JPH08286722A - Off-line teaching method using cad data and its system - Google Patents

Abstract

PURPOSE: To provide an off-line teaching method using the CAD data which can extremely simplify the input jobs of an operator and also to provide a system which can accurately carry out the off-line teaching method. CONSTITUTION: When an operator inputs the teaching data through a teaching data input means 2, an initialization generation means 3 generates the job environment data based on the input teaching data. Then a job path generation means 5 roughly generates true job path data on a control object equipment, and a job operation generation means 12 generates the job operation data on the control object equipment. A control program generation means 14 generates a control program, and a control program output device 16 outputs the control program and drives the control object equipment. Therefore, it is not required for the operator to successively input the initialization data, the job path data and the job operation data respectively.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a CAD data-based offline teaching method and system for teaching control target equipment off-line using three-dimensional CAD data, and more particularly to industrial use for welding as a control target equipment. The present invention relates to a device suitable for use in a robot.

[0002]

2. Description of the Related Art In general, most teaching methods for industrial robots have been direct teaching by actually moving the robot. However, as the number of robots introduced increases, the teaching time increases, the difficulty of collaborative operation with multiple control devices, the demand for connecting with a CAD system for FMS, and further safety issues. Because various factors occur,
Off-line teaching methods that use CAD drawing information are drawing attention and are becoming mainstream.

As a conventional technique of the robot offline teaching method using such CAD data, the operation of the arc welding robot created by the work data input means is performed on the CAD screen with respect to the work input by the drawing information input means. Device for simulation
-269205), or target point data (data of position, posture, work condition, etc.) is added to the work model, and the robot model is moved to the target point by simulation to create an operation program. (Japanese Patent Laid-Open No. 3-19004).

Now, industrial robots including currently commercially available robots and conventional robots have various tools attached to the hands of the robot.
The purpose is to move to the work point and work. Therefore, the robot position data is composed of the hand position / hand posture of the robot. If the position / orientation of the work center of the robot tool is converted into the base coordinate system that is the reference of the robot, each joint angle can be obtained and controlled from the inverse kinematics according to the robot mechanism.

Taking the case of actually teaching the arc welding robot as an example, approach information at least from the current position of the torch to the welding start point, the welding start point and the welding end point with respect to the welding line of the work object. It is necessary to sequentially input welding work information, including, and retreat information from the welding end point. However, in such information, in addition to the position data of the target moving point, there are various parameters such as the approach speed of the robot, acceleration, interpolation format, positioning monitoring width, torch posture, and welding conditions. When performing the teaching of the welding robot, it is necessary to sequentially input from the various parameters for each welding line of the work object.

[0006]

As in the prior art described above, when CAD data is used to perform control target equipment such as industrial robots and control equipment, the locus data for performing work is stored. It is necessary to sequentially input necessary data such as setting work conditions for each creation and work target element,
Moreover, as described above, since it is necessary to input from each parameter for each welding line of the work object, the amount of input by the operator becomes enormous, which causes not only the problem of inefficiency but also an input error and an erroneous operation. There is a problem of inviting.

Further, since there is no effective use means of data when performing the same teaching as the work contents once set,
There is a problem that all the teaching has to be performed again, and that much labor is required. Moreover, if the work target element types of the work target are different, such as a straight line, a circular arc, and a free curve, there is a problem that teaching is required for each type.

Therefore, apart from the prior art, there is a macro function that combines a plurality of existing instruction commands required for teaching into one and uses this as a new command, but this method does not require command selection work. Although it can be omitted, there is a problem that the originally input data cannot be omitted. Alternatively, there are some that set default data for a specific series of work provided by the teaching system and use it as command commands, but since the work configuration itself can be set arbitrarily and the default cannot be set arbitrarily, There is a problem that cannot be applied to other types of work objects or robots.

Further, there is a problem that the designer of the target product does not consider the method for transmitting the information such as the work procedure and the work place intended at the design stage to the teaching operator in the manufacturing process. That is, even if the designer informs the operator of work procedures, work locations, etc., if the contents are to be reflected at the time of teaching, the operator must successively input the information. Therefore, there is a problem that it takes time and labor similar to the case where the teaching data is input from the beginning.

In view of the above problems of the prior art, a first object of the present invention is to provide a CAD data utilizing off-line teaching method which can greatly simplify the input work by the operator, and another object. Is to provide a CAD data utilizing offline teaching system capable of accurately implementing the above method.

A second object of the present invention is that, when the work object and the controlled device are similar, the data once input can be reused by a simple input operation, and thus the data once input can be reused. An object of the present invention is to provide a CAD data utilizing offline teaching method and its system that can effectively utilize the above.

[0012]

In the present invention, three-dimensional CA is used.
Using three-dimensional CAD data consisting of various work objects and controlled devices stored in advance in D, a work program for the controlled devices is generated by offline teaching, and the controlled devices are generated according to the generated work program. In the CAD data-based off-line teaching method for operating the above, A) a specific work object and a controlled device are selected, and it is necessary for the work of the specific controlled device with respect to the specific work object. When the data is selected, the work environment data of the controlled device and the work object is generated as an initial setting. B) The work procedure of the controlled device, the work location of the work object, and the work condition are When input, roughly generate work route data of the controlled device for the work target, and C) generate the work route data by the work route generation means. Generating work operation data of the controlled device according to the specific work object based on the rough work path data of the controlled device and the necessary data extracted from the three-dimensional CAD data, D ) A control program for the controlled device is generated according to the generated work operation data, and E) The controlled device is driven according to the generated control program.

In the present invention, an apparatus for generating a work program for a controlled device by off-line teaching using three-dimensional CAD data consisting of various work objects and controlled devices stored in advance in a three-dimensional CAD. An initial setting data generating means for generating working environment data of the controlled device and the work object as initial settings when data necessary for the work of the specific controlled device with respect to the specific work object is selected. And a work route generation means for roughly generating work route data of the controlled object device with respect to the work object when a work procedure of the controlled object device, a work location of the work object, and work conditions are input, A three-dimensional CAD data reference means for extracting necessary data from the original CAD data and an outline of the controlled device generated by the work path generation means Based on the business route data and the necessary data from the three-dimensional CAD data quoting means, a work movement generating means for generating work movement data of the controlled device according to the specific work target, and the work movement generating means. A control program generation unit that generates a control program for the controlled device according to the generated work operation data, and a drive control unit that drives the controlled device according to the control program generated by the control program generation unit. It is characterized by having.

