TW201914782A - Holding position and posture instruction apparatus, holding position and posture instruction method, and robot system - Google Patents

Abstract

The present invention provides a holding position and posture instruction apparatus capable of generating a holding position and posture of robot for each posture with which a parts can be taken. The holding position and posture instruction apparatus includes a parts input posture calculation unit for calculating an input posture with which that the parts can be taken, a holding posture selection unit for selecting a holding posture of a hand with respect to the input posture of the parts, a holding position area extraction unit for extracting an area in which positions of the same holding type are collected as a holding position area, and a holding position and posture output unit for determining a holding position within the holding position area extracted by the holding position area extraction unit and outputting it as the holding position and posture for each holding posture.

Description

   Holding position and posture teaching device, holding position and posture teaching method and robot system   

The present invention relates to a holding position and posture teaching device, a holding position and posture teaching method, and a robot system of an industrial robot that holds parts.

Conventionally, industrial robots equipped with a manipulator that grips parts and arranges them in predetermined positions at predetermined positions are known. In order for such a robot to perform a predetermined action, it is necessary to teach the holding action in advance. However, since this teaching operation takes a lot of time, there is a need to teach the operation automation and shorten the time. In terms of methods for automating operations and shortening time, a data has been developed based on the shape data of parts previously registered in the robot, and the holding position and holding posture (hereinafter, collectively referred to as holding position posture) of each part of the robot for each part. To enable the robot to perform a holding action.

Patent Document 1 includes a database in which shape data of a plurality of parts is registered, and a gripping position and posture of each part of the manipulator for each part, and searches the database for shape data of parts having a shape similar to the part to be gripped, and causes the robot to execute The holding position and posture of similar shaped parts. Patent Literature 2 includes a database in which a plurality of basic shape models and the grip positions and postures of the manipulator for each basic shape model are registered, and the parts to be grasped are compared with the basic shape models to determine the grip position and posture of the robot. The basic shape referred to here is a model of three-dimensional geometric elements such as a cylinder, a square column, a cylinder, and the like.

    [Prior Technical Literature]         (Patent Literature)    

(Patent Document 1) Japanese Unexamined Patent Publication No. 2008-15683

(Patent Document 2) WO 2009/113339

However, when the parts are put into production in a disorderly stacked state, it is difficult to register the holding position and posture of the manipulator corresponding to each posture that the part may assume in the database, and the holding position and posture are not registered in the database. In the case of the above, there will be a problem that the robot cannot perform the holding operation. For example, if a part with a gripping part that is scheduled to be gripped by a robot is put into production at an inclined state, and the gripping part is in contact with a flat surface, the gripping position and posture of the gripping part registered in the database cannot be performed. action.

The present invention has been completed to solve the above-mentioned problems, and an object of the present invention is to provide a gripping position and posture teaching device for generating a gripping position and posture of an applicable manipulator for each posture that the input component may assume. In addition, the purpose is to provide a method for teaching the holding position and posture. Further, a robot system adopting a holding position and posture teaching device is provided.

The holding position and posture teaching device of the present invention includes: a part input posture calculation unit that calculates the input posture of the part from the part shape data indicating the shape of the part; and selects the position relative to the input posture based on the data of the manipulator indicating the shape of the manipulator The selected part of the holding posture of the holding posture of the manipulator; the area obtained by arranging the positions where the holding part of the manipulator holding the part in the holding posture and the held part of the part for holding by the manipulator respectively coincide will be extracted as The holding position area extraction portion of the holding position area; and selecting the holding position of the part held by the robot in the holding position area, and outputting the holding position in at least one holding position for each input posture as the holding position posture of the robot Holding position and posture output unit.

The teaching method of the holding position and posture of the present invention includes: a step of calculating a part input posture for calculating the input posture of the part from the part shape data indicating the shape of the part; and selecting the position relative to the input posture based on the data of the robot hand indicating the shape of the manipulator Steps for selecting the holding posture of the holding posture of the manipulator; the area obtained from the positions where the holding part of the manipulator that holds the part in the holding posture and the held part of the part that is held by the manipulator for holding the manipulator will be taken as Steps for extracting the holding position area of the holding position area; and selecting the holding position of the part held by the robot in the holding position area, and outputting the holding position in at least one holding position for each input posture as the holding position posture of the robot Steps to output the holding position and posture.

The robot system of the present invention is provided with: a holding position and posture teaching device for generating a holding position and posture of a manipulator based on part shape data and manipulator data; a sensor that recognizes information about the position and posture of the input part; The information of the sensor and the holding position and posture generated by the holding position and posture teaching device are robots that hold parts.

According to the present invention, an applicable holding position posture can be generated for each posture that the part may assume. Even if the holding position posture is not registered in the database, the robot can be taught the holding position posture.

