JP2012091304A - Teaching data making method and teaching data making device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a teaching data making method and a teaching data making device of a multi-articulated robot capable of efficiently making teaching data of taking into consideration a characteristic of a predetermined manufacturing line to a new work worked by the manufacturing line.SOLUTION: This teaching data making method of the multi-articulated robot is provided for performing a work by an end effector at a plurality of respective work points set in the work, and is characterized by acquiring control data on respective attitudes of the end effector when the multi-articulated robot of a teaching data supply object works to the respective work points (Step S3), specifying a work point substantially coincident with the work point set in the work of a teaching data making object (Step S7), and making the teaching data based on the control data on the attitude of the end effector at the work point (Step S9).

Description

  The present invention relates to a teaching data creation method and a teaching data creation device for creating teaching data including the posture of a robot at each work point of a workpiece.

  In general, offline teaching (hereinafter referred to as offline teaching) is performed in order to increase the efficiency of teaching work of an articulated robot installed in a manufacturing line or to improve the operating rate of the manufacturing line. In offline teaching, a model of a multi-joint robot and workpieces and surrounding structures that are work objects is built on a computer, teaching data is created using this model, and then the above teaching data is supplied to the multi-joint robot on site. By doing so, teaching data can be created without stopping the production line.

However, the number of workpieces that are operated by the articulated robot on one production line is not limited to one type. If the workpiece flowing on the production line is changed, new teaching data corresponding to the change is provided. It is necessary to create it, and the burden on the operator who creates teaching data is large.
In order to solve this problem, a method has been proposed in which existing teaching data already created for an existing workpiece is converted to a new workpiece to create new teaching data (for example, patents). Reference 1). Specifically, when there is existing teaching data, one of a plurality of parameters indicating the posture of the end effector at the conversion destination work point is fixedly set, and the corresponding work point in the existing teaching data is set. Conversion is performed so that the above-mentioned parameters in which the posture of the end effector is fixedly set match. According to such a technique, the existing teaching data can be used effectively, and the use time of the computer and the burden on the operator can be reduced.

Japanese Patent No. 4000306

  However, since the new teaching data is created uniformly by converting existing teaching data according to the shape of the new workpiece, the production of the articulated robot to which these teaching data is supplied is arranged. The line characteristics are not taken into consideration. For this reason, depending on the environment in which the multi-joint robot is placed (for example, there is a wall in the robot movement range, or a tube or cable is placed), teaching is performed for each production line according to the environment of the production line. There is a problem that the data needs to be corrected and teaching work becomes complicated.

  Therefore, the present invention has been made in view of the above-described circumstances, and efficiently creates teaching data in consideration of the characteristics of the manufacturing line for a new workpiece to be worked on a predetermined manufacturing line. An object of the present invention is to provide a teaching data creation method and teaching data creation device for an articulated robot.

  In order to achieve the above object, the present invention provides a teaching data generation method for an articulated robot in which work is performed by an end effector at each of a plurality of work points set on a workpiece. The control data of each posture of the end effector when working on each of the work points is acquired, and a work point that substantially matches the work point set for the work for which teaching data is created is selected from the control data. The teaching data is created based on the control data of the posture of the end effector at the work point.

  According to this configuration, the control data of each posture of the end effector when the multi-joint robot works on each of the plurality of work points set on the work is acquired, and the new work is obtained from the control data. For example, in order to identify a work point that substantially matches the set work point and create teaching data based on the end effector attitude control data at the work point, The control of each posture of the end effector with respect to the work point can be reflected in the work point of a new workpiece to be worked on the production line, and teaching data considering the characteristics of the production line can be created efficiently. it can.

  In this configuration, the present invention acquires an actual operation time at each of the work points of the articulated robot, and an actual operation at a work point that substantially matches the work point set for the work for which the teaching data is to be created. The cycle time is calculated based on the time. According to this configuration, it is possible to calculate a cycle time in accordance with a work having a mass production record in a predetermined production line.

