WO2016132521A1

WO2016132521A1 - Teaching data-generating device

Info

Publication number: WO2016132521A1
Application number: PCT/JP2015/054698
Authority: WO
Inventors: 中須　信昭
Original assignee: 株式会社日立製作所
Priority date: 2015-02-20
Filing date: 2015-02-20
Publication date: 2016-08-25

Abstract

A teaching data-generating device acquires information from a model-generating device, determines part classification from the information obtained, acquires an assembly sequence, selects gripping hands, generates possible gripping positions at which to grip a part, evaluates interference for multiple hands and selects a gripping position, generates coordinates for re-gripping the part, and generates a path for moving from part supply coordinates to re-gripping coordinates and part placement coordinates.

Description

Teaching data generator

The present invention relates to a teaching data generation technique for a multi-arm type automatic assembly apparatus.

Operation teaching for an arm type automatic assembly device (assembly robot) is a method of teaching by actually operating an assembly robot using a teaching pendant, a method of teaching while moving a three-dimensional image of an assembly robot displayed in a PC, etc. There are semi-automated generation techniques that require operator operation.

However, since these teaching methods require operation by an operator, it takes a long period of time (currently, about two weeks) to generate teaching data. For this reason, in the high-mix low-volume production, the ratio of the teaching data generation time to the production time increases.

Patent Documents

1 and 2 disclose teaching data generation techniques for conventional arm-type automatic assembly apparatuses.

In JP2013-43271A (Patent Document 1), a method for narrowing the gripping position by generating a plurality of candidate positions that can be gripped, determining the contact area between the hand and the assembly part and the distance from the center of gravity, A method for determining the gripping position by determining the interference of the hand at the position is described.

JP 2008-272886 (Patent Document 2) describes a method for determining the possibility of gripping from the inner product of the normal vector of the grip surface of the hand and the normal vector of the part surface.

JP 2013-43271 A JP 2008-272886 A

Since

Patent Documents

1 and 2 relate to work using one arm, they cannot be applied to a multi-arm type automatic assembly apparatus having a plurality of arms. In the multi-arm type automatic assembly apparatus, although there is an operation that requires cooperation between the arms, such as a change-over operation to different arms, the above-described prior art teaches the operation of each arm independently. This is because interference between arms occurs.

An object of the present invention is to realize automatic generation of teaching data by preventing interference between arms of a multi-arm type automatic assembly apparatus.

In order to solve the above problems, for example, the configuration described in the claims is adopted. The present application includes a plurality of means for solving the above-mentioned problems, and an example is given below.

A teaching data generation device that includes a storage unit and an arithmetic device, and that automatically generates teaching data for a multi-arm type automatic assembly device,
The storage unit includes part model information, hand model information, work environment model information, assembly order information, and hand correspondence information.
The component model information includes a component attribute, a shape specification, and a component gripping specification capable of specifying a grippable position, and the hand model information includes a hand attribute, a shape specification, and a hand gripping specification, The work environment model information includes, for each component type, a component supply specification including a component supply mechanism position, a component supply mechanism shape, and a gripping specification, a component arrangement specification including a component arrangement position and an orientation, and automatic assembly apparatus specifications. And the assembly order information includes information for specifying an assembly order of parts,
The hand correspondence information includes information associated with a part type and a hand capable of assembling a part of the part type, and the arithmetic device executes teaching data generation processing by performing a cooperative operation with a program. ,
The teaching data generation process includes a process of specifying a teaching target part based on the assembly order information, a part type of the target part based on a part attribute of the part model information, and based on the hand correspondence information. The process of identifying the hand corresponding to the component type, and the work environment information is based on the hand grip specification of the component model information, the hand model information, and the work environment model information. Included in the processing for generating gripping region candidates when gripping with the specified hand, processing for evaluating each region in the gripping region candidate and selecting a gripping position with a high evaluation value, and the automatic assembly apparatus specifications Processing for calculating a changeable range based on the arm length and the movable angle range of the arm, and processing for evaluating each position within the changeable range and generating a changeover coordinate , And the component supply mechanism position, and the component placement position, based on the re-holding coordinate, teaching data generating apparatus characterized by having a process of generating a movement path.

According to the present invention, it is possible to automatically generate teaching data that prevents interference between arms of a multi-arm type automatic assembly apparatus.

1 is an overall configuration diagram of a teaching data generation system. It is a figure which shows an example of the data table of component model information. It is a figure which shows an example of the data table of hand model information. It is a figure which shows an example of the data table of work environment model information. It is a figure which shows an example of the data table of component classification determination conditions. It is a figure which shows an example of the data table of assembly order information. It is a figure which shows an example of hand corresponding | compatible information. It is a figure which shows an example of hand corresponding | compatible information. It is a basic flowchart of teaching data generation processing. It is a flowchart explaining a holding position candidate generation processing flow. It is a figure explaining an example of a graspable range. It is a figure explaining an example of a graspable range. It is a figure which shows an example of the hand used with a multi-arm type automatic assembly apparatus. It is a figure which shows an example of the hand used with a multi-arm type automatic assembly apparatus. It is a flowchart explaining a gripping position candidate calculation processing flow. It is a figure which shows an example of interference determination. It is a flowchart explaining a grip position selection processing flow. It is a calculation example when the rotation moment in the gripping position selection processing flow is used as an evaluation value. It is a flowchart explaining a change coordinate production | generation processing flow. It is a figure which shows an example of a transfer coordinate production | generation. It is a figure explaining an example of the input screen which inputs the evaluation value setting method of a holding position, and the change coordinate selection method. It is a data table which stores the evaluation value setting method data of the gripping position and the replacement coordinate selection method data. It is an example of the user interface in the exchange coordinate generation process. It is an example of the user interface in the exchange coordinate generation process.

