JP3042840B2 - Robot interference check device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot interference check device for checking interference with an object.

[0002]

2. Description of the Related Art Conventionally, for example, in a bridge temporary assembling simulation system, dimensions of predetermined portions of various bridge blocks to be assembled are measured using a measuring device, and a temporary assembly simulation is performed using data measured by the measuring device. The aim is to shorten the construction time of bridges and reduce construction costs.

When a robot is used as a measuring device, if a part of the measuring robot collides with, that is, interferes with, a bridge block to be measured, a predetermined portion of the bridge block cannot be measured. Assembly simulation cannot be performed. Further, when the measurement robot interferes, a part of the measurement robot, such as an arm, and / or a measurement tool may collide with the bridge block and may be damaged.

[0004] In view of the above, an interference check device for checking in advance the interference between a measurement robot and a bridge block has been proposed.
No. 017 is known. This known interference check device includes an object data storage unit that stores object data relating to an object such as a bridge block, an operation program storage unit that stores an operation program relating to a series of motion path trajectories of the measurement robot, a simulation calculation unit, An interference check calculating means. The simulation operation means performs an operation simulation based on the operation program of the measurement robot, and the interference check operation means checks interference between the object to be measured and the measurement robot based on the object data and the simulation data by the simulation operation means. The result of the interference check by the interference check calculation means is stored in the interference check result storage means. Therefore, according to the check result stored in the interference check result storage means,
A measurement site where interference occurs can be easily known, and a correction operation program that does not cause interference can be created based on the interference check result.

[0005]

In this known interference check apparatus, the result of the interference check stored in the interference check storage means is operation command information relating to a state in which the object to be measured interferes with the measuring robot. Therefore, the state in which the object and the measurement robot interfere with each other based on the operation command information can be reproduced by the simulation calculation means, and the interference state can be easily grasped by displaying the interference state on the display means. A correction operation program can be created with reference to the displayed contents.

However, the operation in which the measuring robot moves and interferes with the object occurs during a series of operations of the measuring robot, and therefore reproduces the state in which the object and the measuring robot interfere as described above. Alone is not enough,
Further improvements were desired. In particular, when creating a correction operation program for avoiding interference, it is important to grasp a series of movements in a predetermined range until interference occurs,
The movement leading to the interference and the avoidance operation from this movement cannot be easily considered only by reproducing the interference state.

An object of the present invention is to provide a robot interference check device capable of easily grasping the movement before interfering with an object.

It is another object of the present invention to provide a robot interference check device capable of performing an interference check on a correction operation program for avoiding interference with an object.

[0009]

SUMMARY OF THE INVENTION According to the present invention, there is provided an object data storage means in which a tool is mounted at the tip of a multi-axis arm of a robot to store object data relating to the object, and a robot relating to a series of path trajectories for the object. Operation program storage means for storing an operation program; simulation operation means for performing an operation simulation based on the operation program; and interference for checking interference with an object based on the object data and simulation data from the simulation operation means. An interference check device comprising: a check operation means; and an interference check result storage means for storing a result of the interference check by the interference check operation means, wherein a reproduction program storage means connected to the simulation operation means is provided. Step The gram storage means stores, as an interference reproduction program, interference reproduction operation command information from reproduction start operation command information that is a predetermined step before the interference generation operation command information at which interference with an object occurs to the interference generation operation command information, At the time of interference reproduction, the simulation calculation means reproduces from the state before interference with the object to the interference state on the display means based on the interference reproduction program, and the separate solution operation program creation means connected to the simulation calculation means The alternative solution operation program creating means is provided for creating another solution operation program by obtaining another solution having the same path locus as that of the tool of the interference reproduction program and having different arm axis values, and Simulates the alternative solution operation program, and the interference check operation means calculates the object data An interference checking apparatus of a robot which is characterized in that the interference check based on the simulation data by data and said other solutions operating program.

According to the present invention, the reproduction program storage means stores, as an interference reproduction program, interference reproduction operation command information from reproduction start operation command information, which is a predetermined step before the interference generation operation command information, to interference generation operation command information. I do. Then, when reproducing the interference state, the simulation operation means reproduces from the state before the interference to the interference state based on the interference reproduction program, so that the operation up to the interference can be easily grasped. In addition, a correction operation program for avoiding interference can be easily created. According to the present invention, the alternative solution operation program creating means finds another solution of the interference reproduction program and creates another solution operation program, the simulation operation means simulates the alternative solution operation program, and the interference check operation means An interference check is performed based on the data and the simulation data. Therefore, when interference occurs, the alternative solution operation program creating means automatically creates an alternative solution operation program, and the created alternative solution operation program is also checked for interference. Can be reliably prevented. According to the present invention, the robot has a multi-axis arm, a tool is mounted on the tip of the arm, and the separate solution operation program creating means is configured so that the axis value of the arm is the same as the path trajectory followed by the tool. A different solution operation program is created by finding a different solution, and thus the interference can be avoided by changing the posture of the arm without changing the path trajectory of the tool mounted on the tip of the arm. .

