JPS62173140A - Check method just before interference - Google Patents

Check method just before interference

Info

Publication number
JPS62173140A
JPS62173140A JP1323586A JP1323586A JPS62173140A JP S62173140 A JPS62173140 A JP S62173140A JP 1323586 A JP1323586 A JP 1323586A JP 1323586 A JP1323586 A JP 1323586A JP S62173140 A JPS62173140 A JP S62173140A
Authority
JP
Japan
Prior art keywords
movable member
interference
graphic display
host computer
display terminal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP1323586A
Other languages
Japanese (ja)
Inventor
Kunio Tanaka
久仁夫 田中
Kazuhiko Morizaki
和彦 森嵜
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Priority to JP1323586A priority Critical patent/JPS62173140A/en
Priority to PCT/JP1987/000044 priority patent/WO1987004381A1/en
Publication of JPS62173140A publication Critical patent/JPS62173140A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G05B19/4069—Simulating machining process on screen
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49157—Limitation, collision, interference, forbidden zones, avoid obstacles

Abstract

PURPOSE:To check a state being just before interference, by checking the state at just before a robot or the like interferes with a holddown member at the terminal side of a graphic display, while facilitating the composition of an application program for a host computer. CONSTITUTION:A display control part 21 at the graphic display terminal side 2 displays an image inclusive of the initial state of a moving member 31 on a cathode-ray tube 24 on the basis of image data being fed out of a host computer 11, while it generates a form 31' being larger as far as the specified size value then an actual form of the moving member 21 in an internal manner. And, it displays motion of this moving member 31 on the basis of a command for moving the moving member 31, while the form part 31' internally generated is also shifted. In parallel with this shifting process, it checks whether the internally generated form part interferes with other holddown members 32-34 or not.

Description

【発明の詳細な説明】 〈産業上の利用分野〉 大発明は干渉直前チェック方法にかかり、特にロボット
の可動部材や工作８１城の可動部材が固定部材に干渉す
る直前であるかどうかをグラフィックディスプレイ端末
側でチェックする干渉直前チェック方法に関する。[Detailed Description of the Invention] <Industrial Application Field> The great invention relates to a method for checking immediately before interference, and in particular, a graphic display method for checking whether a movable member of a robot or a movable member of a work 81 castle is about to interfere with a fixed member. This invention relates to a method for checking just before interference, which is checked on the terminal side.

〈従来技術〉 ホストコンピュータとグラフィックディスプレイ端末を
備えたシステムにおいて、グラフィックディスプレイ端
末のＣＲＴにロボット等の可動部材の動きを描画して動
作シュミレーンヨン金実行する場合、該可動部材が他の
機械固定部やワーク置台等に干渉したかどうかをチェッ
クする干渉チェックが必要になることが多い。<Prior art> In a system equipped with a host computer and a graphic display terminal, when the movement of a movable member such as a robot is drawn on the CRT of the graphic display terminal to simulate the motion, the movable member is connected to another fixed machine. It is often necessary to perform an interference check to check whether there is any interference with parts, workpiece stands, etc.

このため、従来はかかる干渉チェックをホストコンピュ
ータのアブリケーンヨンプログラムで実行していた。For this reason, conventionally, such an interference check has been executed by an interference program of a host computer.

〈発明が解決しようとしている問題点〉しかし、かかる
従来の干渉チーリフ方法で；よアプリケーションプログ
ラムが複雑になりプログラミングが面倒となる問題があ
った。<Problems to be Solved by the Invention> However, the conventional interference relief method has the problem that the application program becomes complicated and programming becomes troublesome.

又、従来の干渉チェック方法では干渉する迄はわからず
、換言すれば干渉直前の状態を認識することができない
という問題があった。Further, in the conventional interference checking method, there is a problem in that it is not possible to know until the interference occurs, or in other words, it is impossible to recognize the state immediately before the interference occurs.

以上から、本発明の目的は干渉直前の状態をグラフィッ
クディスプレイ端末側でチェックする干渉直前チェック
方法を提供することである。In light of the above, an object of the present invention is to provide a method for checking immediately before interference, which checks the state immediately before interference on the side of a graphic display terminal.

