JP4836458B2 - How to create an operation program - Google Patents

Description

  The present invention relates to an operation program creation method for creating an operation program by teaching an object having two or more three-dimensional shapes, for example, a welding robot and a workpiece to operate on a series of operation trajectories while determining the presence or absence of interference.

  FIG. 14 is an apparatus system diagram showing the robot welding apparatus. In FIG. 14, a work 64 is supported by a positioner 65, and a welding robot 63 for welding a weld line of the work 64 is disposed. The welding robot 63 is connected to a robot controller device 61 as a control computer by communication means, and the welding robot 63 is controlled by the robot controller device 61. The personal computer 60 in which the operation program is stored is connected to the robot controller device 61 by a communication cable 62, for example.

  In such a robot welding apparatus, when the welding line of the workpiece 64 is automatically welded by the welding robot, the welding torch or the welding robot body of the welding robot and the positioner or the welding robot that supports the workpiece and the workpiece in the welding posture are used as a predetermined method. The slider to be moved may come into contact. Such contact is called interference. If interference occurs, the welding torch cannot be moved along the welding line of the workpiece, so it is necessary to check in advance for the occurrence of interference, create an operation program that does not cause interference, and perform welding work accordingly. is there.

  For example, JP-A-7-78017 (Patent Document 1) and JP-A-2003-127077 (Patent Document 2) are known as conventional techniques related to an interference check technique for two or more three-dimensional objects or an offline teaching system for a welding robot. It is done.

  Patent Document 1 discloses a data input device for inputting a welding robot model and a work model, a simulation arithmetic device for teaching and simulating the robot, a welding robot model, a work model, an operation program, and a determination by the simulation arithmetic device. A data storage device for storing the results, an interference check operation device that collectively checks the interference between the welding robot model and the work model for each combination of a plurality of selected welding robot models, work models, and operation programs, An interference check device between moving objects having a simulation display device for displaying a state of occurrence is disclosed.

  In Patent Document 2, a robot program is created in advance, the created robot program is executed on the screen, and when the robot interferes with an external device, the execution position of the robot program being executed at that time is recorded, A robot program correction device that corrects a robot program based on the recorded contents is disclosed.

JP 7-78017 A JP 2003-127077 A

  However, each of the conventional interference check devices or robot program correction devices described in Patent Documents 1 and 2 described above creates a teaching program, and then executes and simulates the teaching program, thereby The presence or absence of interference is determined. For this reason, not only does it take a lot of time to create an accurate teaching program, but there is a problem that the operation becomes complicated.

  That is, in the above-described prior art, after completing a robot teaching program, a simulation for executing the robot program is performed, thereby determining the presence or absence of interference between the work model and the welding robot model. However, recently, with the widespread use of welding robots, workpieces with complex shapes with bent plates, cast parts, or grooves have become targets for robot welding, and are used for offline teaching with the spread of 3D CAD systems. Since the shapes of robots, torches, workpieces, etc., become accurate and complex, which makes it difficult to judge interference on the two-dimensional screen visually, more interference points can be found by simulation after creating the program After that, it took a lot of time to modify the program afterwards.

  In addition, since the robot work is a series of continuous operations, it is not necessary to change only the location where the interference occurs in the teaching program. Also, if the torch moves during welding, a torch cable (described later) will be described. Since the movement of the wire in FIG. 4 has a negative effect on the wire feeding, it is necessary to keep the torch angle constant during welding. For this reason, since it is necessary to review the torch angle and the robot posture before and after the interference location, it takes a long time to correct the program. There is also a problem that a simulation for checking again the presence or absence of interference is necessary for the modified program.

  The present invention has been made in view of such a problem, and an object of the present invention is to provide an operation program creation method capable of efficiently creating an operation program without interference between a robot and a workpiece.

Another operation program creation method according to the present invention is an operation program creation method for creating an operation program by teaching an welding robot model and a work model to operate on a series of operation trajectories by an offline teaching system. Inducing a model to a first operating point for the workpiece model, checking if interference occurs between the welding robot model and the workpiece model, and if there is interference, the welding robot Interference between the welding robot model and the work model occurs again by changing at least one factor selected from the group consisting of the operating condition of the model, the arrangement mode of the work model, and the position of the first operating point. The process of checking whether or not there is no interference, and if there is no interference Guiding the welding robot model to a second operating point with respect to the workpiece model after interference is eliminated, and checking whether interference occurs between the welding robot model and the workpiece model; When the interference occurs, the welding robot model is changed again by changing at least one factor selected from the group consisting of the operating condition of the welding robot model, the arrangement mode of the work model, and the position of the second operating point. A step of checking whether interference with the workpiece model occurs and repeating this until there is no interference, and when there is no interference for the second operating point or after the interference has been eliminated, includes a step of performing a similar interference check for their operating point if the point, the operating conditions of the welding robot model, the robot tip position Is represented by (X, Y, Z) coordinates, and is selected from the group consisting of a guide route that guides the welding robot model between operating points, the welding robot model position determined by a slider, a torch angle, and each joint angle. In the interference check of the welding robot model, in addition to the work model, the check target is at least one work target selected from a positioner model, a slider model, a nozzle cleaner model, a wire cutter model, and a scaffold model. An operation program including incidentals other than objects and having no interference at all operation points is created.

