JP2827239B2 - Operation state display device, operation instruction control device, and control device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device that simulates the operation states of a plurality of robots that independently perform unique operations and / or instructs the operations.

[Prior Art] In recent years, the spread of operating devices such as robots that perform unique operations independently of each other has been remarkable, and there have been attempts to arrange a plurality of robots and processing devices on a production line and operate them in an integrated manner. It is real. In such a situation, it is necessary to simulate the operation state of multiple robots and, in some cases, correct the operation performed by each robot in order to verify the interference of the arms of multiple robots and the validity of the arrangement, etc. Occurred.

FIG. 9 shows a configuration of a conventional control device for performing such a simulation and correcting the operation. As shown, the control device includes a display device Dly, an input device IE, a peripheral device EE,
A large-scale computer SC and the like are provided outside, and a database DB and a trajectory generation operation unit TC are provided inside the robot for storing data about each robot and appropriately extracting the data.

In order to perform a simulation or the like in this control device, first, an operation procedure, a plurality of robots R1, R2,.
An operation program, which is information on the position, posture, speed, acceleration, interpolation method, and the like, is obtained in the form of a flexible disk FD. Each obtained operation program is described in a format (format) unique to each robot Rn and the like.
The operation program of each robot Rn can be created by the control device itself using the input device IE such as a keyboard. In any case, the motion program is
Is described according to a format specific to.

When an animation is displayed on the robot Rn, it is necessary to previously define attribute data such as the axis configuration, operation range, maximum speed, and acceleration of the robot Rn in the database DB. A part of this attribute data may be obtained from the robot Rn, and the format of each attribute data is usually different. Like the operation program, the attribute data can be defined by the function of the control device.

After obtaining and defining an operation program and attribute data for each robot Rn in this way, the operation state of the robot Rn, such as its posture and position, is simulated. In order to simulate the operation of the robot Rn, etc.,
Trajectory generation calculations, such as forward conversion and inverse conversion, which are performed when the robot Rn is actually moved to a target position or posture, must also be performed on the simulator. This calculation is performed by the locus generation calculation unit TC. Such a trajectory generation operation, particularly an inverse transformation, is a problem of solving a nonlinear equation using a joint variable of the robot Rn as a variable, and it is extremely difficult to solve it analytically. Therefore, in the conventional simulator, a unique algorithm is constructed for each model of each robot maker, and the trajectory generation calculation is executed according to the algorithm. Therefore, the trajectory generation operation unit TC
In this example, the number of trajectory generation calculation processing routines corresponding to the number of robots Rn to be simulated is prepared. The posture, position, and the like of each robot obtained by executing the dedicated trajectory generation calculation processing are displayed on the display device Dly by animation or the like.

[Problems to be Solved by the Invention] However, as described above, in the conventional device, there are the following problems when trying to control a plurality of types of robots, and improvements have been demanded.

(1) In order to animate the position and orientation of each robot, the trajectory generation process of a different algorithm must be executed based on different types of operation programs and attribute data for each robot model to create display data. No. For this reason, when simultaneously displaying animations of various types of robots, a routine for accessing or calculating an operation program and attribute data is required for each robot. Therefore, the amount of software to be executed becomes enormous, the display speed of the animation is reduced, and a simulation suitable for a real robot cannot be performed.

(2) When adding a new type of processing equipment, it is necessary not only to add the software for the model in its entirety, but also to individually modify the software for commanding and managing the processing units corresponding to each model. Huge man-hours are required each time.

(3) Similarly, when data such as the trajectories and postures of the arms and processing ends of each robot are created by CAD or the like, the data is prepared based on the operation programs and attribute data in different formats for each robot model. Processing to generate data by different algorithms must be performed. Therefore, it has been considered that the software to be prepared and used becomes enormous, and it is impossible to uniformly create operation data of a plurality of processing apparatuses that should perform an integrated operation.
As a result, there is no possibility that the actual operation of the robot may be inconvenient.

