Operation path design system and operation path design method

Abstract

[Problem] To improve the efficiency of production of a product by a processing machine. [Solution] Provided is an operation path design system that designs an operation path of a robot that is provided side by side with a processing machine and operates while holding a workpiece to be processed by the processing machine, the operation path design system comprising: an acquisition unit that acquires drawing data of the workpiece, a first gripping position indicating a workpiece gripping position of the robot in each processing step for the workpiece, and a second gripping position indicating a gripping position at a timing later than the first gripping position; and a generation unit that selects a corresponding script based on the acquired drawing data of the workpiece, the first gripping position, and the second gripping position by using a script specifying via-points of the robot between the first gripping position and the second gripping position in each processing step for the workpiece and an operation between the via-points, and generates an intermediate program used for conversion into a robot program including an operation command to the robot.

Description

Operation Route Design System and Operation Route Design Method

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[0001] The present invention relates to an operation route design system and an operation route design method.

[0002] Conventionally, in the process of processing by a processing machine such as a press brake, there are cases where a robot that holds and operates a workpiece is made to perform the operation. The robot operates based on a robot program generated in advance. Before causing the processing machine to produce a product, the operator performs a trial processing and, if necessary, performs a teaching operation to adjust the position and posture of the robot. Thereby, the operation route of the robot can be suitably designed. Patent Document 1 discloses a technique of registering the taught data in a memory and generating a newly modified processing program according to the teaching.

[0003] Japanese Patent No. 4708541

[0004] Although the above conventional technology corrects the operation route of the robot by performing a teaching operation, originally, the design of the operation route of the robot may be mechanically (by a mathematical method), and it is often not the design of the operation route as intended by the operator. For example, conventionally, the operation route of the robot may pass through a position that is too close to some obstacle or include a position that would not be selected by the operator as part of the operation route, resulting in an operation route unintended by the operator. As a result, the conventional technology requires time for the teaching operation to correct the operation route of the robot, reducing the production efficiency of products by the processing machine.

[0005] The present invention provides an operation route design system and an operation route design method capable of improving the production efficiency of products by a processing machine.

[0006] In one embodiment of the present invention, a motion path design system is provided for designing the motion path of a robot that is installed alongside a machining center and operates while holding a workpiece to be machined by the machining center, the system comprising: an acquisition unit that acquires drawing data of the workpiece, a first gripping position indicating the position of the robot gripping the workpiece at each machining step, and a second gripping position indicating a gripping position at a timing later than the first gripping position; and a generation unit that uses a script that specifies the robot's waypoints between the first gripping position and the second gripping position at each machining step for the workpiece, and the movements between the waypoints, to select a corresponding script from the acquired drawing data of the workpiece, the first gripping position and the second gripping position, and generates an intermediate program used for conversion into a robot program that includes robot motion commands.

[0007] In one embodiment of the present invention, a motion path design method is provided for designing the motion path of a robot that is installed alongside a machining center and operates while holding a workpiece to be machined by the machining center, the method comprising: acquiring drawing data of the workpiece, a first gripping position indicating the position of the robot gripping the workpiece at each machining step, and a second gripping position indicating a gripping position at a timing later than the first gripping position; and using a script that specifies the robot's waypoints between the first gripping position and the second gripping position at each machining step for the workpiece, and the movements between the waypoints, selecting a corresponding script from the acquired drawing data of the workpiece, the first gripping position, and the second gripping position, and generating an intermediate program used for conversion into a robot program that includes robot motion commands.

[0008] According to the motion path design system and motion path design method of the present invention, a script is used to specify the robot's waypoints between the first gripping position and the second gripping position in each machining process for the workpiece, and the movements between the waypoints. The system selects the corresponding script from the acquired workpiece drawing data, the first gripping position, and the second gripping position, and generates an intermediate program used for conversion into a robot program that includes robot motion commands. This generates a robot program that does not require time for teaching work to correct the robot's motion path, thereby improving the production efficiency of products by the machining center.

