JPS6128105A - System creating working data - Google Patents

Abstract

PURPOSE:To attain automation of production of multi-kind and small quantity by using a shape data of a work and applying production-technological conversion in common to similar works so as to create a working data. CONSTITUTION:In the process 2, the shape data 1 of the work expressed in general as (x,y,z) is converted into a standard data 3 while being converted as the standpoint of production technology. The data 3 is converted from the data 1 into a coordinate of a working machine so that the work by the working macine is processed and the direction of a tool to the coordinate plane is expressed in theta1-theta3. In the process 4 to which information required to the work, the data is converted into a data 5 (x'-z', theta1'-theta3') giving to the actual work by using the working machine. In the process 6, the coordinate conversion is applied to the data 5 so as to realize it at the tip of the working machine to generate command data 7 for 6 axes constituting the working machine.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention transforms the shape data representing the shape of a workpiece into consideration of the working method 1 and working conditions of the workpiece, and converts the data into standard data. This is a system that creates work data by importing data to correct the relative relationship with the workpiece. [Background of the Invention] Conventionally, work data for robots has been created by teaching, but it is Data creation had the disadvantage of being inefficient.

Furthermore, in high-mix, low-volume production, it is practically difficult to ensure positioning accuracy for each workpiece or to ensure dimensional accuracy of the workpiece itself. For this reason, automation cannot be achieved using standard workpiece data alone. Furthermore, even if accuracy problems are solved, shape data created for CAD etc.
Since it does not include work procedures, directions, methods, 9 conditions, etc., it is not possible to ask the robot to do the work.

[Purpose of the invention] As shown in Fig. 1, a reference point is specified in the shape data, a work procedure, direction, and method conditions are added, a standard position of the work machine is given, and the standard data is used. to the reference point on the workpiece to obtain actual data. Next, use the actual reference point data and the standard reference point data expressed by the standard data to create a conversion formula for coordinate transformation of all the standard data.Actual work data is converted from the standard data. Create.

[Summary of the invention]

In order to produce a wide variety of products in small quantities, it is necessary to create data for the work machines to do, but creating data that describes all the work for each workpiece is a poor performance test.

If there is data describing the shapes of various workpieces with similar shapes, use a common working method and 0 direction conditions.

By adding production technology transformations that provide reference points on the workpiece, standard data can be automatically created for various types of workpieces. Furthermore, if the work machine is given the ability to create a conversion formula between actual data and standard data,
It is possible to easily create a system that can perform correct work even on workpieces with poor positioning accuracy and dimensional accuracy.

[Embodiments of the invention]

FIG. 2 shows a flowchart for converting shape data of a workpiece according to the present invention.

1 is the generally expressed shape data of the workpiece (x+
71 2). 2 is the process of converting the shape data 1 from a production engineering perspective, and the result is the standard data format of B. Standard data 3 includes shape data (x.

7oz) is the coordinate of the work machine (x* 7* z
). In addition, the direction of work is important for working machines, and the coordinate plane (y, z) I (X,
z).

(X, Y) The direction in which the tool of the work machine faces with respect to K is represented by (θl+$!*eB).

Step 4, in which information necessary for the work is added, is a process of coordinate transformation of the standard data into data that can be used to work on the actual work using a working machine. 5 is the work data converted by the process of 4 (XS Y-2-〇I', l'
fZ '9'). 6 is a coordinate transformation process for realizing the above work data at the tip of the work machine. 7 is command data for the six axes that make up the work machine.

FIG. 3 shows the detailed contents of the standard data 3. One step of information consists of 16 bytes, and 1 byte is 1
(Consists of Sbit.

In FIG. 3, X, Y, and Z are obtained by converting the shape data 1 shown in FIG. 2. Among the data in FIG. 3, the step number and program number are added in the second south process 2 to indicate the work order of the working machine. Also θ3. θ2. θ.

The working direction and the remaining control information were also added in step 2 of FIG.

α1. α7. α is information regarding 3,000 planes serving as the reference of the workpiece.

