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WO2018181229A1 - Dispositif de création de description de travail destiné à un robot industriel, et procédé de création de description de travail destiné à un robot industriel - Google Patents

Dispositif de création de description de travail destiné à un robot industriel, et procédé de création de description de travail destiné à un robot industriel Download PDF

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Publication number
WO2018181229A1
WO2018181229A1 PCT/JP2018/012252 JP2018012252W WO2018181229A1 WO 2018181229 A1 WO2018181229 A1 WO 2018181229A1 JP 2018012252 W JP2018012252 W JP 2018012252W WO 2018181229 A1 WO2018181229 A1 WO 2018181229A1
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WO
WIPO (PCT)
Prior art keywords
work
work description
unit
robot
point
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2018/012252
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English (en)
Japanese (ja)
Inventor
常田　晴弘
慎浩 田中
洋和 渡邊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nidec Instruments Corp
Original Assignee
Nidec Sankyo Corp
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Publication date
Application filed by Nidec Sankyo Corp filed Critical Nidec Sankyo Corp
Priority to JP2018518666A priority Critical patent/JP7074057B2/ja
Publication of WO2018181229A1 publication Critical patent/WO2018181229A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T13/00—Animation
    • G06T13/20—3D [Three Dimensional] animation

Definitions

  • the present invention relates to a work description creation device for an industrial robot and a work description creation method for an industrial robot.
  • Patent Document 1 describes a technique for converting the coordinates of one assembly data in the assembly coordinate system into the coordinate values of the other assembly data in the assembly coordinate system.
  • the coordinate information processing apparatus includes a storage unit for storing a plurality of assembly data and a plurality of component data. Each assembly data includes conversion information between each model coordinate system and assembly coordinate system of the corresponding part data.
  • the coordinate information processing apparatus includes coordinate instruction means, common component search means, and coordinate conversion means.
  • the coordinate instruction means instructs designated coordinates.
  • the common part search means is means for searching for the same part data corresponding to the first and second assembly data.
  • the coordinate conversion means converts the designated coordinates into corresponding coordinate values by associating the assembly coordinate systems of the first and second assembly data using the conversion information with the retrieved component data.
  • Patent Document 1 it is not possible to create actual work description information for industrial robots such as assembling applications from the converted coordinates. This is because, for example, in an articulated robot for assembly use, it is difficult for the user to specify the position and posture of the robot by giving coordinates.
  • the present invention has been made in view of such a situation, and provides a work description creation device that easily creates work description information of an industrial robot.
  • the present invention has been made in view of such circumstances, and provides a work description creation method for easily creating work description information for an industrial robot.
  • the work description creating apparatus includes a part hierarchy setting unit that sets a hierarchical relationship of parts of an industrial robot selected from 3D-CAD drawing data, and a location where the parts set by the part hierarchy setting unit match.
  • a work description unit that calculates work coordinate information corresponding to the work coordinate information, and creates an animation of the operation corresponding to the work description information created by the work description unit.
  • an input unit having a pointing device for operating a pointer that moves a screen on which the 3D-CAD drawing data is displayed.
  • the work description creation device of the present invention it is easy to set the hierarchical relationship to various data of parts of an industrial robot selected from 3D-CAD drawing data and to structure the actual work description information of the industrial robot. It becomes possible to create. In addition, it is possible to automatically perform coordinate conversion of a component (its coordinate value) displayed based on the hierarchical relationship by performing an intuitive operation using a pointing device.
  • the work description information sets a movement order between a work point of the industrial robot and a plurality of auxiliary points, and waits for an operation as the auxiliary point. It is characterized by including at least one. With this configuration, it becomes easy to output the actual operation of the industrial robot as work description information.
  • the work description creating method of the present invention sets a hierarchical relationship of parts of an industrial robot selected from 3D-CAD drawing data, calculates a homogeneous coordinate transformation matrix of a location where the set parts match, Work description information corresponding to the homogeneous coordinate transformation matrix is created, an action animation corresponding to the created work description information is created, and the 3D-CAD drawing data is displayed using an input unit having a pointing device. It is characterized by operating a pointer for moving the screen.
