JPH0890232A - Working program preparing device of working robot - Google Patents

Abstract

PURPOSE: To facilitate preparation of working program of a working robot. CONSTITUTION: The basic program, in which the coordinate position P11>=o of moving route (3) on the work WK to move the tip 2a of tool 2 of working robot 1 is described by the variable as taking the positioning position of work Wk for a parameter, is prepared for each respective different shape work WK1, WK2, Wk3... beforehand, Further, the data M1 showing the shape of work WK1 for working object is inputted, also the data showing the coordinate position (X, Y, Z) of positioning position R, as the work WK1 is positioned, is inputted. As a result, the basic program PR corresponding to the work shape data Ml inputted is selected, the coordinate position of moving route P11..... on the basic program PR selected is operated based on the positioning coordinate position R inputted (X, Y, Z), thus, a working program 13 is prepared.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for creating a work program for performing a predetermined work such as a welding work by moving a tool tip of a work robot along a predetermined movement path on a work.

[0002]

2. Description of the Related Art In a welding robot, by driving and controlling each axis of the robot, the tip of a welding torch is moved along a welding line to perform welding work. In order to perform the welding work, it is necessary to create a work program as a robot control program. As a technique for creating this kind of work program, for example, Japanese Patent Laid-Open No. 6-31
Some are found in the 450 publication. According to the technique described in this publication, a welding target part (hereinafter referred to as "work") is arranged on a CRT screen of an off-line programmer at a place to be welded, a welding line is designated, and the designated welding line is processed. A control program for the robot is created through a process of calculating position data and the like necessary for executing welding such as a welding start position and a welding end position, and obtaining a motion locus of the robot based on the calculation result.

[0003]

According to the above-mentioned conventional technique, the operator needs to perform a process of designating a welding line on the CRT screen for each of various works.

However, such manual teaching work is complicated, and is particularly complicated at a work site where there are many kinds of works.

Further, the operation of designating a welding line requires teaching knowledge and skills, and can be operated only by a certain skilled person.

The present invention has been made in view of the above circumstances, and by simply selecting and arranging a work to be welded, the locus of motion of the robot is automatically obtained and a work program is automatically created. Thus, it is an object of the present invention to provide a device which can eliminate the above-mentioned complication and can be operated without requiring skill.

[0007]

Therefore, in the main invention of the present invention, a work program in which the coordinate position of the movement path on the work to be moved by the tip of the tool of the work robot is described is created, and the created work program is created. In a work program creation device for a work robot that drives and controls the work robot according to the coordinate position described in the work program, the tip of the tool of the work robot should move. A basic program in which the coordinate position of the movement path on the work is described as a variable with the work positioning position as a parameter is prepared in advance for each work of different shape, and the data showing the shape of the work to be input is input. At the same time, input the data indicating the coordinate position of the positioning position when the work is positioned, and input the data. The work program is created by selecting a basic program corresponding to the work shape data, and calculating the coordinate position of the movement path on the selected basic program based on the input positioning coordinate position data. I am trying.

[0008]

According to this structure, FIG. 1, FIG. 4, FIG.
As shown in 0, the tip 2a of the tool 2 of the work robot 1
The coordinate position P11 of the moving path (3) on the work WK to be moved is described as a variable having the positioning position R of the work WK as a parameter, but the basic programs PR have different shapes WK1, WK2, WK3 ... It is prepared in advance for each.

Then, the data M1 indicating the shape of the work WK1 to be worked is input and the coordinate position (XR, XR, of the positioning position R when the work WK1 is positioned).
Data indicating YR, ZR) is input.

Then, the input work shape data M1
Is selected, and the coordinate position of the moving path P11 ... on the selected basic program PR is input to the input positioning coordinate position data R (XR, Y
R, ZR), and a work program is created.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a work program creating apparatus for a work robot according to the present invention will be described below with reference to the drawings. It should be noted that the embodiment assumes a device that creates a work program for driving and controlling each axis of a welding robot that performs welding work. However, the present invention can be applied to any robot as long as the tool tip is moved along the movement path on the work to perform a predetermined work, and for example, a sealing work robot that performs sealing is also applicable. Can be applied.