10‧‧‧Parts

10a to 10d‧‧‧Side (holding part)

20‧‧‧manipulator

20a, 20b‧‧‧Side (holding part)

21‧‧‧ Finger

22‧‧‧Wrist

23‧‧‧Notch

24‧‧‧Suction Department

31‧‧‧ Memory Department

32‧‧‧ Processing Department

50‧‧‧Sensor

100‧‧‧Robot system

110‧‧‧Parts input station

120‧‧‧ temporary station

130‧‧‧Change posture fixture

140‧‧‧Arrangement table

150‧‧‧3D visual sensor

160‧‧‧Two-dimensional visual sensor

200‧‧‧Robot

201‧‧‧Body

202‧‧‧Control Department

300‧‧‧ Holding position and posture teaching device

301‧‧‧Part shape data

302‧‧‧manipulator information

303‧‧‧ Holding position information

304‧‧‧ holding posture information

310‧‧‧Part input posture calculation unit

311‧‧‧Database Search Department

320‧‧‧Control posture selection

321‧‧‧Control posture input unit

330‧‧‧ Extraction section of holding position area

340‧‧‧Control position posture output unit

341‧‧‧ Holding position and posture adjustment section

FIG. 1 is a schematic configuration diagram of a robot system equipped with a grip position and posture teaching device according to Embodiment 1 of the present invention.

Fig. 2 is a schematic configuration diagram of a grip position and posture teaching device according to Embodiment 1 of the present invention.

Fig. 3 is a schematic diagram showing an example of the holding position and posture of the component according to the first embodiment of the present invention.

Fig. 4 is a schematic diagram showing an example of the holding position and posture of the component according to the first embodiment of the present invention.

Fig. 5 is a schematic diagram showing an example of the holding position and posture of the component according to the first embodiment of the present invention.

Fig. 6 is a schematic diagram showing an example of the holding position and posture of the component according to the first embodiment of the present invention.

FIG. 7 is a schematic diagram showing an example of a robot and parts according to Embodiment 1 of the present invention.

Fig. 8 is a schematic diagram showing an example of the holding position and posture of the component according to the first embodiment of the present invention.

Fig. 9 is a schematic diagram showing an example of the holding position and posture of the component according to the first embodiment of the present invention.

Fig. 10 is a schematic diagram showing an example of the holding position and posture of the component according to the first embodiment of the present invention.

FIG. 11 is a flowchart showing an example of the processing procedure of the grip position and posture teaching device according to Embodiment 1 of the present invention.

Fig. 12 is a schematic diagram showing an example of the processing procedure of the grip position and posture teaching device according to the first embodiment of the present invention.

Fig. 13 is a schematic diagram showing an example of a manipulator according to Embodiment 1 of the present invention.

Fig. 14 is a schematic diagram showing an example of the holding position and posture of the component according to the first embodiment of the present invention.

Fig. 15 is a schematic diagram showing an example of a robot system using a grip position and posture teaching device according to Embodiment 2 of the present invention.

Fig. 16 is a schematic configuration diagram of a grip position and posture teaching device according to Embodiment 3 of the present invention.

Fig. 17 is a schematic configuration diagram of a grip position and posture teaching device according to Embodiment 4 of the present invention.

Fig. 18 is a schematic configuration diagram of a grip position and posture teaching device according to Embodiment 5 of the present invention.

Fig. 19 is a schematic diagram showing an example of a suction robot according to an embodiment of the present invention.

Hereinafter, the drawings will be used to specifically describe a grip position and posture teaching device, a grip position and posture teaching method, and a robot system equipped with a grip position and posture teaching device according to an embodiment of the present invention.

    Embodiment 1.    

FIG. 1 is a schematic configuration diagram of a robot system equipped with a grip position and posture teaching device according to Embodiment 1 of the present invention. As shown in FIG. 1, the robot system 100 includes a robot 200, a holding position and posture teaching device 300, and a sensor 50, and is connected to communicate with each other. The robot system 100 operates the robot 200 in the grasping position and posture generated by the grasping position and posture teaching device 300.

The robot 200 is, for example, a vertical articulated robot, and has a robot body 201 and a robot control unit 202. The robot body 201 includes a manipulator 20 having an arbitrary shape, and the manipulator 20 has a grip surface for gripping a component 10 (not shown). The manipulator 20 is provided with, for example, a finger 21 that can be opened and closed, and is mounted in the direction of the rotation axis of the wrist 22 that is driven to rotate by the body 201. The robot control unit 202 is provided with a control program in which the operation of the robot 200 is described, and controls the driving of the robot 200 based on information obtained from the sensor 50, the grip position and posture teaching device 300, and the like.

The sensor 50 measures two-dimensional images, three-dimensional data, etc. of the part 10 to be grasped, and recognizes the position and posture of the part 10. The recognition result of the part 10 is converted into data of a coordinate system representing the position and posture of the robot 200 in the sensor 50 or the robot control unit 202. The position and posture of the component 10 recognized by the sensor 50 are calculated based on the grasped position and posture of the robot hand 20 generated by the holding position and posture teaching device 300 and the recognition result from the sensor 50.

Next, the configuration of the holding position and posture teaching device 300 that teaches the robot 200 to hold the position and posture will be described. The holding position and posture teaching device 300 is an arithmetic processing device including, for example, a memory unit 31 and a processing unit 32. In addition to the above-mentioned components, the holding position and posture teaching device 300 is further preferably provided with a graphical user interface (GUI) including a 3D display screen of the display part 10 and the manipulator 20, an input button, and the like.

