JPH077298B2 - Trajectory creation teaching device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a trajectory creation teaching device that creates a trajectory of a robot arm and teaches the robot, and particularly relates to a painting robot in a similar relationship to each other. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a trajectory creation teaching device that is suitable for application when the inner surface of a certain object to be coated is coated.

“Prior Art” In order for a painting robot (hereinafter referred to as a robot) to perform painting work, it is necessary to teach the robot about a painting site, painting path, moving speed, and the like. Conventionally, this kind of teaching work is performed by a human being remotely operating a robot to teach one point at a time (straight line teaching method), or a system having a coating program teaching, correction, conversion and management function. It was done by simulation (interline teaching method).

[Problems to be Solved by the Invention] Incidentally, in the above-mentioned conventional teaching work, it takes a lot of time for a person to create a locus.

In addition, when the robot is taught by remote control, the production line must be stopped or the operation must be performed outside the operating hours.

On the other hand, in the case of teaching by simulation, for example, it was difficult to teach the locus in the vicinity of the corner portion of the inner surface, and the objects to be coated include basic shapes and similar shapes. In this case, there is a problem that an error is likely to occur between the similar shape and the basic shape.

The present invention has been made in view of the above circumstances, and a coating (trajectory) program can be quickly created without stopping the production line, and the size of a similar shape can be adjusted. It is an object of the present invention to provide a trajectory creation teaching device capable of creating an optimal trajectory. further,
It is an object of the present invention to provide a trajectory creation teaching device that can easily and accurately automatically create a trajectory near an inner corner portion.

[Means for Solving the Problem] In order to solve the above-mentioned problems, the present invention provides a locus creation teaching device that creates a working point and a working path of a robot arm, and teaches the robot the lateral position of a work target. ,
Input means for inputting each dimension of vertical and depth, storage means for storing trajectory conditions in which each dimension of horizontal, vertical and depth of the work target is a variable, and the work to be supplied via the input means And a locus point creating means for automatically creating locus points drawn by the robot arm on the basis of respective dimensions of the object, wherein the locus point creating means is a constant distance from the N-th locus point (N is a positive integer). The distant point is set so that the distance between the point and the work target is a constant value, and the straight line having the constant value connecting the point and the work target is the work target. The angle formed with respect to is determined so that the straight line connecting the N-th locus point and the work target is a predetermined angle larger than the angle formed with the work target, and that point Is characterized by repeating the process with the N + 1th locus point as .

[Operation] According to the above configuration, it is possible to create and teach a quick and accurate trajectory only by inputting the dimensions of the work target. Further, even in the case of dealing with similar objects to be worked, it is not always necessary to create similar trajectories for these, but it is possible to determine and teach the optimum trajectory from the viewpoint of coating efficiency and work efficiency.

[Examples] Examples of the present invention will be described below with reference to the drawings.

FIG. 1 is a diagram showing an example of a coating trajectory of a robot created and taught by a trajectory creation teaching device according to an embodiment of the present invention. FIG. 2 is a perspective view showing an external configuration of the trajectory creation teaching apparatus according to the embodiment. In FIG. 2, reference numeral 1
Controls each part of the device and automatically creates a painting trajectory.
A personal computer main body (hereinafter abbreviated as a personal computer main body) having a function of teaching the created locus to a robot, 2 is a CRT (cathode ray) for displaying the locus (painting site, painting path) created by the personal computer main body 1 on the screen. Tube) display device (hereinafter abbreviated as CRT), 3 is a tablet (coordinate input device) equipped with a pad (coordinate input board), and node data (shape) indicating the shape of an object to be coated (hereinafter referred to as a work) Data) to the personal computer body 1. At this time, the node data is given to the personal computer body 1 by designating corresponding points on the pad. Reference numeral 4 is a magnetic disk storage device that uses an 8-inch magnetic disk as a storage medium. A robot data file is stored on the 8-inch magnetic disk. The personal computer body 1 also has a built-in hard disk, in which various data files such as a work data file and a coating condition data file, which will be described later, are stored. On the other hand, the robot operated by the teaching data supplied from the trajectory creating teaching device is controlled by a robot control panel (not shown), which is controlled by the magnetic disk storage device 4 via the magnetic disk and the personal computer body. The teaching data is received from the controller 1, and the robot is controlled based on the teaching data.

