JP2009190113A - Robot simulation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot simulation device which displays a location where a signal output is carried out in a track of a robot. <P>SOLUTION: The robot simulation device (10) includes: an image plane (17) in which a model of the robot (22) is displayed; a simulation means (31) for executing a program in which a robot action and the signal output are described, in simulation; a location calculation means (32) for calculating robot locations and signal output locations when the program is executed by the simulation means, in chronological order; a memory means (13) for storing therein the robot locations and the signal output locations calculated by the location calculating means, in chronological order; a location display means (35) for displaying the robot locations stored in the memory means on the image plane, in chronological order; and an index display means (36) for displaying indexes indicative of the signal output locations of the robot stored in the memory means, on the robot track obtained by connecting between the robot locations displayed on the image plane by the location display means. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a simulation apparatus for a robot.

  In the robot offline programming system (hereinafter referred to as “system”), the robot is taught and programmed on the screen of the system. During programming, the robot program is displayed on the screen as necessary. In some cases, a robot program is executed by simulation, and the robot trajectory, which is the execution result, is displayed on the screen.

For example, Patent Document 1 discloses displaying a plurality of teaching points on a screen and measuring a distance between the teaching points.
Japanese Patent No. 3819883

  By the way, conventionally, after the robot arm has been moved to a certain location, a signal related to the next operation, for example, gripping a workpiece by a hand or starting welding is output. On the other hand, in recent years, from the viewpoint of shortening the time required for the entire operation of the robot, signal output related to the next operation is often performed while the arm is moving to a certain place.

  However, in the current system, only the trajectory of the robot is displayed on the screen, and it has not been possible to grasp where in the trajectory the signal output is performed.

  Furthermore, when a plurality of robots operate simultaneously, only the trajectories of these robots are displayed on the screen. Therefore, even if these trajectories intersect on the two-dimensional screen, it is impossible to grasp whether the robots actually interfere with each other.

  When the robot performs processing on a predetermined part of the workpiece, the workpiece model and the robot trajectory are displayed on the screen. However, since the distance between the workpiece model and the robot trajectory cannot be grasped on the two-dimensional screen, it has not been possible to determine whether or not the workpiece is actually processed appropriately.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide a robot simulation apparatus capable of grasping where a signal is output in the robot trajectory.

  In order to achieve the above-mentioned object, according to a first invention, a simulation means for executing, by simulation, a screen in which a robot model is displayed, a program in which the operation and signal output of the robot are described, and the simulation means The position calculation means for calculating the position of the robot and the position of the signal output when the program is executed in time series, and the position of the robot and the position of the signal output calculated by the position calculation means in time series A storage means for storing, a position display means for displaying the position of the robot stored in the storage means on the screen in time series, and a position of the robot displayed on the screen by the position display means. An index representing the position of the signal output of the robot stored in the storage means on the locus of the robot Comprising the index display means for displaying, robot simulation device is provided.

  That is, in the first invention, an index representing signal output can be displayed on the screen. Therefore, when examining the robot system, it is possible to grasp at which position of the trajectory configured from the robot position the signal output is performed. Thereby, it can also be judged whether the timing of signal output is appropriate.

According to a second invention, in the first invention, further, a workpiece display means for displaying a workpiece model on the screen, and at least one machining location of the workpiece displayed by the workpiece display means is designated. And a distance calculating means for calculating a distance between at least one machining location of the workpiece specified by the specifying means and each position of the robot displayed by the position display means. To do.
That is, in the second invention, since the distance between the workpiece machining location and the robot trajectory is known, it is possible to grasp whether or not the workpiece can be machined accurately.

According to a third invention, in the second invention, the computer further comprises a shortest distance calculating means for calculating the shortest distance among the distances calculated by the distance calculating means and displaying the shortest distance on the screen.
In the third invention, when the shortest distance is less than or equal to zero, it is considered that the workpiece and the robot interfere with each other, and therefore it is possible to grasp in advance whether or not the workpiece and the robot interfere inappropriately.

According to a fourth invention, in any one of the first to third inventions, the program describes parallel operations of a plurality of robots, and the distance calculating means is a distance between the plurality of robots. Was further calculated in time series.
That is, in the fourth invention, since the distances between the plurality of robots are known, it is possible to grasp whether or not the plurality of robots can move appropriately.

