JP2011170522A - Method, device and program for generating sensing operation of work manipulator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To reduce the load of correcting sensing operation data and resetting work by automatically generating an appropriate sensing operation even in the case that an error between actual workpiece information and teaching data is large. <P>SOLUTION: Sensing operation data for use in sensing operation of a work manipulator 2 provided with a contact sensor 3 capable of coming into contact with a workpiece W is generated. In a sensing attitude S wherein the contact sensor 3 of the work manipulator 2 is in contact with the workpiece W, a contact surface T of the workpiece W with which the contact sensor 3 is in contact is extracted, and one edge E constituting the contact surface T is selected. The sensing attitude of the work manipulator 2 is set again so that the position of the one selected edge E and a position WP in which a set position 6 set on the side of a base end 3b of the contact sensor 3 is projected on the contact surface T coincide with each other, and sensing operation data of the work manipulator 2 is generated so as to include the sensing attitude set again. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a method for automatically generating appropriate sensing operation data of a work manipulator, an apparatus therefor, and a program therefor.

  2. Description of the Related Art Conventionally, before a work manipulator performs work on a work work, a contact sensor provided on the work manipulator is brought into contact with the work work based on "sensing operation data", so that the work work on the computer and the work manipulator The sensing operation is usually performed by verifying the positional relationship between the operation manipulator and correcting the teaching data of the operation manipulator based on the verification result.

  For example, based on teaching data on a computer, even if the work manipulator intends to perform welding work at an appropriate position and posture (see FIG. 2A), the actual work workpiece shape, position, and angle Because there are misalignments, the initial position of the work manipulator itself, misalignment of the posture, backlash, etc., an error occurs between the actual work work information and the teaching data. There is a case where a part other than the welding wire of the work manipulator hits the work work (see FIGS. 2B and 2C).

Therefore, before the work manipulator performs welding or other work, sensing is performed to correct the error between the actual work work information and the work work teaching data on the computer by actually bringing the welding wire into contact with the work work. Work is necessary.
When performing such sensing work, sensing operation data for the work manipulator is necessary, and the method of generating the sensing operation data, that is, the method of generating the sensing operation of the work manipulator is often manually performed by the work operator. However, several techniques for automatically generating a sensing operation have been developed (Patent Document 1 and the like).

  The method for generating a sensing operation of a work manipulator disclosed in Patent Document 1 includes a shape of a work workpiece and a degree of proximity to another member, the number of surfaces adjacent to the end of the work workpiece, the posture of the work manipulator during the sensing operation, Using the data including the necessity of edge detection, the necessity of detecting the fall of the contact surface of the work workpiece, the necessity of detecting the fall of the edge of the work workpiece as a key, the operation pattern (contact of the welding wire etc.) Select the position (including the number and position of the surface on the work workpiece with which to contact the sensor), and for each sensing operation, specify items (such as the contact position of the contact sensor from the reference position and the distance from the contact surface) Sensing operation data is generated based on the numerical values).

Japanese Patent No. 3411770

  Although it is possible to generate sensing operation data by the method of Patent Document 1, the sensing posture in the sensing operation data is inappropriate, and the work manipulator part other than the contact type sensor collides with the work workpiece during the sensing operation, A method of correcting the actually generated sensing action when the contact sensor hits the work piece deeply or shallowly and becomes unsuitable for sensing work (hereinafter collectively referred to as "interference etc.") Inconvenience that there is no. This situation is the same even when the amount of change in the position of the work workpiece cannot be detected when the position of the work workpiece actually changes greatly.

Further, when the work operator makes corrections manually, there is a problem that the burden of teaching work increases by this correction work.
In view of the problems described above, the present invention can automatically generate appropriate sensing operation data even when there is a large error between the actual work work information and the teaching data, and can correct the sensing operation of the work manipulator. An object of the present invention is to provide a sensing operation generation method, a sensing operation generation device, and a sensing operation generation program for a work manipulator that can reduce the load of teaching work.