Next, the various data files described above will be described.

[1] Robot data file The robot data file contains various robots (Unit No. 1,
The details of work, operating conditions, work procedures, etc. are registered according to (Unit 2). Here, the robot has Unit 1 and 2
There is a machine and. As shown in Fig. 1, the No. 1 robot is a robot dedicated to painting the inner surfaces B1, B2, B3B4 of the box. In FIG. 1, the flow of the arrow indicates the coating route of the No. 1 robot (symbol S is the starting point). Further, FIG. 3A shows a state in which the coating liquid is discharged (sprayed) from the gun 6a attached to the tip of the robot arm 5a of the first machine. On the other hand, the No. 2 robot is a robot dedicated to painting the inner bottom surface B5 of the box as shown in FIG. In FIG. 4, the flow of arrows indicates the coating route of the No. 2 robot. Further, FIG. 3B shows how the coating liquid is discharged from the gun 6b attached to the tip of the robot arm 5b of the second machine.

[2] Work data file The work data file contains the work data file according to the product type (product name).
Various works (for example, boxes, frames, doors, etc.) and their dimensions (horizontal, vertical, depth) are registered. In addition, the above-described various works are displayed on the screen after the basic shape is converted into a similar shape according to the input dimensions.

In this example, 14 types are prepared, and the work of boxes, frames, and doors is registered according to each type.

[3] Coating Condition Data File The coating condition data file is composed of a spray condition data file, a distance condition data file, and a hanger pitch condition data file.

Spray condition data file The spray condition data file has spray conditions such as discharge amount information, pattern information, and electrostatic information written therein. Here, the ejection amount information is information that gives the amount of the coating liquid to be ejected, the pattern information is information that gives the pattern width of the spray, and the electrostatic information is electrostatic coating. This is information for instructing whether or not.

Distance data file In the above distance data file, the set position of the work, the distance from the robot gun tip to the work target, (when the work is a box) the distance from the inner bottom surface of the work to the first pass (only for Unit 1) , (When the work is a box) Distance data such as the distance from the gun tip to the inner bottom surface of the work (only for Unit 2), the aim angle of the gun tip, the rotation direction of the first pass, the distance between points, etc. are registered. There is. Here, the distance from the gun tip to the work target means the distance from the gun tip to the coating liquid adhesion point (target) of the work. In addition, the pass means a locus that makes one turn around the inner surface of the work (box). As shown in FIG. 1, the first pass counted from the start of coating is the first pass P1, hereinafter the second pass P2, Third pass P3
··· In addition, the distance from the tip of the robot gun to the bottom surface inside the workpiece is the distance from the gun discharge position to the bottom surface inside the workpiece when the gun discharges (sprays) the coating liquid toward the bottom surface inside the workpiece. Means

Hanger Pitch Condition Data File In addition, data such as gun tip speed and hanger pitch are written in the hanger pitch condition data file. Here, the speed at the tip of the gun means the speed at which the tip of the gun moves from point to point. There are 1 hanger and 2 hangers for the hanger pitch, and the coating time is in the range of 25 seconds and 50 seconds, respectively. And
One hanger is selected for a small work and two hangers are selected for a large work.

The registered contents of the various data files described above can be appropriately read and displayed on the CRT 2, and can be corrected by the operator.

[4] Procedure for Creating Corner Corner Trajectory (Principle) Next, a description will be given of the principle of creating the trajectory of the corner portion of the inside surface coating trajectory by the No. 1 robot.