  Further, the welding robot model and the work model can be displayed on a display screen, and the welding robot model can be guided to the operating point from a mouse or a keyboard.

Further, in the step of avoiding the interference after the interference occurs, an operation condition selected from the group consisting of a guide path of the welding robot model, a welding robot model position, a torch angle, and a joint angle is set in the offline teaching system. The interference may be avoided by changing in a manner preset in the computer.

  Furthermore, when the welding robot model and the work model interfere with each other, a warning can be given by changing the color of the portion where the interference occurs on the display screen.

  The interference check is replaced with an interference check for a workpiece model having an actual workpiece shape, or after the interference check, for the dummy workpiece model having a shape larger than the actual workpiece, the welding robot model and the dummy By checking for interference with the workpiece model, a near miss between the welding robot and the actual workpiece may be checked.

Furthermore, after being created or creates the operation program, the operating conditions of the previous SL welding robot model back to the operating point of interference check is finished, selected from the group consisting of position of the arrangement mode and the operating point of the workpiece model and change at least one, can be configured to perform an interference check again.

Furthermore, after being created or creates the operation program, the operating conditions of the previous SL welding robot model back to operating point near miss checking is completed, selected from the group consisting of position of the arrangement mode and the operating point of the workpiece model change at least one, may be performed near miss checked again.

  Furthermore, after the operation program is created, the operation can be simulated to finally confirm that there is no interference.

According to the method for creating an operation program according to the present invention , it is checked whether or not interference occurs between two or more three-dimensional objects during the creation of the operation program. Since the operation program is created while checking the interference, the operation program without interference can be created in a short time.

That is , during the creation of the welding robot teaching program, it is checked whether or not the interference between the welding robot model and the work model occurs. If the interference occurs, the operating conditions of the welding robot model and the arrangement mode of the work model are determined. The interference is checked again, and this is repeated until the interference disappears. Therefore, when the teaching program is completed, there is no interference and a teaching program without interference can be quickly created.

In addition , when interference occurs, the condition selected from the welding robot model guide path, the welding robot position determined by the slider, the torch angle, and each joint angle of the welding robot is changed, and the presence or absence of the interference is checked again. Since the check is performed, it is possible to avoid the interference of the welding robot model with the work model and to create an accurate operation program. Furthermore, since not only the work model but also an accessory is included in the interference check target, interference between the welding robot model and the accessory other than the work object can be avoided. Furthermore, it is possible to avoid interference between the welding robot model, the positioner model, the slider model, the nozzle cleaner model, the wire cutter model, and the like, and it is possible to create an operation program with higher practical value that is more realistic.

According to the method for creating an operation program according to claim 2 of the present application, the welding robot model can be guided on the screen in a state where the welding robot model and the work model are displayed on the display screen. It is possible to guide the welding robot model and confirm interference.

According to the method for creating an operation program according to claim 3 of the present application, in the interference avoidance step when interference occurs, the operation condition induced by the welding robot model or the changed factor is changed in a pre-installed manner to avoid interference. By doing so, it is possible to reliably avoid interference.

According to the method for creating an operation program according to claim 4 of the present application, when the welding robot model and the work model interfere with each other, the interference can be captured as an image. Thus, a more accurate operation program can be created.

According to the method for creating an operation program according to claim 5 of the present application, the welding robot model and the work model do not interfere with each other, but it is possible to check whether or not the near miss state is close thereto. A safer operation program can be created.

According to the operation program creation method according to claim 6 of the present application, during the creation of the operation program, after returning to the operation point where the interference check has been completed and changing the operation condition, the interference check is performed again. If there is interference in the interference check in the subsequent process and it becomes difficult or a large change even if it tries to avoid the interference by changing the operating condition, the operating condition is changed for the operating point where the previous interference check has already been completed. If the subsequent check is performed again, the interference can be easily avoided by the interference check in the subsequent process. After the operation program is completed, an operation program that can avoid interference has been completed. However, if a large change in operating conditions is required at some operating points, for example, the operation of the process before the operating point is performed. By returning to the point and changing the operating condition, there is no significant movement and a better operating program can be created. In addition, the processing time can be shortened and labor can be saved as compared with the case of creating an operation program from the beginning.

