WO2022163669A1 - プログラム評価装置および教示装置 - Google Patents
プログラム評価装置および教示装置 Download PDFInfo
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- WO2022163669A1 WO2022163669A1 PCT/JP2022/002749 JP2022002749W WO2022163669A1 WO 2022163669 A1 WO2022163669 A1 WO 2022163669A1 JP 2022002749 W JP2022002749 W JP 2022002749W WO 2022163669 A1 WO2022163669 A1 WO 2022163669A1
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- Prior art keywords
- robot
- program
- tool
- wear
- teaching
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- 238000012790 confirmation Methods 0.000 claims abstract description 35
- 238000012545 processing Methods 0.000 claims abstract description 10
- 238000003466 welding Methods 0.000 claims description 45
- 238000000034 method Methods 0.000 claims description 8
- 238000003754 machining Methods 0.000 claims description 7
- 230000004048 modification Effects 0.000 claims description 5
- 238000012937 correction Methods 0.000 description 23
- 238000005520 cutting process Methods 0.000 description 14
- 238000003860 storage Methods 0.000 description 13
- 230000002093 peripheral effect Effects 0.000 description 7
- 230000006870 function Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
- B25J13/089—Determining the position of the robot with reference to its environment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37256—Wear, tool wear
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45059—Drilling robot
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45104—Lasrobot, welding robot
Definitions
- the present invention relates to a program evaluation device and a teaching device.
- a robot that performs a predetermined work such as welding or processing a workpiece is equipped with a function of correcting the position of the robot, thereby correcting the position of the tool (see, for example, Patent Documents 1 and 2).
- the electrode tip of a spot welding gun wears as welding is repeated, and the position of the tip of the electrode tip shifts by the amount of wear.
- Patent Literature 1 describes measuring the amount of wear and correcting the positions of a robot and a spot welding gun according to the amount of wear.
- the robot may not operate normally. For example, if the corrected position is outside the robot's range of motion, an error will occur and the robot will stop. When the corrected position is the singular point of the robot, it becomes impossible to control the motion of the robot.
- One aspect of the present disclosure is a program evaluation device that evaluates an operation program for a robot, wherein the operation program is a program for causing the robot to process a workpiece using a tool, and the robot: An operation that has a function of correcting the position of the tool according to the wear amount of the tool, and confirms whether the robot operates normally according to the operation program in each of a plurality of wear amounts within a predetermined range. It is a program evaluation apparatus provided with a confirmation part.
- FIG. 1 is a configuration diagram of an example of a robot
- FIG. 3 is a block diagram showing functions of a teaching device according to one embodiment
- FIG. It is a figure explaining the correction method of a parameter. It is a figure explaining another correction method of a parameter. It is a figure explaining another correction method of a parameter.
- 4 is a flowchart of processing executed by the teaching device;
- FIG. 4 is a partial configuration diagram of the robot showing a state in which the position of the tool is corrected according to the amount of wear;
- FIG. 4 is a partial configuration diagram of the robot showing a state in which the posture of the tool has been corrected;
- a teaching device 1 is a device that creates, evaluates, and modifies an operation program for a robot 10 off-line.
- the robot 10 includes a robot body 13 having an articulated robot arm 11 and a tool 12 and a controller 14 that controls the robot body 13 .
- the teaching device 1 creates an operation program that causes the robot 10 to process the workpiece W using the tool 12 .
- the robot body 13 shown in FIG. 1 is a 6-axis vertical articulated robot.
- the robot body 13 may be any other industrial robot commonly used for machining workpieces W.
- the tool 12 is a spot welding gun that applies current between two electrode tips 15 and 16 that face each other, and is attached to the tip of the robot arm 11 .
- One electrode tip 15 is a stationary electrode tip fixed to the tip of the robot arm 11 .
- the other electrode tip 16 is a movable electrode tip that can move along the center axis A of the electrode tips 15 and 16 with respect to the fixed electrode tip 15 .
- the workpiece W can be gripped between the electrode tips 15 and 16 by moving the movable electrode tip 16 .
- the fixed-side electrode tip 15 wears out as welding is repeated, and gradually shortens.
