17 is set. The robot 1 holds the workpiece W, and the workpiece W held by the operation of the robot 1 is processed by the processing tool T, and the processed workpiece W
A machining equipment by the multi-joint general-purpose robot 1 adapted to be transferred to the work transfer section 17, and a three-dimensional model RM of the robot capable of displaying the robot 1 on the display 28 and reproducing the same motion as the actual motion. , A three-dimensional model WM of the work W and a three-dimensional model TM of the machining tool T are created, and the work transfer unit 17 is on-site.
Robot posture when gripping the workpiece W in FIG. 1 or the position of the workpiece W in the workpiece transfer unit 17 and the position of the processing tool T with respect to the robot 1, and the robot three-dimensional model RM is measured based on the measured data. , The work three-dimensional model WM and the tool three-dimensional model TM are combined to display the robot 1, the work W in the work transfer section 17, and the processing tool T on the display 28 in a three-dimensional manner. The configuration is such that the movement of the robot 1 with respect to the processing tool T and the work W gripped by the robot 1 can be reproduced.

Further, the multi-joint general-purpose robot 1 and the work supporting portion 53 are arranged at fixed positions, and the robot 1 holds the machining tool T and supports the pre-work workpiece W supported by the work supporting portion 53. Regarding the processing equipment by the multi-joint general-purpose robot 1 that is processed by the processing tool T held by the operation of the robot 1, the robot 1 is displayed on the display 28 and the same motion as the actual motion is displayed. A reproducible three-dimensional model RM of the robot 1, a three-dimensional model WM of the work W, and a three-dimensional model TM of the machining tool T are created, and the position of the work support portion 53 with respect to the robot 1 at the site or The position of the work W supported by the work support portion 53 is measured, and the robot three-dimensional model RM, the work three-dimensional model WM, and the tool are measured based on the measured data. A combination of three-dimensional model TM,
The robot 1 and the work transfer unit 5 on the display 28
The work W and the processing tool T in 3 are displayed three-dimensionally, and the robot 1 for the work W and the processing tool T gripped by the robot 1 are displayed on the display 28.
It is configured to reproduce the movement of.

In carrying out the present invention having the above-described structure, a three-dimensional model MM of surrounding installations (driving unit 12, mount 11, etc.) that limits the motion space of the robot 1 on the spot is created, and the robot 1 on the spot is created. The position of the surrounding installation (driving unit 12, mount 11, etc.) is measured with respect to the three-dimensional model MM of the surrounding installation (driving unit 12, mount 11, etc.) based on this measurement data. It can be configured to be displayed on the display 28 in combination with the model.

When measuring each position at the site, the measurement jig A held by the robot 1 is touched on the measurement target, and the position data of the measurement target is calculated based on the three-dimensional coordinate values of the robot 1 at that time. Can be calculated.

Furthermore, when the system of the present invention is used for teaching work, the movement of the robot 1 immediately before the start of machining and the movement of the robot 1 after the end of machining are displayed on the display 28 as the movement of the robot three-dimensional model RM. And the posture information of the robot three-dimensional model RM at an arbitrary passing point in the robot movement path at this time is taken in, and the teaching for controlling the robot 1 on the site is performed based on the posture information of the robot three-dimensional model RM. Data can be created.

Further, based on the respective data of the robot three-dimensional model RM, the work three-dimensional model WM, and the machining tool three-dimensional model TM, the motion path of the robot 1 from immediately before the machining start to the machining end is set and set. Robot 1
It is possible to reproduce the motion of the robot 1 on the display 28 based on the motion path information of 1 and to create teaching data for controlling the on-site robot 1 based on the motion path information of the robot 1.

Further, the current attitude information of the robot 1 is fetched from the robot controller 10 for automatically controlling the robot 1 on the site, and the robot three-dimensional model RM on the display 28 is based on the current attitude information of the robot 1.
It is also possible to operate the.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION A preferred embodiment of the present invention will be described below with reference to the accompanying drawings. FIGS. 1 and 2 show an example of on-site equipment to which the system of the present invention is applied.
A multi-axis vertical (6 degrees of freedom) articulated robot, which is a rotary base 3 that can be rotationally driven around a vertical S axis with respect to the base 2, and can be swingably driven around the horizontal L axis on the rotary base 3. The first arm 4 supported, the intermediate swinging member 5 supported by the tip of the first arm 4 so as to be swingable around a horizontal U axis parallel to the horizontal L axis, and the intermediate swinging member 5. A second arm 6 supported at its tip so as to be able to rotate about an R axis perpendicular to the horizontal U axis, and a tip of the second arm 6 swings around a B axis perpendicular to the R axis. A wrist arm 7 movably supported is provided, and a robot hand 8 supported at the tip of the wrist arm 7 so as to be rotatable about a T-axis perpendicular to the B-axis. Has a chuck 9 suitable for the work W to be handled. A controller 10 controls the robot 1.

T is a tool for deburring the work W,
The tool drive unit 12 installed on the gantry 11 is detachably attached to the drive shaft 13. Reference numeral 14 denotes a work transfer device for supplying the unprocessed work W and receiving the processed work W. The work transfer device 14 is provided with a plurality of work support bases 16 capable of rotating the horizontal endless circulation path 15 forward and backward. The work transfer unit 17 set in 15 has means for moving the stacked works up and down in order to position the uppermost works W among the works W stacked on the work support 16 at a certain level. It is a well-known thing that was installed side by side.

