JPH08202429A - 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 takes out a program required for the selected manipulator 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, a series of generated programs are simulated, and manipulators are allocated to the respective operation elements so that the total cycle time of the operations becomes minimum, thereby automatically generating 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 configured as follows.

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 The equipment temporary setting means for taking out the module and temporarily setting each equipment to create a series of programs, and the program created by the equipment temporary setting means are virtually operated, and the time required for executing the series of programs and the like The simulation means for verifying the state of interference with the equipment, and the equipment selection means for selecting the equipment for executing each work content so that the program execution time by the simulation means is within a predetermined time. It is characterized by.

[0009]

The present invention thus constructed operates as follows.

In the invention described in claim 1, when the target work specifying means specifies the work to be operated, the temporary equipment setting means requires the work from the work-specific work registration file for the work. Read the contents, select the equipment that can carry out the read work content from the work content equipment table, for each equipment selected from the equipment individual program module,
A program module for executing the read work content is taken out and provisionally set for each equipment to create a series of programs. The simulation means virtually operates the program created by the equipment temporary setting means, and verifies the time required to execute the series of programs and the interference state with other equipment. Then, the equipment selecting means selects the equipment that executes each work content so that the execution time of the program by the simulating means is within a predetermined time.

Therefore, 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 advance in the work content equipment table, and the target work is specified. The teaching data of the shortest cycle time for all the equipment necessary for the work on the work is automatically created only by the operation of performing.

[0012]

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 section 10 includes a common program module 12 for each work element, a manipulator individual program module 14 as an equipment individual program module, a work element work table 16, and a work element manipulator table 1 as a work content equipment table.
8 are connected. These modules or tables are stored in a storage device including a RAM and the like. Details of these modules will be described later,
The following data is 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.

In the manipulator individual program module 14, the same ones described in the work element-specific common program module 12 are stored for each manipulator.

The work element work table 16 stores therein the relationship between work elements and works, for example, the work for gripping the 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 has a vertical articulated robot, a multi-joint type robot with a traveling axis, a tie or a mount for the relationship between the work elements and equipment (robot, etc.). 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 coordinate before the approach, the coordinate 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 elements 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 is 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.

A vehicle type NO input section 32 as a target work specifying means, a manipulator individual program module 14, a work element manipulator table 18, a vehicle type work registration file 24, and a manipulator control section 34 are connected to the program creating section 30. . Vehicle type NO input section 3
From 2, a vehicle type number for extracting data on a predetermined vehicle type from the vehicle type work file 24 is input.

In the program creation section 30, a work element of a 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. Select from the table 18 and input a module relating to a robot capable of performing the work of this work element from the manipulator individual program module 14 to create a teaching program for each robot so that the work for the corresponding vehicle type can be performed in the shortest time. To do.

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

FIG. 2 shows the program creating section 3 shown in FIG.
2 is a more detailed block diagram of 0. FIG.

A work element-specific program module 42 is connected to the simulator processing section 40 as a simulating means. The work element-specific program module 42 stores a work element-specific program module for each manipulator. ing.

For example, taking a work element of gripping with one hand as an example, this work element can be worked by a vertical multi-joint type robot, a multi-joint type robot with a traveling axis, a tie or a mounting robot. A program module for performing this work element with a vertical articulated robot, a program module for performing this work element with a traveling-axis articulated robot, ...

The simulator processing unit 40 takes out the program module stored in the work element-specific program module 42, simulates the operation of each manipulator for each work element, calculates the cycle time of each manipulator, and checks the interference. And so on.

A work registration table 46 is connected to the manipulator assignment determining section 44 which functions as a temporary equipment setting means and a facility selecting means. The work registration table 46 shows the relation between the work elements and the target work. Information with time-series classification is stored.

The manipulator allocation judging section 44 arranges the work elements in accordance with the time-series classification of the information stored in the work registration table 46 and sends them to the simulator processing section 40. The robots are simulated in the order in which the elements are arranged, and the cycle time until the series of work elements are all executed is sent back to the manipulator assignment determination unit 44. The manipulator allocation determination unit 44 changes the type of manipulator to be allocated to each work element according to the cycle time sent from the simulator processing unit 40, and the simulator processing unit 40 performs a simulation again according to this change to cycle. Calculate the time.

Program generator 48 for each manipulator
Then, which manipulator, which is finally created by the simulator processing unit 40 and the manipulator allocation determination unit 44, should perform which work, the execution time of a series of work elements, that is, the cycle time is the shortest and no interference occurs. Based on the verification result, a series of programs for each manipulator is generated and stored in each manipulator-specific program file 50.

Further, each manipulator-specific program generation section 48 takes out the program file stored in each manipulator-specific program file 50 for each manipulator, and this is taken out by the manipulator control section 34.
Send to

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. 3 to 5 and FIGS. 6 to 12.

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. 6 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 manner 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. 7, a program program module including coordinates before approach for gripping a fuel tank with one hand, approach coordinates, a gripping command, etc. is used to grip 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. 8 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 performed for each vehicle type in the form as shown in FIG. 10 according to the vehicle type number input from the vehicle type NO input section 32. Stored work registration file for each vehicle type 2
The work element corresponding to the vehicle type number is taken out from 4.

