JPH10133730A - Method and device for generating operation program for robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate to set teaching points for a work having an arbitrary shape and to generate an operation program in an off-line system. SOLUTION: A basic stereo pattern, teaching points corresponding to the pattern and an operation program are selected from among data stored in a basic data storage part and size information is inputted together. Then, the selected plural basic stereo patterns are combined to generate a work model which approximates to the work. Consequently, teaching pints corresponding to the generated work model are automatically set and an operation program is automatically generated. Thus, the work model is generated by combining the plural basic stereo patterns to easily set teaching points for the work having an arbitrary shape and generate the operation program.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for creating an operation program of a robot for creating an operation program of a robot such as a painting robot.

[0002]

When operating an industrial robot, for example, a painting robot, it is necessary to create an operation program (so-called teaching program) for operating the robot. There are various methods for creating this operation program from the past, and the most important method is to use an actual machine (robot) in an actual painting line.
The method is divided into an on-line method using a method and an off-line method using a method other than the actual painting line. In addition, as the offline method, a temporary actual machine method that uses the same kind of robot as the actual machine in the same working environment as the actual painting line,
There is a computer simulation method (also called CAD teaching) using a simulation function by a computer.

[0003] Among them, in the case of the online system, since the actual work is performed in the actual painting line, there is an advantage that the operation can be set in accordance with the actual work environment. However, there are drawbacks in that the painting line must be stopped during teaching, and that much time is required for teaching and skill is required.

On the other hand, among the off-line systems, in the case of the provisional actual machine system, since the operation is performed in a place other than the actual painting line, there is no need to stop the painting line, and almost the same as in the case of the online system, There is an advantage that the operation can be set according to the actual work environment. However,
A separate robot of the same type as the actual machine is required, and it is necessary to create a working environment similar to the actual painting line.
As in the case of the online method, there are disadvantages such as that much time is required for teaching and skill is required.

On the other hand, in the case of the computer simulation method, a three-dimensional model of a work environment including a robot model and a three-dimensional model of a work are created and displayed on a display screen. In addition to setting the teach points that will be the points of the above, an operation program is created by determining the passing order of each teach point, etc., and a work simulation of operating the robot according to the operation program on the display screen is performed, and based on this result, The operation program is completed.

In the case of such a computer simulation system, there is no need to stop the painting line, as in the case of the above-mentioned temporary actual machine system, and it is possible to set an operation almost corresponding to the actual working environment. There are advantages. Further, unlike the case of the temporary actual machine system, a teaching robot is not required, and there is no need to create a working environment similar to that of an actual painting line.

However, in order to set a teach point and create an operation program corresponding to a workpiece,
On the display screen, it is necessary to create a three-dimensional model that is faithful to the workpiece, and instruct the teach points one by one with respect to the three-dimensional model, and instruct the passing order of each teach point one by one. The work was very cumbersome and time consuming. In particular, when the shape of the work becomes complicated, the work becomes more troublesome and time-consuming.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an operation of a robot that can easily set a teach point and create an operation program for a work having an arbitrary shape in an off-line system. An object of the present invention is to provide a program creation method and a program creation device.

[0009]

In order to achieve the above object, a method for creating a robot operation program according to the present invention comprises:
A work model approximated to a work is created by combining a plurality of basic three-dimensional figures, and corresponding to the work model based on the data of the teach point preset for each of the basic three-dimensional figures and the data of the work model. Data of a robot operation program that sets a teach point to be set, and determines a passing order of each teach point preset for each of the basic three-dimensional figures,
An operation program corresponding to the work model is created based on the teach point data corresponding to the work model (the invention of claim 1).

According to this method, when a work model approximated to a work is created by combining a plurality of basic three-dimensional figures, data of teach points preset for each basic three-dimensional figure and data of the work model are obtained. Teach points corresponding to the work model are automatically set based on the robot model, and data of a robot operation program that defines a passage order of each teach point set in advance for each basic three-dimensional figure, and An operation program corresponding to the work model is automatically created based on the data of the teach point corresponding to the work model. Therefore, as a user,
There is no need to instruct the created work model on the teach points or the order of passing the teach points.