  Further, the actual operation time includes a fixed time that is constant regardless of differences in work points, and a variable time that differs for each work point and work type, and is based on a value obtained by adding the variable time for each work point. And calculating the cycle time. According to this configuration, a more accurate cycle time can be calculated.

  Further, the control data is acquired from each of the multi-joint robots installed on different production lines and machining the same workpiece, and the teaching data is generated and supplied for each multi-joint robot. According to this configuration, it is not necessary to correct the teaching data for each production line, so uniform teaching data can be created regardless of the skill of the person who performs this correction work.

  Further, the present invention provides a teaching data creation device for an articulated robot that performs work by an end effector at each of a plurality of work points set on a workpiece, wherein the articulated robot to which teaching data is supplied is assigned to each of the work points. The acquisition means for acquiring the control data of each posture of the end effector when working on the matching, and the matching for identifying the work point that substantially matches the work point set for the work for which teaching data is to be created from the control data And a data creation means for creating the teaching data based on control data of the attitude of the end effector at the work point.

According to the present invention, the control data for each posture of the end effector when the work multi-joint robot for which teaching data is to be created works on each of a plurality of work points set on the work is obtained. For example, in order to identify a work point that substantially matches the work point set for the new workpiece and create teaching data based on the end effector attitude control data at the work point. The control of each end effector's posture with respect to the work point of a workpiece that has a track record of mass production can be reflected in the work point of a new workpiece that is being worked on the production line, and teaching data that takes into account the characteristics of this production line can be efficiently used. Can be created.
Further, according to the present invention, an actual operation time at each of the work points of the articulated robot is acquired, and an actual operation at a work point that substantially matches the work point set for the work for which the teaching data is to be created. Since the cycle time is calculated based on the time, it is possible to calculate the cycle time according to the work having a mass production record in a predetermined production line.
Further, according to the present invention, the actual operation time includes a fixed time that is constant regardless of a difference in work points, and a variable time that is different for each work point and work type, and the variable time is set for each work point. Since the cycle time is calculated based on the value added to, more accurate cycle time can be calculated.
Further, according to the present invention, the control data is acquired from each of the multi-joint robots installed on different production lines and machining the same workpiece, and the teaching data is created and supplied for each multi-joint robot. By eliminating the need to correct the teaching data for each line, uniform teaching data can be created regardless of the skill of the person performing this correction work.

It is a perspective view which shows the offline teaching apparatus of the articulated robot of this Embodiment. 1 is a perspective view of a vehicle production line and a robot system. It is a block block diagram of an offline teaching apparatus. It is a flowchart which shows the preparation procedure of teaching data. It is a schematic diagram which shows the work point set to the existing door frame. It is a figure explaining the matching procedure of an actual work point and the work point on drawing. It is a table which shows the control data with respect to an actual work point. It is a schematic diagram which shows the work point set to the new door frame used as the object which produces teaching data. It is a flowchart which shows an example of the matching processing procedure of a new door frame and a reference door frame. It is a schematic diagram which shows conversion from the control data of the work point set to the reference door frame to the control data of the work point set to the new door frame. It is a model perspective view which shows a mode that it converts into control data of the work point set to the new door frame from the control data of the work point set to the reference door frame. It is a schematic diagram which shows the matching process with the control data of the work point set to the existing door frame, and the control data of the work point set to the new door frame. It is a table which shows the control data of the work point set to the new door frame. It is a schematic diagram which shows the estimation operation | movement of the cycle time of a robot.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 shows a configuration of an offline teaching device 10 to which the teaching data creation method for an articulated robot according to the present embodiment is applied, and an articulated robot 12 to which teaching data created by the offline teaching device 10 is applied. .

  The articulated robot 12 is an industrial articulated robot, and includes a base portion 14, and a first arm 16, a second arm 18, and a third arm 20 in this order based on the base portion 14. An end effector 22 which is a welding gun is provided at the tip of the third arm 20. The end effector 22 is detachable from the third arm 20. The first arm 16 can be rotated by axes J1 and J2 that can rotate horizontally and vertically with respect to the base portion 14. The second arm 18 is connected to the first arm 16 so as to be rotatable about the axis J3. The second arm 18 can be twisted and rotated by the axis J4. The third arm 20 is connected to the second arm 18 so as to be rotatable about an axis J5. The third arm 20 can be twisted and rotated by the axis J6. Each of the shaft J4 and the shaft J6 can be twisted and rotated by 360 ° or more.

