JPH0997106A - Teaching data creation method - Google Patents

Abstract

(57) [PROBLEMS] To provide a teaching data creation method capable of creating teaching data for one robot from the teaching data for one robot, which does not require correction for the other robot offline. Kind Code: A1 Teaching data creation for offline creation of teaching data for one robot placed at a predetermined position with respect to a work from another robot placed at a given relationship with the position of the one robot. A first position and orientation based on the model center position that sets the tool center point position of one robot based on the teaching data for one robot and the coordinate system fixed to the end effector to the workpiece. The first position and orientation are converted into a second position and orientation that are symmetrical with respect to an axis including the model center point position, and the second position and orientation are converted into the second position and orientation and the other robot. Based on the position of the robot and the teaching data of the other robot.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a teaching data creating method for off-line creating teaching data for one robot from teaching data for one robot arranged at a predetermined position with respect to a work.

[0002]

2. Description of the Related Art Generally, on a particular line of a vehicle production line, such as a painting line, the operation of a tool center point of a robot arranged on the production line is relatively the same because of the characteristics of the work. A case arises. This is the case, for example, when painting the outer periphery of the vehicle. By the time the appearance color of the vehicle reaches the final appearance color by painting, the vehicle body formed by welding in the welding process, which is the pre-process of the painting process, undergoes painting processes such as undercoating, intermediate coating, and topcoating,
The painting is completed and sent to the next process.

In this case, since the same part of the work is targeted for work simply by changing the steps of undercoating, intermediate coating, and topcoating on the work, that is, the formed vehicle body, the robots arranged on the line The operation of the tool center points is relatively the same.

For this reason, robots are arranged symmetrically with respect to the work, and the robot is made to perform painting work.

In this case, since the operation of the tool center point of the robot is relatively the same as described above,
One robot is a conversion source robot, and the other robot paired with the conversion source robot is a conversion destination robot,
It is considered that the teaching data for the conversion destination robot can be generated by converting the teaching data for the conversion source robot that has been created in advance, and the teaching data after conversion can be used as the teaching data for the conversion destination robot. In the present specification, the teaching data is given to each joint of the robot in order to make the robot perform a series of work, and a desired position is set at a tool center point of the robot and a desired posture is set in a coordinate system fixed to the end effector. It refers to the data to get. In this specification, the attitude of the coordinate system fixed to the end effector is referred to as the attitude of the tool center point.

[0006]

However, in the installation position, the robot, which is supposed to be installed at the symmetrical position with respect to the workpiece in the drawing, is actually installed deviated from the symmetrical position. There is an error, and even if the teaching data converted from the teaching data of the transformation source robot as described above is given to the transformation destination robot as teaching data, the transformation destination robot may interfere with other robots. , Interference occurs between the work and the transformation destination robot, or there is a difference between the distance between the tool center point of the transformation destination robot and the work and the distance between the tool center point of the transformation destination robot and the work. However, there are similar problems with robots installed at the same position for works in different processes.

Therefore, the position correction teaching must be performed for each of the tool center points of the conversion destination robot, which requires a huge number of man-hours.

The present invention has been made in order to solve the above-mentioned problems, and creates teaching data for one robot from teaching data for one robot positioned at a specific position with respect to a workpiece. sometimes,
It is an object of the present invention to provide a teaching data creation method capable of creating teaching data that does not require modification offline.

[0009]

According to a teaching data creating method of the present invention, a teaching data for one robot placed at a predetermined position with respect to a work is placed at a position related to the position of the one robot. And a posture of a coordinate system fixed to an end effector of a position of a tool center point of the one robot based on the teaching data for the one robot, which is a method for creating teaching data for the other robot offline. The first step of performing an operation of converting the data of the above into data of a position based on the position of the predetermined point set on the work and the attitude of the coordinate system fixed to the end effector, and the operation performed in the first step. Position and posture data are symmetrical with respect to the axis including the specified point set on the workpiece. And a posture of the other robot based on the data and the position of the other robot, based on the data and the position of the other robot. And a third step of performing a calculation for converting into data.

