Programming device

Abstract

To provide a program creation device which shortens a time for a processing process while suppressing device cost, and can correct a part of tracks of a robot moving path.SOLUTION: A configuration of a program creation device includes an input part, a storage part, an operation pattern table for storing a specific operation pattern and an operation kind in association with each other, operation kind extraction means for extracting the operation pattern in a program by referring to the operation pattern table and imparting the operation kind to the program, a correction means table for storing the operation kind and correction means applicable in the operation kind in association with each other, program correction means for extracting correction means corresponding to the operation kind in the program by referring to the correction means table, and an output part. The input part receives input of the correction means selected by a user, and the program correction means corrects the program according to the correction means selected from the input part and transmits the corrected program to a robot.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a program creation device that creates an operation program for a robot. [Background technology]

[0002] In recent years, industrial machines such as robot arms (also called manipulators) have been used in production sites such as factories. To operate industrial machines (hereinafter referred to as robots), teaching is performed to instruct the robot on how to operate. There are two types of teaching: indirect teaching (offline teaching, online teaching, etc.) and direct teaching.

[0003] As a teaching data creation device for performing offline teaching on a robot, for example, Patent Document 1 discloses a teaching data creation device that uses a measured 3D model that shows the shape of structures surrounding the actual robot. The teaching data creation device in Patent Document 1 has "an acquisition means for acquiring a measured 3D model that shows the shape of structures surrounding the actual robot, and a correction means for correcting the teaching data in the acquired measured 3D model to determine whether the robot's movement path based on teaching data indicating the robot's movement path can be shortened or if the robot's movement based on the teaching data causes interference with surrounding structures." [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-089201 A Summary of the Invention [Problem to be solved by the invention]

[0005] According to Patent Document 1, appropriate offline teaching data can be created even when there is a difference in shape between components of a virtual robot system and components of a real robot system. However, when using a measured 3D model, as in the teaching data creation device of Patent Document 1, a means and process for acquiring the 3D model are required, which increases the cost of the device and lengthens the processing time. Furthermore, the correction means of the teaching data creation device of Patent Document 1 is limited to correcting the teaching data to shorten the robot's movement path and avoid interference with surrounding structures, and does not cover modifications such as offsetting part of the movement path trajectory.

[0006] In view of the above problems, the present invention aims to provide a program creation device that can reduce the cost of the device, shorten the processing time, and correct part of the trajectory of the robot's movement path. [Means for solving the problem]

[0007] In order to solve the above problems, a typical configuration of a program creation device according to the present invention is a program creation device that creates a robot operation program, the program creation device comprising: an input unit that receives input from a user; an operation pattern table storing specific operation patterns and operation types in association with each other; and a correction means table storing operation types in association with correction means applicable to the operation types. A memory unit for storing , motion an operation type extraction means for extracting an operation pattern in the program by referring to an operation pattern table and assigning an operation type to the program; , supplement The program correction means is provided with a program correction means for extracting a correction means corresponding to the type of operation in the program by referring to the correction means table, and an output section for outputting the extracted correction means, the input section receiving an input of the correction means selected by the user, and the program correction means correcting the program in accordance with the correction means selected from the input section, A robot control device that controls the operation of The feature is that the signal is transmitted to [Effects of the Invention]

[0008] According to the present invention, it is possible to provide a program creation device that can reduce the processing time while suppressing the cost of the device and can correct part of the trajectory of the robot's movement path. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a functional block diagram illustrating a configuration of a program creation device according to an embodiment of the present invention; [Figure 2] FIG. 2 is a diagram illustrating the operation of the program creation device of the present embodiment. [Figure 3] FIG. 10 is a diagram illustrating a specific example of an operation type. DETAILED DESCRIPTION OF THE INVENTION

[0010] Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Dimensions, materials, and other specific values ​​shown in the embodiments are merely examples for facilitating understanding of the invention and, unless otherwise specified, do not limit the present invention. In this specification and drawings, elements having substantially the same functions and configurations are designated by the same reference numerals to avoid redundant explanation, and elements not directly related to the present invention are not shown.