In order to achieve the above object, the present invention employs the following technical means.
A sensing operation generation method for a work manipulator according to the present invention is a sensing operation generation method for generating sensing operation data used when a work manipulator including a contact sensor capable of contacting a work workpiece performs a sensing operation. In the sensing posture in which the contact sensor of the work manipulator contacts the work workpiece, the contact surface of the work workpiece to be contacted by the contact sensor is extracted and one edge constituting the contact surface is selected and the selected is selected. The sensing posture of the work manipulator is reset so that the position of the single edge matches the position projected on the contact surface of the setting position set on the base end side of the contact sensor, and the reset is performed. The sensing operation data of the work manipulator to include The features.

  As a result, even when there is a large error in the shape, position, and orientation of the work workpiece between the actual data and the teaching data, it is possible to automatically generate appropriate sensing operation data that avoids interference, etc., and the sensing of the work manipulator The burden of the operation data correction work is reduced, the generation time of sensing operation data can be shortened, and the work efficiency of teaching data generation can be improved.

Preferably, in the sensing posture, it is determined whether the contact sensor is in contact with the contact surface of the work workpiece or obliquely, and the contact sensor is in contact with the contact surface or obliquely. The edges may be selected within the contact surface.
Further, in the sensing posture, it is preferable to determine whether the work manipulator interferes with the work workpiece, and when the work manipulator interferes with the work workpiece, it is preferable to select an edge within the contact surface.

As a result, it is possible to detect an abdomen contact state (contact state along the contact surface) of the contact sensor and an oblique contact state, and to detect interference of the work manipulator to the work workpiece. Even if the sensing posture is inappropriate, the sensing operation data can be automatically corrected.
In this specification, interference or interference refers to sensing work when the work manipulator other than the contact sensor collides with the work work, or the contact sensor touches the work work deeply or shallowly. It means that the situation is not appropriate.

More preferably, when selecting an edge in the contact surface, a projection vector obtained by projecting a vector set so as to extend from the distal end side to the proximal end side of the contact sensor is set on the contact surface, and the projection vector is set. It is good also as selecting the edge edge side of the said contact surface where this crosses as said edge.
As a result, the edge of the surface that contacts the contact sensor (contact surface) among the multiple surfaces that make up the work workpiece, and the edge corresponding to the base end of the contact sensor is used as the edge. it can. Even if the sensing position is corrected so that the projected position of the boundary coincides with the edge position, the work manipulator does not interfere with the work work, and the contact work sensor is surely contacted with the work work. An inconvenient situation can be avoided by contacting the work piece.

  A sensing operation generation device for a work manipulator according to the present invention is a sensing operation generation device that generates sensing operation data used when a work manipulator including a contact sensor capable of contacting a work workpiece performs a sensing operation. In a sensing posture in which the contact sensor of the work manipulator contacts the work workpiece, an edge selection means for extracting a contact surface of the work workpiece to which the contact sensor contacts and selecting one edge constituting the contact surface; Re-setting the sensing posture of the work manipulator so that the position of the selected one edge coincides with the position projected on the contact surface of the setting position set on the base end side of the contact sensor. Setting means and a work manipulator to include the reset sensing posture. Data generating means for generating Nshingu operation data, characterized in that it has a.

  As a result, the sensing position is corrected by aligning the boundary projection position of the contact sensor with the selected edge, so that even if there is a large error between the actual data and the teaching data in the shape, position and orientation of the work work, Sensing operation data can be automatically generated, so that the burden of correcting the sensing operation can be reduced and the workability of data generation can be improved.

Preferably, in the sensing posture, the contact type sensor includes a contact part determination unit that determines whether the contact sensor is in contact with or obliquely along the contact surface of the work workpiece, and the edge selection unit includes the contact part determination unit. The contact sensor may be configured to select an edge within the contact surface when it is determined that the contact sensor has hit the contact surface or obliquely.
Further, in the sensing posture, there is interference determination means for determining whether the work work has interfered with the work manipulator, and the edge selection means is determined by the interference determination means that the work manipulator has interfered with the work work. In some cases, it may be configured to select an edge within the contact surface.

As a result, it is possible to detect the interference and the like of the work manipulator as well as the belly contact and oblique contact of the contact sensor, and it is possible to automatically correct the sensing operation and generate the sensing operation data in a short time.
More preferably, the edge selection means sets a projection vector obtained by projecting a vector set so as to extend from the distal end to the proximal end side of the contact-type sensor onto the contact surface, and the edge of the contact surface intersects with the projection vector. An edge is selected as the edge.