Hereinafter, examples of the present invention will be described. In the following embodiments, a processing flow assuming two arms is described as an automatic assembly apparatus to be taught, but the number of arms may be three or more.

FIG. 1 is an overall configuration diagram of a teaching data generation system of a multi-arm type automatic assembly apparatus. This teaching data generation system includes a teaching data generation device 100, a model generation device 200, and a network 210 that connects them. The model generation apparatus 200 of the present embodiment is configured with a three-dimensional CAD apparatus.

The teaching data generation apparatus 100 includes a control unit 110, a storage unit 130, an input unit 140, an output unit 150, and a communication unit 160. The teaching data generation apparatus 100 is connected to an external model generation apparatus 200 via a network 210 via a communication unit 160. Here, the teaching data generation apparatus 100 and the model generation apparatus 200 may be constructed in an integrated system, for example, the same computer.

The teaching data generation apparatus 100 may be a dedicated machine, but may be constructed by causing a general-purpose computer to execute a program, that is, by a cooperative operation of hardware resources such as a processor and a memory and software. A specific hardware configuration example is as follows. The control unit 110 includes a CPU (Central Processing Unit) and a main memory. The storage unit 130 includes an external storage device such as an SSD (solid state drive) or an HDD (hard disk drive). The input unit 140 is configured by a device such as a keyboard, a mouse, a touch panel, a dedicated switch or sensor, or a voice recognition device. The input / output unit 150 includes a display device such as a display, a projector, and a head mounted display, and a device such as a printer that performs printing.

The control unit 110 includes a model information acquisition unit 111, a component type determination unit 112, an assembly order acquisition unit 113, a hand selection unit 114, a gripping position candidate generation unit 115, a gripping position selection unit 116, a transfer coordinate generation unit 117, and component movement. A route generation unit 118 is provided. Each process of the control unit 110 will be described later.

The storage unit 130 includes part model information 131, hand model information 132, work environment model information 133, part type determination condition information 134, assembly order information 135, and hand correspondence information 136.
[Information stored in the storage unit]
Each information stored in the memory | storage part 130 used for the process in the control part 110 is demonstrated.
<Part model information>
The part model information 131 is information regarding parts. Specifically, information for specifying an assembly relationship between components or an assembly and a component, information for specifying a shape specification of the component, or information for specifying a gripping specification of the component is provided. In this embodiment, the model data generated by the model generation device 200 is extracted in advance and stored. FIG. 2 is a diagram illustrating an example of a data table of the part model information 131 stored in the storage unit 130. This data table includes columns for large items, small items, and contents.

In the large items, for example, “part attribute”, “assembly tree structure”, “shape specification”, and “part gripping specification” are stored.

For the small item whose major item is “component attribute”, for example, “component ID”, “model name”, “component diagram number”, and “component type name” are stored. For a small item whose major item is “assembly tree structure”, for example, “parent part ID” and “child part ID” are stored. For the small item whose major item is “shape specification”, for example, “dimension”, “weight”, “center of gravity” and “bounding box” (for example, the coordinates of eight vertices of a rectangular parallelepiped serving as a boundary surrounding the part) ) Is stored. For a small item whose major item is “component gripping specification”, “grip surface” and “gripable range” are stored. The content field of the small item “part type name” stores the result of the part type determination process described later.
<Hand model information>
The hand model information 132 is information regarding the hand. Specifically, it is information for specifying the outer shape of the hand that can be used in the automatic assembly apparatus and the hand gripping specification. In this embodiment, it is obtained from an automatic assembly device manufacturer and stored in the storage unit 300 in advance. FIG. 3 is a diagram illustrating an example of the data table of the hand model information 133. This data table includes, for example, large items, small items, and contents columns.

For example, “hand attribute”, “shape specification”, and “hand gripping specification” are stored in the large item. For the small item whose major item is “hand attribute”, for example, “hand ID”, “catalog drawing number”, “model name”, and “hand type name” are stored.

