JPH02176906A - Operating state display, operating instruction controller and controller - Google Patents

Abstract

PURPOSE:To execute an animation display at a high speed by converting an inputted operation program to a prescribed standard format and displaying an operating state. CONSTITUTION:An operation program OP of each operating device L1 is inputted by an operation program input means L2, and it is converted to a prescribed standard format by a converting means L3. Subsequently, based on attribute data CD' converted to a standard format and an operation program OP' stored in an attribute data storage means L4, operating states of a target position, an attitude, etc., of each operating device L1 are derived by an arithmetic means L5, and displayed on a display part DP by a display means L6. In such a way, with regard to plural kinds of operating devices L1 for executing independent and intrinsic operations such as a working device, a robot, etc., the operation program OP is converted temporarily to a standard format, and thereafter, its operating state is derived, and the operating state of the operating device L1 is displayed, therefore, an animation display of a robot, etc., can be executed at a high speed.

Description

Detailed Description of the Invention [Field of Industrial Application] The present invention is a method for simulating the operating state of a plurality of actuating devices, such as processing devices, robots, etc., that independently perform specific operations, and/or A system for giving operation instructions (related to 11 devices).

[Prior Art] In recent years, the spread of robots and other actuating devices that individually perform specific movements has been remarkable, and there are even attempts to place multiple robots, processing devices, etc. on a production line and integrate them into operation. It has become a reality. Under these circumstances, in order to verify the interference and validity of the arrangement of the arms of multiple robots, etc., it is necessary to simulate the operating states of these actuating devices and, in some cases, modify the actions performed by each actuating device. It became necessary to do so.

FIG. 9 shows the configuration of a conventional control device that performs such simulation and f1 correction of operations. As shown in the figure, this control fffj device includes a display device Dly, an input device IE,
Equipped with external peripheral equipment EE, large computer SC, etc.
Inside, there is a database DB that stores data about each robot and retrieves it as appropriate, and a trajectory generation calculation unit TC.
Equipped with

In order to perform a simulation or the like with this control device, first, a motion program containing information such as motion procedure 9 position, posture, velocity, acceleration, interpolation method, etc. is transmitted from a plurality of robots R1, R2, ... Rn to a flexible Disc F
Manpower in the form of D. Each manual operation program is written in a format specific to each robot (Rn, etc.). In addition, the operation program of each robot Rn is
It can also be created by the control device itself using an input device IE such as a keyboard. In any case, the operating program is written according to a format unique to each robot Rn.

When displaying an animation of Robo-N)Rn,
Attribute data such as the configuration of each axis, operating range, maximum speed, and acceleration of the robot Rn must be defined in advance in the database DB. Some of this attribute data
In some cases, it may be done manually than Rn, and the format of each attribute data is usually different. Like the operating program, the attribute data can also be defined by the functions of this control device.

After the operation program and attribute data for each robot (Rn) are manually defined, the operational states such as the posture and position of the robot (Rn) are simulated. In order to simulate the motion of a robot Rn, etc., trajectory generation calculations such as forward transformation and inverse transformation, which are performed when actually moving the robot Rn to a target position and posture, must also be performed on the simulator. The trajectory generation calculation unit TC performs this calculation. Such a trajectory generation calculation, especially the inverse transformation, is a problem of solving a nonlinear equation using the joint variables of the robot Rn as variables, and it is extremely difficult to solve this analytically. Therefore, in conventional simulators, each robot manufacturer's model
A unique algorithm has been constructed, and trajectory generation calculations are executed according to that algorithm. For this reason, the trajectory generation calculation unit TC includes the robot R to be simulated.
The number of trajectory generation calculation processing routines corresponding to the number of models n is prepared. The posture, position, etc. of each robot obtained by executing the dedicated trajectory generation calculation process are displayed on the display device Dl.
It is displayed in animation etc. on y.

[Problems to be solved by the invention] However, in this conventional device, when trying to control multiple types of robots, there are the following problems.
Improvement was required.