  The end effector 22 is a C-type welding gun having a pair of electrodes 22a and 22b that open and close on the axis L. When the electrodes 22a and 22b are closed, the work points on the axis L (welding points, striking points, TCP (Tool Center Point)) to contact the workpiece. A direction that coincides with the axis of the electrodes 22a and 22b on the main body side from the working point is set as a parameter Z, and an opening direction of the C-shaped welding gun that is orthogonal to the parameter Z and is the end effector 22 is set as a parameter X. Further, a direction perpendicular to the parameters X and Z is defined as a parameter Y.

  The driving mechanism for the axes J1 to J6 and the opening / closing mechanism for the electrodes 22a and 22b are each driven by an actuator (not shown), and the coordinates of the work point are determined by the rotation angle of the axes J1 to J6 and the dimensions of each part of the articulated robot 12. .

  By the operation of the articulated robot 12 having such a six-axis configuration, the end effector 22 connected to the tip can be moved to an arbitrary position in the vicinity of the vehicle being transported and can be set in an arbitrary direction. It is. In other words, the end effector 22 can move with six degrees of freedom. The articulated robot 12 may have an operation unit such as an expansion / contraction operation and a parallel link operation in addition to the rotation operation. The articulated robot 12 operates according to teaching data set in the robot control unit 24.

  As shown in FIG. 2, two articulated robots 12 are arranged adjacent to each other in the vicinity of the vehicle production line 25, and operate simultaneously under the action of the robot control unit 24. Welding. In this case, for example, the articulated robots 12 and 12 are assigned to work in such a manner that the door frames 102 on the front row side and the rear row side of the vehicle are welded together in a range where they do not interfere with each other. The arrangement direction C of the two articulated robots 12 is set in parallel with the conveyance direction of the production line 25, but the arrangement direction C is not parallel to the conveyance direction depending on the specifications of the articulated robot 12 and the workpiece. It may be set to. For example, when welding is performed using two ceiling-suspended robots, they may be arranged at right angles to the conveying direction.

The offline teaching device 10 is configured by a computer. As shown in FIG. 3, the control unit 26 includes a CPU 28 that controls the entire offline teaching device 10, a ROM 30 and a RAM 32 that are recording units, and a hard disk. The hard disk 36 from / to which data is read / written by a drive (HDD) 34, the recording medium drive 40 for reading / writing teaching data etc. to / from an external recording medium 38 such as a flexible disk or compact disk, and the teaching data of the articulated robot 12 A teaching data creating circuit (data creating means) 42 to be created and a simulation circuit 44 for performing an operation simulation of the articulated robot 12 based on the created teaching data are provided.
A display 46 for assisting teaching work by an operator, displaying a simulation image, and the like is connected to the control unit 26 via a drawing control circuit 48 and a keyboard 52 as an input device via an interface 50. And a mouse 54 are connected.

In the hard disk 36, a teaching data creation program 56 for creating teaching data for the articulated robot 12, shape data 58 relating to the articulated robot 12, work objects and other equipment, and each axis of the articulated robot 12 are stored. The postures of the end effector 22 when the multi-joint robot 12 is working with respect to the robot specification data 60 including the operation specifications of the robot and the work points set on the existing vehicle (work) flowing through the manufacturing line 25 described above. Is stored in the database 62 in which the control data indicating is stored.
The database 62 stores control data indicating the posture of the end effector 22 corresponding to each work point set for the work for each existing vehicle (work). Here, the control data indicating the posture of the end effector 22 three-dimensionally defines the rotation angle of each axis J1 to J6 of the articulated robot 12 at each work point and the orientation of the end effector 22 and the work point. The direction of parameters X, Y, and Z to be performed.
In the present embodiment, the CPU 28 functions as an acquisition unit that acquires control data indicating the attitude of the end effector 22 corresponding to the work point from the database 62 described above. Furthermore, when creating new teaching data for a new vehicle, the CPU 28 also functions as a matching means for identifying a work point that substantially matches the work point of the new vehicle from the acquired control data. Here, “substantially match” includes not only a case where the respective work points are completely matched but also a case where the work points are arranged close to each other within a predetermined threshold.
In the present embodiment, the control unit 26 includes the circuits described above. However, the function of each circuit may be executed by a computer using a computer program.

