JPH0741568B2 - Teaching data creation device for boxed robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention is used for a boxing robot system for stacking inner boxes in an outer box whose four sides are regulated in a fixed order and according to a fixed storage pattern. The present invention relates to a suitable teaching data creation device for a robot, and more particularly to a teaching data creation device for a boxed robot that creates robot stowage data off-line.

[Prior Art] In order to reduce the number of workers and the work time, robotization of the packing work for packing the inner box into the outer box is being promoted.

In order for the robot to perform the box packing work, it is necessary to teach the robot the stowage position of each middle box and the robot movement path to the position.

Usually, a method called teaching / playback method is adopted for this work. That is, a person uses the teaching box to actually move the robot arm while teaching the robot a stacking operation for each middle box. Then, the position data at this time is taken in from a sensor such as an encoder and used as the playback data of the robot (hereinafter referred to as online teaching).

[Problems to be solved by the invention]

However, when the inner boxes are stacked in a multi-row, multi-column and one-stage or multi-stage in the outer box whose four sides are regulated by the robot, the inner box that is stacked at the position contacting the inner surface of the outer box Since the inner box contacts the inner surface of the outer box when it is stored, it prevents normal movement of the inner box, so unlike the case of loading on an open pallet, the robot is taught a simple loading path. As a result, it was actually difficult for robots to stack boxes. Moreover, the inner dimensions of the outer box and the outer dimensions of the inner box vary, which is all the more significant.

Then, as a method for solving this, Japanese Patent Laid-Open No. 60-197529
No. (Palletizing Robot Control System) is disclosed. In addition, as another method, there is a method in which the robot is taught a complicated movement as an inserting operation of each inner box.

The former, when loading a load in the size-controlled wooden frame,
It is inserted while giving vibration to the load, so even when it is difficult to load it, the load can be shaken to open the insertion space,
It enables push-insertion.

In this case, the load gripping means is carried out by inserting the load into the regulated wooden frame, so that the vacuum suction means is inevitably adopted. Therefore, the gripping force by vacuum suction is weak against the lateral force, and the effect of vibration cannot be expected so much. Further, if a large number of suction plates are provided to increase the suction force and the gripping force is increased, there is a problem in that it depends on the size of the product to be handled. In the latter case, in order to let the robot teach a complicated loading operation for each insertion position of each inner box, actually let the robot grasp the inner box and accurately determine and teach the insertion position of each inner box. I had to teach it through some online teaching.

Therefore, the conventional method for teaching the box stacking operation by online teaching has the following problems.

(1) In the online teaching method, it is necessary to teach all the middle boxes, and moreover, it is necessary to teach at a low speed. Therefore, the teaching work takes a long time.

(2) In the teaching work, the operator had to enter the robot within the operation range of the robot to perform the teaching, which was always dangerous.

(3) There are individual differences in teaching data for online teaching, and it cannot be said that the teaching data is optimum.

(4) Since the teaching work is performed while moving the robot three-dimensionally, only a skilled person can do it.

(5) Since a robot is used for teaching work,
The robot cannot be used as a production machine, and the operating rate of the robot is reduced.

The present invention solves the above-mentioned problems of the prior art, and is a robot corresponding to the optimum operation path to each loading position when loading the middle box inside the outer box by offline and simple data input only. It is an object of the present invention to provide a teaching data creation device for a packaging robot capable of automatically creating coordinate data of the.

[Means for solving problems]

The above-mentioned object is a teaching data creation device for a boxing robot that stacks inner boxes in a fixed order inside an outer box whose four sides are regulated, and the input outer dimensions of the inner box and multiple rows and columns, and A stacking position calculating means for calculating a stacking position of each middle box from the data of the stacking arrangement pattern of the middle boxes to be stacked in one stage or multiple stages, and a stacking position calculation means for each stage to be stacked in the outer box according to the sequence pattern. Four groups of the middle box, the insertion group of the last row and the last column in the order of inserting the middle box, the insertion group of the last row among those excluding this group, the insertion group of the last column, and the insertion groups other than that. With an insertion group classification means for classifying into
A stacking operation path calculation formula defined for each of the groups, and a stacking process for stacking each of the middle boxes based on the calculation result of the stacking position calculation means based on the stacking motion path calculation formula A teaching data creation device for a boxing robot, comprising: a movement path calculation means for calculating a movement path; and a robot data conversion means for converting a calculation result of the movement path calculation means into coordinate data of the boxing robot. To be achieved.