As shown in FIG. 3, the system of the present invention uses an electronic computer, for example, a personal computer (hereinafter abbreviated as personal computer) 18 as hardware. Model synthesis display program 19, robot three-dimensional model drive program 20, teaching program 21, and robot control language / robot coordinate value conversion program 22
Etc. are installed in memory.

Synthesis display program 19 for each three-dimensional model
Is based on the robot three-dimensional model data 23, the work three-dimensional model data 24, the tool three-dimensional model data 25, the teaching data 26 until the completion of the work gripping, and the measurement data 27 of the tool position on the robot coordinates. The model, the work three-dimensional model, and the tool three-dimensional model are combined and displayed on the display 28. The robot three-dimensional model data 23, the work three-dimensional model data 24, and the tool three-dimensional model data 2 are displayed.
Reference numeral 5 is three-dimensional model data such as wire frame model format, surface model format, and solid model format created by CAD software, etc., and data created by another personal computer or the like is transmitted via an appropriate medium. It is taken in by this personal computer 18 or this personal computer 18
Directly created by CAD software installed in. In this embodiment, the three-dimensional model data 23 to 25 in the wire frame model format are used,
For display on the display 28, a solid model, a wire frame model, or the like can be selected.

Robot 3D model drive program 2
0 is for moving the robot three-dimensional model displayed on the display 28 by the synthetic display program 19 for each three-dimensional model in the same manner as the actual movement of the robot 1 based on the driving operation 29 of the robot three-dimensional model. belongs to.

The teaching program 21 comprises a work transfer path setting program 30 and a deburring trajectory setting program 31, and the work transfer path setting program 30 uses the robot three-dimensional model displayed on the display 28 as the above-mentioned. A plurality of robot coordinate values for determining a work transfer path are set on the basis of a work transfer path setting operation 32 that is executed while moving by a driving operation 29 of the robot three-dimensional model. , The workpiece W is moved relative to the tool T from the position immediately before the deburring start position to the deburring end position to set the trajectory of the workpiece W when the deburring target edge of the workpiece W is deburred by the tool T. It is executed based on the operation trajectory setting operation 33. Then, the robot movement path information (robot coordinate values changing with respect to the time axis) created by the teaching program 21 is converted into the actual robot 1 by the robot control language / robot coordinate value conversion program 22.
Is converted into the automatic control data 34, which is transferred to the controller 10 of the robot 1.

The driving operation 2 of the robot three-dimensional model 2
The work transfer route setting operation 32, the deburring trajectory setting operation 33, and the like are performed on an input means such as a keyboard connected to the personal computer 18.

Next, using the system of the present invention having the above-mentioned configuration, a working procedure for performing teaching work for automatic deburring work of the robot 1 in the equipment shown in FIGS. 1 and 2 will be described. Describing based on the flowchart of FIG. 11, first, a robot three-dimensional model, a work three-dimensional model, and a tool three-dimensional model are created (S1 to S).
3) Next, as shown in FIGS. 1 and 2, the work robot is set in the work transfer section 17, the tool T is attached to the drive shaft 13 of the tool drive unit 12, and the robot in the field in the origin posture in such a state. 1 is manually operated to perform on-site teaching work for the movement path of the robot 1 until the work W in the work transfer section 17 is completely held and work for measuring the reference position of the tool T (S4).

Specifically, the controller 10 of the robot 1 shown in FIG. 1 is manually operated to activate the robot 1 in the origin posture, and as shown in FIG. 4, the chuck 9 attached to the robot 1 delivers the work. The work W set in the unit 17 is gripped, and the movement path of the robot 1 until the completion of gripping the work is stored. That is, the teaching work until the completion of gripping the work is performed on site. In this case, the work W waiting in the work transfer unit 17 of the work transfer device 14 is posture-corrected by the posture correction means or the like so that the reference position set on the periphery of the work W, for example, is always a constant position. However, without using such a hardware means, the deviation between the reference position of the robot hand 8 and the reference position on the workpiece W gripped by the chuck 9 is calculated, and the robot hand 8 is calculated based on the result. It is also possible to use a work position correction program for automatically correcting the posture of the robot 1 so as to correct the position.

As described above, the robot 1 in the original posture
Is a method in which the movement path of the robot 1 until the work W in the work transfer section 17 is gripped by the chuck 9 is sequentially fetched with the posture data (for example, rotation angle information of each axis) of the robot 1 at a plurality of points on the way. Teaching is performed, and setting data is stored in the personal computer 18 as teaching data 26 until completion of gripping the work. Next, as shown in FIG. 5A, the tool reference position measuring jig A is attached to the chuck 9 of the robot 1. At this time, the end surface of the jig A is brought into contact with the reference surface 9a of the chuck 9, and the jig A is gripped so that the position of the jig A in the T-axis direction of the robot 1 is determined. The tip measurement point Aa of the tool A is located at a fixed position with respect to the robot 1, for example, a fixed position on the T-axis, whereby the robot coordinate value of the tip measurement point Aa of the gripped jig A can be known in advance. Therefore, the controller 10 of the robot 1 is manually operated to drive the robot 1, and as shown in FIG. 5B, the tip measurement point A of the jig A held by the chuck 9 is measured.
a is brought into contact with a reference position of the tool T, for example, a reference position T1 on the tip end surface of the tool T and two reference positions T2 and T3 on the outer peripheral surface of the tool T in the axial direction, and at each reference position. The posture data (rotation angle information of each axis) of the robot 1 corresponding to the tip measurement point Aa of the jig A can be read from the controller 10 to the personal computer 18 as the measurement data 27 of the tool position on the robot coordinates.

