JPH0281209A - Teaching data generating method for robot - Google Patents

Abstract

PURPOSE:To improve the generation efficiency of teaching data and to facilitate the teaching work by obtaining work state data of a robot, while changing a work sequence of small areas obtained by dividing a work area of the robot, and using data containing the corresponding work sequence data as teaching data for the robot. CONSTITUTION:A work area of a robot is divided into prescribed small areas M1-M10, and while changing a work sequence of the small areas, based on work position data of said each small area M1-M10 and shape data and operation performance data of the robot, work state data of the robot is obtained by a simulation with regard to each work sequence. Subsequently, the work sequence corresponding to a desired work state in this work state data is selected, and data containing this work sequence data is used as teaching data for the robot. In such a way, it will suffice that actual teaching to the robot is executed at every small area, a burden to the teaching work itself is reduced and it can be executed easily, and also, said data can be generated by reducing trial-and-error, and the teaching data can be generated efficiently.

Description

DETAILED DESCRIPTION OF THE INVENTION OBJECTS OF THE INVENTION [Field of Industrial Application] The present invention relates to a data creation method for efficiently creating appropriate teaching data for the operation of, for example, painting and welding robots.

Regarding.

[Prior Art] Conventionally, painting robots and contact robots have been used in automobile production lines and the like from the viewpoint of work efficiency, productivity, or health and safety. These robots are
Since it is possible to repeat the same work accurately, once appropriate work data is taught, it is possible to continuously obtain products of high quality and constant quality (Japanese Patent Laid-Open No. 180257/1983).

This necessary work data is stored in the robot control device by a human, for example by remote teaching or direct teaching, while moving the robot's arm and teaching the robot an appropriate movement path.

In addition, if you want to check for interference between robots, which can be a problem when operating multiple robots, use data that has been taught to each robot in advance to perform a simulation using computer calculations to predict when interference will occur. If this happened, the teacher would reteach the lesson again. If the teaching data is checked again by simulation and the result is bad, repeat the above operation until appropriate teaching data is obtained.
It was repeated (Japanese Patent Application Laid-Open No. 62-165212).

[Problems to be Solved by the Invention]However, there are various factors in determining the teaching data for the robot. For example, in a painting robot, ■painting quality,
■Operation efficiency, ■Interference with workpieces and other robots, ■Balance of work speed with other robots, etc.

Unless all of these factors are satisfied, robots cannot be used on actual production lines from the viewpoint of productivity and safety.

Therefore, whether teaching is performed by an operator as described above or teaching is subsequently performed through simulation, if even one of the above factors is unsatisfied, the entire work has to be restarted from the beginning.

Satisfactory work data was obtained only after a huge number of repeated cycles of work based on trial and error.

Therefore, in the conventional method, the efficiency of creating teaching data is extremely low. This increased time and made the teaching task extremely difficult.

JP-A No. 58-180257 discloses that the painted area is coated with a coating professional.
However, this is simply based on the idea of coating a large area with one robot, and does not take into consideration issues such as overall work efficiency (operating efficiency $) or interference. No effect.

SUMMARY OF THE INVENTION Therefore, the present invention employs the following configuration with the aim of solving the above-mentioned problems in complex workpieces and multiple robot operations.

[Means for Solving the Problems] That is, the gist of the present invention is to divide the working area of the robot into predetermined small areas (PI), at least as shown in the basic configuration diagram of FIG. Based on the work position data of each small area, the robot's shape data, and the operational performance data, while changing the work order of the small areas, the robot's work status data is obtained through simulation for each work order (P2). Robot teaching data, characterized in that a work order corresponding to a desired work situation is selected from the situation data, and data including at least this work order data is used as robot teaching data (P3). It's in the creation method.

[Operation] In Pl processing, dividing the work area into predetermined small areas means, for example, in the case of a painting robot, dividing the surface of the workpiece into several small areas. If the object to be painted is a workpiece such as an automobile body, the outer surface of the quarter panel, the outer surface of the luggage compartment door, the front inner surface of the luggage compartment, the rear inner surface, the two inner surfaces,
Separate into small areas such as the outer surface of the roof panel.

