JPH01211104A - industrial robot - Google Patents

Abstract

PURPOSE:To variously and correctly inspect an interference condition by providing a robot selecting device, the setting device of a peripheral environment, the inspecting device of an interference condition, etc., for an arithmetic unit in an off-line teaching device and checking the interference between robots for work. CONSTITUTION:At least one robot for work, for example, 8-1 is selected for an arithmetic unit 4 in an off-line teaching device 1, a device to set the peripheral environment is provided and the inspection of the interference condition of the section between robots for work and the peripheral environment is executed by an inspection device. A starting time setting device to set the starting time of the teaching program of plural work robots 8-1...8-n is provided and a teaching program to reproduce respective robots 8-1...8-n is provided at a program selecting device. Thus, the periphery environment, the teaching program or the program starting time of a robot 8 can be arbitrarily and widely selected and the inspection of the interference condition can be variously and correctly executed.

Description

Detailed Description of the Invention "Field of Industrial Application" The present invention relates to an industrial robot having an offline teaching device and a plurality of working robots, and particularly to interference between these working robots or interference between the working robots. This invention relates to an industrial robot that can effectively check for interference between the robot and the surrounding environment.

``Prior art'' When creating a teaching program that causes multiple robots to perform predetermined operations using an offline teaching device that is offline from these robots, interference between these robots, robots, workpieces, ceilings, etc. It is necessary to check in advance for interference with the surrounding environment such as walls and walls. For this reason, after creating a teaching program for each robot, use an offline teaching device to simulate the movements of multiple robots to check for multiple interference conditions, and if interference occurs, change the teaching program appropriately. Corrections and changes are made.

In conventional offline teaching devices, the inspection of the state of interference between adjacent robots and the state of interference between the robots and the surrounding environment are performed separately. Further, the combination of each robot and the teaching program was arbitrarily and individually set by the operator, and the starting times of these teaching programs were the same for all robots.

``Problem to be Solved by the Invention'' However, in the conventional offline teaching device, although it is possible to check the interference state between adjacent robots and the interference state between the robots and the surrounding environment individually, It is not possible to check these at the same time, and moreover, it is not possible to select only one robot from a plurality of robots and check the interference state regarding it.

Further, since the combination of each robot and the teaching program is set by the operator, and the starting time of the teaching program is the same for all robots, the range of choices for mutual movements of the robots is narrow.

Therefore, when interference occurs between robots or between robots and the surrounding environment, it is difficult to flexibly and quickly avoid interference.

"Means for Solving the Problems" Therefore, the present invention solves the above problems by employing the configurations listed below.

That is, the industrial robot of the present invention includes a plurality of working robots and an offline teaching device that creates teaching programs for these working robots, and manually inputs teaching data and various conditions to the offline teaching device. an input device for performing the calculation, a storage device for storing the teaching program, data, etc., and an arithmetic device for inspecting the state of interference between the working robots or between the working robots and the external environment when reproducing the teaching program; The device has at least one
a robot selection means for selecting a working robot of a table; a setting means for setting a surrounding environment of the working robot; and a setting means for setting an interference state between the selected working robot and an adjacent working robot or the surrounding environment. An inspection means for performing an inspection, a start time setting means for setting the start time of a teaching program for each of the plurality of working robots at the time of the interference state inspection, and a teaching program to be played by each of the working robots at the time of the interference state inspection. The present invention is characterized in that it is provided with program selection means for selection.

"Embodiments" Hereinafter, embodiments of the present invention will be described with reference to the drawings.

1 to 3 are diagrams showing an industrial robot that is an embodiment of the present invention. In these figures, the industrial robot according to the embodiment is a plurality of working robots 8-1 (in this embodiment, n units) arranged in a line on an actual line.
,...,ln and these working robots 8-I,...
・Robot control panel connected to 1. ,...,
9-n, and an offline teaching device 1 which is installed offline with the working robots 8-1, . . . and creates a teaching program for the working robots 8-1, .

The offline teaching device I is composed of a flexible disk device 2 for inputting and outputting brush data for external storage, a digitizer 3 for operating the teaching device I and for inputting data, an arithmetic device 4 for data processing, a CRT, etc. It is composed of a display 5 for displaying calculation results, a printer 6 for outputting calculation results, etc., and an X-Y plotter 7 for outputting graphics.