[0009] Furthermore, in the above embodiment of the motion path design system, the acquisition unit may acquire drawing data of the workpiece, a first gripping position, and a second gripping position through user input. According to this embodiment, a more preferable workpiece gripping position can be specified for the operator on site. Furthermore, in the above embodiment of the motion path design system, the acquisition unit may acquire parameters related to the robot's path and movement, and the generation unit may generate an intermediate program that reflects the parameters acquired by the acquisition unit. According to this embodiment, in addition to selecting a script corresponding to the input of the first gripping position and the second gripping position, further adjustment of the robot's path and movement can be achieved. Furthermore, in the above embodiment of the motion path design system, the acquisition unit may acquire parameters through user input. According to this embodiment, a more preferable robot motion path can be specified for the operator on site.

[0010] This is a diagram showing an example configuration of the motion path design system according to the embodiment. This is a diagram showing an example of a robot according to the embodiment. This is a diagram showing an example of the functional configuration of an office terminal and a field terminal according to the embodiment. This is a diagram showing an example of the process of specifying the gripping position by the robot according to the embodiment. This is a diagram showing an example of the process of specifying the gripping position by the robot according to the embodiment. This is a diagram showing an example of the process of specifying the gripping position by the robot according to the embodiment. This is a diagram showing an example of the process of specifying the gripping position by the robot according to the embodiment. This is a diagram showing an example of the process of specifying the gripping position by the robot according to the embodiment. This is a diagram showing an example of the process of specifying the gripping position by the robot according to the embodiment. This is a flowchart showing an example of the motion path design process according to the embodiment.

[0011] The present invention will be described below through embodiments of the invention. However, the present invention is not limited to what is described below. The following embodiments do not limit the invention as defined in the claims. In the drawings, the scale may be appropriately changed, such as by enlarging, reducing, or emphasizing parts of the drawings, in order to illustrate the embodiments. Also, in the drawings, directions in the figures may be explained using the XYZ Cartesian coordinate system. In the XYZ Cartesian coordinate system, the vertical direction is the Z direction, and the horizontal directions are the X and Y directions. In the X, Y, and Z directions, the direction pointed to by the arrow is the + direction, and the direction opposite to the direction pointed to by the arrow is the - direction.

[0012] [Embodiment] Figure 1 is a diagram showing an example configuration of the motion path design system according to the embodiment. As shown in Figure 1, the motion path design system 1 includes an office terminal 100, a field terminal 200, a robot controller 300, a teaching terminal 350, a processing machine controller 400, a processing machine 500, and a robot 600. The motion path design system 1 is installed alongside the processing machine 500 and is a system for designing the motion path of the robot 600 that holds the workpiece to be processed by the processing machine 500 and operates accordingly.

[0013] The motion path design system 1 is physically divided into an office side and a factory / site side. An office terminal 100 is located on the office side, while a site terminal 200, robot controller 300, teaching terminal 350, processing machine controller 400, processing machine 500, and robot 600 are located on the site side. Each of the devices shown in Figure 1 is interconnected by wired communication such as a LAN (Local Area Network) or wireless communication such as the Internet.

[0014] The office terminal 100 acquires drawing data of the workpiece to be processed by the processing machine 500, a first gripping position indicating the gripping position of the workpiece by the robot 600 at each processing step, and a second gripping position indicating the gripping position at a later timing than the first gripping position. For example, the office terminal 100 accepts input of CAD data 10 including drawing data of the workpiece, as well as input of the first gripping position of the workpiece by the robot 600 and the second gripping position at a later timing than the first gripping position. For the first gripping position and the second gripping position, the user of the office terminal 100 operates the office terminal 100 and inputs the first gripping position and the second gripping position.

[0015] The CAD data 10 includes an unfolded drawing of the workpiece to be processed by the processing machine 500. For example, if the processing machine 500 is a press brake, the first gripping position may correspond to the gripping position at the end of bending in a bending process, and the second gripping position may correspond to the gripping position at the start of bending in the next bending process. The first gripping position may also correspond to the starting position of gripping the workpiece by the robot 600 in each processing process. The second gripping position may also correspond to the ending position of gripping the workpiece by the robot 600 in each processing process.

