JP2013244560A - Device for generating track for gripping mechanism, method for generating track for gripping mechanism, program for generating track for gripping mechanism, recording medium and robot program creating device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technology that can efficiently generate a track on which a gripping mechanism 25 which grips an object 5 is moved to convey the object 5.SOLUTION: In order to convey an object 5 which satisfies a specified positional relationship to a TCP 6 of a gripping mechanism using the gripping mechanism 25 that grips the object 5, a track on which the gripping mechanism 25 is moved is generated. A pre-conveyance reference point 9 for the object 5 is set at the position of the TCP 6 when the pre-conveyance object 5 is gripped by the gripping mechanism 25 and a post-conveyance reference point 8 for the object is set at the position of the TCP 6 when the post-conveyance object 5 is gripped by the gripping mechanism 25. A track for the gripping mechanism 25 is generated by computation so that the TCP 6 moves from the pre-conveyance reference point 9 to the post-conveyance reference point 8. In order to generate the track of the gripping mechanism 25 with such a configuration, only the reference points 9, 8 for the object 5 need be set and there is no need to confirm the movement of the gripping mechanism 25 with a video.

Description

  The present invention relates to a technique for transporting an object using a gripping mechanism, and particularly to a technique for generating a trajectory for moving the gripping mechanism for transporting the object.

  Conventionally, a gripping mechanism such as a robot hand is used to carry an object such as a part. For example, when a robot hand is used for the purpose of manufacturing a product by assembling a plurality of parts, the robot hand repeatedly executes an operation of gripping and transporting the parts before assembly to the assembly position.

  Japanese Patent Application Laid-Open No. 2004-228561 describes a technique for conveying parts by moving a robot hand along a previously generated trajectory. In particular, in this document, the operation of the robot hand is determined so that the part passes through the trajectory obtained by calculation. At this time, the determination of the operation of the robot hand is executed while confirming the operation of the robot hand holding the part with a moving image.

Japanese Patent No. 4513663

  In other words, the technique of the above-mentioned document allows the user to confirm the state in which the gripping mechanism is virtually moved with a moving image in order to determine the trajectory of the gripping mechanism (robot hand). However, the labor required for confirmation with such a moving image may be a factor that hinders the efficiency of the trajectory generation of the gripping mechanism.

  The present invention has been made in view of the above problems, and an object thereof is to provide a technique capable of efficiently generating a trajectory for moving a gripping mechanism that grips an object for transporting the object.

  In order to achieve the above object, a trajectory generating device for a gripping mechanism according to the present invention is for transporting an object using a gripping mechanism that grips an object that satisfies a predetermined positional relationship with respect to the gripping reference point. In the trajectory generator of the gripping mechanism that generates a trajectory for moving the gripping mechanism, the reference point before transporting the object is set at the position of the gripping reference point when gripping the object before transporting by the gripping mechanism, and after transporting A setting input unit that sets the reference point after transportation of the object at the position of the gripping reference point when gripping the target object with the gripping mechanism, and the gripping reference point moves from the reference point before transportation to the reference point after transportation And a trajectory calculation unit that generates a trajectory of the gripping mechanism by calculation.

  In order to achieve the above object, the trajectory generation method for a gripping mechanism according to the present invention is for transporting an object using a gripping mechanism that grips an object that satisfies a predetermined positional relationship with respect to the gripping reference point. In the gripping mechanism trajectory generation method for generating a trajectory for moving the gripping mechanism, the reference point before transporting the object is set at the position of the gripping reference point when gripping the target object before transporting by the gripping mechanism. The step of setting the reference point after transportation of the object at the position of the gripping reference point when gripping the target object with the gripping mechanism, and the gripping reference point moves from the reference point before transportation to the reference point after transportation. And a step of generating a trajectory of the gripping mechanism by calculation.

  In order to achieve the above object, a trajectory generation program for a gripping mechanism according to the present invention is for transporting an object using a gripping mechanism that grips an object that satisfies a predetermined positional relationship with respect to the gripping reference point. In the trajectory generation program of the gripping mechanism that causes the computer to generate a trajectory for moving the gripping mechanism, the reference point before transporting the object is set at the position of the gripping reference point when gripping the object before transporting by the gripping mechanism, The step of setting the post-transport reference point of the target at the position of the grip reference point when gripping the target after transport by the gripping mechanism, and the grip reference point to move from the pre-transport reference point to the post-transport reference point And a step of generating a trajectory of the gripping mechanism by calculation.

