JPH08174454A - Track display for industrial robot - Google Patents

Abstract

PURPOSE: To easily and accurately confirm the relative positional relationship between a tool tip control point and a work on a screen, so as to prevent collision of the work with the tool in the regenerative operation by overlapping and displaying the actual position of the robot tool in regeneration and the shape of the work on the same screen. CONSTITUTION: When a work 7 such as an automobile body is conveyed by a belt conveyor 6 and reaches the arranging position of a manipulator 3 in the production line, the positional relationship between the position in which the work 7 is to be placed and the installation position of a robot is input by a key input unit 2a. The shape of the work 7 is formed by a personal computer 2, and the position of a work tool provided on the tip of the manipulator 3 is found by the rotational angle in working of respective axes of the robot operated by the regenerative operation. The work shape formed on the basis of the positional relationship is converted into the reference position, and the tracks of the formed work shape and the position of the work tool in operating are overlapped and displayed on a display unit 2e.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot trajectory display device for monitoring the trajectory of a tool attached to an industrial robot.

[0002]

2. Description of the Related Art As a first conventional technique, a manipulator base portion at a tip point of a tool attached to an industrial robot, which is called a control point, is used as an origin for a state monitoring function of an industrial robot, at regular time intervals. There is a function of displaying the coordinate value represented by each component of X, Y, Z of the three-dimensional orthogonal coordinate system as numerical values. Further, instead of expressing these coordinate values by numerical values, there are also cases where the X, Y, Z coordinate values are rendered as points on the two-dimensional or three-dimensional coordinates in a graphic representation.

As a second conventional technique, a function is provided in which the teaching locus connecting the teaching points of the industrial robot and the shape of the work to be worked are superimposed and displayed on one screen. (JP-A-3-25507).

[0004]

An important point for confirming the operation of the industrial robot after the teaching work is to confirm the positional relationship between the tool attached to the robot wrist, which is the control point of the industrial robot, and the workpiece. . If the tool tip control point is not positioned with a certain accuracy with respect to the work point of the work, accurate work cannot be performed. In particular,
If the tool tip control point is off the work side,
There is a risk that the tool or manipulator collides with the work and both are damaged.

However, for the reason described below, when the regenerating operation is performed, the working point of the tool tip and the working point of the work often deviate from each other. That is, at the time of teaching work, there is a possibility that a teaching point that was not originally intended is being taught by mistake.
The work may be regenerated at the work position without noticing it.

Further, when a method called off-line teaching in which a trajectory is taught on a model of a personal computer or the like is used as a trajectory teaching method for an industrial robot, the work is installed at the work position for the first time during the regenerating operation. The risk of collision between the robot and the work becomes greater.

Further, in the conveyor synchronous reproduction in which the robot performs the work on the work carried by the conveyor such as a conveyor which moves continuously, the teaching work is performed in the state where the work is stopped and the work is stationary. In the reproduction operation, the industrial robot follows the moving work in a state in which the work device is continuously moved and the work is conveyed. When such a method for reproducing an industrial robot is used, the industrial robot and the work may collide even if the conditions for following the industrial robot to the transport device are set incorrectly.

In order to avoid the collision between the tool and the work as described above, when the program that has been taught is first replayed, the work is retracted from the operating range of the industrial robot and then the industrial robot is used. The robot and the transport device are regenerated, the trajectory of the tool being regenerated is visually confirmed, and the relative positional relationship with the work is roughly estimated.

However, it is extremely difficult to recognize the relative positional relationship between the work that does not actually exist in the working position and the tool that can move at high speed, and it is impossible to recognize the exact positional relationship.

Therefore, even when the work is retracted from the work position in the locus check work during the regenerative operation,
There is a demand for the development of means capable of accurately confirming the positional relationship between the tool of the industrial robot and the work assumed to be in the working position.

The first conventional technique is effective in confirming the continuity of the reproduction trajectory of the industrial robot and monitoring the reproduction operation of the industrial robot in a remote place, but the tool tip control of the industrial robot is performed. Since only points are displayed, the positional relationship with the work cannot be recognized.

In the second prior art, the positional relationship between the position of the work and the teaching point and the line connecting the teaching point and the teaching point with a straight line or a curved line are displayed on the same screen.