[0014]

According to the present invention, as described above, A) a specific work object and a controlled device are selected, and data necessary for the work of the specific controlled device on the specific work object is selected. When the work environment data of the controlled object device and the work object is generated as an initial setting at the time of the operation, and B) the work procedure of the controlled object device, the work location of the work object, and the work condition are input. The work route data of the controlled device for the work object is roughly generated, and C) the work route data of the controlled device generated by the work route generating means and the three-dimensional CAD data are extracted. Based on the required data, work operation data of the controlled device corresponding to the specific work object is generated, and D) a control program of the controlled device is generated according to the generated work operation data, E ) Since the controlled device is driven according to the generated control program, it is not necessary for the operator to input the initial setting data, work route data, work operation data, and control program data one by one, as compared with the conventional technique. You can significantly reduce the amount of input, you can prevent a large amount of input,
Therefore, it is possible to reliably prevent input errors and erroneous operations.

Moreover, since the data stored in the three-dimensional CAD data storage means is used when the initial setting data is generated and the work operation data is generated, the three-dimensional CA is used.
Not only can D data be used effectively,
Since it is automatically used even when the operator does not call in at the time of use, the amount of input by the operator can be further reduced.

According to the present invention, as described above, when the data necessary for the work of the specific controlled device with respect to the specific work object is selected, the work environment data of the controlled device and the work object are obtained. When the initial setting data generating means for generating the initial setting, the work procedure of the controlled device, the work location of the work target, and the work condition are input, the work route data of the controlled device with respect to the work target is schematically illustrated. , A three-dimensional CAD data reference means for extracting necessary data from the three-dimensional CAD data, a rough work route data of the controlled device generated by the work route generating means, and the three-dimensional CAD data. Work motion generation means for generating work motion data of the controlled device according to the specific work target based on the necessary data from the quoting means, and the work motion Control program generating means for generating a control program for the controlled device according to the work operation data generated by the control means, and drive control for driving the controlled device according to the control program generated by the control program generating means. Since it is configured by including means, the above method can be properly performed.

[0017]

Embodiments of the present invention will be described below with reference to FIGS. 1 to 13 show an embodiment of a CAD data-based off-line teaching system for carrying out the method of the present invention.

The embodiment of the CAD data utilizing offline teaching system 200 for carrying out the method of the present invention can be all carried out on a computer such as a graphic workstation or a personal computer, and as shown in FIG. Original CAD data storage means 1, teaching data input means 2, initial setting generation means 3, work path generation means 5, work motion generation means 12, three-dimensional CAD data reference means 11, control program generation means 14 And a control program output device 16.

More specifically, the three-dimensional CAD data storage means 1 stores three-dimensional CAD data of a surface model or a solid model created by a three-dimensional modeler for a CAD system (not shown). This three-dimensional CAD data is the geometrical information of the three-dimensional solid of the controlled object device or work object consisting of the robot and its control device,
It is composed of phase information. Then, the teaching operator determines the position and orientation of the work target at the movement target point while looking at the display device displaying the three-dimensional model of the controlled target device or the work target stored in the three-dimensional CAD data storage means. It is structured so that it can be taught graphically. The display device is a general CR.
T etc.

The teaching data input means 2 comprises a mouse or keyboard attached to the CAD system, and when the command displayed on the display device is selected, the initial setting generation means 3, the work path generation means 5, The work route editing means 6 and the work attribute generating means 17 are respectively displayed with guidance, and any of the displayed guidances is selected.

The initial setting generation means 3 is required by an operator to select a specific controlled device consisting of a specific robot and its control device, and to work on the specific controlled device with respect to the specific work object. When such data is selected, the work environment data of the controlled device and the work object is generated as the initial setting data based on the selected data. For example, if the operator is a three-dimensional CAD
From each data stored in the data storage means 1,
When a specific type of work object, a specific type of welding robot and its control equipment are selected, respectively, and a relative positional relationship between the work object and the welding robot to be welded is selected, in the initial setting data generation area, , Torch data as an option suitable for the selected welding robot, and work environment data such as sticking length data of the welding rod when the torch is used are additionally generated. in this case,
The initial setting generation means 3 stores the work environment data in the initial setting storage means 4 when the work environment data is generated, and can call the work environment data stored in the initial setting storage means 4 according to an instruction from the operator.

As shown in FIG. 3, the work path generating means 5 has a welding robot approach point P001 and a welding start point P0 on the parts 101 and 102 as work objects.
02, the welding end point P003, the retreat point P004, and the work procedure are input, and the parts 101,
When the work condition of the welding robot in 2 is input, the welding robot roughly generates work route data to be welded based on the information. In this case, since the approach point P001 and the retreat point P004 may intermittently perform the operation path to be welded, a plurality of points can be designated. Work route generation means 5
When the work route data to be welded is generated, is stored in the work route storing means 9 via the work route editing means 6 and the work route registering / quoting means 8 described later.

In the work motion generating means 12, the welding robot as the controlled equipment is controlled by the parts 101 and 2 based on the work path data generated by the work path generating means 5.
The work motion data for actually performing the work is generated above. In this case, the work motion generating means 12
The three-dimensional CAD data reference means 11 is instructed to
The AD data reference means 11 calls the data necessary for the welding robot to actually perform the work from the data stored in the three-dimensional CAD data storage means 1, and the required data called and the work route data are called. Based on the work motion data, the work motion data is stored in the work motion storage means 13 at the time of generation. Therefore, the three-dimensional CAD data reference means 11 is configured to retrieve necessary data from the three-dimensional CAD data storage means 1 according to an instruction from the work motion generation means 12.

When the work operation data is generated by the work operation generation means 12, the control program generation means 14
Based on the work operation data and the work environment data generated by the initial setting generation means 3, a control program necessary for the work operation of the welding robot is generated. In this case, when the work motion generation means 12 generates the work motion data and stores it in the motion storage means 13, the control program generation means 14 stores the work motion data from the work motion storage means 13 as indicated by the arrow in FIG. And the work environment data from the initial setting storage means 4,
The control program data may be generated based on the called data. Therefore, in the control program generation means 14, when the work movement data is generated by the work movement generation means 12, the control program data corresponding to the work movement data is patterned in advance,
The generated control program is the control program storage means 1
Stored in 5.

The control program output device 16 drives the welding robot according to the control program data from the control program generation means 14 via a drive device (not shown). Also in this case, the control program storage means 15
You may make it call a control program data from.
The control program output device 16 outputs the control program data to a communication unit such as Ethernet or a driver such as a floppy disk, and the controlled device consisting of the robot and its control device is output by the communication unit or the driver. Works.

