Robot programming device

Abstract

The present invention provides a robot programming device capable of creating a robot program for causing a robot to appropriately perform actions in a stamping processing system in which a stamping machine and a robot cooperate. The robot programming device involved in one embodiment of the present disclosure comprises: a robot program storage unit; a stamping program storage unit; a template program setting unit, which causes the robot program storage unit to store a template program for specifying a reference action of the robot as an initial value of the robot program; a model configuration unit, which configures three-dimensional models of a workpiece, a robot, and a stamping machine in a virtual space; a stamping action processing unit, which causes the three-dimensional model of the stamping machine to perform actions; an interference detection unit, which detects mutual interference of three-dimensional models; and a robot program correction unit, which corrects the robot program stored in the robot program storage unit to eliminate the interference detected by the interference detection unit.

Description

Technical Field

[0001] The invention relates to a robot programming device. Background Art

[0002] A stamping system is well known, comprising: a stamping machine that performs stamping by clamping a workpiece through a pair of dies (a movable die and a fixed die); and a robot that supplies and discharges the workpiece to the stamping machine. In order to improve the productivity of such a stamping system, it is desirable to coordinate the stamping machine and the robot so that the robot supplies and discharges the workpiece before the movable die of the stamping machine reaches the top dead center and forms a fixed space between the movable die and the fixed die.

[0003] As a technology for enabling a stamping machine and a robot to work in coordination, for example, Patent Document 1 records "a control method for a transport robot for a reciprocating machine, which is used to control the operation of the transport robot so that when the transport robot transports a workpiece between adjacent reciprocating machines among a plurality of reciprocating machines arranged in a linear shape, the transporting portion of the transport robot does not interfere with the working portion of the reciprocating machine. The control method for the transport robot for a reciprocating machine is characterized in that the position of the working portion when the workpiece is processed by the reciprocating machine is detected successively, and the operation of the transport portion of the transport robot is controlled based on a data table, the data table storing the relationship between each position of the working portion and each position of the transport portion that does not interfere with the working portion at each position."

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Publication No. 2005-216112 Summary of the invention

[0007] Problem that the invention aims to solve

[0008] In the technology of Patent Document 1, the phase angle of the main gear of the punching machine and the relationship between the coordinate position of the crossbar of the transfer robot and the moving die at which no interference occurs are calculated in advance and stored in a data table. However, in such a punching system, components other than the crossbar of the transfer robot and the workpiece held by the transfer robot may also interfere with the punching machine. Therefore, the following technology is desired: a robot program can be created to enable the robot to properly operate in a punching system in which a punching machine and a robot cooperate.

[0009] Solutions for solving problems

[0010] A robot programming device according to one embodiment of the present invention produces a robot program for specifying the actions of a robot of a stamping processing system, wherein the stamping processing system includes one or more robots for conveying a workpiece and one or more stamping machines for processing the workpiece by clamping the workpiece by a mold, and includes: a robot program storage unit for storing the robot program; a stamping program storage unit for storing a stamping program for specifying the actions of the stamping machine; a template program setting unit for causing the robot program storage unit to store a template program for specifying the robot's benchmark actions as an initial value of the robot program; a model configuration unit for configuring three-dimensional models of the workpiece, the robot, and the stamping machine in a virtual space; a robot motion processing unit for causing the three-dimensional model of the robot to move according to the robot program; a stamping motion processing unit for causing the three-dimensional model of the stamping machine to move according to the stamping program; an interference detection unit for detecting mutual interference between the three-dimensional models of the workpiece, the robot, and the stamping machine; and a robot program correction unit for correcting the robot program stored in the robot program storage unit to eliminate the interference detected by the interference detection unit.

[0011] Effects of the Invention

[0012] According to the robot programming device according to the present disclosure, it is possible to create a robot program for appropriately operating the robot in a press working system in which a press machine and a robot cooperate with each other. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 1 is a schematic diagram showing the structure of a robot programming device according to an embodiment of the present disclosure.

