JP6598454B2 - Teaching data creation method, creation device, and creation program - Google Patents

Description

  The present invention relates to a method of creating teaching data, a creating apparatus, a creating program, a data structure of teaching data, and a recording medium. More specifically, the present invention relates to a technique suitable for use in creating teaching data of the operation of each control target mechanism when, for example, a plurality of control target mechanisms are operated in conjunction, cooperation, or cooperation.

  As a conventional robot teaching device, for example, a robot arm that an operator touches to perform a teaching operation and a robot arm that is separated from the hand of the robot arm and can be moved relative to the hand, and the operator during the teaching operation An operation unit that can be gripped and fixed to the hand of the robot during reproduction, and a relative position measurement unit that is attached to the operation unit or the hand of the robot arm and measures the relative position between the operation unit and the hand of the robot arm. A determination unit that determines whether or not the relative position measured by the relative position measurement unit is within a predetermined range, and a notification unit that notifies the operator when the determination unit determines that the relative position is not within the predetermined range. There is what is provided (Patent Document 1).

JP2013-71231A

  However, in the robot teaching device of Patent Document 1, even though the operation for a single robot can be taught, the operations performed by a plurality of robots in conjunction, cooperation, and cooperation are adjusted and the operation timings of the plurality of robots are adjusted. Cannot teach while checking. For this reason, it cannot be said that it is sufficient as a teaching data creation device that comprehensively and centrally teaches the operation of the robot group when operating a plurality of robots linked, linked, or coordinated. It cannot be said that it is highly useful or useful.

  Therefore, the present invention provides a teaching data creation method, creation device, which can comprehensively and centrally teach the operation of each control target mechanism when operating a plurality of control target mechanisms in conjunction, cooperation, or cooperation. And to provide a creation program.

To achieve the above object, a method for creating teaching data of the present invention, synchronous control defined between axis time common to two or more control target mechanism together with the operation allocation region corresponding to each of the plurality of control target mechanism By assigning an event symbol that specifies the state of the controlled object mechanism to the time chart, the state of the controlled object mechanism and the operation completion point in the elapsed time to which the event symbol is assigned are specified and assigned to the interlocking control time chart. The operation start of the operation of the control target mechanism specified between the event symbol assigned immediately before the event symbol to be assigned the operation to the state of the control target mechanism specified by the event symbol The target of control is whether or not the necessary amount of work and work is possible when executing in the time from the point in time to the point when the operation is completed Out guided by back calculation from the data regarding the performance specifications and operating conditions of the structure, the control target mechanism assigns the event symbols to be the time that is possible to complete the section, the allocation of the event symbol in the interval of time that is not Or to the position of the elapsed time at which the controlled mechanism can complete the operation to the state specified by the event symbol to be assigned to the interlocking control time chart. After the symbols are automatically moved, teaching data including a combination of the elapsed time of the event set on the interlocking control time chart and the state of the control target mechanism at the elapsed time is created. Yes.

Also, creation device taught data of the present invention, the display unit of the interlock control time chart defined between axis time common to two or more control target mechanism together with the operation allocation region corresponding to each of the plurality of control target mechanism And means for designating the state of the controlled mechanism and the operation completion time at the elapsed time to which the event symbol is assigned by assigning an event symbol designating the state of the controlled mechanism to the interlocking control time chart. Specified between other event symbols assigned immediately before the event symbol to be assigned to the state of the controlled mechanism specified by the event symbol to be assigned to the interlocking control time chart Necessary amount of work and work to execute in the time from the operation start time to the operation completion time of the operation of the controlled mechanism The control target mechanism of the operation to the state that is specified by the possibility whether the control target mechanism of performance specifications and operating conditions from the data related to and out led to back-calculated about to be assigned to the interlock control time chart that event symbol is completed Event symbols are assigned to time intervals that are possible, and event symbols are prohibited from being assigned to time intervals that are impossible, or specified by event symbols to be assigned to the interlocking control time chart. If the control target mechanism cannot complete the action to the state, the event symbol is automatically moved to the position of the elapsed time that is possible, and the event set on the interlocking control time chart and means for outputting teach data comprising a combination of a state of the controlled object mechanism at the elapsed time and the elapsed time It is as to have.

Also, the creation program teaching data of the present invention, the display unit of the interlock control time chart defined between axis time common to two or more control target mechanism together with the operation allocation region corresponding to each of the plurality of control target mechanism A process for indicating the state of the controlled object mechanism and an operation completion point in the elapsed time to which the event symbol is assigned by assigning an event symbol for specifying the state of the controlled object mechanism to the interlocking control time chart. Of the control target mechanism specified between other event symbols assigned immediately before the event symbol to be assigned to the state specified by the event symbol to be assigned to the interlocking control time chart . Possible amount of operation and work required for execution in the time from the operation start time to the operation completion time Out guided by back calculation whether from the data regarding the performance specifications and operating conditions of the controlled object mechanism, the control target mechanism is a time can be completed assign the event symbols on the section of the time that is impossible to section Elapsed time that is possible if the controlled mechanism is unable to complete the action to the state specified by the event symbol that is prohibited from being assigned or is assigned to the interlocking control time chart A process of automatically moving the event symbol to the position of, and a process of outputting teaching data including a combination of an elapsed time of the event set on the interlocking control time chart and the state of the control target mechanism at the elapsed time And let the computer do.

Therefore, according to these teaching data creation method, creation device, and creation program, the interlock control time chart in which the elapsed time common to a plurality of control target mechanisms is defined by one time axis is used. By specifying the state, teaching data including a combination of the elapsed time common to the plurality of control target mechanisms and the state of the control target mechanism at the elapsed time is created and output. Obtained teaching data that can be controlled / controlled at a common elapsed time, and that the operation of each control target mechanism can be taught comprehensively and centrally, and multiple control target mechanisms can be operated in conjunction, cooperation, or cooperation. It is done. Furthermore, while the operation according to the event symbol assigned to the interlocking control time chart is confirmed by the control target mechanism, it is confirmed whether or not the control target mechanism is in the state designation / operation designation.

  In addition, the teaching data creation method, creation device, and creation program of the present invention provide an event symbol that designates a state in which a specific part of the controlled object mechanism is moved to a designated position as an event symbol that designates the state of the controlled object mechanism. And at least one of an event symbol that designates a state in which the turning portion of the control target mechanism is turned to a specified angle may be set. In this case, it is possible to specify the movement of a specific part and the rotation of the joint that are assumed to be the movements that are best specified in the teaching of the normal robot movement.

  In addition, the teaching data creation method of the present invention is the degree of work amount required in the section with respect to the performance of the controlled mechanism for each section divided by two adjacent event symbols before and after being assigned to the interlocking control time chart. May be displayed, and the teaching data creation device of the present invention may provide the performance for the target mechanism for each section separated by two adjacent event symbols before and after being assigned to the interlocking control time chart. There may be further provided means for displaying the degree of work amount required in the section, and the teaching data creation program of the present invention includes two event symbols adjacent before and after being assigned to the interlocking control time chart. The degree of work required in the section for the performance of the controlled mechanism is displayed for each section divided by That the process further may be causing a computer. In these cases, the state designation / operation designation of the control target mechanism is performed while the performance of the control target mechanism and the amount of work necessary for completing the operation are always compared and confirmed.

  The teaching data adjustment method of the present invention is such that the operating speed of the control target mechanism is changed to a desired level by multiplying the elapsed time included in the teaching data created by the teaching data creation method described above by a time scaling factor. To adjust the teaching data. According to this teaching data adjustment method, the operation speeds of the control target mechanisms are collectively changed to a desired level as a whole while maintaining the relative relationship between them.

According to the teaching data creation method, creation apparatus, and creation program of the present invention, teaching data including a combination of an elapsed time common to a plurality of control target mechanisms and a state of the control target mechanism at the elapsed time is generated and output. Because the operation of each controlled object mechanism is controlled and controlled with a common elapsed time, the operation of each controlled object mechanism is taught comprehensively and centrally, and multiple controlled object mechanisms are linked, linked, and coordinated. Thus, operable teaching data can be obtained, and it is possible to improve versatility and usefulness as a sufficient teaching data creation technique. In addition, it is possible to specify the state and operation of the controlled mechanism while checking whether the operation according to the event symbol assigned to the interlocking control time chart can be executed by the controlled mechanism. As a result, it is possible to improve the reliability.