Next, when the articulated robot 12 performs welding on a new workpiece, a procedure for creating teaching data corresponding to the workpiece will be described. In general, teaching data sets the work point and work order of an articulated robot with respect to a work, determines the robot posture and end effector orientation (posture) at each work point, and specifies the work content for the work at each work point as work attributes. And an operation method between operation points is set as an operation attribute.
In this case, there is a method of creating new teaching data corresponding to a new workpiece by using existing teaching data for the existing workpiece. This method is a characteristic of the production line 25 in which the articulated robot 12 is arranged. Is not considered. For this reason, depending on the environment in which the articulated robot 12 is arranged (for example, there is a wall in the movement range of the robot, or a tube or a cable is arranged), the robot arm or end effector 22 may be There is a risk of interference. Therefore, it is necessary to separately correct the robot posture and the end effector posture at each work point in accordance with the environment of the production line 25 for each production line 25, and there is a problem that teaching work becomes complicated.
In the present embodiment, the orientation (posture) of the end effector with respect to the work point set for an existing work that has actually been mass-produced in the production line 25 is the work point set for the new work, By reflecting on the work point provided at a position substantially coincident with the work point, teaching data in consideration of the characteristics of the production line 25 can be easily created.

FIG. 4 is a flowchart showing a procedure for creating teaching data for a new workpiece.
Prior to creating teaching data, the CPU 28 first acquires job data (JOB) of the articulated robot 12 for an existing model (work) (step S1). The job data refers to control data when the articulated robot 12 performs a welding operation on a work point set on an existing workpiece. Specifically, each job point has a hitting order (welding order), It includes the position of the work point and the attitude (surface perpendicularity) of the end effector 22 at each work point. This control data is acquired for each articulated robot.
FIG. 5 is a diagram illustrating work points (welding points, hit points) P1 to P7 set on a door frame 100 of a vehicle which is an example of an existing workpiece. The door frame 100 is welded sequentially to the seven work points P1 to P7 with the work reference point O as the start point and the end point. Before reaching the first work point P1, it passes through a temporary work point T01 indicating a posture that makes it easy to reach the work point P1. In addition, after the last work point P7, a temporary work point T02 indicating a posture in which the end effector 22 can be easily pulled out is passed. Further, it passes through the temporary work point T03 so that the temporary work point T02 can easily return to the work reference point O.

Next, the CPU 28 matches the work points P1 to P7 set on the door frame 100 with the work points on the design drawing of the door frame 100 (step S2), thereby making the work points P1 to P7. Organize the positional relationship.
This matching operation is performed by a method as shown in FIG. 6, for example. Specifically, as shown in FIG. 6A, the work points (spot points) acquired from the existing workpiece (actual machine) and the work point (spot points) positions on the drawing are captured on the computer, and these are displayed on the same screen. indicate. Next, as shown in FIG. 6B, the CPU 28 groups the hit points 1 to 3 of the actual machine existing within a predetermined distance (for example, 200 mm), and groups them into a predetermined threshold value (for example, 100 mm from each hit point). (Within) is set (FIG. 6C), and a hit point group within this threshold is extracted (FIG. 6D).
Next, the CPU 28 compares the striking position and the perpendicularity with respect to the striking position (striking point number) having the smallest striking order (striking number) among the striking point groups (striking point group) grouped as described above. Specifically, as shown in FIG. 6E, the CPU 28 moves the hit point group on the screen so that the hit points 1 and the adjacent hit points on the drawing coincide with each other while the hit points 1 to 3 are grouped. The other dots 2, 3 are compared with the dots on the drawing.
In this case, as shown in FIGS. 6F to H, the CPU 28 moves the hit point group by the number of correction candidates, and compares the difference with the approximate hit point for each. Then, the hit point position average of each hit point group is calculated, and the hit point group having the small variation and the direct distance difference is set as the same hit point group, and the control data acquired from the existing workpiece (actual machine) is inherited to them.

