JP4246324B2 - Robot skill teaching method and apparatus - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a skill teaching method and apparatus capable of creating a database of work skills of skilled workers, such as welding, processing, assembly, and finishing work, and using the database to teach the work skills of skilled workers to a robot. Is.
[0002]
[Prior art]
As a conventional robot teaching apparatus, Japanese Patent Laid-Open No. 9-193064 discloses that a three-dimensional coordinate position detecting means via a posture detecting means and a motion transmitting member is attached to a dummy tool, and an operator holds this to teach. A device for converting the teaching data into robot teaching data is disclosed.
Japanese Patent Application Laid-Open No. 10-264059 discloses an apparatus for teaching a robot as a teaching device for a painting robot by detecting both ends of a tracer rod held by an operator with an image sensor and calculating its position and orientation. Is disclosed.
Japanese Patent Application Laid-Open No. 6-250730 discloses an industrial robot teaching apparatus that takes a worker's work as a work movement in the form of image data in time series, and based on the input data, the three-dimensional work. An apparatus that calculates a position / attitude and automatically generates a robot operation program based on the result is disclosed.
[0003]
[Problems to be solved by the invention]
The prior art as described above is merely a proposal of a tool for simplifying the teaching of the position / orientation to the robot, and is simply configured to teach the robot the operation of the worker with respect to the workpiece. Since the data is limited to one item and has not been acquired as the skill of the worker, it cannot be used later.
The device described in Japanese Patent Laid-Open No. 9-193064 can directly teach an operator's operation with an actual tool, but has a problem that it is limited to use within the operation range of the motion transmission member.
Further, the devices described in Japanese Patent Application Laid-Open Nos. 10-264059 and 6-250730 can teach the operator's operation in a non-contact manner. There is a problem that the accuracy is lowered, and therefore the measurement range is limited.
[0004]
The present invention has been made in view of the above points, and an object of the present invention is to extract an operator's motion pattern from the position / posture of a work tool taught by an operator by performing an actual work, and obtain it from work specifications. Skill teaching method that can embed skill of skilled worker in robot by building database that can search operation pattern and separately input tool parameter, and as a result, improve robot ability And providing an apparatus.
Another object of the present invention is to extract the operation pattern of the worker from the position / posture of the work tool taught by the worker performing the actual work, and simultaneously extract the work data pattern from the work data measured / input by another means. In addition, by constructing a database that can search for operation patterns and work data patterns obtained from work specifications and separately input tool parameters, it is possible to embed skills of skilled workers in the robot, resulting in the ability of the robot It is an object of the present invention to provide a skill teaching method and apparatus that can be improved.
[0005]
[Means for Solving the Problems]
In order to achieve the above object, the robot skill teaching method of the present invention measures and calculates the position / orientation of the work tool in real time in parallel with the process in which the worker holds the work tool and performs the actual work. The time series data of the position and orientation of the work tool being worked on is input and stored using the device, and the operator's movement pattern is extracted from this time series data and combined with the tool parameters entered separately, the work specifications As a key, a database capable of searching for operation patterns and tool parameters is constructed, and the robot is taught based on data obtained by inputting an intended work specification (see FIGS. 1 to 5).
[0006]
In addition, the robot skill teaching method of the present invention uses a device that measures and calculates the position / orientation of the work tool in real time in parallel with the process in which the worker holds the work tool and performs the actual work. Input and store the time series data of the position and orientation of the working tool inside, and at the same time, input and store the work data during work in time series by another means, and work from the time series data of the position and orientation of the working tool Database that can extract the operation pattern of the operator, extract the work data pattern from the time series data of the work data, and search the operation pattern, the work data pattern and the tool parameter using the work specification as a key together with the separately input tool parameters Is constructed, and the robot is taught based on data obtained by inputting an intended work specification (see FIG. 6).
[0007]
A skill teaching apparatus for a robot according to the present invention is a position / posture measuring apparatus that measures and calculates the position / posture of a working tool in real time in parallel with a process in which an operator grips a work tool and performs actual work. And a data storage device for inputting and storing time series data of the position / posture of the work tool held by the worker, and extracting an operation pattern of the worker from the stored time series data of the position / posture of the work tool To obtain data that teaches the operator's skill to the robot, which is constructed so that these data can be searched using the operation specifications as a key together with the operation parameters input and the operation parameters input separately (See FIG. 1).