According to the present invention, a tool is mounted on the tip of a multi-axis arm of the robot, and object data storage means for storing object data relating to the object, and a robot operation program relating to a series of path trajectories for the object. Operation program storage means, simulation operation means for performing an operation simulation based on the operation program, interference check operation means for checking interference with an object based on the object data and simulation data by the simulation operation means,
An interference check device comprising: an interference check result storage unit that stores a result of the interference check by the interference check operation unit; wherein a reproduction program storage unit connected to the simulation operation unit is provided; The interference reproduction operation command information from the reproduction start operation command information that is a predetermined step before the interference generation operation command information in which interference with the object occurs to the interference generation operation command information is stored as an interference reproduction program. The simulation operation means reproduces from the state before interference with the object to the interference state based on the interference reproduction program, and the operation program stored in the operation program storage means is a program for moving the robot to a work position. And starting the reproduction of the interference reproduction program The work command information includes operation command information of the robot and position information of the robot by designating each axis value, and a separate solution operation program creating unit connected to the simulation operation unit is provided, and the separate solution operation program is provided. The creating means finds another solution that is the same as the path trajectory followed by the tool of the interference reproduction program and has a different axis value of the arm to create a different solution operation program, and the simulation calculating means simulates the different solution operation program. An interference check device for a robot, wherein the interference check operation means performs an interference check based on the object data and simulation data based on the separate solution operation program.

According to the present invention, the operation program is a program for moving the robot to the work position, and the reproduction start operation command information of the interference reproduction program includes the operation command information of the robot and the position information by designating each axis value. Therefore, the simulation operation means can accurately reproduce a series of operations up to the interference based on the interference reproduction program.

Further, according to the present invention, a tool is mounted on a tip of a multi-axis arm of a robot, and object data storage means for storing object data relating to an object, and a robot operation program relating to a series of path trajectories for the object. Operation program storage means, simulation operation means for performing an operation simulation based on the operation program, interference check operation means for checking interference with an object based on the object data and simulation data by the simulation operation means,
An interference check device comprising: an interference check result storage unit that stores a result of the interference check by the interference check operation unit; wherein a reproduction program storage unit connected to the simulation operation unit is provided; The interference reproduction operation command information from the reproduction start operation command information that is a predetermined step before the interference generation operation command information in which interference with the object occurs to the interference generation operation command information is stored as an interference reproduction program. The simulation operation means reproduces from the state before the interference with the object to the interference state based on the interference reproduction program, and is connected to the simulation operation means, and corrects the interference reproduction program to create a correction operation program. Correction program creating means is provided for The simulation calculation means simulates a correction operation program based on the correction operation program.The interference check calculation means performs an interference check based on the object data and the simulation data based on the correction operation program, and is connected to the simulation calculation means. Another solution operation program creating means is provided, wherein the another solution operation program creation means finds another solution having the same path locus as that of the tool of the interference reproduction program but different arm axis values, and Wherein the simulation operation means simulates the alternative solution operation program, and the interference check operation means performs an interference check based on the object data and simulation data according to the alternative solution operation program. It is an interference checking device of the robot.

According to the present invention, a correction program creating means for correcting the interference reproduction program is provided, and a correction operation program for avoiding interference is created by the correction program creating means. Then, the simulation calculation means simulates the correction program, and the interference check calculation means checks interference based on the object data and the simulation data. Therefore, the presence or absence of interference can be checked for the correction operation program, and the occurrence of interference in the correction operation program can be reliably prevented.

Further, according to the present invention, a tool is mounted on the tip of a multi-axis arm of the robot, and object data storage means for storing object data relating to the object, and a robot operation program relating to a series of path trajectories for the object. Operation program storage means, simulation operation means for performing an operation simulation based on the operation program, interference check operation means for checking interference with an object based on the object data and simulation data by the simulation operation means, An interference check device comprising: an interference check result storage unit configured to store a result of the interference check by the interference check operation unit; and a reproduction program storage unit connected to the simulation operation unit. Means stores the interference reproduction operation command information from the reproduction start operation command information is before the predetermined steps of the interference generated operation command information interference between objects is generated until the interference generated operation command information as interference reproduction program,
At the time of interference reproduction, the simulation calculation means reproduces from the state before interference with the object to the interference state based on the interference reproduction program, and the operation program stored in the operation program storage means moves the robot to a work position. The reproduction start operation command information of the interference reproduction program includes movement instruction information of the robot and position information of each axis value specified by the robot, and is connected to the simulation calculation means. Correction program creating means for creating the correction operation program by correcting the interference reproduction program, wherein the simulation calculation means simulates the correction operation program based on the correction operation program, and the interference check calculation means Is the object data and the repair An interference check is performed based on the simulation data by the operation program, and another solution operation program creating means connected to the simulation operation means is provided. The another solution operation program creation means is a path trajectory followed by the tool of the interference reproduction program. A separate solution operation program is created by obtaining another solution having the same arm axis value but a different arm value, the simulation calculation means simulates the separate solution operation program, and the interference check calculation means calculates the object data and the separate An interference check device for a robot that performs an interference check based on simulation data obtained by a solution operation program.

According to the present invention, the same operation as described above is performed, the operation up to the interference can be easily grasped, and a correction operation program for avoiding the interference can be created. It is possible to easily prevent the occurrence.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an interference check device according to the present invention will be described with reference to the accompanying drawings. FIG.
FIG. 2 is a perspective view schematically showing an example of a measurement robot system to which the interference check device according to the present invention is applied, and FIG.
FIG. 2 is a block diagram schematically illustrating an embodiment of an interference check device applied to the measurement robot system of FIG. 1.

In FIG. 1, the measuring robot system shown includes a pair of guide rails 2 and 4 extending in a predetermined direction, and a gate device 6 is movably supported by the pair of guide rails 2 and 4. The illustrated gate structure device 6 includes a column 8 supported by the guide rail 2, a column 10 supported by the other guide rail 4, and a connection frame 12 that connects upper ends of the columns 8 and 10. A support frame 14 is movably mounted on the frame 12, a robot support (not shown) is mounted on the support frame 14, and a measuring robot 16 is mounted on the robot support. An object to be measured, for example, a bridge block 18 is, as shown in FIG.
A predetermined portion of the bridge block 18 to be measured can be three-dimensionally measured by being positioned along the pair of guide rails 2 and 4 and moving the measuring robot 16 as required.