To solve these problems, a proposal has been made to generalize a robot controller (for example, Japanese Patent Application Laid-Open No. 61-208103).
Also, there have been proposals to standardize data using a standard coordinate system (for example, Japanese Patent Application Laid-Open No. 63-150184). It was not a common practice.

An object of the present invention is to solve the above-mentioned problems and to generalize such as simulation of operation states of various types of robots and modification of operation programs.

Configuration of the Invention The configuration of the present invention that achieves the above object will be described below.

[Means for Solving the Problems] An operation state display device as a first invention is shown in FIG.
As an example, in an operation state display device that simulates and displays the operation states of a plurality of robots L1 that independently perform unique operations, the operation procedure, position, posture, speed, acceleration, An operation program input means L2 for inputting an operation program which is information on an interpolation method and the like; a conversion means L3 for converting the input operation program OP of a file format unique to each robot L1 into a predetermined standard format; An attribute data storage means L4 for storing attribute data CD such as each axis configuration, operation range, maximum speed and acceleration of each robot in a common format; an operation program OP 'converted into the standard format; Calculating means L5 for obtaining an operating state such as a target position and posture of each robot L1 based on the data CD; and displaying means for displaying the obtained operating state on a display unit DP
L6 and are provided.

On the other hand, as shown in FIG. 1 (B), the operation instruction control device according to the second invention is an operation instruction control device for instructing a plurality of robots M1 that independently perform unique operations to perform operations. Each axis configuration of M1, operation range, maximum speed,
Attribute data storage means M2 for storing attribute data CD 'such as acceleration in a common format; and information on operation procedure, position, posture, speed, acceleration, interpolation method, etc. according to the operation to be performed by each robot M1. An operation program creating means M3 for inputting or creating a certain operation program OP 'in a predetermined standard format, and the created operation program OP' together with the desired attribute data CD 'in a file format unique to each robot M1. It is characterized by comprising rewriting means M4 for rewriting, and output means M5 for outputting the rewritten operation program OP and attribute data CD to each of the robots M1.

Further, as shown in FIG. 1 (C), the control device according to the third invention is a control device which simulates the operation state of a plurality of robots N1 which independently perform unique operations and instructs the operation. And the operation procedure, position, posture, speed,
An operation program input means N2 for inputting an operation program OP which is information on acceleration, interpolation method, and the like; and a conversion for converting the input operation program OP in a file format unique to each robot N1 into a predetermined standard format. Means N3, each axis configuration, operating range, maximum speed,
Attribute data storage means N4 for storing attribute data CD 'such as acceleration in a common format; a target position of each robot N1 based on the operation program OP' converted to the standard format and the attribute data CD ';
Calculation means N5 for obtaining an operation state such as a posture, and display means for displaying the obtained operation state on a display unit DP
While referring to N6 and the displayed operation state of each robot N1,
Modifying means N7 for modifying the operation program OP 'in the predetermined standard format; and rewriting means for rewriting the modified operation program OP' together with the desired attribute data CD 'into a file format unique to each robot N1. N8, the reversed operation program OP and the attribute data CD
And an output means N9 for outputting to each of the robots N1.

[Operation] The operation of the device according to each invention having the above configuration will be described below. In the following description, the attribute data refers to data such as the configuration of each axis of the robot, the operating range, the maximum speed, and acceleration, and the operation program refers to the operation procedure, position, attitude, speed, acceleration, interpolation method, and the like. Refers to information. The attribute data and the operation program are expressed as CDs and OPs when they are in a format unique to the robot, and are indicated with 'when they are in a standard format or a common format.