[0014] Figure 2 It is shown Figure 1 A schematic diagram of a three-dimensional model configured in a model configuration unit of a robot programming device.

[0015] Figure 3 is an example Figure 1 A graph of distribution data stored in a distribution data setting unit of a robot programming device.

[0016] Figure 4 It is shown Figure 1 A graph showing an example of correction of a stamping program by a stamping program correction unit of a robot programming device.

[0017] Figure 5 It is shown Figure 1 The stamping program correction unit of the robot programming device corrects the stamping program and Figure 4 Graphs of different correction examples.

[0018] Figure 6 is an example Figure 1 A schematic diagram of a target position of a robot program stored in a robot program storage unit of a robot programming device.

[0019] Figure 7 It is shown Figure 1 Flowchart of the process of simulation by a robot programming device.

[0020] Description of Reference Numerals

[0021] 1: Robot programming device; 11: Virtual space information holding unit; 12: Model configuration unit; 13: Interference detection unit; 14: Punching program storage unit; 15: Punching action processing unit; 16: Distribution data setting unit; 17: Punching program correction unit; 18: Robot program storage unit; 19: Robot action processing unit; 20: Template program setting unit; 21: Robot program correction unit. DETAILED DESCRIPTION

[0022] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. Figure 1 1 is a schematic diagram showing a configuration of a robot programming device 1 according to an embodiment of the present disclosure. The robot programming device 1 can be implemented by causing a computer device including a CPU, a memory, etc. to execute an appropriate program, for example.

[0023] The robot programming device 1 includes a virtual space information holding unit 11, a model configuration unit 12, an interference detection unit 13, a punching program storage unit 14, a punching motion processing unit 15, a distribution data setting unit 16, a punching program correction unit 17, a robot program storage unit 18, a robot motion processing unit 19, a template program setting unit 20, and a robot program correction unit 21. These components can be distinguished according to their functions, and do not need to be clearly distinguished in the program structure.

[0024] The robot programming device 1 is a device that reproduces the action of the stamping processing system in a virtual space to confirm the action in a simulated manner, that is, it is a simulation device that simulates the action of the stamping processing system. The stamping processing system that reproduces the action by the robot programming device can be configured to include: one or more stamping machines, which clamp the workpiece through a mold (a movable mold and a fixed mold) to perform processing; and a robot that holds and transports the workpiece, supplies the workpiece to the stamping machine, and discharges the workpiece from the stamping machine. The stamping processing system can be set as a device that gradually forms a workpiece through multiple stamping machines, and can be configured so that the robot moves the workpiece from the stamping machine on the upstream side to the stamping machine on the downstream side. The robot programming device 1 can automatically create a robot program that allows the robot to perform appropriate actions in the stamping processing system based on the simulation results.

[0025] The virtual space information storage unit 11 stores information on three-dimensional models arranged in the virtual space. Specifically, the virtual space information storage unit 11 stores information on three-dimensional models of the workpiece, the press machine, and the robot arranged by the model arrangement unit 12 described later.

[0026] The model configuration unit 12 is as follows Figure 2 As shown in the example, the three-dimensional model of the workpiece W, the three-dimensional model of the punching machine P, and the three-dimensional model of the robot R are arranged in the virtual space, that is, the virtual space information holding unit 11 stores the information of the three-dimensional model. Therefore, the model arrangement unit 12 stores the information required for modeling the three-dimensional model including the shape and axis structure of the workpiece W, the punching machine P, and the robot R.

[0027] These three-dimensional models can be obtained by modeling only the components that may interfere with each other in the actual stamping processing system and the components required for the calculation of their actions. Figure 2 As shown, the three-dimensional model of the punching machine P can be set to consist of only the mold (movable mold M1 and fixed mold M2) and the worktable (movable worktable T1 and fixed worktable T2) for holding the molds M1 and M2. In addition, the three-dimensional model of the robot R can be set to include a base B connected to each other, multiple arms A1, A2, A3, and a hand H for holding the workpiece W.

