JP2009291927A - Robot off-line programming device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To create a program for robots including optimum information, in a short time. <P>SOLUTION: This robot off-line programming device 20 is provided for creating the program for robots 11, 12. It comprises a first storage means 32 for storing hitting point position information 33, hitting point order information 34 and hitting point allocation information 35 about hitting points where the spot welding of a first vehicle body A is performed, the hitting point allocation information being given for allocating one robot to each hitting point for the spot welding, a second storage means 42 for storing hitting point position information for the spot welding about hitting points where the spot welding of the second vehicle body B is performed, a determining means 22 for determining hitting point order information and hitting point allocation information for the second vehicle body in accordance with the hitting point position information and the hitting point order information for the first vehicle body and the hitting point position information for the second vehicle body, and a creating means 23 for creating the program for the robots to perform the spot welding of the second vehicle body in accordance with the hitting point position information, the hitting point order information and the hitting point allocation information for the second vehicle body. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a robot offline programming apparatus for creating a robot program for a single robot that performs spot welding on a vehicle body or a robot program for each of a plurality of robots.

  Conventionally, industrial robots have been used to perform spot welding on automobile bodies in automobile factories and the like. Spot welding may be performed by one robot, and as disclosed in Patent Document 1, a plurality of robots may perform spot welding on one vehicle body.

When the robot performs spot welding on the vehicle body, spot position information that defines a plurality of locations where spot welding is performed and spot order information that determines the order of these spot points are created for each vehicle body. In addition, when a plurality of robots perform spot welding on one vehicle body, hit point distribution information that defines which of the plurality of robots performs spot welding for each hit point is also created. A robot program is created off-line based on the hit point position information and the like, and the robot is operated based on the program.
Japanese Patent No. 2984218

  By the way, since the part where spot welding is performed differs depending on the vehicle body of the automobile, the hit point position information, the hit point order information, and the hit point distribution information (hereinafter referred to as “information” as appropriate) are changed every time the vehicle type of the automobile is changed. It is necessary to set every time.

  However, such information is often created by trial and error by an operator, and the content of the information may differ depending on the skill level of the operator. Further, when the robot is operated by a program including information determined by an unskilled worker, a situation in which the robot collides with the vehicle body and / or another robot may occur. Furthermore, even when a skilled worker creates information, there is a problem that it takes a considerable time to determine the information.

  The present invention has been made in view of such circumstances, and is a robot offline programming apparatus capable of creating a robot program including optimal information in a short time without depending on the skill level of an operator. The purpose is to provide.

  In order to achieve the above-mentioned object, according to the first invention, in the robot offline programming apparatus for creating a robot program for one robot that performs spot welding on the vehicle body, the spot position of the spot where spot welding is performed on the first vehicle body First storage means for storing information and dot order information, second storage means for storing spot position information of the spot where spot welding is performed in the second vehicle body, and the first vehicle body stored in the first storage means Determining means for determining the hit point order information of the second vehicle body based on the hit point position information and the hit point order information of the second vehicle body and the hit point position information of the second vehicle body stored in the second storage means; Based on the hit point position information of the second vehicle body and the hit point order information of the second vehicle body determined by the determining means, the second vehicle The to and a program creation means for creating the robot of the robot program for spot welding robot offline programming device is provided.

  That is, in the first invention, the hit order information of the second vehicle body, for example, a new vehicle body, is determined based on the hit point position information and the hit point order information of the first vehicle body, for example, the reference vehicle body. Accordingly, it is possible to reflect the optimum information of the first vehicle body, which is determined in advance so as not to collide with the vehicle body, in the information of the second vehicle body. Therefore, a robot program including optimum information can be created in a short time without depending on the skill level of the operator, and the robot can be prevented from colliding with the vehicle body.

