JPH0319004A - Off-line teaching method for robot - Google Patents

Abstract

PURPOSE:To produce the precise action data with a simple operation by displaying a target point serving as the attribute data of the work model data together with a work model and pointing the displayed target point. CONSTITUTION:The target point data which is used for teaching of the robot actions as the attribute data of the work model data 101 is provided. Then a target point is displayed on a graphic screen 2 concurrently with display of a work model. The displayed target point is pointed for teaching of the robot actions. In other words, the target point is pointed by a mouse 103 at production of the robot action data and therefore a robot is automatically moved to the pointed position. Thus a desired position is decided. As a result, the precise position/attitude/work condition data, etc., can be quickly taught with a simple operation.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method for creating motion data in offline teaching of a robot.

[Conventional technology]

Creation of motion data in offline teaching is performed in the following steps.

■ Creation of work model ■ Placement of robot and peripheral elements ■ Work placement ■ Determination of robot position and posture ■ Registration of operation data ■ Registration of work conditions ■　Repeat ■～■.

In other words, creating a work model and creating motion data were separate tasks (for example, Japanese Patent Application Laid-open No. 62-269205).
.

Furthermore, in determining the position and orientation of the robot in (2), a method was used in which the robot was guided to the desired position and orientation by a jog operation.

The jog operation is to move each axis of the robot by specifying a predetermined distance or angle using a mouse on a graphic screen.

[Problem to be solved by the invention]

In the conventional technology, in order to determine the position and orientation of the robot, it is necessary to guide the robot through a jog operation while looking at the graphically displayed relative positions of the robot and the workpiece, which requires labor and time.

Furthermore, it is clear that the more precise positions and postures are required, or the more teaching points there are, the more labor and time will be required.

Furthermore, apart from the position and posture, it is also necessary to teach work condition data (for example, welding current in the case of welding work), and it takes a long time to teach.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a means that can quickly teach accurate position, posture, work condition data, etc. with a simple operation.

[Means to solve the problem]

In order to achieve the above object, the present invention provides target point data used for teaching robot motion as attribute data of workpiece model data.

The target point is displayed at the same time as the work model is displayed on the graphic screen, and the displayed target point is instructed to teach the robot's motion.

This target point includes one or more of position data, posture data, and robot work condition data, or all of them.

[Effect]

When creating motion data for the robot, the desired position is determined by specifying this target point with the mouse and automatically moving the robot to that position.

If posture data and work condition data are set, the posture and work conditions are also determined.

〔Example〕

Below, an example of the apparatus necessary for carrying out the present invention is shown in FIG.
The actual work procedure will be explained with reference to FIGS. 2 to 5.

The operator creates workpiece model data 1 consisting of three-dimensional coordinate data of x, y, and z while displaying it on the CR7 screen 2 as shown in FIG.

Next, as the attribute data of the work model data, x, y
, z, target point data consisting of three-dimensional coordinate data, posture data, and work condition data is created.

For example, in the case of welding work, the point X shown in FIG. 3 is input.

Specifically, first, the position is set.

The position can be set on the line segments that make up the work model or at the end points of the line segments with simple operations.

It can also be set at any position in the coordinate system of the work model.

Next, set the posture.

For the posture, when the set position is indicated with the mouse, the tool coordinates are displayed (FIG. 4), and the desired posture is set by rotating the coordinates around each axis.

Note that the tool model actually used at that time may be displayed instead of the tool coordinates.

Finally, set the working conditions.

If there is any work specific to the position and posture specified above, enter the work conditions as well.

By repeating the above operations, a large number of points that can be used as target points are manually marked.

The data of the target point input in this way is saved in association with the data of the workpiece model.

101 in FIG. 1 conceptually represents this.

The above is the preparation procedure.

Now, when the robot teaching module is activated, the saved work model information and target point information are loaded onto the virtual crossing and displayed on the CR7 screen 2.

By specifying an arbitrary target point using the mouse 103, the robot model moves to the specified target point position on the CR7 screen 2.

FIG. 5 shows this situation.

At this time, if the posture and working conditions are also associated with the position,
It is specified as is.

However, when specifying the target point, only the position of the target point is used, and the posture is the posture of the robot that is displayed graphically at that time (the desired posture by moving the robot with a jog operation is also possible), or the posture of the robot is The conditions may be specified separately.

This target point is data in the workpiece coordinate system, and by converting this data to data in the base coordinate system and inversely converting the data to obtain the pulse values of each axis of the robot, the position of the robot at the target point, Posture can be determined.

. . . 1. Indicate the target point with the mouse and repeat the operation of registering the motion data as described above.

Repeat this to register the necessary target points.

Once the motion data has been created, a simulation is performed to reproduce the robot's movements on a CRT.

If there is a problem with the simulation results, the motion data is corrected, but if there is no problem, the registered motion data is converted into a robot language that can be operated by the robot control device and sent to the robot control device in the form of a floppy disk or signal transmission.

〔Effect of the invention〕

As described above, according to the present invention, there is a great effect that accurate motion data can be created with a simple operation.

[Brief explanation of drawings]

FIG. 1 is a block diagram of the present invention, and FIGS. 2, 3, 4, and 5 are diagrams explaining the present invention in detail. 1...Work model 2...CRT screen 3...Target point 4...Tool coordinates 1...Work model data 3...Mouse diagram Figure 4 Figure CRT screen diagram

Claims (3)

[Claims] (1) At least in an offline teaching method for a robot in which teaching data is created by accumulating a robot and a work model as drawing data, displaying it on a graphic display, and instructing desired points on the drawing at which the robot should operate. , Target point data used for robot motion teaching is added to the work model in advance as attribute data of the work model data, and the target point is displayed at the same time as the work model is displayed, and the displayed target point is A robot offline teaching method characterized in that the robot's movements are taught by giving instructions. (2) The robot offline teaching method according to claim 1, wherein the target point data includes one or more of position data, posture data, and robot working condition data, or all of them. (3) The robot offline teaching method according to claim 1 or 2, wherein even when the target point is specified, it is possible to select whether or not to use data stored in advance for the target point.