JP5970434B2 - Teaching data creation system and program - Google Patents

Description

  The present invention relates to a creation system and a program for creating teaching data for an industrial robot.

  Industrial robots such as welding robots that perform welding operate to perform work set by the teaching data by providing the teaching data. Therefore, individual teaching data is used for each type of work to be worked. For products that require a variety of small-volume production, it is necessary to prepare individual teaching data for various workpieces of different sizes and some configurations. In such a case, individual teaching data for similar types of workpieces is created by setting teaching data of a basic workpiece and editing the teaching data.

  As this type of prior art, for example, Patent Document 1 discloses means for creating and storing a master program from teaching data of a basic work taught by a robot, and drawings of a basic work and a similar work to be worked on. Based on the information obtained by inputting to the CAD and acquiring drawing information of the basic type work and the similar work, the means for extracting the enlargement / reduction / combination information of the similar work for the basic type work based on the drawing information, and the enlargement / reduction / combination information Further, there is disclosed a robot teaching apparatus having a master program similarity converting means for performing conversion processing of enlargement, reduction, and combination on a master program to create new teaching data.

JP-A-6-337711

When creating teaching data for similar workpieces based on the teaching data for basic workpieces, the CAD compares the models of each workpiece to extract differences, and based on the extracted model differences for each workpiece, The teaching data was edited. For this reason, it is necessary to prepare CAD models for both basic-type workpieces and similar workpieces. In addition, teaching data for similar workpieces is created by editing the teaching data for basic workpieces. Therefore, teaching data for workpieces whose shape is significantly different from basic workpieces cannot be created, and the versatility is poor. It was.
It is an object of the present invention to provide a highly versatile teaching system that creates teaching data based on an abstract teaching data master program.

The present invention that achieves the above object is realized as the following creation system. This system is a creation system that creates teaching data for a robot, and corresponds to a first reference point that specifies the origin of a virtual space, a second reference point that corresponds to a work start position, and a work end position. A master program acquisition means for acquiring a master program in which a work range is specified by the third reference point and setting a teaching point in the virtual space, and a first reference point, a second reference point, and a second reference point in the master program Input receiving means capable of receiving an instruction to change the position of the reference point 3 and teaching data for causing the robot to perform work on the work object by editing the master program according to the specific work object. Teaching data creation means for creating. Then, the teaching data creating means, when the input accepting means accepts a change instruction for any or all of the positions of the first reference point, the second reference point, and the third reference point, in the master program The teaching data is created by reflecting the change instruction to the set reference point.
With such a configuration, highly versatile teaching that can handle various workpieces by manipulating the reference point based on the master program, which is abstract teaching data that does not depend on the specific work object. A data creation system can be realized.

More specifically, in the master program acquired by the master program acquisition unit, at least a part of the teaching points is linked to any one of the first reference point, the second reference point, and the third reference point. Set as a reference point. The teaching data creation means is set as a reference point that is linked to the reference point whose position is to be changed when the position of any of the first reference point, the second reference point, and the third reference point is changed. The position of the taught point is changed so that the relative relationship with the reference point does not change.
With this configuration, teaching points that are highly relevant to the reference point can be handled in units of groups, so that the robot operation around the reference point can be handled consistently while supporting various workpieces. be able to.
When the input receiving unit receives an instruction to change the position of the first reference point, the teaching data creating unit changes the position of the first reference point in accordance with the change instruction, and the second reference point and the second reference point. The position of the third reference point is changed so that the relative relationship with the first reference point does not change.
When the input receiving unit receives an instruction to change the position of the second reference point, the teaching data creating unit changes the position of the second reference point according to the change instruction, and the position of the third reference point. Is changed so that the relative relationship with the second reference point does not change.
Further, the above creation system may further include position information acquisition means for acquiring information on the current position of the control point of the robot. In this case, the teaching data creation means is a robot that has acquired the position of each teaching point specified based on the positions of the first reference point, the second reference point, and the third reference point by the position information acquisition means. It changes based on the information of the current position of the control point.

  Furthermore, the present invention is also realized as a program that controls a computer to realize each function of the above-described system. This program can be provided by being stored and distributed in a magnetic disk, an optical disk, a semiconductor memory, or other recording media, or distributed via a network.

  According to the present invention, it is possible to provide a highly versatile teaching system capable of creating teaching data for various workpieces.