  The recording medium according to the present invention is characterized in that the above-described gripping mechanism trajectory generation program is recorded so as to be readable by a computer.

  In order to achieve the above object, a robot program creation device according to the present invention controls a robot that carries an object using a hand that grasps the object that satisfies a predetermined positional relationship with respect to the grasping reference point. In the robot program creation device that creates the robot program to be executed, the reference point before transportation of the object is set at the position of the gripping reference point when the object before transportation is gripped by the hand, and the object after transportation is handled by the hand. The setting input unit where the reference point after transportation of the object is set at the position of the gripping reference point when gripping with, and the trajectory of the hand so that the gripping reference point moves from the reference point before transportation to the reference point after transportation. A trajectory calculation unit that is generated by calculation, and a program generation unit that generates a robot program so that the hand passes the trajectory generated by the trajectory generation unit. It is set to.

  In the invention configured as described above (trajectory generation device for gripping mechanism, trajectory generation method for gripping mechanism, trajectory generation program for gripping mechanism, recording medium, robot program creation device), a predetermined positional relationship with respect to the gripping reference point A trajectory for moving the gripping mechanism is generated in order to transport the target using the gripping mechanism that grips the target that satisfies the above. When generating the trajectory, the gripping reference point before transporting the object is set at the position of the gripping reference point when the gripping mechanism grips the object before transporting, and the gripping mechanism grips the target object after transporting. The grip reference point after the object is conveyed is set at the position of the grip reference point. Then, the trajectory of the gripping mechanism is generated by calculation so that the gripping reference point moves from the pre-transportation reference point thus set to the post-transportation reference point. As described above, according to the present invention, if the reference points of the object (reference point before transportation, reference point after transportation) are set, the trajectory of the gripping mechanism that transports the object can be automatically generated by calculation. In other words, in order to generate the trajectory of the gripping mechanism, it is only necessary to set the reference point of the object, and it is not necessary to check the operation of the gripping mechanism with a moving image. As a result, it is possible to efficiently generate a trajectory for moving a gripping mechanism that grips the target object for transporting the target object.

  In addition, the trajectory generation device of the gripping mechanism may be configured to further include an object display screen that reproduces and displays the state of each object before and / or after transportation in the virtual space. In such a configuration, the user can set the reference point before transportation and / or the reference point after transportation of the object while confirming the state of the object on the object display screen. improves.

  At this time, the trajectory generating device for the gripping mechanism may be configured so that the pre-transport reference point and / or the post-transport reference point designated by the user on the object display screen is set in the setting input unit. In such a configuration, not only confirmation of the state of the object but also setting of the reference point before and / or after transportation can be executed on the object display screen, and the operability for the user is further improved. .

  Further, the trajectory generation device of the gripping mechanism may be configured to further include a trajectory display unit that displays the trajectory generated by the trajectory calculation unit. With such a configuration, the user can determine the suitability while confirming the generated trajectory on the trajectory display unit, and the operability for the user is improved.

  Incidentally, the conditions that can be set for the trajectory calculation of the gripping mechanism are not limited to the reference points before and after transportation. That is, it is possible to generate a more appropriate trajectory by performing the trajectory calculation of the gripping mechanism so as to satisfy the conditions set other than these.

  Specifically, in the setting input unit, the posture of the gripping mechanism that grips the object before transportation can be set as the posture before transportation, and the trajectory calculation unit can be used when the gripping reference point is at the reference point before transportation. The gripping mechanism trajectory generating device may be configured to generate a trajectory of the gripping mechanism by calculation so that the gripping mechanism takes a pre-transport posture.

  The setting input unit can set the posture of the gripping mechanism that grips the object after transportation as the post-transportation posture, and the trajectory calculation unit can be used when the gripping mechanism is after the transportation when the gripping reference point is at the reference point after transportation. The trajectory generating device for the gripping mechanism may be configured to generate the trajectory of the gripping mechanism by calculation so as to take a posture.

  Alternatively, the setting input unit can set the approach direction when the gripping reference point approaches the post-transport reference point, and the trajectory calculation unit can make the gripping reference point approach the post-transport reference point from the approach direction. The trajectory generating device for the gripping mechanism may be configured to generate the trajectory of the gripping mechanism by calculation.