The memory section 31 stores, for example, part shape data 301, manipulator data 302, and a program that generates a holding position and posture. The processing unit 32 performs program calculation processing based on the part shape data 301 and the robot data 302 stored in the memory unit 31. The part shape information 301 is the three-dimensional shape information about the part 10. In addition, the manipulator data 302 is data about the three-dimensional shape of the manipulator 20. In addition to the three-dimensional shape data, the manipulator data 302 preferably includes: the gripping surface of the manipulator 20 that can contact the part 10; the movement direction of the finger 21; and the installation of the manipulator 20 to the robot 200 The part points to the direction of the front end of the manipulator 20 (hereinafter, simply referred to as the installation direction), etc., which has additional information about the manipulator 20.

In the description of the holding position and posture teaching device 300 described below, if there is no special description, both the part 10 and the manipulator 20 represent a part model and a manipulator model on a virtual space defined by three-dimensional shape data. In addition, the holding position and posture refer to the relative position and posture of the robot 20 relative to the component 10 in the virtual space. The position can be expressed by an arbitrary three-dimensional coordinate system, and the posture can be expressed by parameters such as the amount of rotation around each axis.

Next, a description will be given of the functional configuration of the device 300 for performing the grip position and posture teaching. FIG. 2 is a schematic configuration diagram showing the holding position and posture teaching device 300.

The part input posture calculation unit 310 obtains the part shape data 301 stored in the memory unit 31, classifies the posture of the part 10 input into the robot system 100, and calculates the classified input postures respectively. The classification and calculation method of the input posture adopt different methods according to the case where the part 10 is put into production in a state of being scattered and stacked, and the case where the part 10 is put into production in a form where the posture is not regular but does not overlap on the plane.

When the parts 10 are put into production in a state of being scattered and stacked, for example, with respect to the direction in which the robot 20 approaches the parts 10, the input posture is classified with the opposite direction as the direction of the parts 10. For example, as shown in FIG. 3, the coordinate axis of the rectangular coordinate system P fixed to the part 10 is set to (Px, Py, Pz), and the coordinate axis of the rectangular coordinate system W of the robot system 100 is set to (Wx, Wy, Wz ). At this time, when the approaching direction of the robot 20 is the negative direction of Wz, it is fixed to the rectangular coordinate system P of the component 10 and represents the direction of the component 10 by the vector A of the positive direction of Wz. In this way, when it is put into production in a state of being scattered and stacked, the putting posture is classified according to the direction of the part 10 relative to the approaching direction.

When the part 10 is put into production in a form where the posture is not regular but does not overlap on the plane, the input posture of the part 10 is classified according to the stable posture of the part 10. The so-called stable posture here refers to a posture where the part 10 is stable and stationary on a plane. For each input posture classified in the two cases, the posture of the part 10 is calculated separately.

The holding posture selection unit 320 acquires the robot data 302 stored in the memory unit 31, and selects the holding posture of the robot 20 for each input posture calculated by the part input posture calculation unit 310.

Here, the selected holding posture must consider the mechanical limitations of the robot 200 when the part 10 is actually held. For example, as shown in FIG. 4, it is assumed here that the robot 200 (not shown) disposed in the negative direction of Wx relative to the part 10 holds the part 10 of the robot system 100 thrown into the rectangular coordinate system W from the direction of the vector B Situation. As shown in FIG. 5, if the part 10 rotates around the Wz axis from the state of FIG. 4, in order to adopt the same holding posture of the manipulator 20 with respect to the holding position of the part 10 as in FIG. 4, the manipulator must be The mounting portion of 20 moves greatly in the positive direction of Wx, and the robot 200 cannot perform the gripping operation because it cannot construct the part 10. As shown in FIG. 6, if the gripping posture between the axis direction Wz of rotation of the part 10 and the mounting direction (vector B) of the manipulator 20 specified by the manipulator data 302 is small, even if the part 10 rotates, the robot 200 It is also possible to perform the gripping operation without significantly changing the position of the robot 20 by rotating the wrist 22. Here, the direction in which the robot 20 approaches the part 10 is usually the axis direction Wz in which the part 10 rotates. In this regard, the holding posture selection part 320 selects the posture of the manipulator 20 whose angle between the direction in which the robot 20 approaches the part 10 and the mounting direction indicating the direction from the mounting part of the manipulator 20 to the front end is within a predetermined angle, as Hold posture.

The grip position area extraction unit 330 extracts the area where the positions belonging to the same grip type are collected as the grip position area for each grip position selected by the grip position selection unit 320. Here, the same gripping type is defined as a case where the gripping posture of the manipulator 20 with respect to the throwing posture of the part 10 is the same, and the gripped part of the part 10 with respect to the gripping part of the manipulator 20 coincides. For example, as shown in FIG. 7, when a robot 20 having a finger 21 is used to hold a part 10, the grip of the robot 20 is the inner side surface 20 a, 20 b of the finger 21, and the gripped part of the part 10 is The side surfaces 10a to 10d of the component 10. At this time, as shown in FIGS. 8 and 9, the holding posture with respect to the input posture of the part 10 is the same, and the grasped parts 10 a and 10 b of the part 10 with respect to the holding parts 20 a and 20 b of the manipulator 20 also agree, So for the same type of control. On the other hand, although FIG. 10 has the same holding posture as FIG. 8, the gripped parts of the part 10 with respect to the gripping parts 20a, 20b of the manipulator 20 are 10c, 10d, which is inconsistent with FIG. 8, so Different control types.