(1) In order to animate the position and posture of each robot, display data must be created by executing trajectory generation processing using different algorithms based on motion programs and attribute data of different formats for each robot model. It won't happen. Therefore, when displaying animations of various robots at the same time, a routine for accessing and calculating operation programs and attribute data is required for each robot. Therefore, the amount of software that needs to be executed becomes enormous, which slows down the animation display speed.
It becomes impossible to simulate the actual robot.

(2) When adding a new model of processing equipment, it is necessary not only to add the entire software for that model, but also to individually modify the software that controls and manages the processing units for each model. A huge amount of man-hours is required each time.

(3) Similarly, when creating data on the trajectories and postures of each robot's arm, processing end, etc. using CAD, etc., data must be prepared based on operation programs and attribute data in different formats for each robot model. Processes that generate data must be performed using different algorithms. Therefore,
The amount of software that must be prepared and used has become enormous.
It was also considered that it was not possible to uniformly create operation data for a plurality of processing devices that should originally perform integrated operations. As a result, there was no possibility that problems would arise in the actual operation of the robot.

During this time, proposals to generalize robot controllers (e.g., JP-A-61-208103) and proposals to standardize data using a standard coordinate system (e.g., JP-A-61-208103) were proposed. Publication No. 150184)
However, it has not been possible to commonly perform simulations, modify operation programs, etc. by handling various types of robots, processing devices, and other operating devices as they are.

It is an object of the present invention to solve the above-mentioned problems and to achieve generalization in simulation of the operating states of many types of robots, modification of operating programs, etc.

The configuration of the present invention that achieves this objective will be described below.

[Means for Solving the Problems] As illustrated in FIG. 1(A), the operating state display device as the first invention includes a plurality of operating devices such as processing devices, robots, etc. that independently perform specific operations. In the operating state display device for simulating and displaying the operating state of L1, each of the actuating devices L1
Steps of operation 1. Position and posture.

a motion program input means L2 for inputting a motion program, which is information such as speed, acceleration, interpolation method, etc.; a conversion means L3 for converting the input motion program into a predetermined standard format; and each of the actuating devices L1. Axis configuration, operating range, maximum speed,
Attribute data storage means L4 stores attribute data such as acceleration in a common format, and each actuator L4 stores attribute data such as acceleration based on the operation program converted into the standard format and the attribute data.
Calculating means L5 for determining the operating state such as the target position and posture of No. 1
and display means L6 for displaying the requested operating state on the display section DP.

On the other hand, the operation instruction control device as the second invention is shown in FIG.
As shown in B), in a motion instruction control device that instructs a plurality of actuating devices M1, such as processing equipment, robots, etc., that independently perform specific operations, the configuration of each axis of each of the actuating devices M1, the operating range, maximum speed,
According to the attribute data storage means M2 that stores attribute data CD' such as acceleration in a common format, and the operation of causing each of the actuating devices M1 to execute, the operation procedure 1 position, attitude, speed,
Operation program OP, which is information on acceleration, interpolation method, etc.
an operation program creation means M3 for inputting or creating the operation program OP' in a predetermined standard format, and a rewriting means M4 for rewriting the created operation program OP' together with the desired attribute data CD' into a format specific to each of the actuation devices M1. and output means M5 for outputting the rewritten operating program OP and attribute data CD to each of the actuating devices M1.

Furthermore, as shown in FIG. 1(C), the control device as a third invention simulates the operating state of a plurality of actuating devices N1 such as processing devices, robots, etc. that independently perform specific operations, and A control device for instructing operations, comprising: operation procedure 2 position and posture of the winter cropping FJJ device N1;

an operation program input means N2 for inputting an operation program OP, which is information such as speed, acceleration, interpolation method, etc.; a conversion means N3 for converting the input operation program OP into a predetermined standard format; and each of the actuation devices Nl. Each axis configuration, operating range, maximum speed,
Attribute data storage means N4 stores attribute data CD' such as acceleration in a common format, and the target position of each actuating device N1 is determined based on the operation program OP' converted into the standard format and the attribute data CD'. , a calculation means N5 for determining the operating state such as posture, a display means N6 for displaying the requested operating state on the display section DP, and referring to the displayed operating state of each actuating device N1,
modifying means N7 for modifying the operating program OP' in the predetermined standard format; and the modified operating program O.
rewriting means N8 for rewriting P' together with the desired attribute data CD' into a format specific to each of the actuating devices N1; and an output for outputting the rewritten operation program OP and attribute data CD to each of the actuating devices N1. It is characterized by comprising means N9.

