DE102005047489A1 - Robot`s operation sequence and motion sequence programming method for motor vehicle manufacturing industry, involves additionally representing point corresponding to currently represented operation and motion conditions of robot in program - Google Patents

Abstract

The method involves receiving image or video or audio data of an actuator based on operational sequence and motion sequence of the actuators. Actuator data is derived from the motion control or the operation control of a robot (1). The actuator data is temporally synchronized and the synchronized data is stored. The synchronized data of the time period is simultaneously represented. A point corresponding to the currently represented operation and motion conditions of the robot in a program is additionally represented. An independent claim is also included for a system for programming an operation sequence and a motion sequence of a robot.

Description

The The invention relates to a method and a system for programming of work and movement sequences from robots to automation with at least one moving one Actuator and with at least one motion control or a drive control for the Actuator.

to Automation robots are used in many ways. Especially In the manufacture of motor vehicles, they are used in robot-assisted manufacturing processes used, such as adhesive, spot and laser welding, screw mounting as well as holding and clamping processes etc.

Usually For example, robots are programmed so that the robot can work and Movement instructions, such as coordinates of a path to be approached, Speeds, etc., in the form of a program. The robot first follows these instructions during the first processing a workpiece. Subsequently becomes the workpiece on any errors during processing, such. B. deviations from the desired path, dirty welding or sticking or speed decreases. Subsequently The instructions of the robot are manually determined by the user or Programmers corrected and re-edited. This procedure is repeated iteratively until the desired working and movement or the result is obtained on the workpiece. The default of the first to be performed Program is done either by directly entering the instructions, as coordinates to be controlled, or by a corresponding manual Control of the robot, z. B. along the desired path, the individual Instructions are stored.

This so-called "teach-in" process, so that Teaching in the robot is relatively complicated, in particular therefore, because of the faulty machined th point of the workpiece the position or instruction in the work and motion control program of the robot must be closed, which the erroneous execution on Caused workpiece Has. This position must be selected and amended accordingly, supplemented or Getting corrected. Especially with complex movements is this sometimes difficult.

From the DE 101 48 160 A1 is a method and a system for providing data from machine tools, production machines or robots with at least one motion control or a drive control known, wherein the mechanical movement in regular operation related image and / or video and / or audio data in the motion control or the drive control data present synchronized in real time or processed synchronized in real time.

With While such a method or system may allow for monitoring or subsequent Analysis of the mechanical sequence of movements by means of "scrolling" in the stored However, this does support data and movement Procedure or system is not the actual remedy of the occurred Mistake, d. H. a change the actual instructions or programming of the robot.

task the invention it is in contrast, a To provide a method and a system that the processing of Supporting instructions or programming a robot and simplify.

These The object is achieved by the method according to claim 1 and by the system solved according to claim 9.

Thereby, that is provided according to the invention, in addition to those on the and movement of the actuator in operation related image and / or Video and / or audio data of the actuator and the motion control or the drive control derived data of the actuator, which synchronized in time are a position in the program that corresponds to the currently and state of motion of the robot corresponds to represent the change the instructions or programming of the robot essential simplified and accelerated.

Thus, when viewing the image and / or video and / or audio data, the user or programmer can precisely recognize the errors that have occurred in the machining of a workpiece. Since there is a temporally defined relationship between this data and the program flow, it is possible to represent the point of the program associated with the erroneous execution of the robot. This point can then be edited or modified in a suitable manner to remedy the error or to optimize the workflow and movement, for. B. in terms of execution speed. This processing or modification of the instructions is also particularly simple because the programmer, due to the simultaneous display of the image and / or video and / or audio data, the geometric arrangement of the robot and the workpiece in connection with can bring the displayed instructions, which significantly reduces the learning time and erroneous changes, ie those that do not improve or even worsen the workflow and movement, avoids.

in the In the simplest case, all data and the running program or the controlled coordinates are displayed together on a screen, which is filmed with a suitable camera.

Also can be a direct editing or modification of the program or be provided the respective displayed location of the program.

Around the extra To allow representation of the position corresponding to the data in the program, can the program on the basis of the current work and Motion states, especially the position of the robot to be searched. This is possible, da between the state of the robot shown and the Programming next to the temporal context (program sequence) There is also a connection with the executed work and movement sequences.

