JP5977314B2 - Robot interference area setting method and interference area setting apparatus - Google Patents

Description

  The present invention relates to a robot interference area setting method and an interference area setting device for setting an interference area around which the robot detours in a work area of a robot that performs work on a workpiece.

  In a manufacturing process of a vehicle or the like, an operation of welding a workpiece by moving a welding gun attached to the tip of a robot arm along a taught path is performed. When welding a new type of workpiece (referred to as a new workpiece), various operations such as teaching, determination of the position of a jig that supports the new workpiece, and design of the jig are required. Since these operations require man-hours, man-hour reduction is desired.

  One technique for reducing the number of man-hours for preparatory work before welding is disclosed in Patent Document 1, for example. Patent Document 1 discloses a technique for automating teaching work and reducing man-hours by partially correcting and diverting teaching information for an existing work (referred to as existing work) as preparation work for welding to a new work. ing. Patent Document 1 discloses a technique for performing an operation simulation of a welding gun based on teaching information, and setting an alternative route for the obstacle when there is an obstacle in the path of the welding gun. .

JP 2007-144538 A (paragraph [0055])

  Currently, as described in Patent Document 1, it is considered to automate the work of setting an obstacle detour. By the way, in order to reflect the obstacle information in the operation simulation, it is necessary to grasp and set the information of the area occupied by the obstacle. However, Patent Document 1 does not consider such setting work.

  When welding a workpiece, the welding gun needs to avoid contact with a jig that supports the workpiece. For this reason, when the technique of Patent Document 1 is executed, the occupation area of the jig is obtained based on the design information of the regular jig, and the obtained occupation area is set as the interference area and teaching is performed. There is a need. That is, since an interference area setting operation is performed after a regular jig is designed, and then a teaching operation is performed, this increases the overall man-hour of the welding operation.

  The present invention has been made in consideration of such problems, and can perform an interference area setting operation without using a design value of a jig, and can shorten the overall man-hour of the welding operation. It is an object of the present invention to provide an interference area setting method and an interference area setting apparatus.

  The present invention relates to a robot interference area setting method for setting an interference area that is bypassed by a robot that performs work on a workpiece, a setting condition grasping step for grasping a setting position and posture of a jig with respect to the workpiece, and the setting condition A jig estimating step for estimating the shape of the jig that matches the set position and the posture grasped in the grasping step, and a similar jig exhibiting a shape similar to the shape of the jig estimated in the jig estimating step A jig selecting step for selecting the similar jig having the maximum size from among the units, and a jig area including the similar jig selected in the jig selecting step and surrounding the similar jig. A jig area setting step, and the jig area set in the jig area setting step with respect to the workpiece, based on the setting position and the posture grasped in the setting condition grasping step. Arranged to, wherein the robot has a interference area setting step to the interfering area to be bypassed.

  Further, the present invention provides a robot interference area setting device for setting an interference area that is bypassed by a robot that performs work on a workpiece, a setting condition grasping unit that grasps a setting position and posture of a jig with respect to the workpiece, A jig estimation unit that estimates the shape of the jig that matches the setting position and the posture grasped by the setting condition grasping unit, and a similar shape that is similar to the shape of the jig estimated by the jig estimation unit A jig selection section for selecting the maximum size of the similar jig from among jig units, and a jig area including the similar jig selected by the jig selection section and surrounding the similar jig. For the jig area setting section to be set and the workpiece, the jig area set by the jig area setting section is arranged based on the setting position and the posture grasped by the setting condition grasping section. , Serial robot comprising the interference area setting unit to the interference area to be bypassed.

  In the present invention, the shape of the jig is predicted from the jig setting position (clamp position) and the attitude of the jig, and the largest similar jig is selected from units of similar jigs similar to the predicted jig. . For the selected similar jig, a jig area including and surrounding the similar jig is set, and the jig area is arranged at the setting position (clamp position) of the jig to form an interference area. To do. According to the present invention, the interference area of the jig to be detoured by the robot is set without depending on the design information of the regular jig. For this reason, it is possible to perform the interference area setting work and teaching work even if the regular jig design work is not completed. As a result, the overall man-hour for the welding operation is shortened.

  According to the present invention, the interference area of the jig that the robot bypasses is set without depending on the design information of the regular jig. For this reason, it is possible to perform the interference area setting work and teaching work even if the regular jig design work is not completed. As a result, the overall man-hour for the welding operation is shortened.

