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WO2018181229A1 - Work description creating device for industrial robot, and work description creating method for industrial robot - Google Patents

Work description creating device for industrial robot, and work description creating method for industrial robot 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
Application number
PCT/JP2018/012252
Other languages
French (fr)
Japanese (ja)
Inventor
常田　晴弘
慎浩 田中
洋和 渡邊
Original Assignee
日本電産サンキョー株式会社
Priority date (The priority date 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 date listed.)
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Publication date
Application filed by 日本電産サンキョー株式会社 filed Critical 日本電産サンキョー株式会社
Priority to JP2018518666A priority Critical patent/JP7074057B2/en
Publication of WO2018181229A1 publication Critical patent/WO2018181229A1/en

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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; CALCULATING OR 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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Abstract

This work description creating device is capable of creating work description information for an industrial robot in a straightforward manner. For example, in a work description creating device 1, a component hierarchy setting unit 100 sets a hierarchical relationship of components for an industrial robot selected from 3D-CAD drawing data. A work description unit 110 calculates a homogeneous coordinate conversion matrix at a position with which a component set by the component hierarchy setting unit 100 coincides, and creates work description information 220 corresponding to the homogeneous coordinate conversion matrix. An animation creating unit 120 creates animation which moves in accordance with the work description information 220 created by the work description unit 110. An input unit 50 includes a pointing device such as a mouse, and operates a pointer which moves a screen on which the 3D-CAD drawing data 210 are displayed.

Description

産業用ロボットの作業記述作成装置および産業用ロボットの作業記述作成方法Work description creation device for industrial robot and work description creation method for industrial robot
　本発明は、産業用ロボットの作業記述作成装置および産業用ロボットの作業記述作成方法に関する。 The present invention relates to a work description creation device for an industrial robot and a work description creation method for an industrial robot.
　従来から、組み立て用途等の産業用ロボットについて、組み立てる部品（ワーク）の座標を変換する座標情報処理装置の技術が存在する。たとえば、特許文献１には、一方のアセンブリデータのアセンブリ座標系での座標を他方のアセンブリデータのアセンブリ座標系での座標値に変換する技術が記載されている。この座標情報処理装置は、複数のアセンブリデータと、複数の部品データと、を記憶するための記憶部を備える。また、各アセンブリデータは、対応する部品データの各モデル座標系とアセンブリ座標系との変換情報を含む。また、座標情報処理装置は、座標指示手段、共通部品検索手段と、座標変換手段とを含む。座標指示手段は、指定座標を指示する。また、共通部品検索手段は、第１および第２のアセンブリデータに対応する同一の部品データを検索するための手段である。また、座標変換手段は、検索された部品データを介して、第１及び第２のアセンブリデータのアセンブリ座標系を変換情報を用いて関連付けることにより、指定座標を対応する座標値に変換する。 Conventionally, there is a technology of a coordinate information processing apparatus that converts coordinates of parts (workpieces) to be assembled for industrial robots for assembly applications and the like. For example, 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.
特開２００９－０７００４５号公報JP 2009-070045 A
　しかしながら、特許文献１に記載された技術では、変換された座標から、組み立て用途等の産業用ロボットの実際の作業記述情報を作成することはできなかった。これは、例えば、組み立て用途の多関節のロボットにおいては、ロボットの位置と姿勢をユーザが座標を与えて指定することは難しいためであった。 However, with the technique described in 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.
　本発明は、このような状況に鑑みてなされたものであり、容易に産業用ロボットの作業記述情報を作成する作業記述作成装置を提供する。また、本発明は、このような状況に鑑みてなされたものであり、容易に産業用ロボットの作業記述情報を作成する作業記述作成方法を提供する。 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.
　本発明の作業記述作成装置は、３Ｄ－ＣＡＤ図面データから選択された産業用ロボットの部品の階層関係を設定する部品階層設定部と、前記部品階層設定部により設定された前記部品が一致する箇所の同次座標変換行列を算出し、該同次座標変換行列に対応した作業記述情報を作成する作業記述部と、前記作業記述部により作成された前記作業記述情報に対応した動作のアニメーションを作成するアニメーション作成部と、前記３Ｄ－ＣＡＤ図面データが表示された画面を移動するポインタを操作するポインティングデバイスを有する入力部と、を備えることを特徴とする。 The work description creating apparatus according to the present invention 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. And an input unit having a pointing device for operating a pointer that moves a screen on which the 3D-CAD drawing data is displayed.
　本発明の作業記述作成装置では、３Ｄ－ＣＡＤ図面データから選択された産業用ロボットの部品の各種データに階層関係を設定し、産業用ロボットの実際の作業記述情報を構造化することが容易に作成することが可能になる。また、階層関係に基づいて表示された部品（の座標値）を、ポインティングデバイスを用いた直感的な操作を行うことにより、自動的に座標変換を行うことが可能になる。 In 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.
　また、本発明の作業記述作成装置は、前記作業記述情報は、前記産業用ロボットの作業点と複数の補助点との間の移動順序を設定し、前記補助点として、動作を待機させる待機点を少なくとも一つ含むことを特徴とする。このように構成することで、実際の産業用ロボットの動作を作業記述情報として出力することが容易となる。 In the work description creating apparatus of the present invention, 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.
　本発明の作業記述作成方法は、３Ｄ－ＣＡＤ図面データから選択された産業用ロボットの部品の階層関係を設定し、設定された前記部品が一致する箇所の同次座標変換行列を算出し、該同次座標変換行列に対応した作業記述情報を作成し、作成された前記作業記述情報に対応した動作のアニメーションを作成し、ポインティングデバイスを有する入力部を用いて前記３Ｄ－ＣＡＤ図面データが表示された画面を移動するポインタを操作することを特徴とする。 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.
　本発明の作業記述作成方法では、３Ｄ－ＣＡＤ図面から選択された産業用ロボットの部品の各種データに階層関係を設定し、産業用ロボットの実際の作業記述情報を構造化することが容易に作成することが可能になる。また、階層関係に基づいて表示された部品（の座標値）を、ポインティングデバイスを用いた直感的な操作を行うことにより、自動的に座標変換を行うことが可能になる。 In 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.
　また、本発明の作業記述作成方法は、前記作業記述情報は、前記産業用ロボットの作業点と複数の補助点との間の移動順序を設定し、前記補助点として、動作を待機させる待機点を少なくとも一つ含むことを特徴とする。このように構成することで、実際の産業用ロボットの動作を作業記述情報として出力することが容易となる。 In the work description creating method of the present invention, 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.
　本発明によれば、３Ｄ－ＣＡＤ図面データから選択された産業用ロボットの部品の各種データに階層関係を設定し、産業用ロボットの実際の作業記述情報を構造化することが容易に作成することが可能になる。また、階層関係に基づいて表示された部品（の座標値）を、ポインティングデバイスを用いた直感的な操作を行うことにより、自動的に座標変換を行うことが可能になる。 According to 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.