- the operation program is designed so that the tip of the stationary electrode tip 15 is positioned at the welding point (processing point) P when the stationary electrode tip 15 has a predetermined length and the amount of wear is zero. be.
- a welding point P is a position on the workpiece W where welding is performed by the electrode tips 15 and 16 .
- the robot 10 moves the tip of the stationary electrode tip 15 at the welding point P according to the amount of wear of the stationary electrode tip 15. has an automatic correction function for correcting the position of the tool 12 of Along with the correction of the position of the tool 12, the position and posture of the robot arm 11 are also corrected. Therefore, the position and attitude of the robot arm 11 at the welding point P differ for each amount of wear.
- the amount of wear is set in the control device 14 by an operator inputting the amount of wear into the control device 14 .
- the control device 14 corrects the position of the tool 12 at the welding point P in the direction opposite to the wear direction by an amount equal to the set wear amount.
- the wear direction of the stationary electrode tip 15 is downward, so the controller 14 corrects the position of the tool 12 upward.
- the front end of the fixed-side electrode tip 15 shortened by wear is brought into contact with the workpiece W at the welding point P, and the workpiece W can be reliably welded.
- the teaching device 1 includes a storage unit 2 for storing data necessary for creating an operation program, an input unit 3 for inputting data to the teaching device 1, and a program for creating an operation program.
- a creation unit 4 an operation confirmation unit 5 for confirming the operation of the robot 10 based on the operation program, a program correction unit 6 for correcting the operation program when a problem is confirmed in the operation of the robot 10, and a display unit 7.
- the program evaluation device is implemented as a part of the teaching device 1 and is composed of at least an operation checking section 5 and a program correction section 6 .
- the storage unit 2 is a non-volatile recording medium such as a ROM (read-only memory) or hard disk drive.
- the teaching device 1 comprises at least one processor such as a central processing unit and a memory.
- the storage unit 2 stores a program for causing the processor to execute processing described later.
- the functions of the program creation unit 4, the operation confirmation unit 5, and the program correction unit 6, which will be described later, are realized by reading the programs into the memory and executing them by the processor.
- the input unit 3 has at least one input device such as a keyboard, mouse and touch panel. The operator can use the input unit 3 to input data necessary for creating an operation program into the teaching device 1 .
- the storage unit 2 stores three-dimensional virtual space data and three-dimensional model data of each of the robot 10 , the work W, and peripheral objects arranged around the robot 10 . These data are, for example, CAD data.
- the storage unit 2 also stores teaching data input to the teaching device 1 by the operator using the input unit 3 .
- the teaching data includes teaching positions of one or more teaching points including the welding point P, and the teaching orientation and teaching angle of the tool 12 at the welding point P.
- the teaching posture is the posture of the tool 12 around a predetermined axis passing through the welding point P and parallel to the wear direction, and is the posture around the central axis A in this embodiment.
- the teaching angle of the tool 12 is the inclination angle of the tool 12 with respect to a predetermined direction, and in this embodiment, the inclination angle of the center axis A with respect to the vertical direction.
- the program creation unit 4 Based on the teaching data stored in the storage unit 2, the program creation unit 4 creates an operation program off-line for causing the robot 10 to spot-weld the workpiece W. As shown in FIG. That is, the program creation unit 4 reads the data of the virtual space and the data of the three-dimensional models of the robot 10, the workpiece W, and the surrounding objects from the storage unit 2, and creates the models of the robot 10, the workpiece W, and the surrounding objects. Place in virtual space.
- the virtual space in which the model is arranged may be displayed on the display unit 7 such as a liquid crystal display.
- the program creation unit 4 sets a motion path that sequentially passes through one or more teaching points in the virtual space, and creates a motion program for moving the tool 12 along the motion path.
- the created operation program is stored in the storage unit 2 at least temporarily.
- the operation program includes, as parameters relating to the placement of the tool 12 at the welding point P, the teaching position of the welding point P (that is, the tip of the fixed-side electrode tip 15) and the teaching attitude and teaching angle of the tool 12 at the welding point P. included.