[0016] Furthermore, the office terminal 100 uses a script that specifies the waypoints and movements of the robot 600 between the first gripping position and the second gripping position in each processing step for the workpiece, to select the corresponding script from the acquired workpiece drawing data, the first gripping position, and the second gripping position, and generates an intermediate program 11 that is used to convert it into a robot program 12 that includes operation commands for the robot 600.

[0017] The motion path design system 1 holds information regarding each processing step of the workpiece, the first gripping position and the second gripping position, and selectable information for a script that specifies the waypoints and the movements between the waypoints of the robot 600. This information may be stored in the office terminal 100 or in a server device (storage device) accessible by the office terminal 100. The intermediate program 11 consists of a script language (selected script) in which the movements of the robot 600 are abstractly described for the robot program 12 that operates the robot 600. The office terminal 100 transmits the generated intermediate program 11 to the field terminal 200.

[0018] The field terminal 200 converts the intermediate program 11 generated by the office terminal 100 into a robot program 12. The robot program 12 is a program that operates the robot 600. The field terminal 200 transmits the robot program 12, which was converted based on the intermediate program 11, to the robot controller 300. The field terminal 200 also generates a processing machine program 13 based on the intermediate program 11 generated by the office terminal 100. The processing machine program 13 is a program that operates the processing machine 500. The field terminal 200 transmits the generated processing machine program 13 to the processing machine controller 400.

[0019] The robot controller 300 executes the robot program 12 and controls the movement of the robot 600. The teaching terminal 350 is used to correct the position and orientation of the robot 600, which has been operated based on the robot program 12. The operator uses the teaching terminal 350 to input correction values ​​when they want to correct the position and orientation of the robot 600. When the teaching terminal 350 receives the input of correction values, it notifies the robot controller 300. As a result, the robot controller 300 executes the robot program 12 that reflects the correction values ​​and controls the movement of the robot 600.

[0020] The processing machine controller 400 executes the processing machine program 13 and controls the operation of the processing machine 500. In this embodiment, the processing machine 500 is, for example, a press brake. The processing machine 500 performs bending on a workpiece, for example. A stocker 510, material stations 520 and 530, an aligner 540, a gripping change device 550, and a product loading station 560 are arranged around the processing machine 500. The robot 600 operates by holding the workpiece to be processed by the processing machine 500. The robot 600 is able to move on rails 650 that are arranged to allow the held workpiece to interfere with the processing machine 500, material stations 520 and 530, aligner 540, gripping change device 550, and product loading station 560.

[0021] Figure 2 shows an example of a robot according to an embodiment. As shown in Figure 2, the robot 600 comprises a trolley 601, a first joint 602, a second joint 603, a first arm 604, a third joint 605, a second arm 606, and a wrist 607. The trolley 601 is mounted on rails 650 for the robot 600 to move. The first joint 602 is mounted on the trolley 601 so as to be rotatable around joint axis A1. The second joint 603 is mounted on the first joint 602 so as to be rotatable around joint axis A2. The third joint 605 is rotatable around joint axis A3. The first arm 604 is positioned to connect the second joint 603 and the third joint 605 and operates in accordance with the rotation of the second joint 603.

[0022] The second arm portion 606 is connected to the third joint portion 605 and operates in accordance with the rotation of the third joint portion 605. The wrist portion 607 is connected to the other end of the second arm portion 606 relative to the third joint portion 605, and a robot hand for work handling can be detachably attached to it. The wrist portion 607 is also rotatable around the joint axis A4. As a result, the robot 600 can operate in six axes: the X direction, Y direction, Z direction, around the X axis (θx), around the Y axis (θy), and around the Z axis (θz), as well as one axis in the direction in which the rail 650 extends (the travel axis of the robot 600). Note that the configuration of the robot 600 is not limited to that shown in the figure, and any configuration is acceptable as long as it can operate in each direction as described above.

[0023] Returning to the explanation of Figure 1, the stocker 510 is installed alongside the processing machine 500, which acts as a press brake, and stores the dies used for processing the workpiece by the processing machine 500. In the motion path design system 1, the dies required for processing the workpiece may be acquired from the stocker 510 and automatically set in the processing machine 500, or the robot 600 may acquire the dies from the stocker 510 and set them in the processing machine 500.