The operation state display device of the first invention is such that the operation program OP of each robot L1 is input by the operation program input means L2, and the operation program OP in a file format unique to each robot L1 is converted into a predetermined standard format by the conversion means L3. Convert.
Based on the operation program OP 'thus converted into the standard format and the attribute data CD' stored in the attribute data storage means L4, the operation state such as the target position and posture of each robot L1 is obtained and displayed by the arithmetic means L5. The information is displayed on the display unit DP by means L6. Therefore, the operation state display device according to the first aspect of the present invention relates to a plurality of robots L1 which independently perform unique operations, and converts the operation program OP into an operation program OP 'of a standard format once, and the operation program OP' and attribute data The simulation is performed by determining the operation state of the robot L1 using the CD 'and displaying the operation state of the robot L1.

Further, the operation instruction control device according to the second aspect of the present invention includes the robot M1
According to the operation to be executed by the data creating means M3,
Input or create the operation program OP 'in the standard format,
The rewriting means M4 rewrites the desired attribute data stored in the attribute data storage means M2 into a file format unique to each robot M1. Further, the output means M5 outputs the attribute data CD and the operation program OP to each robot.
Output to M1. Therefore, the operation instruction control device according to the second aspect of the present invention provides the robot M1 with a plurality of robots M1 that independently perform a unique operation, that has created an operation program in a standard format and then rewritten the robot M1 together with attribute data into a format unique to each robot.
A specific form of data program directs their operation.

Further, the control device of the third invention inputs the operation program OP of each robot N1 by the operation program input means N2,
An operation program in a file format unique to each robot N1
The OP is converted into a predetermined standard format by the conversion means N3. Based on the operation program OP 'thus converted into the standard format and the attribute data CD' stored in the attribute data storage means N4, the operation state such as the target position and posture of each robot N1 is obtained by the calculation means N5. The information is displayed on the display unit DP by the display means N6. By referring to the displayed operation state of each robot N1, the correction means N7 corrects the standard-format operation program OP ', and the corrected operation program OP' and desired attribute data CD 'are rewritten by the rewriting means N8. , Each robot N1
Rewrite to a unique format. Further, the output means N9 outputs the attribute data CD and the operation program OP to each robot N1. Therefore, the control device according to the third aspect of the present invention converts the operation program OP into an operation program OP 'in the standard format, obtains the operation state using the operation program OP' and the attribute data CD ', and obtains the operation state of the robot N1. The operation state is simulated, and the operation programs OP 'and the like of the plurality of robots N1 modified by referring to the display are rewritten, and the operation is instructed to them by a data program in a format unique to each robot N1.

[Embodiment] In order to further clarify the configuration and operation of the apparatus according to the first to third aspects of the present invention, a preferred embodiment of the present invention will be described below. FIG. 2 is a block diagram showing a system configuration of a robot programming device as a common embodiment of these three inventions.

The robot programming device has a configuration in which a post processor 1 that performs conversion of data and the like and a main processor 3 that performs trajectory calculation and animation display are connected via a communication line P.

The post processor 1 transfers a part of the operation program and the attribute data of each robot, and converts / rewrites the data. The external processor includes a flexible disk drive 2 for reading and writing a flexible disk FD. The post processor 1 is configured as an arithmetic and logic operation circuit from a known CPU, ROM, RAM, and the like, and has a built-in storage device such as a hard disk for storing a large amount of data. The configuration of the post processor 1 will be described according to the functions of the post processor 1 realized by such an arithmetic and logic operation circuit. The n operation programs that store operation programs and attribute data corresponding to the robots R1, R2,. A file od, an n number of file format conversion units CVn for changing the operation program files od of various formats into an operation program file OD of a standard format, and a standard operation program file OD for storing the converted operation programs and attribute data, And an interface 4 for outputting these data to the main processor 3 via the communication line P.

On the other hand, the main processor 3 includes a display device 5 and an input device.
7, a large-sized computer 8 and a peripheral device 9 are connected via dedicated interfaces 10, respectively. These devices will be described sequentially.

The display device 5 receives position / posture data and graphic data of a robot, a work, and the like from the main processor 3 via a display interface 10 and displays a robot and a work figure based on the data. Since these data are output to the display device 5 at regular intervals and updated, the motion of the robot can be displayed as an animation by repeatedly displaying the data.

