JPH11207671A - Industrial robot teaching device - Google Patents

Abstract

(57) [Problem] To provide an industrial robot teaching device in which the necessary teaching content is only the content related to the operation directly corresponding to the operation originally intended to be performed by the robot. . A robot R is provided by a robot controller RC.
When creating a work program required for the control of the above, the data necessary for the creation are classified into required requirement data and dependent requirement data, and the dependent requirement data is determined by the personal computer PC from the preset data to the required requirement data. Data is selected as an index. [Effect] Since the work program is automatically created only by the teaching operation necessary to capture the necessary requirement data, the teaching operation is simplified, and the teaching of sufficient contents can be shortened without performing a complicated robot operation. It can be done easily in time. Further, as a result, according to the present invention, the teaching contents are diversified, and even when complicated,
The teaching operation can be easily completed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a teaching / playback type industrial robot, and more particularly to a teaching device suitable for a complex working robot system.

[0002]

2. Description of the Related Art As an example of a teaching / playback type industrial robot system, a system called a combined work robot system has been conventionally known.
FIG. 7 shows an example of this combined work robot system. In this system, as shown, a process robot (robot main body: manipulator) R, a robot controller RC for controlling this robot R, and peripheral devices The control panel PP is mainly configured.

In this system, for example, a TIG welding tool and a MAG welding tool, a measuring tool, a polishing tool, and a polishing tool are provided on the wrist of the process robot R as shown at the bottom of the figure. Robot tools RC
Under the control of the peripheral control panel PP, various tools can cope with various kinds of work.

By the way, in such a teaching / playback type robot system, a teaching (teaching) process is required prior to execution of a work operation (playback) by the robot. By the way, this teaching process
It is performed by operating the teaching pendant PUG and moving the robot main body R. The contents of the teaching at this time include not only the basic operation necessary for the operation desired to be executed by the robot thereafter but also And some operations associated with it.

For example, a robot for welding work will be described as an example. In addition to the teaching of the original welding operation, the teaching of the approach point from the home position, which is the initial position of the robot, to the start point of the work, and the wire Cutting, wire feeding operation adjustment, gas nozzle cleaning,
Welding conditions such as welding current, welding voltage, welding speed,
Weaving conditions, welding end point, and further teaching of return point to return to home position from this welding end point,
Many teachings are required.

[0006] Therefore, in the conventional teaching / playback type industrial robot, in accordance with the work to be performed by the robot, the teaching is performed for all operations including the teaching of the accompanying operations. Had become.

[0007]

The prior art described above does not consider the simplification of the teaching man-hours, and is disadvantageous in that the operation contents of the robot necessary for new teaching are complicated and the working time is increased accordingly. There was a problem. That is, as described above, in the related art, it is necessary to individually teach not only the operation that is originally required for the operation to be performed by the robot but also the operation that is additionally required. As a result, the operation of the robot required for teaching becomes complicated, and the work time increases.

As a specific example, assuming that the welding of a downward V-groove work W as shown in FIG. 8 is performed by a welding torch 1 mounted on a robot, in this case, an air cutting operation is performed. , An approach operation, a wire cutting operation, a touch sensing operation (when performing a work installation error correction), etc., as shown in FIG. Teaching of several times the number of teachings required for work
(Teaching data) is required.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an industrial robot teaching device in which the necessary teaching content is only the content related to the operation directly corresponding to the operation originally intended to be performed by the robot. It is in.

[0010]

Means for solving the problems Essentially, the contents of teaching required when an industrial robot performs a work are defined as a work starting point.
It is only necessary to teach operation requirement data such as interpolation conditions, operation speeds, and welding conditions between the (start point) and the work end point (end point), and between them. Therefore, if these operation requirement data are set as necessary requirement data, the conditions of teaching of other points and work operations connecting them are as follows.
In relation to the above-mentioned necessary requirement data, it can be regarded as a dependent condition, that is, dependent requirement data.