  It is possible to efficiently generate a trajectory for moving a gripping mechanism that grips the target object for transporting the target object.

It is a perspective view which shows typically an example of the robot which can be controlled based on the robot program created by this invention. FIG. 2 is a block diagram schematically showing an electrical configuration for controlling the robot shown in FIG. 1. It is a figure which shows typically the holding | grip operation | movement of the hand with which the robot of FIG. 1 is provided. It is a figure which shows typically an example of position alignment of components and TCP. It is a block diagram which shows typically an example of the electrical constitution of a robot program creation apparatus. It is a figure which shows an example of the flowchart which produces a robot program. It is a perspective view which shows typically an example of the operation | work performed with the flowchart of FIG. It is a figure which shows an example of lists, such as a reference | standard point before and behind an assembly.

  FIG. 1 is a perspective view schematically showing an example of a robot that can be controlled based on a robot program created according to the present invention. In FIG. 1, a computer 3 that controls the robot 2 is shown in addition to the robot 2. FIG. 2 is a block diagram schematically showing an electrical configuration for controlling the robot shown in FIG. In FIG. 1 and the drawings shown below, xyz orthogonal coordinate axes having the vertical direction as the z-axis direction are shown as appropriate.

  A robot 2 shown in FIG. 1 is a double-arm robot having a schematic configuration in which two arms 22 are attached to a body portion 21. Each arm 22 is attached via a shoulder joint 23 connected to a drive motor M23. Therefore, the arm 22 can be moved by rotating the shoulder joint 23 with the drive motor M23. A hand 25 is attached to the tip of each arm 22 via a wrist joint 24. A drive motor M24 is connected to the wrist joint 24. Therefore, the direction of the hand 25 can be changed by rotating the wrist joint 24 with the drive motor M24. Further, a drive motor M25 is connected to the hand 25. Therefore, the hand 25 can be opened and closed by the drive motor M25.

  Such an operation of the robot 2 is controlled by the computer 3. The computer 3 includes a main control unit 31 composed of a CPU (Central Processing Unit) and a memory. The main control unit 31 controls the drive motors M23 to M25, so that the part 25 (mechanical part or electronic part) is gripped by the hand 25, the hand 25 that grips the part 5 is moved, or the hand 25 is rotated. Thus, the robot 2 can perform basic operations such as changing the posture of the component 5 and releasing the component 5 from the hand 25.

  In particular, the computer 3 is installed with a robot program 4 created for causing the robot 2 to execute a predetermined procedure. That is, the main control unit 31 controls the drive motors M23 to M25 according to the robot program 4 to cause the robot 2 to execute the procedure specified in the robot program 4. Specifically, the robot program 4 described in this embodiment causes the robot 2 to assemble a plurality of parts 5. That is, according to the robot program 4, the hand 25 performs an operation for gripping the component 5 at the initial position and moving it to the assembly position for each component, and assembles a plurality of components. In order to execute the assembly of the component 5 as described above, it is necessary to accurately grip the component 5 with the hand 25. Therefore, the robot program 4 causes the hand 25 to perform the gripping operation of the component 5 based on the TCP (Tool Center Point) set for the hand 25.

  FIG. 3 is a diagram schematically showing a gripping operation of a hand provided in the robot of FIG. In FIG. 3, the hand 25 that moves toward the component 5 at the initial position is indicated by a broken line, and the hand 25 that grips the component 5 at the initial position is indicated by a solid line. As shown in FIG. 3, TCP 6, which is a virtual point, is set for the hand 25. The positional relationship between the hand 25 and the TCP 6 is fixed, and the hand 25 moves with the TCP 6. The component 5 can be gripped by the hand 25 by operating (closing) the hand 25 in a state where the component 5 and the TCP 6 satisfy a predetermined positional relationship. Specifically, for example, as illustrated in FIG. 4, the component 5 can be configured to be gripped by the hand 25 in a state where an appropriate representative point set for the component 5 matches the TCP 6.