  According to the second aspect of the present invention, in the robot offline programming apparatus for creating the respective robot programs for the plurality of robots performing spot welding on the vehicle body, the dot position information, the dot order information, and the spot order information for spot welding in the first vehicle body, First storage means for storing hit point distribution information, wherein in the hit point distribution information, one of the plurality of robots is allocated to each spot welding hit point; Second storage means for storing spot welding spot position information of spot welding at which spot welding is performed in two vehicle bodies; the spot position information and spot order information of the first vehicle body stored in the first storage means; Based on the hit point position information of the second vehicle body stored in the second storage means, the hit of the second vehicle body. Based on the determination means for determining the order information and the hit point distribution information, the hit point position information of the second vehicle body, and the hit point order information and the hit point distribution information of the second vehicle body determined by the determination means, There is provided a robot off-line programming apparatus comprising program creating means for creating a robot program for each of the plurality of robots for spot welding a vehicle body.

  That is, in the second aspect of the invention, the hit order information and the hit point distribution information for the second vehicle body, for example, a new car body, are determined based on the hit point position information, the hit point order information, and the hit point distribution information for the first car body, for example, the reference car body. Accordingly, it is possible to reflect the optimum information of the first vehicle body, which is determined in advance so as not to collide with the vehicle body and / or other robots, in the information of the second vehicle body. Therefore, a robot program including optimum information can be created in a short time without depending on the skill level of the worker, and the robot may collide with the vehicle body and / or other robots. Can be avoided.

According to a third aspect, in the first or second aspect, the second vehicle body is a successor vehicle of the first vehicle body or a vehicle body of a vehicle of the same vehicle type having different specifications from the first vehicle body.
That is, in the third aspect, when the second vehicle body is a successor vehicle of the first vehicle body, an optimal program can be created in a shorter time.

According to a fourth invention, in any one of the first to third inventions, the second storage means stores a three-dimensional model of the second vehicle body, and the three-dimensional model of the second vehicle body. The teaching posture of the robot is adjusted for each striking point of the second vehicle body so that the spot welding pressure is applied in a direction perpendicular to the surface on which the striking point of the second vehicle body is determined. Adjusting means is provided.
That is, in the fourth invention, better spot welding can be performed.

According to a fifth aspect of the present invention, in any one of the first to third aspects, the striking point in which the traveling direction of the hitting point determined from the hitting point order information of the second vehicle body is determined from the hitting point order information of the first vehicle body. Adjusting means for adjusting the teaching posture of the robot for each hitting point of the second vehicle body so as to be the same as the traveling direction of.
That is, in the fifth aspect, it is possible to ensure that the spot welding welding gun does not interfere with the vehicle body and / or other robots.

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 schematic diagram of a spot welding system including an off-line programming device according to a first embodiment of the present invention. In the spot welding system 10 of FIG. 1, a single robot 11 is arranged so that the vehicle body B can be spot welded by a welding gun 17. The vehicle body B is a new vehicle body to be spot welded in the spot welding system 10. A control device 15 that controls the robot 11 is connected to the programming device 20.

  The programming device 20 is a digital computer, and mainly includes a CPU 21 and a storage unit 31. The programming device 20 includes a display unit 25 that displays the vehicle body B and the robots 11 and 12.

  As illustrated, the storage unit 31 includes a reference vehicle body storage unit 32 and a new vehicle body storage unit 42. Here, the reference vehicle body A is a vehicle body that has already been appropriately spot-welded in the spot welding system 10. For example, the new vehicle body B is a successor vehicle of the reference vehicle body A or a vehicle body of the same vehicle type having different specifications from the reference vehicle body.

  The reference vehicle storage unit 32 includes hit point position information 33 and hit point order information 34 of the reference vehicle A. The hit point position information 33 is information on the spot welding location in the reference vehicle body A, that is, the position of each hit point. The hit point position information 33 is determined according to the shape of the reference vehicle body A, the strength required for the reference vehicle body A, and the like.