However, the actual operation of the industrial robot is
It does not always operate with an accurate straight line or curved line between teaching points. The straight line connecting the teaching points on the screen is equivalent to the target command value of the tool tip control point in the replay operation, and due to the delay of the servo system, the locus in the actual replay operation is the straight line connecting the teach points. On the other hand, a deviation will occur. Such a deviation becomes more remarkable in a curved or sharp-angled turning operation.

Therefore, even if the line connecting the teaching point and the shape of the work is taught at the same time, the positional relationship between the tool and the work during the regenerating operation cannot be accurately recognized.

Further, in the conveyor synchronous reproduction, the relative positional relationship between the tool and the work as taught is caused by the setting error of the tracking condition between the industrial robot and the transfer device and the change of the transfer speed of the transfer device. Since it may not be maintained in some cases, the teaching of the positional relationship between the teaching point and the work does not make any sense at the time of reproduction.

The present invention has been made in view of the above problems, and in addition to setting a work to a work position or carrying a work by mounting it on a transfer device, the work is retracted from the work position. In the case of operating a robot without mounting a work on a transfer device, a trajectory display device for an industrial robot capable of easily and accurately recognizing the relative positional relationship between the actual tool position during operation and the work. The purpose is to provide.

[0017]

A first industrial robot trajectory display device according to the present invention is an object to be worked by reproducing a working tool provided at the tip of an industrial robot having a plurality of axes. In a locus display device of an industrial robot that displays a work and a work tool locus in which the work tool reproduces with respect to the work target work, a work target for drawing a work target work on which the industrial robot works Work drawing means, input means for inputting the work target work and the position of the industrial robot working on the work target work, and a robot obtained by the operation of each axis for regenerative motion at the position of the industrial robot Transform means for transforming the position of the work tool in the coordinate system into the coordinate system of the work target work drawing means, and the work transformed by the transform means. Display means for superimposing and displaying the position of the tool on the work target work drawn on the work target work drawing means and displayed on the work target work position input to the input means. .

A second industrial robot trajectory display device according to the present invention is a work object work transfer device for performing work while synchronously moving an industrial robot in a transfer direction of a work object to be transferred. A moving position detecting means for detecting the moving position; and a correcting means for correcting the position of the work tool at the position of the work target work detected by the moving position detecting means in a direction opposite to the conveyance direction of the work target work. The display means displays the position of the work tool corrected by the correction means in a superimposed manner on a stationary work target work.

[0019]

In the locus display device of the industrial robot according to the first aspect, the positional relationship between the position where the work to be worked is placed during the work and the installation position of the industrial robot is input by the input means, and the work to be work drawing means is entered. The shape of the work to be worked is drawn by the conversion means, and the position of the work implement provided at the tip of this industrial robot is determined by the converting means from the rotational angle of each axis of the industrial robot which is being operated for reproduction. Is converted based on the position of the industrial robot into a position based on the work target work shape drawn based on the above-mentioned positional relationship, and the work target work shape drawn and the working work are displayed by the display means. The locus of the tool position is displayed in an overlapping manner.

Thus, while the industrial robot is being regenerated in the absence of the work piece to be worked, the locus of the work tool at that time can be confirmed on the locus display device, and the shape of the work piece to be placed at the time of work can be confirmed. Since they are displayed in an overlapping manner, it is possible to clearly understand the relative positional relationship between the trajectory of the work implement and the work to be worked. Therefore, it is possible to easily confirm whether or not the work implement collides with the work to be worked.

In the present invention, the locus is displayed by obtaining the position of the work implement from the rotational angle of each axis during operation while actually regenerating the industrial robot. The locus based on actual work is displayed rather than the locus to follow.

In the locus display device for an industrial robot according to a second aspect, in the locus display device according to the first aspect, the movement position detecting means detects the movement position of the work transfer device, and the correcting means detects the movement position. The position of the work tool based on the position of the industrial robot is inversely corrected by the movement position and the trajectory is displayed.

As a result, while the work-target work transfer device such as the conveyor is operated in the absence of the work-target work and the industrial robot is synchronously regenerated, the movement of the conveyor is offset on the display. The actual locus of the work implement is displayed, and the shape of the work to be placed, which is to be placed at the time of work, is displayed in a superimposed manner. Therefore,
The locus of the work tool relative to the work target moved along with the conveyor is displayed, and the relative positional relationship between the work tool trace and the work target can be clearly understood.