  The teaching data creation method, creation device, and creation program of the present invention include an event symbol that specifies a movement position of a specific part of a control target mechanism and an event symbol that specifies a rotation angle of a rotation part. When at least one of them is set, it is possible to specify the movement of a specific part and the rotation of the joint that are assumed to be the best specified movements in the teaching of normal robot movements. Therefore, it is possible to further improve versatility and usefulness as teaching data creation technology.

  Further, the teaching data creation method, creation device, and creation program of the present invention display the performance of the control target mechanism when the degree of work amount required for the performance of the control target mechanism is displayed. Since it is possible to specify the status and operation of the controlled mechanism while constantly comparing and confirming the amount of work required to complete the operation, state specification and operation specification that cannot be completed for the controlled mechanism are included. Therefore, it is possible to improve convenience and reliability as a method of creating teaching data.

  Further, according to the recording medium of the present invention, the operation of each controlled object mechanism is controlled and controlled with a common elapsed time, and the operation of each controlled object mechanism is taught comprehensively and centrally, and a plurality of controlled object mechanisms are provided. Since it is possible to provide teaching data that can be operated in conjunction, cooperation, or cooperation, it is possible to improve the versatility and usefulness by including sufficient contents as teaching data.

  Further, according to the teaching data adjustment method of the present invention, the operation speeds of the respective control target mechanisms can be collectively changed to a desired degree as a whole while maintaining the relative relationship between each other. It is possible to easily change the time required for performing the work of the entire control target mechanism to a desired level, and it is possible to easily and efficiently teach the control target mechanism such as a robot.

It is a flowchart explaining an example of embodiment of the preparation method of the teaching data of this invention. It is a functional block diagram of a teaching data creation device realized by the program when the teaching data creation method of the embodiment is implemented using a teaching data creation program. It is an image figure explaining the content displayed on the display part of the preparation apparatus of the teaching data of embodiment. It is an image figure explaining the example of a display in an interlocking control time chart. It is an image figure explaining an example of the production | generation work of the teaching data performed using this invention.

  Hereinafter, the configuration of the present invention will be described in detail based on an example of an embodiment shown in the drawings.

  FIG. 1 to FIG. 5 show examples of embodiments of the teaching data creation method, creation device, and creation program of the present invention.

  The teaching data creation method of the present embodiment has an operation assignment area (22A, 22B) corresponding to each of the plurality of control target mechanisms (1A, 1B) and is common to the plurality of control target mechanisms (1A, 1B). By assigning an event symbol (23a, 23b, 24a, 24b) for designating the state of the control target mechanism to the interlocking control time chart (20) defined by one time axis (21), the event symbol is displayed. The state of the controlled object mechanism (1A, 1B) at the assigned elapsed time is designated, the elapsed time common to the plurality of controlled object mechanisms (1A, 1B) and the state of the controlled object mechanism (1A, 1B) at the elapsed time Teaching data including a combination with is created.

  The teaching data creation method can be implemented by the teaching data creation apparatus of the present invention. The teaching data creation apparatus 10 of the present embodiment has an operation assignment area (22A, 22B) corresponding to each of a plurality of control target mechanisms (1A, 1B) and is common to the plurality of control target mechanisms (1A, 1B). Display unit 11b as means for displaying the interlock control time chart (20) defined by one time axis (21) on the display unit (14), and an event symbol for designating the state of the control target mechanism By assigning (23a, 23b, 24a, 24b) to the interlocking control time chart (20), an operation designating unit as means for designating the state of the control target mechanism (1A, 1B) at the elapsed time to which the event symbol is assigned. 11e and means for outputting teaching data including a combination of the elapsed time common to the plurality of control target mechanisms (1A, 1B) and the state of the control target mechanism (1A, 1B) at the elapsed time As a data output unit 11h.

  The teaching data creation method and teaching data creation apparatus can also be implemented and implemented by executing the teaching data creation program of the present invention on a computer. Here, a case will be described in which a teaching data creation apparatus is implemented and a teaching data creation method is implemented by executing a teaching data creation program on a computer.

  FIG. 2 shows the overall configuration of a computer 10 (which is also a teaching data creation device 10 in this embodiment) for executing the teaching data creation program 17 of the present embodiment. The computer 10 (teaching data creation device 10) includes a control unit 11, a storage unit 12, an input unit 13, a display unit 14, and a memory 15, which are connected to each other by a signal line such as a bus.

  The control unit 11 performs the calculation related to the control of the entire computer 10 and the creation of the teaching data by the teaching data creation program 17 stored in the storage unit 12, and is a CPU (Central Processing Unit), for example.

  The storage unit 12 is a device that can store at least data and programs, and is, for example, a hard disk.

  The input unit 13 is an interface (that is, an information input mechanism) for giving at least an operator's command and various information to the control unit 11, and is, for example, a keyboard or a mouse. For example, a plurality of types of interfaces such as a keyboard and a mouse may be provided as the input unit 13.

  The display unit 14 performs drawing / display of characters, figures, images, and the like under the control of the control unit 11 and is, for example, a display.

  The memory 15 serves as a memory space that is a work area when the control unit 11 executes various controls and operations, and is, for example, a RAM (abbreviation of Random Access Memory).

  The control unit 11 of the computer 10 (which is also the teaching data creation device 10 in the present embodiment) executes at least a teaching target creation mechanism 17 by executing a teaching data creation program 17. 1B), a three-dimensional model display unit 11a that performs processing for displaying a three-dimensional model (virtual mechanisms 2A, 2B) in the virtual space on the display unit (14), and each of a plurality of control target mechanisms (1A, 1B). Display an interlocking control time chart (20) having an operation allocation area (22A, 22B) corresponding to, and an elapsed time common to a plurality of control target mechanisms (1A, 1B) defined by one time axis (21) Corresponds to the chart display unit 11b that performs processing to be displayed on the unit (14), and the control target mechanism (1A, 1B) to be taught among the three-dimensional models in the virtual space displayed on the display unit (14). Control target specifying unit 11c for performing processing for specifying a three-dimensional model, initial state specifying unit 11d for performing processing for specifying an initial state for each control target mechanism (1A, 1B), and event for specifying the state of the control target mechanism Assigning the symbol (23a, 23b, 24a, 24b) to the interlocking control time chart (20), the operation designation for performing the process of designating the state of the control target mechanism (1A, 1B) in the elapsed time to which the event symbol is assigned Whether the control target mechanism (1A, 1B) can complete the operation according to the event symbol (23a, 23b, 24a, 24b) assigned to the unit 11e and the interlocking control time chart (20) An operation determination unit 11f that performs a determination for each section divided by two adjacent event symbols (23a and 23b, and 24a and 24b); Each tertiary in the virtual space so that the event symbol (23a, 23b, 24a, 24b) assigned to the imchart (20) is in the state specified by the operation specifying information associated with the event symbol at the elapsed time. A simulation execution unit 11g that performs an operation for specifying the state of the original model (virtual mechanisms 2A, 2B), an elapsed time common to the plurality of control target mechanisms (1A, 1B), and a control target mechanism (1A, 1B) at the elapsed time ), A data output unit 11h that performs processing for outputting teaching data including a combination with the state is configured.

  In addition, a robot controller (also referred to as a robot controller) so that signals such as data and control commands can be transmitted and received (that is, input / output) to / from the computer 10 (hereinafter referred to as the teaching data creation device 10). Are electrically connected.

  In the present embodiment, when the operations of the two control target mechanisms 1A and 1B are controlled by the two robot control devices 8A and 8B, the two control target mechanisms 1A and 1B are operated in conjunction with each other. The operation of each controlled object mechanism 1A, 1B will be described as an example in a comprehensive and unified manner. In addition, you may make it the operation | movement of two control object mechanism 1A, 1B be controlled by one robot control apparatus. Further, a central control device that controls and controls a plurality of robot control devices may be further provided.

