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Action surplus of robot calculation display method and device

A computing display, richness technology, used in electrical program control, recording and playback systems and other directions

Active Publication Date: 2009-09-30
KOBE STEEL LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, it is not clear whether the robot can operate correctly using the corrected teaching data when the deviation of the workpiece is large or when the teaching point during teaching is near the limit of the robot's operating range.

Method used

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  • Action surplus of robot calculation display method and device
  • Action surplus of robot calculation display method and device
  • Action surplus of robot calculation display method and device

Examples

Experimental program
Comparison scheme
Effect test

no. 1 Embodiment approach

[0048] In this embodiment, if figure 1 As shown, an example of a welding robot 1 for welding a joint portion to which the present invention is applied is shown for a workpiece W made of a thick plate. A welding robot (hereinafter simply referred to as "robot") 1 holds a welding torch 2 as a processing tool at its tip. The robot 1 in this embodiment is a 6-axis articulated robot having common rotary joints θ1 to θ6 as an industrial robot, but the present invention can also be applied to other types of robots described in detail later.

[0049] The robot 1 is controlled by a control device 3 equipped with a computer. The control device 3 controls the robot 1 according to a program (teaching program) in which motion has been taught in advance. The operating conditions (including welding current, etc.) of the welding torch 2 can also be controlled by the control device 3 according to the teaching program, and a dedicated control device (not shown) for the welding torch 2 can als...

no. 2 Embodiment approach

[0073] In the calculation of the operating margin in the procedure 2, upper and lower limit values ​​when a plurality of components are changed may be calculated. refer to Figure 9 For example, when looking for the combination of the xte component and the yte component of the drawing, since the area B surrounding the upper and lower limit values ​​of the xte component and the yte component respectively is an actionable area, the operation can be shortened by finding a part outside this range time. In addition, if only the trend is simply known, it is sufficient to be in the area B surrounding the upper and lower limit values ​​of each component.

[0074] Figure 10 Shown is a process for finding a combination of xte components and yte components in the calculation of the operating margin. The calculations in steps S10-2 to S10-4 are repeated for each teaching point and each target point (steps S10-1, S10-5). In addition, the calculation result is stored for later display ...

no. 3 Embodiment approach

[0079] In the first embodiment, the motion margin (the upper and lower limits of each component) is calculated for the direction of the reference coordinate system of the robot 1 , but the motion margin may be calculated for an arbitrarily set standard coordinate system. By setting the standard coordinate system so that the coordinate axis coincides with the direction in which the motion margin is desired to be known, it is possible to obtain a motion margin that is easier for the operator to grasp. refer to Figure 5 For example, when performing pre-processing measurement based on contact sensing or the like on a workpiece W arranged obliquely with respect to the reference coordinate system (x, y, z, α, β, γ) of the robot 1, the robot 1 is often made Move in the direction in which the coordinate system is tilted. In this case, since the margin of action in the direction inclined relative to the reference coordinate system becomes important (the operator wants to know the all...

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Abstract

The present invention provides an action surplus of robot calculation display method and device, capable of quantificationally informing movable zone to the robot for operators and operators on-the-spot of production line. In the power surplus of robot calculation display method and device, aiming at each teaching point of a plurality of teaching points in teaching program for the robot (1), one or a plurality of parameter representing position posture of the robot varies, thereby calculating action surplus of continuous action zone from teaching point in action range of each joint Theta 1 toTheta 6 of the robot (1) (step S2-2). The action surplus of each teaching point is displayed with number value quantificationally (step S2-3).

Description

technical field [0001] The invention relates to a method and device for calculating and displaying the motion margin of a robot including an industrial robot. Background technique [0002] In recent years, industrial robots are increasingly used for various tasks such as welding, painting, deburring, and cutting. [0003] In the reproduction method robot, a workpiece for teaching is set in the production line to perform teaching (online teaching). In addition, for the purpose of teaching the robot without stopping the production line, off-line teaching in which the teaching is performed outside the production line is also known. It is also a commonly used method to construct models of robots and workpieces and operating environments in the computer for off-line teaching. [0004] Regardless of the method, when the robot is actually moved in a reproducible manner, there are mounting errors and individual differences in the target workpiece. Therefore, even if the robot is ...

Claims

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Application Information

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IPC IPC(8): G05B19/42
Inventor 飞田正俊定广健次
Owner KOBE STEEL LTD
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