On the other hand, the working robots 8-1, .
It is an axis robot, and a base IO is rotatably provided on the upper surface of a support 9. Also, on the top of the base IO, there is a vertical arm! The lower end of the horizontal arm 12 is rotatably supported via a joint B, and the base end of a horizontal arm 12 is rotatably supported at the upper end of the vertical arm II via a joint E.

In this case, the vertical arm It and the horizontal arm 12 are able to swing back and forth and up and down, respectively, by cylinder devices 13.14 provided on the base lO.

Further, a wrist portion 15 is rotatably supported at the tip of the horizontal arm I2 via a joint A.
A paint gun! 6 is attached via joints W and G so as to be rotatable and torsionally rotatable. in this way,
These working robots 8-1, . . . have horizontal rotation (base l
Horizontal rotation of O, 03 in Figure 2, arm rotation (vertical arm!■
forward and backward rocking, 03 in Figure 2), elbow rotation (horizontal arm 12)
Due to the vertical movement of , and the movement of the basic three axes (03) in Figure 2,
The wrist portion 15 is guided to a desired position, and wrist bending (04 in Fig. 2), wrist rotation (03 in Fig. 2), and wrist twisting (2nd
The working posture of the coating gun 16 is determined by the movement of the three axes of the wrist θ, ) in the figure. Further, the distance between each joint is Wπ=121 EA=12x A W=b WG=mu. Therefore, the rotation angles of each joint are 01 to θ8 and the distances between each joint are 121 to 12. Once this is given, the position and orientation of the paint gun 16 can be determined. Note that the possible ranges of these rotation angles θ1 to θ6 are as shown in FIGS. 2 and 3, for example, 01 for the rotation angle θ1.
m1fl≦θ1≦θ1llaN.

The teaching programs and data created by these offline teaching devices 1 are transferred to the robot control panels 9-3, . The uke is passed on.

Next, the operation of an industrial robot that is an embodiment of the present invention will be described with reference to FIGS. 1 to 5.

(i) Flexible disk device 2 in teaching program creation offline teaching device I
and the working robot 8-1, . . . by the digitizer 3.
The shape, teaching points, surrounding environment data, etc. are input, and the arithmetic unit 4 creates teaching programs for making the working robots 8-1, . Since the procedures, calculation methods, etc. at this stage are conventionally well known, their details will be omitted.

(ii) Interference state inspection■ First, the interference state of the n working robots 8-1, ..., 8-n installed in a row on the actual line is inspected in a simulated manner on an offline teaching device. The number k of the robot to be used and its installation position are manually entered from the digitizer 3 to the arithmetic unit 4.

(2) Next, the working robots 8-h-1 and 8-kll adjacent to the selected working robot 8-k are selected and their installation positions are manually determined using the digitizer 3 in the same manner. The installation positions of these working robots 8-1, 8-k"l are as shown in FIG. It is set by the position and posture of joint B on the base IO.In Figure 4, robot 8.
8-kllll joint Bk-+, Bk.

The positions of Bk and Bk are respectively indicated by vectors Xm-x1 and X:k*+. In addition, each work robot 8
Since the shape data such as the inter-joint distances 121 to e4 of -1, . be done.

(2) Furthermore, data on the surrounding environment of the working robot 8-5 whose interference state is to be inspected is input. In this case, the fourth
As shown in the figure, a ceiling I8 and a wall 19 exist within the operating range of the working robot lk. Therefore, assuming that the ceiling 18 and wall 19 are planes on the orthogonal coordinate system Ow-xyz, the plane equation % expression % representing them is input (step 5P2 in FIG. 5).

■ Three working robots 8-h-+, 8-, 8
-kel specifies the teaching program to be reproduced. Normally, these teaching programs are stored on the flexible disk 17, so they are stored in the flexible disk device 2, and the program name etc. are entered on the digitizer 3.
Specify the teaching program by inputting .

Alternatively, if the arithmetic device 4 is set to select any teaching program, the arithmetic device 4 will sequentially select and execute all combinations of programs. For example, if there are m teaching programs, the number of combinations is 1.
．． There are only 21 ways (step 5P3 in Figure 5).