The Method allows any selection or specification of the displayed Time based on a continuous playback or retrieval the memory and representation of all data or one step by step Playback of the data and a selection of the time to be displayed on the basis of the respective representation. So the programmer can play the recorded data, eg. B. as related Movie, and stop playing when you detect an error. Based on the individual step or time then shown thereupon the appropriate place in the program presented and their change allows.

Especially this procedure concerns the selection of the time to be presented based on a deviation of the recorded movement of the desired or desired movement sequence.

In addition to the above Data can further work data of the robot, which also synchronized in time were presented. So can z. B. in an adhesive applying robot next to the motion data also information about the amount of adhesive, temperature, etc. are shown. This facilitates additionally the Optimization of the work and movement sequence or the instructions.

Around the creation or programming of the robot as part of learning simplify or provide an optimal initial program, is after the procedure the use of at least one study aid as Replacement for provided the real actuator. The learning aid allows the determination of the Actual position of Actors Regarding of the workpiece Evaluation of the image and / or video data and / or movement data the learning aid, whereby the learning aid itself is audio and / or visual Marking their position in the data allows such the direction of the deviation from the desired target position of the learning aid from the data is removable.

Especially the method according to the invention is suitable for adhesive application robot. In these operations Depending on the location to be machined on the workpiece different speeds and to set adhesive amounts, which with the inventive method particularly easy to set and change.

The appropriate system for programming work and motion sequences of robots includes a memory for a program of working and Movement instructions of the actor, recording means for from the working and movement sequence of the actuator in operation related image and / or video and / or audio data of the actuator, recording means for from the motion control or the drive control derived data of the actor, a unit for synchronizing the recorded time Data, another memory for the synchronized data and at least one simultaneous presentation device Representation of the synchronized data of a given time. That at least a presentation device also allows the additional Presentation of the position in the program that corresponds to the currently displayed job and the state of motion of the robot.

The The system can be made of hardwired logic such as ASICs, microcontrollers, I / O modules, etc. exist. Also it is conceivable the system on a appropriate data processing system, such as a computer to implement.

Besides the system has usual Data acquisition components that z. B. according to the IEEE 1394 or an Ethernet standard and high-speed transmission are aligned. These draw their data from the robot controller or regulation and can in addition to usual network connections communicate, such as B. Ethernet. So be next to the hit Coordinates of the actuator and its speed and z. B. the Location of the individual axes etc. processed.

on the other hand the system receives image and / or video and / or audio data, the z. B. by means of digital cameras or camcorders or microphones in short time intervals, z. B. every 30 ms, or constantly recorded become. These too are over appropriate interfaces connected to the system, such as those the IEEE 1394 standard.

Also can additional data are fed and synchronized, such. B. the Delivered amount of adhesive of an adhesive nozzle, the laser power or applied personnel during clamping or holding operations.

These Data can in a suitable design the hardware components are recorded and transmitted in real time become. Also a storage for later analysis as needed or in other places or on other systems is possible.

The Data is all synchronized so that they are timed to each other can be displayed, stored and recalled tuned. These Synchronization can be achieved by indexing the data over time, for B. in a suitable database.

The Synchronization itself can be done by a suitable routine be the same, all data and work and movement sequences in time spanned so that a common time base exists. In the simplest case, this can also be done by the video recording of common representation (see above). On the other hand, the Data of the control of the robot together with the recorded Audio, video data, etc. indexed to be stored.

The Data is displayed on standard screens, LCDs, etc. or even Projectors, which take place on one or more devices can. So can the data in the simultaneous display on a screen occupy different areas or overlap appropriately be imaged. When using multiple display devices, the individual representations are distributed to different devices.

So it may be useful to display the data from the display of the To separate part of the program to be edited, for a better overview or more display area to disposal to have.

to additional Appearance can be a device for searching the program on the basis of the currently displayed working and movement states, in particular the position of the robot be provided. This device searches the program based on the data shown, ie the image and or video and / or audio data and the data on the one hand from the Robot control or and / or the synchronization or the time index. In particular, you can used to search the program the coordinates of the robot become.