[0011] Fig. 1 is a functional block diagram illustrating the configuration of a program creation device according to this embodiment. The program creation device 100 of this embodiment illustrated in Fig. 1 is a device that creates an operation program for a robot 200 when processing, transporting, etc. a workpiece W, and is configured to include a control unit 110, an input unit 120, an output unit 130, and a storage unit 140.

[0012] The control unit 110 is a device that controls the overall operation of the program creation device 100 of this embodiment. Specifically, the control unit 110 can be configured by a computer that uses a CPU (Central Processing Unit), a PLD (Programmable Logic Device), etc. The input unit 120 is made up of a keyboard, a touch panel, etc., and receives input from a user (not shown). The output unit 130 is made up of a display device such as a monitor, and outputs information such as the "extracted correction means" described below.

[0013] The storage unit 140 is a storage medium that stores a program 142 input by a user. The storage unit 140 of this embodiment also stores an action pattern table 144 that stores specific action patterns and action types in association with each other, and a correction means table 146 that stores action types in association with correction means applicable to each action type.

[0014] Furthermore, in the program creation device 100 of this embodiment, the control unit 110 described above functions as an action type extraction means 112 and a program correction means 114. The action type extraction means 112 refers to an action pattern table 144 to extract an action pattern in the program 142 and assigns an action type to the program 142. The program correction means 114 refers to a correction means table 146 to extract a correction means corresponding to the action type in the program 142. In addition, the program correction means 114 corrects the program in accordance with the correction means selected from the input unit 120, and executes the program correction. Robot controller 202 that controls the operation of 200 Send to.

[0015] 2 is a diagram illustrating the operation of the program creation device 100 of this embodiment. Note that the arrows showing the flow of data and signals in FIG. 1 are assigned the symbols of the corresponding operations in the flowchart of FIG.

[0016] In the program creation device 100 of this embodiment, when the control unit 110 receives input of the program 142 via the input unit 120 (YES in S202), it stores the input program 142 in the storage unit 140 (S204). Next, the control unit 110 functions as the action type extraction means 112, and extracts action patterns in the program 142 by referring to the action pattern table 144 (S206), and assigns the action types to the program 142 (S208).

[0017] Here, the program 142 stored in the storage unit 140 refers to a "list of commands such as move(p1) and move(p2)," and the motion pattern refers to a "specific pattern of multiple commands such as move(p1) and move(p2)." The motion pattern table 144 stores motion types associated with specific motion patterns. Motion types include, for example, descending and ascending (vertical movement), circling, moving in a straight line, moving in an arc, and moving while avoiding obstacles. In other words, motion patterns are "multiple commands" that appear frequently in robot programs and can be standardized, and motion types are labels (or groups) of a group of standardized commands.

[0018] 3A and 3B are diagrams for explaining specific examples of types of operation. Fig. 3A illustrates an operation in which the robot 200 (strictly speaking, a manipulator not shown) grasps a workpiece W placed on a tray T. In the example shown in Fig. 3A, the robot 200 sets the current position as P1, moves to a target position P2, and grasps the workpiece W.

[0019] In this grasping operation, two commands, "move (p1), move (p2)," for moving from a current position P1 to a target position P2, are written in this order in the program 142. If these two commands are arranged in a predetermined order, the operation type extraction means 112 extracts the two commands as a grasping operation pattern, and assigns the operation type "descent," which is associated with this operation pattern, to the program 142.

[0020] 3(b) illustrates an example of an operation of the robot 200 (strictly speaking, a manipulator not shown) to process the workpiece W. In the example shown in FIG. 3(b), the robot 200 descends from a current position P1 to a position P2, then moves (circulates) along a path substantially along the outer periphery of the workpiece W in the order of positions P3, P4, P5, and P6, and returns to position P2, and then moves from position P2 to position P6. P1 and returns to position P1.