FIG. 1 shows the overall construction of the apparatus of the embodiment.

As shown in the figure, the robot 1 has an arm 3, and a welding torch 2 which is a tool is attached to the tip of the arm 3.

The robot 1 is, for example, a 6-axis robot, and by driving each axis, the coordinate position of the tool tip 2a and the tool posture angle P on the robot coordinate system XYZ (see FIG. 2). (X, Y, X, A, B, C) is changed.

Each axis of the robot 1 is drive-controlled by a robot controller 5, whereby the torch tip 2a is driven.
Is the predetermined welding line 1 on the workpiece WK that is the part to be welded
Moved along 0.

The type of the work WK to be welded by the robot 1 is not limited to the annular work WK3 as shown in FIG. 1, but also WK1, WK as shown in FIG. 10A.
2, WK3 ... and so on.

Therefore, in the robot 1, not only the work of arranging one work WK3 on the base plate BS as shown in FIG. 1 and welding it, but also the work WK1 of three kinds on the base plate as shown in FIG. WK2,
There is also a case where the work of arranging WK3 and sequentially welding these is also performed. 2A and 2B are a top view and a side view showing the positional relationship between the robot 1 and the surface plate 4 on which the welding target part is placed. The welding target part is on the surface plate 4. Placed.

The vertex Q of the surface plate 4 is a robot coordinate system XY.
-Z origin position (X0, Y0, Z0), and each axis of the robot is drive-controlled according to this coordinate system X-Y-Z.

Further, the robot 1 is, as shown in FIG.
It is also possible to perform a work of sequentially welding the workpieces WK2 and WK3 after sequentially arranging WK2 and WK3 and the workpieces on the base plate BS. In the drawings, 9, 1
Reference numeral 0 indicates a welding line of each of the works WK2 and WK3, and in this embodiment, it is assumed that fillet welding is performed.

Further, as shown in FIG.
The robot 1 can also perform a work in which two base plates BS and BS 'are placed on top of which the respective works WK2, 3 and WK1 are respectively placed and then welding is performed.

The off-line programmer 6 is composed of a personal computer, a workstation, etc., and the space between the off-line programmer 6 and the controller 5 is, for example, RS-2.
Connected by interface 7 like 32C,
Data can be mutually communicated, or data can be mutually input and output via a portable storage medium such as the floppy disk 8.

The robot controller 5 executes a “work program” as a robot control program transferred from the off-line programmer 6, and outputs a drive command signal V for driving the robot 1 to the robot 1.

Next, the processing performed by the off-line programmer 6 will be described.

FIG. 4 conceptually shows the contents executed by the off-line programmer 6.

The off-line programmer 6 has two storage tables, a module table 11 described later and a welding condition table 12 described later. Therefore, the module data selected and read from the module table 11 and the welding condition data read from the welding condition table 12 are combined to create a "work program" for welding. After that, the operation check and the interference check are performed, the “work program” is modified, and this is transferred to the controller 5, so that the welding work is performed.

The process of creating the "work program" will be described in detail below with reference to FIGS. FIG. 8 is a flowchart showing a processing procedure, and FIG.
It is assumed that welding in the mode as shown in (e) is performed.

First, the operator operates a keyboard or the like to place the base plate on the base plates BS and BS ',
"Part pattern No." indicating the type of work to be welded
Enter the data. In this case, three works WK1, W
Data corresponding to K2 and WK3 is input. Then
The module data M1 corresponding to the work WK1 is selected and read from the module table 11 of FIG. 4 according to the data input indicating the work WK1. Similarly, the module data M2 corresponding to the work WK2 is read out, and the module data M corresponding to the work WK3 is read.
3 is read. The module data M0 corresponding to the base plates BS and BS 'on which the work WK is to be arranged is also read (step 101).