[Action]

According to the structure of the present invention, the teaching data of the packaging robot is created as follows.

By inputting the outer dimensions (length, width, height) of the inner boxes and the stacking arrangement pattern of the inner boxes into the outer box from the keyboard of the computer, the three-dimensional model of each middle box is calculated by the stacking position calculation means. The stacking position of (Xmnp, Ymnp, Zmnp) is calculated.

Then, the insertion group classification unit of the operation path calculation unit sets the middle boxes of the respective stages stacked in the outer box according to the arrangement pattern, to the insertion group of the last row and the last column in the order of inserting the middle box, Of the groups excluding the groups, the final row insertion group and the final column group, and the other insertion groups are classified into four groups. Then, the operation path calculation means calculates the stacking operation path of each of the inner boxes from the calculation result of the stacking position calculation means based on the stowage operation path calculation formula included therein.

Thereafter, the calculation result is converted into desired coordinate data of the boxing robot by the robot data conversion means.

Thus, according to the teaching data creation device for the boxing robot, when the inner box is loaded into the outer box, the coordinate data of the robot corresponding to the optimum operation path to each loading position is automatically obtained. You can

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a configuration of the present invention, FIG. 2 is a control flowchart thereof, FIG. 3 is a positional relationship between a robot to be controlled and an inner box and an outer box, and FIG. 4 is a world coordinate system. FIG. 5 is an angle component diagram showing the posture of the flange at the tip of the robot arm, and FIG. 5 is a perspective view of the entire apparatus using the present invention in a boxing robot system.

In FIG. 1, (1) indicates a keyboard, which includes numeric keys,
It is equipped with function keys, alphabet keys, etc., and the input data is input to the computer (2). The computer (2) follows the control program written in the memory (not shown) based on the data input from the keyboard (1) and has the function described later. Then, the calculation result is transferred to the robot as teaching data of the robot (3), and the robot (3) is caused to perform a predetermined box packing operation. Hereinafter, the processing function of the computer will be described assuming a virtual circuit block.

The virtual block of this computer (2) is the keyboard (1)
And the stacking position calculation means (4) for calculating the stacking position of each middle box into the outer box based on the outer dimensions of the middle box and the input data of the stacking arrangement pattern of the middle box. An operation path calculating means (10) for calculating a stacking operation path of each middle box based on the calculation output of the calculating means (4) and the input of the middle box stacking arrangement pattern from the keyboard (1), and this operation. Robot data conversion means (11) for converting the output data of the route calculation means (10) into the control data of the controlled robot (3). Then, the operation path calculation means (10) includes an insertion group classification means (6) for classifying each middle box into four insertion groups based on the input of the middle box stacking arrangement pattern from the keyboard, and the stacking. The stowage position data of each middle box calculated by the position calculation means (4) is stowed by the robot (3) determined in advance for each group according to the group classified by the insertion group classification means (6). The stacking motion path calculation formula (10) for calculating the stacking motion path of each middle box by the motion path calculation formula.

FIG. 2 shows a control flow chart in the computer (2). The operation of creating teaching data of the packaging robot will be described based on this figure. In the figure, when the power of the computer is turned on, each register in the computer and each table value 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 middle box and the stacking arrangement pattern. Numerical values (unit: mm) of the length (L), width (W), and height (H) of the middle box shown in FIG. 6 are input as the middle box dimensions. As the stacking arrangement pattern, the numerical values of the middle box column (N), row (M), and step (D) are input based on the middle box layout shown in FIG.