In processing P2, at least 3 simulations are performed.
Based on one data. The three data are, as described above, work position data, robot operating performance data, and robot shape data.

For example, in the case of painting, the simplest work position data is the starting point and ending point of painting in each small area. In the case of spot welding, these are the first and last weld points in each sub-area. Of course, all work positions within each small area may be used as work position data.

This data may not be the actual measurement value (taught data) of the scale, but may be position data set based on calculations corresponding to the shape of the work area such as the workpiece. In this case, after implementing the present invention, it is also possible to measure (teach) each small area separately and add it to the teaching data.

For example, the operational performance data of a robot represents the operational performance of the robot's arm, and in the case of a welding or painting robot, it includes the number of axes of the arm, the length between each axis of the arm, and each axis of the arm. maximum rotational speed, etc.

The robot shape data is the external shape data of the moving parts of the robot, and includes not only the robot's skeleton but also any appendages that move together with the robot.

The operational performance data and robot shape data of the robot are normally measured in advance, but they may also be based on theory (direct data). Changes in the robot's posture and external shape within the area, travel time, position, interference, etc. of functional parts such as spray nozzles can be determined through simulation.

The simulation is performed by arranging the small areas into a certain work order and performing the simulation in accordance with that order to obtain work status data in that order. This work order is changed every time one piece of work status data is obtained.

From this result, a work order that realizes a desired work situation is selected, and data including this work order data is used as data for teaching the robot.

For example, when one painting robot moves to the next area after working in a certain small area, the time required for moving between the small areas (an example of work status data) is determined through simulation. This simulation may be expressed numerically by simple calculations, or may be expressed as an image on a CRT or the like to visually represent the work situation data.

Based on the work situation data obtained in this manner, a work order associated with the desired work situation is selected, for example, based on the following criteria.

■The work order that takes the shortest time; ■The work order that does not interfere with the workpiece; and ■In the case of multiple robots, the work order that does not interfere with other robots. Of course, it is also possible to select based on a combination of these criteria.

In this way, since the teaching work itself is performed for each small area, the teaching work is easy and has little burden, and even if a failure occurs, it is only necessary to reteach only that small area. In addition, the work status of the robot, such as the movement and posture between each small area or within each small area, can be confirmed through calculations, image simulations, etc., making it extremely quick even for complex workpieces or the operation of multiple robots. An appropriate work order can be selected, and desired teaching data that satisfies various factors can be created with extremely little trial and error.

[Example] Next, the present invention will be explained in detail. The present invention is not limited to these, but includes various embodiments without departing from the gist thereof.

FIG. 2 is a system configuration diagram showing an example of a simulation apparatus that implements the method of the present invention.

The simulation device 1 is mainly configured with a general Neumann type digital computer 3. This computer 3 has a CPU and a ROM.

It is composed of RAM, Ilo, bus, etc., but since it is a general configuration, a detailed explanation of its internal structure will be omitted.

This computer 3 includes a CRT 5. as an output device.
The printer 7 uses a floppy disk 9 as an auxiliary storage device. A hard disk 11 is connected to a keyboard 13 as a human-powered device.

The procedure of the embodiment method of the present invention is as follows:
It is loaded from the hard disk 11 as a program during M. In accordance with this program, the computer 3 reads the workpiece shape data and work data (teaching data) for each small area of the workpiece stored in the floppy disk 9, and further reads the robot's operational performance data and shape data stored in the hard disk 11. The robot's arm operation is simulated using calculations, and the working time is calculated. The work data is data representing the position of the painting nozzle at the tip of the arm (work position data) and the spray nozzle direction. The calculation is performed by sequentially spraying these positions, and tracing between small areas without spraying. The working time can be obtained by counting the time from the start of work on the first small area to the end of work on the final small area. This is repeated by changing the work 1110 order of the small area.

During this calculation process, three-dimensional images of the workpiece and the robot can be sequentially displayed on the CRT 5 according to the simulation calculations by instructions from the keyboard 13.

