WO2020138485A1 - ロボットの作業計画作成方法および作業計画作成装置 - Google Patents
ロボットの作業計画作成方法および作業計画作成装置 Download PDFInfo
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- WO2020138485A1 WO2020138485A1 PCT/JP2019/051576 JP2019051576W WO2020138485A1 WO 2020138485 A1 WO2020138485 A1 WO 2020138485A1 JP 2019051576 W JP2019051576 W JP 2019051576W WO 2020138485 A1 WO2020138485 A1 WO 2020138485A1
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Classifications
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- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
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Definitions
- the present invention relates to a method and apparatus for creating a work plan for multiple robots.
- a method for creating a work plan in which a plurality of robots are divided among a plurality of stations included in a production line to execute work on a plurality of work points of a work For example, in Patent Document 1, a work plan is created for executing, in a short time, the determination of a work location shared by each of a plurality of robots and the determination of an operation for performing work on the work location of each robot. A method is disclosed.
- the work plan is created under the precondition that the placement position of the robot with respect to the work and the robots to be respectively placed in the plurality of stations are predetermined. Therefore, although the work plan can be created in a short time, the work plan is not always optimal for the production line.
- the present invention includes not only work distribution to a plurality of robots and operation of each robot, but also selection of a placement position of each robot with respect to a work and a station where each robot is placed, which saves space (the number of stations is small).
- the task is to create a robot work plan in a short time according to the demand such as a short cycle time.
- a method for creating a work plan of a robot wherein a plurality of robots each provided with a work tool in at least one station share a work plan for executing work on a plurality of work points of a work.
- a method of creating a work plan for a robot including is provided.
- a work plan creation device for a robot wherein a plurality of robots each provided with a work tool in at least one station share a work plan for executing work on a plurality of work points of a work.
- a work distribution calculating unit that calculates the distribution of the work locations to each of the robots based on the position and work content of the work location and the work capability of each of the robots;
- a robot motion calculation unit that calculates a work order of the work locations and a movement path of the work tool as a robot motion for each of the robots based on the work distribution calculated by the work distribution calculation unit.
- a robot placement calculation unit that calculates a placement position for each of the robots and a station where the work is placed so that inter-robot interference does not occur during execution of the robot action calculated by the robot action calculation unit.
- An apparatus for creating a work plan for a robot is provided.
- space saving (the number of stations is small) is included not only in the work distribution to a plurality of robots and the operation of each robot, but also in the selection of the placement position of each robot with respect to the work and the station where each robot is placed. It is possible to create a robot work plan in a short time according to a request such as a short cycle time.
- FIG. 5A The figure which shows the production line of an example which employ
- Diagram showing multiple work points on a workpiece Block diagram showing the configuration of the work plan creation device
- Flowchart diagram of an example showing how to create a robot work plan Diagram showing multiple work points distributed to a robot The figure which shows the work order of the some work place shown in FIG. 5A, and the movement path of a work tool Diagram showing robot layout Diagram showing interference between robots Figure showing an example of robot motion correction
- One aspect of the present invention is a method of creating a work plan for a robot, in which a plurality of robots each provided with a work tool in at least one station share a work plan for executing work at a plurality of work locations.
- a work distribution calculating step for calculating distribution of the work parts to each of the robots based on the position and work content of the work part and the work capacity of each of the robots, and the work calculated in the work distribution calculating step.
- a robot operation calculation step of calculating a work order of the work location and a movement path of the work tool as robot operation, and execution of the robot operation calculated in the robot operation calculation step.
- a robot placement calculation step of calculating a placement position with respect to the work and a station to be placed for each of the robots.
- the space saving The robot work plan can be created in a short time in response to requests such as a short cycle time and a short cycle time.
- the plurality of robots may be placed in different stations.
- the robot work plan creation method may include a work plan evaluation step of calculating a cycle time of the work when the work plan is executed and calculating an evaluation value of the work plan based on the cycle time.
- the work plan evaluation value may be calculated based on the cycle time and the number of stations.
