JPS63120307A - Robot programming device - Google Patents

Abstract

PURPOSE:To improve the robot programming job efficiency by storing an action program and the position data separately from each other and at the same time using the teaching input as one of those input that give the position data. CONSTITUTION:The position data 12 is stored in a memory of a personal computer 10 and an action program 11 is stored in another memory of the computer 10 separately from the data 10. Then, a language translator 13 is used for conversion of the program 11 and the data 12 into an intermediate language 14. This language 14 and an environment model 15 set previously are interpreted by a simulator 16. Then, a simulation picture is displayed on a display 2. When the satisfactory result of simulation is obtained, the language 14 is transferred to a control device 22 for actuation of a real robot 21. If correction is desired to the data 12 under such conditions, the robot 21 is manually moved for production of the teaching input. This teaching input is used for correction of the data 12.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a technology for improving work efficiency in a robot programming device.

(Prior art and its problems) In recent years, technology using robot language has been increasing in controlling robots. A robot like this
When using = to teach movements to a robot, there is a great advantage that offline programming is possible. However, in order for such offline programming to be effective, it is necessary to quickly confirm whether the created program is as intended by the operator. For this reason, in recent years, a method has been developed in which 1) a bot language is created and edited, and then the suitability of the program is verified using a robot motion simulator (for example, the suitability of the aJ operation procedure and the presence or absence of interference with the workpiece). It is taken.

Therefore, if it is determined that there is some kind of problem with the program, procedures are carried out to change the program.

An example of robot programming with such a function is the device disclosed in [Proceedings of the 2nd Usuki Robotics Society Academic Conference], pages 213 to 214 (November 1980). be. This device is constructed using an ordinary personal computer and does not require any other special equipment. Therefore, although a description of the hardware configuration will be omitted, this device C performs robot programming according to the method shown schematically in FIG. 4.

That is, in FIG. 4, the generated robot language 1 and 2 are once converted to the intermediate cylinder HH. By converting to the intermediate cylinder Rn, the parts below this intermediate language can be changed. This is to enable support for many types of robot languages without adding additional language.

This intermediate language is then passed through an intermediate language interpreter ()
The image is displayed graphically.

This device also uses a motion editor (not shown), which corresponds to a deeding program in an actual robot (referred to as a "real robot" in this specification).

) in advance. This operation] The following three types of teaching methods are used in the editor.

(a) A robot image on a display screen is moved using a mouse of a personal computer, thereby performing teaching similar to teaching using a teaching box.

(b) 1121171 The robot on screen F is not moved, but its position on the screen is indicated using a mouse, etc.
This is how we teach.

(C) Position and posture are taught by inputting numerical values from a keyboard, etc.

Robot languages are created and simulations are performed in this way, but there are limits to determining the suitability of a program through simulation, and ultimately fine adjustments are required based on the movements of the actual robot. However, with conventional devices, even if an 11'' gram defect is discovered by checking the operation using an actual robot, fine adjustments cannot be made without rewriting the operation program or changing the operation editor. This is because the motion program and position data are mixed together. And such rewriting and changing work takes a lot of time. Since this method requires IL, there is a problem in that the work efficiency in robot programming is low.

(Object of the Invention) The present invention is intended to overcome the above-mentioned problems in the prior art, and it is an object of the present invention to provide a robot programming device that can improve work efficiency in robot programming.

(Means for achieving the purpose) In order to achieve the above-mentioned purpose, the present invention includes means for creating and editing a program in a robot language;
J3 is installed in a robot programming device equipped with a means for verifying the execution of the program by simulation, and separately stores (i) an operation program written in a robot language and position data;
As one of the inputs for giving data, teaching input from real []pobot is used.

That is, in this invention, the motion program written in the robot language and the position data are stored separately, thereby making it easier to input only the position data. , the teaching input from the actual L1 pot is used, which is suitable for fine adjustment.

Note that "position data" in this specification is a term that includes posture data and the like, and is not limited to "position" in a narrow sense.

(Embodiment) FIG. 1 is a block diagram of a system using a robot programming device which is an embodiment of the present invention. In the figure, this system includes a one-pot programming device 1 and a real robot system 20. Among these, the robot programming device 1 is equipped with a computer (hereinafter referred to as "personal computer") 10, a display 2, a keyboard 3, and a mouse 4. The personal computer 10 has a CPU and memory (not shown).
However, in FIG. 1, the power that can be achieved by the combination of these CPUs and memories is schematically shown (the details will be described later).

On the other hand, the real robot system 20 includes a real robot 21 having an arbitrary degree of freedom, as well as a tillllll of this robot 21.
1 and a feeding box 23.

Next, the details of the daybot programming using the cobot programming system will be explained together with the details of the functions of the personal computer 10. FIG. 2 is an IJ-chart showing the procedure in this robot programming. First, in step S1 in FIG. 2, position data is created and edited. This position data is associated with the motion blockogram, for example, in a format (FIG. 3) that will be described later. In this embodiment, the following three types of input are appropriately selected and used to provide such position data.

(at Move the image of the east exit box 1 displayed on the screen of the display 2 using the 7x4, and input the position data captured thereby.

(b) Numerical input from keyboard 3.