It is a figure which shows schematic structure of the welding robot system containing the teaching system which concerns on this Embodiment. It is a figure which shows the hardware structural example of the teaching data editing apparatus of this Embodiment. It is a figure which shows the function structural example of the teaching data editing apparatus of this Embodiment. It is a figure explaining the relationship of the three reference points in this Embodiment. It is a figure explaining the movement method of the reference point (teaching point) in this Embodiment. It is a figure explaining the setting method of the reference point by the 1st method in this Embodiment. It is a figure explaining the setting method of the reference point by the 2nd method in this Embodiment. It is a figure explaining the setting method of the reference point by the 3rd method in this Embodiment. It is a figure which shows the example of a setting of the reference point in this Embodiment. It is a figure which shows the other example of a setting of the reference point in this Embodiment. It is a figure which shows the structural example of UI screen at the time of creating the execution data in this Embodiment. It is a figure which shows the structural example of the worksheet used for continuous preparation of several execution data in this Embodiment. FIG. 13A is a diagram illustrating an example of original teaching data according to the present embodiment, and FIG. 13A is a diagram illustrating positions of teaching points for the operation of the workpiece and the robot used to obtain the original teaching data. 13 (b) is a diagram showing original teaching data obtained based on the workpiece of FIG. 13 (a). FIG. 14A is a diagram showing an example of a master program created from the original teaching data shown in FIG. 13, FIG. 14A is a diagram showing reference points and reference points (teaching points) in the master program, and FIG. It is a figure which shows the created master program. FIG. 15A is a diagram showing an example of execution data created from the master program shown in FIG. 14, FIG. 15A is a diagram showing the positions of target workpieces and teaching points based on the execution data, and FIG. FIG. It is a figure which shows the other example of the execution data produced from the master program shown in FIG. 14, (a) is a figure which shows the position of the object workpiece | work and teaching point of execution data, FIG.16 (b), It is a figure which shows execution data. FIG. 17A is a diagram showing still another example of execution data created from the master program shown in FIG. 14, FIG. 17A is a diagram showing the position of the target work and teaching point of the execution data, and FIG. It is a figure which shows execution data.

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings.
In the present embodiment, a teaching data creation system in a welding robot system will be described as an example.
〔System configuration〕
FIG. 1 is a diagram showing a schematic configuration of a welding robot system including a teaching system according to the present embodiment.
As shown in FIG. 1, the welding robot system includes a robot (manipulator) 10, a control device (controller) 20 for controlling the robot 10, and a teaching device 30 for inputting teaching data. The teaching system that creates teaching data and provides it to the control device 20 is configured by a teaching data editing device 40 realized by a computer system, for example. The control device 20 and the teaching data editing device 40 are connected to be able to communicate information via a network (for example, a wireless LAN). Thereby, the teaching data created by the teaching data editing device 40 can be transmitted to the control device 20, and information on the robot 10 necessary for creating the teaching data can be transmitted from the control device 20 to the teaching data editing device 40.

  The robot 10 includes arms having a plurality of joints, and performs various operations based on teaching data. For example, in the case of an arc welding robot system, a welding torch 11 for performing welding work on an object is provided at the tip of the arm. The control device 20 includes a storage device (memory) that stores teaching data and a processing device (CPU) that reads the teaching data and controls the operation of the robot 10. The teaching device 30 is used when an operator inputs a welding path, welding work conditions, and the like during teaching work of the robot 10. The teaching device 30 includes a display screen 31 constituted by a liquid crystal display or the like and an input button 32.

  The control device 20 has an interface for the robot 10 and an interface for the teaching device 30, and is connected to the robot 10 and the teaching device 30 via these. Further, the control device 20 includes a network interface, and can exchange data with the teaching data editing device 40.

[Hardware configuration of teaching data editing device]
FIG. 2 is a diagram illustrating a hardware configuration example of the teaching data editing device 40.
As shown in FIG. 2, the teaching data editing apparatus 40 includes a CPU (Central Processing Unit) 101 that is a calculation unit and a memory 102 that is a main storage unit. Further, as external devices, an image display mechanism (video card or the like) 103 and a display device 104, a magnetic disk device (HDD: Hard Disk Drive) 105, an input device 106 such as a keyboard or a mouse, and the like are provided. A network interface 107 for exchanging data with the control device 20 is also provided. 2 merely illustrates a hardware configuration when the teaching data editing apparatus 40 is realized by a computer system, and the teaching data editing apparatus 40 is not limited to the illustrated configuration.

[Functional structure of teaching data editing device]
FIG. 3 is a diagram illustrating a functional configuration example of the teaching data editing device 40.
As shown in FIG. 3, the teaching data editing device 40 includes a master program management unit 41, a UI control unit 42, a position information acquisition unit 43, an execution data creation unit 44, and an execution data transmission unit 45. .

  The master program management unit 41 holds and manages a master program used to create teaching data (hereinafter referred to as execution data) to be executed by the robot 10 in the present embodiment. Here, the master program is data (program) configured such that the teaching data is abstracted and does not depend on individual works. For example, the master program is prepared for each type of joint, and is classified by a folder (directory) or the like and managed by the master program management unit 41. Details of the master program will be described later.

  The UI control unit 42 is an input receiving unit, and specifies and controls a target master program and the robot 10 and provides and controls a user interface for performing processing for creating execution data to be executed by the robot 10. Specifically, for example, a UI (user interface) screen is generated and displayed on display means (for example, the display device 104 shown in FIG. 2), and an instruction input by the user by an operation on the UI screen is displayed. Accept.