[0011] Further, as an apparatus for creating a robot operation program as described above, a plurality of basic three-dimensional figures,
Basic data storage means for storing data relating to a robot operation program which defines a teach point corresponding to each of these basic three-dimensional figures, a passing order of each teach point corresponding to each of the basic three-dimensional figures, and the basic data storage A selection means for selecting the data relating to the basic three-dimensional figure, the teach point, and the operation program stored in the means, and a plurality of the basic three-dimensional figures selected by the selection means are combined to create a work model similar to a work. Based on the work model creating means, the teach point data corresponding to each of the basic three-dimensional figures selected by the selecting means, and the work model data created by the work model creating means. Teach point corresponding to And teach point setting means that,
An operation program corresponding to the work model is created based on data of an operation program corresponding to each of the basic three-dimensional figures selected by the selection unit and data of a teach point set by the teach point setting unit. It is preferable to provide a configuration including an operation program creating means (the invention of claim 2).

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. First, FIG. 2 shows an external view of a painting robot 1. This robot 1 is an articulated robot in this case, and a hand 2 at the tip of an arm.
, A spray gun 3 for spraying paint is attached. FIG. 3 shows an example of a work 4 to be coated. In this case, the work 4 forms a substantially rectangular parallelepiped base 5 and a substantially cubic body, and is provided at one end of the upper surface of the base 5. The shape is a combination of the convex portion 6 in the state. The corners 5a and 6a of the base 5 and the protrusion 6 are chamfered so as to be curved.

FIG. 4 shows a schematic block configuration of a creating device for creating the operation program of the robot 1. The operation program creation device includes a calculation / control unit 10, a basic data storage unit 11, a robot model storage unit 12, an environment model storage unit 13, a work model storage unit 14, a teach point storage unit 15,
Operation program storage unit 16 and program storage unit 17
A display unit 18 composed of, for example, a CRT display;
It is composed of a keyboard 19, a mouse 20, and the like.

Among them, the basic data storage section 11 constitutes basic data storage means in the present invention.
The basic data storage unit 11 stores data relating to a plurality of basic three-dimensional figures (a cube, a rectangular parallelepiped, a cylinder, a sphere, a cone, etc.), data relating to a teach point of a painted surface in each basic three-dimensional figure, a passing order of each teach point, Data relating to an operation program that determines a moving speed and the like is stored. In this case, a basic solid figure, a painted surface in the basic solid figure, a teach point for the painted surface, and an operation program for painting the painted surface are one set.

The robot model storage unit 12 stores data such as the shape of the robot model that models the robot 1 and the parameters of each link.
The environment model storage unit 13 stores data such as the shape of an environment model obtained by modeling surrounding equipment in which the robot 1 is used, such as a partition wall, a transfer rail, and a hanger.

The work model storage unit 14 stores data on a work model created by combining a plurality of basic three-dimensional figures as described later, and the teach point storage unit 15 is set for the work model. The data on the teach points is stored, and the operation program storage unit 16 stores data on an operation program created for the work model.

The program storage unit 17 stores a program for controlling the arithmetic and control unit 10 to create a robot operation program. Display 18
Is configured to display a work model, a robot model, an environment model, a teach point for the work model and the like, and to execute a simulation of the work on this display screen, and constitute display means and output means.

The keyboard 19 and the mouse 20 constitute selection means for selecting a basic three-dimensional figure, a painted surface, a teach point, an operation program, and the like when creating a work model, and an input for inputting dimension information and the like. Means.

The operation / control unit 10 has a function of creating a work model (work model creation means) based on the operation of the keyboard 19 and the mouse 20, and a teach corresponding to the created work model, as described later. It has a function of setting points (teach point setting means), a function of creating an operation program corresponding to the created work model (operation program creation means), and a function of executing a work simulation using a robot model.

Next, FIG.
A procedure for creating an operation program for painting the work 4 will be described with reference to FIG. 1 and also FIGS.
In this case, the case where the work 4 is coated over the upper surface 5b of the base 5 and the front surface 6b of the projection 6 is intended.

FIG. 1 shows a main program for creating an operation program. When this program starts, first, the user operates the keyboard 19 or the mouse 20 to store the data in the basic data storage unit 11. The user selects a basic three-dimensional figure, a teach point, and an operation program and inputs dimensional information while viewing the display on the display unit 18 from the data (step S1). In this case, the basic three-dimensional figure includes a painted surface, a teach point on the painted surface, and an operation program for painting the painted surface.