According to a fifth aspect, in the fourth aspect, further comprising: a shortest distance calculating unit that calculates a shortest distance among the distances calculated by the distance calculating unit and displays the shortest distance on the screen.
In the fifth aspect, since the robots are considered to interfere with each other when the shortest distance is equal to or less than zero, it is possible to grasp in advance whether or not a plurality of robots interfere with each other.

According to a sixth invention, in any one of the first to fifth inventions, the storage means stores the position of the robot and the signal output in association with a command line of the program, and Designation means for designating at least one of the position of the robot on the screen and the position of the indicator of the signal output, the position of the robot designated by the designation means and the position of the indicator of the signal output Command line display means for highlighting a command line of the program corresponding to at least one of them on the screen.
That is, in the sixth invention, when the operator determines that the position of the robot and / or the position of the index is not appropriate, the corresponding command line of the program is highlighted. Therefore, the operator can determine whether or not it is necessary to change the contents of the command line.

Embodiments of the present invention will be described below with reference to the accompanying drawings. In the following drawings, the same members are denoted by the same reference numerals. In order to facilitate understanding, the scales of these drawings are appropriately changed.
FIG. 1 is a conceptual diagram of a robot simulation apparatus according to the present invention. A robot simulation apparatus 10 shown in FIG. 1 is, for example, a digital computer, and can create and execute a robot program. In the embodiment shown in FIG. 1, the robot simulation apparatus 10 is connected to the robot controller 21 by a LAN 39 such as Ethernet (registered trademark), but these may be connected by other methods.

  The robot controller 21 is connected to a robot 22 having a hand 23 at the tip of an arm. The robot controller 21 shown in FIG. 1 controls the robot 22 to grip the workpiece 20. Further, FIG. 1 shows another robot 22 ′ similar to the robot 22 and an associated robot controller 21 ′ and hand 23 ′. As shown in the drawing, the tips of these robots 22 and 22 ′ are provided with a TCP (Tool Center Point) indicating the position of the robot.

  FIG. 2 is a block diagram of a robot simulation apparatus according to the present invention. As shown in FIG. 2, the robot simulation apparatus 10 includes a CPU 11, a ROM 12 and a RAM 13, an input device 14 including a mouse and / or a keyboard, an output device 15 such as a printer, and a graphic control circuit 16. These are connected to each other by a bidirectional bus 18. As can be seen from FIG. 2, the graphic control circuit 16 is connected to the graphic screen 17.

  The ROM 12 stores a program describing the operation of the robot 22 and the signal output during the operation of the robot. Here, the signal output means that a signal relating to the next operation, for example, gripping of a workpiece by a hand or starting welding is output when the arm of the robot is moving. Further, the ROM 12 stores data of a three-dimensional shape model relating to the robot 22 to be simulated, the workpiece 20 and their peripheral devices.

  As shown in FIG. 2, the CPU 11 calculates the simulation unit 31 that executes the program in the ROM 12 by simulation, and the position of the robot 22 and the signal output position when the program is executed by the simulation unit 31 in time series. It serves as the position calculation means 32. The RAM 13 stores the position of the robot 22 and the signal output position calculated by the position calculation means 32 in time series in association with the command line of the program.

  Further, the CPU 11 connects the position of the robot 22 displayed on the graphic screen 17 by the position display means 35 and the position display means 35 for displaying the position of the robot 22 stored in the RAM 13 on the graphic screen 17 in time series. It serves as index display means 36 for displaying an index representing the position of the signal output of the robot 22 stored in the RAM 13 on the locus T of the robot.

  Further, the CPU 11 calculates the distance between the workpiece display means 37 for displaying the model of the workpiece 20 on the graphic screen 17, and the machining location of the workpiece 20 and each of the positions of the robot 22 displayed by the position display means 35. It plays the role of the distance calculation means 33 to perform. When a plurality of robots are used, the distance calculation unit 33 can also calculate the distances between the plurality of robots. Further, the CPU 11 includes a shortest distance calculation unit 34 that calculates a shortest distance among the plurality of distances when the distance calculation unit 33 calculates a plurality of distances. The CPU 11 also serves as command line display means 38 for highlighting the command line of the program corresponding to the index.