For the small item whose major item is “shape specification”, for example, “hand outline”, “nail width”, and “nail length” are stored. For the small item with the “hand gripping specification” as the major item, for example, “claw operation stroke”, “gripping force with respect to the claw length during gripping”, “optimal gripping force”, and “gripable weight” are stored. ing.
<Work environment model information>
The work environment model information 133 is information related to the work environment. Specifically, for each part type, the work supply space used by the automatic assembly equipment, such as the position, shape, and movable range of the parts supply mechanism, parts tool hangar, and automatic assembly equipment used, and automatic assembly within the workable space. Information that identifies the arm of the device and the space where the path setting of the hand is restricted, and information that identifies the gripping range when the hand takes out the part from the part supply mechanism and the placement specification when placing the part is there. In this embodiment, the information is obtained from an automatic assembly device manufacturer or model generation device, or is stored in advance in the storage unit 300 by being created by the user of the teaching data generation device. FIG. 4 is a diagram illustrating an example of the data table of the work environment model 133. This data table includes, for example, large items, small items, and contents columns.

In the large item, for example, “part attribute”, “part supply mechanism specification”, “part placement specification”, “tool hangar specification”, and “automatic assembly apparatus specifications” are stored.

A “component type name” is stored for a small item whose major item is “component attribute”. For the small item “component supply mechanism specification”, the “component supply mechanism position”, “component supply mechanism shape specification”, and “gripping specification” are stored. For the small item whose major item is “component placement specification”, “component placement position” and “placement posture” are stored. For the small item whose major item is “tool hangar specification”, “hangar position” and “hangar shape” are stored. For a small item whose major item is “automatic assembly specifications”, each “arm length”, “movable angle range”, “portable weight”, and the like are stored.
<Part type judgment condition information>
FIG. 5 is a diagram illustrating an example of a data table of the component type determination condition 134 stored in the storage unit 130. This table includes a “part type name” field and a “judgment condition” field. The “judgment condition” field further includes a “model name” field, a “part diagram number” field, a “part type judgment word” field, and a “shape” field. “Specifications” column. These columns correspond to the component attribute column of the component model information and the component type name column of the hand correspondence information 136. It is used to determine the corresponding part type with reference to the corresponding column. The determined part type is stored in the part model information 131. Note that “*” in the table of FIG. 5 is a wild card. Since the part model information created by the model generation device 200 may cause expression fluctuation by the creator, it is allowed to be assigned by partial matching of character strings. In this embodiment, the dimensional condition that can be extracted from the surface information is stored as the shape specification. However, the vertex of the bounding box, the position of the center of gravity, and the like may be stored. Further, in the determination by numerical values, conditions indicating ranges such as equal, hereafter, and larger are set, and can be set by AND and OR conditions of these conditions.
<Assembly order information>
FIG. 6 is a diagram illustrating an example of a data table of the assembly order information 135. The assembly order information 135 is information for specifying the assembly order of parts. The data table of the assembly order information 135 includes a “part ID” field and an “assembly order” field. It shows that the parts specified by the ID in the part ID column are assembled in the order of the assembly order column.
<Hand support information>
FIG. 7 is a diagram illustrating an example of a data table of the hand correspondence information 136. FIG. 7A is a data table of component supply hand correspondence information, and FIG. 7B is a data table of component placement hand correspondence information. Both data tables include a hand ID column and a used component type name column, and indicate that the hand specified in the hand ID column can be used for the component in the used component type name column. For example, in FIG. 7A, it is shown that the hand with the hand ID “hand2” can be used for a part whose part type name is “part A” and a part whose part type name is “part B”. Yes.
[Control unit]
A teaching data creation process and a user interface realized by the functional units 111 to 118 included in the control unit 110 will be described below with reference to FIGS.

Fig. 8 shows the basic flowchart of the teaching data generation process. The teaching data generation process includes model information acquisition process (S10), part type determination process (S20), assembly order information acquisition process (S30), part supply hand selection process (S40), part placement hand selection process (S45), part Gripping position candidate generation processing (S50), gripping position selection processing (S60), reselection confirmation processing (S70), all placement hand examination completion confirmation processing (S71), all supply hand examination completion confirmation processing (S72), transfer coordinates A generation process (S80), a part movement path generation process (S90), and an all parts completion confirmation process (S100) are provided. Hereinafter, each process will be described in detail.

<S10: Model information acquisition process>
The model information acquisition process in step S10 of FIG. In step S10, the part model information 131, hand model information 132, and work environment model information 133 stored in the storage unit 130 are acquired. If there is insufficient data, it is extracted from model data (for example, three-dimensional CAD data) of the model generation device 200. Information not included in the model data is obtained from the manufacturer of the automatic assembly apparatus and stored, or stored in advance by the user.

<S20: Part type determination process>
The component type determination process in step S20 of FIG. The part type determination condition information 134 of the storage unit 130 is acquired, and the part types of the part model information 131 and the work environment model information 133 extracted in step S10 are determined using the determination conditions of the part type determination condition information 134, and the determination is made. The part type name as a result is stored in the part type column of the data table of the part model information 131 and the hand model information 132. This process ensures the allocation by the part type name column in the hand correspondence information 136 of FIG. 7 when performing the hand selection process of steps S40 and S45 described later. If it is assumed that all the component types can be associated with the component type name column in the hand correspondence information 136 of FIG. 7, the component type determination condition information 136 in the present processing and the storage unit 130 may be omitted.