[0024] Material stations 520 and 530 are locations where workpieces are placed as raw materials before processing. At the start of the processing steps, robot 600 moves to material stations 520 and 530, and retrieves and holds the workpieces as raw materials before processing from material stations 520 and 530.

[0025] The aligner 540 is used to adjust the orientation of a workpiece. The robot 600 adjusts the orientation by placing the held workpiece on the aligner 540 and then holding the workpiece again. For example, when a workpiece is placed on the aligner 540 by the robot 600, its corners are positioned at predetermined locations on the aligner 540. In this state, the robot 600 can adjust the orientation of the workpiece by holding the workpiece with its corners positioned at predetermined locations on the aligner 540.

[0026] The gripping change device 550 is used to perform a workpiece grip change by the robot 600. For example, the gripping change device 550 is equipped with a suction pad for picking up the workpiece. The robot 600 picks up the held workpiece with the suction pad of the gripping change device 550 and performs a workpiece grip change by picking up the workpiece again at a different point than where it was held before picking.

[0027] The product loading station 560 is the location where the workpieces, as finished products, are placed after being processed by the processing machine 500. After all the processing steps by the processing machine 500 are completed, the robot 600 moves to the product loading station 560 and places the held workpieces (workpieces as finished products) into the product loading station 560. In addition to the above, the processing machine 500 is equipped with a sensor near the back gauge of the press brake. The sensor detects the amount of pressure (pressure) the workpiece exerts on the back gauge, etc.

[0028] The robot 600 operates based on feedback from sensors to ensure that the amount of pressure applied by the workpiece to the back gauge is at a suitable value. The motion path design system 1 may also include equipment for exchanging the robot hand (sometimes called a "hand stand") which can be replaced depending on the workpiece. The motion path design system 1 may also include equipment for detecting whether multiple workpieces are being held (for example, whether two workpieces are being held stacked on top of each other).

[0029] In the motion path design system 1, a script is prepared in advance that allows the robot 600's motion path to be selected by specifying a first gripping position and a second gripping position for each machining process of the workpiece. As a result, the office terminal 100 selects the corresponding script and generates an intermediate program 11 when it receives input of the first and second gripping positions of the workpiece by the robot 600 for each machining process of the workpiece to be machined. Unlike conventional methods that design motion paths mechanically (using mathematical methods), this script is configured to design a suitable motion path as intended by the operator on site. Therefore, the motion path design system 1 can suppress the need for teaching work to correct the robot's motion path and improve the production efficiency of products by the machining center 500.

[0030] Figure 3 shows an example of the functional configuration of an office terminal and a field terminal according to the embodiment. As shown in Figure 3, the office terminal 100 has an acquisition unit 110 and a generation unit 120. The field terminal 200 has a conversion unit 210.

[0031] The acquisition unit 110 acquires drawing data of the workpiece, a first gripping position indicating the gripping position of the workpiece by the robot 600 at each processing step, and a second gripping position indicating a gripping position at a later timing than the first gripping position. Specifically, the acquisition unit 110 acquires drawing data of the workpiece as CAD data 10 input into the office terminal 100, and the first gripping position and second gripping position input by user operation. For example, the first gripping position may correspond to the gripping position at the end of bending in a certain bending process, and the second gripping position may correspond to the gripping position at the start of bending in the next bending process. Alternatively, the first gripping position may correspond to the gripping start position in each processing step of the workpiece to be processed. Also, the second gripping position may correspond to the gripping end position in each processing step. The first gripping position and the second gripping position can also be specified based on the 3D image (simulation) displayed and output to the office terminal 100.