本発明の実施形態に係る作業記述作成装置の制御構成を示すブロック図である。It is a block diagram which shows the control structure of the work description preparation apparatus which concerns on embodiment of this invention. 図１に示す作業記述情報の構成を示すブロック図である。It is a block diagram which shows the structure of the work description information shown in FIG. 本発明の実施形態に係る作業記述作成処理のフローチャートである。It is a flowchart of the work description creation process which concerns on embodiment of this invention. 図１に示す３Ｄ－ＣＡＤ図面データが表示された画面例である。3 is a screen example on which 3D-CAD drawing data shown in FIG. 1 is displayed. 図１に示す３Ｄ－ＣＡＤ図面データに含まれるワークの例を示す概念図である。FIG. 2 is a conceptual diagram illustrating an example of a work included in the 3D-CAD drawing data illustrated in FIG. 1. 図３に示す作業記述作成処理のＧＵＩの画面例である。FIG. 4 is a screen example of a GUI for work description creation processing shown in FIG. 3. 図３に示す部品階層設定処理で設定される座標系ツリーを説明する概念図である。It is a conceptual diagram explaining the coordinate system tree set by the part hierarchy setting process shown in FIG.
＜実施形態＞
〔作業記述作成装置１の構成〕
　まず、図１及び図２により、本発明の実施形態に係る作業記述作成装置１の制御構成について説明する。作業記述作成装置１は、産業用ロボットの作業記述情報２２０を作成する装置であり、たとえば、ＰＣ（Personal Computer）またはワークステーション等である。この産業用ロボットは、例えば、部品等の素材（以下、「ワーク」という。）を把持し、組み立てる用途等に用いられる組み立て用ロボット（以下、「ロボット」という。）である。 <Embodiment>
[Configuration of Work Description Creation Device 1]
First, the control configuration of the work description creation device 1 according to the embodiment of the present invention will be described with reference to FIGS. 1 and 2. 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”).
　本形態では、ロボットは、図４に示す水平多関節型ロボットであり、ワークを指定された地点から別の指定された地点まで搬送する等の動作を行なう。ロボットは、図４に示すように、符号を付記していないが、本体主部と第１アームと第２アームとハンドツールとを備えている。第１アームの基端側は、本体主部に回動可能に連結されている。第２アームの基端側は、第１アームの先端側に回動可能に連結されている。第２アームの先端側には、回転軸が回転可能に取りつけられ、さらに、上下方向に直線的に移動する部分が装備されている。この上下方向に直線的に移動する部分には、チャック等を有するハンドツールが保持されている。このように、ロボットは、複数のアームを連結して各アームを水平に回動させ、所定のハンドツールを使用して、部品の搬送や組付け、ネジ締め等の作業を行う。 In this embodiment, 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. As shown in FIG. 4, 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. As described above, 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.
　作業記述作成装置１は、主に、制御部１０、記憶部２０、Ｉ／Ｏ部３０、表示部４０、及び入力部５０により構成されている。 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.
　制御部１０は、作業記述作成装置１全体を制御する。制御部１０は、記憶部２０に予め記憶された動作プログラム、ファイル等を読み出して実行する。制御部１０は、たとえば、ＭＰＵ（Micro Processing Unit）、ＧＰＵ（Graphics Processing Unit）、ＤＳＰ（Digital Signal Processor）、ＡＳＩＣ（Application Specific Integrated Circuit）等の制御演算手段である。本実施形態では、制御部１０は、図１に示すように、部品階層設定部１００、作業記述部１１０、及びアニメーション作成部１２０を備えている。なお、詳細な説明は後述する。 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). In the present embodiment, 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.
　記憶部２０は、制御部１０が実行する動作プログラム及び処理に必要な各種データ等を記憶する。記憶部２０は、ＲＡＭ（Random Access Memory ）、ＲＯＭ（Read Only Memory）を備えており、さらに、フラッシュメモリ（Flash Memory）やＳＳＤ（Solid State Drive）、ＨＤＤ（Hard Disk Drive）などの記憶装置、または光ディスクや半導体メモリ等の一時的でない記録媒体、またはこれらを適宜組み合わせたものである。本実施形態では、記憶部２０は、図１に示すように、作業記述作成プログラム２００、３Ｄ－ＣＡＤ図面データ２１０、及び作業記述情報２２０を格納する。なお、詳細な説明は後述する。 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. In the present embodiment, 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.
　Ｉ／Ｏ部３０は、制御部１０とその他の周辺機器とのデータおよび制御信号の入出力制御を行うその他の周辺機器とのデータおよび制御信号の入出力制御を行う。本実施形態では、Ｉ／Ｏ部３０は、外部の機器と接続するためのチップセット（Chipset）、Ｉ／Ｏ（Input / Output）等の回路とインターフェイスである。Ｉ／Ｏ部３０は、ＲＳ－２３２ＣやＵＳＢ等の汎用シリアルインターフェイス、パラレルインターフェイス、デジタルビデオインターフェイス等を含んでいる。また、Ｉ／Ｏ部３０は、ＬＡＮ（Local Area Network）やＷＡＮ（Wide Area Network）の外部ネットワークに接続するためのネットワークインターフェイスも含んでいる。 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. In the present embodiment, 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).
　表示部４０は、制御部１０からの指示にしたがって各種データ等を表示する。表示部４０は、液晶ディスプレイ、有機ＥＬ（Organic Electro-Luminescence）ディスプレイ等のドットマトリクスディスプレイ及びＬＥＤ（Light Emitting Diode）等の表示装置から構成されている。表示部４０には、ＧＵＩ（Graphical User Interface）により、各種データやグラフ等が表示される。表示部４０は、たとえば、図４に示す３Ｄ－ＣＡＤ図面データが表示された画面や図６に示す作業記述作成処理のＧＵＩの画面等を表示する。 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.
　入力部５０は、ユーザの指示を入力する入力装置から入力される入力データを制御部１０に送信する。入力装置は、キーボードやスイッチ、マウスやデジタイザ等のポインティングデバイス、タッチパネル等である。また、入力部５０は、フラッシュメモリや光学メモリ媒体等の記録媒体を接続するためのメモリーカード接続部を備えている。特に、本形態では、マウス等のポインティングデバイスを用いてドラッグアンドドロップを行い、直感的な操作を行う。 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. In particular, in this embodiment, an intuitive operation is performed by dragging and dropping using a pointing device such as a mouse.
　つぎに、図１に示す制御部１０を構成する、部品階層設定部１００、作業記述部１１０、及びアニメーション作成部１２０について説明する。 Next, the 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.