When the operator inputs the dimension specification data (step 200), the computer calculates the loading operation reference point from this data, and the center point a (X 'of the front end flange surface of the robot arm shown in FIG. 3 is calculated. , Y ′, Z ′) is converted into numerical data at the bottom center point P (X, Y, Z) of the inner box when the inner box is gripped. Coordinates (X ', Y', Z ') of the flange center point a and coordinates (X, Y,
The relationship with Z) is calculated geometrically by the dimensions of the inner box to be packed. In addition, regarding the positional relationship of each component in the present embodiment, the installation reference position of the outer box is the origin O of the world coordinate system.
(0,0,0), the position of the robot arm's distal end flange surface center a point, which is the robot's motion reference point, is (X ', Y',
Z ') coordinates, and the orientation por of the flange surface is expressed using the angular components α, β, γ in the world coordinate system shown in FIG.

Here, X, Y, and Z represent the "position" at the center of the front end flange surface of the robot arm in world coordinates, and α, β, and γ represent the "posture" (degree unit: pseudo Euler angle) of the flange surface.
When all of α, β, and γ are zero (reference attitude), the attitude of the flange surface faces 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 X axis. . α is the vertical axis passing through the center of the flange surface (world coordinate Z
Specifies the rotation of the flange surface (in the axial direction), and the world coordinate Z
The clockwise direction becomes positive in the positive axis direction. For example α = 90
At °, β = 0 °, γ = 0 °, the flange surface remains perpendicular to the horizontal plane and faces the positive direction of the world coordinate X axis. Next, β is the rotation around the tool Y axis after the α rotation is performed, and the downward direction is positive. For example, at β = 90 °, the flange surface faces downward. Finally, γ represents the rotation of the flange surface after performing α and β rotations. The rotation representing the posture is always rotated in the order of α, β, γ from the reference posture. Further, as shown in FIG. 3, in the gripping mechanism of the robot arm, since the flange surface of the robot arm and the bottom surface of the inner box are parallel to each other, the orientations α, β and γ of the inner box bottom are common, as will be described later. .

Next, the stacking position of each middle box B in the outer box A of the middle box B is calculated (step 400). Since the inner boxes B have the same size, the stacking position Pmnp (Xmn
The calculation of (p, Ymnp, Zmnp) can be obtained from the following equation at a constant pitch.

Here, the subscript m of the coordinates X, Y, Z represents the number of the row of the stacking arrangement pattern, the number of the column n, and the number of the step p. In addition, L, W, H are the sixth respectively
As shown in the figure, L represents the lateral dimension of the middle box, W represents the width dimension, and H represents the height dimension. Note that αmnp, βmnp, and γmnp, which represent the posture when the inner box is stowed, are for the outer box tilt angle θ = 30 °,
Calculation is performed using the data registered in the table shown in FIG.

Next, the calculation method of the stacking operation path of each middle box will be described (steps 500, 600, 700). The operation of the stacking operation path of the middle boxes is sequentially calculated one by one according to the order of stacking the middle boxes (step 700). First, the insertion groups are allocated from the stacking positions of the corresponding middle boxes (step 500). As shown in FIG. 7, the insertion groups are assigned by grouping the middle boxes in the last row and last column of each stage when the middle boxes are stacked and viewed from above the outer box. The middle boxes in the last row excluding group AG are classified into four groups, the middle boxes in the last row excluding group AG are group CG, and the middle boxes other than those are group DG. Classify the stowage insertion groups of. That is, since the packing of the middle boxes starts from the 1st row and the 1st column, they are classified as follows.
When n ≠ N and m ≠ M, it is a group other than the last row and the last column, and is therefore assigned to the group DG. When n ≠ N and m ≠ M, the group BG
Assigned to. Further, when n ≠ N and m ≠ M, it is a group in the last column and is therefore assigned to the group BG. When n = N and m = M, the columns and rows are the final insertion positions, and are therefore assigned to the group AG.

Next, the stacking operation path of the middle boxes in each group is inserted in advance by passing through the next operation path in advance so that the middle boxes are correctly inserted at the respective locations.

