KR970005615B1 - Method of reproducing teaching of industrial robot - Google Patents

Abstract

None.

Description

Teaching and Regeneration of Industrial Robots

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a teaching and reproducing method that is most suitable for use in performing predetermined operations on workpieces of the same shape pattern by industrial robots, such as welding robots.

(Conventional technology)

In the teaching and reproducing means of industrial robots, such as welding robots, conventionally, for example, a teaching operation called direct teaching or an indirect teaching is performed to produce regeneration data, and then the reproduction data is generated by the robot based on the regeneration data. The playback operation is in progress.

In this case, the direct teaching is to move the robot by inching, to operate the position memory button at a desired point, and to perform the direct typing to teach the point, and to create the teaching data. The indirect teaching is a personal computer. It is of the offline type that inputs a workpiece shape so as to input a drawing by CAD on a screen such as a CAD, and writes teaching data, such as a welding hand, against a workpiece shape displayed on the screen.

However, in the teaching and reproducing method of the conventional industrial robot, it takes relatively long time for teaching (teaching) work, and there are several kinds of similar-shaped workpieces which are suitable for mass production but slightly different in size, etc. The above-described teaching must be performed for each type of work, resulting in extremely poor work efficiency.

In other words, even when the workpieces of the same shape pattern are slightly different in size, complex teaching operations are required for each workpiece, and even in such a case, it is desired to be able to teach by easy and easy operation.

The present invention is to solve such a problem, and if the workpiece of the same shape pattern is provided without a complicated teaching work, it is possible to provide a method for teaching and reproducing the industrial robot that can cope with the production of small quantities of various kinds very simply by inputting and selecting the dimensions. It aims to do it.

(Means to solve the task)

In order to achieve the above object, the teaching and reproducing method (claim 1) of the industrial robot of the present invention is performed when a predetermined operation is performed on a workpiece having the same shape pattern by the industrial robot, and the reference workpiece of the same shape pattern is set. And the teaching data obtained by teaching the operation of the industrial robot with respect to the reference workpiece or the dimensions of the reference workpiece and the working line dimensions for the reference workpiece. In case of operation by the industrial robot, Setting and sequentially inputting the dimensions of the workpiece to be subjected to the predetermined work or the working line dimensions for the workpiece, and the setting input dimension of the workpiece or the working line dimensions for the workpiece and the reference stored in advance. Dimensions of the workpiece or working-line dimensions for the reference workpiece Calculate a difference, and, if there is a difference, correct the teaching data previously stored based on the amount corresponding to the difference, and regenerate and operate the industrial robot based on the corrected teaching data. Doing.

The shape pattern of the reference work piece or the work line pattern for the reference work piece may be stored in advance, and the pattern may be displayed on the display means at the time of setting input of the dimension of the work piece or the working line dimension for the work piece ( Claim 2).

1 is a flowchart for explaining the procedure of the teaching and reproducing method of the industrial robot as one embodiment of the present invention.

(A) and (b) are the figures which illustrate the example of the shape pattern of the reference | standard workpiece in this Example, (b) is the figure seen from the arrow of (a).

3 is a perspective view illustrating an example of a general robot system whether the method of the present embodiment is applied.

* Explanation of symbols for main parts of the drawings

1: Trans ash (workpiece) 1a: Slot

2: long member (workpiece) 3: skin plate (workpiece)

4: stiffener (workpiece) 5: rail

6: trolley 7: arc welding robot (industrial robot)

8: Color Plate

In the teaching and reproducing method (claim 1) of the industrial robot of the present invention described above, when the predetermined work is performed on a workpiece having the same geometric pattern as the reference workpiece, the dimensions of the workpiece to be worked (or working-line dimensions for the workpiece) Are sequentially set and input, and the difference between the dimension (work line dimension) of the set-entry workpiece and the dimension (work line dimension) of the reference workpiece stored in advance is calculated, and if there is a difference between these dimensions, the difference The teaching data is corrected according to the above, and the industrial robot is regenerated based on the corrected teaching data.

As a result, when the dimensions are slightly different in the workpiece having the same geometric pattern as the reference workpiece, the teaching data can be created simply by setting and inputting the dimensions (working line dimensions) of the workpiece to be worked without performing complicated teaching for each workpiece. Can be.

In addition, by displaying the shape pattern of the reference workpiece (or the working line pattern for the reference workpiece) on the display means in the setting input of the size of the workpiece or the working line dimensions for the workpiece (claim 2), the workpiece While referring to the shape pattern or the work line pattern, the dimension setting input can be performed on the workpiece.

Example

Referring to the drawings, the teaching and reproducing method of the industrial robot as one embodiment of the present invention will be described. FIG. 1 is a flow chart for explaining the procedure, and FIGs. Fig. 3 is a perspective view showing an example of a general robot system to which the method of the present embodiment is applied.

The method of the present invention is suitable when there are many similar-shaped factories and the dimensions are slightly different during the small quantity production. As an example of such a workpiece, for example, selection in the shipbuilding field as shown in FIG. Vi) There is a block (large assembly stage).

