JP2018083277A - Assembly working robot operation generating method, operation generating program, and operation generating device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make it possible to easily change a teaching point due to ex post change in an order of a series of assembly operations.SOLUTION: An assembly working robot operation generating method which is executed by a computer. This method includes: a step at which on the basis of order data of a series of assembly operations when assembling an assembly object product by using an assembly working robot at least partially and 3D data of plural components which form the assembly object product, an assembly state of the assembly object product at the time of starting one assembly operation included in said series of assembly operations is reproduced; and a step at which a teaching point for the assembly working robot concerning said one assembly operation is derived.SELECTED DRAWING: Figure 1

Description

  The present disclosure relates to an assembly robot operation generation method, an assembly robot operation generation program, and an assembly robot operation generation apparatus.

  A method for deriving teaching points of an assembly robot using CAD (Computer-Aided Design) data or the like is known.

JP-A-10-222219 JP 2005-149216 JP JP 64-64016

  However, in the conventional technology as described above, when the order of a series of assembly operations when assembling a product to be assembled is changed afterwards, it is difficult to change the teaching point due to the change. For example, in reality, the order of a series of assembly operations may be changed afterwards, and the appropriate teaching point of the assembly operation robot may change accordingly. In this case, it is a relatively large load for the user to derive each teaching point again from scratch.

  Thus, in one aspect, the present invention is directed to facilitating changing teaching points due to subsequent changes in the sequence of assembly operations.

In one aspect, based on sequence data of a series of assembly operations when assembling an assembly target product using at least a part of an assembly operation robot, and 3D data of a plurality of parts forming the assembly target product, Reproduce the assembly state of the product to be assembled at the start of one assembly operation included in a series of assembly operations,
There is provided a method of generating an operation of an assembly work robot executed by a computer, including deriving a teaching point for the assembly work robot related to the one assembly work based on the reproduced assembly state.

  In one aspect, the present invention facilitates changing teaching points due to subsequent changes in the sequence of assembly operations.

It is a block diagram which shows the operation | movement production | generation apparatus 1 of the assembly work robot by one Example. It is a figure which shows an example of the hardware constitutions of a processing apparatus. It is a figure which shows an example of a robot operation | movement template. It is explanatory drawing of a robot operation | movement template. 3 is a schematic flowchart illustrating an operation example of the motion generation device 1. It is a figure which shows typically an example of the input which concerns on an assembly state reproduction process. It is a figure which shows typically an example of the output which concerns on an assembly state reproduction process. It is a flowchart which shows an example of an assembly state reproduction process. It is an image figure of various flags. It is explanatory drawing of a teaching point derivation process. It is explanatory drawing of a teaching point derivation process. It is a flowchart which shows an example of a teaching point derivation process. It is explanatory drawing of the production | generation process of a robot operation program. It is a flowchart which shows an example of the production | generation process of a robot operation | movement program. It is explanatory drawing of the example by which an operation | movement production | generation apparatus is implement | achieved with a server and a client computer. It is a table | surface figure which shows the example of the distribution aspect of the function of a processing apparatus.

  Hereinafter, embodiments will be described in detail with reference to the accompanying drawings.

  FIG. 1 is a configuration diagram showing a motion generation device 1 of an assembly robot (hereinafter simply referred to as “robot”) according to an embodiment. FIG. 2 is a diagram illustrating an example of a hardware configuration of the processing apparatus 100.

  The motion generation device 1 includes a processing device 100. The processing apparatus 100 may be realized by a computer at a user's location, may be realized by a computer (for example, a server) at a remote location away from the user, or may be realized by a combination of these (see FIG. 15).

  In the example illustrated in FIG. 2, the processing device 100 includes a control unit 101, a main storage unit 102, an auxiliary storage unit 103, a drive device 104, a network I / F unit 106, and an input unit 107.

  The control unit 101 is an arithmetic device that executes a program stored in the main storage unit 102 or the auxiliary storage unit 103, receives data from the input unit 107 or the storage device, calculates, processes, and outputs the data to the storage device or the like. To do.

  The main storage unit 102 is a ROM (Read Only Memory), a RAM (Random Access Memory), or the like. The main storage unit 102 is a storage device that stores or temporarily stores programs and data such as OS (Operating System) and application software which are basic software executed by the control unit 101.

  The auxiliary storage unit 103 is an HDD (Hard Disk Drive) or the like, and is a storage device that stores data related to application software or the like.

  The drive device 104 reads the program from the recording medium 105, for example, a flexible disk, and installs it in the storage device.

  The recording medium 105 stores a predetermined program. The program stored in the recording medium 105 is installed in the processing device 100 via the drive device 104. The installed predetermined program can be executed by the processing apparatus 100.

  The network I / F unit 106 is an interface between the processing apparatus 100 and a peripheral device having a communication function connected via a network constructed by a data transmission path such as a wired and / or wireless line.

  The input unit 107 includes a keyboard having a cursor key, numeric input, and various function keys, a mouse, a touch pad, and the like.

  In the example shown in FIG. 2, various processes described below can be realized by causing the processing apparatus 100 to execute a program. It is also possible to record the program on the recording medium 105 and cause the processing apparatus 100 to read the recording medium 105 on which the program is recorded, thereby realizing various processes described below. Note that various types of recording media can be used as the recording medium 105. For example, the recording medium 105 is information such as a CD (Compact Disc) -ROM, a flexible disk, a magneto-optical disk, or the like, a recording medium that records information optically, electrically, or magnetically, a ROM, a flash memory, or the like. It may be a semiconductor memory or the like for electrically recording. Note that the recording medium 105 does not include a carrier wave.

  As illustrated in FIG. 1, the processing device 100 includes a data acquisition unit 10, a variable setting unit 12, an assembly state reproduction unit 14, a teaching point derivation unit 16, and a robot motion generation unit 18 as functional units. . The data acquisition unit 10, variable setting unit 12, assembly state reproduction unit 14, teaching point derivation unit 16, and robot motion generation unit 18 each have one or more programs stored in the main storage unit 102 by the control unit 101. It can be realized by executing.