  FIG. 4 is a diagram schematically illustrating an example of alignment between a component and a TCP. In the figure, the “movement” column shows how the hand 25 moves toward the component 5 at the initial position, and the “gripping” column shows how the hand 25 grips the component 5 at the initial position. Yes. In the example shown in the figure, TCP 7 (representative point) is attached not only to the hand 25 but also to the component 5. The component-side TCP 7 can be set at a position suitable for the gripping mode of the component 5. Then, by moving the hand 25 to the component 5 and operating the hand 25 in a state where the hand-side TCP 6 is aligned with the component-side TCP 7, the component 5 can be gripped by the hand 25. At this time, a plurality of component-side TCPs 7 are set in accordance with variations in the gripping mode of the component 5, and the component 5 and the hand 25 are set based on one component-side TCP 7 selected according to the gripping mode of the component 5. It can also be configured to perform alignment.

  Such an operation of the hand 25 is controlled based on the robot program 4 as described above. Subsequently, an example of the configuration and operation for creating the robot program 4 will be described. FIG. 5 is a block diagram schematically showing an example of the electrical configuration of the robot program creation device. In FIG. 5, in addition to the robot program creation device 100, a recording medium 300 on which a creation program 200 for creating a robot program is recorded and a simulator 400 are also shown.

  The robot program creation device 100 is a computer that includes a main control unit 110 constituted by a CPU and a memory. Further, the robot program creation device 100 includes an input / output unit 120 that controls input / output of data to / from the outside, a storage unit 130 configured by a memory and a hard disk, an input device 140 configured by a keyboard and a mouse, and a display 150. It has. As the display 150, a display having an input function such as a touch panel type may be used.

  The robot program creation device 100 having such a configuration creates the robot program 4 based on the creation program 200 read into the storage unit 130. The creation program 200 is supplied in a state of being recorded on a recording medium 300 that can be read by the robot program creation device 100, for example. Examples of such a recording medium 300 include various types such as a CD (Compact Disc), a DVD (Digital Versatile Disc), and a USB (Universal Serial Bus) memory. Specifically, a flowchart shown in FIG. 6 is incorporated in the creation program 200, and the robot program creation device 100 creates the robot program 4 by executing the flowchart.

  FIG. 6 is a diagram illustrating an example of a flowchart for creating a robot program. FIG. 7 is a perspective view schematically showing an example of the work executed in the flowchart of FIG. In FIG. 7, a substantially rectangular part 5b in a plan view is superimposed on a substantially trapezoidal part 5a in a plan view, and the parts 5a and 5b are fixed to each other with two screw-like parts 5c and 5d. The example of assembling the parts 5 (5a to 5d) is shown, the state before the assembly of the plurality of parts 5a to 5d is shown in the column "Before assembly", and after the assembly of the plurality of parts 5a to 5d The state is shown in the column “After Assembly”.

  The flowchart of FIG. 6 shows steps S101 to S107 for generating a trajectory of the hand 25 that transports each of the components 5a to 5d from the initial position before assembly to the assembly position after assembly, and the robot so that the hand 25 passes through the trajectory. It is roughly divided into step S108 for creating the program 4. These details are as follows.

  When the creation of the robot program 4 starts, in step S101, CAD (computer aided design) data of a plurality of parts 5a to 5d to be assembled is transferred from the external three-dimensional CAD (computer aided design) tool to the input / output unit 120. Via the storage unit 130. In the subsequent step S102, the main control unit 110 reproduces an assembly diagram showing a state after the assembly of the plurality of parts 5a to 5d on the virtual space based on the read CAD data.

  At this time, the creation of the assembly drawing may be performed by an external three-dimensional CAD tool, or may be performed by the robot program creation apparatus 100 using three-dimensional CAD software. In the former example, the robot program creation device 100 may reproduce the assembly drawing created by the external three-dimensional CAD tool as it is. In the latter example, the robot program creation device 100 may create a drawing based on the CAD data of the individual parts 5 read by the external three-dimensional CAD tool and reproduce it.

  In step S <b> 103, the post-transport reference points 8 a to 8 d of the parts 5 a to 5 d after assembly are set in the storage unit 130 based on the created assembly drawing. Specifically, as shown in the column “After Assembly” in FIG. 7, these post-transport reference points 8 (8a to 8d) are the hands 25 that grip the parts 5 (5a to 5d) after transport in the assembly position. And is represented as a point (x, y, z) in a three-dimensional virtual space. The post-transport reference point 8 corresponds to the component-side TCP 7 of the component 5 after transport.