The robot three-dimensional model data 23, the work three-dimensional model data 24, the tool three-dimensional model data 25, which are obtained by the above steps S1 to S4,
By executing each three-dimensional model synthesis display program 19 based on the teaching data 26 until the completion of gripping the work and the measurement data 27 of the tool position, FIG.
And a robot 3D model, a workpiece 3D model on the display 28 with the same relative positional relationship as the relative positional relationship between the robot 1, the work W gripped by the robot 1, and the tool T shown in FIG. And the tool three-dimensional model is displayed (S5). Note that the teaching data 26 and the tool position measurement data 27 until the workpiece is completely gripped
Is the robot control language, that is, the S axis, L axis of the robot 1,
When the rotation angle around each of the U-axis, R-axis, B-axis, and T-axis or the number of pulses of the driving pulse motor for each axis is output, the robot control language / robot coordinate value conversion program 22 The robot control language is converted to robot coordinate values.

FIG. 6 shows a model display area 35 (FIG. 6A) displayed on the display 28, and a viewpoint operating section 3 for changing the viewpoint (camera position) in the model display area 35.
6 (FIG. 6B) and the robot operation unit 37 (FIG. 6C) for moving the robot three-dimensional model RM displayed in the model display area 35. The robot 3D model RM displayed in the model display area 35 is displayed in a state where the workpiece 3D model WM is gripped, but between the position on the display corresponding to the workpiece transfer unit 17 and the robot 3D model RM. In the actual work 3D model WM
May be displayed so as to be delivered.

In the viewpoint operating unit 36 shown in FIG. 6B, in addition to the viewpoint home position return button H, viewpoint forward / backward movement buttons ↑, ↓, viewpoint left / right movement buttons ←, →, viewpoint up / down movement buttons Up, Ud, and enlargement / reduction. Viewpoint change buttons 38 composed of display buttons Zu and Zd are arranged. By operating these viewpoint change buttons 38, the display state of the three-dimensional model displayed in the model display area 35 can be arbitrarily selected for teaching work, which will be described later. It can be changed to a state.
In addition, one or a plurality of display states obtained by operating the respective viewpoint changing buttons 38 are displayed as View1, View2 ...
By clicking the radio button 39 of
Registered as ew2 ..., and thereafter, View1, View
The registration display state can be instantly reproduced by clicking the radio button 39 of 2 ...

The robot operation section 37 for moving the robot three-dimensional model RM has a robot hand section RH of the robot three-dimensional model RM displayed in the model display area 35.
In addition to the movement or rotation operation button 40 for moving or rotating M, a confirmation button 41 for taking in as a teaching point, a speed switching button 4 for movement or rotation driving
2, a coordinate system switch button 43, a switch button 44 for displaying or setting the current rotation angle of each axis of the robot 1, or the current pulse number are arranged. The illustrated movement or rotation operation button 40 is used when the base coordinate system is selected with the coordinate system switching button 43, and each three-dimensional axis line passing through the control point CP displayed together with the robot three-dimensional model RM in the model display area 35. Six movement buttons X-, X + to Z-, Z + in each direction of +,-, and +, X, Y, Z (the axis itself may not be shown), and the three-dimensional axis lines. X,
6 rotation buttons Rx around Y, Z in + -directions
−, Rx + to Rz−, and Rz + are arranged. When, for example, the link coordinate system is selected by the coordinate system switching button 43, the 12 movement or rotation operation buttons 40 are displayed on the robot 1. Rotation buttons S- in the + -directions around the S-axis, L-axis, U-axis, R-axis, B-axis, and T-axis.
It is switched to S + to T- and T +. As another coordinate system that can be selected by the coordinate system switching button 43, X, Y, Z three-dimensional coordinates with the reference position of the robot hand 8 (for example, the intersection of the T axis and the end face of the robot hand 8) as the reference point are used. There are a hand coordinate system to be used, a user coordinate system which uses X, Y, Z three-dimensional coordinates in which a user arbitrarily sets a reference point and a direction.

Thus, the robot 3D model RM in the origin position (home position) shown in FIG. 6A displayed in the model display area 35 of the display 28 has a movement or rotation operation button in the robot operation section 37. Four
Robot three-dimensional operation including operation of inputting each axis rotation angle or pulse number of the robot 1 to the setting table of each axis rotation angle or pulse number of the robot 1 displayed by operation of 0 or operation of the switching button 44 By executing the robot three-dimensional model drive program 20 based on the drive operation 29 of the model RM, the robot hand unit RHM can be freely moved or rotated in the model display area 35 as in the actual robot 1. Moreover, the viewpoint position and the display magnification in this case are also the viewpoint change button 3 of the viewpoint operating unit 36.
8 or View1, View2 ... Can be freely changed by operating the radio button 39. Therefore, using this function, step S6 shown in the flowchart of FIG.
The teaching operation of the robot 1 can be easily performed on the display 28 as in steps S9 to S9.

