Device, system and method for automatically generating a motion path of a robot

Abstract

Device (10) for automatically generating a movement path of a robot (34), comprising: a shape obtaining unit (12) which obtains the shape of a workpiece (W), which is the object for an operation of the robot (34), from a shape input part, an optical sensor or a mark reading sensor; a movement pattern acquisition unit (14) which acquires a basic movement pattern comprising a standard workpiece shape, obtains a standard work position on the standard workpiece shape and a type of work related to the standard work position from a storage unit (22); a similarity determination unit (16) that determines whether or not the shape of the workpiece obtained by the shape obtaining unit is similar to the standard workpiece shape included in the basic movement pattern; a position determination unit (18) which, on the basis of the shape of the workpiece and the standard workpiece shape determined to be similar by the similarity determination unit, determines an operation position on the workpiece corresponding to the standard operation position included in the basic movement pattern by means of a calculation method; and a path generation unit (20) that generates the movement path for making the robot perform the work included in the basic movement pattern at the work position by changing the standard work position to the work position determined by the position determination unit.

Description

[0001] The present invention relates to an apparatus, a system and a method for automatically generating a movement path of a robot.

[0002] Techniques for automatically generating a motion path of a robot are known (see, for example, patent application JP H08-90 232 A).

[0003] From DE 10 2010 015 031 A1 a method and a device for carrying out a machining process on a motor vehicle component with precise positioning are known.

[0004] From DE 60 2006 000 648 T2 a programming technology for a robot and in particular an offline teaching device for teaching a processing activity of a robot in an offline mode is known.

[0005] US 6,654,666 B1 discloses a method for programming a robot movement and a device for creating a control program for a robot.

[0006] From JP 2014 194 656 A a setting device for weld seam information, a program, an automatic teaching system and a method for setting weld seam information are known.

[0007] JP 2009 172 608 A discloses a method, a device and a program for welding tests.

[0008] From JP 2004 243 215 A, a robot teaching method for a sealant application device and a sealant application device are known.

[0009] Until now, every slight change in the shape of a workpiece requires a robot that performs an operation on the workpiece after the change to re-teach the movement, which is associated with a decrease in the efficiency of a production line.

[0010] The present invention is based on the object of describing a device, a system and a method in which the disadvantage described above is overcome.

[0011] These objects are achieved by a device according to claim 1, a system according to claim 7 and a method according to claim 8. Advantageous further developments are the subject of the dependent claims.

[0012] According to one form of the present disclosure, an apparatus for automatically generating a motion path of a robot includes a shape acquisition unit that acquires the shape of a workpiece that is the object for an operation of the robot; a motion pattern acquisition unit that acquires a basic motion pattern including a standard workpiece shape, a standard operation position at the standard workpiece shape, and a type of operation with respect to the standard operation position; a similarity determination unit that determines whether or not the shape of the workpiece acquired by the shape acquisition unit is similar to the standard workpiece shape included in the basic motion pattern;a position determination unit that determines, based on the shape of the workpiece and the standard workpiece shape determined to be similar by the similarity determination unit, an operation position on the workpiece corresponding to the standard operation position included in the basic motion pattern; and a path generation unit that generates the motion path for making the robot perform the operation included in the basic motion pattern at the operation position by changing the standard operation position to the operation position determined by the position determination unit.

[0013] According to another form of the present disclosure, a method for automatically generating a motion path of a robot comprises acquiring the shape of a workpiece that is the object of an operation of the robot; acquiring a basic motion pattern that includes a standard workpiece shape, a standard operation position at the standard workpiece shape, and a type of operation with respect to the standard operation position; determining whether or not the acquired shape of the workpiece is similar to the standard workpiece shape included in the basic motion pattern; determining an operation position on the workpiece that corresponds to the standard operation position included in the basic motion pattern based on the shape of the workpiece and the standard workpiece shape that are determined to be similar;and generating a motion path for making the robot perform the action included in the basic motion pattern at the action position by changing the standard action position to the action position determined by the position determining unit;

[0014] According to one form of the present disclosure, when the robot performs an operation on a workpiece, the motion path can be automatically created using a basic motion pattern without retraining the robot. Therefore, since the burden associated with retraining the robot can be eliminated, the efficiency of the production line can be increased.

[0015] The objects, features and advantages of the present invention will become more apparent from the following explanation of embodiments taken in conjunction with the accompanying drawings. Fig. 1 is a block diagram of an apparatus according to one embodiment. Fig. 2 is a schematic view of a robot system according to an embodiment. Fig. 3 is a schematic view of a standard workpiece according to one embodiment. Fig. 4A shows that Fig. 3 shown standard workpiece, and Fig. Figure 4B shows an example of a workpiece similar to this standard workpiece. Fig. 5A and Fig. 5B are views explaining the mapping theory. Fig. 6 is a view showing the position detection unit in Fig. 1 calculated activity position at the Fig. 4B shows the workpiece. Fig. 7 is a block diagram of an apparatus according to another embodiment. Fig. Figure 8A shows a standard workpiece according to another embodiment, and Fig. Figure 8B shows an example of a workpiece similar to this standard workpiece. Fig. 9 is a flowchart showing an example of the operation of the Fig. 7 shows the device shown. Fig. 10 is a block diagram of an apparatus according to yet another embodiment. Fig. 11 is a block diagram of an apparatus according to yet another embodiment. Fig. Figure 12 shows a table explaining several types of basic movement patterns. Fig. 13 is a flowchart showing an example of the operation of the Fig. The device shown in Figure 11 shows: Fig. 14 is a flowchart showing an example of the flow of step S22 in Fig. 13 shows. Fig. Figure 15 shows an example of an image of a workpiece captured by the optical sensor in Fig. 11 was recorded. Fig. 16 shows an example of an image of a workpiece and a standard workpiece of a first type plotted in a coordinate system. Fig. Figure 17 shows an example of an image of a workpiece and a standard workpiece of a second type plotted in a coordinate system. Fig. Figure 18 shows an example of an image of a workpiece and a standard workpiece of a third type plotted in a coordinate system. Fig. 19 is a view taken by the positioning unit in Fig. 11 calculated activity positions at the Fig. 15 shows the workpiece shown. Fig. 20 is a block diagram of a system according to one embodiment.

[0016] Embodiments of the present disclosure will be explained below based on the drawings. In the individual embodiments explained below, like elements are denoted by like reference numerals, and repeated explanations will be omitted. First, with reference to Fig. 1 explains a device 10 according to an embodiment.

[0017] The device 10 automatically generates a motion path of a robot and includes a shape acquisition unit 12, a motion pattern acquisition unit 14, a similarity determination unit 16, a position determination unit 18, and a path generation unit 20. The device 10 may be formed from a computer having a CPU, a memory, and the like. Or, each of the shape acquisition unit 12, the motion pattern acquisition unit 14, the similarity determination unit 16, the position determination unit 18, and the path generation unit 20 may be formed from a computer having a CPU or a memory and the like.

[0018] In the present embodiment, a basic motion pattern 24 is stored in advance in a storage unit 22 formed outside the device 10. The basic motion pattern 24 is a computer program that contains information regarding a standard workpiece shape, a standard operation position at the standard workpiece shape, and the type of operation with respect to the standard operation position, and causes the robot to perform a specific operation with respect to the standard operation position.

[0019] Subsequently, with reference to Fig. 2 and Fig. 3 explains a robot system and a basic movement pattern according to one embodiment. Fig. The robot system 30 shown in Figure 2 is used to perform spot welding on a workpiece W and comprises a robot control unit 32 and a robot 34.

[0020] The robot control unit 32 includes a CPU and a memory (not shown), etc., and directly or indirectly controls the individual components of the robot 34. The robot 34 is, for example, a vertically articulated robot comprising a base 40, a rotary body 42, a robot arm 44, a wrist section 46, and an end effector 48. The base 40 is fixed to the floor of a work cell.