Of the control information in the 10th byte, the posture indicates the area required when the robot passes through a singular point, and the form indicates whether the robot has a running axis or a turning axis.

The reference point is a point that is given for only three points on the workpiece, and the actual position data of the workpiece can be imported only at the point where this information is available, and it is necessary to perform the coordinate transformation of the standard data shown in Step 4 of Figure 2. The straight lines and arcs necessary to create the necessary conversion formulas indicate the interpolation method. Accuracy indicates the precision of positioning at a location with position data.

Sensors 1, 2.3 are control information that is a command for the robot to take in information from each sensor.

Shift No. 9 Work No., Weaving No., Timer No.
, interface input No., and interface output No. are information indicating the location where each data is stored.

Shift indicates relative movement from position data.

The work number indicates a combination of work speed and tool work conditions (for example, current and voltage in arc welding).

Weaving No. indicates several kinds of weaving methods stored in advance.

The timer number indicates the stagnation time at the location where the information is located, and the interface input/output number indicates the input/output signal to the external device that should be interlocked at the location where the information is located.

FIG. 4 is a block diagram of the control device for the work machine of this system. 14 is a working machine, and 15 is a control device.

Reference numeral 16 denotes a CPU, which controls the entire machine, including reading external data, automatic operation and manual operation of the work machine.

Reference numeral 17 denotes a switching device that allows the mode of the working machine to be selected by external operation or human operation.

Reference numeral 18 denotes a guide device that has a push button that allows the robot to be operated manually.

Reference numeral 19 denotes a step reading device, which is necessary for arranging standard data B in an order suitable for the work when the data of standard data B is input after the switching device 17 is set to external data reading mode.

Reference numeral 20 denotes an alignment device that changes the order of the standard data 3 according to a command from the step reading device 190.

Reference numeral 21 denotes a machine data memory in which the standard data 6 is arranged and stored in the order of steps and programs by an arrangement device 20.

22 is an external data file, No.
0 work number, weaving number, timer number.

The contents of data for each number of interface input NO and interface output N0 are stored.

23 is a numbered data memory that stores the data file 22 as is.

Sensors 24, 25, and 26 each have independent functions, and are provided to measure the position of the workpiece.

27 is a reference point determination device that determines the presence or absence of reference point information in the machine data memory, and if it is one reference point, gives a command to the sensors 24, 25, . 26, the workpiece is detected, and the position of the tip of the working machine when the workpiece is detected is stored as reference point data.

The reference point data may be obtained by manually operating the working machine using the guide bench 18 and positioning it at a reference point on the workpiece.

28 is the detection value β1.28 of a group of position detectors attached to each axis of a working machine consisting of six rotating axes. β,.

β8. β4. β5. β. It is expressed as

29 is a conversion device, which converts the β8. β7. β8. β4. β
,.

Each axis data represented by β6 is generalized x9Y,
Z, θ1. θ8. -3 coordinate transformation.

30 is a memory for storing reference point data, and 31 is a machine data correction device. The machine data correction device is a device that performs correction calculations for converting machine data into work data from the standard reference point data in the machine data memory 21 and the corresponding actual reference point data in the reference point data memory 30. It is.

Reference numeral 32 denotes a memory that stores work data after the machine data correction device 51 performs correction calculations. The work machine can work only with the work data in the work data memory 32.

33 is a servo unit.

3A is each axis data memory that gives commands to each axis of the working machine 14, and each axis data is converted from the work data stored in the work data memory 32 by the coordinate conversion device 29 (see FIG. 2). 7) is stored.

Next, we will explain how to obtain a conversion formula from three reference point data.

When the reference point is one point, a simple shift is performed. The calculations performed by the machine data correction device 31 are as follows.

Machine data reference point matrix (X1+ Y+*Z
1, 1) and the reference point matrix in the reference point data memory 30 (X'+ + 'L'+ e Z'+ +
1), the transformation matrix T for the shift is (x, I y, l z,, ']T=[X'll y
/,, z hull 1] (5, 1) △X = X', -X H, ΔY = Y'l -Y 1
, △Z =z', -z.