  • the work description creation method of the present invention it is easy to structure the actual work description information of an industrial robot by setting a hierarchical relationship to various data of parts of the industrial robot selected from the 3D-CAD drawing. It becomes possible to do. In addition, it is possible to automatically perform coordinate conversion of a component (its coordinate value) displayed based on the hierarchical relationship by performing an intuitive operation using a pointing device.
  • the work description information sets a movement order between a work point of the industrial robot and a plurality of auxiliary points, and waits for an operation as the auxiliary point. It is characterized by including at least one. With this configuration, it becomes easy to output the actual operation of the industrial robot as work description information.
  • the present invention it is possible to easily create a hierarchical relationship for various data of parts of an industrial robot selected from 3D-CAD drawing data and to structure actual work description information of the industrial robot. Is possible. In addition, it is possible to automatically perform coordinate conversion of a component (its coordinate value) displayed based on the hierarchical relationship by performing an intuitive operation using a pointing device.
  • FIG. 3 is a screen example on which 3D-CAD drawing data shown in FIG. 1 is displayed.
  • FIG. 2 is a conceptual diagram illustrating an example of a work included in the 3D-CAD drawing data illustrated in FIG. 1.
  • FIG. 4 is a screen example of a GUI for work description creation processing shown in FIG. 3. It is a conceptual diagram explaining the coordinate system tree set by the part hierarchy setting process shown in FIG.
  • the work description creation device 1 is a device that creates work description information 220 for an industrial robot, and is, for example, a PC (Personal Computer) or a workstation.
  • This industrial robot is, for example, an assembly robot (hereinafter referred to as “robot”) used for the purpose of grasping and assembling a material such as a component (hereinafter referred to as “work”).
  • the robot is a horizontal articulated robot shown in FIG. 4, and performs an operation such as transporting a workpiece from a designated point to another designated point.
  • the robot is provided with a main body, a first arm, a second arm, and a hand tool, although not denoted by a reference numeral.
  • the base end side of the first arm is rotatably connected to the main body main part.
  • the proximal end side of the second arm is rotatably connected to the distal end side of the first arm.
  • a rotary shaft is rotatably attached to the tip side of the second arm, and further, a portion that moves linearly in the vertical direction is provided.
  • a hand tool having a chuck or the like is held in the portion that linearly moves in the vertical direction.
  • the robot connects a plurality of arms, rotates each arm horizontally, and performs operations such as conveying and assembling parts and tightening screws using a predetermined hand tool.
  • the work description creation device 1 mainly includes a control unit 10, a storage unit 20, an I / O unit 30, a display unit 40, and an input unit 50.
  • the control unit 10 controls the entire work description creating apparatus 1.
  • the control unit 10 reads and executes an operation program, a file, or the like stored in advance in the storage unit 20.
  • the control unit 10 is control arithmetic means such as MPU (Micro Processing Unit), GPU (Graphics Processing Unit), DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit).
  • the control unit 10 includes a part hierarchy setting unit 100, a work description unit 110, and an animation creation unit 120, as shown in FIG. Detailed description will be given later.
  • the storage unit 20 stores an operation program executed by the control unit 10 and various data necessary for processing.
  • the storage unit 20 includes a RAM (Random Access Memory), a ROM (Read Only Memory), a storage device such as a flash memory (Flash Memory), an SSD (Solid State Drive), and an HDD (Hard Disk Drive), Alternatively, it is a non-temporary recording medium such as an optical disk or a semiconductor memory, or a combination thereof.
  • the storage unit 20 stores a work description creation program 200, 3D-CAD drawing data 210, and work description information 220, as shown in FIG. Detailed description will be given later.
  • the I / O unit 30 performs input / output control of data and control signals with other peripheral devices that perform input / output control of data and control signals between the control unit 10 and other peripheral devices.
  • the I / O unit 30 is a circuit and an interface such as a chipset (Chipset) and I / O (Input / Output) for connecting to an external device.