Here, when selecting a basic three-dimensional figure, the user considers dividing the work 4 into a plurality of basic three-dimensional figures, and as shown in FIGS. A cube 21 which is a basic three-dimensional figure corresponding to 6 and a rectangular solid 22 which is a basic three-dimensional figure corresponding to the platform 5 are selected. At this time, as the cube 21 to be selected, a cube whose painting surface and painting direction are suitable for painting the front surface 6b of the convex portion 6 is selected from the cubes. The rectangular parallelepiped 22 is also selected from the rectangular parallelepipeds having a coating surface and a coating direction suitable for coating the upper surface 5b of the base 5. The selected basic three-dimensional figure (cube 21, rectangular solid 22) is displayed on the display unit 18. In FIGS. 5A and 5B, black dots indicate the teaching points TP, numbers following TP indicate the passing order, and dashed-dotted lines L indicate passing paths (painting paths). Note that the number of teach points TP is shown in a simplified manner.

Then, the user operates the keyboard 19 or the mouse 20 to operate the cube 21 and the rectangular solid 22.
And how to combine them.

Then, the operation / control section 10 creates a work model 23 (see FIG. 5C) by combining the basic three-dimensional figures (step S2). This work model 2
FIG. 6 shows a flowchart of a subroutine for creating the third subroutine.

First, a selected basic three-dimensional figure (cube 2
An operation associated with the combination of 1 and the rectangular parallelepiped 22) is performed (step T1). This operation is performed, for example, by CSG (constructive sol) used in the field of computer graphics.
id geometry) or B-reps (boundary rep)
resentation). Then, the data on the work model 23 created in this way is filed in the work model storage unit 14 (step T2), and the process returns to the main routine.

Next, the arithmetic and control unit 10 sets a teach point corresponding to the work model 23 created in step S2 and creates an operation program (step S3). FIG. 7 is a flowchart of a subroutine for setting a teach point and creating an operation program.
Shown in

Here, first, a calculation for selecting and integrating a teach point corresponding to the work model 23 is performed (step U1). Specifically, the data of the teach point TP preset in the cube 21, the data of the teach point TP preset in the cuboid 22, and the data of the work model 23 in which the cube 21 and the cuboid 22 are combined Based on the work model 23
Set the teach point corresponding to. In this case, as a part of the upper surface of the rectangular parallelepiped 22 is covered by the cube 21, a part of the teach point on the upper surface side of the rectangular parallelepiped 22 is canceled. In FIG. 5C, a white point indicates a teach point (CTP) to be canceled.
Is shown. In this way, the teach point TP corresponding to the work model 23 is set, and the data of the teach point TP is filed in the teach point storage unit 15 (step U2).

Next, a number is assigned to the teach point TP corresponding to the work model 23 (step U3), and this data, the data of the operation program preset in the cube 21 and the operation preset in the cuboid 22 are set. An operation program corresponding to the work model 23 is created based on the program data. When creating this operation program, the ON position and the OFF position, the direction, the moving speed, and the like of the spray gun 3 are determined in addition to the passage route (painting route). The operation program created in this manner is filed in the operation program storage unit 16 (step U).
4) Return to the main routine.

Next, an instruction to execute a simulation is given by a user's operation. Based on this, the arithmetic and control unit 10 simulates the work by the robot model (step S4). FIG. 8 is a flowchart of a subroutine for executing this simulation.
Shown in

First, data relating to a robot model is read from the robot model storage unit 12 and data relating to an environment model (models such as partition walls and transfer rails) are read out from the environment model storage unit 13 and displayed on the display unit 18 (step). V1). Further, the data relating to the work model 23 is read from the work model storage unit 14 and displayed on the display unit 18 together with the robot model and the environment model (step V2).

Then, on the screen of the display unit 18, the robot model is operated in accordance with the operation program created in step S3, and a work simulation is performed (step V3). Then, a check calculation is performed (step V4), and it is checked whether or not there is collision or interference between members, or whether or not the robot model passes through a singular point (step V5). As a result of the check, if there is a collision or interference between the members, or if it passes through a singular point, the point is displayed on the screen of the display unit 18 (step V6). For example, if there is collision or interference of members,
Related members are displayed in red. Further, when the robot model passes through the singular point, the operation speed of the robot model becomes extremely high, and therefore, the robot model is determined accordingly. When the simulation of the work is completed, the process returns to the main routine.

As a result of the simulation, it is determined whether or not it is necessary to add or modify the teach point or the operation program (step S5). If it is necessary to add or modify (step S5).
6). At this time, if there is collision or interference between members,
For example, an input for correcting the teaching point so as to be shifted is performed. In the case of passing through a singular point, for example, an input for modifying an operation program is made so as to change the posture of the robot in advance. Then, the process returns to step S4, and the simulation is performed again. In step S5, when there is no need to add or modify, the operation program is completed (step S7). The completed operation program is filed in the operation program storage unit 16.