That is, the robot three-dimensional model driving program 20 based on the teaching data 26, which has already been loaded into the personal computer 18, until the work holding is completed, is performed on the robot three-dimensional model RM in the origin posture (home position) shown in FIG. 6A. Is executed, the work three-dimensional model WM located at the position corresponding to the work transfer unit 17 is executed.
Is moved to the posture in which the robot hand unit RHM has finished gripping (FIG. 7A), and then the robot three-dimensional model drive program 20 is executed based on the drive operation 29 of the robot three-dimensional model RM to the robot operation unit 37. As a result, the workpiece three-dimensional model WM gripped by the robot hand unit RHM is moved to a position closest to the tool three-dimensional model TM shown in FIGS. 8A and 8B, that is, a position immediately before the start of deburring. The point is shown in FIG. 7B) and is moved via this work three-dimensional model WM (robot hand part RHM).
Of the movement path of the robot, that is, the movement path of the robot three-dimensional model RM, a plurality of appropriate passing points are selected, and the confirm button 41 of the robot operating section 37 is clicked at each passing point. Based on this, the work transfer path setting program 30 in the teaching program 21 is executed, and the posture data (robot coordinate values) of the robot 3D model RM at appropriate plural passage points in the movement path of the robot 3D model RM. Are sequentially taken in and stored as teaching data for the robot 1 up to immediately before workpiece machining. Incidentally, with respect to the movement of the robot 1 immediately before the work machining, generally, there is no large limitation in the operation area of the robot 1. Therefore, as described above, the posture data of the robot three-dimensional model RM ( As an interpolation method between each passing point in which the robot coordinate value) is taken in, among the control commands used to control the robot 1 to be controlled, an interpolation command that leaves the movement path between two points to the robot 1 side, for example, MOVJ Is automatically assigned. Further, the moving speed of the work W by the robot 1 until just before the work processing is set.

Next, the trajectory of the work 3D model WM (robot hand portion RHM of the robot 3D model RM) with respect to the tool 3D model TM from the machining start position to the machining end position of the work 3D model WM is set. The deburring orbit setting operation 33 is performed, and the teaching program 2 is executed based on the deburring orbit setting operation 33.
The deburring orbit setting program 31 in 1 is executed. In this embodiment, the wire frame format is used for each three-dimensional model, and as described above, the reference position of the work W gripped with respect to the reference position of the robot hand 8 is always constant. As shown in FIG. 9, in the model display area 35 on the display 28, the tool three-dimensional model TM and the work three-dimensional model WM located at the closest position (immediately before machining) to the tool three-dimensional model WM are enlarged and displayed, and the work tertiary model is displayed. When the position number given to each wire intersection of the original model WM and the position number given to each wire intersection of the tool three-dimensional model TM are displayed (only the reference numbers are shown in the figure, the others are omitted). Position number sequence (37,44,7,9,11,1 on the deburring target edge in the workpiece three-dimensional model WM).
One of the specific position numbers (37) of 8, 24, 31)
Comes closest to the machining reference position Tn on the tool three-dimensional model TM at a constant angle. Here, the work three-dimensional model WM with respect to the axis of the tool three-dimensional model TM
Since the relative angle of is the cutting angle by the tool at the time of deburring, the work three-dimensional model WM is visually checked while moving it by the method described above so that the cutting angle becomes the desired angle. , Set by moving by inputting numerical values.

A teaching-less command is prepared for performing the deburring trajectory setting operation 33. By executing the teaching-less command, the deburring trajectory setting window 45 shown in FIG. 10 is displayed on the display 28. Is displayed. In the deburring trajectory setting window 45, the tool target number selection unit 4 for numerically setting the machining reference position Tn on the tool three-dimensional model TM
6. A trajectory selection unit 47 that sequentially selects the position number on the deburring target edge from the position numbers assigned to the wire intersections of the work 3D model WM, and is selected in advance on another work 3D model WM display screen. Registered trajectory selecting section 4 for selecting a position number sequence on the deburring target edge registered in advance
8. The track number display section 49 for displaying the position number sequence on the deburring target edge selected by the track selecting section 47 or the registered track selecting section 48 and correcting the additional reduction,
Link interpolation (MOVJ) that leaves an interpolating command between adjacent positions on the deburring target edge to a path on the robot side that is easy to move, linear interpolation (MOVL) that linearly moves,
It is provided with an interpolation option selection unit 50 for selecting from circular interpolation (MOVC) for moving in a circular shape, spline interpolation (MOVS) for moving along a spline path, and a cutting amount setting unit 51 for numerically setting the cutting amount of the tool. The depth of cut setting unit 51 includes a tool target number selection unit 46.
The cutting depth for the machining reference position Tn on the tool three-dimensional model TM set in
It consists of three numerical value input parts 51x to 51z for inputting numerical values separately for the value, y value, and z value. For example, when the tool is arranged horizontally, normally only the vertical z value is input. , + Z value is input when the workpiece is contacted from the lower side upward, and -z value is input when the workpiece is contacted from the upper side downward.