Next, the CPU 28 registers the control data of the work points (actual machine hit points) P1 to P7 arranged by matching in the database 62 described above (step S3). Specifically, as shown in FIG. 7, the database 62 is associated with the door frame 100 as an existing work, and “order”, “number”, “direction of end effector”, “each axis angle”. Is registered. The “order” column is a list in which the work points of the end effector 22 of the articulated robot 12 are registered in order when performing the welding work. The “number” column has work points P1 to P7 as hit points. In addition, work points T01 to T03 for changing the posture of the end effector 22 in order to perform welding efficiently are registered. The “end effector orientation” column is coordinates indicating the attitude of the end effector 22, that is, tool coordinate data, and the parameters X, Y, and Z are recorded therein. The “each axis angle” column includes rotation angles θ1 to θ6, and each rotation angle θ1 to θ6 indicates the rotation angle of each axis J1 to J6.
In addition, when performing welding work in cooperation with one multi-joint robot 12, 12 on one work, whichever “end effector direction” and “each axis angle” at each work point, It is also possible to register whether the robot is an articulated robot and distribute work points for each robot.
In the present embodiment, a case has been described in which control data at the work point of the door frame 100 is registered in the database 62 as an existing work, but it is desirable that more control data is registered. For this reason, in the database 62, control data relating to a plurality of works (for example, other door frames having different shapes, a front part, a rear part, etc.) having a record of mass production in the production line 25 are registered. These steps S1 to S3 are procedures performed as pre-processing in creating teaching data in this configuration.

Next, the CPU 28 lists welding point (work point) information for the door frame 102, which is a work for which teaching data is created (step S4). As shown in FIG. 8, the welding point information is set in advance for the door frame 102. For the work points (welding points) Q1 to Q9 set on the door frame 102, the work points Q1 to Q9 are set. Position information and surface perpendicularity are set. Therefore, in order to create teaching data for the door frame 102, the posture of the articulated robot 12 and the orientation (posture) of the end effector 22 at each work point Q1 to Q9 are obtained, and the operation method between the work points is operated. It can be set as an attribute.
Next, in order to obtain the posture of the multi-joint robot 12 and the orientation (posture) of the end effector 22 at each work point, the CPU 28 performs a matching process between the welding point information listed above and the welding point information of the reference model. This is performed (step S5). Here, the reference model refers to the door frame 104 (FIG. 10) as a work having a shape similar to the door frame 102, and control data (“sequence”, “work order” at work points R <b> 1 to R <b> 7 set on the door frame 104. “Number”, “End effector orientation”, and “Axis angles”) are set. Although these work points R1 to R7 are different in position and number from the work points Q1 to Q9 of the door frame 102, the work points R1 to R7 are the work points for the door frame part, and welding is performed sequentially from the bottom to the top. It is common in the point.

  As a matching processing procedure, as shown in FIG. 9, the CPU 28 lists the control data related to the “direction of the end effector” among the control data at the work points (welding points) R <b> 1 to R <b> 7 of the door frame 104. A copy is made in the “End Effector Orientation” column at the work points Q1 to Q7 of the frame 102, and rotation conversion is performed (step S21). That is, when the data of the work point R1 is copied to the work point Q1 (FIG. 11), after the parameters XR1, YR1, and ZR1 at the work point R1 are moved in parallel to the work point Q1, the parameter ZR1 is set in advance. The rotation conversion is performed so as to match the existing parameter ZQ1. At this time, the parameters XR1 and YR1 are also converted to parameters XQ1 and YQ1 by being similarly rotationally converted. Further, as shown in FIG. 10, the data of the work points R2 to R7 are similarly copied and rotated for the work points Q2 to Q7.