First, regarding the group DG, as shown in FIG. 9 (here, the second row, first column is shown for stacking), the height of the middle box is roughly defined from the target stacking position for the middle box once gripped by the robot.
Move it to the position of point P1 with a margin of 1/2, about 1/2 of the length dimension, and about 1/2 of the width dimension (Fig. 9-a), and then move it to the stacking target position previously. Insert the attached inner box by direct motion as if pressing it. Next, regarding group BG, as shown in Fig. 10 (here, the stacking in the 4th row and the 1st column is shown), the width of the middle box is approximately 1 from the target stacking position to the column direction. / 2 before, and move to the position of P0 point that has an inclination of ω ≈ 60 ° with respect to the horizontal direction (Fig. 10-c), and then move the inner and inner walls of the inner and outer boxes previously loaded. In the present embodiment, the tip of the middle box is moved to the position P1 (Fig. 10-d) so that approximately 1/10 of the height of the middle box is pushed in the gap (Fig. 10-d). Insert the middle box by linear motion (10-e
Figure).

For group CG, as shown in Fig. 11 (here, the 1st row and 4th column stowage is shown.), The length of the middle carton is once measured in the row direction from the target stowage position. It is moved to P0 point (11-f point) at a position of about 1/2 of the point and with an inclination of = 30 ° with respect to the horizontal direction, and then the inner and inner walls of the inner and outer boxes previously loaded. After moving the tip of the middle box to the position of point P1 (Fig. 11-g) so that about 1/10 of the height of the middle box can be screwed into the gap (see Figure 11-g), The inner box is inserted by linear movement (Fig. 11-h).

Finally, for group AG, as shown in FIG. 12 (here, the stacking at the 4th row and the 4th column is shown), the middle box is tilted about 30 ° from the horizontal plane to the horizontal plane at E. The surface inclination ω is approximately 60
゜ P0 at the final insertion position of the row and column in each tilted position
Transfer to the point (Fig. 12-i), then move to the position of point P1 (Fig. 12-j) so that it can be twisted into the height of the middle box at about 1/10 of its tilted posture, and then the stowage target Insert the middle box into the position by linear motion (Fig. 12-k). Here E side of the middle box, F
Inserting the surface into the target position with the posture tilted,
This is because even if the column direction and the row direction of the insertion empty portion are narrower than the specified dimension of the inner box, the inner box is inserted obliquely to facilitate prying. In addition, as shown by the arrow in Fig. 3, the conveyance path of the middle box to P1 point of group AG and P0 point of each other group is the suction grip of the middle box supplied from the specific position (q point). After that, the inner box is once transported to the center of the upper surface of the outer box, and then linearly moved to the position of point P0 corresponding to each group.

Next, the stowage operation path of each middle box is calculated as follows. This stacking operation path is performed by calculating points P0 and P1 shown in FIGS. 9 to 12 as described above (step 600 in FIG. 2).

In group DG of FIG. 7, point P1 of FIG. 9 is calculated based on the coordinate data of the stowage position, as shown in step 610 of FIG. In the group BG of FIG. 7, as shown in step 620 of FIG.
Calculate P0 and P1 points in the figure. Group of Figure 7
In CG, as shown in step 630 of FIG. 2, points P0 and P1 of FIG. 11 are calculated based on the coordinate data of the stacking position. In the group AG in FIG. 7, the points P0 and P1 in FIG. 12 are calculated based on the coordinate data of the stowage position as shown in step 640 in FIG. It should be noted that αmnp when θ = 30 °, ω = 60 °, = 30 °, which shows the insertion posture at each position,
For the values of βmnp and γmnp, the data registered in the table shown in FIG. 8 is used.

In the present embodiment, during the packing work, the outer box A is tilted in a state of being rotated by θ about the Y axis in order to stabilize the inner box B, but the center of gravity of the inner box B is low and stable. if there is,
It is not necessary to incline the outer box A, and the calculation of the stowage position and stowage movement path at that time may be performed by setting θ = 0 ° in the above-described calculation formula.