The position information acquisition unit 43 is activated in accordance with the instruction received by the UI control unit 42 and acquires information on the current position of the robot 10 from the control device 20. Here, the current position of the robot 10 is the position of the robot arc point (control point, tip of the welding wire) with reference to the origin position set in the robot 10, for example, using a three-dimensional coordinate system (rx , Ry, rz) and the like. If the system configuration includes a slider, the current position is the position of the robot arc point relative to the origin position of the slider. In this case, if the origin position of the robot 10 relative to the origin of the slider is (sx, sy, sz) using the same three-dimensional coordinate system as described above (but different origins), the current position of the robot 10 is (rx + sx, ry + sy). , Rz + sz). If the coordinate value when the slider is not included in the system configuration is expressed by rx = ry = rz = 0, the current position of the robot 10 is generally expressed by the coordinate value (rx + sx, ry + sy, rz + sz). be able to.
The execution data creation unit 44 is activated in accordance with the instruction received by the UI control unit 42 and causes the robot 10 to execute based on the master program and the information on the current position of the robot 10 acquired by the position information acquisition unit 43. Create execution data. Details of the process of creating the execution data by editing the master program will be described later.
The execution data transmission unit 45 is activated in accordance with the instruction received by the UI control unit 42 and transmits the execution data created by the execution data creation unit 44 to the control device 20.

[Contents of the master program]
The master program used to create execution data in the present embodiment is an abstract description of the operation of the robot 10 during work without depending on the individual work to be worked. In the master program of the present embodiment, three reference points, a master reference point, a start reference point, and an end reference point, are set, and thereby a range (work range) in which work by the robot 10 is performed is specified. These reference points are set by describing specific instructions (hereinafter referred to as conversion format instructions) in the teaching data that is the basis of the master program. Details of the conversion format instruction will be described later.

The master reference point is a point indicating the origin of a virtual space set by the master program.
The start reference point is a point indicating the reference position on the start side of the weld line.
The end reference point is a point indicating a reference position on the end side of the weld line.
By these reference points, the space and the weld line in the space are specified without depending on a specific workpiece. Further, when creating execution data from the master program, the welding line can be deformed or the position can be changed by manipulating these reference points. As will be described in detail later, the reference point may be a point that coincides with any teaching point, or may be a point that does not coincide with any teaching point.

FIG. 4 is a diagram for explaining the relationship between the three reference points.
Consider a case where three reference points are set as shown in FIG. In FIG. 4A, a point Bp is a master reference point, a point Bs is a start reference point, and a point Be is an end reference point. At this time, as shown in FIG. 4B, when the master reference point is moved (Bp → Bp ′), the relative positions (relative relationships) of the three reference points Bp, Bs, and Be are not changed. The reference point and the entire weld line represented thereby move as the master reference point moves (Bp, Bs, Be → Bp ′, Bs ′, Be ′).
Further, as shown in FIG. 4C, when the start reference point is moved (Bs → Bs ′), the relative position between the start reference point Bs and the end reference point Be does not change. Is moved with respect to the master reference point Bp (Bs, Be → Bs ′, Be ′).
As shown in FIG. 4D, when the end reference point is moved (Be → Be ′), the master reference point Bp and the start reference point Bs do not move, and the end reference point relative to these reference points does not move. Only the position changes (Be → Be ′). For this reason, the length and direction of the weld line change.

  In the master program of the present embodiment, some of the teaching points are set as reference points belonging to any of the above three reference points. That is, the master reference point belonging to the master reference point, the start reference point belonging to the start reference point, and the end reference point belonging to the end reference point are set. Each reference point has a fixed relative position with respect to the reference point to which the reference point belongs. When the reference point moves, the reference point moves accordingly. These reference points are set by describing specific instructions (conversion format instructions) in the teaching data that is the basis of the master program. Details of the conversion format instruction will be described later.

FIG. 5 is a diagram for explaining a method of moving the reference point (teaching point).
As described above, the reference point is linked to the movement of the reference point to which the reference point belongs. In the illustrated example, the reference point belonging to the master reference point is moved (p1, p2 → p1 ′, p2 ′) with the movement of the master reference point (Bp → Bp ′). The position after the movement of the reference point is specified based on the position after the movement of the reference point. Specifically, the movement vector of the reference point is obtained by (position after movement of the reference point−position before movement of the reference point), and this movement vector is added to the position (coordinate value) of the reference point before movement. It can ask for.

  As a reference point moving method, as shown in FIG. 5 (a), a method corresponding to the movement of the tip of the robot 10 without changing the position of the robot 10 (hereinafter referred to as robot movement), and FIG. 5 (b). As shown in FIG. 4, there is a method of moving the position of the robot 10 by moving a slider (not shown) without changing the posture of the robot 10 (hereinafter referred to as slider movement). In the case of robot movement, the movement is performed by adding the movement vector of the reference point to the position of the tip of the robot 10 (for example, the coordinate values (rx, ry, rz) described in the description of the current position of the robot 10). Specify the previous position. On the other hand, in the case of slider movement, the movement vector of the reference point is added to the position of the slider (for example, the coordinate values (sx, sy, sz) described in the description of the current position of the robot 10), Identify the location. Moreover, you may use combining these moving methods. Which moving method is adopted can be determined as appropriate based on the system configuration of the robot 10 or the like.