  The processing apparatus 100 includes an assembly work order data storage unit 20, a robot operation template storage unit 21, a product data storage unit 22, an equipment data storage unit 23, an assembly state reproduction data storage unit 24, a teaching point list storage unit 25, and A robot operation program storage unit 26 is included. The processing apparatus 100 also includes a robot motion template database 27 (hereinafter referred to as “robot motion template DB 27”). The assembly work order data storage unit 20, the robot operation template storage unit 21, the product data storage unit 22, the equipment data storage unit 23, the assembly state reproduction data storage unit 24, the teaching point list storage unit 25, and the robot operation program storage unit 26 are For example, it can be realized by the auxiliary storage unit 103. The robot operation template DB 27 can be realized by the auxiliary storage unit 103, for example.

  The assembly work order data storage unit 20 stores a series of assembly work order data (hereinafter referred to as “assembly work order data”) when assembling the product to be assembled. A robot is used at least partially for assembling the product to be assembled. For example, the assembly of the assembly target product may be realized by cooperation between a robot and a person, or may be realized completely by a robot. The assembly work order data is generated by the user. The assembly target product is arbitrary, and may be, for example, various semiconductor products, various electronic devices, various machines, or the like.

  The robot motion template storage unit 21 stores a robot motion template (described later) used in the robot motion generation unit 18. The robot motion template storage unit 21 stores one or more specific robot motion templates used by the robot motion generation unit 18 among various robot motion templates in a robot motion template DB 27 described later.

  The product data storage unit 22 stores product data of the assembly target product. The product data includes three-dimensional (3D) data (hereinafter also referred to as “part 3D data”) of each part forming the assembly target product, and part configuration data of the product. The component 3D data includes data on a single item state of each component and data on a state in which each component is assembled. Instead of data on the state in which each part is assembled, other data that can reproduce the state in which each part is assembled (for example, data indicating the arrangement of each part) may be used. The part configuration data is data representing the parent-child relationship of each part, and is in the form of, for example, an assembly tree (see assembly tree 402 in FIG. 6). Product data is generated by the user as known data.

  The equipment data storage unit 23 stores assembly equipment data. The assembly equipment data is data relating to equipment for assembling the product to be assembled, and includes 3D data of the equipment. The equipment includes a robot and the like. The 3D data of the equipment is preferably data that can substantially reproduce the equipment. However, the 3D data of the facility does not need to include a facility portion that is not related to various processes described below. The assembly equipment data is generated by the user as known data.

  The assembly state reproduction data storage unit 24 stores assembly state reproduction data. The assembly state reproduction data is data that reproduces the assembly state of the product to be assembled at the start of one assembly operation included in a series of assembly operations, and is generated by the assembly state reproduction unit 14. A unit of one assembly operation may correspond to an operation classification. For example, there is a relationship in which an operation classification may be different between one assembly operation and another assembly operation. However, one assembly work may be a composite of work of a plurality of work classifications. The assembly state reproduction data will be described later.

  The teaching point list storage unit 25 stores a teaching point list. As will be described later, the teaching point list is generated for each robot motion template by the teaching point deriving unit 16. The teaching point list is stored, for example, in a manner associated with the corresponding robot operation template.

  The robot operation program storage unit 26 stores a robot operation program related to the assembly target product. The robot operation program related to the assembly target product is generated by the robot operation generation unit 18 as described later.

  The robot operation template DB 27 stores a robot operation template for generating a robot operation program related to the assembly target product. The robot operation template is a model of a robot program in which information related to teaching points is represented by variables. The teaching point can be represented by a coordinate value and an attitude value described later. The robot operation template is prepared in advance, and variables and the like are set by the user. A robot operation template is prepared for each work classification (assembly work attribute). For example, in the robot operation template, information (equipment information, work part attributes, grasping and assembly requirements, movement amount, etc.) that depends on the individual work is made variable, and the robot operation for each work classification is made into a template. Is done. The work classification includes picking, placing, transporting, imaging, pasting, and the like.

  Here, an example of the robot motion template will be described with reference to FIGS. 3 and 4. Here, as an example, an example of a robot motion template related to the work classification “pick” will be described.

  FIG. 3 is a diagram illustrating an example of a robot motion template. FIG. 4 is an explanatory diagram of the robot motion template, and is a diagram schematically showing the robot motion that has been made into a template. In FIG. 4, the movement of the robot hand 700 related to the work of picking the workpiece part 800 from the feeder 900 is indicated by dotted arrows along with a plurality of teaching points P1 to P5.

  The robot motion template includes a teaching point variable conversion unit 300 and a teaching point order description unit 302.

  In the teaching point variable conversion unit 300, variable names and values of variables used in the robot operation template are described. The user can change the value of the variable according to the target action. In the example illustrated in FIG. 3, the teaching point variable conversion unit 300 includes information 310 on the distance from a reference point (described later) and use facility information 312. The reference point is, for example, a component gripping position or a component assembly position by a robot hand, and a derivation method will be described later. The used facility information 312 includes information for specifying a robot to be used, information for specifying a robot hand to be used, and the like.

  In the teaching point order description unit 302, the variables of each teaching point are described according to the order of each teaching point of the robot operation (the order according to the operation). The specific value of each teaching point variable is derived by the teaching point deriving unit 16 as described later. In the example illustrated in FIG. 3, the teaching point order description unit 302 includes operation order information 314. Here, the operation sequence information 314 is information related to the teaching points 601 to 605 shown in FIG. As shown in FIG. 3, the teaching points 601 to 605 are described in the order according to the operation of the robot.

  Although not essential, the robot operation template may include information such as an operation speed, an operation method (interpolation method), an IO time, and an initial gripping state as other information. The robot motion template is stored in the robot motion template DB 27 in a state where the value of the variable in the teaching point variable conversion unit 300 is set to a default value (or a state where the value is set to an invalid value), for example.