According to the present invention, since the shape of the work to be worked is displayed as a still image on the display screen, the shape of the work to be worked is displayed in a display space rather than being displayed as a moving image moving by a conveyor or the like. By effectively utilizing the limited screen, it is possible to clearly understand the relative positional relationship between the trajectory of the work implement and the work to be worked.

[0025]

Embodiments of the present invention will be specifically described below with reference to the accompanying drawings. FIG. 1 is a block diagram showing the configuration of a production line incorporating a trajectory display device for an industrial robot according to an embodiment of the present invention.

The manipulator 3 is provided with a servomotor 3a on each axis which enables the manipulator 3, and the manipulator 3 is driven by the servomotor 3a. In this embodiment, the manipulator 3 has n
It is assumed that there are individual shafts. An encoder 3b is attached to the servo motor 3a, and the rotation amount of the servo motor 3a is detected by the encoder 3b, whereby the position of the manipulator 3 can be detected.

On the belt conveyor 6 as a transfer device,
A work 7 to be worked such as an automobile body is fixed, and the work 7 is conveyed by a belt conveyor 6 and reaches a position where the manipulator 3 is arranged. A conveyor reset signal output device 4 is installed on the belt conveyor 6. The reset signal output device 4 is, for example, a limit switch or a photoelectric switch installed at the work entrance, and when the work 7 reaches the work entrance, the limit switch operates to output a reset signal. It is a thing. A conveyor pulse signal output device 5 is installed on the conveyor 6 and outputs the movement amount of the conveyor 6 as a pulse signal. The conveyor pulse signal output device 5 is, for example, a rotation amount pulse converter such as an encoder attached to a drive device of the conveyor.

The output signals of the encoder 3b, the conveyor reset signal output device 4 and the conveyor pulse signal output device 5 are input to the robot control panel 1. This robot control panel 1
Is a calculation unit 1a including a microcomputer, a storage unit 1b including a semiconductor memory, a communication unit 1c for transmitting and receiving serial data, and a motor control unit for supplying drive power to the motor and feedback input of the motor rotation amount. 1d and an input / output unit 1e that inputs a parallel signal from the outside and outputs a parallel signal to the outside. The storage unit 1b, the communication unit 1c, the control unit 1d, and the input / output unit 1e are
It is connected to the arithmetic unit 1a via a data bus and an address bus, and can exchange data with each other.

A personal computer 2 is connected to the communication section 1c of the robot control panel 1. The personal computer 2 includes a computing unit 2a including a microcomputer, a storage unit 2b including a semiconductor memory or a magnetic disk, and a communication unit 2c for transmitting and receiving serial data.
And a key input unit 2d including a keyboard and a display unit 2e including a CRT monitor capable of displaying a graphic. The storage unit 2b and the communication unit 2c are connected to the arithmetic unit 2a via a data bus and an address bus, and can exchange data with each other. The key input unit 2d is connected to the arithmetic unit 2a via a dedicated interface element, and the input data from the key input unit 2d can be sent to the arithmetic unit 2a via this interface element.
The display unit 2e is also connected to the calculation unit 2a via a dedicated interface element, and draws on the screen of the display unit 2e based on a command from the calculation unit 2a.

The robot control panel 1 and the personal computer 2 are connected to each other via a serial cable between the communication units 1c and 2c, and data can be exchanged with each other via the serial cable.

The manipulator encoder 3b is connected to the motor control unit 1d of the robot control panel by a cable and transmits the rotation amount of the motor to the motor control unit 1d. The conveyor reset signal output device 4 and the conveyor pulse output device 5 are connected to the input / output unit 1e of the robot control panel,
Input / output unit 1 for reset signal and conveyor pulse signal respectively
It is input to the calculation unit 1a via e.

In the block diagram of the production line shown in FIG. 1, the conveyor reset signal output device 4, the conveyor pulse signal output device 5 and the conveyor 6 are the locus display device of the first industrial robot according to the present invention. The characteristics of the first embodiment are different from those of the first embodiment.
It is not always necessary for this device.