  In the master program of the present embodiment, a teaching point that does not correspond to any of the above three reference points and reference points is called a fixed teaching point. The fixed teaching point does not move even when the reference point and the reference point linked to the reference point move. Therefore, in the execution data created from the master program, the position of the fixed teaching point is not different from the position of the corresponding fixed teaching point in the master program. Therefore, in the master program, no conversion format command is set for fixed teaching points.

Next, how to set the reference point will be described.
In the present embodiment, the following three methods are possible as the reference point setting method. Here, the conversion format command for each reference point is described as follows.
Master reference point ";#BASEP {, options}"
Start reference point ";#BSTART {, options}"
Ending reference point ";#BEND {, options}"

(1) Method of adding a reference point as a teaching point The first method is to add a reference point to teaching data (hereinafter referred to as original teaching data) that is a source of a master program separately from the teaching point of operation in the original teaching data. This is a method for additionally setting teaching points. In the original teaching data, a conversion format command is described at a teaching point added as a reference point (additional teaching point), thereby making the coordinates of the additional teaching point the position of the reference point.

FIG. 6 is a diagram for explaining a reference point setting method according to the first method.
In the example shown in FIG. 6A, in addition to the teaching points p1 to p7 for the operation of the robot 10, an additional teaching point Bp as a master reference point, an additional teaching point Bs as a start reference point, and an end reference point The additional teaching point Be is set. In the master program 100 shown in FIG. 6B, a master reference point conversion format command is described in step 8 indicating the eighth teaching point, and the starting reference point conversion is performed in step 9 indicating the ninth teaching point. A format command is described, and a conversion format command for the end reference point is described in step 10 indicating the tenth teaching point (bold portion). Normally, these teaching points provided as reference points are not necessary for execution data. Therefore, as shown in the figure, "DEL" is specified in the options of the conversion format command and deleted from the execution data. May be.

(2) Method of designating the position of the reference point with a numerical value The second method is a method of setting a conversion format command for designating the position of the reference point with a numerical value at the 0 step of the original teaching data. In this case, the coordinates “X + SX coordinate value, Y + SY coordinate value, Z + SZ coordinate value” obtained by adding the robot axis coordinate (X, Y, Z) and the slider coordinate (SX, SY, SZ) are specified in options of the conversion format command. .

FIG. 7 is a diagram for explaining a reference point setting method according to the second method.
In the example shown in FIG. 7A, a master reference point Bp, a start reference point Bs, and an end reference point Be are set apart from the teaching points p1 to p7 for the operation of the robot 10. In the master program 100 shown in FIG. 7B, conversion format instructions indicating the master reference point, the start reference point, and the end reference point are described in the last three lines of Step 0 (bold portions). In addition, coordinate values for indicating the master reference point Bp, the start reference point Bs, and the end reference point Be are described in options of the conversion format command of each reference point.

(3) Method of Setting Reference Point Including Motion Teach Point The third method is a method of setting, from the original teaching data, the teaching point originally set for the operation in the work as the reference point. In this case, the X, Y, and Z coordinate axes of the reference point can be set individually. In the options, the axis names to be set are arranged in the order of X, Y, and Z, and each is separated by “,”. Axis for which no coordinate value is set is left blank.

FIG. 8 is a diagram for explaining a reference point setting method according to the third method.
In the example shown in FIG. 8A, the teaching point p3 is set as the master reference point Bp and the start reference point Bs, and the teaching point p5 is set as the end reference point Be. In the master program 100 shown in FIG. 8B, a master reference point conversion format command and a start reference point conversion format command are described in step 3 indicating the third teaching point (in bold). Further, based on the fact that the X coordinate value and the Z coordinate value of the third teaching point p3 and the fifth teaching point p5 are common, the conversion instruction of the end reference point indicates steps 3 and 5 indicating the third teaching point. The fifth teaching point is described in step 5, the X coordinate value and the Z coordinate value are set in step 3, and the Y coordinate value is set in step 5 (bold portion).

Next, a reference point setting method will be described.
The reference point is set by describing a conversion format command for setting the reference point at the corresponding teaching point step of the original teaching data. Here, the conversion format command for each reference point is described as follows.
Master reference point ";#BREF, {X / SX}, {Y / SY}, {Z / SZ}"
Start reference point ";#SREF, {X / SX}, {Y / SY}, {Z / SZ}"
End reference point ";#EREF, {X / SX}, {Y / SY}, {Z / SZ}"
Note that “X, Y, Z” is a description that specifies robot movement, and “SX, SY, SZ” is a description that specifies slider movement. It is also possible to set these movements together.

FIG. 9 is a diagram illustrating an example of setting reference points.
In the master program 100 shown in FIG. 9, a master reference point conversion format command is described in step 1 indicating the first teaching point, and the start reference point is specified in steps 2 to 4 indicating the second to fourth teaching points. A conversion format instruction is described, and a conversion format instruction for the end reference point is described in steps 5 and 6 indicating the fifth and sixth teaching points (in bold). That is, the first teaching point is set as a master reference point, the second teaching point is set as a start reference point, and the fifth teaching point is set as an end reference point. In this example, the reference points are all moved by robot movement.