In the examples shown in FIGS. 9 and 10, in the tool target number selection unit 46, the tool three-dimensional model T
A position number (24) corresponding to the machining reference position Tn on M is selected, and a position number string (37, 4) on the deburring target edge is selected by the track selecting unit 47 or the registered track selecting unit 48.
4, 7, 9, 11, 18, 24, 31) is selected, link interpolation is selected in the interpolation option selection unit 50, and x value = 0, y value = in the cut amount setting unit 51.
0 and z value = 0.002 mm are set.

However, since robot coordinate values x, y, and z are given to each position number in the work three-dimensional model WM and each position number in the tool three-dimensional model TM, for example, the work tertiary (37x, on the original model WM
The movement distance on the robot side for bringing the position (y, z) into contact with the machining reference position (24xn, yn, zn) on the tool three-dimensional model TM is L (Lx, Ly, Lz) to Lx =
37x-24xn, Ly = 37y-24yn, Lz = 3
7z-24zn, and next, the machining reference position (24xn, yn, zn) on the tool three-dimensional model TM and the position (37x, y, z) on the workpiece three-dimensional model WM match. From the state, the next position (44x, y, z) on the work three-dimensional model WM is calculated by the tool three-dimensional model TM.
The movement distance on the robot side for moving to the upper processing reference position (24xn, yn, zn) is L (Lx, Ly, L
z), Lx = 44x-24xn, Ly = 44y-2
4yn, Lz = 44z-24zn, and so on. For example, the position number sequence (37, 44, 7,
9, 11, 18, 24, 31) in this order, the respective positions (7x, y, z to 37x, y, z) on the workpiece three-dimensional model WM are processed reference positions (24xn,
It is possible to calculate the movement distance on the robot side in order to sequentially match (yn, zn). Actually, the cutting amount and the interpolation option set as described above, and the cutting speed arbitrarily set as a numerical value (workpiece W for the tool T
Of the position number sequence (37,44,7,9,11,18,24,
31) Teaching data for the robot 1 for deburring the target deburring edge of the work W with the tool T is created.

As described above, the deburring trajectory setting program 31 in the teaching program 21 is executed based on the deburring trajectory setting operation 33, and the deburring trajectory is set. Alternatively, the work 3D model WM displayed in the model display area 35 on the display 28 can be moved in accordance with the teaching with respect to the tool 3D model TM by a trace start operation after the setting is completed. Teaching work is performed on the route for returning the work W at the end position to the original work transfer section 17. In this embodiment,
Since the entire circumference of the work W is deburred 360 degrees, the work three-dimensional model WM at the machining end position is the same as the position at the start of machining. In the above example, the machining reference position on the tool three-dimensional model TM is used. This is a state where (24xn, yn, zn) and the position of (37x, y, z) on the workpiece three-dimensional model WM match. From such a state, first, the work three-dimensional model WM is set to the tool three-dimensional model TM so that the work three-dimensional model WM and the tool three-dimensional model TM do not interfere with each other.
The robot 3D model is driven based on the driving operation 29 of the robot 3D model RM with respect to the robot operation unit 37 so that the workpiece 3D model WM is moved to a position corresponding to the work transfer unit 17 after being retracted by a proper distance from The program 20 is executed. Then, as in the case of teaching work up to the position just before the start of machining, the robot coordinate values of each arbitrarily selected passing point are taken into the workpiece return path, and the necessary items such as the interpolation method and speed between each passing point are set. Then, the teaching work for the path for returning the work W at the processing end position to the original work transfer section 17 is completed (S6 to S8).

Since the position data of the work three-dimensional model WM, which is taken in during the teaching work, that is, the position data of the robot hand part RHM in the robot three-dimensional model RM, are all robot coordinate values, the robot control language / robot is used. According to the coordinate value conversion program 22, the robot coordinate value is a control language of the actual robot 1, that is, a rotation angle around each of the S axis, L axis, U axis, R axis, B axis, and T axis of the robot 1. Or the number of pulses of the driving pulse motor for each axis is converted to a job file to be transferred to the controller 10 of the robot 1 (S
9).

Table 1 shown below shows an example of the created job file, which can be called up on the display 28, and any data can be corrected while being displayed on the display 28. .

[0036]

[Table 1]

In the work transfer path setting operation 32, the interpolation method between the passing points set arbitrarily is not set, but the link interpolation (MOVJ) is set as an initial value, and if necessary. You may make it change to another interpolation method. Similarly, regarding the moving speed of the work W,
Instead of setting during teaching work, set VJ = 25.00 (VJ is a robot control command, which is set as a ratio (%) to the set steady speed) as an initial value, as shown in Table 1. Alternatively, the speed may be corrected to an arbitrary speed if necessary.

The job file shown in Table 1 is the robot 1
Is from the state in which the pre-processed work W is held in the work passing part 17 to the processed work W is returned to the work passing part 17, and in reality, a chuck attached to the robot hand 8 before and after that. 9 opening and closing operation,
Further, a job for setting a movement path from the home position of the robot hand 8 to the work delivery section 17 and a movement path from the work delivery section 17 to the home position before and after the robot hand 8 and for repeatedly executing the above series of operations at regular intervals. Jobs have been added.