- the evaluation value calculated in the work plan evaluation step is lower than a predetermined threshold value, at least one work place of at least one robot is not worked for the work place. It may include a work distribution changing step of redistributing to another possible robot. In that case, in the robot motion calculation step, the motion of each of the robots is calculated based on the changed work distribution.
- a robot whose work location is redistributed to another robot is a robot having a maximum work time required to complete the work for all the distributed work locations among a plurality of robots. May be.
- the robot placement calculation step when there is no robot placement that can be performed due to the occurrence of the inter-robot interference, one of the interfering robots is operating and the other robot is operating. May be stopped, the work order of the work location is changed, or the movement path of the work tool is changed to include a robot motion correction step of correcting the interference avoidable motion to avoid the interference.
- the robot in which the work order of the work place or the movement path of the work tool is changed in the robot motion correction step may be a robot having a shorter work time among the interfering robots.
- Another aspect of the present invention is a robot work plan creation device that creates a work plan for performing work on a plurality of work points of a work by sharing a plurality of robots each provided with a work tool in at least one station. Then, based on the position and work content of the work location and the work capacity of each of the robots, the work distribution calculation unit that calculates the distribution of the work locations to each of the robots, and the work distribution calculation unit For each of the robots, based on the work distribution, a robot motion calculation unit that calculates a work order of the work locations and a movement path of the work tool as a robot motion, and a robot motion calculation unit that calculates the robot motion calculated by the robot motion calculation unit. For each of the robots, a robot placement calculation unit that calculates a placement position and a station where the work is placed so that interference between robots does not occur during execution.
- the robot placement calculation unit may place the plurality of robots in different stations when there are a plurality of robots whose placement positions for the work at least partially overlap.
- the robot work plan creation apparatus may include a work plan evaluation unit that calculates a cycle time of the work when the work plan is executed and calculates an evaluation value of the work plan based on the cycle time. ..
- the work plan evaluation unit may calculate a work plan evaluation value based on the cycle time and the number of stations.
- the work plan creating apparatus for the robot determines that at least one work point of at least one robot is not working for the work point. It may have a work distribution changing unit for redistributing to another possible robot. In this case, the robot motion calculation unit calculates the motion of each of the robots based on the changed work distribution.
- a robot whose work locations are redistributed to other robots by the work distribution changing unit is a robot having a maximum work time required to complete work on all the distributed work locations among a plurality of robots. Good.
- the robot work plan creation device does not have a robot layout that can be implemented due to the occurrence of the inter-robot interference as the calculation result of the robot layout calculation unit, one operation of the interfering robots is performed by the other robot.
- a robot motion correction unit that corrects an interference avoidable motion that avoids the interference by stopping during operation, changing the work order of the work place, or changing the movement path of the work tool. Good.
- the robot in which the work order of the work place or the movement path of the work tool is changed by the robot motion correction unit may be a robot having a shorter work time among the interfering robots.
- the robot may be a welding robot and the work tool may be a welding gun.
- FIG. 1 shows an example of a production line in which a work plan created by a work plan creating method for a robot according to an embodiment of the present invention is adopted.
- the production line PL shown as an example in FIG. 1 includes a plurality of robots R1 to R14 that perform welding work on a work W that is the body of an automobile.
- the production line PL is composed of three stations S1 to S3.
- the stations S1 to S3 are places where the work on the work W is executed, and when all the work on the station S1 is completed, the work W is transported to the station S2 and the work is executed there.
- the work W is transported to the station S3 and the work is executed there.
- all the work in the station S3 is completed, all the work in the production line PL is completed, and the work W is transported to another place such as another production line.
- the plurality of robots R1 to R14 are articulated welding robots, and a work tool T, which is a clamp-type welding gun, is mounted on the tip thereof.
- the robots R1 to R14 may have the same work ability (for example, workable range, loadable welding gun weight, etc.) or different work ability.
- each of the plurality of robots R1 to R14 divides the work W into a plurality of work locations WP (welding locations) and executes the work (welding work).