FIG. 10 is a diagram illustrating another example of setting reference points.
In the master program 100 shown in FIG. 10, the conversion instruction of the start reference point is described in step 2, indicating the second teaching point, step 3, indicating the third teaching point, and step 4, indicating the fourth teaching point. Each teaching point is set as a start reference point (in bold). In this example, the robot movement is designated for the start reference point in Step 2, and the slider movement is designated for the start reference point in Step 3. For the start reference point in step 4, it is specified that the robot moves for the X axis and the Z axis, and the slider moves for the Y axis.

  Further, in the master program of the present embodiment, an insertion point can be set in order to prevent the distance between teaching points from becoming long when creating execution data. For example, if a specified distance is set for the distance between teaching points and the distance between any teaching points becomes longer than the specified distance as a result of moving the reference point, the teaching points are inserted at each specified distance. can do. The robot 10 holds the sensing information such as arc copying at the teaching point during reproduction, but if the distance between the teaching points is long, the correction by the sensing information is not smoothly performed. Therefore, the insertion point is set as described above to prevent the distance between the teaching points from becoming longer than a predetermined length (designated distance).

  Further, in the master program of the present embodiment, it is possible to move the teaching point without moving the reference point in creating the execution data. In this case, a point called an external addition point is set. For example, when a reference point is set at the position where the flange upper surface and diaphragm side face intersect, and the teaching point of the programmed welding section is created where the plate thickness is lowered from the reference point, the plate thickness is specified by an external addition point By doing so, a master program corresponding to different plate thicknesses can be created only by setting the external addition point without changing the position of the reference point.

[Method for creating execution data]
Next, a method for creating execution data from the master program configured as described above will be described.
The execution data creation unit 44 of the teaching data editing apparatus 40 according to the present embodiment functions as a master program acquisition unit, and selects a master program selected based on a target work of execution data to be created as a master program management unit. Read from 41. The execution data creation unit 44 then adds information on the current position of the robot 10 acquired from the control device 20 by the position information acquisition unit 43 and information such as a conversion command input on the UI screen presented by the UI control unit 42. Based on the selected master program, execution data is created. In addition, when the workpiece which is the target of the work by the execution data has the same shape as the workpiece used when creating the original teaching data, and the robot 10 and the workpiece are in the same state as when the original teaching data is created, Since the current position of the robot 10 is the same as the position when the original teaching data is created, the execution data may be created from the master program without acquiring the current position information.

  As a specific method of creating execution data, first, a copy file of a master program is prepared, and the copy file is edited based on a conversion command input via the UI screen, thereby specifying a specific work object. The teaching data corresponds to the shape of the correct workpiece. That is, the work content based on the teaching data is converted into content corresponding to the work to be worked. Further, the position of each teaching point in the teaching data is adjusted based on information on the current position of the robot 10. Thereby, execution data (teaching data) for work on the work reflecting the state of the robot 10 and the position of the work is created.

Here, as a conversion command used to create execution data, for example, the following command is set.
“Master reference point shift”: Changes the position of the master reference point. As the position of the master reference point is changed, the positions of the start reference point and the end reference point are also changed so that the relative position between the reference points does not change.
“Start reference point shift”: Changes the position of the start reference point. As the position of the start reference point is changed, the position of the end reference point is also changed so that the length of the weld line does not change.
“Welding length designation”: The position of the end reference point is changed so that the designated welding length is obtained. The position of the master reference point and the start reference point does not change.
“Reference point rotation”: The coordinate of each teaching point is rotated and converted around the master reference point. Also, the welding torch angle is converted so that the relative angle with the weld line is maintained. As a result, the teaching points rotate and move without changing their relative relationship. All teaching points are targeted.
“Insert”: When the distance between the insertion point and the immediately preceding teaching point is longer than the specified distance, the teaching point is inserted for each specified distance.
“External addition”: Adds the specified coordinate value to the external addition point.
“Positioner value specification”: Rewrite the positioner value of the execution data with the specified value. All teaching points are targeted without depending on the conversion format command. For example, when the same work is performed at different positions and directions, the operation by the master program can be applied to the execution data by changing the positioner value to adapt the position and direction.
“Mirror symmetry”: An XZ plane (mirror surface) is designated, and conversion is performed so that the teaching point coordinates and torch angle are symmetric on the surface. All teaching points are targeted without depending on the conversion format command. For example, the present invention can be applied when performing a symmetrical operation with respect to the center of the workpiece.

FIG. 11 is a diagram illustrating a configuration example of a UI screen when creating execution data.
When creating execution data, the UI control unit 42 displays the UI screen 110 on the display means of the teaching data editing device 40 (for example, the display device 104 shown in FIG. 2).
In the UI screen 110 shown in FIG. 11, the identification information of the robot 10 that performs the work is input to the input form in the “robot number” column.
In the “joint (master PRG)” field, information for designating a master program corresponding to the work to be worked is input.
In the “welding condition” column, information for designating welding conditions (eg, leg length) in the work is input.
In the “conversion” column, whether or not to perform conversion independent of the conversion format command and parameters are input. In the illustrated example, the above-mentioned “mirror symmetry” is used for “mirror conversion”. The “rotation conversion” uses the “reference point rotation” described above.
In the “input” column, the current position of the robot 10 is input. Information on the current position is acquired from the control device 20 by calling the position information acquisition unit 43 by performing an operation such as a mouse click on the “receive current position” button 111 displayed on the UI screen 110.

