JPH02300902A - Interference check device for robot - Google Patents

Abstract

PURPOSE:To save a wasteful calculation processing so as to attain a high speed operation processing by checking an interference by means of a linear function between lines. CONSTITUTION:The segment of the angle part of an arm in a robot, for example, is designated by an input part 2 as the segment which intends to check the interference. An interference check part 7 is operated through the track plan part 4 of the robot, and the interference of the segment and the outer line of a work is checked on a side view in the right angle direction of the work and the arm of a robot model. When it is judged that there is the interference, the interference by cross between the outer line of the work and the segment on a plan view is checked, for example. When it is judged that their is the interference, a coordinate on the side view of an interference candidate point in the plan view of the robot in the attitude is compared with the coordinate on work position data of the interference candidate point in the plan view of the work, and the presence or absence of the interference is judged. Thus, a processing is executed by the linear function and the high speed operation processing is attained since it is the check of the cross between the lines.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a robot interference checking device that checks interference between a robot model whose motion is simulated on a screen and a workpiece (or environment).

[Prior art]

When teaching movements to a robot, a teaching/playback method is used in which an actual robot is used and the movements of the robot are taught while being visually confirmed. However, in this method, in order to make the robot operate in response to changes in the shape of the workpiece or changes in the surrounding environment, it takes time and effort to reset the workpiece and environment.

Note that the environment includes surrounding conditions and, if there are multiple robots, the operating conditions of other robots.

For this reason, methods have been devised to check for interference by providing various workpieces or environments on the screen and simulating the motion of the robot model.

That is, there is a method of treating the space in which the robot moves as an envelope, or converting the three-dimensional trajectory of each part of the robot into a function, and checking for interference with a workpiece or the environment in a three-dimensional area.

In addition, in order to simplify the interference check in the three-dimensional area, the method disclosed in Japanese Patent Application Laid-open No. 127007/1980 approaches each link part of an articulated robot with a line segment,
Furthermore, the surface of the workpiece is approximated by a plane, and the shortest distance between this line segment and the plane is determined to check for interference between the robot and the workpiece.

[Problem to be solved by the invention] In the interference check in the three-dimensional area between the robot and the workpiece (or environment) described above, it is necessary to check the interference between the three-dimensional three-dimensional model on the robot side and the three-dimensional three-dimensional model on the workpiece (or environment) side. In order to check, complicated three-dimensional simultaneous equations had to be solved, and the calculation process was complicated and included wasteful calculation process.

In addition, even though the robot link is approximated as a line segment in the method of JP-A No. 61-127007, three-dimensional analysis is still required, and approximation of the line segment of the link part, It took time and effort to specify the plane of the surface of the workpiece, and the calculation process was complicated and wasteful.

Therefore, an object of the present invention is to provide a robot interference checking device that is easy to operate, eliminates wasteful calculation processing, and can perform high-speed calculation processing.

[Means to solve the problem]

In order to achieve the above object, the present invention provides an interference check device for a robot seat that checks interference between a workpiece (or environment) and a specific line segment integrated into the arm of a robot model whose motion is simulated on the screen. The above work (
A first interference check that checks for interference between the specific line segment and the outline of the workpiece (or environment) on a side view perpendicular to the specific line segment in the three-sided view of the robot model (or the environment) and the robot model. and at least one other than the side view when it is determined that there is interference by the first interference checking means.
a second interference check means for checking interference between the outline of the work (or environment) in the plan view and the specific line segment;
When it is determined that there is interference by the second interference check means, the coordinates of the interference candidate point on the side view in the first view of the robot in that posture and the interference point in the first view of the workpiece (or environment) are determined. The present invention is configured as a robot interference checking device characterized by comprising an interference determining means for determining the presence or absence of interference by comparing coordinates on workpiece (or environment) position data.

Here, arm includes a robot's arm and hand,
For example, it includes a welding torch and the like.

The above-mentioned interference means crossing or proximity, and includes a certain width as a safety range.

Further, the interference candidate point is a composite of the corresponding position coordinates of the first interference point checked for interference by the first interference checking means and the second interference point checked for interference by the second interference checking means. is the point with the position coordinates.

[Effect]

In this robot interference checking device, an operator specifies a specific line segment that is integral to an arm of a robot model whose motion is simulated on the screen.

The above-mentioned specific line segment is arbitrarily specified independently for each arm of the robot model, mainly on the side view in the direction perpendicular to the above-mentioned arm, and the line segment that is likely to cause the most interference when performing the above-mentioned motion simulation, for example, welding. The line segment of the outline of the torch on the side approaching the workpiece is specified.