[Operation] The operation of the apparatus according to each invention having the above configuration will be explained below. In the following explanation, attribute data refers to data such as the configuration of each axis of the actuator, operating range, maximum speed, acceleration, etc., and the operation program refers to the operation procedure 9 position, attitude, speed, acceleration, and interpolation method. etc. information. Furthermore, when the attribute data and the operating program are in a format unique to the actuating device, they are expressed as CD and OP, respectively, and when they are in a standard format or a common format, they are each expressed with a '' appended to them.

In the operating state display device of the first invention, the operating program OP of each actuating device L1 is inputted by the operating program input means L2, and is converted into a predetermined standard format by the converting means L3. Attribute data CD' converted into standard format in this way
and the operation program O stored in the attribute data storage means L4.
Based on P', the calculation means L5 calculates each actuating device L.
1's target position, posture, etc., and displaying means L6.
This is displayed on the display section DP. Therefore, the operating state display device of the first invention converts the operating program OP into a standard format once for multiple types of actuating devices L1 such as processing devices and robots that independently perform specific actions, and then displays the operating state. The simulation is performed by determining the operating state of the actuating device L1 and displaying the operating state of the actuating device L1.

Further, the operation instruction control device of the second invention includes each actuating device M1.
The data creation means M3 inputs or creates the operation program OP' in a standard format according to the operation to be executed by the data creation means M3, and the rewriting means M4 writes this together with the desired attribute data stored in the attribute data storage means M2 to each actuating device M1.
Rewrite to a specific format. Furthermore, by the output means M5,
These attribute data CD and operation program OP are output to each actuating device M1. Therefore, the operation instruction control device of the second invention creates an operation program in a standard format for a plurality of actuators M1, such as processing equipment, robots, etc. that independently perform unique operations, and then creates a program specific to each actuator M1. The format data program directs their operations.

Further, in the control device of the third invention, the operation program input means N2 inputs the operation program OP from each actuating device N1, and the conversion means N3 converts it into a predetermined standard format. The operating program O converted into the standard format in this way
Based on P' and the attribute data CD' stored in the attribute data storage means N4, the operation state such as the target position and posture of each actuating device N1 is determined by the calculation means N5, and the display means N
6, it is displayed on the display section DP. While referring to the displayed operating state of each actuating device N1, the correcting means N7
The operating program OP' in the standard format is modified by the above, and the modified operating program OP' and the desired attribute data CD' are rewritten by the rewriting means N8 into a format unique to each operating device N1. Furthermore, the output means N9 outputs these attribute data CD and operation program OP to each actuating device N1.
Output to. Therefore, the control device of the third invention first converts the operating program OP into a standard format, determines its operating state, simulates the operating state of the actuating device N1, and makes corrections while referring to the display. Rewrite the operation programs OP' etc. of the plurality of actuating devices N1,
A data number program in a format unique to each actuator N1 instructs them to operate.

[Example] In order to further clarify the structure and operation of the apparatuses of the first to third inventions described above, preferred embodiments of the present invention will be described next. FIG. 2 is a block diagram showing the system configuration of a robot programming device as a common embodiment of these three inventions.

This robot programming device has a configuration in which a post-processor 1, which handles data conversion, and a main processor 3, which handles trajectory calculation and animation display, are connected via a communication line P.