<S30: Assembly order information acquisition process>
The assembly order information acquisition process in step S30 of FIG. In this assembly sequence information acquisition process, the assembly sequence information 135 is acquired from the storage unit 130. When the assembly order information 135 is not stored, the assembly order information is generated using the assembly tree structure of the part model information 131 or stored by the user.

<S40: Parts supply hand selection process>
The part supply hand selection process in step S40 in FIG. 8 and the part placement hand selection process in step S45 are executed by the hand selection unit 114.

The component supply hand selection unit 114 first acquires the n-th component ID (n is a natural number of 1 or more, initial value n = 1) of the assembly sequence information 135 acquired in Step 30 from the assembly sequence information 135. Next, by searching in the part ID column of the part model information 131, the part type name of the part is acquired. Next, the hand correspondence information 136 table of the hand correspondence information 136 in FIG. 7A is read, and the hand ID used to supply the assembly target part is extracted by searching the part type name field (hand Select). In addition, when there are a plurality of hands that can be used for the assembly target part (for example, in the table of the hand supply information for parts supply in FIG. ), Refer to the data of the hands used for the parts assembled before and after the parts, and select the hands to be used so that the number of hand exchanges is reduced. Further, as will be described later, when it is determined that the selected hand cannot be gripped because the hand interferes with other parts or the work environment, another usable hand is selected.

<S45: Parts placement hand selection process>
The part placement hand selection process at step S45 is the same as the part supply hand selection at step S40. That is, the part type name of the part is acquired by searching the part ID column of the part model information 131 with the part ID of the nth assembly order (n is a natural number of 1 or more, initial value n = 1). Finally, the hand correspondence information 136 in the hand correspondence information 136 of FIG. 7B is read out, and the hand ID used for the placement of the assembly target part is extracted by searching for the part type name (hand selection) ) Note that the processing in the case where there are a plurality of hands that can be used for the assembly target component is the same processing as in step S40.

<S50: Holding position candidate generation process>
The gripping position candidate generation process in step S50 of FIG. The grip position candidate generation process will be described with reference to FIGS. The gripping position candidate generation unit 115 searches the part model information 131, the hand model information 132, and the work environment model information 133 of the corresponding part ID, and grips the gripping position candidate for the parts supply hand and the gripping position candidate for the parts placement hand. Is generated.

FIG. 9 is a flowchart for explaining the grip position candidate generation processing flow. The gripping position generation processing in step S50 includes grippable range information acquisition processing S501, work environment model information acquisition processing S502, hand model information acquisition processing S503, grippable range correction processing S504, grippable region division processing S505, and region number setting processing. S506, final region number confirmation processing S507, interference determination processing S508, gripping position candidate list addition processing S509, and determination region change processing S510 are provided. Hereinafter, each process is explained in full detail.

<< S501: Gripping Range Information Acquisition Process >>
In the grippable range information acquisition process in step S501, the gripping position candidate generation unit 115 acquires the shape specification and component gripping specification information of the component model information 131 of the component. FIG. 10 is a diagram illustrating an example of a grippable range. FIG. 10A is an example illustrating the grippable range of the printed circuit board. By this processing, the shape of the printed circuit board 10 is specified from the shape specification, and the component grippable range 11 on the printed circuit board 10 is specified from the component gripping specification information.

<< S502: Work Environment Model Information Acquisition Process >>
In the work environment model information acquisition process in step S <b> 502, the gripping position candidate generation unit 115 acquires the shape specification information and gripping specifications of the component supply mechanism from the work environment model information 132. FIG. 10B is a diagram showing an example in which the printed circuit board 10 which is a component is stored in the component supply box 20. By storing plate-like components such as the printed circuit board 10 in a component supply box 20 (an example of a component supply mechanism), the component supply box 20 is reduced and the installation area is reduced. On the other hand, when the printed circuit board 10 is stored in the component supply box 20, the grippable range is hidden behind the component supply box. Therefore, the range in which the printed circuit board 10 can be gripped without interference between the component supply box 20 and the hand is narrower than the component grippable range 11. By this processing, the shape of the component supply box 20 is specified from the component supply mechanism shape specification, and the grippable range in the component supply mechanism in the component type is specified from the grip specification.

Next, in the work environment model information acquisition process of step S502, the gripping position candidate generation unit 115 acquires the tool hangar specifications and the automatic assembly apparatus specifications from the work environment model information 132. By this processing, the basic operation range of the automatic assembly apparatus is specified.

Next, in the work environment model information acquisition process in step S502, the gripping position candidate generation unit 115 acquires the component arrangement specification, and further, the gripping position candidate generation unit 115 acquires in the assembly order information acquisition process in step S30. The part model information before the part is acquired from the assembly order information, and the shape data of the subassembly in which those parts are assembled is generated. By this processing, a range in which the arranged component and the hand interfere around the arrangement position is specified.