  • the I / O unit 30 includes a general-purpose serial interface such as RS-232C and USB, a parallel interface, a digital video interface, and the like.
  • the I / O unit 30 also includes a network interface for connecting to an external network such as a LAN (Local Area Network) or a WAN (Wide Area Network).
  • the display unit 40 displays various data according to instructions from the control unit 10.
  • the display unit 40 includes a liquid crystal display, a dot matrix display such as an organic EL (Organic Electro-Luminescence) display, and a display device such as an LED (Light Emitting Diode).
  • Various data, graphs, and the like are displayed on the display unit 40 by GUI (Graphical User Interface).
  • the display unit 40 displays, for example, a screen on which 3D-CAD drawing data shown in FIG. 4 is displayed, a GUI screen for work description creation processing shown in FIG.
  • the input unit 50 transmits input data input from an input device that inputs a user instruction to the control unit 10.
  • the input device is a keyboard, a switch, a pointing device such as a mouse or a digitizer, a touch panel, or the like.
  • the input unit 50 also includes a memory card connection unit for connecting a recording medium such as a flash memory or an optical memory medium.
  • a pointing device such as a mouse.
  • part hierarchy setting unit 100 the work description unit 110, and the animation creation unit 120 that constitute the control unit 10 shown in FIG. 1 will be described.
  • the part hierarchy setting unit 100 sets the hierarchical relation of the parts of the robot selected from the 3D-CAD drawing. These parts include robot assemblies, parts, “nodes” that are movable units, and workpieces.
  • the part hierarchy setting unit 100 constitutes a mechanism indicating a parent-child relationship of robot parts. Specifically, the parent-child relationship of the parts of the robot is represented as a tree structure as shown in FIG. For example, in the relationship of the hand 212 (hand tool) attached to the robot, the robot is the parent and the hand 212 (hand tool) is the child.
  • the work description unit 110 calculates a homogeneous coordinate transformation matrix at a location where the parts set by the part hierarchy setting unit 100 match, and creates work description information 220 corresponding to the homogeneous coordinate transformation matrix.
  • the input data (homogeneous coordinate transformation matrix) of the part represented using the work coordinate system is converted data (homogeneous coordinate transformation matrix) represented using the world coordinate system indicating the set location. Convert to The homogeneous coordinate transformation matrix represents a designated position and orientation on a predetermined coordinate system.
  • the work description unit 110 executes the work description creation program 200 stored in the storage unit 40 and calculates conversion data (homogeneous coordinate conversion matrix).
  • the animation creating unit 120 creates an action animation corresponding to the work description information 220 created by the work description unit 110.
  • the work description creation program 200 is a program and data such as application software (Application Software) on an OS (Operating System) and an add-in (Add-in) for adding a function to the application software.
  • the work description creation program 200 may be stored in the storage unit 20 from a recording medium, or downloaded from an external network and installed.
  • a user instruction is acquired through the GUI.
  • the work description information 220 is created directly from the 3D-CAD drawing data 210 of the robot.
  • the work description creation program 200 realizes automatic conversion by drag and drop using a pointing device such as a mouse.
  • a pointing device such as a mouse.
  • the robot (parent) pointer is sequentially traced from the conversion source to the work coordinate system.
  • the conversion source value can be converted into a value in the work coordinate system by performing conversion work as necessary.
  • the robot (parent) pointer is sequentially traced from the conversion destination to the work coordinate system.
  • a conversion matrix from the working coordinate system to the conversion destination is obtained by calculating the conversion matrix as necessary.
  • a transformation matrix is applied to the values in the working coordinate system to obtain the transformation destination value.
  • the 3D-CAD drawing data 210 is three-dimensional (3D) CAD (Computer-Aided Design) data that is an assembly work process drawing or design drawing of a robot.
  • the 3D-CAD drawing data 210 is a general file format and includes coordinate data indicating an actual size.
