JPWO2018180300A1 - Robot work management system, robot work management program - Google Patents

Abstract

An object of the present invention is to provide a technology capable of easily grasping a task executed by a robot. A robot operation management system includes: a processing unit configured to execute an operation program including operation information on the predetermined operation, the operation program being generated by teaching an operation corresponding to the predetermined operation to a robot; A storage unit that stores, when the robot executes an operation corresponding to the predetermined task, task execution information indicating that the predetermined task has been executed. [Selection diagram] FIG.

Description

  The present invention relates to a robot work management system and a robot work management program.

  In order to use the robot on a factory line or the like, the user needs to teach (teaching) the movement to the robot. For example, Patent Literature 1 discloses a technique (teaching technique) of arranging a work or a robot as a work target in a virtual space by a computer and creating an operation program of the robot.

Patent No. 4621641

  By the way, generally, when the trajectories of the hands and arms of a robot are similar, a similar operation program is executed regardless of the type of work (for example, when arranging a work or taking a work). The operation program at this time is described as the movement from the operation start point of the robot to the work point when the work is placed or taken. For this reason, it has been difficult to immediately identify what kind of work the robot has performed even with reference to the executed operation program.

  The present invention has been made in view of the above problems, and has as its object to provide a technique capable of easily grasping an operation performed by a robot.

  A robot work management system according to the present invention that solves the above-mentioned problems, a processing unit that executes an operation program that is generated by teaching an operation corresponding to a predetermined operation to a robot and includes operation information related to the predetermined operation. A storage unit in which, when the operation program is executed by the processing unit and the robot executes an operation corresponding to the predetermined operation, operation execution information indicating that the predetermined operation has been executed is stored; It is characterized by having.

  According to the present invention, it is possible for a user to easily grasp the work performed by the robot.

FIG. 1 is a diagram illustrating a configuration of a robot work management system 200. FIG. 4 is a diagram showing an example of information stored in a storage device 22. FIG. 2 is a diagram showing a list of blocks arranged in a virtual space 100. FIG. 2 is a diagram showing blocks arranged in a virtual space 100. FIG. 6 is a diagram showing a setting screen 60. FIG. 2 is a diagram illustrating functional blocks realized by a CPU 20. It is a figure showing an example of the setting screen 61 in which the “place” operation is set. FIG. 9 is a diagram illustrating an example of processing when an operation program is generated. It is a figure showing an example of the setting screen 62 in which the “take” operation is set. It is a figure showing an example of the setting screen 63 in which the “discard” operation was set. FIG. 4 is a diagram showing an example of information stored in a storage device 27. It is a figure showing an example of processing at the time of an operation program being executed. FIG. 4 is a diagram showing a setting screen 300. FIG. 2 is a diagram illustrating functional blocks realized by a CPU 20. FIG. 4 is a diagram illustrating an example when various information is input to a setting screen 300. 3 is a flowchart illustrating an example of a process executed by the robot teaching device. FIG. 3 is a diagram illustrating an example of an approach point P3 in the virtual space 100. FIG. 4 is a diagram illustrating an example of an operation of the hand 50 in the virtual space 100.

--- Configuration of Robot Work Management System 200 ---
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a diagram showing a configuration of the robot work management system 200. The robot work management system 200 includes the robot teaching device 10 and the arm type robot 11, and manages the work of the arm type robot 11.

<< Robot teaching device 10 >>
The robot teaching device 10 (robot teaching unit) is a device for teaching an operation to an arm type robot 11 installed on a factory line, and includes a CPU (Central Processing Unit) 20, a memory 21, a storage device 22, It is configured to include a device 23, a display device 24, and a communication device 25.

  The CPU 20 realizes various functions in the robot teaching device 10 by executing programs stored in the memory 21 and the storage device 22.

  The memory 21 is, for example, a RAM (Random-Access Memory) and is used as a temporary storage area for programs and data.

  The storage device 22 is a non-volatile storage area such as a hard disk, and stores the program 600 and various data 700. FIG. 2 is a diagram illustrating information stored in the storage device 22. As shown in the figure, the program 600 includes a teaching program 610 for realizing a function of teaching the arm type robot 11 and a CAD program 620 for realizing a three-dimensional CAD (Computer Aided Design) function. Is included.

  Further, the data 700 includes three-dimensional CAD data Da indicating a three-dimensional model of the arm type robot 11, three-dimensional CAD data Db indicating a three-dimensional model of a work as a work target, and three-dimensional data of a shelf on which the work is placed. Three-dimensional CAD data Dc indicating a dimensional model is included. The three-dimensional CAD data Da includes information on a world coordinate system in a virtual space where the model of the arm-type robot 11 is arranged, and information on a local coordinate system of the model of the arm-type robot 11. The three-dimensional CAD data Db and Dc are the same as the three-dimensional CAD data Da. However, in this embodiment, since a plurality of (n) works are used, the storage device 22 stores three-dimensional CAD data Db1 to three-dimensional CAD data Dbn corresponding to each of the plurality of works.

  The data 700 also includes an operation program 710 for operating the arm robot 11. The robot teaching device 10 generates the operation program 710 by executing the teaching program 610 while using the three-dimensional CAD data.

  The input device 23 is, for example, a touch panel or a keyboard, and is a device that receives an input of an operation result of a user.

  The display device 24 is, for example, a display, and is a device that displays various information and processing results.

  The communication device 25 is communication means such as a network interface, and transmits and receives data to and from an external computer or the arm type robot 11 via a communication network (not shown) such as the Internet or a LAN (Local Area Network). Do.

<< Arm type robot 11 >>
The arm type robot 11 is an articulated robot having six axes (x axis, y axis, z axis, and rotation directions θx, θy, θz of each axis). The arm type robot 11 includes a processing device 26, a storage device 27, and a communication device 28.

  The processing device 26 (processing unit) is a device that controls the operation of the arm type robot 11 by executing the operation program 710 and the like.

  The storage device 27 (storage unit) is a non-volatile storage unit area such as a hard disk, for example, and stores various information including the operation program 710. The details of the processing device 26 and the storage device 27 will be described later.