- the operation confirmation unit 5 simulates the operation of the robot 10 based on the operation program created by the program creation unit 4, thereby confirming offline whether the robot 10 operates normally according to the operation program. At this time, the operation confirmation unit 5 changes the amount of wear in stages, and confirms the operation of the robot 10 at each of a plurality of amounts of wear within a predetermined range.
- the predetermined range and the plurality of wear amounts are determined by the operator based on the length of the wear amount of the fixed-side electrode tip 15 , and input and set in the teaching device 1 by the operator using the input unit 3 .
- the operation confirmation unit 5 arranges three-dimensional models of the robot 10, workpiece W, and surrounding objects in a three-dimensional virtual space.
- the operation confirmation unit 5 corrects the position of the tool 12 at the welding point P according to the amount of wear, similarly to the automatic correction function of the real robot 10, and accordingly corrects the position and posture of the robot arm 11. do.
- the motion checking unit 5 operates the model of the robot 10 in the virtual space according to the motion program, and checks whether the robot main body 13 operates normally with the corrected position and orientation.
- the operation confirmation unit 5 determines that the robot 10 does not operate normally. On the other hand, if the predetermined problem does not occur during the operation of the robot 10, the operation confirmation unit 5 determines that the robot 10 operates normally.
- the predetermined problem is that the corrected position of at least one of the tool 12 and the robot arm 11 is located outside the predetermined motion range of the robot body 13, that the robot arm 11 is arranged in a singular posture, and that the robot body 13 interfering with surrounding objects.
- the operation confirmation unit 5 ends the operation confirmation. On the other hand, if it is determined that the robot 10 does not operate normally due to a problem occurring in at least one amount of wear, the operation checking unit 5 corrects the operation program by the program correction unit 6, and then corrects the robot 10 according to the corrected operation program. is working properly. Correction of the operation program and operation confirmation are repeated until it is determined that the robot 10 operates normally for all amounts of wear.
- the program correction unit 6 performs welding so as to solve the problem with the amount of wear that caused the problem, as shown in FIGS. 3 to 5 .
- At least one parameter relating to the placement of tool 12 at point P is modified.
- the parameters are the taught position of the welding point P and the taught posture and taught angle of the tool 12 at the welding point P, as described above.
- the operator may be able to specify an adjustable range for each of the teaching position, teaching posture, and teaching angle. Further, the operator may be able to specify the amount and direction of correction for each of the teaching position, teaching attitude, and teaching angle.
- Fig. 3 explains the correction of the teaching position of the welding point P.
- the teaching position of the welding point P is corrected to a position near the surface of the work W, that is, in a direction crossing the wear direction and along the surface of the work W.
- the taught position is modified horizontally.
- the position of the tool 12 is corrected in the horizontal direction, and the position and posture of the robot arm 11 are also corrected.
- FIG. 4 explains the correction of the teaching posture of the tool 12.
- the tool 12 rotates around the center axis A of the stationary electrode tip 15 while maintaining the position of the tip of the stationary electrode tip 15 at the welding point P. This also corrects the position and orientation of the robot arm 11 .
- FIG. 5 explains the modification of the teaching angle of the tool 12.
- the tool 12 is tilted with respect to a predetermined direction while maintaining the position of the tip of the stationary electrode tip 15 at the welding point P.
- the teaching angle is corrected in a direction oblique to the vertical direction. This also corrects the position and orientation of the robot arm 11 .
- the teaching device 1 After the operator uses the input unit 3 to input the data necessary for creating the operation program into the teaching device 1 (step S1), the teaching device 1 starts creating the operation program.
- the input data includes teaching data, wear amount range and wear amount.
- the program creation unit 4 creates an operation program for causing the robot 10 to perform spot welding (step S2).
- the operation confirmation unit 5 performs simulations to confirm the operation of the robot 10 for each of a plurality of wear amounts within a predetermined range, and evaluates the operation program (steps S3 to S7). Specifically, the amount of wear is set (step S3), the position of the tool 12 at the welding point P and the position and orientation of the robot arm 11 are corrected according to the amount of wear (step S4). The model is operated in the virtual space according to the operating program (step S5). After the end of operation confirmation with one amount of wear, the amount of wear is changed (step S7), and steps S4 and S5 are executed again.