- a work plan of the robot an operation for distributing work points WP to each of the robots R1 to R14 (work distribution) and an operation for executing work to each work point WP for each of the robots R1 to R14 (robot operation) It is necessary to determine the position of each of the robots R1 to R14 with respect to the work W and the robot (robot arrangement) to be arranged in each of the stations S1 to S3. That is, the work plan includes work distribution, robot movements, and robot placement.
- work distribution, robot movements, and robot placement that is, work plans are created using a work plan creation device.
- FIG. 3 is a block diagram showing the configuration of the work plan creation device.
- the work plan creation device 10 shown in FIG. 3 includes a calculation device 20, an input device 40, and an output device 50.
- the arithmetic unit 20 in the work plan creation apparatus 10 includes a work distribution calculation unit 22, a robot motion calculation unit 24, a robot placement calculation unit 26, a work plan evaluation unit 28, a robot motion correction unit 30, a work distribution change unit 32, and a storage unit. 34.
- the work plan creation device 10 is, for example, a computer including a processor such as a CPU and a storage device such as a memory that stores a program (work plan creation program). When the processor is driven according to the program, the processor causes the work distribution calculation unit 22, the robot motion calculation unit 24, the robot layout calculation unit 26, the work plan evaluation unit 28, the robot motion correction unit 30, and the work distribution change unit 32. Function as.
- the input device 40 is an input device such as a mouse and a keyboard, and sends a user instruction to the arithmetic unit 20.
- the output device 50 is an output device such as a display or a printer, and outputs the work plan created by the arithmetic unit 20 to the user.
- FIG. 4 shows an example of a flowchart showing a method for creating a robot work plan.
- the work plan creation device 10 causes the work W data (work data) WD, the robots R1 to R14 data (robot data) RD, and the stations S1 to S3 data (station data) SD. And are obtained from the user. For example, these data are acquired via the input of the input device 40, via a recording medium, or via communication.
- the work data WD includes position information (for example, coordinates) of each of the plurality of work points WP in the work W, work content information (for example, plate thickness information necessary for welding work) executed at each work point WP, and the like. ..
- the robot data RD includes information such as the total number of robots (upper limit number), work capability of each of the plurality of robots R1 to R14, for example, workable range, types of work tools T that can be mounted (that is, possible work), and the like. Contains.
- the station data SD includes information such as the total number of stations (upper limit number) and the size of each of the stations S1 to S3 (that is, the size of the robot installation area).
- the total number of stations and the size of each station are determined by the scale of the production line PL and the size of the factory in which the production line PL is installed.
- the work distribution calculating unit 22 of the arithmetic unit 20 calculates (determines) the distribution (work distribution) of the work locations WP of the work W to each of the plurality of robots R1 to R14.
- the work distribution calculation unit 22 determines the plurality of work locations WP of the work W, the position and work content of the work location WP (information in the work data WD), and the work capacity of each of the robots R1 to R14 (robot data). Work location WP is distributed to each of the robots R1 to R14 based on the information in the RD). That is, the workable locations are distributed to the robots.
- the work tool T of the robot R1 can work.
- the work location WP is distributed to the robot R1.
- a group of work locations WP that are close to each other are distributed to the robot R1 so that the movement path of the work tool T of the robot R1 becomes short.
- the work distribution is performed so that the number of work sites distributed to each of the robots R1 to R14 does not have a large difference, for example, as equal as possible.
- the work tool T mounted on the robots R1 to R14 is a clamp type welding gun
- the work locations WP are distributed in consideration of the plate thickness and the clamp direction.
- the distribution of work points for each robot will be calculated on the assumption that the robot will change over multiple types of work tools. You may have.
- the work capacity of the robot is improved. This increases the choices of the robot when allocating the work place to the robot.
- multiple work points are allocated to the robot, there may be multiple robot placement positions for the work that can be performed at those work points. Selecting one placement position from the plurality of robot placement positions is performed in a later step.