Farther can Means be provided which any selection or specification of the time to be displayed on the basis of a continuous or a Gradual playback of the data and selection of the displayed Timing on the basis of the current representation. This can be z. B. by "playing" the data in the form a time-indexed film or a series of individual images respectively. The selection would then z. By stopping playback and evaluating the time index or other information obtained from the data.

Around the initial "teach-in" process or more Simplifying optimizations can be at least a learning aid as Replacement for be provided the real actuator, the learning aid has means the determination of the actual position, especially the distance to the workpiece, by evaluating the image and / or allow video data and / or movement data of the learning aid.

When So learning help comes dummies or dummies used that the Geometry and movement of the real robot working head or the Imitate actor. additionally The learning aid has the means to ensure proper compliance and Detecting the approached coordinates or other workflows easier. Thus, the learning aid itself can provide means for generating audio and / or visual Markings of their position, in particular the distance to the workpiece, so have that direction of a deviation from a desired position the learning aid z. B. from the recorded data can be removed. For this the learning aid can be provided with a distance sensor. Whose Data or signals can then also be displayed along with the other data, what the change facilitated programming.

Also, the learning aid may be equipped with at least two lasers, which are arranged opposite one another and are aligned in the direction of the workpiece to be machined, with their beams forming an angle to one another towards the workpiece. The lasers are adjusted so that with a correct, ie desired alignment with the workpiece, only one point of light in the image or video data is visible. In the event of a deviation from this, two or more points of light become visible, so that the deviation (eg in the image or video data) becomes visible and can be corrected. It is also conceivable even one to enable automatic recognition of the deviation and modification of the program by image analysis methods, which may be provided with intelligent logic for self-correction or support of editing or modification.

Further can z. B. in the data shown, in particular image and video data Distances and dimensions are displayed, showing the distances of the indicate displayed parts to each other. This facilitates, for example the change the programming of the coordinates to be approached by the robot.

When Means of processing or modifying the Program or the respective displayed position of the program z. B. be provided an integrated development environment, the the structures and instructions of the program in textual and / or pictorial form simultaneously with the other data displays and its processing allowed by direct input.

Further Features, details and advantages of the invention will become apparent the following description of an embodiment with reference to the Drawings. Show it:

1 , a schematic overview of a system for programming working and moving sequences of a robot for adhesive application,

2 a schematic view of the screen display of synchronized data and the program in text form and

3 a schematic view of a learning aid for the adhesive application.

1 shows a schematic overview of a system for programming work and motion sequences of a robot 1 for applying adhesives in the automotive industry.

The robot 1 has a variety of degrees of freedom and in particular a pivotable and rotatable adhesive applicator head 2 , the one nozzle 3 has the actual dispensing of the adhesive.

The robot 1 is from a controller 4 monitors and regulates the different axes of the robot 1 for approaching the most varied desired coordinates of the working head 2 controls to a workpiece, not shown, the desired movement of the nozzle 3 to obtain. In addition, the controller determines 4 the speed with which the respective coordinates are approached. In addition, the controller controls 4 also the release of the adhesive from the nozzle 3 z. B. on the basis of the pressure and the switching on and off of the corresponding pumps.

In addition, the controller gives 4 the current control data of the working movement sequence to a central data processing system 5 which, in this case, is a portable computer. The computer 5 is provided with a corresponding interface or plug-in card to the data of the robot controller 4 as well as images or films of digital cameras connected via corresponding data lines to the computer 11 and 12 capture.

In addition, the computer receives 5 again via suitable interfaces or data lines data from a distance sensor 13 , in the context of the learning aid to be described at the working head 2 is attached.

Further, the computer saves 5 all received data into appropriate memory 6 . 7 and 8th for the video data of the cameras 11 and 12 and the other signal data from the controller 4 ,

The computer also has a unit, either in the form of a routine or logic chips 9 that synchronizes all data in time so that they are in direct temporal relation to each other in the memory 6 . 7 and 8th can be saved or called from these.

In addition to recording and storing all the data allows the data processing system 5 also the stepwise or continuous simultaneous playback of the received or stored data on a suitable screen 14 (see 2 ) or multiple screens.