[0008]
The robot skill teaching apparatus of the present invention is a position / posture that measures and calculates the position / posture of a working tool in real time in parallel with a process in which an operator grips the work tool and performs actual work. The time series data of the measuring device, the measuring means that measures the work data during work in real time, the position and orientation of the work tool, and the time series data of the work data are inputted, and these time series data are An operation pattern for extracting a work pattern from the time series data of the stored work data, and extracting a work pattern of the worker from the stored time series data of the position and orientation of the work tool; Work data pattern extraction device, operation pattern and work data pattern are input, along with tool parameters input separately, using work specifications as keys These data have been constructed so the search is characterized by comprising a database for obtaining data to teach skills of the operator to the robot (see Fig. 6).
[0009]
In these robot skill teaching devices according to the present invention, as a position / posture measuring device, an operator grips a work tool attached to the tip of the arm and applies a force to move the tip to an arbitrary position. An operation mechanism provided with an arm having six or more degrees of freedom so that the position / posture can be positioned, and a position detector provided on each axis of the joint portion of the arm, and a signal from the position detector of each axis It is preferable to use a contact-type three-dimensional measuring machine composed of a position / posture calculation device for calculating the position / posture of the work tool by performing coordinate conversion by inputting (see FIGS. 1, 2, and 6). ).
[0010]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described, but the present invention is not limited to the following embodiments, and can be implemented with appropriate modifications.
FIG. 1 shows a robot skill teaching apparatus according to a first embodiment of the present invention. FIG. 2 shows an example of an apparatus that can position the work tool used in the present embodiment at an arbitrary position / posture. In this embodiment, as a device that can measure the position / posture of the work tool in real time, for example, a contact-type three-dimensional measuring machine as shown in FIGS. 1 and 2 is used. The apparatus that measures the above in real time may be either a contact method or a non-contact method (a method using a camera, a laser, an ultrasonic wave, etc.).
As shown in FIG. 2, the operating device 10 is an operating mechanism having a highly rigid arm 12 having 6 or more degrees of freedom and a high-precision position detector 14 (for example, an encoder) at each joint. When the person grips the distal end portion 16 and applies a force to move the distal end portion 16, the distal end portion 16 can be positioned at any position / posture within the operating range.
[0011]
As shown in FIG. 1, the worker 18 attaches the work tool 20 to the distal end portion 16 of the operating device 10, and the worker 18 grips the work tool 20 to work on the actual workpiece 22. In the present embodiment, as an example, a finishing operation when a grinder is used as the work tool 20 will be described.
The input device 24 receives a signal from the position detector 14 of each axis of the operating device 10 when the worker 18 is working. By multiplying this by the coordinate transformation matrix, the position / posture of the work tool 20 can be measured. That is, each axis position data from the position detector 14 at the time of the work of the operator 18 is input to the input device 24, and these data are coordinate-converted by the position / posture calculation device 26 to determine the position / posture of the work tool 20. Time series data is obtained. This time-series data is temporarily stored in the data storage device 28, matched with some previously given motion patterns, and parameters of the matched motion patterns are extracted. The above processing is performed by the operation pattern extraction device 30.
[0012]
As a method for extracting the operation parameter, for example, as shown in FIG. 3, when the operation pattern is a reciprocating linear motion shifted by a constant pitch, the operation locus of the work tool 20 (here, a grinder) moving on the workpiece 32 is used. From the above, the feed speed (V) of the tool, the movement pitch (d) and the operation direction (θv) of the tool are obtained. Specifically, when the point sequence on the motion locus is P _j (j = 1, 2,..., N),
V = (Σ | P _k −P _k−1 | / Δt) / (n−1)
d = 2 (P _t −P ₁ ) _y
(Where Δt is the input period of time series data, P _t is the point where the inner product of the vector (P _{t + 1} -P _t ) and the vector (P _t -P _t-1 ) is negative, and () _y is y Indicates ingredients.)
Thus, the feed speed V and the movement pitch d can be obtained. For the movement direction θv, a reference tool posture with respect to the workpiece surface is determined in advance, and the movement direction in this reference posture is calculated.