FIG. 1 is a schematic diagram for explaining an interference area. FIG. 2 is a block diagram of the robot interference area setting apparatus according to this embodiment. FIG. 3 is a flowchart for explaining the operation of the robot interference area setting apparatus according to this embodiment. 4A and 4B are configuration diagrams showing an interference area in which a jig area is set in a similar jig. FIG. 5 is a configuration diagram showing a jig general-purpose part and a jig area.

  DESCRIPTION OF EMBODIMENTS Preferred embodiments of a robot interference area setting method and interference area setting apparatus according to the present invention will be described below in detail with reference to the accompanying drawings. In the following description, an assembly of a vehicle body is assumed as a workpiece to be welded.

  FIG. 1 is a schematic diagram for explaining the interference area 94. The six-axis robot 90 welds the workpiece 92 along the path set by teaching. The workpiece 92 is supported by a plurality of jigs 96 and installed in the work area 98 of the robot 90. An interference area 94 is set around each jig 96, and teaching is performed so as to avoid the interference area 94. In the present embodiment, this interference area 94 is set.

[Device configuration]
FIG. 2 is a block diagram of the robot interference area setting apparatus 10 according to this embodiment. The robot interference area setting device 10 (hereinafter simply referred to as “interference area setting device 10”) includes a design information storage unit 12 that outputs workpiece design information Di to the information processing unit 20, and a similar jig. A template 14 for storing jig information Ji as a unit, a storage unit 16 for storing design information Di for a new workpiece processed by the information processing unit 20, an information processing unit 20 for performing various types of information processing, and a user interface 40. The design information storage unit 12 and the storage unit 16 can be combined.

  The design information storage unit 12 stores work design information Di, and outputs the stored work design information Di to the information processing unit 20. The workpiece design information Di stored here includes workpiece identification information [vehicle body system (light, sedan, minivan, etc.) and assembly type information] Ii, workpiece shape information Si, and a position indicating a clamp position. Information Pi is included.

  The template 14 is configured by a database, for example, and stores jig information Ji including jig shape information. The template 14 stores each piece of jig information Ji of a plurality of jigs having similar shapes as a unit. Hereinafter, each jig whose jig information Ji is stored in the template 14 is referred to as a similar jig. Each piece of jig information Ji of a similar jig is stored in association with a unit number.

  The storage unit 16 stores work design information Di processed by the information processing unit 20. The new workpiece design information Di stored here includes workpiece identification information Ii, workpiece shape information Si, position information Pi indicating the clamp position, and interference area information Ai indicating the interference area at the clamp position.

  The information processing unit 20 is a computer including a computer, a CPU (central processing unit), a ROM (including EEPROM) as a memory, a RAM (random access memory), an A / D converter, and a D / A conversion. Input / output device such as a vessel, a timer, etc. The information processing unit 20 reads and executes a program recorded in the ROM by the CPU, so that various function realization units, specifically, a setting condition grasping unit 22 and a jig estimating unit 24 as shown in FIG. It functions as a jig selection unit 26, a jig area setting unit 28, an interference area setting unit 30, and a design information input / output unit 32.

  The setting condition grasping unit 22 grasps the setting position and posture of the jig with respect to the workpiece. The jig estimation unit 24 estimates the shape of the jig that matches the setting position and posture grasped by the setting condition grasping unit 22. The jig selecting unit 26 selects a similar jig of the maximum size from among similar jig units that have a shape similar to the shape of the jig estimated by the jig estimating unit 24. The jig area setting unit 28 sets a jig area that includes the similar jig selected by the jig selection unit 26 and surrounds the similar jig. The interference area setting unit 30 determines the jig area set by the jig area setting unit 28 for the workpiece 92 (see FIG. 1) based on the setting position and posture of the jig grasped by the setting condition grasping unit 22. The interference area 94 (see FIG. 1) around which the robot 90 (see FIG. 1) bypasses is arranged.

  The design information input / output unit 32 inputs the work design information Di from the design information storage unit 12 and allows the information processing unit 20 to process the work information. The design information input / output unit 32 stores the work design information Di processed by the information processing unit 20. 16 is output.

  The user interface 40 is configured by a personal computer, for example. The user interface 40 includes an input device 42 such as a mouse and a keyboard, and an output device 44 such as a display, a speaker, and a printer. The user interface 40 outputs input information corresponding to an input operation performed on the input device 42 to the information processing unit 20, and also outputs various information output from the information processing unit 20 to the operator via the output device 44. provide.