The computer 5 is also responsible for the program 10 , which is the actual working and moving instructions of the robot 1 contains, store, to the controller 4 to pass in an appropriate form to the robot 1 to program, in an appropriate manner, for. As text form, and to enable its editing, which takes place in an integrated development environment.

In Figure two is an exemplary view of the screen 14 shown, wherein the screen for simultaneous display of all data in four quadrants I, II, III and IV is divided.

The quadrant I, in the upper left half of the picture, shows the data of the camera 11 which takes a close-up of the adhesive application track. One recognizes in the rectangular marked area 15 a deviation from the ideal trace of adhesive on Workpiece.

Quadrant III, in the lower right half of the picture, shows the data from the camera 12 , which is an overview of the entire robot 1 receives.

In quadrant II, which is located in the upper right half of the screen, the data is the controller 4 shown, for reasons of clarity in the present case, for example, only speeds are given, with which the nozzle 3 moves along the glue track, as they are from the quadrant I or the camera 11 results. Also coordinates etc. could be displayed.

This temporally synchronous representation of the data is possible, since this is previously determined by the unit 9 of the system were synchronized in time or provided with a time index.

In the further quadrant IV is the programming or the program 10 for controlling the robot 1 presented in text form within the integrated development environment so that direct changes are possible.

Due to the method according to the invention is on the basis of the currently displayed image in quadrant I or quadrant III, the body 16 in program 10 selected or searched and displayed, which corresponds to the current image detail or the coordinates or work and movement sequence of the robot shown there.

This search is done by a suitable routine in the computer 5 for this purpose, preferably the time index of the stored synchronized data and / or the coordinates from the data signals of the controller 4 used. Thus, the routine can use the known relationship between the image data and the coordinates of the robot, the sought place 16 in program 10 produce. In most cases, the presented state of the robot will be between two instructions for approaching coordinates, so that by means of an interpolation the sought place 16 can be found exactly.

The spot 16 is displayed in textual form in the context of the preceding and following instructions in the program in the quadrant IV and highlighted ("gehilighted") in such a way that direct inputs are possible. Thus, the direct editing or modification of the program is possible, allowing a simple change of instructions in the program 10 which are responsible for the incorrect machining of the workpiece or the non-optimal work and movement sequence.

In the present case, so can the deviation from the ideal trace of adhesive on the workpiece in the area 15 corrected and also the falling speed can be corrected or compensated by appropriate instructions.

3 shows a learning aid 20 at the nozzle 3 of the working head 2 of the robot 1 out 1 is appropriate.

The learning aid 20 serves as a replacement for the robot working head or this can be moved without operation "in the dry passage" according to the instructions for the movements without z. B. the actual bonding process itself is performed.

The learning aid 20 in the present case comprises two lasers 21 spaced 180 degrees from each other around the nozzle 3 are arranged around. They are about a bracket 22 attached to the lasers 21 to each other at the same distance from the nozzle 3 determines and allows a shift whose position at the nozzle, what by the arrow 23 is indicated.

The lasers 21 the learning aid 20 are aligned with their laser beams on the indicated workpiece and form an angle to each other, which tapers towards the workpiece. This angle is set or over the bracket 22 adjustable that the lasers 21 at correct or desired distance of the working head 2 produce only a picture or light point to the workpiece, ie the beams intersect exactly in the workpiece or on its surface.

If the distance is too large or too small, two image or light points are created, as the rays of the laser 21 either before or above or behind or below the workpiece or its surface intersect. Thus, the correct distance for the respective processing can be easily adjusted.

This makes learning easier 20 The first programming of the robot or the beginning of the testing with an optimized program for the working and movement sequences, since the workpiece can be "practiced" without actually being processed.