  The communication device 28 is communication means such as a network interface, and transmits and receives data to and from various external devices and the robot teaching device 10.

−−− Hierarchical structure screen −−−
FIG. 3 is a diagram illustrating an example of a hierarchical structure screen that a user refers to and edits in order to determine the arrangement of a model of the arm type robot 11 or the like in a virtual space.

  The screen 30 is a screen showing a world coordinate system and a hierarchical structure (tree structure) of various configurations, and is displayed on the display device 24 by the CPU 20 executing the teaching program 610.

  On the screen 30, "World" indicating the world coordinate system is set at the highest level. In the hierarchy below the world coordinate system, “Robot” indicating the model of the arm type robot 11 and “shelf” indicating the shelf on which the work is placed are set. For this reason, “Robot” and “shelf” are arranged at positions defined in the world coordinate system in the virtual space.

  Under the “Robot” hierarchy, “HAND” indicating a model of the hand of the arm type robot 11 is set, and under the “HAND” hierarchy, “OG A1” indicating a music box A1 as a work. Is set. For this reason, “HAND” is arranged at a position defined by a local coordinate system based on “Robot”, and “OG A1” is arranged at a position defined by a local coordinate system based on “HAND”. Is done.

  Further, “OG B1” to “OG B10” indicating ten music boxes B1 to B10 are set below the hierarchy of “shelf”. For this reason, "OG B1" to "OG B10" are arranged at positions determined in the local coordinate system with "shelf" as a reference.

  In the hierarchical structure shown on the screen 30, when the position of the configuration of a certain hierarchy is changed, the position of the configuration arranged below that hierarchy is similarly changed. For example, if the value of the three-dimensional CAD data Dc is changed and the position of the “shelf” in the world coordinate system is changed, the world of “OG B1” to “OG B10” provided in the hierarchy below the “shelf” The position in the coordinate system also moves with the “shelf”. However, the positions of “OG B1” to “OG B10” with respect to “shelf” are determined in a local coordinate system based on “shelf”. Therefore, even when the position of the “shelf” with respect to the world coordinate system is changed, the positions of “OG B1” to “OG B10” with respect to the “shelf” do not change.

−−− Virtual space −−−
FIG. 4 is a diagram showing the virtual space 100 reflecting the configuration included in the screen 30. The virtual space 100 is displayed on the display device 24 by the CPU 20 executing the teaching program 610.

  In the virtual space 100, an arm type robot 40, music boxes A1, B1 to B10, and a shelf 45 are provided.

  The arm type robot 40 is a model represented based on “Robot” (three-dimensional CAD data Da), and includes a hand (holding unit) 50 and an arm 51 to which the hand 50 is attached. Note that, as described above, the position of the arm 51 in the virtual space 100 is located at a position determined by the world coordinate system, and the position of the hand 50 is at a position determined by the local coordinate system with the arm 51 as a reference. Be placed.

  The music box A1 is a model representing a work, which is expressed based on “OG A1” (three-dimensional CAD data Db1). The position of the music box A1 in the virtual space 100 is located at a position determined by a local coordinate system with the hand 50 as a reference, here, a position gripped (held) by the hand 50. That is, the work is held by the holding unit. The state in which the work is not held by the holding unit is a state in which the hand 50 does not hold the work.

  The music boxes B1 to B10 are models represented based on “OG B1” to “OG B10” (three-dimensional CAD data Db2 to Db11). The positions of the music boxes B1 to B10 in the virtual space 100 are arranged at positions determined by a local coordinate system based on the shelf 45. For example, here, the music boxes B1 to B10 are arranged in two rows on the shelf 45.

  The shelf 45 is a model represented based on a “shelf” (three-dimensional CAD data Dc), and is arranged at a position determined by the world coordinate system.

−−− Setting screen −−−
FIG. 5 is a diagram illustrating an example of a setting screen 60 displayed on the display device 24 when teaching the arm-type robot 11. The setting screen 60 is displayed on the display device 24 by the CPU 20 executing the teaching program 610.

  The setting screen 60 includes a function name designation area 70, a work start position input area 71, and a work end position input area 72.

  In the function name designation area 70, "function name" indicating the operation program 710 to be created is designated. The function name specification area 70 includes a work type specification area 70a and a function name input area 70b.

  In the work type designation area 70a (selection unit), a user selects a work to be executed by the arm type robot 11 from a plurality of works. Specifically, in the work type designation area 70a, work such as placing (“place”), taking (grabbing) (“pick up”), or discarding (“dispose”) can be selected.

  In the function name input area 70b (input section), a file name indicating an operation specified by the user is input. In the present embodiment, the user includes information indicating the work (for example, music box A1 “OG A1”) as information (identification information) for identifying the work to be worked on in the file name. I do.

  In the work start position input area 71, information on the work start position of the operation of the hand 50 of the arm type robot 40 is input. The start position of the operation of the hand 50 is specified by the position of the work or the hand 50 in the virtual space 100 or the position of the virtual space 100 in the world coordinate system.

  In the work end position input area 72, information on the end position of the operation of the hand 50 of the arm type robot 40 is input. The end position of the operation of the hand 50 is specified by the position of the work or the hand 50 in the virtual space 100 or the position of the virtual space 100 in the world coordinate system.

--- Function blocks realized by CPU 20 ---
FIG. 6 is a diagram illustrating functional blocks realized by the CPU 20 when the CPU 20 executes a predetermined program. As shown in the figure, the CPU 20 includes functional blocks of a first acquisition unit 80, a second acquisition unit 81, a calculation unit 82, an operation program generation unit 83, and a transmission unit 84.

  The first acquisition unit 80 sets the TCP (predetermined point) of the work as the teaching point P1 (first point) based on the information (three-dimensional CAD data) indicating the work input to the work start position input area 71. get.

  The second acquisition unit 81 acquires the TCP of the work as the teaching point P2 (second point) based on the information (three-dimensional CAD data) indicating the work input to the work end position input area 72. Here, the point acquired by the first acquisition unit 81 and the second acquisition unit 82 is the TCP of the work, but may be, for example, a point indicating the center of gravity of the work.

