JP2014100780A - Track generation device of gripping mechanism, track generation method of gripping mechanism, track generation program of gripping mechanism, recording medium and robot program making device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technology capable of properly calculating a locus of a hand 25 for carrying respective components P, while avoiding a collision with an obstacle, when an arrangement state of the obstacle changes, when carrying a plurality of components P in order.SOLUTION: A carrying track of the hand 25 is calculated by simulating operation of the hand 25 for executing carrying work in order to the plurality of components P, while avoiding the collision with the obstacle based on obstacle arrangement information Io for indicating arrangement of the components P of becoming the obstacle, when executing the carrying work to a carrying object component P(n)(Track Simulation). The track simulation is executed while updating the obstacle arrangement information Io in response to a change in the arrangement of the components P generated by the carrying work. Thus, the locus of the hand 25 for carrying the respective components P can be properly calculated while avoiding the collision with the obstacle when an arrangement state of the obstacle changes.

Description

  The present invention relates to a technology for transporting a workpiece using a gripping mechanism, and more particularly to a technology for generating a trajectory for moving the gripping mechanism for transporting the workpiece.

  Conventionally, a robot that performs a predetermined operation on a workpiece is known. In addition, as described in Patent Documents 1 and 2 and the like, various techniques for obtaining a robot operation necessary for performing a predetermined work on a workpiece by simulation have been proposed.

JP-A-2005-135278 JP 2002-273675 A

  By the way, it is possible to carry out an operation of sequentially transporting a plurality of workpieces using a gripping mechanism such as a hand provided in the robot and assembling them. At this time, if the trajectory of the gripping mechanism that sequentially conveys a plurality of workpieces can be calculated, it is preferable that the trajectory of the gripping mechanism can be generated and used for controlling the gripping mechanism by an offline computer or the like, for example.

  However, when a plurality of workpieces are transported in order, the arrangement state of obstacles that are obstacles to the transport of the workpiece changes every time the workpiece is transported. As a specific example, other works existing around the work to be transported can be cited. That is, the surrounding work can be an obstacle to the work to be transported. Moreover, each time the workpiece is transported, the placement status of each workpiece, in other words, the placement status of the obstacle changes. Thus, there has been a demand for a technique that appropriately calculates the trajectory of the gripping mechanism that conveys each workpiece while avoiding a collision with the obstacle while the arrangement state of the obstacle changes.

  The present invention has been made in view of the above problems, and in the case where a plurality of workpieces are transported in order, the grip for transporting each workpiece while avoiding a collision with the obstacle while the disposition state of the obstacle changes. An object of the present invention is to provide a technique capable of appropriately calculating the trajectory of the mechanism.

  In order to achieve the above object, the trajectory generating device for a gripping mechanism according to the present invention performs a transporting operation of gripping a transport target work to be transported among a plurality of works at a position before transport and transporting it to a position after transport. Storage means for storing obstacle placement information indicating the placement of a workpiece that becomes an obstacle when the gripping mechanism is executed, and a gripping mechanism that sequentially carries a plurality of workpieces while avoiding a collision with the obstacle Trajectory calculation means for executing the trajectory simulation for calculating the transport trajectory of the gripping mechanism by simulating the movement of the object based on the obstacle disposition information while updating the obstacle disposition information according to the change in the work placement caused by the transport operation It is characterized by comprising.

  In order to achieve the above-mentioned object, the trajectory generation method of the gripping mechanism according to the present invention performs a transporting operation of gripping a transport target work to be transported among a plurality of works at a position before transport and transporting it to a position after transport. Based on the obstacle arrangement information indicating the arrangement of a workpiece that becomes an obstacle when the gripping mechanism is executed, the operation of the gripping mechanism that sequentially carries a plurality of workpieces while avoiding a collision with an obstacle is performed. The trajectory simulation for calculating the transport trajectory of the gripping mechanism by simulation is executed while updating the obstacle placement information in accordance with the change in the work placement caused by the transport work.

  In order to achieve the above object, the track generation program of the gripping mechanism according to the present invention performs a transporting operation of gripping a transport target work to be transported among a plurality of works at a position before transporting and transporting it to a post-transport position. Storage means for storing obstacle placement information indicating the placement of a workpiece that becomes an obstacle when the gripping mechanism is executed, and a gripping mechanism that sequentially carries a plurality of workpieces while avoiding collision with the obstacle Trajectory calculation means for executing the trajectory simulation for calculating the transport trajectory of the gripping mechanism by simulating the movement of the object based on the obstacle disposition information while updating the obstacle disposition information according to the change in the work placement caused by the transport operation It is characterized by functioning a computer.

  In order to achieve the above object, a recording medium according to the present invention is characterized in that the trajectory generation program for the gripping mechanism is recorded so as to be readable by a computer.

  In order to achieve the above object, a robot program creation device according to the present invention is a robot program creation device that creates a robot program that causes a computer to execute control of a robot that transports a workpiece using a gripping mechanism. Storage means for storing obstacle arrangement information indicating the arrangement of a workpiece that becomes an obstacle when the gripping mechanism performs a conveyance operation of grasping a conveyance object workpiece to be conveyed at a position before conveyance and conveying it to a position after conveyance And a trajectory simulation that calculates the transport trajectory of the gripping mechanism by simulating the operation of the gripping mechanism that sequentially performs the transporting operation for a plurality of workpieces while avoiding the collision with the obstacle based on the obstacle arrangement information Execute while updating the obstacle arrangement information according to the change in the arrangement of the work caused by the transportation work A trajectory calculation means, so as to pass the trajectory calculation means gripping mechanism haul trajectory calculated, characterized in that a program creation means for creating a robot program.