[0021] The rotating body 42 is formed on the base 40 so that it can rotate about a vertical axis. The robot arm 44 has a lower arm portion 50 rotatably coupled to the rotating body 42 and an upper arm portion 52 rotatably coupled to the tip end of the lower arm portion 50. The wrist portion 46 is rotatably coupled to the tip end of the upper arm portion 52 and carries the end effector 48.

[0022] A servo motor (not shown) is installed in each of the rotating body 42, the robot arm 44, and the wrist section 46. A robot coordinate system C is defined with respect to the robot 34. R as a coordinate system of automatic control.

[0023] The robot control unit 32 sends on the robot coordinate system C R based commands to the individual servo motors and drives the rotating body 42, the robot arm 44 and the wrist section 46. This places the end effector 48 at any position and in any orientation in the robot coordinate system C R arranged.

[0024] The end effector 48 is a spot welding gun and includes a base section 54, a fixed arm 56, a movable arm 58, a drive unit 60, a fixed electrode tip 62, and a movable electrode tip 64.

[0025] The base portion 54 is coupled to the wrist portion 46 of the robot 34. The base end of the fixed arm 56 is fixed to the base portion 54. The fixed electrode tip 62 is fixed to the tip end of the fixed arm 56.

[0026] The movable arm 58 is formed on the base portion 54 so that it can move toward and away from the fixed electrode tip 62. The drive unit 60 includes, for example, a servo motor and moves the movable arm 58 according to commands from the robot control unit 32 so that it can move toward and away from the fixed electrode tip 62.

[0027] The fixed electrode tip 62 and the movable electrode tip 64 are energized according to commands from the robot control unit 32. As a result, the fixed electrode tip 62 and the movable electrode tip 64 perform spot welding of a workpiece W clamped between the fixed electrode tip 62 and the movable electrode tip 64.

[0028] Fig. 3 shows an example of a standard workpiece W R1 according to one embodiment. The standard workpiece W R1 For example, a vehicle body that has a predetermined standard workpiece shape. On the standard workpiece W R1 There are standard job positions A1 to A in a total of twelve places 12 These standard job positions A1 to A 12 are determined in advance by the user. The robot 34 assumes, with respect to each of these standard working positions A1 to A 12 a spot welding activity.

[0029] The basic movement pattern 24 according to the present embodiment allows the robot 34 to be in each of these standard working positions A1 to A 12 perform a spot welding operation. Specifically, the robot control unit 32 controls the robot 34 according to the basic movement pattern 24 in the robot coordinate system C R and each of these standard job positions A1 to A 12 spot welded by the end effector 48.

[0030] The basic movement pattern 24 allows the robot to assume each of the standard activity positions A1 to A 12 Spot weld in a predefined standard sequence. This standard sequence can be, for example, a sequence of activity positions A1 → A2 → A3 → A4 → A5 → A6 → A7 → A8 → A9 → A 10 → A 11 → A 12 be determined.

[0031] This basic motion pattern 24 is created in advance by teaching the robot 34 the spot welding operation using a teaching control panel or simulation or the like, and stored in the storage unit 22.

[0032] The basic movement pattern 24 contains information regarding a standard workpiece shape of the standard workpiece W R1 , the coordinates of the individual standard activity positions A1 to A 12 in the robot coordinate system C R , the standard sequence, as well as the movement path of the robot 34 to move the end effector 48 according to the standard sequence from the standard action position A n to the standard job position A n+1 (n = 1 to 11), and the like.

[0033] Here, the production line, the activities related to the standard workpiece W R1the requirement to carry out the same activities with respect to a workpiece W1, the shape of which differs only slightly from the shape of the standard workpiece W R1 was changed and the one to the standard workpiece W R1 similar form.

[0034] Fig. Figure 4B shows an example of such a workpiece W1. The workpiece W1 has a shape in which the dimension in the longitudinal direction of the standard workpiece W R1 was reduced. The Fig. 4A and Fig. 4B shown shapes of the standard workpiece W R1 and the workpiece W1 can be used as coordinates in the coordinate system C1 in Fig. 4A and Fig. 4B or expressed as a function.

[0035] As an example, the standard workpiece W R1and the workpiece W1 have shapes that are slightly different from each other due to manufacturing following different specifications (for example, the standard workpiece W R1 a specification for Japan and workpiece W1 a specification for the USA).

[0036] The apparatus 10 according to the present embodiment automatically generates the movement path for making the robot 34 perform operations on this workpiece W1 without performing a teaching operation for the robot 34.

[0037] The function of the device 10 is described below with reference to Fig. 1 and Fig. 3 to Fig. 6. The shape acquisition unit 12 obtains information regarding the shape of the workpiece W1, which is the subject of the robot's operations. As an example, the shape acquisition unit 12 obtains information regarding the shape of the workpiece W1 from a shape input part, an optical sensor, or a mark reading sensor, which will be described later.

[0038] The motion pattern acquisition unit 14 acquires the basic motion pattern 24. In the present embodiment, the motion pattern acquisition unit 14 is communicatively connected to the storage unit 22 and acquires the basic motion pattern 24 from the storage unit 22.

[0039] The similarity determination unit 16 determines, on the basis of the shape of the workpiece W1 obtained by the shape acquisition unit 12, whether the shape of this workpiece W1 corresponds to the standard workpiece shape of the standard workpiece W R1is similar or not. As an example, the similarity determination unit 16 is designed to automatically determine, as described later, whether the shape of the workpiece W1 is similar to the standard workpiece shape of the standard workpiece W R1 is similar when the shape obtaining unit 12 has obtained the shape of the workpiece W1.

[0040] The position determination unit 18 determines based on the shape of the workpiece W1 and the standard workpiece shape of the standard workpiece W R1 , which were determined to be similar by the similarity determination unit 16, work positions on the workpiece W1, which respectively correspond to the work positions A1 to A 12 on the standard workpiece W R1 are equivalent to.

[0041] The calculation procedure is described with reference to Fig. 5A and Fig. 5B explains. Fig. 5A shows as an example a rectangular standard workpiece shape B, and Fig. Figure 5B shows a deformation shape B' for which the standard workpiece shape B was arbitrarily deformed. In the example shown in Fig. As shown in Figure 5A, a point C is defined at an arbitrary position of the standard workpiece shape B. The standard workpiece shape B, the deformation shape B' and the point C are represented by a coordinate system C2 in Fig. 5A and Fig. 5B expressed.

[0042] Here, the position in the deformation shape B' corresponding to the position of point C in the standard workpiece shape B is the position of point C' in Fig. 5B. If the coordinates of the standard workpiece shape B and the deformation shape B' in the coordinate system C2 (or the function) are known in advance, the position of this point C' (i.e., the coordinates of the coordinate system C2) can be calculated by incorporating the coordinate information (or function information) into a well-known mapping theory formula as coordinates in the coordinate system C2.

[0043] Formula 1 below shows an example of a mapping theory formula. f=arg minf ∑k‖f(x(k))−x(k),‖2+∫x1∫x2[(∂2f∂x12)2+2(∂2f∂x1∂x2)2+(∂2f∂x22)2]dx1dx2︸2

[0044] In the above formula 1, f(x (k) ) the coordinates of a feature point (for example, a vertex, an edge, or the like) of the deformation shape B', and shows x (k)' the coordinates of a feature point of the standard workpiece shape B.

[0045] The position determination unit 18 uses such a calculation method and calculates the work positions on the workpiece W1 corresponding to the work positions A1 to A 12 on the standard workpiece shape of the standard workpiece W R1 Specifically, the position determination unit 18 obtains from previously stored plan data of the standard workpiece W R1(for example 2D CAD or 3D CAD data) the coordinates of the standard workpiece shape of the standard workpiece W R1 in the coordinate system C1 in Fig. 4A and Fig. 4B (or the function).

[0046] In addition, the position determination unit 18 obtains, based on the information regarding the standard workpiece shape of the workpiece W1 obtained by the shape obtaining unit 12, the coordinates of the shape of the workpiece W1 in the coordinate system C1 in Fig. 4A and Fig. 4B (or the function). Then, the position determination unit 18 calculates by introducing the coordinates (or the function) that represent the shapes of the standard workpiece W 1R and the workpiece W1, into the mapping theory formula activity positions A1' to A 12 ' on the workpiece W1, each of which corresponds to the standard activity positions A1 to A 12 are equivalent to.