- the amount of wear is zero, and the correction amounts of the tool 12 and robot arm 11 are also zero.
- the wear amount is a value other than zero, and the position of the tool 12 and the position and posture of the robot arm 11 are corrected so that the tool 12 is displaced upward by an amount equal to the wear amount. be.
- step S6 After checking the operation for all amounts of wear (YES in step S6), if no predetermined problem occurs in checking the operation for all amounts of wear (YES in step S8), the creation of the operation program ends. , the generated operation program is stored in the storage unit 2 (step S10). On the other hand, if a predetermined problem occurs in operation confirmation with at least one amount of wear (NO in step S8), next, the program correction unit 6 determines the placement of the tool 12 at the welding point P in the operation program. The parameters are modified (step S9). Subsequently, the operation check for all wear amounts is performed again using the modified operation program (steps S3 to S8).
- Fig. 7 shows an example of problems that occur with changes in the amount of wear.
- the tool 12 interferes with the surrounding object B, and the robot arm 11 is placed in a unique posture in which the fourth axis J4 and the sixth axis J6 are substantially aligned.
- the teaching posture of the tool 12 as shown in FIG. be done. If the welding point P is permitted to be changed to a position near the taught position, the taught position may be corrected instead of or in addition to the correction of the taught posture.
- FIG. 9 by correcting the teaching angle of the tool 12, the position of the tip of the fixed electrode tip 15 is held at the welding point P, and the interference between the tool 12 and the peripheral object B is eliminated. be done.
- Correction of the operation program in step S9 and operation confirmation of the robot 10 in steps S3 to S7 are repeated until a predetermined problem no longer occurs in operation confirmation for all amounts of wear (YES in step S8).
- the program correction unit 6 stores the corrected parameters and the amount of correction in the storage unit 2. good.
- the robot main body 13 whose position and orientation have been corrected operates normally according to the operation program for each of a plurality of wear amounts within a predetermined range.
- the operation program can operate the robot 10 without causing any problem at any amount of wear can be checked before actually machining the workpiece W by the actual robot 10. can be evaluated in advance.
- the parameters regarding the arrangement of the tool 12 at the welding point P in the operation program are corrected, and whether the robot 10 operates normally according to the corrected operation program. is checked again. Correction of the operation program and confirmation of the operation of the robot 10 are repeated until the robot 10 operates normally for all amounts of wear. As a result, it is possible to create an operation program that causes the robot 10 to operate normally for all amounts of wear.
- the operation program finally created by the teaching device 1 is incorporated into the control device 14 of the real robot 10. While the control device 14 causes the actual robot body 13 to repeatedly perform spot welding according to the operation program, the stationary electrode tip 15 wears out. The operator inputs and sets the amount of wear of the fixed-side electrode tip 15 to the control device 14 . The control device 14 corrects the position of the tool 12 at the welding point P according to the set amount of wear, and accordingly corrects the position and posture of the robot arm 11 . At this time, the robot main body 13 can operate normally even after the position of the tool 12 is corrected. It is possible to prevent problems from occurring in the operation of the main body 13 .
- the teaching angle of the tool 12 at the welding point P is usually set at an angle at which the electrode tips 15 and 16 are arranged perpendicular to the surface of the workpiece W in order to obtain high welding quality. That is, of the three parameter modifications shown in FIGS. 3, 4 and 5, modification of the teaching angle can affect weld quality. Therefore, priorities are set for the three parameters, and the program modification unit 6 may modify the parameters in descending order of priority. For example, when a problem occurs in a certain amount of wear, the program correction section 6 first corrects the teaching posture of the tool 12 . If the problem occurs again in the subsequent operation check, the program correction unit 6 then corrects the position of the welding point P. If the problem occurs again in the subsequent operation check, the program correction section 6 then corrects the teaching angle of the tool 12 .
- the operation confirmation unit 5 may store the position and orientation of the robot 10 at the time of interference in the storage unit 2 .
