JPH07306705A - Teaching device for robot of bending machine - Google Patents

Abstract

PURPOSE:To provide the teaching device for the robot of the bending machine which automatically generates a robot operation program only by performing operation for inputting coordinate data and then teaches the robot. CONSTITUTION:The teaching device 4 is previously stored with a calculating method which finds coordinate values, etc., of respective operation points of the robot 2 by relating corresponding coordinate transformation matrixes to various machining environment information and the basic operation module of the robot 2, and further generates the robot operation program on the basis of the coordinate values, etc., found by the calculating method and the basic operation module when respective transformation matrixes are defined.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot teaching device in a bending machine that bends a workpiece every time the robot grasps and positions the workpiece.

[0002]

2. Description of the Related Art Conventionally, in this type of robot teaching device, an operator actually teaches the robot while actually operating the robot in order to cause the robot to perform a predetermined work.

[0003]

However, in the conventional teaching to the robot, it takes a lot of time to teach the robot and a lot of knowledge about the operation and the movement of the robot is required. did.

The present invention has been made in view of the above circumstances, and its purpose is to teach a robot by automatically creating a robot operation program only by performing an operation of inputting coordinate data. To provide a teaching device for a robot in a bending machine capable of performing the above.

[0005]

In order to achieve the above object, the present invention provides a robot teaching device in a bending machine that bends a work every time the robot grasps and positions the work. In the case where each coordinate system relating to various machining environment information appropriately selected for bending the machined work is defined separately in a structure that can be developed into a coordinate conversion matrix, each coordinate conversion matrix A method of calculating the coordinate value of each operation point of the robot by associating them with each other based on the coincidence points between the coordinate systems generated during the machining work of the workpiece, and calculating the target position based on the coordinate value, and the robot basic movement Modules are stored in advance, and teaching means for teaching the robot through the following steps are provided.

First step: The information of the bending machine is defined in a coordinate conversion matrix on the coordinates of the bending machine.

Second step: All the machining environment information other than the information of the bending machine on the coordinates of the machined work are defined separately in a structure that can be developed into a coordinate conversion matrix.

Third step: the first step and the second step
Each coordinate conversion matrix of various processing environment information is defined by the step of, and the robot operation is performed based on the coordinate value of each operation point of the robot obtained by the calculation method, the target position based on the coordinate value, and the basic operation module. Create a program.

[0009]

In the robot teaching device for the bending machine according to the present invention, the teaching means includes the coordinate systems relating to various machining environment information appropriately selected for bending the workpiece to be developed in the coordinate conversion matrix. When each structure is defined separately, the coordinate values of each robot motion point are related to each other based on the coincidence points between the coordinate systems that are generated in the above-mentioned coordinate conversion matrix when the workpiece is processed. And a basic operation module of the robot are stored in advance. Then, under the condition that such a calculation method and the basic operation module of the robot are stored in advance, in the first stage, the information of the bending machine can be developed in the coordinate conversion matrix on the coordinates of the bending machine. In the second stage, all the machining environment information other than the information of the bending machine on the coordinates of the machined work is expanded in the coordinate conversion matrix, and separately defined in the third stage. And the coordinate position of each operation point of the robot determined by the above calculation method, and the target position based on the coordinate value. A robot operation program is created based on the basic operation module described above, and the created robot operation program is used for teaching the robot.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a schematic view of a bending system of an embodiment to which a robot teaching device in a bending machine of the present invention is applied.

In the bending system of this embodiment, basically, the bending machine 1 and the robot 2 are placed under the control of the controller 3, and every time the robot 2 grasps the workpiece X and positions and moves it. The work piece X is bent by the bending machine 1.

In order to teach the robot 2 to the controller 3, a teaching device 4 is provided, and an operation panel 5 used for inputting data to the controller 3 is provided to the teaching device 4. While the data can be input by using the work shape management means 6, the work shape management means 6 can manage the work shape for each process.

In the teaching device 4, each coordinate system relating to various machining environment information appropriately selected for bending the machining work X is defined separately with a structure that can be developed into a coordinate conversion matrix. In this case, each coordinate transformation matrix is associated with each other on the basis of coincidence points between coordinate systems generated during machining of the workpiece to obtain each coordinate value of the robot 2, and the target position is calculated with this coordinate value as a reference. The method and a storage unit (not shown) for storing the basic operation module of the robot 2 in advance are provided, and the program creation for creating the robot operation program through the following steps using the prestored data Means (not shown) are provided.

First stage: The information of the bending machine 1 is defined in the coordinate conversion matrix on the coordinates of the bending machine 1.