Such robot operating performance data and shape data,
Commercially available CAD programs can be used to perform the simulation based on the position data and nozzle direction data to be passed, such as IBM's product name rcATIAJ and Mitsui Engineering &Shipbuilding's product name rCI.
One example is LMAJ.

Next, FIG. 3 shows a configuration example of a painting robot to which work position data for each small area is obtained and teaching data obtained by the simulation apparatus 1 is applied. The painting robot 15 is a well-known articulated robot, and its skeleton includes a pedestal 17, a first arm 19. Second arm 21. It consists of a spray nozzle 23, and the joint part is a first arm that is provided on the pedestal 17 and rotates left and right over the first arm 19.
Drive section 25. A second drive unit 27 is provided thereon and rotates the first arm 19 back and forth. 1st arm 19 and 27th arm 2
1 and which rotates the second arm 21 up and down.
Drive section 29. A fourth drive unit 31° that is provided at the tip of the fourth drive unit and rotates the second arm 21. Second arm 21. A fifth drive unit 33 is provided at the wrist between the spray nozzle 23 and swings the spray nozzle 23. The sixth drive unit 35 is provided at the tip of the sixth drive unit 35 and rotates the spray nozzle 23.

This robot 15 has operating performance as shown in Table 1.

Of course, robots with various operating performance can be selected and used depending on the purpose.

Table 1 The data in Table 1 is stored in the hard disk 11 of the simulation device 1 together with the shape data as part of the operational performance data. Teaching work for the workpiece 37 is performed by the teaching box 43 via the robot control device 41.

In this embodiment, the operator divides the painted portion of the workpiece 37 into small areas, performs teaching work on each small area, and stores the data on a floppy disk in the disk 41a. Such work can be performed using a known robot device. In this case, regardless of the order in which small areas are painted,
It is necessary to perform teaching work for each small area so that the final coating quality is ensured.

For example, when painting the area around the luggage room of an automobile body, the painting area is schematically shown in FIG. 4. That is, the luggage compartment door 51.
Four side walls of the luggage room 53-59. This is the bottom portion 61. Of these, only the inner surfaces of the front side wall 53 and the bottom 61 are painted.

In this case, the small area is the outer surface M1 of the luggage compartment door 51. Inner surface M2. Inner surface M3 of side wall 53 of luggage room. The outer surfaces M4 to M9 of the other three side walls 55 to 59. Setting the inner surface MIO of the bottom part 61 to a total of 10 is the simplest separation. Moreover, since each small area becomes a simple plane by such classification, it becomes easy to teach and set the painting work data for each small area so that the painting quality can be guaranteed even if the painting order is changed. For example, the locus (work position data) of the spray nozzle 23 as the painting work data is taught and set as shown by the zigzag lines in FIG.

The work data obtained for this small area is stored on a floppy disk 41a of the robot control device 41.

Next, by setting this floppy disk in the simulation device 1, the simulation device 1 has data that can be used to perform a simulation.

The processing will be explained below based on the flowchart of FIG. The processing in this flowchart represents a program that is stored in the hard disk 11, read into the RAM of the computer 3, and executed.

When the simulation device 1 is started up, the program gamer 11 is read from the hard disk 11, and then processing according to the program is started.

First, necessary data is read into the work area in the RAM (step 110). The necessary data includes the data of the model to be simulated this time and the shape data of the workpiece 37 among the shape and operational performance data of various painting robots already stored in the hard disk 11;
Furthermore, it is all the work data for each small area of the corresponding workpiece 37 stored in the floppy disk that has already been set.

The work data representing the position may be different between the robot that taught the work data and the robot to be simulated this time. In this respect, the work data representing the position has versatility. That is, the simulation results,
If the model of the robot is inconvenient, it is possible to immediately change to another model and perform a simulation, which is useful for deciding on the model.

Therefore, it is possible to change the assignment of each robot to a small area. In other words, when two robots are deployed as described later, it is possible to apply a group of teaching data for a small area that was originally created with the intention of having the left-handed robot work to the right-handed robot and have it work. Become.

