JPH0283186A - Preparation device for teaching data of boxed robot - Google Patents

Abstract

PURPOSE:To obtain stabilized teaching data and to reduce the generation of motion troubles at its execution time by using the averaged dimensional value of a drawer case and forming the structure teaching the most ideal boxing motion by a computer. CONSTITUTION:When the outside dimension of a drawer box and the stowage arrangement pattern of the drawer box into a case are input from the keyboard 1 of a computor 2, the three dimensional stowage position of each drawer case is operated by a stowage position arithmetic means 4. From this arithmetic result of the stowage position of each drawer box, sorting is executed in four groups of the insertion group of an least final line and final row, the final respective insertion group of the row and line excluding this group and the insertion group excepting them, and based on the stowage motion route preset for each group the stowage motion route of the three dimensional position of each drawer box is operated. This arithmetic result is then converted into the desired coordinate data of a control objective robot 3 by a specified conversion means 11 and the teaching data of a boxing robot are prepared by off-line.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is used in a box packing robot system that stacks inner boxes in a certain order and according to a certain storage pattern in an outer box whose four sides are regulated. The present invention relates to a teaching data creation device for a robot that is suitable for use in robots, and particularly relates to a teaching data creation device for a box packing robot that creates offline robot loading data.

[Conventional technology]

Reducing the number of workers 1 In order to shorten working hours, robots are being used to perform the loading process of packing inner boxes into outer boxes.

In order to have the robot carry out the packing work, it is necessary to teach the robot the stowage position of each inner box and the movement path of the robot to reach the stowage position.

Usually, a method called a teaching playback method is adopted for this work. That is, a human uses a teaching pendant to teach the robot how to stack each inner box while actually moving the robot arm. The position data at this time is then taken in from a sensor such as an encoder and used as playback data for the robot (hereinafter referred to as online teaching).

[Problem that the invention seeks to solve]

However, automated box packing using robots differs from stacking on open pallets, in that the boxes are stacked in outer boxes with four sides regulated, and the outer dimensions of the inner boxes to be stacked vary. For this reason, it is actually difficult to pack boxes by simply teaching the robot the route for loading.

Therefore, as a way to solve this problem, JP-A-60-18
No. 7529 (palletizing robot control method) is disclosed. Another method is to teach the robot a complicated movement for inserting each inner box.

The former is used when loading cargo into a wooden frame whose dimensions are restricted.
It inserts the load while applying vibrations, and even when it is difficult to insert the load, it shakes the load to create an insertion space.
This allows for push-insertion.

In this case, since the means for grasping the load is to insert the load into a regulated wooden frame, vacuum suction means is inevitably employed. For this reason, the gripping force generated by vacuum suction is weak against lateral forces, so that vibration effects cannot be expected to be very effective. Furthermore, if a large number of suction cups are provided to increase the gripping force, there is a problem that it depends on the size of the product to be handled. In addition, in order to teach the robot complicated loading operations for each inserting position of each inner box, as in the latter case, the robot must actually hold the inner box and accurately determine and teach the inserting position of each inner box. I had to teach them through online teaching.

For this reason, the conventional online teaching method of teaching box stowage operations has the following problems.

(1) In the online teaching method, it is necessary to teach all the inner boxes, and moreover, it has to be taught at a low speed, so it takes a long time to teach and demonstrate.

(2) Teaching work requires the operator to enter the robot's operating range to teach, which is always accompanied by danger.

(3) There were individual differences in teaching data for online teaching, and it could not necessarily be said to be the optimal teaching data.

(4) Since the teaching work was performed while moving the robot three-dimensionally, only an expert could do it.

(5) Since a robot is used for teaching work, the robot cannot be used as a production machine during that time, reducing the operating rate of the robot.

The present invention solves the problems of the prior art described above.

To provide a teaching data creation device for a cartoning robot that can quickly create data for storing middle boxes by a robot off-line and by only inputting simple data.