く問題点を解決するための手段〉 第１図は本発明方法の実施例であるシステムのブロック
図である。Means for Solving the Problems> FIG. 1 is a block diagram of a system that is an embodiment of the method of the present invention.

１はホスト側、２はグラフィックディスプレイ端末側で
あり、１１はホストコンピュータ、１２は画像データを
記憶するデータベースメモリ、２１はディスプレイ制御
部、２２はセグメントメモリ、２３はフレームバッファ
、２４はＣＲＴ。1 is a host side, 2 is a graphic display terminal side, 11 is a host computer, 12 is a database memory for storing image data, 21 is a display control unit, 22 is a segment memory, 23 is a frame buffer, and 24 is a CRT.

２５はキーボードである。25 is a keyboard.

又、ＣＲＴ画面において、３０は日ボット、３１はロボ
ットのアーム、手首、ハンドよりなる可動部材、３２は
天井固定部材、３３ば別の機械固定部材、３４はワーク
置台、３５はワークである。Further, on the CRT screen, 30 is a robot, 31 is a movable member consisting of a robot arm, wrist, and hand, 32 is a ceiling fixing member, 33 is another machine fixing member, 34 is a workpiece stand, and 35 is a workpiece.

く作用〉 グラフィックディスプレイ端末側２のディスプレイ制御
部２１はホストコンピュータ１１から送られてくる画像
データに基づいて可動部材３１の初期状態を含む画像を
ＣＲＴ２４に表示すると共に、可動部材３１の実形状に
対して所定寸法値だけ大きい形状３１′　（点線参照）
を内部的に生成する。そして、可動部材３１を移動させ
る指令に基づいて該可動部材の動きを表示すると共に、
内部的に生成した形状部分３１′も移動させ、該移動処
理と並行して該内部的に生成した形状部分が他の固定部
材３２〜３４と干渉するかどうかをチェックする。Function> The display control unit 21 on the graphic display terminal side 2 displays an image including the initial state of the movable member 31 on the CRT 24 based on the image data sent from the host computer 11, and also displays the actual shape of the movable member 31. Shape 31' that is larger by a predetermined dimension value (see dotted line)
is generated internally. Then, the movement of the movable member 31 is displayed based on the command to move the movable member 31, and
The internally generated shaped portion 31' is also moved, and in parallel with the moving process, it is checked whether the internally generated shaped portion interferes with the other fixing members 32 to 34.

〈実施例〉 第１図は本発明方法の実施例であるシステムのブロック
図、第２図はＣＲＴ描画例を示す図である。<Embodiment> FIG. 1 is a block diagram of a system that is an embodiment of the method of the present invention, and FIG. 2 is a diagram showing an example of CRT drawing.

第１図において、１はホスト側、２はグラフィックディ
スプレイ端末側であり、ホスト側１にはホストコンピュ
ータ１１と、画像データを記憶するデータベースメモリ
１２が設けられ、グラフィックディスプレイ端末側２に
はディスプレイ制御部２１と、セグメントメモリ２２と
、フレームバッファ２３と、ＣＲＴ２４と、キーボード
２５が設けられている。In FIG. 1, 1 is a host side, and 2 is a graphic display terminal side. The host side 1 is provided with a host computer 11 and a database memory 12 for storing image data, and the graphic display terminal side 2 is provided with a display control. 21, a segment memory 22, a frame buffer 23, a CRT 24, and a keyboard 25.

第２図の表示画像において、３０はロボット、３１はロ
ボットのアーム３１８１手首３１ｂ１八ンド３１ｃより
なる可動部材、３２は天井固定部材、３３は別の８！械
固定部材、３４はワーク置台、３５はワークである。In the display image of FIG. 2, 30 is a robot, 31 is a movable member consisting of the robot's arm 3181, wrist 31b, and eight hands 31c, 32 is a ceiling fixing member, and 33 is another 8! A machine fixing member, 34 a workpiece stand, and 35 a workpiece.

以下第１図及び第２図に従って本発明方法を説明する。The method of the present invention will be explained below with reference to FIGS. 1 and 2.