  In the invention thus configured (trajectory generation device of the gripping mechanism, trajectory generation method of the gripping mechanism, trajectory generation program of the gripping mechanism, recording medium, robot program creation device), a transport target to be transported among a plurality of workpieces A transport track of a gripping mechanism that performs a transport operation of gripping a workpiece at a position before transport and transporting the work to a position after transport is calculated. More specifically, based on the obstacle placement information indicating the placement of the workpiece that becomes an obstacle when carrying the carrying work on the work to be carried, the multiple workpieces are sequentially ordered while avoiding the collision with the obstacle. The operation of the gripping mechanism that performs the transporting operation is simulated, and the transporting trajectory of the gripping mechanism is calculated (trajectory simulation). However, as described above, when a plurality of workpieces are transported in order, it is necessary to obtain a transport trajectory of the gripping mechanism while the disposition state of the obstacle changes. On the other hand, in the present invention, the trajectory simulation is executed while the obstacle arrangement information is updated according to the change in the arrangement of the work caused by the carrying work, and the carrying trajectory of the gripping mechanism is calculated. Thereby, it is possible to appropriately calculate the trajectory of the gripping mechanism that conveys each workpiece while avoiding the collision with the obstacle while the arrangement state of the obstacle changes.

  In addition, the trajectory calculation means configures the trajectory generator of the gripping mechanism so as to register the post-carrying arrangement of the work carried by the carrying work in the obstacle arrangement information every time the carrying work in the orbit simulation is completed. May be. In such a configuration, it is possible to accurately reflect the change in the arrangement of the work carried by the carrying work in the obstacle arrangement information, and to make the carrying track of the gripping mechanism capable of reliably avoiding the collision with the work after the carrying by the carrying work. It can be calculated appropriately.

  Further, the trajectory calculation means sets the trajectory generation device of the gripping mechanism so as to register the arrangement of the workpieces other than the conveyance target work at the position before the conveyance in the obstacle arrangement information before the start of each conveyance operation in the trajectory simulation. It may be configured. With such a configuration, it is possible to appropriately calculate the transporting trajectory of the gripping mechanism that can reliably avoid collision with not only the work after transporting but also the work before transporting.

  By the way, when registering the arrangement of the workpiece before conveyance in the obstacle arrangement information as described above in the configuration in which the conveyance operation is sequentially performed on a plurality of workpieces, the workpiece before conveyance (target of the conveyance operation in the trajectory simulation) ( The work to be transported) is registered in the obstacle arrangement information before the start of the transport work for the previous work. Therefore, when starting the transportation work for the work before transportation in the trajectory simulation, the work before transportation (conveyance target work) that is the object of the transportation work may be excluded from the obstacle arrangement information. Specifically, the trajectory calculation means configures the trajectory generation device of the gripping mechanism so as to delete the arrangement of the work to be transported before transport from the obstacle layout information before the start of each transport work in the trajectory simulation. Also good. Thereby, the conveyance trajectory of the gripping mechanism can be calculated while accurately reflecting the arrangement of the workpiece that changes before and after the conveyance by the conveyance operation in the obstacle arrangement information.

  When transporting a plurality of workpieces in order, it is possible to appropriately calculate the trajectory of the gripping mechanism that transports each workpiece while avoiding a collision with the obstacle while the arrangement state of the obstacle changes. .

It is a perspective view which shows typically an example of the robot which can be controlled based on the robot program created by this invention. FIG. 2 is a block diagram schematically showing an electrical configuration for controlling the robot shown in FIG. 1. It is a figure which shows typically the holding | grip operation | movement of the hand with which the robot of FIG. 1 is provided. It is a figure which shows typically an example of position alignment of the gripping point of components, and TCP of a tool. It is a block diagram which shows typically an example of the electrical constitution of a robot program creation apparatus. It is a figure which shows an example of the flowchart which produces a robot program. It is a perspective view which shows typically an example of the operation | work performed with the flowchart of FIG. It is a flowchart which shows an example of the operation | movement performed by the initial setting shown in FIG. It is a figure which shows an example of lists, such as a reference | standard point before and behind an assembly. It is a figure which shows an example of obstacle arrangement | positioning information as a table | surface. It is a flowchart which shows an example of the operation | movement performed by the orbit simulation shown in FIG.

  FIG. 1 is a perspective view schematically showing an example of a robot that can be controlled based on a robot program created according to the present invention. In FIG. 1, a computer 3 that controls the robot 2 is shown in addition to the robot 2. FIG. 2 is a block diagram schematically showing an electrical configuration for controlling the robot shown in FIG. In FIG. 1 and the drawings shown below, xyz orthogonal coordinate axes having the vertical direction as the z-axis direction are shown as appropriate.