  In addition, an “execution data creation start” button 112 and an “execution data transmission” button 113 are displayed on the UI screen 110. When an operation such as a mouse click is performed on the “execution data creation start” button 112, the execution data creation unit 44 is called, and various types of data input on the UI screen 110 are used using the master program specified on the UI screen 110. Execution data is created based on the values and instructions. Execution data creation by the execution data creation unit 44 is performed by sequentially executing conversion processing based on an instruction input on the UI screen 110 on the master program (for example, master program → conversion A → execution data A → conversion B). → execution data B → conversion C → execution data C... When an operation such as a mouse click is performed on the “execution data transmission” button 113, the execution data transmission unit 45 is called, and the execution data created by the execution data creation unit 44 is transmitted to the control device 20.

  Further, in the present embodiment, as shown in the UI screen 110 described above, in addition to converting individual work one by one from the master program to execution data, execution data relating to several works is created collectively. You can also. In this case, for example, by creating a worksheet of a predesignated form and causing the teaching data editing device 40 to read it, the execution data creation unit 44 executes the execution data from the corresponding master program based on the description of the worksheet. Are created sequentially.

FIG. 12 is a diagram illustrating a configuration example of a worksheet used for continuously creating a plurality of execution data.
In the present embodiment, for example, a screen of the worksheet 120 as shown in FIG. 12 is displayed on the display means of the teaching data editing device 40 (for example, the display device 104 shown in FIG. 2). In the illustrated example, execution data creation instructions for four types of joints indicated by circled numbers “1” to “4” are described as a group of execution data. After that, a plurality of execution data creation instructions starting from the circled number “1” are described. Each creation instruction is provided with an item corresponding to the input item on the UI screen 110 shown in FIG. Necessary items are input to each item of each creation instruction on the screen of the worksheet 120.

  The worksheet 120 shown in FIG. 12 includes each item of “robot”, “master program (PRG)”, “welding condition”, “mirror”, and “welding”, and the current position of the robot 10 in each creation instruction for each joint. The information indicating whether or not to acquire, and the conversion parameter based on the shape of the work to be worked are described. In “Robot”, identification information of the robot 10 to be used is entered. In the “master program (PRG)”, information indicating the type of master program used to create execution data is entered. In the “welding condition”, a welding condition in the welding work for the execution work is entered. “Mirror” is provided with a check box for designating whether or not to perform mirror conversion, and “Welding” is provided with a check box for setting whether or not to perform a welding operation. In the example shown in FIG. 12, the conversion parameters include the XYZ coordinate value (master reference point position) of “reference point”, the XYZ coordinate value (start reference point position) of “start point”, and the “welding length”. Value (end reference point position), “positive rotation value (positioner setting value)”, “external addition value (specified coordinate value of external addition point)”, “rotation conversion (rotation angle of reference point rotation)” It has been described.

  Note that the worksheet 120 illustrated in FIG. 12 is merely an example, and is not limited to the illustrated configuration. For example, in the illustrated example, the current position information of the robot 10 is acquired only once, and the XYZ coordinate value of the “reference point” in each generation instruction is calculated based on the acquired information. You may comprise so that the information of the present position of the robot 10 may be acquired separately for every.

  When a plurality of pieces of execution data are collectively created using the worksheet 120 as shown in FIG. 12, the execution data creation unit 44 corresponds to each joint (for each row indicated by a circled number in FIG. 12). Processing for creating execution data based on the master program is sequentially performed.

[How to create a master program]
Next, a method for creating a master program used in this embodiment will be described.
The master program of the present embodiment is created by adding a conversion format command to the original teaching data selected according to the joint type and setting three reference points and reference points belonging to each reference point. The The operation of describing the conversion format command can be performed manually using program editing software (editor or the like), for example. The original teaching data may be created by direct teaching by operating the actual machine using the robot 10, the control device 20, and the teaching apparatus 30, or may be created by offline teaching without using the actual machine. .

[Example of creating execution data]
Next, an example of creating execution data based on the master program will be described.
FIG. 13 is a diagram showing an example of original teaching data, and FIG. 13A shows the position of teaching points for the operation of the work and robot 10 used to obtain the original teaching data. (B) shows the original teaching data obtained based on the workpiece | work of Fig.13 (a).

  Referring to FIG. 13A, seven teaching points p1 to p7 are set for the workpiece 130 (however, the teaching point p1 and the teaching point p7 are the same point). Further, referring to FIG. 13B, in addition to steps 1 to 7 showing the teaching points p1 to p7 shown in FIG. 13A, steps 8 to 10 showing three teaching points are described. ing.