[0013]
These are data directly related to finishing work quality and are one of skilled skills. In order to make this into a database, it is necessary to associate it with work specifications. Here, work specifications consist of target parameters such as work classification (polishing, grinding, chamfering, deburring, etc.), removal amount, finishing accuracy, and workpiece parameters such as workpiece shape pattern and workpiece material. is there. The work specifications are input in advance according to the work. Then, when these work specifications are inputted as keys, a database 34 is constructed so that the above-described operation patterns (including operation parameters) and tool parameters (used blades, rotation speed, etc.) can be searched.
For example, as shown in FIG. 4, several work shape patterns in the work specifications are prepared according to the representative shape of the work, and even with the same plane, parameters such as aspect ratio and surface inclination are provided. Make it. In FIG. 4, a plurality of shape pattern workpieces (a workpiece 36 of pattern 1, a pattern) depending on the surface inclination (θw), the radius of curvature (r), the aspect ratio (a> b, a <b, a = b), and the like. 2), a pattern 3 workpiece 40,...
[0014]
As described above, by performing various actual work with combinations of various workpieces and work tools, it is possible to construct a database 34 that can search operation patterns and tool parameters using work specifications as keys. FIG. 5 shows an example of such a database. This means that, among the work skills of the worker, the skill related to the operation can be acquired by teaching.
When automating the finishing work using a robot, if an intended work specification is input to the man-machine unit (operation unit) 42, a work specification close to the specification is determined from the database, and the worker is based on that. Are displayed on the man-machine unit 42. Then, by teaching the robot based on the displayed data, the operator's skill can be embedded in the robot. A normal off-line teaching method is used for teaching to the robot.
[0015]
FIG. 6 shows a robot skill teaching apparatus according to a second embodiment of the present invention.
As shown in FIG. 6, the worker 18 attaches the work tool 44 to the distal end portion 16 of the operating device 10, and the worker 18 grips the work tool 44 and works on the actual work 46. The configuration of the operation device 10 is the same as that of the first embodiment. In the first embodiment, finishing work using a grinder has been described. In this embodiment, welding work when a torch is used as the work tool 44 will be described as an example.
The input device 24 receives a signal from the position detector 14 of each axis of the operating device 10 when the worker 18 is working. By multiplying this by the coordinate transformation matrix, the position / posture of the work tool 44 can be measured. That is, each axis position data from the position detector 14 at the time of the work of the worker 18 is input to the input device 24, and these data are coordinate-converted by the position / posture calculation device 26 to determine the position / posture of the work tool 44. Time series data is obtained. The time-series data is temporarily stored in the data storage device 48, matched with some previously given operation patterns, and parameters of the matched operation patterns are extracted.
[0016]
In the present embodiment, as shown in FIG. 6, in addition to the acquisition of operation patterns (including operation parameters), work data is simultaneously recorded in time series using separately provided measurement means (not shown) and the input device 50. By inputting, a work data pattern can be extracted and added to the database. That is, the obtained time-series data is temporarily stored in the data storage device 48, and when the work data can be patterned according to the operation pattern during work or according to time, the parameter of the pattern is obtained. Here, the work data includes a welding current and a welding voltage in the case of a welding work, and a pressing force of a tool in the case of the finishing work of the first embodiment. Further, when the gap amount or the like also changes according to the work part, it is possible to adopt a configuration in which time-sequential input is performed in the same manner as the work data.
The process for extracting the operation pattern and the process for extracting the work data pattern are performed by the operation pattern / work data pattern extraction device 52.
[0017]
In the case of welding work, in addition to the shape pattern and material as work parameters in the work specifications, input groove type, gap amount, etc., and weaving pattern, weaving width, frequency, torch angle, or multi-layer welding A laminated pattern or the like is output, and a use torch, a wire, or the like is output as a tool parameter.
As in the case of the first embodiment, the database 54 is constructed so that the operation pattern, the work data pattern, and the tool parameter can be searched when the work specification is input as a key.
When automating the welding work using a robot, if an intended work specification is input to the man-machine unit 42, a work specification close to the specification is determined from the database, and the operator's operation pattern, The work data pattern and tool parameters are displayed on the man-machine unit 42. Then, by teaching the robot based on the displayed data, the operator's skill can be embedded in the robot.