- the operator confirms the position where the interference occurred and the posture of the robot body 13 at that time, and examines whether the interference can be avoided by changing the design of the surrounding objects and the robot body 13 .
- a design change is, for example, a change in the shape and arrangement of each of the peripheral object B and the robot body 13 . If it is possible to avoid interference by changing the design, the operator changes the design of at least one of the peripheral object and the robot body 13 .
- a motion program in which none of the teaching position, teaching posture, and teaching angle have been modified can be used for the motion of the actual robot 10 .
- the teaching device 1 creates the operation program offline, but instead of this, the operation program may be created online.
- the operator inputs the teaching data necessary for creating the operation program into the teaching device 1 by remote teaching using a portable teaching operation panel or direct teaching by holding a part of the robot and directly operating the robot.
- the operation confirmation unit 5 operates the real robot 10 according to the operation program created by the program creation unit 4, and confirms online whether the robot 10 operates normally at each amount of wear. If a problem occurs during operation confirmation, the operator may manually modify the operation program. Alternatively, the program correction unit 6 may automatically correct the operation program, as in the offline case.
- the program evaluation device is incorporated in the teaching device 1, but instead of this, the program evaluation device is incorporated in the controller 14 of the robot 10, and as a part of the controller 14 may be implemented.
- the operation confirmation unit 5 is mounted on the control device 14 . The operator removes the electrode tips 15 and 16 from the tool 12 as necessary and instructs the control device 14 to check the operation.
- the operation confirmation unit 5 operates the real robot 10 according to the operation program incorporated in the control device 14, and confirms online whether the robot 10 operates normally at each amount of wear. If a problem occurs during operation confirmation, the operator may manually modify the operation program. Alternatively, the program correction section 6 installed in the control device 14 may automatically correct the operation program. According to this configuration, it is possible to confirm in advance that the robot 10 operates normally in all amounts of wear even at a site such as a factory, and then cause the robot 10 to process the workpiece W.
- the teaching device 1 in order to operate the robot body 13 using the same motion program regardless of the amount of wear, the teaching device 1 creates a motion program that allows the robot body 13 to operate normally for all wear amounts.
- the teaching device 1 may create an operation program for each amount of wear. That is, after the operation check with one wear amount is completed (steps S4 and S5), if no predetermined problem occurs in the operation check with that wear amount (YES in step S11), the operation check for one wear amount is performed. The creation of the operation program is completed, and the created operation program is stored in the storage unit 2 in association with the amount of wear (step S12).
- step S11 if a predetermined problem occurs (NO in step S11), the parameters in the operating program are corrected (step S9), and the corrected operating program is used to check the operation again with the same amount of wear. (step S5). Operation confirmation and operation program correction are repeated until the problem no longer occurs.
- step S12 After the creation of the operation program for one wear amount is completed (step S12), the wear amount is changed (step S7), and steps S4, S5, S9, S11, and S12 are executed again. Steps S4 to S12 are repeated until operation confirmation for all wear amounts is completed and operation programs for all wear amounts are created (YES in step S6). As a result, a plurality of operation programs corresponding to a plurality of wear amounts within a predetermined range are created and stored in the storage unit 2 .
- the program evaluation device is realized as a part of the teaching device 1 or the control device 14, but instead of this, it is realized as a separate device from the teaching device 1 and the control device 14.
- the program evaluation device is connected to the teaching device 1, receives from the teaching device 1 an operation program created by the program creation unit 4, performs off-line or on-line operation check of the robot 10 according to the operation program, and if necessary The operating program may be modified.
- the control device 14 it may be possible to input a negative wear amount to the control device 14 .
- the stationary electrode tip 15 longer than the standard stationary electrode tip 15 is attached to the tool 12, the position of the tool 12 is corrected in the same direction as the wear direction by inputting a negative wear amount. Then, the distal end of the long stationary electrode tip 15 can be arranged at the welding point P on the workpiece W.
- the operation of the robot body 13 may change with the correction of the teaching posture and the teaching angle, and the cycle time may change. Therefore, the configuration may be such that the operator can set the allowable range of the cycle time.
- the tool 12 is a spot welding gun in the above embodiment, the tool 12 is not limited to this, and may be any tool that wears out with use.
