JPH08202427A - Automatic teaching program generating device - Google Patents

Abstract

PURPOSE: To automatically generate a teaching program for robot through an easy operation. CONSTITUTION: According to a vehicle kind number which is inputted from a vehicle kind number input part 32, a program generation part 30 takes an operation element which needs to be done by vehicle kinds and its object work out of a vehicle-kind classified operation registration file 24, selects a manipulator which can operate the taken-out operation element out of an operation element manipulator table 18, and take a program required for the selected manipulator required to operate the operation element out of a manipulator individual program module 14. Those processes are performed for all operation elements taken out of the vehicle-kind classified operation registration file 24 to automatically generate teaching data.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a teaching program automatic generating apparatus capable of automatically generating a teaching program for a robot by a simple operation.

[0002]

2. Description of the Related Art Conventionally, when teaching a robot, an operator often operates a teaching pendant for a robot installed on the site. The teaching using the teaching pendant can be efficiently performed for robots that perform relatively simple tasks, but it takes much time to teach robots that perform complicated tasks, and teaching is efficient. Was very difficult to do.

In order to remedy such a drawback as much as possible, teaching without using a teaching pendant, that is, a method in which a worker holds a robot arm and moves it to automatically create teaching data, C
A method for automatically creating teaching data of a robot by effectively utilizing AD data has been realized, and the efficiency of teaching is improved.

[0004]

However, even in the conventional teaching method in which the teaching data is automatically created in this way, a large number of robots arranged on the production line operate differently. In this case, since it is necessary to teach all robots, there is a limit even if the efficiency of teaching is improved.

Therefore, nowadays when many robots that perform many different tasks are usually arranged in one line, there is a demand for a method and apparatus capable of more efficient teaching. It had been.

The present invention has been made in order to meet such a demand, and an object of the present invention is to provide a teaching program automatic generation apparatus capable of automatically generating a teaching program by a very simple operation.

[0007]

The present invention for achieving the above object is constructed as follows in each claim.

According to the first aspect of the invention, a target work specifying means for specifying a work to be worked, a work-specific work registration file for storing necessary work contents for each kind of the work, and the work A work content equipment table that stores the types of equipment that can perform the content, an equipment individual program module that stores a program for implementing the work content as a module for each equipment, and a work specified by the target work specifying means. On the basis of the work-specific work registration file, the work content required for the work is read, the equipment capable of executing the read work content is selected from the work content equipment table, and the equipment individual program module is selected. A program for executing the loaded work content for each equipment selected from It is characterized in that it has a program creation means for automatically generating a teaching program for each equipment removed modules.

According to a second aspect of the present invention, based on a work content work table that stores the work content to be performed on the work to be worked, and the work content stored in the work content work table. A common program module for each work content that generates and stores a common program module for each work content, a work content equipment table that stores the types of equipment that can perform the work content, and a common program module for each work content The equipment that can carry out the work content is assigned to each work content based on the information stored in the work content equipment table, and a program for executing each work content is created for each equipment. Equipment individual program module that is stored as a module for each equipment, and the type of work The work-specific work registration file that stores the work content required for each work, the target work specifying means that specifies the work to be worked, and the work-specific work registration file based on the work specified by the target work specifying means From the work content equipment table, select the equipment that can execute the read work content from the work content equipment table, and read in each equipment selected from the equipment individual program module. However, the present invention is characterized by having a program creating means for taking out a program module for carrying out the work contents and automatically creating a teaching program for each equipment.

[0010]

The present invention thus constructed operates as follows for each claim.

According to the first aspect of the invention, when the target work specifying means specifies the work to be worked, the program creating means uses the work-specific work registration file to specify the work content required for the work. And select the equipment capable of executing the read work content from the work content equipment table, and a program module for executing the read work content for each equipment selected from the equipment individual program module. Take out and automatically generate teaching program for each equipment.