[0028] The interference detection unit 13 detects mutual interference between the three-dimensional models of the workpiece W, the press machine P, and the robot R, that is, determines whether the action of the robot R is appropriate. Specifically, the interference detection unit 13 can be configured to identify coordinates where two or more three-dimensional models overlap and a three-dimensional model including the coordinates.

[0029] The press program storage unit 14 stores a press program for specifying the operation of the press machine P.

[0030] The press operation processing unit 15 operates the press machine P according to the press program stored in the press program storage unit 14 , that is, moves each component of the press machine P, specifically, the movable die M1 and the movable table T1 in the virtual space.

[0031] The distribution data setting unit 16 causes the punching program storage unit 14 to store a punching program according to the distribution data, and the distribution data records the position of the moving die at each time when the actual punching machine is actually operated. In other words, the distribution data setting unit 16 stores the distribution data of the actual punching machine, and initially sets the punching program stored in the punching program storage unit 14 to specify the content of the action consistent with the distribution data of the actual punching machine.

[0032] exist Figure 32 shows the distribution data stored in the distribution data setting unit 16. In the example shown in the figure, the position of the movable die is represented by the rotation angle position of the drive shaft driving the movable die, with the bottom dead center, which is the position where the movable die is pressed against the fixed die, as the origin.

[0033] The press program correction unit 17 corrects the press program stored in the press program storage unit 14 based on the difference between the operating conditions of the press when the actual press is operated and the distribution data is recorded and the operating conditions of the press to be confirmed.

[0034] Alternatively, when the cycle of the punching process of the punching machine to be confirmed is different from that when the distribution data is recorded, the punching program correction unit 17 may be configured as follows: Figure 4 As shown in the example, the punching program stored in the punching program storage unit 14 is corrected to a punching program according to the following distribution, which is obtained by expanding or reducing the distribution data along the time axis direction. Figure 4 The figure shows an example in which the period of stamping processing is reduced to 1 / 2 by doubling the distribution data represented by the dotted line along the time axis (solid line), and an example in which the period of stamping processing is doubled by reducing the distribution data to 1 / 2 along the time axis (one-dotted line).

[0035] In addition, the punching program correction unit 17 may also be configured as follows: Figure 5 As shown, for example, the length of time the movable mold is at the top dead center, the moving speed of the movable mold, etc. can be corrected. Figure 5 The following example is shown in the figure: the timing of the moving die moving from the bottom dead point to the top dead point is delayed by shifting the rising edge of the curve to the right, and the falling edge of the curve is deformed to be closer to a straight line, resulting in a shortened time for the moving die to be at the top dead point. In order to perform such corrections, the punching program correction unit 17 can also be configured to correct the punching program by displaying the curve of the distribution data on the screen and allowing the user to deform the curve on the screen using a mouse or the like.

[0036] The robot program storage unit 18 stores a robot program for specifying the actions of the robot. The robot program is described according to the same protocol as that used for programming an actual robot. Specifically, the robot program can be set to determine the target position (teaching point) at which a reference point such as a hand should be arranged and the time at which the reference point should be arranged at the target position.

[0037] The robot motion processing unit 19 operates the robot R according to the robot program stored in the robot program storage unit 18 , that is, moves the components B, A1 , A2 , A3 , and H of the robot R and the workpiece W held by the robot R in the virtual space.

[0038] The template program setting unit 20 causes the robot program storage unit 18 to store, as an initial value of the robot program, a template program for specifying a reference motion of the robot R. Therefore, the template program setting unit 20 stores a preset template program.