- the tool 12 may be a drill whose tip is worn by contact with the workpiece W.
- parameters to be modified are selected.
- the program correction section 6 may correct only the teaching posture at the machining point.
- the program evaluation device can also be applied when the tool 12 wears in the radial direction.
- the cutting tool 12 when the tool 12 is a cutting tool, the cutting tool 12 gradually becomes shorter due to longitudinal wear of the tip and gradually becomes thinner due to radial wear of the outer peripheral surface.
- 11A and 11B illustrate automatic correction of the position of the cutting tool 12 performed by the robot 10 when the cutting tool 12 is moved along the path C to process the cutting surface D.
- FIG. The cutting tool 12 in the dash-dotted line is the tool that is not worn, and the cutting tool 12 in the solid line is the tool that is worn longitudinally and radially. As shown in FIG.
- the position of the cutting tool 12 is adjusted in the direction of widening the path C, i.e., according to the amount of radial wear. Radial correction is made toward the cutting surface D side. Also, as shown in FIG. 11B, the position of the cutting tool 12 is corrected forward in the longitudinal direction according to the amount of wear in the longitudinal direction.
- the position and posture of the robot arm 11 are also corrected. Therefore, a predetermined range and amount of wear are set for each of the radial direction and the longitudinal direction, and the operation confirmation unit 5 determines that the robot body 13 operates normally in each combination of the amount of wear in the radial direction and the amount of wear in the longitudinal direction. Check whether or not As a result, it is possible to evaluate in advance whether or not the operation program is capable of operating the robot 10 without causing problems in both the longitudinal direction and the radial direction. .
Abstract
Description
本実施形態に係る教示装置1は、ロボット10用の動作プログラムの作成、評価および修正をオフラインで行う装置である。
図1に示されるように、ロボット10は、多関節のロボットアーム11およびツール12を有するロボット本体13と、ロボット本体13を制御する制御装置14とを備える。教示装置1は、ツール12を使用したワークWの加工をロボット10に実行させる動作プログラムを作成する。図1に示されるロボット本体13は、6軸の垂直多関節ロボットである。ロボット本体13は、ワークWの加工に一般に使用される他の任意の産業用ロボットであってもよい。
