Program creation device and robot action creation method

Abstract

The present application provides a program creation device and a program, which enables a user with insufficient knowledge to easily confirm a job sequence included in a motion program. The program creation device acquires a job sequence to be executed by a robot, and creates a motion program based on the job sequence and a job information file in which information related to a job included in the job sequence is recorded. In addition, the program creation device can correct the job sequence according to the job information file, and create a new motion program based on the corrected new job sequence.

Description

TECHNICAL FIELD

[0001] The present application relates to a program creation device and a robot action creation method. BACKGROUND

[0002] For example, as described in Patent Literature 1, a program automatic creation device that creates an action program for causing a robot to perform a work on an object is known. In the program automatic creation device described in this document, a step of a work is created by a flowchart, and an action program is automatically generated based on the created flowchart.

[0003] Patent Literature 1: Japanese Patent Application Publication No. 2017-64844

[0004] However, users who use the action program created by the program automatic creation device are not necessarily all proficient in programs, and for users who are not sufficiently knowledgeable about programs, it is difficult to understand and master the work from the action program. SUMMARY

[0005] The program creation device of the present application is characterized by acquiring a work sequence performed by a robot, and creating an action program based on the work sequence and a work information file that records information related to a work included in the work sequence.

[0006] The robot action creation method of the present application acquires a work sequence performed by a robot, and creates an action program based on the work sequence and a work information file that records information related to a work included in the work sequence. BRIEF DESCRIPTION OF DRAWINGS

[0007] Figure 1 is a perspective view showing the overall structure of a robot system to which the preferred embodiment relates.

[0008] Figure 2 is a block diagram showing a program creation device.

[0009] Figure 3 is a diagram showing an example of a screen displayed by the program creation device.

[0010] Figure 4 is a diagram showing an example of a screen displayed by the program creation device.

[0011] Figure 5 is a diagram showing a part of an action program.

[0012] Figure 6 is a diagram showing a part of a work information file.

[0013] REFERENCE SIGNS

[0014] 1 … robot system; 2 … robot; 21 … base; 22 … robot arm; 221 … arm; 222 … arm; 223 … arm; 224 … arm; 225 … arm; 226 … arm; 23 … end effector; 231 … polishing member; 3 … robot control device; 4 … program creation device; 41 … work information acquisition section; 42 … program generation section; 51 … monitor; 52 … input device; E … encoder; J1 … joint; J2 … joint; J3 … joint; J4 … joint; J5 … joint; J6 … joint; M … motor; P … motion program; PP … program; Q … object; SF … work information file. DETAILED DESCRIPTION

[0015] Hereinafter, the program creation device and the program of the present application will be described in detail based on the preferred embodiments shown in the drawings.

[0016] Figure 1 is a perspective view showing the overall structure of the robot system involved in the preferred embodiment. Figure 2 is a block diagram showing the program creation device. Figure 3 and Figure 4 are diagrams each showing an example of the screen displayed by the program creation device. Figure 5 is a diagram showing a part of the motion program. Figure 6 is a diagram showing a part of the work information file.

[0017] Before the program creation device 4 for automatically creating a motion program P for driving a robot is described, a robot system 1 driven based on the motion program P automatically created by the program creation device 4 will be described briefly. As shown in Figure 1 , the robot system 1 has a robot 2 and a robot control device 3 that controls the driving of the robot 2 based on the motion program P.

[0018] The robot 2 is a six-axis robot having six driving axes. The robot 2 has a base 21 and a robot arm 22 rotatably coupled to the base 21, and an end effector 23 is installed at the distal end portion of the robot arm 22.

[0019] The robot arm 22 is a mechanical arm in which a plurality of arms 221, 222, 223, 224, 225, 226 are rotatably coupled, and has six joints J1 to J6. Among them, the joints J2, J3, J5 are bending joints, and the joints J1, J4, J6 are twisting joints. Further, a motor M and an encoder E are provided on each of the joints J1, J2, J3, J4, J5, J6.

[0020] In addition, an end effector 23 is attached to the arm 226. The end effector 23 is detachably attached to the arm 226, and an end effector suitable for a work to be performed by the robot 2 can be attached. The end effector 23 of the present embodiment has a polishing member 231 that is rotationally driven, and the robot 2 performs a polishing work for smoothing the surface of the object Q.

[0021] The robot 2 has been described above, but the configuration of the robot 2 is not particularly limited. For example, the robot 2 can be a SCARA robot (horizontal multi-joint robot), a dual-arm robot, or the like. In addition, the robot 2 can be fixed to the ground or the like so as to be immovable, or can be fixed to a mobile device such as an automated guided vehicle (AGV) so as to be movable.

[0022] The robot control device 3 controls the drive of the robot system 1 on the basis of the motion program P automatically created by the program creation device 4.

[0023] The robot control device 3 is constituted by, for example, a computer, has a processor that processes information, a memory that is communicably connected to the processor, and an external interface that is connected to an external device. Various programs executable by the processor are stored in the memory, and the processor can read and execute the various programs stored in the memory, and the like.