[0039] exist Figure 6 Schematically shows an example of a template program stored in the template program setting unit 20. The template program is a robot program for the robot R to take out the workpiece W from the fixed die M2 of the upstream punching machine P and place it on the fixed die M2 of the downstream punching machine P, and includes 8 target positions Q1 to Q8 of the reference point of the configuration hand H.

[0040] exist Figure 6 In the template program, the first target position Q1 is used as the starting point, and the hand H of the robot R is arranged above the fixed die M2 of the punching machine P on the upstream side according to the second target position Q2. At the third target position Q3, the hand H is brought into contact with the workpiece W and holds the workpiece W, and is moved to the fourth target position Q4, thereby removing the workpiece W from the fixed die M2. Then, the hand H is moved to the fifth target position Q5 to arrange the workpiece W above the fixed die M2 of the punching machine P on the downstream side, and the workpiece W is placed on the fixed die M2 by moving the hand H to the sixth target position Q6. After the hand H releases the workpiece at the sixth target position Q6, the hand H is moved to the target position Q7 to separate the hand H from the fixed die M2 and the workpiece W. Then, the hand H is moved to the target position Q8, thereby causing the robot R to exit the moving range of the movable die M1 and the movable worktable T1.

[0041] When the stamping action processing unit 15 causes the press machine P to operate according to the stamping program and the robot action processing unit 19 causes the robot R to operate according to the robot program, the robot program correction unit 21 corrects the robot program to eliminate the interference between the robot R and the press machine P detected by the interference detection unit 13. The detection of interference by the interference detection unit 13 and the correction of the robot program by the robot program correction unit 21 can be performed with the actions of the robot R and the press machine P from one target position Qn (n is the number of the target position) to the next target position Qn+1 in the robot program as unit actions.

[0042] When it is confirmed that the robot R or the workpiece W interferes with the punching machine P when moving from the target position Qn to the target position Qn+1, the robot program correction unit 21 corrects the robot program to change the coordinates of the target position Qn+1. If the coordinates of the target position Qn+1 are changed, the robot programming device 1 can re-perform the action from the target position Qn to the changed target position Qn+1 through the punching action processing unit 15 and the robot action processing unit 19, and confirm whether the robot R or the workpiece W interferes with the punching machine P through the interference detection unit 13. In other words, the robot programming device 1 can correct the robot program for each target position to eliminate the interference between the robot R or the workpiece W and the punching machine P.

[0043] When the interference detection unit 13 detects interference, the robot program correction unit 21 preferably moves the target position Qn+1 along the moving direction of the movable mold M1, and more specifically, moves the target position Qn+1 in the direction in which the movable mold M1 approaches the fixed mold M2. By moving the target position Qn+1 along the moving direction of the movable mold M1, the direction in which the workpiece W is arranged toward the fixed mold M2 and the direction in which the workpiece W is taken out from the fixed mold M2 can be kept unchanged.

[0044] Generally speaking, the moving direction of the movable mold M1 is the same as the direction in which the workpiece W is placed on the fixed mold M2 and the direction in which the workpiece W is taken out from the fixed mold M2. Therefore, the robot program correction unit 21 can move the target position Qn+1 toward the previous target position Qn or the next target position Qn+2. The movement amount of the target position Qn+1 can be set to a fixed distance or a fixed ratio relative to the distance from the target position Qn+1 to the previous target position Qn or the next target position Qn+2.

[0045] The movement amount of the target position Qn+1 for eliminating the interference between the robot R or the workpiece W and the punching machine P needs to be determined within the range in which the workpiece W does not interfere with the fixed mold M2. Therefore, the lower limit value can be set to the distance from the target position Qn+1 after the movement to the previous target position Qn or the next target position Qn+2. In the case where the interference between the robot R or the workpiece W and the punching machine P cannot be eliminated by moving the target position Qn+1 according to such a lower limit value, the position of the previous target position Qn or the next target position Qn+2 whose positional relationship corresponding to the target position Qn is not in the moving direction of the mold can also be moved in the direction in which the moving mold M1 leaves the fixed mold M2. Thereby, it is possible to suppress the hand H from overshooting to the moving mold M1 side when passing through the target position Qn, and eliminate the interference between the robot R or the workpiece W and the punching machine P.