For example, although the work registration file is stored in the form as shown in FIG. 10, 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 creation 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 processes from S14 to S11 to S13 are repeated until all the works stored in the work-specific work registration file 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 are generated for each manipulator. Therefore, the robot program creation unit 30 sends this program to the manipulator control unit 34 to confirm that the preparation is completed. Notice.

The subroutine flowchart of the processing performed in step S15 is as shown in FIG.
Next, the operation of the manipulator allocation determining unit provided in the program creating unit 30 will be described based on this flowchart.

As shown in FIG. 12, the S21 manipulator assignment determination unit 44 looks up the work registration table 46 in which the relationships between work elements and works are stored in a time-series classified form, A manipulator is provisionally set for each time-series classification of each work element.

For example, among the components of the instrument panel as shown in FIG. 11, for the work element of holding the front differential duct with both hands, either a vertical articulated robot or a traveling axis articulated robot is used. If it is also possible to perform work, the manipulator assignment determination unit 44 sets such that both robots perform work on this work element.

The temporary setting as described above is performed by the work registration table 4
6 for all work elements stored in 6.
That is, the side differential grill # 1 shown in FIG. 12 is gripped with one hand, the front differential duct is placed, the side differential grill # 1 is inserted, the side differential grill # 1 is inspected, the front differential duct is inserted, and the side differential grill # 1 is inserted. All the work of holding the differential grill # 2 with one hand, and so on is performed. The respective work elements are chronologically classified, but this is so that the manipulators are assigned according to the order in which the work elements are arranged.

In the S22 simulator processing unit 40, the manipulator tentatively set by the manipulator assignment determining unit 44 has a cycle time required to execute all the work elements given to the manipulator and interference with other manipulators due to the execution. Perform a simulation to check the status.

The S23, S24 simulator processing unit 40 calculates the total cycle time required for this simulation, and determines whether this cycle time is within a specified value. This prescribed value is preset with the shortest time allowed for working all work elements. In this determination, if the total cycle time is within the regulation, the simulator processing unit 4
At 0, the processing is completed, and a series of programs is generated for each manipulator assigned by the manipulator assigning section 44 in each manipulator assigned program generation section 48, and this program is stored in each manipulator assigned program file 50.

If it is determined that the total cycle time is not within the regulation in steps S25 and S24, the manipulator allocation determination unit 4
For the manipulator temporarily set for each time series classification of each work element, 4 checks the tact for each time series classification.

S26, S27 In the check of this tact, when there is a manipulator in a waiting state, the cycle time is lengthened by the waiting time. Therefore, the manipulator allocation determination unit 44 Replaces the manipulator so that this waiting manipulator is gone. In other words, the manipulator that executes the work of the work element is replaced for each time-series classification with another manipulator that is currently set. After this replacement, the simulation is performed again, and the processing from S22 to S27 is performed until the total cycle time falls within the specified value.

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-specific work registration file 24, only by inputting the vehicle type number, teaching of the necessary work to be performed for that vehicle type can be performed. The manipulator is automatically performed so that the cycle time is minimized, and the teaching work can be performed in a very short time.

[0056]

As described above, the present invention has the following effects.

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 advance in the work content equipment table to specify the target work. Since the teaching data of the shortest cycle time for all the equipment necessary for the work on the work is automatically created only by the operation, the efficiency of the work required for the teaching can be remarkably improved.

[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 more detailed block diagram of a program creating unit 30 shown in FIG.

FIG. 3 is a flowchart of a process performed by a CAD teaching unit.

FIG. 4 is a flowchart of a process performed by a program creating unit.

FIG. 5 is a flowchart of processing performed by a manipulator allocation determination unit.

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

FIG. 7 is a diagram showing an example of a common program module for each work element.

FIG. 8 is a diagram showing an example of a work element manipulator table.

FIG. 9 is a diagram showing an example of a manipulator individual program module.

FIG. 10 is a diagram showing an example of a vehicle type work registration file.

FIG. 11 is a view showing parts of an instrument panel.

FIG. 12 is a diagram showing an example of a work registration table.

[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-specific work registration file, 30 ... Program creation section, 32 ... Vehicle type NO input section, 34 ... Manipulator control section, 40 ... Simulator processing section, 42 ... Work element-specific program module, 44 ... Manipulator allocation determination section, 46 ... Work registration Table, 48 ... Program generator for each manipulator, 50 ... Program file for each manipulator.

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Claims (1)

[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),
For each equipment selected from the equipment individual program module (14), the equipment provisional setting means (44) for taking out the program module for executing the read work content and provisionally setting for each equipment to create a series of programs And a simulation means (40) for virtually operating the program created by the equipment provisional setting means (44) to verify the time required to execute the series of programs and the state of interference with other equipment. An automatic teaching program generation device, comprising: equipment selecting means (44) for selecting equipment for executing each work content so that the execution time of the program by the simulating means is within a predetermined time.