In the teaching data generating method according to the present invention, the other robot is provided at a position symmetrical with respect to the center line of the workpiece with respect to the one robot or at a position symmetrical with respect to a point on the center line. It is characterized by

According to the teaching data creating method of the present invention, the data of the position of the tool center point of one robot and the attitude of the coordinate system fixed to the end effector are set on the workpiece based on the teaching data for one robot. The data of the position and the posture based on the position of the predetermined point and the posture of the coordinate system fixed to the end effector are converted in the first process, and the position and the posture data converted in the first process are set to the work. In the second step, the position and orientation data that are symmetric with respect to the axis including the predetermined point are converted, and the position and orientation data converted in the second step are used for the data and the other robot. Based on the position, the teaching data of the other robot is converted in the third process.

Therefore, the position and orientation data converted in the second step is for a predetermined point set on the workpiece, and corresponds to the position and orientation converted in the first step. The teaching data converted in the third step is based on the position of the other robot, and is fixed to the position of the tool center point of the other robot and the end effector based on the teaching data converted in the third step. The posture of the coordinate system corresponds to the position of the tool center point of one robot, the posture of the coordinate system fixed to the end effector, and the predetermined point set on the work, which depends on the installation position of the other robot. It won't change.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of a teaching data creating method according to the present invention will be described.

FIG. 1 is a block diagram showing the configuration of a teaching data creating apparatus to which an embodiment of the teaching data creating method according to the present invention is applied.

In the present embodiment, the case of a painting process for painting a vehicle body formed by welding in the welding process will be exemplified. FIG. 9 is a layout diagram schematically showing relational positions of a conversion source robot, a conversion destination robot, and a work in the present embodiment.

In FIG. 9, reference numeral R1 indicates a conversion source robot, reference numeral R2 indicates a conversion destination robot, and W indicates a vehicle body, that is, a work. The conversion destination robot R2 sandwiches the center line L of the work W and the conversion source robot R1. Are arranged in almost symmetrical positions. Here, the reason why it is described as a substantially symmetrical position is that there is an installation position error of the conversion destination robot R2.
The teaching data output from the control device C including a computer including the teaching data creation device is transferred to the robot controllers R1C and R2C via the communication device 10,
Based on the teaching data output from the control device C, the conversion source robot R1 is controlled by the robot controller R1C and the conversion destination robot R2 is controlled by the robot controller R2C.

As shown in FIG. 1, the controller C receives a data from the hard disk 1 and the keyboard 2 and mouse 3 as an input device via the interface circuit 5, and a main controller 6 via the interface circuit 5. A display device 4 whose display is controlled by the memory 7, a memory 7 for reading and writing stored data under the control of the main controller 6, and a data read from the memory 7 under the control of the main controller 6. And an arithmetic circuit 8 in which arithmetic processing such as coordinate conversion arithmetic processing is performed and data based on the arithmetic processing result is written in the memory 7.

The hard disk 1 includes process and robot group data, conversion source robot position data for each of a plurality of conversion source robots on world coordinates independently set for each robot, and each of a plurality of conversion destination robots. The target robot position data, the teaching data for each source robot, the initial position data and attitude data of the tool center point, the work information, and the model center position data that is the position data of one point on the center line of the work are stored. , Is read out as needed, and transferred and stored in a predetermined storage area of the memory 7.

In the following description, the storage area in the memory 7 of the data transferred and stored from the hard disk 1 and the data temporarily stored for other processing will not be particularly described in order to avoid complication.

The teaching data creating operation of the teaching data creating apparatus according to the present embodiment configured as described above will be described with reference to the flowcharts of FIGS. 2 to 4 and the diagrams showing the mutual positional relationship of FIGS. 5 to 8. explain.

When the teaching data creation routine is executed,
A process and a conversion source robot group for performing the process are designated, data of the designated process and conversion source robot group are transferred from the hard disk 1 and stored in the memory 7 (step S1). Here, the designated process is, for example, a painting process in the present embodiment, and since a plurality of robots are provided for performing the painting process, a robot group is designated.

Next, one target robot is designated as the transformation source robot R1 from the transformation source robot group, and data indicating the designated transformation source robot R1 is stored in the memory 7.
Is stored (step S2), the painting process performed by the designated conversion source robot R1 is designated, and data instructing the designated process is stored in the memory 7 (step S3). The designation in step S3 is, for example, one of the undercoating process, the intermediate coating process, and the overcoating process.

Subsequently, the work W is designated, and data designating the designated work W and model center position data are transferred from the hard disk 1 and stored in the memory 7 (step S4). The work W is designated by, for example, designating the vehicle type, and the model center position predetermined for the work W by the designation of the work W in step S4 is the center line L of the work W in the present embodiment.
It is the positional information of one point above.