  The calculation unit 82 calculates a trajectory for moving the hand 50 based on the teaching points P1 and P2. The calculation unit 82 stores the calculation result in the storage device 22.

  The operation program generation unit 83 generates an operation program 710 for operating each joint of the actual arm type robot 11 based on the calculation result of the calculation unit 82. Further, the operation program generation unit 83 stores the generated operation program 710 in the storage device 22. Although details will be described later, the operation program 710 includes work information I1 indicating the type of work and identification information I2 for identifying the work to be worked.

  The transmission unit 84 transmits the operation program 710 to the arm type robot 11 based on an instruction from the user.

------ Operation program 710 generation processing ---
Hereinafter, a process when the robot teaching device 10 generates the operation program 710 will be described.

<<"place"("place") work >>
Here, a description will be given of an operation program 710a generated by instructing the arm type robot 40 to “place” the “music box” from the position of the “music box A1” to the position of the “music box B9”.

  FIG. 7 is a diagram illustrating a setting screen 61 in a state where various information is input to the setting screen 60. As shown in the work type designation area 70a of the setting screen 61, as the work, "place" work is designated. As the file name, a name “OG A1_to_shelf” including “music box A1” (“OG A1”) is input. The “music box A1” (“OG A1”) held by the hand 50 is input to the work start position input area 71, and the “music box B9” placed on the shelf 45 is input to the work end position input area 72. ("OG B9"). In the virtual space 100 shown in FIG. 3, "music box A1" and ten "music box B1" to "music box B10" are arranged. It is arranged to calculate the trajectory of.

  FIG. 8 is a flowchart illustrating an example of a process executed when the robot teaching device 10 generates the operation program 710a.

  First, the first acquisition unit 80 acquires the TCP of the music box A1 as the teaching point P1 based on the information on the music box A1 input to the work start position input area 71 (S100). Next, the second acquisition unit 81 acquires the TCP of the music box B9 as the teaching point P2 based on the information on the music box B9 input to the work end position input area 72 (S101). Then, the calculation unit 82 calculates the trajectory of the hand 50 when moving the hand 50 based on the teaching points P1 and P2, and stores the calculation result in the storage device 22 (S102). In addition, the operation program generation unit 83 acquires information indicating the type of work (for example, “put”) specified in the work type specifying area 70a as the work information I1 (S103). Further, the operation program generation unit 83 acquires the identification information I2 for identifying the work to be worked on, for example, based on the file name (“OG A1_to_shelf”) (S104). Here, the information (“OG A1”) indicating the music box A1 in the file name is the identification information I2. The operation program generation unit 83 generates an operation program 710a for operating each joint of the actual arm type robot 11 based on the calculation result, and stores the operation program 710a in the storage device 22 (S105). In step S105, the operation program generation unit 83 generates an operation program 710a including the work information I1 and the identification information I2.

  Hereinafter, similarly to the “place” operation, the “take” (“pick up”) operation and the “dispose” (“dispose”) operation are taught and generated, and operation programs 710b and 710c are generated. Will be described.

<<"take"("pickup") work >>
For example, an operation program 710b generated when the hand 50 provided at the position of "music box A1" acquires "music box B5" will be described. At this time, in the work type designation area 70a of the setting screen 62 shown in FIG. 9, a work "pick up" is designated, and the file name is a name including "music box B5". OG B5_from_shelf ”is entered. Further, “music box A1” is input to the work start position input area 71, and “music box B5” is input to the work end position input area 72. Here, the start position is the position of the “music box A1”, but, for example, an arbitrary position in the virtual space 100 may be specified by coordinates (or a work arranged at an arbitrary position). Each block of the robot teaching device 10 executes the same processing as the processing S100 to S105 in FIG. 8 based on the information set on the setting screen 62. As a result, an operation program 710b for acquiring “music box B5” is generated and stored in the storage device 22. The operation program 710b includes information indicating a “take” operation as the operation information I1 and information indicating the music box B5 (“OG B5”) as the identification information I2.

<<"dispose" work >>
The operation program 710c generated when the arm robot 40 discards the “music box” held at the position of the “music box A1” into a predetermined box X (not shown) will be described. At this time, the work "dispose"("dispose") work is specified in the work type designation area 70a of the setting screen 63 shown in FIG. 10, and the file name is "OG" including "music box A1". “A1_to_box” has been entered. In the work start position input area 71, “music box A1” is input, and in the work end position input area 72, a box X (“BOX X”) is input. Here, the start position is the position of the “music box A1”, but, for example, an arbitrary position in the virtual space 100 may be specified by coordinates (or a work arranged at an arbitrary position). Each block of the robot teaching device 10 executes the same processing as the processing S100 to S105 in FIG. 8 based on the information set on the setting screen 63. The second acquisition unit 81 acquires a predetermined point of the box X (for example, a point provided at the opening of the box X) as the teaching point P2 based on the information of the box X. As a result, an operation program 710c for discarding “music box A1” is generated and stored in the storage device 22. In addition, the operation program 710c includes information indicating the “discard” operation as the operation information I1 and information indicating the music box A1 (“OG A1”) as the identification information I2. The above-described operation programs 710a to 710c are stored in the storage device 22, and the transmission unit 84 transmits the operation programs 710a to 710c to the arm-type robot 11 according to, for example, a user's instruction.

--- Information stored in the storage device 27 of the arm type robot 11 ---
FIG. 11 is a diagram illustrating information stored in the storage device 27. The storage device 27 stores an operation program 800 and work execution data 900.

  The operation program 800 is a program for actually operating the arm-type robot 11, and includes a main program 810 and a sub-program 820.

  The main program 810 is a program (main routine) that executes main processing of the operation program 800.

  The subprogram 820 is a program (subroutine) called from the main program 810 and executing a predetermined process (for example, “put”, “discard”, etc.), and is an operation program 710 a to 710 c generated by the robot teaching device 10. including. The operation program 800 is created by appropriately using the operation programs 710a to 710c generated by the user.