Furthermore, if the data formatter on the robot control device 41 side does not match the data formatter on the simulation device 1 side, it is better to perform format conversion processing before reading it into the RAM.

Next, a first permutation combination of work data for each small area is determined (step 120). In other words, if there are 10 small areas, the total number of publications is 10! (=3.628,80
0) As expected. Since this number is huge, it is impractical to have a computer record all the combinations, so each combination must be verified one by one.

Of course, if the first small area to be worked on and the last small area to be worked on are determined in advance, the total number of areas is 8! (
= 40.320), and when painting small areas in two groups, 5! (:120), therefore, all the combinations of bills may be stored, and the work status data obtained corresponding to the combinations may be stored. The same applies when the number of small areas itself is smaller.

Next, it is determined whether all combinations and simulations have been completed (step 130). If the simulation is completed for all publications, an affirmative determination is made here. If not, the simulation is executed next (step 140). That is, Ste.
Based on the data read by the robot module 110, simulated operations are performed according to the robot's operating performance and shape.
It is executed in the set order according to the work position data of the small area.

That is, the work order of the small areas arranged in the morning is M1→M2.
→M3→M4→M5→M6→M7→M8→M9→MIO
In this case, the spray nozzle 23 is first moved from the stop position of the robot 15 to the spray start position Mla on the surface M1. The locus of this movement and its speed are, of course, determined in accordance with the operational performance data and shape data of the robot shown in Table 1.

Further, regarding each surface M1 to MIO, the spray nozzle 23 is moved according to the position data appearing in the work data obtained in the teaching work.

Movement between each surface M1 to MIO is driven so as to be able to move in the shortest time. To schematically represent this moving state, the sixth
The result will be as shown in Figure (A). That is, each surface (small area) Mi-
During Mk, the robot 15 moves from Mi's work end position Mi b to the next work start position Mj a in the shortest possible time ti, and in the same way from MJ's work end position Mjb to the next work start position Mka. It will move in the shortest time tj. The same is true for other surfaces. At this time, the simulation may be performed by simultaneously displaying the entire image of the robot 15 and the workpiece 37 on the CRT 5 using CAD processing.

Through this simulation, the working time from the start to the end of the work is counted and stored for each set work order.

Next, workpiece interference elimination processing is performed (step 145
). That is, when the spray nozzle 23 moves between each small area, whether or not a part of the robot 15 crosses the workpiece 37 is determined from the posture and shape of the robot 15 and the shape data of the workpiece 37.

Cross cuts are excluded from the publication and are not used for further processing.

If the simulation content is displayed as an image on the CRT 5, the operator may visually check it, determine whether the work order is appropriate, and instruct the simulation device 1 to eliminate it from the keyboard 13.

Next, whether or not to cancel is determined manually from the keyboard 1 (step 150). If the cancel signal is not manually input, return to step 120 again and repeat the same process by changing the selection. In this way, the working time for all or the necessary dovetail alignments is determined.

If the a-matching is canceled or the a-matching has been completed, a cross-matching with the shortest working time is searched for after removing the silk matching that interfered with the workpiece 37 (step 160).

This result is output to CRT5 or printer (
Ste Mbu 170). That is, the matching order and working time of the small area are displayed or printed.

Of course, the work times may be sorted and displayed in ascending order.

Furthermore, it is also stored in the hard disk 11 and floppy disk (step 180). Data conversion is performed as necessary on this floppy disk, and the stitching order of the small areas is recorded as data that can be used by the control device of the robot 15.

In this embodiment, as described above, the teaching work itself can be performed for each small area, so the teaching work itself is easy and less burdensome, and even if a failure occurs, only the teaching of that small area can be repeated. That's enough.

Furthermore, the working conditions such as the movement and posture of the robot 15 between each small area or within each small area can be selected continuously through calculations, image simulations, etc., and can be confirmed visually, so that interference with the workpiece 37 can be avoided. An appropriate work order that takes less time without causing problems can be quickly selected. Therefore, based on the work order and the teaching for each small area, the robot 15
Appropriate teaching data can be efficiently obtained.