　部品階層設定部１００は、３Ｄ－ＣＡＤ図面から選択されたロボットの部品の階層関係を設定する。この部品は、ロボットのアセンブリや部品や可動単位である「ノード」や、ワークを含む。部品階層設定部１００は、ロボットの部品の親子関係を示す仕組みを構成している。具体的には、ロボットの部品の親子関係を、図７に示すように、ツリー構造として表している。例えば、ロボットに装着されたハンド２１２（ハンドツール）と言う関係では、ロボットが親でハンド２１２（ハンドツール）が子の関係となる。 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.
　作業記述部１１０は、部品階層設定部１００により設定された部品が一致する箇所の同次座標変換行列を算出し、この同次座標変換行列に対応した作業記述情報２２０を作成する。たとえば、作業座標系を用いて表された部品の入力データ（同次座標変換行列）を、設定された箇所を示す、ワールド座標系を用いて表わされた変換データ（同次座標変換行列）に変換する。なお、同次座標変換行列は、所定の座標系上における指定した位置と姿勢を表している。作業記述部１１０は、記憶部４０に格納されている作業記述作成プログラム２００を実行し、変換データ（同次座標変換行列）を算出する。 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. For example, 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).
　アニメーション作成部１２０は、作業記述部１１０により作成された作業記述情報２２０に対応した動作のアニメーションを作成する。 The animation creating unit 120 creates an action animation corresponding to the work description information 220 created by the work description unit 110.
　図１に示す記憶部２０を構成する、作業記述作成プログラム２００、３Ｄ－ＣＡＤ図面データ２１０、及び作業記述情報２２０について説明する。 The work description creation program 200, 3D-CAD drawing data 210, and work description information 220 constituting the storage unit 20 shown in FIG.
（作業記述作成プログラム）
　作業記述作成プログラム２００は、ＯＳ（Operating System）上のアプリケーションソフトウェア（Application Software）等と、このアプリケーションソフトウェアに機能を追加するためのアドイン（Add-in）等のプログラム及びデータである。作業記述作成プログラム２００は、記録媒体から記憶部２０に格納され、又は外部ネットワークからダウンロードされてインストールされてもよい。作業記述作成プログラム２００が実行されると、ＧＵＩによりユーザの指示が取得される。そして、ロボットの３Ｄ－ＣＡＤ図面データ２１０から、直接、作業記述情報２２０が作成される。 (Work description creation program)
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. When the work description creation program 200 is executed, a user instruction is acquired through the GUI. Then, the work description information 220 is created directly from the 3D-CAD drawing data 210 of the robot.
　本実施形態では、作業記述作成プログラム２００は、マウス等のポインティングデバイスを用いてドラッグアンドドロップによる自動変換を実現している。簡単に説明すれば、この操作を実現するには、一旦作業空間の座標系（作業座標系またはユーザ座標系）での値に変換して、ロボットの座標系（ワールド座標系）に変換すればよい。具体的な手順は以下の通りである。変換元と変換先は既知であるので、まず変換元からロボット（親）のポインタを順次辿って作業座標系まで遡る。その際に、必要に応じて変換作業を行うことで、変換元の値を作業座標系における値に変換できる。また、同様に変換先からロボット（親）のポインタを順次辿って作業座標系まで遡る。その際に、必要に応じて変換行列を計算していくことにより、作業座標系から変換先への変換行列が求まる。最後に作業座標系の値に変換行列を作用させて、変換先の値を得る。変換元が各軸値の場合には、一旦変換値に変換する作業が必要になるが、ロボットの部品により判断して必要に応じて変換作業を行えばよい。 In this embodiment, the work description creation program 200 realizes automatic conversion by drag and drop using a pointing device such as a mouse. In short, to realize this operation, once converted to a value in the coordinate system of the workspace (work coordinate system or user coordinate system) and then converted to the robot coordinate system (world coordinate system) Good. The specific procedure is as follows. Since the conversion source and the conversion destination are known, the robot (parent) pointer is sequentially traced from the conversion source to the work coordinate system. At that time, the conversion source value can be converted into a value in the work coordinate system by performing conversion work as necessary. Similarly, the robot (parent) pointer is sequentially traced from the conversion destination to the work coordinate system. At that time, a conversion matrix from the working coordinate system to the conversion destination is obtained by calculating the conversion matrix as necessary. Finally, a transformation matrix is applied to the values in the working coordinate system to obtain the transformation destination value. When the conversion source is each axis value, it is necessary to once convert it into a conversion value. However, it is only necessary to make a determination based on the parts of the robot and perform the conversion operation as necessary.
　３Ｄ－ＣＡＤ図面データ２１０は、ロボットの組立作業工程図面や設計図等である三次元（Three Dimension、３Ｄ）ＣＡＤ（Computer-Aided Design）データである。３Ｄ－ＣＡＤ図面データ２１０は、一般的なファイル形式で、実際の大きさを示す座標データを含んでいる。また、３Ｄ－ＣＡＤ図面データ２１０は、図示しない記録媒体や外部ネットワークから取得されて、記憶部２０に記憶される。３Ｄ－ＣＡＤ図面データ２１０の詳細については、実際の処理での座標の扱いとともに説明する。 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.
　作業記述情報２２０は、作成された、ロボットの動作記述を示す情報である。また、作業記述情報２２０は、記憶部２０に記憶され、図示しない記憶媒体へ出力することも可能である。また、作業記述情報２２０は、ロボットの作業点と複数の補助点との間の移動順序を設定し、補助点として、動作を待機させる待機点を少なくとも一つ含んでいる。 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.
　図２（ａ）によると、作業記述情報２２０は、座標系ノード３００及び作業プログラム３１０を含んでいる。 2A, the work description information 220 includes a coordinate system node 300 and a work program 310.
　図２（ｂ）によると、座標系ノード３００は、自ノード識別番号、ノード名称、親ノード、子ノードリスト、自ノード同次座標変換行列等を含むデータである。自ノード識別番号は、自ノードを識別するための番号等のＩＤ（Identification）である。自ノードの識別番号は、例えば、後述する座標系ツリーのルートにあたる［ワールド］ノードの識別番号は「０」となり、それ以降追加された順の番号が付与される。ノード名称は、ＧＵＩにてユーザにより設定されたノードの名称を示す文字列等である。親ノードは、自ノードの親ノードの識別番号である。子ノードリストは、自ノードに接続されている子ノードの識別番号のリストである。この子ノードは、複数あってもよい。自ノード同次座標変換行列は、親ノードの座標を原点とした座標系で表した自ノードの４ｘ４同次座標変換行列である。同次座標変換行列とは、所定の位置と姿勢を表している。一般的には、同次座標変換行列は、４次元（４×４）の行列で構成されている。また、この同次座変換行列で算出された所定の座標系上の座標値は、（Ｘ、Ｙ、Ｚ、α、β、γ）で示すことができ、Ｘ軸、Ｙ軸及びＺ軸の位置座標値を表している。また、α、β及びγは、姿勢座標値（回転角度）である。なお、［ワールド］ノードについては、親ノードがないため、単位行列の同次座標変換行列であってもよい。 2 (b), 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. As 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. In addition, the coordinate values on the predetermined coordinate system calculated by this homogeneous transformation matrix can be represented by (X, Y, Z, α, β, γ), and the X axis, Y axis, and Z axis It represents the position coordinate value. Α, β, and γ are posture coordinate values (rotation angles). [World] node has no parent node, and may be a homogeneous coordinate transformation matrix of a unit matrix.