Then, the workpiece (
or the environment) and the side view perpendicular to the arm in the three-view view of the robot model, the specific line segment and the workpiece (
or the environment) is checked for interference with the outline.

Since the interference check is a check for intersections between line segments, it is processed using a linear function and is processed at high speed.

When the first interference checking means determines that there is interference, the second interference checking means identifies the outline of the work (or environment) in at least one view other than the side view, for example, a plan view, and the specific line. Interferences due to intersections with minutes are checked.

This interference check is also a check based on the presence or absence of intersections between lines, so it is similarly processed using a linear function and is subjected to high-speed arithmetic processing.

Furthermore, when it is determined that there is interference by the second interference checking means, the interference determining means determines the coordinates on the side view of the interference candidate point in the first view (for example, the above plan view) of the robot in that posture and the workpiece ( or environment) above 1.
The presence or absence of interference is determined by comparing the coordinates of the interference candidate point on the workpiece (or environment) position data in the plan view (for example, the above-mentioned plan view).

Therefore, with the simple operation of specifying the above-mentioned specific line segment, interference check between line segments can be performed at high speed.
Robot interference, 7. A prick is made.

〔Example〕

Hereinafter, embodiments embodying the present invention will be described with reference to the accompanying drawings to provide an understanding of the present invention.

It should be noted that the following examples are examples embodying the present invention, and are not intended to limit the technical scope of the present invention.

Fig. 1 is a block diagram of a robot interference check device according to an embodiment of the present invention, Fig. 2 is a flowchart showing an example of interference check processing in the robot interference check device, and Fig. 3 (a), Figure 3). , (C).

(d) is a perspective view, right side view, top view, and front view showing an example of a state in which the interference check device of the robot is used to check the interference state between the arm and the workpiece;
Figures 4 (a), (b), (C), and (d) show examples of other states in which the interference check device of the same robot is used to check the interference state between an arm and a workpiece. Perspective view, right side view, top view, front view, Figure 5(a)
, (b) is a perspective view showing an example of checking the state of interference between the arm and other workpieces, a right side view, and the sixth
Figures (a) and (b) are perspective views showing an example of a state in which the same arm does not interfere with other workpieces, and Figure 7 (a).
) is an explanatory diagram of an example of a workpiece model displayed on the screen using a perspective view, right side view, top view, and front view. Figures 7(c), 7(d), 7(e), and 7(f) are explanatory diagrams of the simulation motion of the robot model displayed on the screen using perspective views, right side views, top views, and front views. FIG. 2 is an explanatory diagram of a work model displayed in the figure and a robot model that is being simulated and checked for interference.

In the robot interference check device ll according to the embodiment of the present invention shown in FIG. The model data of the robot and workpiece (or environment) stored in the section 3 is read out, data is processed by the trajectory planning section 4 of the robot consisting of a CPU, etc.
A figure is displayed on the screen of the figure display section 5, which is made up of a computer or the like.

Furthermore, if a simulation instruction is given through the input section 2 of the interference checking device 1 of this robot, the motion simulation section 6 consisting of a CPU etc. is operated via the trajectory planning section 4 of the robot, and the information is stored in the storage section 3. The motion of the robot is simulated based on the model data and trajectory planning data, and the motion graphics are displayed on the graphics display section 5.

Further, at this time, if an instruction to check interference of the robot is given to the robot interference check device 1 via the input section 2, the interference check section 7 consisting of a CPU etc. is activated via the robot's trajectory planning section 4. The interference check process between the robot and the workpiece (or environment) during the motion simulation described above is performed according to the interference check procedure described later, and if there is interference, the simulation operation is stopped at that point, and the figure display section 5 is The point of interference is displayed, for example, as an arrow on the screen.

FIG. 7(a) shows an example of a workpiece model displayed on the screen of the figure display section 5, and FIG. 7(b)
shows an example of a robot model being simulated.

In Figure 7(C), the robot model performs a simulation operation on the workpiece model in Figure 7(a), the above interference check is performed, the simulation operation is stopped when interference occurs, and a screen is displayed. The point of interference is indicated by an arrow x.

Next, an example of the interference check processing procedure in this robot interference check apparatus 1 will be explained in the order of steps Sl and S2 with reference to FIG.