Note that the workpiece 37 has a relatively simple structure, and each small head tdi
If movement without interfering with the workpiece 37 is possible using only the teaching data of , the shape data of the workpiece 37 is not necessary, and the workpiece interference elimination process of step 145 is also unnecessary.

Next, a case in which there are two robots will be described as a second embodiment. In this case, it is also necessary to consider interference between robots.

FIG. 7 shows the arrangement of two robots 71 and 73. The configuration of each of these robots is exactly the same as that of the robot 15 described above. That is, each robot 71, 73 has a control device 75.
．． Controlled by 77 and teaching box 79.8
1 can be taught.

For example, in the case of the first robot, the task of painting 71.73 is the inner surface M of the side wall 55°59 of the luggage room.
4. M8. Outer surface M5. M9. Inner surface MIO of bottom part 61
In the case of the second robot, the outer surface Ml, the inner surface M2 . Inner surface M3 of side wall 53°57 of luggage room. M6. In charge of the 5th surface of outer surface M7. The teaching data is taught to each assigned surface in the same manner as in the first embodiment and is stored on the same floppy disk.

Using this floppy disk, simulation processing similar to that of the first embodiment is performed in the simulation device 1. The difference from the first embodiment is that robot interference elimination processing shown in step 147 in FIG. 5 is newly added, and in the simulation (step 140), two robots 71. 7°3 are the points that are simultaneously simulated.

Note that simulation processing is performed for the first robot 71 in the same manner as in the first embodiment, and robot interference processing (step 147) is performed only for the second robot 73.

First, for the first robot 71, based on the processing of the first embodiment, a plurality of appropriate small area work orders for only the robot's own portion are determined in advance.

Next, for the second robot 73, first, the small area work is combined and simulated (step 140), and the silk combination that interferes with the workpiece 37 is eliminated (step 145).
), and also eliminate the silk combinations that interfere with the first robot 71 (step 147).

In terms of interference between the 20th bot 71 and the 10th bot 71, it can be determined that there has been interference if both bots cross each other. This judgment can be made visually by the operator by displaying an image on the CRT 5, and the operator can also manually input an instruction to remove the item ① to the simulation device 1 from the keyboard 13 or the like.

After such processing, as in the first embodiment, the shortest working time is searched among the remaining publications (step 160),
Output to CRT5 or printer (Step 1)
70). Then, it is stored on the hard disk 11 or floppy disk (step 180). In this way, the double-mouthed robots 71 and 73 can efficiently obtain teaching data that allows them to work in the shortest possible time without interfering with the workpiece 37 or the other robot.

Next, another simulation process for checking interference between the robot and the seat will be explained.

Preliminary alignment of two small areas where the 10th bot 71 interferes with the workpiece 37 when moving between the small areas, and a 20th bot that interferes with the 20th bot when working on the 10th small area. A small area of bot work is discovered through simulation. Among them, combinations that interfere with the workpiece 37 are as illustrated in Table 2. Note that this includes the movement of the robot to and from the start point SP.

Table 2 ○: Can be moved from the first small area to the next small area without interfering with the workpiece.

×: There is work interference when moving from the first small area to the next small area l\.

For example, in the M4 row, the 10th bot 71 is in the small area M4 to M5.
~ Indicates that no matter which small area of MIO is worked or moved to SP, interference with the workpiece 37 will not occur during movement. M
Line 2O shows that when the tenth bot 71 moves from the small area MIO to M5 or M9, it interferes with the workpiece 37 during movement.

Further, the publications that interfere with the 20th bot 73 are illustrated in Table 3.

On the other hand, for the 20th bot 73 as well, a combination of two small areas or SPs in which it interferes with the workpiece 37 when moving between the small areas and SPs is discovered through simulation. The combinations are illustrated in Table 4.

○: The 20th bot is working on the small area where the 10th bot is working.
Small work area where bots do not interfere.

X: The 20th bot is working on the small area where the 10th bot is working.
Small work area where bots interfere.