On the other hand, the work route editing means 6, when the work route generating means 5 roughly generates the operation route of the controlled device, as described above, makes the generated route data into a library. When the bus at the beginning and the bus at the end are specified by the operator and the route library name is set, the route data is stored in the route library storage means 9 via the route library registration / citation means 10. I am trying. The route library name is appropriately input by the operator. The need to create a library is when performing the same teaching as the route data that has been stored once, and when performing the teaching in which the form of the operation route of the controlled device with respect to the work environment and the work object is very similar. This is for omitting a part of the teaching operation by calling and using the route data. Therefore, for example, when the operator teaches with the data stored in the route library storage means 9, when the operator uses the work route editing means 6 to specify the route library name, the route library registration / quoting means 10 causes the route library registration / citation means 10 to use the route library. The corresponding route library is called from the storage means 9, and the work route generation means 5 roughly automatically generates the work route data on the route data generation area based on the called data. At this time, the work route editing means 6
When generating work route data based on the route library data, if unknown data exists, that is, if data such as work elements, work start points, work end points, etc. on the work target exist as unknown, the operator The teaching data input means 2 is requested to input.

Therefore, the work route editing means 6 requests the input of the unknown data when the unknown data exists when the work route data is roughly generated based on the library data called by the work route generating means 5. Is configured as follows. The work route data generated by the work route generation unit 5 is generated in the route data generation area by the work route registration / citation unit 8 when the operator specifies the registration on the work route editing unit 6 by the teaching data input unit 2. The work route data stored is stored in the work route storage means 7 for each work target. In this case, in the work route data, the route library name itself is stored as the route data with respect to the range of the operation route that is converted into the route library.

Further, the work route editing means 6 is configured to add a symbol for identifying each route library to the route data made into the route library and manage the data for each route library.

The off-line teaching system 200 using CAD data of the embodiment can be all performed on a computer such as a graphic workstation or a personal computer. First, as shown in FIG. 2, a teaching operator inputs teaching data input means. By operating 2 the 3D model is called from the 3D CAD data storage means 1 (step 201).

Next, the operator uses the teaching data input means 2 to set the data necessary for generating the control program of the controlled object equipment including the welding robot and its control equipment (step 202). That is, the operator selects the initial setting generation means 3 at the teaching preparation stage as input data regarding the work environment, and the controlled device 208
Type, type of option to be used, target work-specific setting parameters, coordinate conversion matrix that represents the positional relationship of the work object and controlled device in the initial state, etc. are input. When such initial data is input by the operator, based on these data, the initial setting generation means 3 generates the work environment data of the controlled device and the work objective as the initial setting data in the initial setting data generation area. (Step 203).

After that, the operator selects the work route generating means 5 as input data relating to the route data of the controlled device, and (a) approach point information to the work starting point, the target work content and the work starting point / work. End point information, retreat point information from the work end point, (b) absolute position / posture information in the world coordinate system, work target object coordinate system or work target part coordinate system, or relative position / posture information from the current value, ( c) When a work procedure, a work location, and work conditions such as various work condition information of a controlled object device including a welding robot and its control device are sequentially input, the work path generation unit 5 based on the input data, The route data of the controlled device with respect to the work target is roughly generated (step 20).
4). In this case, the work route generation means 5 receives the information of the work procedure, the work place, and the work condition, which cannot be determined from the topological information and the geometric information which are the CAD information, as the route sequence source data. It is automatically generated in the data generation area.

In the present embodiment, the teaching of the work place on the work object as the above-mentioned (a) as input data is summarized for each work based on the work start point and the end point in one work, and 1 Treat as a process. Therefore, when the operator actually teaches the work location, the approach point to the work start point, the actual work content, and the retreat point from the work end point are
The minimum unit of input. At this time, it is possible to specify a plurality of approach points and retreat points in consideration of the case where the controlled device is a welding robot and there are intermittently a plurality of welding points. The above-mentioned (b) as the input data is the movement target point which does not directly affect the teaching of the work place. Further, (c) as the input data is the speed of the controlled object device including the welding robot and the control device,
These include control parameters such as positioning width, interpolation format, work conditions for each target work, and communication methods with other control devices.

Then, when the work route generation means 5 roughly generates the route data based on the data inputted by the operator, the work motion generation means 12 is extracted from the generated route data and the tertiary CAD data. Based on the necessary data, the work operation data of the controlled object device including the welding robot and the control device is generated (step 205). This work motion data is obtained from the geometric information and position information of the three-dimensional CAD data 201 and the route data generated by the work route generation unit 5 according to the motion generation flow chart for each work target element type of the work motion generation unit 12.
The welding robot and the control device are automatically expanded into each operation level language. Therefore, the operation generation flow chart is set in advance in the operation operation generation means 12 for each operation target element type.

The work operation data includes operation sequence source data in which condition parameters such as welding robot speed and interpolation format, movement to a teaching point, and the like, and teaching point number described in the operation sequence source data. Is composed of point data of a homogeneous coordinate matrix representing the specific position / orientation of The work motion generation means 12 is the work path generation means 5
Based on the one-step route data generated in step 1, the work operation data is expanded into a plurality of steps.

Further, when the work movement data is generated by the work movement generation means 12, the control program generation means 14 generates the control program data of the controlled equipment including the welding robot and the control equipment based on the work movement data. (Step 206). The generated control program is downloaded to the controller of the controlled device by the control program output device 16 which is an input / output device of the offline teaching device 200, and the welding robot and the controlled device as the controlled device operate according to the control program. (Step 207).

As described above, in the off-line teaching apparatus 200 of the embodiment, when the operator inputs the necessary data by the teaching data input means 2, the initial setting generation means 3 controls the welding robot and its control based on the input data. Generates the work environment data of the controlled device consisting of the device and the work object as the initial setting, and then
When the operator inputs the work procedure of the controlled object device, the work location of the work object, and the work condition, the work path generation means 5 controls the work object part based on the input data and the generated initial setting data. The work route of the controlled device is roughly generated, and then the rough work route data of the controlled device and the three-dimensional CAD data reference means 1 are generated.
The work motion generation means 12 generates work motion data of the controlled object device according to the work target based on the necessary data fetched from 1, and further the control program generation means according to the generated work motion data. The control program output device 16 outputs a control program for the controlled device, and then the control program output device 16 outputs the control program according to the generated control program to drive the welding robot and its control device.

Therefore, as compared with the prior art, it becomes unnecessary for the operator to input the initial setting data, the work route data, and the work operation data one by one, so that the input amount of the operator can be greatly reduced. It is possible to prevent a large amount of data from being input, and it is possible to reliably prevent an input error or an erroneous operation.