尚、キーボード２５を用いてオフラインで、ワーク３５
に溶接あるいはシーリング作業を行うロボット指令デー
タを対話的に作成するものとする。Note that the work 35 can be edited offline using the keyboard 25.
Robot command data for performing welding or sealing work will be created interactively.

キーボード２５から、オフラインでロボットデータを作
成することが指示されると、デ、イスプレイ制御部２１
はその旨をホストコンピュータ１１に通知する。When an instruction is given from the keyboard 25 to create robot data offline, the display control unit 21
notifies the host computer 11 of this fact.

これにより、ホストコンピュータ１１はデータベースメ
モリ１２から所定の画像データを取り出してグラフィッ
クディスプレイ端末側２に送る。Thereby, the host computer 11 takes out predetermined image data from the database memory 12 and sends it to the graphic display terminal side 2.

尚、画像データは階層構造になっており、該画像データ
により可動部材３１の初期状態や固定部材を含む画像が
描画されうる。Note that the image data has a hierarchical structure, and an image including the initial state of the movable member 31 and the fixed member can be drawn using the image data.

グラフィックディスプレイ端末側のディスプレイ制ｆｌ
Ｊ１１６２１は画像データをセグメントメモリ２２に所
定の処理を施して記憶した後、順次読出して画像を発生
してフレームバッファ２３に記憶する。これにより、Ｃ
ＲＴには第２図に示す可動部材が初期状態の画像が描画
される。Graphic display terminal side display system fl
J11621 performs predetermined processing on the image data and stores it in the segment memory 22, and then sequentially reads it out to generate an image and stores it in the frame buffer 23. As a result, C
An image of the movable member in its initial state shown in FIG. 2 is drawn on RT.

又、ディスプレイ制御部２１は初期状態の画像を描画し
た後、可動部材３１の実形状に対して所定寸法値だけ大
きい形状３１′　（点線参照）を内部的に生成する。Further, after drawing the image in the initial state, the display control section 21 internally generates a shape 31' (see dotted line) that is larger than the actual shape of the movable member 31 by a predetermined dimension value.

この状態で、キーボード２５等のデータ入力装置から可
動部材３１を移動させる指令が発生すれば、ディスプレ
イ制御部２１は該指令に基づいて可動部材３１の動きを
表示すると共に、内部的に生成した形状部分３１′も移
動させる。尚、移動データはたと丸ばキーボード２５上
に設けられた各制御軸（Ｚ、Ｒ，θ、α、β軸）のジヲ
グ釦を押圧することにより入力されろ。In this state, if a command to move the movable member 31 is generated from a data input device such as the keyboard 25, the display control unit 21 displays the movement of the movable member 31 based on the command, and also displays the internally generated shape. Part 31' is also moved. The movement data is input by pressing the jig button for each control axis (Z, R, θ, α, β axis) provided on the keyboard 25.

そして、上記移動処理と並行してディスプレイ制御部２
１は内部的に生成した形状部分３１′と可動部材の外形
とて囲まれた部分が他の固定部材３２〜３４と干渉する
かどうかをチェックする。Then, in parallel with the above movement process, the display control unit 2
Step 1 checks whether or not a portion surrounded by the internally generated shape portion 31' and the outer shape of the movable member interferes with other fixed members 32 to 34.

尚、干渉するかどうかは従来の干渉チェックの方法が適
用できろものである。Note that conventional interference checking methods can be applied to determine whether or not there will be interference.

以後、干渉しないようにオフラインで可動部材を移動さ
せ、干渉すればロボット通路を修正する。After that, move the movable members off-line to avoid interference, and if there is interference, correct the robot path.

そして、かかる操作を繰り返して最終的にロボット指令
データが作成される。Then, by repeating this operation, robot command data is finally created.

〈発明の効果〉 以上本発明によれば、干渉直前チェックをグラフィック
ディスプレイ端末側で実行でき、したがってホストコン
ピュータのアブリケーシヲンプログラムの作成を容易に
でき、しかも干渉直前の状態をチェックすることができ
有効でである。<Effects of the Invention> According to the present invention, the check just before interference can be executed on the graphic display terminal side, making it easy to create an application program for the host computer, and also checking the state immediately before interference. It is valid.