  The data acquisition unit 10 includes a variable setting unit 12, an assembly state reproduction unit 14, and a teaching point derivation unit 16 from the assembly work order data storage unit 20, the product data storage unit 22, the equipment data storage unit 23, and the robot operation template DB 27. Acquire various data to be used.

  The variable setting unit 12 sets various variables (see the teaching point variable converting unit 300 in FIG. 3) in the robot motion template based on the input from the user. Note that an input from the user is acquired via the input unit 107.

  Based on the assembly work order data in the assembly work order data storage unit 20 and the product data in the product data storage unit 22, the assembly state reproduction unit 14 starts one assembly work included in a series of assembly work. Reproduce the product assembly state. The assembly state reproduction unit 14 generates assembly state reproduction data which is a reproduction result. A specific example of the assembly state reproduction method by the assembly state reproduction unit 14 will be described later.

  The teaching point deriving unit 16 derives a teaching point related to the one assembling operation based on the assembling state reproduction data in the assembling state reproduction data storage unit 24 for each assembling operation included in the series of assembling operations. . The teaching point deriving unit 16 derives teaching points for each one assembling operation included in a series of assembling operations.

  The robot motion generation unit 18 generates an operation program related to the one assembly work based on the teaching points derived by the teaching point deriving unit 16 for each assembly operation included in the series of assembly operations. The robot motion generation unit 18 generates a motion program for each assembly work included in a series of assembly work, and generates a final robot motion program by combining the motion programs.

  Next, an operation example of the motion generation device 1 will be described with reference to FIG.

  FIG. 5 is a schematic flowchart showing an operation example of the motion generation device 1 when a certain series of assembly work is targeted. Here, as an example, it is assumed that a target series of assembly operations includes N assembly operations.

  In step S <b> 500, the data acquisition unit 10 acquires various data related to the target series of assembly work from each of the assembly work order data storage unit 20, the product data storage unit 22, and the equipment data storage unit 23.

  In step S502, the data acquisition unit 10 extracts (acquires) a robot operation template related to a target series of assembly operations from the robot operation template DB 27 (not shown) based on the assembly operation order data acquired in step S500. To do. For example, the data acquisition unit 10 extracts a robot operation template corresponding to the work classification based on the work classification of each assembly work included in the target series of assembly work. Here, the data acquisition unit 10 extracts N robot operation templates corresponding to N assembly operations. The data acquisition unit 10 extracts N robot operation templates based on input (selection) from the user instead of automatically extracting N robot operation templates based on the assembly work order data. May be. That is, the robot operation template to be used may be selected by the user.

  In step S504, the variable setting unit 12 performs variable setting processing in the robot operation template acquired in step S502. For example, the variable setting unit 12 requests the user to perform variable setting work. The robot motion template is acquired from the robot motion template DB 27 in a state where the value of the variable in the teaching point variable conversion unit 300 is set to a default value (or a state where the value is set to an invalid value), for example. When the variable setting operation by the user is completed for all the robot operation templates acquired in step S502, the variable setting unit 12 stores all the robot operation templates in which the variables are set in the robot operation template storage unit 21. When step S504 ends, the process proceeds to step S506.

  In step S506, the assembly state reproduction unit 14 sets (initializes) k to “1”.

  In step S508, the assembly state reproduction unit 14 selects the k-th robot operation template in the assembly work order. Hereinafter, the assembly work corresponding to the k-th robot operation template among the N assembly work is referred to as “target work”.

  In step S510, the assembly state reproduction unit 14 performs an assembly state reproduction process related to the kth robot motion template. The assembly state reproduction process related to the kth robot operation template is a process of reproducing the assembly state of the product at the start of one assembly operation related to the kth robot operation template. That is, the assembly state reproduction process related to the k-th robot operation template is a process of reproducing the assembly state of the product at the start of the target work. An example of the assembly state reproduction process will be described later with reference to FIGS.

  In step S512, the teaching point deriving unit 16 acquires assembly state reproduction data (assembly state reproduction data generated in step S510) related to the k-th robot motion template from the assembly state reproduction data storage unit 24.

  In step S514, the teaching point deriving unit 16 performs teaching point deriving processing related to the k-th robot motion template based on the assembly equipment data acquired in step S500 and the assembly state reproduction data acquired in step S512. . That is, the teaching point deriving unit 16 performs teaching point deriving processing related to the target work. An example of the teaching point derivation process will be described later with reference to FIGS.

  In step S516, the teaching point deriving unit 16 determines whether k = N. As described above, N is the number of assembly operations included in a series of target assembly operations. If k = N, the process proceeds to step S520. If k ≠ N, the process returns to step S508 via step S518.

  In step S518, the teaching point deriving unit 16 increments k by “1”.

  In step S520, the robot motion generation unit 18 based on the teaching point list in the teaching point list storage unit 25 (teaching point list related to the target assembly process) and the robot motion template acquired in step S502. Generate a robot motion program. An example of the robot operation program generation process based on the teaching point list will be described later with reference to FIGS. 13 and 14.

  Next, an example of the assembly state reproduction process will be described with reference to FIGS.

  FIG. 6 is a diagram schematically illustrating an example of input related to the assembly state reproduction process.

  FIG. 6 schematically shows assembly work order data 400, initial position data 401, an assembly tree 402 of products to be assembled, and part 3D data 404 relating to the assembly state of the products to be assembled.

According to the assembly operation sequence data 400, the assembly target products are assembled in the following procedure (assembly operation sequence).
Procedure 1. Assemble part C to part A.
Procedure 2. Assemble part A to part X.
Procedure 3. The part W is assembled to the part X.
Procedure 4. Assemble part Y to part Z.
Procedure 5. The part Z is assembled to the part W.
Procedure 6. The part D is assembled to the part C.
Step 7. Assemble part B to part A.
The assembly work according to each procedure includes a work part to be worked (hereinafter simply referred to as “work target work part”) and a part to which the work target work is to be assembled (hereinafter simply referred to as “part to be assembled”). It represents the relationship. For example, in the assembly work according to the procedure 1, the part C is the work target work part and the part A is the assembly destination part.