[0047] The activity positions A1' to A calculated in this way 12' are in Fig. 6. These activity positions A1' to A 12 ' are expressed as coordinates of the coordinate system C1. Then, the position determination unit 18 multiplies the coordinates of the calculated activity positions A1' to A 12 ' in the coordinate system C1 with a coordinate transformation matrix (or Jacobian matrix) a conversion to the three-dimensional robot coordinate system C R and calculates the coordinates of the activity positions A1' to A 12 ' in the robot coordinate system C R .

[0048] In this way, the position determination unit 18 can determine the activity positions A1' to A 12 ' on the workpiece W1, each of which corresponds to the standard activity positions A1 to A 12 on the standard workpiece shape of the standard workpiece W R1 correspond, determine.

[0049] The path generation unit 20 converts the information contained in the basic movement pattern 24 regarding the standard activity positions A1 to A 12 (specifically the coordinates of the robot coordinate system C R ) into the activity positions A1' to A determined by the position determination unit 18 12 ' (specifically the coordinates in the robot coordinate system C R ). In this way, the path generation unit 20 generates the movement path to make the robot 34 perform the spot welding operations at the operation positions A1' to A 12 ' to be carried out automatically.

[0050] With the present embodiment, the movement path of the robot 34 can be automatically created using the basic movement pattern 24 when the robot performs work (spot welding) on ​​the workpiece W1 without re-teaching the robot 34. Since this configuration eliminates the burden imposed by re-teaching the robot 34, the efficiency of the production line can be increased.

[0051] Next, with reference to Fig. 7 explains a device 70 according to another embodiment. Like the device 10 described above, the device 70 automatically generates the movement path for the robot 34 when the robot 34 performs spot welding operations on the workpiece W1.

[0052] The device 70 includes a CPU 72, a system memory 74, a working memory 76, an input / output interface (I / O interface) 78, a display unit 80, and an input unit 82. For example, the CPU 72, the system memory 74, the working memory 76, and the I / O interface 78 can also be implemented as a computer (PC, tablet terminal).

[0053] The CPU 72 is communicatively connected to the system memory 74, the main memory 76 and the I / O interface 78 via a bus 84 and executes various processes described later in communication with these elements.

[0054] The system memory 74 is an electrically erasable and writable non-volatile memory and is formed, for example, by an EEPROM (registered trademark). The system memory 74 stores constants, variables, setting values, programs, and the like that the CPU 72 requires to execute the various processes described later, so that they will not be lost even when the device 70 is not in operation.

[0055] In the present embodiment, in the system memory 74, several types of basic movement patterns 24 and 86, plan data (for example, 2D CAD or 3D CAD data) of several types of standard workpieces W R1 and W R2 , and plan data of several types of workpieces W1 and W2 are stored.

[0056] The RAM 76 temporarily stores the data required by the CPU 72 to execute various processes. Furthermore, the constants, variables, settings, programs, and the like stored in the system memory 74 are appropriately developed into the RAM 76. The CPU 72 uses the data developed in the RAM 76 to execute various processes.

[0057] The I / O interface 78 is communicatively connected to the display unit 80 and the input unit 82 and communicates with the input unit 82 and the display unit 80 upon command from the CPU 72. The I / O interface 78 is formed, for example, by an Ethernet port or a USB port and can communicate with the display unit 80 and the input unit 82 via a wired connection.

[0058] Or the I / O interface 78 can communicate wirelessly with the display unit 80 and the input unit 82, for example, via a wireless LAN such as WiFi.

[0059] The display unit 80 is formed, for example, from a cathode ray tube, a liquid crystal display (LCD), or an organic EL display. It receives image data sent from the I / O interface 78 and displays it as images visible to a user. The input unit 82 includes, for example, a push-button device, a keyboard, a touch panel, or a mouse, and the user can input information by operating the input unit 82.

[0060] A first type of basic motion pattern 24 and a second type of basic motion pattern 86 are stored in the system memory 74. The first type of basic motion pattern 24 allows the robot 34 to perform spot welding operations in a predetermined standard sequence at the locations shown in Fig. 3 standard job positions shown A1 to A 12 the first type of standard workpiece W R1 make.

[0061] The second type of basic movement pattern 86 is a computer program to instruct the robot 34 to perform a spot welding operation at the Fig. The second type of standard workpiece W shown in Figure 8A R2 The second type of standard workpiece W R2 For example, a vehicle body has a predetermined standard workpiece shape. The second type of standard workpiece W R2 A total of seven standard job positions D1 to D7 are defined.

[0062] The second type of basic motion pattern 86 causes the robot 34 to perform spot welding in a predetermined sequence at each of the standard work positions D1 to D7. This predetermined sequence can be defined, for example, as the sequence of work positions D1 → D2 → D3 → D4 → D5 → D6 → D7.

[0063] The second type of basic motion pattern 86 is created in advance by teaching the robot 34 the operation (i.e., spot welding) using a teaching panel or simulation or the like, and stored in the system memory 74.

[0064] The second type of basic movement pattern 86 contains information regarding a standard workpiece shape of the standard workpiece W R2 , the coordinates of the individual standard activity positions D1 to D7 in the robot coordinate system C R, the standard sequence, as well as the movement path of the robot 34 to move the end effector 48 according to the standard sequence from the standard action position D n to the standard job position D n+1 (n = 1 to 7), and the like.

[0065] An example of a workpiece W2 having a shape that corresponds to the standard workpiece shape of the second type of workpiece W R2 is similar, is in Fig. 8B. This workpiece W2 has a shape in which the dimension in the longitudinal direction of the standard workpiece W R2 was reduced in size.

[0066] As an example, the second type of standard workpiece W R2 and the workpiece W2 have shapes that are slightly different from each other due to manufacturing that follows different specifications (for example, the standard workpiece W R2a specification for Japan and workpiece W2 a specification for the USA).

[0067] The CPU 72 determines using the method described above with reference to Fig. 5A and Fig. 5B described calculation method, work positions D1' to D7' on the workpiece W2, which respectively correspond to the standard work positions D1 to D7 on the second type of standard workpiece W R2 are equivalent to.

[0068] In addition, as in the above-described embodiment, the CPU 72 determines job positions A1' to A 12 ', which correspond to the standard job positions A1 to A 12 on the first type of standard workpiece W R1 In this way, the CPU 72 in the present embodiment assumes the function of the position determination unit 88 ( Fig. 7), which correspond to the standard job positions A1 to A 12 and D1 to D7 corresponding job positions A1' to A 12' and D1' to D7'.

[0069] Next, with reference to Fig. 9 an example of the operation of the device 70 is explained. Fig. The operation sequence shown in Figure 9 begins when the CPU 72 has received an operation start command from the user. If the Fig. 9 has been started, the CPU 74 generates image data for an input screen content to allow the user to input information related to the shape of the workpiece, and displays it on the display unit 80.

[0070] For example, the CPU 72 generates an input screen content in which “Japanese specification” for a first type of vehicle body (corresponding to the first type of standard workpiece W 1R), “US specification” for the first type of vehicle body (corresponds to the first workpiece W1), “Japanese specification” for a second type of vehicle body (corresponds to the second type of standard workpiece W 2R ), and "US Specification" for the second type of vehicle body (corresponding to the second workpiece W2). The user operates the input unit 82 and selects one of these four options from the screen content displayed on the display unit 80.

[0071] The input unit 82 sends the shape input data entered by the user to the I / O interface 78. This shape input data contains information regarding the first type of standard workpiece W R1 or second type of standard workpiece W R1 and first type of workpiece W1 or second type of workpiece W2, and correspond to information regarding the shape of the workpieces W R1 . W R2 , W1 and W2.