Next, if shaft rotation information is included in the control data at the work points (welding points) R1 to R7 of the door frame 104, the rotation information is copied (step S22). For example, in the case of an axis that can rotate 360 ° or more, such as the axis J4 and the axis J6, the rotation information indicates that the rotation angle θ4 of the axis J4 shows an apparent angle of 240 °. It is not clear whether the position is rotated by 240 ° from the reference position (0 °) or if it is further rotated by one rotation from there. For this reason, when the rotation is 360 ° or more, for example, by adding a rotation information by setting a flag or the like, the cable of the articulated robot 12 is prevented from being twisted. It is possible to prevent the shaft J6 from rotating excessively.
Next, based on the control data regarding the “end effector orientation” at the work points Q1 to Q7 and the position information of the work points Q1 to Q7, the angles of the axes J1 to J6 of the articulated robot 12 are inverted using a determinant. Calculation is performed by the conversion process (step S23). With this process, a plurality of postures of the articulated robot 12 may be obtained. In this case, one of the postures of the multi-joint robot 12 obtained is selected from the postures suitable for the rotation information (step S24). As a result, for example, θQ11, θQ21, θQ31, θQ41, θQ51, and θQ61, which are angles corresponding to θ1 to θ6, are obtained for the work point Q1, and are recorded in the respective columns of θ1 to θ6 in the “Axis Angle” column. be able to.

Returning to the flowchart of FIG. 4 again, the CPU 28 extracts the welding point (working point) information of the door frame 102 from the welding point (working point) information of the door frame 104 which is a reference model (step S6). That is, the control data related to the work points Q1 to Q7 is obtained by converting the control data related to the work points R1 to R7 by the above-described processing in steps S21 to S24. In this case, when one articulated robot 12 is responsible for some of the acquired work points and the other articulated robot 12 is responsible for the rest, the hit point distribution of these robots is also extracted.
On the other hand, in the control data concerning the work points Q1 to Q7, since the characteristics of the production line are not taken into consideration, the control data acquired from the existing workpiece (door frame 100) described above is reflected in the control data.

Next, the CPU 28 performs a matching process between the existing work (door frame 100) and the door frame 102 (step S7). Specifically, the CPU 28 specifies work points P1 to P7 that substantially match the work points Q1 to Q9 set on the door frame 102 from the control data registered in the database 62. Then, the work point information of the door frame 102 is extracted from the specified work point information (step S8). In this embodiment, as shown in FIG. 12, the work points Q1 to Q3 of the door frame 102 and the work points P1 to P3 of the door frame 100 substantially coincide. For this reason, as shown in FIG. 13, the direction of the end effector 22 at the work points P1 to P3 (XP1) is changed to the direction of the end effector 22 set for the work points Q1 to Q3 and the information of each axis angle. To XP3, YP1 to YP3, ZP1 to ZP3), and the above-mentioned list reflecting the information of each axis angle (θP11 to θP13, θP21 to θP23, θP31 to θP33, θP41 to θP43, θP51 to θP53, θP61 to θP63) create.
The control data regarding the work points P <b> 1 to P <b> 3 of the door frame 100 is control data having a mass production result by actually operating the articulated robot 12 in the production line 25. For this reason, the control data related to the work points P1 to P3 with mass production results is reflected in the control data related to the work points Q1 to Q3 of the new door frame 102 set at a position substantially coincident with the work points P1 to P3. Thus, control data in which the characteristics of the production line 25 are sufficiently taken into account can be easily set at the work points Q1 to Q3.
In the present embodiment, only the door frame 100 has been described as an existing workpiece, but by registering control data on the work points of various workpieces manufactured on the manufacturing line 25 in the database 62, matching is performed in step S7. Therefore, the control data in which the characteristics of the production line 25 are taken into consideration can be acquired.