　図２（ｃ）によると、作業プログラム３１０は、プログラム識別番号、プログラム名称、把持ワークノード番号、作業対象ワークノード番号、動作姿勢識別番号、動作シーケンス識別番号、作業点、補助点リスト、作業内容識別番号等を含むデータである。 According to FIG. 2C, 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.
　プログラム識別番号は、作業プログラム３１０を識別するための番号等のＩＤ（Identification）である。プログラム識別番号としては、例えば、正の整数値が設定される。プログラム名称は、ＧＵＩ等にてユーザにより設定された作業プログラム３１０の名称を示す文字列等である。把持ワークノード番号は、ロボットのハンド（ハンドツール）２１２（図５）が把持する対象となるワーク２１１（図５）のノード番号である。作業対象ワークノード番号は、作業対象側のワーク２１１のノード番号である。動作姿勢識別番号は、右手、左手等の動作姿勢を識別するための番号である。動作シーケンス識別番号は、動作シーケンスを識別するための番号である。 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.
　作業点は、３Ｄ－ＣＡＤ図形のワールド座標系に基づいた作業空間である作業座標系で設定された動作の目標点（４ｘ４同次座標変換行列で示す）である。すなわち、作業点は、後述するワーク２１１の合致により算出された、ノードを動作させた際に停止させる位置を示す。補助点リストは、作業座標系で設定された、補助点を表す４ｘ４同次座標変換行列のリストである。この補助点は、３Ｄ－ＣＡＤ図形内に図面データが存在しない位置において設定した動作の目標点である。すなわち、補助点も、ノードを動作させた際に補助的な位置に停止させる位置を示す。詳細については後述する。作業内容識別番号は、ＧＲＡＳＰ（把持）、ＲＥＬＥＡＳＥ（離す）等の作業内容を識別するための番号である。なお、「合致」とは、たとえば、ワーク２１１の変換値（座標値）をロボットのハンド（ハンドツール）２１２の変換値（座標値）へドラッグアンドドロップすれば、この操作によりワーク２１１において登録された変換値をロボットのハンド（ハンドツール）２１２における値に変換してロボットに登録するという処理である。本実施形態では、この「合致」という処理は、作業記述作成プログラム２００を実行することで自動的に行うことが可能になる。具体的には、作業記述作成装置１は、ロボットの各部品でドラッグアンドドロップを可能とすることにより、直感的な操作で異なる座標系で設定した値を自動的に変換している。 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. In the present embodiment, 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.
　なお、制御部１０は、記憶部２０のＲＯＭやＨＤＤやＳＳＤ等に格納された作業記述作成プログラム２００をＲＡＭ等に展開して実行することで、部品階層設定部１００、作業記述部１１０、及びアニメーション作成部１２０として機能する。 Note that the 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.
〔作業記述作成処理〕
　次に、図３～図７により、本発明の実施の形態に係る作業記述作成処理の説明を行う。本実施形態の作業記述作成処理では、３Ｄ－ＣＡＤ図面データ２１０を用いてロボットを構成する各ノード及びワーク２１１の座標を変換可能にし、動作パス位置データを含む作業記述情報２２０を自動生成し、その動作を確認する。本実施形態の作業記述作成処理は、主に制御部１０が、記憶媒体である記憶部２０に記憶された作業記述作成プログラム２００を、各部と協働し、ハードウェア資源を用いて実行する。以下で、図３のフローチャートにより、作業記述作成処理の詳細をステップ毎に説明する。 [Work description creation process]
Next, the work description creation process according to the embodiment of the present invention will be described with reference to FIGS. In the work description creation process of this embodiment, 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. In the work description creation process of the present embodiment, 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.
（ステップＳ１０１）
　まず、部品階層設定部１００が、部品階層設定処理を行う。この処理において、部品階層設定部１００は、取得された３Ｄ－ＣＡＤ図面データ２１０から選択されたロボットのノードの階層関係をＧＵＩにて設定する。 (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.
　図４及び図５を参照して、作業記述の作成対象となる３Ｄ－ＣＡＤ図面データ２１０について説明する。図４の画面例５００は、記録媒体や外部ネットワークからユーザの指示により取得した３Ｄ－ＣＡＤ図面データ２１０を表示部４０に表示した例である。また、画面例５００には、各種指示を与えるその他のＧＵＩについても表示されている。 Referring to FIGS. 4 and 5, 3D-CAD drawing data 210, which is a work description creation target, will be described. 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.
　図５（ａ）（ｂ）は、３Ｄ－ＣＡＤ図面データ２１０に含まれる、ロボットの作業対象側のワーク２１１が配置されたパレット等を示す図である。図５（ａ）に示すように、３Ｄ－ＣＡＤ図面データ２１０のパレットには、作業対象側のワーク２１１を全て描画しておく。すなわち、作業対象となる３Ｄ－ＣＡＤ図面データ２１０内には、組み立て作業に必要な装置、ワーク２１１等がすべて描画され、配置されている。これにより、部品階層設定部１００は、ロボットが動作すべき作業点や位置・姿勢等を３Ｄ－ＣＡＤ図面データ２１０から抽出することが可能となる。つまり、この３Ｄ－ＣＡＤ図面データ２１０から必要な座標、姿勢等を抽出し、作業記述作成プログラムに展開することが可能となる。なお、パレットが交換され、又はパーツフィーダー等を用いて供給される繰り返し作業用のワーク２１１の場合には、その旨、指定することが可能である。 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. As shown in 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. As a result, 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. That is, it becomes possible to extract necessary coordinates, postures, and the like from the 3D-CAD drawing data 210 and develop them into a work description creation program. In the case of the workpiece 211 for repetitive work supplied with a pallet exchange or using a parts feeder or the like, it can be specified to that effect.