  Here, as an example, the procedures 1 to 7 are defined in parts, but may be defined in a combination of a part unit and a subassembly (an assembly of two or more parts: a part assembly) unit. .

The initial position data 401 represents each initial position of the work target work part and the assembly destination part. According to the initial position data 401, the initial positions of the work target workpiece part and the assembly destination part are the supply position and the assembly position, for example, the following coordinates.
Work target work parts: (10, 20, 10, 0, 90, 90)
Assembly destination parts: (100, 0, -30, 0, 0, 0)
Here, the notation of the coordinates (the same notation in the following description) represents the coordinates (x, y, z) of the three axes of the X axis, the Y axis, and the Z axis, and the posture (orientation). It consists of Euler angles (α, β, γ). Hereinafter, when representing the position of a work part to be worked, etc., the values of the coordinates of the three axes of the X axis, the Y axis, and the Z axis are also referred to as “coordinate values”, and the values of the Euler angles are represented by “posture values”. Also called.

  Further, according to the assembly tree 402, the assembly target product is a combination of a part X, a subassembly SubAssy1, and a subassembly SubAssy3. The subassembly SubAssy1 is composed of a combination of a part A, a part B, and a subassembly SubAssy2. Further, the subassembly SubAssy 2 includes a part C and a part D, and the sub assembly SubAssy 3 includes a part W, a part Z, and a part Y. In the following description, in the assembly tree, a “child” relating to a part refers to a part in a part under the part (a part on which the part is a branch in the tree structure).

  Further, according to the part 3D data 404, in the assembly target product, the subassembly SubAssy1 and the subassembly SubAssy3 are arranged on the part X at different positions. In the subassembly SubAssy1, the part B and the subassembly SubAssy2 are arranged on the part A at different positions. In the subassembly SubAssy2, the part D is arranged on the part C. In the subassembly SubAssy 3, the part Z is arranged on the part W, and the part Y is arranged on the part Z.

  FIG. 7 is a diagram schematically illustrating an example of an output related to the assembly state reproduction process. Here, in FIG. 7, it is assumed that the assembly work “assembling part Z to part W” according to procedure 5 is the target work.

  FIG. 7 conceptually shows the result (output) of the assembly state reproduction process. Specifically, FIG. 7 schematically illustrates an assembly tree 412, 3D data 414 of a work target work, and 3D data 416 of an assembling destination. Note that the assembly tree 412 shows a state in which the procedures 6 and 7 are not executed.

  When the assembling work “assembling part Z to part W” according to procedure 5 is the target work, the work target work part is part Z. Since the part Y has already been assembled to the part Z before the procedure 5 (that is, in the procedure 4), the work target workpiece is the part Z and the part Y as shown in the 3D data 414. (That is, the part Z is assembled with the part Y).

  In addition, when the assembly work “assembling part Z to part W” according to procedure 5 is the target work, the part to be assembled is the part W. Since the part X and the like have already been assembled to the part W before the procedure 5 (that is, in the procedure 3 and the like), as shown in the 3D data 416, the assembly destination is the part X and the part A. , Part C and part W. That is, as shown in the 3D data 416, the assembly destination is the part W in which the three parts of the part C, the part A, and the part X are assembled.

  FIG. 8 is a flowchart illustrating an example of the assembly state reproduction process. FIG. 9 is an explanatory diagram of FIG. 8 and is an image diagram of various flags. The process shown in FIG. 8 is executed as step S510 in FIG.

  In step S800, the assembly state reproduction unit 14 adds a check flag and a display flag to all parts of the assembly tree (see the assembly tree 402 in FIG. 6) of the assembly target product (see FIG. 9).

  In step S <b> 802, the assembly state reproduction unit 14 initializes the check flags and display flags relating to all parts to “False”.

  In step S804, the assembly state reproduction unit 14 sets j = k.

  In step S806, the assembly state reproduction unit 14 relates to each of the work target work part related to the jth assembly work (the assembly work corresponding to the jth robot motion template) and the assembly destination part related to the assembly work. The check flag and the display flag are set to “True”.

  In step S808, the assembly state reproduction unit 14 determines whether or not there is a child in each component for which the check flag is set to “True” in step S806. If there is a child, the process proceeds to step S810; otherwise, the process proceeds to step S812.

  In step S810, the assembly state reproduction unit 14 sets the check flag relating to the part corresponding to the child to “True”, and the process returns to step S808. In this manner, the check flag is set to “True” up to the lowest level, such as a child (grandchild) of a child, a child of a grandchild (great grandchild), and so on.

  In step S812, the assembly state reproduction unit 14 decrements j by “1”. That is, the processing target is shifted to the previous assembly work.

  In step S814, the assembly state reproduction unit 14 determines whether j = 0. j = 0 means that there is no previous assembly work, and therefore, the assembly work up to step 1 is considered. If j = 0, the process proceeds to step S818. If j ≠ 0, the process proceeds to step S816.

  In step S816, the assembly state reproduction unit 14 determines whether the check flag for either the work target work part or the assembly destination part related to the j-th assembly work is “True”. If the determination result is “YES”, the process returns to step S806, and otherwise, the process returns to step S812.

  In step S818, the assembly state reproduction unit 14 determines whether there is a subassembly whose display flag is “True” and whether the display flags of all the parts under the subassembly are “False”. To do. All the parts under the subassembly correspond to all the parts forming the subassembly. For example, in the example shown in FIG. 6, all parts under the subassembly SubAssy 1 are part A, part B, part C, and part D. If the determination result is “YES”, the process proceeds to step S820, and otherwise, the process skips to step S822.

  In step S820, the assembly state reproduction unit 14 sets the display flags of all the parts under the subassembly whose display flag is “True” to “True”.

