Robotic system

Abstract

A robot system is provided with an off-line programming device, and is capable of creating a machining path composed of an arbitrary shape of a trajectory and reducing the time required for teaching an arbitrary shape of a machining path. The robot system is provided with an off-line programming device (2) for teaching a program of a robot provided with a tool for machining a workpiece arranged in a work space, and the off-line programming device (2) is provided with a trajectory information creating section (3) for creating three-dimensional arbitrary shape trajectory information composed of at least one layer, and a trajectory information editing section (4) for editing a line segment constituting the three-dimensional arbitrary shape trajectory information composed of at least one layer.

Description

TECHNICAL FIELD

[0001] The present application relates to a robot system. BACKGROUND

[0002] Conventionally, there is a robot system configured to perform driving control of a robot provided with a tool using an off-line programming device for teaching a program, thereby processing a workpiece arranged in a work space.

[0003] In this robot system (off-line programming device), a solid shape including a curved surface or a solid shape including a plurality of continuous planes is filled (painted out) by an action pattern composed of continuous trajectories representing periodic actions of a tool, and the solid shape is arranged in a virtual space in such a manner that the action pattern is projected on at least one face of a workpiece model, and a processing path of the tool is made by projecting the action pattern on at least one face of the workpiece model. In addition, the robot system is configured to automatically determine a position or a position and posture of a tool model based on a normal direction of at least one face of the workpiece model and the processing path made.

[0004] For example, in Patent Literature 1, there is disclosed "a robot trajectory generation device including: a three-dimensional space setting unit for setting a pseudo three-dimensional space; a two-dimensional data reading unit for reading two-dimensional data; a three-dimensional data generation unit for generating three-dimensional data by pasting the read two-dimensional data to a specific face of the pseudo three-dimensional space; and a robot trajectory generation unit for generating a trajectory of a tool of a robot based on the generated three-dimensional data."

[0005] Prior art documents

[0006] Patent documents

[0007] Patent Literature 1: Japanese Patent Application Publication No. 2012-061529 SUMMARY

[0008] Problem to be solved by the invention

[0009] However, in the above-described conventional robot system, there is a problem that it is not possible to make a processing path composed of a trajectory of an arbitrary shape, because it is selected from a plurality of action patterns composed of continuous trajectories representing periodic actions of a tool. Thus, for teaching of a processing path of an arbitrary shape, it is necessary to manually perform teaching, and there is a problem that it is very time-consuming and requires a large amount of labor and time.

[0010] Therefore, it is strongly desired to develop a method capable of creating a machining path composed of an arbitrary shape of a trajectory, capable of reducing the man-hours required for teaching an arbitrary shape of a machining path, and further capable of greatly reducing the labor and time required for teaching an arbitrary shape of a machining path.

[0011] Solution to solve the problem

[0012] One embodiment of the robot system of the present disclosure includes an off-line programming device for teaching a program of a robot having a tool for machining a workpiece arranged in a work space, wherein the off-line programming device includes a trajectory information creating section for creating three-dimensional arbitrary shape trajectory information composed of at least one layer, and a trajectory information editing section for editing a line segment constituting the three-dimensional arbitrary shape trajectory information composed of at least one layer.

[0013] Effects of the invention

[0014] According to one embodiment of the robot system of the present disclosure, a machining path composed of an arbitrary shape of a trajectory can be created, and the man-hours required for teaching an arbitrary shape of a machining path can be reduced. Therefore, the problem of the prior art that a large amount of labor and time is required to create a machining path composed of an arbitrary shape of a trajectory can be eliminated. BRIEF DESCRIPTION OF DRAWINGS

[0015] Fig. 1 FIG. 1 is a diagram illustrating an off-line programming device of a robot system of one embodiment.

[0016] Fig. 2 FIG. 2 is a flowchart illustrating a process of creating a machining path of a tool and determining a position or a position and posture of a tool model using the off-line programming device of the robot system of one embodiment.

[0017] Fig. 3 FIG. 2 is a flowchart illustrating a process of creating a machining path of a tool and determining a position or a position and posture of a tool model using the off-line programming device of the robot system of one embodiment.

[0018] Fig. 4 FIG. 3 is a diagram illustrating an example of three-dimensional arbitrary shape trajectory information composed of at least one layer.

[0019] Fig. 5 FIG. 3 is a diagram illustrating an example of three-dimensional arbitrary shape trajectory information composed of at least one layer.