Other configurations and operations are the same as those in the first embodiment.
[0018]
Here, patterning of work data will be described by taking the finishing work described in the first embodiment as an example. If the work data can be patterned according to the operation pattern during the work or according to the time, the parameter of the pattern is obtained. FIG. 7 shows an example of the pressing force pattern of the tool in the finishing operation. Here, as a repetitive rectangular pattern as shown in FIG. 7, the pressing force offset amount (f0), the pressing force width (f1), and the repetitive period (Tf) are extracted as pattern parameters. In the case of the finishing work described in the first embodiment, it is possible to add patterned data to the database as a configuration for inputting work data.
[0019]
【The invention's effect】
Since this invention is comprised as mentioned above, there exist the following effects.
(1) Work skills of skilled workers can be taught, and by using this in a database, when it is desired to automate the work, it can be embedded in the robot as the work skill.
(2) The skill of a skilled worker can be embedded in the robot, and as a result, the ability of the robot can be improved.
(3) When a contact-type three-dimensional measuring machine is used as a device for measuring the position / posture of the work tool in real time, highly accurate teaching data can be obtained.
[Brief description of the drawings]
FIG. 1 is a schematic configuration diagram showing a robot skill teaching apparatus according to a first embodiment of the present invention.
FIG. 2 is a schematic configuration diagram showing an example of an apparatus capable of positioning a work tool in an arbitrary position / posture according to the first embodiment of the present invention.
FIG. 3 is a schematic configuration diagram showing an example of operation parameter extraction according to the first embodiment of the present invention.
FIGS. 4A and 4B are configuration diagrams showing an example of a workpiece shape pattern according to the first embodiment of the present invention, in which an upper stage is a side view and a lower stage is a plan view. FIGS.
FIG. 5 is a configuration diagram showing a display example of a database in the first embodiment of the present invention.
FIG. 6 is a schematic configuration diagram showing a robot skill teaching apparatus according to a second embodiment of the present invention.
FIG. 7 is a graph showing an example of patterning work data.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 Operation apparatus 12 Arm 14 Position detector 16 Front-end | tip part 18 Worker 20, 44 Work tool 22, 32, 36, 38, 40, 46 Work 24, 50 Input device 26 Position and attitude | position calculating apparatus 28, 48 Data storage device 30 Operation pattern extraction device 34, 54 Database 42 Man machine unit 52 Operation pattern / work data pattern extraction device

Claims (3)

In parallel with the process in which an operator grips the work tool and performs actual work, time-series data of the position and orientation of the work tool being worked on using a device that measures and calculates the position and posture of the work tool in real time At the same time, work data during work is input and stored in a time series by another means, and the operator's movement pattern is extracted from the time series data of the position / posture of the work tool. Work data patterns are extracted from time series data, and together with tool parameters that have been input separately, a database that can search for operation patterns, work data patterns, and tool parameters using the work specifications as a key is constructed, and the intended work specifications are entered. A robot skill teaching method comprising teaching a robot based on the obtained data . A position / posture measurement device that measures and calculates the position / posture of the working tool in real time in parallel with the process in which the operator grips the work tool and performs the actual work,
A measuring means for measuring work data during work in real time;
A data storage device for inputting the time series data of the position and orientation of the work tool, inputting the time series data of the work data, and storing these time series data;
An operation pattern / work data pattern extraction device that extracts an operation pattern of the worker from the time series data of the stored position / posture of the work tool and extracts the work data pattern from the time series data of the stored work data;
A database for acquiring data that teaches the operator's skill to the robot, which is constructed so that the operation pattern and work data pattern can be entered and these data can be searched using the work specifications as a key together with the tool parameters entered separately. And a robot skill teaching device. The position / posture measuring apparatus 6 can be positioned in an arbitrary position / posture by the operator holding the work tool attached to the tip of the arm and moving it with force. An operating tool having an arm having the above-described degrees of freedom and having a position detector on each axis of the joint portion of the arm and a coordinate conversion by inputting a signal from the position detector of each axis. The robot skill teaching apparatus according to claim 2, which is a contact-type three-dimensional measuring machine comprising a position / attitude calculation device for calculating the position / attitude of the robot.

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