In this measuring robot system, the gate apparatus 6 is moved along the pair of guide rails 2 and 4 in the direction indicated by the double arrow 20 in the longitudinal direction of the bridge block 18. The support frame 14 moves along the connection frame 12
Are moved in the lateral direction of the bridge block 18 in the direction indicated by. The robot support (not shown) is moved along the support frame 14 in the direction indicated by the double arrow 24 in the height direction of the bridge block 18.

In the measurement robot system of the present embodiment, a six-axis control robot is used as the measurement robot 16.
The measurement robot 16 has a base (not shown) attached to the robot support part, and a robot main body centered on an axis (not shown) (which constitutes the first axis) extending vertically in the base. 32 are rotatably mounted. A first arm 36 is attached to the robot main body 32 so as to be pivotable about an axis 34 (constituting a second axis) extending in the horizontal direction. An axis 38 extending in the horizontal direction is provided at the tip of the first arm 36. The second arm 40 is mounted so as to be pivotable about a third axis. The distal end of the second arm 40 is rotatably mounted on the base thereof around its axis (constituting the fourth axis), and the distal end of the second arm 40 further has an axis 42 extending in the horizontal direction.
A tip arm 44 is pivotally mounted about (constituting the fifth axis). The distal end of the distal arm 44 is rotatably mounted on the base thereof around its axis (which constitutes the sixth axis). And
A measuring tool 46 is mounted on the distal end of the distal arm 44 of such a measuring robot 16. Therefore, by moving the gate structure device 6, the support frame 14, and the robot support portion (not shown) as required, and controlling the first to sixth axes of the measuring robot 16 as required, the measuring robot Measurement tool 46 attached to 16
Can be brought into contact with a predetermined portion of the bridge block 18, whereby the position of the contacted portion can be accurately measured three-dimensionally.

In such a measuring robot system, when measuring a predetermined part by the measuring robot 16, the movement of the measuring robot 16, for example, the first to third arms 36, 4
A part of the measuring robot 16 (for example, the first to third arms 36, 40, 44, etc.) or the measuring tool 46 mounted on the measuring robot 16 interferes with a part of the bridge block 18 due to the turning movement of 0,44. In some cases, when the interference occurs, the position of the part cannot be measured, and the measurement robot 16 and / or the measurement tool 46 may be damaged. Therefore, this measurement robot system
An interference check device 52 (FIG. 2) for checking whether the measurement robot 16 and / or the measurement tool 46 interferes with the bridge block 18 is included.

Referring to FIG. 2, an interference check device 52 shown in FIG. 2 includes a computing means 54 comprising, for example, a personal computer and a workstation, a data storage means 56 comprising an external data storage device and the like, The apparatus includes an interference check result storage means 58 and a reproduction correction program storage means 60 which are constituted by a storage device, a personal computer, a storage device of a workstation, or the like. The data storage unit 56 and the interference check result storage unit 5
8 and the reproduction correction program storage means 60 may be constituted by separate storage devices, respectively, or may be constituted by a common storage device.

The calculation means 54 includes a simulation calculation means 62 and an interference check calculation means 64, and the simulation calculation means 62 further includes a simulation data storage means 66. Further, the data storage means 56 includes an object data storage means 68 and an operation program storage means 70. In relation to the calculating means 54,
Input means 72 is provided. This input means 72
It is composed of a data input device such as an input keyboard and an input mouse. The object data storage means 68 stores object data relating to an object to be measured, in this embodiment, various types of bridge blocks 18, and recognizes the shape of the bridge block 18 to be measured based on the object data. it can. Further, the operation program storage means 70 stores an operation program relating to a series of path trajectories for moving the measurement tool 46 mounted on the measurement robot 16 to a measurement site to be measured. Is stored. The input means 72 inputs predetermined input data, for example, the name of the bridge block 18 to be measured. When such data is input, the object data relating to the bridge block 18 selected by the input means 72 is read from the object data stored in the object data storage means 68, and the read object data is sent to the arithmetic means 54. Is done. Further, the operation program stored in the operation program storage means 70 is automatically selected and read out based on the input data relating to the bridge block 18, and the read operation program is sent to the arithmetic means 54.

The simulation operation means 62 interprets the command of the operation program read from the operation program storage means 70 and simulates a series of path trajectories from the current position and the target position and the sampling interval to the target position. Get the path point to the position,
The axis values (axis values of the first to sixth axes) of the measurement robot 16 at the acquired path points are calculated, and these path points and axis values are stored in the simulation data storage unit 66. Further, the interference check calculating means 64 is provided with the measuring robot 16 stored in the simulation data storing means 66.
It is checked off-line whether or not the measuring robot 16 interferes with the bridge block 18 on the basis of the respective path points and the respective axis values corresponding to the path points and the object data read from the object data storage means 68.

For the interference check by the interference check calculating means 64, for example, the following method known per se or another method can be used. For example, in the intersection calculation method, the presence or absence of interference is determined by solving the equations of the surface or ridgeline of the object to be measured and obtaining the intersection.
In the coarse check method, for example, the presence or absence of interference is determined by performing an interference check by approximating a complicated measurement robot or the shape of an object to be measured to a simple figure. Further, for example, in a method in which the coarse check method is improved, the presence / absence of interference is determined based on the geometrical positional relationship indicated by the value of the inner product between the surface normal vector of the convex polyhedrons and the point vector. Further, for example, in the method disclosed in Japanese Patent Application Laid-Open No. 64-48106, one or more sides of a robot and an obstacle are specified, and one side of the specified robot is a plane formed by simulation and the side of the specified obstacle is specified. If they have an intersection, it is determined that there is interference.