  A robot 2 shown in FIG. 1 is a double-arm robot having a schematic configuration in which two arms 22 are attached to a body portion 21. Each arm 22 is attached via a shoulder joint 23 connected to a drive motor M23. Therefore, the arm 22 can be moved by rotating the shoulder joint 23 with the drive motor M23. A hand 25 is attached to the tip of each arm 22 via a wrist joint 24. A drive motor M24 is connected to the wrist joint 24. Therefore, the direction of the hand 25 can be changed by rotating the wrist joint 24 with the drive motor M24. Further, a drive motor M25 is connected to the hand 25. Therefore, the hand 25 can be opened and closed by the drive motor M25.

  Such an operation of the robot 2 is controlled by the computer 3. The computer 3 includes a main control unit 31 composed of a CPU (Central Processing Unit) and a memory. The main control unit 31 controls the drive motors M23 to M25, so that the hand 25 grips the part P (mechanical part, electronic part), moves the hand 25 that grips the part P, or rotates the hand 25. Thus, the robot 2 can perform basic operations such as changing the posture of the component P and releasing the component P from the hand 25.

  In particular, the computer 3 is installed with a robot program 4 created for causing the robot 2 to execute a predetermined procedure. That is, the main control unit 31 controls the drive motors M23 to M25 according to the robot program 4 to cause the robot 2 to execute the procedure specified in the robot program 4. Specifically, the robot program 4 described in this embodiment causes the robot 2 to assemble a plurality of parts P. That is, according to the robot program 4, the hand 25 assembles a plurality of parts P by carrying out a transporting operation for gripping the part P at the initial position and moving it to the assembly position for each of the plurality of parts P. In order to execute the assembly of the component P, it is necessary to accurately grip the component P with the hand 25. Therefore, the robot program 4 causes the hand 25 to perform the gripping operation of the component P based on the TCP (Tool Center Point) set for the hand 25.

  FIG. 3 is a diagram schematically showing a gripping operation of a hand provided in the robot of FIG. In FIG. 3, the hand 25 that moves toward the component P at the initial position is indicated by a broken line, and the hand 25 that grips the component P at the initial position is indicated by a solid line. As shown in FIG. 3, TCP 6, which is a virtual point, is set for the hand 25. The positional relationship between the hand 25 and the TCP 6 is fixed, and the hand 25 moves with the TCP 6. Then, the part P can be gripped by the hand 25 by operating (closing) the hand 25 in a state where the part P and the TCP 6 satisfy a predetermined positional relationship. Specifically, for example, as shown in FIG. 4, the component P can be grasped by the hand 25 in a state where an appropriate representative point set for the component P and the TCP 6 coincide with each other.

  FIG. 4 is a diagram schematically illustrating an example of alignment of the gripping point of the component and the TCP of the tool. In the figure, the “movement” column shows how the hand 25 moves toward the component P at the initial position, and the “gripping” column shows how the hand 25 grips the component P at the initial position. Yes. In the example shown in the figure, TCP 7 (representative point) is attached not only to the hand 25 but also to the component P. The component-side TCP 7 can be set at a position suitable for the gripping mode of the component P. Then, by moving the hand 25 to the component P and operating the hand 25 in a state where the hand-side TCP 6 is aligned with the component-side TCP 7, the component P can be gripped by the hand 25. At this time, a plurality of component-side TCPs 7 are set in accordance with variations in the gripping mode of the component P, and the component P and the hand 25 are set based on the one component-side TCP7 selected according to the gripping mode of the component P. It can also be configured to perform alignment.

  Such an operation of the hand 25 is controlled based on the robot program 4 as described above. Subsequently, an example of the configuration and operation for creating the robot program 4 will be described. FIG. 5 is a block diagram schematically showing an example of the electrical configuration of the robot program creation device. In FIG. 5, in addition to the robot program creation device 100, a recording medium 300 on which a creation program 200 for creating a robot program is recorded and a simulator 400 are also shown.

  The robot program creation device 100 is a computer that includes a main control unit 110 constituted by a CPU and a memory. Further, the robot program creation device 100 includes an input / output unit 120 that controls input / output of data to / from the outside, a storage unit 130 configured by a memory and a hard disk, an input device 140 configured by a keyboard and a mouse, and a display 150. It has. As the display 150, a display having an input function such as a touch panel type may be used.

  The robot program creation device 100 having such a configuration creates the robot program 4 based on the creation program 200 read into the storage unit 130. The creation program 200 is supplied in a state of being recorded on a recording medium 300 that can be read by the robot program creation device 100, for example. Examples of such a recording medium 300 include various types such as a CD (Compact Disc), a DVD (Digital Versatile Disc), and a USB (Universal Serial Bus) memory.

  Incidentally, the hand 25 that is the control target of the robot program 4 grabs the transport target part to be transported among the plurality of parts P at the position before transport (initial position) and transports it to the position after transport (assembly position). The carrying operation is executed in order (in assembly order) for the plurality of parts P. This transporting operation needs to be performed while avoiding a collision with an obstacle (specifically, a collision between the hand 25 and a part to be transported gripped by the hand 25 and the obstacle).