【図面の簡単な説明】[Brief explanation of drawings]

第１図は本発明方法の実施例であるシステムのブロック
図、 第２図はＣＲＴ描画例を示す図である。 １・・ホスト側、 ２°°グラフイツクデイスプレイ端末側、１１・・ホス
トコンピュータ、 １２・・データベースメモリ、 ２１・・ディスプレイ制御部、 ２２・・セグメントメモリ、 ２３・・フレームバッファ、 ２４・・ＣＲＴ、２５・・キーボード ３１・・可動部材、 ３２〜３４・・固定部材、FIG. 1 is a block diagram of a system that is an embodiment of the method of the present invention, and FIG. 2 is a diagram showing an example of drawing on a CRT. 1...Host side, 2°Graphic display terminal side, 11...Host computer, 12...Database memory, 21...Display control section, 22...Segment memory, 23...Frame buffer, 24...CRT , 25...keyboard 31...movable member, 32-34...fixed member,

Claims (1)

【特許請求の範囲】[Claims] ホストコンピュータとグラフィックディスプレイ端末を
備え、グラフィックディスプレイ端末のディスプレイ画
面に可動部材の動作状態を表示するシステムの干渉直前
チェック方法において、グラフィックディスプレイ端末
はホストコンピュータから送られてくる画像データに基
づいて可動部材の初期状態を含む画像をディスプレイ画
面に表示すると共に、可動部材の実形状に対して所定寸
法値だけ大きい形状を内部的に生成し、可動部材を移動
させる指令に基づいて該可動部材の動きを表示すると共
に、前記内部的に生成した形状部分も移動させ、該移動
処理と並行して該内部的に生成した形状部分が他の固定
部材と干渉するかどうかをチェックすることにより可動
部材の干渉直前状態を識別することを特徴とする干渉直
前チェック方法。In a method for immediately checking for interference in a system that includes a host computer and a graphic display terminal and displays the operating status of a movable member on the display screen of the graphic display terminal, the graphic display terminal detects the operating state of the movable member based on image data sent from the host computer. Displays an image including the initial state of the movable member on the display screen, internally generates a shape that is larger than the actual shape of the movable member by a predetermined dimension value, and controls the movement of the movable member based on a command to move the movable member. At the same time, the internally generated shape part is also moved, and in parallel with the movement process, it is checked whether or not the internally generated shape part interferes with other fixed members, thereby preventing interference between movable members. A method for checking immediately before interference, characterized by identifying an immediately preceding state.
JP1323586A 1986-01-24 1986-01-24 Check method just before interference Pending JPS62173140A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP1323586A JPS62173140A (en) 1986-01-24 1986-01-24 Check method just before interference
PCT/JP1987/000044 WO1987004381A1 (en) 1986-01-24 1987-01-23 Method of checking the condition just before interference takes place

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1323586A JPS62173140A (en) 1986-01-24 1986-01-24 Check method just before interference

Publications (1)

Publication Number Publication Date
JPS62173140A true JPS62173140A (en) 1987-07-30

Family

ID=11827527

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1323586A Pending JPS62173140A (en) 1986-01-24 1986-01-24 Check method just before interference

Country Status (2)

Country Link
JP (1) JPS62173140A (en)
WO (1) WO1987004381A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03103902A (en) * 1989-09-19 1991-04-30 Toyota Motor Corp Tool interference check device for numerically controlled working machine
WO1994015266A1 (en) * 1992-12-28 1994-07-07 Fanuc Ltd Numerical controller

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5936810A (en) * 1982-08-24 1984-02-29 Mitsubishi Electric Corp Method for supervising working information of numerical control working machine

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5936810A (en) * 1982-08-24 1984-02-29 Mitsubishi Electric Corp Method for supervising working information of numerical control working machine

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03103902A (en) * 1989-09-19 1991-04-30 Toyota Motor Corp Tool interference check device for numerically controlled working machine
WO1994015266A1 (en) * 1992-12-28 1994-07-07 Fanuc Ltd Numerical controller
US5808434A (en) * 1992-12-28 1998-09-15 Fanuc, Ltd. Numerical control apparatus

Also Published As

Publication number Publication date
WO1987004381A1 (en) 1987-07-30

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