  In step S822, the assembly state reproduction unit 14 moves each component whose display flag is “True” to the initial position. At this time, the assembly state reproduction unit 14 moves each component to the initial position according to the work classification related to the k-th robot operation template. For example, the assembly state reproduction unit 14 moves the work target work part and the assembly destination part to the supply position and the assembly position, respectively. The supply position and the assembly position may be derived based on the assembly equipment data according to the work classification. When there are other parts assembled to the work target work part, the assembly state reproduction unit 14 operates the other part based on the work target work part and the part 3D data related to the other part. Position it with respect to the target workpiece. Thereby, the 3D data of the work target work is reproduced. Similarly, when there is another part assembled in the assembly destination part, the assembly state reproduction unit 14 determines the other part based on the assembly destination part and the part 3D data related to the other part. Position the part with respect to the destination part. Thereby, the 3D data of the assembly destination is reproduced. In this way, the assembly state of the product at the start of one assembly operation related to the kth robot operation template is reproduced (see FIG. 7). The assembly state reproduction unit 14 stores the reproduced assembly state data (assembly state reproduction data) in the assembly state reproduction data storage unit 24. FIG. 7 shows the reproduction (output) of the assembly state of the product at the start of one assembly operation according to the procedure 5.

By the way, in an actual factory, work order is rearranged to cope with production fluctuations, and it is inconvenient to redo robot operation generation each time. For example, in the example shown in FIG. 6, the following procedure (the order of assembly work) was initially defined, but has been changed to the procedure described above.
Procedure 01. Assemble part C to part D.
Procedure 02. Assemble subassembly SubAssy2 to part A.
Step 03. Assemble part B to part A.
Procedure 04. Assemble part Y to part Z.
Procedure 05. The part Z is assembled to the part W.
Procedure 06. Assemble subassembly SubAssy3 to part X.
Procedure 07. Assemble subassembly SubAssy1 to part X.
It is difficult to create a template for the assembly state of the assembly target product depending on the work order. The number of work orders is enormous. For example, when there are 50 works, the work order is as many as 50! (10 ⁶⁴ ).

  In this regard, according to the present embodiment, the assembly state reproduction unit 14 determines a specific one based on the assembly work order data in the assembly work order data storage unit 20 and the product data in the product data storage unit 22. Reproduce the assembly state at the start of assembly work. Therefore, the user only needs to change the assembly work order data when changing the work order such as rearrangement of the work order.

  On the other hand, when the work order is changed such as rearrangement of the work order, the part configuration data in the product data in the product data storage unit 22 may need to be changed. For example, when a part that was originally scheduled to be assembled as a subassembly is changed to be assembled alone, the part configuration is changed.

  In this regard, the user may be allowed to change the part configuration data. However, according to the process shown in FIG. 8, the user does not need to change the part configuration data. The assembly state of the product at the start can be reproduced. Specifically, according to the processing shown in FIG. 8, the display flag is set to “True” while tracing the assembly work based on the assembly work order data (see step S812, step S816, etc.). The impact of changes can be reduced. Further, according to the process shown in FIG. 8, by providing Step S818 and Step S820, the assembly state can be reproduced in a manner that the parts under the subassembly are not omitted even when the work order is defined in units of subassemblies.

  Further, in an actual factory, an assembly work different from a sub-assembly or the like in the middle of a series of assembly work may be performed, so it is desirable to reproduce only parts related to the target work.

  In this regard, according to the processing shown in FIG. 8, only parts related to the target work can be reproduced by performing steps S806 to S816. That is, based on the work target work part related to one specific assembly work and the assembly destination part related to the assembly work, the work target work including parts already assembled to the work target work part; It is possible to reproduce the assembly already assembled to the assembly destination part.

  Next, an example of the teaching point derivation process will be described with reference to FIGS.

  10 and 11 are explanatory diagrams of the teaching point derivation process. FIG. 10 is a diagram schematically showing a teaching point when holding the work target workpiece (pick) in a side view, and FIG. 11 is a teaching point when assembling the work target workpiece to the assembly destination (place). It is a figure which shows this typically by side view.

  FIG. 10 shows a state in which the work target workpiece 810 on the component supply tray 902 is gripped by the robot hand 700. In FIG. 10, P10 is a teaching point regarding the gripping position, P11 is a teaching point regarding the approach position, and P12 is a teaching point regarding the lifting position. The operation direction of the robot hand 700 between the teaching points may be a straight line.

  FIG. 11 shows a state at the time of assembling the work target work to the assembling destination 820. In FIG. 11, P13 is a teaching point regarding the assembly position, P14 is a teaching point regarding the retracted position, and P15 is a teaching point regarding the approach position. The operation direction of the robot hand 700 between the teaching points may be a straight line.

  The teaching point deriving unit 16 determines the posture value of the robot hand 700 at the gripping position of the work target workpiece 810 on the component supply tray 902 and the posture of the robot hand 700 at the assembly position of the work target workpiece to the assembly destination 820. Deriving the value. The posture of the robot hand 700 at the gripping position and the assembling position can be derived based on assembly state reproduction data (that is, output of the assembly state reproduction process) or the like. At this time, the teaching point deriving unit 16 can hold and assemble the robot hand 700 without colliding (interfering) the object placed on the assembly facility or the assembly facility itself based on the assembly facility data. Is derived. The object placed on the assembly facility is, for example, a part or a part assembly related to a product to be assembled and is irrelevant to a work target or an assembly destination. It is called “object”. In addition, when there is no temporarily placed object in the assembly facility, the temporarily placed object is not considered (the same applies to the following description).

  In addition, the teaching point deriving unit 16 can move the robot hand 700 from the gripping position to the assembling position based on the assembly equipment data without moving the assembly equipment itself or the temporarily placed object (movement locus of the work target workpiece). Is derived.

  FIG. 12 is a flowchart illustrating an example of the teaching point derivation process. The process shown in FIG. 12 is executed as step S514 in FIG.