Next, the operation of this embodiment will be described with reference to FIG. 2 and FIG. 3, which are flow charts showing the flow of processing of the trajectory display device for the industrial robot of this embodiment, in addition to FIG. To do.

2 and 3, steps S1 to S18 are the personal computer 2 of the apparatus of this embodiment.
The processing is mainly described. In step S1, a program number for monitoring the operating state is designated and input from the key input unit 2d, and the program is selected as a processing target in the computer.

Next, in step S2, regarding the program specified in step S1, it is determined whether or not the shape data of the work object, the positional relationship data between the work and the manipulator, and the reference conveyor position, which will be described later, already exist in the storage section 2b. To find out. If it is determined in step S2 that no data exists, the process proceeds to step S3.

In step S3, the shape of the work 7 to be worked is input from the key input unit 2d. As this input means, first, a work shape input screen as shown in FIG. 4 is displayed on the display unit 2e. FIG. 4 is an example when the work is an automobile body. On this screen, the operator inputs the work coordinates of points, which are the shape features of the work 7 from item A to item O, in the data input field 8 in the screen. The work coordinate is an orthogonal coordinate system unique to the work, and the distance in each direction of L, H, and W orthogonal from an arbitrary point on the work is a coordinate component.

In this embodiment, the shape of the work is displayed as LH.
For simplification to a plane, input coordinate values have two components, L and H. The input coordinate values of the feature points from item A to item O are recorded in the storage unit 2b.

Next, in step S4, the positional relationship between the work 7 and the manipulator 3 is input from the key input unit 2d.
This positional relationship is a positional relationship between the work coordinate system defined in step S3 and a robot coordinate system unique to the manipulator described later, and an arbitrary point described in one coordinate system is described in the other coordinate system. It can be expressed by a conversion formula. As will be described later, since drawing on the display unit 2e is performed using the work coordinate system, the conversion formulas used here are the following formulas 1 and 2 for converting the robot coordinate system into the work coordinate system.

[0039]

[Equation 1]

[0040]

[Equation 2] However, (X, Y, Z); coordinate values expressed in the robot coordinate system (L, W, H); coordinate values expressed in the work coordinate system a11 to a33; 3 × 3 matrix components (Xs, Ys, Zs); translation amount.

In step S4, each component of the matrix A of the above conversion formula (Formulas 1 and 2) is input from the key input unit 2d. Each input component is recorded in the storage unit 2b.

Next, in step S5, in the case of conveyor synchronous reproduction, the reference conveyor position is input as an item required corresponding to the work position. Step S4
Then, although the positional relationship between the work 7 and the manipulator 3 was input, in the case of conveyor synchronous reproduction, the work 7 is being reproduced.
Since it is moved by the conveyor 6, the positional relationship between the work 7 and the manipulator 3 cannot be uniquely defined. Therefore, the input of the positional relationship between the workpiece 7 and the manipulator 3 in step S4 is the input of the positional relationship when the transport device 6 is stopped at an arbitrary position.

The origin of the conveyor position is the position of the work 7 at the timing when a conveyor reset signal described later is input. A numerical value is input from the key input unit 2d using the work moving distance between this position and the position of the work 7 when the positional relationship is input in step S4 as the reference conveyor position. The input reference conveyor position Lc ₀ is stored in the storage unit 2d.

Next, in step S6, the shape data of the work input in step S3 or before is stored in the storage unit 2b.
Read from. Next, in step S7, the shape of the work is drawn on the display unit 2e of the personal computer. In the present embodiment, the procedure will be described assuming that the work shape is represented by L and H surface images.

The shape data of the work is the feature point A of the work.
Although it is represented by the L and H coordinate values of A to O, items A to O
Among them, the point having the maximum L coordinate value, the point having the maximum H coordinate, the point having the minimum L coordinate value, and the point having the minimum L coordinate value are all in the vertical and horizontal directions of the display area defined by the display unit 2e. The relationship between the coordinate value and the display dot used for display is determined so that it falls within the range. The display dots for displaying the points A to O are obtained from the relationship thus determined.