- the robot motion calculation unit 24 of the arithmetic unit 20 causes the robot motion, that is, each of the robots R1 to R14. Calculate the behavior of.
- FIG. 5A shows a plurality of work points allocated to a robot. Further, FIG. 5B shows a work order of a plurality of work places shown in FIG. 5A and a work tool movement path.
- a plurality of work locations WP1 to WP6 are distributed to the robot R1 by the work distribution calculation unit 22.
- the robot motion calculation unit 24 calculates the motion of the robot R1 based on a predetermined condition. For example, the operation of the robot R1 is calculated so that the work time required until the work for all the plurality of work locations WP1 to WP6 in one work W is completed is minimized. Specifically, as the operation of the robot R1, the work order of the plurality of work locations WP1 to WP6 and the movement path MP of the work tool T are calculated.
- the working time referred to here includes the moving time from the standby position SP/EP of the work tool T to the first working position, the moving time between the working positions, and the last working position to the waiting position. Includes travel time to SP/EP.
- the standby position SP when the work starts and the standby position EP after the work may be different positions.
- the working time may be the time from the first working location to the standby position after the work is completed.
- the robot motion calculation unit 24 calculates WP2 ⁇ WP5 ⁇ WP6 ⁇ WP4 ⁇ WP3 ⁇ WP1 as the work order of the work points, and the work tool T has a plurality of work points WP1 in this order.
- a moving path MP that moves through WP6 is calculated.
- the portion of the movement path MP between the work points is a straight line, but may be a curve in order to avoid interference with the structure of the robot and/or the work W.
- the operation at each robot placement position is calculated.
- the robot layout calculation unit 26 of the arithmetic device 20 calculates the robot layout.
- the robot placement calculation unit 26 sets the placement positions for the work W for each of the robots R1 to R14 as the robot placement so that inter-robot interference does not occur during the execution of the robot operation calculated in step S110.
- the stations S1 to S3 to be arranged are calculated (determined).
- FIG. 6 is a diagram showing a robot arrangement.
- each of the plurality of robots R1 to R14 calculates (determines) an arrangement position with respect to the work W, and also calculates (determines) a station to be arranged.
- the placement position that does not cause inter-robot interference is determined from among the plurality of robot placement positions.
- a plurality of robots that may cause inter-robot interference because the positions of the workpieces are close to each other such as the robot R7 arranged in the station 2 and the robot R11 arranged in the station S3 shown in FIG. 6, are different stations. Is located in.
- the robot R5 and the robot R10 have the same arrangement position with respect to the work W.
- the robot R8 and the robot R12 have the same arrangement position with respect to the work W.
- the robot R10 is arranged in a station S3 different from the station S2 in which the robot R5 is arranged.
- the robot R12 is arranged in a station S3 different from the station S2 in which the robot R8 is arranged.
- a plurality of robot placements may be calculated as the result of the robot placement calculation by the robot placement calculating unit 26. Alternatively, there may not be a viable robot arrangement.
- step S140 the arithmetic device 20 determines whether or not there is a feasible robot layout as the calculation result of the robot layout calculation unit 26. If there is a feasible robot arrangement, the process proceeds to step S150. If there is no feasible robot arrangement, the process proceeds to step S180.
- step S150 the work plan evaluation unit 28 of the arithmetic device 20 evaluates the work plan and saves the evaluation result as data in the storage unit 34. That is, the work including the work distribution calculated by the work distribution calculation unit 22 in step S110, the robot motion calculated by the robot motion calculation unit 24 in step S120, and the robot layout calculated by the robot layout calculation unit 26 in step S130.
- the work plan evaluation unit 28 evaluates the plan. Specifically, the work plan evaluation unit 28 calculates and stores the evaluation value of the work plan.
- the evaluation value of the work plan is calculated based on the cycle time of the work W when the work plan is executed (the time required to complete the work for all the plurality of work points of the work W).
- the work plan evaluation unit 28 calculates a higher evaluation value as the cycle time is shorter.