The input device 7 includes a keyboard, a digitizer, a mouse,
There are various types of switches such as a dial selection type input switch for inputting necessary data through the input interface 10.

The large-sized computer 8 is a large-sized machine having a function such as CAD, and is capable of transferring graphic shape data of a robot or a work created using CAD to the main processor 3. When receiving the shape data from the large-sized computer 8, the
In the database 15 in the main processor 3.

In addition, peripheral devices 9 such as a printer, a plotter, and a magnetic tape are connected to the main processor 3 via an interface 10 so that data can be transferred to and from the peripheral devices 9.

Next, the internal configuration of the main processor 3 and the function of each unit will be described. The main processor 3 includes a database 15, a graphic creation unit 21, a robot attribute definition unit 22, a work placement unit 24, a robot teaching unit 25, a data management unit 27, a robot reproduction unit 29, and a trajectory calculation processing unit 30. I have. Note that each unit is not configured as characteristic hardware, but is implemented in a function realizing unit including software in an arithmetic logic operation circuit using a known CPU, ROM, RAM, and the like, and in a large-capacity storage device such as a hard disk. This is realized by the stored information.

The figure creating unit 21 is a part that creates the shape of each axis of each robot, the shape of a work, and the like using the input device 7 and the display device 5, and has a function similar to that of a so-called CAD. The data created here is used when simulating the operation state of the robot and examining its posture and the like. The created shape data and the like are stored in the database 15 as a shape data file KD in the same manner as when input from the large computer 8.

The robot attribute definition unit 22 has a function of registering shape data created as the shape of each axis of the robot for each axis of the robot. That is, attribute data of the robot such as which axis of the robot is associated with shape data such as a positional relationship of each axis, a movable form such as sliding or rotation, a movable range, an operating speed, and an acceleration upper limit value are input to the input device 7.
, And save it on the database 15 as an attribute data file ZD. By loading the attribute data file ZD of each robot defined by this function and the shape data file KD created by the figure creating unit 21 into the database 15 as necessary, the figure data is transferred to the main processor 3 as a robot. It will work and be displayed.

The work arrangement unit 24 has a function of arranging the shape of each robot or work created by the above function, that is, defining the positional relationship of each object. That is, the graphic data file KD and the attribute data file ZD
Is loaded into the database 15, the position data of each object is input to the data by the input device 7, and the objects are arranged by correcting as necessary, and the examination result is saved as the arrangement file HD. You do it.

The robot teaching unit 25 can create and correct the robot operation program such as the robot tip position and posture input by the input device 7 while checking the display device 5.
This operation program is stored as an operation program file OD. It is also possible to obtain the operation program file OD from the post-processor 1 via the communication line P, load the file OD on the database 15, modify it with the input device 7, and save it again as the operation program file OD. Can also.

The data management unit 27 manages the shape data file KD, the attribute data file ZD, the arrangement file HD, the operation program file OD, controls the peripheral device 9, and controls the communication with the large computer 8 and the post processor 1.

The robot reproducing unit 29 loads each data created by the above-described functions onto the database 15, receives a trajectory calculation by the trajectory calculation processing unit 30, and displays an animation of the operation of each robot on the display device 5. It is. The data that the robot reproducing unit 29 passes from the database 15 to the drawing locus calculation processing unit 30 is data necessary for the robot operation, that is, data such as a target position / posture, a velocity acceleration, and an interpolation method. The trajectory calculation processing unit 30 receives these data, calculates the position and posture value of the interpolation point up to the target value, and obtains the position and posture data of the robot. By causing the trajectory calculation processing unit 30 to execute this process at regular intervals, and passing the data to the display device 5 each time, an animation of the robot is displayed.