Now, the module data M1, M2 ...
It is composed of a part shape pattern PN showing the shapes of the works WK1, WK2 ... And a basic program PR showing a control program necessary for welding the works WK (see FIG. 4).

Now, the work WK1 will be described as a representative work, and as shown in FIGS. 5A and 5B, the module data M1 includes the dimensions L1 to L1 of each part of the work WK1.
L5, the reference point R (XR, YR, ZR), and the attitude angle θ are shown as variables (unknown numbers) in the part shape pattern PN.
And a basic program PR which describes a movement path of the torch tip 2a when welding the part shape pattern PN, that is, an approach point, a search point, a welding start point, a welding end point, a retreat point, welding conditions, and the like. There is. Note that FIG. 5 (b)
The basic program PR of is the welding line (1) of FIG.
Among the items (2), (3) and (4), the "label 3" corresponding to the welding line (3) is illustrated.

The approach point P1 (X
1, Y1, Z1, A1) etc., the position data indicating the movement route is
It is described as variables P1, P2, P11 ... P16 having the above-mentioned reference point R (XR, YR, ZR), posture angle θ, dimensions L1 to L5 of each part, and welding conditions W such as leg length as parameters.
By giving the reference points R (XR, YR, ZR) and the like as concrete numerical values, the robot coordinate axes XYZ
It is converted to the absolute position above and is fixed.

Among the above parameters, the work W
Regarding the dimensions L1 to L5 of each part of K1 and the welding condition W, specific numerical values may be given in advance as being unique to the work WK1.

However, the reference point R and the posture angle θ of the work WK1 need to be variables because they can vary depending on the positioning position of the work WK1 on the base plate BS '. However, with respect to a work having no directivity such as the annular work WK3, it is not necessary to specify the posture angle θ, and only the reference position R such as the work center position needs to be specified.

When the respective dimensions L1 of the work WK1 are given as concrete numerical values without being variables, the module data M1 ′, M1 ″, ... Are registered in the module table 11 for each size. You can do it like this.

In the case of this embodiment, the dimensions L1 to L5 of each part of the work WK1 and the welding conditions W are unknown. In addition to inputting data indicating these dimensions, data for specifying the leg length are also input. . Other works WK2, W
The data of K3 is similarly input (step 102).

As a result, the work WK1 whose dimensions are specified is displayed on the CRT screen, and the welding condition corresponding to the leg length input from the welding condition table 12 is displayed.
For example, A is read (see FIG. 7), and the welding condition W on the basic program PR is determined. In this embodiment, the arc current or the like is uniquely determined according to the leg length (see FIG. 7), but various conditions such as the leg length and the arc current may be individually selected. Similar processing is executed for the other works WK2 and WK3 (step 103; see FIG. 10B).

Now, the module data M0 of the base plate read out in step 101 has the dimension L1 of each part,
It has a part shape pattern PN in which L2 is a variable (see FIGS. 4 and 10 (c)). Therefore, data indicating the respective dimensions of each base plate BS, BS 'is input. As a result, it is possible to display the base plates BS and BS 'whose dimensions are specified on the CRT screen. Note that the size of the base plate may not be a variable, but may be fixed in advance as in the case of the work WK (step 104; see FIG. 10C).

Next, the works WK2 and WK3 are arranged and positioned on the base plate BS on the CRT screen. Similarly, the work WK1 is arranged and positioned on the base plate BS '. In this way, the product model is generated (step 105; FIG. 10).
(See (d)).

Next, an operation of arranging and positioning the product model on the surface plate 4 on the CRT screen is performed (step 1).
06; see FIG. 10 (e)).

Then, work machining sequence data designating the welding sequence of the works WK1, WK2, WK3, for example, "WK1 → WK2 → WK3" is input.