[0072] In this way, the input unit 82 in the present embodiment acts as a shape input unit 90 ( Fig. 7), the inputs regarding the shape of the workpieces W R1 . W R2 , W1 and W2.

[0073] The I / O interface 78 receives the shape input data from the shape input unit 82, and the CPU 72 stores the received shape input data in the working memory 76. In this way, the I / O interface 78 acts as a shape acquisition unit 92 ( Fig. 7), the information regarding the shape of the workpieces W R1 and receives W1.

[0074] In step S1, the CPU 72 determines whether to accept input of information regarding the shape of the workpiece W R1 . W R2 , W1, W2 or not. Specifically, the CPU 72 determines whether the I / O interface 78 has received form input data or not.

[0075] If the CPU 72 determines that shape input data has been received (i.e., YES), the process proceeds to step S2. On the other hand, if the CPU 72 determines that shape input data has not been received (i.e., NO), the process proceeds to step S12.

[0076] In step S2, the CPU 72 determines whether the shape input data received by the I / O interface 78 indicates the selection of a standard workpiece W 1R or W 2R (i.e., the Japanese specification) or not. The basic movement patterns 24 and 86 stored in the system memory 74 are each associated with the standard workpiece W R1 or W R2 saved.

[0077] The CPU 72 reads the basic movement patterns 24 and 86 from the system memory 74 and acquires the basic movement patterns 24 and 86. Thus, the CPU 72 acts as a movement pattern acquisition unit 94 ( Fig. 7), which acquires the basic movement patterns 24 and 86.

[0078] The CPU 72 can determine, by comparing the shape input data obtained through the I / O interface 78 and the acquired basic motion patterns 24 and 86, whether the shape input data indicates a selection of the standard workpiece W R1 or W R2 express or not.

[0079] When the CPU 72 determines that the shape input data received by the I / O interface 78 indicates the selection of the standard workpiece W R1 or W R2 (that is, YES), proceed to step S9.

[0080] On the other hand, when the CPU 78 determines that the shape input data received by the I / O interface 78 expresses a selection of the workpiece W1 or W2 (i.e., the US specification) (i.e., NO), it proceeds to step S3.

[0081] In step S3, the CPU 72 determines that the shape of the workpiece W1, W2 of the standard workpiece shape of the standard workpiece W R1 , W R2To determine that the shape of the workpiece W1 is similar to the standard workpiece shape of the first type of standard workpiece W R1 is similar, specifically information (planning data) regarding the first workpiece W1 in conjunction with information regarding the first type of standard workpiece W R1 saved.

[0082] Likewise, to determine that the shape of the workpiece W2 corresponds to the standard workpiece shape of the second type of standard workpiece W R2 is similar, information regarding the second workpiece W2 in conjunction with information regarding the second type of standard workpiece W R2 stored in the system memory.

[0083] Assume that the CPU 72 has received shape input data regarding the first workpiece W1 via the I / O interface 78 and determined NO in step S2. In this case, the CPU 72 automatically determines in step S3 that the input workpiece W1 belongs to the first type of standard workpiece W R1 , which is brought into connection with the information regarding this workpiece W1, and reads plan data regarding the workpiece W1 and the first type of standard workpiece W R1 from system memory 74.

[0084] On the other hand, assume that the CPU 72 has received shape input data regarding the second workpiece W2 via the I / O interface 78 and determined NO in step S2. In this case, the CPU 72 automatically determines in step S3 that the input workpiece W2 is of the second type of standard workpiece W R2, which is brought into connection with the information regarding this workpiece W2, and reads plan data regarding the workpiece W2 and the second type of standard workpiece W R2 from system memory 74.

[0085] In this way, the CPU 72 in the present embodiment assumes the function as the similarity determination unit 96 ( Fig. 7), which determines whether the shape of the workpiece W1, W2 obtained by the shape obtaining unit 92 corresponds to the standard workpiece shape of the standard workpiece W R1 , W R2 contained in the basic movement pattern 24, 86 acquired by the movement pattern acquisition unit 94, is similar or not.

[0086] In step S4, the CPU 72 determines the activity positions A1' to A 12' , D1' to D7' on the workpiece W1, W2. Specifically, the CPU 72 acts as a position determination unit 88, and determines, using the plan data read out in step S3, with respect to the workpiece W1 or W2 and the standard workpiece W R1 or W R2 and the calculation method described above, which Fig. 6 shown activity positions A1' to A 12 ' or those in Fig. 8B shown activity positions D1' to D7'.

[0087] In step S5, the CPU 72 displays information regarding the activity positions A1' to A determined in step S4 12 ' or D1' to D7'. Specifically, the CPU 72 generates the Fig. 6 or Fig. 8B, through which the activity positions A1' to A 12 ' or D1' to D7' and displays them on the display unit 80.

[0088] In this case, the image displayed on the display unit 80 shows information regarding the standard order (for example, the order D1 → D2 → D3 → D4 → D5 → D6 → D7) along with a sequence input screen for inputting changes to this standard order. The user can input changes to the standard order in this sequence input screen displayed on the display unit 80 by operating the input unit 82.

[0089] For example, if the display unit 80 shows the Fig. 8B, the user can operate the input unit 82 and change the order for spot welding the workpiece W2 from the standard order, D1 → D2 → D3 → D4 → D5 → D6 → D7, to an arbitrary order (for example, D7 → D1 → D6 → D2 → D3 → D5 → D4).

[0090] In this way, the input unit 82 in the present embodiment acts as a sequence input unit 98 ( Fig. 7), which receives inputs regarding the order in which the robot 34 performs the operation (spot welding). The input unit 82 sends the sequence input data entered by the user to the I / O interface 78. The I / O interface 78 receives the sequence input data from the input unit 82, and the CPU 72 stores the received sequence input data in the working memory 76.

[0091] In step S6, the CPU 72 determines whether or not inputs regarding the sequence for executing the activity have been received. Specifically, the CPU 72 determines whether or not the I / O interface 78 has received sequence input data from the input unit 82.

[0092] If the CPU 72 determines that the I / O interface 78 has received sequence input data (i.e., YES), the process proceeds to step S7. On the other hand, if the CPU 72 determines that the I / O interface 78 has not received sequence input data (i.e., NO), the process proceeds to step S8.

[0093] In step S7, the CPU 72 sets the order in which the robot 34 performs the operations (spot welding) at the standard operation positions (A1' to A 12 ' or D1' to D7') to the order received from the user and stores it in the working memory 76.

[0094] In step S8, the CPU 72 generates the movement path. Specifically, the CPU 72 changes the information contained in the basic movement pattern 24 or 86 regarding the standard action positions A1 to A 12 or D1 to D7 to the job positions A1' to A determined in step S4 12 ' or D1' to D7'.

[0095] Or, when step S8 is executed after the execution of step S7, the CPU 72 changes the standard order included in the basic movement pattern 24 or 86 (for example, D1 → D2 → D3 → D4 → D5 → D6 → D7) to the order determined in step S7 (for example, D7 → D1 → D6 → D2 → D3 → D5 → D4).

[0096] On the other hand, when step S8 is executed after a determination of NO in step S6, the CPU 72 maintains the settings of the standard order included in the basic movement pattern 24 or 86.

[0097] In this way, the CPU 72 generates the movement path to make the robot 34 perform the operations (spot welding) at the operation positions A1' to A 12 ' or D1' to D7' in the order specified by the user or in the default order, automatically.

[0098] For example, if the user has selected the "US specification" of the second type of vehicle body (the workpiece W2) and set the operation sequence as D7 → D1 → D6 → D2 → D3 → D5 → D4, the CPU 72 generates a movement path for the robot 34 in this step S8 when the robot 34 is caused to perform spot welding at the operation positions D1' to D7' of the workpiece W2 in the order D7' → D1' → D6' → D2' → D3' → D5' → D4'.

[0099] In this way, the CPU 72 in the present embodiment assumes the function as the path generation unit 99 ( Fig. 7), which generates the motion path to perform the robot 34 activities at the activity positions A1' to A 12 ' or D1' to D7'.

