JPS62165213A - Work environment teaching device - Google Patents

Abstract

PURPOSE:To improve the efficiency of a work program by providing a device which displays arrangement relations among a robot, a work object material, etc., on a basis of connection relations generated by a connection relation generating device and generating teaching data of work environments of the robot. CONSTITUTION:A keyboard or the like is used to input shape dimensions of the robot, the work object material, etc., to a shape data generating part 5, and this generating part 5 generates shape data 11 while displaying it on a graphic display device. Position and attitude information are inputted to a position and attitude data generating part 6 with a light pen and a joystick for the purpose of arranging obtained shape data in a work environment position, and the generating part 6 converts inputted information to arrangement type data to obtain position and attitude data 12. This position and attitude data 12 is used to display the robot, the work object material, etc., after movement on the graphic display device. A work environment data generating part 10 edits data generated by each processing to generate work environment data 15. Thus, an accurate robot work program is easily generated.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a working environment teaching device for teaching the working environment of industrial electrical robots.

A conventional example of a description of a conventional technical work environment is as follows.
The robot language provides various data types to provide information on the shape, position, and posture of robots and work objects.

Accurately describe three-dimensional data such as gripping points, approach points, and evacuation points regarding the object to be worked by the robot in the work program. In addition, the exact connection relationships between objects to be worked on are also described in the work program.

Problems to be Solved by the Invention In the conventional method, in order to teach the work environment, it is necessary to use the shape data, position and orientation data of the robot and work object in the work program, and the grasping point and approach point of the robot regarding the work target object. - Evacuation point data must be accurately described.

However, it is extremely difficult to accurately create such three-dimensional data on a desk. This is because the more complex the shape and arrangement of the robot or work object, the less accurately a three-dimensional image can be expressed in the human head. Furthermore, it is difficult to specify the connection relationship between the objects to be worked on because the mutual positional relationship between the objects to be worked on cannot be accurately grasped on paper. Furthermore, since the work program does not have a separate part that describes the work environment and a part that describes the operation content, even if only the work environment is modified, the work program itself must be modified, making it impossible to develop the work program efficiently. .

Means for Solving the Problems The present invention provides a device for generating the shape of a robot, an object to be worked, etc., information on the position and orientation of the robot, the object to be worked, etc. in a work space, and information on the position and orientation of the robot, the object to be worked, etc. An input device for inputting the grasping point, approach point, evacuation point, etc. regarding the target object, and based on the position/orientation information input by the input device, the moved robot and the work target object, the robots and the robots, or the work target a contact detection device that detects a contact state between an object and a work target object; a connection relationship generation device that generates a connection relationship between the robot and the work target object based on information detected by the contact detection device; and the input device. A device that corrects position/orientation information and grip points, approach points, evacuation points, etc. inputted by the above-mentioned device, and a device that determines the placement relationship of the robot, work target object, etc. based on the connection relationship generated by the connection relationship generation device. The above-mentioned problems are solved by constructing a new work environment device consisting of a display device.

Effects of the present invention With the above-described configuration, the present invention generates an accurate shape of a robot, a work target object, etc., and uses the position/orientation information of the robot/work target object, and the grasping point and position of the work target object of the robot. Using approach points and evacuation points as input information, moving the robot and the object to be worked on using these input information, and detecting the fused state of the robot and the object to be worked on, and the object to be worked and the object to be worked after the movement. Then, based on the detected information, a connection relationship between the objects to be worked on is generated,
The arrangement relationship between the robot and the object to be worked on is displayed based on the connection relationship generated by these, and it is possible to visually grasp the work environment9, making it easier to teach the work environment. Further, the input position/orientation data of the robot/work target object, as well as the grasping point, approach point, and evacuation point of the robot regarding the work target object can be easily corrected/changed.

Example Examples of the present invention will be described in detail below.

FIG. 1 is a block diagram showing one embodiment of the present invention. The work environment teaching device of the present invention includes a computer 4 that performs various processes, and work target objects 16 and 17 that are generated in advance within the computer 4.
, a graphic display 1 for displaying shape data 11 of a robot 18, a joystick 2 for inputting three-dimensional position information, and a light ben 3.

Next, each process within the computer will be explained. The shape data generation unit 5 inputs the shape and dimensions of a robot, a work target object, etc. using a keyboard or the like, and generates shape data 11 .

This generation is performed while displaying on a graphic display.

The position/orientation data generation unit 6 inputs position/orientation information using a light ben and joystick, converts the input information into array-type data, and arranges the obtained shape data at a working environment position. This is referred to as position/orientation data 12. This position/orientation data 12 is used to display the robot, work object, etc. after movement on a graphic display.

When inputting the work environment position, divide the window of graphic display 1 into four as shown in Figure 2, and draw a perspective projection diagram of the entire work space. Projection diagram ■, Projection diagram onto the YZ plane■
is displayed and input position data using Light Ben 3.