The interference check result storage means 58 includes an interference presence / absence storage means 73 and an operation command / each axis value storage means 74. Also, the reproduction correction program storage means 60
Includes a reproduction program storage means 76 and a correction operation program storage means 78. Interference presence storage means 73
Stores the result of the interference check by the interference check calculating means 64. In this embodiment, when the measurement robot 16 interferes with the bridge block 18, it is stored as "interference exists", and when it does not interfere, it is stored as "no interference". The operation command / axis value storage means 74 includes
When it is determined that there is no interference in the interference check by the interference check calculation means 64, an operation program (operation command information) relating to a target point (measurement site) measured by the measurement robot 16 and each axis of the measurement robot 16 at the target point The position information by the value designation is stored.

In the reproduction program storage means 76, if it is determined in the interference check by the interference check calculating means 64 that "interference exists", a predetermined step of the interference generation operation command information that causes interference with the bridge block 18, for example, 2 The interference reproduction operation command information from the reproduction start operation command information before the step to the interference generation operation command information is stored as an interference reproduction program. Then, when reproducing the interference state, the interference reproduction program stored in the reproduction program storage means 76 is read out, and the read-out interference reproduction program is simulated by the simulation calculation means 62. The correction operation program storage means 78 stores an avoidance correction operation program for avoiding interference. In this embodiment, the input means 7
2 is operated to correct the operation program, and the corrected avoidance correction operation program is stored in the correction operation program storage means 78.

The display means 8 is further associated with the arithmetic means 54.
0 is provided. The display means 80 is constituted by, for example, a cathode ray tube display device, a liquid crystal display device, or the like.
When the interference state is reproduced by displaying the contents,
By looking at the displayed contents, it is possible to easily grasp a series of operations up to the interference between the measurement robot 16 and the bridge block 18. The simulation state by the simulation operation means 62, that is, the interference avoidance state, is also displayed on the display means 80 when the avoidance correction operation program is created by correcting the interference reproduction program by operating the input means 72. The avoidance correction operation program can be easily created by correcting the interference reproduction program while looking at the content displayed at 80.

Next, an interference check operation by the interference check device 2 will be described with reference to FIG. 3 together with FIG.

In performing the interference check, first, the name of the bridge block is input by the input means 72. Thus, a part measurement program for measuring the first measurement part, for example, a part measurement program 1 shown in FIG. 4A is read from the operation program for measuring the bridge block 18, and the object data and the part measurement program are read. The data is read by the arithmetic means 54 as required (step S-1). For example, about 100 site measurement programs are included in the operation program, and a plurality of site measurement programs are sequentially subjected to the following interference check. The first numbers “1”, “2”,..., “20” in the part measurement program 1 of FIG. 4A indicate the target position until the robot approaches the measurement part and performs the measurement operation and returns to the retreat position. In this embodiment, a number is shown, and in this embodiment, the number “20” is the final target position after the measurement of one part. “JMOVE” indicates movement command information by the movement of each axis of the measuring robot 16, and “LMM”.
"OVE" indicates the movement command information by the linear interpolation operation. Further, "p1", "p2", ..., "p20"
Indicates robot operation command position information, and the robot operation command position information to which “#” is added is designated by the value of each axis (first to sixth axes) of the measurement robot 16. Indicates operation command position information,
The three-dimensional positions (positions in the X, Y, and Z directions) without “#” indicate the measurement robot 1
6 indicates operation command position information designated by the posture of the measurement tool 46.

Next, in step S-2, the first operation command information of the part measurement program 1, that is, "JMO
"VE # p1" is read into the simulation calculation means 62, and the process proceeds to step S-3 to acquire operation command position information, that is, a series of path points up to the target position (# p1). The simulation calculation means 62 interprets the read operation command information “JMOVE # p1” and obtains a path point from the current position to the target position by calculation from the values of the current position and the target position (# p1) and the sampling interval. Then, the obtained route point information is stored in the simulation data storage means 66. And step S
In -4, the simulation calculation means 62 first determines each axis (first to sixth axes) of the measurement robot 16 based on the path point information obtained in step S-3 for the first path point.
Values are calculated and calculated, and the obtained axis values are stored in the simulation data storage means 66.

Thereafter, in step S-5, an interference check is performed on the first path point by the interference check calculating means 64. The first path point stored in the simulation data storage means 66 and each axis value at this path point are read out, and the interference check calculation means 64 checks for the presence or absence of interference based on the simulation data and the object data. If it is determined by this interference check that "no interference exists", step S
-6, the process proceeds to step S-7, and the operation command information “JMO
VE # p1 ”operation end position, that is, the target position (#
p1) is determined. If it is not the target position (# p1), the process proceeds to step S-9 without passing through step S-8, and the next path point, that is, the acquisition of the second path point, that is, to the simulation calculation means 62 of this path point Is read. Next step S-10
Then, it is determined whether or not the acquisition of the route point has been performed. When the acquisition of the second route point has been performed, the process returns from step S-10 to step S-4, and the simulation operation unit 62
Is calculated for each axis (first to sixth axes) of the measurement robot 16 for the second path point, and the calculated axis values are stored in the simulation data storage unit 66. afterwards,
In step S-5, the interference check operation unit 64 performs an interference check on the second path point. Such interference check is performed by the operation command information “JMOV
E # p1 ”, ie, the target position (#p
1). During this period, steps S-4 to S-
10 are performed repeatedly.