Therefore, if these dependent requirement data are automatically set from the necessary requirement data,
The object of the present invention will be achieved. Therefore, the present invention focuses on the fact that even if the operating conditions are not directly related to the operating conditions originally required for the playback of the industrial robot, they are dependent on the required data. However, for the dependent requirement data, regardless of the teaching,
It is automatically created from the necessary requirement data, and specifically, is provided with means for performing the following processing.

The required requirement data (work start point, work end point, work condition No.) is taught by a teaching pendant of the robot and stored in a memory. This necessary requirement data is captured by communication means (this means is not particularly limited), and the point part (work start point, work end point)
Along with the working condition No. Each is separated and stored in a predetermined memory.

[0013] Dependency requirement data, for example, air cut,
Each point such as approach and touch sense is automatically created based on the point portion stored in the memory. However, the means here is only the direction of the point
Only means for determining (unit direction vector) is presented, and as the actual point data (vector), the relative position data from the work start point and work end point is obtained by the following processing. Create

[0014] The interpolation, speed,
The operating conditions such as input / output are the work condition Nos. Stored in the memory. Based on this condition No. The operating conditions are determined by obtaining from the list using as an index, and the teaching data is generated together with the processing of.

By using the above means, the condition N
o. Of the operation condition list data using the index as the index, the work start point and the work end point, and the condition No. , Teaching data of the robot necessary for the work, that is, a work program is automatically created, and the object is achieved.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a teaching device for an industrial robot according to the present invention will be described in detail with reference to the illustrated embodiments. Here, the embodiment described below uses the combined work robot system shown in FIG. 7 and attaches a welding tool to the combined work robot system to perform downward welding on the downward V-groove linear work W as shown in FIG. This is intended for a case where welding is performed in the direction of the arrow by a welding torch 1.

First, as shown in FIG. 1, the welding start point (posture position) of the welding torch 1 with respect to the downward V-groove linear work W.
P001, end point (posture position) P002, and condition No.
Is stored in a memory in a robot controller (robot control device) RC as master data, and then loaded into an auxiliary storage device of a personal computer PC via serial communication.

Here, condition No. Is used as an index for accessing the list data in which various work operation conditions described later are written (enterable), and there are no particular restrictions, but in this embodiment, the following definitions are defined. is there.

Condition No. Definition (alphanumeric half-width) Definition: Lower first digit: Number of passes (number of multi-layer layers) Lower second digit: Same as above Lower third digit: Sheet thickness (1: 9 mm, 2:12 mm…) Lower fourth digit : Posture (1: downward V, 2: horizontal corner ...) 5th lower digit: welding method (1: MAG, 2: TIG) Example: 9t · ss · MAG · downward V → 11101 And in this embodiment, PC shown in Figure 2
According to the man-machine interface display of FIG. Is used as an index to input various condition data described below, and the input data is stored in an auxiliary storage device of the personal computer PC as a database as shown in FIG.

At this time, condition data to be input include:
For example: 1) Product condition No .: Enter condition No. 2) Groove angle deg: Enter groove angle 3) Material: Enter material name 4) Plate thickness (mm): Enter plate thickness t 5) Leg length (mm) ): Enter leg length and depth 6) Root face (mm): Enter root face 7) Wire type: Select and enter wire type from list 8) Extension (mm): Enter extension 9) Welding current (A) ): Input welding current value 10) Welding voltage (V): Input welding current value 11) Deposition amount (mm ³ ): Deposition amount is automatically input by the following formula Deposition amount = ( wire diameter ) 2 x π / 4 X ( ratio x welding current + supplement
Positive) data 12 underline given from wire type data) Weaving type: Input weaving type 13) Number of paths: Path number (enter multi-pass layer number) 14) Touch Width (mm): sense width of the touch sensor input
(0 or more) 15) Sensor: Input sensor additional information 16) AP1 correction (mm): Correction amount of approach point 1 (X,
17) AP2 correction (mm): correction amount of approach point 2 (X, Z)
Y, Z) input in the tool coordinate system

Next, in this embodiment, the welding current (wire feeding speed) and the voltage are fixed, and welding conditions are calculated from the groove cross-sectional area and the wire feeding speed according to an algorithm described later. Is determined and input using the man-machine interface display of the personal computer PC shown in FIG. 4, and stored in the database shown in FIG.