[Means for solving problems]

The above object is a teaching data creation device for a packaging robot that stacks inner boxes in a fixed order in an outer box whose four sides are regulated. By entering a pattern.

The stowage of each inner box calculates the position.The stowage uses a position calculation means,
The operation path for loading each inner box into the outer box is the insertion group of the last row and last column of the inner box insertion order in each stage, the last insertion group of each column and row excluding this group, and the other For each group, predetermined stowage is performed based on the movement path, and the stowage of each inner box is calculated based on the calculation result of the position calculation means. This is achieved by a teaching data creation device for a packaging robot, characterized in that it is comprised of a robot data conversion device that converts the motion path calculation results for each inner box into coordinate data of the robot to be controlled.

[Effect]

According to the configuration of Jin's invention, teaching data for a box packing robot is created as follows.

External dimensions (length) of the inner box from the calculator keyboard.

When inputting the array pattern for the stowage of the inner box into the outer box (width, height), the stowage position calculation means calculates the stowage position of the three-dimensional (Xmn1) * Ymnp, zmnp) of each inner box. is calculated. Then, the stowage of each inner box is classified into four groups based on the position calculation results: an insertion group for the last row and column, a final insertion group for each column and row excluding this group, and other insertion groups. A stowage movement path for each three-dimensional position of each inner box is calculated based on a predetermined stowage movement path for each group.

Then, this calculation result is converted into desired coordinate data of the robot to be controlled using a predetermined conversion formula, and teaching data for the packaging robot is created offline.

〔Example〕

Hereinafter, one embodiment of the present invention will be described based on the drawings. FIG. 1 is a block diagram showing the configuration of the present invention.

Fig. 2 is a control flowchart, Fig. 3 is a positional relationship between the robot to be controlled, the inner box, and the outer box, and FA4 is an angular component diagram showing the 7-lunge posture of the tip of the robot arm on the world coordinate system. Figure 5 is.

1 shows a perspective view of the entire device in which the present invention is used in a box packing robot system.

In Figure 1, (1) shows the keyboard, with numeric keys
It is equipped with fancy keys, alphabet keys, etc., and the input data is input into the calculator (2). calculator(
2) follows a control program written in a memory (not shown) based on data input from the keyboard (1), and performs the functions described below. Then, the calculation result is transferred to the robot (3) as teaching data for the robot (3), and the robot (3) is caused to perform a predetermined box packing operation. below.

The processing functions of the computer will be explained assuming a virtual circuit block.

The virtual block of this computer (2) is the keyboard (1)
The outer dimensions of the inner boxes and the stowage of the inner boxes are calculated based on the input data of the array pattern. Operation path calculation means (10) for calculating operation paths for stowing each inner box based on the calculation output of the attachment position calculation means (4) and the input of the arrangement pattern for stowing the inner boxes from the keyboard (1). and robot data conversion means (11) for converting the output data of the motion path calculation means (1o) into control data for the controlled robot (5). The operation path calculation means (10) includes an insertion group classification means (6) for classifying each inner box into four insertion groups based on input of an arrangement pattern for stowing the inner boxes from the keyboard; The stowage of each inner box calculated by the position calculation means (4) is carried out using the position data of the robot (3) predetermined for each group according to the groups classified by the insertion group classification means (6). The stowage consists of a movement path calculation formula (10) that calculates the movement path for stowing each inner box.

Figure 2 shows a control flowchart in the computer (2). Based on this diagram, the operation of creating teaching data for the packaging robot is explained. In Figure 0, when the power of the computer is turned on, Each register in the computer, each table value, etc. are initialized (step 10).
0).

Next, the dimensions of the object to be packed are input from the keyboard connected to the computer (step 200). The input items are the outer dimensions of the inner box, and the stowage is the arrangement pattern. For the inner box dimensions, the numerical values (unit: mm) of the length (L), width (W), and height (H) of the inner box shown in FIG. 6 are input. or,
The stowage arrangement pattern is based on the inner box layout diagram shown in Figure 1, and the inner box row (N).

The numerical values of row (M) and column (D) are input.