Next, if there are work points (welding points) that cannot be extracted, these work points are manually distributed (step S9). In this embodiment, as shown in FIG. 10, no control data is recorded for the work point Q8 and the work point Q9. In this case, the operator performs an operation for setting the work point Q8 and the work point Q9. In this case, a well-known method may be employed. For example, the control data for the work point Q8 and the work point Q9 can be controlled by copying the control data for the work point Q7 again to the work point Q8 and the work point Q9 and rotating and converting them. Data may be acquired.
Next, the CPU 28 reads the teaching data creation program 56 from the hard disk 36 and loads it into the teaching data creation circuit 42. Next, shape data 58 relating to the articulated robot 12, work object, and other equipment, and robot specification data 60 such as the maximum speed, maximum acceleration, and movable range of each axis of the articulated robot 12 are read from the hard disk 36. The drawing control circuit 48 draws an image of the articulated robot 12, a workpiece to be welded, equipment including a jig, and the like on the display 46 based on the shape data 58.
Then, based on the positional information and control data of each work point Q1 to Q9, the work characteristics at each work point Q1 to Q9 and the operation method between each work point Q1 to Q9 are set as the operation characteristics, and the door frame 102 Is created (step S10).
Thereby, teaching data in consideration of the characteristics of the production line 25 can be created. Therefore, after the teaching data is supplied to the articulated robot 12 arranged on the production line 25, the work of correcting the teaching data is performed. The teaching work can be reduced.

Next, the operation of the created teaching data is confirmed by the simulation circuit 44, and at this time, cycle estimation is executed (step S11). In the conventional configuration, the estimation of the cycle at the station where the articulated robot 12 is arranged is calculated by simply multiplying the number of operations by a predetermined time (for example, 2 seconds), so that the operation is complicated, In the case of a long moving distance, it was assumed that the actual cycle time exceeded the desired processing time.
In the present embodiment, the CPU 28 acquires the actual operation time at each of the work points P1 to P7 of the articulated robot 12, and the work points P1 to P3 that substantially match the work points Q1 to Q3 set on the door frame 102. The cycle time is calculated based on the actual operation time at. For this reason, the work time from the work points Q1 to Q3 only needs to reflect the acquired actual operation time, and the cycle time corresponding to the door frame 100 having a mass production record in the predetermined production line 25 can be calculated.
For work points Q4 to Q9 that do not substantially coincide with the work points P4 to P7, as shown in FIG. 14, a fixed time (work transfer time, welding (SPOT) time, welding, which is constant regardless of the work point difference, Energization cycle time, end effector opening / closing time, etc.) and variable time that varies depending on the work point and work type (short pitch, medium pitch, long pitch movement time between work points, surface change operation time, end effector rotation operation time, etc.) And decomposed. Then, for this variable time, by multiplying each operation by a predetermined parameter time set for each work type, a time corresponding to the work type is calculated, and these variable time and fixed time are calculated for each work point. The cycle time is calculated by adding. According to this, it is possible to calculate an accurate cycle time more in line with actual operation.

Next, the CPU 28 executes cycle determination (step S12). In this case, if the cycle time estimated in step S11 is within the desired processing time (αsec) given to the corresponding process (step S12; Yes), the teaching data creation process is terminated and created. The teaching data is recorded on the external recording medium 38 via the recording medium drive 40. Then, the teaching data recorded on the external recording medium 38 is downloaded to the robot control unit 24 and used for controlling the articulated robot 12.
On the other hand, if the estimated cycle time is longer than the desired processing time (αsec) given to the corresponding process (Step S12; No), the work points are redistributed by the articulated robots 12 and 12, respectively. Alternatively, the processing order of the work points by the articulated robots 12 and 12 is changed, and the processing from step S4 is repeated (step S13). In this case, work points in which the work point position and the perpendicularity to the surface are significantly different from the other work points from the group of work points that have been distributed are set as release candidates, and are distributed to each multi-joint robot 12 having a sufficient cycle time. To do.