　図５（ｃ）は、３Ｄ－ＣＡＤ図面データ２１０のロボットのハンド２１２の例を示す図である。この図のように、３Ｄ－ＣＡＤ図面データ２１０には、ロボットのハンド２１２が、ロボットに装着された状態で含まれる。これにより、ロボットの作用点に対するハンド２１２の位置関係を算出することが可能である。また、ハンド２１２はワーク２１１を把持または吸着した状態で描かれる。これにより、ワーク２１１とハンド２１２の位置関係を算出可能となる。 FIG. 5C is a diagram showing an example of the robot hand 212 of the 3D-CAD drawing data 210. As shown in this figure, 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.
　次に、図６により、部品階層設定部１００のＧＵＩについて説明する。図６は、表示部４０に表示されるＧＵＩの画面例５１０である。この図の例において、「座標系構成」の「座標系」の表示欄では、作業記述情報２２０の座標系ノード３００として出力される座標系ツリーを設定する。この座標系ツリーにおいて、ユーザは、ロボットのモデルを選択し、このモデルに対応した関節を含むハンド２１２やパレット等のアセンブリ（部品）をノードとしてドラッグし、座標系ツリーの対象ノードにドロップする。なお、「合致」とは、たとえば、ワーク２１１の変換値（座標値）をロボットのハンド（ハンドツール）２１２の変換値（座標値）へドラッグアンドドロップすれば、この操作によりワーク２１１において登録された変換値をロボットのハンド（ハンドツール）２１２における値に変換してロボットに登録するという処理である。本実施形態では、この「合致」という処理は、作業記述作成プログラム２００を実行することで自動的に行うことが可能になる。具体的には、作業記述作成装置１は、ロボットの各部品でドラッグアンドドロップを可能とすることにより、直感的な操作で異なる座標系で設定した値を自動的に変換している。 Next, the GUI of the part hierarchy setting unit 100 will be described with reference to FIG. FIG. 6 is a screen example 510 of a GUI displayed on the display unit 40. In the example of this figure, 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”. In this coordinate system tree, 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. In the present embodiment, 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.
　図７により、この座標系ノード３００の詳細について説明する。初期状態ではルートノードとして「ワールド」ノードのみ存在する。ドラッグされた各ノードは、ドロップしたノードに結合された子ノードとなる。すなわち、ロボットをツリー形式の「座標系ツリー」で定義可能である。各ノードには、ロボット側のノードと、作業対象側のワーク２１１が配置されたパレット等のノードとが存在する。各ノードの枝には、それぞれのワーク２１１が設定される。「ワールド」ノードは、ワールド座標系である。このワールド座標系は、作業記述作成装置に唯一存在する座標であり、一般的には装置の取付基準位置を原点とする直交座標系である。このため、各座標系で行われる座標変換は、最低限このワールド座標に対する変換・逆変換を行うものである必要がある。なお、図４には、ワールド座標系は、Ｘ，Ｙ、Ｚ軸で示す座標系で示している。また、子ノードは、ユーザ座標系または作業座標系である。このユーザ座標系は、機構の動作における各種の場面に応じて適宜使用されるものであり、ユーザが機構の座標（点や点列）の指定を感覚的に分かり易くできるようにしたものである。例えば、ロボットのハンドの動作と共に移動する座標系や、カメラ座標系や、ワーク座標系等が用いられる。なお、子ノード挿入の際、ユーザが任意に名前を入力可能である。また、子ノードは折り畳んで表示可能である。また、座標系ツリー内のノードの移動、コピー、削除等の編集も可能である。 Details of the coordinate system node 300 will be described with reference to FIG. In the initial state, only the “world” node exists as a root node. Each dragged node becomes a child node combined with the dropped node. That is, a robot can be defined by a “coordinate system tree” in a tree format. Each node includes a node on the robot side and a node such as a pallet on which the work 211 on the work target side is arranged. Each work 211 is set to the branch of each node. The “world” node 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. For this reason, the coordinate conversion performed in each coordinate system needs to perform conversion / inverse conversion for the world coordinates at a minimum. In FIG. 4, 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. . For example, 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. When inserting a child node, the user can input a name arbitrarily. 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.
　再び図６を参照すると、ＧＵＩにおいて、ロボットのモデルを指定した時点で、「マニピュレータタイプ」、「リンクパラメータ」、「ジョイント動作エリア」等が自動的に設定される。なお、これらを手動設定することも可能である。この場合、「マニピュレータタイプ」は、何軸何関節のロボットであるか、複数のタイプから設定可能である。また、「リンクパラメータ」としては、各アームの長さを指定可能である。また、「ジョイント動作エリア」は、複数ある関節の動作角度の上限や下限を設定可能である。また、後述する作業点から補助点までの動作の分割数等についても設定可能である。 Referring to FIG. 6 again, when a robot model is designated in the GUI, “manipulator type”, “link parameter”, “joint operation area”, etc. are automatically set. It is also possible to set these manually. In this case, 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”. In 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.
　また、動作タイプの設定欄では、作業点及び／又は補助点間を移動させる「Ｐ－Ｐ（Ｐｏｉｎｔ　ｔｏ　Ｐｏｉｎｔ）」、実際の移動パスを座標や数式や角度等で指定する「Ｐａｔｈ」等をラジオボタンやドロップダウンメニューで設定可能である。 Also, in the operation type setting column, “PP (Point to Point)” for moving between work points and / or auxiliary points, “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.
　また、動作タイプが選択された場合、その各動作についての詳細を設定可能である。図６の例においては、Ｐ－Ｐ動作枠内の「ハンドリングする１つの部品の２つ状態を選ぶ」の箇所において、作業名の設定（名称）と、ロボット側でハンド２１２等が把持しているワーク２１１（Ｒｏｂｏｔ側）と、パレット等に配置された作業対象側のワーク２１１（作業対象側）とを選択する。 Also, when an operation type is selected, details about each operation can be set. In the example of FIG. 6, 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.
　具体的には、作業名の設定（名称）として、例えば、「ｓｈａｆｔ＿ｐｉｃｋ＿ｆｒｏｍ＿ｃｏｎｖｅｙｏｒ」「ｗｏｒｋ１＿ｆｒｏｍ＿ｐａｌｌｅｔ１」等のプログラム名称に対応した作業名を設定可能である。 Specifically, as a work name setting (name), for example, a work name corresponding to a program name such as “shaft_pick_from_conveyor”, “work1_from_pallet1” can be set.
　動作シーケンスの各動作においては、ロボット側でハンド（ハンドツール）２１２等が把持しているワーク２１１と、パレット等に配置された作業対象側のワーク２１１とが選択される。これらのワーク２１１は、ロボットの動作により把持、移動、組み立て等される同じワーク２１１（１つの部品）であることを示す。ここで、ワーク２１１の選択は、例えば、座標系リストから対象ノードをドラッグして、対象ワーク設定エリアにドロップ等することで選択可能である。また、直接入力フィールドにおいて、ロボット側のワーク２１１を「シャフト￥ハンド￥ワーク」、パレット等の作業対象側のワーク２１１を「シャフト￥パレット￥ワーク」「／ワールド／取り出しパレット１／ワーク」等として直接入力することとも可能である。 In each operation of the operation sequence, 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. Here, 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. In the direct input field, 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.