When the operator inputs the dimensional specification data (step 20G), the computer calculates the stowage operation reference point from this data, and calculates the center point a (X' , Y', Z'), the bottom center point P (X
, Y, Z). Coordinates of flange center point a (X'.

y/ , z/ ) and the coordinates (X,
The relationship between Y and Z) is calculated geometrically based on the dimensions of the inner box to be packed. 1. Regarding the positional relationship of each component in this embodiment, the installation reference position of the outer box is the origin 0 (0, 0, 0) of the world coordinate system, and the center of the 7 flange plane at the tip of the robot arm, which is the operation reference point of the robot. The position of point a is (
The direction por of the flange surface is expressed using angular components α, β, and γ in the world coordinate system shown in FIG.

Here, x, y, and z represent the "position" of the center of the robot arm's tip flange surface in world coordinates, and α and β represent the "posture" (in degrees: pseudo Euler angle) of the flange surface. When α, β, and r are all zero (reference posture), the posture of the flange surface points in the negative direction of the world coordinate Y axis, and the tool Y axis fixed to the flange surface is parallel to the world coordinate iX axis. . α defines the rotation of the flange surface about the vertical axis passing through the center of the flange surface (world coordinate 2 axis direction), and clockwise rotation toward the positive direction of the world coordinate 2 axis is positive 6 For example, α-8
00, β=0'', γ=xQ', the flange surface remains perpendicular to the horizontal plane and faces in the positive direction of the world coordinate X axis.

Next, β is the rotation around the Y axis of the tool after α rotation, and the downward direction is positive. For example, when β=so', the flange surface faces directly downward. Finally, r represents the rotation of the flange surface after α and β rotations have been performed. Note that the rotation representing the posture is always performed in the order of α, β, and r from the reference posture. Furthermore, as shown in Fig. 3, in the gripping mechanism of the robot arm, the flange surface of the robot arm and the bottom surface of the inner box are parallel, as will be described later, so the orientations α, β, and γ of the bottom surface of the inner box are common. .

Next, the positions of the inner boxes B and each inner box B are stacked in the outer box A are calculated (step 400). Since each inner box B has the same dimensions, each inner box B is stowed in the outer box A at the position Fmnp.
(Xmnp, Ymnp, Zmnp) can be calculated using the following equation at a constant pitch.

Xmnp=(-+WX(n-1))Xcosθ-H×
sinθX(p-1)ymnp=(mgo)XL Zmnp=('+WX(n-1))Xsinθ+HX
CO8θ There is.

Further, as shown in FIG. 6, L, W, and H each represent the horizontal dimension, W the width dimension, and the height dimension of the inner box.

In addition, αmnp and βmn, which represent the posture when loading the inner box,
p.

Ymnp is calculated using data registered in the table shown in FIG. 8 when the inclination angle θ of the outer box is 30°.

Next, we will explain how to calculate the movement path for loading each inner box. (Steps 500, 600, 700).

The operation path for stowing the middle boxes is calculated one by one, one by one, according to the order in which the middle boxes are stacked (step 700).
). First, an insertion group is assigned to the stowage of the corresponding medium box based on its position (step 500). As shown in Figure 1, the insertion group assignment is as shown in Figure 1. When looking at the stacked state of the inner boxes from above the outer boxes, place the inner boxes in the last row and column of each row in the last row excluding group G0 and group AG. The middle boxes are group BG, and the middle boxes in the last row excluding group λG are group C.
G, the other medium boxes are classified into four groups as group DG, and for each group, the stowage of the medium boxes is classified into insertion groups. In other words, since the stacking of the middle boxes starts from the 1st row and 1st column, it is classified into 1st order. m- in nf-N
! In the case of I-H, since it is a group other than the last row and last column, it is assigned to group DG. Also, m in n-4H
When =M, it is the last row group, so group BG
assigned to. Also, when nWN is m-1-M, the group is in the last column, so it is assigned to group CG.

When n=H and rllllM, both the column and row are the final insertion positions, so they are assigned to group λG.