Next, a straight line or an arc connecting the points A to O is drawn, and which point is connected by the straight line or the arc is recorded in the storage unit 2b according to the type of the work 7. It is described in advance in the control program to be used. FIG. 3 shows a shape display of a work in which points A to O are connected. The above is the processing of inputting data and drawing the work shape in the apparatus of the embodiment of the present invention.

Next, the display of the tool tip control point will be described after step S8. In step S8, the start of the regeneration operation is waited for. Whether or not the regenerating operation is being performed is determined by receiving the operation state data from the robot control panel 1 at the communication unit 2c. If the regeneration operation has been started, or if the regeneration operation has already been started, the process proceeds to the next process.

In step S9, the rotation angle of the motor 3a installed at each joint of the manipulator 3 is read.
The motor rotation amount detected by the encoder 3b of each joint is read by the motor control unit 1d of the robot control panel 1 and sent to the calculation unit 1a of the robot control panel 1. The calculation unit 1a of the robot control panel 1 multiplies the detection value of the rotation amount by the reduction ratio determined by the structure of the reduction gear of each joint to obtain the rotation angle of each joint.

The personal computer arithmetic unit 2a receives this value through the communication unit 2c and records it in the storage unit 2b. Next, in step S10, the rotation angle of each joint of the manipulator 3 read out in step S9 is converted into a coordinate value represented by the robot coordinate of the tool tip control point in the calculation unit 2a.

First, the coordinates of the tool tip control point are represented by (Xn, Yn, Zn) in the coordinate system in which the tool mounting axis is the nth link of the manipulator 3 and is fixed. Each coordinate value X
n, Yn, and Zn are determined as constants from the shape of the tool.

Next, the coordinates of the tool tip control point in the (n-1) th link fixed coordinate system are calculated by the following mathematical expression 3.

[0052]

(Equation 3) However, the matrix An is represented by a conversion matrix of 4 × 4 rows as in the case of the mathematical expression 2, but the translation amount of the two coordinate origins is
It can be determined as a constant from the shape of the nth link. Further, since the rotation directions of the two coordinates are determined by the mechanism of the manipulator 3, the rotation movement amount of the two coordinates can also be obtained by using the value read in step S9 as the rotation amount.

If the coordinate conversion of Equation 3 is performed from the n-th axis to the first link, which is the installation portion of the manipulator 3, the tool tip control is performed in a coordinate system based on the installation portion of the manipulator 3 called robot coordinates. It can represent the position of a point.

The length of each axis of the manipulator 3 and the length and direction from the rotation direction mechanical interface to the tool tip control point are described in advance in the control program recorded in the storage unit 2b.

Next, steps S11, S12 and S13
Is a process required when the conveyor synchronous reproduction is performed, and is unnecessary when the conveyor synchronous reproduction is not performed. In step S11, the position of the conveyor during the reproduction operation is read.

Next, the method of detecting the conveyor position will be described from step S19 to step S22. The processes of steps S19 to S22 are mainly described about the process of the robot control panel 1 in the apparatus of this embodiment.

In step S19, the input of the conveyor reset signal to the robot control panel 1 is monitored. Normal,
In the production line where the conveyor synchronous reproduction is performed, when the work 7 on the conveyor 6 crosses the reset signal output device 4 including the limit switch or the photoelectric switch attached to the line, these devices send a signal to the robot control panel 1. Is input. Generally, the conveyor reset signal is input at the same timing as the start of the regenerating operation of the industrial robot.

This signal is the input / output unit 1 of the robot control panel 1.
is input to e, moves on to the next step S20, the calculation section 1a of the robot control panel 1, the value of the variable Lc _l indicating the current conveyor position is recorded in the storage unit 1b to 0.

Next, in step S21, the input of the conveyor pulse signal to the robot control panel 1 is monitored. The conveyor pulse signal is an on / off signal that is output by a rotation amount pulse converter such as an encoder attached to the drive unit of the transport device 6 every time the drive device 6 rotates a fixed amount.
In the robot control panel input / output unit 1e, the rise or fall of the conveyor pulse signal is monitored, and if a change in the signal is detected, the arithmetic unit 1a is notified and the next step S
Move to 22.