When an interference check is performed on the operation end position of the operation command information "JMOVE # p1", that is, the target position (# p1), the process proceeds from step S-7 to step S-8, where the start of the part measurement program 1 is started. Is determined as "no interference" for the operation command information "JMOVE # p1", and the result of "no interference" for the first operation command information is stored in the interference presence / absence storage means 73. Further, interference reproduction information is obtained based on the result of “no interference”.
That is, in this embodiment, the operation command information “JMOV
E # p1 ”and the position information (position information specified by each axis value of the measuring robot 16) at the operation end position of this operation command information are stored in the operation command / axis value storage means 74. Using the stored information, a simulation is performed by the simulation calculation unit 62, and the interference check state up to the interference can be reproduced as required.

When the interference check for the first operation command information is completed as described above, the process proceeds to step S-11 via steps S-9 and S-10.
That is, when the interference check for the operation end position ends, the next path point does not exist, and
At -9, no route point is acquired, and the subsequent step S-1
0, it is determined that there is no route point, and step S-1
Proceed to 1.

In step S-11, the next operation command information is read. In the part measurement program 1 of FIG. 4A, the second operation command information “LMOVE p
"2" is read, and in a succeeding step S-12, it is determined whether or not the operation command information exists. If the operation command information exists, the process returns from step S-12 to step S-3, and the calculation of the path point for the second operation command information “LMOVEp2” is performed and obtained in the same manner as described above. The path point is stored in the simulation data storage unit 66. After that, in step S-4, the simulation calculation means 62 performs step S-3 for the first path point in the second operation command information.
The respective axis values of the measurement robot 16 are calculated and calculated based on the path point information obtained in step (1), and the obtained axis values are stored in the simulation data storage unit 66. Then, in the same manner as described above, in step S-5, an interference check is performed on the first path point by the interference check calculating means 64, and steps S-4 to S-10 are repeatedly performed to perform the second operation. An interference check is performed for each path point of the command information “LMOVE p2”. In the case of “no interference”, the result of “no interference” for the second operation command information is stored in the interference presence / absence storage means 72. Also, interference reproduction information is acquired based on the result of “no interference”, and the axis values of the operation command information “LMOVE p2” and the position information (position information by designation) at the operation end position of this operation command information are determined. The operation command is stored in each axis value storage means 74.

When the interference check on the second operation command information is completed in this way, the process proceeds to step S-11 via steps S-9 and S-10, where the next third operation command information and part measurement In the program 1, the operation command information “LMOVE p3” is read.
When this reading is performed, the process returns to step S-3 again through steps S-11 and S-12, and the calculation of the path point for the operation command information "LMOVE p3" and the obtained path are performed in the same manner as described above. Calculation of each axis value of the measurement robot 16 based on the point information and interference check at each path point are performed. In the case of "no interference", the result of "no interference" for the third operation command information is stored in the interference presence / absence storage means 72. Also, interference reproduction information is acquired based on the result of “no interference”, and the operation command information “LMOVE p3” and the position information by specifying each axis value of the measuring robot 16 at the operation end position of the operation command information are the operation commands It is stored in the axis value storage means 74.

In the above-described interference check, up to the last operation command information of the part measurement program, the twentieth operation command information “LMOVE” is used in the part measurement program 1 of this embodiment.
Repeatedly until “Ep20”, and when the last operation command information has been performed, the process proceeds from step S-12 to step S-13, where the next part measurement program is read. In this embodiment, the part shown in FIG. The measurement program 2 is read, and it is determined in step S-14 whether or not the next part measurement program exists. If the part measurement program has been read, the next part measurement program exists. Therefore, the process returns to step S-2, and steps S-2 to S-12 are performed in the same manner as described above for this part measurement program. Then, such an interference check operation is performed for the operation command information of all the part measurement programs for the selected bridge block 18, and when it is performed for all the part measurement programs, the part measurement program is executed at step S-14. It is determined that none exists, and the above-described interference check ends.

In the above-described interference check operation, the case of "no interference" has been described. However, if "interference exists" during the interference check, the operation is performed as follows. For example, if it is determined that “interference exists” during the interference check of the fourth operation command information “LMOVEp4” of the part measurement program 2 in FIG. 4B, the process proceeds from step S-6 to step S- in the flowchart of FIG. Move to 15,
The fourth operation command information “LMO
The result of “interference present” for “VE p4” is stored in the interference presence storage unit 73. Further, based on the result of “interference”, an interference reproduction program shown in FIG. 5 is stored in the reproduction program storage means 76. In this embodiment, the interference check calculating means 64 outputs the interference generation operation command information that causes interference, in this example, the fourth operation command information “LMO
VE p4 ”, two previous operation command information“ LMOVE p
2), the second operation command information is set as reproduction start operation command information so that interference reproduction is performed.
From the second operation command information “LMOVE p2” to the interference generation operation command information “LMOVE p4” is set as interference reproduction operation command information, and the interference reproduction operation command information is used as an interference reproduction program as a reproduction program storage means 76.
To memorize. The second operation command information of the part measurement program 2 is “LMOVE p2”, but when stored as an interference reproduction program, the interference reproduction information of the operation command information (the information generated in step S-8), That is, the position information (# q2) of each axis value designation of the measuring robot 16 is stored together with the operation command information "LMOVE p2", and by storing in this manner, the state from the state before the interference to the interference is accurately reproduced. can do. Then, when the interference reproduction program shown in FIG. 5 is stored, the interference check calculation means 64 performs the interference for the fifth and subsequent operation command information of the part measurement program 2 based on the reproduction start operation command information “JUMP # q2”. The check is stopped, and steps S-15 to S-13
Then, the next part measurement program is read, and an interference check on this part measurement program is performed.