In the above-described embodiment, the actual work transfer section is configured to serve as both the pick-up position of the pre-processed work W and the transfer position of the processed work W. Therefore, in the job file shown in Table 1, Job No. 2 "Work clamp"
The job number 18 “end” and the job number 3 “lift” and the job number 17 data become the same. In other words, with the equipment as in this embodiment, a part of the teaching data up to just before the start of processing can be copied as teaching data after the end of processing, and the labor of the teaching work after the end of processing can be reduced. . Of course, the work passing part as a pick-up position of the work W before processing,
The system of the present invention can also be applied to equipment in which a work transfer section as a transfer position for the processed work W is provided separately.

Further, in FIGS. 6 to 8, the deburring tool T is used.
The three-dimensional model MM corresponding to the drive unit 12 and the gantry 11 mounting the drive unit 12 is shown as being displayed in the model display area 35. In this way, the three-dimensional model MM of the surrounding installation (driving unit 12, mount 11, etc.) that limits the motion space of the robot in the field.
And the position of the surrounding installation (driving unit 12, mount 11, etc.) with respect to the robot 1 on the site is measured in the same manner as the position measurement of the tool T and the position measurement of the work W on the work transfer part 17. , The three-dimensional model MM of the surrounding installation (driving unit 12, mount 11, etc.) based on this measurement data is converted into another three-dimensional model (robot three-dimensional model RM, tool three-dimensional model TM, work three-dimensional model W).
(M, etc.) and can be configured to be displayed on the display 28. As the peripheral installation object, a device that handles the unprocessed work W, for example, the work transfer device 14 in the above-described embodiment, a machine tool such as a lathe that preprocesses the work W, or a pillar that limits the movement space of the robot 1. There are structures on the building side such as roofs, beams and safety fences.

In the above embodiment, the system of the present invention is applied to the equipment for the robot 1 to grip the work W and move it with respect to the tool T at a fixed position.
Is a large heavy object, as shown in FIG. 12, the multi-joint general-purpose robot 1 and a clamp 52 for fixing the work W are fixed.
And a work supporting part 53 provided with a work supporting part 53, the robot 1 grips the processing tool T, and the work supporting part 5
The system of the present invention can be applied to a processing facility in which the unprocessed work W supported by 3 is processed by the processing tool T held by the operation of the robot 1.

In this case, the three-dimensional model RM of the robot capable of displaying the robot 1 on the display 28 and reproducing the same motion as the actual motion, the three-dimensional model WM of the work W, and the machining tool. 3D model of T T
M and the position of the work support part 53 with respect to the robot 1 on the site or the position of the work W supported by the work support part 53 in a predetermined direction are measured, and the robot three-dimensional based on the measurement data. By combining the model RM, the work three-dimensional model WM, and the tool three-dimensional model TM, the robot 1, the work W on the work support 53, and the machining tool T are three-dimensionally displayed on the display 28. Then, the movements of the robot 1 and the processing tool T held by the robot 1 with respect to the work W are reproduced.

In this case, the teaching work for setting the movement path of the tool T moved by the robot 1 is performed from the work transfer section in step S6 of the teaching work procedure (flowchart in FIG. 11) in the above-described embodiment. The movement of the pre-machining workpiece to the machining start position and the movement of the machined workpiece from the machining end position to the workpiece transfer part are reproduced on the screen from the tool standby position (home position of the robot 1 etc.) to the machining start position. The movement of the tool T and the movement of the tool T from the machining end position to the tool standby position are reproduced on the screen,
In the same step 7, the robot posture data at any point in the work movement path is loaded and the interpolation method and speed between each point are set. The robot posture data at any point in the tool movement path is loaded and each point is set. Instead of setting the interpolation method and speed between the two, instead of setting the track of the work from the position just before the start of the work to the end position of the work in the same step 8, the movement of the work according to the track is reproduced on the screen. In the above embodiment, the trajectory of the tool from the position immediately before the machining start of the workpiece to the machining end position is set, and the movement of the tool according to the trajectory is reproduced on the screen. alike,
It is obvious that teaching work can be performed on the movement path of the robot 1 that moves the tool T.

Further, as an actual operation method of the system of the present invention, the method may be used in a place away from the site where the processing equipment including the robot is installed, for example, in an office different from the factory equipped with the processing equipment. The invention system is constructed, necessary data is received from the factory, the program of the system of the invention is executed, and the created job file for robot control is transferred to the controller 10 of the robot 1 of the factory via an appropriate medium. However, depending on the situation, the personal computer 18 for the system of the present invention and the controller 10 of the robot 1 are connected by an appropriate means such as wired or wireless, and the object to be displayed on-site by the robot 1 is connected. The position measurement data, etc. can be loaded online to the personal computer 18 or
The robot control job file created on the side can be transferred to the controller 10 of the robot 1 online. As described above, when the controller 10 of the robot 1 and the personal computer 18 are connected online, the current posture data of the robot 1 in operation is continuously fetched to the personal computer 18 side, and the present time-varying current of the robot 1 is changed. The posture data is converted into a robot control language / robot coordinate value conversion program 22, and the robot 3D model drive program 2 is displayed on the display 28.
It is also possible to convert it into information for executing 0 and reproduce the movement of the robot 1 operating in the field on the display 28 in real time.