The grip position and posture output unit 340 determines the grip position in the grip position area extracted by the grip position area extraction unit 330 and outputs it as the grip position posture for each input posture of the component 10.

With the above configuration, the holding position and posture teaching device 300 of the present embodiment can generate at least one holding position and posture for each input posture of the part 10 based on the part shape data 301 and the manipulator data 302.

Next, referring to FIG. 11, an example of a processing program that uses the above-described configuration to execute the function will be described. FIG. 11 is a flowchart showing steps S1 to S4 of an example of the processing procedure.

In step S1, the part input posture calculation unit 310 obtains the part shape data 301, and classifies and calculates the input posture of the part 10. The classification and calculation method of the input posture are different methods according to the case where the part 10 is input in a state of being scattered and stacked, and the case where the part 10 is input in a form where the posture is not regular but does not overlap on the plane.

When the parts 10 are put in a state of being scattered and stacked, for example, there is a method of expressing in a polar coordinate space and classifying the put posture. As shown in FIG. 3, when the approaching direction of the robot 20 is the negative direction of Wz, the vector A of the direction opposite to the approaching direction of the rectangular coordinate system P fixed to the part 10 is set as the direction of the part 10. At this time, the vector A is expressed in the polar coordinate space fixed to the part 10, and the classification is performed in the range of its angular components (θ, φ). For example, if θ and φ are classified in units of 30 °, it can be divided into 144 types of 12 × 12. Recognizing the posture of the part 10, expressing the direction of the vector A in the posture of the part 10 in polar coordinate space, judging which range among the 144 kinds classified in advance, and calculating the input posture as the part 10.

When the part 10 is put in a form where the posture is not regular but does not overlap on the plane, the part 10 is classified for each stable posture. As for the method for calculating the stable posture, for example, first, the part input posture calculation unit 310 obtains the part shape data 301 of the part 10 and calculates the convex polyhedron surrounding the minimum volume of the part 10. Then, the center of gravity of the part 10 is projected on the plane on which the part 10 is placed, it is determined whether the projected point is located in the surface of the convex polyhedron, and the person located in the surface is calculated as the stable posture of the part 10. The approaching direction of the robot 20 at this time is, for example, the normal direction of the placement plane of the component 10. The calculation method of the stable posture is not limited to this, and the method is not limited as long as it can calculate the posture that the part 10 is stable and stationary on the plane. In this way, in step S1, the insertion posture of at least one component 10 is calculated.

Next, in step S2, the grip posture selection unit 320 obtains the robot data 302, and selects the grip posture of the robot 20 for each input posture derived in step S1. An example of the selection method of the holding posture will be described using FIG. 12. As shown in FIG. 12, first, the rectangular coordinate system W (Wx, Wy, Wz) of the robot system 100 in which the approach direction of the manipulator 20 is the Wz axis, and the installation direction of the manipulator 20 is the Qz axis are fixed to the manipulator The coordinate system of 20 is based on Q (Qx, Qy, Qz), so that the Wz axis coincides with the Qz axis. Then, the surface of the part 10 whose angle between the normal of the gripping surface of the robot 20 (vector V) and the normal of each surface of the component 10 (vector W) is within the allowable angle is extracted as the gripped surface. Then, in such a way that the gripped surface of the extracted part 10 is parallel to the gripped surface of the robot 20, the normal of the gripped surface of the robot 20 and the normal of the gripped surface of the component 10 are matched, and the mechanical The posture of the hand 20 is selected as the holding posture with respect to the input posture of the part 10. With such a selection method, the holding posture selection unit 320 can select a holding posture that has considered the mechanical limitations of the robot 200 when actually holding the component 10. At this time, when the component 10 is thrown in a state of being scattered and stacked, it is preferable to appropriately set the allowable angle or the unit for classifying the throwing posture in such a manner that the grasping posture within the allowable angle can be derived for any throwing posture The size of the angle, or both sides can be appropriately set.

Here, the installation direction of the manipulator 20 can be specified by the manipulator data 302, for example. In addition, the grip surface of the robot 20 can also be specified by the robot data 302, and the surface of the finger 21 in the opening and closing direction can be used as the grip surface. In addition, the allowable angle between the normal of the gripping surface of the robot 20 and the normal of the gripped surface of the part 10 can be specified by the robot data 302 or other input data, etc., and can also be set to, for example, 5 ° Fixed value.