This makes it possible to select the base edge side of the contact sensor on the contact surface as an edge, and even if the sensing position is corrected, the interference of the work manipulator is prevented and the contact sensor is surely secured. An inconvenient situation can be avoided by contacting the work piece.
A sensing operation generation program for a work manipulator according to the present invention is provided with sensing operation data used when a work manipulator including a contact sensor capable of contacting a work workpiece performs a sensing operation, as in the above-described sensing operation generation method. A sensing operation generation program for generating, in a sensing posture in which a contact sensor of the work manipulator contacts a work workpiece, extracts a contact surface of the work workpiece to which the contact sensor contacts, and configures the contact surface A selection step for selecting one edge;
Reset that resets the sensing posture of the work manipulator so that the position of the selected one edge matches the position projected on the contact surface of the setting position set on the base end side of the contact sensor. And a data generation step of generating sensing operation data of the work manipulator so as to include the reset sensing posture.

Preferably, in the sensing posture, the contact-type sensor includes a contact part determination step for determining whether the contact sensor is in contact with the contact surface of the work workpiece or obliquely, and the selection step includes the contact part determination step. Then, when it is determined that the contact type sensor has hit along the contact surface or obliquely, an edge may be selected within the contact surface.
Further, in the sensing posture, there is an interference determination step for determining whether the work manipulator has interfered with the work workpiece. In the selection step, it is determined that the work manipulator has interfered with the work workpiece in the interference determination step. In some cases, it is preferable to select an edge within the contact surface.

  More preferably, in the selection step, a projection vector obtained by projecting a vector set so as to extend from the distal end to the proximal end side of the contact sensor is projected onto the contact surface, and an edge of the contact surface where the projection vector intersects is set. An end side may be selected as the edge.

  According to the present invention, appropriate sensing operation data can be automatically generated even when there is a large error between actual work work information and teaching data, and the sensing operation can be corrected and the workload of teaching can be reduced.

It is a block diagram of the sensing operation production | generation apparatus of the work manipulator of this invention. It is a figure which shows the error of actual work workpiece information and teaching data. (A) is a figure which shows the belly contact of a contact-type sensor, (b) is a diagonal hit, (c) is a shallow hit. (A) is a side view of a detectable part hitting the abdomen, (b) and (c) are a side view and a perspective view when the work manipulator is pulled up so that the boundary projection position and edge of the detectable part coincide with each other. is there. (A) is a side view of a detectable part that is obliquely hit, and (b) and (c) are a side view and a perspective view when the work manipulator is pulled up so that the boundary projection position and the edge of the detectable part coincide with each other. is there. (A) is a perspective view when the work manipulator is pulled up so that the boundary projection position and edge of the detectable portion hit deeply match, and (b) shows the boundary projection position and edge of the detectable portion hit shallowly. It is a perspective view when a work manipulator is pulled down so that it may correspond. It is a figure which shows the xyz coordinate system which makes a sensing position an origin, and the attitude | position change of a work manipulator. It is a figure which shows the flowchart of the sensing operation generation method of a work manipulator, and a sensing operation generation program. It is a block diagram of the sensing operation | movement production | generation apparatus of a work manipulator.

Hereinafter, embodiments of the present invention will be described with reference to FIGS.
The following embodiment is an example embodying the present invention, and does not limit the technical scope of the present invention.
FIG. 1 shows a sensing operation generating apparatus 1 for a work manipulator 2 (work robot) according to the present invention.

The sensing operation generation device 1 includes a work manipulator 2, a control panel 11 that moves the work manipulator 2 according to teaching data incorporated therein, and a teaching pendant 12 (controller) that can input the teaching data. Further, an off-line teaching computer 4 is connected to the control panel 11.
The computer 4 in this embodiment makes the sensing position P and sensing of the work manipulator 2 at the time of sensing by bringing the welding wire 3 (contact type sensor) provided in the work manipulator 2 into contact with the work workpiece W in an offline environment. Sensing operation teaching data (sensing operation data) including the posture S is generated.