[0100] In step S9, the CPU 72 displays the motion path. When step S9 is executed after the execution of step S8, the CPU 72 generates image data expressing the motion path generated in step S8 and displays it on the display unit 80.

[0101] On the other hand, if this step S9 is executed after a determination of YES in step S2, the CPU 72 reads the basic movement pattern 24 or 86 corresponding to the type of standard workpiece W obtained from the user in step S1. R1 , W R2 from the system memory 74. Then, the CPU 72 generates image data expressing the read-out basic motion pattern 24 or 28 and displays it on the display unit 80.

[0102] Images of a confirmation button and a non-confirmation button are also displayed in the image displayed on the display unit 80. The user can select whether to confirm or not to confirm the movement path displayed on the display unit 80 by clicking the confirmation button or non-confirmation button in the image.

[0103] In step S10, the CPU 72 determines whether the user has confirmed the movement path or not. Specifically, the CPU 72 determines whether or not an input was received in step S9, for which the confirmation button displayed on the display unit 80 was clicked.

[0104] If it is determined that a click input has been received on the confirmation button (i.e., YES), the CPU 72 proceeds to step S11. On the other hand, if it is determined that a click input has been received on the non-confirmation button (i.e., NO), the CPU 72 displays the same as at the beginning of the flow of Fig. 9 displays the input screen content for inputting information related to the shape of the workpiece on the display unit 80 and proceeds to step S12.

[0105] In step S11, the CPU 72 stores the movement path displayed in step S9 as a practically used movement path used in the actual production line for performing the operations by the robot 34 on the workpiece in the system memory 74. Then, the CPU 72 ends the Fig. 9 shown process.

[0106] If NO was determined in step S1 or S10, the CPU 72 determines in step S12 whether or not an operation end command has been received from the user. If the CPU 72 determines that an operation end command has been received (i.e., YES), the process described in Fig. 9. On the other hand, if the CPU 72 determines that no operation end command has been received (that is, NO), the process returns to step S1.

[0107] In this way, according to the present embodiment, when spot welding is performed by the robot 34 on the workpiece W1 or W2, the movement path of the robot 34 can be automatically created using the basic movement pattern 24 or 86 without re-teaching the robot 34. Therefore, since the burden associated with re-teaching the robot 34 can be eliminated, the efficiency of the production line can be increased.

[0108] Furthermore, in the present embodiment, the device 70 is provided with the shape input unit 90. Therefore, the user can easily input information related to the shape of the workpiece, which is the object of operation, via the shape input unit 90.

[0109] Furthermore, in the present embodiment, the device 70 is equipped with the sequence input unit 98, and the CPU 72 generates the movement path for performing the work according to a sequence input by the user. With this configuration, the user can automatically create the movement path for making the robot 34 perform the work in any desired sequence, without requiring re-instruction of the robot 34. Consequently, the efficiency of the production line can be further advantageously increased.

[0110] In the present embodiment, a case was discussed in which the system memory 74 stores information regarding two types of standard workpieces W R1 and W R2 and two types of basic movement patterns 24 and 86, which correspond to these standard workpieces W R1 and W R2 correspond, are stored.

[0111] However, there is no limitation to this; in the system memory 74, information regarding n (n is an integer of at least 3) types of standard workpieces W R1 to W Rn and n types of basic movement patterns that correspond to these standard workpieces W R1 to W Rn correspond, are stored.

[0112] In addition, information regarding workpiece groups from several workpieces can also be stored as objects that are assigned to each of the standard workpieces W R1 to W Rn similar, in conjunction with each of the standard workpieces W R1 to W Rn stored in the system memory 74.

[0113] For example, a workpiece group can consist of a total of m (m is an integer of at least two) workpieces, the workpieces W1, W 1-2 , W 1-3 , ... W 1-m , as objects that correspond to the standard workpiece W R1are similar, in conjunction with the standard workpiece W R1 be saved.

[0114] In this case, the CPU 12 generates at the beginning of the process of Fig. 9 Image data of an input screen content in which the user selects the desired workpiece from the standard workpieces W R1 to W Rn and several workpiece groups that are connected to the individual standard workpieces W R1 to W Rn associated with the computer, and displays them on the display unit 80. Then, the CPU 12 executes the process of steps S1 to S12 with the shape input data from the user as a trigger as described above.

[0115] Next, with reference to Fig. 10 explains an apparatus 100 according to yet another embodiment. The apparatus 100 differs from the above-described apparatus 70 in the following structure. That is, the apparatus 100 includes a mark reading sensor 102 instead of the shape input unit 90.

[0116] The mark reading sensor 102 is communicatively connected to the I / O interface 78. The mark reading sensor 102 is, for example, a barcode reader or a QR reader and can read a specific mark (for example, a barcode or a QR code).

[0117] In the present embodiment, this marking is applied to the surface of a workpiece moving along the production line. In this case, the marking can be embossed directly onto the surface of the workpiece or formed as a separate element (e.g., a sticker) and adhered to the surface of the workpiece.

[0118] As an example, the mark reading sensor 102 may also be a portable device that the user carries with them. In this case, the user manually reads the mark formed on the workpiece arriving on the production line using the portable mark reading sensor 102.

[0119] As another example, the mark reading sensor 102 may be a device fixed at a specific position on the production line. In this case, the mark reading sensor 102 automatically reads the mark formed on the workpiece arriving on the production line.

[0120] In the present embodiment, information regarding the shape of the workpiece to be operated on is recorded in the mark, and the mark reading sensor 102 reads the mark and sends information related to the shape of the workpiece contained in the mark to the I / O interface 78.

[0121] Next, with reference to Fig. 9 explains an example of the operation of the device 100. The CPU 72 of the device 100 executes the process shown in Fig. 9. Here, in the present embodiment, each of the workpieces W R1 , W R2 , W1 and W2 a marking is formed which indicates its own information.

[0122] The mark reading sensor 102 reads the mark applied to a workpiece W arriving on the production line. R1 , W R2, W1 or W2, and obtains the marking information recorded in the mark. This marking information contains information that indicates the shape of the workpiece W R1 W R2 W1, W2 and correspond to the information regarding the shape of the workpiece W R1 , W R2 , W1, W2.

[0123] The mark reading sensor 102 sends the acquired mark information to the I / O interface 78. The I / O interface 78 acts as a shape acquisition unit 92 and obtains the mark information from the mark reading sensor 102, and the CPU 72 stores the obtained mark information in the working memory 76.

[0124] In step S1, the CPU 72 determines whether to accept input of information regarding the shape of the workpieces W R1 . W R2, W1, and W2. Specifically, the CPU 72 determines whether the I / O interface 78 has received mark information from the mark reading sensor 102 or not.

[0125] If the CPU 72 determines that marker information has been obtained (i.e., YES), the process proceeds to step S2. On the other hand, if the CPU 72 determines that marker information has not been obtained (i.e., NO), the process proceeds to step S12.

[0126] In step S2, the CPU 72 determines whether the marking information received from the I / O interface 78 is the standard workpiece W R1 or W R2 specify or not. If the CPU 72 determines that the obtained marking information is the standard workpiece W R1 or W R2 specify (that is, YES), proceed to step S9.

[0127] On the other hand, if the CPU 72 determines that the marking information obtained from the I / O interface 78 specifies the workpiece W1 or W2 (i.e., NO), the process proceeds to step S3. After step S2, the CPU 72 executes steps S3 to S12 in sequence, as in the device 70 described above.

[0128] In the present embodiment, the device 100 includes the mark reading sensor 102. This allows the shape of the workpiece W running on the production line R1 , W R2 , W1, W2 can be easily specified.

[0129] Next, with reference to Fig. 11 explains a device 110 according to yet another embodiment. The device 110 differs from the above-described device 100 in the following structure. That is, the device 110 includes an optical sensor 112 and an action input unit 116.