In this embodiment, when interference occurs, the operation command information immediately before the interference generation operation command information is used as interference reproduction operation command information, and three pieces of information from this interference reproduction operation command information to interference start operation command information are set. Although the operation command information is set as the interference reproduction program, if the state leading up to the interference is to be reproduced longer, the number of operation command information that goes back from the interference generation operation command information should be increased, and the reproduction start operation command information It is sufficient to increase the number of pieces of operation command information from to the interference start operation command information.

As described above, the interference check for all the part measurement programs is performed collectively, and the result of the presence or absence of the interference check is stored in the interference presence storage means 72 as “no interference” and “interference”. . In the case of "no interference", each operation command information in each part measurement program and the operation end position (target position) of the operation command information
Is stored in the operation command / axis value storage means 74. In the case of “interference”, an interference reproduction program of the part measurement program where the interference has occurred is stored in the reproduction program storage means 76. Therefore, after the operation of all the interference checks is completed, the presence or absence of interference can be confirmed by checking the result of the interference check.

In this embodiment, after the interference check, by operating the input means 72, the interference reproduction program stored in the reproduction program storage means 76 is reproduced, and the state up to the reproduced interference is displayed on the display means 80. Can be displayed. When the interference reproduction is input by the input means 72, the interference reproduction program is read, and the simulation calculation means 62 performs a simulation based on the read interference reproduction program, and the simulated contents are displayed on the display means 80. Therefore, the display means 80
By looking at the contents displayed in, it is possible to easily grasp a predetermined range of a series of operations leading to interference,
This makes it possible to easily create a correction operation program that avoids interference. Note that the simulation by the simulation calculation means 62 is based on the interference start operation command information of the interference reproduction program (including the operation command information and the position information by specifying each axis value of the measuring robot 16) and the subsequent operation command information (movement command information and 3D position and position information by specifying the orientation of the measurement tool)
The content of the analysis is displayed on the display means 80 as the movement of the measuring robot 16 with respect to the bridge block 18.

The correction operation program for avoiding interference can be created by operating the input means 72 as required while viewing the contents displayed on the display means 80. At this time, the input unit 72 functions as a correction program creating unit, and the correction operation program is created based on the interference reproduction program, and is created by modifying the interference reproduction program. It is stored in the program storage means 78.

The correction operation program is subjected to an interference check by the simulation operation means 62 and the interference check operation means 64. That is, in substantially the same manner as in the flowchart shown in FIG. 3, the simulation calculation means 62 calculates the path points based on each operation command information of the correction operation program, and obtains each axis value of the measurement robot 16 for each path point. The calculated path point and each axis value are stored in the simulation data storage unit 66. Further, the interference check calculating means 64 performs an interference check based on the object data relating to the bridge block 18, the obtained path point information and each axis value information. In the case of "no interference", this interference reproduction program is replaced with this correction operation program, "no interference" is stored in the interference presence / absence storage means 73, and a correction operation is stored in the operation command / axis value storage means 74. Operation command information in the program and final position information of the operation command information are stored. Therefore, when a predetermined portion of the bridge block 18 is measured by the measuring robot 16 thereafter, the portion that interferes is measured based on the correction operation program. In the case of "interference", this correction operation program is further corrected while observing the content displayed on the display means 80, and a correction operation program that avoids interference is created.

In the above-described first embodiment, the operation program for avoiding interference is corrected and created by the operation of the input means 72. Instead, for example, another solution is obtained by the arithmetic means, and the other solution is obtained. Can be used as an avoidance operation program as another solution operation program. FIG.
FIG. 7 is a block diagram schematically showing a second embodiment of the interference check device according to the present invention. In FIG. 6, substantially the same components as those in the first embodiment are denoted by the same reference numerals and the description thereof will be omitted. Is omitted.

The interference check device 102 according to the second embodiment
Then, the calculation means 104 is the simulation calculation means 62
And another solution operation program creating means 106 in addition to the interference check calculating means 64. Further, the reproduction correction program storage means 108 stores the reproduction program storage means 7.
6 and a correction operation program storage means 78, and another solution operation program storage means 110 and another solution operation command / axis value storage means 112 are provided. Interference check device 1
02 further includes a data storage unit 56, an interference check result storage unit 58, an input unit 72, and a display unit 80, which have substantially the same configuration as that of the first embodiment.

The interference check in the device of the second embodiment is performed according to the flow of the flowchart shown in FIG. 3, as described above. Further, a correction operation program when interference occurs is performed in the same manner as described above. In the second embodiment, a separate solution operation program is created by the separate solution operation program creation means 106 instead of creating a correction operation program.
Referring to FIG. 7 showing the operation flow together with FIG. 6, when creating a program for avoiding interference,
What is necessary is just to instruct the preparation of the alternative solution operation program by the input means 72, and the operation of FIG. 7 is performed by giving the instruction. First, in step S-21, the interference reproduction program stored in the reproduction program storage means 76 is read, and the interference reproduction program is
4 Next, in step S-22, the alternative solution operation program creating means 106 obtains another solution based on the position and orientation at which the interference occurred using the interference reproduction program, and determines the position and orientation of the obtained alternative solution. It is stored in the separate operation program storage means 110 as an operation program.