- the work plan evaluation unit 28 may evaluate the work plan based on the number of stations. In this case, the smaller the number of stations, the work plan evaluation unit 28 calculates a higher evaluation value. When both the cycle time and the number of stations are evaluated as evaluation criteria, one of the cycle time and the number of stations may be weighted to calculate the evaluation value. Further, when there are a plurality of work plans (that is, when a plurality of robot placements are calculated as the calculation result of the robot placement calculation unit 26), the work plan evaluation unit 28 gives evaluation values for each work plan. calculate.
- the user may be allowed to set the evaluation standard (cycle time) or the like adopted by the work plan evaluation unit 28 in evaluating the work plan.
- the work plan evaluation unit 28 gives a higher evaluation to a work plan closer to the work plan desired by the user.
- step S160 the computing device 20 determines whether the work plan evaluation value calculated by the work plan evaluation unit 28 is equal to or greater than a predetermined threshold value.
- the predetermined threshold is a threshold as to whether the user is satisfied with the work plan. This predetermined threshold may be set by the user. If the evaluation value is greater than or equal to the predetermined threshold value, the process proceeds to step S170. If not, the process proceeds to step S200. There is a possibility that the evaluation value of the work plan may not be determined to be equal to or higher than the predetermined threshold value, no matter how many times the determination process of step 160 is repeated. In consideration of this, when the number of times of the determination processing in step S160 exceeds a predetermined number of repetitions, the user may be notified of that fact and the creation of the work plan may be ended.
- step S170 the arithmetic device 20 determines a work plan whose evaluation value is equal to or greater than a predetermined threshold value, and outputs the confirmed work plan to the user via the output device 50. If the evaluation results (evaluation values) for a plurality of work plans are stored in the storage unit 34 and there are a plurality of work plans having an evaluation value equal to or greater than a predetermined threshold value, the evaluation value is the highest. A high work plan is confirmed and output to the user.
- step S140 determines in step S140 whether the cause of the non-workable robot placement is the occurrence of inter-robot interference. To do. If the occurrence of the inter-robot interference is the cause of no practicable robot arrangement, the process proceeds to step S190. If not, the process proceeds to step S200.
- step S190 the robot operation correction unit 30 of the arithmetic device 20 corrects one operation of the robots that interfere with each other into an operation that can avoid the occurrence of interference (interference avoidable operation).
- FIG. 7 shows an example of inter-robot interference.
- FIG. 7 shows work locations WP7 to WP12 for the robot R5 and the movement path MP of the work tool T.
- inter-robot interference occurs in which the work tool T of the robot R5 moving from the work location WP12 toward the work location WP10 contacts another robot R6.
- the robot motion correction unit 30 corrects the motion of the robot R5.
- FIG. 8A shows an example of robot motion correction. Further, FIG. 8B shows another example of the correction of the robot operation.
- the robot motion correction unit 30 operates the plurality of work points WP7 to WP12 for the robot R5 in order to avoid the occurrence of inter-robot interference between the work points WP12 and WP10. Change the order. As a result, the movement path MP of the work tool T of the robot R5 is changed, and as a result, it is possible to avoid the occurrence of inter-robot interference that occurs between the work location WP12 and the work location WP10.
- the robot motion correction unit 30 may prevent the robot-to-robot interference between the work location WP12 and the work location WP10 to avoid occurrence of inter-robot interference between the work location WP12 and the work location WP10.
- a detour path BP that can detour the position where the inter-robot interference occurs.
- the robot motion correction unit 30 performs one operation of the robot R5 or the robot R6 while the other robot is operating. Stop. Specifically, the other robot temporarily stops at a position different from the interference position until one robot passes the interference position. As a result, it is possible to avoid the occurrence of inter-robot interference that occurs between the work location WP12 and the work location WP10.
- the robot operation correction unit 30 may reverse the work order of a plurality of work points as long as it is possible to avoid the occurrence of inter-robot interference that occurs between the work points WP12 and WP10. In this case, the working time before correcting the motion and the working time after correcting the motion are almost the same.