  When operating the control target mechanisms 1A and 1B, data (ie, teaching data) that defines a predetermined operation mode required for performing the work content to be realized by the control target mechanisms 1A and 1B Is generated in the teaching data generation device 10 and teaching data is output from the teaching data generation device 10 and is input to the robot control devices 8A and 8B, and the control target mechanism is transmitted via these robot control devices 8A and 8B. Predetermined operations required for performing the work contents to be realized by 1A and 1B are taught to the controlled object mechanisms 1A and 1B.

  Here, in the following description, there are a plurality of control target mechanisms that are operated in conjunction with each other, in cooperation with each other, in cooperation with each other, and a plurality of control target mechanisms (in this embodiment) that are targets for teaching data creation in the teaching data creation apparatus 10. The control target mechanisms 1A and 1B) are also referred to as control target mechanism groups.

  The robot control devices 8A and 8B control the operation of the control target mechanisms 1A and 1B, and output an operation command based on the teaching data from the teaching data creation device 10 to the control target mechanisms 1A and 1B. .

  Then, when the operation command is input to the control target mechanisms 1A and 1B, a predetermined operation according to the teaching data is realized in the control target mechanisms 1A and 1B.

  In carrying out the present invention, what should be considered when teaching data of the control target mechanism group is created (in other words, it is convenient to consider in creating teaching data), specifically, for example, A three-dimensional modeling in a virtual space is performed in advance on a control target mechanism, a mechanism related to operation / work of the control target mechanism (hereinafter referred to as a related mechanism), and a member (hereinafter referred to as a related member). Note that the virtual space is defined as a three-dimensional orthogonal coordinate system defined by the X axis, the Y axis, and the Z axis.

  The method of modeling a three-dimensional object is not limited to a specific method in the present invention, and a method of displaying a modeled object (for example, a method of displaying as a three-dimensional computer graphic). In the present invention, a well-known method can be applied, and a detailed description of the three-dimensional modeling method is omitted.

  In the present embodiment, the two control target mechanisms 1A and 1B are three-dimensionally modeled as virtual mechanisms 2A and 2B in a virtual space constituted by the teaching data creation device 10, respectively.

  In the present embodiment, the work support mechanism is further modeled as a virtual support mechanism 3 in the virtual space as a related mechanism, and the work is modeled as a related member or the like as a virtual work 4 in the virtual space. The

  Data for configuring the virtual mechanisms 2A and 2B, the virtual support mechanism 3 and the virtual work 4 which are three-dimensional models in the virtual space, and teaching the virtual mechanisms 2A and 2B, the virtual support mechanism 3 and the virtual work 4 Data to be displayed as 3D computer graphics on the display unit 14 of the data creation device 10 is stored (saved) in the storage unit 12 as a 3D model database 18.

  Here, the control target mechanism in the present invention is not limited to various robots. In other words, the control target mechanism is not limited to the mechanism on the working side. For example, the work target on the side on which the work is performed is performed. It may be specified as a control target mechanism and included in the control target mechanism group. Specifically, for example, when a work moves by being mounted / held on a belt conveyor or a work holding machine, the work is designated as a control target mechanism and included in the control target mechanism group. Also good.

  That is, in the present embodiment, the work support mechanism and the work are immovable, or are not required to consider the linkage / cooperation / cooperation with other control target mechanisms. Although it is considered as a related mechanism or related member for convenience, it is not included in the control target mechanism group, but the work support mechanism or work works in conjunction, cooperation, or cooperation with other control target mechanisms. If it is a thing (in other words, it is necessary to consider the linkage / cooperation / cooperation with other controlled object mechanisms), these work support mechanism and work are also designated as controlled object mechanisms and included in the controlled object mechanism group It is done.

  In the present embodiment, each of the control target mechanisms 1A and 1B includes an end effector, and is displayed as an end effector 2c in each of the virtual mechanisms 2A and 2B, and the end effector (2c) is handled as a specific part.

  In the present embodiment, the control target mechanisms 1A and 1B are each provided with two turning parts, and are displayed as turning parts 2d and 2e in the virtual mechanisms 2A and 2B, respectively.

  Note that the coordinate values in the real space where the actual control target mechanisms 1A and 1B exist and the coordinate values in the virtual space in which the virtual mechanisms 2A and 2B are configured (in other words, modeled) are the coordinate values in the virtual space. Is matched with coordinate values in the real space, or at least one of them is converted by an appropriate method. Since the handling of such coordinate values is a well-known technique, details are described here. Omitted. In the following description, the coordinate values related to the control target mechanisms 1A and 1B and the coordinate values related to the virtual mechanisms 2A and 2B, that is, the coordinate values in the real space and the coordinate values in the virtual space are distinguished in terms of notation. Both are simply expressed as coordinate values.

  After execution of the teaching data creation program 17 is started in the teaching data creation device 10, for example, based on the operator's instruction input via the input unit 13, the tertiary of the control unit 11 of the teaching data creation device 10. The original model display unit 11a reads data from the three-dimensional model database 18 in the storage unit 12, and displays the virtual mechanisms 2A and 2B, the virtual support mechanism 3 and the virtual work 4 on the display unit 14 as a three-dimensional model in the virtual space. (S0).

  The method of displaying the three-dimensional model in the virtual space is not limited to a specific method in the present invention, and various known methods including the relationship with a method of modeling a three-dimensional object into a three-dimensional model are also included. Therefore, a well-known method can be applied in the present invention, and a detailed description of the method for displaying a three-dimensional model in the virtual space is omitted.

  When the execution of the teaching data creation program 17 is started, the interlock control time chart 20 is further displayed on the display unit 14 by the chart display unit 11b of the control unit 11 (S0).

  In the example shown in FIG. 3, virtual mechanisms 2A and 2B, a virtual support mechanism 3 and a virtual work 4 which are three-dimensional models in the virtual space are in the upper two-thirds range of the display unit 14 of the teaching data creation apparatus 10. At the same time, the interlocking control time chart 20 is displayed in the lower one third range. However, the display mode of the virtual mechanisms 2A and 2B and the interlock control time chart 20 in the virtual space is not limited to the example shown in FIG.

  In the example shown in FIG. 3, the size of the interlocking control time chart 20 is variable, and the contents displayed on the interlocking control time chart 20 with a scroll function can be displayed as a slide.

  The interlocking control time chart 20 has an operation allocation area defined by one time axis and a plurality of control target mechanisms.

  In the interlock control time chart 20 of this embodiment, as shown in FIG. 3, one time axis 21 is clearly shown near the upper end, and the control target mechanisms 1A, 1B (virtual mechanisms 2A) are displayed below the time axis 21. , 2B) have motion allocation areas 22A, 22B that are divided in correspondence with each other.

  As execution of the teaching data creation method, first, a teaching target is designated by the control target designation unit 11c of the control unit 11 (S1).

  Specifically, for example, a three-dimensional model in a virtual space displayed on the display unit 14 of the teaching data creation device 10 (specifically, in this embodiment, the virtual mechanisms 2A and 2B, the virtual support mechanism 3 and the virtual work 4). ), A three-dimensional model corresponding to the control target mechanism constituting the control target mechanism group taught comprehensively and centrally is designated (in other words, selected) by the keyboard or mouse as the input unit 13, for example. The

  At this time, in accordance with the designation (selection) of the three-dimensional model in the virtual space, the name of each three-dimensional model designated as the control target in the interlocking control time chart 20 (that is, the name corresponding to each control target mechanism; , Any name that can be distinguished from each other) is specified. The name of each 3D model may be included in advance in the 3D model database 18 together with the data of each 3D model, or the 3D model displayed on the display unit 14 may be designated (selected). ) May be input via the input unit 13 each time.

  In the present embodiment, two virtual mechanisms 2A and 2B corresponding to the two control target mechanisms 1A and 1B in the three-dimensional model displayed on the display unit 14 are designated (selected), and the interlocking control time chart 20 “Robot A” is clearly indicated as the name of the virtual mechanism 2A (ie, the name corresponding to the control target mechanism 1A) and the name of the virtual mechanism 2B (ie, the control target). “Robot B” is specified as the name corresponding to the mechanism 1B.