Thereafter, in step S-23, an interference check is performed by the separate solution operation program. The interference check of the separate solution operation program is performed in the same manner as described above. If it is determined in this interference check that "no interference exists", the process proceeds from step S-24 to step S-25, where interference reproduction information for another solution operation program is obtained. The interference reproduction information obtained in step S-25 is, similarly to the above, the operation command information of the separate solution operation program and the position information by specifying each axis value of the measurement robot 16 at the operation end position of the operation command information. . When such interference reproduction information is obtained,
Proceeding to step S-26, another solution operation program is written in place of the interference reproduction program. That is, the interference presence / absence storage means (not shown) of the interference check result storage means 58
Is stored in the operation command / axis value storage means 74 (not shown) of the interference check result storage means 58 in step S-25. The obtained interference reproduction information (operation command information of the separate solution operation program and position information by specifying each axis value) is stored, and thus a part of the operation program is rewritten into the separate solution operation program, and the interference is performed using the separate solution operation program. Completes an operation program without any.

If it is determined in step S-24 that "interference exists", the flow advances to step S-27 to determine whether or not all alternative solutions have been checked. If all of the alternative solutions have not been checked, the process returns to step S-22, where another alternative solution operation program is created, and the above-described interference check is performed on the newly created alternative solution operation program. Check the alternative solution program or step S- until the alternative solution becomes "No interference".
22, steps S-23, S-24 and S-27 are repeatedly performed. Then, when all the alternative solutions are checked and all of them are "interference", the process proceeds from step S-27 to step S-28, and the interference reproduction program is kept stored in the reproduction program storage means 76. In such a case, a correction operation program is created by correcting the interference reproduction program by the input means 72 so as to avoid interference.

In this embodiment, the measuring robot 1
Since 6-axis control is used as 6, there are eight different solutions as alternative solutions. Therefore, interference check is performed for up to eight different solutions. For this reason, when finding another solution, as described above, an interference check is performed for each of the different solutions, and the first different solution with “no interference” may be adopted as the different solution operation program. Instead of this, it is also possible to perform the interference check of all the alternative solutions in advance and select an appropriate one from the alternative solutions of “no interference”.

In the second embodiment, a separate solution operation program for different solutions is used, so that an avoidance operation program for avoiding interference can be created easily and in a short time.

Although the embodiment of the interference check device according to the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications and corrections can be made without departing from the scope of the present invention. It is.

For example, in the above-described embodiment, the present invention is applied to the interference check of the measuring robot 16 for measuring the bridge block 18. However, the measuring robot 16 for measuring an object other than the bridge block, for example, a large frame, is used. The present invention can be applied to an interference check, an interference check between various robots, and the like.

[0053]

According to the interference checking apparatus of the first and fourth aspects of the present invention, the reproduction program storage means stores from the reproduction start operation instruction information to the interference generation operation instruction information which is a predetermined step before the interference generation operation instruction information. Is stored as an interference reproduction program. Then, when reproducing the interference state, the simulation operation means reproduces from the state before the interference to the interference state based on the interference reproduction program, so that the operation up to the interference can be easily grasped. In addition, a correction operation program for avoiding interference can be easily created. The separate solution operation program creating means obtains another solution of the interference reproduction program and creates another solution operation program, the simulation calculation means simulates the separate solution operation program, and the interference check calculation means converts the object data and the simulation data into the object data and the simulation data. An interference check is performed based on the interference. Therefore, when interference occurs, the alternative solution operation program creating means automatically creates an alternative solution operation program,
The created separate solution operation program is also checked for the presence or absence of interference, and the occurrence of interference in the separate solution operation program can be reliably prevented. In particular, according to the present invention, at the time of interference, the alternative solution operation program creating means finds another solution having the same path locus as that of a tool attached to the tip of the multi-axis arm of the robot but having a different axis value of the arm. To create a separate solution operation program. Accordingly, the tool follows the same path as the interfering path without changing the path of the tool, and the axis value of the arm is changed, that is, the tool is moved by changing the posture of the arm. In this way, the tool can be moved along a desired trajectory, and interference can be avoided.

According to the interference checking apparatus of the present invention, the operation program is a program for moving the robot to the work position, and the reproduction start operation command information of the interference reproduction program is the operation of the robot. Since the command information and the position information based on the designation of each axis value are included, the simulation operation means can accurately reproduce a series of operations up to the interference based on the interference reproduction program.

According to the third and fourth aspects of the present invention, there is provided a correction program creating means for correcting an interference reproduction program, and the correction program creating means creates a correction operation program for avoiding interference. Is done. Then, the simulation calculation means simulates the correction program, and the interference check calculation means checks interference based on the object data and the simulation data. Therefore, the presence or absence of interference can be checked for the correction operation program, and the occurrence of interference in the correction operation program can be reliably prevented.

[0056]

[Brief description of the drawings]

FIG. 1 is a perspective view schematically showing an example of a measurement robot system to which an interference check device according to the present invention is applied.

FIG. 2 is a block diagram schematically showing a first embodiment of an interference check device applied to the measurement robot system of FIG.

FIG. 3 is a flowchart for explaining an interference check operation of the interference check device of FIG. 2;

FIGS. 4A and 4B are diagrams showing examples of part measurement programs 1 and 2, respectively.

FIG. 5 is a diagram showing an example of an interference reproduction program.

FIG. 6 is a block diagram schematically showing a second embodiment of the interference check device according to the present invention.