  Moreover, in step S103, the attitude | positions (Rx, Ry, Rz) of the hand 25 which hold | grips the components 5 (5a-5d) after conveyance are set. In step S103, the approach direction (Dx, Dy, Dz) when the TCP 6 of the hand 25 approaches the post-transport reference point 8 (8a-8d) when transporting the component 5 (5a-5d) to the assembly position. Is set. Here, the posture (Rx, Ry, Rz) of the hand 25 indicates the posture of the hand 25 in terms of Euler angles or roll / pitch / yaw angles. Further, the approach direction (Dx, Dy, Dz) of the hand 25 indicates the approach direction of the hand 25 by a three-dimensional vector.

  These values such as the reference point 8 after transport, the posture of the hand 25 (Rx, Ry, Rz) and the approach direction (Dx, Dy, Dz) are set on the display 150 by the user reproducing the assembly diagram in the virtual space. It can be executed by operating the input device 140 or the like while confirming with. In particular, the setting mode of the post-transport reference point 8 may be configured as follows.

  In other words, the post-transportation reference point 8 may be set at a position designated by the user by placing a cursor that can be operated with a mouse at an appropriate location on the transported component 5 displayed on the display 150. good. Alternatively, when the touch panel type display 150 is used, the post-transport reference point 8 may be set at a position designated by the user by pressing the display 150. In these configuration examples, the position designated by the user on the display 150 that displays the states of the components 5a to 5d in the virtual space is set as the post-transport reference point 8. If the user's designated position is not appropriate, a message to that effect is displayed on the display 150 to prompt the user to change the designated position, or the position corrected by the main control unit 110 from the user's designated position is the post-transportation reference point 8. Or can be configured as

  In subsequent step S104, the main control unit 110 reproduces an initial layout diagram showing a state before the assembly of the plurality of parts 5a to 5d on the virtual space based on the CAD data. To explain with specific examples, initial position information indicating the initial positions of the parts 5a to 5b is acquired in advance from the result of imaging the parts 5a to 5b before assembly in the actual work space, and the individual parts 5 are obtained. By arranging the CAD data at the position indicated by the initial position information, an initial layout diagram is created.

  In step S105, based on the created initial layout, pre-transportation reference points 9a to 9d of the parts 5a to 5d before assembly are set in the storage unit 130. Specifically, as shown in the column “Before Assembly” in FIG. 7, these pre-transportation reference points 9 (9a to 9d) are the hands 25 that grip the parts 5 (5a to 5d) before transporting in the initial positions. And is represented as a point (x, y, z) in a three-dimensional virtual space. This pre-transportation reference point 9 corresponds to the component-side TCP 7 of the component 5 before transporting.

  At this time, the setting of the pre-transportation reference points 9a to 9d can be executed based on the user's designation on the display 150 in the same manner as the setting of the post-transportation reference points 8a to 8d. Alternatively, the setting of the pre-transport reference points 9a to 9d may be automatically performed by the main control unit 110 by calculation based on the initial layout diagram and the setting results of the post-transport reference points 8a to 8d. That is, the positional relationship between the reference points 9a to 9d before transportation and the components 5a to 5d and the positional relationship between the reference points 8a to 8d after transportation and the components 5a to 5d are the same. Therefore, by referring to the positional relationship between the post-transport reference points 8a to 8d and the parts 5a to 5d set in the previous step S103, the pre-transport reference points 9a to 9d are determined from the positions of the parts 5a to 5d in the initial layout drawing. 9d is automatically obtained by calculation.

  Moreover, in step S105, the attitude | positions (Rx, Ry, Rz) of the hand 25 which hold | grips the components 5 (5a-5d) before conveyance are set. Furthermore, in step S105, in order to go to grip the part 5 (5a to 5d) in the initial position, the approach direction (Dx,) when the TCP 6 of the hand 25 approaches the pre-transportation reference point 9 (9a to 9d). Dy, Dz) are set. These values such as the posture (Rx, Ry, Rz) and approach direction (Dx, Dy, Dz) of the hand 25 can be set while the user confirms the assembly drawing reproduced in the virtual space on the display 150. It can be executed by operating the device 140 or the like.

  In step S106, based on the setting results in the previous steps S103 and S105, the main control unit 110 creates a list (FIG. 8) of reference points 8 and 9 before and after assembly and stores them in the storage unit 130. Here, FIG. 8 is a table showing an example of a list of reference points before and after assembly. As shown in FIG. 8, the reference point, posture, and approach direction before and after assembly are obtained for each of the parts 5a to 5d.