  The right portion of the display of “Robot A” becomes the operation allocation area 22A for the control target mechanism 1A (virtual mechanism 2A), and the right portion of the display of “Robot B” is the control target mechanism 1B (virtual mechanism 2B). ) Operation allocation area 22B.

  Next, the initial state designation unit 11d of the control unit 11 designates the initial state for each control target mechanism (S2).

  Specifically, the initial state (that is, the state at the elapsed time of 00 minutes and 00.000 seconds) is, for example, a preset value or a rotation angle value (that is, a preset reference value) for each actuator provided in each rotation part. Specified as a combination of the rotation angle from the 0 degree state, or the coordinate value of a specific part (other part as required) (that is, the x coordinate in the three-dimensional orthogonal coordinate system, It may be specified as a combination of y coordinate and z coordinate). However, other designation methods may be used as long as the position / orientation for each control target mechanism can be specified.

  The initial state is specified by, for example, the three-dimensional model (virtual mechanisms 2A, 2B) displayed on the display unit 14 in a desired state (specifically, the position of each component / part of the three-dimensional model, This may be performed by operating and moving the three-dimensional model (virtual mechanisms 2A and 2B) using a mouse as the input unit 13 so that the posture of the input unit 13 becomes a whole. The keyboard may be used to input a rotation angle value for each rotation part or a coordinate value of a specific part.

  Then, the initial state specifying unit 11d causes the memory 15 to store information related to the specified initial state for each control target mechanism (for example, a rotation angle value for each rotation part, a coordinate value of a specific part, etc.).

  Next, the operation designation unit 11e of the control unit 11 designates the operation of each control target mechanism (S3).

  Specifically, event symbols associated with the operation designation information for designating the state of the control target mechanism are allocated to the operation allocation areas 22A and 22B of the interlocking control time chart 20 (in other words, arranged), so that each An operation is designated for the control target mechanisms 1A and 1B.

The “state” of the controlled object mechanism is the time point t ₁ , which can specify the operation (in other words, the change) of the controlled object mechanism from the previous time point t ₁ to the subsequent time point t ₂ in the time series. specified by a variety of items relating to aspects of the control target mechanism in t _2. Then, regarding between the time t ₁ by the format is changed to the state specified by the time t ₂ from the specified state when t ₁ until time t ₂ after the previous time point t ₁ to t ₂ The operation of the control target mechanisms 1A and 1B is taught, and the continuous operation of the control target mechanisms 1A and 1B is taught by specifying the state at a certain time point at a plurality of time points in time series.

  In this embodiment, the state of the control target mechanism is designated by “position designation” and “rotation designation”.

  “Position designation” designates the operation of the control target mechanism by designating the coordinates of the movement destination of the specific part of the control target mechanism. “Position designation” from the initial state or the previous state designation state. The operation of locating (in other words, moving) a specific part at the position coordinate associated with the P event symbol as “position designation” until the elapsed time when the P event symbol corresponding to is assigned (arranged) Is specified.

  “Rotation designation” designates the operation of the control target mechanism by designating the rotation angle of the rotation part of the control target mechanism. From the initial state or the immediately preceding state designated, The operation of rotating the rotation part to the rotation angle associated with the A event symbol as “rotation specification” until the elapsed time when the A event symbol corresponding to “designation” is assigned (arranged). It is what you specify.

  It should be noted that since it applies to both the P event symbol corresponding to the position designation and the A event symbol corresponding to the rotation designation, if the type is not limited (in other words, the type is not a problem), it is simply an event. This is expressed as a symbol.

  Here, in the present embodiment, the combination of the rotation angle values of the rotation parts 2d and 2e at the elapsed time 00 minutes and 00.000 seconds is given as “rotation designation” (A event symbols 23a and 24a in FIG. 3). Thus, the initial state of each control target mechanism 1A, 1B in the process of S2 is designated. That is, in the present invention, the initial state of the control target mechanisms 1A and 1B may be designated by assigning event symbols.

  In the present embodiment, the “position designation” is a combination of the x coordinate, the y coordinate, and the z coordinate in the three-dimensional orthogonal coordinate system of the end effector 2c of the virtual mechanism 2A, 2B that is a specific part of the control target mechanism 1A, 1B. A P event symbol associated as operation designation information (in other words, state designation information as an aspect of the control target mechanisms 1A and 1B at an elapsed time at which a P event symbol corresponding to “position designation” is arranged) is a linked control time chart. This is performed by being assigned (arranged) to the 20 motion allocation areas 22A and 22B.

  In the example shown in FIG. 3, after the virtual mechanism 2A is designated via the input unit 13, the operation allocation area 22A for the control target mechanism 1A (virtual mechanism 2A) is positioned at the position of the elapsed time 00 minutes 01.000 seconds. A P event symbol 23b corresponding to “position designation” is assigned (arranged), and a position coordinate value (x, y, z) of the end effector 2c, which is a specific part of the virtual mechanism 2A, is associated with the P event symbol 23b.

  In this embodiment, “rotation designation” is a combination of the rotation angle values of the rotation parts 2d and 2e of the virtual mechanisms 2A and 2B, which are the rotation parts of the control target mechanisms 1A and 1B. , The A event symbol associated as the state designation information as the state of the control target mechanisms 1A and 1B at the elapsed time at which the A event symbol corresponding to “rotation designation” is arranged is the motion allocation area of the interlock control time chart 20 This is performed by being assigned (arranged) to 22A and 22B.

  In the example shown in FIG. 3, after the virtual mechanism 2B is designated via the input unit 13, the operation allocation area 22B for the control target mechanism 1B (virtual mechanism 2B) is positioned at an elapsed time of 00 minutes 02.500 seconds. An A event symbol 24b corresponding to “rotation designation” is assigned (arranged), and the rotation angle values (α, β) of the rotation portions 2d and 2e of the virtual mechanism 2B are associated with the A event symbol 24b.

  Note that the designation of the state as the position designation or the rotation designation is performed by, for example, the three-dimensional model (virtual mechanisms 2A, 2B) displayed on the display unit 14 in a desired state (specifically, each of the three-dimensional models). The three-dimensional model (virtual mechanisms 2A, 2B) is operated and moved by using the mouse as the input unit 13 so that the position of the constituent member / part, the posture of the whole, or the like is used. Alternatively, it may be performed by using a keyboard as the input unit 13 and inputting a rotation angle value for each rotation part or a coordinate value of a specific part.

  Further, the pitch of the elapsed time (that is, the degree of time increment) is not limited to that in the above description (that is, the one shown in FIG. 3), and may be, for example, 0.1 second or 1 second. Units may be used.

  For each controlled object mechanism 1A, 1B, the P event symbol corresponding to “position designation” is equivalent to the operation steps required to perform the work content to be realized by these controlled object mechanisms 1A, 1B. The allocation (arrangement) of the A event symbol corresponding to “rotation designation” to the motion allocation areas 22A and 22B is repeated.

  At this time, based on the input through the input unit 13 by the operation specifying unit 11e, the type of the control target mechanism specified by the distinction between the operation allocation areas 22A and 22B to which the event symbol is allocated to the event symbol And the association of the elapsed time specified by the time axis 21 of the interlocking control time chart 20 according to the position where the event symbol is arranged, and the operation designation information (in other words, the elapsed time at which the event symbol is arranged) Correlation of the rotation angle value of each rotation part and the position coordinate value of the specific part as the aspect / state of the control target mechanism is performed and the teaching data is arranged.

  Then, the teaching data arranged as a combination of the control target mechanism, the elapsed time, and the operation specifying information is stored in the memory 15 by the operation specifying unit 11e.

  Here, when an event symbol is assigned to the interlocking control time chart 20, the control target mechanisms 1A and 1B are controlled according to the event symbol assigned to the interlocking control time chart 20 for each section divided by two adjacent event symbols. However, it may be determined whether or not it is possible to operate, or may be corrected so as to be able to operate.

  Specifically, for example, in the example shown in FIG. 3, the A event symbol 23a as an initial state is assigned to the position of the elapsed time 00 minutes and 00.000 seconds in the motion allocation area 22A for the control target mechanism 1A, and the elapsed time Since the P event symbol 23b is assigned to the position of 00 minutes and 01.000 seconds, the control target mechanism 1A performs the A event between the elapsed time 00 minutes and 0.0000 seconds to the elapsed time 00 minutes and 01.000 seconds. It is determined whether it is possible to complete the operation from the state designated by the symbol 23a to the state designated by the P event symbol 23b.