  FIG. 3 is a flowchart showing an operation program of the robot simulation apparatus according to the first embodiment of the present invention. In the first embodiment, only one robot 22 is used. Hereinafter, the operation of the robot simulation apparatus 10 of the present invention will be described with reference to the operation program shown in FIG.

  First, in step 101, the model of the robot 22 stored in the ROM 12 is displayed on the graphic screen 17. At this time, the model of the workpiece 20 may be displayed on the graphic screen 17 together. Next, a desired program is simulated by the simulation means 31 (step 102).

  The position (TCP position) and posture of the robot 22 when the simulation is executed are calculated in time series by the position calculation unit 32. The positions and postures of the robots 22 are calculated, for example, at predetermined intervals and stored in the RAM 13 in time series. Further, the position calculating means 32 calculates the position of the signal output of the robot 22 when the simulation is executed in time series and stores it in the RAM 13 (step 103).

Next, in step 104, the stored position of the robot 22 is displayed on the graphic screen 17 by the position display means 35. For example, a case where a part of command lines in a simulated program is as follows will be described.
Time Robot position Output signal
t1 = 10sec P1 (x1, y1, z1) = P1 (1500,0,800) None
t2 = 20sec S = Output
t3 = 30sec P3 (x3, y3, z3) = P3 (1000,0,1000) None

  In this case, the robot positions P1 and P3 at times t1 and t3 are displayed in the robot coordinate system of the graphic screen 17 as shown in FIGS. 4 (a) and 4 (b). 4A and 4B show the X-axis and Z-axis of the robot coordinate system. The displayed robot positions P1 and P3 are connected by a line segment, whereby the trajectory T of the robot 22 is represented.

In the above-described program, the position of the signal output S calculated by the position calculation means 32 is expressed by the following equation (1).
S (x, y, z) = S ({(t2-t1) / (t3-t1)} × (x3-x1), {(t2-t1) / (t3-t1)} × (y3-y1) , {(T2-t1) / (t3-t1)} × (z3-z1)) (1)

  Next, as shown in FIG. 4B, the index display means 36 displays the index S related to the signal output S between the two adjacent robot positions P1 and P3. The index S is displayed between the positions indicated by the two command lines adjacent to the command line corresponding to the signal output. As shown, the index S is usually displayed on a line segment connecting the two robot positions P1 and P3.

  Thus, in the present invention, the index S representing the signal output can be displayed on the graphic screen 17. Therefore, when examining the robot system, it is possible to grasp where the signal is output in the locus T of the robot. Therefore, the operator can recognize whether the timing of signal output is appropriate.

  FIG. 5 is a flowchart showing an operation program of the robot simulation apparatus according to the second embodiment of the present invention. In step 111 of the operation program 110 shown in FIG. 5, the models of the robot 22 and the work 20 are displayed on the graphic screen 17 by the work display means 37 as shown in FIG. In FIG. 6A, the display of the index S is omitted for the sake of brevity. Further, since steps 112 to 114 in FIG. 5 are the same as steps 102 to 104 described above, the description thereof will be omitted.

  Next, in step 115, the operator uses the input device 14, for example, a mouse, to specify the machining location of the workpiece 20 that requires machining. A cylindrical work 20 is shown on the graphic screen 17 in FIG. For example, the operator designates the ridge line 29 of the workpiece 20 as a machining location using the mouse pointer 14a. Thereby, as shown in FIG. 6B, the ridgeline 29 of the designated workpiece 20 is highlighted.

  Next, the distance calculating unit 33 calculates the distances L1, L2, and L3 between the plurality of robot positions P1, P2, and P3 and the ridge line 29 of the workpiece 20. As can be seen from FIG. 6C, these distances are the shortest distances between each of the robot positions and the ridge line 29 of the workpiece 20, and the positions on the ridge line 29 constituting such a shortest distance are points Q1, It is indicated by Q2 and Q3, respectively. By calculating these distances L1, L2, and L3, the operator knows the distance between the machining location of the workpiece 20 (for example, the ridge line 29) and the trajectory T of the robot in time series. Therefore, the operator can grasp in advance whether or not the workpiece 20 can be accurately machined through these distances L1, L2, and L3.