  In step S107, the trajectory calculation unit 111 configured in the main control unit 110 generates the trajectory of the hand 25 by calculation based on the list of FIG. 8 indicating the reference points before and after assembly. Specifically, the trajectory of the hand 25 that transports the part 5 is generated so as to satisfy the condition that the TCP 6 of the hand 25 moves from the reference point 9 before transportation of the part 5 to be transported to the reference point 8 after transportation. Is done. Such trajectory generation can be performed using a route search technique for searching for a route from a departure point (reference point before transportation 9) to a destination (reference point after transportation).

At this time, in step S107, the TCP 6 of the hand 25 approaches the pre-transportation reference point 9 of the part 5 from the approach direction before assembly set for the part 5 that is the next condition / transport object. When the TCP 6 is at the reference point 9 before transportation of the part 5 to be transported, the hand 25 takes the pre-transport posture set for the part 5. The approach direction after assembly set for the part 5 to be transported From, the TCP 6 of the hand 25 approaches the reference point 8 after transportation of the part 5. When the TCP 6 of the hand 25 is at the reference point 8 after transportation of the part 5 to be transported, the hand 25 is set for the part 5. The trajectory of the hand 25 is generated so that the hand 25 and the part 5 do not interfere with the obstacle while the part 5 is being transported. By performing the trajectory calculation of the hand 25 so as to satisfy such conditions, a more appropriate trajectory can be generated.

  Thus, for each of the parts 5a to 5d, the trajectory of the hand 25 that carries the part is obtained. At this time, a plurality of trajectory candidates that satisfy the above conditions may be obtained for each of the components 5a to 5d. In this case, for example, the candidate having the shortest transport time can be selected for each of the components 5a to 5d from among a plurality of candidates, and a more appropriate trajectory of the hand 25 can be generated. .

  In step S108, the program creation unit 112 configured in the main control unit 110 generates the robot program 4. Specifically, the program creation unit 112 sets a transport program for controlling the robot 2 so that the hand 25 transports the parts 5a to 5d through the tracks generated for the parts 5a to 5d. Generate every time.

  Incidentally, in an actual assembling work, it may be necessary to adjust the posture or the like of the part 5 for the purpose other than transporting the part 5. For example, it is necessary to adjust the posture of a component such as a screw in accordance with the direction in which the screw is fixed. In such a case, the posture of the component 5 is adjusted during transportation. Therefore, the program creation unit 112 also creates a posture adjustment program for performing such posture adjustment.

  Further, in the actual work space, the component 5 may be arranged slightly deviated from the initial position determined before assembly. In such a case, in order to appropriately grasp the component 5 that is shifted from the initial position, the position of the hand 25 is corrected based on the result of recognizing the actual positions of the components 5a to 5d by the camera. Is called. Therefore, the program creation unit 112 also creates a position correction program for performing such position correction. The program creation unit 112 creates the robot program 4 by combining the transportation program, the posture adjustment program, and the position correction program. Thus, the creation of the robot program 4 is completed.

  At this time, the robot program 4 created by the robot program creation device 100 can be verified by the simulator 400. Specifically, the simulator 400 is configured by a personal computer or the like, and simulates the state when the robot 2 is operated according to the robot program 4. Therefore, the user can determine the suitability of the robot program 4 based on the simulation result.

  As described above, in this embodiment, a trajectory for moving the hand 25 is generated in order to transport the part 5 using the hand 25 that holds the part 5 that satisfies a predetermined positional relationship with respect to the TCP 6. The In generating the trajectory, the reference point 9 before transportation of the part 5 is set at the position of the TCP 6 when the part 5 before transportation is gripped by the hand 25, and the TCP 6 when gripping the part 5 after transportation by the hand 25 is set. The reference point 8 after the parts are conveyed is set at the position. Then, the trajectory of the hand 25 is generated by calculation so that the TCP 6 moves from the pre-transportation reference point 9 thus set to the post-transportation reference point 8. As described above, according to this embodiment, when the reference points of the parts (the reference point 9 before transportation, the reference point 8 after transportation) are set, the trajectory of the hand 25 that carries the part 5 is automatically generated by calculation. it can. In other words, in order to generate the trajectory of the hand 25, it is only necessary to set the reference points 9 and 8 of the component 5, and it is not necessary to check the operation of the hand 25 with a moving image. As a result, it is possible to efficiently generate a trajectory for moving the hand 25 that holds the part 5 for transporting the part 5.