In addition, when there are a plurality of gripping surfaces of the manipulator 20, the gripped surface of the component 10 is extracted from each gripping surface of the manipulator 20. When the gripped surface of the part 10 is not drawn out, for example, the manipulator 20 in which the Wz axis of the approaching direction of the manipulator 20 coincides with the Qz axis of the mounting direction of the manipulator 20 in FIG. 12 is selected. One of the postures is the holding posture. At this time, the position of the holding posture of the rotation direction of the manipulator 20 around the Qz axis is not determined, but this rotation direction may be the Wx axis or Wy axis of the coordinate system W of the robot system 100, and the three-dimensional shape data of the manipulator 20 The specified coordinates are the directions in which the directions of the Qx axis and the Qy axis of Q coincide. In addition, it can also be determined using an appropriate coordinate axis, reference, or the like. In this manner, in step S2, at least one holding posture is selected for each input posture of the component 10.

Next, in step S3, the grasping position area extraction unit 330 aggregates the positions where the grasping part of the robot 20 and the grasped part of the component 10 in the grasping posture selected by the grasping posture selecting unit 320 respectively coincide, that is, the same grasp The area derived from the different positions is extracted as the holding position area. The method of extracting the grip position area is, for example, a method of simulating the operation of gripping the part 10 by opening and closing the finger 21 of the robot 20. Here, various known methods can be used for the simulation of holding. For example, first, in a predetermined holding posture, the finger 21 is opened and closed while changing the relative position of the robot 20 relative to the part 10 to find out the range in which the part 10 can be held, and then, within the range in which the part can be held 10 When the surface of the manipulator 20 is in contact, the positions of the same grip type are aggregated into a grip position area and extracted.

In addition to the holding position area of the same holding type, the position of the holding type change can be calculated from the boundary conditions based on the part shape data 301. In this manner, in step S3, at least one grip position area is extracted for each input posture of the component 10.

Next, in step S4, the grip position posture output unit 340 selects the grip position from the grip position area extracted in step S3. Regarding the method of selecting the holding position, for example, first, a plurality of holding position areas extracted from the holding position area extraction unit 330 are calculated, and the range of each area is calculated, and the widest holding position area is selected for each input posture. Then, the center of gravity of the selected holding position area is calculated as the holding position. The calculated holding position is output as the holding position posture for each input posture of the component 10.

The grasping position and posture is, for example, a tool for editing the control program of the robot control unit 202 with data on the relative position and posture of the part 10 and the robot 20. In addition, the display portion of the GUI or the like may be used to visualize the output to the user, or a combination of the two. In addition, data indicating the relationship between the position of the part 10 as a reference and the position and posture of the robot 200 at the time when the part 10 is held can also be memorized. Here, the data showing the relationship between the position of the reference part 10 and the position and posture of the robot 200 can be obtained from the sensor 50 or the like as the reference position of the part 10, or an input unit can be provided. The user can appropriately input the data obtained by the simulation of the robot system 100. In addition, it may be input from a tool that edits the control program of the robot control unit 202, or a combination of the above.

As described above, by performing the processes of steps S1 to S4, at least one holding position posture can be output for each input posture of the part 10 based on the part shape data 301 and the manipulator data 302.

In addition, in order to simplify the description, the processing of each function is limited and described, but the processing of the present invention is not limited to this.

For example, although the grip position posture output unit 340 is described as the grip position area with the widest selection range, the area with the largest number of contact surfaces between the component 10 and the robot 20 may be selected as the grip position area. As shown in FIG. 13, in the case where the finger 21 has the notch portion 23 of the manipulator 20, the manipulator 20 having a plurality of fingers, and the like, it is preferable that the number of contact surfaces is large. This is because it is less likely to fall when moving while holding the part 10, and by applying force to the part 10 by using a plurality of contacts, it is easy to stabilize the position and posture of the part 10 after holding.

In addition, although the grip position and posture output unit 340 shows an example in which the center of gravity of the grip position and posture is used as the grip position, a position within the grip position area close to the center of gravity of the component 10 may be selected as the grip position. In addition, the holding position can also be selected by judging the stability when holding the part 10. As for this method of determining stability, for example, it is possible to hold the component 10 in the selected holding posture and holding position area and calculate the displacement of the component 10 when an external force is applied to the component 10, and then select a position with a small displacement as the holding position. With such a method of selecting the holding position, the robot 20 can stably hold the part 10.

In addition, although the holding position and posture output unit 340 shows an example in which one holding position and posture is output for each input posture of the component 10, a plurality of output positions may be output. For example, for a plurality of grasping position areas derived by the grasping position area extraction unit 330, the grasping positions are respectively derived, and all are output as the grasping position posture.

In addition, not all outputs may be output as the holding position and posture, but a part may be selected according to the priority. For example, a method of evaluating the holding position and posture and outputting three methods of evaluating the high order, a method of outputting a holding position and posture that has obtained a certain evaluation or more, or a combination of these methods. The evaluation method may be individual evaluation criteria such as the number of contact surfaces of the component 10 and the manipulator 20, the width of the holding position area, the distance from the center of gravity of the component 10 to the holding position, or a combination of these.

