JPH01321131A - Instructing method - Google Patents

Abstract

PURPOSE:To perform correction of program automatically by reading from a memory means the applicable space specially devoted to each of actuating members at any desired time. CONSTITUTION:A computation software 32 determines the locational data 33 of a locator by referencing to the sectional locational and location information data 30, 31, and the result is converted into teaching data 36 by a conversion software 35 with the aid of standard pattern data 34 as its locus information to then be fed back from another conversion software 37 in the form of standard pattern data 34. The teaching data 36 becomes simulation data 40 upon passing through a compiling editor 38 and a graphic engine software 39 to be displayed on a CRT 4 by a CAD simulation software 44 with the aid of the section, locator, and panel displaying data 41-43. Meantime the interference between the work and the locational rotor is checked by interference check 46, and eventual existence of interference calls the teaching data 36 followed by implementation of rewriting 47.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to a teaching method for teaching the displacement state of a plurality of actuating members as a whole, and in particular, the teaching work is performed by eliminating interference between actuating members. The present invention relates to a teaching method that can be easily carried out in a short period of time.

(Prior Art) With the diversification of consumer needs in recent years, there has been a strong demand for high-mix, low-volume production in the automobile industry, for example, and various proposals have been made to meet this demand.

For example, in Japanese Patent Application Laid-open No. 62-110.581, a 3-axis switching unit controlled by program input is provided on a stage with a body plate for joining body components such as body sides, underbody, and roof. together with said 3
A positioning locator for positioning the vehicle body component is attached to the shaft switching unit, and the positioning locator is moved to a different clamping position depending on the vehicle type based on a vehicle type detection signal transmitted when the vehicle body component is carried into the stage with the vehicle body plate. By positioning and clamping the vehicle body components under the positioning state, there is no need to replace positioning jigs etc. when adopting a mixed flow system of different types,
A system for assembling an automobile body has been disclosed which eliminates various problems such as a decrease in the operating rate in the stage for attaching a body plate.

The system configuration for this vehicle body assembly is schematically explained as shown in FIG. 10.

As shown in the figure, the aforementioned positioning locator 20a,
b... is the manipulator part 21a.

b... Has grips 22a, b... for gripping the vehicle body components at the tip, and these grips 22
The vehicle body component is configured to be movable in two directions indicated by arrows in the figure and in three directions perpendicular to the drawing while gripping the vehicle body component.

This positioning locator 20 has degrees of freedom in three axes per device, and since a plurality of these are arranged on the stage with the vehicle body plate, the device that controls the entire positioning locator 20 will be referred to below as follows. We will call it a multi-axis control device.

This multi-axis control device includes the plurality of positioning locators 20
Locator controllers 24a, b, . . . are connected to each of a, b, . The locator controller 24a, b...
A main controller 2 that issues commands to operate and stop operations to 4a, b... and outputs a synchronization timing signal.
5 are connected.

The locator controllers 24a, b, . . . have a storage device for storing information regarding the movement trajectory taught in advance by the teaching pendants 23a, b, . Y-axes (not shown) are respectively provided on the three axes of the XYZ-axes of the cages 20a, b...

It has internal Y-axis, Y-axis, and Z-axis drive servo amplifiers (not shown) that output drive commands to the Y-axis and Z-axis drive servo motors, respectively. Note that each of the Y-axis, Y-axis, and Z-axis driving servo motors is connected to a Y-axis, Y-axis, and Z-axis encoder (not shown) that outputs a pulse signal according to the rotation of the servo motor. Pulse signals from these encoders are fed back to the Y-axis, Y-axis, and Z-axis servo amplifiers, and with this, the Y-axis.

Each of the Y-axis and Z-axis drive servo motors is positioned along a movement locus.

In the multi-axis control device configured in this way, teaching is performed in advance according to the following procedure.

That is, the operator guides and positions the positioning locator 20a to a desired position by pressing the operation key of the teaching pentant 23a, and sequentially stores information regarding this position in the storage device in the sub-controller 32a in the form of a movement trajectory. do. When all the movement trajectories of the positioning locator 20a are stored in the storage device, other positioning locators 20b...
The same teaching work is also performed sequentially for the students.

When the teaching work for all positioning locators 20 is completed, the multi-axis control device is ready to start, and when a start command is output from the main controller 25 at this time, the positioning locators 20 are sequentially moved to predetermined positions along the movement locus. is positioned to.