Therefore, by pre-storing the work content required for each work type in the work-specific work registration file and the type of equipment capable of performing the work content in the work content equipment table, the target work can be stored. The teaching data for all the equipment necessary for the work on the work is automatically created only by the operation of specifying the.

According to the second aspect of the invention, the facility individual program module generates and stores a common program module for each work content based on the work content stored in the work content work table. The equipment individual program module allocates equipment capable of executing the work content stored in the work content common program module to each work content based on the information stored in the work content equipment table, A program for executing each work content is created and stored as a module for each facility.

When the work to be worked is specified by the target work specifying means, the program creating means reads the work content required for the work from the work registration file for each work and reads it from the work content equipment table. A facility capable of performing the work content is selected, and a program module for performing the loaded work content is taken out for each facility selected from the facility individual program module to automatically generate a teaching program for each facility.

Therefore, by storing the work content in the work content work table, a common program module for each work content and an equipment-specific program module can be generated. In addition, the work type can be stored in the work registration file for each work. The work content required for each work is stored in advance in the work content equipment table, and the type of equipment that can perform the work content is stored in advance. Teaching data for all such equipment will be automatically created.

[0016]

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic configuration diagram of a teaching program automatic generation device according to the present invention.

The CAD teaching unit 10 includes a work element-specific common program module 12 as a work content-specific common program module and a manipulator individual program module 1 as an equipment individual program module.
4, a work element work table 16 as a work content work table, and a work element manipulator table 18 as a work content equipment table are connected. These modules or tables are stored in a storage device including a RAM and the like. Although the details of these modules and the like will be described later, the following data is roughly stored.

Common program module 12 for each work element
Includes a work element of a robot such as gripping a work with one hand, a target work such as a fuel tank, and a program module in which coordinates for performing a predetermined work on the target work are written. The relationship is described.

The manipulator individual program module 14 stores, for each manipulator, the same one as described in the work element-specific common program module 12 described above.

The work element work table 16 stores therein the relationship between work elements and works, for example, the work for gripping a work with one hand includes a fuel tank, a fuel cap, glass, a rear seat, and the like. There is.

The work element manipulator table 18 is provided with a vertical articulated robot, a multi-joint robot with a traveling axis, a tie or an attachment for the relationship between the work elements and equipment (robot, etc.), for example, the work of grasping with one hand. It is stored that it is possible to work with a mobile robot.

The CAD teaching unit 10 creates a common program module 12 for each work element and a manipulator individual program module 14 based on the data stored in the work element work table 16.

For example, the common program module for each work element 12 stores the coordinates before the approach, the coordinates of the approach, the gripping instruction, etc. when the fuel tank is operated with one hand, and the manipulator individual program module stores the above-mentioned items. Coordinates and commands for performing the same work are stored for each type of manipulator.

The work element registration unit 20 includes an input terminal 22,
A work element work table 16, a work element manipulator table 18, and a vehicle-specific work registration file 24 as a work-specific work registration file are connected.

In the vehicle type work registration file 24, the relationship between the work element performed for each vehicle type and the target work, for example, for the vehicle type number 10, the fuel tank # 2 is held with one hand, and the fuel A series of operations such as gripping the cap # 2 with one hand, inserting the fuel cap # 2 by thrusting, and tightening the fuel cap # 2 are stored.

The work element registration unit 20 creates data to be stored in the work element work table 16, the work element manipulator table 18, and the vehicle type work registration file 24 according to the input data from the input terminal 22. That is, the work element work table 16, the work element manipulator table 18, and the vehicle-specific work registration file 2
The tables and files stored in No. 4 are all input from the input terminal 22.

The program creating unit 30 as a program creating unit includes a vehicle type NO input unit 32 as a target work specifying unit and a manipulator individual program module 1.
4, the work element manipulator table 18, the vehicle type work registration file 24, and the manipulator control unit 34 are connected. From the vehicle type NO input section 32, a vehicle type number for extracting data relating to a predetermined vehicle type from the vehicle type work file 24 is input.