Further, in the above-described embodiment, the teaching work until the robot 1 grips the work W in the work transfer section 17 was performed by manually operating the robot 1 on the site, but this teaching work is also displayed. 28
This can be done using the above three-dimensional models RM, WM, TM. In this case, the accurate position of the work W positioned in the work transfer section 17 is measured by the measurement jig A or the like held by the robot 1, and the display 28 is displayed based on the data (posture data of the robot 1). The work three-dimensional model WM is displayed at a position corresponding to the work passing unit 17 with respect to the robot three-dimensional model RM displayed in the model display area 35, and the robot three-dimensional model RM in the home position corresponds to the work passing unit 17. Robot 3D model drive operation 2 to the position for gripping the workpiece 3D model WM displayed at the position
It is sufficient to move by 9 and take in an arbitrary passing point in this process as a teaching point by the work transfer path setting operation 32.

In the embodiment, the robot three-dimensional model RM is displayed as if it always holds the work three-dimensional model WM. However, the work three-dimensional model is aligned so as to match the existing position of the work W on the site. You can also display WM. In this case, specifically, the robot three-dimensional model R
Display data of a state in which the tool 3D model TM is gripped by M is created, and when the workpiece W is actually gripped by the robot 1, the display of the workpiece 3D model WM is turned ON, and otherwise. Is the work 3D model WM
The display can be controlled to be turned off.

According to the system of the present invention, since the teaching work for the robot 1 can be performed in the virtual space displayed on the display 28 as described in the above embodiment, it is impossible in principle in the real space. Teaching can be performed by setting teaching points. For example, when deburring the inner peripheral edge of the hole provided in the work W, a teaching point is set on the inner peripheral edge of the hole in the real space, but along the route set by this teaching point. Tool T
When the robot is automatically operated to move relative to the work W, the relative movement path of the tool T with respect to the work W actually deviates from the inner peripheral edge of the hole toward the hole center side due to the characteristics of the multi-joint general-purpose robot. The actual cutting amount (cutting depth) becomes shallower than the set cutting amount or the cutting cannot be performed at all. Therefore, when teaching in a real space, an advanced technique such as setting a reference point corresponding to the teaching point on the inner peripheral edge of the hole on the actual work W and using this reference point for teaching Will be required.

However, in the display on the display 28 of the system of the present invention, the work three-dimensional model WM and the tool three-dimensional model TM are made to be able to bite into each other, and both the three-dimensional models W are arranged.
By configuring so that the robot coordinate values can be taken in even in the area where M and TM bite into each other, the area where both the three-dimensional models WM and TM bite into each other, that is, the surface of the work actually exists. Teaching work can be performed by freely setting teaching points even in the area where the tool surface abuts and cannot enter any further, so teaching work under such conditions can be performed easily and with high precision. .

[0049]

The display system of the multi-joint general-purpose robot model of the present invention can be implemented and used as described above. According to the system of the present invention, a robot in the field can be displayed on the display. Since the corresponding robot 3D model can be moved freely, and the work to be handled and the machining tool at a fixed position are also displayed on the display in the same positional relationship as the relative positional relationship at the site, It is possible to easily create teaching data for automatically controlling the on-site robot by moving the robot three-dimensional model on the display.

Therefore, at the site where the robot is installed, it becomes unnecessary for an engineer who has the teaching skill of the robot to manually operate the robot to perform the teaching work. As a result, there is less restriction on the date and time when the teaching work is performed due to circumstances, etc., and the teaching work can be performed efficiently in offices that are generally in a better environment than on-site, reducing teaching costs. Be useful.

According to the second aspect of the invention, since the work is a large heavy object, the work is installed in a fixed position, and the machining tool is moved by being gripped by the robot. Also, the same effect as above can be obtained.

According to the third aspect of the present invention, the presence of surrounding installations that limit the movement space of the robot at the site is also displayed on the display together with the robot three-dimensional model, so that during teaching work, etc. In this, teaching work can be performed so as to avoid interference with the surrounding installation. Therefore, it is not necessary to verify in advance whether or not there is a risk that the robot will interfere with installations and the like around the robot prior to automatic driving. In this case, interference (contact, etc.) on the display between the three-dimensional model of the surrounding installation and the robot three-dimensional model can be automatically detected by the comparison calculation of the coordinate values of the two, and when this interference phenomenon is detected. It is preferable to be configured so that a warning can be output to.

Further, according to the structure described in claim 4, it is possible to prepare and accurately measure the position of the work, the tool or the like on the spot. Further, according to the configuration of claim 5, the system of the present invention can be utilized as a teaching system of a robot, and according to the configuration of claim 6,
Each data of the robot 3D model, workpiece 3D model, and machining tool 3D model is more than the case where the teaching work during tool machining is performed by visually judging the positional relationship of each 3D model on the display. Using, it is possible to easily and highly accurately perform the teaching work when machining a workpiece with a tool.

Further, according to the configuration described in claim 7, it is possible to monitor the operating status of the robot at the site on the display in a good environment away from the site. Since it is also possible to monitor the operation status of the robot from a viewpoint position where the robot cannot enter, it is possible to easily and reliably perform the operation of regularly monitoring the operation status of the robot during unmanned automatic operation.

[Brief description of drawings]

FIG. 1 is a plan view showing an example of on-site processing equipment.

FIG. 2 is a side view of the same.

FIG. 3 is a block diagram illustrating the configuration of the system of the present invention.