  In the example shown in FIG. 3, the A event symbol 24a as an initial state is assigned to the position of the elapsed time 00 minutes 00.000 seconds in the motion allocation area 22B for the control target mechanism 1B, and the elapsed time 00 minutes 02. Since the A event symbol 24b is assigned to the position of .500 seconds, the control target mechanism 1B detects the A event symbol 24a between the elapsed time 00 minutes 00.000 seconds and the elapsed time 00 minutes 02.500 seconds. It is determined whether or not the operation from the designated state to the state designated by the A event symbol 24b can be completed.

  Whether or not the control target mechanisms 1A and 1B can complete the operation according to the event symbol assigned to the interlock control time chart 20 is determined based on the performance specifications of the control target mechanisms 1A and 1B. For example, the determination is made based on the operating conditions of the control target mechanisms 1A and 1B defined in the robot control devices 8A and 8B.

Examples of the determination of whether the operation is completed, allocated from the state specified by the event symbols E ₁ assigned to elapsed time T ₁ in the event symbol E _{2 (elapsed} time T ₂ of the immediately following said event symbols E ₁ The amount of movement / work amount Wr (specifically, the size of the rotation angle of the rotating part, the length of the moving distance of the specific part, etc.) The maximum operation amount and work amount Wm that can be achieved in the time [T ₂ -T ₁ ] based on the performance specifications and operation conditions of 1A and 1B are compared, and the required operation amount and work amount Wr are possible. The maximum operation amount and work amount Wm If it is larger than that, it is determined that the operation cannot be completed. At this time, when a single control target mechanism includes a plurality of drive units such as actuators, the maximum possible operation amount / work amount Wm and the required operation amount / work amount Wr are calculated for each of the plurality of drive units.・ Identified.

  It should be noted that when calculating and specifying the above-mentioned maximum possible operation amount / work amount Wm, in order to reduce the load on the control target mechanisms 1A and 1B, the performance specification / operation condition is not assumed to be the maximum value, but the performance You may make it presuppose the performance reduced rather than the maximum value of specification and the operating condition. Specifically, for example, the maximum possible operation amount and work amount Wm are calculated and specified on the premise of 85% of the maximum output in the performance specifications and operation conditions of the actuators provided in the rotating parts of the control target mechanisms 1A and 1B. And so on.

  In the present embodiment, the determination of whether or not the operation can be completed by the control target mechanisms 1A and 1B is performed with the operation determination unit 11f involved.

  Specifically, for example, the teaching data stored in the memory 15 in the above-described processing is output to the robot control devices 8A and 8B by the motion determination unit 11f, and the robot control devices 8A and 8B to which the teaching data is input. , Whether or not the operation can be completed is determined based on the operation conditions of the control target mechanisms 1A and 1B defined in the robot control devices 8A and 8B (the determination is made for each drive unit), and the result of the determination May be acquired by the motion determination unit 11f.

  Alternatively, the teaching data stored in the memory 15 in the above-described processing is output to the robot control devices 8A and 8B by the motion determination unit 11f, and an operation command based on the teaching data and the like is further transmitted by the robot control devices 8A and 8B. It is output to the control target mechanisms 1A and 1B, the control target mechanisms 1A and 1B actually try the operation based on the operation command, and the result of the success or failure of the trial may be acquired by the operation determination unit 11f. good.

  Alternatively, for example, data related to the performance specifications / operating conditions of each control target mechanism 1A, 1B is stored (saved) in advance in the storage unit 12 as an operating condition data file, and the operation determining unit 11f refers to the operating condition data file. The determination of whether or not the operation can be completed may be made by calculating the necessary operation amount / work amount Wr and the maximum possible operation amount / work amount Wm (for example, each drive unit).

  When it is determined whether or not the operation can be completed and it is determined that the control target mechanisms 1A and 1B cannot complete the operation according to the event symbol assigned to the interlock control time chart 20, the operation determination unit A command is output to the chart display unit 11b by 11f.

  Then, a display for notifying the operator of the section delimited by the event symbol determined that the operation cannot be completed is displayed by the chart display unit 11b to which the command from the operation determination unit 11f is input. Made in

  Here, it is easy to determine whether the control target mechanisms 1A and 1B can complete the operation for each section divided by the event symbols assigned to the interlock control time chart 20, and the degree of output from the control target mechanisms 1A and 1B is confirmed. Therefore, the output ratio Rp (or the output ratio Rp) may be displayed for each section divided by two event symbols adjacent in the front and rear.

  The output ratio Rp is the degree of work required between two event symbols adjacent to each other before and after the performance of the control target mechanisms 1A and 1B (for example, the performance of the drive unit provided in the control target mechanism). For example, the ratio [%] of the required operation amount / work amount Wr to the maximum possible operation amount / work amount Wm, that is, the output ratio Rp = Wr / Wm × 100 (or the output ratio Rp = Wr / Wm).

  Specifically, for example, as shown in FIG. 4, between the A event symbol 23a and the P event symbol 23b assigned to the interlock control time chart 20, and between the A event symbol 24a and the A event symbol 24b. The output ratio Rp may be displayed on each of the screens. In the example shown in FIG. 4, between the A event symbol 23a and the P event symbol 23b adjacent to each other in front and back, the output ratio Rp of 125% is displayed together with the arrow band 25a over the section, and adjacent to the front and rear. Between the matching A event symbol 24a and A event symbol 24b, an output ratio Rp of 70% is displayed together with the arrow band 25b over the section.

  As in the example shown in FIG. 4, the output ratio Rp between the A event symbol 23a and the P event symbol 23b is 125%, and it is impossible for the controlled mechanisms 1A and 1B to complete the operation according to the event symbol. When possible, the arrow band 25b may be displayed prominently by displaying it in red.

  Alternatively, the arrow bands 25a and 25b may not be displayed, and only the value of the output ratio Rp may be displayed.

  The value of the output ratio Rp varies as the event symbol assigned to the interlocking control time chart 20 moves. That is, by specifying the contents of each of the two adjacent event symbols before and after, the value of the required operation amount / work amount Wr is calculated and specified, so the subsequent event symbol is slid to the left and the previous event symbol is The time becomes shorter as it gets closer to, and the maximum possible operation amount / work amount Wm becomes smaller, so the value of the output ratio Rp becomes larger. On the other hand, as the next event symbol is slid to the right and moved away from the previous event symbol, time The output ratio Rp becomes small as the maximum possible operation amount / work amount Wm increases and the value of the output ratio Rp decreases (in other words, instantly in accordance with the movement).

  Then, the operator confirms the value of the output rate Rp when assigning or moving the event symbol to the interlocking control time chart 20, and assigns the event symbol so that the value of the output rate Rp does not exceed 100. It is possible to avoid state designation / operation designation that is impossible for the controlled mechanism to complete the operation.

  In addition, when a plurality of drive units such as actuators are provided in one control target mechanism, only the maximum output ratio Rp for each of the plurality of drive units is displayed or in order from the largest. Only a specific number may be displayed side by side, or the output ratios Rp of all the drive units may be displayed side by side.

  In addition, it is prohibited to assign an event symbol to the interlocking control time chart 20 such that the control target mechanisms 1A and 1B cannot complete the operation, or the control target mechanisms 1A and 1B may complete the operation. When an event symbol that is impossible is assigned to the interlocking control time chart 20, the event symbol may be moved to correct the operation so that the operation can be completed.

Specifically, certain event time Tr required to complete the operation to be specified state in the event symbol E ₄ immediately symbols from said state specified by E ₃ events symbol E ₃ is an event mark Each time the contents of E ₄ are specified (the contents of the event symbol E ₃ are specified first), the performance specifications of the control target mechanisms 1A and 1B to which these event symbols E ₃ and E ₄ are assigned Calculated based on operating conditions. Then, or so can not be assigned an event symbol E ₄ is a time interval in which the event symbol E ₃ is required for the operation completion from the elapsed time that has been allocated, or the elapsed time that the event symbol E ₃ assigned Event symbol E ₄ is automatically moved to the elapsed time position where the time required for operation completion is secured when event symbol E ₄ is assigned within the time interval required for operation completion from Or to do.