- the robots whose movements are corrected to avoid the occurrence of the interference may be either one or both.
- the robot whose motion is corrected is preferably a robot having a shorter work time. This is because the motion correction may increase the working time of the robot. Therefore, if the motion of the robot with the longer working time is corrected, the cycle time of the work may be extended if the robot is the robot requiring the longest working time.
- step S150 the evaluation value of the work plan including the robot arrangement in which the occurrence of the inter-robot interference is avoided is calculated.
- step S180 when it is determined in step S180 that there is no feasible robot arrangement is not the occurrence of inter-robot interference, or in step S160 it is determined that there is no work plan having an evaluation value equal to or greater than a predetermined threshold value.
- step S200 the work distribution changing unit 32 of the arithmetic device 20 changes the plurality of work locations WP distributed to each of the plurality of robots R1 to R14 (changes work distribution).
- an example of the case where there is no feasible robot arrangement is not the occurrence of inter-robot interference. For example, if there are four robots whose placement positions on the work W at least partially overlap each other and the upper limit of the number of stations is three, there is no robot placement that satisfies these conditions.
- step S200 the work distribution changing unit 32 determines that there is no feasible robot placement in the work distribution calculated by the work distribution calculating unit 22 in step S110 or that a work plan with an evaluation value equal to or larger than a predetermined value is created. Since it does not exist, the work distribution calculated in step S110 is changed.
- the work distribution changing unit 32 redistributes at least one work location of at least one robot to another robot capable of performing work on the work location in any of the work distributions calculated so far, Change the allocation.
- the work distribution changing unit 32 allocates at least one work location allocated to the robot having the longest work time among the plurality of robots R1 to R14 to another robot.
- the robot to which the work points are distributed is a robot that has a relatively short work time, if possible.
- at least one work place assigned to the robot having the longest work time may be exchanged with at least one work place assigned to another robot. Thereby, the cycle time of the work W can be shortened.
- step S200 When the change of work distribution by the work distribution changing unit 32 in step S200 is completed, the process returns to step S120, and the robot motion calculation unit 24 calculates the motion of each of the plurality of robots R1 to R14 based on the changed work distribution. To do.
- a work plan is created that takes into account not only the work distribution to multiple robots and the operation of each robot, but also the placement position of each robot with respect to the work and the station where each robot is placed. As a result, a more optimal work plan can be created for a production line including at least one station.
- the distribution of the plurality of work points of the work to the plurality of robots is calculated based on the work ability of each robot without taking into consideration the placement position of each robot with respect to the work. As a result, the work distribution can be calculated in a short time.
- each robot's motion is calculated individually without considering interference with other robots. As a result, the motion of each robot can be calculated in a short time.
- the positions of the robots and the stations to be arranged with respect to the work are calculated so that the interference between the robots does not occur.
- the user changes the number of robots, which is a prerequisite for calculating the work plan (updates the total number of robots information in the robot data RD), and the work plan creating apparatus is based on the changed number of robots. 10 calculates the work plan. This makes it possible to calculate a work plan that the user is satisfied with. That is, the user can consider the work plan in consideration of the number of robots.
- the work is the body of the automobile, and the plurality of work points of the work are welding points (the robot is the welding robot and the work tool is
- the embodiment of the present invention is not limited to this.
- the work performed by the robot on the work may be painting, assembling, cutting, or the like.
- the present invention can be applied to the drafting of a work plan in which a plurality of robots each equipped with a work tool share the work and execute work at a plurality of work points.