In addition, in the method of selecting one holding position posture for operating the robot 200 from the plurality of holding position postures output by the holding position posture output unit 340, there is a display unit provided in the holding position posture teaching device 300, and all holding positions The posture is output to the display section for the user to select the method to output in a manner that can be selected within the control program of the robot control section 202.

Furthermore, the approach direction of the robot 20 may be changed according to the position where the component 10 is put in. For example, when the component 10 is thrown into a box having a wall portion, the approach direction is preferably set so as not to interfere with the wall portion in consideration of the size of the manipulator 20 and the like. For example, as shown in FIG. 14, when the part 10 recognized by the sensor 50 is located near the box wall, the approach direction of the robot 20 is inclined in the opposite direction to the box wall. In this case, the part input posture calculation unit 310 classifies the input posture of the component 10 corresponding to the vector A in the direction opposite to the approach direction. When approaching a plurality of wall portions, the approach direction is inclined in the opposite direction to each wall portion. In addition, when the component 10 is close to the wall portion and located at the wall, the approach direction can be set to a narrower range to calculate the grip position and posture.

As described above, according to the holding position and posture teaching device 300 of the present invention, it includes: a part input posture calculation unit 310 that classifies and calculates the input posture of the component 10; and holds the holding posture of the robot 20 that selects each input posture Posture selection unit 320; for each holding posture, extract the holding position area extraction section 330 of the same holding position area; and select the holding position from the holding position area, and output the selected holding position holding position as a machine The holding position and posture output unit 340 of the holding position and posture of the hand 20 can generate at least one holding position and posture of the manipulator 20 for each input posture.

    Embodiment 2.    

Hereinafter, a robot system embodying Embodiment 2 of the present invention will be described with reference to FIG. 15. FIG. 15 is a schematic diagram showing an example of a robot system for arranging and arranging scattered parts in Embodiment 2 of the present invention. In Fig. 15, the same symbols as in Figs. 1 and 2 denote the same or corresponding parts. The robot system of the present embodiment is a system that applies the holding position and posture teaching device of the first embodiment to align the scattered and stacked parts.

As shown in FIG. 15, the robot system 100 includes a three-dimensional vision sensor 150, a two-dimensional vision sensor 160, a robot 200, and a holding position and posture teaching device 300. The holding position and posture teaching device 300 generates the holding position and posture of the component 10 in advance by the method disclosed in Embodiment 1 before the robot 200 performs the holding action, and teaches the robot 200 to the holding position and posture.

The parts 10 are put into the parts putting table 110 in a state of being scattered and stacked. As for the method of putting the component 10 into the component loading table 110, in addition to the method of sequentially placing the component 10 on the tray fixed to the component loading table 110, there is also a general method of replacing the tray filled with the component 10, and the combination These methods.

The three-dimensional visual sensor 150 is a sensor for recognizing the position of the part 10 scattered on the part putting table 110. Using the recognition result of the three-dimensional visual sensor 150, a part 10 is taken out from the part loading table 110 and arranged directly to the arrangement table 140, but if it cannot be arranged directly, the parts 10 are placed in such a way that they do not touch each other To temporary table 120.

The so-called inability to arrange directly here refers to a situation in which the accuracy of the recognition result of the component 10 is low, and it is impossible to perform accurate holding in order to arrange neatly. For example, the feature point of the part 10 is blocked, the position and posture of the recognized part 10 is doubtful, or the selected holding position and posture is unstable, and the part 10 will move when the robot 20 holds it . In addition, there is a case where the position and posture of the component 10 are not recognized, but the graspable space is recognized. The so-called grippable space, if it is a gripping robot 20, is the space where the fingers 21 of the robot 20 can extend and the part 10 to be gripped is between the fingers 21, if it is a suction-type machine The hand 20 is a plane above a certain area of the object. In addition, there are cases where the position and posture cannot be realized due to the relationship between the gripping position and posture, the interference of the robot 20 and the robot 200 with the surrounding equipment, the mechanical limitations of the robot 200, and the like.

In the case as described above, it is determined that the arrangement table 140 cannot be moved directly, and the component 10 is placed on the temporary table 120 in a stable posture. The two-dimensional visual sensor 160 recognizes the position and posture of the part 10 placed on the temporary table 120 with high accuracy. The robot 200 grips the component 10 using the grip position and posture generated by the grip position and posture teaching device 300. The robot 200 executes the operation in such a manner that the parts 10 are neatly arranged on the arrangement table 140 in a predetermined final posture.

When it is impossible to move the part 10 to the alignment table 140 in the holding position and posture taught by the holding position and posture teaching device 300, the robot 200 uses the posture change jig 130 to change the posture of the part 10, and then moves to the final posture排 台 140。 Arrange the table 140. The so-called immovable situation refers to a situation where the robot 20, the robot 200, etc. interfere with surrounding equipment, a situation where the robot 200 cannot realize the position and posture, and the like. Not only changing the posture jig 130, but also placing the part 10 on the temporary table 120 to change the posture again.

According to the above configuration, the robot system 100 can hold the scattered parts 10 by the holding position and posture generated by the holding position and posture teaching device 300 and arrange them in a predetermined position and posture.