<< S503: Hand Model Information Acquisition Process >>
In the hand model information acquisition process in step S503, hand shape specification information and hand gripping specifications are acquired from the hand model information 135. By this processing, what kind of hand model has what kind of gripping performance is specified. FIG. 11 is a diagram illustrating an example of a hand used in a multi-arm type automatic assembly apparatus. FIG. 11A shows an example of the component supply hand 30, and FIG. 11B shows an example of the component placement hand 35. The component supply hand 30 is an example of a hand that holds a plate-shaped component such as the printed circuit board 10. The printed circuit board 10 is inserted into the recess and the claw 31 is opened and closed to hold the printed circuit board 10. The component placement hand 35 is a hand for holding the printed circuit board 10 sideways and placing it in a box-shaped housing. The claw 36 is opened and closed to hold the printed circuit board 10.

<< S504: Gripping Range Correction Process >>
Next, in the grippable range correction process in step S504, the grippable range acquired in the grippable range information acquisition process in step S501 is corrected using the hand model information 135. Specifically, the grippable range is specified from the hand shape specification and hand gripping specification of the hand model information 135 acquired in S503, and an AND operation is performed on the grippable range acquired in the grippable range information acquisition process of Step S501. Thus, the grippable range is corrected. FIG. 12 is a flowchart for explaining a grip position candidate calculation processing flow. FIG. 12A is a diagram showing the hand gripping range 13 of the printed circuit board 10 derived from the hand model information 135. In deriving the hand gripping range 13, the hand gripping range 13 is derived from the interference determination between the printed circuit board 10 and the component supply hand 30 and the interference determination between the printed circuit board 10 and the component placement hand 35. Next, a region where the overlapping portion (and calculation result) of the hand gripping range 13 and the component gripping range 11 is extracted is set as a correction grippable region 14. FIG. 12B shows an example of the corrected grippable area 14.

<< S505: Grasping Area Division Processing >>
Next, the correctable grippable area 14 is divided by the grippable area dividing process in step S505. As the division resolution, there are a method using a value stored in advance, a method for calculating the division resolution from the number of divisions, and the like. FIG. 12C shows an example of division. An area number i is assigned to each divided area.

<< S507: Final Area Number Confirmation Process to Step S510: Determination Area Change Process >>
Next, in the final region number confirmation processing in step S507, it is confirmed that the region number i is not the final region. If the region number i is not the final region, the interference determination processing in step S508 is performed.

Next, in the interference determination process in step S508, interference between the work environment and the hand is determined. Here, when the center of the component supply hand 30 is arranged in the region number i of the divided region, it is determined from the work environment model information 132 whether there is interference with the work environment at the component supply position, for example, the component supply box 20. To do. FIG. 13 shows an example of interference determination. The hand 30 (a) indicates a position where the upper side of the printed circuit board 10 is gripped, and there is no interference with the component supply box 20. The hand 30 (b) indicates a position where the side surface of the printed circuit board 10 is gripped, but the hand 30 (b) interferes with the component supply box 20 and cannot be gripped. As a method for determining interference, a simple technique such as a method for determining the presence or absence of a portion where the bounding boxes of both parts overlap, or a method for determining the presence or absence of an intersection between component surfaces is used. it can.

If it is determined that there is interference, the area number i is incremented by 1 in step S510, and the interference determination in the next area is continued. If it is determined that there is no interference, the region number i is added to the gripping position candidate list and stored in the storage unit 130 in the gripping position candidate list addition processing in step S509. FIG. 12D illustrates a component supply gripping position candidate 16 and a component placement gripping position candidate 17 as examples of gripping position candidates.

In the final area number confirmation process in step S507, when the area number i becomes larger than the final number, the gripping position candidate generation process in step 50 is terminated.

<S60: gripping position selection processing>
The gripping position selection process in step S60 of FIG. A flow executed by the grip position selection unit 116 will be described with reference to FIGS. 14 and 15. FIG. 14 is a flowchart for explaining a gripping position selection processing flow. The gripping position selection processing flow in step S60 includes evaluation value calculation processing S601, initial gripping position setting processing step S602, inter-hand interference determination processing step S603, position change necessity determination processing step S604, gripping position recalculation processing step S605, Determination completion confirmation processing step S606 is provided. Each process will be described in detail below.

<< S601: Evaluation Value Calculation Process >>
In the grip position selection process, first, evaluation values for the divided regions of the component supply grip position candidate 16 and the component placement grip position candidate 17 are calculated in the evaluation value calculation process of step S601. As the evaluation value, for example, the magnitude of the rotational moment applied to the hand when the printed circuit board 10 is gripped can be used. The rotational moment can be easily calculated from the relationship between the weight and the gravity center position included in the shape specification of the part model information 131 and the shape specification of the hand and the gripping position. An example of calculation when the rotational moment is used as an evaluation value is shown in FIG. FIG. 15 shows division point numbers (i, j) of the component supply gripping position candidate 16 and the component placement gripping position candidate 17 and the calculated rotational moment. From the center of gravity position 19 of the printed circuit board 10, the rotational moment as an evaluation value becomes 0 at i = 6 of the component supply gripping position 16 and j = 6 of the component placement gripping position 17. The larger the gripping position is from i = 6 and j = 6, the larger the evaluation value. As an evaluation value, in addition to the rotational moment applied to the hand, for example, the distance between the component supply box 20 and the hand 30 when taking out from the component supply position (the risk of the hand coming into contact with the component supply box 20 when taking out the component) The distance from the boundary of the grippable range 13 set on the printed circuit board 10 (represents the risk that the hand will come into contact with components and wiring on the printed circuit board 10 when components are placed), and the hand attachment / detachment position (supply) An evaluation value representing workability, such as a distance from the position and the placement position (shortening the movement distance to shorten the work time), can also be used. The evaluation based on the distance between the component supply box 20 and the hand 30 is, for example, the shape specification and component gripping specification of the component model information 131, the shape specification and component gripping specification of the hand model information 132, and the component supply of the work environment model information 133. It can be determined by using specifications. Further, the distance from the hand attachment / detachment position can be obtained by using, for example, the component supply mechanism position of the component supply specification and the component arrangement position of the component arrangement specification of the work environment model information 133.