  FIG. 14 is a diagram showing an example of a master program created from the original teaching data shown in FIG. 13, and FIG. 14 (a) shows reference points and reference points (teaching points) in the master program. b) shows the created master program. The master program is teaching data that does not depend on individual workpieces. In FIG. 14A, the workpiece 130 shown in FIG. 13A is shown in order to clarify the relationship between each teaching point and each reference point. Is illustrated.

  Referring to FIG. 14A, it can be seen that the master reference point Bp and the start reference point Bs are set at one end of the joint of the workpiece 130, and the end reference point Be is set at the other end. 14B, the master reference point conversion format instruction (#BREF, SX, Y, Z) is described in step 1, and the master reference point conversion format instruction (#BREF, SX) is described in step 7. , Y, Z) are described, and it can be seen that the teaching point p1 and the teaching point p7 are set as master reference points. Further, it is understood that the conversion format instruction (#SREF, SX, Y, Z) of the start reference point is described, and the teaching point p2 to the teaching point p4 are set as the starting reference point. In FIG. 14 (b), the end reference point conversion format instruction (#EREF, SX, Y, Z) is described in each of steps 5 and 6, and teaching point p5 and teaching point p6 are started. It can be seen that the reference point has been set.

  In FIG. 14B, the master reference point conversion format command (#BASEP, #DEL) is described in step 8, and the teaching point indicated in step 8 is set as the master reference point Bp. Recognize. Further, the conversion format instruction (#BSTART, #DEL) of the start reference point is described in Step 9, and it can be seen that the teaching point indicated in Step 9 is set as the start reference point Bs. In addition, the end reference point conversion format command (#BEND, #DEL) is described in step 10, and it can be seen that the teaching point shown in step 10 is set as the end reference point Be. Note that the coordinate values of the teaching points shown in step 8 and step 9 are the same, and the master reference point Bp and the start reference point Bs are set at the same position as shown in FIG. I understand. Further, “DEL” is specified in options in the conversion format command for each reference point.

  FIG. 15 is a diagram showing an example of execution data created from the master program shown in FIG. In the example shown in FIG. 15, execution data is created by changing the position of the master reference point Bp. FIG. 15 (a) shows the work target work (hereinafter referred to as the target work) 150 and the position of the teaching point based on the execution data, and FIG. 15 (b) shows the execution data. In FIG. 15A, the target workpiece 150 after movement of the master reference point Bp is indicated by a solid line, and the position of the target workpiece 150 when the master reference point Bp is not moved is indicated by a broken line. .

  In the movement of the master reference point, all the points other than the fixed teaching point, that is, the start reference point, the end reference point, and the reference points (teaching points) belonging to each reference point are moved along with the master reference point. In the example of the master program shown in FIG. 14, since there are no fixed teaching points, all the points move. Referring to FIG. 15A, the reference workpieces Bp, Bs, Be and the teaching points p1 to p7 are moved in the same direction by the same amount, so that the target workpiece 150 is moved without being deformed.

  Further, referring to FIG. 15B, the coordinate values are similarly changed in all of Step 1 to Step 7 showing the teaching points p1 to p7. Since “DEL” is specified in the conversion format command options in Step 8 to Step 10 of the master program, Step 8 to Step 10 are deleted in the execution data shown in FIG. In the operation of the robot 10 based on the execution data, the reference points Bp, Bs, and Be are unnecessary, and are deleted when the execution data is created.

  FIG. 16 is a diagram showing another example of execution data created from the master program shown in FIG. In the example shown in FIG. 16, execution data is created by changing the position of the start reference point Bs. FIG. 16A shows the positions of the target workpiece 160 and teaching points of execution data, and FIG. 16B shows the execution data. In FIG. 16A, the target workpiece 160 after the start reference point Bs is moved is indicated by a solid line, and the position (part) of the target workpiece 160 when the start reference point Bs is not moved is indicated by a broken line. Show.

  In the movement of the start reference point, the end reference point moves together with the start reference point, and accordingly, the reference point (teaching point) belonging to the start reference point and the reference point (teaching point) belonging to the end reference point move. In the example of the master program shown in FIG. 14, the teaching points p2 to p4 are start reference points belonging to the start reference point Bs, and the teaching points p5 and p6 are end reference points belonging to the end reference point Be. The point moves. Referring to FIG. 16A, the reference points Bs and Be and the teaching points p2 to p6 move in the same direction by the same amount, so that the target workpiece 160 moves without deformation. Moreover, the relative positional relationship between the teaching points p2 to p6 and the teaching points p1 and p7, which are master reference points, is changed.

  Referring to FIG. 16B, the coordinate values are similarly changed in Step 2 to Step 4 showing the teaching points p2 to p4. Since “DEL” is designated in the conversion format command options in steps 8 to 10 of the master program, steps 8 to 10 are deleted from the execution data shown in FIG.

  FIG. 17 is a diagram showing still another example of execution data created from the master program shown in FIG. In the example shown in FIG. 17, execution data is created by changing the position of the end reference point Be. FIG. 17A shows the positions of the target workpiece 170 and teaching points of execution data, and FIG. 17B shows the execution data. In FIG. 17A, the target workpiece 170 after the end reference point Be is moved is indicated by a solid line, and the position (part) of the target workpiece 170 when the end reference point Be is not moved is indicated by a broken line. Show.