Then, similarly to step S1, a process to be performed by the conversion destination robot and a conversion destination robot group for executing the process are designated (step S5). The designation in step S5 is the same as the process designated in step S3, and a robot group is designated because a plurality of robots performing the process are provided.

Next, one target robot is designated as the conversion destination robot R2 from the conversion destination robot group, and data instructing the conversion destination robot R2 is stored in the memory 7 (step S6). Subsequently, the original position and orientation information of the tool center point of the conversion source robot R1 is transferred from the hard disk 1 and stored in the memory 7 (step S
7).

Subsequent to step S7, it is checked whether or not the designation is completed (step S8). When the process specified in step S3 and the process specified in step S5 do not match, or the conversion destination robot R2 that is not installed at the symmetrical position with respect to the conversion source robot R1 specified in step S2 is specified. In step S8, the execution from step S1 is requested again because it is determined that the designation has not been completed.

The conversion destination robot R2, which is located in a substantially symmetrical position with respect to the conversion source robot R1 specified in step S2, matches the process specified in step S3 and the process specified in step S5. If so, the designation is ended in step S8, and subsequently step S9 and subsequent steps for creating teaching data are executed.

If it is determined in step S8 that the designation has ended, it is checked whether the model center position for the designated transformation source robot R1 corresponds to the model center position for the designated transformation destination robot R2. (Step S9). If it is determined in step S9 that they do not correspond, the teaching data creation routine is ended. In this case, a designation error is made.

When it is determined in step S9 that they correspond, the position information relating to the conversion source robot R1 designated in step S2 is transferred from the hard disk 1 and stored in the memory 7 following step S9 (step S10). ).

The position information stored in step S10 is the position and orientation information of the tool center point of the conversion source robot R1 on the world coordinate A system set for the conversion source robot R1, and is shown in FIG. As shown in the right part, the origin position of world coordinate system A (world A
The position and orientation of the tool center point on the world coordinate A system of the conversion source robot R1 that is actually installed (denoted as R1A), the position of the model center on the world coordinate A system relative to the conversion source robot R1 ( (Hereinafter referred to as model center MA).

Next, the position information relating to the conversion destination robot R2 designated in step S6 is obtained in step S1.
After 0, the data is transferred from the hard disk 1 and stored in the memory 7 (step S11).

The position information stored in step S11 is the position and orientation information of the tool center point of the conversion destination robot R2 or the like on the world coordinate B system set for the conversion destination robot R2, and is shown in FIG. As shown on the left side of the
2, the position and orientation of the tool center point on the world coordinate system B (denoted as R2B), the transformation destination robot R
2 is information on the position and orientation of the tool center point on the world coordinate system B of the model center for 2 (described as model center MB). The position of the conversion destination robot R2 that is actually installed on the world coordinate system B deviates from the symmetrical position with respect to the conversion source robot R1 by the installation position error. Here, a position symmetrical to the conversion source robot R1 is shown as R2D for reference.

In FIGS. 5 to 8, three arrows extending from the center of each position indicate that the center position is displayed as a position on the coordinate system.

Here, the model center MA and the model center MB are at different positions, as is apparent from FIG. 5, and the step S10 and step S11 are executed, so that the conversion source robot R1 for the world A is changed. The related position information and the position information related to the conversion destination robot R2 for the world B are stored, but in the former position information, the information on the position relationship with the world B should be directly held. Of course, the latter position information does not directly have information on the position relationship with the world A. That is, World A and World B
They do not have a positional relationship with each other.

After step S11, since the conversion source robot R1 is the reference, the position of the model center MB is set to the position of the model center MA while maintaining the mutual relationship between the model center MB and the position and orientation (R2B). Match. The position of the matched model center is indicated by M. next,
The position information related to the conversion source robot R1 is converted using the position M of the model center as a reference position, the position information stored in step S10 is updated to the converted position information, and the updated position information is stored in the memory 7. While meanwhile,
The position information related to the conversion destination robot R2 is converted using the position M of the model center as a reference position, the position information stored in step S11 is updated to the converted position information, and the updated position information is stored in the memory 7. (Step S12). The conversion of the position information related to the conversion source robot R1 with the position M of the model center as the reference position may be omitted. This is because the conversion source robot R1 is the reference, and the position information related to the conversion source robot R1 is the same before and after the update.