Thus, the creation of the operation program is completed. Then, using the created operation program, a test coating is performed in an actual coating line, and if further correction is necessary, it is corrected and completed.

According to the above-described embodiment, the following effects can be obtained. That is, when creating an operation program for painting the work 1, first, from among the data stored in the basic data storage unit 11, a basic three-dimensional figure (cube) for forming a work model 14 similar to the work 1 is prepared. 21, a rectangular parallelepiped 22), and a teach point and an operation program corresponding to the painted surface are selected.
Enter the dimension information. Then, based on creating a work model 23 that approximates the work 1 by combining the selected basic three-dimensional figures, a teach point corresponding to the work model 23 is automatically set, and an operation program is automatically created. In the offline method, it is easy to set a teach point and create an operation program for a work of any shape.
Moreover, it can be performed in a short time.

When creating the work model 23,
Since a figure similar to the work 4 is handled, the teaching point can be easily handled, and a work having a somewhat complicated shape can be easily handled.

The work is not limited to a specific shape, but can be applied to a work of any shape.
There is also an advantage that software packaging (mass production) becomes possible.

The present invention is not limited to the above embodiment, but can be modified or expanded as follows. When storing the basic three-dimensional figure, the teach point, and the operation program in the basic data storage unit, instead of storing them in a set state, they may be stored separately. In this case, it is necessary for the user to combine the basic three-dimensional figure, the teach point, and the operation program.

The work simulation is not always necessary, and may be performed as needed.
Further, the present invention is not limited to a painting robot, and can be applied to, for example, a case where an operation program of a polishing robot is created.

[0039]

As is apparent from the above description, according to the present invention, when a work model approximated to a work is created by combining a plurality of basic three-dimensional figures, a teach point set in advance for each basic three-dimensional figure is obtained. The teaching point corresponding to the work model is automatically set based on the data of the operation program and the data of the created work model, and the operation program is automatically created. In this case, setting of a teach point and creation of an operation program for a work having an arbitrary shape can be performed easily and in a short time.

[Brief description of the drawings]

FIG. 1 shows an embodiment of the present invention, and is a flowchart of a main program when an operation program is created.

FIG. 2 is a perspective view of a robot.

FIG. 3 is a perspective view of a work.

FIG. 4 is a block diagram of a creating apparatus.

FIG. 5 is a perspective view of a basic three-dimensional figure and a work model.

FIG. 6 is a flowchart of a program for creating a work model.

FIG. 7 is a flowchart of a program for setting a teach point and creating an operation program.

FIG. 8 is a flowchart of a program for performing a simulation.

[Explanation of symbols]

1 is a robot, 3 is a spray gun, 4 is a work, 10 is a calculation / control unit (work model creation unit, teach point setting unit, operation program creation unit), 11 is a basic data storage unit (basic data storage unit), 18 Is the display unit, 1
9 is a keyboard (selection means), 20 is a mouse (selection means), 21 is a cube (basic three-dimensional figure), 22 is a rectangular parallelepiped (basic three-dimensional figure), and 23 is a work model.

Claims (2)

[Claims] 1. A work model approximated to a work is created by combining a plurality of basic three-dimensional figures, and based on teach point data preset for each of the basic three-dimensional figures and data of the work model, A teach point corresponding to the work model is set, and data of a robot operation program defining a passage order of each teach point set in advance for each of the basic three-dimensional figures, and a teach corresponding to the work model. An operation program creation method for a robot, wherein an operation program corresponding to the work model is created based on the point data. 2. Stores a plurality of basic three-dimensional figures, teach points corresponding to the respective basic three-dimensional figures, and respective data relating to an operation program of the robot which defines the passing order of the respective teach points corresponding to the respective basic three-dimensional figures. Basic data storage means for performing the operation; selecting means for selecting data relating to the basic three-dimensional figure, teach point and operation program stored in the basic data storage means; and combining a plurality of the basic three-dimensional figures selected by the selection means Work model creating means for creating a work model similar to the work, data of teach points corresponding to each of the basic three-dimensional figures selected by the selecting means, and the work created by the work model creating means Based on the model data, the work model Teaching point setting means for setting a teaching point corresponding to a file, data of an operation program corresponding to each of the basic three-dimensional figures selected by the selecting means, and data of a teaching point set by the teaching point setting means. An operation program generating means for generating an operation program corresponding to the work model based on the operation program.