[0020] Fig. 6 FIG. 3 is a diagram illustrating an example of three-dimensional arbitrary shape trajectory information composed of at least one layer.

[0021] Fig. 7is a drawing showing an example of trajectory information of an arbitrary shape in three dimensions composed of at least one layer.

[0022] Fig. 8 is a drawing showing an example of editing trajectory information of an arbitrary shape in three dimensions composed of at least one layer.

[0023] Fig. 9 is a drawing showing an example of specifying a depth in the Z direction of trajectory information of an arbitrary shape in three dimensions composed of at least one layer.

[0024] Fig. 10 is a drawing showing an example of specifying a depth in the Z direction of trajectory information of an arbitrary shape in three dimensions composed of at least one layer.

[0025] Fig. 11 is a drawing showing an example of specifying a scale in the X direction and the Y direction of trajectory information of an arbitrary shape in three dimensions composed of at least one layer.

[0026] Fig. 12 is a drawing showing an example of specifying a scale in the X direction and the Y direction of trajectory information of an arbitrary shape in three dimensions composed of at least one layer.

[0027] Fig. 13 is a drawing showing an example of a plurality of motion patterns composed of trajectories of an arbitrary shape in three dimensions composed of at least one layer.

[0028] Fig. 14 is a drawing showing an example of a robot system of one embodiment.

[0029] Fig. 15 is a drawing showing an example of a plurality of motion patterns composed of trajectories of an arbitrary shape in three dimensions composed of at least one layer.

[0030] Fig. 16 is a drawing showing an example of a three-dimensional shape including a curved surface or a three-dimensional shape including a plurality of continuous planes.

[0031] Fig. 17 is a drawing showing a state in which a selected three-dimensional shape is filled with a selected motion pattern and the three-dimensional shape is arranged in a virtual space so that the motion pattern is projected on at least one surface of a work model.

[0032] Fig. 18 is a drawing showing a state in which a position and posture of a three-dimensional shape with respect to a surface of a work model are set.

[0033] Fig. 19 is a drawing showing a state in which a machining path of a tool is created.

[0034] Fig. 20 is a view showing a state in which the curved surface or the continuous multiple planes of the selected solid shape are filled by the selected one action pattern, and the solid shape is arranged in the virtual space in a manner that the action pattern is projected to at least one face of the workpiece model.

[0035] Fig. 21 is a view showing a state in which the position and posture of the solid shape with respect to the face of the workpiece model are set.

[0036] Fig. 22 is a view showing a state in which the machining path of the tool is made.

[0037] Fig. 23 is a view showing an example of one embodiment of the robot system.

[0038] Fig. 24 is a view showing a state in which the curved surface or the continuous multiple planes of the selected solid shape are filled by the selected one action pattern, and the solid shape is arranged in the virtual space in a manner that the action pattern is projected to at least one face of the workpiece model.

[0039] Fig. 25 is a view showing a state in which the position and posture of the solid shape with respect to the face of the workpiece model are set.

[0040] Fig. 26 is a view showing a state in which the machining path of the tool is made.

[0041] Fig. 27 is a view showing an example of the robot system.

[0042] Fig. 28 is a view showing that the position or the position and posture of the tool model are automatically decided based on the normal direction of at least one face of the workpiece model and the machining path made.

[0043] Explanation of reference numerals

[0044] 1: robot system; 2: off-line programming device; 3: trajectory information making section; 4: trajectory information editing section; 5: trajectory information scale specifying section; 6: trajectory information depth specifying section; 7: action pattern making section; 8: action pattern storage section; 9: virtual space making section; 10: model arranging section; 11: solid shape storage section; 12: action pattern selecting section; 13: solid shape selecting section; 14: solid shape arranging section; 15: machining path making section; 16: tool position and posture deciding section; 20: robot; 21: tool; W: workpiece. DETAILED DESCRIPTION

[0045] Hereinafter,Figs. 1 to 28 A robot system related to one embodiment will be described.

[0046] A robot system of one embodiment of the present disclosure is a system for controlling driving of a robot provided with a tool to process a workpiece arranged in a work space using an off-line programming device for teaching a program.

[0047] Specifically, as shown in Fig. 1 The robot system 1 of the present embodiment is provided with an off-line programming device 2 for teaching a program of a robot provided with a tool to process a workpiece arranged in a work space.