Next, processing in the programming device of the present embodiment will be described with reference to FIGS. FIG. 3 is a flowchart showing processing in the main processor 3, FIG. 4 is a flowchart showing upload processing of an operation program in the post processor 1, and FIG. 5 is a flowchart showing download processing similarly.

When simulating the operation state of various types of robots,
The main processor 3 first creates the shape of the robot or the work by the function of the figure creating unit 21 (step 10).
0). Next, the attributes of the robot, the tool, and the like are defined by the robot attribute definition unit 22 (step 110). After that, the robot work arrangement unit 24 examines the arrangement of the robot and the work (step 120). By the above processing (steps 100 to 120), a figure to be examined is created for a series of manufacturing processes using each robot.

Next, a process of obtaining an operation program of the arranged robot in a standard format is performed (step 130). Such processing is 2
The following approaches can be taken. One is a method of obtaining an operation program from each robot actual machine, and the other is a method of creating using the robot teaching unit 25 of the main processor 3. In the former case, as shown in FIG. 4, the post-processor 1 receives the operation program from the actual robot in the form of the flexible disk FD and uploads it to the operation program file od (step 132), as shown in FIG.
An operation program created in a format unique to the robot,
The corresponding file format conversion unit CVn converts the operation program file OD into the standard format operation program file (step 13).
Four). The standard-format operation program obtained in this way is
The data is transferred from the interface 4 to the main processor 3 via the communication line P (step 136). Note that some of the attribute data is necessary for the trajectory calculation. In such a case, the attribute data is transferred together with the operation program. Further, the data exchange medium with the actual robot need not be limited to the flexible disk FD, but may be magnetic or paper tape, and may exchange data directly via a communication cable.

After obtaining the operation program by any of the methods, a process of displaying an animation by the functions of the robot reproduction unit 29 and the trajectory calculation processing unit 30 is performed (step 14).
0). Here, the trajectory calculation processing unit 30 performs a forward conversion process of obtaining the position and orientation of the tip from the angle data of each axis of the robot Rn and a reverse conversion process of obtaining the angle of each axis from the position and orientation of the robot tip. Conventionally, this inverse conversion process
Since it is difficult to solve analytically, an individual trajectory calculation processing unit is provided for each type of robot, and each robot is executed with its own constant and processing algorithm. On the other hand, in this embodiment, since the operation program is in a standard format regardless of the robot model, a numerical calculation such as the Newton-Raphson method is performed, and each axis is not limited to the number and type of the robot. Is calculated. Then, it is examined whether or not there is an operation to be corrected due to robot interference (step 15).
0) If so, the operation program and the arrangement of the robot work are corrected (step 160). If there are no more points to be corrected, the completed operation program is transferred to the post processor 1 (step 170). To end. Since some attribute data need to be passed to each robot Rn, they are transferred to the post processor 1 together with the operation program.

As shown in FIG. 5, the post processor 1 receives the transferred file (step 180) and converts the received standard operation program into a file format by the file format conversion unit CVn corresponding to each robot. Rewrite (step 190)
It is downloaded to each robot Rn in a form such as D (step 200).

The processing of the main processor 3 and the post-processor 1 has been briefly described above. The details of the conversion and rewriting of the operation program in the post-processor 1 will be described.

FIG. 6 shows the specific contents of the operation program obtained from the robot controller built in the actual robot Rn. The movement program includes data representing the target position and posture at which the robot Rn operates, movement speed, acceleration, data related to movement conditions such as interpolation methods (linear interpolation, circular interpolation, uniform interpolation for each axis, etc.), and ON / OFF of the input / output switch. OFF, timer (waiting time), hand open / close switch (air gun ON / OFF
Etc.). A set of these data is called step data. The operation program of each robot is configured as a set of step data as shown in the upper section of FIG. As is clear from the illustrated example, the format of each data differs for each robot. For example, in the case of data representing a target position and a posture,
Some robots display the rotation angle of the drive motor for each axis of the robot with the number of bits of the encoder, others display the rotation angle in units of angle [deg], or There is also a robot represented by.