In addition, when the position of the work workpiece W in the off-line teaching data and the actual work workpiece W position detected and acquired by the welding wire 3 are different, the computer 4 uses the difference between the detected position and the sensing operation. The sensing operation can be performed while sequentially correcting the operation of the work manipulator 2 after the position where the operation is performed.
The work operator can also control the work manipulator 2 or manually generate sensing operation data according to a program (teaching program) in which the operation has been taught in advance by input from the computer 4 or the teaching pendant 12. .

The work manipulator 2 is a 6-axis multi-joint type robot that is general as a welding robot, and a welding wire 3 is provided on a hand 2a (tip) thereof. Note that the work manipulator 2 may be provided with a slider or may have seven or more axes.
The welding wire 3 is a strip having a predetermined length, and can also serve as a contact-type sensor that detects contact with the work workpiece W during sensing work. For example, it is possible to determine the contact state by applying a current to the electrode of the hand 2 a of the work manipulator 2, bringing the hand 2 a closer to the work W, and looking at the short-circuit state at the time of contact with the welding wire 3.

  By the way, the “sensing operation” described above may cause an error between the actual work W information and the teaching data even if the work manipulator 2 intends to perform welding work at an appropriate position and posture. Before actually performing the welding operation, the welding wire 3 is brought into contact with the work workpiece W to correct or reset the shape and arrangement of the work manipulator 2 and the work workpiece W on the computer 4.

The state of the contact sensor 3 in this sensing operation (work) will be described below.
As the state of contact, the welding wire 3 is brought into contact with the contact surface T and the welding wire 3 and the work work W are in line contact (see FIG. 3A), or the work work W is in contact with the contact surface T. And slant hits (see FIG. 3B).
In the case of hitting the stomach, since the longitudinal direction of the welding wire 3 is along the contact surface T, the welding wire 3 and the work workpiece W are in line contact.

In the case of oblique contact, since the longitudinal direction of the welding wire 3 is inclined with respect to the contact surface T, the contact portion between the welding wire 3 and the work workpiece W is only one point (one point) of the tip 3a.
As shown in FIG. 3B and FIG. 6A, the welding wire 3 that is in contact with the actual work W (either in the abdomen or diagonally) is sensed by the teaching data. Below the position P, that is, when the welding wire 3 hits deeply in the direction from the proximal end 3b to the distal end 3a (deep hits), the welding site is shifted during the actual welding operation, and depending on the sensing posture S, Parts other than the welding wire 3 of the work manipulator 2 may hit the work work W (interference or the like).

Therefore, in the case of such interference, it is necessary to correct and reset the sensing position P in the teaching data by an amount corresponding to the error between the actual work workpiece W information and the teaching data.
On the other hand, as shown in FIG. 3C and FIG. 6B, the welding wire 3 in contact with the actual work W is located above the sensing position P of the teaching data, that is, from the distal end 3a of the welding wire 3 to the proximal end. Even when it hits shallowly in the direction toward 3b (shallow hitting), the welding position shifts, the work manipulator 2 interferes, etc., and the sensing position on the teaching data corresponds to the error between the actual work W information and the teaching data. P must be corrected downward and reset.

The welding wire 3 can also detect the current position of the work workpiece W from the position in contact with the work workpiece W.
In the present embodiment, the detectable part 5 of the welding wire 3 (the part that is set in advance and can detect contact with the work workpiece W) is set not only at one point of the tip 3a but also by a predetermined length from the tip 3a. .

  This predetermined length (length from the tip 3a) is a value determined by the type of the work manipulator 2 and the type of the welding wire 3, and may be set arbitrarily. The protruding length of the welding wire 3 is generally about 20 to 25 mm, and about half to two-thirds is appropriate as the length that can detect the amount of change of the work workpiece W. The tip 3a of the welding wire 3 is suitable. To a length of about 10 mm in advance.

That is, the welding wire 3 has a boundary setting position 6 (boundary position) that separates the detectable part 5 and the other parts at a position away from the distal end 3a by a predetermined distance on the base end 3b side.
Next, a sensing operation generation method of the work manipulator 2 according to the present invention will be described with reference to FIGS. This sensing operation generation process is performed by the off-line teaching computer 4 connected to the control panel 11.