When the event symbol E ₄ is automatically moved, the event symbol E ₄ is intentionally assigned immediately after the event symbol E ₃ so that the time required for the completion of the operation is exactly secured. Since the symbol E ₄ automatically moves, the operation designation from the state designated by the event symbol E ₃ to the state designated by the event symbol E ₄ can be designated in the shortest time. Therefore, it is possible to minimize the time required for performing the work content to be realized by the control target mechanisms 1A and 1B, and it is possible to create the most efficient teaching data.

  Also, when calculating and specifying the time Tr required to complete the above operation, the maximum value of the performance specifications and operating conditions is not assumed in order to reduce the load on the controlled mechanisms 1A and 1B. Alternatively, it may be assumed that the performance specifications / operating conditions are less than the maximum value. Specifically, for example, the time Tr required to complete the operation is calculated on the premise of 85% of the maximum output in the performance specifications / operating conditions of the actuators provided in the rotating parts of the control target mechanisms 1A, 1B. It can be specified.

  In this embodiment, in order to secure the time required for the completion of the operation, it is prohibited to assign an event symbol that cannot be completed to the interlocking control time chart 20, or the event symbol assigned to the interlocking control time chart 20 The movement is performed with the action determination unit 11f involved.

  Specifically, for example, data related to the performance specifications / operating conditions of each control target mechanism 1A, 1B is stored (saved) in advance in the storage unit 12 as an operating condition data file, and the operation is determined while referring to the operating condition data file. The event symbol assignment is prohibited or moved by, for example, calculating a time Tr necessary for completing the above operation by the unit 11f.

  By the process of S3 described above, depending on the types of the control target mechanisms 1A and 1B specified by the distinction between the operation assignment areas 22A and 22B to which the event symbols are assigned in the interlocking control time chart 20, the positions of the event symbols are arranged. Based on the elapsed time specified by the time axis 21 of the interlocking control time chart 20 and the operation designation information associated with each event symbol, the [elapsed time, identifier of the control target mechanism, A combination of a position coordinate value (x, y, z) of a specific part, which is movement designation information for position designation, and [elapsed time, an identifier of a mechanism to be controlled, a rotation for each rotation part, which is movement designation information for rotation designation. The teaching data including the combination of the moving angles (α, β)] is created.

Specifically, for example, in the example shown in FIG. 3, teaching data including the following contents is created by the processing of S2 and the processing of S3.
00 00 000 robot01 A = ### B = ###
00 00 000 robot02 A = ### B = ###
00 01 000 robot01 X = *** Y = *** Z = ***
00 02 500 robot02 A = ### B = ###

  In the teaching data, the left first column to the third column are the elapsed time (for example, 00 minutes 00.000 seconds, 00 minutes 01.000 seconds), and the left fourth column is the identifier of the control target mechanism (robot01 : Control target mechanism 1A, robot02: Control target mechanism 1B). Further, the fifth and subsequent columns on the left are the operation designation information, A: the rotation angle of the rotation part 2d, B: the rotation angle of the rotation part 2e, #: a numerical value representing the angle, and X: the specific part. x-coordinate, Y: y-coordinate of the specific part, Z: z-coordinate of the specific part, *: a numerical value representing the coordinate

  Next, the simulation execution unit 11g of the control unit 11 executes an operation simulation of the entire control target mechanism group according to the initial state specified in the process of S2 and the operation content specified in the process of S3 (S4).

  Specifically, for example, based on the operator's operation simulation execution command input via the input unit 13, the control target mechanism 1A, which is specified in the process of S2 and stored in the memory 15 by the simulation execution unit 11g, Information about the initial state for each 1B is read.

  Subsequently, the state of each virtual mechanism 2A, 2B, which is a three-dimensional model in the virtual space, adjusted to the initial state of each of the control target mechanisms 1A, 1B read by the simulation execution unit 11g (specifically, the virtual mechanism 2A, 2B, the position of each constituent member / part, the posture of the whole, and the like are performed, and the data of the three-dimensional model in the state (position, posture, etc. of each part) specified by the calculation is three-dimensional. It is sent to the model display unit 11a.

  Then, the virtual mechanisms 2A and 2B in the initial state are displayed on the display unit 14 by the three-dimensional model display unit 11a.

  At this time, the progress of the elapsed time defined by the time axis 21 of the interlocking control time chart 20 is started simultaneously with the display on the display unit 14 of the virtual mechanisms 2A and 2B in the initial state.

  Subsequently, the simulation execution unit 11g is a three-dimensional model in the virtual space so that the teaching data created in the process of S3 and stored in the memory 15 is sequentially read and operates according to the sequentially read teaching data. Calculations that specify the states of the virtual mechanisms 2A and 2B (specifically, the positions of the components and parts of the virtual mechanisms 2A and 2B, the posture of the whole, etc.) (that is, the simulation for operating the three-dimensional model) Calculation) is performed, and the data of the 3D model in the state specified by the calculation (position and orientation of each part) is sent to the 3D model display unit 11a.

  Then, the virtual mechanisms 2A and 2B (that is, the three-dimensional model display unit 11a are matched with the “position designation” and “rotation designation” for the respective control target mechanisms 1A and 1B assigned to the interlock control time chart 20 (ie, , The three-dimensional model in the virtual space) is displayed on the display unit 14.

  In the example shown in FIG. 3, the “position designation” (P event symbol 23b) is assigned to the position of the elapsed time 00 minutes 01.000 seconds in the operation assignment area 22A for the control target mechanism 1A. In the virtual mechanism 2A, which is a three-dimensional model, “rotation designation” (initial state) at an elapsed time of 00 minutes and 00.000 seconds between an elapsed time of 00 minutes and 0.0000 seconds and an elapsed time of 00 minutes and 01.000 seconds. The rotation angle of each of the rotation parts 2d and 2e is specified by “position specification” (P event symbol 23b) at the elapsed time 00 minutes 01.000 seconds from the state specified by the A event symbol 23a). An operation for moving the specific part 2c to the state (specifically, linear interpolation from point to point; however, circular interpolation or curved interpolation may be used) is displayed on the display unit 14.

  In addition, since “rotation designation” (A event symbol 24b) is assigned to the position of the elapsed time 00 minutes 02.500 seconds in the motion assignment area 22B for the control target mechanism 1B, the three-dimensional model of the control target mechanism 1B. In the virtual mechanism 2B, the “rotation designation” at the elapsed time 00 minutes 00.000 seconds between the elapsed time 00 minutes 00.000 seconds and the elapsed time 00 minutes 02.500 seconds (each rotation as an initial state) Designation of the rotation angle of the parts 2d and 2e; from the state designated by the A event symbol 24a) to the state designated by the “rotation designation” (A event symbol 24b) at the elapsed time 00 minutes 02.500 seconds The operation of rotating each of the rotating parts 2d and 2e is displayed on the display unit 14.

  Note that the reading of the teaching data and the calculation for specifying the state of each virtual mechanism 2A, 2B by the simulation execution unit 11g are performed at a predetermined calculation interval with an elapsed time defined by the time axis 21 of the interlock control time chart 20. It is performed sequentially according to the progress.

  The simulation for operating the virtual mechanisms 2A and 2B may be performed continuously at the same speed as the actual time as the elapsed time defined by the time axis 21 of the interlock control time chart 20, or the real time May be performed at a variable speed (for example, 1/2 speed or 2 speed), or may be temporarily stopped based on an operator's command input via the input unit 13 It is also possible to start from the elapsed time.

  Then, the worker verifies the movement of the virtual mechanisms 2A and 2B displayed on the display unit 14 with respect to the virtual work 4, checks the interference between the virtual mechanisms 2A and 2B, and sets the operation range of the virtual mechanisms 2A and 2B. In addition to performing verification and the like, verification of interlocking, cooperation, and cooperation of the virtual mechanisms 2A and 2B is performed.