The operation program creation method according to claim 7 of the present application is a case of near miss check, and has the same effect as that of claim 6 .

According to the method for creating an operation program according to claim 8 of the present application, after creating the operation program as described above, the operation is simulated to confirm that there is no interference. Can be verified.

  Embodiments of the present invention will be described below in detail with reference to the accompanying drawings. FIG. 1 is a block diagram of an operation program creation device according to the present embodiment. In FIG. 1, this apparatus is provided with an off-line teaching apparatus 4 connected to a work model database 1 and a robot system model database 2 and incorporating three-dimensional CAD software. The off-line teaching device 4 is connected to an input unit 5 for instructing input of work model and welding robot model data from outside and instructing robot guidance. The offline teaching device 4 is connected to a display unit 6 that displays a work model and a welding robot model. Further, the off-line teaching device 4 is connected to a database 3 of a program that stores the created operation program, and is connected to a communication device 8 that transmits the program to the robot controller device 7.

  In the apparatus of FIG. 1, the operation program is created as follows. In the present embodiment, simply referring to interference check refers to interference check for a workpiece model having an actual workpiece shape, and near miss check refers to checking whether objects do not approach with a specified margin, For example, it refers to an interference check for a Danny work model having a shape that is similar to that of an actual work.

  (1) First, in the off-line teaching device 4, a part model that is a part of the work model is created. The part model is created, for example, by selecting the shape of a figure using a button displayed on a personal computer screen and then inputting the dimensions. In addition to such a method of entering a dimension, there is a 2D input method for inputting a cross-sectional shape and inputting a plate thickness.

  (2) Next, a work model is created. A work model is created by moving the created part models and combining them like building blocks. After the combination, in order to indicate that each part of the work model is an integral part, for example, parent-child designation is performed with the base material as a parent and each member as a child. This is a work equivalent to temporary attachment at an actual work site.

  (3) Next, the work model is arranged. The work model is placed in the robot system in the virtual space on the computer as in the actual system. After the placement, it is instructed through the screen that the work model is attached to the positioner.

  (4) Next, a robot teaching program is created. That is, teaching work on an actual line is realized in a virtual space on a computer. In teaching in the virtual space, first, the position angle is entered numerically on the screen to determine the workpiece posture. Next, in order to guide the robot, the robot tip position coordinates X, Y, and Z are designated by numbers, for example. Alternatively, when the buttons corresponding to the X, Y, and Z axes displayed on the screen are clicked, the robot tip position coordinate X axis, Y axis, and Z according to a predetermined pitch (for example, an interval of 10 mm). The robot is guided so that the position in the axial direction changes. Or, select the pitch width in advance in the table on the screen, and click the buttons corresponding to the X, Y, and Z axes to guide the robot tip position table at the selected pitch in the selected axis direction. It can also be.

  When the robot arrives at a position to be moved in the virtual space, the position is stored by issuing a position determination instruction from the keyboard. By repeating such operations, an operation program is created in the virtual space. It is also possible to guide the welding robot model to that position by clicking a predetermined position of the work model on the screen with a mouse or keyboard key. Further, in the operation program creation step, all control commands that need to be input by actual machine teaching such as arc ON can be input in addition to the operation of creating the robot trajectory in the virtual space.

  At this time, in parallel with the creation of the operation program, it is determined whether or not there is any interference between the welding robot model and the work model or the positioner model and / or the slider model that is a peripheral device model of the work. After changing any one or more of the robot tip position on the path, torch angle, and each joint angle of the welding robot model, the presence or absence of interference is determined again, and this operation is repeated until there is no interference. An operation program is created when it runs out. Here, the welding path of the welding robot refers to a position where the robot tip position on the path for guiding the welding robot model is represented by X, Y, and Z coordinates. If interference cannot be avoided, creation of all or part of the operation program may be abandoned. In this case, giving up part of the process is called unwelding.

  For example, a check as to whether or not the welding robot model interferes with the work model or its peripheral devices is performed as follows. FIG. 2 is a diagram illustrating an interference check method.

  (A) First, the inner product of the surface fi (ai, bi, ci, di) of the solid A as the work model and the vertex Pj (xj, yj, zj, 1) of the solid B as the welding robot model is shown in FIG. ) Calculate all as shown in

  Next, when the solid A has a convex shape, if there is a plane fi of the solid A with min (rij (i = 1 to Ps))> 0, that is, all of the solid B as shown in FIG. If the point is outside at least one surface of the solid A, the solid A and the solid B do not interfere with each other (rough check 1).