  Therefore, in the robot program creation device 100, the arrangement of the part P that becomes an obstacle when the hand 25 executes the carrying work is stored in the storage unit 130 as the obstacle arrangement information Io. Then, the operation of the hand 25 that sequentially performs the transportation operation on the plurality of parts P while avoiding the collision with the obstacle is simulated based on the obstacle arrangement information Io, and the transportation trajectory of the hand 25 is calculated. (Orbit simulation). In particular, the trajectory simulation is executed while updating the obstacle arrangement information Io in accordance with the change in the arrangement of the parts P caused by the transportation operation virtually executed in the trajectory simulation. Then, the robot program creation device 100 creates the robot program 4 so that the hand 25 passes through the transport path thus obtained. Specifically, a flowchart shown in FIG. 6 is incorporated in the creation program 200, and the robot program creation device 100 creates the robot program 4 by executing the flowchart.

  FIG. 6 is a diagram illustrating an example of a flowchart for creating a robot program. FIG. 7 is a perspective view schematically showing an example of the work executed in the flowchart of FIG. In FIG. 7, a substantially rectangular part Pb in a plan view is superimposed on a substantially trapezoidal part Pa in a plan view, and the parts Pa and Pb are fixed to each other with two screw-like parts Pc and Pd. The example of assembling the parts P (Pa to Pd) is shown, the state before the assembly of the plurality of parts Pa to Pd is shown in the “before assembly” column, and after the assembly of the plurality of parts Pa to Pd. The state is shown in the column “After Assembly”.

  The flowchart of FIG. 6 includes step S100 for initial setting, step S200 for generating a trajectory of the hand 25 by performing trajectory simulation based on the initial setting, and creating the robot program 4 so that the hand 25 passes the trajectory. Step S300. These details are as follows.

  FIG. 8 is a flowchart illustrating an example of an operation executed in the initial setting illustrated in FIG. When the creation of the robot program 4 starts, in step S101, CAD (computer aided design) data of a plurality of parts Pa to Pd to be assembled is stored from the external three-dimensional CAD tool via the input / output unit 120. Is read. In the subsequent step S102, the main control unit 110 reproduces an assembly diagram showing a state after the assembly of the plurality of parts Pa to Pd on the virtual space based on the read CAD data.

  At this time, the creation of the assembly drawing may be performed by an external three-dimensional CAD tool, or may be performed by the robot program creation apparatus 100 using three-dimensional CAD software. In the former example, the robot program creation device 100 may reproduce the assembly drawing created by the external three-dimensional CAD tool as it is. In the latter example, the robot program creation device 100 may create a drawing based on the CAD data of each part P read by an external three-dimensional CAD tool and reproduce it.

  In step S <b> 103, the post-transport reference points 8 a to 8 d of the parts Pa to Pd after assembly are set in the storage unit 130 based on the created assembly diagram. Specifically, as shown in the column “after assembly” in FIG. 7, these post-transport reference points 8 (8 a to 8 d) are the hands 25 that grip the parts P (Pa to Pd) after transport at the assembly position. And is represented as a point (x, y, z) in a three-dimensional virtual space. This post-transport reference point 8 corresponds to the component-side TCP 7 of the component P after transport.

  In step S103, the postures (Rx, Ry, Rz) of the hand 25 that grips the parts P (Pa to Pd) after transportation are set. In step S103, the approach direction (Dx, Dy, Dz) when the TCP 6 of the hand 25 approaches the post-transport reference point 8 (8a-8d) when transporting the part P (Pa-Pd) to the assembly position. Is set. Here, the posture (Rx, Ry, Rz) of the hand 25 indicates the posture of the hand 25 in terms of Euler angles or roll / pitch / yaw angles. Further, the approach direction (Dx, Dy, Dz) of the hand 25 indicates the approach direction of the hand 25 by a three-dimensional vector.

  These values such as the reference point 8 after transport, the posture of the hand 25 (Rx, Ry, Rz) and the approach direction (Dx, Dy, Dz) are set on the display 150 by the user reproducing the assembly diagram in the virtual space. It can be executed by operating the input device 140 or the like while confirming with. In particular, the setting mode of the post-transport reference point 8 may be configured as follows.

  In other words, the post-transportation reference point 8 may be set at a position designated by the user by placing a cursor that can be operated with a mouse at an appropriate location of the transported component P displayed on the display 150. good. Alternatively, when the touch panel type display 150 is used, the post-transport reference point 8 may be set at a position designated by the user by pressing the display 150. In these configuration examples, the position designated by the user on the display 150 that displays the states of the parts Pa to Pd in the virtual space is set as the post-transport reference point 8. If the user's designated position is not appropriate, a message to that effect is displayed on the display 150 to prompt the user to change the designated position, or the position corrected by the main control unit 110 from the user's designated position is the post-transportation reference point 8. Or can be configured as

  In subsequent step S104, the main control unit 110 reproduces an initial layout diagram showing a state before the assembly of the plurality of parts Pa to Pd on the virtual space based on the CAD data. To explain with specific examples, initial position information indicating the initial positions of the parts Pa to Pb is acquired in advance from the result of imaging the parts Pa to Pb before assembly in the actual work space, and the individual parts P are obtained. By arranging the CAD data at the position indicated by the initial position information, an initial layout diagram is created.