[0046] As a specific example, Figure 6When interference is detected when moving from the first target position Q1 to the second target position Q2 in the template program, the robot program correction unit 21 moves the second target position Q2 along the moving direction of the fixed mold M2, that is, moves the second target position Q2 toward the third target position Q3. In this way, interference when moving from the first target position Q1 to the second target position Q2 can be eliminated.

[0047] In addition, Figure 6 In the template program of , when interference is detected when moving from the third target position Q3 to the fourth target position Q4, the robot program correction unit 21 moves the fourth target position Q4 along the moving direction of the fixed mold M2, that is, moves the fourth target position Q4 toward the third target position Q3. Similarly, when interference is detected when moving from the fourth target position Q4 to the fifth target position Q5, the fifth target position Q5 is moved toward the sixth target position Q6, and when interference is detected when moving from the sixth target position Q6 to the seventh target position Q7, the seventh target position Q7 is moved toward the sixth target position Q6.

[0048] Furthermore, the robot program correction unit 21 may also adjust the moving speed or acceleration of the robot R in the robot program. By increasing the moving speed or acceleration of the robot R, the moving time of the robot R can be shortened. Thus, the robot R can move the workpiece within a time when the distance between the moving die M1 and the fixed die M2 of the press machine P is large, and thus interference between the robot R or the workpiece W and the press machine P can be eliminated under various conditions.

[0049] Then, in Figure 7 , the robot program correction process in the robot programming device 1 is shown. The robot program correction includes a three-dimensional model configuration process (step S1), a distribution data setting process (step S2), a stamping program correction process (step S3), a template program writing process (step S4), a three-dimensional model action process (step S5), an interference confirmation process (step S6), a robot program correction process (step S7), and a program end confirmation process (step S8).

[0050] In the three-dimensional model placement process of step S1 , the three-dimensional models of the robot R, the press machine P, and the workpiece W are placed by the model placement unit 12 in the virtual space assumed by the virtual space information storage unit 11 .

[0051] In the distribution data setting process of step S2 , the distribution data setting unit 16 causes the press program storage unit 14 to store a press program based on the distribution data.

[0052] In the press program correction step of step S3 , the press program stored in the press program storage unit 14 is corrected according to the requirements of the press work to be confirmed.

[0053] In the template program writing process of step S4 , the template program setting unit 20 writes and stores the template program in the robot program storage unit 18 as the initial value of the robot program.

[0054] In the three-dimensional model action process of step S5, the stamping action processing unit 15 moves the three-dimensional model of the stamping machine P according to the stamping program stored in the stamping program storage unit 14, and the robot action processing unit 19 moves the three-dimensional model of the robot R and the workpiece W according to the robot program stored in the robot program storage unit 18.

[0055] In the interference confirmation process of step S6, the interference detection unit 13 confirms whether there is interference between the three-dimensional model of the press machine P and the three-dimensional model of the robot R or the three-dimensional model of the workpiece W. If the interference detection unit 13 detects interference, the process proceeds to step S7, and if the interference detection unit 13 does not detect interference, the process proceeds to step S8.

[0056] In the robot program correction process of step S7, the robot program stored in the robot program storage unit 18 is corrected by the robot program correction unit 21 to eliminate interference between the three-dimensional model of the press machine P and the three-dimensional model of the robot R or the three-dimensional model of the workpiece W. When the robot program is corrected in step S7, the process returns to step S5, and the three-dimensional model is operated according to the robot program.

[0057] In the program end confirmation process of step S8, it is confirmed whether the stamping program and the robot program have been executed to the end. In the case where the stamping program and the robot program have been executed to the end, the processing is terminated. In the case where at least a part of the stamping program and the robot program has not been executed, the process returns to step S15 and the three-dimensional model is operated according to the subsequent part of the program.