For example, line M4 indicates that there is interference between the robots when the 20th bot 73 is working on the small area M3. In the Ml 0th row, the 20th port 73 is a small area M.
If robots are working on robots 3 or M6, this indicates that there is interference between the robots.

○, ×: Same as Table 2.

Next, regarding the 10th bot, referring to Table 2 above,
Determine the work order as follows.

That is, if the start of the work is the small area M4, then from SP to M
Since the movement to 4 will cause interference with the workpiece 37, the movement will be from SP to M5.

Since SP and M9 can be moved to the M5 row, the process moves to M9. In the M9 row, SP and M5 can be moved, but since both of them have already passed, no further movement is possible. Therefore, M8 that can be moved from SP next
Considering, M8→M4→M5→M9 ma-C work 3
It is possible to move without interference with MIO from M9, but interference will occur from M9 to MIO, so it cannot be used as a movement route.

If the selection is made in this manner, interference with the workpiece 37 will not occur in the next two silk combinations.

■SP-+M8→MIO→M4→M5→M9→SP■S
P-+M8→MIO→M4→M9→M5→SPNext, based on FIG. 3, a small work area of the 20th bot 73 that does not interfere with the work order of (1) and (2) above is determined.

In other words, for the 1110 order in (■) above, the 10th bot is M
The small work area that does not interfere with 8 during work is ML 2°3.
It is 7. First, select Ml. Next, M2 for MIO
Choose. Similarly, M6 is selected for M4, M3 is selected for M5, and Ml is selected for M9. That is, the 20th
The movement order of the point 73 is (1) SP-+Ml→M2→M
6→M3→M7→SP.

Next, this III order is the 20th bot 73 and the work 3
7 will be examined based on the fourth aspect. As is clear from the table, the above order does not cause interference with the workpiece 37. Therefore, it is an executable work order.

In the same way, other tilling combinations on the 20th bot's side for ■, and a cross-matching for ■ are also obtained, and among the 730 work orders obtained for the 20th bot, those that conform to Table 4 are executable. obtained as a working order.

Next, from among the thus obtained work orders that can be executed without interference, a work order is selected that minimizes the longer work completion time of the double-mouthed bots 71 and 73.

The respective work orders selected in the above simulation are stored as teaching data in two diskettes, and are stored as teaching data in the control devices 75. 77 and used.

In the above embodiment, the work for each small area is 71.73 bots.
However, if the working time is different for each small area, if the 10th bot 71 is working on 1 small area, the 20th bot 73 is working on 2 or more small areas. The work may span several small areas. The opposite may also be the case.

In that case, the work order of the 20th bot 73 is determined taking into account that a plurality of small areas interfere with one small area.

In other words, if the 10th bot 71 is working on MIO, and it is determined from the simulation that the 20th bot 73 will move from Ml to M2, Ml for MIO will not cause interference between the robots. Along with this determination, M2 with respect to MIO is also subject to interference determination.

In this way, the work order in which the 10th bot and the 20th bot do not interfere with each other or with the workpiece 37 is determined by simulation using Tables 2 to 4.

Furthermore, in the above embodiment, the movement between the small areas is the movement between the end point and the start point of the work, but the combinations of movements are limited due to interference with the workpiece 37, so in order to minimize the restrictions, Evacuation points Si and Sj may be provided at appropriate positions between the small areas, as shown in FIG. 6(B).

Normally, due to the nature of the robot arm, moving in an arc shape is the shortest time to move, so even if there is a workpiece 37 between the end point and the start point, it can be successfully avoided as shown in Figure 6 (A). You can move between small areas using

However, if the protrusion of the workpiece 37 is large, interference will occur, so when moving between two corresponding small areas by providing an escape point in the middle, it is necessary to set the escape point so that the workpiece 37 passes through the escape point. , it is possible to escape from the constraints of workpiece interference, and the degree of freedom in the work order is improved. In addition, even if no escape point is provided, there is a moving route that will never interfere with Mi b-+Mj a, M
By obtaining j b-+Mka in advance as teaching data for all possible movement routes, it is possible to select a suitable arrangement of the small area work order from the viewpoint of other factors without considering any interference with the workpiece 37. .