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Abstract
Description
少なくとも1つのステーションにおいて作業ツールをそれぞれ備える複数のロボットが分担してワークの複数の作業箇所に対する作業を実行するための作業計画を作成するロボットの作業計画作成方法であって、
前記作業箇所の位置および作業内容と前記ロボットそれぞれの作業能力とに基づいて、前記ロボットそれぞれに対する前記作業箇所の配分を算出する作業配分算出工程と、
前記作業配分算出工程において算出された作業配分に基づいて、前記ロボットそれぞれについて、ロボット動作としての前記作業箇所の作業順と前記作業ツールの移動パスとを算出するロボット動作算出工程と、
前記ロボット動作算出工程において算出されたロボット動作の実行中にロボット間干渉が発生しないように、前記ロボットそれぞれについて、前記ワークに対する配置位置と配置されるステーションとを算出するロボット配置算出工程と、を含むロボットの作業計画作成方法が提供される。
少なくとも1つのステーションにおいて作業ツールをそれぞれ備える複数のロボットが分担してワークの複数の作業箇所に対する作業を実行するための作業計画を作成するロボットの作業計画作成装置であって、
前記作業箇所の位置および作業内容と前記ロボットそれぞれの作業能力とに基づいて、前記ロボットそれぞれに対する前記作業箇所の配分を算出する作業配分算出部と、
前記作業配分算出部によって算出された作業配分に基づいて、前記ロボットそれぞれについて、ロボット動作としての前記作業箇所の作業順と前記作業ツールの移動パスとを算出するロボット動作算出部と、
前記ロボット動作算出部によって算出されたロボット動作の実行中にロボット間干渉が発生しないように、前記ロボットそれぞれについて、前記ワークに対する配置位置と配置されるステーションとを算出するロボット配置算出部と、を有するロボットの作業計画作成装置が提供される。
Claims (18)
- 少なくとも1つのステーションにおいて作業ツールをそれぞれ備える複数のロボットが分担してワークの複数の作業箇所に対する作業を実行するための作業計画を作成するロボットの作業計画作成方法であって、
前記作業箇所の位置および作業内容と前記ロボットそれぞれの作業能力とに基づいて、前記ロボットそれぞれに対する前記作業箇所の配分を算出する作業配分算出工程と、
前記作業配分算出工程において算出された作業配分に基づいて、前記ロボットそれぞれについて、ロボット動作としての前記作業箇所の作業順と前記作業ツールの移動パスとを算出するロボット動作算出工程と、
前記ロボット動作算出工程において算出されたロボット動作の実行中にロボット間干渉が発生しないように、前記ロボットそれぞれについて、前記ワークに対する配置位置と配置されるステーションとを算出するロボット配置算出工程と、を含むロボットの作業計画作成方法。 - 前記ロボット配置算出工程において、前記ワークに対する配置位置が少なくとも部分的に重なり合う複数のロボットが存在する場合、当該複数のロボットを異なるステーションに配置する、請求項1に記載のロボットの作業計画作成方法。
- 前記作業計画の実行時の前記ワークのサイクルタイムを算出し、前記サイクルタイムに基づいて作業計画の評価値を算出する作業計画評価工程を含む請求項1または2に記載のロボットの作業計画作成方法。
- 前記作業計画評価工程において、前記サイクルタイムとステーション数とに基づいて作業計画の評価値を算出する、請求項3に記載のロボットの作業計画作成方法。
- 前記作業計画評価工程において算出された評価値が所定のしきい値に比べて低い場合、少なくとも1つのロボットの少なくとも1つの作業箇所を当該作業箇所に対する作業が可能な他のロボットに再配分する作業配分変更工程を含み、
前記ロボット動作算出工程において、変更後の作業配分に基づいて、前記ロボットそれぞれの動作を算出する、請求項3または4に記載のロボットの作業計画作成方法。 - 前記作業配分変更工程において、作業箇所が他のロボットに再配分されるロボットは、複数のロボットにおいて、配分された作業箇所全てに対する作業が終了するまでに要する作業時間が最大なロボットである、請求項5に記載のロボットの作業計画作成方法。