The teaching system 200 of the embodiment is
When the data necessary for the work of the specific controlled device with respect to the specific work target is selected, the initial setting generation means 3 for generating the work environment data of the controlled target device and the work target as the initial setting. , Work procedure of controlled equipment,
Required data from the work path generation means 5 for roughly generating work path data of the controlled object device for the work object and the three-dimensional CAD data storage means 1 when the work location and work conditions of the work object are input. Three-dimensional CAD
Based on the data citation means 11, the rough work route data of the controlled device generated by the work route generation means 5, and the necessary data from the three-dimensional CAD data citation means 11,
Work motion generation means 12 for generating work motion data of controlled equipment according to the specific work target, and the means 1
2, a control program generation unit 14 for generating a control program for the controlled device according to the work operation data, and a control program output device for driving the controlled device according to the control program generated by the unit 14. Since it is configured with 16 and 16, the above method can be properly performed.

Moreover, when the initial setting is generated by the initial setting generating means 3 and the work motion data is generated by the work motion generating means 12, the three-dimensional CAD data reference means 11 is used.
Since the data stored in the three-dimensional CAD data storage means 1 is used, the three-dimensional CAD data can not only be effectively used but also automatically when the operator does not call in each time. ,
The amount of input by the operator can be further reduced.

Further, the work route data generated by the work route generating means 5 is stored in the work route storing means 7, the work motion data generated by the work motion generating means 12 is stored in the work motion storing means 13, and the control program generating means 14 is generated. In addition to the control program data generated by the control program storing means 15 being stored in the control program storing means 15, each stored data can be recalled. Since the teaching can be performed by calling, the input amount of the operator can be extremely simplified when the same teaching is repeated.

Next, offline teaching of an arc welding robot as a specific example of the present invention will be described with reference to FIGS. 3 and 4.
Will be described. FIG. 3 is a diagram showing a work content of fillet welding two flat plates as work objects. here,
The part 101 as the work object is a reference part to be welded, and the WORK coordinate system which is the reference coordinate system of the work object is set. Then, this WORK coordinate system and W, which is the reference coordinate system of the teaching work space of the arc welding robot, are used.
It matches the ORLD coordinate system. Also, the part 101
On the top of this, another work target part 102 is to be welded. At this time, the welded part 102 is referred to as a current part to be taught, and the PART coordinate which is the coordinate system of the work target part. The component coordinate system of the current component is always used as the system.

As teaching of a robot for welding work, for example, control parameters such as speed 1000.0 (mm / s), joint interpolation, and positioning monitoring rough are used to move from the home position (HOME) to the approach point P001. Let Such control parameters are set as needed. Next, the approach point P001, the welding start point P00
2, the welding end point P003 and the retreat point P004 are sequentially input, and the robot starts the welding start point P002 to the welding end point P004.
Up to 003 are welded under the condition of the welding condition table number 2 which will be described later, and when the welding end point P003 is reached, further backward movement is performed from there to point P004, and then to the home position (HOME). To do.

FIG. 4 is a diagram showing the relationship between robot input data and route data. Here, when the operator inputs data using the teaching data input means 2 when performing teaching when fillet welding flat plates of the parts 101 and 102 as shown in FIG. The process of generating one process route data in the route generation means 5 is shown. In the first path data of step 402, the robot is at the home position (HOME).
[HOME] indicating that the user is in the field is set. First, when teaching the approach point P001 from the robot's home position (HOME) to the welding start point P002, the operator uses the mouse to specify a reference point 411 on the work object model in the WORLD coordinate system. The relative position (Fx, Fy, Fz) in the X, Y and Z directions is input (step 401).

The reference point 411 in this case is the welding start point P.
It is not necessary to match with 002, and a point that is easy to input as the approach point P001 may be designated. At this point in time, no specific position information is set in the route data, and as shown in step 402 in FIG. 4, only [MOVE P_FAW] that the approach point is taught is displayed.

Next, the operator designates a welding line 412, a welding start point P002 and a welding end point P003, respectively, as an actual welding operation (step 403). At this time, when welding from end to end of the ridge line of the part 102, starting welding at a position slightly inside the end point of the ridge line and ending a little before the end point, the actual finish is good. Point P002 and end point P003
To specify, enter the distance from the end point. That is, when the operator specifies the ridge line 412 on the work object as the [welding line] in step 403 as input data, the end point close to the side picked by the mouse is set as the start point side end point. Here, [distance 1] is the distance of the welding start point P002 from this start point side end point, and [distance 2] is the welding end point P00 from the end point on the opposite side of the start point side end point.
The distance is 3, for example, 5.0 mm is set as a default. At this stage, the welding conditions have not been set yet, so the welding line was specified in the route data [XAW
S 0 R AW] is displayed (step 404). Then, the welding conditions such as welding current, welding voltage, and welding speed are separately designated by the welding condition table number which is a combination of these parameters (step 405).
If, for example, No. 2 is designated as the welding condition table number as described above, the fact that the No. 2 welding condition is designated is displayed in the route data (step 406).

Retreat point P004 from welding end point P003
Inputs the relative position (Bx, By, Bz) in the X, Y, Z directions in the WORLD coordinate system from the designated reference point 413 in the same manner as in the case of the approach point P001 (step 407). Similarly to the case of the approach point, the reference point 413 of the retreat point P004 does not necessarily have to coincide with the welding end point P003. [MOVEP_BAW] that the backward point P004 has been designated is displayed in the route data (step 408). At the same time, with regard to the approach point, the welding part 10
2 relative position (Fx ', Fy', Fz ') from the welding start point P002 in the PART coordinate system, and with respect to the retreat point P004, relative position (Bx', By ', Bz') from the welding end point P003. And each calculated value is additionally displayed on the route data (step 40).
9). The displayed contents are the parts 101 and 102.
It is data that roughly generates the work path of the robot for the approach point P001, welding line 412, retreat point P00.
The generation of the route data relating to the teaching of one process of 4 is completed.

Therefore, the approach point P00 is set by the operator.
1, the welding start point P002, the welding end point P003, and the retreat point P004 are sequentially input, and if the welding condition table is selected, the work path generation means 5 causes the work path generation means 5 to perform the parts 10
It is possible to reliably generate a rough work path of the welding robot for the parts 1, 102. In addition, in FIG.
Although 12 is shown as a straight line, as shown in FIG.
Even if the welding line 412 has an arc-shaped curve, if the teaching is performed similarly, the work route generation means 5 can also roughly generate the route data.

FIG. 5 is an explanatory diagram showing an example of concrete generation of work motion data by the work motion generation means 12, and the route data 409 shown in FIG. 4 generated by the work route generation means 5.
Represents the actual welding work in the [XAWS 2 R A
W] and the CAD data of the welding line 412 until the work motion generation means 12 generates the work motion data of the robot. Required C mentioned below
All the AD data will be obtained from the three-dimensional CAD data storage means 1 using the three-dimensional CAD data reference means 11.