  In step S1200, the teaching point deriving unit 16 derives the coordinate values (x10, y10, z10) of the component gripping position with respect to the work target workpiece in the global coordinate system. The coordinate value of the part gripping position in the global coordinate system is derived based on the part gripping position (part coordinate system) related to the work target work and the position of the work target work based on the assembly state reproduction data (global coordinate system). May be. The assembly state reproduction data used here is data related to the assembly state of the product at the start of one assembly operation related to the kth robot operation template.

  In step S1202, the teaching point deriving unit 16 derives posture values (α10, β10, γ10) that can grip the work target workpiece in the global coordinate system based on the component gripping position (component coordinate system) related to the work target workpiece. . At this time, the teaching point deriving unit 16 derives posture values (α10, β10, γ10) that allow the robot hand 700 to grip the work target workpiece without colliding with the temporarily placed object or the assembly facility based on the assembly facility data. . From this derivation result and the derivation result of step S1200, teaching points (x10, y10, z10, α10, β10, γ10) (see P10 in FIG. 10) regarding the gripping position are obtained in the global coordinate system.

  In step S1204, the teaching point deriving unit 16 uses, as global coordinates, coordinate values (x13, y13, z13) of the assembly position (part assembly position) of the work target workpiece to the assembly destination based on the assembly state reproduction data. Derived by the system. The coordinate value of the assembly position in the global coordinate system can be derived based on the position of the assembly destination part based on the assembly state reproduction data (global coordinate system). For example, the assembly position of the work target work part can be derived from the supply position information of the assembly destination part and the relative position of the work target work part and the assembly destination part at the time of product assembly.

  In step S1206, the teaching point deriving unit 16 obtains posture values (α13, β13, γ13) that allow the work target workpiece to be assembled to the assembly destination based on the component assembly position (global coordinate system) related to the work target workpiece. Derived in the global coordinate system. At this time, the teaching point deriving unit 16 determines the posture values (α13, β13,...) Based on the assembly equipment data so that the work piece can be assembled to the assembly destination without the robot hand 700 hitting the temporarily placed object or the assembly equipment. γ13) is derived. From this derivation result and the derivation result of step S1204, teaching points (x13, y13, z13, α13, β13, γ13) (see P13 in FIG. 11) regarding the assembly position in the global coordinate system are obtained.

  In step S1208, the teaching point deriving unit 16 derives a trajectory on which the robot hand 700 can move without colliding with a temporarily placed object or assembly facility with respect to the gripping position obtained in step S1202, based on the assembly facility data. That is, the teaching point deriving unit 16 is a trajectory up to the coordinate value (x10, y10, z10) and a trajectory from which the robot hand 700 can move without hitting a temporarily placed object or assembly equipment (operation direction). Is derived. At this time, the teaching point deriving unit 16 derives a posture value (posture value at each position on the trajectory) on which the robot hand 700 can move without hitting a temporarily placed object or the assembly facility based on the assembly facility data. The posture value at each position on the trajectory may be constant or may be a changed value.

  In step S1210, the teaching point deriving unit 16 calculates each teaching point on the trajectory based on the trajectory (motion direction) obtained in step S1208 and the distance from the reference point described in the k-th robot motion template. To derive. At this time, teaching points (x10, y10, z10, α10, β10, γ10) relating to the gripping position are used as reference points. As a result, for example, the teaching point (x11, y11, z11, α11, β11, γ11) (see P11 in FIG. 10) and the teaching point (x12, y12, z12, α12, β12) related to the lifting position in the global coordinate system. , Γ12) (see P12 in FIG. 10).

  In step S <b> 1212, the teaching point deriving unit 16 derives a trajectory that allows the robot hand 700 to move without hitting the temporarily placed object or the assembly facility with respect to the assembly position obtained in step S <b> 1206 based on the assembly facility data. That is, the teaching point deriving unit 16 is a trajectory up to and from the coordinate values (x13, y13, z13), and a trajectory (operation direction) that the robot hand 700 can move without hitting a temporarily placed object or assembly equipment. Is derived. At this time, the teaching point deriving unit 16 derives a posture value (posture value at each position on the trajectory) on which the robot hand 700 can move without hitting a temporarily placed object or the assembly facility based on the assembly facility data. The posture value at each position on the trajectory may be constant or may be a changed value.

  In step S1214, the teaching point deriving unit 16 calculates each teaching point on the trajectory based on the trajectory (motion direction) obtained in step S1212 and the distance from the reference point described in the k-th robot motion template. To derive. At this time, teaching points (x13, y13, z13, α13, β13, γ13) relating to the assembly position are used as reference points. As a result, for example, the teaching point (x14, y14, z14, α14, β14, γ14) (see P14 in FIG. 11) and the teaching point (x15, y15, z15, α15, β15) related to the approach position in the global coordinate system. , Γ15) (see P15 in FIG. 11).

  In step S1216, the teaching point deriving unit 16 generates (outputs) a teaching point list in which the teaching points obtained in step S1202, step S1206, step S1210, and step S1214 are listed according to the teaching point order, and is output. Store in the storage unit 25.

  According to the processing shown in FIG. 12, based on the assembly state reproduction data, the coordinate value of the component gripping position with respect to the work target workpiece and the coordinate value of the assembly position of the work target workpiece to the assembly destination are derived. Thereby, for example, even when the work target work or the assembly destination is not a component but a subassembly, the same coordinate value can be derived based on assembly state reproduction data in which such a state is reproduced.

  Further, according to the processing shown in FIG. 12, when the work order is changed such as rearrangement of the work order, each coordinate value of the component gripping position with respect to the work to be worked is determined based on the assembly state reproduction data changed accordingly. Teaching points can be derived. In addition, according to the processing shown in FIG. 12, each teaching point at which the robot hand 700 can move without hitting a temporarily placed object or assembly equipment can be derived based on the assembly equipment data.

  Next, with reference to FIG. 13 and FIG. 14, the generation process of the robot operation program will be described.