FIG. 7 is a flowchart for explaining an operation of creating an alternative solution operation program in the interference check device of FIG. 6;

[Explanation of symbols]

 Reference Signs List 16 measurement robot 18 bridge block 52 interference check device 54 calculation means 56 data storage means 58 interference check result storage means 60 reproduction correction program storage means 62 simulation calculation means 64 interference check calculation means 72 input means 73 interference existence storage means 76 reproduction program storage Means 78 Correction operation program storage means 80 Display means 104 Calculation means 106 Alternative solution operation program creation means 110 Alternative solution operation program storage means

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-9-207089 (JP, A) JP-A-10-11129 (JP, A) JP-A-10-11128 (JP, A) JP-A-6-107 202727 (JP, A) JP-A-2-155004 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G05B 19/4069 G05B 19/4093

Claims (4)

(57) [Claims] 1. A tool is mounted on a tip of a multi-axis arm of a robot, and object data storage means for storing object data relating to an object, and an operation program storage for storing a robot operation program relating to a series of path trajectories for the object. Means, simulation operation means for performing an operation simulation based on the operation program, interference check operation means for checking interference with an object based on the object data and simulation data by the simulation operation means, and interference check An interference check apparatus comprising: an interference check result storage means for storing a result of the interference check by the calculation means; and a reproduction program storage means connected to the simulation calculation means, wherein the reproduction program storage means The interference reproduction operation command information from the reproduction start operation command information which is a predetermined step before the interference generation operation command information causing the interference to the interference generation operation command information is stored as an interference reproduction program. The means reproduces from a state before interference with the object to an interference state on the display means based on the interference reproduction program, and a separate solution operation program creating means connected to the simulation operation means is provided, and the separate solution operation is provided. The program creation means creates another solution operation program by obtaining another solution having the same path trajectory as the tool of the interference reproduction program but different in the axis value of the arm, and the simulation calculating means executes the another solution operation program. Simulate, and the interference check calculation means performs the object data and the separate solution operation An interference check device for a robot, which performs an interference check based on simulation data by a program. 2. A tool is mounted on the tip of a multi-axis arm of the robot, and object data storage means for storing object data on the object, and operation program storage for storing a robot operation program on a series of path trajectories for the object. Means, simulation operation means for performing an operation simulation based on the operation program, interference check operation means for checking interference with an object based on the object data and simulation data by the simulation operation means, and interference check An interference check apparatus comprising: an interference check result storage means for storing a result of the interference check by the calculation means; and a reproduction program storage means connected to the simulation calculation means, wherein the reproduction program storage means The interference reproduction operation command information from the reproduction start operation command information which is a predetermined step before the interference generation operation command information causing the interference to the interference generation operation command information is stored as an interference reproduction program. The means reproduces from a state before interference with an object to an interference state based on the interference reproduction program, and the operation program stored in the operation program storage means is a program for moving a robot to a work position. The reproduction start operation command information of the interference reproduction program includes operation command information of the robot and position information of the robot by designating each axis value, and another solution operation program creating unit connected to the simulation operation unit Is provided, and the separate solution operation program creating means is provided with the interference reproduction program. A separate solution operation program is created by finding another solution that is the same as the path locus followed by the tool of the ram but different in the axis value of the arm, and the simulation calculating means simulates the different solution operation program and performs the interference check calculation. A means for performing an interference check based on the object data and simulation data based on the separate solution operation program. 3. A tool is mounted on the tip of a multi-axis arm of the robot, and object data storage means for storing object data relating to the object, and an operation program storage for storing a robot operation program relating to a series of path trajectories for the object. Means, simulation operation means for performing an operation simulation based on the operation program, interference check operation means for checking interference with an object based on the object data and simulation data from the simulation operation means, and interference check An interference check apparatus comprising: an interference check result storage means for storing a result of the interference check by the calculation means; and a reproduction program storage means connected to the simulation calculation means, wherein the reproduction program storage means The interference reproduction operation command information from the reproduction start operation command information which is a predetermined step before the interference generation operation command information causing the interference to the interference generation operation command information is stored as an interference reproduction program. Means for reproducing from a state before interference with an object to an interference state based on the interference reproduction program, and connected to the simulation operation means for correcting the interference reproduction program to create a correction operation program Correction program creating means is provided, the simulation calculation means simulates a correction operation program based on the correction operation program, and the interference check calculation means performs an interference check based on the object data and simulation data based on the correction operation program. Done, said Another solution operation program creating means connected to the simulation operation means is provided, and the another solution operation program creating means is the same as the path trajectory followed by the tool of the interference reproduction program, but has a different axis value of the arm. And the simulation operation means simulates the alternative solution operation program, and the interference check operation means performs an interference check based on the object data and the simulation data based on the alternative solution operation program. An interference check device for a robot. 4. A tool is mounted on the tip of a multi-axis arm of the robot, and object data storage means for storing object data on the object, and an operation program storage for storing a robot operation program on a series of path trajectories for the object. Means, simulation operation means for performing an operation simulation based on the operation program, interference check operation means for checking interference with an object based on the object data and simulation data by the simulation operation means, and interference check An interference check apparatus comprising: an interference check result storage means for storing a result of the interference check by the calculation means; and a reproduction program storage means connected to the simulation calculation means, wherein the reproduction program storage means The interference reproduction operation command information from the reproduction start operation command information which is a predetermined step before the interference generation operation command information causing the interference to the interference generation operation command information is stored as an interference reproduction program. The means reproduces from a state before interference with an object to an interference state based on the interference reproduction program, and the operation program stored in the operation program storage means is a program for moving a robot to a work position. The reproduction start operation command information of the interference reproduction program includes operation command information of the robot and position information of the robot by specifying each axis value. Creating a correction program to make corrections and create a correction operation program A step is provided, wherein the simulation calculation means simulates a correction operation program based on the correction operation program, and the interference check calculation means performs an interference check based on the object data and simulation data based on the correction operation program; Another solution operation program creation means connected to the simulation operation means is provided, and the another solution operation program creation means generates another solution having the same path locus as the tool of the interference reproduction program and having a different axis value of the arm. The simulation calculation means simulates the alternative solution operation program, and the interference check operation means calculates the interference check program based on the object data and the simulation data based on the alternative solution operation program. Interference checking apparatus of a robot which is characterized in that a.