The sensing operation generation device 1 has a computer program (sensing operation generation program) for executing the sensing operation generation method according to the present invention.
As shown in the flowchart of FIG. 8, the sensing operation generation program is recorded on a recording medium (not shown) as data in a format readable by the computer 4 in order to cause the computer 4 to perform processing for generating sensing operation data. is doing.

As shown in FIG. 8, in step S1 (data generation step), the sensing position P at which the welding wire 3 and the work workpiece W come in contact and the sensing posture S of the work manipulator 2 during the sensing operation are designated, and the sensing operation data Is generated.
Note that the sensing operation data generated in step S1 also includes the sensing posture S reset in step S4 (resetting step) described later, and resetting the sensing position P is necessary for resetting the sensing posture S. Is included.

In step S2, it is determined whether the welding wire 3 is in a belly contact state or an oblique contact state with the work workpiece W (contact part determination step), and then it is determined whether the work manipulator 2 interferes with the work workpiece W. (Interference judgment step).
When the welding wire 3 hits the work workpiece W in an abdomen or diagonally, or when the work manipulator 2 interferes with the work workpiece W, the process proceeds to step S3. Otherwise, the process proceeds to step S5.

In step S3 (selection step), an edge E is selected in the contact surface T of the work workpiece W.
In step S4 (resetting step), the position WP (boundary projection position) obtained by projecting the set position 6 (boundary position) of the detectable part 5 of the welding wire 3 onto the contact surface T coincides with the edge E selected in step S3. The work manipulator 2 is moved or changed to the position, and the sensing posture S in the sensing operation data is reset.

In step S5, when the next sensing operation is designated, the process proceeds to step S1.
Details of step S1 to step S5 will be described below.
In step S1, geometric data of the geometric shape and arrangement of the work manipulator 2 and work work W is first generated on the computer 4 by the geometric modeling means M1.

Based on the generated geometric data, the sensing position P of the welding wire 3 and the sensing posture S of the work manipulator 2 during the sensing operation are designated by the sensing operation designation means M2 (data generation means).
As shown in FIG. 3, the sensing position P is a point and position on the contact surface T with which the work workpiece W comes into contact, and the sensing posture S is a belly contact posture in which the welding wire 3 hits the work workpiece W. Or a posture such as a welding posture that strikes diagonally.

Further, in this embodiment, the sensing posture S is set as a sensing posture S in which the range in which the welding wire 3 is in contact during the sensing operation is wide and the amount of change in the position of the work workpiece W can be detected stably.
These sensing position P and sensing attitude S are specified by generating sensing operation data based on accumulated data, such as specifying prescribed items on the computer 4 with a mouse or keyboard, or searching a database. The

The work manipulator 2 performs a sensing operation according to the sensing operation data, but there is an error between the teaching data and the actual shape, position, and orientation of the work work W, and the work manipulator 2 contacts the work work W with the welding wire 3. By doing so, it is necessary to correct the teaching data (see FIG. 2).
Therefore, in step S2, the contact portion determination means M3 determines whether the welding wire 3 is in contact with the belly or obliquely, and thereafter, the interference determination means M4 determines whether the work manipulator 2 has interference.

Note that the contact site determination means M3 determines whether the contact point between the welding wire 3 and the work workpiece W is two points or more, and when the contact point is only one point of the welding wire 3 tip 3a, the contact portion determination means M3. to decide.
When the contact portion determination means M3 determines that the welding wire 3 hits the belly or obliquely, or when the interference determination means M4 determines that the work manipulator 2 interferes, the process proceeds to the next step S3. If not, the process proceeds to step S5.

In step S3, the edge E is selected by the edge selection means M5 within the contact surface T of the work workpiece W.
First, as shown in FIG. 4 (a), the edge selection means M5 is a vector extending along the welding wire 3 from the distal end 3a to the proximal end 3b side on the welding wire 3 that comes into contact with the work workpiece W in the abdominal contact position. V1 (wire vector) is set.