　なお、複数のワーク２１１を設定する場合には、「対象点複数」のチェックボックスと数とを指定することで、座標系ツリーで設定された、パレット等に描画された対象作業側のワーク２１１を複数指定することも可能である。また、図示しないものの、動作姿勢の選択として、「マニピュレータタイプ」に応じてドロップダウンリストに姿勢候補を表示し、その中から「右手」や「左手」等を選択可能である。 When a plurality of workpieces 211 are set, by specifying the check box and the number of “multiple target points”, the workpiece 211 on the target work side drawn on the palette or the like set in the coordinate system tree. It is possible to specify more than one. In addition, although not shown, as the selection of the motion posture, 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.
　部品階層設定部１００は、これらの選択されたワーク２１１の座標により、作業点を算出する。すなわち、動作の目標点である、例えば、ロボット側でハンド２１２等が把持しているワーク２１１と合致した座標と、パレット等に配置された作業対象側のワーク２１１と合致した座標とが作業点として算出される。この「合致」は、例えば、ハンド（ハンドツール）２１２等の取り付け原点、ワーク２１１の図形（ポリゴン）の重心位置、面との交点、ロボットのハンド２１２と接触する点の位置等を、モデルやマニピュレータタイプに対応して詳細な座標を算出可能である。また、作業対象側のワーク２１１の座標から、ワーク２１１を把持する「Ｐｉｃｋ」座標が算出される。なお、「合致」とは、たとえば、ワーク２１１の変換値（座標値）をロボットのハンド（ハンドツール）２１２の変換値（座標値）へドラッグアンドドロップすれば、この操作によりワーク２１１において登録された変換値をロボットのハンド（ハンドツール）２１２における値に変換してロボットに登録するという処理である。本実施形態では、この「合致」という処理は、作業記述作成プログラム２００を実行することで自動的に行うことが可能になる。具体的には、作業記述作成装置１は、ロボットの各部品でドラッグアンドドロップを可能とすることにより、直感的な操作で異なる座標系で設定した値を自動的に変換している。 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. Further, “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. In the present embodiment, 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.
　また、「動作シーケンス」の選択として、複数の動作シーケンス候補をドロップダウンリストに表示し、その中から選択することが可能である。本実施形態の動作シーケンスは、作業点と、複数の補助点との間の移動順序を設定したものである。図６の例では、動作シーケンスとして、補助点として待機点を１つ設定する、「待機点（待機位置）→作業点（Ｐｉｃｋ位置）→待機点（待機位置）」が選択されている。また、部品階層設定部１００は、選択された動作シーケンスに対応した補助点の設定も行う。ここで、補助点は、ロボットのシャフト等の動作時に必要な座標の点であるものの、３Ｄ－ＣＡＤ図面データ２１０上のワーク２１１の座標とは直接一致しない点である。たとえば、特定の位置に移動したことをアーム等のセンサで検知した場合に、このセンサが検知してから特定時間だけ待機しないと安定しない場合に、この待機する点（待機点）を補助点として設定する。補助点は、経路を生成するために補間法補助点が必要とされるときに補間法により生成する点（位置）である。補助点としては、ベジェカーブのハンドルや、始点や終点の指定における円の中心点等があり、例えば代表点の２点と半径とから算出された円の中心座標や、経由点として自動算出された上昇点や、自由曲線の方向ベクトルを定義するための点等がある。 Also, as the selection of “operation sequence”, 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. In the example of FIG. 6, “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. Here, 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. For example, when it is detected by a sensor such as an arm that it has moved to a specific position, if it does not stabilize unless it waits for a specific time after this sensor detects, this standby point (standby point) is used as an auxiliary point. Set. An 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.
　また、待機点の定義として、「作業対象上空」「待機点選択」等を設定可能である。図６の例においては、選択されている動作シーケンスに合わせた補助点の設定を行う例として、作業点上空ｘ［ｍｍ］の「待機点」を指定している。たとえば、補助点として、「Ｐｉｃｋ」座標から１５ｍｍ上昇した座標の位置の待機点を設定したとすると、この補助点は、３Ｄ－ＣＡＤ図面データ２１０上に図形データとしては存在しない位置なので、単純に合致で算出することはできない。このため、補助点として「Ｐｉｃｋ位置の１５ｍｍ上昇した位置」というように設定することが可能である。また、作業点のシーケンス制御として、ドロップダウンリスト内の作業内容候補から、実際の作業内容を選択する。この作業内容としては、ＧＲＡＳＰ（掴む）、ＲＥＬＥＡＳＥ（離す）、左右の回転等を選択可能である。 Also, as the definition of the standby point, “above work target”, “select standby point”, etc. can be set. In the example of FIG. 6, as an example of setting auxiliary points according to the selected operation sequence, “standby point” of x [mm] above the work point is designated. For example, if a standby point at a coordinate position 15 mm higher than the “Pick” coordinate is set as an auxiliary point, 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”. In addition, as 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.
（ステップＳ１０２）
　次に、作業記述部１１０が、作業記述処理を行う。この処理において、作業機述部は、ノードとワーク２１１とが一致する箇所の同次座標変換行列を算出し、該同次座標変換行列に対応した作業記述情報２２０を作成する。具体的には、作業記述部１１０は、図６のＧＵＩの例では「完了（作業関数作成）」のボタンが押下されると、作業機述部は、ＧＵＩで設定された内容に対応した作業記述情報２２０を作成する。具体的には、作業記述部１１０は、親ノード座標系で表した子ノード座標系の同次座標変換行列を算出し、作業記述情報２２０として座標系ノード３００と作業プログラム３１０とを出力する。 (Step S102)
Next, the work description unit 110 performs work description processing. In this process, 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. Specifically, when the “complete (work function creation)” button is pressed in the example of the GUI in FIG. 6, the work description unit 110 displays the work corresponding to the content set in the GUI. Description information 220 is created. Specifically, 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.
　この出力の際、まず、作業記述部１１０は、作業点の同次座標変換行列を算出する。具体的には、作業記述部１１０は、選択された作業座標系のワーク２１１と、ハンド２１２が把持しているワーク２１１とを合致させ、作業座標系上でのハンド２１２の取り付け原点等であるロボットの作用点の同次座標変換行列を算出する。また、作業記述部１１０は、設定内容に従って、作業座標系上での補助点の同次座標変換行列を算出する。また、作業記述部１１０は、作業点及び補助点の位置をワールド座標系での同次座標変換行列にも変換する。これを、逆キネマティクス演算によりジョイント座標に変換する。変換されたジョイント座標は、アニメーション作成部１２０にて、３Ｄモデルを動作させる際に使用可能である。作業記述部１１０は、座標系ツリーの情報をデータ化して座標系ノード３００として出力する。 At the time of this output, 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.