Here, a projection view of each of the work objects 17 is illustrated assuming that the work object 16 is placed on the work object 17. Also, the * mark is the position entered with Light Ben.

When inputting posture information, an absolute coordinate axis a is displayed on the graphic display 1 as shown in FIG. 3, and the absolute coordinate axis a is moved using the joystick 2. This obtains the vector of each coordinate axis after movement. This vector is taken as posture information.

As shown in FIG. 4, the grip point/approach point/evacuation point data generation unit 9 generates position/orientation information (coordinate axis b) 2 when the robot hand 2o approaches the work object 16 when the robot hand 2o grips the work object 16. Position and posture information when moving away from the work target object 16 (coordinate axis C) 2 Position and posture information when leaving the work target object 16 (coordinate axis d)
is input using the light pen and joystick as described above, and the input information is converted into array-type data, which is used as grip point/approach point/evacuation point data 14.

The contact state detection unit performs the following processing. Among the work target objects already displayed on the graphic display, the work target object whose contact state is to be detected is specified.

Using the shape data of the specified object to be worked on, three states of collision, contact, and non-collision are detected and the states are displayed on a graphic display. If there is a collision or non-collision, information such as how deep the specified object is to be worked on or how far away it is is also output, so enter this information using a keyboard or the like, and repeat this process until contact occurs. If they are in contact, the process is passed to the connection relationship generation unit 8 to generate the connection relationship between the designated objects to be worked on and the like.

The connection relationship generation unit 8 is activated when the processing result of the contact state detection unit 8 is a contact state, and generates connection data 13 between work target objects in a contact state. The hatched area indicates contact with the work object 17. It can be seen that the work target object 16 is present on the work target object 17 based on this positional relationship.

The generated connection data describes the relationship when the work target object 16 exists on the work target object 17. These connection relationships change each time the object to be worked on is moved while teaching the work environment, and if a contact state is detected, a new connection relationship is generated. Once the connection relationship has been described, when moving a work target object, check the connection relationship to see if there is another work target object above the work target object, and if there is a work target object above it, move the work target object. The object to be worked on is also moved and displayed on the graphic display.

The work environment data creation unit 10 creates work environment data 15 by editing the data generated by each of the above-described processes.

Effects of the Invention As described above, according to the present invention, an accurate robot work program can be easily created without having to create work environment data separately, and the work environment can be visualized by displaying it on a graphic display. By using the 03D input device, which makes it possible to capture and easily teach the working environment, it is also possible to easily correct and change the 3D position data. Furthermore, by inputting the shape data of the robot and work object, it is possible to detect the contact state, and the connection relationship of the work work object is automatically generated based on the detected state, so it is dynamic. You can efficiently input changing connection relationships. When moving the object to be worked on, the object to be worked on that is related to the object to be worked on is also moved based on the connections, so movement information can be efficiently input.

[Brief explanation of drawings]

FIG. 1 is a block configuration diagram of a working environment teaching device according to an embodiment of the present invention, FIGS. 2 and 3 are explanatory diagrams of the position/orientation information input means of the same device, and FIG. 4 is a work target object of the robot. FIG. 5 is an explanatory diagram of the grasping point, approach point, and evacuation point regarding the object, and FIG. 5 is an explanatory diagram of the arrangement relationship between the objects to be worked on. 1... Graphic display, 2...
...Joystick, 3...Light pen, 4
. . . Computer, 6 . . . Shape data generation section, 6 . . . Position/orientation data generation section, 7. . .
...Contact state detection unit, 8...Connection relationship generation unit,
9...Gripping point/approach point/evacuation point data generation unit,
1o... Working environment data creation department, 11...
...Shape data, 12...Position/orientation data, 1
3... Connection data, 14... Grasping point
Approach point/evacuation point data, 15... Work environment data. Patent applicant Director of the Agency of Industrial Science and Technology etc. Figure 2 Figure 3 Figure 4 Figure 5

Claims (1)

[Claims] A device that generates the shape of a robot, object to be worked, etc., and a device that generates the shape of the robot, object to be worked, etc., and a device that generates the shape of the robot, object to be worked, etc.
an input device for inputting posture information and gripping points, approach points, evacuation points, etc. of the work target object of the robot; and a robot and work target that are moved based on the position/posture information input by the input device. a contact detection device that detects a contact state between objects, robots, or objects to be worked on; and a connection relationship generation device that generates a connection relationship between the robot and the object to be worked on based on information detected by the contact detection device. , a device that corrects the position/orientation information input by the input device and the gripping point, approach point, evacuation point, etc., and a robot, work target object, etc. based on the connection relationship generated by the connection relationship generation device. What is claimed is: 1. A work environment teaching device comprising a device for displaying the arrangement relationship of the robots, and forming teaching data for a robot's work environment.