First, the work motion generation means 12 follows the welding motion generation flow chart of FIG. 5 set in advance, and the welding line 412 which is the element of the work target specified by the teaching data input means 2 is a ridge line. It is checked whether or not (step 501). As a result, if the weld line 412 is a ridge line, the existence of the specified ridge line is checked (step 502), and the type of geometric information corresponding to the confirmed ridge line is acquired (step 503). This is because there are types of ridge lines such as straight lines, arcs, Bezier curves, rational Bezier curves, etc., and the data content of CAD data differs for each type (step 5).
04, 505, 506). The operation data of the robot is not only different for each ridge line type, but the work motion generation means 12 has a different operation generation flowchart (step 507) for each ridge line type.

If it is determined that the ridge line type is a straight line as a result of the check in step 504, the processing from step 508 described below is performed.

That is, when the ridge line is a straight line, the memory for the motion data generation area necessary for generating the motion for the straight line is secured (step 508). Next, the coordinate values of both end points of the ridge line are acquired from the CAD data in the PART coordinate system (step 509), and it is checked whether the distance between the both end points is 0 or more, so that the ridge line actually has a length. It is confirmed (step 510). Then, it is judged whether the starting and ending directions of the ridge line managed by the CAD data are the same direction or the opposite directions of the welding start point and the end point, and the relationship between the ridge line starting point side and the welding start point is acquired. After doing (Step 51
1, 512), the start and end points of welding are calculated (step 513), the PART coordinate system is converted to the WORK coordinate system, and the converted data is stored as point data (step 514). In this case, set the start /
A point number is automatically set for the end point. Then, an interpolation format is set based on the edge type, and sequence source data for the following work operation is generated (step 515).

P002 ...... Welding start point PATH LINE ・ ・ ・ Interpolation type (linear interpolation) AWS 2 ・ ・ ・ Welding start (welding condition number 2) P003 ・ ・ ・ Welding end point AWE ...... Welding end Is the work path generation means 5
It is checked whether or not the portion (welding line) 412 to be welded is a ridge line based on the work route data generated by and the necessary data taken in from the three-dimensional CAD data storage means 1, and according to the check result. Since the work operation data is generated by processing according to the contents of the flowchart, it is not necessary for the operator to input a welding line such as a straight line, a circular arc, or a free curve as in the conventional technique.

FIGS. 7 to 9 are explanatory views showing a modification of the generation example by the work movement generation means 12, and show generation of a one-way touch sense movement peculiar to the welding work. Here, the welding touch sense means that, as shown in FIG. 7, when the robot performs welding on the component 102 that is the work target, the component 102 is actually displaced on the component 101 as shown by a broken line. Sometimes Such a shift similarly occurs in the case of a thermal deformation of the work target or a mechanical error of the robot, which is unavoidable in the welding robot.
A calibration function for correcting such positional displacement of the component 102 is called welding touch sense.

When correcting the positional deviation of the component 102 in this way, the teaching is performed as follows. That is, a point P1 (sense start point) at a position distant from the parts 101 and 102 and a point P2 on the part 102 are taught in advance (sense point). During automatic operation,
When the welding torch of the robot actually moves in the direction from the point P1 to the point P2, assuming that the position where the current flows due to the contact with the part 102 is P2 ', the welding robot control device stores the information. P1-P
The distance between the two and the distance between P1 and P2 'until the welding torch actually contacts the part 102 are compared to find the difference, and the found difference is the positional deviation of the part 102 in the P1 and P2 directions. Store in the shift register as a quantity. For subsequent teaching points, the welding robot controller automatically corrects the operation data so that the operation can be performed by shifting the amount of positional deviation until the shift operation is canceled or the shift register is cleared. Keep it. In order to improve the accuracy of such touch sensing, it is advisable to move the welding torch so that the traveling direction of the welding torch is perpendicular to the surface of the target workpiece having the sense point.

FIG. 8 is an explanatory view of a case where the work motion generating means 12 performs touch sensing in two directions when the welding torch is at the point P1. For example, when teaching the touch sense in two directions, the operator uses the teaching data input means 2 to contact the welding torch with the first touch surface 711 and the second touch surface 7.
Specify 12 with the mouse. This designation is required by the work route editing means 6 when the work route generating means 5 roughly generates the route data, so that the operator only has to input the requested data. This first touch surface 71
1, the work path generation means 5 stores [TSS2] that the two-way touch sense is specified in the path data generation area by the input of the second touch surface 712, and the fact is displayed on the CRT. Then, the work motion generation means 12
When the operator inputs the first touch surface 711 and the second touch surface 712, based on the input touch surface data, the bidirectional touch sensing operation generation flowchart and the three-dimensional CAD data reference means 11 are used. The following processing is performed.

That is, as shown in FIG. 9, when the work operation generation means 12 receives the data, it requests the three-dimensional CAD data reference means 11 which loop type the input data is. The three-dimensional CAD data reference means 11 retrieves the data required for it from the three-dimensional CAD data storage means 1 (step 700). Here, as the type of loop, there are a P loop that represents a surface and a C loop that represents a hole. The P loop or the C loop will be checked, but the welding torch cannot naturally contact with the C loop. . As a result of the check, if the type of the input data is the P loop, the geometric information of the P loop is set to the three-dimensional C
Obtained by the AD data reference means 11 (step 70)
1). In this case, as the geometric information of the P loop, there are plane types, cylindrical faces, spheres, conical faces, Bezier curved faces, rational Bezier curved faces, Gregory curved faces, rational Gregory curved faces, etc. as the surface types, and they are projected onto each loop. The calculation method of the points, that is, the sense points P2, P4 is different (steps 702, 708, 709). Here, for example, when the surface type is a plane, the work motion generation means 12 calculates sense points P2 and P4 projected from the current position P1 onto the loop (step 703). Next, the inner product of the direction vector from the current position P1 to the sense points P2, P4 and the front-facing unit normal vector of the designated loop is obtained, and then the obtained inner product is used to directly attach the welding torch to the sense points P2, P4. It is checked whether or not the loop can be contacted (step 704), and if the loop is in direct contact, it is checked whether or not the points P2 and P4 are inside the loople (step 705).
The point number is automatically set, and the following work operation sequence source data is generated and stored (step 706).

CLRFRM S10 ... Initialization of shift register (example
S10) P1 ... Touch sense start point (current position of torch) TSNS S10 ... Use shift register S10 P2 ... First sense point P3 ... Return to touch sense start point TSNS S10 ... Use shift register S10 P4 ... Second sense point P5 ... Return to the touch sense start point. Note) The point data contents of P1, P3 and P5 are the same. At this time, the shift register numbers 1 to 99 are automatically added, and the register initialization is inserted at the beginning of the work operation sequence source data. To do. In addition, position data corresponding to the set point number is registered as point data (step 707). Therefore, once the touch sense function is taught, the data state is added with the function thereafter. When the touch surface is of a type other than a flat surface, a motion generation flowchart is used for each type of surface, and motion data is generated by processing according to the flow chart (steps 708 and 709). Are omitted.