  As described above, according to the present embodiment, teaching data is supplied in the teaching data creation method of the articulated robot 12 that performs work by the end effector 22 at each of a plurality of work points set on the work. Control data of each posture of the end effector 22 when the multi-joint robot 12 works on each of the work points P1 to P7 set on the door frame 100 as an existing work is obtained. Work points that substantially coincide with the work points Q1 to Q9 set on the door frame 102 for which teaching data is to be created are identified, and control data for the attitude of the end effector 22 at the work points P1 to P3 (the end effector 22). Direction (XP1 to XP3, YP1 to YP3, ZP1 to ZP3), and axis angles (θP11 to θP1) 3, θP21 to θP23, θP31 to θP33, θP41 to θP43, θP51 to θP53, θP61 to θP63)), for example. The control of each posture of the end effector 22 with respect to the points P1 to P7 can be reflected in the work points Q1 to Q9 of the new door frame 102 operated on the production line 25, and the characteristics of the production line 25 are taken into consideration. Teaching data can be created efficiently.

  Further, according to the present embodiment, the actual operation time at each of the work points P1 to P7 of the articulated robot 12 is acquired, and substantially matches the work points Q1 to Q3 set on the door frame 102 for which teaching data is to be created. Since the cycle time is calculated based on the actual operation time at the work points P1 to P3 to be performed, the cycle time according to the door frame 100 having a mass production record in the predetermined production line 25 can be calculated.

  Further, according to the present embodiment, the actual operation time includes a fixed time that is constant regardless of the difference in work points, and a variable time that differs for each work point and work type, and the variable time is determined for each work point. Since the cycle time is calculated based on the value added to, an accurate cycle time can be calculated.

Note that the present invention is not limited to the above-described embodiment, and it is needless to say that various configurations can be adopted without departing from the gist of the present invention. For example, in the present embodiment, the work content of the articulated robot 12 on the work in TCP is welding, but the work content is not limited to this as long as the articulated robot is made to work based on teaching data. .
Moreover, although this embodiment demonstrated the structure which produces the teaching data supplied to the articulated robot 12 which is installed in the single production line 25 and processes a door frame, it is not restricted to this, Different manufacture A configuration may be adopted in which control data is acquired from each of the multi-joint robots installed on the line and machining the same workpiece, and teaching data is generated and supplied for each multi-joint robot. According to this configuration, it is not necessary to correct the teaching data for each production line, so uniform teaching data can be created regardless of the skill of the person who performs this correction work.

10 Offline teaching device (teaching data creation device)
12 Articulated Robot 22 End Effector 25 Production Line 28 CPU (Acquisition Means, Matching Means)
36 Hard disk 42 Teaching data creation circuit (data creation means)
62 Database 100 Door frame 102 Door frame 104 Door frame O Work reference point X parameter Y parameter Z parameter P1 to P7 Work point Q1 to Q9 Work point

Claims (4)

In the teaching data creation method of an articulated robot that performs work by an end effector at each of a plurality of work points set for a work,
Obtaining control data of each posture of the end effector when the articulated robot to which the teaching data is supplied works with respect to each of the work points;
From the control data, a work point that substantially matches the work point set for the work for which teaching data is to be created is identified, and the teaching data is created based on the control data for the attitude of the end effector at the work point. Teaching data creation method characterized by doing. Obtaining the actual operation time at each of the work points of the articulated robot;
2. The teaching data creation method according to claim 1, wherein the cycle time is calculated based on an actual operation time at a work point that substantially matches a work point set for the work for which the teaching data is to be created.   The actual operation time includes a fixed time that is constant regardless of a difference in work points, and a non-constant time that differs for each work point and work type, and is based on a value obtained by adding the non-constant time for each work point. The teaching data creation method according to claim 2, wherein the cycle time is calculated. In the teaching data creation device of an articulated robot that performs work with an end effector at each of a plurality of work points set for a work,
An acquisition means for acquiring control data of each posture of the end effector when the articulated robot to which the teaching data is supplied works on each of the work points;
A matching means for identifying a work point that substantially matches a work point set for a work for which teaching data is to be created from the control data;
A teaching data creating apparatus comprising: data creating means for creating the teaching data based on control data of the attitude of the end effector at the work point.

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