  The work execution data 900 (work execution information) is data indicating that the work of the operation programs 710a to 710c has been executed. The work execution data 900 includes time data 910 (time information) indicating “time” when the work was executed, work type data 920 indicating “work type” (for example, “place”), and “work target”. The identification data 930 (identification information) indicating the work of "."

--- Example of processing when operation program 710 is executed ---
FIG. 12 is a flowchart illustrating an example of a process when the operation program 710 is executed. Here, it is assumed that the processing device 26 executes the main program 810, and the operation program 710a related to the “place” operation is called as the subprogram 820.

  First, the processing device 26 executes the called operation program 710a (S200). Then, the processing device 26 controls each joint of the arm type robot 11 so that the arm type robot 11 performs an operation specified by the operation program 710a (S201). As a result, the arm-type robot 11 moves the “music box” from the position of the “music box A1” to the position of the “music box B9” and “places” it on the shelf. Further, the processing device 26 refers to a timer (not shown) for measuring the time, acquires “time” at which the “place” operation was performed, as time data 910, and stores it in the storage device 27 (S202). Then, the processing device 26 acquires the work information I1 indicating the “place” operation of the operation program 710a as work type data 920 indicating that the “place” operation has been performed, and stores the acquired work information I1 in the storage device 27 (S203). . Further, the processing device 26 acquires the identification information I2 indicating that the work target of the operation program 710a is “music box A1” as the identification data 930, and stores it in the storage device 27 (S204). When the processing S204 is executed, the processing of the sub-program 820 (the operation program 710a) ends, so that the processing device 26 executes the processing specified by the main program 810.

  Here, the processing when the operation program 710a relating to the “place” operation is executed as the subprogram 820 has been described, but the same applies to other operations (for example, “discard”). When called again by the main program 810 of the “place” operation, the operation program 710 a (processes S 200 to S 204) is executed, and new operation execution data 900 is stored in the processing device 26. The information stored in the storage device 27 is exchanged with an external device or the like via the communication device 28. Therefore, by referring to the work execution data 900 stored in the storage device 27, the user can grasp what kind of work was performed at what time, as well as the work target and the number of work. Further, the work execution data 900 stored in the storage device 27 may include a command value for a motor that moves the axes and joints of the robot when the work is performed. Further, the work execution data 900 may include an effective value when the motor is driven. The command value and the effective value of the motor are the current, voltage and torque of the motor.

--- Details of operation program 710 generation processing--
Here, an example of the details of the generation processing of the operation program 710 will be described.

<< Setting screen >>
FIG. 13 is a diagram illustrating an example of a setting screen 300 displayed on the display device 24 when teaching the arm-type robot 11.

  The setting screen 300 includes a function name designation area 70, a work start position input area 71, a work end position input area 72, an approach point setting area 73, and an escape point setting area 74.

  In the function name designation area 70, a "function name" indicating an operation program (subroutine) to be created is designated. The function name specification area 70 includes a work type specification area 70a and a function name input area 70b. In the work type designation area 70a, work to be executed by the arm type robot 11 is designated. Specifically, in the work type designation area 70a, work such as placing (“place”), taking (grabbing) (“pick up”), or discarding (“dispose”) can be selected. In the function name input area 70b, a file name (for example, a date or a serial number) specified by the user is input.

  In the work start position input area 71 (first information input unit), information (first information) indicating a work provided at the start position of the operation of the hand 50 of the arm type robot 40 is input. In the present embodiment, it is assumed that the user has previously arranged the work to be moved at the work start position (first position) before the movement.

  In the work end position input area 72 (second information input unit), information (second information) indicating the work provided at the end position of the operation of the hand 50 of the arm type robot 40 is input. In the present embodiment, it is assumed that the user has previously arranged the work to be moved at the work end position (second position) after the movement.

  In the approach point setting area 73 (third information input unit), a point (approach point) through which the work held by the hand 50 passes from the start to the end of the movement of the hand 50 is set. Although described in detail later, the approach point is a point set in order to prevent the work held by the hand 50 from hitting an obstacle or another work. The approach point setting area 73 includes a work work designation area 73a, a distance designation area 73b, and a direction designation area 73c. The information input to each of the work work designation area 73a, the distance designation area 73b, and the direction designation area 73c corresponds to the third information.

  Information indicating the work placed at the end position of the operation of the hand 50 is input to the work work designation area 73a.

  The distance d1 (first distance) from the work selected in the work work designation area 73a is input to the distance designation area 73b.

  The direction v1 that is substantially perpendicular to the surface (for example, the bottom surface) of the work selected in the work work designation area 73a is specified in the direction designation area 73c.

  In the escape point setting area 74 (fourth information input unit), a point (escape point) through which the TCP of the hand 50 passes when the movement of the hand 50 ends and the hand 50 is returned to the original position or the like. As will be described in detail later, the escape point is set in order to prevent the hand 50 from hitting an obstacle or another work after the work is placed. The escape point setting area 74 includes a work work designation area 74a, a distance designation area 74b, and a direction designation area 74c. The information input to each of the work work designation area 74a, the distance designation area 74b, and the direction designation area 74c corresponds to fourth information.

  Information indicating the work placed at the end position of the operation of the hand 50 is input to the work work designation area 74a. Note that information other than the information indicating the work placed at the end position of the operation of the hand 50 may be input to the work work designation areas 73a and 74a.

  The distance d2 (second distance) from the work selected in the work work designation area 74a is input to the distance designation area 74b.

  The direction v2 that is substantially perpendicular to the surface (for example, the bottom surface) of the work selected in the work work designation area 74a is designated in the direction designation area 74c. Note that the directions v1 and v2 are determined based on a work edge, a work normal vector, a work center axis, and the like included in the work model.

<< Functional block realized by CPU 20 >>
FIG. 14 is a diagram showing functional blocks realized by the CPU 20 when the CPU 20 executes a predetermined teaching program. As shown in the figure, the CPU 20 includes a display control unit 400, a first acquisition unit 401, a second acquisition unit 402, a third acquisition unit 403, a fourth acquisition unit 404, a calculation unit 405, an operation program generation unit 406, It has a function block of the transmission unit 407.