  • the 3D-CAD drawing data 210 is acquired from a recording medium (not shown) or an external network and stored in the storage unit 20. Details of the 3D-CAD drawing data 210 will be described together with the handling of coordinates in actual processing.
  • the work description information 220 is information indicating the created robot motion description.
  • the work description information 220 is stored in the storage unit 20 and can be output to a storage medium (not shown).
  • the work description information 220 includes at least one standby point that sets the order of movement between the work point of the robot and the plurality of auxiliary points and waits for the operation as an auxiliary point.
  • the work description information 220 includes a coordinate system node 300 and a work program 310.
  • the coordinate system node 300 is data including its own node identification number, node name, parent node, child node list, own node homogeneous coordinate transformation matrix, and the like.
  • the own node identification number is an ID (Identification) such as a number for identifying the own node.
  • the identification number of the own node for example, the identification number of the [world] node corresponding to the root of the coordinate system tree to be described later is “0”, and the numbers in the order added thereafter are given.
  • the node name is a character string indicating the name of the node set by the user on the GUI.
  • the parent node is an identification number of the parent node of the own node.
  • the child node list is a list of identification numbers of child nodes connected to the own node. There may be a plurality of child nodes.
  • the own node homogeneous coordinate transformation matrix is a 4 ⁇ 4 homogeneous coordinate transformation matrix of the own node expressed in a coordinate system with the coordinates of the parent node as the origin.
  • the homogeneous coordinate transformation matrix represents a predetermined position and posture. In general, the homogeneous coordinate transformation matrix is composed of a four-dimensional (4 ⁇ 4) matrix.
  • the coordinate values on the predetermined coordinate system calculated by this homogeneous transformation matrix can be represented by (X, Y, Z, ⁇ , ⁇ , ⁇ ), and the X axis, Y axis, and Z axis It represents the position coordinate value.
  • ⁇ , ⁇ , and ⁇ are posture coordinate values (rotation angles).
  • [World] node has no parent node, and may be a homogeneous coordinate transformation matrix of a unit matrix.
  • the work program 310 includes a program identification number, a program name, a gripping work node number, a work target work node number, a motion posture identification number, a motion sequence identification number, a work point, an auxiliary point list, and a work content.
  • Data including an identification number and the like.
  • the program identification number is an ID (Identification) such as a number for identifying the work program 310. For example, a positive integer value is set as the program identification number.
  • the program name is a character string or the like indicating the name of the work program 310 set by the user on the GUI or the like.
  • the gripping work node number is the node number of the work 211 (FIG. 5) to be gripped by the robot hand (hand tool) 212 (FIG. 5).
  • the work target work node number is the node number of the work 211 on the work target side.
  • the motion posture identification number is a number for identifying the motion posture such as the right hand and the left hand.
  • the operation sequence identification number is a number for identifying the operation sequence.
  • the work point is an action target point (indicated by a 4 ⁇ 4 homogeneous coordinate transformation matrix) set in the work coordinate system, which is a work space based on the world coordinate system of the 3D-CAD figure. That is, the work point indicates a position to be stopped when the node is operated, which is calculated by matching the work 211 described later.
  • the auxiliary point list is a list of 4 ⁇ 4 homogeneous coordinate transformation matrices representing auxiliary points set in the work coordinate system.
  • This auxiliary point is an operation target point set at a position where no drawing data exists in the 3D-CAD figure. That is, the auxiliary point also indicates a position where the node stops at an auxiliary position when the node is operated. Details will be described later.
  • the work content identification number is a number for identifying work content such as GRASP (gripping), RELEASE (release), and the like. “Match” is registered in the work 211 by this operation if, for example, the conversion value (coordinate value) of the work 211 is dragged and dropped onto the conversion value (coordinate value) of the robot hand (hand tool) 212. The converted value is converted into a value in the robot hand (hand tool) 212 and registered in the robot.
  • the process of “match” can be automatically performed by executing the work description creation program 200. Specifically, the work description creation device 1 automatically converts values set in different coordinate systems by intuitive operations by enabling drag and drop with each part of the robot.