記憶部2には、3次元の仮想空間のデータと、ロボット10、ワークW、およびロボット10の周辺に配置される周辺物体の各々の3次元のモデルのデータと、を記憶する。これらのデータは、例えば、CADデータである。
教示姿勢は、溶接点Pを通り摩耗方向に平行な所定の軸線回りのツール12の姿勢であり、本実施形態においては中心軸線A回りの姿勢である。ツール12の教示角度は、所定の方向に対するツール12の傾斜角度であり、本実施形態においては、鉛直方向に対する中心軸線Aの傾斜角度である。
すなわち、プログラム作成部4は、仮想空間のデータと、ロボット10、ワークWおよび周辺物体の各々の3次元のモデルのデータとを記憶部2から読み出し、ロボット10、ワークWおよび周辺物体のモデルを仮想空間に配置する。モデルが配置された仮想空間は、液晶ディスプレイ等の表示部7に表示されてもよい。次に、プログラム作成部4は、仮想空間内の1つ以上の教示点を順番に通る動作経路を設定し、動作経路に沿ってツール12を移動させるための動作プログラムを作成する。
一方、少なくとも1つの摩耗量において問題が発生しロボット10が正常に動作しないと判断された場合、動作確認部5は、プログラム修正部6による動作プログラムの修正後、修正された動作プログラムに従ってロボット10が正常に動作するか否かを確認する。全ての摩耗量においてロボット10が正常に動作すると判断されるまで、動作プログラムの修正および動作確認が繰り返される。
作業者が、動作プログラムの作成に必要なデータを入力部3を使用して教示装置1に入力した後(ステップS1)、教示装置1による動作プログラムの作成が開始される。入力されるデータには、教示データ、摩耗量の範囲および摩耗量が含まれる。
まず、プログラム作成部4によって、ロボット10にスポット溶接を実行させるための動作プログラムが作成される(ステップS2)。
一方、少なくとも1つの摩耗量での動作確認において所定の問題が発生した場合(ステップS8のNO)、次に、プログラム修正部6によって、動作プログラム内の、溶接点Pでのツール12の配置に関するパラメータが修正される(ステップS9)。続いて、修正された動作プログラムを使用して全ての摩耗量での動作確認が再度実行される(ステップS3~S8)。
ステップS9においてどのような修正が行われたかを作業者が後で確認することができるようにするために、プログラム修正部6は、修正したパラメータおよびその修正量を記憶部2に記憶させてもよい。
例えば、ある摩耗量において問題が発生した場合、プログラム修正部6は、最初にツール12の教示姿勢を修正する。その後の動作確認で問題が再び発生した場合、プログラム修正部6は、次に溶接点Pの位置を修正する。その後の動作確認で問題が再び発生した場合、プログラム修正部6は、次にツール12の教示角度を修正する。
動作プログラムの作成終了後、作業者は、干渉が発生した位置とそのときのロボット本体13の姿勢を確認し、周辺物体およびロボット本体13の設計変更によって干渉を回避できるか否かを検討する。設計変更は、例えば、周辺物体Bおよびロボット本体13の各々の形状および配置の変更である。設計変更による干渉回避が可能である場合、作業者は、周辺物体およびロボット本体13の少なくとも一方の設計を変更する。これにより、教示位置、教示姿勢および教示角度のいずれも修正されていない動作プログラムを実在のロボット10の動作に使用することができる。
例えば、作業者は、可搬式の教示操作盤を使用するリモートティーチ、または、ロボットの一部分を持ちロボットを直接操作するダイレクトティーチによって、動作プログラムの作成に必要な教示データを教示装置1に入力する。動作確認部5は、プログラム作成部4によって作成された動作プログラムに従って実在のロボット10を動作させ、各摩耗量においてロボット10が正常に動作するか否かをオンラインで確認する。動作確認において問題が発生した場合、作業者が手動で動作プログラムを修正してもよい。あるいは、オフラインの場合と同様に、プログラム修正部6が自動で動作プログラムを修正してもよい。
この場合、少なくとも動作確認部5が制御装置14に搭載される。作業者は、必要に応じて電極チップ15,16をツール12から取り外し、動作確認の実行を制御装置14に指示する。
この構成によれば、工場等の現場でも、全ての摩耗量においてロボット10が正常に動作することを事前に確認し、その後にワークWの加工をロボット10に実行させることができる。
すなわち、1つの摩耗量での動作確認の終了後(ステップS4,S5)、その摩耗量での動作確認において所定の問題が発生しなかった場合(ステップS11のYES)、1つの摩耗量用の動作プログラムの作成が終了し、作成された動作プログラムが摩耗量と対応付けて記憶部2に保存される(ステップS12)。
1つの摩耗量用の動作プログラムの作成終了後(ステップS12)、摩耗量が変更され(ステップS7)、ステップS4,S5,S9,S11,S12が再び実行される。全ての摩耗量での動作確認が終了し全ての摩耗量用の動作プログラムの作成が終了するまで(ステップS6のYES)、ステップS4~S12が繰り返される。これにより、所定の範囲内の複数の摩耗量にそれぞれ対応する複数の動作プログラムが作成され記憶部2に保存される。