  The display control unit 400 displays various information on the display device 24 based on an instruction from the input device 23, a processing result of a teaching program executed by the CPU 20, and the like. For example, the display control unit 400 displays the virtual space 100 shown in FIG. 3 and the setting screen 300 shown in FIG. 13 on the display device 24. Further, the display control unit 400 displays an animation of the hand 50 when moving the workpiece on the display device 24.

  The first acquisition unit 401 sets the TCP (predetermined point) of the work as the teaching point P1 (first point) based on the information (three-dimensional CAD data) indicating the work input to the work start position input area 71. get.

  The second acquiring unit 402 acquires the TCP of the work as the teaching point P2 (second point) based on the information (three-dimensional CAD data) indicating the work input to the work end position input area 72. Here, the point obtained by the first obtaining unit 401 and the second obtaining unit 402 is the TCP of the work, but may be, for example, a point indicating the center of gravity of the work.

  The third acquisition unit 403 acquires an approach point P3 (third point) through which the work passes when the work is moved, based on the information input to the approach point setting area 73. Specifically, the third obtaining unit 403 obtains the TCP (predetermined point) of the work from the information indicating the work selected in the work work specifying area 73a. Then, the third obtaining unit 403 obtains, as the approach point P3, a point that is separated from the TCP of the workpiece by the distance d1 in the specified direction v1.

  The fourth acquisition unit 404 acquires an escape point P4 (fourth point) through which the hand 50 passes when the hand 50 is moved, based on the information input to the escape point setting area 74. Specifically, the fourth acquisition unit 404 acquires the TCP of the work from the information indicating the work selected in the work work designation area 74a. Then, the fourth obtaining unit 404 obtains, as the escape point P4, a point that is separated by the distance d2 in the specified direction v2 with the TCP of the work as a start point. Although the starting point when defining the approach point P3 and the escape point P4 is the TCP of the work, it may be, for example, a point indicating the center of gravity of the work.

  The calculation unit 405 calculates a trajectory for moving the hand 50 based on the teaching points P1 and P2, the approach point P3, and the escape point P4. The calculation unit 405 stores the calculation result in the storage device 22.

  The operation program generation unit 406 generates an operation program 710 for operating each joint of the actual arm type robot 11 based on the calculation result of the calculation unit 405. In addition, the operation program generation unit 406 stores the generated operation program 710 in the storage device 22.

  The transmission unit 407 transmits the operation program 710 to the processing device 26 of the arm type robot 11 based on an instruction from the user. As a result, the arm type robot 11 can perform an operation according to the calculation result.

<<< Example of Process Executed by Robot Teaching Device 10 >>>
Hereinafter, a series of processes executed by the robot teaching apparatus 10 when the workpiece is moved will be described with reference to the drawings as appropriate. FIG. 15 is a diagram showing the setting screen 301 in a state where various information is input to the setting screen 300. FIG. 16 is a flowchart illustrating an example of a process executed by the robot teaching device 10. Here, the trajectory of the hand 50 when the arm type robot 40 moves the “music box” from the position of the “music box A1” (first position) to the position of the “music box B9” (second position). , The trajectory of the hand 50 after the “music box” is placed on the shelf 45 will be described. Also, in the virtual space 100 of FIG. 3, “music box A1” and ten “music box B1” to “music box B10” are arranged. Is arranged to calculate. For example, when "music box A1" and "music box B1" are selected, the trajectory of hand 50 when moving "music box" from the position of "music box A1" to the position of "music box B1" is calculated.

  As shown in the work type designation area 70a of the setting screen 301, a work to place a work (“place”) is specified as the work, and “OG1_to_shelf” is input as a file name indicating the work. The “music box A1” (“OG A1”) held by the hand 50 is input to the work start position input area 71, and the “music box B9” placed on the shelf 45 is input to the work end position input area 72. ("OG B9"). “Music box B9” is input into the work work specifying area 73a of the approach point setting area 73, “200” is input into the distance specifying area 73b, and “edge” of the music box B9 is input into the direction specifying area 73c. Specified. In the work point designation area 74a of the escape point setting area 74, "music box B9" is inputted, in the distance designation area 74b, "100" is inputted, and in the direction indication area 74c, "edge" of the music box B9 is entered. Specified.

  First, the first obtaining unit 401 obtains the TCP of the music box A1 as the teaching point P1 based on the information of the music box A1 input to the work start position input area 71 (S1000). Next, the second acquisition unit 402 acquires the TCP of the music box B9 as the teaching point P2 based on the information on the music box B9 input to the work end position input area 72 (S1001).

  Also, as shown in FIG. 17, the third acquisition unit 403 starts from the TCP of the music box B9 selected in the work work designation area 73a and is separated by a distance d1 “200” mm in the edge direction v1 of the music box B9. A point is acquired as an approach point P3 (S1002). In FIG. 17, for convenience, only a part of the surface of the shelf 45 and the music box B9 are illustrated. In FIG. 17, the x-axis direction is the longitudinal direction of the surface on which the music box of the shelf 45 is placed (hereinafter, the placing surface), the y-axis direction is the direction orthogonal to the x-axis on the placing surface, and the z-axis direction. The direction is a direction perpendicular to the mounting surface. The bottom of the music box B9 is the xy plane in FIG. 17, and the designated edge of the music box B9 is perpendicular to the bottom of the music box B9. Therefore, the direction v1 of the edge is the z-axis direction (+ z direction).

  Similarly to the third acquisition unit 403, the fourth acquisition unit 404 starts from the TCP of the music box B9 selected in the work work designation area 74a, and has a distance d2 “100” from the direction v2 (+ z direction) based on the edge of the music box B9. A point separated by "mm" is obtained as an escape point P4 (S1003). The distances d1 and d2 are, for example, longer than the height of the music box B9 in the z direction.