Therefore, if the positional relationship based on the positional information when step S12 is executed is shown in FIG.
As shown in, the position information in which the position M of the model center is set as the reference position is stored. In FIG. 6, reference numerals corresponding to those in FIG. 5 are indicated by adding a dash (′), and the position M of the model center is (MA = MB ′).

After step S12, the job information of the conversion source robot R1 is designated (step S13), and a series of program steps based on the designated job information is transferred from the hard disk 1 and stored in the memory 7 (step S14). ). Here, in the present embodiment, a group of program steps for performing painting in a predetermined direction, for example, a predetermined width during the painting process, is composed of a plurality of program steps each including drive data. It is called information.

After step S14, the memory 7 to 1
One program step is read, and the instruction of the read program step is decoded (step S15). When it is determined by this decoding that the movement of the tool center point is designated, the tool center point position and posture P1 at the time of movement based on the teaching data designated in the program step are orthogonal coordinate positions. Is converted to (step S16). Of course, the tool center point is not actually moved, but the tool center point position and orientation based on the teaching data is converted by the arithmetic circuit 8 into the orthogonal coordinate position.

When the tool center point becomes, for example, the tip position and the posture P1 of the broken line α in FIG. 7 by the movement based on the teaching data designated in the program step, the conversion to the Cartesian coordinate position in step S16 is performed by world A. Based on ′, conversion is performed to convert the tip position of the broken line α and its posture into Cartesian coordinate positions.

Following step S16, step S16
The tool center point position and posture P1 moved in (1), the position (X, Y, Z) and the posture (RX, RY,
RZ) (step S17). That is, in the conversion in step S17, the tool center point position and orientation P1 are the tip position (X, Y, Z) and orientation (R) of the broken line β in FIG.
(X, RY, RZ) is converted to a position and orientation on the Cartesian coordinates with the position of the model center M as the origin position.

Following step S17, step S16
In step S18, the teaching data designated in the program step is stored in the memory 7 (step S18), and then the position (X, Y, Z) and the posture (RX, RY, RZ) on the Cartesian coordinates converted in step S17. ) Is stored in the memory 7 (step S19). Next, the order in the job information of the program steps executed in step S17 is stored in the memory 7 (step S
20), and then repeatedly executed from step S14. In the execution of step S14 by this repetition, the program step in the next order stored in step S20 is read, and the process returns to step S15.

When it is determined in step S15 that neither the move instruction nor the end instruction is determined as a result of the instruction decoding, the job name for the instruction is additionally stored following step S15, and the processing is repeated from step S14 (step S21). .

When it is determined in step S15 that the instruction decoding is the end instruction as a result of the instruction decoding, the program step name having the instruction is additionally stored following step S15 (step S2).
2), the position (X, Y, Z) and the posture (RX, R) on the orthogonal coordinates of the tool center point with the position of the model center M stored in step S19 as the origin position.
All the stored Y, RZ) are sequentially read (step S23), and conversion based on the conversion formula is sequentially performed (step S24).

In the case of the present embodiment, the conversion formula in step S24 is the position and orientation on the Cartesian coordinates (X,
Y ', Z) and (RX, RY, RZ), X'
= -X, Y '= Y, Z' = Z, RX '=-RX, RY'
= RY, RZ '= (RZ-180). This is the original robot R1 that is converted to a symmetrical position across the center line L of the workpiece.
This is because the conversion destination robot R2 is provided.

Subsequent to step S24, the converted position and orientation on the Cartesian coordinates are the position R of the conversion destination robot R2.
Converted to teaching data for 2A '(step S2
5), teaching data for the destination robot R2. As a result, teaching data for all the program steps forming the job information is obtained by the end of execution of step S25.

Here, by the conversion in step S24, the tool center point position and posture P1 are converted from the model center position M to the tip position and posture P2 indicated by the broken line γ, as shown in FIG. By the conversion in step S25, the teaching data δ for the position 2A ′ of the conversion destination robot R2 is converted so that the tool center point of the conversion destination robot R2 is located and in the tip position and the posture P2. Therefore, the conversion source robot R1
The tool center point position and orientation P1 of the conversion destination robot R2 is converted into teaching data that is the position and orientation P2.
The relationship between the tool center point of the conversion destination robot R2 driven by the teaching data δ converted in step S25 and the work W is the same as the relationship between the tool center point of the conversion source robot R1 and the work W. Even if there is an error in the installation position of the destination robot R2, the teaching data for the destination robot R2 is converted to the source robot R1.
It will be created from the teaching data of. Also, no position correction is required.