FIG. 10 is an explanatory diagram showing library formation by the work route editing means 6. As described above, the work route editing means 6 can directly register the route data 409 as shown in FIG. 4 generated by the work route generating means 5 in the work route storing means 7 by the work route registering / quoting means 8.
In this case, if the operator specifies the bus at the beginning and the bus at the end to be made into a library by the work route editing means 6 in the route data, and sets the route library name, the route library registration / citation means 10 is
By converting the designated range into the route library data format and storing it in the route library storage means 9, the route data can be made into a library. Therefore, the route library storage means 9 stores various types of route data in the form of a library.

In this way, the route data 409 is once
When a route library is created and is to be used again, as shown in FIG. 10, when the operator first calls the route library name to be used by using the work route editing means 6, the operator registers the route library / Citation means 1
0 calls the designated route library data from the route library storage means 9 (step 901). Then
The called route library data is expanded in the route data generation area as shown (step 902). At this time, unlike the case where the work path data 409 is set, the called path library data is the welding start point P.
No data for 002, welding end point P003,
Since it has not been set, the work environment and the work path of the controlled device with respect to the work object are very similar in form.

Therefore, of the called path library data, the approach point path data has relative position information (907) from the welding start point, but the approach point P001
In order to automatically generate the welding start point, it is necessary to input the welding start point P002 in the actual work object. Further, the route data of the retreat point is the relative position information from the welding end point (908
However, in order to automatically generate the retreat point P004, it is necessary to input the welding end point P003 in the actual work object. Data necessary for generating other data in this way is called key data. Then, after calling the route library (step 902), it is checked whether or not there is unknown key data as described above (step 903). If the key data is present, the work route editing means 6 causes the operator Is requested to input unknown key data (step 904). As a result, when the operator is requested to input, he / she inputs accordingly.

The input method is the same as the normal welding line designating method, as indicated by 403 in FIG. That is, the operator actually welds the welding line 412 and the welding start point P00.
2, that is, the welding start position (X
(s, Ys, Zs) is designated, the position data of the approach point in the PART coordinate system is relatively determined from the following formula 1 (step 905).

[0062]

[Equation 1]

The welding end point P003, that is, PAR
If the welding end position (Xe, Ye, Ze) in the T coordinate system is specified, the position data P004 in the PART coordinate system of the retreat point can also be determined from the following mathematical formula 2.

[0064]

[Equation 2]

As described above, the use of the route library makes it possible to easily generate the necessary input data and route data in the route data generation area. Moreover, at this time, if there is unknown key data, the work route editing means 6 requests the input of the unknown key data, so that the operator only needs to input the requested data. Even if it exists, it can be dealt with easily and quickly, and the operator can do it without hesitation.

Further, when the unknown key data is input by the operator, the work motion generating means 12 processes in the same manner as the case described above with reference to FIG. 5, so that the work motion data can be automatically generated (step 906). . Then, by automatically generating the work operation data, the control program generating means 14 can automatically generate the control program necessary for the work operation of the controlled device, and the controlled device can be driven according to the data. Register the specified route data with a specific name as a route library,
By using it when generating similar route data,
It is possible to omit setting the route data one by one again in order, and it is possible to realize simplification of teaching.

Therefore, when using the data in the library, the work motion data can be automatically generated by the work motion generating means 12 only by the operator inputting the requested unknown key data. If the morphological contents of the work paths of the controlled devices are similar, it is possible to apply the library data to other work.

Next, an embodiment in which the generated route data is used for other work will be described. As described above, the work route editing means 6 stores the work route data in the work route storing means 7 via the work route registering / quoting means 8 when the work route data is generated by the work route generating means 5. In the present embodiment, the work route data stored in the work route storage means 7 is used and applied to another work.

That is, for example, as shown in FIG. 11A, plate-shaped parts 104 to 1 are provided around the cylindrical part 103.
When teaching the work of a welding robot that welds 07 to form the work A, when the work route generating means 5 generates work route data, the work route editing means 6 causes the work route registering / quoting means 8 to operate. The work route data is stored in the work route storage means 7. At this time, the work route editing means 6 changes the route library name to [lib.
1] is used to input data of the components 104 to 107, the work route registration / citation means 8 stores the following work route data in the work route storage means 7.

Lib1 ... (Component 104) lib1 ... (Component 105) lib1 ... (Component 106) lib1 ... (Component 107) Then, using the work route data in this case, FIG.
As shown in (b), when trying to teach the work of a welding robot such that the parts 104 to 107 are welded around the prismatic part 108 to form the work B, the operator uses the work path editing means 6. The work route data of the work A is called from the work route storing means 7 via the work route registering / quoting means 8. At this time, the work route editing means 6 requests the selection of the components 104 to 107 on the work B using the route library [lib1] that constitutes the work route data of the called work A, and further [li.
If there is unknown data in the data [b1], the operator requests the input as well, so the operator edits the work route editing means 6
By sequentially inputting in accordance with the input request of, the work route data for welding the work B can be generated.

Therefore, since the work route data can be generated by using the data stored in the work route storing means 7, it is not necessary to specify the route library name as in the case of using the route library storing means 9. Specification of the route library name can be omitted, and it is not necessary for the operator to remember the route library name for each.

FIG. 12 shows an embodiment relating to attribute data. The work attribute generation means 17 shown in FIG. 1 is for setting the attribute data corresponding to the work target element of the work target already stored in the three-dimensional CAD data storage means 1, and before starting teaching. Set by being input by the designer or teaching operator. In the three-dimensional CAD data, a management number or a symbol is set as phase information for every element. The work attribute generation means 17 uses, as attribute data, a target work type, a work location, a work procedure, a route library name to be used,
It requests input of key data of work route data including work conditions, work start points and work end points. Then, as shown in FIG. 12, when welding the part 102 to the part 101, the work attribute generation means 17 generates the following data content input as the attribute data of the welding work on the attribute data generation area. To do.

Target work: WELD Work target part: 2 Work target element: e2 Work sequence: 1 Library name used: lib1 Welding condition: 2 Key data (1) Work start point side: p1 (2) Start point distance: 5. 0 mm (3) End point distance: 5.0 mm Among these data contents, the work target element is the ridge line element number e2 of the part number 1, and the welding sequence is first used by using the route library [lib1]. It is set to teach work. Key data (1) ~
In (3), the work starting point side in (1) is a point element number on the work starting point side among both end points of the work target element e2. The starting point distance of (2) is the distance from the ridge line end point on the work starting point side set by the key data (1) to the work starting point at which work is actually started. The end point distance of (3) is the distance from the ridge line end point not set on the work start point side set by the key data (1) to the work end point at which the work is actually ended. The work attribute registration / citation means 19 stores the above attribute data in the work attribute storage means 18.