  The dot order information 34 is information about the order in which spot welding is performed at these dots. It is assumed that the spot order information 34 of the reference vehicle body A is created by a skilled worker when spot welding the reference vehicle body A with the illustrated spot welding system 10. In other words, when the robot program including the hit point order information 34 is executed, the spot welding is appropriately performed at each hit point without the robot 11 interfering with the reference vehicle body A.

  The hit point position information 33 and the hit point order information 34 may be part of the teaching program of the robots 11 and 12 taught in the past, or may be in the form of a predetermined definition file.

  The new vehicle body storage unit 42 includes hit point position information 43 determined according to the shape of the new vehicle body B, the strength required for the new vehicle body B, and the like, and a three-dimensional model of the new vehicle body B. The hit point position information 43 may be in the form of a predetermined definition file, or may be a point element of a three-dimensional model of the new vehicle body B.

  The CPU 21 serves as determining means 22 for determining the hit point order information of the new vehicle body B based on the hit point position information 33 and the hit point order information 34 of the reference vehicle body A and the hit point position information 43 of the new vehicle body B. Further, the CPU 21 serves as a program creation unit 23 that creates the robot program of the robot 11 offline based on the hit point position information 43 of the new vehicle body B and the hit point order information of the new vehicle body B determined by the determination unit 22. Fulfill. Further, the CPU 21 serves as an adjusting means 24 for adjusting the teaching posture of the robot 11 for each hit point of the new vehicle body B.

  FIG. 2 is a schematic view of a spot welding system including an off-line programming apparatus according to the second embodiment of the present invention. In the spot welding system 10 of FIG. 2, a robot 12 having a welding gun 18 is added, and a control device 16 of the robot 12 is connected to a programming device 20. In the second embodiment, the two robots 11 and 12 cooperate to spot weld the new vehicle body B. As shown in FIG. 2, the reference vehicle body storage unit 32 includes hit point distribution information 35 that associates each of a plurality of hit points with one of the robots 11 and 12.

  Although two robots are shown in FIG. 2, spot welding may be performed in cooperation with a larger number of robots. In that case, the hit point distribution information 35 associates each hit point with one of the plurality of robots.

  The hit point distribution information 35 of the reference vehicle body A is assumed to have been created by a skilled worker when spot welding the reference vehicle body A with the illustrated spot welding system 10. In other words, when the robot program including the hit point order information 34 and the hit point distribution information 35 is executed, the robots 11 and 12 do not interfere with the reference vehicle body A, and the robots 11 and 12 do not interfere with each other. Spot welding shall be performed appropriately.

  Further, in the second embodiment, the determination means 22 is based on the hit point position information 33 and the hit point order information 34 of the reference vehicle body A and the hit point position information 33 of the new vehicle body B, and Determine the dot distribution information. The program creation means 23 creates the robot programs for the robots 11 and 12 based on the hit point position information 43 of the new vehicle body B, the hit point order information and the hit point distribution information of the new vehicle body B, respectively.

  FIG. 3 is a flowchart showing the operation of the programming device 20 according to the present invention. Hereinafter, the operation of the programming device 20 of the present invention will be described with reference to FIG. In the following, it should be noted that the first and second embodiments are collectively described.

  In step 101 of FIG. 3, a new vehicle body B and a robot (one in the first embodiment and a plurality in the second embodiment) are displayed on the display unit 25 to create a work cell. Next, in step 102, the hit point position information 43 of the new vehicle body B is acquired from the new vehicle body storage unit 42, and in step 103, the hit point position information 33 and the hit point order information 34 are acquired from the reference vehicle body storage unit 32. In the second embodiment, the hit point distribution information 35 is further acquired from the reference vehicle body storage unit 32.

  Here, the total number of hit points included in the hit point position information 43 of the new vehicle body B is n (1 ≦ n). Then, the following processing is performed for each of the plurality of hit points p in the new vehicle body B. First, in step 104, it is determined whether or not the order i of the current hit points p (i) (1 ≦ i ≦ n) has reached the total number n. If it is not determined that the hit point p (i) has reached the total number n, the process proceeds to step 105. On the other hand, if it is determined that the total number of hit points p (i) has reached the total number n, since the process for all the hit points has been performed, the process proceeds to step 108.