In the program creating section 30, the work element of the corresponding vehicle type is input based on the vehicle type number input from the vehicle type NO input section 32, and a manipulator capable of performing the work of this work element is a work element manipulator. A module relating to a robot capable of performing the work of this work element is input from the manipulator individual program module 14 selected from the table to create a teaching program for each robot.

The manipulator control unit 34 controls the operation of each robot based on the teaching program created by the program creating unit 30.

The function and role of each block of the teaching program automatic generation device of the present invention are as described above.
The processing steps of automatic generation of the teaching program by this apparatus will be described in detail with reference to the flowcharts of FIGS. 2 and 3 and FIGS. 4 to 8.

First, the processing performed by the CAD teaching unit 10 will be described.

The S1 CAD teaching unit 10 retrieves data from the work element work table 16 in which the relationship between work elements and works as shown in FIG. 4 is stored, as an example,
CAD data is created based on this data. As shown in the figure, the work element work table 16 includes a fuel tank, a fuel cap, a glass, a rear seat, a battery, a spare tire, a front seat, and a tire as a work to be gripped by one hand as a work element. The target work to be performed is a fuel tank, a washer fluid, a fuel cap, cooling water, a rear seat, a spare tire, and a front seat, and the target work to be torque tightened is a tire or a spare tire. . Such a target work for each work element is taken out from the CAD teaching unit 10 and
AD data is generated.

S2 Since the CAD data generated in this way is common to all vehicle types and all manipulators, it is stored in the work element common program module 12 as a common program. . That is, for example, as shown in FIG. 5, a program program module including the pre-approaching coordinates for gripping the fuel tank with one hand, the approach coordinates, the gripping command, etc., holds the fuel cap with one hand. The program is stored as a program for each work element for each target work.

S3, S4 Next, the CAD teaching unit 10 teaches data for each manipulator based on the work element manipulator table 18 in which the relationship between the work element and the equipment (such as a robot) shown in FIG. 6 is stored. Is generated and the generated teaching data is stored in the manipulator individual program module 14 as a manipulator individual program as shown in FIG. That is, a program for a work element common to each facility is stored as a program module for each work element.

Next, the processing performed by the program creating section 30 will be described.

S11 First, the program creating section 30 determines the relationship between the work element and the target work to be performed for each vehicle type in a form as shown in FIG. 8 according to the vehicle type number input from the vehicle type NO input section 32. Stored work registration file for each vehicle type 24
The work element corresponding to the vehicle model number is extracted from.

For example, although the work registration file is stored in the form as shown in FIG. 8, if the inputted vehicle type number is 11, the fuel tank # 1 is held by one hand and the fuel is stored. A work element such as thrusting and inserting the tank # 1 is taken out.

The S12 program creating unit 30 executes the work of the work element extracted in the above step from the work element manipulator table 18 in which the relationship between the work element and the equipment (robot etc.) is stored in the form as shown in FIG. Select a manipulator that can be performed.

For example, in the above steps, the work element of grasping the fuel tank # 1 with one hand and inserting the fuel tank # 1 by thrusting is taken out. Therefore, as apparent from FIG. , For one-handed grip, vertical articulated robot, traveling axis articulated robot,
Since robots such as a tire mounting robot and a glass stock uniaxial robot can be used, these robots, that is, manipulators are selected. Similarly, for plunge insertion, only vertical articulated robots can be performed,
Ultimately, a vertical articulated robot will be selected for the above work elements.

S13 Next, the program creating unit 30 selects the manipulator selected in the above step from the manipulator individual program module 14 in which the work element-specific program module for each manipulator is stored in the form as shown in FIG. Select a program module.

In the above example, the program module for the vertical articulated robot to hold the fuel tank # 1 with one hand and insert the fuel tank # 1 by thrusting is selected.

The processing from S14 to S11 to S13 is repeated until all the works stored in the work registration file for the car type for the inputted car type number are completed. S15, S16 When all the processes up to the above steps are completed, a series of programs should have been generated for each manipulator. Therefore, the robot program creating section 30 sends this program to the manipulator control section 34 to complete the preparation. Notify you that you have done it.