  In step S105, based on the created initial layout, pre-transportation reference points 9a to 9d of the parts Pa to Pd before assembly are set in the storage unit 130. Specifically, as shown in the column “Before Assembly” in FIG. 7, these pre-transportation reference points 9 (9a to 9d) are the hands 25 that grip the parts P (Pa to Pd) before transporting at the initial position. And is represented as a point (x, y, z) in a three-dimensional virtual space. This pre-transportation reference point 9 corresponds to the component-side TCP 7 of the component P before transporting.

  At this time, the setting of the pre-transportation reference points 9a to 9d can be executed based on the user's designation on the display 150 in the same manner as the setting of the post-transportation reference points 8a to 8d. Alternatively, the setting of the pre-transport reference points 9a to 9d may be automatically performed by the main control unit 110 by calculation based on the initial layout diagram and the setting results of the post-transport reference points 8a to 8d. That is, the positional relationship between the reference points 9a to 9d before transportation and the components Pa to Pd and the positional relationship between the reference points 8a to 8d after transportation and the components Pa to Pd are the same. Therefore, by referring to the positional relationship between the post-transport reference points 8a to 8d set in the previous step S103 and the parts Pa to Pd, the pre-transport reference points 9a to 9a are determined from the positions of the parts Pa to Pd in the initial layout drawing. 9d is automatically obtained by calculation.

  In step S105, the postures (Rx, Ry, Rz) of the hand 25 that holds the parts P (Pa to Pd) before transport are set. Furthermore, in step S105, in order to go to grip the part P (Pa to Pd) in the initial position, the approach direction (Dx,) when the TCP 6 of the hand 25 approaches the pre-transportation reference point 9 (9a to 9d). Dy, Dz) are set. These values such as the posture (Rx, Ry, Rz) and approach direction (Dx, Dy, Dz) of the hand 25 can be set while the user confirms the assembly drawing reproduced in the virtual space on the display 150. It can be executed by operating the device 140 or the like.

  In step S106, based on the setting results in the previous steps S103 and S105, the main control unit 110 creates a list (FIG. 9) of reference points 8 and 9 before and after assembly and stores them in the storage unit 130. Here, FIG. 9 is a table showing an example of a list of reference points before and after assembly. As shown in FIG. 9, reference points, postures, and approach directions before and after assembly are obtained for each of the parts Pa to Pd.

  In step S107, the trajectory calculation unit 111 labels the parts Pa to Pd with the assembly order n. In the example shown in this embodiment, since the transport operation is performed in the order of the parts Pa, Pb, Pc, and Pd and the assembly is executed, the assembly order n of 1 to 4 is labeled in the order of the parts Pa to Pd. . Correspondingly, in the following, the parts Pa to Pd are appropriately described as P (1) to P (4), respectively. In step S108, the trajectory calculation unit 111 recognizes the part Pa on which the transporting operation is first performed, and registers the layout of the parts Pb to Pd excluding the part Pa before transporting in the obstacle layout information Io (FIG. 10). ).

  FIG. 10 is a diagram illustrating an example of the obstacle arrangement information as a table. As shown in the figure, as the obstacle arrangement information Io, the arrangement of parts that become obstacles when the hand 25 performs the carrying operation for the parts to be carried is registered. The position, posture, and height of the part are registered as representing the arrangement of the part. Incidentally, since the part Pa is the first part to be transported in the trajectory simulation executed thereafter, parts Pb to Pd other than the part to be transported Pa are registered in the obstacle arrangement information Io in step S108. Although not shown in FIG. 10, when there are obstacles other than the part P, these arrangements are also registered in the obstacle arrangement information Io. Thus, when the initial setting is completed, the trajectory calculation unit 111 included in the main control unit 110 executes the trajectory simulation in step S200 shown in FIG.

  FIG. 11 is a flowchart illustrating an example of operations executed in the trajectory simulation illustrated in FIG. The trajectory simulation is to calculate the trajectory of the hand 25 by simulating in the virtual space the operation of the hand 25 that sequentially performs the transport operation on the plurality of parts P. First, in step S201, “1” is assigned to the assembly order n. Subsequently, the hand 25 is moved to the gripping point of the part P (n) by moving the TCP 6 of the hand 25 to the TCP 9a of the part P (n) in the initial position before transport (step S202). Hold the part P (n) (step S203).

  In step S204, the transport path for the hand 25 holding the part P (n) to transport the part P (n) from the initial position before transporting to the assembly position after transporting is calculated. In particular, in this embodiment, in order to obtain a transport trajectory in which the hand 25 can execute the transport operation of the part P (n) while avoiding a collision with an obstacle, the transport trajectory of the hand 25 is included in the obstacle arrangement information Io. Calculated based on Specifically, while avoiding a collision with the obstacle registered in the obstacle arrangement information Io, the TCP 6 of the hand 25 is transported from the pre-transportation reference point 9 to the post-transportation reference point 8 of the part P (n). The transport trajectory of the hand 25 is calculated so as to satisfy the condition of moving up to. Such a trajectory calculation can be performed using a route search technique for searching for a route from the departure point (reference point before transportation 9) to the destination (reference point after transportation).