　また、作業記述部１１０は、動作シーケンスの各動作について、作業プログラム３１０として出力する。たとえば、図６のように、パレット上のシャフトを「ＰｉｃｋＵｐ」する動作シーケンスの作業プログラム３１０の場合、作業記述部１１０は、次のような処理を出力する。
　１）．Ｐ－Ｐ動作にて、Ｐｉｃｋ位置の上空１５ｍｍの待機点へ移動する。
　２）．Ｐｉｃｋ位置へ下降する。
　３）．ｇｒａｓｐの動作を行う。
　４）．Ｐｉｃｋ位置の上空１５ｍｍの待機点へ上昇する。
　作業記述部１１０は、これらを、組み立てる全てワーク２１１に関して、作業プログラム３１０として出力する。 In addition, the work description unit 110 outputs each operation of the operation sequence as a work program 310. For example, as shown in FIG. 6, in the case of a work program 310 of an operation sequence for “PickUp” a shaft on a pallet, the work description unit 110 outputs the following processing.
1). In the PP operation, the robot moves to a standby point 15 mm above the pick position.
2). Lower to Pick position.
3). Grasp operation is performed.
4). Ascend to the standby point 15mm above the pick position.
The work description unit 110 outputs these as a work program 310 for all works 211 to be assembled.
　作業記述部１１０は、出力された座標系ノード３００と作業プログラム３１０とを含む作業記述情報２２０のファイルを、一旦、記憶部２０に保存する。この作業記述情報２２０のファイルは、例えば、テキスト形式やバイナリ形式で出力することが可能である。なお、ＧＵＩとして、図示しないものの、設定された作業プログラム３１０をリスト表示する作業プログラム３１０の管理機能等も備えていてもよい。また、作成した作業プログラム３１０の保存、読み込み機能も備えていてもよい。また、作業記述情報２２０のファイルを図示しない記録媒体に保存したり、外部ネットワークへ送信したりすることも可能である。 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. Although not shown, the GUI may include a management function of the work program 310 that displays a list of the set work programs 310. In addition, a function for saving and reading the created work program 310 may be provided. Further, the file of the work description information 220 can be stored in a recording medium (not shown) or transmitted to an external network.
（ステップＳ１０３）
　次に、アニメーション作成部１２０が、動作確認処理を行う。アニメーション作成部１２０は、作成された作業記述情報２２０に対応した動作のアニメーションを作成して、表示部４０に表示する。具体的には、アニメーション作成部１２０は、図５の画面例５００のＧＵＩ中の「Ｓｉｍｕｌａｔｉｏｎ」や、図６の画面例５１０の「Ａｎｉｍａｔｉｏｎ駆動」のボタンが押下されたことを検出する。すると、アニメーション作成部１２０は、作業記述情報２２０の座標系ノード３００と作業プログラム３１０とを用いた３Ｄアニメーションをレンダリングして表示する。また、アニメーション作成部１２０は、３Ｄアニメーションのレンダリング時に、作業点や補助点の位置を描画して確認させることも可能である。この際、アニメーション作成部１２０は、設定された作業点、補助点をドロップダウンリストで選択させてもよい。また、アニメーション作成部１２０は、例えば、各作業点、補助点がクリックされたり、動作シーケンス中の図示しない「移動」ボタンがクリックされたりしたことを検出すると、産業用ロボットの各モデルについて、当該作業点、補助点の位置、動作の段階まで、動作シーケンスに沿ってアニメーション動作させる。以上により、本発明の実施の形態に係る作業記述作成処理を終了する。 (Step S103)
Next, 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. Further, for example, when the animation creation unit 120 detects that each work point or auxiliary point is clicked or a “move” button (not shown) in the operation sequence is clicked, Animation is performed along the motion sequence up to the work point, auxiliary point position, and motion stage. Thus, the work description creation process according to the embodiment of the present invention is completed.
〔本実施形態の主な効果〕
　以上のように構成することで、以下のような効果を得ることができる。
　作業記述作成装置１（作業記述作成方法）は、３Ｄ－ＣＡＤ図面データ２１０から選択されたロボットのノードの階層関係を設定する部品階層設定部１００と、部品階層設定部１００により設定されたノードとワーク２１１が一致する箇所の同次座標変換行列を算出し、該同次座標変換行列に対応した作業記述情報２２０を作成する作業記述部１１０と、作業記述部１１０により作成された作業記述情報２２０に対応した動作のアニメーションを作成するアニメーション作成部１２０と、３Ｄ－ＣＡＤ図面データ２１０が表示された画面を移動するポインタを操作するマウスなどのポインティングデバイスを有する入力部５０と、を備えている。このように構成することで、ロボットの組立作業工程のような３Ｄ－ＣＡＤ図面データ２１０から、ロボットの作業記述情報２２０を半自動で生成することができる。具体的には、作業記述作成装置１では、３Ｄ－ＣＡＤ図面データ２１０から選択された（産業用）ロボットの部品の各種データに階層関係を設定し、（産業用）ロボットの実際の作業記述情報を構造化することが容易に作成することが可能になる。また、階層関係に基づいて表示された部品（の座標値）を、ポインティングデバイス（入力部５０）を用いた直感的な操作を行うことにより、自動的に座標変換を行うことが可能になる。 [Main effects of this embodiment]
With the configuration described above, the following effects can be obtained.
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. And 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. With this configuration, 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. Specifically, 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.
　また、作業記述作成装置１（作業記述作成方法）により、３Ｄ－ＣＡＤ図面データ２１０から容易にシャフトやハンド（ハンドツール）２１２の位置と姿勢とを指定したり、動作をアニメーションで直観的に確認したりすることが可能となる。 Also, by using the work description creation device 1 (work description creation method), 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.
　さらに、作業記述作成装置１（作業記述作成方法）は、作業記述情報２２０は、ロボットの作業点と複数の補助点との間の移動順序を設定し、補助点として、動作を待機させる待機点を少なくとも一つ含むことを特徴とする。このように構成することで、ワーク２１１の合致だけでは算出できない補助点を設定して、実際の産業用ロボットの動作を作業プログラム３１０として出力することが容易となる。 Further, in the work description creating apparatus 1 (work description creating method), 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.