  In step 105, the determination means 22 compares the hit point position information 33 of the reference vehicle body A with the hit point position information 43 of the new vehicle body B. When the new vehicle body B is a successor vehicle of the reference vehicle body A, the main dimensions of the new vehicle body B and the reference vehicle body A are substantially equal to each other, and the position of a certain hit point P in the new vehicle body B is that of the reference vehicle body A or Is substantially equal to the position of the hit point p. The determination means 22 determines the hit point order information and / or hit point distribution information of the new vehicle body B with reference to the hit point P of the reference vehicle body A located in the vicinity of the hit point p of the new vehicle body B.

  In FIG. 4, a reference vehicle body A and a new vehicle body B are shown. In FIG. 4, the hitting point of the front part A1 of the reference vehicle body A corresponding to the front door is indicated by a white square, and the hitting point of the rear part A2 of the reference car body A corresponding to the rear door is a black circle. It is shown. The white square is a spot that is spot welded by one robot 11, and the black circle is a spot that is spot welded by the other robot 12. Accordingly, the white square and the black circle correspond to the hit point distribution information 35 of the reference vehicle body A.

  Furthermore, arrows S1 and S2 in FIG. 4 indicate the dot order in the compartment front part A1 and the dot order in the compartment rear part A2, respectively. In other words, the arrows S <b> 1 and S <b> 2 correspond to the dot order information 34 of the reference vehicle body A.

  In such a case, the new vehicle body B is so arranged that the robot 12 performs spot welding at the hitting point of the front portion B1 of the new vehicle body B and the spot welding at the hitting point of the rear portion B2 of the vehicle body. The hit point distribution information in the vehicle compartment front portion B1 and the vehicle compartment rear portion B2 is determined. Although not shown, hit point distribution information is determined in the same manner for other parts of the new vehicle body B.

  Further, the hitting point order information of the passenger compartment front part B1 is determined so as to be in the same direction as the arrow S1 (see arrow T1 in FIG. 4), and the rear part B2 of the passenger compartment is specified so as to be in the same direction as the arrow S2. The dot order information is determined (see arrow T2 in FIG. 4). Although not shown, the dot order information is determined in the same manner for other parts of the new vehicle body B as well.

By the way, when the main dimensions of the reference vehicle body A and the main dimensions of the new vehicle body B are different from each other by a predetermined length or more, it is preferable to obtain a coordinate transformation matrix that matches the shape of the reference vehicle body A with the shape of the new vehicle body B. . For example, if (length, width, height) of the reference vehicle body A = (L, W, H) and (length, width, height) of the new vehicle body B = (l, w, h), The position (x, y, z) of a certain hit point P (i) on the vehicle body A is converted into a position (x ′, y ′, z ′) by the following equation (1). In this case, the position of the hit point P of the reference vehicle body A approaches the position of the hit point p of the new vehicle body B.

  In this way, all the hit points on the reference vehicle body A are coordinate-converted, and the respective positions (x ′, y ′, z ′) after the coordinate conversion are compared with the respective hit points on the new vehicle body B, as described above. The hitting order information and / or hitting point distribution information of the vehicle body B may be determined. In this case, it will be understood that more appropriate hit point order information and / or hit point distribution information of the new vehicle body B is required.

  Furthermore, a coordinate transformation matrix similar to that shown in Expression (1) may be created for the front part, the vehicle compartment, and the rear part of the vehicle body, and these may be applied. In this case, the hitting point position of the reference vehicle body A becomes closer to the hitting point position of the new vehicle body B, whereby more appropriate hitting point order information and / or hitting point distribution information of the new vehicle body B can be determined. Alternatively, a coordinate transformation matrix may be created from the images of the reference vehicle body A and the new vehicle body B using a pattern matching algorithm. Thereby, the hit point order information and / or hit point distribution information of the new vehicle body B becomes more appropriate.