The wire vector V1 has a starting point at the distal end 3a and a direction from the distal end 3a toward the proximal end 3b, that is, a direction approaching the nozzle of the work manipulator 2 (cylinder tip that grips the welding wire 3). The wire vector V1 has an arbitrary size, and is represented by a half line extending upward (from the distal end 3a to the proximal end 3b side) starting from the distal end 3a.
The boundary position 6 of the welding wire 3 is set at a predetermined distance from the starting point (tip 3a) on the wire vector V1.

Next, the wire vector V1 is projected onto the contact surface T with which the welding wire 3 contacts (see the viewpoint in FIG. 4A).
The projected vector is set as the projected vector V2, and the position where the starting point of the wire vector V1 (the tip 3a of the welding wire 3) is projected is the tip projected position SP and the position where the boundary position 6 is projected is the boundary. Set as the projection position WP.

Projection vector V2 is a half line extending upward along contact surface T, and intersects with the edge of contact surface T located above boundary projection position WP, that is, closer to the nozzle of work manipulator 2. It will be.
The edge selection means M5 selects the edge side intersecting with the projection vector V2 as the edge E.
As shown in FIG. 4A, the length of the perpendicular line dropped from the tip projection position SP to the edge E is L1, and the length of the line segment connecting the tip projection position SP and the boundary projection position WP is L2. .

In step S4, as described above, the boundary projection position WP obtained by projecting the preset boundary position 6 of the detectable part 5 of the welding wire 3 onto the contact surface T is made to coincide with the edge E selected in step S3. Further, the sensing position P is changed by the position correcting means M6 (resetting means).
As shown in FIGS. 4B and 4C, the position correcting means M6 moves the welding wire 3 by a difference d obtained by subtracting the length L2 of the line segment from the length L1 of the perpendicular line. At this time, since L1> L2, the difference d becomes a positive value, and the welding wire 3 is moved upward (in the positive direction in the projection vector V2).

Due to the upward movement of the difference d, the boundary projection position WP coincides with the selected edge E, and the boundary position 6 of the detectable part 5 in the welding wire 3 is positioned at the same height as the selected edge E.
Similarly, the tip projection position SP is also moved upward by the difference d, the tip projection position SP after the movement is corrected as a new sensing position P, and the sensing operation data is reset.

Thus, by resetting by the position correction means M6, the sensing position P and the sensing posture S of the welding wire 3 suitable for the sensing operation can be generated.
In the present embodiment, a belly hitting posture is set as the sensing posture S. However, depending on the actual arrangement and inclination of the work workpiece W, the welding wire 3 may hit the work workpiece W obliquely as a result. .

  However, when the wire vector V1 on the welding wire 3 obliquely hit is viewed from the viewpoint shown in FIG. 5A, only the component along the contact surface T of the wire vector V1 is applied to the contact surface T. Projected. At this time, although the length L2 of the line segment is shorter than the length of the detectable portion 5 of the welding wire 3, the projection vector V2 on the contact surface T can be processed in the same manner by the above-described steps S3 and S4. In addition, when moving the welding wire 3 obliquely upward, the amount of movement in the direction along the contact surface T may be the difference d.

Therefore, the sensing position P can be automatically corrected by the edge selecting means M5 and the position correcting means M6 regardless of whether the welding wire 3 strikes diagonally or belly.
Further, depending on the sensing posture S of the work manipulator 2 with respect to the actual work W, the position projected on the contact surface T (boundary projection position) WP is lower than the selected edge E, as shown in FIG. The work manipulator 2 may interfere (contact) with a part of the work workpiece W or another member W ′ only by moving the welding wire 3 upward at the position where it is located.

In such a case, the position correcting means M6 has the sensing position P with which the welding wire 3 contacts the origin O, the perpendicular direction drawn from the origin O to the edge E selected in step S3 is the z direction, and the contact surface T direction is y. An xyz coordinate system is formed as a direction.
In this coordinate system, the position of the distal end 3a of the welding wire 3 coincides with the origin O, and the projected vector V2 extending from the position of the distal end 3a of the welding wire 3 to the proximal end 3b and projected onto the contact surface T coincides with the Z axis. Let the posture which was made to be an initial posture (refer to Drawing 7 (a)). From this, the posture of the work manipulator 2 is changed so that the roll angle = −90 °, the pitch angle = 0 °, and the yaw angle = 0 °, and the posture that becomes the belly contact posture as shown in FIG. Set.