First, the welding speed among the welding conditions is as follows.
It is calculated by equation (1). Welding speed (cm / min) = reference speed / forward effective rate × 100 ...... ...... (1) Here, the reference speed (cm / min) = deposition rate (mm ³ / min) / cross-sectional area (mm ²⁾ / 10 Cross-sectional area (mm ² ) = (shift amount (mm)) ² × TAN (groove angle / 2) /
2-(front shift amount (mm)) ² x TAN (groove angle / 2) / 2

Next, the amplitude corresponding to the weaving condition among the welding conditions is given by the following equation (2).
Each is calculated by the equation (3). Amplitude (W1) (mm) = shift amount (mm) × TAN (groove angle / 2) (2) However, in the case of the first layer pass, it is 1.5 mm. Frequency (Hz) = 1 / moving time (s) …… …… (3)

Here, the moving time is calculated by the following equation. X2 coefficient 1 (mm / s) = welding speed (cm / min) / 6 X2 coefficient 2 (mm / s) = X2 coefficient 1 x 4 X2 coefficient 3 (mm / s) = weaving speed (mm / s)-X2 Coefficient 2 X2 coefficient 4 = X2 coefficient 2 / X2 coefficient 3/2 X2 (mm) = X2 coefficient 4 × W1 Moving time (s) = (X2 × 2 × π × W1) / weaving speed (mm / s)

Further, in the weaving operation, when the end point timer operation (robot stop) is entered, that is, when the effective forward rate is 100% or less, the following equation (4) is used. Frequency (Hz) = frequency of the above equation (3) / effective forward rate × 100 (4) Then, the stop timer is set as in the equation (5). Timer 1 (s) = Timer value (s) × T1 distribution rate / 100 (5) Timer 2 (s) = Timer value (s) × T2 distribution rate / 100 (6) where And the timer value (S) are calculated as follows. Timer value (s) = 1 / set frequency-1 / set frequency x forward effective rate / 100

Next, in this embodiment, an actual work program is automatically created by using a virtual robot composed of simulation software as shown in FIG. 5 by a software configuration of a teaching device composed of a personal computer PC. Hereafter, the condition No. described above will be described. The case of the two-pass welding will be described as an example.

First, in this embodiment, teaching data is created according to the flowchart of FIG. Therefore, FIG.
First, the virtual robot is moved in accordance with the approach correction amount input by the man-machine interface display of FIG. 2 using the hand coordinates and moved to the welding start point (end point) stored by serial communication. ,
That point is automatically generated as teach data for each approach point near the start position (approach point near the end position),
It is stored in the auxiliary storage device of the teaching device.

Next, the start point of the touch sensor is created by the same method as the approach point creation method described above. on the other hand,
The touch sensor end point is determined as follows.

First, an outer product of a direction vector (welding line direction unit vector) determined by a start point and an end point and an approach vector (torch direction vector) in the hand coordinates of the virtual robot is obtained.

Next, the virtual robot in the teaching device is moved from the touch sensor start point by the touch width input by the man-machine interface display of FIG. 2 along the obtained outer product vector, and the point is moved. It is automatically generated as teach data of the touch sensor end point and stored in the auxiliary storage device of the teaching device.

The welding start point (end point) of the second pass moves the virtual robot to the welding start point (end point) stored by serial communication, and then moves the virtual robot along the approach vector (torch direction vector). Then, it is moved according to the shift amount input by the man-machine interface display of FIG. 4, and the moved point is stored in the auxiliary storage device of the teaching device as teach data of the welding start point (end point) of the second pass.

As a result, the work start point, work end point, work condition No. By simply inputting the required requirement data, dependent requirement data representing each point such as air cut, approach, touch sense, etc. is automatically generated, and a required work program can be obtained.