  In the movement of the end reference point, the reference point (teaching point) belonging to the end reference point moves as the end reference point moves. In the example of the master program shown in FIG. 14, since the teaching points p5 and p6 are end reference points belonging to the end reference point Be, these points move. Referring to FIG. 17A, the end reference point Be and the teaching points p5 and p6 are moved in the same direction by the same amount, and the target workpiece 170 is deformed. Further, these teaching points p5 and p6 are changed in relative positional relationship between the teaching points p1 and p7 which are master reference points and the teaching points p2 to p4 which are start reference points.

  Referring to FIG. 17B, the coordinate values are similarly changed in step 5 and step 6 indicating the teaching points p5 and p6. Since “DEL” is designated in the conversion format command options in steps 8 to 10 of the master program, steps 8 to 10 are deleted from the execution data shown in FIG.

  As described above with reference to FIGS. 13 to 17, in the present embodiment, execution data for various target workpieces is created based on the same master program by appropriately moving the three reference points. be able to. In the above example, an example of execution data created when the master reference point, start reference point, and end reference point are moved independently is shown. Execution data for different target workpieces can also be created. Further, by using the above-mentioned “reference point rotation” and “mirror symmetry”, or by combining these with the movement of each reference point, execution data for more types of target workpieces can be created.

As described above, according to the present embodiment, the execution data is created based on the master program that describes the operation of the robot 10 without depending on the workpiece, thereby having high versatility according to various conditions. A teaching system can be realized.
In the present embodiment, in order to create execution data from the master program, the current position of the robot 10 is acquired from the control device 20 and input, and the starting point position for moving the reference point as necessary It is only necessary to input the value of the welding line length (when the position of the workpiece at the time of creating the original teaching data is the same as the position of the target workpiece at the time of welding, it is not necessary to acquire the current position of the robot 10). Therefore, since it is not necessary to prepare and compare the CAD model of the workpiece, the labor required for the work is greatly reduced compared with the case where teaching data for a similar workpiece is created from specific specific teaching data. can do.

DESCRIPTION OF SYMBOLS 10 ... Robot, 20 ... Control apparatus, 40 ... Teaching data editing apparatus, 41 ... Master program management part, 42 ... UI control part, 43 ... Position information acquisition part, 44 ... Execution data creation part, 45 ... Execution data transmission part

Claims (6)

A creation system for creating robot teaching data,
A work range is specified by a first reference point that specifies the origin of the virtual space, a second reference point that corresponds to the work start position, and a third reference point that corresponds to the work end position. Master program acquisition means for acquiring a master program in which teaching points are set;
An input receiving means capable of receiving an instruction to change the positions of the first reference point, the second reference point, and the third reference point in the master program;
Teaching data creation means for creating teaching data for causing the robot to perform work on the work object by editing the master program according to a specific work object;
The teaching data creation means, when the input acceptance means accepts the change instruction for any or all of the positions of the first reference point, the second reference point, and the third reference point A teaching data creation system that creates the teaching data by reflecting the change instruction to the reference point set in the master program. The master program acquired by the master program acquisition means is a reference point in which at least a part of the teaching point is linked to any of the first reference point, the second reference point, and the third reference point. Set,
When the teaching data creation means changes the position of any of the first reference point, the second reference point, and the third reference point, the reference point that is linked to the reference point whose position is to be changed The teaching data creation system according to claim 1, wherein the position of the teaching point set as is changed so that the relative relationship with the reference point does not change.   When the input receiving unit receives an instruction to change the position of the first reference point, the teaching data creating unit changes the position of the first reference point according to the change instruction, and the second reference point 3. Creation of teaching data according to claim 1 or 2, wherein the positions of the reference point and the third reference point are changed so that the relative relationship with the first reference point does not change. system.   When the input receiving unit receives an instruction to change the position of the second reference point, the teaching data creating unit changes the position of the second reference point according to the change instruction, and 4. The teaching data generation system according to claim 1, wherein the position of the reference point is changed so that the relative relationship with the second reference point does not change. Further comprising position information acquisition means for acquiring information of a current position of the control point of the robot;
The teaching data creation means is acquired by the position information acquisition means for the position of each teaching point specified based on the positions of the first reference point, the second reference point, and the third reference point. 5. The teaching data creating system according to claim 1, wherein the system is changed based on information on a current position of a control point of the robot. A program for causing a computer to function as a creation system for creating robot teaching data,
A work range is specified by a first reference point that specifies the origin of the virtual space, a second reference point that corresponds to the work start position, and a third reference point that corresponds to the work end position. A function to acquire a master program with teaching points set;
A function of accepting an instruction to change the positions of the first reference point, the second reference point, and the third reference point in the master program;
Of the first reference point, the second reference point, and the third reference point, the function that edits the master program according to a specific work object and receives an instruction to change the position of the reference point. A function of creating the teaching data by reflecting the change instruction to the reference point set in the master program when the change instruction for any or all of the positions is received;
A program characterized by comprising:

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