  Next, when the solid A is a convex figure, if there is a vertex Pj of the solid B with max (rij (i = 1 to fA)) ≦ 0, the solid A and the solid B as shown in FIG. Always interfere (coarse check 2).

(B) When the solid A is a convex figure, check is performed on the surfaces f ₁ and f ₂ and the ridge line P ₁ P ₂ where rf ₁ p ₁ × rf ₁ p ₂ ≦ 0 and rf ₂ p ₁ × rf ₂ p ₂ ≦ 0. 2D, if the ridge line P ₁ P ₂ does not interfere simultaneously with the f ₁ and f ₂ surfaces, the solid A and the ridge line P ₁ P ₂ do not interfere with each other. As shown on the right side of (d), when the ridge line P ₁ P ₂ interferes simultaneously with the f ₁ and f ₂ surfaces, the solid A and the ridge line P ₁ P ₂ interfere (ridge line check).

(C) In the plane f _{1 of the} solid A and the ridge line P ₁ P ₂ of the solid B where rf ₁ p ₁ × rf ₁ p ₂ ≦ 0, the intersection of the surface fi of the solid A and the ridge line P ₁ P ₂ of the solid B is As shown in FIG. 2 (e), it is checked whether it is inside or outside the surface fi, and if it is inside the surface fi, it interferes, and if it is outside, it does not interfere. That is, a vector is taken from the intersection of the ridge line P ₁ P ₂ and the surface fi toward each vertex Pf ₁ , Pf ₂ , Pf ₃ , Pf ₄ of the surface fi, and the sum of the angles between the vectors is calculated. In the case of 360 degrees, the surface fi of the solid A and the ridgeline P ₁ P _{2 of the} solid B interfere with each other. On the other hand, when the sum of the angles between the vectors is 0, the surface fi of the solid A and the ridge line P ₁ P _{2 of the} solid B do not interfere (detail check). The presence or absence of interference is checked by combining one or more of the above-described interference check methods, interference is checked for all operating points, and the operation program is completed when there is no interference. After the operation program is completed, the operation program is registered at the operator's discretion.
(5) When the operation program is completed, simulation (reproduction) is performed.

The validity of the created motion program is confirmed by simulation in the virtual space.
The following are examples of simulation functions.

  (A) An interference check between the robot and the workpiece is performed. That is, when the operation program is created so as to pass through an unfair path, or when a narrow part where the torch interferes is forcibly taught, a warning is prompted by displaying the interference part in red during the simulation.

  (B) An instruction error check is performed. That is, a warning is issued when an instruction is inserted at an illegal position in the operation program, or when an illegal combination of instructions is set.

(C) An operating range check is performed. That is, it is possible to confirm in advance whether or not the limit of each axis of the robot will exceed the limit by the operation program created by the simulation, or whether or not the robot will enter a singular point.
(6) Next, the program is saved.

  As described above, it is possible to save the program creation work by determining the presence or absence of interference during the creation of the motion program and creating the motion program while making corrections based on the determination result.

  FIG. 3 is a block diagram showing in detail the main part of FIG. 1, and is software incorporated in the computer of the offline teaching apparatus, for example, excluding the display unit and the input unit. In FIG. 3, a robot teaching unit 21 is bidirectionally connected to a robot control unit 22 that controls a welding robot model. The robot teaching unit 21 is connected to an input unit 23 for inputting data by an operator such as a keyboard or a mouse and a display unit 24 for displaying a work or a system model. Further, the robot teaching unit 21 stores an operation program created by the interference check unit 25 that determines whether or not the workpiece model and the welding robot model interfere with each other based on the vertex coordinates of the workpiece model and the welding robot model, and an operator. It is connected to the storage area 26.

  The robot teaching unit 21 transmits the robot movement position input by the operator using the input unit 23 such as a keyboard or a mouse or the movement position of the robot calculated based on the movement amount input by the operator to the robot control unit 22. (1) The robot tip position coordinates X, Y, Z and torch angles α, β, γ (or robot tip position coordinates X, Y corresponding to the target robot position / posture) using the keyboard by the operator , Z, wrist postures s4 to s6, joint angles θ1 to θ6) by directly inputting numerical values and specifying the movement position of the robot. (2) The operator inputs the movement amount of the robot using the keyboard. The robot teaching unit 21 determines the robot tip position coordinates X, Y, Z, torch angles α, β, γ (or robot tip position coordinates X, Y, Z, wrist) corresponding to the target robot position / posture from the robot movement amount. Postures s4 to s6 and joint angles θ1 to θ6) to calculate the robot movement position, or (3) The operator clicks the target robot position using the mouse , Robot tip position coordinates X, Y, Z corresponding to the target robot position / posture, torch angles α, β, γ (or robot tip positions X, Y, Z, wrist postures s4 to s6, joint angles θ1 to θ6) ) To specify the robot movement position. In this way, the movement position of the designated robot is transmitted to the robot control unit 22.