  The calculation unit 405 calculates the trajectory of the hand 50 when moving the hand 50 based on the teaching points P1 and P2, the approach point P3, and the escape point P4 (S1004). Specifically, first, the calculation unit 405 calculates the trajectory O1 of the hand 50 when the “music box” is moved from the teaching point P1 to the approach point P3. The calculating unit 405 calculates the trajectory O2 of the hand 50 when the “music box” is moved from the approach point P3 to the teaching point P2. Further, the calculation unit 405 calculates a trajectory O3 for moving the hand 50 to the escape point P4. When the trajectory O3 is calculated, for example, the TCP of the hand 50 stored in the storage device 22 is used. Further, the operation program generation unit 406 generates an operation program 710 for operating each joint of the actual arm type robot 11 based on the calculation result of the calculation unit 405, and stores the operation program 710 in the storage device 22 (S1005). At this time, the calculation result is also stored in the storage device 22 (S1005). The display control unit 400 acquires the operation program 710 stored in the storage device 22, and causes the display device 24 to display an animation of the hand 50 moving along the calculated trajectory in the virtual space 100 (S1006). FIG. 18 is a diagram illustrating an example of the operation of the hand 50 when an animation is displayed. First, the hand 50 moves along the trajectory O1 such that the TCP of the music box held by the hand 50 matches the approach point P3. Next, the hand 50 moves along the trajectory O2 so that the TCP of the grasped music box matches the TCP2. After the music box is placed, the hand 50 moves along the trajectory O3 such that the TCP of the hand 50 matches the escape point P4. Since the hand 50 moves along the trajectories O2 and O3, the hand 50 moves in a direction substantially perpendicular to the position where the music box is placed (the position of the “music box B9”). For this reason, when the hand 50 places the music box, even if there is another music box (for example, the music box B4) around, the hand 50 or the music box held by the hand 50 hits another obstacle. There is no. The trajectory of the hand 50 is calculated based on the music box TCP. Therefore, the music box is accurately placed at a desired position regardless of the position of the music box in the hand 50.

<< Summary (Robot teaching device 10) >>
In the present embodiment, when moving the work, the user can set the movement start position and the end position of the work in the work start position input area 71 and the work end position input area 72. Therefore, since the user does not need to specify complicated coordinates and the like, the user can easily teach the arm type robot 11.

  In the present embodiment, the approach point P3 is set based on information on the music box provided in the virtual space 100. As a result, the user can easily set the approach point P3 as compared with the case where the coordinates of the approach point P3 are directly specified.

  In the present embodiment, the escape point P4 is set based on the information of the music box provided in the virtual space 100. As a result, the user can easily set the escape point P4 as compared with the case where the coordinates and the like of the escape point P4 are directly specified.

  It should be noted that the above embodiments are for the purpose of facilitating the understanding of the present invention, and are not for limiting and interpreting the present invention. The present invention can be modified and improved without departing from the spirit thereof, and the present invention also includes equivalents thereof.

  In the present embodiment, the state in which the hand 50 "gripping" the work "music box" is described as a held state, but the present invention is not limited to this. For example, a suction pad capable of vacuum-sucking a work may be used instead of the hand 50. In such a case, the work is "held" by the suction pad.

  In the present embodiment, the work is the “music box”, and the support member on which the “music box” is placed (supported) is the shelf 45, but is not limited thereto. For example, the work may be a “cup (container)”, and the “cup” may be stored (supported) in a “cup holder”. Further, the “cup holder” may be configured to support not only a configuration for storing the “cup” but also a portion of the outer surface of the “cup”. Even when such a “cup” and “cup holder” are used, the same effects as in the present embodiment can be obtained. For example, when the robot moves the “cup” so as to be supported by the tilted “cup holder”, the approach point P3 and the escape point P4 are determined based on the bottom surface of the tilted and supported “cup”. Is obtained.

  Here, the robot to be taught is a six-axis multi-joint robot, but may be, for example, a three-axis robot. In addition, even if the robot to be taught is a six-axis robot, the robot teaching device 10 can determine the degree of freedom of the TCP (teaching point) if only the three-axis trajectory needs to be calculated when moving the work. The trajectory may be calculated by changing from 6 to 3. By reducing the degree of freedom of the TCP in this manner, the load on the CPU 20 can be reduced. In the present embodiment, the specified direction v1 at the approach point P3 is substantially away from the TCP with respect to the bottom surface of the work. The direction is vertical, but is not limited to this. For example, the direction may be substantially horizontal with respect to the bottom surface of the work. Further, the direction v2 at the escape point P4 is also a direction that is substantially perpendicular to the bottom surface of the work from the TCP, but may be, for example, a substantially horizontal direction with respect to the bottom surface of the work.

  For example, FIG. 3 shows a state in which the hand 50 holds a work, but when the hand 50 does not hold a work, the display control unit 400 does not display the work on the display device 24.

--- Summary (this embodiment)-
The robot operation management system 200 according to the present embodiment has been described above. When the processing device 26 executes the operation program 710a, the arm type robot 11 executes an operation corresponding to an operation (“place” operation) based on the operation program 710a. Then, when the arm type robot 11 performs the “place” operation, the processing device 26 stores the work execution data 900 indicating that the “place” operation has been performed in the storage device 27 (for example, processes S202 to S204). Therefore, the user can easily grasp what kind of work has been performed by referring to the work execution data 900 stored in the storage device 27.

  In addition, the user can select one of a plurality of works (place (“place”), take (grab) (“pick up”), or discard (“dispose”) registered in advance in the work type designation area 70a. You can choose one work. Then, the selected work is included in the operation program 720 as work information I1. Therefore, for example, the operation selected by the user is reliably reflected in the operation program 720 without writing the operation program by the user. Therefore, the user can easily set the work.

  Further, based on information from a camera (not shown), the processing device 26 determines, for example, whether or not the workpiece has a predetermined shape (whether or not the workpiece is damaged) before the process S200, that is, whether the workpiece is damaged. It may be determined whether or not the product is defective. Then, when the work is not a defective product, the processing device 26 executes a placing (“place”) or picking (“pick up”) operation (first operation). Alternatively, a work of disposing (“dispose”) (second work) may be performed. For this reason, the user can refer to the work execution data 900 stored in the storage device 27 and grasp the number of defective workpieces based on the number of times the work of discarding (“dispose”) is performed.