  • control unit 10 expands and executes a work description creation program 200 stored in a ROM, HDD, SSD, or the like of the storage unit 20 on a RAM or the like, so that the component hierarchy setting unit 100, the work description unit 110, and It functions as the animation creation unit 120.
  • the coordinates of each node and work 211 constituting the robot can be converted using the 3D-CAD drawing data 210, and the work description information 220 including the motion path position data is automatically generated. Check its operation.
  • the control unit 10 mainly executes a work description creation program 200 stored in the storage unit 20 as a storage medium in cooperation with each unit using hardware resources. The details of the work description creation process will be described below step by step with reference to the flowchart of FIG.
  • Step S101 First, the parts hierarchy setting unit 100 performs parts hierarchy setting processing. In this process, the part hierarchy setting unit 100 sets the hierarchical relation of the nodes of the robot selected from the acquired 3D-CAD drawing data 210 using the GUI.
  • a screen example 500 in FIG. 4 is an example in which 3D-CAD drawing data 210 acquired by a user instruction from a recording medium or an external network is displayed on the display unit 40.
  • the screen example 500 also displays other GUIs that give various instructions.
  • FIG. 5 (a) and 5 (b) are views showing a pallet or the like on which the work 211 on the robot work target side is arranged, which is included in the 3D-CAD drawing data 210.
  • FIG. 5A all the workpieces 211 on the work target side are drawn on the pallet of the 3D-CAD drawing data 210. That is, in the 3D-CAD drawing data 210 to be worked, all devices necessary for the assembling work, the work 211 and the like are drawn and arranged.
  • the part hierarchy setting unit 100 can extract the work point, position, posture, and the like on which the robot should operate from the 3D-CAD drawing data 210.
  • FIG. 5C is a diagram showing an example of the robot hand 212 of the 3D-CAD drawing data 210.
  • the robot hand 212 is included in the 3D-CAD drawing data 210 while being attached to the robot. Thereby, it is possible to calculate the positional relationship of the hand 212 with respect to the action point of the robot.
  • the hand 212 is drawn in a state where the work 211 is gripped or sucked. Thereby, the positional relationship between the work 211 and the hand 212 can be calculated.
  • FIG. 6 is a screen example 510 of a GUI displayed on the display unit 40.
  • the coordinate system tree output as the coordinate system node 300 of the work description information 220 is set in the “coordinate system” display field of “coordinate system configuration”.
  • the user selects a model of the robot, drags an assembly (part) such as a hand 212 or a pallet including a joint corresponding to this model as a node, and drops it on a target node of the coordinate system tree.
  • “Match” is registered in the work 211 by this operation if, for example, the conversion value (coordinate value) of the work 211 is dragged and dropped onto the conversion value (coordinate value) of the robot hand (hand tool) 212.
  • the converted value is converted into a value in the robot hand (hand tool) 212 and registered in the robot.
  • the process of “match” can be automatically performed by executing the work description creation program 200.
  • the work description creation device 1 automatically converts values set in different coordinate systems by intuitive operations by enabling drag and drop with each part of the robot.
  • the “world” node 300 is the world coordinate system. This world coordinate system is the only coordinate that exists in the work description creation device, and is generally an orthogonal coordinate system that has the reference position of the device as the origin.
  • the coordinate conversion performed in each coordinate system needs to perform conversion / inverse conversion for the world coordinates at a minimum.
  • the world coordinate system is indicated by a coordinate system indicated by X, Y, and Z axes.
  • the child node is a user coordinate system or a work coordinate system. This user coordinate system is used as appropriate according to various situations in the operation of the mechanism, and allows the user to specify the coordinates of the mechanism (points and point sequences) intuitively. .
  • a coordinate system that moves with the operation of the robot hand, a camera coordinate system, a work coordinate system, or the like is used.
  • Child nodes can be displayed in a folded state. Also, editing such as movement, copying, and deletion of nodes in the coordinate system tree is possible.