  The robot teaching unit 21 changes the welding robot model position at that time based on the values of the joint angles θ1 to θ6 of the robot axes received from the robot control unit 22, and the display unit 24 changes with the position change of the welding robot model. Redraw the screen. Further, the robot teaching unit 21 displays a determination result on the display unit 24 as to whether or not there is interference between the welding robot model and the work model determined by the interference check unit 25. Further, when the robot guide route or the like is changed by the operator in accordance with the display indicating that there is interference, the possibility of interference disappears and the operator determines that the position is acceptable, the program is stored in the program storage area 26.

  Hereinafter, the robot tip positions X, Y, Z, the torch angles α, β, γ, and the joint angles θ1 to θ6 in the welding robot guide path will be described. FIG. 4 is an explanatory diagram showing target coordinates for displaying the welding robot. In FIG. 4, the Y axis is an axis parallel to the horizontal direction of the welding robot. For example, a leftward movement amount for determining a target position is represented by (+), and a rightward movement amount is represented by (−). The X axis is an axis parallel to the front-rear direction of the welding robot. For example, the forward movement amount for determining the target position is represented by (+), and the backward movement amount is represented by (−). The Z axis is an axis parallel to the vertical direction of the welding robot. For example, the upward movement amount for determining the target position is represented by (+), and the downward movement amount is represented by (−).

  Further, torsional right or left rotation of the torch at the torch angle refers to the rotation angle γ around the X axis of the torch in a state where the tip of the torch is fixed, and upward or downward of the torch means that the tip of the torch is fixed. The rotation angle β around the Y axis of the torch in the state. Further, the clockwise or counterclockwise direction of the torch means the rotation angle α around the Z axis of the torch in a state where the tip portion of the torch is fixed.

  FIG. 5 is an explanatory diagram showing each joint angle in the welding robot. In FIG. 5, the joint angle θ1 is a rotation angle with respect to the rotation axis 11 of the robot body. For example, the rotation angle θ1 in the right direction is represented by (−), and the rotation angle θ1 in the left direction is represented by (+). The joint angle θ2 refers to a rotation angle with respect to the second rotation axis 12 orthogonal to the rotation axis 11 in the robot body. For example, the forward rotation angle θ2 is represented by (+) and the rear rotation angle θ2 is represented by (−).

  The joint angle θ3 is a rotation angle with respect to the third rotation axis 13 orthogonal to the vertical rotation axis 11 of the robot body. For example, the upward rotation angle θ3 is (−), and the downward rotation angle θ3 is (+). To express. The joint angle θ4 is a rotation angle with respect to the rotation axis 14 of the robot arm connected to the upper part of the robot body. For example, the rotation angle θ4 in the right direction is represented by (+) and the lower rotation angle 4 in the left direction is represented by (−). .

  The joint angle θ5 is the rotation angle of the tip of the torch with respect to the rotation axis 15 orthogonal to the rotation axis 14 of the robot arm. For example, the upward rotation angle θ5 is (−), and the downward rotation angle θ5 is (+). To express. The joint angle θ6 refers to a rotation angle of the robot arm with respect to the rotation axis 16. For example, the rotation angle θ6 in the right direction is represented by (+), and the rotation angle θ6 in the left direction is represented by (−).

  By knowing the joint angles θ1 to θ6 of such a torch, the posture of the welding robot can be known, and the positional relationship between the welding robot model and the work model or its peripheral device slider and / or positioner, that is, the presence or absence of interference is as described above. It is obtained by calculation.

  Hereinafter, the operation of the operation program creation device according to the present embodiment having such a configuration will be described. FIG. 6A to FIG. 6C are flowcharts illustrating the operation program creation method according to the present embodiment. 6A to 6C, a trapezoidal portion indicates processing by an operator, and a rectangular portion indicates processing by a computer.

  First, an operator selects a positioner model and / or a slider model as a welding robot model and work model for performing teaching work from a welding robot model and work model stored in the off-line teaching device 4, and a peripheral device model thereof (step S1). . When the welding robot model and the work model are selected, the selected welding robot model and the work model are displayed on the display (step S2).

  Here, whether to perform “interference check”, “near miss check”, or both is set in advance, and when performing a near miss check, a “near miss distance” is set (step S3). At this time, for example, 5 mm is input as the near miss distance. In the present embodiment, both interference check and near miss check are performed.

  If the above setting is performed, the process proceeds to the next step. If the setting is not performed, step S3 is repeated. Interference means that two objects such as a welding robot model and a work model come into contact with each other, and near miss means that two objects such as a welding robot model and a work model approach within a preset near miss distance. .