■ Three working robots 8-to-1,8-ks 8-
The program start times at -1, . . . are input to each working robot 8- when the teaching program is simulated reproduced by h*+. Of course, this start time may be set at the same time for all three working robots 8-1, . . . or may be set at different times by a predetermined time.

Alternatively, if the arithmetic device 4 is set to select the program start time arbitrarily, the arithmetic device 4 sets the program start times of -l, . (a sufficiently short time compared to the playback time of ), and sequentially selects and executes all timing combinations (step 5P4 in FIG. 5).

■ After setting various conditions, etc., and completing the manual work, the calculation device 4
In the above, each of the working robots 8- performs the operations -1, . . . in a simulated manner, and the three robots 8-, . Check the state of interference with the surrounding environment.

First, the arithmetic unit 4 advances the time axis sequentially in fixed time increments from the program start time of -1, .
P5), calculate the posture of the work robot 8- to be checked at this time, specifically the position of each joint E, A, W, G on the orthogonal coordinate system OW-XVZ (
Step 5P6 in FIG. 5). Here, in this example,
The position of each joint on the teaching program is in a cylindrical coordinate system,
In other words, since the rotation angles θ, ~θ8 of each joint and the distances Q, -Q between each joint are given, this is expressed in the orthogonal coordinate system O.
v - X) It is necessary to convert one value on 12.

An example of this conversion formula is shown below.

For example, as shown in FIG. 6, working robots 1,...
Cartesian coordinate system Ow' with joint B point of ... as the origin Ov'
-XVZ, the coordinates (X A, yA,
Z can be expressed by the formula shown below.

X A= (QrCO8φ, +12tcos(φ, −φ
3)) ・sinφ.

yA=(σ, cosφ, + 12tcos(φ, −
φ3))・cosφ.

Z A= (, sinφt+ Lsin(φ2−φ3)
Then, by adding the coordinate values of the joint B point on the orthogonal coordinate system Ow-XVZ to these, the coordinate values of the joint A point on the orthogonal coordinate system 0f-XVZ are determined. An equation for converting to such an orthogonal coordinate system is set and stored in advance in the arithmetic unit 4 for each joint point.

Next, the postures of the working robots 8-h-+ and 8-kel adjacent to the working robot lk to be checked are calculated (Step 5P2.5PII in FIG. 5), and the postures of these and the robot 8- to be checked are calculated. The interference state is checked (step 5P2, SP!2 in FIG. 5). Check the interference state using the orthogonal coordinate system of each work robot.
- Joint position on XVZ Robot 8-b-+:
E h-+, A, -1, Wk-1, G, -10boti
k: Eb, Ak, Wk, Gk lo point 8-, 1: E ks ward, A k◆, S
This is done based on whether the distance between wkΦl5Gk is greater than or equal to a certain distance ε. This fixed distance ε is input into the calculation device 4 in advance. If we express this in a formula, l E
I E J l <ε, IEt AJI
<εl E IW J + <ε, IE□−G
Jl<εl A r A J + <ε, l
At WJI<εlA+ GJI<ε IW□−W, 1kuε, 1w+ GJI<εl
Gt GJI<ε i, j=−1, ni+1 (however, i, f−j
).

If interference occurs between these working robots 8-1, . . . (Step 5P5 in FIG. 5, SP
+ 3), each work robot 8- at that time
□, . . . are displayed on the display 5 (steps 5PIO and 5P14 in FIG. 5). Further, the display 5 also displays: the location where the interference occurred, the time when the interference occurred, the name of the playback program for each working robot, and the program start time for each working robot. Note that these values are also output to the printer 6 and plotter 7 as necessary.

Furthermore, the positions of the surrounding environment such as the workpiece (worked object), peripheral equipment, ceiling 18, wall 19, etc. are calculated as values on the orthogonal coordinate system 0Vl-XYZ (step 5P15 in Fig. 5), and the work to be checked with these is calculated. Check for interference with the robot 8- (step SP! 6 in FIG. 5). To check the interference state, check the positions Ek1Ak and Wk1 of each joint on the orthogonal coordinate system Ow-xyz of the working robot 8-.
This is done depending on whether the distance between Gk and the ceiling 18, wall I9, etc. is within the predetermined distance ε. If interference occurs between the working robot 8- and the ceiling 18, etc. (step SP17 in FIG. 5), the data of each working robot 8-h, etc. at that time is displayed on the display 5. (Step SP 1 B in FIG. 5).