例えば、プログラム評価装置は、教示装置1と接続され、プログラム作成部4によって作成された動作プログラムを教示装置1から受け取り、動作プログラムに従ってロボット10の動作確認をオフラインまたはオンラインで行い、必要に応じて動作プログラムを修正してもよい。
上記実施形態において、教示姿勢および教示角度の修正に伴ってロボット本体13の動作が変化し、サイクルタイムが変化することがある。したがって、作業者がサイクルタイムの許容範囲を設定することができるように構成されていてもよい。
ツール12の種類に応じて、修正されるパラメータは選択される。例えば、ツール12がドリルである場合、プログラム修正部6は、加工点での教示姿勢のみを修正してもよい。
例えば、ツール12が切削工具である場合、切削工具12は、先端の長手方向の摩耗によって徐々に短くなるとともに、外周面の径方向の摩耗によって徐々に細くなる。図11Aおよび図11Bは、切削工具12を経路Cに沿って移動させて切削面Dを加工する場合に、ロボット10が行う切削工具12の位置の自動補正を説明している。二点鎖線の切削工具12は、摩耗していない工具であり、実線の切削工具12は、長手方向および径方向に摩耗した工具である。図11Aに示されるように、径方向の摩耗に関わらず切削面Dの輪郭を維持するために、切削工具12の位置は、径方向の摩耗量に応じて、経路Cを広げる方向に、すなわち切削面D側へ径方向に補正される。また、図11Bに示されるように、切削工具12の位置は、長手方向の摩耗量に応じて、長手方向前方に補正される。
4 プログラム作成部
5 動作確認部
6 プログラム修正部
10 ロボット
11 ロボットアーム
12 ツール
14 制御装置
15 固定側電極チップ
A 中心軸線
B 周辺物体
P 溶接点(加工点)
W ワーク
Claims (8)
- ロボット用の動作プログラムを評価するプログラム評価装置であって、前記動作プログラムが、ツールを使用したワークの加工を前記ロボットに実行させるためのプログラムであり、前記ロボットが、前記ツールの摩耗量に応じて前記ツールの位置を補正する機能を有し、
所定の範囲内の複数の摩耗量の各々において前記ロボットが前記動作プログラムに従って正常に動作するか否かを確認する動作確認部を備える、プログラム評価装置。 - 前記動作プログラムが、前記ワークを加工する加工点での前記ツールの配置に関する少なくとも1つのパラメータを含み、
少なくとも1つの前記摩耗量において前記ロボットが正常に動作しないことが前記動作確認部によって確認された場合に、前記パラメータを修正するプログラム修正部を備える、請求項1に記載のプログラム評価装置。 - 前記動作確認部は、少なくとも1つの前記摩耗量において前記ロボットの動作中に所定の問題が発生した場合に、前記ロボットが正常に動作しないと判断し、
前記所定の問題は、前記ロボットの位置が該ロボットの動作範囲外に位置すること、前記ロボットが特異姿勢に配置されること、および、前記ロボットが周辺物体と干渉すること、の少なくとも1つを含む、請求項1または請求項2に記載のプログラム評価装置。 - 前記パラメータが、前記加工点の位置、ならびに、前記加工点での前記ツールの姿勢および角度であり、
前記プログラム修正部が、前記加工点の位置、ならびに、前記加工点での前記ツールの姿勢および角度の少なくとも1つを修正する、請求項2に記載のプログラム評価装置。 - 前記動作プログラムが、複数の前記パラメータを含み、該複数のパラメータに優先順位が設定され、
前記プログラム修正部が、前記優先順位の高いものから順に前記パラメータを修正する、請求項2または請求項4に記載のプログラム評価装置。 - 前記ツールがスポット溶接ガンであり、前記摩耗量が前記スポット溶接ガンの固定側電極チップの摩耗量である、請求項1から請求項5のいずれかに記載のプログラム評価装置。
- 前記動作確認部が、各前記摩耗量における前記ロボットの動作をシミュレーションすることによって、前記ロボットが正常に動作するか否かをオフラインで確認する、請求項1から請求項6のいずれかに記載のプログラム評価装置。
- ロボットの動作を教示する教示装置であって、
請求項1から請求項7のいずれかに記載のプログラム評価装置を備える、教示装置。
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JPH05108123A (ja) * | 1991-10-16 | 1993-04-30 | Fanuc Ltd | ツール先端位置補正方法 |
JPH08294820A (ja) * | 1995-03-01 | 1996-11-12 | Mitsubishi Electric Corp | 放電加工装置 |
JP2002273675A (ja) * | 2001-03-16 | 2002-09-25 | Kawasaki Heavy Ind Ltd | ロボット制御方法およびロボット制御システム |
JP2002283059A (ja) * | 2001-03-26 | 2002-10-02 | Fanuc Ltd | サーボ式スポット溶接ガンの軸の基準位置設定方法及びロボット制御装置 |
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