First, the selection block and the robot system used when welding the selection block will be described with reference to FIG. Further, the selection block is a quadrilateral shape of about 20 m in one side produced in the previous stage of manufacturing a ship in a ship dock, and the hull is formed by connecting such selection block in the dock.

In FIG. 3, 1 is a trans-material (workpiece) which is arrange | positioned on the skinplate (workpiece) 3, and the edge part is welded with respect to this skinplate (3), and 2 is orthogonal to this trans-material (1). It is also a long member (workpiece) which is arranged at equal intervals through the slot (1a) formed in the transformer material 1, 4 is a stiffener (workpiece) to connect the transformer material 1, 8 is a slot (1a) It is also a color plate (workpiece) which is arranged along the trans-material (1) and can connect the elongate member (2) and the trans-material (1).

And the rail 5 is provided on the elongate member 2 so that it may be substantially orthogonal to these elongate members 92 (roughly parallel to the transit material 1), and the trolley | bogie 6 which travels and moves along this rail 5 will be carried out. The arc welding robot (industrial robot) 7 is mounted on the upper side, and the welding line (A, B) and transformer between the elongate member 2 and each stiffener 4 are installed by the arc welding robot 7. Weld line D between ash 1 and skin plate 3, weld line E between elongate member 2 and color plate 8 and between trans-material 1 and color plate 8 Weld lines F and G are welded to the corners, respectively.

At this time, as shown in FIG. 3, the welding lines A to G are for each of the long members 2, and for each of the long members 2, the slots 1a, the long members 2, the stiffeners 4 and the colors are provided. The dimensions and the formation of the plate 8 are slightly different, and the dimensions of the welding lines (working lines) A to G may also be different. The shape of the long member 2 is not only T longitudinal, L longitudinal, angle, flat bar, but also various types of color plates, but basically the same shape pattern is repeated. .

In the workpiece shown in FIG. 2 and FIG. 3, the base member 2 is made of L-long tutorial, and the stiffener 4 is installed and the color plate 8 is placed directly in front of the robot 7 side. The illustrated example is illustrated, and this shape pattern can be seen a lot as a selection block. The dimensions of these workpieces and weld lines, such as the long ground space LS, the long ground height D1, and the long ground flange width B4, are determined by the ship's strength design. Changes in relation to the main dimensions.

That is, in the curved block, there are a large number of welded spots as shown in Figs. 2 (a) and 2 (b), but the dimensions are slightly different for each welded spot, and almost the same dimension exists. It does not become.

Therefore, in the conventional teaching means, the teaching must be made one by one whenever the dimensions are different.

In this embodiment, the procedure in the case of welding the welding points of the same shape pattern as described above in the curved block shown in Figs. 2 and 3 will be described with reference to Fig. 1.

First, a reference workpiece (which may be a real object or a virtual object in the drawing) having a shape pattern of the workpiece to be welded is set, and a pattern diagram showing a workpiece shape and a welding line (working line) as shown in FIG. 2 is prepared. Coefficients LS, A1, A2, B1 to B4, C1, C2, D2, S, indicating the length (workpiece dimensions) corresponding to the workpiece shape in the pattern diagram (step S1). t1 to t3) are added (step S2), for example, LS = 500, D = 300, B4 = 150,... The predetermined length (dimension with respect to the reference workpiece) is determined (step S3), and the operation of the arc welding robot 7 with respect to the reference workpiece of this dimension is taught (step S4). The teaching data is stored in advance (step S5). In addition, the teaching by step S4 may be direct teaching or indirect teaching (offline teaching).

In the replay operation by the arc welding robot 7, first, the pattern diagram shown in FIG. 2 is displayed on the screen of display means such as a CRT display (step S6), for example, on the screen sequentially in an interactive manner. In this form, the dimensions of each part that are requested are sequentially returned, and the dimensions and weld line dimensions of the workpiece to be welded by the arc welding robot 7 are sequentially set and input thereto (step S7).

The setting input of the dimension may be a method of typing the numerical value by a turn key or the like, or a method of selecting from a plurality of types of numerical values displayed on the screen. At the same time as the setting input of the dimension, selection input is also made to various selection items such as the presence / absence of edge winding welding and the presence / absence of stiffeners (4).

The difference between all the dimensions input and the predetermined dimension stored in advance is calculated (step S8), and even if there is a difference between these dimensions, the teaching data is corrected based on the difference (step S9), for example. If LS = 500 is stored in advance as LS = 500 as a predetermined dimension, the difference 100 is calculated when LS = 600 is input this time, and the teaching data is corrected by changing only the difference 100 million of the dimension related to this dimension part. When no stiffener is selected, the input request for the stiffener (A1, A2, B3, t3 in FIG. 2) is omitted.

After the entire corrected teaching data is created as described above, the corrected teaching data is transferred to the program memory area to be played back this time (step S10). For example, when performing in the control panel of the arc welding robot 7, it is transferred to the memory area corresponding to the program number to be played back this time, or rewritten as a playback program number corresponding to the area where the playback number is created. do. In addition, in the case of an external personal computer or the like, correction teaching data is transmitted to a memory area corresponding to a predetermined program number. Further, correction teaching data may be written on a floppy disk or the like, and the floppy disk or the like may be moved by a worker.