- 前記ロボット配置算出工程において、前記ロボット間干渉の発生によって実施可能なロボット配置が存在しない場合、干渉し合うロボットの一方の動作を、他方のロボットが動作中は停止する、前記作業箇所の作業順を変更する、または前記作業ツールの移動パスを変更することによって当該干渉を回避する干渉回避可能動作に補正するロボット動作補正工程を含む、請求項1から6のいずれか一項に記載のロボットの作業計画作成方法。
- 前記ロボット動作補正工程において前記作業箇所の作業順または前記作業ツールの移動パスが変更されるロボットは、前記干渉し合うロボットにおいて作業時間が短い方のロボットである、請求項7に記載のロボットの作業計画作成方法。
- 前記ロボットが溶接ロボットであって、
前記作業ツールが溶接ガンである、請求項1から8のいずれか一項に記載のロボットの作業計画作成方法。 - 少なくとも1つのステーションにおいて作業ツールをそれぞれ備える複数のロボットが分担してワークの複数の作業箇所に対する作業を実行するための作業計画を作成するロボットの作業計画作成装置であって、
前記作業箇所の位置および作業内容と前記ロボットそれぞれの作業能力とに基づいて、前記ロボットそれぞれに対する前記作業箇所の配分を算出する作業配分算出部と、
前記作業配分算出部によって算出された作業配分に基づいて、前記ロボットそれぞれについて、ロボット動作としての前記作業箇所の作業順と前記作業ツールの移動パスとを算出するロボット動作算出部と、
前記ロボット動作算出部によって算出されたロボット動作の実行中にロボット間干渉が発生しないように、前記ロボットそれぞれについて、前記ワークに対する配置位置と配置されるステーションとを算出するロボット配置算出部と、を有するロボットの作業計画作成装置。 - 前記ロボット配置算出部は、前記ワークに対する配置位置が少なくとも部分的に重なり合う複数のロボットが存在する場合、当該複数のロボットを異なるステーションに配置する、請求項10に記載のロボットの作業計画作成装置。
- 前記作業計画の実行時の前記ワークのサイクルタイムを算出し、前記サイクルタイムに基づいて作業計画の評価値を算出する作業計画評価部を有する請求項10または11に記載のロボットの作業計画作成装置。
- 前記作業計画評価部は、前記サイクルタイムとステーション数とに基づいて作業計画の評価値を算出する、請求項12に記載のロボットの作業計画作成装置。
- 前記作業計画評価部によって算出された評価値が所定のしきい値に比べて低い場合、少なくとも1つのロボットの少なくとも1つの作業箇所を当該作業箇所に対する作業が可能な他のロボットに再配分する作業配分変更部を有し、
前記ロボット動作算出部は、変更後の作業配分に基づいて、前記ロボットそれぞれの動作を算出する、請求項12または13に記載のロボットの作業計画作成装置。 - 前記作業配分変更部によって作業箇所が他のロボットに再配分されるロボットは、複数のロボットにおいて作業時間が最大なロボットである、請求項14に記載のロボットの作業計画作成装置。
- 前記ロボット配置算出部の算出結果として、前記ロボット間干渉の発生によって実施可能なロボット配置が存在しない場合、干渉し合うロボットの一方の動作を、他方のロボットが動作中は停止する、前記作業箇所の作業順を変更する、または前記作業ツールの移動パスを変更することによって当該干渉を回避する干渉回避可能動作に補正するロボット動作補正部を有する、請求項10から15のいずれか一項に記載のロボットの作業計画作成装置。
- 前記ロボット動作補正部によって前記作業箇所の作業順または前記作業ツールの移動パスが変更されるロボットは、前記干渉し合うロボットにおいて、配分された作業箇所全てに対する作業が終了するまでに要する作業時間が短い方のロボットである、請求項16に記載のロボットの作業計画作成装置。
- 前記ロボットが溶接ロボットであって、
前記作業ツールが溶接ガンである、請求項10から17のいずれか一項に記載のロボットの作業計画作成装置。
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EP3903997A4 (en) | 2022-11-02 |
US11945118B2 (en) | 2024-04-02 |
CN113226637A (zh) | 2021-08-06 |
JP7178900B2 (ja) | 2022-11-28 |
CN113226637B (zh) | 2023-05-23 |
JP2020104239A (ja) | 2020-07-09 |
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