  Thereafter, as shown in FIG. 7C, the tip 3a of the welding wire 3 is a line obtained by projecting the detectable part 5 of the welding wire 3 onto the contact surface T from the length L1 of the perpendicular dropped from the origin O to the edge E. The boundary position 6 (boundary projection position WP) of the detectable part 5 of the welding wire 3 and the edge E selected in step S3 are moved by the difference d minus the minute length L2 in the z direction, that is, upward. Match.

By correcting the matched position as a new sensing position P, the sensing position P and sensing posture S of the welding wire 3 suitable for sensing operation can be changed without the work manipulator 2 interfering with the work workpiece W. Reset the sensing operation data.
That is, when the sensing position P of the work workpiece W detected by the teaching data designated in step S1 is different from the position of the previous teaching data by the contact site determination means M3 to the position correction means M6 (work manipulator with the welding wire 3 attached). 2), the contact position of the welding wire 3 is detected, and the sensing position P is corrected to the sensing position S that can be detected by the welding wire 3. The correction work after the sensing operation is manually generated by the work operator becomes unnecessary.

  Furthermore, as shown in FIG. 6 (b), even when the welding wire 3 hits shallowly so that the boundary position 6 (boundary projection position WP) is located above the selected edge E, The difference d obtained by subtracting the length L2 of the line segment projecting the detectable portion 5 from the length L1 of the perpendicular becomes a negative value, and conversely, in the case of deep hit, the welding wire 3 is moved downward to sense position Automatic correction of P becomes possible.

Finally, if the next sensing operation is designated in step S5, the process returns to step S1, and the work manipulator includes the sensing position P and the sensing posture S reset by the sensing operation designation means M2 (data generation means). Two sensing operation data are generated.
Thereafter, Steps S1 to S5 are repeated for all sensing operations, and it is possible to automatically indicate an appropriate sensing position P and sensing posture S that avoids interference and the like, and correction and resetting by a work operator are unnecessary. Therefore, the teaching work burden can be reduced.

The present invention is not limited to the embodiment described above. Each configuration of the sensing operation generation device 1 or the like, or the overall structure, shape, dimensions, and the like can be appropriately changed in accordance with the spirit of the present invention.
In the above-described embodiment, the sensing posture S is the most stable stomach posture, but the sensing posture S can be handled as an oblique contact posture (welding posture).

The work manipulator 2 is not limited to a manipulator for welding, and various manipulators such as for painting and assembling may be used.
The contact-type sensor 3 is not limited to a contact-type welding wire in which a current is passed through the wire to check a short-circuit state at the time of contact, and may be a load detection sensor having a load cell.
Further, when the contact surface T is small or in a deep position, or when the contact sensor 3 can be contacted only near the edge E, the contact sensor 3 having the detectable portion 5 of a predetermined length is used. Although there may be cases where it is difficult to contact the work workpiece W in the sensing posture S, it can be handled by shortening the detectable part 5 as much as possible or by using only one point of the contact sensor 3 tip 3a. It becomes.

DESCRIPTION OF SYMBOLS 1 Sensing action production | generation apparatus 2 Work manipulator 2a Hand of work manipulator 3 Contact-type sensor (welding wire)
3a Tip of contact type sensor 3b Base type of contact type sensor 4 Computer 5 Detectable part of contact type sensor 6 Setting position (boundary position of detectable part)
W Workpiece P Sensing position S Sensing posture T Contact surface E Edge of contact surface WP Boundary projection position where the set position is projected onto the contact surface V1 Vector extending from the tip of the contact sensor to the base side (wire vector)
V2 Projection vector obtained by projecting wire vector onto contact surface M1 Geometric modeling means M2 Sensing operation designation means (data generation means)
M3 contact part judging means M4 interference judging means M5 edge selecting means M6 position correcting means (resetting means)

Claims (12)