  Next, in step 106 in FIG. 3, the adjustment point 24 adjusts the point attitude of the welding guns 17 and 18 at the point. Specifically, the three-dimensional model 44 of the new vehicle body B is read from the new vehicle body storage unit 42. Next, a surface having a predetermined area including the hit point in the vicinity of the hit point p is extracted from the three-dimensional model. Then, the striking posture is adjusted so that the pressing direction by the welding gun 17 (or the welding gun 18) coincides with the direction perpendicular to the surface. By such adjustment, it becomes possible to perform better spot welding at the spot.

  Thereafter, in step 107, while maintaining the pressing direction perpendicular to the surface obtained in step 106, the adjusting means 24 provides a reference in which the traveling direction of the hit point p of the new vehicle body B is located in the vicinity of the hit point p. Adjustment is made so as to match the hitting point posture at the hitting point P of the vehicle body A.

  FIG. 5 is a flowchart showing the operation of the programming device in more detail, and FIG. 6 is a schematic diagram showing a part of the new vehicle body. In FIG. 6, it is assumed that a part of the new vehicle body B is shown as a curved surface, and a certain hit point p of the new vehicle body B is positioned thereon. Note that the traveling direction vector of the hit point p of the new vehicle body B is X2, and the pressing direction perpendicular to the traveling direction vector X2 is Z2. Further, C is a surface on which the traveling direction vector X2 and the pressing direction Z2 of the hit point p are stretched.

  In FIG. 6, the hit point P of the reference vehicle body A corresponding to the hit point p of the new vehicle body B is shown in the vicinity of the hit point p. Similarly, in FIG. 6, the traveling direction vector of the hit point P of the reference vehicle body A is X1, and the pressing direction perpendicular to the traveling direction vector X1 is Z1. The traveling direction vector X1 is known from the dot order information.

  Hereinafter, step 103 of FIG. 3 will be described with reference to FIGS. 5 and 6. First, in step 107a in FIG. 5, the traveling direction vector X1 at a certain hit point P of the reference vehicle body A is extended by a sufficient distance, and the tip thereof is set as a point Q. Next, the posture of the new vehicle body B at the hit point p is rotated around the hit point p so that the point Q is positioned on the surface C (step 107b).

  As a result, while maintaining the pressurization direction perpendicular to the surface obtained in step 106, the adjusting means 24 allows the traveling direction of the hit point p of the new vehicle body B to be adjusted to the reference vehicle body A located in the vicinity of the hit point p. Adjustment is made so as to coincide with the hit point posture at the hit point P. Therefore, the postures of the welding guns 17 and 18 are maintained optimally. As a result, when the spot welding system 10 is actually operated, the welding guns 17 and 18 can be prevented from interfering with the new vehicle body B or other robots, and good spot welding can be performed.

  As can be seen from FIG. 3, when the process of step 107 is completed, the process returns to step 104, the same process is performed for the next hit point p (i + 1), and the hit point order information and the hit point distribution information of the reference vehicle A are determined. The Then, when the information about all the hit points p (1) to p (n) of the new vehicle body B is determined, the process proceeds to step 108. In step 108, the hit position information 43 of the new car body B stored in the new car body storage unit 42, the hit order information and the hit point distribution information of the new car body B determined in step 105, and the steps 106 and 107 Based on the striking point attitude at each striking point of the adjusted new vehicle body B, the program creation means 23 creates a robot program for the robot 11 (and the robot 12) offline. Thereafter, the robots 11 and 12 are operated based on the created program, and spot welding is performed on the new vehicle body B.