The post-processor 1 transfers, converts and rewrites a portion of the operation program and attribute data of each robot, and is externally equipped with a flexible disk drive 2 for reading and writing from and to a flexible disk FD. This post-processor 1 includes a well-known CPU, ROM, and RAM.
It is configured as a V11 logic operation circuit, and has a built-in storage device such as a hard disk that stores a large amount of data. The configuration of the post processor 1 will be explained according to the functions of the post processor 1 realized by such arithmetic and logic circuits.
, R2...N operation program files OD for storing operation programs and attribute data corresponding to Rn, and n file formats for changing operation program files OD in various different formats into operation program files OD in a standard format. The conversion unit CVn, the standard operation program file OD that stores the operation program and attribute data after conversion, and the main processor 3 through the communication circuit &mP.
and an interface 4 for outputting to.

On the other hand, the main processor 3 includes a display device 5, an input device 7. A large-sized computer 8 and peripheral equipment 9 are connected via dedicated interfaces 10, respectively. These devices will be explained one by one.

The display device 5 receives position/orientation data and graphic data of the robot, workpiece, etc. from the main processor 3 via the display interface 10, and displays the robot and workpiece graphics based on these data. Since these data are output to the display device 5 and updated at regular intervals, by repeatedly displaying the data, the movement of the robot can be displayed as an animation.

The input device 7 can be of various types, such as a keyboard, digitizer, mouse, dial selection type input switch, etc., and is used to input necessary data via the input interface 10.

The large-sized computer 8 is a large-sized machine having CAD and other functions, and is capable of delivering graphic shape data of robots and workpieces created using CAD to the main processor 3.

When shape data is received from the large computer 8, it is stored in the database 15 in the main processor 3 as a shape data file KD.

Also, the main processor 3 has an interface 10.
Peripheral devices 9 such as a printer, a plotter, and a magnetic tape are connected through the terminal, and data can be sent and received to and from these peripheral devices 9.

Next, the internal configuration of the main processor 3 and the functions of each part will be explained. The main brochure box 3 includes a database 151, a figure creation section 21. Robot attribute definition section 22.
Work arrangement section 24. Robot teaching NIJ25. Data management section 27. Robot reproduction section 29, trajectory calculation processing 9H30
is configured. Note that each part is not configured as specific hardware, but rather as a well-known CPU, ROM,
This is realized by a function realizing means including software in an arithmetic and logic circuit using a RAM or the like, and information stored in a large-capacity storage device such as a hard disk.

The graphic creation unit 21 uses the input device 71 and the display device 5,
This is the part that creates the shape of each axis of each robot, the shape of the workpiece, etc., and has the same function as so-called CAD. The data created here is used when simulating the operating state of the robot and examining its posture. The created shape data and the like are stored in the database 15 as a shape data file KD in the same way as when input from the large computer 8.

The robot attribute definition unit 22 has a function of registering shape data created as the shape of each axis of the robot as the circumference of each axis of the robot. In other words, the input device 7 inputs robot attribute data such as which axis of the robot is associated with shape data such as the positional relationship of each axis, movable mode such as sliding and rotation, movable range, operating speed, and acceleration upper limit value.
, and save it on the database 15 as an attribute data file ZD. By loading the attribute data file ZD of each robot defined by this function and the shape data file KD created by the graphic creation section 21 into the database 15 as necessary, the graphic data can be stored as a robot on the main processor 3. It will work and be displayed.

The work arrangement unit 24 has a function of defining how to arrange the shapes of each robot and work created by the above functions, that is, the positional relationship of each object. That is, the graphic data file KD and the attribute data file ZD are loaded into the database 15, the position data of each object is input into these data using the input device 7, and each object is arranged by modifying as necessary, The results of the study are saved as a layout file HD.

The robot teaching section 25 can create and modify a robot operation program such as the robot tip position, posture, etc. input through the input device 7 while checking the robot operation program by looking at the display device 5.

This operating program is saved as an operating program file OD. Also, from the post processor 1, the communication line P
It is also possible to manually input the operating program file OD via the input device 7, load the file OD onto the database 15, correct f1 using the input device 7, and save it again as the operating program file OD.

The data management section 27 manages the shape data file KD, attribute data file ZD, layout file HD, and operation program file OD, controls the peripheral equipment 9, and controls communication with the large computer 8 and the post processor 1.