A sensing operation generation method for generating sensing operation data used when a work manipulator having a contact-type sensor capable of contacting a work workpiece performs a sensing operation,
In the sensing posture in which the contact sensor of the work manipulator contacts the work workpiece, the contact surface of the work workpiece to be contacted by the contact sensor is selected, and one edge constituting the contact surface is selected.
Resetting the sensing posture of the work manipulator so that the position of the selected one edge matches the position projected on the contact surface with the setting position set on the base end side of the contact sensor,
A sensing operation generation method for a work manipulator, wherein sensing operation data of the work manipulator is generated so as to include the reset sensing posture. In the sensing posture, it is determined whether the contact type sensor is in contact with or obliquely along the contact surface of the work piece,
The method of generating a sensing operation for a work manipulator according to claim 1, wherein an edge is selected in the contact surface when the contact sensor hits along the contact surface or obliquely. In the sensing posture, determine whether the work manipulator has interfered with work work,
The method according to claim 1 or 2, wherein an edge is selected in the contact surface when the work manipulator interferes with a work workpiece. When selecting an edge in the contact surface, set a projection vector obtained by projecting a vector set to extend from the distal end of the contact sensor to the proximal end side on the contact surface,
The method for generating a sensing operation of the work manipulator according to claim 1, wherein an edge of the contact surface where the projection vectors intersect is selected as the edge. A sensing operation generation device that generates sensing operation data used when a work manipulator having a contact sensor capable of contacting a work workpiece performs a sensing operation,
In a sensing posture in which the contact sensor of the work manipulator contacts the work workpiece, an edge selection means for extracting a contact surface of the work workpiece to which the contact sensor contacts and selecting one edge constituting the contact surface; ,
Reset that resets the sensing posture of the work manipulator so that the position of the selected one edge matches the position projected on the contact surface of the setting position set on the base end side of the contact sensor. Means,
A sensing operation generation device for a work manipulator, comprising: data generation means for generating sensing operation data of the work manipulator so as to include the reset sensing posture. In the sensing posture, the contact sensor has a contact part determination means for determining whether the contact sensor is in contact with the contact surface of the work workpiece or obliquely,
The edge selection means is configured to select an edge within the contact surface when the contact part determination means determines that the contact sensor has hit the contact surface or obliquely. 6. The sensing operation generating device for a work manipulator according to claim 5, wherein the sensing operation generating device is a work manipulator. In the sensing posture, there is interference determination means for determining whether the work work has interfered with a work manipulator,
The edge selection unit is configured to select an edge within the contact surface when the interference determination unit determines that a work manipulator has interfered with a work workpiece. A sensing operation generation device for a work manipulator according to claim 6. The edge selection means sets a projection vector obtained by projecting a vector set to extend from the distal end of the contact sensor to the proximal end side on the contact surface,
The sensing operation generating device for a work manipulator according to claim 5, wherein an edge of the contact surface where the projection vectors intersect is selected as the edge. A sensing operation generation program that generates sensing operation data used when a work manipulator equipped with a contact-type sensor capable of contacting a work workpiece performs a sensing operation,
In a sensing posture in which the contact sensor of the work manipulator contacts the work workpiece, a selection step of extracting a contact surface of the work workpiece to which the contact sensor contacts and selecting one edge constituting the contact surface;
Reset that resets the sensing posture of the work manipulator so that the position of the selected one edge matches the position projected on the contact surface of the setting position set on the base end side of the contact sensor. Steps,
And a data generation step of generating sensing operation data of the work manipulator so as to include the reset sensing posture. A sensing operation generation program for a work manipulator, comprising: In the sensing posture, the contact sensor has a contact part determination step for determining whether the contact sensor is in contact with the contact surface of the work workpiece or obliquely,
The selection step includes selecting an edge within the contact surface when it is determined that the contact-type sensor hits the contact surface along the contact surface or obliquely in the contact part determination step. A sensing operation generation program for the work manipulator described in 1. An interference determination step for determining whether the work manipulator interferes with a work workpiece in the sensing posture;
11. The work manipulator according to claim 9, wherein, in the selection step, an edge is selected in the contact surface when it is determined in the interference determination step that the work manipulator has interfered with a work workpiece. Sensing motion generation program. In the selection step, a projection vector obtained by projecting a vector set to extend from the distal end to the proximal end side of the contact sensor on the contact surface is set,
The sensing operation generation program for a work manipulator according to any one of claims 9 to 11, wherein an edge of the contact surface where the projection vectors intersect is selected as the edge.