  As described above, the hit point order information 34 and the hit point distribution information 35 of the reference vehicle A are optimum information predetermined by a skilled worker. The spot order information and spot distribution information of the new vehicle body B created in the spot welding system 10 of the present invention reflects the spot order information 34 and spot distribution information 35 of the reference vehicle body A. Accordingly, even when the robots 11 and 12 are operated by a program including such hit point order information and hit point distribution information of the new vehicle body B and spot welding is performed on the new vehicle body B, the robots 11 and 12 interfere with each other. It does not interfere with the new vehicle body B. Therefore, it is possible to create a program for the robots 11 and 12 including optimum information without depending on the skill level of the operator. Further, since it is not necessary for the operator to perform trial and error, it will be understood that the creation of the programs for the robots 11 and 12 is completed in a short time.

1 is a schematic diagram of a spot welding system including an off-line programming device according to a first embodiment of the present invention. 2 is a schematic diagram of a spot welding system including an off-line programming device according to a second embodiment of the present invention. It is a flowchart which shows operation | movement of the programming apparatus based on this invention. It is a perspective view which shows a reference | standard vehicle body and a new vehicle body. It is a flowchart which shows operation | movement of a programming apparatus in detail. 1 is a schematic view showing a part of a new vehicle body.

Explanation of symbols

10 Spot Welding System 11, 12 Robot 15, 16 Controller 17, 18 Welding Gun 20 Programming Device 21 CPU
22 determining means 23 program creating means 24 adjusting means 25 display unit 31 storage unit 32 reference vehicle body storage unit 33 hit point position information 34 hit point sequence information 35 hit point distribution information 42 new vehicle body storage unit 43 hit point position information 44 three-dimensional model A reference Body (first body)
B New body (second body)

Claims (5)

In a robot offline programming device that creates a robot program for one robot that performs spot welding on the car body,
First storage means for storing spot position information and spot order information of the spots where spot welding is performed in the first vehicle body;
Second storage means for storing spot position information of the spot where spot welding is performed in the second vehicle body;
Based on the hit point position information and the hit point order information of the first vehicle body stored in the first storage unit, and the hit point position information of the second vehicle body stored in the second storage unit, Determining means for determining the hit order information of the two vehicle bodies;
Creation of a program for creating a robot program for the robot for spot welding the second vehicle based on the hit point position information of the second vehicle body and the hit point sequence information of the second vehicle body determined by the determining means A robot off-line programming apparatus. In a robot offline programming device that creates a robot program for each of a plurality of robots that perform spot welding on the vehicle body,
A first storage means for storing spot position information, spot order information, and spot distribution information of spots at which spot welding is performed in the first vehicle body. In the spot distribution information, for each spot welding spot One of the plurality of robots is allocated,
further,
Second storage means for storing spot position information of spot welding of the spot where spot welding is performed in the second vehicle body;
Based on the hit point position information and the hit point order information of the first vehicle body stored in the first storage unit, and the hit point position information of the second vehicle body stored in the second storage unit, Determining means for determining the hit order information and hit point distribution information of the two vehicle bodies;
Each of the plurality of robots for spot welding the second vehicle body based on the hit point position information of the second vehicle body and the hit point order information and hit point distribution information of the second vehicle body determined by the determining means A robot off-line programming apparatus comprising: a program creating means for creating the robot program.   The robot offline programming device according to claim 1 or 2, wherein the second vehicle body is a successor vehicle of the first vehicle body or a vehicle body of a vehicle of the same vehicle type having different specifications from the first vehicle body. Furthermore, the second storage means stores a three-dimensional model of the second vehicle body,
The teaching posture of the robot is set so that the spot welding pressure is applied in a direction perpendicular to the surface of the second vehicle body on which the hitting point is determined, which is determined from the three-dimensional model of the second vehicle body. The robot offline programming apparatus according to any one of claims 1 to 3, further comprising an adjusting unit that adjusts for each hit point of the two vehicle bodies.   Furthermore, the teaching posture of the robot is set so that the advancing direction of the hitting point determined from the hitting point order information of the second vehicle body is the same as the advancing direction of the hitting point determined from the hitting point order information of the first vehicle body. The robot offline programming apparatus according to any one of claims 1 to 3, further comprising an adjusting unit that adjusts for each hit point.

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