When the operator uses the work route editing means 6 to specify the use of work attributes during teaching, first, the work attribute generating means 17 determines that the attribute data corresponding to the work object model is the work attribute storing means. 18
Whether or not it is stored in the work attribute registration / citation means 19
If it is searched and registered, the attribute data of the corresponding work object is automatically expanded from the work attribute storage means 18 on the attribute data generation area.

At the stage of automatically generating work route data in the route data generation area, the work route generation means 5 uses the work route editing means 6 and uses the attribute data in the attribute data generation area to obtain the work order. Since the attribute data is called in order from the smallest element, the work route data can be automatically generated.

However, when all the items of the attribute data are not set in the work target element of each work target part, the work route generating means 5 uses the work route editing means 6 for the unknown information. Prompts the operator for input. At that time, the work route editing means 6 automatically sets the input data on the attribute data generation area by using the work attribute generating means 17 when the data corresponding to the attribute data is input, and the work attribute registering / quoting means is used. It is stored in the work attribute storage means 18 by 19.

Therefore, even when the attribute data for each work target element of the work target part is stored by the work attribute generating means 17, the work route data can be automatically generated by inputting unknown data. Therefore, it is possible to further reduce the amount of operator input required to generate work route data.

FIG. 13 shows a structural model of teaching data when the method of the present invention is applied. In the figure, each data has a record format consisting of generated data contents and pointers, and each pointer has a bidirectional linked list structure that indicates the existing location of the record immediately before and immediately after. Further, the related data can be managed by the pointer.

When trying to use the route library once stored for teaching, first, the work route editing means 6 shown in FIG. 1 secures the route library area [Inputlib] for the teaching data [Teach] and, at the same time, the route library. It also secures an area [InputSet] for determining whether all the contents have been expanded to route data and whether or not there is unknown key data. Further, the work route generation means 5 secures the route data area [Input] expanded for each library.

Next, the work motion generating means 12 has a structure to secure a motion data area [List] in which the route data is expanded and a specific command content area [Order], respectively.

If such a teaching data structure model is adopted, the work contents can be arbitrarily taught for each robot, and the addition / deletion / change editing work can be appropriately performed, thus constructing an offline teaching system. Can be realized.

The data structure model shown in FIG. 13 is
When the route data is expanded from the route library [Inputlib], the structure is such that each route library can be identified.
Editing work of deletion / change can be performed.

Therefore, the work A shown in FIG.
In, when the teaching path library [lib1] of the part 107 is deleted or a new part is set between the parts 105 and 106, teaching of the new part is performed by inserting the same path library [lib1]. It can be done easily. It is also possible to change the component 104 from the route library [lib1] to the route library [lib2] and teach it.

Therefore, the work route editing means 6 can change the work route data into various work route data by editing arbitrary data, and it becomes easy to obtain various work route data. . Therefore, when the designer informs the operator of the intended work procedure or work location in the design stage, the operator can very easily input the information.

[0085]

As described above, according to claim 1 of the present invention, when the data required for the work of the specific controlled object device for the specific work object is selected, the controlled object is selected. When the work environment data of the device and the work target is generated as initial settings, and then the work procedure of the controlled target device, the work location of the work target, and the work condition are input, the controlled target device of the work target After the work route data is roughly generated, and based on the work route data and the necessary data extracted from the three-dimensional CAD data, the work motion data of the controlled device according to the specific work target is generated. The control program for the controlled device is generated according to the work operation data, and the controlled device is driven according to the control program. There initialization data, work path data, eliminating the need to minutely enter working operation data,
As a result of being able to greatly reduce the input amount of the operator, it is possible to prevent the input amount from becoming too large, and it is possible to surely prevent the input error and the erroneous operation.

According to a second aspect of the present invention, when newly teaching a work environment and a work path of the controlled device with respect to the work object having a similar form, the once stored path library is called and new work is performed. Since it is configured to be used for generation of route data, there is an effect that the operator's input amount can be further reduced when teaching something similar to the stored one.

According to Claim 3, the above-mentioned Claim 1
According to claim 4, there is an effect that the method of claim 2 can be accurately performed, and according to claim 4, there is an effect that the method of claim 2 can be accurately performed. Further, according to claim 5, since the input of unknown key data is automatically requested, the operator does not hesitate what data is unknown,
Since only the requested data needs to be input, there is an effect that the amount of input by the operator can be further reduced even when using the work path data in the library.

Further, according to claim 6, new work route data is automatically generated based on the called work route data, and new work route data is automatically generated based on the called attribute data. Since any one of the above is executed, it is possible to give the degree of freedom to the generation of the work route data, and therefore to increase the degree of freedom in the usability of the operator.

According to the seventh aspect of the present invention, the work path editing means requests the operator to input the unknown key data when the unknown key data exists. According to claim 8, since the work route editing means has a function of inserting / deleting / changing desired data of the route work data in route library units, the designer intends at the design stage. There is an effect that it is possible for an operator to input information such as a work procedure or a work location that has been performed very easily.

[Brief description of drawings]

FIG. 1 is a schematic block diagram showing a system for implementing a CAD data-based off-line teaching method according to the present invention.

FIG. 2 is a flowchart showing an embodiment of a CAD data utilizing offline teaching method according to the present invention.

FIG. 3 is an explanatory view showing a coordinate system when fillet welding two flat plates as work objects by a welding robot.

FIG. 4 is an explanatory diagram showing a relationship between input data of a welding robot and route data.

FIG. 5 is a flowchart showing an example of the generation of work motion data by the work motion generation means.

FIG. 6 is an explanatory view of a case where a welding line has a work path forming an arc-shaped curve.

FIG. 7 is an explanatory diagram showing generation of a unidirectional touch sense operation.

FIG. 8 is an explanatory diagram showing generation of a touch sensing operation in two directions.

FIG. 9 is a flowchart showing an example of the generation of work motion data by the work motion generation means.

FIG. 10 is an explanatory diagram showing library formation by a work route editing unit.

FIG. 11 is an explanatory view (a) at the time of teaching in which a flat plate-shaped part is welded around a cylindrical part, and using the data stored in the library, the flat plate-shaped part is welded to the prismatic part by teaching. Explanatory drawing when doing (b).

FIG. 12 is an explanatory diagram showing information input to attribute data and attribute data generated based on the information.

FIG. 13 is an explanatory diagram showing a structural model of teaching data when applying the method of the present invention.