In step S22, the conveyor pulse signal is converted into the moving distance of the conveyor 6. The moving distance of the conveyor 6 during one pulse cycle can be determined as a constant based on the mechanism of the conveyor 6 and how the conveyor pulse output unit 5 is attached. In step S22, the variable Lc _l representing the current conveyor position recorded in the storage unit 1b of the robot control board 1, by combining by adding the constant representing the amount of movement of the conveyor 6 per pulse, current conveyor position To update.

In step S11, the current conveyor position recorded in the storage unit 1b of the robot control panel 1 is received via the communication unit 2c and recorded in the storage unit 2b.

Next, in step S12, step S5
The reference conveyor position input in step 2 is read from the storage unit 2b. In step S13, the work 7 when the positional relationship between the manipulator 3 and the work 7 is defined in step S4.
The amount of deviation between the position of and the current position of the work after the start of the reproduction operation is corrected.

In the apparatus of this embodiment, since the workpiece 7 described later is fixed, that is, the workpiece 7 and the tool tip control point are superimposed and displayed while the workpiece 7 is stationary, the side of the coordinate value of the tool tip control point is displayed. Needs to be moved in parallel with the amount of deviation of the work 7. The deviation amount of the work 7 is determined by the difference in the position of the conveyor 6 on which the work 7 is mounted and the moving direction of the conveyor 6 with respect to the manipulator 3. The difference in the position of the conveyor 6 is the difference between the current conveyor position Lc ₁ read in step S11 and the reference conveyor position Lc ₀ read in step S12. Further, the moving direction of the conveyor 6 with respect to the manipulator is represented by a unit vector (Xc, Yc, Zc) based on the robot coordinates. Therefore,
The coordinates of the tool tip control point after the parallel movement can be expressed by the following mathematical formula.

[0064]

## EQU4 ## ΔLc = Lc _l −Lc ₀

[0065]

## EQU00005 ## X = X-.DELTA.Lc.Xc

[0066]

[Equation 6] Y = Y-ΔLc · Yc

[0067]

## EQU00007 ## Z = Z-.DELTA.Lc.Zc where (X, Y, Z) is the tool tip control point expressed in robot coordinates.

Next, in step S14, step S4
The coordinate conversion matrix component representing the positional relationship between the workpiece 7 and the manipulator 3 input in step 3 is read from the storage unit 2b.

In the next step S15, step S14
The robot coordinate of the tool tip control point is converted into the work coordinate by using the conversion formula (Formula 1) in which the component read in step 1 is substituted.

Next, in step S16, step S1
The work coordinate value of the tool tip control point obtained in step 5 is the same as that determined in step S7
It is drawn so as to overlap with the work shape drawing on the display unit 2b.

Next, in step S17, the end of the regeneration operation is confirmed. Whether or not the reproduction operation has been completed is determined by receiving the operation state data from the robot control panel 1 at the communication unit 2c. If the regeneration operation has ended, all processing is terminated, and if the regeneration operation has continued, step S18.
After waiting for a certain period of time with, the processing from step S9 to step S16 is executed, and the drawing of the tool tip control point is repeated. FIG. 5 shows a screen of the display unit 2e in which the shape of the work 7 shown by a solid line and the locus (position) of the tool tip control point for each constant time period shown by a broken line are superimposed and displayed.

The present invention is not limited to the above embodiment, and the following modifications are possible, for example. That is, in the above embodiment, the processing from step S1 to step S18 is performed using the personal computer 2, but as shown in FIG. 6, the robot control panel itself is provided with the key input section 9f and the display section 9g. The robot controller 9 provided may be used. This robot controller 9
In addition, an arithmetic unit 9a that performs the processing of the arithmetic unit 2a of the embodiment shown in FIG. 1, a storage unit 9b that performs the processing of the storage unit 2b, a key input unit 9f that performs the processing of the key input unit 2d, and a display unit 2e. By providing the display unit 9g for performing the processing of
The same drawing as in the above embodiment can be obtained for g. It goes without saying that the communication unit 9c does not need to perform data transfer with the communication unit 2c of FIG.

In the above embodiment, the drawing of the work and tool tip control points on the display unit 2e is limited to the L-H plane, but other combinations of two-dimensional planes are also possible. It may be a three-dimensional plane that is a combination of three plan views. It is also possible to draw in a three-dimensional perspective view.