  The calculating unit 405 of the robot teaching device 10 determines the trajectory of the hand 50 when moving the music box based on the TCP of the music box A1 at the position before the movement and the TCP of the music box B9 at the position after the movement. (For example, processing S1004). At this time, since the TCP of the music box is used instead of the TCP of the hand 50, a change in the position of the work with respect to the hand 50 (for example, whether to grip the work at the tip of the hand or to grip the work at the back of the hand), etc. Is suppressed. As a result, the arm type robot 11 can accurately move the work to a desired position by using the calculation result of the calculation unit 405.

  In addition, when the music box is placed, the calculation unit 405 calculates a trajectory passing through the approach point P3 with the hand 50 holding the music box by the holding unit (for example, processing S1004). For example, another music box or the like may be placed around the position where the music box is placed (for example, the position of the music box B9). In such a case, if the music box to be moved is directly moved to the target position, the music box to be moved may hit another music box. In the present embodiment, the music box is placed via the approach point P3 defined in the vertical direction from the TCP of the music box B9. Therefore, even when there is an obstacle around the target position, the calculation unit 405 can calculate a trajectory that prevents the work to be moved from hitting an obstacle or the like.

  In addition, the calculation unit 405 calculates a trajectory passing through the escape point P4 in a state where the hand 50 does not hold the music box, as a trajectory for moving the hand 50 after placing the music box (for example, processing S1004). For example, another music box may be placed around the position of the placed music box (for example, the position of music box B9). In such a case, if the hand 50 is directly moved to the set position, the hand 50 may hit another music box. In the present embodiment, the trajectory for moving the hand 50 from the TCP of the music box B9 via the escape point P4 determined in the vertical direction is calculated. Therefore, even when there is an obstacle around the target position, the calculation unit 405 can calculate a trajectory that prevents the hand 50 from hitting an obstacle or the like.

  The trajectory calculation of the calculation unit 85 at the time of placing the work (“place”) has been described, but the same applies to the work of picking up (gripping) the work. That is, when grasping the music box, the hand 50 passes through the approach point P3 without holding the music box. Then, as a trajectory for moving the hand 50 after grabbing the music box, the trajectory passes through the escape point P4 with the hand 50 holding the music box.

  Further, the display control unit 400 displays an animation of the hand 50 moving along the trajectory on the display device 24. Since the display control unit 400 does not display the animation of the entire arm type robot 40 but displays the animation of only the hand 50, the load on the CPU 20 is reduced.

  When the arm-type robot 11 performs a predetermined operation (for example, “place” operation), the processing device 26 stores the identification data 930 indicating the work that has been “work target” in the “place” operation in the storage device 27. (Processing S204). Therefore, by referring to the information stored in the storage device 27, the user can easily grasp not only what work has been performed, but also the work to be worked.

  When the arm-type robot 11 performs a predetermined operation (for example, “place” operation), the processing device 26 stores time data 910 indicating the time at which the “place” operation was performed in the storage device 27 (process S202). . Therefore, by referring to the information stored in the storage device 27, the user can easily understand what work has been performed and when.

  When executing the operation program 710, the processing device 26 acquires information (for example, command values and effective values of the motor current value, voltage, torque, and the like) for operating the arm type robot 11, and stores the information in the storage device 27. It is stored as work execution data 900. For this reason, the user can grasp the detailed state of the motor.

  Further, the processing device 26 may display the contents of the work execution data 900 on a display device (not shown) of the arm type robot 11 or the display device 24. In such a case, the user can easily grasp the executed work.

  It should be noted that the above embodiments are for the purpose of facilitating the understanding of the present invention, and are not for limiting and interpreting the present invention. The present invention can be modified and improved without departing from the spirit thereof, and the present invention also includes equivalents thereof.

  For example, the same processing as that of the present embodiment is also performed at the time of picking up (gripping) a work. For example, even when taking a work, the robot teaching device 10 calculates the trajectory of the hand 50 based on the TCP of the music box A1 at the position before the movement and the TCP of the music box B9 at the position after the movement ( For example, processing S104). When the hand 50 takes a work, the hand 50 does not actually hold the work. However, the trajectory calculated in step S104 and the like assuming that the hand 50 is gripping the work is the same as the trajectory when taking the work. Therefore, in the present embodiment, even when a work is taken, the “work” provided at the work start position is calculated as a trajectory for moving to the “work” provided at the work end position. That is, the trajectory for moving the “work” from the work start position (first position) to the work end position (second position) includes not only the trajectory for actually moving the “work” but also the hand. The trajectory 50 when the “work” is virtually moved (the trajectory when picking up (“pick up”) the work) is also included.

  For example, the processing device 26 stores the work execution data 900 indicating that the work has been executed in the storage device 27, but is not limited thereto. For example, the processing device 26 may store the work information I1 in the storage device 27 instead of the work execution data 900 to indicate that the work has been performed. Even in such a case, the same effect as in the present embodiment can be obtained.

  In addition, the operation program generation unit 83 acquires the identification information I2 based on the file name, but is not limited thereto. When the operation is to be put (“place”) or discarded (“dispose”), the operation program generation unit 83 may acquire the identification information I2 based on the information of the work in the work start position input area 71. . When the specified work is to be picked up (“pick up”), the identification information I2 may be acquired based on the work information in the work end position input area 72.

  Further, various processes are executed by the processing device 26 of the arm type robot 11 and various information is stored in the storage device 27, but the present invention is not limited to this. For example, various processes may be executed by a CPU (not shown) of a personal computer or the like external to the arm type robot 11, and various information may be stored in a non-volatile memory (storage unit) accessed by the CPU (processing unit). .

  Further, the storage device 27 does not necessarily have to be included in the arm type robot 11. For example, the storage device 27 may be provided outside the arm type robot device. At this time, various processes are executed by the processing device 26 of the arm type robot 11, and the communication device 28 is transmitted to the external storage device 27 via a communication network such as the Internet. Various types of information may be stored in the external storage device 27.