(Problem to be Solved by the Invention) However, in the conventional teaching method described above, when guiding and positioning the positioning locator 20 to a desired position, the operator must use a plurality of operation keys properly. In addition, the guiding direction of this operation key is generally forward, backward,
Because the teaching pendant does not correspond to the human senses of left and right, up and down, considerable skill was required to handle it.

For this reason, it takes a considerable amount of time to teach the movement locus for the positioning locator 20 of the - platform, and it takes a long time and requires a lot of effort to perform this teaching work for a plurality of positioning locators 20. There was a problem.

In order to solve this problem, recently, an online teaching format has been introduced in which the positioning locator 20 is directly taught by operating a conventional teaching pendant, and computer-aided design, so-called CAD data files, are being used. Information about work environments such as the shape or arrangement of workpieces such as body side panels and positioning locators is stored, and by reading this information as necessary, the operation program of the positioning locator 20 can be indirectly executed. Off-line teaching formats in which students are created are becoming popular (Nikkei Mechanical, 1986).

7-28, no. 224. pp. 50-59, published by Nikkei McGraw-Hill). According to this technology, as long as information regarding the work environment is registered in advance in a CAD data file, an operation program for the positioning locator 20 can be easily created in a short time. This is particularly effective when the operation is complex.

However, according to this technology, when the operation program created above is applied to the field on a trial basis, if interference occurs between the positioning locators 20 as shown in FIG. 11, this interference will occur. Partial teaching data must be corrected on site, but it has been pointed out that this data correction requires skill and is very complicated.

The present invention has been made in view of the above-mentioned problems of the prior art.
It is an object of the present invention to provide a teaching method that can be easily performed in a short time while eliminating interference between actuating members.

(Means for Solving the Problem) The present invention to achieve the above object is a teaching method for teaching the displacement state of a plurality of working members as a whole, the teaching method comprising: a space occupied by each of the plurality of working members; by providing a storage means for storing time as a variable, reading the exclusive space of each of the plurality of actuating members at an arbitrary time from the memory contents of the storage means, and referring to the read exclusive space. The teaching method is characterized in that the presence or absence of interference between the plurality of operating members is determined, and if it is determined that there is interference as a result of the determination, the stored content of the storage means is rewritten.

(Operation) If the above means is adopted, the exclusive space of each of the plurality of actuating members at a given time is read out from the memory contents of the storage means, and by referring to this exclusive space, the plurality of actuating members can be connected to each other. The presence or absence of interference is determined. As a result of this determination, if it is determined that there is interference, the stored contents of the storage means are rewritten to correct the exclusive space. This rewriting eliminates interference between actuating members, and in other words, the previously troublesome program correction is automatically performed, making it extremely easy to teach the displacement status of multiple actuating members in a short time. This means that you will be able to do so.

(Example) Below, a teaching method according to the present invention will be described in detail with reference to drawings illustrating a stage with a vehicle body plate.

In addition, in the following explanation, the above-mentioned FIG.
Components common to those shown in FIG. 1 are denoted by the same reference numerals.

Figures 6 to 9 are diagrams showing a stage with body plates, in which vehicle body components such as the floor-main panel, left and right body side panels, roof panel, and rear panel are temporarily attached to each other to form the body frame. It was brought in in a
It is temporarily attached to this body by spot welding at the stage shown.

Before this temporary attachment is carried to the stage, the vehicle body components such as the floor/main panel mentioned above are bent to form a mechanically integrated body B by bending the ends of these parts together. are doing.

This body B is carried to this temporary attachment stage by a transfer par 1, also called a shuttle bar, shown in FIG.

A support frame 3 forming a stage body is installed on the base 2 so as to surround the transfer par 1. A base plate 5 is fixedly installed above the support frame 3 by a post 4, and a main controller 6 is mounted on the base plate 5 to manage data transferred to the entire equipment attached to the support frame 3. is installed. A ladder 7 is attached to the base plate 5 so that a worker can climb onto the base plate 5. In addition, the code|symbol 5a is a safety fence attached on the baseplate 5.

As described above, in order to support the body B carried into this temporary attachment stage by the transfer parlor 1, as shown in FIG. A locator 20 is provided. These positioning locators 20 are the tenth
As shown in the figure, the manipulator part 21 has a grip 22 at its tip that engages with the lower surface of the body B, and each positioning locator 20 is arranged in two directions indicated by arrows in the figure and in a direction orthogonal to the figure. The body B is configured to be movable in three directions.