Next, for stacking the inner boxes of each group, the inner boxes are inserted by passing through the following operation paths in advance so that the inner boxes can be inserted accurately at each location.

First, for group DG, as shown in Figure 9 (this shows the stowage in the 2nd row and 1st column), the inner box gripped by the robot is once positioned as the target (Figure 9-a). Next, for stowage, the previously stowed inner boxes are inserted into the target position in a linear motion so as to be pressed. Next, regarding group BG, FIG. 10 shows the stacking in the 4th row and 1st column.

) As shown in (), the stowage with the inner box as the target is carried out at point Pa, which is approximately one point before the width of the inner box in the row direction from the position and has an inclination of w = eo' with respect to the horizontal direction. position (Figure 9-0), and then pry the tip of the inner box into the gap between the horizontal inner wall of the previously stacked inner box and outer box by approximately 1 of the height of the inner box in this example. , move to the 21st point position 1 (10-d
(Figure), then the inner box is inserted into the target position in a linear motion (Figure IQ-e).

Furthermore, for group CG, as shown in Figure 11 (here, the stowage in the 1st row and 4th column is shown), the stowage with the target stowage is performed by moving the length of the medium box in the row direction from the position. Abbreviation of dimension 1
, and move it to the I'O point with an inclination of ψ = sa' with respect to the horizontal direction (Fig. 11-f), and then check the gap between the inner wall of the inner box and the outer box that were stacked last time. The tip of the box is 1
In this example, after moving approximately 1 of the height of the inner box to the position of point P1 (Figure 11-g), the inner box is inserted into the target position in a linear motion for loading. (Figure 11-h)
.

Finally, for group AG, as shown in Figure 12 (this shows the stacking in the 4th row and 4th column), the inclination ψ of one side of the inner box with respect to the horizontal plane is approximately 30°, Inclination of E plane ω
are transported to the 20 points overhead, which are the final insertion positions of the columns and rows, in a tilted position of approximately 600 mm (Fig. 12-1), and then, in that tilted position, the 21 points of the inner box are inserted so as to be approximately n of the height dimension of the inner box. After moving to the position (Fig. 12-j), the stowage involves inserting the inner box into the target position in a linear motion (Fig. 12-).

The reason why the inner box is inserted into the target location with the E side and the first side tilted is that even if the column and row directions of the empty insertion area are narrower than the specified dimensions of the inner box, the inner box can be inserted diagonally. This is to make it easier to pry it in by inserting it from the beginning. In addition, as shown by the arrow in the WS3 diagram, 21 of Group AG
The transport route for up to 20 inner boxes in each group is as follows: After suctioning and grasping the inner box supplied from a specific position (point q), the inner box is once transported to the center of the top surface of the outer box. Then, it is moved in a straight line to the position of point Pa corresponding to each group.

Next, the movement path for loading each inner box is calculated as follows. This loading is performed by calculating the movement path from the Pa points and 21 points shown in Figs. 9 to 12, as described above.
FIG. 2 step 60G).

In group DG of FIG. 7, as shown in step 610 of FIG. 2, loading is carried out at step 21 of FIG.
Perform point calculations. In group BG in FIG. 7, as shown in step 820 in FIG. 2, points Pa and Pl' in FIG. 10 are calculated based on the position coordinate data for stowage. In the group CG of FIG. 7, step 63o of FIG.
As shown in Figure 11, the loading is performed by calculating the P0 point and 21 point in Figure 11 based on the position coordinate data. Group A in Figure 7
In step G, as shown in step 84G in FIG. 2, the loading is performed by calculating the points Pa and 21 in FIG. 12 based on the position coordinate data. Note that θ= representing the insertion posture at each position
amnp when 3o0 ω=go' ψ=300,
amnp, γmnp (7) For the numerical values, data registered in the table shown in FIG. 8 is used.