<< S602: Initial Holding Position Setting Process >>
Next, the initial gripping position (i, j) is set in the initial gripping position setting process in step S602. For example, a combination that minimizes the sum of the evaluation value of the component supply gripping position 16 and the evaluation value of the component placement gripping position 17 is set as the initial gripping position. In the example in which the rotational moment shown in FIG. 15 is used as the evaluation value, the gripping position (6, 6) where the sum of the evaluation values is the smallest is selected as the initial value.

<< S603: Inter-Hand Interference Determination Process >>
Next, the presence or absence of interference between the component supply hand 30 and the component placement hand 35 is determined in the interference determination process between the hands in step S603. The presence or absence of interference may be confirmed, for example, by the presence or absence of an overlapping relationship between the initial gripping positions.

<< S604: Position Change Necessity Determination Process >>
Next, the position change necessity determination is performed in the position change necessity determination process in step S604. If it is determined in S603 that there is no interference, the gripping position is determined. If there is interference, the gripping position is recalculated in the gripping position recalculation process in step S605.

<< S605: Grasping Position Recalculation Process >>
Next, in step S605, a combination of gripping positions with the next smallest sum of evaluation values at the gripping positions (6, 6) is extracted. In the example of FIG. 15, the gripping position (6, 5) or (6, 7) is a combination having the smallest sum of evaluation values next to the gripping position (6, 6). Here, in order to avoid interference with the hand, it is better to select a gripping position (6, 7) far from the component supply gripping position 16. Thereafter, the gripping position recalculation S605 is repeated until a combination having no hand interference is extracted.

<< S606: Determination Completion Confirmation Process >>
In step S606, if it is not possible to calculate a gripping position without hand interference even after determining all combinations, the gripping position selection process is terminated as a gripping position selection failure.

<S70, S71, S72: Reselection confirmation process>
If the gripping position selection fails in step S606, the component placement hand is reselected or the component supply hand is reselected. If the grip position can be calculated, the process proceeds to step S80. First, the parts placement hand is reset, and if the gripping position cannot be selected even after resetting all the placement hands in step S71 of FIG. 8, then the parts supply hand is reset. carry out. In step S72 of FIG. 8, if the gripping position cannot be selected even after evaluating all the combinations of the component supply hands and the component placement hands, the processing ends as a gripping position selection failure.

<S80: Transfer coordinate generation processing>
The change-over coordinate generation process in step S80 of FIG. With reference to FIGS. 16 and 17, the flow of the change coordinate generation process executed by the change coordinate generation unit 117 will be described. FIG. 16 is a flowchart for explaining the exchange coordinate generation processing flow. FIG. 17 is a diagram illustrating an example of transfer coordinate generation. Here, FIG. 17A is a view of the two-arm type automatic assembly apparatus as viewed from above, and FIG. 17B is a view as viewed from the direction AA in FIG. 17A. The change coordinate generation processing flow of step S80 includes an automatic assembly machine movable range calculation process S801, a component movement plane calculation process S802, a changeable range calculation process S803, a changeable coordinate candidate extraction process S804, and a changeable coordinate selection process S805. It has. Each process will be described in detail below.

<< Step S801: Movable Range Calculation Process >>
In the transfer coordinate generation process, first, the movable range 45 of the arm of the automatic assembly apparatus is calculated in the movable range calculation process in step S801. For example, the movable range of the automatic assembly apparatus can be roughly determined by the arm length from the specifications of the automatic assembly apparatus in the work environment model information 133. The outer edge of the movable range becomes more accurate from the shape specification of the hand model information 132, and can be obtained in more detail by using the part shape specification in the part model information 131 and the grip position extracted by the grip position selection process. Here, it is desirable that the posture at the time of holding is the same as, for example, the component posture at the time of component placement, but needless to say, the holding operation can be performed in an arbitrary posture. From the above information, the movable range of the arm of the automatic assembly apparatus can be easily obtained by changing each joint angle by a predetermined angle.