In order to temporarily attach the body B supported by the positioning locator 20, as shown in FIG. A working robot 9 is installed to clamp the components together and to weld the clamped vehicle body components together.

These working robots 9 have a guide 1 fixed to the front part 3b of the support frame 3, as shown in FIG.
The body B (7) is movable in the conveyance direction along the body B (7). Further, a working robot 9 similar to the above-mentioned working robot 9 is mounted on the top 3d of the support frame 3, and this working robot 9 is mounted on the top 3d as shown in FIG. Body B along the fixed guide 10
It is movable in the transport direction. Furthermore, the working robot 9 is also installed in the rear part 3c shown in FIG. 8 in the same way as in the front part 3b.
is mounted so as to be movable in the transport direction.

The transfer vehicle 1 carries bodies B of a plurality of vehicle types into this temporary mounting stage in a mixed state. As a result, a so-called heterogeneous mixed flow type vehicle body plate attachment is carried out, but the position at which the positioning locator 20 should support the body B is different for each vehicle type.

Therefore, depending on the type of body B carried into the tacking stage, the positioning locators 20 are moved in three-dimensional directions to be positioned at positions suitable for the body B.

As shown in FIG. 5, the multi-axis control device that centrally controls the movement of the positioning locators 20a, b...
, 8b, and connect the locator controllers 8a, 8b.
and a positioning locator 20a.

The main controller 6 described above that manages the data to be transferred to b... is connected, and this main controller 6
While sequentially reading teaching data such as the motion locus and speed of the positioning locator 20, which has been created in advance by the CAD simulation described below and stored in the data file 11, which is a large-capacity storage device such as a magnetic drum or hard disk, A host computer 12 outputs data such as starting, stopping, positioning points, etc. of the positioning locator 20 and also performs overall timing control.
It is configured by connecting.

Next, processing procedures for realizing the teaching method according to the present invention will be explained in detail with reference to FIGS. 1 to 4.

First, to outline the processing procedure, as shown in FIG. 1, cross-sectional positioning information data 30 regarding workpieces such as body side panels, positioning locators 20,
and positioning information data 31 regarding the positioning locator 20 are referred to, calculation is performed in the locator positioning calculation software 32, and four-digit positioning point data 33, which is the result of this calculation, is output. This locator positioning point data 33 is sent to pattern data conversion software 35 together with standard pattern data 34 which is information regarding the locus between the point data 33, where a conversion process is performed and teaching data 36 is output. This teaching data 36 is converted by teaching data conversion software 37 and fed back as standard pattern data 34.

After the teaching data 36 is appropriately edited by an editing editor 38, it is applied to a graphic engine software 39 and converted into the form of simulation data 40. This simulation data 40 includes cross section display data 41, locator display data 42,
and panel display data 43 are sent to CAD simulation software 44, where the various data are converted into a form that can be displayed on display 45,
The simulation results are displayed on the display 45.

On the other hand, the simulation result is determined by the interference check 46.
In this step, the presence or absence of interference between the workpiece and the positioning locator 20 or between the positioning locators 20, etc. is checked, and if it is determined that there is interference as a result of this interference check, the teaching data 36 is called to eliminate the interference. To avoid this, the teaching data is rewritten 47, and the following process is executed again based on the rewritten teaching data 36.

Further, the processing of the interference check 46 and teaching data rewriting 47 will be described in detail as shown in FIGS. 2 and 3.

As shown in FIG. 2, first, all positioning locators 2
For the manipulator unit 21 of No. 0, basic teaching data, which is data that takes the shortest path among the movement trajectories of each positioning point in the entire work process from the start of work to the end of work, is obtained, and this basic teaching data is converted into a graphic image. The engine software 39 converts it into basic simulation data. Referring to this basic simulation data, in the CAD simulation software 44, as shown in FIG. (Step 1), and the result of this calculation is stored in a storage device (not shown) as storage means in the CAD station.

Next, a control device in the CAD station (also not shown) executes a process of setting 0 to a time register T (not shown) in which the time as a variable mentioned above is set (step 2). When the processing of step 2 is completed or when the increment processing for the contents of the time register T, which will be described later, is completed, the control device calculates, from the stored contents of the storage device, the contents of the time register T that have elapsed in T seconds. A process of reading out the exclusive spaces S of the manipulator sections 21 of all the positioning locators 2o at the time is executed (step 3).