The robot reproduction unit 29 loads each data created by the functions described above onto the database 15, and then
In response to the trajectory calculation by the trajectory calculation processing section 30, the motion of each robot is displayed as an animation on the display device 5. The data that the robot reproducing unit 29 passes from the database 15 to the trajectory calculation processing unit 30 includes data necessary for robot operation, that is, target position and orientation, velocity acceleration,
This is data such as interpolation method. The trajectory calculation processing unit 30
Upon receiving these data, the position and posture 10 of the interpolation points up to the first target shift are calculated, and the position and posture data of the robot are determined. By having the trajectory calculation processing unit 30 execute this process at regular intervals and passing the data to the display device 5 each time,
An animation of the robot will be displayed.

Next, the processing in the programming device of this embodiment will be explained with reference to FIGS. 3 to 5. 3 is a flowchart 1 showing the processing in the main processor 413, FIG. 4 is a flowchart showing the uploading process of the operating program in the post processor 1, and
The figure is also a flowchart showing download processing.

When simulating the operating states of many types of robots, the main processor 3 first creates the shapes of the robots and workpieces using the function of its figure creation section 21 (step 10).
0). Next, the robot attribute definition unit 22 defines attributes of the robot, tools, etc. (step 110).

After that, the robot work arrangement unit 24 considers the arrangement of the robot and the work (step 120). Through the above processing (steps 100 to 120), figures to be examined regarding a series of manufacturing processes using each robot are created.

Next, a process is performed to obtain an operation program for the placed robot in a standard format (step 130).

Such processing can be carried out in two ways. One method is to manually create an operation program from each actual robot, and the other method is to create it using the robot teaching section 25 of the main processor 3. In the former case, as shown in FIG. 4, the post-processor 1 receives the operation program from the robot actual machine in the form of a flexible disk FD, and loads it into the operation program file Od (Step 132), and transfers it to the robot. The operating program created in the unique format is converted into an operating program file OD in the standard format by the corresponding file format converter CVn (step 134). The standard format operating program thus obtained is transferred from the interface 4 to the main processor 3 via the communication line P (step 136). It should be noted that since some of the attribute data is necessary for trajectory calculation, in such a case, the attribute data is also transferred together with the operation program. Also,
The medium for exchanging data with the actual robot need not be limited to the flexible disk FD, but may be magnetic or paper tape, or may be a medium for exchanging data via a direct communication cable.

After manually creating the motion program using one of the methods, the functions of the robot playback section 29 and the trajectory calculation processing section 30 are used to display the animation (step 14).
0). Here, the trajectory calculation processing unit 30 performs a forward conversion process for calculating the position and orientation of the tip from the angle data of each axis of the robot Rn, and an inverse conversion process for calculating the angle of each axis from the position and orientation of the robot tip. Conventionally, this inverse transformation process is difficult to solve analytically, so each type of robot has its own trajectory calculation processing unit, each with its own constants and processing algorithm. . In contrast, in this embodiment, the motion program is in a standard format regardless of the robot model, so Newton-
Numerical calculations such as the Raphson method are performed to calculate the angle of each axis depending on the number and type of axes of the robot. After that, consider whether or not there are any movements that need to be corrected due to robot interference, etc. (step 150), and if so, arrange the movement program and robot/work correctly (step 160), and if there are no more points that need to be corrected, the process is completed. Performs processing to transfer the operating program to the post-processor 1 (step
Step 170), this routine ends. Note that some of the attribute data needs to be passed to each robot (Rn), so they are transferred to the post-processor 1 along with the operating program.

As shown in FIG. 5, the post-processor 1 receives the transferred file (step 180) and rewrites the format of the received standard-format operation program using the file format converter CVn corresponding to each robot. (Step 190), and downloads this to each robot/Rn in the form of a flexible disk FD or the like (Step 200).

The processing of the main processor 3 and the main processor 1 has been briefly explained above, but the details of the processing of converting and rewriting the operating program in the post processor 1 will be explained.