  • “manipulator type”, “link parameter”, “joint operation area”, etc. are automatically set. It is also possible to set these manually.
  • the “manipulator type” can be set from a plurality of types as to how many axes and how many joints the robot is. Further, the length of each arm can be designated as the “link parameter”.
  • the “joint operation area” an upper limit and a lower limit of a plurality of joint operation angles can be set. It is also possible to set the number of divisions of operations from work points to auxiliary points, which will be described later.
  • PP Point to Point
  • Path for specifying the actual movement path with coordinates, mathematical formulas, angles, etc. It can be set with a radio button or a drop-down menu.
  • the setting of the work name (name) and the hand 212 and the like are held by the robot side at the “select two states of one part to be handled” in the PP operation frame.
  • the work 211 (Robot side) and the work target side work 211 (work target side) arranged on a pallet or the like are selected.
  • a work name setting for example, a work name corresponding to a program name such as “shaft_pick_from_conveyor”, “work1_from_pallet1” can be set.
  • the work 211 held by the hand (hand tool) 212 or the like on the robot side and the work 211 on the work target side arranged on the pallet or the like are selected.
  • These workpieces 211 indicate that they are the same workpiece 211 (one component) that is gripped, moved, assembled, and the like by the operation of the robot.
  • the work 211 can be selected, for example, by dragging the target node from the coordinate system list and dropping it in the target work setting area.
  • the workpiece 211 on the robot side is “shaft ⁇ hand ⁇ work”
  • the workpiece 211 on the work target side such as pallet is “shaft ⁇ pallet ⁇ work”, “/ world / removal pallet 1 / work”, etc. It is also possible to input directly.
  • the posture candidates can be displayed in the drop-down list according to the “manipulator type”, and “right hand”, “left hand”, etc. can be selected from among them.
  • the part hierarchy setting unit 100 calculates a work point based on the coordinates of the selected workpiece 211. That is, for example, the coordinate that matches the workpiece 211 held by the hand 212 or the like on the robot side and the coordinate that matches the workpiece 211 on the work target side arranged on the pallet or the like, which are target points of the operation, are the work points. Is calculated as This “match” includes, for example, the attachment origin of the hand (hand tool) 212, the center of gravity of the figure (polygon) of the workpiece 211, the intersection with the surface, the position of the point in contact with the robot hand 212, etc. Detailed coordinates can be calculated corresponding to the manipulator type.
  • “Pick” coordinates for gripping the workpiece 211 are calculated from the coordinates of the workpiece 211 on the work target side.
  • “Match” is registered in the work 211 by this operation if, for example, the conversion value (coordinate value) of the work 211 is dragged and dropped onto the conversion value (coordinate value) of the robot hand (hand tool) 212.
  • the converted value is converted into a value in the robot hand (hand tool) 212 and registered in the robot.
  • the process of “match” can be automatically performed by executing the work description creation program 200.
  • the work description creation device 1 automatically converts values set in different coordinate systems by intuitive operations by enabling drag and drop with each part of the robot.
  • a plurality of operation sequence candidates can be displayed in a drop-down list and selected from among them.
  • the operation sequence of the present embodiment sets a movement order between a work point and a plurality of auxiliary points.
  • “standby point (standby position) ⁇ work point (Pick position) ⁇ standby point (standby position)”, which sets one standby point as an auxiliary point, is selected as the operation sequence.
  • the part hierarchy setting unit 100 also sets auxiliary points corresponding to the selected operation sequence.
  • the auxiliary point is a point of coordinates necessary for the operation of the robot shaft or the like, but is not directly coincident with the coordinates of the work 211 on the 3D-CAD drawing data 210.
  • auxiliary point is a point (position) generated by an interpolation method when an interpolation auxiliary point is required to generate a path.
  • Auxiliary points include the handle of the Bezier curve, the center point of the circle in the designation of the start point and end point, etc. For example, the center coordinates of the circle calculated from the two representative points and the radius, or automatically calculated as a via point There are rising points, points for defining the direction vector of the free curve, and the like.
  • standby point of x [mm] above the work point is designated.