[0130] The optical sensor 112 is, for example, a three-dimensional optical sensor and includes an optical system such as a focus lens or the like and an image pickup sensor such as a CCD sensor or a CMOS sensor. The optical sensor 112 is fixed at a location where it can pick up a workpiece arriving on the production line and is communicatively connected to the I / O interface 78. The optical sensor 112 picks up the workpiece on the production line according to a command from the control unit 72 and sends the picked-up image to the I / O interface 78.

[0131] Fig. 12 is a table for explaining a total of twelve basic movement patterns 130, 132, 134, 136, 138, 140, 142, 144, 146, 148, 150 and 152 which have been stored in advance in the system memory 74 in the present embodiment.

[0132] In Fig. 12, the basic movement patterns 130, 136, 142 and 148 shown under “Action” in the “Grasp” column are each computer programs to move the robot to several standard action positions E n (E = 1, 2) on a standard workpiece W R3 with a square standard workpiece shape, a standard workpiece W R4 with a round standard workpiece shape, a standard workpiece W R5 with a triangular standard workpiece shape, and a standard workpiece W R6 with a straight standard workpiece shape.

[0133] For example, the basic movement pattern 136 in Fig. 12 the robot standard work positions E1 and E2 at two locations on the round standard workpiece W R4 When carrying out the activity of taking the standard activity positions E n is the end effector of the Fig. 2, a robot hand (not shown) that can grasp a component is attached instead of the end effector 48.

[0134] The Fig. 12 basic movement patterns 132, 138, 144 and 150 shown under “Activity” in the column “Spot Welding” are each computer programs to perform the robot 34 spot welding activities at several standard activity positions F n (n = 1 to 4) on each of the four types of standard workpieces W R3 , W R4 , W R5 and W R6 are specified in a standard order F n → F n+1 to be carried out.

[0135] For example, the basic movement pattern 132 in Fig. 12 the robot 34 spot welding operations at standard operation positions F1 to F4 at four locations on the square standard workpiece W R3 are defined in the standard order F1 → F2 → F3 → F4.

[0136] In addition, the Fig. 12 basic movement patterns 134, 140, 146 and 152 shown under “Activity” in the column “Arc Welding” each contain computer programs to carry out the robot 34 arc welding activities at several standard activity positions G n (n = 1 to 5) on each of the four types of standard workpieces W R3 , W R4 , W R5 and W R6 are specified in a standard order G n → G n+1 to be carried out.

[0137] For example, the basic movement pattern 146 in Fig. 12 the robot 34 arc welding operations at standard operation positions G1 to G4 at four locations on the triangular standard workpiece W R5 in the standard sequence G1 → G2 → G3 → G4. When performing the arc welding work, the arc welding process is carried out at the Fig. 2, an arc welding end effector (not shown) is attached instead of the end effector 48.

[0138] In this way, the twelve types of basic movement patterns 130 to 152 lead to the execution of three types of activities (grasping, spot welding, arc welding) with respect to each of four types of standard workpieces W R3 , W R4 W R5 and W R6 .

[0139] The twelve types of basic movement patterns 130 to 152 each contain information regarding the standard workpiece shape of the standard workpiece W R3 , W R4 , W R5 . W R6 , the standard job position F n , G n , E n , and the type of activity at the standard job position (grasping, spot welding, arc welding).

[0140] The twelve types of basic movement patterns 130 to 152 and plan data of the four types of standard workpieces W R3 , W R4 , W R5 and W R6 are stored in advance in the system memory 74.

[0141] The CPU 72 acts as a motion pattern acquisition unit 94 and acquires the basic motion patterns 130 to 152 by reading from the system memory 74.

[0142] Next, with reference to Fig. 13 explains an example of the operation of the device 110. In the Fig. 13 are processes that correspond to the Fig. 9 are the same, they are designated with the same step numbers and a detailed explanation is omitted.

[0143] In step S21, the optical sensor detects the shape of a workpiece. Specifically, the control unit 72 sends a command to the optical sensor 112, and the workpiece is picked up by the optical sensor 112 on the production line.

[0144] An example of an image of a workpiece W3 captured by the optical sensor 112 is shown in Fig. 15. As shown in Fig. As shown in Fig. 15, the shape (feature points of the edges) of the workpiece W3 picked up by the optical sensor 112 can be stored as coordinates in a coordinate system C fixed with respect to the optical sensor 112 S be expressed.

[0145] In this way, the optical sensor 112 detects the shape of the workpiece W3 and sends the acquired image data to the I / O interface 78. This image data corresponds to information regarding the shape of the workpiece W3.

[0146] The I / O interface 78 receives the image data from the optical sensor 112, and the CPU 72 stores the obtained image data in the working memory 76. In this way, the I / O interface 78 acts as a shape acquisition unit 114 ( Fig. 11), which receives information regarding the shape of the workpiece W3.

[0147] In step S22, the CPU 72 determines the similarity of the workpiece W3 detected in step S21 with the standard workpieces W R3 , W R4 , W R5 , W R6 . This step S22 is described with reference to Fig. 14 explained.

[0148] In step S31, the CPU 72 calculates the difference δ1 between the workpiece W3 detected in step S21 and the first type of standard workpiece among the plurality of types of standard workpieces W stored in the system memory 74. R3 , W R4 , W R5 , W R6 . This difference δ can be calculated using the following formula 2. δ=∑k‖f(x(k))−x(k),‖2+∫x1∫x2[(∂2f∂x12)2+2(∂2f∂x1∂x2)2+(∂2f∂x22)2]dx1dx2

[0149] This formula 2 corresponds to the term E in the formula 1 described above. The dissimilarity δ determined by this formula 2 is a parameter that expresses the degree of difference between two shapes and means that the smaller its value, the more similar the two shapes are.

[0150] Now it is assumed that the Fig. 12 shown square standard workpiece W R3 as the standard workpiece of the first type. In this case, the CPU 72 plots the coordinates of the sensor coordinate system C S expressed shape (the feature points) of the workpiece W3 based on the image data of the workpiece W3 obtained in step S21 into the Fig. 16 shown coordinate system C S .

[0151] Together with this, the CPU 72 plots the shape of the standard workpiece W R3 based on the plan data of the standard workpiece W stored in the system memory 74 R3so in the coordinate system C S that it overlaps the workpiece W3.

[0152] Then the difference δ1 between the workpiece W3 and the standard workpiece W R3 using formula 2 by inserting the coordinates of the feature points of the workpiece W3 into f(x (k) ) in formula 2 and inserting the coordinates of the feature points of the standard workpiece W R3 in x (k)' In the example shown in Fig. 16, the difference δ1 reaches a value of δ1 ≒ 6.2 × 10 -4 .

[0153] In step S32, the CPU 72 determines whether the difference δ1 calculated in step S31 is at most a threshold value α or not. This threshold value α is preset by the user and stored in the system memory 74.

[0154] If the CPU 72 determines that the difference δ1 is at most the threshold α (i.e., YES), the process proceeds to step S33. On the other hand, if the CPU 72 determines that the difference δ1 is greater than the threshold α (i.e., NO), the process proceeds to step S34.

[0155] For example, this threshold α is set to α = 4.5 × 10 -4 If it is assumed that in step S31 a difference δ1 (≒6.2×10 -4 ) between the workpiece W3 and the standard workpiece W R3 calculated, in this case δ1 > α, the CPU 72 therefore determines NO, and proceeds to step S34.

[0156] In step S34, the CPU 72 calculates the difference δ2 between the workpiece W3 detected in step S21 and the second type of standard workpiece among the plurality of types of standard workpieces W stored in the system memory 74. R3 , W R4 , WR5 , W R6 .

[0157] For example, it is assumed that the Fig. 12 has been set as the second type of standard workpiece. In this case, the CPU 72 plots as shown in Fig. 17 shows the shape of the workpiece W3 detected in step S21 and the shape of the standard workpiece W R4 into the coordinate system C S . Then, the CPU 72 calculates the difference δ2 between the workpiece W3 and the standard workpiece W using formula 2 R4 . In the Fig. In the example shown in Figure 17, the difference δ2 reaches a value of δ2≒6.7×10 -4 .