FIG. 6 shows the specific contents of the operation program manually executed from the robot controller built into the actual robot Rn. The operation program includes data on the target position and posture of the robot Rn, data on movement conditions such as movement speed, acceleration, interpolation method (linear interpolation, circular interpolation, uniform interpolation on each axis), and the human output switch 0N10FF. ,
Timer (waiting time), hand open/close switch (air gun 0
There is data regarding auxiliary functions such as N10FF, etc.). A collection of these data is called step data. The operation program for each robot is constructed as a set of step data, as shown in the upper column of FIG. As is clear from the illustrated example, the format of each data differs depending on the robot. For example, in the case of data representing the target position and posture, it is expressed as the number of bits of the encoder that indicates the rotation angle of the drive motor of each axis of the robot. There are some robots that express the rotation angle in units of angle [deg], and others that express the rotation angle in degrees [deg].

In addition, if it is data related to movement conditions, for example, when specifying the operating speed, robots that are expressed in absolute values [mm/5 ecl, or have their own speed tables, and speed codes 1: 10 [mm/sl//
2: 100 [speed/s] // n:
There is also a format in which the speed is defined in advance, such as 1000 [mm/s], and a code number is specified when specifying the speed in the operation program.

Furthermore, even data in the same format may have different meanings. For example, for some robots, code 1 means linear interpolation and code 2 means circular interpolation, while for some robots code 2 means straight line and code 1 means circular arc. In addition to this, there may also be differences in data representation (binary representation, ASCII representation).

In this way, the format and meaning of the individual step data that form the operation program in the robot controller differs depending on the robot, so the file format converter CVn is used to unify each item. A process of converting into a format (standard format) is performed to create a unified format as shown in the bottom column of FIG.

The specific contents of this conversion process are shown in the flowchart of FIG. First, the model of the robot to be converted is determined, and the corresponding conversion process is executed. This conversion processing unit CVn checks in advance the data format of the actual robot machine (notation format such as binary, Azuki, etc., data units, etc.) and calculates the conversion value from the standard format.For example, input the encoder value of the position data of the actual robot. , calculate each axis angle by multiplying them by the motor's gear ratio, etc., and convert them forward,
Find the position matrix of the robot hand, FRAME, A
The converted data is output as NGLE data to a converted file (steps 210 to 230).

Similarly, for speed data, if the actual machine data is code data, calculate the speed value by referring to the code table.
The data is output as 5PEED data (steps 230 to 260). Thereafter, the conversion process is repeated in the same manner.

In the example shown in FIG. 7, the process up to outputting the jump code as a JUMP address is repeated (steps 300 to 320). When the conversion for one step is completed in this way, it is determined whether or not all steps have been completed (step 330').
), If it is not completed, return to step 210 and repeat the process from the beginning.

In this way, by executing the corresponding processing for each item, it is possible to convert an operation program written in a format specific to various robots into a standard format. Note that the operation program may be rewritten by performing the above-described process in reverse.

The programming device of this embodiment described above writes the operation program of each robot model to the post processor 1.
This is converted into a standard format by
position) can be calculated and displayed as an animation on the display device 5. The post processor 1 uses a file format converter C that is prepared for each robot model.
■n converts (or rewrites) the motion program file of each robot into a standard format motion program file, but if the file format conversion section CVn is made independent of each other, it will depend on the model of the robot being handled. It is sufficient to provide only a corresponding file format converter in the post processor 1. In addition, if you do not want each file format conversion section CVn to always exist on the boss processor 1, you can save it in the form of a flexible disk FD and provide a processing section to load it as needed. This is convenient because it allows you to convert file formats only for the models you need.

As described above, since the programming device of this embodiment converts the operating program into the standard format by the post-processor 1, its configuration can be extremely simplified compared to conventional devices. That is, in the conventional device, in order to load different operation program files onto the database 15 depending on the robot model, a separate load processing section is provided for each, and the corresponding load processing is performed to load them into the database 15 for processing. In contrast, in the case of this device, the process of loading or saving the motion program file to the database in order to calculate the trajectory of each robot, etc.
Only one type can be used. Further, the processing in the trajectory calculation processing section 30 can be unified as there is no need to use a unique algorithm for each robot model, and the calculation processing can also be simplified and speeded up. As a result, the animation display of the robot on the display device 5 can also be performed at high speed.