In this example, in order to stabilize the inner box B during the loading process, the outer box B is loaded at an angle of 0 rotation around the Y axis, but the center of gravity of the inner box B is low and stable. If,
There is no need to tilt the outer box A, and in that case, the stowage position and stowage movement path are calculated using the above calculation formula, θ = 00.
You can calculate as follows.

Next, a description will be given of the operation of the robot data conversion means for converting the calculation result of the movement path for loading each inner box into control data for the target robot.

In this embodiment, an example using a robot made by Ni Co., Ltd. will be described.

PG, P, which is the elapsed point of each middle box calculated using the previous calculation formula.
One elapsed point (PG
, Pl) is converted into robot data. Also, the final insertion position of each inner box! The loading of (P 2 ) is similarly calculated by substituting the position calculation results. Robot data is 'I'll, T12°Tl! , T21. T22.
T2! , T31. T! 2°T3! i, T14. T24.
It is represented by T34 and can be determined by the following equation.

Tl 1=8-CO8(1?-90°)-cos(β
Issue 0 - CO8f → -5in (a → 0°) - sinyT
L2 co→・cos(e−→0−cos(β+90−15inr−8−sin(α−9Q−cos7′Tl
3:8- CO8 (e-9o one 5in (β publication 0°)'
Ml-8・5in(a-9Qtsu-cos(Dou-0tsu-c
os 14- cos (a-9Qtsu-sinγT2
? =-8・8 in (a-→Q')-cos(β→0
tsu-s inγ [-cos (a-fJ Otsu-cos
γT2B=S・5in(e-→0 m5in(β publication 0tsuT31=-6-8in(βlOtsu'cosyT3!-8
・5in (β+90 -8jn7T! M -CO8(
β-1-80 T1←((T2-゛[T3-Left(8=16384=1+I52 However, 8 and K are numerical values specific to the robot.

Next, a packaging robot system using the present invention shown in Figure @4 will be explained.

In the figure, (1) is the keyboard connected to the computer, and (1) is the keyboard connected to the computer. As mentioned above, the desired boxed teaching data is created by both of them. This teaching data is sent to the robot control (12). The data is transferred and the packaging robot is controlled based on this data. (IS) is a packaging device that includes a conveyor (14) that transports the outer boxer 8, and a stopper (14) that stops the outer boxer at a predetermined position. 15), a tilting device (1G) that tilts and positions the stopped outer boxer, and a robot (3) that packs the inner box B into the outer box A, and has a robot (3) placed above the tilting device (16). An inner box cut-out supply device (
11) is attached. The robot (3) has a suction type robot hand (18). Slanted bag! ! A width adjusting device f4 (19) is provided on the upper side of (16) in the conveyance direction. The middle box cutting and feeding device (17) has a middle box stopper (20) that serves as a position reference during cutting, and a robot (4) that cuts out the next middle box B at the take-out position.
and a cutout pusher (21) having an L-shaped head (!la) for fixing. The cutting pusher (21) consists of an air cylinder or the like. Transport platform (22
) is provided with a side reference guide (23) and a movable guide (25) whose distance from the side reference guide (23) can be automatically adjusted by driving a guide shift device (24) depending on the width of the inner box B. The cutting pusher (21) is movably provided together with the movable guide (2S). At the removal position by the robot (Yu), there is a movable guide (2) facing the middle box B stopper (20).
B), and a guide shift device (27) that automatically adjusts the position of the movable guide (26) according to the width of the inner box B is installed. Middle box stopper (20) and movable guide (26)
') lζ is provided with a protrusion that receives the lower side edge of the inner box B.

The conveyor (14) consists of a driven roller conveyor,
It has a fall prevention guide (14b) for the outer box A.

The stopper (16) can be projected and retracted from between the conveyor rollers (14a) using a lifting device such as a cylinder device.

As shown in FIG. 18, the tilting device t<to> fixes the comb-shaped bottom lifting means (28) protruding from between the conveyor rollers (14a) and the side reference board (28) at right angles to each other. It is rotatably supported along with a rotating shaft (31) by a bearing (30). Bottom lifting means (23
) is rotated vertically by a tilt drive device t (not shown) consisting of an air cylinder or the like.