In the above, the exchange source robot R1
Although the position and orientation P1 of the tool center point based on one teaching data of the above, the same applies to the position and orientation of the tool center point based on other teaching data of the conversion source robot R1. All teaching data for the destination robot R2 can be obtained off-line by the same conversion for all teaching data for R1.

To further explain this, as shown in FIG. 10, if the trajectory of the tool center point of the conversion source robot R1 takes a trajectory including the position and orientation P1 according to the teaching data, the teaching data of the conversion source robot R1. The trajectory of the tool center point of the transformation destination robot R2 based on the teaching data obtained by the above transformation takes a trajectory including the position and the posture P2, and both trajectories are set on the work W regardless of the error in the installation position of the transformation destination robot R2. On the other hand, they are symmetrical to each other, and it is not necessary to modify the converted teaching data for the conversion source robot R2.

In the embodiment described above, the conversion source robot R1 and the conversion destination robot R2 are provided at positions symmetrical with respect to the center line L of the workpiece W. Even when R1 and the transformation-destination robot R2 are point-symmetric with respect to the position M of the model center of the work W, it can be dealt with by changing the transformation formula.

[0050]

As described above, according to the teaching data creating method according to the present invention, teaching data for the conversion destination robot can be created off-line from the teaching data for the conversion source robot, and the actual installation position of the robot is shown in the drawing. The effect that the teaching data that does not need to be corrected even if it is deviated from the above position can be created offline is obtained.

[Brief description of drawings]

FIG. 1 is a block diagram of a teaching data creating apparatus to which an embodiment of a teaching data creating method according to the present invention is applied.

FIG. 2 is a flowchart for explaining the operation of the embodiment of the teaching data creating method according to the present invention.

FIG. 3 is a flowchart for explaining the operation of the embodiment of the teaching data creating method according to the present invention.

FIG. 4 is a flowchart for explaining the operation of the embodiment of the teaching data creating method according to the present invention.

FIG. 5 is a diagram showing a mutual positional relationship for explaining the operation of the embodiment of the teaching data creating method according to the present invention.

FIG. 6 is a diagram showing a mutual positional relationship used for explaining the operation of the embodiment of the teaching data creating method according to the present invention.

FIG. 7 is a diagram showing a mutual positional relationship used for explaining the operation of the embodiment of the teaching data creating method according to the present invention.

FIG. 8 is a diagram showing a mutual positional relationship for explaining the operation of the embodiment of the teaching data creating method according to the present invention.

FIG. 9 is a layout diagram schematically illustrating the relational positions of a conversion source robot, a conversion destination robot, and a workpiece, which is used to explain an embodiment of a teaching data creation method according to the present invention.

FIG. 10 is an explanatory diagram of a teaching result provided for explaining the operation of the embodiment of the teaching data creating method according to the present invention.

[Explanation of symbols]

1 ... Hard disk 2 ... Keyboard 3 ... Mouse 4 ... Display device 5 ... Interface circuit 6 ... Main controller 7 ... Memory 8 ... Arithmetic circuit 9 ... Communication device W ... Work R1 ... Conversion source robot R2 ... Conversion destination robot C ... Control device L … Center line R1C, R2C… Robot controller M… Model center

 ──────────────────────────────────────────────────の Continuing on the front page (72) Inventor Shigeru Kageyama 1-10-1 Shinsayama, Sayama City, Saitama Prefecture Honda Engineering Co., Ltd.

Claims (2)

[Claims] 1. Teaching data for off-line creating teaching data for one robot arranged at a predetermined position with respect to a work from another robot arranged at a predetermined relation with the position of the one robot. A method of creation, wherein the position of the tool center point of the one robot based on the teaching data for the one robot and the posture data of the coordinate system fixed to the end effector is set to the position of the predetermined point set on the workpiece. A first step of performing a calculation for converting into a reference position and attitude data of a coordinate system fixed to the end effector, and the position and attitude data calculated in the first step are set in the workpiece. A second step of performing a calculation for converting into position and orientation data that is symmetrical with respect to an axis including a predetermined point; A third step of performing an operation of converting the position and orientation data calculated in the second step into teaching data of the other robot based on the data and the position of the other robot. A teaching data creating method characterized by the above. 2. The teaching data creating method according to claim 1, wherein the other robot is provided at a position symmetrical to the one robot with respect to the center line of the work or a position symmetrical with respect to one point on the center line. And a teaching data creating method.