  • this auxiliary point is a position that does not exist as graphic data on the 3D-CAD drawing data 210. It cannot be calculated with a match. For this reason, it is possible to set an auxiliary point such as “a position 15 mm higher than the Pick position”.
  • work point sequence control actual work content is selected from work content candidates in a drop-down list. As the work content, GRASP (grab), RELEASE (release), left and right rotation, and the like can be selected.
  • Step S102 the work description unit 110 performs work description processing.
  • the work description section calculates a homogeneous coordinate transformation matrix at a location where the node and the work 211 match, and creates work description information 220 corresponding to the homogeneous coordinate transformation matrix.
  • the work description unit 110 displays the work corresponding to the content set in the GUI.
  • Description information 220 is created.
  • the work description unit 110 calculates a homogeneous coordinate transformation matrix of the child node coordinate system expressed in the parent node coordinate system, and outputs the coordinate system node 300 and the work program 310 as the work description information 220.
  • the work description unit 110 first calculates a homogeneous coordinate transformation matrix of work points. Specifically, the work description unit 110 matches the work 211 in the selected work coordinate system with the work 211 held by the hand 212, and is the attachment origin of the hand 212 on the work coordinate system. Calculate a homogeneous coordinate transformation matrix of the robot's point of action. Further, the work description unit 110 calculates a homogeneous coordinate transformation matrix of auxiliary points on the work coordinate system in accordance with the setting contents. The work description unit 110 also converts the positions of the work points and auxiliary points into a homogeneous coordinate transformation matrix in the world coordinate system. This is converted into joint coordinates by inverse kinematics operation. The converted joint coordinates can be used when the animation creating unit 120 operates the 3D model. The work description unit 110 converts the coordinate system tree information into data and outputs it as a coordinate system node 300.
  • the work description unit 110 outputs each operation of the operation sequence as a work program 310.
  • the work description unit 110 outputs the following processing. 1).
  • the robot moves to a standby point 15 mm above the pick position. 2). Lower to Pick position. 3).
  • Grasp operation is performed. 4).
  • the work description unit 110 outputs these as a work program 310 for all works 211 to be assembled.
  • the work description unit 110 temporarily saves the file of the work description information 220 including the output coordinate system node 300 and the work program 310 in the storage unit 20.
  • the file of the work description information 220 can be output in, for example, a text format or a binary format.
  • the GUI may include a management function of the work program 310 that displays a list of the set work programs 310.
  • a function for saving and reading the created work program 310 may be provided.
  • the file of the work description information 220 can be stored in a recording medium (not shown) or transmitted to an external network.
  • Step S103 the animation creation unit 120 performs an operation check process.
  • the animation creating unit 120 creates an action animation corresponding to the created work description information 220 and displays it on the display unit 40. Specifically, the animation creation unit 120 detects that the “Simulation” in the GUI of the screen example 500 of FIG. 5 or the “Animation drive” button of the screen example 510 of FIG. 6 has been pressed. Then, the animation creation unit 120 renders and displays a 3D animation using the coordinate system node 300 of the work description information 220 and the work program 310. The animation creating unit 120 can also draw and check the positions of work points and auxiliary points when rendering a 3D animation. At this time, the animation creation unit 120 may select the set work point and auxiliary point from the drop-down list.
  • Animation is performed along the motion sequence up to the work point, auxiliary point position, and motion stage.
  • the work description creation device 1 (work description creation method) includes a part hierarchy setting unit 100 that sets the hierarchical relationship of the nodes of the robot selected from the 3D-CAD drawing data 210, and the nodes set by the part hierarchy setting unit 100.
  • a work description unit 110 that calculates a homogeneous coordinate transformation matrix of a location where the workpieces 211 match and creates work description information 220 corresponding to the homogeneous coordinate transformation matrix, and a work description information 220 created by the work description unit 110.
  • an input unit 50 having a pointing device such as a mouse for operating a pointer that moves a screen on which 3D-CAD drawing data 210 is displayed.