<< Step S802: Component Movement Plane Calculation Process >>
Next, the component movement plane 41 is calculated by the component movement plane calculation process in step S802. In FIG. 17B, the printed circuit board 10 stored in the component supply box 20 is moved upward, and a component supply position 46 that enables the next operation and an upper portion of the housing 49 in which the printed circuit board 10 is arranged. When the pre-placement standby position 47, which is a passing point immediately before placement, is given, the most efficient movement path is a path connecting the component supply position 46 and the pre-placement standby position 47 with a straight line. In step S <b> 802, considering the possibility that an obstacle exists on a path connecting the component supply position 46 and the standby position 47 before placement with a straight line, first, the component is moved along a plane passing through the component supply position 46 and the standby position 47 before placement. A plane 41 is defined. The parts to be assembled, including the path for avoiding interference with the work environment, may move on the part moving plane 41. An example of the component moving plane 41 is a vertical plane including a component supply start position 46 and a pre-arrangement standby position 47. If the pre-placement standby position 47 is not given, the component moving plane 41 is set at the position of the component supply box 20.

<< Step S803: Changeable Range Calculation Processing >>
Next, in the changeable range calculation process in step S803, a range of coordinates that can be changed is calculated. By performing an AND operation on the robot movable range 45 calculated in step S801 corresponding to each arm, the overlapping area is calculated as the changeable range 40.

<< Step S804: Replacement Coordinate Candidate Extraction Process >>
Next, a replacement coordinate candidate is extracted in the replacement coordinate candidate extraction process in step S804. In step S804, first, a route for moving the component is calculated on the component moving plane 41 calculated in step S802. When there is no obstacle between the component supply start position 46 and the pre-placement standby position 47 (also h, the position of the component supply box 20), a path connecting the two points with a straight line becomes the component movement path 42. When there is an obstacle, the shortest path for avoiding the obstacle is set as the component movement path 42. An obstacle can be determined by referring to the work environment model information 132. Next, the overlapping part of the calculated component movement path 42 and the replaceable range 40 is extracted. The extracted line segment is the replacement coordinate candidate 48.

<< Step S805: Transfer Coordinate Selection Process >>
Finally, the replacement coordinate 43 is selected in the replacement coordinate selection processing in step S805. In the replacement coordinate selection process, one replacement coordinate is selected from the replacement coordinate candidates 48 calculated in step S804. At this time, a method of selecting the midpoint of the line segment of the transfer coordinate candidate 48, a method of selecting the transfer coordinate so that the joint angle of the robot is farthest from the upper and lower limit values of the movable range, before waiting, or holding There is a method of selecting a replacement coordinate so that the route after replacement is the shortest.

<S90: Part Movement Route Generation Processing>
The component movement path generation process in step S90 of FIG. A movement path 42 that connects the component supply start position 46, the pre-arrangement standby position 47 (the position of the component supply box 20 if not provided), and the transfer coordinate 43 is generated. General techniques can be used, including avoiding obstacle interference. Here, a path for avoiding interference between the plurality of arms is further generated. First, the trajectory of the arm that moves the component from the supply table to the holding position is calculated. At this time, not only the parts but also the area through which the hand or arm passes is obtained. Next, when calculating the trajectory of the arm that receives and assembles the component at the holding position, a movement path that does not intersect the region through which the component, hand, and arm pass when the component is calculated is calculated. At this time, it is desirable that the end point coordinates of the movement route are close to the transfer coordinates.

<User interface>
FIG. 18 is a diagram illustrating an example of an input screen 1001 for inputting a gripping position evaluation value setting method and a replacement coordinate selection method. This screen is displayed on the display unit 150 and can be input by operating the input unit 140. A display item 1002 is displayed on the input screen 1001, and the method can be determined by selecting from the list. By pressing the determination button 1004, the selected data is stored in the storage unit 130 (not shown), and is used for setting the evaluation standard in the evaluation value calculation process S601 and the selection standard in the replacement coordinate selection process S805. FIG. 19 is a data table that stores evaluation value setting method data for gripping positions and replacement coordinate selection method data. As the data information, for example, a library number 1101, a library first item 1102, and a library second item 1103 are included. A grip position evaluation value setting method is stored as the first library item, and a replacement coordinate selection method is stored as the second library item.

FIG. 20 shows an example of a user interface in the transfer coordinate generation process. The printed circuit board 10 is gripped at the gripping position derived in the gripping position selection process in step S60 in FIG. 8, and the printed circuit board 10 and the hand are set to the replacement coordinates and posture calculated in the replacement coordinate generation process in step S80 in FIG. The position / orientation of the automatic assembly apparatus 5 at the time of placing is displayed on the input / output screen 1006 and the replaceable range 40 is displayed in an overlapping manner. Further, the work environment (not shown) of the work table or the component supply mechanism may be displayed on the input / output screen 1006. When the printed circuit board 10 is dragged and dropped on the input / output screen 1006 using an instruction device such as a mouse, the printed circuit board 10 can be moved on the input / output screen 1006. At this time, it is possible to display on the input / output screen 1001 how the two arms 6 (a) and 6 (b) of the automatic assembly apparatus 5 move in association with the movement of the printed board 10 as the printed board 10 moves. desirable. At this time, the angle of the arm and the position of the printed circuit board 10 can be visually confirmed by the operator, and the position of the printed circuit board 10 can be moved as necessary. When the transfer coordinate of the printed circuit board 10 is changed, a recalculation button 1007 is pressed to recalculate from the generation of the component movement path in step S90 of FIG.