Note that interference between robots during movement between small areas can also be confirmed computationally or visually during re-simulation at the Shohiragi stage. If interference is found, remove that data, check for interference in the same way with the next best data, and if there is no interference, use that data as teaching data for robot 7.
It is good to load it to the control device 75 and 77 side of 1.73.

For safety reasons, an interlock signal transmission command may be added to the teaching data to prevent robots from interfering with each other from a different perspective than in the above embodiments. In this case, it is assumed that the control devices 75 and 77 are configured to be able to communicate with each other. The specific contents of the data will be explained based on FIG.

According to Shohiragi, the 10th bot 71 is “...→MAh→MA
1→M A j-+M A k→...", the 20th bot 73 passes through the route "...→MBh-MBi-
Suppose that it is set to take the route "MBj-4MBk→...". Among these routes, the 10th bot 71 is route M
It is assumed that if the 20th bot 73 passes through route MBi while passing through Ai, mutual interference will occur. Therefore, the point PAI where the 10th bot 71 passed through the route MAi
The teaching data is set so that an interlock signal is transmitted from the control device 75 of the 10th bot 71 to the control device 77 of the 20th bot 73I11. 20th bot 7
The teaching data is set so that the control device 77 does not move the 20th bot 73 past the population point PBI on the route M8i and waits until it receives this interlock signal. The device 77 is the second
The 0 bot 73 is moved to the route MBi and beyond according to the teaching data. Paths MAk, MBk that cause other mutual interference
Similarly, point PA2 is set as the interlock signal transmission point, and point PB2 is set as the standby point. Of course, the interlock signal transmitting side may be the 20th bot 73 side, and the standby side may be the 10th bot 71 side.

Before the 20th bot 73 reaches the population point pHl of the route MBi, the control device 75 on the 10th bot 71 side may send an in-lock signal to the control device 77 of the 20th bot 73; In that case, the 20th bot 73
0 In the Ilo in the control device 77, in the buffer in the RAM, or in the flag memory, data indicating that an interlock signal has been sent is saved, and if it is erased after confirmation, the 20th bot 7
3, the work progresses smoothly without staying at point PB1.

By adding the transmission position of the interlock signal to the teaching data in this way, it becomes possible to work safely in the lower layer.

[Effects] The robot teaching data creation method of the present invention divides the work area into small areas, so the actual teaching of the robot only needs to be done for each small area, making the teaching work itself less burdensome and easy. , even if a failure occurs, it is sufficient to simply reteach only that small area. Therefore, high quality work position data can be easily obtained. In addition, the work status of the robot, such as the movement and posture between each small area or within each small area, can be confirmed through calculations and image simulations, so the appropriate work can be done extremely quickly.
The order can be selected, desired teaching data for the robot can be created with extremely little trial and error, and teaching data can be created extremely efficiently.

From this, by reducing the number of teaching tasks,
It can also improve the safety and health of workers.

[Brief explanation of the drawing]

FIG. 1 is a diagram illustrating the basic configuration of the present invention, FIG. 2 is a system configuration diagram of one embodiment, and FIG. 3 is a configuration diagram of a painting robot.
Figure 4 is a developed diagram showing the work area of the workpiece, Figure 5 is a flowchart of simulation processing, Figure 6 (A),
(B) is an explanatory diagram of the robot movement state, FIG. 7 is a configuration diagram when two painting robots are used, and FIG. 8 is an explanatory diagram of the operation of the interlock between the robot and the robot. 1...Simulation device 15.71.73...Robot 37...Workpiece 41.75.77...Robot control device M1 to MIO
...Small area

Claims (1)

[Claims] The work area of the robot is divided into predetermined small areas, and the work order of the small areas is changed based on at least the work position data of each small area, the robot shape data, and the operation performance data. At the same time, the robot's work status data is obtained through simulation for each work order, the work order corresponding to the desired work situation is selected from this work situation data, and the data including at least this work order data is used to teach the robot. 1. A method of creating data for teaching a robot, characterized in that the data is used as data for teaching.