The part indicated by the symbol A in FIG. 1 (a) is a work (for example,
FIG. 1 (B) is a locus at the corner portion C1 on the inner surface of the box, and an enlarged locus of the corner portion C1 is shown. In Fig. 1 (b), T ₄₅ , T ₆₀ , T ₇₅ , ... are points (teaching points), and the line connecting these points T ₄₅ , T ₆₀ , T ₇₅ , ... is a locus (painting path). Is. Also, the arrow Y ₄₅ , Y ₆₀ ,
Y ₇₅ , ... Indicate the target angle of the gun tip and the discharge trajectory of the coating liquid at the corresponding points T ₄₅ , T ₆₀ , T ₇₅ ,. Here, the points are set at positions such that the moving distances PDIS between arbitrary adjacent points are always equal. The target angle of the gun tip is set so that the distance WGDISL from the gun tip to the work target is always the same.

The corner locus is created by the following method and procedure.

First, as shown in FIG. 5 (a), there are 45 °, 60 °, 75 °, and 90 ° directions from the predetermined reference line with the origin ● as the center, and the respective tips from the origin ● ,, The distance from □, ▲, △ is the distance from the gun tip to the work target WGDIS
Find multiple vectors equal to. Where the vector is
Displayed in YZ coordinates. Hereafter, the vector obtained as above is converted into a 45 degree vector according to the direction of the vector.
They are referred to as V ₄₅ , 60 degree vector V ₆₀ , 75 degree vector V ₇₀ and 90 degree vector V ₉₀ .

(A) Method of determining the position of point T _{45 As} shown in Fig. 5 (a), the corner C1 is the origin ● 45
Find the position coordinates (PY, PZ) of the tip of the degree vector V ₄₅ ,
This position (PY, PZ) is the position of point T ₄₅ (WY ₄ , WZ ₄ )
(Fig. 1 (b)).

(B) Method for determining position of point T ₆₀ The position of point T ₆₀ is determined as follows. First, as shown in the left figure of Fig. 5 (b), with the tip position (WY ₄ WZ ₄ ) of the 45-degree vector V ₄₅ as the center position (PY, PZ), the moving distance between two adjacent points Draw a circle with PDIS as the radius. Next, draw a vector line of the 60-degree vector T ₆₀ starting from the origin ●, move the start point of this 60-degree vector T ₆₀ along the Y-axis, and make the tip □ of the 60-degree vector V ₆₀ on the circle above. Find the coordinates of the located point (CALY ₃ , CALZ ₃ ). Here, for the position CALZ ₃ on the Z axis, the starting point of the 60-degree vector V ₆₀ is Y
Since it was moved along the axis, it was decided when the 60-degree vector was set.

On the other hand, the position CALY _{3 of the} YZ coordinate is obtained from the equation (1).

CALY ₃ = PY- (| PDIS ^2- (CALZ ₃ -PZ) ² |) ^1/2 (1) If there are two sets of calculated coordinates (CALY ₃ , CALZ ₃ ), move away from the origin ●. Is selected (the right figure in FIG. 5B). The position (CALY
₃ , CALZ ₃ ) is the position of point T ₆₀ (WY ₃ , WZ ₃ ) (Fig. 1 (b)).

(C) point T _75, the method of determining the position of the T ₉₀ Next, the center position of point _{T 60 (WY 3, WZ 3} ) (PY, P
Z) and draw a circle with radius PDIS. Then, according to the same procedure as described in the item (b) above, the 75-degree vector V ₇₅
Move the start point of the along the Y-axis to obtain the 75-degree vector V ₇₅
The coordinates (CA) of the point where the tip ▲ is located on the newly drawn circle.
Find LY ₂ and CALZ ₂ ). The position (CALY ₂ , CALZ ₂ ) obtained in this way is the position of point T ₇₅ (WY ₂ , WZ ₂ ).
(Fig. 1 (b)). Hereinafter, the position (WY ₁ , WZ ₁ ) of the point T ₉₀ is determined by repeating the same procedure (FIG. 1 (b)).