The case where the posture of the printed circuit board 10 is changed at the transfer coordinates will be described. When the posture of the printed circuit board 10 is changed, the positions of the arms 6 (a) and 6 (b) that hold the printed circuit board 10 are changed, so that the movable range 40 is changed. The change of the changeable range 40 is performed in conjunction with the posture change of the printed circuit board 10. The operator can change the posture and position of the printed circuit board 10 while observing the change in the movable range 40. When the holding posture of the printed circuit board 10 is changed, a recalculation button 1007 is pressed to recalculate from the generation of the component movement path in step S90 of FIG. If neither the change coordinates nor the change attitude is changed, the end button 1008 is pressed to end the confirmation work.

When the path display button 1009 is pressed, the movement path and posture of the part from the part supply position to the assembly position can be displayed. As a display method, a method of displaying the movement path of the center of gravity position of the printed circuit board 10 as a curve, a method of displaying the animation including the automatic assembly device 5, a method of displaying a position and orientation at regular time intervals (for example, 1 second), etc. A general method can be used. The operator can determine the position and orientation of the printed circuit board 10 in consideration of the movement path of the printed circuit board 10 in addition to the change in the movable range 40.

FIG. 21 shows an example of a user interface in the transfer coordinate generation process. As shown in FIG. 21, a component movement plane 41 including the position of the component supply mechanism and the component placement position is displayed on the input / output screen 1006, and a function for allowing the printed circuit board 10 to move only on the component movement plane 41 is added. You can also.

DESCRIPTION OF SYMBOLS 100 Teaching data generation apparatus 110 of automatic assembly apparatus 110 Control part 111 Model information acquisition part 112 Part classification determination part 113 Assembly order information acquisition part 114 Hand selection part 115 Gripping position candidate generation part 116 Gripping position selection part 117 Carrying coordinate generation part 118 Part movement path generation unit 130 Storage unit 131 Part model information 132 Hand model information 133 Work environment model information 134 Part type determination condition 135 Assembly order information 136 Hand correspondence information 140 Input unit 150 Display unit 160 Communication unit 200 Model generation device 210 Network

Claims

A storage unit and an arithmetic unit;
A teaching data generation device that automatically generates teaching data for a multi-arm type automatic assembly device,
The storage unit includes part model information, hand model information, work environment model information, assembly order information, and hand correspondence information.
The component model information includes a component attribute, a shape specification, and a component gripping specification capable of specifying a grippable position,
The hand model information includes hand attributes, shape specifications, and hand grip specifications,
The work environment model information includes, for each component type, a component supply specification including a component supply mechanism position, a component supply mechanism shape, and a gripping specification, a component arrangement specification including a component arrangement position and an orientation, and automatic assembly apparatus specifications. Including
The assembly order information includes information for specifying an assembly order of parts,
The hand correspondence information includes information associated with a part type and a hand that can assemble a part of the part type,
The arithmetic device performs teaching data generation processing by performing a cooperative operation with a program,
The teaching data generation process includes:
A process of specifying a teaching target part based on the assembly order information;
A process of identifying the part type of the target part based on the part attribute of the part model information, and identifying a hand corresponding to the part type based on the hand correspondence information;
The work environment information is a gripping area candidate for gripping the part with the specified hand based on the hand grip specification of the part model information, the hand model information, and the work environment model information. Process to generate,
A process for evaluating each area in the gripping area candidate and selecting a gripping position with a high evaluation value;
Based on the arm length and the movable angle range of the arm included in the specifications of the automatic assembly apparatus, a process of calculating a movable range,
A process of evaluating each position within the changeable range and generating a changeover coordinate;
A teaching data generation device comprising: a process for generating a movement path based on the component supply mechanism position, the component arrangement position, and the holding coordinates.
In claim 1,
A teaching data generation device, wherein in the grip region candidate generation processing, interference of another arm hand is determined.
In claim 1,
One of the rotational moment applied to the hand, the distance between the component supply mechanism and the hand, and the distance from the boundary of the grippable range stored in association with the component is used as the evaluation value of the gripping region candidate. Teaching data generation device.
In claim 1,
The teaching data generating apparatus according to claim 1, wherein the component replacement coordinates are coordinates that minimize a sum of distances between a component supply position and a component arrangement position.
In claim 1,
The part movement path exists on a plane including a part change coordinate, a part supply position, and a part placement position.
In claim 1,
A teaching data generation device, wherein the automatic assembly device and the position and orientation of a part at the changeover coordinates are displayed, and a changeable range is displayed in an overlapping manner.
2. The automatic assembly apparatus and the position and orientation of a part at the change-over coordinates are displayed, a plane on which the part can be moved is displayed, and the change-over coordinates can be selected from the plane. Teaching data generation device.