The side reference plate (29) has a positioning suction means (35) for suctioning the outer box A in a part thereof. Positioning suction means (33)
consists of a recessed suction port provided on the reference surface of the side reference plate (28), and is connected to the blower using a flexible tube (34).
It is connected to a suction device such as.

The width adjustment device (19) includes a width adjustment guide (55) and a side reference guide (3G) that serves as a correction reference.

The width adjustment guide (35) is horizontally rotatably supported by the support column (37), and is connected to the conveyor (14) by a spring member (not shown).
) is applied in the opposite direction to the conveying direction. Further, the end of rotation in the reverse direction is regulated by a stopper or the like.

The dimensions of each part are determined as follows. The width d of the conveyor (14) and the width C of the bottom lifting means (28) are thicker than the maximum width and length of the outer box A, respectively. The length and height of each box shall be smaller than the length and height of the smallest outer box A.

Next, as shown in FIGS. tS to 17.

The robot hand (18) includes a vacuum suction cup (38) and a support plate (3) that extends in front of the vacuum suction cup and supports the inner box B.
9). The vacuum suction cup (58) is attached to the pipe (40
), and the pipe (40) has a flange (4) at the base end for attachment to the robot arm (41). It is covered with a conical cover (4s) that widens on the flange (42) side.

The pipe (40) also serves as a suction path communicating with the vacuum suction cup (38), and a suction hose nipple (44) protruding from the cover (4s) is provided via a branch pipe (4G). (
45') is a connection port of the branch pipe (45).

The vacuum suction cup (S8) has a suction port (aaa) on almost the entire front surface.
), the suction port (38a) is covered with a ventilation material (46), and a suction pad (4T) made of urethane resin or the like is provided around the outer circumference of the suction port (38a). Although a metal mesh is used as the ventilation material (46), a perforated plate or a lattice material may also be used.

To install the robot hand (18), use 7 lunges (42).
This is done by fixing a fixing screw inserted through the attachment hole (48) (Fig. 17) of the robot arm (41) (Fig. 14) to the hand attachment flange (53) of the robot arm (41) (Fig. 14).

The robot (3) is a multi-axis type (6 axes in this example) general-purpose robot that realizes box packing operations similar to those of humans. That is, horizontal rotation of the support (50) on the base (49) (arrow 'a), vertical rotation at the shoulder of the robot arm (41) (arrow b), and rotation at the joint of the robot arm (41). vertical bending (arrow C).

Rotation of the wrist portion (51) (Fig. 1S) around the arm center axis p@ (arrow d), bending (arrow e) of the wrist portion (51) around the axis 9 perpendicular to the axis P, and rotation. The hand attachment 7 langes (53) in the joint (52) can be rotated (arrow f). Various other types of bodies can be used for the body of the robot (3).

Taking out the middle box B from the middle box cutting and supplying device (17) will be explained using FIG. First, the inner box cutting and feeding device (17) cuts out the inner box B at the center of the outer box A' having an average size and at a point Mq approximately twice the height of the outer box. The robot (3) takes out the inner box B from point q. Next, the stowage is carried out at the preparation position ft (P
point).

The position data regarding the above operation for taking out the inner box B is obtained in advance from the computer (2) shown in Fig. 5 using the controller (1).
Let me teach you about 2).

In this embodiment, it has been described that the teaching data is created using a dedicated personal computer as the teaching data creation device, but the present invention is not limited to this, and the host combinator can be provided with a teaching data creation function according to the present invention, and multiple teaching data can be created. By connecting robots with communication lines, data can be created, managed, and updated centrally in one place. In this way, expandability and flexibility of the system can be achieved.

If robots are installed over a wide area, the data created by the teaching data creation device can be stored on magnetic tape, diskette, or CD-10M.

By storing the information in an IC card or the like, each robot can perform the required loading operation via these media.