[0021] In this machining operation, a plurality of commands for returning from the current position P1 to the position P1 via the positions P2-P6 are written in order in the program 142. If these plurality of commands are arranged in a predetermined order, the operation type extraction means 112 extracts the plurality of commands as an operation pattern, groups them by operation pattern, and assigns an operation type of "descend," "circumnavigate," or "ascend" associated with the operation pattern to the corresponding line of the command in the program 142.

[0022] Once the operation type is assigned to the program 142, the control unit 110 functions as the program correction means 114, and refers to the correction means table 146 to extract a correction means applicable to the operation type in the program 142 (S210). Next, the program correction means 114 transmits the extracted correction means to the output unit 130, and the output unit 130 outputs (displays) the received correction means (S212).

[0023] As a correction means of the program 142, for example, in the gripping operation shown in Fig. 3(a), the correction means table 146 can be referenced based on the operation type of "lowering" to extract a correction means (correctable parameter) of "changing the destination position P2." Also, for example, in the processing operation shown in Fig. 3(b), the correction means table 146 can be referenced based on the operation type of "circumnavigation" to extract a correction means of "shifting the entire group of commands that make up the operation type of "circumnavigation" (completing correction all at once).

[0024] By outputting the extracted correction means to the output unit 130, a correction proposal can be presented to the user. The user refers to the output unit 130 and inputs a correction means from the input unit 120 as necessary. When the input unit 120 receives a correction input from the user (input of a correction means selected by the user) (or when the input is confirmed without correction) (S214), the control unit 110 functions as the program correction means 114 and corrects the program 142 based on the correction input (S216). When the correction of the program 142 is complete, the program correction means 114 transmits the corrected program (correction program) to the robot control device 202 (S218). As a result, the robot 200 operates in accordance with the correction program.

[0025] As described above, the program creation device 100 of this embodiment can correct the program 142 of the robot 200 on a movement pattern basis. This makes it possible to easily and appropriately correct parts of the trajectory of the robot 200's movement path (position, distance, direction, movement amount, angle, arc curvature, etc.). As a result, errors can be efficiently corrected when introducing a program created offline into an actual machine (robot), thereby shortening the time required for teaching. In this case, the program creation device 100 of this embodiment does not require a separate special device for correcting the program 142, and does not require a device or process for acquiring 3D model data. This makes it possible to reduce device costs and shorten the processing time.

[0026] In the above explanation, it has been described that the program correction means 114 transmits the correction program to the robot control device 202 and then operates the robot 200 according to the correction program, but this is not limited to this. For example, the user may correct the correction program while operating the robot 200 according to the correction program. In this case, the correction program may be temporarily applied to the robot 200 and corrected while operating it, and after the correction of the entire program is completed, it may be converted into a robot program and transmitted to the robot control device 202 (feedback method).

[0027] While the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, it goes without saying that the present invention is not limited to these examples. It is clear that those skilled in the art can conceive of various modifications and alterations within the scope of the claims, and it is understood that these modifications and alterations also fall within the technical scope of the present invention. [Industrial Applicability]

[0028] The present invention can be used as a program creation device for creating an operation program for a robot. [Explanation of symbols]

[0029] 100...program creation device, 110...control unit, 112...motion type extraction means, 114...program correction means, 120...input unit, 130...output unit, 140...storage unit, 142...program, 144...motion pattern table, 146...correction means table, 200...robot, 202...robot control device, T...tray, W...work

Claims

[Claim 1] A program creation device for creating an operation program for a robot, an input unit that accepts input from a user; a storage unit for storing the program input by the user, an operation pattern table storing specific operation patterns and operation types in association with each other, and a correction means table storing the operation types in association with correction means applicable to the operation types; an action type extraction means for extracting an action pattern in the program by referring to the action pattern table and assigning the action type to the program; a program correcting means for extracting a correcting means corresponding to an operation type in the program by referring to the correcting means table; an output unit that outputs the extracted correction means; Equipped with the input unit accepts an input of the correction means selected by the user, The program creation device is characterized in that the program correction means corrects the program in accordance with the correction means selected from the input unit and transmits the corrected program to a robot control device that controls the operation of the robot.

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