1

robot

2

Glue gun

3

jet

4

control

5

Data processing system

6

Storage

7

Storage

8th

Storage

9

Synchonisierungs unit

10

program

11

camera

12

camera

13

distance sensor

14

screen

15

marked Area

16

indicated position in the program 10

20

learning aid

21

laser

22

bracket

23

shift

Claims (18)

Method of programming work and work movements from robots to automation with at least one moving one Actuator and with at least one motion control or a drive control for the Actuator comprising the steps: a) storage of labor and Movement instructions for the actor in a program, (b) inclusion on the working and movement of the actuator in operation related image and / or Video and / or audio data of the actuator, c) recording from the motion control or the drive control derived data of the actor, d) time synchronization of the data from the steps (b) and (c), e) storing the synchronized data, f) Simultaneous display of the synchronized data of a time, marked by g) additional Representation of a position in the program that is currently displayed Working and moving state of the robot from (f) corresponds. Method according to claim 1, characterized in that that to the extra Presentation (g) the program for controlling the work and movement sequence on the basis of the currently displayed working and movement states, in particular Position, the robot is searched. Method according to claim 1 or 2, characterized that any selection or specification of the time to be displayed (f), based on a continuous playback or retrieval of all Data from (d) or a gradual playback or retrieval of the stored synchronized data (d) and selection of the displayed Time (f) on the basis of the respective representation. Method according to one of the preceding claims, characterized by a selection of the time (g) to be displayed on the basis of a Deviation of the recorded movement from the desired movement. Method according to one of the preceding claims, characterized by the display of further temporally synchronized work data of the robot. Method according to one of the preceding claims, characterized by using at least one learning aid, the learning aid being the Determining the actual position of the actuator with respect to the workpiece by Evaluation of the image and / or video data and / or movement data the learning aid allowed, the learning aid itself audio and / or allows visual markers of their position in the data so that the direction of deviation from the target position of the learning aid from the data is removable. Method according to one of the preceding claims, characterized by direct editing or modification of the program or the respective displayed location of the program. Method according to one of the preceding claims, characterized characterized in that a record of the common representation the synchronized data of one time and the additional one Representation of the point in the program that is currently displayed Working and moving state of the robot, takes place. System for programming working and moving sequences of robots for automation with at least one movable actuator and with at least one motion control or a drive control for the actuator, in particular for carrying out the method according to one of claims 1 to 8, comprising: a memory for a program ( 10 ) of the work and movement instructions of the actuator, receiving means ( 11 . 12 ) for image and / or video and / or audio data of the actuator related to the working and movement sequence of the actuator during operation, recording means ( 4 . 5 ) for data originating from the motion control or the drive control of the actuator, a unit ( 9 ) for temporal synchronization of the recorded data, a memory ( 6 . 7 . 8th ) for the synchronized data, at least one display device ( 14 ) for simultaneously displaying the synchronized data of a time, characterized in that means ( 14 ) for the additional presentation of a post ( 16 ) in program ( 10 ) corresponding to the currently displayed working and moving state of the robot from (f) are provided. System according to claim 9, characterized in that for additional representation a Vor direction ( 5 ) to search the program ( 10 ) is provided for controlling the work and movement sequences based on the currently shown working and moving states, in particular the position of the robot. System according to claim 9 or 10, characterized that means are provided which are any selection or specification of the time to be displayed on the basis of a continuous reproduction all data or a step by step playback and selection of the displayed Timing based on the respective representation allow. System according to one of the preceding claims 9 to 11, characterized in that means ( 5 ) are provided for selecting the time point to be displayed, which allow finding a deviation of the recorded motion sequence from the desired movement sequence. System according to one of the preceding claims 9 to 12, characterized in that means ( 5 . 14 ) are provided for displaying further temporally synchronized working data of the robot. System according to one of the preceding claims 9 to 13, characterized in that at least one learning aid ( 20 ), the learning aid being a means ( 21 ), which allow the determination of the actual position, in particular the distance to the workpiece, by evaluating the image and / or video data and / or movement data of the learning aid. System according to claim 14, characterized in that the learning aid itself means ( 21 ) for generating audio and / or visual markings of their position, in particular the distance to the workpiece, such that the direction of the deviation from the desired position of the learning aid from the recorded data can be removed. System according to claim 14 or 15, characterized in that the learning aid with a distance sensor ( 21 ) is provided. System according to claim 16, characterized in that the learning aid with at least two lasers ( 21 ) are arranged, which are arranged opposite one another and are aligned in the direction of the workpiece to be machined, with their rays forming an angle to each other towards the workpiece towards each other. System according to one of the preceding claims 9 to 16, characterized in that means for processing or modification of the program or of the indicated position of the program are provided.