  When the setting in step S3 is made, the field of view on the display is adjusted so that the work can be easily performed with the mouse and the keyboard (step S4), and then the welding robot model and the work model on the display are based on the instructions. Is displayed (step S5).

  Next, the operator uses the mouse or keyboard to guide the welding robot model at the first operating point for the robot to perform work (step S6). When the welding start position is specified by guiding the welding robot model, the welding robot model moves to the first operating point in FIG. 7 (step S7). FIG. 7 is a diagram showing a weld line of the workpiece model, and a line connecting the first operating point and the second operating point is a weld line. In addition to the first operating point and the second operating point, the starting point, the ending point, or any point in between can be set as the operating point, which is an idle running operation that is not performed by the welding robot. Teaching that teaches the passing points of the welding torch as operating points such as the first operating point and the second operating point and creates a welding program is called teaching.

  When the welding torch is moved to the first or second operating point, for example, when the operator moves to the 10 mm pitch or 10 ° pitch with the keyboard key or clicks one point on the screen with the mouse to guide the welding robot. Then, the computer automatically checks whether the welding robot model and the work model interfere with each other as described above (step S8).

  If the welding robot model and the work model interfere with each other as a result of the interference check (step S9), a warning is issued to the operator by displaying the welding robot model and the work model of the interfered part in, for example, red (step S10). . If no interference occurs, no warning is displayed on the screen. Therefore, the operator recognizes that no interference occurs when there is no warning display.

  Next, it is checked whether or not the work model and the welding robot model are near misses (step S11). On the other hand, if the welding robot model and the work model do not interfere with each other in step S9, the process skips step S10 and proceeds to step S11 to determine whether or not the welding robot model and the work model are near misses (step). S11). Near miss means that two members approach within a preset near miss distance. Here, the near miss can be considered as interference when the work model is similarly enlarged by an amount corresponding to the near miss distance set in advance in the computer, for example. Since the near miss check is performed after the interference check, the near miss check of the part may be omitted when interference occurs in the interference check. In this embodiment, the near miss check is performed after the interference check. Even if the interference can be avoided, the operation program can be used when the near miss occurs, but it is necessary to pay sufficient attention during the execution. This is to recognize that there is. Ideally, an operation program in which neither interference nor near miss occurs is created.

  As a result of the determination, if a near miss occurs, the welding robot model and workpiece model of the near miss portion are displayed in, for example, yellow (step S12), and if no near miss occurs, step S12 is omitted and the process proceeds to step S13. If no near miss occurs, no warning is displayed. If there is no interference or near miss (step S13), the color of the welding robot model, work model, etc. is returned to the original color, for example, silver as necessary (step S14), and then the process proceeds to step S17. It is determined whether all work data has been created (step S17).

  On the other hand, when interference or near miss occurs, the guidance route of the welding robot model or the like is changed by the operator or automatically to avoid interference or near miss (step S15a, step S15b).

  That is, the change of the guide route of the welding robot model by the operator is performed as follows, for example. That is, for example, as shown in FIG. 8, when the welding nozzle of the welding robot model interferes with the work model, the operator changes the target positions X, Y, and Z of the welding robot model as shown in FIG. To do. FIG. 8 is a diagram showing a case where the welding nozzle of the welding robot and the workpiece interfere with each other, and FIG. 9 is an explanatory diagram showing a method for guiding the welding robot model when the interference occurs. In FIG. 9, the operator clicks on the display screen with, for example, a mouse, and moves the welding robot model to, for example, 1520.0 mm in the X (front and back) direction, 0.0 mm in the Y (left and right) direction, and −305. Move 0 mm. In this case, the welding robot model can be moved at a constant pitch of 10 mm, 100 mm, etc. by hitting a key on the keyboard or clicking with a mouse to avoid interference. Also, the welding robot model can be moved by inputting numerical values as position information using a keyboard.

  At this time, the operator can change the torch angles α, β, γ, for example. FIG. 10 is an explanatory diagram showing a case where the torch angle is changed on the work model display screen. In FIG. 10, the operator changes the torch angle α to −0.01 degrees and β to −24.97 degrees, thereby avoiding interference or near miss (step S15a). FIG. 11 shows a case where the welding robot model position is derived by hitting a keyboard key by the operator or clicking the mouse, or by inputting a numerical value as position information using the keyboard and moving the welding robot model. It is a figure which shows the welding robot model position of this.

  On the other hand, when automatically avoiding interference or near miss, when the interference or near miss occurs, the operation condition or factor that is the same as the operation condition or the changed factor that is derived for the welding robot model is preset in the computer of the offline teaching system. The interference is avoided by changing in the manner (step S15b).