Second stage: All the machining environment information other than the information of the bending machine 1 on the coordinates of the workpiece X is defined in the coordinate conversion matrix and defined separately.

Third step: Each operation point of the robot 2 obtained by using the above calculation method by defining each coordinate matrix of various processing environment information by the above first step and the above second step. A robot operation program is created on the basis of the coordinate values and the target position based on the coordinate values and the basic operation module.

If it is not necessary to change the definition content of the first stage even if the process is converted, the definition content of the first stage may be stored in advance in the storage means.

Next, the operation of this embodiment will be described. The bending of the sheet metal is an operation of processing the sheet metal X ₁ having a two-dimensional shape as shown in FIG. 2A into a product X ₂ having a three-dimensional shape as shown in FIG. 2B by a bending machine. The order is determined by the product and processing environment.

When the machining data for determining how to machine the work piece to obtain the product has the relationship shown in FIG. 3 in the coordinate system of the work piece, as shown in the table of FIG. It is possible to create a table in which the coordinate values of, the bending angle, the bending order number, the coordinate value of the outline, the belonging side of the line, etc. are defined in the coordinate system of the work. That is, the table of FIG. 4 can be created from the machining drawing of the machining work without requiring knowledge of the robot.

On the other hand, the grasping position of the robot hand is defined on the coordinate of the machining work defining the machining work. This grasping position can be defined based on the machining drawing of the machining work. Further, as shown in FIG. 5, the grasped position / posture of the robot hand 2A with respect to the machining work X can be automatically calculated based on the bending order and the side of the line in the machining data defined in the coordinate system of the machining work X. .

As the processing environment, there are a bending machine, a loading (L) / unloading (UL), a robot gripping device, etc., and a working coordinate system is set for each of them.
Each is defined by the coordinate system that is most appropriate. For example, (1) The position of the die on the bending machine is defined by the coordinate system of the bending machine. (2) The loading work standard is defined by the loading coordinate system. (3) The product loading standard is defined in the unloading coordinate system. (4) The gripping reference for the processed mark is defined by the gripping coordinate system. Robot knowledge is not required because it can be done with the etc.

The points of interest in each coordinate system defined as described above, such as the die matching point of the bending line on the coordinate system of the workpiece, the robot hand tip, and the coordinate system of the bending machine. The work matching point of the upper die is defined as data that can be expressed in the form of posture and position in the transformation matrix from each coordinate origin.

Further, in order to obtain the coordinate value of each operation point of the robot, the coordinate conversion matrices defined in different coordinate systems are related to each other on the basis of the coincidence points between the coordinate systems generated by the machining work of the work. Then, the target value of the robot is calculated.

[0024] For example, bending bending machine mold center coordinate system defined in machine coordinate system, the transformation matrix from the coordinate system of the bending machine to the mold center coordinates: Expand the ^B T _D.

Bending coordinates are defined in the coordinate system of the work piece,
Transformation matrix to the coordinate system from bending the coordinate system of the workpiece: Expand the ^W T _M.

The robot hand coordinates are defined in the coordinate system of the work to be processed, and the coordinate system for converting the coordinate system of the work to the robot hand coordinate system: ^W T _R is developed.

FIG. 6 is a schematic diagram showing these relationships.

In this way, each coordinate matrix of various processing environments is defined, and a robot operation program is created based on the above calculation method and the above basic operation module of the robot to teach the robot. .

That is, the teaching to the robot is achieved in the order of first planning the motion / path and then teaching each point in correspondence with the planned contents. The planning basic operation modules of operation / pathway can be determined in advance, P _1, P _2, ...... position / posture and basic in the operation / path example 7 obtained by planning to change the workpiece It is a combination order with an operation module. In addition,
The values of P ₁ , P ₂ , ... Are positions and postures on the work coordinates provided in the motion area of the robot.

An example as shown in FIG. 8 can be considered as the work coordinates of the robot in the bending machine. However, in FIG.
1 is a bending machine, 1A is a mold, 2 is a robot, 2A is a robot hand, and X is a work.

In this case, the robot bending motion is
In order to define the points P _{1 to} P ₇ on the coordinate system of the bending machine 1 in the relationship shown in FIG. 9 by the route planning of the robot, the position / orientation of the robot hand 2A is the value of the coordinate system of the bending machine 1. Need to be converted to. Note that 1B is a punch.

Then, in order to obtain the above points,
Matching points of the respective coordinate systems (in this case, the center of the bending line of the work and the center of the mold match): The conversion systems are associated with each other based on P ₃ . If this is expressed by a formula, ^B T _R = ^B T _D · ( ^W T _M ) ^{−1 W} · T _R (1) as in the following formula (1).