At this time, in step S204, the TCP 6 of the hand 25 moves from the approach direction before assembly set for the next condition / part to be transported P (n) to the reference point 9 before transport of the part P (n). Approaching ・ When the TCP 6 of the hand 25 is at the reference point 9 before transportation of the part P (n) to be transported, the hand 25 takes the posture before transportation set for the part P (n). From the approach direction after assembly set for a part P (n), the TCP 6 of the hand 25 approaches the post-transport reference point 8 of the part P (n). The trajectory of the hand 25 may be calculated so that the hand 25 satisfies the post-transport posture set for the part P (n) when at the post-transport reference point 8 of n). By performing a trajectory simulation of the hand 25 so as to satisfy such conditions, a more appropriate trajectory can be calculated.

  Incidentally, in step S204, a plurality of trajectory candidates for the hand 25 may be obtained. In this case, for example, a candidate having the shortest transportation time can be selected as a trajectory of the hand 25 from among a plurality of candidates, and a more appropriate trajectory of the hand 25 can be calculated. In the following step S205, the hand 25 is moved to the assembly position after the transportation of the part P (n) by moving the TCP 6 of the hand 25 to the TCP 8a of the part P (n) in the assembly position after the transportation. As described above, by executing Steps S203 to S205, the operation of the hand 25 that performs the transportation work of the component P (n) is simulated, and the transportation trajectory of the hand 25 is calculated.

  In step S206, the obstacle arrangement information Io is updated to reflect the change in the arrangement of the part P (n) caused by the transportation work performed on the part P (n). That is, the arrangement after the conveyance of the part P (n) conveyed by the conveyance operation is added to the obstacle arrangement information Io. Further, the arrangement of the conveyance target part P (n + 1) (here, the part P (b)) of the next conveyance operation is deleted from the obstacle arrangement information. As a result, the post-transportation arrangement of the part P (n) that has already been transported and the parts P (Pc, Pd) before transport other than the transport target part P (n + 1) of the transport work to be executed next are performed. It will be registered in the obstacle arrangement information Io.

  In step S207, it is determined whether or not the trajectory calculation has been completed for all the parts P (1) to P (4). If not completed (in the case of “NO” in step S207), the process proceeds to step S208, the assembly order n is incremented by “1”, and then the process returns to step S202, where all the parts P (1) to P ( Steps S202 to S208 are repeatedly executed until the trajectory is calculated for 4). On the other hand, when completed (in the case of “YES” in step S207), the trajectory simulation ends. Thus, the transport trajectory of the hand 25 is calculated for each of the parts P (1) to P (4), that is, the parts Pa to Pd.

  The robot program creation device 100 can output the calculated transport trajectory of the hand 25 by executing the trajectory simulation described above in a non-stop manner. Specifically, the main control unit 110 displays a start button on the display 150 for starting the trajectory simulation. When the user selects a start button (click with the mouse or touches the touch panel) after the initial setting (step S100) is completed, the robot program creation device 100 starts a trajectory simulation (step S200). The started trajectory simulation is executed without interruption until the transport trajectories have been calculated for all the parts Pa to Pd. Thus, the trajectory simulation can be executed non-stop from the start to the end thereof without requiring any user operation.

  When the trajectory simulation is completed, the trajectory calculation unit 111 outputs the calculated transport trajectory to the program creation unit 112 configured in the main control unit 110. And the program preparation part 112 performs step S300 shown in FIG. Specifically, the program creation unit 112 sets a transport program for controlling the robot 2 so that the hand 25 transports the parts Pa to Pd through the trajectories generated for the parts Pa to Pd. Generate every time.

  Incidentally, in an actual assembling operation, it may be necessary to adjust the posture or the like of the component P for purposes other than transporting the component P. For example, it is necessary to adjust the posture of a component such as a screw in accordance with the direction in which the screw is fixed. In such a case, the posture of the component P is adjusted during transportation. Therefore, the program creation unit 112 also creates a posture adjustment program for performing such posture adjustment.

  Furthermore, in the actual work space, the parts P may be arranged slightly deviated from the initial positions determined before assembly. In such a case, in order to appropriately grasp the component P that is shifted from the initial position, the position of the hand 25 is corrected based on the result of recognizing the actual positions of the components Pa to Pd by the camera. Is called. Therefore, the program creation unit 112 also creates a position correction program for performing such position correction. The program creation unit 112 creates the robot program 4 by combining the transportation program, the posture adjustment program, and the position correction program. Thus, the creation of the robot program 4 is completed.

  At this time, the robot program 4 created by the robot program creation device 100 can be verified by the simulator 400. Specifically, the simulator 400 is configured by a personal computer or the like, and can output a result of a simulation in which the robot 2 is operated according to the robot program 4. Therefore, the user can determine the suitability of the robot program 4 based on the simulation result.

  As explained above, in this embodiment, the hand which performs the conveyance work which grasps conveyance object part P (n) used as conveyance object among a plurality of parts P in the position before conveyance, and conveys it to the position after conveyance. 25 transport trajectories are calculated. More specifically, on the basis of the obstacle arrangement information Io indicating the arrangement of the part P that becomes an obstacle when carrying the carrying work for the carrying target part P (n), a plurality of collisions with the obstacle are avoided. The operation of the hand 25 that sequentially performs the carrying work on the component P is simulated, and the carrying track of the hand 25 is calculated (track simulation). However, when transporting a plurality of parts P in order, it is necessary to obtain the transport trajectory of the hand 25 while the disposition state of the obstacle changes. On the other hand, in this embodiment, the trajectory simulation is executed while the obstacle arrangement information Io is updated according to the change in the arrangement of the parts P caused by the carrying operation, and the carrying trajectory of the hand 25 is calculated. Thereby, it is possible to appropriately calculate the trajectory of the hand 25 that carries each component P while avoiding a collision with the obstacle while the arrangement state of the obstacle changes.