[0158] In step S35, the CPU 72 determines whether the difference δ2 calculated in step S34 is at most the threshold α or not. If the CPU 72 determines that the difference δ2 is at most the threshold α (i.e., YES), the process proceeds to step S33. On the other hand, if the CPU 72 determines that the difference δ2 is greater than the threshold α (i.e., NO), the process proceeds to step S36.

[0159] For example, the threshold α is set to α=4.5×10 -4 and if it is assumed that in step S34 a difference δ2(≒6.7×10 -4 ) between the workpiece W3 and the standard workpiece W R4 calculated, in this case δ2 > α, the CPU 72 therefore determines NO, and proceeds to step S36.

[0160] In step S36, the CPU 72 calculates the difference δ3 between the workpiece W3 detected in step S21 and the third type of standard workpiece among the plurality of types of standard workpieces W stored in the system memory 74. R3 , W R4 , W R5 , W R6 .

[0161] For example, it is assumed that the Fig. 12 has been set as the third type of standard workpiece. In this case, the CPU 72 plots as shown in Fig. 18 shows the shape of the workpiece W3 detected in step S21 and the shape of the standard workpiece W R5 into the coordinate system C S . Then, the CPU 72 calculates the difference δ3 between the workpiece W3 and the standard workpiece W using formula 2 R5 . In the Fig. In the example shown in Figure 18, the difference δ3 reaches a value of δ3≒4.1 ×10 -4 .

[0162] In step S37, the CPU 72 determines whether the difference δ3 calculated in step S36 is at most the threshold α. If the CPU 72 determines that the difference δ3 is at most the threshold α (i.e., YES), the process proceeds to step S33. On the other hand, if the CPU 72 determines that the difference δ3 is greater than the threshold α (i.e., NO), the process proceeds to step S38.

[0163] For example, the threshold α is set to α=4.5×10 -4 and if it is assumed that in step S36 a difference δ3(≒4.1×10 -4 ) between the workpiece W3 and the standard workpiece W R5 calculated, in this case δ3 ≦ α, the CPU 72 therefore determines YES, and proceeds to step S33.

[0164] In step S38, the CPU 72 calculates the difference δ4 between the workpiece W3 detected in step S21 and the fourth type of standard workpiece among the plurality of types of standard workpieces W stored in the system memory 74. R3 , W R4 , W R5 , W R6 .

[0165] For example, it is assumed that the Fig. 12 has been set as the fourth type of standard workpiece. In this case, the CPU 72 calculates the difference δ4 between the workpiece W3 and the standard workpiece W using Formula 2. R6 .

[0166] In step S39, the CPU 72 determines whether the difference δ4 calculated in step S38 is at most the threshold α or not. If the CPU 72 determines that the difference δ4 is at most the threshold α (i.e., YES), the process proceeds to step S33.

[0167] On the other hand, if the CPU 72 determines that the difference δ4 is greater than the threshold α (that is, NO), it goes to step S26 in Fig. 13 passed.

[0168] In step S33, the CPU 72 determines that the shape of the workpiece W3 corresponds to the standard workpiece shape of the standard workpiece W R3 , W R4 , W R5 or W R6 which corresponds to the difference δ1, δ2, δ3 or δ4 determined as YES in step S32, S35, S37 or S39.

[0169] If in step S21 the Fig. 15 has been detected, the CPU 72 determines YES in step S37, thereby determining that the shape of the workpiece W3 is similar to the standard workpiece shape of the standard workpiece W5, and reads the plan data of the standard workpiece W R5 from the system memory. Then the CPU 72 goes to step S23 in Fig. 13 over.

[0170] Thus, in the present embodiment, the CPU 72 assumes the function as the similarity determination unit 117 ( Fig. 11), which determines whether the shape of the workpiece W3 obtained by the workpiece shape obtaining unit 114 corresponds to the standard workpiece shape of the standard workpiece W R3 , W R4 , W R5 or W R6 similar or not. The rule preset according to the present embodiment is a rule stating that the shape of the workpiece is determined to be similar to a standard workpiece shape when the dissimilarity δ calculated using Formula 2 is at most the threshold value α.

[0171] When this step S33 is completed, the CPU 72 generates image data of an activity input screen content in which the user can select the activity, and displays it on the display unit 80. The image displayed on the display unit 80 is an image in which the Fig. 12, the three types of activities shown, “Grasping”, “Spot Welding” and “Arc Welding”, can be selected.

[0172] The user can select "Grasp," "Spot Welding," or "Arc Welding" by operating the input unit 82 while viewing the action input screen content. Thus, the input unit 82 functions as the action input unit 116 ( Fig. 11), which receives an input regarding the nature of the activity.

[0173] The input unit 82 sends the action input data input by the user to the I / O interface 78. The I / O interface 78 receives the action input data from the input unit 82, and the CPU 72 stores the received action input data in the working memory 76.

[0174] With further reference to Fig. 13, the CPU 72 determines in step S23 whether or not an action input has been received. Specifically, the CPU 72 determines whether or not the I / O interface 78 has received action input data from the input unit 82.

[0175] If the CPU 72 determines that the I / O interface 78 has received action input data (i.e., YES), the process proceeds to step S24. On the other hand, if the CPU 72 determines that the I / O interface 78 has not received action input data (i.e., NO), the process executes step S23 as a loop.

[0176] In step S24, the CPU 72 determines the work positions on the workpiece W3 which are similar to the standard work positions on the standard workpiece W determined in step S33. R5 It is assumed that in step S24 a selection of the activity "spot welding" was received.

[0177] In this case, the CPU 72 sets the coordinates in the coordinate system C3 ( Fig. 18) of the standard workpiece W R5 which was determined to be similar in step S33, and the coordinates in the coordinate system C3 of the workpiece W3 into the above-described formula 1 and determines the action positions F1' to F3' on the workpiece W3, each of which corresponds to the action positions defined in the basic movement pattern 144 in Fig. 12 corresponding to the activity positions F1 to F3.

[0178] The activity positions F1' to F3' thus determined are in Fig. 19. In this way, the CPU 72 takes over the function as a position determination unit 118 ( Fig. 11), which corresponds to the activity positions F1 to F3 on the standard workpiece W R5 corresponding activity positions F1' to F3' on the workpiece W3.

[0179] In step S25, the CPU 72 generates the motion path. Specifically, the CPU 72 converts the information (coordinates in the robot coordinate system C R ) with respect to the standard action positions F1 to F3 contained in the basic movement pattern 144 into the action positions F1' to F3' (coordinates in the robot coordinate system) determined by step S24.

[0180] If this step S25 is executed after the execution of step S7, the CPU 72 converts the standard sequence contained in the basic motion pattern 144 (for example, F1 → F2 → F3) into the sequence determined in step S7 (for example, F3 → F2 → F1). On the other hand, if this step S25 is executed after a determination of NO in step S6, the CPU 72 maintains the setting of the standard sequence contained in the basic motion pattern 144.

[0181] In this way, the CPU 72 automatically generates a movement path for the robot 34 when the robot 34 is made to execute the operation received from the user in step S23 in the order specified by the user or in the standard order at the operation positions F1' to F3'.

[0182] Thus, in the present embodiment, the CPU 72 assumes the function as the path generation unit 120 ( Fig. 11), which generates the movement path when the robot 34 executes the activities at the activity positions F1' to F3'.

[0183] If NO is determined in step S10, the CPU 72 receives an input for correcting the motion path displayed in step S9 in step S27. Specifically, the CPU 72 generates image data for a correction input screen content that enables changes to the motion path displayed on the display unit 80 in step S9 and displays it on the display unit 80.

[0184] The user operates the input unit 82 while viewing the correction input screen content displayed on the display unit 80 and corrects the movement path. The CPU 72 receives the correction input data from the input unit 82 via the I / O interface 78 and corrects the movement path according to the correction input data.

[0185] If in step S39 in Fig. 14 NO, the CPU 72 displays a warning in step S26. For example, the CPU 72 generates warning image data expressing the warning "no similarity of the detected workpiece shape to any of the standard workpiece shapes." Then, the CPU 72 displays the generated warning image data on the display unit 80.