[0048] The off-line programming device 2 is provided with a trajectory information production section 3 for producing three-dimensional arbitrary shape trajectory information composed of at least one layer, a trajectory information editing section 4 for editing a line segment constituting the three-dimensional arbitrary shape trajectory information composed of at least one layer, a trajectory information scale designation section 5 for designating a scale in an X direction as one direction and a Y direction as another direction orthogonal to the one direction on the same plane of the three-dimensional arbitrary shape trajectory information composed of at least one layer, a trajectory information depth designation section 6 for designating a depth in a Z direction orthogonal to the X direction and the Y direction of the three-dimensional arbitrary shape trajectory information composed of at least one layer, a motion pattern production section 7 for producing a motion pattern composed of the three-dimensional arbitrary shape trajectory composed of at least one layer based on the three-dimensional arbitrary shape trajectory information composed of at least one layer, and a motion pattern storage section 8 for storing a plurality of motion patterns composed of the three-dimensional arbitrary shape trajectory composed of at least one layer.

[0049] The off-line programming device 2 is further provided with a virtual space production section 9 for producing a virtual space three-dimensionally representing a work space, a model arrangement section 10 for arranging a workpiece model of a workpiece, a robot model of a robot, and a tool model of a tool in the virtual space produced by the virtual space production section 9, a solid shape storage section 11 for storing a solid shape including a curved surface and a solid shape including a plurality of continuous planes, a motion pattern selection section 12 for selecting one motion pattern from among a plurality of motion patterns stored in the motion pattern storage section 11, and a solid shape selection section 13 for selecting a solid shape including a curved surface or a solid shape including a plurality of continuous planes from among the solid shapes stored in the solid shape storage section 11.

[0050] The off-line programming device 2 further includes a three-dimensional shape arrangement unit 14 that fills the curved surface or the plurality of continuous planes of the three-dimensional shape selected by the three-dimensional shape selection unit 13 with the one action pattern selected by the action pattern selection unit, and arranges the three-dimensional shape in the virtual space in such a manner that the action pattern is projected onto at least one face of the workpiece model; a machining path creation unit 15 that projects the action pattern that fills the curved surface or the plurality of continuous planes of the three-dimensional shape onto at least one face of the workpiece model, and creates a machining path of the tool; and a tool position / posture determination unit 16 that automatically determines the position or the position / posture of the tool model based on the normal direction of at least one face of the workpiece model and the machining path created by the machining path creation unit 15.

[0051] Further, in the robot system 1 of the present embodiment configured by the above structure, as shown in Fig. 2 , Fig. 4 , first, three-dimensional arbitrary shape trajectory information composed of at least one layer is created (see Fig. 7 ).

[0052] For example, a text file containing information of a three-dimensional arbitrary shape trajectory composed of at least one layer is read, and the three-dimensional arbitrary shape trajectory information composed of at least one layer is created based on the text file.

[0053] At this time, one text file containing information of an arbitrary shape trajectory of all layers can be read, or a plurality of text files containing information of an arbitrary shape trajectory of each layer can be read.

[0054] A CAD data containing information of a three-dimensional arbitrary shape trajectory composed of at least one layer can be read (see Fig. 5 ), and the three-dimensional arbitrary shape trajectory information composed of at least one layer is created.

[0055] In this case, one CAD data containing information of an arbitrary shape trajectory of all layers can be read, or a plurality of CAD data containing information of an arbitrary shape trajectory of each layer can be read.

[0056] The three-dimensional arbitrary shape trajectory information composed of at least one layer can also be created by creating a three-dimensional arbitrary shape trajectory composed of at least one layer in a manual drawing manner (see Fig. 6 ).

[0057] Further, in Figs. 4 to 6 , only the trajectory information of the first layer is illustrated, but actually, there are a plurality of layers, and each layer can be an arbitrary shape trajectory. In addition, it can be composed of only one layer (two-dimensional).

[0058] Next, as shown inFig. 8 As shown, a line segment of the trajectory information of an arbitrary shape in three dimensions composed of at least one layer is edited. For example, addition, deletion, shape change, and the like of the line segment are performed.

[0059] Here, for example, addition, deletion, shape change, and the like of a line segment of an arbitrary shape in three dimensions composed of at least one layer are performed to change a trajectory of an arbitrary shape in three dimensions composed of at least one layer read from a text file or CAD data in a manual drawing manner. Or a trajectory of an arbitrary shape in three dimensions composed of at least one layer of a completed motion pattern already stored is changed in a manual drawing manner.