  Moreover, in this embodiment, the display 150 which reproduces and displays on the virtual space the state of each component 5 before conveyance and / or after conveyance is provided. In such a configuration, the user can set the reference point before transportation and / or the reference point after transportation of the part 5 while confirming the state of the part 5 on the display 150, and the operability for the user is improved. .

  Further, in this embodiment, the pre-transportation reference point 9 and / or the post-transportation reference point 8 specified by the user on the display 150 are set. In such a configuration, not only confirmation of the state of the part 5 but also setting of the reference points 9 and 8 before and / or after transportation can be executed on the display 150, and the operability for the user is further improved. To do.

  Thus, in the above embodiment, the robot program creation device 100 corresponds to an example of the “grip mechanism trajectory generation device” or “robot program creation device” of the present invention, and the creation program 200 of the present invention refers to the “trajectory generation program”. The recording medium 300 corresponds to an example of the “recording medium” of the present invention. The hand 25 corresponds to an example of the “gripping mechanism” of the present invention, the component 5 corresponds to an example of the “object” of the present invention, the TCP 6 corresponds to an example of the “gripping reference point” of the present invention, The storage unit 130 and the display 150 cooperate to function as an example of the “setting input unit” of the present invention, the track calculation unit 111 corresponds to an example of the “track calculation unit” of the present invention, and the reference point 9 before transportation is The post-transport reference point 8 corresponds to an example of the “post-transport reference point” of the present invention, and the display 150 corresponds to an example of the “object display screen” of the present invention. The robot program creation device 100 corresponds to an example of the “computer” of the present invention.

  The present invention is not limited to the above-described embodiment, and various modifications other than those described above can be made without departing from the spirit of the present invention. Therefore, for example, the robot program creation device 100 may be configured to display the trajectory generated by the trajectory calculation unit 111 on the display 150 (trajectory display unit). In such a configuration, the user can determine the suitability while confirming the generated trajectory on the display 150, and the operability for the user is improved.

  At this time, the state of the hand 25 moving along the trajectory may be displayed on the display 150 as a moving image. That is, according to the present invention, the trajectory of the hand 25 can be generated without requiring confirmation with a moving image, thereby improving the efficiency of the trajectory generation, and the generated trajectory of the hand 25 is displayed with a moving image. It does not prevent it. Incidentally, when configured in this way, it is easy to grasp the movement of the hand 25 in the actual work space, and it can be expected that the operability for the user is further improved.

  In addition, the conditions set for generating the trajectory of the hand 25 in the above embodiment can be changed as appropriate. Specifically, among the above conditions, the conditions related to the approach direction and the posture of the hand 25 may be deleted as appropriate. Alternatively, the trajectory of the hand 25 can be generated so as to further satisfy conditions other than the above conditions.

  Further, the robot program creation device 100 can be modified to add various functions. As a specific example, the robot program creation device 100 may have the simulation function of the simulator 400 described above.

  In the example shown in the above embodiment, the TCP 6 is set at the approximate center of the plurality of fingers of the hand 25. However, the setting location of TCP 6 may be changed as appropriate.

  In the above embodiment, setting of the reference points 9 and 8 before and after transportation, the posture (Rx, Ry, Rz) of the hand 25, the approach direction (Dx, Dy, Dz), and the like has been performed by the user. . However, the main control unit 110 may be configured to automatically perform these settings.

  Needless to say, the shape, number, assembly mode, and the like of the parts 5 assembled by the hand 25 are not limited to the above example.

  Moreover, in the said embodiment, the hand 25 which performs a holding | grip operation | movement by grasping a target object (component 5) was mentioned as an example of a holding | grip mechanism. However, the specific configuration of the gripping mechanism is not limited to this, and for example, the gripping mechanism may suck and grip an object.

  The present invention can be applied to all techniques for obtaining the trajectory of a gripping mechanism that transports an object, and is particularly applicable to a technique for transporting and assembling parts that are objects with a robot hand.