[0024] The robot system 1 has been described simply above. Next, the program creation device 4 that creates the motion program P will be described. The program creation device 4 is constituted by, for example, a computer, has a processor that processes information, a memory that is communicably connected to the processor, and an external interface that is connected to an external device. A program PP executable by the processor is stored in the memory, and the processor can read and execute the program PP. The program PP is software that automatically creates the motion program P, and hardware in which the software is installed becomes the program creation device 4.

[0025] As shown in Figure 2 , such a program creation device 4 has a work information acquisition section 41 that acquires information related to a work to be performed by the robot 2, and a program generation section 42 that automatically generates the motion program P on the basis of the information related to the work acquired by the work information acquisition section 41. In addition, a monitor 51 that is a display device, and an input device 52 such as a keyboard, a mouse, or the like are attached to the program creation device 4.

[0026] As a first step, the work information acquisition section 41 displays, for example, an input screen (graphical user interface) shown in Figure 3 on the screen of the monitor 51, and receives a work to be performed by the robot 2 from a user via the input device 52.

[0027] As the work to be received, there is no particular limitation, and in the present embodiment, a polishing work for smoothing the surface of the object Q is received. In addition, the polishing work is received in association with the object Q, and the polishing work is received in association with the polishing member 231.Figure 3 In the example shown, the user is able to assign one action to one "Group", and is able to input and specify, for each Group, a "PList" indicating the start point and end point of the movement of the end effector 23, a "Coordinate" indicating the coordinates used in the "PList", a "Direction" indicating the pressing direction of the end effector 23 against the object Q, a "Force" indicating the pressing force of the end effector 23 against the object Q, a "Firmness" indicating the hardness in force control, a "Speed" indicating the movement speed of the end effector 23, and an "rpm" indicating the rotational speed of the polishing member 231. That is, the start point and end point indicated by the "PList", the coordinates indicated by the "Coordinate", the pressing direction indicated by the "Direction", the pressing force indicated by the "Force", the hardness indicated by the "Firmness", the movement speed indicated by the "Speed", and the rotational speed indicated by the "rpm" are examples of the work-related information, and they are included in the work sequence. In Figure 3 In the example shown, the user creates five Groups: Group0, Group1, Group2, Group3, and Group4.

[0028] Further, the work information acquisition section 41, after accepting the action input from the user, as a second step, displays the input screen (graphical user interface) shown in Figure 4 The input screen (graphical user interface) shown is displayed on the screen of the monitor 51, and a work sequence is created based on the instructions from the user via the input device 52. At this time, the user is able to decide the execution order of Group0, Group1, Group2, Group3, and Group4 set in the first step, and is also able to insert other actions between consecutive Groups.

[0029] Figure 4 The work sequence shown is executed in the order of Group0, Group1, Group2, and Group3, and, before executing Group0, an unillustrated force sensor provided to the robot arm 22 is initialized, the end effector 23 is moved to P (300) which is slightly away from the start position of Group0, 5 seconds are waited after the end of Group1, and then Group2 is started.

[0030] The program generator 42 creates a motion program P for driving the robot based on the work sequence created in response to user instructions in the second step. Furthermore, the program generator 42 creates the motion program P and a work information file SF containing information related to the work included in the work sequence. The work information file SF can be displayed on the screen of the monitor 51 in response to user instructions. Figure 5 An example of an action program P is shown. Figure 6 An example of the job information file SF is shown.

[0031] like Figure 6 As shown, the job information file SF displays the job sequence included in the action program P in a list format. More specifically, the jobs are listed in chronological order vertically, while information related to each job, namely various parameters (PList, Coordinate, Direction, Force, Firmness, Speed, rpm, etc.), is listed horizontally. Therefore, the job information file SF allows the user to easily identify the job sequence included in the action program P.

[0032] It should be noted that if one has sufficient knowledge of the program, it is possible to confirm the sequence of operations based on the description of the action program P. However, it takes considerable time to find each operation in the action program P. Furthermore, not all users have sufficient knowledge of the program. For users with insufficient knowledge, confirming the sequence of operations based on the action program P is difficult and prone to errors.

[0033] In contrast, according to the work information file SF obtained by extracting and filing only the work sequence, not only a user with sufficient knowledge but also a user with insufficient knowledge can clearly confirm the work sequence included in the action program P simply and in a short time.

[0034] Furthermore, the program creation device 4 (program PP) can restore the work sequence to a state where it can be modified based on the job information file SF, in response to user instructions. If the user then modifies the work sequence in this state, the program creation device 4 (program PP) creates a new action program P based on the modified new work sequence.

[0035] The program creation device 4 (program PP) generates a program that reflects the information included in the job information file SF, for example, based on an instruction from a user. Figure 3 、 Figure 4The input screen (graphical user interface) shown is displayed on the screen of the monitor 51, and via the input device 52, a change of the parameters included in each action, a change of the execution order of each action, and the like are accepted from the user. Then, the program creation device 4 (program PP) creates a new action program P and a job information file SF based on the new job sequence revised.

