JPH0271987A - Indexing method for installation position of robot - Google Patents

Abstract

PURPOSE:To efficiently perform the program conversion by moving the operation range of a robot for target so that the operatable range of the target robot may be included to the max. within the operation range of a master robot and finding the correction amt. for the installation position of the master robot of the installation position thereof. CONSTITUTION:In case of converting the robot operation program prepared by using a master robot into the operation program of a target robot, the operation possible ranges 10, 11 of the both robots are projected on the plane formed by a horizontal plane, vertical axis andone part of the axis orthogonal to this vertical axis, and the operation possible range 11 of the target robot is moved so that the operationable zone 11 of the target robot may be included to the max. extent in the operation possible range 10 of the master robot. By this movement, the difference in each axis between the original points of both robots of the case of including to the max. extent is found by the installation correction amt. X of the target robot. Consequently, the program can be converted efficiently.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to robot offline zero-gramming.
In particular, when converting an already created robot operation program into an operation program for another type of robot, the above-mentioned installation of another type of robot relates to a method for determining the position correction amount.

Conventional technology A robot motion program is created by directly teaching the robot the motion using the robot body and its controller that will actually be used, or even when the robot motion program is created offline. Robot operation programs are created for each robot body and its controller one by one.

Problems to be Solved by the Invention Robots consisting of a wide variety of combinations of robot bodies and controllers are installed on assembly lines, and it is troublesome to create robot operation programs for these robots on the line. It requires a lot of work.

Furthermore, even when creating an operation program for each robot using an offline programming device, it is physically difficult to reproduce the combination of the robot body and its controller and create each operation program one by one.

On the other hand, even if the robot body and its controller are different,
The tasks performed by the robots may be the same. but,
Even if the work itself is the same, the robot bodies or controllers are different, so operation programs must be created for each of these robots one by one.

Therefore, when the robots perform the same work, the applicant creates an operation program for one robot body and controller (hereinafter, this robot is referred to as a master robot, and its operation program is referred to as a master program).
We have already proposed a robot program conversion device that converts this master program into a target program for a robot with a different robot body or controller (hereinafter, this robot will be referred to as a target robot, and its operation program will be referred to as a target program).
(See No. 700).

The above proposed master program was converted to the Targetera 1~ program under the condition that the installation position of the master robot and the installation position of the target robot were the same. However, under these conditions, if the master robot is larger than the target robot, the target robot may inevitably find a position in which it cannot operate.

Therefore, when converting the program, the position of the target robot is corrected so that the robot moves within the operating range. We made a proposal and applied for a patent.

However, in the above-mentioned installation using the position correction method, the master and target robots are initially set at the same origin (installation position), and during program conversion, each time the target robot's inoperable position data is updated, the target robot is When installing the system, the position was corrected and the program was converted again using this correction amount, which made the program conversion inefficient.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a method for determining the position correction amount for installing a target robot in advance before converting the program, in order to improve program conversion efficiency and to prevent the target robot from becoming inoperable as much as possible. It's about doing.

Means for Solving the Problems The present invention provides a method for converting a robot operation program created using a certain master robot into an operation program for another type of robot (target robot).
The movable ranges of both robots are projected onto a horizontal plane, a plane formed by a vertical axis, and one axis perpendicular to the vertical axis, and the other types of robots (targets) are projected within the movable range of the master robot. The movable range of the other type of robot (target robot) is moved so that the movable range of the other robot (target robot) covers the maximum range, and the difference in each axis between the origins of both robots when the movable range of the other type of robot (target robot) is covered to the maximum is determined by The installation of the seed robot (target robot) is determined as a correction amount. In addition, if the outline of the operation area in the relevant operation program of the master robot is known, other types of robots may be set so that this operation area is included in the operation range of the other type of robot (target robot). Move the projected movable range of (target robot),
At that time, the difference in each axis between the origins of both robots is determined as the installation position correction of the other type of robot (target robot).

The horizontal plane (for example, the XY-axis plane) and the vertical axis (
For example, the Z axis) and an axis perpendicular to this vertical axis (for example, the X axis)
In the movable range of each robot projected on the plane (XZ plane) formed by Or, the robot of another type (target robot) is projected so that the operation area of the pre-known operation program of the master robot is included within the movable range of the robot of the It!! type (target robot). The movement of each axis of the origin of other types of robots (<target robot) with respect to the origin of the master robot at that time.
The installation of another type of robot (target robot) is determined as the position correction amount. As a result, when installing the master robot, assuming that another type of robot (target robot) is installed at a position that has been moved by the calculated amount of correction relative to the position, if this correction amount is added and the program is converted,
When converting a program, position data that makes it impossible to operate another type of robot (target robot) will not be obtained.
Alternatively, since the number is reduced, program conversion efficiency improves.

Embodiment FIG. 1 is a block diagram of the main parts of a robot program conversion device implementing an embodiment of the present invention.

In the figure, code 1 is a central processing unit (hereinafter referred to as CPU)
The CPU 1 is connected via a bus 9 to a ROM 2 . RAM3 for storing master programs and various data. RAM 4 as an output memory for storing the program for the target robot after program conversion (target program). Graphic display device5. Keyboard 6 for specifying the robot bodies of the master robot and target robot, their controllers, drawing the robot's movable range (described later), and moving the target robot's movable range.
, and a disk controller 7 are connected.