The second reference point is used for rotation around the first reference point.

The matrix of the second standard reference point is [xty, z
, 1], and the actual standard point matrix is [X't
Y't Z't ': ], the transformation matrix T is expressed as.

The conversion matrix T based on the third reference point, and therefore the conversion formula T for converting standard data to working data, is T=T, XT, XT, (!1.5)
becomes.

An application example of this system will be explained by taking as an example a case where various types of printed boards with different sizes are conveyed on the same conveyor, three reference points on the printed boards are detected, and electronic parts are mounted by a robot.

The external dimensions of each printed board flowing on the conveyor and the capacitor installed on it.

The contents of each work such as resistance are stored as standard data in the robot's storage device from the host computer.

Standard data includes not only the working position on the workpiece and control information at that point, but also the information necessary when the robot operates.
It also includes the order of movement, the speed and path to the next point (how to process sensor information, if necessary), and the accuracy of the path.

When the printed board comes flowing and reaches the stopper on the workbench, the dimensions in the direction across the conveyor are visually determined and three of the four corners of the printed board are calculated.

Using these three points as reference points, the position data of the standard data is converted into work data using equation (5, 5)K.

The procedure for working using this work data as input is no different from that of conventional playback robots.

Note that if the present system is applied to a large-sized workpiece such as surface painting or arc welding robots, it is more realistic to manually input the three reference points mentioned above.

〔Effect of the invention〕

This system utilizes the shape data of standard workpieces created without considering the structure and operating range of the working machine.
It is possible to create work data necessary for working on the actual workpiece.

This makes it possible to automate workpieces that are produced in a wide variety of small quantities.

Up until now, in order to perform work with a work machine, the method has been to accurately determine the relative position between the work machine and the workpiece, and to use nominal standard data as work data. However, with this system, if we have the shape data of the workpiece, we can simply apply production engineering transformations that are common to similar workpieces, leaving the workpiece with errors in an inaccurate relative relationship with the working machine, and in actual practice. It is now possible to create the work data necessary for the work. By kneading, it is possible to automate high-mix, low-volume production, which was generally impossible until now.

[Brief explanation of drawings]

Each figure relates to the present invention. Figure 1 is a flowchart showing the order of data creation;
The figure shows a flowchart for converting shape data of a workpiece, FIG. 3 shows a memory table of converted shape data, and FIG. 4 shows a block diagram of a control device. In the figure, 1 is shape data, 2 is a conversion process, 3 is standard data, 4 is a conversion process, and 5 is work data. Agent Patent Attorney Akio Takahashi No. 10
Our company 2121 $ 3 Figure

Claims (1)

[Claims] 1. It has a multi-degree-of-freedom movement mechanism, a detector for each axis, and a storage device that stores data relating the movement order to the movement position, and the work data is used to sequentially perform the work. A first step in which the position data of each point indicating the shape of the workpiece is converted according to the coordinates of the work machine, and at least step number and reference point information are added, and the data is stored in the order of the step number. a second step of calculating a transformation matrix of the data stored in the second step from the data of the reference point stored in the second step and the actual position data of the reference point; and a third step of calculating the transformation matrix of the data stored in the second step; A system that creates work data by multiplying the data stored in the second process to create work data. 2. As a method of obtaining actual position data of the reference point in the third process, the work point of the working machine is matched with the actual reference point within the working area of the working machine by manual operation of the guide device, and the work obtained at that time is A system for creating work data according to claim 1, characterized in that the work data is obtained from a detector for each axis of a machine. 3. The method of determining the actual position data of the reference point in the third step is characterized by detecting the reference point using a sensor and obtaining it from the detectors for each axis of the working machine obtained at that time. A system for creating work data according to claim 1. 4. A system for creating work data according to claim 1, which includes a control device having a function of determining the presence or absence of a reference point in the third step. 5. A system for creating work data according to claim 1, which includes a control device having a function of reading step numbers in the second process.