DESCRIPTION OF SYMBOLS 100 ... Robot program creation apparatus 110 ... Main control part 111 ... Trajectory calculation part 112 ... Program creation part 120 ... Input / output part 130 ... Storage part 140 ... Input device 150 ... Display 200 ... Creation program 300 ... Recording medium 25 ... Hand 4 ... Robot program 5a, 5b, 5c, 5d, 5 ... Parts 6 ... TCP
7 ... TCP
8a, 8b, 8c, 8d ... Reference point after transportation 9a, 9b, 9c, 9d ... Reference point before transportation

Claims (11)

In a trajectory generating device for a gripping mechanism that generates a trajectory for moving the gripping mechanism to transport the object using a gripping mechanism that grips an object that satisfies a predetermined positional relationship with respect to the gripping reference point.
The reference point before transportation of the object is set at the position of the gripping reference point when the object before transportation is gripped by the gripping mechanism, and the gripping mechanism grips the object after transportation. A setting input unit in which a reference point after transportation of the object is set at the position of the gripping reference point;
A trajectory generation device for a gripping mechanism, comprising: a trajectory calculation unit that generates a trajectory of the gripping mechanism by calculation so that the gripping reference point moves from the reference point before transport to the reference point after transport.   The trajectory generation device for a gripping mechanism according to claim 1, further comprising an object display screen that reproduces and displays a state of the object before and / or after transportation in a virtual space.   The trajectory generating device for a gripping mechanism according to claim 2, wherein the pre-transport reference point and / or the post-transport reference point designated by the user on the object display screen is set in the setting input unit.   The trajectory generation device for a gripping mechanism according to any one of claims 1 to 3, further comprising a trajectory display unit that displays a trajectory generated by the trajectory calculation unit. In the setting input unit, the posture of the gripping mechanism that grips the object before transportation can be set as the posture before transportation,
The trajectory calculation unit generates the trajectory of the gripping mechanism by calculation so that the gripping mechanism takes the pre-transport posture when the gripping reference point is at the pre-transport reference point. A trajectory generating device for a gripping mechanism according to claim 1. In the setting input unit, the posture of the gripping mechanism that grips the object after transportation can be set as the posture after transportation.
The trajectory calculation unit generates the trajectory of the gripping mechanism by calculation so that the gripping mechanism takes the post-transport posture when the gripping reference point is at the post-transport reference point. A trajectory generating device for a gripping mechanism according to claim 1. In the setting input unit, an approach direction when the gripping reference point approaches the post-transport reference point can be set.
The grip according to any one of claims 1 to 6, wherein the trajectory calculation unit generates a trajectory of the gripping mechanism by calculation so that the grip reference point approaches the post-transport reference point from the approach direction. Mechanism trajectory generator. In a trajectory generation method for a gripping mechanism that generates a trajectory for moving the gripping mechanism to transport the object using a gripping mechanism that grips an object that satisfies a predetermined positional relationship with respect to the gripping reference point.
The reference point before transportation of the object is set at the position of the gripping reference point when the object before transportation is gripped by the gripping mechanism, and the gripping mechanism grips the object after transportation. A step of setting a reference point after transportation of the object at the position of a gripping reference point;
And a step of generating a trajectory of the gripping mechanism by calculation so that the gripping reference point moves from the reference point before transporting to the reference point after transporting. A gripping mechanism trajectory generation program for causing a computer to generate a trajectory for moving the gripping mechanism to transport the target object using a gripping mechanism that grips the target object that satisfies a predetermined positional relationship with respect to the gripping reference point. In
The reference point before transportation of the object is set at the position of the gripping reference point when the object before transportation is gripped by the gripping mechanism, and the gripping mechanism grips the object after transportation. A step of setting a reference point after transportation of the object at the position of a gripping reference point;
Generating the trajectory of the gripping mechanism, wherein the computer executes a step of generating the trajectory of the gripping mechanism by calculation so that the gripping reference point moves from the reference point before transporting to the reference point after transporting. program.   10. A recording medium in which the trajectory generating program for the gripping mechanism according to claim 9 is recorded so as to be readable by a computer. In a robot program creation device that creates a robot program that causes a computer to control a robot that transports the object using a hand that grips the object that satisfies a predetermined positional relationship with respect to the gripping reference point.
The reference point before transporting the object is set at the position of the gripping reference point when gripping the object before transporting with the hand, and the gripping reference when gripping the object after transporting with the hand A setting input unit in which a reference point after transportation of the object is set at a point position;
A trajectory calculation unit that generates a trajectory of the hand by calculation so that the gripping reference point moves from the pre-transport reference point to the post-transport reference point;
A robot program creation device, comprising: a program creation unit that creates the robot program so that the hand passes the trajectory generated by the trajectory generation unit.

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