  In this embodiment, every time the transportation work in the trajectory simulation is completed, the placement of the parts P (n) carried by the transportation work after the transportation is registered in the obstacle placement information Io. In such a configuration, the movement of the hand 25 that can accurately avoid the collision with the part P after the transportation by the transportation work by accurately reflecting the change in the parts placement carried by the transportation work in the obstacle arrangement information Io. The trajectory can be calculated appropriately.

  In this embodiment, the arrangement of the parts P other than the conveyance target part P (n) at the position before conveyance is registered in the obstacle arrangement information Io before the start of each conveyance operation in the trajectory simulation. In such a configuration, it is possible to appropriately calculate the transport trajectory of the hand 25 that can reliably avoid collision with not only the part P after transport but also the part P before transport.

  By the way, when the arrangement of the parts P before transportation is registered in the obstacle arrangement information Io as described above in the configuration in which the transportation work is sequentially performed on the plurality of parts P, before the transportation that is the target of the transportation work in the trajectory simulation. The part P (n) (part to be transported) is registered in the obstacle arrangement information Io before the start of the transporting operation for the previous part P. Therefore, in this embodiment, in starting the transportation work for the part P (n) before transportation in the trajectory simulation, the part P (n) (parts to be transported) before transportation, which is the object of the transportation work, is determined. It is removed from the obstacle arrangement information Io. That is, the arrangement of the parts P (n) to be transported before transportation is deleted from the obstacle arrangement information Io before the start of each transportation work in the trajectory simulation. As a result, the transportation trajectory of the hand 25 can be calculated while accurately reflecting the arrangement of the parts P changing before and after the transportation by the transportation work in the obstacle arrangement information Io.

  As described above, in the above-described embodiment, the robot program creation device 100 corresponds to an example of the “grip mechanism trajectory generation device” or “robot program creation device” of the present invention, and the creation program 200 of the present invention refers to the “gripping mechanism trajectory generation device”. The recording medium 300 corresponds to an example of “orbit generation program”, and the recording medium 300 corresponds to an example of “recording medium” of the present invention. The storage unit 130 corresponds to an example of the “storage unit” of the present invention, the trajectory calculation unit 111 corresponds to an example of the “orbit calculation unit” of the present invention, and the program creation unit 112 corresponds to the “program creation unit” of the present invention. The obstacle arrangement information Io corresponds to an example of “obstacle arrangement information” of the present invention, the part P corresponds to an example of “work” of the present invention, and the hand 25 corresponds to “ Step S200 corresponds to an example of “trajectory simulation” of the present invention, and the robot program creation device 100 corresponds to an example of “computer” of the present invention.

  The present invention is not limited to the above-described embodiment, and various modifications other than those described above can be made without departing from the spirit of the present invention. Therefore, the contents registered in the obstacle arrangement information Io may be appropriately changed from the above. For example, in the trajectory simulation of the above embodiment, all the parts P other than the transportation target part P (n) are registered in the obstacle arrangement information Io. However, parts P that are unlikely to cause a collision in the transportation work of the parts P (n) to be transported, specifically, parts P that are lower than a predetermined threshold are not registered in the obstacle arrangement information Io. It can also be configured as follows.

  Further, the timing for updating the obstacle arrangement information Io and the contents to be updated can be changed as appropriate.

  In the above-described implementation cheer, it has been described that the trajectory simulation starts when the user selects the start button. However, the main control unit 100 of the robot program creation device 100 may detect the completion of the initial setting and automatically start the trajectory simulation.

  Moreover, in the said embodiment, the conveyance track | orbit of the hand 25 was calculated so that TCP6 of the hand 25 might move from the reference point 9 before conveyance of the components P (n) which are conveyance objects to the reference point 8 after conveyance. However, the specific method for calculating the transport trajectory of the hand 25 is not limited to this, and may be changed as appropriate.

  Further, the robot program creation device 100 may be configured to display the trajectory generated by the trajectory calculation unit 111 on the display 150 (trajectory display unit). In such a configuration, the user can determine the suitability while confirming the generated trajectory on the display 150, and the operability for the user is improved. Further, at this time, the display 150 may display a moving image of the state of the hand 25 moving along the trajectory.

  In addition, the conditions set for generating the trajectory of the hand 25 in the above embodiment can be changed as appropriate. Specifically, among the above conditions, the conditions related to the approach direction and the posture of the hand 25 may be deleted as appropriate. Alternatively, the trajectory of the hand 25 can be generated so as to further satisfy conditions other than the above conditions.

  Further, the robot program creation device 100 can be modified to add various functions. As a specific example, the robot program creation device 100 may have the simulation function of the simulator 400 described above.

  In the example shown in the above embodiment, the TCP 6 is set at the approximate center of the plurality of fingers of the hand 25. However, the setting location of TCP 6 may be changed as appropriate.