  Next, the shortest distance of the calculated distances L1, L2, and L3 is obtained by the shortest distance calculation means 34. In FIG. 6D, the distance L2 is obtained as the shortest distance, and the other distances L1 and L2 are deleted from the graphic screen 17. Further, a dimension line representing the shortest distance L2 is displayed, and the coordinates of the point Q2 on the ridge line 29 corresponding to the shortest distance L2 are separately calculated and stored in the RAM 13.

  Here, when the shortest distance L2 is equal to or less than zero, the workpiece 20 and the robot 22 may interfere with each other. Therefore, in the present invention, by determining whether or not the shortest distance L2 is equal to or less than a predetermined value, the operator can grasp in advance whether or not the workpiece 20 and the robot 22 interfere with each other.

  FIG. 7 is a flowchart showing an operation program of the robot simulation apparatus according to the third embodiment of the present invention. In step 121 of the operation program 120 shown in FIG. 7, as shown in FIG. 8A, a plurality of robots, for example, TCP and TCP ′ of two robots 22 and 22 ′ are displayed on the graphic screen 17. .

  In FIG. 8A and the like, the display of the index S is omitted for the sake of brevity. Further, since steps 122 to 124 in FIG. 7 are the same as steps 102 to 104 described above, the description thereof will be omitted. However, it should be noted that in the third embodiment, the trajectories T of a plurality of robots are displayed on the graphic screen 17 according to the number of robots. In FIG. 8A, trajectories T1 and T2 of two robots are shown.

  In the trajectory T1 of the robot 22, the TCP position R1 (t1) of the robot 22 at time t1 and the TCP position R1 (t2) at time t2 are shown. Similarly, in the trajectory T2 of the robot 22 ', the position R2 (t1) of the TCP' of the robot 22 'at the time t1 and the position R2 (t2) of the TCP' at the time t2 are shown.

  Next, in step 125 of FIG. 7, two robots are designated from a plurality of robots using the input device 14, for example, a mouse. In FIG. 8A in which only two robots TCP and TCP 'are shown, it is sufficient to designate these two robots.

  Next, in step 126, the distance between the designated robots is calculated in time series by the distance calculation means 33. For example, in FIG. 8A, the distance L (t1) between the position R1 (t1) of the robot 22 at the time t1 and the position R2 (t1) of the robot 22 ′, and the position R1 of the robot 22 at the time t2 ( A distance L (t2) between t2) and the position R2 (t2) of the robot 22 ′ is calculated.

These distances L (t1) and L (t2) are calculated by the following equations (2) and (3), respectively.
L (t1) = (R2 (t1) -R1 (t1)) / | (R2 (t1) -R1 (t1)) | (2)
L (t2) = (R2 (t2) -R1 (t2)) / | (R2 (t2) -R1 (t2)) | (3)

  Thus, since the distance between the robots is calculated in time series, the operator can know in advance whether or not a plurality of robots can move appropriately. Further, in step 127, the shortest distance calculation means 34 obtains the shortest distance among a plurality of distances between the robots. For example, in FIG. 8B, since the distance L (t2) is the shortest distance, the other distance L (t1) is deleted from the graphic screen 17. Next, a dimension line representing the distance L (t2) is displayed.

  Here, when the shortest distance L (t2) is equal to or less than zero, the robots 22 and 22 'may interfere with each other. Therefore, in the present invention, it is determined in advance whether or not the two specified robots 22 and 22 'interfere with each other by determining whether or not the shortest distance L (t2) is equal to or less than a predetermined value. It becomes possible.

  FIG. 9 is a flowchart showing an operation program of the robot simulation apparatus based on the fourth embodiment of the present invention. Since steps 131 to 134 in FIG. 9 are the same as steps 101 to 104 described above, a repetitive description thereof will be omitted.

  In step 135 of FIG. 9, the position and / or output signal of the robot displayed on the graphic screen 17 is designated using the input device 14, for example, a mouse. In one example shown in FIG. 10A similar to FIG. 4B, the pointer 14a associated with the mouse designates an index S related to signal output.