[0186] Or the CPU 72 may generate the warning signal in the form of a sound signal and output the warning as a sound through a speaker (not shown) formed on the device 110.

[0187] According to the present embodiment, when the robot 34 performs operations on the workpiece W3, the movement path of the robot 34 can be automatically created using the basic movement pattern 144 without re-teaching the robot 34. Since this configuration eliminates the burden associated with re-teaching the robot 34, the efficiency of the production line can be increased.

[0188] In the present embodiment, the device 110 includes the optical sensor 112, which can detect the shape of the workpiece. This configuration allows the determination of working positions F1' to F3' corresponding to the working positions F1 to F3, even for a workpiece W3 whose shape is unknown.

[0189] Furthermore, in the present embodiment, the CPU 72 calculates the difference δ and determines the similarity between the workpiece W3 and the standard workpieces W based on this difference δ R3 , W R4 , W R5 , W R6 . This design allows the similarity between the workpiece W3 and the standard workpieces W R3 , W R4 , W R5 , W R6 can be determined automatically with even greater accuracy.

[0190] Instead of the difference δ, another parameter can be used to determine the similarity between the detected workpiece W3 and the standard workpieces W R3 , W R4 , W R5 , W R6 For example, a degree of similarity, which expresses the degree of similarity between two shapes, can also be used.

[0191] This degree of similarity is a parameter that can be determined by a certain algorithm from the number of corners (or sides), the angle of the corners (or sides), the occupancy area, or the like of two shapes, and means that the larger its value is, the more similar two shapes are to each other.

[0192] Consequently, using the degree of similarity in steps S31, S34, S36 and S38, the CPU 72 calculates Fig. 14 the degree of similarity, and determines in steps S32, S35, S37 and S39 whether the degree of similarity is at least a predetermined threshold value β or not.

[0193] When the CPU 72 determines that the degree of similarity is at least the threshold β (i.e., YES), it proceeds to step S33, while on the other hand, when the degree of similarity is less than the threshold β (i.e., NO), it proceeds to step S34, S36, or S38.

[0194] At the Fig. 1, the storage unit 20 can also be installed in a server formed externally of the device 10. Such an embodiment is shown in Fig. 20. The Fig. The system 160 shown in Figure 20 includes a plurality of devices 10A, 10B, and 10C and a server 162.

[0195] Each of the devices 10A, 10B, and 10C, like the device 10 described above, includes a motion pattern acquisition unit 14, a similarity determination unit 16, a position determination unit 18, and a motion path generation unit 20. Each of the devices 10A, 10B, and 10C is communicatively connected to the server 162 via a communication network 164.

[0196] The storage unit 22, which contains the basic movement pattern 24, is built into the server 162. The communication network 164 is, for example, a LAN such as an intranet or the Internet.

[0197] As an example, devices 10A, 10B, and 10C are each installed in different factories. The motion pattern acquisition units 14 of devices 10A, 10B, and 10C acquire the basic motion pattern 24 by downloading it from server 162 via communication network 164.

[0198] Then, the devices 10A, 10B, and 10C generate the movement path using the method described above by using the basic movement pattern 24. With this configuration, the basic movement pattern 24 can be commonly used in multiple plants at locations different from each other.

[0199] In the device 10, 70, or 110 described above, the basic movement pattern 24 may be stored in a storage unit 22 built into the server 162 described above, rather than being included in the system memory 74. In this case, the I / O interface 78 may be communicatively connected to the server 162 via the communications network 164.

[0200] In the embodiments described above, cases were discussed where on each of the standard workpieces W R1 , W R2 , W R3 , W R4 , W R5 and W R6 Several standard job positions have been defined. However, there is no restriction on this, and the standard job position can also be just one position.

[0201] The device 10, 10A, 10B, 10C, 70, 100 or 110 described above can also be incorporated into the robot control unit 32 of the robot system 30 or can be formed as a separate element from the robot control unit 32.

[0202] In the Fig. 9, the CPU 72 may, after a judgment of NO in step S10, also proceed to step S27 in Fig. 13 and then return to step S9. The features of the various embodiments described above can also be combined.

Claims

[1] Device (10) for automatically generating a movement path of a robot (34), comprising: a shape obtaining unit (12) which obtains the shape of a workpiece (W), which is the object for an operation of the robot (34), from a shape input part, an optical sensor or a mark reading sensor; a movement pattern acquisition unit (14) which acquires a basic movement pattern comprising a standard workpiece shape, obtains a standard work position on the standard workpiece shape and a type of work related to the standard work position from a storage unit (22); a similarity determination unit (16) that determines whether or not the shape of the workpiece obtained by the shape obtaining unit is similar to the standard workpiece shape included in the basic movement pattern; a position determination unit (18) which, on the basis of the shape of the workpiece and the standard workpiece shape determined to be similar by the similarity determination unit, determines an operation position on the workpiece corresponding to the standard operation position included in the basic movement pattern by means of a calculation method; and a path generation unit (20) that generates the movement path for making the robot perform the work included in the basic movement pattern at the work position by changing the standard work position to the work position determined by the position determination unit. [2] The device of claim 1, further comprising: a shape input unit (90) that receives an input of the shape of the workpiece and sends it to the shape acquisition unit; an optical sensor (112) that detects the shape of the workpiece and sends the detected shape of the workpiece to the shape acquisition unit; or a mark reading sensor (102) which reads a mark in which the shape of the workpiece is recorded and sends it to the shape acquisition unit. [3] Device according to claim 1 or 2, wherein the basic movement pattern contains several standard activity positions, and the position determination unit calculates the plurality of work positions on the workpiece corresponding to the plurality of standard work positions. [4] The device (100) of claim 3, further comprising: a sequence input unit (98) which receives an input of the sequence of execution of activities at a plurality of activity positions determined by the position determining unit; wherein the basic movement pattern contains a standard sequence that determines the order of activities at the multiple activity positions, wherein the path generation unit (99) changes the plurality of standard work positions to the plurality of work positions determined by the position determination unit and changes the standard order to the order obtained by the order input unit, thereby generating the movement path for the robot to execute the works at the plurality of work positions according to the order obtained by the order input unit. [5] Device (110) according to one of claims 1 to 4, wherein the motion pattern acquisition unit acquires a plurality of basic motion patterns, each containing a plurality of types of standard workpiece shapes with mutually different shapes, the similarity determination unit (117) determines according to a predetermined rule whether or not the shape of the workpiece is similar to any of the plurality of types of standard workpiece shapes, and the movement path generation unit (120) generates the movement path by changing the standard operation positions included in the basic movement pattern including the standard workpiece shape determined to be similar from among the plural types of standard workpiece shapes by the similarity determination unit. [6] Device according to one of claims 1 to 4, wherein the movement pattern acquisition unit (94) acquires a plurality of types of basic movement patterns, each containing a plurality of different types of activities, the device (110) comprises an activity input unit (116) which receives an input of the type of activity, and the path generation unit (120) generates the movement path by changing the standard activity positions included in the basic movement pattern among the plurality of types of basic movement patterns that includes the type of activity obtained by the activity input unit. [7] System (160), comprising: a device (10) according to one of claims 1 to 6; and a server (162) which is communicatively connected to the device via a communication network (162), where the basic movement pattern is stored in the server. [8] A method for automatically generating a movement path of a robot (34), comprising: Obtaining the shape of a workpiece (W) which represents the object for an action of the robot (34); Obtaining a basic movement pattern that includes a standard workpiece shape, a standard activity position on the standard workpiece shape, and a type of activity related to the standard activity position; Determining whether or not the obtained shape of the workpiece is similar to the standard workpiece shape included in the basic motion pattern; Determining an activity position on the workpiece, which corresponds to the standard activity position contained in the basic movement pattern, based on the shape of the workpiece and the standard workpiece shape, which have been determined to be similar; and Generating a motion path to make the robot perform the action included in the basic motion pattern at the action position by changing the standard action position to the action position determined by the position determining unit.

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