  In the above embodiment, setting of the reference points 9 and 8 before and after transportation, the posture (Rx, Ry, Rz) of the hand 25, the approach direction (Dx, Dy, Dz), and the like has been performed by the user. . However, the main control unit 110 may be configured to automatically perform these settings.

  Needless to say, the shape, number, assembly mode, and the like of the parts P assembled by the hand 25 are not limited to the above example.

  Moreover, in the said embodiment, the hand 25 which performs a holding | grip operation | movement by grasping the target object (component P) was mentioned as an example of a holding | grip mechanism. However, the specific configuration of the gripping mechanism is not limited to this, and for example, the gripping mechanism may suck and grip an object.

  The present invention can be applied to all techniques for obtaining the trajectory of a gripping mechanism that transports a workpiece, and is particularly applicable to a technique for transporting and assembling parts with a robot hand.

DESCRIPTION OF SYMBOLS 100 ... Robot program creation apparatus 110 ... Main control part 111 ... Trajectory calculation part 112 ... Program creation part 120 ... Input / output part 130 ... Storage part 140 ... Input device 150 ... Display 200 ... Creation program 300 ... Recording medium 25 ... Hand (grip) mechanism)
4 ... Robot program 6 ... TCP
7 ... TCP
8a, 8b, 8c, 8d ... Reference point after transportation 9a, 9b, 9c, 9d ... Reference point before transportation Io ... Obstacle location information Pa, Pb, Pc, Pd, P ... Parts (workpiece)
P (1), P (2), P (3), P (4), P (n) ... Parts (workpiece)

Claims (8)

Obstacle placement information indicating the placement of the workpiece that becomes an obstacle when the gripping mechanism executes the carrying work of grasping the carrying object workpiece to be carried among the plurality of workpieces at the position before carrying and carrying it to the position after carrying. Storage means for storing
The transporting trajectory of the gripping mechanism is calculated by simulating the operation of the gripping mechanism that sequentially performs the transporting operation on the plurality of workpieces based on the obstacle arrangement information while avoiding a collision with the obstacle. A trajectory generating apparatus for a gripping mechanism, comprising: trajectory calculating means for executing a trajectory simulation for performing the trajectory simulation while updating the obstacle arrangement information in accordance with a change in the arrangement of the workpiece caused by the carrying work.   2. The gripping mechanism according to claim 1, wherein the trajectory calculation unit registers, in the obstacle arrangement information, an arrangement after the conveyance of the workpiece conveyed by the conveyance operation every time the conveyance operation in the trajectory simulation is completed. Orbit generator.   The trajectory calculation means registers the placement of the work other than the work to be transported at the position before transport in the obstacle placement information before the start of each transport work in the trajectory simulation. The trajectory generating device for the gripping mechanism described.   The trajectory generation device for a gripping mechanism according to claim 3, wherein the trajectory calculation means deletes the arrangement of the work to be transported before transport from the obstacle layout information before the start of each transport operation in the trajectory simulation.   Obstacle placement information indicating the placement of the workpiece that becomes an obstacle when the gripping mechanism executes the carrying work of grasping the carrying object workpiece to be carried among the plurality of workpieces at the position before carrying and carrying it to the position after carrying. Based on the above, a trajectory simulation for calculating the transport trajectory of the gripping mechanism by simulating the operation of the gripping mechanism that sequentially performs the transport operation on the plurality of workpieces while avoiding a collision with the obstacle A method for generating a trajectory of the gripping mechanism, which is executed while updating the obstacle arrangement information in accordance with a change in the arrangement of the workpiece caused by the carrying work. Obstacle placement information indicating the placement of the workpiece that becomes an obstacle when the gripping mechanism executes the carrying work of grasping the carrying object workpiece to be carried among the plurality of workpieces at the position before carrying and carrying it to the position after carrying. A storage means for storing, and an operation of the gripping mechanism for executing the transporting operation in order for the plurality of workpieces while avoiding a collision with the obstacle based on the obstacle arrangement information, and A trajectory simulation for calculating a transport trajectory of a gripping mechanism is performed by a computer as trajectory calculation means for executing the trajectory simulation while updating the obstacle arrangement information in accordance with a change in the arrangement of the workpiece caused by the transport operation. Trajectory generation program for gripping mechanism.   7. A recording medium on which the trajectory generation program for the gripping mechanism according to claim 6 is recorded so as to be readable by a computer. In a robot program creation device for creating a robot program that causes a computer to execute control of a robot that carries a workpiece using a gripping mechanism,
Obstacle placement information indicating the placement of the workpiece that becomes an obstacle when the gripping mechanism executes the carrying work of grasping the carrying object workpiece to be carried among the plurality of workpieces at the position before carrying and carrying it to the position after carrying. Storage means for storing
The transporting trajectory of the gripping mechanism is calculated by simulating the operation of the gripping mechanism that sequentially performs the transporting operation on the plurality of workpieces based on the obstacle arrangement information while avoiding a collision with the obstacle. Trajectory calculation means for executing trajectory simulation while updating the obstacle arrangement information according to a change in the arrangement of the work caused by the transporting work;
A robot program creation device, comprising: a program creation means for creating the robot program so that the gripping mechanism passes through the transporting trajectory calculated by the trajectory calculation means.

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