  Next, in step 136 of FIG. 9, the command line of the program corresponding to the designated robot position and / or output signal is displayed. For example, as shown in FIG. 10B, first, a plurality of command lines including the command line corresponding to the index S or the entire program is displayed on the graphic screen 17. Next, the command line corresponding to the index S is highlighted.

  Therefore, the operator can determine whether or not the content of the command line needs to be changed through the graphic screen 17. If it is necessary to change the contents of the command line, it is sufficient to edit the program using the keyboard of the input device 14 or the like. As a result, a more appropriate program can be created.

It is a conceptual diagram of the robot simulation apparatus based on this invention. It is a block diagram of the robot simulation apparatus based on this invention. It is a flowchart which shows the operation | movement program of the robot simulation apparatus based on 1st embodiment of this invention. (A) It is a figure which shows the graphic screen on which the position of the robot is represented. (B) It is another figure which shows the graphic screen on which the position and signal output of a robot are represented. It is a flowchart which shows the operation | movement program of the robot simulation apparatus based on 2nd embodiment of this invention. (A) It is a 1st figure which shows the graphic screen on which the position and workpiece | work of a robot are represented. (B) It is a 2nd figure which shows the graphic screen on which the position and workpiece | work of a robot are represented. (C) It is a 3rd figure which shows the graphic screen on which the position and workpiece | work of a robot are represented. (D) It is the 4th figure which shows the graphic screen on which the position and workpiece | work of a robot are represented. It is a flowchart which shows the operation | movement program of the robot simulation apparatus based on 3rd embodiment of this invention. (A) It is a figure which shows the graphic screen on which the position of several robots is represented. (B) It is another figure which shows the graphic screen on which the position of several robots is represented. It is a flowchart which shows the operation | movement program of the robot simulation apparatus based on 4th embodiment of this invention. (A) It is a figure which shows the same graphic screen as Fig.4 (a). (B) It is a figure which shows another graphic screen.

Explanation of symbols

10 Robot simulation device 12 ROM
13 RAM (storage means)
14 Input equipment (specifying means)
DESCRIPTION OF SYMBOLS 15 Output apparatus 16 Graphic control circuit 17 Graphic screen 18 Bidirectional bus 20 Work 21, 21 'Robot controller 22, 22' Robot 23, 23 'Hand 31 Simulation means 32 Position calculation means 33 Distance calculation means 34 Shortest distance calculation means 35 Position display means 36 Index display means 37 Work display means 38 Command line display means

Claims (6)

A screen displaying the robot model;
Simulation means for executing, by simulation, a program in which the robot operation and signal output are described;
Position calculation means for calculating the position of the robot and the position of signal output when the program is executed by the simulation means in time series;
Storage means for storing the position of the robot and the position of the signal output calculated by the position calculation means in time series;
Position display means for displaying the position of the robot stored in the storage means on the screen in time series;
Index display means for displaying an index indicating the position of the signal output of the robot stored in the storage means on the trajectory of the robot connecting the positions of the robot displayed on the screen by the position display means; A robot simulation apparatus comprising: Furthermore, a work display means for displaying a work model on the screen;
Designation means for designating at least one machining location of the workpiece displayed by the workpiece display means;
2. A distance calculating means for calculating a distance between at least one of the machining locations of the workpiece specified by the specifying means and each of the positions of the robot displayed by the position display means. The robot simulation apparatus described in 1.   The robot simulation apparatus according to claim 2, further comprising a shortest distance calculation unit that calculates a shortest distance among the distances calculated by the distance calculation unit and displays the shortest distance on the screen. The program describes the parallel operation of a plurality of robots,
The robot simulation apparatus according to claim 1, wherein the distance calculation unit further calculates a distance between the plurality of robots in a time series.   The robot simulation apparatus according to claim 4, further comprising a shortest distance calculation unit that calculates a shortest distance among the distances calculated by the distance calculation unit and displays the shortest distance on the screen. The storage means stores the position of the robot and the signal output in association with a command line of the program,
Furthermore, designation means for designating at least one of the position of the robot on the screen and the position of the indicator of the signal output;
Command line display means for highlighting on the screen a command line of the program corresponding to at least one of the position of the robot designated by the designation means and the position of the index of the signal output. Item 6. The robot simulation device according to any one of Items 1 to 5.

Images