Also, if it is data related to movement conditions, for example, when specifying an operation speed, a robot expressed in absolute value [mm / sec] or a unique speed table is provided. The speed is defined in advance as described above, and when the speed is specified in the operation program, there is a type in which a code number is specified.

Furthermore, some data of the same format have different meanings. For example, there are robots in which code 1 means linear interpolation and code 2 means arc interpolation, while code 2 means linear and code 1 means arc. In addition, a difference in data notation (binary notation, ASCII notation) can be considered.

In this way, since the format and meaning of the individual step data forming the operation program in the robot controller differ depending on each robot, the file format conversion unit CVn unified each individual item. A process of converting the data into a format (standard format) is performed, and the data is converted into a unified format as shown in the lowermost column of FIG.

The specific contents of the conversion processing are shown in the flowchart of FIG. First, the type of the robot to be converted is ascertained, and the corresponding conversion process is performed. In the conversion processing unit CVn, the data format (notation format such as binary or ASCII) or data unit of the actual robot is checked in advance, and a conversion value from the standard format is obtained. For example, the encoder value of the position data of the actual device is input. , Multiply them by the gear ratio of the motor, calculate each shaft angle, convert them forward,
Obtain the position matrix of the robot hand and output it to the converted file as FRAME and ANGLE data (step 210)
Or 230).

Similarly, for the speed data, if the actual machine data is code data, a speed value is obtained by referring to the code table and output as SPEED data (steps 230 to 26).
0). Hereinafter, the conversion process is similarly repeated. In the example shown in FIG. 7, the processing is repeated until the jump code is output as the JUMP address (steps 300 to 320). When the conversion for one step is completed in this way, it is determined whether or not all steps have been completed (step 330). If not completed, the process returns to step 210 to repeat the processing from the beginning.

By executing the processing corresponding to each item in this way, the operation program described above in a format unique to each robot can be converted into a standard format. Note that the operation program can be rewritten by performing the above processing in reverse.

The programming device of the present embodiment described above converts the operation program of each type of robot into a standard format by the post processor 1 and converts it into the main processor 3.
To calculate the operation state (in this case, the trajectory, posture, and position) of each robot, and animate this on the display device 5. In the post processor 1, the operation program file of each robot is converted (or rewritten) into an operation program file of a standard format by a file format conversion unit CVn prepared for each type of robot. If the units CVn are independent of each other, only the file format conversion unit corresponding to the type of the robot to be handled needs to be provided in the post processor 1. In addition, each file format conversion unit CVn, if it is not desired to always exist on the post processor 1,
It is convenient to provide a processing unit that saves the data in the form of the flexible disk FD and loads the data as needed, because the file format can be converted only for the necessary model when necessary.

As described above, the programming device of the present embodiment converts the operation program into the standard format by the post processor 1, so that the configuration can be extremely simplified as compared with the conventional device. That is, in the conventional apparatus, separate load processing units are provided to load the operation program files different depending on the robot model onto the database 15, and the corresponding load processing is performed to load the database 15 and perform the processing. In contrast to the complicated configuration, this apparatus requires only one type of processing to load or save the operation program file to the database in order to calculate the trajectory of each robot. is there. Also, a trajectory calculation processing unit
The processing at 30 can be unified because it is not necessary to use a unique algorithm according to each robot model, and the arithmetic processing can be simplified and speeded up. As a result, animation display of the robot on the display device 5 can be performed at high speed.

Moreover, in the present embodiment, the post processor 1 is provided to convert and rewrite the operation program by the post processor 1, and the conversion unit CVn corresponding to the operation program is used to simulate the operation state of the robot and to correct the operation. Since it was cut off from software, the file format conversion unit CVn could be modularized for each model and function, and the software could be further simplified. Therefore, when adding or modifying the model of the robot to be simulated, it becomes possible by additionally modifying only this package, so that the division of labor of software development, the number of steps and the amount of software can be reduced.