  Further, for example, when the processing device 26 can grasp the number of works based on information from a camera (not shown), the processing device 26 determines the number of works placed on the shelf and puts it on the shelf (“place”). By comparing the number of operations, the number of failures of the “place” operation can be detected. Then, the processing device 26 may store the number of such work failures in the storage device 27 as the work execution data 900. In this case, the user can grasp not only the number of operations but also the number of failed operations.

  Further, when the arm 51 lifts the work, the processing device 26 may measure the weight of the work when the arm 51 lifts the work, and may make the processing device 26 determine based on the weight. For example, when a part of the work is missing, the work becomes lighter than a predetermined weight, and thus the processing device 26 can determine that the work is defective.

  Further, the processing device 26 may store in the storage device 27 information in which the determination result of the “defective product” is associated with the identification data 930 indicating the work that has become the “work target”. By referring to such information, the user can grasp the lot number and the like of the defective product and analyze the defective product.

  Further, when programming the operation of the robot, it is complicated to handle coordinate values. Although it is possible to extract coordinate values from the 3D CAD, it is still complicated. In addition, this complexity requires different engineers such as mechanical engineers and software engineers. Therefore, it takes an enormous amount of time to construct an automation system using a robot. In this embodiment, the robot automation system can be performed in a short time.

10: Robot teaching device, 11, 40: Arm type robot, 20: CPU, 21: Memory, 22: Storage device, 23: Input device, 24: Display device, 25: Communication device, 30: Screen, 45: Shelf, 50: Hand, 51: Arm, 60-63: Setting screen, 70: Function name designation area, 71: Work start position input area, 72: Work end position input area, 73: Approach point setting area, 74: Escape point setting Area, 80: first acquisition unit, 81: second acquisition unit, 82: calculation unit, 83: operation program generation unit, 84: transmission unit, 100: virtual space, 200: robot work management system, 400: display control unit Reference numerals 401, a first acquisition unit, 402, a second acquisition unit, 403, a third acquisition unit, 404, a fourth acquisition unit, 405, a calculation unit, 406, an operation program generation unit, 7 ... transmission unit, 600 ... program, 610 ... teaching program, 620 ... CAD program, 700 ... data, 800 ... operation program, 810 ... main program, 820 ... subprogram

Claims (14)

A processing unit configured to execute an operation program including operation information on the predetermined operation, which is generated by teaching an operation corresponding to the predetermined operation to the robot,
A storage unit in which the operation program is executed by the processing unit, and when the robot executes an operation corresponding to the predetermined operation, operation execution information indicating that the predetermined operation has been executed is stored;
A robot work management system comprising: The robot work management system according to claim 1, wherein
A robot teaching unit that generates the operation program;
The robot teaching unit includes:
Including a selection unit that allows a user to select any one of a plurality of pre-registered works as the predetermined work;
Robot work management system characterized by the following. The robot work management system according to claim 1 or 2, wherein:
The predetermined work includes a first work when the work to be worked is not defective, and a second work when the work is defective.
Robot work management system characterized by the following. The robot work management system according to claim 3, wherein
The processing unit includes:
When the predetermined work is the first work, the operation program including work information relating to at least one of the work of taking the work and the work of placing the work is executed, and the predetermined work is the first work. Executing the operation program including operation information relating to the operation of discarding the work,
Robot work management system characterized by the following. The robot work management system according to claim 1, wherein
A robot teaching unit that generates the operation program;
The robot teaching unit includes:
A first obtaining unit that obtains, as a first point, a predetermined point of the work provided at the first position in the virtual space;
A second acquisition unit that acquires a predetermined point of the work provided at a second position in the virtual space as a second point;
A calculation unit that calculates a trajectory of the holding unit when the robot in the virtual space moves the work from the first position to the second position based on the first and second points;
A robot work management system comprising: The robot work management system according to claim 5, wherein
A third acquisition unit configured to acquire a third point of the work supported at the second position, the third point being separated from the second point;
The calculation unit includes:
The trajectory of the holding unit when the robot moves the work from the first position to the second position via the third point based on the first to third points. Calculating,
Robot work management system characterized by the following. The robot work management system according to claim 5 or 6, wherein:
A fourth acquisition unit configured to acquire a fourth point of the work supported at the second position, the fourth point being separated from the second point;
The calculation unit includes:
Calculating a trajectory of the holding unit when the robot moves the holding unit to the fourth point;
Robot work management system characterized by the following. It is a robot work management system according to any one of claims 5 to 7,
When the robot moves the holding unit, the robot further includes a display control unit that displays a movement of the holding unit on a display device among the robots.
Robot work management system characterized by the following. The robot work management system according to claim 2, wherein
The robot teaching unit includes:
When the operation corresponding to the predetermined work is taught, further comprising an input unit for inputting identification information for identifying a work to be worked by the robot,
The robot teaching unit includes:
Generating the operation program including the work information and the identification information;
In the storage unit,
When the operation corresponding to the predetermined work is performed on the work to be the work, the identification information and the work execution information are stored,
Robot work management system characterized by the following. It is a robot work management system according to any one of claims 1 to 9,
In the storage unit,
Time information indicating the time at which the robot performed an operation corresponding to the predetermined task is stored,
Robot work management system characterized by the following. The robot work management system according to any one of claims 1 to 10,
In the storage unit,
Information about a motor that operates the robot when the robot performs an operation corresponding to the predetermined task is stored,
Robot work management system characterized by the following. The robot work management system according to claim 11, wherein
The information on the motor includes a current value flowing through the motor,
Robot work management system characterized by the following. It is a robot work management system according to any one of claims 1 to 12,
The processing unit includes:
Displaying the work execution information on a display unit;
Robot work management system characterized by the following. On the computer,
A function of executing an operation program including work information on the predetermined work, which is generated by teaching an operation corresponding to the predetermined work to the robot,
When the operation program is executed, and when the robot performs an operation corresponding to the predetermined operation, a function of storing operation execution information indicating that the predetermined operation has been executed in a storage unit;
Robot work management program that realizes.

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