[0060] Next, as shown in Fig. 9 , Fig. 10 , a depth in the Z direction of the trajectory information of an arbitrary shape in three dimensions composed of at least one layer is specified.

[0061] For example, a default depth in the Z direction defined by the information of the trajectory of an arbitrary shape in three dimensions composed of at least one layer read from a text file or CAD data is changed. Or a depth in the Z direction of the trajectory information of an arbitrary shape in three dimensions composed of at least one layer of a completed motion pattern already stored is changed. Further, it is also possible to set the depth of each layer to 0 and move multiple times on the same surface.

[0062] Next, as shown in Fig. 11 , Fig. 12 , a scale in the X direction and the Y direction of the trajectory information of an arbitrary shape in three dimensions composed of at least one layer is specified.

[0063] For example, a default scale in the X direction and the Y direction defined by the information of the trajectory of an arbitrary shape in three dimensions composed of at least one layer read from a text file or CAD data is changed. Or a scale in the X direction and the Y direction of the trajectory information of an arbitrary shape in three dimensions composed of at least one layer of a completed motion pattern already stored is changed.

[0064] Next, for example, as shown in Fig. 13 , a motion pattern composed of a trajectory of an arbitrary shape in three dimensions composed of at least one layer is created from the trajectory information of an arbitrary shape in three dimensions composed of at least one layer. In addition, a plurality of motion patterns composed of a trajectory of an arbitrary shape in three dimensions composed of at least one layer are stored.

[0065] In Fig. 13 , only a motion pattern of the first layer is illustrated. In fact, there are a plurality of layers, and each layer can be a different shape of a trajectory. In addition, it can be composed of only one layer (two dimensions).

[0066] For example, it can be set to fill the curved surface of the solid shape described later or the continuous multiple planes by the first layer of the action pattern, and to project the first layer to at least one face of the workpiece model. In this case, the layer after the second layer of the action pattern can perform the action of cutting in with the tool further deeply from the surface of the workpiece model.

[0067] Next, the solid shape containing the curved surface or the solid shape containing the continuous multiple planes is filled by the action pattern composed of the arbitrary shape trajectory composed of at least one layer, and the solid shape is arranged in the virtual space in such a manner that the action pattern is projected to at least one face of the workpiece model.

[0068] In addition, the action pattern is projected to at least one face of the workpiece model to make the machining path of the tool, and the position or the position posture of the tool model is automatically decided based on the normal direction of at least one face of the workpiece model and the machining path made.

[0069] <Embodiment 1>

[0070] Here, a more specific first embodiment is described.

[0071] For example, as shown in Fig. 14 , the robot system 1 of <Embodiment 1: First Embodiment> is an example of using a robot 20 in which a blast device (tool) 21 is attached to the front end to machine a workpiece W, and a workpiece model, a robot model, and a tool model are arranged in a virtual space that three-dimensionally represents a work space.

[0072] In the robot system 1 of the present embodiment, as shown in Fig. 15 , one of the action patterns is selected from a plurality of action patterns, and as shown in Fig. 16 , the solid shape and the solid shape containing the continuous multiple planes (22) are stored.

[0073] Then, the solid shape containing the curved surface or the solid shape containing the continuous multiple planes is selected from the solid shape storage section 11.

[0074] Next, as shown in Fig. 17 ( Fig. 20 ), the curved surface or the continuous multiple planes of the selected solid shape is filled by the selected one of the action patterns, and the solid shape is arranged in the virtual space in such a manner that the action pattern is projected to at least one face of the workpiece model.

[0075] As shown in Fig. 18 ( Fig. 21 ), the position posture of the solid shape with respect to the face of the workpiece model is set.

[0076] As shown inFig. 19 Fig. 22 ) shown in FIG. 2, a machining path of the tool is made by projecting the action pattern of filling the curved surface of the solid shape or the continuous multiple planes to at least one face of the workpiece model, and the position or the position posture of the tool model is automatically decided based on the normal direction of at least one face of the workpiece model and the machining path made (refer to Fig. 27 、 Fig. 28 ).

[0077] <Embodiment 2>

[0078] Next, a more specific second embodiment will be described.