Next, the operation of the robot data conversion means for converting the calculation result of the stacking operation path of each middle box into the control data of the target robot will be described.

In this embodiment, a row using a robot manufactured by K company will be described.

Numerical values of the position coordinate calculation results (X, Y, Z) of the points P0 and P1 that are the elapsed points of each inner box obtained by the above formula and the postures (α, β, γ) of the flange at the end of the robot arm at that time By substituting the following equation into, the robot data is converted into robot data at one passage point (P0, P1). Also, the final insertion position of each inner box (P2)
Is similarly calculated by substituting the stowage position calculation result. Robot data is T11, T12, T13, T21, T22, T23, T3
It is represented by 1, T32, T33, T14, T24, T34 and can be calculated by the following equation.

T11 = S ・ cos (α-90 °) ・ cos (β + 90 °) ・ cosγ-S ・ sin (α-90 °) ・ sinγ T12 = -S ・ cos (α-90 °) ・ cos (β + 90 °) ・sinγ-S ・ sin (α-90 °) ・ cosγ T13 = S ・ cos (α-90 °) ・ sin (β + 90 °) T21 = S ・ sin (α-90 °) ・ cos (β + 90 °) ・ cosγ- S ・ cos (α-90 °) ・ sinγ T22 = -S ・ sin (α-90 °) ・ cos (β + 90 °) ・ sinγ + S ・ cos (α-90 °) ・ cosγ T23 = S ・ sin (α-90) °) ・ sin (β + 90 °) T31 = -S ・ sin (β + 90 °) ・ cosγ T32 = S ・ sin (β + 90 °) ・ sinγ T33 = S ・ cos (β + 90 °) T14 = X ÷ K T24 = Y ÷ K T34 = Z / K S = 16384 K = 1/32 However, S and K are numerical values peculiar to the robot. Next is the fifth
A boxing robot system using the present invention shown in the figure will be described.

In the figure, (2) is a computer, and (1) is a keyboard connected to the computer, both of which create the target packaging teaching data as described above. This teaching data is transferred to the robot controller (12), and the boxing robot is controlled based on this data. (13) is a boxing device, which is a conveyor (14) for conveying the outer box A, a stopper (15) for stopping the outer box A at a predetermined position, and a tilting device for tilting and positioning the stopped outer box A ( 16) and a robot (3) for packing the inner box B into the outer box A, and an inner box cutting and feeding device (17) for sequentially feeding the inner box B to a predetermined position above the tilting device (16). It is attached. The robot (3) has a suction type robot hand (18). A width adjusting device (19) is provided on the upper side of the tilting device (16) in the conveying direction. The middle box cutting and feeding device (17) has a middle box stopper (2
0) and a cutting pusher (21) having an L-shaped head for cutting out the middle box B at the take-out position by the robot (3) and fixing the next middle box B at the same time.
The cutting pusher (21) is composed of an air cylinder or the like.
The carrier table (22) is provided with a side reference guide (23) and a movable guide (25) whose distance can be automatically adjusted by driving the guide shift device (24) according to the width of the middle box B.
The cutting pusher (21) is provided so as to be movable together with the movable guide (25). At the take-out position by the robot (3), the movable guide (2
6), and a guide shift device (27) for automatically adjusting the position of the movable guide (26) according to the width of the inner box B. The middle box stopper (20) and the movable guide (26) are provided with ridges for receiving the side edges of the lower surface of the middle box B.

The conveyor (14) is a drive type roller conveyor and has a guide (14b) for preventing the outer box A from falling. Stopper (1
5) is a lifting device such as a cylinder device that conveys the conveyor roller (14
It can be sunk from between a).

As shown in FIG. 18, the tilting device (16) is provided with comb-teeth-shaped bottom lifting means (2) protruding and retracting between the conveyor rollers (14a).
8) and the side reference plate (29) are fixed at right angles to each other, and the bearing (30) is rotatably instructed together with the rotating shaft (31). The bottom surface lifting means (28) is vertically driven by an inclination drive device (not shown) including an air cylinder or the like.