  FIG. 13 is a diagram schematically illustrating the flow of the generation process of the robot operation program. FIG. 13 shows reference point information 1301, reference offset information 1302, a part of the robot operation template (see the teaching point sequence description unit 302 in FIG. 3) 1303, a teaching point list 1304, and an operation program 1305. It is.

  The reference point information 1301 is information on the reference point REF. The reference point REF is, for example, a teaching point (x10, y10, z10, α10, β10, γ10) related to the gripping position obtained in step S1202 of FIG. 12 or a teaching point (x13, y13) related to the assembly position obtained in step S1206. , Z13, α13, β13, γ13).

  The reference offset information 1302 is a distance from the reference point REF for each teaching point, and is acquired from the information 310 of the teaching point variable conversion unit 300 in FIG. That is, the reference offset information 1302 is information set by the user.

  The teaching point list 1304 is generated by the teaching point deriving unit 16 as described above (see step S1216 in FIG. 12).

  In the example shown in FIG. 13, the robot motion generation unit 18 substitutes each teaching point described in the teaching point list 1304 for a variable at a corresponding location in the teaching point order description unit 302 of the robot motion template 1303, thereby An operation program 1305 is generated.

  FIG. 14 is a flowchart illustrating an example of generation processing of a robot operation program. The process shown in FIG. 14 is executed as step S520 in FIG.

  In step S1400, the robot motion generation unit 18 selects the i-th robot motion template. The initial value of i is “1”.

  In step S1402, the robot motion generation unit 18 reads a teaching point list related to the i-th robot motion template from the teaching point list storage unit 25. As described above, the teaching point list is generated for each robot motion template for N robot motion templates in step S514 (FIGS. 5 and 12).

  In step S1404, the robot motion generation unit 18 completes the i-th robot motion template by substituting each teaching point in the teaching point list into a corresponding variable in the i-th robot motion template (motion). Generate a program).

  In step S1406, the robot motion generation unit 18 determines whether i = N. As described above, N is the number of assembly operations included in a series of target assembly operations. If i = N, the process proceeds to step S1410. If i ≠ N, the process returns to step S1400 via step S1408.

  In step S1408, the robot motion generation unit 18 increments i by “1”.

  In step S1410, the robot motion generation unit 18 stores the completed N robot motion templates in the robot motion program storage unit 26 as a final robot motion program.

  According to the present embodiment, as described above, even a user who does not have expertise in assembly robots can create a robot operation program easily and in a short time. As a result, it is possible to reduce the number of man-hours required to generate the robot motion in consideration of the product assembly state. For example, the user generates each data in the assembly work order data storage unit 20, the product data storage unit 22, and the equipment data storage unit 23, and obtains a robot operation program by performing variable setting work of the robot operation template. be able to. Further, as described above, when the work order is changed such as the rearrangement of the work order, the robot operation program reflecting the change can be obtained only by changing the assembly work order data.

  Next, an implementation example of the motion generation device 1 will be described with reference to FIGS. 15 and 16.

  FIG. 15 is an explanatory diagram of an example in which the motion generation device 1 is realized by a server and a client computer.

  The server 90 can communicate with the client computer 70 in both directions. During communication, the server 90 is connected to the client computer 70 via the network 8. The network 8 may include a wireless communication network, the Internet, the World Wide Web, a VPN (virtual private network), a WAN (Wide Area Network), a wired network, or any combination thereof. Communication between the server 90 and the client computer 70 is realized via the network 8.

  The client computer 70 is an example of a computer at the user's location, and the server 90 is an example of a computer at a remote location away from the user. There may be a plurality of client computers 70 corresponding to a plurality of users.

  FIG. 16 is a table showing an example of a distribution aspect of each component of the processing device 100 of the motion generation device 1. In FIG. 16, each component of the processing device 100 is provided on the client computer 70 and the server 90 that are marked with a circle.

  Each component of the processing device 100 of the motion generation device 1 may be distributed and provided in the client computer 70 and the server 90, as shown in FIG. Note that the example shown in FIG. 16 is an example of a dispersion mode, and can be changed in various modes. For example, as a modification of the example illustrated in FIG. 16, the variable setting unit 12 and the robot operation program storage unit 26 may be provided in the client computer 70, and other components may be provided in the server 90. In this case, the client computer 70 updates the assembly work order data, product data, and facility data to the server 90 and acquires the robot operation template from the server 90 accordingly. Next, the client computer 70 transmits the setting result by the variable setting unit 12 based on the input from the user to the server 90, and the server 90 generates a robot operation program based on the setting result. Then, the server 90 transmits the generated robot operation program to the client computer 70, and the client computer 70 stores the received robot operation program in the robot operation program storage unit 26 and uses it.

  Although each embodiment has been described in detail above, it is not limited to a specific embodiment, and various modifications and changes can be made within the scope described in the claims. It is also possible to combine all or a plurality of the components of the above-described embodiments.

  For example, in the above-described embodiment, the product data includes the part 3D data of each part forming the assembly target product and the part configuration data of the product, but the part configuration data may be omitted.