The control device performs a process of setting 1 to a number register MN in which a manipulator number for selecting an arbitrary one of the manipulator sections 21 in the plurality of positioning locators 2o is set (step 4). Step 4
, or when the incrementing process for the contents of the number register MN, which will be described later, is completed, the control device refers to the exclusive space data read out in step 3, and instructs the MN-th manipulator unit and the other units. The presence or absence of interference with the manipulator section is checked by checking the presence or absence of a portion where the exclusive space S overlaps (step 5.6).

As a result of the interference check in step 5, if it is determined that there is interference, the process proceeds to subroutine 1 for rewriting teaching data, which will be described later, and then returns to step 3. On the other hand, if it is determined that there is no interference, the control The device is
It is determined whether the contents of the number register MN are equal to M N END indicating the end of the manipulator section (step 7).

As a result of this judgment, if it is determined that they are not equal, the control device executes a process of incrementing the contents of the number register MN (step 8), and when the process of step 8 is completed, the process returns to step 5. If so, the control device further determines whether the contents of the time register T are equal to TEND indicating the end of the working process time (step 9). As a result of the determination in step 9, if it is determined that they are not equal, the control device executes a process of incrementing the contents of the time register T (step 10), and returns to step 3 when the process of step 1o is completed, while If it is determined that they are equal, that is, if all the work steps have been completed, the control device executes processing to end the teaching data rewriting program.

Next, subroutine 1 for rewriting the teaching data described above will be explained.

When the subroutine program starts, the control device first judges whether there is an empty area around the MNth manipulator part, which is the contents of the number register MN (step 11), and as a result of this judgment, if there is an empty area, , the control device executes a process of rewriting the teaching data so that the exclusive space S of the MNth manipulator unit moves to the nearest vacant area (step 12). As a result, the interference will be avoided.

On the other hand, as a result of the determination in step 11, if there is no free area, the control device uses teaching data to move the exclusive space S of the MNth manipulator section to the exclusive space S at the previous time T-1 seconds. When the process of rewriting step 13), step 12, or step 13 is completed, subroutine 1 is ended and the process returns to the main routine. That is, in step 13, if there is no vacant area around, by shifting the time during which the interfering private spaces S exist,
The above interference is avoided.

(Effects of the Invention) As described above in detail, according to the present invention, the exclusive spaces of each of the plurality of actuating members at a given time are sequentially retrieved from the memory contents of the storage means, and this exclusive space is referred to. By doing so, it is determined whether or not there is interference between the plurality of actuating members. As a result of this determination, if it is determined that there is interference, the stored contents of the storage means are rewritten to correct the exclusive space. This rewriting eliminates interference between actuating members, and in other words, the previously troublesome program correction is automatically performed, making it extremely easy to teach the displacement status of multiple actuating members in a short time. It has the unique effect of being able to perform

[Brief explanation of the drawing]

FIG. 1 is a flowchart showing a processing procedure for implementing the teaching method according to the present invention, FIGS. 2 and 3 are flowcharts showing the main parts of the processing procedure, and FIG. 4 is an explanation of the present invention. FIG. 5 is a schematic configuration diagram of a multi-axis control device that controls the actuating member based on the teaching data obtained by the teaching method, and FIGS. 6 to 9 are for explaining the present invention. FIG. 10 is a diagram for explaining a malfunction state of the present invention. FIG. 11 is a block diagram of a conventional multi-axis control device. 20... Four positioning units (operating member), 21...
Manipulator section, S...exclusive space. Agent Patent attorney 8 1) Mikio (and 1 other person) Patent applicant Nissan Motor Co., Ltd. No. 2 [2I Figure 4 2a

Claims (1)

[Claims] A teaching method for teaching the displacement state of a plurality of operating members as a whole, the method comprising: a storage means for storing a space occupied by each of the plurality of working members as a variable of time; From among them, the exclusive space of each of the plurality of actuating members at a given time is read out, and by referring to the read exclusive space, it is determined whether or not there is interference between the plurality of actuating members, and as a result of the judgment, interference is detected. If it is determined that there is a problem, the content stored in the storage means is rewritten.