On the other hand, in the main processor 3, since the operation program file OD is standardized, there is an advantage that the user only needs to remember one format when referring to the file. Also, the software on the main processor 3 side does not need to correspond to a file in a format unique to each robot, is excellent in function expansion, and can reduce man-hours and software amount at the time of correction.

Further, for the above-described reason, the amount of software to be loaded and executed at the same time is reduced, and the execution speed of each display and the like is improved, so that the man-machine performance of the apparatus as a whole is improved.

Next, a second embodiment will be described. As shown in FIG. 8, the programming device of the second embodiment is such that the post processor 1 of the device of the first embodiment is incorporated in the main processor 3. That is, all functions are incorporated in the main processor 3 and the operation program file
The only difference from the first embodiment is that the OD is shared. Also in the device of the second embodiment, the operation program in a format unique to the robot and the attribute data uploaded as necessary are converted into a standard format by the file format conversion unit CVn, and handled in the database 15,
The point used for the trajectory calculation in the trajectory calculation processing unit 30 is the first
This is the same as the embodiment.

The programming device according to the present embodiment having the above-described configuration has the same effects as those of the first embodiment, and furthermore, it is not necessary to exchange data using the communication line P, so that the configuration can be simplified. Since the exchange of program data with the robot only needs to be performed once, the time required for processing can be reduced. When modifying the operation program, it is necessary to convert the file format every time a file is loaded or saved. And the advantage that the access time can be reduced.

Although the embodiment of the present invention has been described above, the present invention is not limited to such an embodiment. For example, a configuration in which only operation state simulation is performed without modifying operation programming, and an operation program is downloaded from a real robot. Needless to say, the present invention can be implemented in various modes without departing from the gist of the present invention, such as a configuration in which the large computer 8 is created only on the CAD.

Effect of the Invention As described in detail above, according to the operation state display device of the first invention, the operation states of various robots are obtained and displayed using the operation program converted into the standard format and the attribute data in the common format. Therefore, the processing for obtaining the trajectory and the like can be performed by a common arithmetic routine regardless of the type of robot, and an excellent effect that the amount of software to be executed can be reduced can be achieved. Therefore, it is not necessary to prepare a special processing routine for each of a plurality of types of robots, and the time required for processing including the loading of the processing routine can be reduced. As a result, the calculation of the operation state of the robot can be speeded up, and even with a plurality of robots, the display can be performed at the same speed as the operation of the actual machine. That is, the operation of the actual machine can be accurately simulated.

On the other hand, according to the operation instruction control device of the second invention, an operation program unique to each robot is obtained by rewriting the operation program created in the standard format together with the attribute data written in the common format. An excellent effect is obtained that it is easy to handle the operations of a plurality of types of robots in a unified manner. Further, since only one type of operation program in the standard format is handled, an extremely excellent effect that the operation program can be created extremely easily can be obtained. As a result, it is possible to accurately instruct the actual operation to a plurality of types of robots without error.

Further, according to the control device of the third aspect of the present invention, the operation state obtained by the operation program converted into the standard format and the attribute data in the common format is displayed, and the standard format corrected by referring to the display is displayed. Since the operation program can be rewritten and the operation can be instructed to the robot by an operation program in a form unique to the actual robot, an excellent effect that the operation and examination of the robot can be extremely easily performed and determined can be achieved. That is, while having the effects of the first and second aspects of the present invention, the operation program itself can be corrected by referring to the display of the operation state of the robot, so that the operation states of a plurality of robots can be confirmed and the operation program can be modified. The correction can be performed integrally, and the usability can be significantly improved.

As described above, in the first to third aspects, means for converting an operation program unique to various robots into a standard format or rewriting from the standard format together with attribute data is provided. When adding a new type of robot, it is necessary to prepare trajectory generation software for that model or modify the program that manages it to add different types of software. And the amount of man-hours and the amount of software can be greatly reduced.