After obtaining the coordinates (WY _i , WZ _i ), the 45-degree vector V ₄₅
Compute line-symmetrical coordinates (LY _i , LZ _i ) with respect to. In this way, all the coordinates of the corner portion C1 are obtained.

FIG. 8 is a flow chart showing the procedure for creating the trajectory of the corner section C1, and shows the procedure almost the same as the procedure described in the principle of creating the trajectory of the corner section C1, and therefore its explanation is omitted.

(D) Creating loci of other corners C2, C3, C4 The loci of the remaining three corners C2, C3, C4 are shown in Fig. 6 (a),
As shown in (b), it is calculated by taking line symmetry into consideration.

In this way, once the trajectory of each corner C1-C4 is determined, each corner (C1 and C2, C2 and C3, C3 and C4, C4 and C1)
Check to see if there is room for a straight line to be created between. There is no room for a straight line to be created (for example, the 7th
In the case of the circle frame portion W in Fig. (A), the corresponding arbitrary points (for example, points W ₆₀ and W _{60 in} Fig. 7 (b)) from each corner (for example, C1 and C2) Delete one by one. Even if points W ₆₀ and W ₆₀ are deleted,
If there is no room for creating a straight line portion, delete one point at a time. When the straight line portion L shown in FIG. 7C is created in this way, the creation of the trajectory of the corner portion is completed.

[5] Overall locus creation procedure When the loci of the corners C1 to C4 are completed, then the creation of the entire locus is started.

First, the number of intermediate points in the straight line between each corner MIDP
And calculate the distance SPDIS between two adjacent points. At this time, the default value of the distance between points SPDIS is 50 mm
Set to. Here, the number MIDP of the intermediate points is obtained by the equation (2). ^{- MIDP = DIS / SPDIS (2} ) However, in the equation (2), DIS is the distance between the corners, that is, the distance of the straight portion.

When the remainder of DIS / PDIS does not become 0 in the calculation of formula (2), the value (MIDP + 1) obtained by adding +1 to the quotient MIDP (integer) of formula (2) is set as the number MIDP of intermediate points. (Formula (3)).

MIDP = MIDP + 1 (3) Then, the number MI of intermediate points obtained from the equation (3).
By substituting DP into equation (4), the distance between points is made uniform with a value close to 50 mm.

PDIS = DIS / MIDP (4) Next, the position of each point represented by the XYZ coordinates is converted into a digital value. The Z-axis is the first pass P1 and the second pass P.
It is set to give the positions of 2, ... (Distance from the bottom surface inside the work). At this time, the position of each point,
The gun pattern vector and direction vector corresponding to these positions are digitally converted into a set. Here, the pattern vector is a vector showing the inclination of the major axis of the elliptical spray pattern. The point where the spray signal is ON is set so that the discharge amount signal and the pattern signal are also ON. The electrostatic signal is set to be turned on 5 points before the spray signal is first turned on and 5 points after the spray signal is finally turned off. If the converted digital values exceed the end data of each axis of the robot when converted from XYZ coordinates to digital values, the creation is temporarily stopped and a message is output. Select whether to continue the creation or to cancel. If cancelled, input the condition again.

FIG. 9 shows the procedure for creating the entire locus by the above method. As shown in FIG.
The No. robot first starts the coating from the starting point S, and sequentially proceeds the coating work via the first pass P1 → the second pass P2 → the third pass P3 →. The intervals between the first path P1 and the second path P2 and between the second path P2 and the third path P3 are determined by the process of step S8 in FIG.

Next, with reference to FIG. 10, a trajectory creating operation by the operator and the trajectory creating / teaching apparatus of this example will be described.