That is, in equation (1), a transformation matrix from the coordinate system of the bending machine 1 to the coordinate system of the robot hand 2A is defined, and the position / orientation of the coordinate system of the robot hand 2A is obtained from this transformation matrix. You can P
₃ other points can be calculated based on the values of P _3.

As described above, in this embodiment, the processing proceeds as follows under the condition defined by the structure capable of expanding the information of the bending machine into the coordinate conversion matrix.

(1) Information of the work piece is (a) the position and orientation of the bending line of the coordinate system of the work piece (b) the bending angle (c) the bending order and other coordinate values and the working method (angle, order). Defined with structured data.

(2) The information of the machining work, the information of the robot, and the various machining environment information such as the mold are defined by independent coordinate systems which are easy to define, and based on the coincidence points between the coordinate systems generated by the machining work. Find the target position of the lot.

Further, other target positions are calculated based on the above values, and their definitions are made in a structure that can be developed in the coordinate conversion matrix.

By doing so, for example, as shown in FIG. 10, a transformation matrix T desired to be obtained between independent coordinate systems is obtained.

(3) Based on the work information (order, angle, conversion value) of the above (1) and the calculation method of the above (2), for example, a robot having a robot path as shown in FIG. Create a motion program. At this time, the position and orientation of the robot are calculated by the calculation by the calculation method of (2) above, and data for automatic determination such as gripping can be obtained, and the robot operation program is automatically created. .

Since the robot operation program created as described above is used for teaching the robot, it is possible to easily operate the robot with a highly accurate robot operation program without requiring knowledge of the robot.

[0041]

As described above, according to the present invention, the robot operation program is automatically executed by merely inputting the coordinate data without teaching the robot while actually operating the robot. Can be taught to the robot, so that a highly accurate robot operation program can be created without the conventionally required knowledge of the robot.

[Brief description of drawings]

FIG. 1 is a diagram showing an outline of a bending system of an embodiment to which a robot teaching device in a bending machine of the present invention is applied.

FIG. 2 is an explanatory diagram of bending of a sheet metal.

FIG. 3 is a diagram showing an example of machining data on a coordinate system of a machining work.

FIG. 4 is a diagram showing an example table in which machining data is defined in a coordinate system of a machining work.

FIG. 5 is a diagram showing an example of a grasping position of a robot hand on a coordinate system of a workpiece.

FIG. 6 is a diagram schematically showing the relationship between coordinate systems.

FIG. 7 is a diagram showing an example of each point of a motion / path obtained by path planning of a robot.

FIG. 8 is a diagram used for explaining work coordinates of the robot.

FIG. 9 is a diagram used for explaining a case where each point on the coordinate system of the bending machine 1 is fixedly defined by path planning of the robot.

FIG. 10 is a diagram showing a relationship between coordinate conversion matrices.

FIG. 11 is a diagram showing a specific example of each point of a motion / path obtained by path planning of a robot.

[Explanation of symbols]

 1 Bending machine 2 Robot 2A Robot hand 3 Controller 4 Teaching device 5 Operation panel 6 Work shape management means

Continuation of the front page (51) Int.Cl. ⁶ Identification number Office reference number FI technical display location B25J 9/16 9/22 A G05B 19/42

Claims (4)

[Claims] 1. A robot teaching device for a bending machine that bends a work every time a robot grasps and moves the work to be machined. When each coordinate system relating to environmental information is defined separately with a structure that can be developed into a coordinate transformation matrix, the coordinate transformation matrix is based on the coincidence points between the coordinate systems generated by the machining work of the workpiece. The calculation method that calculates the coordinate value of each operation point of the robot in relation to each other and calculates the target position based on the coordinate value, and the basic operation module of the robot are stored in advance, and the robot moves through the following steps. A teaching device for a robot in a bending machine, characterized by comprising a teaching means capable of teaching. First stage: The information of the bending machine is defined in a coordinate conversion matrix on the coordinates of the bending machine. Second step: All the processing environment information other than the information of the bending machine on the coordinates of the processed work is defined separately in the structure that can be developed in the coordinate conversion matrix. Third step: The coordinate conversion matrix of each processing environment information is defined by the first step and the second step, and the coordinate value of each operation point of the robot obtained by the calculation method and the coordinate value are obtained. A robot operation program is created based on the target position and the basic operation module. 2. The teaching device for a robot in a bending machine according to claim 1, wherein the first step, the second step, and the third step are prepared for each process. 3. The robot teaching apparatus for a bending machine according to claim 1, wherein the second step and the third step are executed under a condition in which the first step is defined in advance. 4. The teaching device for a robot in a bending machine according to claim 1, wherein the teaching means includes a work shape management means for managing the shape of the processed work.