  • the robot work description information 220 can be generated semi-automatically from the 3D-CAD drawing data 210 such as the robot assembly work process.
  • the work description creation device 1 sets a hierarchical relationship to various data of (industrial) robot parts selected from the 3D-CAD drawing data 210, and actual work description information of the (industrial) robot. Can be easily created. Further, by performing an intuitive operation using the pointing device (input unit 50) on the component (its coordinate value) displayed based on the hierarchical relationship, coordinate conversion can be automatically performed.
  • the position and orientation of the shaft and hand (hand tool) 212 can be easily specified from the 3D-CAD drawing data 210, and the operation can be confirmed intuitively with animation. It becomes possible to do.
  • the work description information 220 sets a moving order between the robot work point and a plurality of auxiliary points, and waits for an operation as an auxiliary point. It is characterized by including at least one. With this configuration, it becomes easy to set auxiliary points that cannot be calculated only by matching the workpiece 211 and to output the actual operation of the industrial robot as the work program 310.
  • the work description creation device 1 sets a hierarchical relationship for various data of parts of the industrial robot selected from the 3D-CAD drawing to structure the actual work description information of the industrial robot. Can be easily created.
  • the conversion value registered in the work 211 can be converted into the value in the robot hand (hand tool) 212 and registered in the robot. That is, the process of “match” can be automatically performed by executing the work description creation program 200. More specifically, the work description creation apparatus 1 automatically converts values set in different coordinate systems by intuitive operation by enabling drag and drop with each part of the robot.
  • the work description creating apparatus 1 creates the work description information 220 and creates the animation
  • create the work description information 220 and create an animation by a system using a server and a client terminal such as a normal PC.
  • the operation description information 200 is created on the client terminal of the work description creation program 200 to create action description information.
  • the operation simulation corresponding to the operation description information is executed on the server, and the joint coordinate data is transmitted from the server to the client terminal. This is reflected in the model at the client terminal, rendered, and displayed on the display unit 40 as an animation.
  • it is possible to connect using TCP / IP by providing the server IP address and port number at the client terminal.
  • the work description creating apparatus 1 may include an output unit such as a printer (not shown), a user authentication unit, a dongle for preventing unauthorized copying, a camera, and the like. Further, the display unit 40 and the input unit 50 may be formed integrally.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Theoretical Computer Science (AREA)
  • Numerical Control (AREA)
  • Processing Or Creating Images (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif de création de description de travail apte à créer simplement des informations de description de travail destinées à un robot industriel. Par exemple, dans un dispositif de création de description de travail (1), une unité de définition de hiérarchie de composants (100) définit une relation hiérarchique de composants destinée à un robot industriel sélectionnés parmi des données de dessin de CAO en 3D. Une unité de description de travail (110) calcule une matrice de conversion de coordonnées homogènes en une position avec laquelle coïncide un composant défini par l'unité de définition de hiérarchie de composants (100), et crée des informations de description de travail (220) correspondant à la matrice de conversion de coordonnées homogènes. Une unité de création d'animation (120) crée une animation qui se déplace conformément aux informations de description de travail (220) créées par l'unité de description de travail (110). Une unité d'entrée (50) comprend un dispositif de pointage tel qu'une souris, et actionne un pointeur qui déplace un écran sur lequel sont affichées les données de dessin de CAO en 3D (210).
PCT/JP2018/012252 2017-03-29 2018-03-27 Dispositif de création de description de travail destiné à un robot industriel, et procédé de création de description de travail destiné à un robot industriel Ceased WO2018181229A1 (fr)

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JP2023003731A (ja) * 2021-06-24 2023-01-17 キヤノン株式会社 情報処理装置、情報処理方法、表示装置、表示方法、ロボットシステム、物品の製造方法、プログラム及び記録媒体

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JP2002066967A (ja) * 2000-08-25 2002-03-05 Kawasaki Heavy Ind Ltd ロボット動作記述言語の構造化方法並びに構造化したロボット動作記述言語の表示方法及び編集方法
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