Moreover, in this embodiment, a post-processor 1 is provided, and the conversion/rewriting of the motion program is performed by the post-processor 1, and the conversion section CVn for the motion program is used to simulate the motion state of the robot, modify the motion, etc. Since it was separated from the software, the file format converter CVnfl could be modularized by model and function, making the software even simpler. Therefore, when adding or modifying the robot model to be simulated, it is possible to add and modify only this package, reducing division of labor and man-hours in software development.

It is possible to reduce the amount of software.

On the other hand, in the main processor 3, since the operating program file OD is in a standard format, there is an advantage that the user only needs to remember one format when referring to the file. Moreover, the software on the main processor 3 side does not need to support files in a format unique to each robot, and is excellent in function expansion, and can reduce the number of man-hours and amount of software required for modification.

Furthermore, for the reasons mentioned above, the amount of software that must be loaded and executed at the same time is reduced, and the execution speed of each display, etc. is improved, so that the overall man-machine performance of the apparatus is improved.

Next, a second embodiment will be described. As shown in FIG. 8, the programming device of the second embodiment replaces the post processor 1 in the device of the first embodiment with the main processor 3.
It has been incorporated into. That is, all functions are integrated into the main processor 3, and the operating program file O
The only difference in configuration from the first embodiment is that D is shared. In the device of the second embodiment as well, the motion program in a robot-specific format and the attribute data uploaded as necessary are converted into a standard format by the file format converter Cvn, handled in the database 15, and are processed by the trajectory calculation processor. The points used for trajectory calculation in step 30 are the same as in the first embodiment.

The programming device of this embodiment configured in this way is
In addition to producing the same effects as in the first embodiment, the communication line P
The configuration can be simplified because there is no need to exchange data using It is not necessary to convert the file format each time a file is loaded or saved, and the access time can be shortened.

Although the embodiments of the present invention have been described above, the present invention is not limited to these embodiments. For example, the present invention may be configured such that the motion programming is not modified but only the motion state is simulated, or the motion program is downloaded from the actual robot. It goes without saying that the present invention can be implemented in various ways without departing from the spirit of the present invention, such as a configuration that is created only on the CAD of the large-sized computer 8.

As described in detail above, according to the operating state display device of the first invention, the operating states of various actuating devices are determined and displayed using operating programs converted into a standard format, so that trajectories can be easily tracked. The required processing can be performed by a common calculation routine regardless of the type of actuating device, and the excellent effect is that the amount of software to be executed can be reduced. Therefore, there is no need to prepare special processing routines for each of the plurality of types of actuating devices, and the time required for processing, including loading of processing routines, can be reduced. As a result, the operation state of the actuating device can be calculated at high speed, and even a plurality of actuating devices can be displayed at the same speed as the operation of the actual machine. In other words, the operation of the actual machine can be accurately simulated.

On the other hand, according to the operation instruction control device of the second invention, the operation program specific to each actuator is obtained by rewriting the operation program created in a standard format, so that the operation of multiple types of actuators can be unified. It has the excellent effect of being easy to handle. Furthermore, since only one type of standard-format operating program is handled, an extremely excellent effect can be obtained in that the creation of an operating program becomes extremely easy. As a result, it is possible to accurately instruct actual operations to multiple types of robots and other actuating devices without error.

Furthermore, according to the control device of the third invention, the operating state determined by the operating program converted into the standard format is displayed, and the modified standard format operating program is rewritten while referring to this display, and the actual operating state is rewritten. Since it is possible to instruct the actuating device to operate based on an operation program specific to the device, an excellent effect is achieved in that the operation of the actuating device, such as a robot, can be considered and determined extremely easily. That is, 1st. In addition to having the effects of the second invention, it is also possible to change the operating program itself by referring to the display of the operating state of the actuating device, so it is possible to check the operating state of a plurality of actuating devices and modify the operating program. This can be done all at once, and usability can be greatly improved.