[Brief description of the drawings]

FIG. 1 (A) is a block diagram illustrating a basic configuration of an operation state display device of the first invention, FIG. 1 (B) is a block diagram illustrating a basic configuration of an operation instruction control device of the second invention, FIG. 1 (C) is a block diagram illustrating the basic configuration of the control device of the third invention, FIG. 2 is a schematic configuration diagram of a programming device as a first embodiment, and FIG. FIGS. 4 and 5 are flowcharts showing processing in the post processor 1, FIG. 6 is a schematic diagram for explaining file format conversion, and FIG. 7 is a flowchart illustrating file format conversion processing in the post processor 1. FIG. 8 is a schematic configuration diagram of a programming device as a second embodiment, and FIG. 9 is a schematic configuration diagram of a conventional programming device. 1 post processor 3 main processor 5 display device 7 input device 15 database 29 robot reproduction unit 30 trajectory calculation processing unit CVn file format conversion unit

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Takanori Mitoh 1 Toyota Town, Toyota City, Aichi Prefecture Inside Toyota Motor Corporation (72) Inventor Yoichiro Baba 1 Toyota Town, Toyota City, Aichi Prefecture Inside Toyota Motor Corporation (72) Inventor Masashi Murate 1 Toyota Town, Toyota City, Aichi Prefecture Inside Toyota Motor Corporation (56) References JP-A-62-165212 (JP, A) JP-A-61-82247 (JP, A) JP-A-62-274311 (JP, A) JP-A-62-27803 (JP, A) JP-A-62-63306 (JP, A) JP-A-63-149705 (JP, A) (58) Int.Cl. ⁶ , DB name) G05B 19 / 4068,19 / 4093

Claims (3)

(57) [Claims] 1. An operation state display device for simulating and displaying the operation states of a plurality of robots that independently perform their own operations, comprising: an operation procedure, a position, a posture, a velocity, an acceleration, and an interpolation method of each of the robots. Operation program input means for inputting an operation program which is information such as information, conversion means for converting the input operation program in a file format unique to each robot into a predetermined standard format, and each axis of each robot Attribute data storage means for storing attribute data such as a configuration, an operation range, a maximum speed, and acceleration in a common format; a target position of each robot based on the operation program converted into the standard format and the attribute data; An operation comprising: calculating means for obtaining an operation state such as a posture; and display means for displaying the obtained operation state on a display unit. Status display device. 2. An operation instruction control device for instructing a plurality of robots which independently perform a unique operation to perform an operation, wherein attribute data such as an axis configuration, an operation range, a maximum speed, and an acceleration of each of the robots is shared. Attribute data storage means for storing in a format, and an operation procedure,
An operation program creating means for inputting or creating an operation program, which is information such as a position, orientation, speed, acceleration, and interpolation method, in a predetermined standard format; and the created operation program, together with desired attribute data, An operation instruction actuating device comprising: rewriting means for rewriting a file format unique to each robot; and output means for outputting the rewritten operation program and attribute data to each robot. 3. A control device for simulating operation states of a plurality of robots performing independent operations independently and instructing the operations, wherein the operation procedure, position, posture, speed, acceleration, An operation program input unit for inputting an operation program which is information on an interpolation method, etc .; a conversion unit for converting the input operation program in a file format unique to each robot into a predetermined standard format; Attribute data storage means for storing attribute data such as each axis configuration, operation range, maximum speed, acceleration, and the like in a common format, and for each robot based on the operation program converted into the standard format and the attribute data. Calculating means for obtaining an operation state such as a target position and a posture; display means for displaying the obtained operation state on a display unit; Modifying the operation program in the predetermined standard format while referring to the operation state of the robot, and rewriting the modified operation program together with the desired attribute data into a file format unique to each robot. Means, and the reversely rewritten operation program and attribute data,
An output unit for outputting to each of the robots.