(C) While operating the teaching box 23, the arms of the J-bot 21 are actually moved, and the teaching human power given to the control device 22 is input into the robot programming device 1 (the position Data input.

However, in the following, we will explain the case in which (a) and (b) above are used when first creating the position data, and the teaching manpower in (C) is used in the later adjustment. Let's do it.

The position data obtained in this manner is stored in the memory within the personal computer 10. As shown in FIG. 1, this position data 12 is saved and stored in a file format separately from the operation program 11, which will be described later.

In the next step S2 in FIG. 2, the operating program is edited manually using the keyboard 3 or the like. This operation program 11 shown in FIG. 1 is created using the words "g" to "" box 1, and position variables used therein, such as P in FIG. 3(a).

P2°... is fixed in the position data 12 (FIG. 3(b)). The operation program 11 after being created and edited is stored in the memory within the personal computer 10.

After the position data 12 that determines the movement destination of the end effector and the operation program 11 that defines the execution contents and procedures are separated and stored in this way, in the next step S4, the memory in the personal computer 10 is stored in advance. The motion program 11 and position data 12 are converted into an intermediate language ε114 using a translator 13 stored in the computer.

At this point, changes in execution procedures and conditions are also converted into an intermediate language, and the position data 12 is also linked in combination with the operation program 11 as necessary. Operation program〕Gram 1
Since the location data 12 are separated, it is possible to link them in various combinations.

In step S4, the intermediate language 1 obtained in this way is
Fourth, the simulator 16 interprets and executes the environment model 15 prepared in advance, and displays the resulting stain collision image on the screen of the display 2. The operator visually observes the movement of this image and presses the movement block 1.
It is determined whether the gram 11 and position data 12 have been appropriately given.

If it is determined by this judgment that the operation of the day pot on the screen is not good, steps S5 to S9
Then, the operator determines whether or not the position data 12 needs to be corrected.

Then, when it is necessary to correct the position data 12,
Returning to step S1, the position data is corrected by human power on the display or numerical value. Further, if the position data 12 does not need to be corrected and the operation program 11 needs to be corrected, the process moves from step S9 to $2, and the operation program 11 is corrected.

In this way, when a good result is obtained on the shimikoreshi = 1, step S5 to step S
6, the intermediate language 14 is changed to υja in the real robot system 20.
The data is transferred to the il device 22. In other words, even if the simulator operator performs a good operation, subtle movements etc. need to be confirmed by actually operating the bot 21. It is transferred to the 1-bot system 20.

Then, in step S7, the control device 22 interprets and executes the intermediate language 22, thereby operating the actual "1 bot 21." This operation is visually monitored by the operator, but if the intermediate language 22 is not performing properly, the step S
8, the process moves to step S9.

In this case, if correction (fine adjustment) of the position data 12 is necessary to obtain good operation, step S
Return to 1. In this step S1, the real robot 21 is moved manually, and the position data 12 is corrected based on the teaching input obtained thereby. This is because using teaching input using the real robot 21 allows for more delicate position correction. However, it is also possible to use manual numerical input from the keyboard 3. Further, when it is determined that it is better to modify the operation program 11 in this fine adjustment, the operation program may be modified in step S2.

When the fine adjustment is completed in this way, the process proceeds to step S8.
The judgment of J31 becomes [Good 1], and the series of programming processes is completed. Then, the finally obtained operating program 11 and position data 11 are transferred to, for example, an external storage device, and used to control the actual one-bot system for the production line.

When correcting the position data 12 by teaching input, it is sufficient to designate an arbitrary moving part using the keyboard 3 or teaching box 23, and replace the original position data 12 for that part by the teaching input. In this case, the end effector is moved close to the desired position using the intermediate language 14, and then the end effector is further manually moved to the desired position.
Alternatively, the position and posture of the end effector may be determined completely manually and then the teaching input may be taken in.

Regarding the input means, it is not essential that all of the above (a), (b) and teaching input be available, and combinations with other input means are also possible.

(Effects of the Invention) As explained above, according to the present invention, the robot Tom3
In a robot programming device using n, the motion program and position data are stored separately, and teaching input is used as one of the inputs to give position data, so it is difficult to create or modify only position data. When performing this, there is no need to change the motion program or motion editor, and teaching input based on the actual robot's motion is used to create or modify it, so fine adjustments in robot programming can be made appropriately. be able to.

As a result, it is no longer necessary to spend a lot of time repeatedly rewriting the program and correcting the position data, and the work efficiency in robot programming can be greatly improved.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of a system using a robot programming device which is an embodiment of the present invention, and FIG.
FIG. 3 is a flowchart showing the operation of the system shown in FIG. 3. FIG. 3 is a diagram illustrating the correspondence between the operation program and position data. FIG. 4 is a schematic diagram showing the functions of a conventional programming device for robot 1. DESCRIPTION OF SYMBOLS 1... Robot programming device, 10... Personal converter, 20... Actual robot system, 21... Actual robot

Claims (1)

[Claims] (1) In a robot programming device that includes means for creating and editing a program in a robot language and means for verifying the execution of the program by simulation, an operation program in a robot language and position data are stored separately. In addition, a robot programming device characterized in that a teaching input from an actual robot is used as one of the inputs for giving the position data.