As described above, in the teaching program automatic generation apparatus according to the present invention, the work element work table 1 is previously prepared.
6, if necessary data is input to the work element manipulator table 18 and the vehicle type work registration file 24, the manipulator can be taught the necessary work to be performed for the vehicle type only by inputting the vehicle type number. Since it is automatically performed, the teaching work can be performed in a very short time.

[0044]

As described above, according to the present invention, the following effects can be obtained for each claim.

According to the first aspect of the invention, the work content required for each work type is stored in the work-specific work registration file, and the type of equipment capable of performing the work content is stored in the work content equipment table in advance. By doing so, the teaching data for all the equipment necessary for the work on the work is automatically created only by the operation of specifying the target work, so that the efficiency of the work required for teaching is significantly improved. Will be able to.

According to the second aspect of the invention, by storing the work content in the work content work table, the common program module for each work content and the equipment-specific program module can be generated. ,
An operation to specify the target work by pre-storing the work content required for each work type in the work-specific work registration file and the equipment types capable of performing the work content in the work content equipment table. Only by doing so, it is possible to automatically generate teaching data for all the equipment necessary for the work on the work, and the work required for the teaching can be performed by a very simple operation.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a teaching program automatic generation device according to the present invention.

FIG. 2 is a flowchart of processing performed by a CAD teaching unit.

FIG. 3 is a flowchart of a process performed by a program creating unit.

FIG. 4 is a diagram showing an example of a work element work table.

FIG. 5 is a diagram showing an example of a common program module for each work element.

FIG. 6 is a diagram showing an example of a work element manipulator table.

FIG. 7 is a diagram showing an example of a manipulator individual program module.

FIG. 8 is a diagram showing an example of a vehicle type work registration file.

[Explanation of symbols]

 10 ... CAD teaching section, 12 ... Common program module for each work element, 14 ... Manipulator individual program module, 16 ... Work element work table, 18 ... Work element manipulator table, 20 ... Work element registration section, 22 ... Input terminal, 24 ... Vehicle type work registration file, 30 ... Program creation section, 32 ... Vehicle type NO input section, 34 ... Manipulator control section.

Continuation of front page (51) Int.Cl. ⁶ Identification number Office reference number FI technical display location G06F 9/06 530 W 17/60

Claims (2)

[Claims] 1. A target work specifying means (32) for specifying a work as a work target, a work-specific work registration file (24) for storing necessary work contents for each type of the work, and the work contents. Work content equipment table (18) that stores the types of equipment that can be performed, equipment individual program module (14) that stores a program for performing the work content as a module for each equipment, and the target work identification means (32) Based on the work specified by, the work-specific work registration file (2
4) Read the required work content for the work, select the equipment that can carry out the read work content from the work content equipment table (18),
And a program creating means (30) for automatically generating a teaching program for each equipment by taking out a program module for executing the read work content for each equipment selected from the equipment individual program module (14). Characteristic teaching program automatic generation device. 2. A work content work table (16) for storing work content to be performed on a work to be worked, and for each work content based on the work content stored in the work content work table (16). Work content common program module (10, 12) that generates and stores a common program module, a work content equipment table (18) that stores the type of equipment that can perform the work content, and the work content common program A facility capable of performing the work content stored in the module (12),
Individual work equipment that is assigned to each work content based on the information stored in the work content equipment table (18), creates a program for executing each work content for each equipment, and stores it as a module for each equipment A program module (10, 14), a work-specific work registration file (24) for storing work contents required for each work type, a target work specifying means (32) for specifying a work target, On the basis of the work specified by the target work specifying means (32), the work-specific work registration file (2
4) Read the required work content for the work, select the equipment that can carry out the read work content from the work content equipment table (18),
And a program creating means (30) for automatically generating a teaching program for each equipment by taking out a program module for executing the read work content for each equipment selected from the equipment individual program module (14). Characteristic teaching program automatic generation device.