The teaching data and welding condition data created in this way are transferred from the personal computer PC to the memory of the robot controller RC by serial communication,
Can be used for the control. As a result,
Thereafter, according to the instruction from the operation panel in FIG. 1, the work of welding the workpiece W illustrated in FIG. 1 can be performed by the robot R.

Therefore, according to the embodiment of the present invention,
The work required to teach the robot is the work start point, end point,
In addition, condition No. The teaching data that incorporates the working conditions necessary for air cut, approach, and touch sensing operations is created, which simplifies teaching work and eliminates the need for complicated robot operations. Can be easily completed in a short time.

[0035]

According to the present invention, the teaching operation of the robot includes the operation start point, the end point, and the condition No. Just by teaching the minimum necessary data such as, for example, the teaching data incorporating various working conditions including the air cut, approach, and touch sensing operations is automatically created.

Therefore, according to the present invention, the teaching operation is simplified, and the teaching of sufficient contents can be easily completed in a short time without performing a complicated robot operation. Further, as a result, according to the present invention, the teaching contents are diversified and can be easily dealt with when the teaching contents become complicated, and the teaching operation can be easily completed.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing an example of a welding operation by an embodiment of a teaching device for an industrial robot according to the present invention.

FIG. 2 is an explanatory diagram showing an example of a man-machine interface display in an embodiment of the teaching device for an industrial robot according to the present invention.

FIG. 3 is an explanatory diagram illustrating an example of a database in an embodiment of the industrial robot teaching device according to the present invention.

FIG. 4 is an explanatory view showing another example of the man-machine interface display in the embodiment of the teaching device of the industrial robot according to the present invention.

FIG. 5 is an explanatory diagram showing an example of a software configuration in an embodiment of the teaching device for an industrial robot according to the present invention.

FIG. 6 is a flowchart showing a teach data automatic creation process in an embodiment of the teaching device for an industrial robot according to the present invention.

FIG. 7 is a block diagram showing an example of a multi-task robot system to which an embodiment of the teaching device for an industrial robot according to the present invention is applied.

FIG. 8 is an explanatory diagram illustrating an example of a welding operation.

FIG. 9 is an explanatory diagram showing an example of teach data in a welding robot.

[Explanation of symbols]

 R Process robot (Robot: Manipulator) RC Robot controller PP Peripheral control panel PC Personal computer (PC) W Work 1 Welding torch

 ──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor 7-1-1, Higashi-Narashino, Narashino-shi, Chiba Industrial Equipment Division, Hitachi, Ltd. (72) Inventor Junji Ozaki 7-1-1, Higashi-Narashino, Narashino-shi, Chiba No. Hitachi, Ltd.Industrial Equipment Division (72) Inventor Takeshi Wada 3-1-1 Sachimachi, Hitachi City, Ibaraki Prefecture Inside Hitachi, Ltd.Hitachi Plant (72) Inventor Toshimitsu Mori Sachimachi, Hitachi City, Ibaraki Prefecture No. 1-1, Hitachi, Ltd. Hitachi Plant

Claims (3)

[Claims] 1. An industrial robot teaching device of a type in which a work program required for controlling a robot body is created based on data input by a teaching operation. And dependent requirement data, and for the dependent requirement data, control means for selecting the required requirement data as an index from preset data is provided, and only the teaching operation necessary for taking in the required requirement data is provided. A teaching device for an industrial robot, wherein the work program is automatically created. 2. The invention according to claim 1, wherein the robot body has welding data, and the necessary requirement data includes a start point and an end point of a welding work line, and a work condition number. Wherein the dependent requirement data includes data representing a torch approach condition, a wire cut condition, a touch sensor condition, a welding condition, and a weaving condition. 3. The invention according to claim 1, wherein the control means includes simulation software for providing the presence of a virtual robot, and the automatic creation of the work program is given by an operation of the virtual robot. A teaching device for an industrial robot.