■ The arithmetic unit 4 advances the time axis in fixed time increments and checks the interference state according to the procedure shown in ■ until the teaching program on the work robot 8-h that is the object of the check is completed (see Fig. 5). Step 5P5). If there are other teaching programs or combinations of program start times, these are sequentially designated and the interference state is checked in accordance with the steps ① to ③. Alternatively, if the arithmetic unit 4 side is set to select a combination of teaching programs and program start times as described above, the interference state is sequentially checked in accordance with this setting.

■ When the interference state check for the work robot lk to be checked is completed, if necessary, check for a new work robot to be checked (for example, robot 8-
h-+), and check the interference state using the procedure shown in ① to ②.

In addition, in the above-mentioned procedure, the function of sequentially selecting the work robots to be checked from the robot 8-1 to the robot 8-n on the arithmetic unit 4 side, and the combination of the above-mentioned teaching program or program start time can be arbitrarily set. If the selection function is provided, it is possible to check the interference state of the working robots 8-1, . . . , ln arranged on the actual line under all conditions.

Further, the configuration of the industrial robot of the present invention is not limited to the above embodiment, and for example, the working robot 8-11...
- The configurations of the 8-n and offline teaching device I are not limited to the above embodiments, but may be appropriately selected from known configurations.

"Effects of the Invention" As described in detail above, according to the present invention, in an industrial robot equipped with a plurality of working robots and an offline teaching device that creates teaching programs for these working robots, A robot selection means for selecting at least one working robot, a setting means for setting the surrounding environment of the working robot, and an interference state between the working robots or the surrounding environment in the arithmetic unit in the offline teaching device. Since the present invention includes an inspection means for performing an inspection, a start time setting means for setting the start time of each teaching program of a plurality of working robots, and a program selection means for selecting a teaching program to be played by each working robot, The surrounding environment of the robot, the teaching program, or the program start time can be arbitrarily selected from a wide range, and interference conditions can be inspected more accurately and under various conditions. Moreover, since any robot can be selected from a plurality of working robots and the interference state can be inspected, this inspection becomes more diverse and accurate. Furthermore, even if interference occurs between work robots or between work robots and the surrounding environment, it is possible to avoid this by appropriately changing the combination of teaching programs and program start times. Even if something happens, it can be avoided flexibly and quickly.

[Brief explanation of the drawing]

1 to 3 are diagrams showing an industrial robot that is an embodiment of the present invention, in which FIG. 1 is a block diagram showing the overall configuration, FIG. 2 is a front view showing the working robot, and FIG. 3
FIG. 4 is a plan view of the same, FIGS. 4 and 5 are diagrams for explaining the operation of the industrial robot, FIG. 4 is a schematic diagram showing an example of conditions for inspecting interference conditions, and FIG. 6 is a process flow diagram, and FIG. 6 is a diagram for explaining the procedure for calculating the coordinate values of each joint point of the working robot on the orthogonal coordinate system. l...offline teaching device, 4...computing device, 8...work robot, SF3...robot selection means, setting means, SF3
...Program selection means, SF3...
Start time setting means, SP5 to 5PI8...Inspection means.

Claims (1)

[Claims] An industrial robot comprising a plurality of working robots and an offline teaching device that creates teaching programs for these working robots, the offline teaching device storing teaching data, various conditions, etc. an input device for inputting the information, a storage device for storing the teaching program, data, etc., and an arithmetic device for inspecting the state of interference between the working robots or between the working robots and the external environment when reproducing the teaching program, The arithmetic device includes robot selection means for selecting at least one working robot when inspecting the interference state;
a setting means for setting the surrounding environment of the work robot; an inspection means for inspecting the state of interference between the selected work robot and an adjacent work robot or the surrounding environment; A start time setting means for setting the start time of each teaching program for a plurality of working robots, and a program selection means for selecting a teaching program to be played by each working robot during the interference state inspection are provided. Features of industrial robots.