Based on the correction teaching data created as described above, the arc welding robot 7 is regenerated to perform a welding operation for this welding spot (step S11).

As described above, according to the teaching and reproducing method of the present embodiment, when the dimensions are slightly different from those of the reference workpiece and the workpieces of the same shape pattern, only by setting and inputting the dimensions (working line dimensions) of the workpiece to be worked without complicated teaching work for each workpiece. Since the teaching data can be prepared, it is very easy to cope with the production of small quantities of various kinds.

In addition, by displaying the shape pattern (work line pattern) of the reference workpiece in the number of display units at the time of inputting the setting of the size of the work object or the work line dimension for the work object, the work is referred to while referring to the shape pattern or work line of the work piece. The dimension setting input for the target workpiece can be performed, and the setting input operation can be easily performed easily.

In addition, the length taught in advance in step S3 is 0, for example, and teaches only the shape of the start point (wrist posture) and the end point of the robot 7, and according to the input length, for example, LS = 600, The teaching and correction methods can be considered in various ways, such as supplementing the space between the points of the robot 7 by the interval 600.

In this case, if the data already taught in any way is corrected by the last inputted tooth and becomes data on the workpiece to be welded at this time, any method of teaching and correcting may be used.

In addition, the pattern diagram shown in FIG. 2 changes according to the shape by selecting any one of T long ground, L long ground, angle, flat bar long ground, etc. as the shape of the elongate member 2. As shown in FIG. In addition, when no stiffener is selected, the stiffener 4 is not displayed on the display drawing, the presence or absence of the workpiece display and the dimensions are changed by the selection of the pattern or the selected pattern, and the actual display is performed to make the workpiece to be welded this time. It is easy to understand the setting input of the dimension.

Further, in the above embodiment, the case where the selection block is manufactured by the arc welding robot 7 has been described. However, the method of the present invention is not limited to this, and different work groups such as welding patterns of ribs of small assembly are separated. It can be said that the workpiece | work which has a pattern simultaneously may be used as a target workpiece, it is similarly applied to other various industrial robots or workpieces, and the same effect as the said Example can be obtained. In the above embodiment, the case where the pattern diagram as shown in FIG. 2 is displayed on the display screen has been described. However, when the operator performing the setting input operation of the dimension is easy to understand, the display of the pattern diagram is omitted and the numerical value is omitted. It is only necessary to perform input selection. For example, by selecting " T " for " longee T or L " as the screen display, the shape of the long member 2 is selected, and " longee height? &Quot; The values? 300, 150, and 600 may be input for the width ?, long space, etc., respectively.

As described above in detail, according to the teaching and reproducing method (claim 1) of the industrial robot of the present invention, when the predetermined work is performed on the workpiece and the workpiece having the same developing pattern, the workpiece size (or the working line dimension) ) And sequentially calculate the difference between the dimensions (working line dimensions) of the set-entry workpiece and the dimensions (working line dimensions) of the reference workpiece stored in advance, and if there is a difference between these dimensions, Since the teaching data is corrected based on the corrected teaching data, and the industrial robot is reproduced based on the corrected teaching data, when the dimensions are slightly different from those of the reference workpiece and the same shape pattern, the workpiece is not subjected to complicated teaching work for each workpiece. Teaching data can be easily created by simply setting and inputting the dimensions (working line dimensions) of the workpiece, and producing small quantities of various kinds (Claim 2), the dimension of the workpiece can be set and input while referring to the shape pattern (or work line pattern) of the workpiece, and the setting input operation can be known. There is also an effect that can be easily performed.

In addition, the shape pattern (or work line pattern) of the reference workpiece is displayed on the display means at the time of inputting the setting of the size of the work piece or the work line dimension for the work piece (claim 2). Alternatively, the dimension for the workpiece to be worked can be set and input while referring to the work line pattern, and the setting input operation can be easily and easily understood.

Claims (2)

In the method for teaching and reproducing an industrial robot performed when a predetermined work is performed on a workpiece having the same shape pattern by the industrial robot, the reference workpiece of the same-shaped pattern is set, and the size of the reference workpiece or the reference workpiece is set. The work line dimension and the teaching data obtained by teaching the operation of the industrial robot with respect to the reference workpiece can be stored in advance, or when the work is performed by the industrial robot, the dimensions of the workpiece to be subjected to the predetermined work by the industrial robot. Or sequentially setting and inputting a working line dimension for the workpiece, and setting and inputting the dimension of the workpiece or the working line dimension for the convex buoy, the previously stored dimension of the reference crop or the working line dimension for the reference workpiece. If there is an error, calculate the difference between By teaching playback method of an industrial robot, comprising a step of modifying said teaching data and the previously stored, the reproducing operation of the industrial robot on the basis of the corrected teaching data based on the amount. The display means according to claim 1, wherein the shape pattern of the reference workpiece or the working line pattern for the reference workpiece is memorized in advance, and the pattern is displayed when setting the size of the workpiece or the working line dimension for the workpiece. Teaching and reproducing method of industrial robot, characterized in that displayed on the mountain.