Further, an individual work, for example, work WK1
The welding sequence of the welding line of is determined in the order of (1) → (2) → (3) → (4) as shown in FIG.
Label 1, Label 2, Label 3 of the basic program PR
(FIG. 5B) By performing the processing in the order of the label 4, the welding of all the steps (1) to (4) of one work WK1 is performed. However, it is also possible to arbitrarily change the welding sequence of this welding line.

In this case, welding line sequence data for designating the welding sequence of the welding lines of the work WK1, for example, "(2) →
Input (3) → (4) → (1) ”.

Then, the execution order of the respective labels 1 to 4 of the basic program PR is changed according to the welding order of the welding line changed in this way. Similarly, the welding orders of the welding lines can be changed for the other works WK2 and WK3 (step 107).

As a result of the product model being arranged on the surface plate 4 as described above, the reference position R (XR, YR, ZR) and the attitude angle of the work WK1 are set with the vertex Q of the surface plate 4 as the origin of the robot coordinate system. θ is given as a numerical value, and the reference position R, the posture angle θ, and the input work WK are input.
The approach point P on the basic program PR based on the dimensions L1 to L5 of No. 1 and the welding conditions A such as the leg length input above.
The coordinate position of 1 (X1, Y1, Z1, A1) is converted into a concrete numerical value. Similarly, each point P2 (X
2, Y2, Z2, A2), P11 ... P16, S11, S12
The coordinate position of is converted to an absolute position. In addition, the above A1,
A2 is a variable determined depending on whether the work WK1 is vertical or horizontal. In addition, in FIG. 5B, B1, C1 (B
2, C2) is a numerical value that is determined according to the attitude angle of the torch 2, and is not determined according to the position when the work WK1 is positioned, and can be given in advance as a constant.

In this way, the movement route described in the basic program PR is given as the absolute coordinate position.

The process of giving such absolute coordinate positions is as follows.
Label 1, Label 2, Label 3 of the basic program PR
(FIG. 5B), label 1, label 2, label 3, label 4 which are executed for label 4 and have completed these processes
The basic program PR is arranged and configured in the order (label 1 → label 2 → label 3 → label 4) according to the preset welding sequence (1) → (2) → (3) → (4). By doing so, a "work program" of the work WK1 is generated. Further, the welding line sequence data “(2) → (3) → (4) → (1)” given in step 107 is arranged in the order (label 2 → label 3 → label 4 → label 1), The "work program" of the work WK1 may be generated by the configuration. Other work WK2, work WK
Similarly, for "3", individual "work programs" are generated.

Next, the "work program" generated for each work is the work machining sequence data "WK1 → WK2 → WK3" given in step 107.
Are arranged and configured in the order (“work program” of WK1 → “work program” of WK2 → “work program” of WK3) to generate a “work program” of the product (step 108).

When the "work program" of the product is created in this way, this is transferred to the controller 5, and by executing this, the robot 1 sequentially welds the work WK1, the work WK2, and the work WK3.
Finally, the product shown in (e) is completed.

Taking the welding process (3) of the work WK1 as an example, as shown in FIG. 5 (b), the torch 2 has an interpolation method and a moving speed corresponding to each command "EX KAKUJIKU", "EX CHOSEN", etc. Is moved, and the torch tip 2a is sequentially moved with the points P1, P2, ... That is, the torch tip 2a moves from the welding approach position P1 to the welding start position P11, and thereafter, from the points P12 to P with the specified welding condition A.
Welding is performed through P13 and P14 to a point P15 (Fig. 6).
(See (c)), and eventually the torch tip 2a up to the withdrawal point P16.
Will be moved.

Further, as shown in FIG. 5B, since the coordinate positions S11 and S12 of the search point are determined as absolute positions,
Based on the coordinate positions S11 and S12, the relative positional relationship between the work WK1 and the torch tip 2a is searched for in a manner as shown in FIGS. 6A and 6B with predetermined search patterns 1 and 4. As a result, the movement along the welding line can be performed accurately (see FIG. 6C).