  Upon receipt of the verification result, the operator returns to the process of S2 as necessary to change the initial state of each of the control target mechanisms 1A and 1B, or returns to the process of S3 to store the motion allocation areas 22A and 22B. Move the event symbol (specifically, slide along the time axis 21) to change the designated time (elapsed time) of the state designation, or change the event designation type to change the contents of the state designation. Then, an event symbol is newly added and an operation step is added.

  As a specific example, when the operation of each control target mechanism 1A, 1B in the interlocking control time chart 20 shown in FIG. 3 is changed to the operation specification of each control target mechanism 1A, 1B in the interlocking control time chart 20 shown in FIG. The position designation P event symbol 23b assigned to the elapsed time 00 minutes 01.000 seconds for the state designation via the event symbol in the action assignment area 22A as the operation designation for the control target mechanism 1A is rotated. It is changed to the designated A event symbol 23c, and a position designated P event symbol 23d is newly assigned at an elapsed time of 00: 03.000 seconds, and an event in the action assignment area 22B as an action designation for the control target mechanism 1B Specifying the status via the symbol at an elapsed time of 00 minutes 02.500 seconds The assigned rotation A event symbol 24b is moved to the elapsed time 00 minutes 02.000 seconds, and the position designation P event symbol 24c is newly assigned to the elapsed time 00 minutes 03.000 seconds. .

  In the present embodiment, when the operation of each controlled object mechanism 1A, 1B in the interlock control time chart 20 shown in FIG. 5 is designated / changed, as shown above the interlock control time chart 20, the interlock control is performed. The state of each virtual mechanism 2A, 2B in accordance with the event symbol assigned to the time chart 20 is displayed on the display unit 14.

In the example shown in FIG. 5, teaching data including the following contents (hereinafter referred to as “basic data”) is created by designating / changing the operation of each control target mechanism 1A, 1B.
(Basic data)
00 00 000 robot01 A = ### B = ###
00 00 000 robot02 A = ### B = ###
00 01 000 robot01 A = ### B = ###
00 02 000 robot02 A = ### B = ###
00 03 000 robot01 X = *** Y = *** Z = ***
00 03 000 robot02 X = *** Y = *** Z = ***

  Then, by the processing of S2 and S3 and the processing of S4, and the processing of S2 and S3 and the processing of S4 are repeated as necessary, the virtual mechanisms 2A and 2B displayed on the display unit 14 are linked. When it is confirmed that there is no problem in the operation including the cooperation / cooperation situation and the operation of each control target mechanism is determined, the data output unit 11h of the control unit 11 outputs the teaching data of the control target mechanism group. (S5).

  Specifically, in the present embodiment, for example, based on an instruction to output the teaching data of the worker input through the input unit 13, the data output unit 11h creates the data in the process of S3 and stores it in the memory 15. The teaching data is read and stored (saved) in the storage unit 12 as a teaching data file 19.

Here, the following “data A” input to the robot control device 8A and the following “data B” input to the robot control device 8B are created based on the teaching data created by the above-described processing (or The data or the robot program including information corresponding to the following “data A” and “data B” is created) and input to the corresponding robot control devices 8A and 8B, and the operation of the control target mechanisms 1A and 1B is performed. It may be controlled.
(Data A)
00 00 000 A = ### B = ###
00 01 000 A = ### B = ###
00 03 000 X = *** Y = *** Z = ***
(Data B)
00 00 000 A = ### B = ###
00 02 000 A = ### B = ###
00 03 000 X = *** Y = *** Z = ***

  In the “data A” and “data B”, the first to third columns on the left are elapsed times. Further, the fourth and subsequent columns on the left are the operation designation information, A: the rotation angle of the rotation part 2d, B: the rotation angle of the rotation part 2e, #: a numerical value representing the angle, and X: the specific part. x-coordinate, Y: y-coordinate of the specific part, Z: z-coordinate of the specific part, *: a numerical value representing the coordinate

  With the above processing, the state of each control target mechanism 1A, 1B in the elapsed time defined by the time axis 21 of the interlock control time chart 20 and common to the two control target mechanisms 1A, 1B is designated. Teach data is created. That is, the data structure of the teaching data of the present invention is the data structure of teaching data used for control of the plurality of control target mechanisms 1A and 1B, and the elapsed time common to the plurality of control target mechanisms 1A and 1B and the elapsed time concerned. Including a combination with the states of the controlled object mechanisms 1A and 1B.

  The recording medium of the present invention includes teaching data created by the teaching data creation method described above or data or a program including the teaching data recorded thereon, and the teaching created by the teaching data creation apparatus 10 described above. Data or data including the teaching data recorded therein, teaching data created by executing the teaching data creation program 17 on the computer 10 (teaching data creation device 10), or Data or a program including the teaching data is recorded.

  The recording medium is not limited to a specific one, and includes a wide range of media on which electronic data (digital data) can be recorded. Specifically, for example, a built-in or externally connected hard disk drive, optical disk, etc. Examples include various disks, various memories such as RAM and ROM, and servers.

  And the control part 11 complete | finishes the process which concerns on preparation of the teaching data regarding the control object mechanism group designated in the process of S1 taught comprehensively and centrally (END).

  Here, when the teaching data created by the above processing is used, the time scaling of the teaching data can be easily performed.

  Specifically, since the teaching data according to the present invention includes one elapsed time common to the plurality of control target mechanisms 1A and 1B as in the “basic data”, a desired time is included in the common elapsed time. Time scaling of the teaching data can be performed by multiplying by a scaling factor.

  For example, time scaling is performed on the entire teaching data by multiplying all the elapsed times included in certain teaching data by the time scaling coefficient, or time is applied to all elapsed times after a certain elapsed time of certain teaching data. Time scaling is performed on a portion of the teaching data after a specific elapsed time by multiplying the scaling coefficient, and the teaching data is multiplied by multiplying all of the elapsed time of a specific period of the teaching data by a time scaling coefficient. Time scaling is performed for a specific period.

  The time scaling coefficient can be changed, for example, so that the operation speeds of the control target mechanisms constituting the control target mechanism group taught comprehensively and centrally are collectively set to a desired level. An appropriate value is appropriately set for changing the time required for performing the work of the entire group to a desired level.

  According to the teaching data creation method, creation device, and creation program configured as described above, an interlocking control time chart in which an elapsed time common to a plurality of control target mechanisms 1A, 1B is defined by one time axis 21. 20 is used to specify the states of the control target mechanisms 1A and 1B, so that a combination of the elapsed time common to the plurality of control target mechanisms 1A and 1B and the state of the control target mechanisms 1A and 1B at the elapsed time can be obtained. Since the teaching data can be created and output, the operation of each controlled object mechanism 1A, 1B is controlled and controlled at a common elapsed time, and the operation of each controlled object mechanism 1A, 1B is taught comprehensively and centrally. Thus, it is possible to obtain teaching data that can be operated by interlocking / cooperating / cooperating with a plurality of control target mechanisms 1A and 1B, and it is versatile / existent as a sufficient teaching data creation technique. It is possible to improve the resistance.

  Although the above-described embodiment is an example of a preferred embodiment for carrying out the present invention, the embodiment of the present invention is not limited to the above-described embodiment, and the present invention is not deviated from the gist of the present invention. Various modifications can be made.

  For example, in the above-described embodiment, the control target mechanisms 1A and 1B are configured to be a robot having an arm provided with an end effector and a rotating part or the like, but the control target mechanism in the present invention is a robot or the like. The workpiece support mechanism and the workpiece may be designated as the control target mechanism and included in the control target mechanism group. In addition, it is necessary to consider the interlocking / cooperation / cooperation between the mechanisms. Any mechanism that needs to be taught comprehensively and centrally can be designated as a control target mechanism and included in the control target mechanism group.

  In the above-described embodiment, the end effector of the control target mechanisms 1A and 1B is handled as a specific part. However, the specific part is not limited to the end effector, and any constituent member / part of the control target mechanism. The position (location) can be designated as appropriate. In addition, also when a workpiece | work support mechanism and a workpiece | work are designated as a control object mechanism and are included in a control object mechanism group, the arbitrary positions (locations) of these work support mechanisms and a workpiece | work are designated as a specific site | part.