[0058] Since the robot programming device 1 includes the interference detection unit 13 and the robot program correction unit 21 , it is possible to automatically create an appropriate robot program.

[0059] In addition, the robot programming device 1 includes: a template program setting unit 20, which enables the robot program storage unit 18 to store a template program for specifying a reference action of the robot R as an initial value of the robot program; an interference detection unit 13, which detects mutual interference among the three-dimensional models of the workpiece W, the robot R and the press P; and a robot program correction unit 21, which corrects the robot program stored in the robot program storage unit 18 to eliminate the interference detected by the interference detection unit 13, so that the robot programming device 1 can easily and reliably produce a robot program for causing the robot R to perform appropriate actions in the stamping processing system.

[0060] In addition, since the robot programming device 1 is provided with a distribution data setting unit 16, the movement of the three-dimensional model of the punching machine P becomes a movement similar to the movement of the actual punching machine P. The distribution data setting unit 16 causes the punching program storage unit 14 to store the punching program according to the distribution data, and the distribution data records the positions of the molds M1 and M2 at each time when the actual punching machine P is actually operated. Therefore, the robot programming device 1 can confirm in detail whether the robot program is appropriate.

[0061] The above is an explanation of the implementation of the robot programming device involved in the present disclosure, but the robot programming device involved in the present disclosure is not limited to the above implementation. In addition, the effects described in the above implementation are only the best effects produced by the robot programming device involved in the present disclosure, and the effects of the robot programming device involved in the present disclosure are not limited to the effects described in the above implementation.

[0062] In the robot programming device involved in the present disclosure, the structure related to the robot program and the structure for detecting interference are arbitrary structures. The robot programming device involved in the present disclosure can also be a device that displays the actions of the three-dimensional model on the screen, allows the user to identify interference on the screen, and corrects the robot program by eliminating the interference based on the user's judgment.

[0063] In the robot programming device involved in the present disclosure, the number of presses and robots whose three-dimensional models are configured in the virtual space is not particularly limited. As an example, the robot programming device involved in the present disclosure may cause the three-dimensional models of a robot that supplies a workpiece to a press and a robot that takes out a workpiece from the same press to operate in the virtual space. In the robot programming device involved in the present disclosure, all presses and robots configured in the virtual space operate in coordination on a single time axis.

Claims

1. A robot programming device for creating a robot program for specifying the actions of a robot in a stamping processing system, wherein the stamping processing system includes one or more robots for conveying a workpiece and one or more stamping machines for processing the workpiece by clamping the workpiece with a die, the robot programming device comprising: a robot program storage unit storing the robot program; a punching program storage unit storing a punching program for specifying the operation of the punching machine; a template program setting unit that causes a robot program storage unit to store a template program for specifying a reference motion of the robot as an initial value of the robot program; a model configuration unit that configures three-dimensional models of the workpiece, the robot, and the punching machine in a virtual space; a robot motion processing unit for causing the three-dimensional model of the robot to move according to the robot program; A stamping operation processing unit that causes the three-dimensional model of the stamping machine to operate according to the stamping program; an interference detection unit that detects mutual interference among the three-dimensional models of the workpiece, the robot, and the punching machine; and a robot program correction unit that automatically corrects the robot program stored in the robot program storage unit to eliminate the interference detected by the interference detection unit when the interference detection unit detects interference, The mold includes a movable mold and a fixed mold, and when the interference is detected, the robot program correction unit moves the target position of the robot along a moving direction toward the fixed mold. The robot programming device further includes a distribution data setting unit configured to cause the press program storage unit to store the press program according to distribution data recording the position of the die at each time when the press machine is actually operated.

2. The robot programming device according to claim 1, wherein: The robot program correction unit adjusts a moving speed or an acceleration of the robot.

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