In the above-described embodiment, after the work WK1, WK2, WK3 is placed on the base plates BS, BS ', the process of placing all the product models on the surface plate 4 is performed. However, the order is arbitrary, and as shown in steps 201 to 204 of FIG.
After arranging S and BS ′ on the surface plate 4, a process of arranging the works WK1 to WK3 on the base plates BS and BS ′ may be performed.

In short, the arrangement order is arbitrary as long as the positioning coordinate position (reference position R, posture angle θ) of the arranged and positioned work WK can be finally determined. Alternatively, the positioning coordinate position of the work WK may be directly input as data without performing the operation of arranging and positioning the welding target component on the CRT screen.

Further, in the embodiment, it is assumed that fillet welding is performed, but the present invention is not limited to this, and can be applied to any welding method such as butt welding.

[0053]

As described above, according to the present invention, the motion locus of the robot is automatically obtained only by selecting and arranging the work to be worked, and the work program is automatically created. As a result, the complexity of the process of designating the motion locus can be eliminated, and the work program can be easily created without requiring skill.

[Brief description of drawings]

FIG. 1 is a diagram showing an overall configuration of an embodiment of a work program creation device for a work robot according to the present invention.

2A and 2B are a top view and a side view showing the positional relationship between the robot and the surface plate of the embodiment.

FIG. 3 is a perspective view illustrating fillet welding work performed by the robot shown in FIG. 1.

4 is a diagram conceptually showing a process performed by the off-line programmer shown in FIG.

5A and 5B are diagrams showing contents of module data stored in a module table shown in FIG.

6 (a), (b), and (c) are diagrams used to explain the contents of processing executed by the basic program shown in FIG. 5 (b).

FIG. 7 is a diagram showing the contents of welding condition data stored in the welding condition table shown in FIG. 4.

8 is a flowchart showing a procedure of processing performed by the offline programmer shown in FIG.

FIG. 9 is a diagram showing a modification of the processing content of FIG.

10A to 10E are diagrams used for explaining the processing content shown in FIG.

[Explanation of symbols]

 1 Work Robot 2 Welding Torch 5 Robot Controller 6 Offline Programmer BS Base Plate WK1 to WK3 Welding Target Parts (Work)

Continuation of the front page (51) Int.Cl. ⁶ Identification number Office reference number FI technical display location G05B 19/4155 19/4097 // B23Q 15/00 301 Z

Claims (3)

[Claims] 1. A work program is created in which a coordinate position of a movement path on a work to which a tip of a tool of a work robot is to be moved is created, and the work is performed according to the coordinate position described in the created work program. In a work program creation device for a work robot that drives and controls the robot to cause the work robot to perform a predetermined work, the coordinate position of the movement path on the work to which the tip of the tool of the work robot should move is the work positioning. A basic program written as a variable whose position is a parameter is prepared in advance for each work of different shape, and the data indicating the shape of the work to be input is input and the positioning position when the work is positioned. Input the data indicating the coordinate position of and select the basic program corresponding to the input work shape data. Then, the work program creation device for the work robot, which creates the work program by calculating the coordinate position of the selected moving path on the basic program based on the input positioning coordinate position data. . 2. The work robot is a welding robot that performs a welding operation by moving a tip of a welding torch along a welding line, and selects the basic program and data indicating welding conditions. The work program creation device for a work robot according to claim 1, wherein the work program is created by: 3. The work robot is a welding robot that sequentially welds a plurality of workpieces arranged and positioned on a predetermined base plate, and inputs data indicating the shapes of the plurality of workpieces, and at the same time, these plurality of workpieces are input. 2. The work program creation of the work robot according to claim 1, wherein a work program is created by inputting data indicating the welding order of the above, and combining a plurality of basic programs corresponding to the plurality of works according to the welding order of the works. apparatus.