In order to have the No. 1 robot execute the inner surface coating of the box of the type A, the operator first activates the trajectory creation teaching device, then selects the automatic trajectory creation function, and then sets the trajectory creation program name to the personal computer. Input to main unit 1 (step SP
1 ~ SP3). When the personal computer 1 receives the locus creation program name, it displays a selection screen for selecting the robot type, product type (product name), and work on the CRT 2. Then, the operator selects the first robot, the type A, and the box (steps SP4 to SP6). Next, the horizontal, vertical and depth dimensions of the selected work (box of type A) are sequentially input (step SP7). The main body 1 of the personal computer is the horizontal dimension WIDE,
When the vertical dimension LENGTH and the depth dimension DEPTH are entered (step SP8), the spray condition data file is opened (step SP9), and the horizontal dimension FWIDE, vertical dimension FLENGTH, and depth which are the search keys in the coating condition data file are input. Size
Sequentially look at FDEPTH and search for the desired spray conditions (step SP10 to step SP12). The search is performed by looking at each dimension of the search key in ascending order, and the spray condition at the time when the expressions (5), (6), and (7) are simultaneously satisfied is searched. Be done (step
SP11).

FWIDE> WIDE (5) FLENGTH> LENGTH (6) FDEPTH> DEPTH (7) In this way, ejection amount information, pattern information, and electrostatic information are retrieved (step SP12). Next, the personal computer 1 opens the distance condition data file (step SP1
3) First, look at the lateral dimension FWIDE and the depth dimension FDEPTH of the search key in the distance condition data file in order (1)
The conditions regarding the distance from the gun tip to the work, (2) the distance from the inner bottom surface of the work to the first pass, and (3) the aiming angle of the gun are searched (steps SP14 to SP16).
The search is performed by looking at each dimension of the search key in order from the smallest size, and the condition at the time when the expressions (8) and (9) are simultaneously satisfied is searched (step SP15).

FWIDE> WIDE (8) FDEPTH> DEPTH (9) Next, sequentially search the vertical dimension FLENGTH and the depth dimension FDEPTH of the search key in the distance condition data file to search for the work installation position condition (step SP17 to step SP1).
9). In this way, the condition at the time when the expressions (10) and (11) are simultaneously satisfied is retrieved (step S18).

FLENGTH> LENGTH (10) FDEPTH> DEPTH (11) Next, the personal computer 1 opens the hanger pitch condition data file (step SP20), and the horizontal dimension FWIDE and vertical length of the search key in the hanger pitch condition data file. The size FLENGTH is sequentially viewed to search for the hanger pitch condition (step SP21 to step SP23). Thus
The hanger pitch condition at the time when the expressions (12) and (13) are simultaneously satisfied is searched (step SP22).

FWIDE> WIDE (12) FLENGTH> LENGTH (13) Next, in step SP24, the computer main body 1 displays the above-mentioned paint path conditions retrieved on the screen of the CRT 2 (11th).
See figure). Therefore, the operator looks at the screen (Fig. 11) and examines whether or not there is an item that needs to be corrected in the displayed paint trajectory condition (step SP25). Here, if there is an item that needs to be corrected, the operator corrects the item (steps SP26 and SP27). The corrected numerical data is displayed on the screen. In this way, when all the paint trajectory conditions are determined, the operator commands the personal computer body 1 to create a trajectory. When this command is received, the PC main body 1 creates the corner locus (see FIGS. 5 and 6) by the method procedure described in the above-mentioned principle of creating the loci of the corners C1 to C4, and creates it. The traced path is displayed on the screen (step SP28). That is, the personal computer main body 1 is step SP29.
At, it is determined whether or not a straight line portion is formed between the corner portions. If the result of the determination is "NO", that is,
When it is determined that the straight line portion has not been created, as shown in FIG. 7B, the number of points in the corner portion is reduced by one (step SP30). Then, reduce points until a straight line is created between the corners (step SP29-
Step SP31). At this time, when the number of points is reduced and the number of points at each corner becomes one, the straight line portion can no longer be obtained. Therefore, the process returns to step SP3, and it is requested to start over from the input of the program name (step SP31). If "YES" in the step SP29, that is, if it is determined that the straight line portion is to be formed in the corner portion, the process proceeds to a step SP32, and first, the corner shown in FIG.
Regarding C1, the position coordinates of the teaching point in the corner portion and the straight line portion are converted into digital values (step SP32-
Step SP36). Note that, as described above, various signals corresponding to points are simultaneously converted into digital values. Less than,
By the same procedure, the position coordinates of the teaching points of the corner portion and the straight portion of the corner portions C2, C3, and C4 are sequentially converted into digital values (step SP33 to step SP3).
9). In this way, the entire locus is created.