　また、作業記述作成装置１（作業記述作成方法）では、３Ｄ－ＣＡＤ図面から選択された産業用ロボットの部品の各種データに階層関係を設定し、産業用ロボットの実際の作業記述情報を構造化することが容易に作成することが可能になる。また、階層関係に基づいて表示された部品（の座標値）を、ポインティングデバイスを用いた直感的な操作を行うことにより、自動的に座標変換を行うことが可能になる。たとえば、作業記述作成装置１（作業記述作成方法）では、「合致」という処理を行い、ワーク２１１の変換値（座標値）をロボットのハンド（ハンドツール）２１２の変換値（座標値）へドラッグアンドドロップすれば、この操作によりワーク２１１において登録された変換値をロボットのハンド（ハンドツール）２１２における値に変換してロボットに登録することが可能になる。すなわち、この「合致」という処理は、作業記述作成プログラム２００を実行することで自動的に行うことが可能になる。より具体的には、作業記述作成装置１は、ロボットの各部品でドラッグアンドドロップを可能とすることにより、直感的な操作で異なる座標系で設定した値を自動的に変換している。 In addition, the work description creation device 1 (work description creation method) 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. 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. For example, in the work description creation device 1 (work description creation method), a process of “match” is performed, and the converted value (coordinate value) of the work 211 is dragged to the converted value (coordinate value) of the robot hand (hand tool) 212. If it is dropped, 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.
〔他の実施の形態〕
　上述の実施形態では、作業記述作成装置１で作業記述情報２２０を作成し、アニメーションを作成する例について説明した。しかしながら、サーバーと通常のＰＣ等のクライアント端末を用いたシステムで作業記述情報２２０を作成し、アニメーションを作成することも可能である。この場合、例えば、端末に作業記述作成プログラム２００のクライアント端末で実行し、動作記述情報を作成する。この上で、この動作記述情報に対応した動作のシミュレーションをサーバー上で実行し、サーバーからジョイント座標データをクライアント端末に送信する。これをクライアント端末でモデルに反映し、レンダリングして、表示部４０にアニメーション表示する。この場合、クライアント端末でサーバーのＩＰアドレスやポート番号することで、ＴＣＰ／ＩＰを使用して接続することが可能である。 [Other Embodiments]
In the above-described embodiment, the example in which the work description creating apparatus 1 creates the work description information 220 and creates the animation has been described. However, it is also possible to 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. In this case, for example, the operation description information 200 is created on the client terminal of the work description creation program 200 to create action description information. Then, 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. In this case, it is possible to connect using TCP / IP by providing the server IP address and port number at the client terminal.
　また、作業記述作成装置１は、上述の実施形態の他にも、図示しないプリンタ等の出力手段、ユーザ認証手段、不正コピーを防ぐためのドングル、及びカメラ等を備えていてもよい。また、表示部４０と入力部５０とは一体的に形成されていてもよい。 In addition to the above-described embodiment, 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.
　上記の実施形態の構成及び動作は例であって、本発明の趣旨を逸脱しない範囲で適宜変更して実行することができることは言うまでもない。 It goes without saying that the configuration and operation of the above-described embodiment are examples, and can be appropriately modified and executed without departing from the spirit of the present invention.
１　作業記述作成装置
１０　制御部
２０　記憶部
３０　Ｉ／Ｏ部
４０　表示部
５０　入力部
１００　部品階層設定部
１１０　作業記述部
１２０　アニメーション作成部
２００　作業記述作成プログラム
２１０　３Ｄ－ＣＡＤ図面データ
２１１　ワーク
２１２　ハンド
２２０　作業記述情報
３００　座標系ノード
３１０　作業プログラム
５００、５１０　画面例 DESCRIPTION OF SYMBOLS 1 Work description creation apparatus 10 Control part 20 Storage part 30 I / O part 40 Display part 50 Input part 100 Parts hierarchy setting part 110 Work description part 120 Animation creation part 200 Work description creation program 210 3D-CAD drawing data 211 Work 212 Hand 220 Work description information 300 Coordinate system node 310 Work program 500, 510 Screen example

Claims (4)

  1. 　３Ｄ－ＣＡＤ図面データから選択された産業用ロボットの部品の階層関係を設定する部品階層設定部と、
    　前記部品階層設定部により設定された前記部品が一致する箇所の同次座標変換行列を算出し、該同次座標変換行列に対応した作業記述情報を作成する作業記述部と、
    　前記作業記述部により作成された前記作業記述情報に対応した動作のアニメーションを作成するアニメーション作成部と、
    　前記３Ｄ－ＣＡＤ図面データが表示された画面を移動するポインタを操作するポインティングデバイスを有する入力部と、
    を備えることを特徴とする産業用ロボットの作業記述作成装置。     A component hierarchy setting unit for setting the hierarchical relationship of components of industrial robots selected from 3D-CAD drawing data;
    A work description unit that calculates a homogeneous coordinate transformation matrix of a location where the parts set by the part hierarchy setting unit match, and creates work description information corresponding to the homogeneous coordinate transformation matrix;
    An animation creation unit for creating an animation of an action 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;
    An industrial robot work description creation device characterized by comprising:
  2. 　前記作業記述情報は、
    　前記ロボットの作業点と複数の補助点との間の移動順序を設定し、
    　前記補助点として、動作を待機させる待機点を少なくとも一つ含む
    　ことを特徴とする請求項１に記載の産業用ロボットの作業記述作成装置。     The work description information is
    Setting a movement order between the robot work point and a plurality of auxiliary points;
    The work description creation device for an industrial robot according to claim 1, wherein at least one standby point for waiting for an operation is included as the auxiliary point.
  3. 　３Ｄ－ＣＡＤ図面データから選択された産業用ロボットの部品の階層関係を設定し、
    　設定された前記部品が一致する箇所の同次座標変換行列を算出し、該同次座標変換行列に対応した作業記述情報を作成し、
    　作成された前記作業記述情報に対応した動作のアニメーションを作成し、
    　ポインティングデバイスを有する入力部を用いて前記３Ｄ－ＣＡＤ図面データが表示された画面を移動するポインタを操作することを特徴とする産業用ロボットの作業記述作成方法。     Set the hierarchical relationship of parts of industrial robots selected from 3D-CAD drawing data,
    Calculate the homogeneous coordinate transformation matrix of the location where the set parts match, create work description information corresponding to the homogeneous coordinate transformation matrix,
    Create an action animation corresponding to the created work description information,
    A method for creating a work description for an industrial robot, wherein a pointer that moves a screen on which the 3D-CAD drawing data is displayed is operated using an input unit having a pointing device.
  4. 　前記作業記述情報は、
    　前記ロボットの作業点と複数の補助点との間の移動順序を設定し、
    　前記補助点として、動作を待機させる待機点を少なくとも一つ含む
    　ことを特徴とする請求項３に記載の産業用ロボットの作業記述作成方法。     The work description information is
    Setting a movement order between the robot work point and a plurality of auxiliary points;
    The method for creating a work description for an industrial robot according to claim 3, wherein the auxiliary point includes at least one standby point for waiting for an operation.
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