Furthermore, in the present embodiment, although the example in which the holding position and posture teaching device 300 is applied to a system in which the parts 10 are scattered and stacked is described, it can also be applied to other systems. The system put in a non-tidy but non-overlapping manner, the posture of the parts 10 is the system put in a neat arrangement, etc.

    Embodiment 3.    

The grip position and posture teaching device embodying Embodiment 3 of the present invention will be described below with reference to FIG. 16. FIG. 16 is a schematic configuration diagram of the holding position and posture teaching device 300 of the present invention. In Fig. 16, the same symbols as in Figs. 1 and 2 denote the same or corresponding parts. This embodiment is the same as Embodiment 1 except that the holding position and posture data 303 and the database search unit 311 are added.

In this embodiment, the holding position and posture data 303 describing the relative position and posture of the manipulator 20 relative to the main part 10 is stored in the memory section 31, and the database with the searchable memory section 31 is provided. Library search unit 311.

The database search unit 311 acquires data on the input posture of the component 10 calculated by the component input posture calculation unit 310. Then, a database storing the holding position and posture data 303 of the main part 10 is searched. When extracting the grasping position and posture data 303 of the throwing posture of the part 10 determined to be usable for calculation, it is determined that the approaching direction of the throwing position of the robot 200 and the mounting direction of the grasping position and posture data 303 of the robot 200 Whether the angle is within the allowable angle. If it is determined that the grip position and posture of the grip position and posture data 303 is within the allowable angle, the grip position and posture output unit 340 outputs the output as the grip position and posture.

Even in such a configuration, as in the first embodiment, at least one grip position posture can be generated for each input posture of the component 10. Furthermore, in the present embodiment, since the holding position and posture data 303 is stored in the memory unit 31, and the database search unit 311 is provided with a database for searching the memory unit 31, the applicable part 10 is registered in the database In the case of the holding position and posture data 303, the holding position and posture data 303 can be output as the holding position and posture of the component 10.

As for the processing program, the part input posture calculation unit 310 calculates the input posture (step S1), and the database search unit 311 searches the database including the grip position posture data 303 (step S2). When the applicable grip position and posture data 303 is extracted, the processes of the grip position selection unit 320, the grip position area extraction unit 330, and the grip position and posture output unit 340 are omitted, and the grip position and posture output unit 340 outputs (step S3). If the applicable holding position and posture data 303 is not extracted, the same processing as in the first embodiment is performed.

By executing the above processing procedure, a holding position posture can be generated for each input posture of the part 10 based on the part shape data 301 and the manipulator data 302 as in the first embodiment. In addition, when the grip position and posture data 303 applicable to the part 10 is registered, the processing of the grip position selection unit 320, the grip position area extraction unit 330, and the grip position and posture output unit 340 can be omitted and output from the grip position and posture The unit 340 outputs its grip position posture data 303.

    Embodiment 4.    

Hereinafter, a grip position and posture teaching device embodying Embodiment 4 of the present invention will be described with reference to FIG. 17. Fig. 17 is a schematic configuration diagram of the present embodiment. In Fig. 17, the same reference numerals as those in Figs. 1 and 2 denote the same or corresponding parts. The holding position and posture teaching device 300 is the same as the first embodiment except that the holding posture data 304 and the holding posture input unit 321 are added.

As shown in FIG. 17, this embodiment is configured to include a holding posture input unit 321 for inputting holding posture data 304.

The holding posture data 304 is data describing the holding posture of the robot 20 with respect to the part 10. The data format of the grip posture data 304 may be the same as the posture output by the grip posture selection unit 320, or may be a unique format. In the case of a unique format, the grip posture input unit 321 is changed to the same data format as the grip posture selection unit 320.

The holding posture input unit 321 can read the holding posture data 304, or the user can input it using the GUI. The GUI includes, for example, a 3D display screen of the component 10 and the robot 20, and an input button for inputting a holding posture.

Even in such a configuration, as in the first embodiment, at least one holding position posture can be generated for each input posture of the component 10. Further, according to the present embodiment, since the holding posture input unit 321 is provided, the user can directly specify the holding posture from the characteristics of the parts 10 and the robot 20 that the user handles.

Regarding the processing program, the part input posture calculation unit 310 calculates the input posture (step S1), and for each input posture, the grip posture input unit 321 inputs the grip posture data 304 (step S2). If the holding posture data 304 has been input, the holding posture selection unit 320 is skipped, and the holding position area extraction unit 330 and the holding position and posture output unit 340 are processed by the method described in Embodiment 1, and the holding position and posture output unit Output (step S3). If the holding posture data 304 is not input, the same processing as in the first embodiment is performed.

By executing the above processing procedure, a holding position posture can be generated for each input posture of the part 10 based on the part shape data 301 and the manipulator data 302 as in the first embodiment. In addition, when the grip posture data 304 has been input to the grip posture input unit 321, the process of the grip posture selection unit 320 may be omitted, and the grip position posture may be generated.

    Embodiment 5.    