[0032] Figures 4 to 11 show examples of the process for specifying the gripping position by the robot according to the embodiment. As shown in Figure 4, the office terminal 100 can display and output a 3D image of the processing machine 500 along with an unfolded view of the workpiece. The user then operates the office terminal 100 to specify the first gripping position and the second gripping position for each processing step of the workpiece. Figure 5 shows the situation when a workpiece is gripped as material from the material stations 520 and 530. The workpiece is being held by the robot hand of the robot 600. The first gripping position and the second gripping position correspond to the holding position of this robot hand. Figure 6 shows the situation after the robot 600 has moved after gripping the workpiece as material from the material stations 520 and 530.

[0033] Figure 7 shows the workpiece placed on the aligner 540. Figure 8 shows the workpiece being pressed against the back gauge in the processing machine 500 and pressed into the die. Figure 9 shows the workpiece being bent in the processing machine 500. Figure 10 shows the workpiece being held in the gripping device 550. Figure 11 shows the workpiece being placed as a product in the product loading station 560. The user uses the office terminal 100 to specify the gripping position while viewing these 3D images.

[0034] In other words, the office terminal 100 inputs the position specified in the 3D image as either the first gripping position or the second gripping position. The office terminal 100 can acquire the first gripping position and the second gripping position according to the specified gripping position. That is, the acquisition unit 110 acquires the drawing data of the workpiece, the first gripping position, and the second gripping position through user input.

[0035] The generation unit 120 uses a script that specifies the waypoints and movements of the robot 600 between the first gripping position and the second gripping position in each machining process for the workpiece to select a corresponding script from the workpiece drawing data, the first gripping position and the second gripping position acquired by the acquisition unit 110, and generates an intermediate program 11 that is used to convert it into a robot program 12 that includes operation commands for the robot 600.

[0036] Specifically, the generation unit 120 selects a script that specifies the waypoints and movements between waypoints of the robot 600 from information related to each processing step of the workpiece, the first gripping position and the second gripping position, and selects a script that specifies the waypoints and movements between waypoints of the robot 600, using information that can be selected from the process information, the first gripping position and the second gripping position for the drawing data of the workpiece acquired by the acquisition unit 110, and generates an intermediate program 11. The office terminal 100 transmits the generated intermediate program 11 to the field terminal 200.

[0037] Furthermore, the acquisition unit 110 may acquire parameters related to the path and operation of the robot 600. The generation unit 120 may then generate an intermediate program 11 that reflects the parameters acquired by the acquisition unit 110. For example, in addition to specifying the gripping position using 3D images, the user may want to further adjust the path and operation of the robot 600. In this case, the user can input (for example, numerically) these parameters to be adjusted by operating the office terminal 100. As a result, the acquisition unit 110 acquires parameters related to the path and operation of the robot 600. The generation unit 120 then generates an intermediate program 11 that reflects the parameters acquired by the acquisition unit 110.

[0038] The conversion unit 210 converts the intermediate program 11 generated by the generation unit 120 into a robot program 12 that operates the robot 600. Specifically, the conversion unit 210 converts the intermediate program 11 generated by the generation unit 120 and received from the office terminal 100 into a robot program 12 that operates the robot 600. The field terminal 200 transmits the robot program 12 converted from the intermediate program 11 to the robot controller 300. As a result, the robot controller 300 can execute the robot program 12 and operate the robot 600.

[0039] Furthermore, the field terminal 200 generates a processing machine program 13 based on the intermediate program 11 received from the office terminal 100. The field terminal 200 transmits the generated processing machine program 13 to the processing machine controller 400. This allows the processing machine controller 400 to execute the processing machine program 13 and operate the processing machine 500. In the operation path design system 1, the execution of the robot program 12 and the processing machine program 13 causes the robot 600 holding the workpiece to operate, and the processing machine 500 to process the workpiece.

[0040] Figure 12 is a flowchart showing an example of the flow of the motion path design process according to the embodiment. As shown in Figure 12, the acquisition unit 110 acquires the drawing data of the workpiece, the first gripping position, and the second gripping position (step S101). Specifically, the acquisition unit 110 acquires the drawing data of the workpiece, the first gripping position, and the second gripping position by inputting CAD data 10 as the drawing data of the workpiece and the first gripping position and the second gripping position, which are positions specified by user operation using 3D images on the office terminal 100. The acquisition unit 110 may also acquire parameters to adjust the path and operation of the robot 600 by user operation using the office terminal 100.