As described above, in the first to third inventions, a means is provided for converting the operation programs specific to various actuating devices into a standard format or rewriting them from the standard format, and when displaying the operation status or creating an operation program, the standard format is used. Therefore, when adding an actuating device to a new model,
Prepare trajectory generation software for that model,
There is no need to modify the program that manages this software in order to add different types of software, and the overall man-hours and amount of software can be significantly reduced.

[Brief explanation of the drawing]

FIG. 1(A) is a block diagram illustrating the basic configuration of the operation status display device of the first invention, and FIG. 1(B) is a block diagram illustrating the basic configuration of the operation instruction control device of the second invention. ,
FIG. 1(C) is a block diagram illustrating the basic configuration of the control device of the third invention, FIG. 2 is a schematic configuration diagram of the programming device as the first embodiment, and FIG. 3 is the main processor 3.
4 and 5 are flowcharts showing the processing in the post processor 1, FIG. 6 is a schematic diagram explaining file format conversion, and FIG. 7 is a file format conversion in the post processor 1. FIG. 8 is a flowchart illustrating the processing, FIG. 8 is a schematic configuration diagram of a programming device as a second embodiment, and FIG. 9 is a schematic configuration diagram of a conventional programming device. 1... Post processor 3... Main processor 5... Display device 7.
...Input device 15...Database 29...
Robot reproduction unit 30...Trajectory calculation processing unit CVn...File format conversion unit

Claims (1)

[Scope of Claims] 1. An operation state display device that simulates and displays the operation states of a plurality of actuators such as processing equipment, robots, etc. that independently perform specific operations, including the operation procedure and position of each actuator. , a motion program input means for inputting a motion program that is information such as attitude, velocity, acceleration, interpolation method, etc., a conversion means for converting the input motion program into a predetermined standard format, and each of the above-mentioned actuating devices. an attribute data storage means for storing attribute data such as axis configuration, operating range, maximum speed, and acceleration in a common format; and a target of each actuating device based on the operation program converted to the standard format and the attribute data. An operating state display device comprising: arithmetic means for determining operating states such as position and posture; and display means for displaying the determined operating states on a display unit. 2. In an operation instruction control device that instructs multiple actuators, such as processing equipment and robots, that independently perform specific operations, attribute data such as each axis configuration, operating range, maximum speed, acceleration, etc. of each of the actuators. an attribute data storage means for storing in a common format; and an operation procedure according to the operation to be performed by each of the actuating devices;
a motion program creation means for inputting or creating a motion program, which is information such as position, orientation, velocity, acceleration, interpolation method, etc., in a predetermined standard format; An operation instruction actuation device comprising: rewriting means for rewriting into a format specific to each actuation device; and output means for outputting the rewritten operation program and attribute data to each of the actuation devices. 3. A control device that simulates the operating state of a plurality of actuating devices such as processing equipment, robots, etc. that independently perform specific operations, and instructs the operations, the control device including the operation procedure, position, posture, etc. of each of the actuating devices, a motion program input means for inputting a motion program that is information such as speed, acceleration, interpolation method, etc.; a conversion means for converting the input motion program into a predetermined standard format; each axis configuration of each of the actuating devices; attribute data storage means for storing attribute data such as motion range, maximum speed, and acceleration in a common format; and target position and orientation of each actuating device based on the motion program converted into the standard format and the attribute data. calculation means for determining the operating state of the operating device, display means for displaying the obtained operating state on a display unit, and display means for displaying the operating state of the operating device in the predetermined standard format while referring to the displayed operating state of each actuating device. modifying means for modifying the program; rewriting means for rewriting the modified operating program together with the desired attribute data into a format unique to each of the actuating devices; and rewriting the reversely rewritten operating program and attribute data.
A control device comprising: output means for outputting to each of the actuating devices.