[Operation]
FIG. 3 is a flowchart for explaining the operation of the jig information setting apparatus according to the present embodiment. The following processing is performed in a three-dimensional virtual space, and the processing process is displayed on the output device 44 of the user interface 40.

  In step S <b> 1, when the operator performs a process start operation using the input device 42 of the user interface 40, the design information input / output unit 32 inputs design information Di of the new workpiece from the design information storage unit 12.

  When any one of the plurality of clamp positions set in the workpiece design information Di is selected in step S2, the information processing section 20 performs the following steps S3 to S8 at the selected clamp position. Against. The selection of the clamp position may be performed by an operation of a program or may be performed by a selection operation via the input device 42.

  In step S3, the setting condition grasping unit 22 grasps the setting position of the jig with respect to the work, that is, the clamp position, from the position information Pi included in the work design information Di. Also, grasp the posture of the jig at the clamp position. The posture of the jig is grasped from, for example, the cross-sectional shape and cross-sectional direction of the workpiece at the clamp position.

  In step S4, the jig estimating unit 24 estimates the shape of the jig that matches the jig setting position and the jig posture determined in step S3. The shape of the jig can be roughly determined by the clamp position and the posture of the jig. Here, the jig estimating unit 24 estimates the optimum shape (type) of the jig according to the clamp position and the posture of the jig grasped by the setting condition grasping unit 22. In this estimation, for example, a correspondence relationship between the past clamp position and jig posture and the shape (type) of the jig is referred to.

  In step S5, the jig selection unit 26 selects a similar jig of the maximum size from among similar jig units that have a shape similar to a part or all of the shape of the jig estimated in step S4. The jig selection unit 26 specifies a unit number of a similar jig group similar to the jig from the shape of the jig estimated by the jig estimation unit 24. Then, a similar jig group corresponding to the unit number is searched from the template 14. Furthermore, the similar jig of the maximum size is selected from one or more similar jigs included in the searched unit.

  In step S6, the jig area setting unit 28 sets a jig area including the similar jig selected in step S5 and surrounding the similar jig. Hereinafter, a method for setting the jig area 52 or the jig areas 54, 56, and 58 will be described with reference to FIGS. 4A, 4B, and 5. FIG.

  For example, as shown in FIG. 4A, assume that the similar jig 50 having the maximum size is selected in step S5. The jig area setting unit 28 sets a jig area 52 including the similar jig 50 around the similar jig 50. The jig area 52 is set as a rectangular parallelepiped including all the parts of the similar jig 50. Since the jig area 52 has a simple shape composed of a single rectangular parallelepiped, setting is easy. The jig area 52 may be another solid such as a polyhedron other than a rectangular parallelepiped or a cylinder.

  In addition, the jig area setting unit 28 can set jig areas 54, 56, and 58 as shown in FIG. 4B. The jig area setting unit 28 divides the similar jig 50 into a plurality of parts 50a, 50b, and 50c, and sets jig areas 54, 56, and 58 for the parts 50a, 50b, and 50c. The jig area 54 is set as a rectangular parallelepiped including all the parts of the parts 50 a of the similar jig 50. Similarly, the jig areas 56 and 58 are set as a rectangular parallelepiped including all the parts of the parts 50b and 50c of the similar jig 50. Since the jig areas 54, 56, and 58 are smaller in size than the jig area 52 shown in FIG. 4A, it is possible to suppress setting of useless interference areas. As a result, the operable area of the robot 90 is widened around the jig 96 (see FIG. 1). The jig areas 54, 56, and 58 may be other solids such as a polyhedron other than a rectangular parallelepiped and a cylinder. Hereinafter, in this embodiment, the description will be made assuming that the jig areas 54, 56, and 58 shown in FIG. 4B are set.

  As shown in FIG. 5, the jig area setting unit 28 sets jig areas 54, 56, and 58 in the jig general-purpose unit 80 and performs setting processing of the jig areas 54, 56, and 58 related to the similar jig 50. finish.