As described above, according to the above configuration, the locus can be created only by inputting the dimensions, and it is not necessary to stop the production line.

In addition, since the coating conditions are made falsified and registered, it is possible to greatly reduce the time for creating one program.

In addition, since the trajectory conditions are displayed on the screen, it is easy to confirm and change.

It should be noted that if each path displayed on the screen is displayed in different colors, it becomes easier to confirm each path.

"Effect of the Invention" As described above, the present invention is
Input means for inputting each dimension of vertical and depth, storage means for storing trajectory conditions in which each dimension of horizontal, vertical and depth of the work target is a variable, and the work to be supplied via the input means And a locus point creating means for automatically creating locus points drawn by the robot arm on the basis of respective dimensions of the object, wherein the locus point creating means is a constant distance from the N-th locus point (N is a positive integer). The distant point is set so that the distance between the point and the work target is a constant value, and the straight line having the constant value connecting the point and the work target is the work target. The angle formed with respect to is determined so that the straight line connecting the N-th locus point and the work target is a predetermined angle larger than the angle formed with the work target, and that point It is characterized by repeating the process of setting Since it is only by inputting the dimensions of the work object, it is possible to create and teaches rapid and precise trajectories.

In addition, even when dealing with similar-shaped objects to be worked, it is not necessary to create similar trajectories for these, but to determine the optimum trajectory from the viewpoint of painting efficiency and work efficiency.
Can teach.

[Brief description of drawings]

FIG. 1 is a diagram showing an example of a coating trajectory of a robot created and taught by a trajectory creation teaching device according to an embodiment of the present invention, and FIG. 2 is a perspective view showing an external configuration of the trajectory creation teaching device according to the embodiment. FIG. 3 is a diagram showing how the coating liquid is discharged from a gun attached to the tip of the robot arm, FIG. 4 is a diagram showing another example of the coating trajectory, and FIGS.
FIG. 8 is a diagram for explaining the trajectory creating procedure of this example, FIG. 8 is a flowchart showing a coordinate creating procedure of a corner portion, and FIG. 9 is a flowchart showing a trajectory creating procedure of this example.
FIG. 10 is a flow chart showing a locus creating operation of the locus creating / teaching apparatus, and FIG. 11 is a diagram showing a display example of coating locus creating conditions in this example. 1 ... PC main body (trajectory creating means), 2 ... CRT (display means), 3 ... tablet (coordinate input device, input means), 4 ... magnetic disk storage device (storage means), 5a, 5
b …… Robot arm, 6a, 6b …… Gun, P1, P2, P3 …… No.
1, 2nd, 3rd pass (work route, locus), T ₄₅ , T ₆₀ , T ₇₅ , T
₉₀ …… Point (working point).

Claims (1)

[Claims] 1. A locus creation teaching device for creating a work point and a work path of a robot arm and teaching the robot, input means for inputting each dimension of a work target, such as width, length and depth, and a work target. Of the locus point drawn by the robot arm based on each dimension of the work target supplied via the input means, and storage means for storing trajectory conditions in which horizontal, vertical, and depth dimensions are variables. The locus point creating means automatically creates a locus point creating means, and the locus point creating means defines a point separated from the Nth locus point (N is a positive integer) by a certain distance as the distance between the point and the work target. The angle formed by the straight line connecting the point and the work target with a constant value to the work target is set to be a constant value, and the angle is the N-th locus point and the work target. The straight line with a certain length that connects the target is in front A locus creation teaching apparatus, characterized in that a process is performed such that a predetermined angle larger than an angle made with respect to the work target is obtained, and that point is set as an (N + 1) th locus point.