[0036] Thus, according to the structure that the job sequence in the action program P can be revised based on the job information file SF, for a user having sufficient knowledge, it goes without saying, but even for a user having insufficient knowledge, the revision of the action program P can be easily performed. However, it is not limited thereto, and it can be such that the job sequence in the action program P cannot be revised based on the job information file SF.

[0037] Further, the program creation device 4 (program PP) can select the information included in the job information file SF according to an instruction from the user. That is, in the above description, although each parameter: PList, Coordinate, Direction, Force, Firmness, Speed, rpm is recorded for each job, further other parameters can be added, and at least one of these parameters can be omitted. According to such a structure, since only the information required by the user can be included in the job information file SF, it becomes easier to confirm the job sequence via the job information file SF. However, it is not limited thereto, and it can be such that the information included in the job information file SF cannot be selected. Figure 6

[0038] The above describes the program creation device 4 and the program PP. As described above, such a program creation device 4 acquires a job sequence for the robot 2 to execute, and creates an action program P based on the job sequence, and a job information file SF that records the information related to the job included in the job sequence. Thereby, the job sequence in the action program P can be confirmed through the job information file SF, for a user having sufficient knowledge, it goes without saying, but even for a user having insufficient knowledge, the confirmation can be easily and definitely performed in a short time.

[0039] Further, as described above, the program creation device 4 can revise the job sequence based on the job information file SF, and create a new action program P based on the new job sequence revised. Thereby, the action program P can be easily revised.

[0040] Further, as described above, the program creation device 4 can select the information included in the job information file. According to such a structure, since only the information required by the user can be included in the job information file SF, it becomes easier to confirm the job sequence via the job information file SF.

[0041] ​Further, as described above, the work sequence includes a polishing work of polishing the object Q using the polishing member 231, and in the work-related information included in the work sequence, at least one of the press direction (Direction) of pressing the polishing member 231 against the object Q, the press force (Force), the firmness (Firmness) in the force control, the moving speed (Speed) of the polishing member 231, and the rotation speed (rpm) of the polishing member 231 is included. Thus, the sequence of the polishing work can be easily confirmed.

[0042] Further, as described above, the program PP acquires the work sequence executed by the robot 2, and creates the action program P based on the work sequence, and the work information file SF recording the work-related information included in the work sequence. Thus, the work sequence in the action program P can be confirmed by the work information file SF, and for a user having sufficient knowledge, it goes without saying, even for a user having insufficient knowledge, the confirmation can be simply and definitely performed in a short time.

[0043] The program creating apparatus and the program of the present application have been described based on the illustrated embodiments, but the present application is not limited thereto, and the structure of each part can be replaced with any structure having the same function. Further, any other structure can be added to the present application. Further, each embodiment can be appropriately combined.

Claims

1. A program creation device, characterized in that: The program creation device includes a memory and a processor, wherein the memory is used to store the program. The processor is configured to perform the following operations by executing the program: accepting motion information, wherein the motion information includes: a start point and an end point of movement of an end effector of a robot, coordinates indicating the start point and the end point, a direction in which the end effector presses an object, a pressure force applied by the end effector to the object, a moving speed of the end effector, and a rotational speed of a grinding member generated by the end effector, and a plurality of robot motions associated with the motion information are performed by the robot based on the motion information having specific values ​​associated with the start point and the end point, the coordinates, the pressing direction, the pressing force, the moving speed, and the rotational speed; creating a plurality of action groups of the plurality of actions, wherein each group of the plurality of action groups is respectively assigned one action of the plurality of actions; determining a waiting time between adjacent action groups in the plurality of action groups; generating a task sequence for the robot to execute according to the plurality of action groups and the waiting time; An action program based on the job sequence and a job information file recording the action information included in the job sequence are created.

2. The program creation device according to claim 1, wherein The program creation device modifies the job sequence based on the job information file and creates a new action program based on the modified new job sequence.

3. The program creation device according to claim 1 or 2, wherein: The program creation device is capable of selecting the action information included in the job information file.

4. The program creation device according to claim 3, wherein The operation sequence includes a grinding operation of grinding the object using the grinding member. The motion information includes hardness in force control.

5. A method for creating a robot's motion, characterized in that: By executing the program, perform the following operations: accepting motion information, wherein the motion information includes: a start point and an end point of movement of an end effector of the robot, coordinates indicating the start point and the end point, a direction in which the end effector presses an object, a pressure force applied by the end effector to the object, a moving speed of the end effector, and a rotational speed of a grinding member generated by the end effector, and a plurality of robot motions associated with the motion information are performed by the robot based on the motion information having specific values ​​associated with the start point and the end point, the coordinates, the pressing direction, the pressing force, the moving speed, and the rotational speed; creating a plurality of action groups of the plurality of actions, wherein each group of the plurality of action groups is respectively assigned one action of the plurality of actions; determining a waiting time between adjacent action groups in the plurality of action groups; generating a task sequence for the robot to execute according to the plurality of action groups and the waiting time; An action program based on the job sequence and a job information file recording the action information included in the job sequence are created.

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