In addition, the following additional remarks are disclosed regarding the above Example.
[Appendix 1]
Based on the sequence data of a series of assembly operations when assembling a product to be assembled using at least a part of the assembly work robot and the 3D data of a plurality of parts forming the product to be assembled, the series of assembly operations is performed. Reproduce the assembly state of the assembly target product at the start of one included assembly work,
A computer-implemented motion generation method for an assembly work robot, comprising deriving teaching points for the assembly work robot related to the one assembly work based on the reproduced assembly state.
[Appendix 2]
Reproducing the assembly state of the assembly target product includes specifying a work target work related to the one assembly work and an assembly destination to which the work target work is assembled. A method for generating work robot motion.
[Appendix 3]
Reproducing the assembly state of the assembly target product further includes
Identifying a work target work part related to the one assembly work and an assembly destination part to which the work target work part is assembled from a plurality of the parts based on the sequence data; and
Based on the sequence data, whether or not there is a part to be assembled to the work target work part or the assembly destination part in the assembly work performed before the one assembly work among the plurality of parts. Judging,
The operation generation method of the assembly work robot according to appendix 2, including:
[Appendix 4]
When it is determined that there is a part to be assembled to the work target work part in an assembly work performed before the one assembly work among the plurality of parts, the work target work part to which the part is assembled The operation generation method of the assembly work robot according to appendix 3, wherein the work target work is identified based on the above.
[Appendix 5]
When it is determined that among the plurality of parts, there is a part to be assembled to the assembly destination part in an assembly operation performed before the one assembly operation, the assembly destination part to which the part is assembled The assembly work robot motion generation method according to appendix 3 or 4, wherein the assembly destination is specified based on the above.
[Appendix 6]
The motion generation method for an assembly work robot according to any one of appendices 3 to 5, further specifying the work target work and the assembly destination based on part configuration data representing a relationship between a plurality of the parts. .
[Appendix 7]
Reproducing the assembly state of the assembly target product further includes deriving the respective positions of the work target workpiece and the assembly destination at the start of the one assembly operation. A method for generating work robot motion.
[Appendix 8]
The teaching point is derived based on the positions of the work target work and the assembly destination at the start of the one assembly work and the assembly equipment data represented in the assembly equipment used for assembling the assembly target product. The operation generation method for an assembly work robot according to appendix 7.
[Appendix 9]
9. The assembly robot operation generation method according to appendix 8, wherein the teaching point is derived in a manner that the assembly robot does not interfere with the assembly facility.
[Appendix 10]
The assembly robot operation generation method according to appendix 9, wherein the teaching point is derived in a manner that the assembly robot does not interfere with an object placed on the assembly facility in addition to the assembly facility.
[Appendix 11]
Reproducing the assembly state of the assembly target product and deriving the teaching point include repeating each of a plurality of assembly operations included in the series of assembly operations as the one assembly operation. The operation generation method for an assembly work robot according to any one of appendices 1 to 10.
[Appendix 12]
The operation generation method for an assembly work robot according to any one of appendices 1 to 11, further comprising generating an operation program for the assembly work robot based on the derived teaching point.
[Appendix 13]
Deriving the teaching point is a template prepared for each work classification, and includes deriving a variable in a template obtained by variableizing information related to the teaching point. 2. An operation generation method for an assembly work robot according to item 1.
[Appendix 14]
Based on the sequence data of a series of assembly operations when assembling a product to be assembled using at least a part of the assembly work robot and the 3D data of a plurality of parts forming the product to be assembled, the series of assembly operations is performed. An assembly state reproduction unit that reproduces an assembly state of the assembly target product at the start of one included assembly operation;
And a teaching point deriving unit for deriving a teaching point for the assembling work robot related to the one assembling work based on the reproduced assembling state.
[Appendix 15]
Based on the sequence data of a series of assembly operations when assembling a product to be assembled using at least a part of the assembly work robot and the 3D data of a plurality of parts forming the product to be assembled, the series of assembly operations is performed. Reproduce the assembly state of the assembly target product at the start of one included assembly work,
Based on the reproduced assembly state, a teaching point for the assembly work robot related to the one assembly work is derived.
A motion generation program for an assembly robot that causes a computer to execute processing.

DESCRIPTION OF SYMBOLS 1 Action production | generation apparatus 10 Data acquisition part 12 Variable setting part 14 Assembly state reproduction part 16 Teaching point derivation | leading-out part 18 Robot motion production | generation part 20 Assembly work order data storage part 21 Robot motion template storage part 22 Product data storage part 23 Equipment data storage part 24 assembly state reproduction data storage unit 25 teaching point list storage unit 26 robot operation program storage unit 27 robot operation template database

Claims (9)

Based on the sequence data of a series of assembly operations when assembling a product to be assembled using at least a part of the assembly work robot and the 3D data of a plurality of parts forming the product to be assembled, the series of assembly operations is performed. Reproduce the assembly state of the assembly target product at the start of one included assembly work,
A computer-implemented motion generation method for an assembly work robot, comprising deriving teaching points for the assembly work robot related to the one assembly work based on the reproduced assembly state.   The reproduction of the assembly state of the assembly target product includes specifying a work target work related to the one assembly work and an assembly destination to which the work target work is assembled. Motion generation method for assembly robot.   The reproduction of the assembly state of the assembly target product further includes deriving the respective positions of the work target workpiece and the assembly destination at the start of the one assembly operation. Motion generation method for assembly robot.   The teaching point is derived based on the positions of the work target work and the assembly destination at the start of the one assembly work and the assembly equipment data represented in the assembly equipment used for assembling the assembly target product. The method for generating an operation of the assembly robot according to claim 3.   5. The assembly robot operation generation method according to claim 4, wherein the teaching point is derived in a manner that the assembly robot does not interfere with the assembly facility.   Reproducing the assembly state of the assembly target product and deriving the teaching point include repeating each of a plurality of assembly operations included in the series of assembly operations as the one assembly operation. The operation generation method for an assembly work robot according to any one of claims 1 to 5.   The operation generation method for an assembly work robot according to claim 1, further comprising generating an operation program for the assembly work robot based on the derived teaching point. Based on the sequence data of a series of assembly operations when assembling a product to be assembled using at least a part of the assembly work robot and the 3D data of a plurality of parts forming the product to be assembled, the series of assembly operations is performed. An assembly state reproduction unit that reproduces an assembly state of the assembly target product at the start of one included assembly operation;
And a teaching point deriving unit for deriving a teaching point for the assembling work robot related to the one assembling work based on the reproduced assembling state. Based on the sequence data of a series of assembly operations when assembling a product to be assembled using at least a part of the assembly work robot and the 3D data of a plurality of parts forming the product to be assembled, the series of assembly operations is performed. Reproduce the assembly state of the assembly target product at the start of one included assembly work,
Based on the reproduced assembly state, a teaching point for the assembly work robot related to the one assembly work is derived.
A motion generation program for an assembly robot that causes a computer to execute processing.

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