  In step S7, it is determined whether all jig area setting processes have been completed for the clamp position selected in step S2. When all the jig areas are not set in the jig general-purpose part 80 shown in FIG. 5 (step S7: NO), the process returns to step S5 and the processes of steps S5 to S6 are repeated. For example, if the jig areas 62 and 64 related to the similar jig 60 and the jig areas 72 and 74 related to the similar jig 70 are not set in the jig general-purpose unit 80 shown in FIG. 5, these setting processes are performed. . On the other hand, when all the jig areas are set in the jig general-purpose part 80 shown in FIG. 5 (step S7: YES), the process proceeds to step S8.

  In step S8, the interference area setting unit 30 performs the jig areas 54, 56, and 58, the jig areas 62 and 64, and the jig areas 72 and 74 set in step S6 on the workpiece 92 (see FIG. 1). And the jig general-purpose part 80 is arranged based on the set position and posture of the jig grasped in step S3, and is set as an interference area 94 (see FIG. 1) where the robot detours. That is, the interference area setting unit 30 uses the area information (for example, position information) of the jig areas 54, 56, and 58, the jig areas 62 and 64, the jig areas 72 and 74, and the jig general-purpose unit 80 as the interference area information Ai. Is set in the work design information Di. The interference area information Ai is associated with position information Pi indicating the clamp position.

  In step S <b> 9, the design information input / output unit 32 outputs, to the storage unit 16, work design information Di in which the interference area information Ai is associated with the position information Pi.

[Summary of this embodiment]
In this embodiment, the shape of the jig is predicted from the jig setting position (clamp position) and the attitude of the jig, and the largest similar jig is selected from similar jig units similar to the predicted jig. To do. For the selected similar jig, a jig area including and surrounding the similar jig is set, and the jig area is arranged at the setting position (clamp position) of the jig to form an interference area. To do. According to the present invention, the interference area of the jig that the robot bypasses is set without depending on the design information of the regular jig. For this reason, it is possible to perform the interference area setting work and teaching work even if the regular jig design work is not completed. As a result, the overall man-hour for the welding operation is shortened.

  It should be noted that the present invention is not limited to the above-described embodiment, and it is needless to say that various configurations can be adopted without departing from the gist of the present invention. For example, the workpiece is not limited to the vehicle body. This embodiment can be applied to any jig as long as it is a jig that supports a workpiece.

  For example, information on the jig area of the largest similar jig belonging to the unit may be stored in advance in each unit classified by the template 14.

DESCRIPTION OF SYMBOLS 10 ... Interference area setting apparatus 12 ... Design information storage part 14 ... Template 16 ... Storage part 20 ... Information processing part 22 ... Setting condition grasping part 24 ... Jig guess part 26 ... Jig selection part 28 ... Jig area setting part 30 ... Interference area setting unit 32 ... Design information input / output unit 40 ... User interface 42 ... Input device 44 ... Output devices 50, 60, 70 ... Similar jigs 52, 54, 56, 62, 64, 72, 74 ... Jig area 90 ... Robot 92 ... Workpiece 94 ... Interference area 96 ... Jig

Claims (2)

In the robot interference area setting method for setting the interference area where the robot that performs work on the workpiece bypasses,
A setting condition grasping step for grasping the setting position and posture of the jig with respect to the workpiece;
A jig guessing step for guessing the shape of the jig that matches the set position and the posture grasped in the setting condition grasping step;
A jig selecting step of selecting the maximum size of the similar jig from units of similar jigs having a shape similar to the shape of the jig estimated in the jig estimating step;
A jig area setting step for setting a jig area including the similar jig selected in the jig selection step and surrounding the similar jig;
The interference to be detoured by the robot by arranging the jig area set in the jig area setting step with respect to the workpiece based on the setting position and the posture grasped in the setting condition grasping step. An interference area setting method for a robot, comprising: an interference area setting step as an area. In the robot interference area setting device that sets the interference area where the robot that performs work on the workpiece bypasses,
A setting condition grasping unit for grasping the setting position and posture of the jig with respect to the workpiece;
A jig guessing unit for guessing the shape of the jig that matches the set position and the posture grasped by the setting condition grasping unit;
A jig selecting unit that selects the similar jig of the maximum size from the units of similar jigs having a shape similar to the shape of the jig estimated by the jig estimating unit;
A jig area setting section for setting a jig area including the similar jig selected by the jig selection section and surrounding the similar jig;
The interference to be detoured by the robot by arranging the jig area set by the jig area setting unit with respect to the workpiece based on the setting position and the posture grasped by the setting condition grasping unit. An interference area setting device for a robot, comprising an interference area setting unit as an area.

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