The side reference plate (29) partially has a positioning suction means (33) for sucking the outer box A. The positioning suction means (33) is composed of a concave suction port provided on the reference surface of the side reference plate (29), and is connected to a suction device such as a blower with a flexible tube (34).

The width aligning device (19) includes a width aligning guide (35) and a side reference guide (36) serving as a correction reference. The width-adjustment guide (35) is supported on a support (37) so as to be horizontally rotatable, and a spring member (not shown) applies a torque in a direction opposite to the conveying direction of the conveyor (14). Further, the reverse rotation end 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 respectively the outer case A.
Greater than the width and length of the largest of. The lateral width a and the vertical width b of the alignment suction means (33) are the outer case A, respectively.
Less than the minimum length and height of.

Next, as shown in FIGS. 13 to 17, the robot hand (18) includes a vacuum suction plate (38) and a support plate (39) extending in front of the vacuum suction plate and supporting the middle box B. Have. The vacuum suction disk (38) is fixed to the tip of the pipe (40), and the pipe (40) has a flange (42) for attachment to the robot arm (41) at the base end. The pipe (40) extends from the tip to the outer circumference of the flange (42), and the flange (42)
It is covered with a conical cover (43) whose sides widen. The pipe (40) also serves as a suction path communicating with the vacuum suction plate (38),
A suction hose nipple (44) protruding from the cover (43) is provided via a branch pipe (45). (45 ') is a connection port of the branch pipe (45).

The vacuum suction board (38) is a box-shaped one having a suction port (38a) substantially on the front surface, and the suction port (38a) is provided with a ventilation material (46).
And a suction pad (47) made of urethane resin or the like is provided on the outer periphery of the suction port (38a). The ventilation member (46) is made of a metal mesh, but a perforated plate or a lattice material may be used.

To attach the robot hand (18), fix the fixing screw communicating with the attachment hole (48) (Fig. 17) of the flange (42) to the hand attachment flange (53) of the robot arm (41) (Fig. 14). By doing.

The robot (3) is a multi-axis type (six axes in this example) general-purpose robot that realizes a boxing operation close to that of a human. That is, horizontal rotation of the column (50) on the base (49) (arrow a), vertical rotation of the shoulder of the robot arm (41) (arrow b), vertical movement of the robot arm (41) at the indirect part. Bend (arrow c), rotation of the wrist (51) (Fig. 15) around the arm central axis p (arrow d), bending of the wrist (51) around the axis q orthogonal to the previous axis P ( Arrow e), rotary joint (5
The hand attachment flange (53) in 2) can be rotated (arrow f). Various other types can be used for the main body of the robot (3).

The taking out of the middle box B from the middle box cutting and supplying device (17) will be described with reference to FIG. First, the middle box B is cut out by the middle box cutting / supplying device (17) at the center q of the outer box A ′ having an average size to be worked and at a position q which is approximately twice the height of the outer box. The robot (3) takes out the inner box B from the q point. Next, it moves to the loading preparation position (point P) in the center of the outer box A of the average size to be worked, which is tilted and positioned, and above one middle box of the average size to be processed.

The position data relating to the operation of taking out the inner box B described above is calculated in advance from the computer (2) shown in FIG.
I will teach you to 2).

In the present embodiment, it is described that a dedicated personal computer is used as the teaching data generating device, but the present invention is not limited to this, and the host computer is provided with a teaching data generating function according to the present invention, and a plurality of teaching data generating functions are provided. By connecting to a robot via a communication line, you can centrally create, manage, and update data in one place. In this way, the expandability and flexibility of the system can be achieved.
If the robot is installed over a wide area, the data created by the teaching data creation device can be stored on a magnetic tape, diskette, CD-ROM, IC card, etc. The robot can be made to perform the required stowage operation.

Further, in the present embodiment, as for the first inner box, it is described that the inner boxes are loaded with a constant insertion path, like the other inner boxes. However, the first inner box does not interfere with other inner boxes. Since it does not exist, it may be inserted straight through a single path. Since this can be applied to each stage, the stowage time of the robot can be shortened.