[Explanation of symbols]

1 ... Three-dimensional CAD data storage means, 2 ... Teaching data input means, 3 ... Initial setting generation means, 4 ... Initial setting storage means,
5 ... work route generating means, 6 ... work route editing means, 7 ... work route storing means, 8 ... work route registering / quoting means, 9 ... route library storing means, 10 ... route library registering / quoting means, 11 ... three-dimensional CAD data quoting means, 12 ... Work motion generating means, 13 ... Work motion storing means, 14 ... Control program generating means, 15 ... Control program storing means,
16 ... Control program output device, 17 ... Work attribute generation means, 18 ... Work attribute storage means, 19 ... Work attribute registration / citation means.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Noriyuki Kamiya 7-1-1 Higashi Narashino, Narashino City, Chiba Prefecture Industrial Equipment Division, Hitachi, Ltd.

Claims (8)

[Claims] 1. A three-dimensional CAD consisting of various work objects and controlled equipment stored in advance in the three-dimensional CAD.
CA in which a work program for a controlled device is generated by offline teaching using data and the controlled device is operated according to the generated work program.
D) In the offline teaching method using data, A) When a specific work object and controlled device are selected and data necessary for work of the specific controlled device with respect to the specific work object are selected Then, the work environment data of the controlled device and the work target is generated as an initial setting, and B) when the work procedure of the controlled target device, the work location of the work target, and the work condition are input, the work target The work route data of the controlled device for the object is roughly generated, and C) the rough work route data of the controlled device generated by the work route generating means and the necessary data extracted from the three-dimensional CAD data. Based on the specified work object, the work operation data of the controlled device is generated, and D) the control program of the controlled device is generated according to the generated work operation data. A three-dimensional CAD data-based off-line teaching method characterized in that a ram is generated, and E) the controlled device is driven according to the generated control program. 2. When the work route data is generated, the range designated in the work route data is stored as a route library, while the form of the operation route of the controlled device with respect to the work environment and the work target is similar. 2. The CAD data-based offline teaching method according to claim 1, wherein when the new teaching is performed, the stored route library is called and used to generate new work route data. 3. A three-dimensional CAD consisting of various work objects and controlled equipment stored in advance in the three-dimensional CAD.
In a system that uses data to generate a work program for controlled equipment by offline teaching,
Initial setting data generation means for generating work environment data of the controlled object device and the work object as initial settings when data necessary for work of the specific controlled object device for the specific work object is selected; , A work route generation means for roughly generating work route data of a controlled target device with respect to the work target when a work procedure of the controlled target device, a work location of the work target, and work conditions are input; CA
Based on the required data from the three-dimensional CAD data reference means for extracting necessary data from the D data, the outline work path data of the controlled device generated by the work path generation means, and the necessary data from the three-dimensional CAD data reference means Work operation generating means for generating work operation data of the controlled device according to the work object, and control for generating a control program of the controlled device according to the work operation data generated by the work operation generating means. An off-line teaching system using CAD data, comprising: a program generation means and a drive control means for driving a controlled device according to a control program generated by the control program generation means. 4. A three-dimensional CAD consisting of various work objects and controlled equipment stored in advance in the three-dimensional CAD.
In a system that uses data to generate a work program for controlled equipment by offline teaching,
Initial setting data generation means for generating work environment data of the controlled object device and the work object as initial settings when data necessary for work of the specific controlled object device for the specific work object is selected; , A work route generation means for roughly generating work route data of a controlled target device with respect to the work target when a work procedure of the controlled target device, a work location of the work target, and work conditions are input; CA
Based on the required data from the three-dimensional CAD data reference means for extracting necessary data from the D data, the outline work path data of the controlled device generated by the work path generation means, and the necessary data from the three-dimensional CAD data reference means Work operation generating means for generating work operation data of the controlled device according to the work object, and control for generating a control program of the controlled device according to the work operation data generated by the work operation generating means. And a drive control unit for driving the controlled device according to the control program generated by the control program generation unit. The work route generation unit includes a route library storage unit and an operator. In the work route data, you can specify the specific data required to create a route library and A work route editing means for designating a name and a designated library data storing means for storing the designated specific data in the route library storage means, and storing and temporarily storing the designated data from the route library storage means. In the case of newly teaching the operation path and the operation path of the controlled device with respect to the work object to the created path library, the work path editing means is stored by the path library registration / citation means. An offline teaching system using CAD data, characterized in that the route library is called and new work route data is automatically generated based on the data of the called route library. 5. The work route editing means, when the work route data is generated by the work route generating means, when the route library stored by the route library registration / quoting means is called and unknown key data exists, 5. The CAD data off-line teaching system according to claim 4, wherein the operator is requested to input the unknown key data. 6. A three-dimensional CAD including various work objects and controlled equipment stored in advance in the three-dimensional CAD.
In a system that uses data to generate a work program for controlled equipment by offline teaching,
Initial setting data generation means for generating work environment data of the controlled object device and the work object as initial settings when data necessary for work of the specific controlled object device for the specific work object is selected; , A work route generation means for roughly generating work route data of a controlled target device with respect to the work target when a work procedure of the controlled target device, a work location of the work target, and work conditions are input; CA
Based on the required data from the three-dimensional CAD data reference means for extracting necessary data from the D data, the outline work path data of the controlled device generated by the work path generation means, and the necessary data from the three-dimensional CAD data reference means Work operation generating means for generating work operation data of the controlled device according to the work object, and control for generating a control program of the controlled device according to the work operation data generated by the work operation generating means. And a drive control unit for driving the controlled device according to the control program generated by the control program generation unit. The work route generation unit includes a route library storage unit and an operator. In the work route data, you can specify the specific data required to create a route library and A work route editing means for designating a name, a designated specific data stored in the route library storing means, a route library registration / quoting means for calling the specific data from the route library storing means, a target work type, a work Work attribute generation means for setting data of location, work procedure, path library name to be used, work condition, work start point and work end point as attribute data, and the attribute data is stored in the work attribute storage means while the work is performed. A new one having a work attribute registration / quoting means for calling attribute data from the attribute storage means and having a similar operation path form of the controlled device to the work environment and the work object to the once stored path library is newly added. When teaching to, the work route editing means registers the route library /
Calling the route library stored by the reference means, automatically generating new work route data based on the data of the called route library, and the work attribute generating means storing the attribute data stored by the work attribute registering / quoting means. A CAD data-based off-line teaching system, characterized in that either one of the following is called and the new work route data is automatically generated based on the called attribute data. 7. The work route editing means requests the operator to input the unknown key data when unknown key data exists when the work route data stored by the work route registration / quoting means is called. 7. When the attribute data stored by the work attribute registration / quoting means is called, when the unknown key data exists, the operator is requested to input the unknown key data. Off-line teaching system using CAD data described in. 8. The work route editing means has a function of inserting / deleting / changing desired data of work route data in route library units. Offline teaching system using CAD data.