FIG. 4 is a partial vertical cross-sectional side view of an essential part showing a state where a robot grips a work at a work transfer part.

FIG. 5 is a partially longitudinal side view of a main part of a robot holding a tool position measuring jig, and FIG. 5 is a main part showing a positional relationship between the jig and the tool when measuring the tool position. It is a side view.

6A shows a model display area on the display, FIG. 6B shows a viewpoint operating unit displayed on the display, and FIG. 6C shows the robot operating unit.

7A and 7B are views showing different display states in a model display area on the display.

8A and 8B are diagrams showing different display states in a model display area on the display.

FIG. 9 is a diagram showing a wire frame work 3D model and a tool 3D model displayed in a model display area on the display.

FIG. 10 is a diagram showing a deburring orbit setting window displayed on a display.

FIG. 11 is a flowchart illustrating a teaching work procedure.

FIG. 12 is a side view illustrating another processing theory.

[Explanation of symbols]

1 6-axis (6 degrees of freedom) vertical articulated general-purpose robot 8 robot hand 9 chuck 10 Robot controller 12 Tool drive unit 13 Drive axis 14 Work transfer device 17 Work transfer section 18 Personal computer 28 display 35 Model display area 36 Viewpoint operation section 37 Robot operation unit A measuring jig 3D model of MM peripheral installation RHM robot 3D model robot hand RM robot 3D model S, L, U, R, B, T Robot joint axes T processing tool TM tool 3D model W work WM work 3D model

   ─────────────────────────────────────────────────── ─── Continued front page    F-term (reference) 3C007 AS12 BS09 JS02 JU03 KS03                       KS13 KT17 KT18 LS01 LS11                       LS20 MT01                 5H269 AB19 AB33 BB09 CC09 FF05                       JJ18 QC01 QC10 QD02 QE04                       QE10 SA04 SA10 SA18 SA22

Claims (7)

[Claims] 1. A multi-joint general-purpose robot, a machining tool, and a work transfer section are arranged at fixed positions, and the robot grips a pre-processing work set in the work transfer section, and grips it by the operation of the robot. Regarding the processing equipment by the multi-joint general-purpose robot that processes the existing work with the processing tool and transfers the processed work to the work transfer part, the same motion as the actual motion is displayed by displaying the robot on the display. A three-dimensional model of a reproducible robot, a three-dimensional model of the work, and a three-dimensional model of the machining tool are created, and the robot posture or the work passing part when the work is held in the work passing part Position of the workpiece and the position of the machining tool with respect to the robot are measured, and based on the measured data, the robot 3D Dell, by combining the workpiece three-dimensional model, and tools three-dimensional model on the display robot, workpiece and machining tool is displayed three dimensions,
A display system of a multi-joint general-purpose robot model capable of reproducing the movement of the robot with respect to the processing tool and the work held by the robot on this display. 2. A multi-joint general-purpose robot and a work supporting unit are arranged at fixed positions, the robot grips a machining tool, and grips an unmachined work supported by the work supporting unit by the operation of the robot. Regarding a processing equipment by a multi-joint general-purpose robot that is processed by a working tool, a three-dimensional model of a robot that can reproduce the same motion as the actual motion by displaying the robot on a display and the work Create a three-dimensional model and a three-dimensional model of the processing tool, measure the position of the work support part with respect to the robot in the field or the position of the work supported by the work support part, based on the measurement data By combining the robot 3D model, work 3D model, and tool 3D model, the robot and work transfer unit can be displayed on the display. That workpiece and machining tool is displayed three-dimensionally, said to be able to reproduce the movement of the processing tool held by the robot and the robot for the workpiece, articulated universal robot model display system on the display. 3. A three-dimensional model of a peripheral installation object that limits the motion space of the robot on the site is created, the position of the peripheral installation object with respect to the robot on the site is measured, and the surrounding area is measured based on this measurement data. The multi-joint general-purpose robot model display system according to claim 1 or 2, wherein a three-dimensional model of an installation is combined with another three-dimensional model and displayed on a display. 4. When measuring each position on the site, the measurement jig held by the robot is touched on the measurement target, and the position data of the measurement target is set based on the three-dimensional coordinate value of the robot at that time. A multi-joint general-purpose robot model display system according to any one of claims 1 to 3. 5. On the display, the movement of the robot immediately before the start of processing and the movement of the robot after the end of processing are reproduced by the movement of the robot three-dimensional model, and an arbitrary passing point in the robot movement path at this time. The posture data of the robot three-dimensional model in 1) is taken in, and the teaching data for controlling the robot at the site is created based on the posture information of the robot three-dimensional model.
4. A machining state display system by the multi-joint general-purpose robot according to any one of 4 above. 6. A robot motion path from immediately before the start of machining to the end of machining is set on the basis of each data of the robot three-dimensional model, work three-dimensional model, and machining tool three-dimensional model. The motion of the robot is reproduced on the display based on the motion route information, and the teaching data for controlling the on-site robot is created based on the motion route information of the robot. Display system of the multi-joint general-purpose robot model described in. 7. A robot controller for automatically controlling a robot in the field, the current posture information of the robot is fetched, and the robot three-dimensional model on the display is interlocked based on the current posture information of the robot. 7. A multi-joint general-purpose robot model display system according to any one of 1 to 6.