  In the above-described embodiment, the three-dimensional corresponding to the control target mechanisms 1A and 1B constituting the control target mechanism group from the three-dimensional models displayed on the display unit 14 of the teaching data creating apparatus 10 as the processing of S1. Although the model is manually specified (selected) individually, the step of manually specifying (selecting) the three-dimensional model corresponding to the control target mechanism is not an essential step in the present invention. For example, all the three-dimensional models whose data are included in the three-dimensional model database 18 may be automatically designated as the three-dimensional model corresponding to the control target mechanism, and also correspond to the control target mechanism. Only the data of the three-dimensional model to be designated as the three-dimensional model may be included in the three-dimensional model database 18. In addition, even if all the three-dimensional models whose data are included in the three-dimensional model database 18 are automatically designated as the three-dimensional model corresponding to the control target mechanism, specifically, for example, the virtual support in the above-described embodiment Even if the mechanism 3 or the virtual work 4 is designated as a three-dimensional model corresponding to the control target mechanism, there is no problem because it does not affect the creation / output of the teaching data unless it is the target of the processing of S3.

  In the above-described embodiment, the initial state of each of the control target mechanisms 1A and 1B is manually specified individually as the process of S2. However, the step of manually specifying the initial state individually in the present invention. It is not an essential process. For example, the three-dimensional model data corresponding to the initial state of each control target mechanism is included in the three-dimensional model database 18, and the display unit 14 specified by using the data read from the three-dimensional model database 18 is used. The state displayed on the screen may be automatically set to the initial state as it is.

  In the above-described embodiment, “position designation” and “rotation designation” are performed as the state designation / operation designation for the control target mechanisms 1A and 1B in the process of S3. The contents are not limited to these. For example, “work designation” may be performed in which the state of the end effector included in the control target mechanism and the content of the work executed by the control target mechanism are specified. . “Work designation” specifically designates gripping and releasing of a workpiece with a hand, and starting and ending welding, painting, inspection, polishing, and cleaning with various end effectors. It is thought that it is done.

  In the above-described embodiment, it is determined whether or not the operation according to the event symbol assigned to the interlock control time chart 20 by the control target mechanisms 1A and 1B can be completed simultaneously with the designation of the states of the control target mechanisms 1A and 1B in the process of S3. However, the determination of whether or not the operation can be completed by the control target mechanism may be performed simultaneously with the operation simulation of the entire control target mechanism group in the process of S4. As already described in the description of the process of S3, the process for determining whether or not the operation by the control target mechanism is complete is not an essential process in the present invention.

  In the above-described embodiment, all of the processes from S1 to S5 are executed by the teaching data generation program 17, in other words, all the processes related to the generation of teaching data are executed by one program. However, the aspect of the present invention is not limited to the aspect in which all the processes are executed by one program, and the process related to the creation of teaching data may be executed by a plurality of programs. In addition, when the processing is executed by a plurality of programs, for example, the processing related to the display of the three-dimensional model in the virtual space is executed by the three-dimensional CAD software (application program), and the display of the interlock control time chart is performed. A program that executes processing related to state designation / operation designation of the control target mechanism is linked and linked with the three-dimensional CAD software as a module or add-on, and processing related to creation of teaching data is thereby executed. Also good.

10 Teaching data creation device 17 Teaching data creation program

Claims (9)

Event symbol that specifies the state of the control object mechanism interlock control time chart defined between axis time common to said plurality of control target mechanism assigned which has an operation allocation region corresponding to each of the plurality of control target mechanism and a state and operation completion of the controlled mechanism at the elapsed time in which the event symbol is assigned is specified by being the control target mechanism specified by the event symbol sought to be allocated to the synchronous control time chart Executed in the time from the operation start time to the operation completion time of the operation of the control target mechanism specified with another event symbol assigned immediately before the event symbol to which the operation to the state is to be assigned Whether the required amount of work or work is possible or not is related to the performance specifications and operating conditions of the controlled mechanism Out guided by back calculation from the data, said the control target mechanism of time it is possible to complete the section assigned to the event symbol, the interval of time that is impossible to ensure no allocation of said event symbols The event symbol to the position of the elapsed time at which the control target mechanism can complete the operation to the state specified by the event symbol to be assigned to the interlock control time chart above. Is automatically moved, and teaching data including a combination of an elapsed time of the event set on the interlock control time chart and a state of the control target mechanism at the elapsed time is created. A method of creating teaching data characterized by   As an event symbol for designating the state of the controlled object mechanism, an event symbol for designating a state in which a specific part of the controlled object mechanism is moved to a designated position and a turning part of the controlled object mechanism are rotated to a designated angle. 2. The method of creating teaching data according to claim 1, wherein at least one of an event symbol designating the state is set.   The degree of work required in the section with respect to the performance of the control target mechanism is displayed for each section divided by the two event symbols adjacent before and after assigned to the interlocking control time chart. The teaching data creation method according to claim 1, wherein: Means for displaying on the display unit the interlocking control time chart defined between axis time common to said plurality of control target mechanism together with the operation allocation region corresponding to each of the plurality of control target mechanism, the control target mechanism By assigning an event symbol for designating a state to the interlocking control time chart, a means for designating a state of the controlled mechanism and an operation completion point at an elapsed time to which the event symbol is assigned, and assigning to the interlocking control time chart The control target mechanism specified with another event symbol assigned immediately before the event symbol to be assigned to the state of the control target mechanism specified by the event symbol to be assigned Necessary amount of work and work when executing in the time from the operation start time to the operation completion time Possible whether the control target mechanism performance specifications with out lead with back calculation from the data relating to the operating conditions sought to be allocated to the synchronous control time chart the controlled mechanism the operation of the state specified by said event symbols The event symbol is assigned to a time interval that can be completed, and the event symbol is prohibited to be assigned to a time interval that is impossible, or is assigned to the interlocking control time chart. It means for automatically moving is possible to position the elapsed time of the event symbols when the control target mechanism the operation of the state specified by the event symbol is unable to complete the elapsed time of the event set by the interlock control time chart on and the controlled mechanism in the elapsed time Creating apparatus of the teaching data, characterized in that it comprises a means for outputting the teaching data including a combination of on purpose. As an event symbol for designating the state of the controlled object mechanism, an event symbol for designating a state in which a specific part of the controlled object mechanism is moved to a designated position and a turning part of the controlled object mechanism are rotated to a designated angle. 5. The teaching data creating apparatus according to claim 4 , wherein at least one of an event symbol designating the state is set. Means for displaying a degree of work amount required in the section with respect to the performance of the control target mechanism for each section divided by the two event symbols adjacent before and after assigned to the interlocking control time chart; 5. The teaching data creating apparatus according to claim 4, further comprising: A process of displaying the interlocking control time chart defined between axis time common to said plurality of control target mechanism together with the operation allocation region corresponding to each of the plurality of control target mechanism to the display unit, the control target mechanism By assigning an event symbol designating a state to the interlocking control time chart, assigning to the interlocking control time chart, a process for designating a state of the controlled mechanism and an operation completion point in an elapsed time to which the event symbol is assigned Operation start of the operation of the controlled object mechanism specified with another event symbol assigned immediately before the event symbol to be assigned an operation to the state specified by the event symbol to be assigned Control whether the required amount of work and work is possible when executing in the time from the point in time to the point when the operation is completed Out guided by back calculation from the data regarding the performance specifications and operating conditions of the target system, the to the control subject mechanism of time it is possible to complete the section assigned to the event symbols, the time that is impossible interval It is possible when the control target mechanism cannot complete the operation to the state specified by the event symbol to be assigned to the interlocking control time chart. A process of automatically moving the event symbol to a certain elapsed time position, and a combination of the elapsed time of the event set on the interlock control time chart and the state of the control target mechanism at the elapsed time A teaching data creating program that causes a computer to perform processing for outputting teaching data including the teaching data. A process of displaying the degree of work required in the section with respect to the performance of the control target mechanism for each section divided by the two event symbols adjacent before and after assigned to the interlocking control time chart; 8. The teaching data creating program according to claim 7, wherein the program is executed by a computer.   A time scaling coefficient is multiplied by the elapsed time included in the teaching data created by the method according to claim 1 to obtain teaching data in which the operation speed of the controlled object mechanism is changed to a desired level. Teaching data adjustment method.

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