  Next, it is determined whether or not all the work data of the robot system has been created by the operator (step S17). If all of the work data has been created, the creation of the operation program is terminated. On the other hand, if not all have been created, the process returns to step S7, and thereafter, the same operation is repeated to create an operation program for the welding robot model.

  During or after the creation of the motion program, once guide the welding robot model to the previous motion point where the interference or near miss check was performed, change the motion conditions of that part, and perform the interference or near miss check again. The operation program can be modified.

  After the operation program of the welding robot model is completed, the completed operation program is simulated as necessary. FIG. 12 is a diagram showing a flow of the simulation method of the operation program created in the present embodiment.

  In FIG. 12, the operator first inputs an operation program name, welding robot model name, work model name, and output file name for storing, for example, an interference check operation result to be checked for the presence or absence of interference by simulation. 23 is input to the robot teaching unit 21 (step S18).

  When the interference check target is selected in step S18, the robot control unit 22 executes the selected operation program, and the interference check unit 25 determines whether interference occurs between the selected welding robot model and the work model. Is automatically started to perform interference check processing (step S19). Whether or not interference occurs is checked by a method similar to the method described in FIG.

  When the interference check process in step S19 is completed, the result is displayed on the display screen of the display unit 24 as “with interference” or “without interference”, and an output list T is provided in the robot teaching unit 21, for example. It is stored in the omitted data storage unit (step S20).

  Next, the teaching program is corrected after the interference check process is completed. At this time, the operator calls up the interference check output list shown in FIG. 13 from the data storage unit described above and displays it on the screen of the display unit 24. In the interference check list, the first operation point indicates the number of the starting point between the teaching points where the interference between the robot model and the work model occurs, and the robot part name and the work part name cause interference. The name of the part name of the robot and the workpiece is shown.

  When such an interference check output list is displayed on the screen of the display unit 24, the operator selects a teaching program corresponding to the displayed output file name, and inputs the teaching point number by the data input device. At the teaching point number to which the model and the work model are input, for example, after returning to step S6, the computer performs an automatic interference check, and changes and corrects the teaching program so that interference does not occur. The data is stored in the data storage unit, and the operation program correction processing is terminated.

  According to the present embodiment, since the interference between the welding robot model and the work model, the positioner model, or the slider model can be checked or near miss during the creation of the operation program, an operation program without interference or near miss can be quickly created. can do.

  According to the present embodiment, since interference or near miss check is automatically performed, visual interference or near miss check that has been conventionally performed is not necessary, and the burden on the operator is reduced. Further, according to the present embodiment, an accurate operation program can be created before the simulation is executed, so that the risk of reviewing the entire continuous operation of the robot after the simulation is reduced.

  According to the present embodiment, not only the occurrence of interference or near-miss between the welding robot and the workpiece, but also the operation program while determining the presence or absence of interference or near-miss between the workpiece peripheral device, for example, a positioner, slider, etc., and the welding robot. Since it is created, it is possible to quickly create an accurate operation program that reliably avoids not only workpieces but also interference with peripheral devices and near misses.

  Further, according to the present embodiment, when an interference or a near miss occurs, a warning is displayed on the display screen in a color different from the normal color such as the welding robot model and the work model, so that the operator can easily interfere or It is possible to know the occurrence of near miss, and based on this, the guide route of the welding robot model can be changed to create an operation program free from interference or near miss.

  In the above embodiment, the case where both the interference check and the near miss check are set in step S3 in the flowchart of FIG. 6A has been described. However, the present invention is not limited to this, and only the interference check or only the near miss check is performed. It can be carried out. If only the interference check is performed, step S11 and step S12 are omitted, and if only the near miss check is performed, step S9 and step S10 are omitted.

  In addition, this invention is not limited to the said Example, A various deformation | transformation is possible. That is, the interference check target is not limited to a combination of a robot and a workpiece, and interference between two or more moving objects such as between a plurality of workpieces and between a plurality of welding robots can be checked. It is also possible to create an operation program while determining the presence or absence of mutual interference between the moving object groups.

  The present invention determines whether or not there is interference between a welding robot and a workpiece when creating an operation program for the robot, and when the interference occurs, the operation program creation conditions are changed by an instruction from the operator or on computer software. Then, check for interference again and repeat this operation until there is no interference. Therefore, it is possible to create an accurate operation program in a short time, which is particularly useful in the field of welding robots that perform many robot guidance operations.