Further, in the above embodiment, the representation of the tool on the screen is represented by the calculated tool tip control point. However, not only the tip control point but also the tip control point is used as a reference. , It is also possible to calculate the position and direction of the overall shape of the tool and display it on the screen.

In the above embodiment, the moving amount of the conveyor 6 is calculated based on the signal output from the conveyor pulse generator 5 attached to the conveyor drive unit.
If it can be considered that there is no fluctuation in the moving speed of the conveyor, the moving speed of the conveyor 6 is numerically set in the trajectory display device without using the conveyor pulse signal, and the moving amount of the conveyor 6 is calculated based on this value. A display similar to the example can be performed.

[0076]

As described above, according to the first locus display device of the present invention, the actual position of the industrial robot tool at the time of reproduction and the shape of the work are superposed and displayed on the same screen. Even when the work is retracted from the work position and the replay operation is performed, the relative positional relationship between the tool tip control point and the work can be easily and accurately confirmed on the screen, so the work is placed at the work position and the replay operation is performed. When carrying out, it is possible to prevent the collision between the work and the tool.

Further, according to the second trajectory display device of the present invention, the relative positional relationship between the tool tip control point and the work can be easily and accurately confirmed on the screen even when the conveyor synchronous reproduction is performed. It is possible to prevent the collision between the work and the tool.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration example of a production line to which a trajectory display device according to an embodiment of the present invention is applied.

FIG. 2 is a flowchart of a processing procedure showing the operation of the present embodiment.

FIG. 3 is likewise a flowchart of the processing procedure showing the operation of the present embodiment following FIG.

FIG. 4 is a screen of a display unit of the apparatus of this embodiment for inputting a work shape and displaying the work shape.

FIG. 5 is a screen of a display unit of the apparatus of this embodiment for displaying a work shape and a tool tip point.

FIG. 6 is a block diagram showing a configuration of a robot control panel in a modified example of the present invention.

[Explanation of symbols]

 1; control panel 1a; calculation unit 1b; storage unit 1c; communication unit 1d; control unit 1e; input / output unit 2; personal computer 2a; calculation unit 2b; storage unit 2c; communication unit 2d; key input unit 2e; display unit 3; Manipulator 4; Conveyor reset signal output device 5; Conveyor pulse signal output device 6; Conveyor 7; Work 9; Control device

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor ▲ Takagi Noboru, Nakahara, Toyohashi-shi, Aichi Prefecture, No. 1, Nakahara 2 2 Stock Company Kobe Steel Works Toyohashi FA / Robot Center (72) Inventor Masahiko Yomota Toyohashi, Aichi Prefecture 1-chome, Nakahara, Sanya-cho, Ichi, Ltd. In the Toyohashi FA / Robot Center, Kobe Steel, Ltd. (72) Inventor, Kyosei Ishiguro Aichi Prefecture, Toyota-cho, Toyota city, Toyota City, Aichi Prefecture (72) Inventor, Shogo Oishi Aichi Prefecture 1 Toyota-cho, Toyota City Toyota Motor Corporation

Claims (2)

[Claims] 1. A work tool provided at the tip of an industrial robot having a plurality of axes is regenerated to display a work target work to be worked, and the work tool is regenerated with respect to the work target work. In a locus display device of an industrial robot that displays a work tool locus, a work target work drawing unit that draws a work target work on which the industrial robot works, the work target work and the work target work The input means for inputting the position of the industrial robot, and the position of the work tool in the robot coordinate system obtained by the operation of each axis for replaying at the position of the industrial robot are set in the coordinate system of the work target work drawing means. The conversion means for conversion and the position of the work tool converted by the conversion means are drawn by the work target work drawing means and input to the input means. And a display means for displaying the work target work displayed at the position of the work target work superimposed on the work target work. 2. A moving position detecting means for detecting a moving position of a work object work transfer device which works while synchronously moving an industrial robot in a transfer direction of a work object to be transferred, and a moving position detecting means thereof. Correction means for correcting the position of the work tool at the position of the work target workpiece detected by the correction means in the direction opposite to the conveying direction of the work target work, and the display means corrects the work by the correction means. The trajectory display device for an industrial robot according to claim 1, wherein the position of the tool is displayed by being superimposed on a stationary work target work.