A floppy disk 8 attached to the disk controller 7 as an external memory stores program format conversion data between types of robot controllers used in various robots as a table. Since the command codes and block configurations of various controllers differ with respect to commands, the command codes and block configurations of various controllers corresponding to the contents of the same command are stored in correspondence as a table.

Furthermore, in each robot body, position conversion data for converting position data based on coordinate positions in the orthogonal coordinate system into movement values for each axis of the robot, or vice versa, is stored. Roughly speaking, movable values are stored as the maximum values to which each axis of each robot body can move.

Therefore, when having multiple robots with different robot bodies and controllers perform the same work, one of the robots is designated as the master robot, and a robot operation program is created using that robot. is stored in the floppy disk 8 as a master program.

When converting this master program into a program for a robot different from the robot body or controller of the master robot, that is, a target program, first convert the master program stored in the floppy disk 8 through the disk controller 7. TeRA
After storing it in M3, enter the robot body of the master robot and the type of its controller from the keyboard 6 as the master robot, and also input the robot body of the target robot and the type of its controller for creating the target program, and then enter the When a conversion command is input, the CPU 1 reads format conversion data between the master robot controller and the target pot controller from the floppy disk 8 via the disk controller 7, and stores it in the RAM 3. In addition, the position conversion data for the master and target and the movable values of each axis of the target robot 1- are also stored on the floppy disk 8.
The data is read from the RAM 3 and stored in the RAM 3.

Therefore, when the operator inputs a command to draw the movable range of the master robot and the target robot from the keyboard 6, the CPU 1 uses the movable range values of each axis stored in the RAM 3 to draw the master and target robots as shown in FIG. The area in which the robot's movable range is projected onto the XY plane and the X7 plane is drawn on the graphic display screen. In this case, the operable area of the master robot projected onto each plane 10. The movable region 11 of the target robot is drawn with the same origin (installation position).

Further, it is preferable to distinguish each operable region by drawing the operable regions [10, 11 in different display colors or the like.

Therefore, the operator operates the keyboard 6 so that the drawn movable area of the target robot on the XY plane of the target robot is included in the movable area of the master robot on the XY plane to the maximum extent. Make it. In the example shown in FIG. 3, it is assumed that it is included at the maximum when it is moved by ΔX in the X-axis direction.

After moving the movable area of the target robot on the XY plane in this way, as shown in FIG.
The movable area of the target robot is moved on a plane so that the movable area of the target robot is maximally included in the movable area of the master robot even on the plane. In the example of FIG. 4, it is assumed that the maximum extent is reached when the object is moved by Δ2 in the Z-axis direction.

In this way, the movement amount ΔX, Δ2 of the target robot's movable area when the target movable area is moved to the maximum extent included in the master robot's movable area is determined by the installation position of the master robot. The installation of the target robot relative to the position is determined as a position correction amount. Note that, if necessary, it is also moved in the Y-axis direction to determine the amount of movement Δy.

The movement ff1 (ΔX, Δy, Δ2) obtained in this way is set as the position correction amount for the installation of the target robot,
If the program is converted from the master program to the target program, position data that makes the target robot inoperable at the time of conversion will be less likely to be obtained, or will be eliminated, resulting in improved program conversion efficiency. In addition,
The program conversion is performed by the method described in the specification filed on August 26, 1988, and since this program conversion is not the gist of the present invention, it will be omitted.

In the above embodiment, the movable area of the target robot is maximized to be included in the movable area of the master robot, but if the movable area of the master robot in the relevant motion program is known in advance. In order to obtain the correction amount (ΔX, Δy, Δ2), the movable region of the target robot may be moved so that the movable region of the target robot includes this motion region.

For example, if the motion range of the master robot in the motion program is close to the origin, the target robot's movable range is moved and corrected to include the master robot's movable range close to the origin. 1 (ΔX, Δy.

Find Δ2).

Effects of the Invention As described above, the present invention is capable of maximally including the movable range of another type of robot (target robot) different from the master robot within the movable range of the master robot; , the movable range of the target robot is moved so that the movable range of the master robot in the program is included within the movable range of the target robot, and the installation of the target robot is done at the same time as the master robot at the position. Since the installation requires a correction amount for the position, this correction amount can be set to prevent errors such as out of the target robot's operating range when converting the master robot program to the target robot program. This reduces or eliminates the work of re-adjusting the amount of correction that occurs, allowing efficient program conversion.

[Brief explanation of the drawing]

Claims (2)

[Claims] (1) When converting a robot motion program created using one master robot to a motion program for another type of robot, the movable range of both robots is divided between the horizontal plane, the vertical axis, and the vertical axis. The movable range of the other type of robot is projected onto a plane formed by one axis perpendicular to A robot installation position indexing method in which the difference in each axis between the origins of both robots when the range is moved to the maximum extent is determined as the installation correction amount of the other type of robot. (2) When converting a robot motion program created using one master robot to a motion program for another type of robot, the movable range of both robots must be defined between the horizontal plane, the vertical axis, and the vertical axis. If the movement area of the movement program to be converted for the master robot is known in advance, the movement area is projected onto a plane formed by one axis orthogonal to the axis, and the movement area is projected onto a plane formed by one axis perpendicular to the axis. A robot that moves the movable range of the other type of robot so that it is included in the movable range of the other type of robot, and calculates the difference in each axis between the origins of both robots when it is included as the installation correction amount of the other type of robot. Installation position indexing method.