It is a block diagram of the operation program creation apparatus of the welding robot which concerns on embodiment of this invention. It is explanatory drawing which shows the interference check method. It is a figure which shows the principal part of FIG. 1 in detail. It is explanatory drawing which shows the torch angle of a welding robot model. It is explanatory drawing which shows the joint angle of a welding robot model. It is a figure which shows the flow of the operation program creation method of the welding robot which concerns on this invention. It is a figure which shows the flow of the operation program creation method of the welding robot which concerns on this invention. It is a figure which shows the flow of the operation program creation method of the welding robot which concerns on this invention. It is a figure which shows an example of a welding work program. It is a figure which shows the interference state of the welding nozzle and workpiece | work during robot guidance. It is a figure which shows the guidance method of a robot. It is a figure which shows the guidance method of a robot. It is a figure which shows the guidance method of a robot. It is a flowchart of a simulation method. It is a figure which shows an interference check output list. It is an apparatus system diagram showing a robot welding apparatus.

Explanation of symbols

1: Work model database 2: Robot system model database 3: Program database 4: Offline teaching device 5: Input unit 6: Display unit 7: Robot controller device 8: Communication device 11: Robot body rotation axis 12: 2 rotation axis 13: third rotation axis 14: rotation axis 15 of the robot arm 15: rotation axis of the robot arm perpendicular to the rotation axis of the robot body 16: rotation axis 21 of the robot arm 21: robot teaching unit 22: robot control unit 23: Input unit 24: Display unit 25: Interference check unit 26: Program storage area 30: Torch cable 60: Personal computer 61: Robot controller device 62: Communication cable 63: Welding robot 64: Work piece 65: Positioner

Claims (8)

In an operation program creating method for creating an operation program by teaching the welding robot model and the work model to operate along a series of operation trajectories by an offline teaching system,
When the interference occurs, the step of guiding the welding robot model to the first operating point with respect to the workpiece model, the step of checking whether interference occurs between the welding robot model and the workpiece model, The at least one factor selected from the group consisting of the operating conditions of the welding robot model, the arrangement mode of the work model and the position of the first operating point is changed, and again between the welding robot model and the work model. A step of checking whether or not interference occurs and repeating this until no interference occurs; and a step of guiding the welding robot model to the second operating point with respect to the workpiece model when no interference occurs or after the interference is resolved And a step of checking whether or not interference occurs between the welding robot model and the work model; Is between the welding robot model and the work model again by changing at least one factor selected from the group consisting of the operating conditions of the welding robot model, the arrangement mode of the work model and the position of the second operating point. The process of checking whether or not the interference occurs and repeating this until the interference disappears, and when there is no interference with respect to the second operating point or after the interference has been eliminated, Performing a similar interference check on the operating point,
Operating conditions of the welding robot model are determined by a guide path, which is a path for guiding the welding robot model between operating points by representing the robot tip position in (X, Y, Z) coordinates, and the slider. Selected from the group consisting of position, torch angle and each joint angle;
In the interference check of the welding robot model, in addition to the work model, the check target is an accessory other than at least one work object selected from a positioner model, a slider model, a nozzle cleaner model, a wire cutter model, and a scaffold model. Including
An operation program creation method comprising creating an operation program free from interference for all operation points. The method of creating an operation program according to claim 1 , wherein the welding robot model and the work model are displayed on a display screen, and the welding robot model is guided to an operation point from a mouse or a keyboard. The step of avoiding the interference after the occurrence of the interference includes the operation condition selected from the group consisting of the guide path of the welding robot model, the welding robot model position, the torch angle, and the joint angle in the computer of the offline teaching system. 3. The operation program creation method according to claim 1, wherein the interference is avoided by changing in a preset manner. The method of creating an operation program according to claim 2 or 3 , wherein, when the welding robot model and the work model interfere with each other, a warning is given by changing a color of a portion where the interference occurs on the display screen. . The interference check is replaced with an interference check for a workpiece model having an actual workpiece shape, or after the interference check, for the dummy workpiece model having a shape larger than the actual workpiece, the welding robot model and the dummy by checking the interference between the workpiece model, how to create the operation program according to any one of claims 1 to 4, characterized in that to check the near miss between the actual workpiece and the welding robot. After being created or creates the operation program, the operating conditions of the previous SL welding robot model back to the operating point of interference check is completed, at least one selected from the group consisting of position of the arrangement mode and the operating point of the workpiece model the change, how to create the operation program according to any one of claims 1 to 5, characterized in that the interference check again. After being created or creates the operation program, at least one near miss checking the selected operating conditions of the previous SL welding robot model back to the operating point has ended, from the group consisting of position of the arrangement mode and the operating point of the workpiece model the change, how to create the operation program according to claim 5, wherein the performing near miss checked again. After creation of the operation program, to simulate the operation, how to create the operation program according to any one of claims 1 to 7, characterized in that to ensure that there is no final interference.

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