Furthermore, in this embodiment, it has been stated that the first inner box to be stacked is to be stacked along a fixed insertion path like the other inner boxes, but the first inner box should be stacked in such a way that it will not interfere with other inner boxes. Therefore, it may be inserted straight through a single path. This can also be applied to each stage, so that the loading time by the robot can be shortened.

In addition, in this embodiment, the external dimensions of the inner box and the arrangement pattern for stowing the inner box are input as input data from the keyboard, but it is sufficient to calculate the position for stowing the inner box. , but not limited to, the outer dimensions of the inner box,
You may also input the inner diameter dimensions of the outer box.

〔Effect of the invention〕

The present invention has one or more of the following effects as described in detail.

(1) Just by inputting the outer dimensions of the inner box and the arrangement pattern data for stowing into the outer box, the operation data for all the inner boxes to be stowed inside the outer box can be automatically created. The number of man-hours involved in teaching the robot can be significantly reduced.

(2) The robot's loading operations can be taught without actually moving the robot, so operator safety can be ensured.

(5) The loading of individual inner boxes is different from the online teaching method, where the robot is taught while being moved using a teaching pendant while the robot is visually confirmed.

Since the average dimension value of the inner box is used and the computer teaches the most ideal packing operation, stable teaching data can be obtained and fewer operational troubles occur during execution.

(4) Since teaching data can be created without operating the robot, the operator does not need to be skilled.

In addition, the operator can create teaching data in a short time because the computer automatically creates the rest by inputting only the specification data.

(5) Furthermore, since the teaching data can be created even when the robot is in operation, there is an effect that the operating time can be used effectively.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, and FIG. 1 is a block diagram showing the configuration of the present invention, FIG. 2 is a control flowchart thereof, and FIG. 3 is a diagram showing the positional relationship between the robot to be controlled, the inner box, and the outer box. Figure 4 is an angular component diagram showing the posture of the flange at the tip of the robot arm at x, y, and z positions, Figure gK6 is an external perspective view of the entire device using the present invention in a packaging robot system, and Figure 8 is an inner box. Figure 1 is a classification layout diagram with the stowage of inner boxes classified into four groups; Figure 8 is a storage format diagram showing an attribute table for stowage of inner boxes;
From the figure to Figure 11, the stowage of each inner box in each division group classified in Figure 7 shows the operation route, and Figure 9 shows the group DO. FIG. 10 shows group BG, FIG. 11 shows group CG, and FIG. 12 shows group AG, respectively. The posture at each motion change point is shown in a partially cutaway front view (right figure) and a partially cutaway side view (left figure). FIG. 13 is a perspective view of the robot hand, FIG. 14 is a perspective view of the robot arm, FIGS. 16 to 1T are side views, top views, and front views of the robot hand, respectively.
FIG. 8 shows an external perspective view of the conveyor and tilting device. 1)...Keyboard, (2)...Calculator, 3)...
·robot. 4)...Stowage is a position calculation means. 6)...Insertion group classification means, 8)...Moving path calculation formula for loading, (11)...Robot data conversion means, (12>...
Robot controller, (14)...conveyor, (1g)...tilting device, (17)...inner box cutting and feeding device. (18)...Robot Handom...Outer box, B...Inner box. Figure 3 Figure 10 Figure 11 Figure 10 Figure 11! I Figure 12 Figure 16 Figure 17

Claims (1)

[Claims] This is a teaching data creation device for a packaging robot that stacks inner boxes in a fixed order in an outer box with four regulated sides. A stowage position calculation means for calculating the stowage position of the inner box; a stowage operation path of each inner box into the outer box; an insertion group in the last row and last column of the inner box insertion order in each stage; The columns and rows excluding the final insertion group and the other insertion groups are classified into the final insertion group and the other insertion groups, and for each group, each middle insertion group is calculated based on the calculation result of the stowage position calculation means based on the predetermined stowage operation route. A box packing device comprising a motion path calculation means for calculating a box stowage motion path, and a robot data conversion means for converting the motion path calculation results for each inner box into coordinate data of a robot to be controlled. Robot teaching data creation device.