The grip position and posture teaching device embodying Embodiment 5 of the present invention will be described below with reference to FIG. 18. Fig. 18 is a schematic configuration diagram of this embodiment. In Fig. 18, the same reference numerals as those in Figs. 1 and 2 denote the same or corresponding parts. This embodiment is the same as Embodiment 1 except that the grip position and posture adjustment unit 341 is added.

As shown in FIG. 18, this embodiment is configured to include a grip position and posture adjustment unit 341 that adjusts the grip position and posture. The holding position and posture adjustment unit 341 presents the user with the holding position and posture, and the user can adjust the holding position and posture based on the information presented.

As for the method of prompting and adjusting the holding position and posture, the GUI can be used. The GUI includes, for example, a 3D display screen of the parts 10 and the robot 20, and input buttons for changing the position and posture of the robot 20 and inputting the holding position and posture. In the grip position and posture adjustment unit 341, a specific grip position area may be presented to the user, and the position may be adjusted only within the range.

Even in such a configuration, as in the first embodiment, at least one holding position posture can be generated for each input posture of the component 10. Furthermore, according to the present embodiment, since the grip position and posture adjustment unit 341 is provided, the user can adjust the output grip position and posture.

In addition, in the first to fifth embodiments, the case where the robot 20 has a plurality of fingers 21 that grip the component 10 by gripping has been described, but it may be a suction-type machine that grips the component 10 by gripping hand. Figure 19 shows an example of a suction robot. The upper part of the suction robot 20 is attached to the wrist 22 of the robot 200. The lower part of the suction-type manipulator 20 has a circular suction part 24 that sucks the part 10, and the suction part 24 holds the part 10 by suction. In the holding posture selection unit 320, the holding surface of the robot 20 is used as the suction unit 24 to select the holding posture. The grip position area extraction unit 330 and the grip position posture output unit 340 also perform the same processing as the manipulator 20 having the finger 21 described above.

In the first to fifth embodiments, the robot 200 and the holding position and posture teaching device 300 are separately provided. However, the robot control unit 202 may be provided with the holding position and posture teaching device 300. The composition of the teaching department of the same function.

Claims (9)

    A holding position and posture teaching device is provided with: a part input posture calculation part, which calculates the input posture of the part from the part shape data indicating the shape of the part; a holding posture selection part, which is based on the data of the manipulator indicating the shape of the manipulator, Select the holding posture of the manipulator relative to the input posture; the holding position area extraction part will integrate the holding part of the manipulator holding the part in the holding posture and the part for holding by the manipulator The areas derived from the positions where the gripped parts are coincident are extracted as the gripping position area; and the gripping position and posture output section selects the gripping position where the robot grips the part within the gripping position area, and for each of the aforementioned The input posture outputs the holding position in at least one of the holding postures as a holding position posture of the manipulator.         The holding position and posture teaching device as described in item 1 of the scope of the patent application, wherein the holding posture selection section directs the approaching direction of the manipulator for each input posture and the manipulator from the mounting portion of the manipulator The posture of the manipulator whose angle is clamped in the direction of the front end within the allowable angle is selected as the holding posture.         The holding position and posture teaching device as described in item 1 or 2 of the patent application range, wherein the holding position and posture output unit is selected from the plurality of holding position regions extracted from the holding position region extraction unit, and the widest or The largest number of contact surfaces with the manipulator is the holding position area.         The holding position and posture teaching device as described in item 1 or 2 of the patent application range, wherein the holding position and posture output unit selects the position of the center of gravity of the holding position area or the position of the holding position area close to the center of gravity of the component as The aforementioned holding position.         The holding position and posture teaching device as described in item 1 or 2 of the patent application scope includes: a database search section that searches a database equipped with holding position and posture data indicating the position and posture of the aforementioned manipulator for the aforementioned parts, And when the holding position and posture data applicable to the input position calculated by the component input posture calculation unit is extracted, the holding position and posture data is output as the holding position and posture of the manipulator.         The holding position and posture teaching device as described in item 1 or 2 of the patent application range includes a holding posture input unit for inputting holding posture data indicating the posture of the manipulator for the aforementioned parts.         The grip position and posture teaching device as described in item 1 or 2 of the patent application includes a grip position and posture adjustment unit that adjusts the grip position and posture of the manipulator output by the grip position and posture output unit.         A teaching method of holding position and posture includes: a step of calculating a part input posture, which is to calculate the input posture of the part from the part shape data representing the shape of the part; Select the holding posture of the manipulator relative to the input posture; the step of extracting the holding position area will integrate the holding part of the manipulator holding the part in the holding posture and the part for holding by the manipulator The areas derived from the positions where the gripped parts match each other are extracted as the grip position area; and the grip position posture output step is to select the grip position where the robot grips the part in the grip position area, and for each of the aforementioned The input posture outputs the holding position in at least one of the holding postures as a holding position posture of the manipulator.         A robot system comprising: a holding position and posture teaching device as described in item 1 or 2 of the patent scope, which generates a holding position and posture of a manipulator based on part shape data and manipulator data; a sensor that recognizes the input part Position and posture information; and a robot that holds the part according to the information from the sensor and the holding position and posture generated by the holding position and posture teaching device.