Further, in the present embodiment, it has been described that the outer dimensions of the middle box and the stacking arrangement pattern of the middle box are input as input data from the keyboard, but it is sufficient if the stacking position of the middle box can be calculated. Not only the outer dimensions of the middle box,
You can also enter the inner dimensions of the outer box.

〔The invention's effect〕

 The present invention has the following effects as described in detail above.

(1) By simply inputting the outer dimensions of the inner box and the stacking arrangement pattern data for the outer box, the loading operation data of all the inner boxes to be loaded into the outer box can be automatically created. The number of man-hours involved in the teaching work of can be significantly reduced.

(2) It is possible to ensure the safety of the operator because the instruction of the stowage operation of the robot can be performed without actually moving the robot.

(3) Unlike the online teaching method in which the teaching operation is performed while the robot moves in the teaching box while visually checking the loading operation of each individual inner box, the average dimensional value of the inner box is used, and the computer Since the ideal packing operation is taught, stable teaching data can be obtained, and operation troubles are less likely to occur at the time of execution.

(4) Since the teaching data can be created without operating the robot, the skill level of the operator is not required.

Further, if the operator inputs only the specification data, the computer automatically creates the data later, and thus the teaching data can be created in a short time.

(5) Further, since the teaching data can be created even when the robot is in operation, the operation time can be effectively used.

[Brief description of drawings]

The drawings show an embodiment of the present invention, 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 positional relationship diagram of a controlled robot and an inner box and an outer box, FIG. 4 is an angle component diagram showing the posture of the flange at the tip of the robot arm at the X, Y, and Z positions, and FIG. 5 is an external perspective view of the entire device using the present invention for a boxing robot system.
FIG. 6 is an external dimension diagram of the middle box, FIG. 7 is a classification layout diagram in which the stacking positions of the middle box are classified into four groups, and FIG. 8 is a storage format diagram showing a stacking attribute table of the middle box. Figures 12 to 12 show the stacking operation path of each middle box in each section group sectioned in Figure 7.
The figure shows group DG, FIG. 10 shows group BG, FIG. 11 shows group CG, and FIG. 12 shows group AG. The postures at each motion change point are partially cut away from the front view (right view) and one of them. It is shown in a partially broken 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. 15 to 17 are side views, a plan view and a front view of the robot hand, respectively, and FIG. FIG. 3 is a perspective view showing the appearance of a conveyor and a tilting device. (1) ... keyboard, (2) ... computer, (3) ... robot, (4) ... stacking position calculation means, (6) ... insertion group classification means, (8) ... stacking operation Path calculation formula, (11) …… Robot data conversion means, (12) …… Robot controller, (14) …… Conveyor, (16) …… Inclination device, (17) …… Medium box cutting and feeding device, (18 ) …… Robot hand A …… Outer box, B …… Inner box.

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI Technical display location G05B 19/4093 19/42 9064-3H G05B 19/403 L

Claims (1)

[Claims] 1. A teaching data creation device for a boxing robot that stacks inner boxes in a fixed order inside an outer box whose four sides are restricted, wherein the input outer dimensions of the inner box and multiple rows and columns are provided. A stacking position calculation means for calculating the stacking position of each middle box from the data of the stacking array pattern of the middle boxes to be stacked in one or more stages, and the stacking position calculation means for each stage to be stacked in the outer box according to the array pattern. Four groups of the middle box, the insertion group of the last row and the last column in the order of inserting the middle box, the insertion group of the last row among those excluding this group, the insertion group of the last column, and the insertion groups other than that. And a loading operation route calculation formula defined for each group, and an operation of the loading position calculation unit based on the loading motion route calculation formula. It is composed of operation path calculation means for calculating a stacking operation path when stacking each of the inner boxes from the result, and robot data conversion means for converting the calculation result of the operation path calculation means into the coordinate data of the boxing robot. A teaching data creation device for a boxing robot, which is characterized in that