[0079] For example, as shown in Fig. 23 , the robot system 1 of <Embodiment 2: Second Embodiment> is an example of processing the workpiece W using the robot 20 to which the grinder (tool) 21 is attached at the front end, and like the above-mentioned <Embodiment 1: First Embodiment>, the workpiece model, the robot model, and the tool model are arranged in the virtual space that represents the work space in three dimensions, one action pattern is selected from a plurality of action patterns, and the solid shape and the solid shape (22) including the continuous multiple planes are stored. In addition, the solid shape including the curved surface or the solid shape including the continuous multiple planes is selected from the solid shape storage 11 (refer to Fig. 15 、 Fig. 16 ).

[0080] Next, as shown in Fig. 24 , the curved surface or the continuous multiple planes of the selected solid shape are filled by the selected one action pattern, and the solid shape is arranged in the virtual space in a manner that the action pattern is projected to at least one face of the workpiece model.

[0081] Next, as shown in Fig. 25 、 Fig. 26 , the position posture of the solid shape with respect to the face of the workpiece model is set, and the machining path of the tool is made by projecting the action pattern of filling the curved surface of the solid shape or the continuous multiple planes to at least one face of the workpiece model.

[0082] Then, the position or the position posture of the tool model is automatically decided based on the normal direction of at least one face of the workpiece model and the machining path made (refer to Fig. 27 、 Fig. 28 ).

[0083] Here, Fig. 27 is an example of processing the workpiece W using the robot 20 to which the grindstone (tool) 21 is attached at the front end, Fig. 28 ​The concept of automatically determining the position or position posture of a tool model based on the normal direction of at least one face of a workpiece model and a machining path created is shown.

[0084] Thus, according to the robot system 1 of the present embodiment, a machining path composed of an arbitrary shape of a trajectory can be created, and the man-hours required for teaching an arbitrary shape machining path can be reduced. Therefore, the problem of the past that creating a machining path composed of an arbitrary shape of a trajectory requires a large amount of labor and time can be eliminated.

[0085] The above describes one embodiment of the robot system, but is not limited to the above one embodiment, and can be appropriately changed within a range not departing from the gist thereof.

Claims

1. A robot system provided with an off-line programming device for teaching a program of a robot provided with a tool for processing a workpiece arranged in a work space, the robot system characterized by, the off-line programming device is provided with: a trajectory information production section for producing three-dimensional arbitrary shape trajectory information composed of a plurality of layers; a trajectory information editing section for editing a line segment constituting the three-dimensional arbitrary shape trajectory information composed of a plurality of layers; a trajectory information scale designation section for designating a scale in an X direction and a Y direction of the three-dimensional arbitrary shape trajectory information composed of a plurality of layers; a trajectory information depth designation section for designating a depth in a Z direction of the three-dimensional arbitrary shape trajectory information composed of a plurality of layers; and a motion pattern creation section that creates a motion pattern composed of the three-dimensional arbitrary shape track composed of the plurality of layers, based on the track information of the three-dimensional arbitrary shape track composed of the plurality of layers; a motion pattern storage section storing a plurality of motion patterns composed of the three-dimensional arbitrary shape trajectory composed of a plurality of layers, wherein, the trajectory information production section produces the trajectory information by reading at least one of a text file containing the trajectory information and CAD data containing the trajectory information, the trajectory information editing section changes the trajectory information produced by the trajectory information production section and the trajectory information of the motion pattern stored in the motion pattern storage section by receiving a manual drawing, the off-line programming device is further provided with: a virtual space production section for producing a virtual space three-dimensionally representing the work space; a model arrangement section for arranging a workpiece model of the workpiece, a robot model of the robot, and a tool model of the tool in the virtual space produced by the virtual space production section; a solid shape storage section storing a solid shape containing a curved surface and a solid shape containing a plurality of continuous planes; a motion pattern selection section for selecting one motion pattern from a plurality of motion patterns stored in the motion pattern storage section; a solid shape selection section for selecting the solid shape containing a curved surface or the solid shape containing a plurality of continuous planes from the solid shape storage section; a solid shape arrangement section for filling the curved surface or the plurality of continuous planes of the solid shape selected by the solid shape selection section with the one motion pattern selected by the motion pattern selection section, and arranging the solid shape in the virtual space in such a manner that the motion pattern is projected to at least one face of the workpiece model; a processing path production section for producing a processing path of the tool by projecting the motion pattern filling the curved surface or the plurality of continuous planes of the solid shape to the at least one face of the workpiece model; and a tool position posture decision section for automatically deciding a position or a position posture of the tool model based on a normal direction of the at least one face of the workpiece model and the processing path produced by the processing path production section. ​ ​

Images