[0041] The generation unit 120 generates an intermediate program 11 from the workpiece drawing data, the first gripping position, and the second gripping position (step S102). Specifically, the generation unit 120 uses information that allows selection of a script specifying the waypoints and movements between waypoints of the robot 600, based on information related to each processing step of the workpiece, the first gripping position, and the second gripping position, to select a corresponding script from the process information, the first gripping position, and the second gripping position for the workpiece drawing data acquired by the acquisition unit 110, and generates the intermediate program 11. Furthermore, if the acquisition unit 110 has acquired parameters related to the path and movement of the robot 600, the generation unit 120 generates an intermediate program 11 that reflects the acquired parameters.

[0042] As described above, the motion path design system 1 uses a script that specifies the waypoints and movements of the robot 600 between the first gripping position and the second gripping position in each machining process for the workpiece. From the acquired workpiece drawing data, the first gripping position, and the second gripping position, the system selects the corresponding script and generates an intermediate program 11 used for conversion into a robot program 12 that includes robot motion commands. This makes it possible to generate a robot program 12 that does not require time for teaching work to correct the robot's motion path, thereby improving the production efficiency of products by the machining center.

[0043] Although embodiments of the present invention have been described above, the technical scope of the present invention is not limited to the above embodiments. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiments. Furthermore, such modified or improved forms are also included in the technical scope of the present invention. One or more of the requirements described in the above embodiments may be omitted. Also, the requirements described in the above embodiments can be combined as appropriate. In addition, the execution order of each process shown in this embodiment can be implemented in any order, as long as the output of the previous process is not used in the subsequent process. Furthermore, even if the operation in the above embodiments is described using "first," "next," "followed," etc. for convenience, it is not necessary to perform them in this order. Furthermore, to the extent permitted by law, the disclosures of Japanese Patent Application No. 2024-175254 and all documents cited in the above embodiments are incorporated into this text.

[0044] 1...Motion path design system 10...CAD data 11...Intermediate program 12...Robot program 13...Processing machine program 100...Office terminal 110...Acquisition unit 120...Generation unit 200...Field terminal 210...Conversion unit 300...Robot controller 350...Teaching terminal 400...Processing machine controller 500...Processing machine 600...Robot

Claims

1. A motion path design system for designing the motion path of a robot that is installed alongside a processing machine and operates while holding a workpiece to be processed by the processing machine, comprising: an acquisition unit that acquires drawing data of the workpiece, a first gripping position indicating the gripping position of the workpiece by the robot at each processing step for the workpiece, and a second gripping position indicating a gripping position at a timing later than the first gripping position; and a generation unit that uses a script that specifies the waypoints of the robot between the first gripping position and the second gripping position at each processing step for the workpiece and the movements between the waypoints to select the corresponding script from the acquired drawing data of the workpiece, the first gripping position and the second gripping position, and generates an intermediate program used for conversion into a robot program that includes motion commands for the robot.

2. The operation path design system according to claim 1, wherein the acquisition unit acquires drawing data of the workpiece, the first gripping position, and the second gripping position by user input.

3. The motion path design system according to claim 1, wherein the acquisition unit acquires parameters relating to the path and motion of the robot, and the generation unit generates the intermediate program that reflects the parameters acquired by the acquisition unit.

4. The operation path design system according to claim 3, wherein the acquisition unit acquires the parameters by user input.

5. A motion path design method for designing the motion path of a robot that is installed alongside a processing machine and operates while holding a workpiece to be processed by the processing machine, comprising: acquiring drawing data of the workpiece, a first gripping position indicating the gripping position of the workpiece by the robot at each processing step for the workpiece, and a second gripping position indicating a gripping position at a timing later than the first gripping position; and using a script that specifies the waypoints of the robot between the first gripping position and the second gripping position at each processing step for the workpiece and the movements between the waypoints, selecting the corresponding script from the acquired drawing data of the workpiece, the first gripping position and the second gripping position, and generating an intermediate program used for conversion into a robot program that includes motion commands for the robot.

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