When the operator performs a predetermined operation using the input unit 2, model data of the robot and workpiece (or environment) stored in the storage unit 3 and robot trajectory planning data are read out, and the robot trajectory planning unit 4 reads out model data of the robot and workpiece (or environment) stored in the storage unit 3. The data is processed and a figure is displayed on the figure display section 5 (Sl).

FIG. 3(a) is a perspective view showing the arm 8 with the robot and the workpiece W1, and 11j l'l (
b), (C).

(d) is a three-view diagram showing an example of a graphic displayed on the graphic display section 5. FIG.

Then, the line segment (integrated with this arm 8) whose interference is to be checked, for example, the line segment iV at the corner of this arm 8,
is designated by the input unit 2 (S2).

In the case of this arm 8, it is rectangular, so the specific line segment Z and the corner are specified. However, if this arm 8 is cylindrical, for example, when the robot is operated in a simulation described later, the workpiece WI will be the most Specify any line segment on the cylinder that is likely to be close to . Of course, multiple line segments can be specified, in which case each line segment is checked for interference.

Note that even if the arm 8 has an arbitrary shape other than the above, it is specified in exactly the same manner.

At this time, this three-view view is based on the above-mentioned specific line segment 11 whose interference is to be checked, and a side view in a direction perpendicular to this line segment 11 (FIG. 3(b)), and this line segment! ! , 1 viewed from above (Fig. 3 (C)) and this line segment 1. and a front view (Fig. 3(d)).

Hereinafter, in the three-view diagram, the above-mentioned specific line segment is always used even during simulation operation of this arm 8, which will be described later. , is given as a standard.

Then, when a simulation instruction is given via the input unit 2, a robot motion simulation is started on the screen. For example, from the state shown in FIG. 3(a) to the arm 8 (line segment
+) starts to move (S3).

Furthermore, at this time, if a robot interference check instruction is given to the robot interference check device 1 through the input unit 2, the above-mentioned specific line segment will be detected on the side view in the direction perpendicular to the arm 8 of the robot during the motion simulation. 2. Interference (intersection or proximity) between the outline of the workpiece W and the outline of the workpiece W is checked (S4).

However, in the following explanation, only the case of intersection will be described.

That is, by motion simulation, for example, as shown in FIG. 3(a).
When the arm 8 is moved from the state shown in FIG. 4A to the state shown in FIG.

Then, this specific line segment 11 and the workpiece WI in Fig. 4 (b
) are the first interference point Pa.

Since they intersect at P, it is determined that interference has occurred, and the process moves to the next step S5.

The above interference check is a line segment! 1 and the line segments a and b, it is processed using a linear function and high-speed arithmetic processing is performed.

The above line segment in the above three views! On the side view in the direction perpendicular to 1, the above specific line segment! , and the outline of the workpiece W1 is an example of the first interference checking means.

Then, in the next step S5, the above side view (Fig. 4 0)
)) Interference between the outline of the workpiece W1 in at least one plane view other than the plane view shown in FIG. 4(C), for example, and the specific line segment 11 is checked.

That is, the specific line segment iV shown in this plan view (C).

Since the contour line C of the workpiece W1 intersects at the second interference point PC, it is determined that there is interference, and the process moves to the next step S6.

This interference check also uses line segment j! Since it is a check of the quantity and the line segment C, it is processed using a -dimensional number and high-speed arithmetic processing is performed.

The workpiece W in at least one side view (the plan view in FIG. 4(C) above) other than the above-mentioned side view (FIG. 4(B))
The means for realizing the function of checking interference between the outline of I and the specific line segment 11 is an example of the second interference checking means.

Then, in the next step S6, when the second interference checking means determines that there is interference, the first interference point p, .
p, and the positional coordinates corresponding to the second interference point PC are combined to obtain the positional coordinates of the interference candidate point.

In other words, since P□ and PC do not correspond, they are not combined, and since PI and PC correspond, the position coordinates of the combined interference candidate point P (Fig. 4 (a)) can be found. .

Then, the coordinates P b (P y *
P,) and the above first view of the workpiece W1 (see Fig. 4 (C) above).
The coordinates on the outline line of the workpiece corresponding to the interference point PC in the top view of the workpiece W1, that is, the line segment including W□, W, , Wc, etc. shown in broken lines in FIG.
The coordinates of the intersection with

In this example, the interference candidate points P are Wa, WI,.

Since it is included in the coordinates on the line segment including Wc, etc. (between the outline 12 of the workpiece W and Ily (Fig. 4 (a))), it is determined that there is interference, and the simulation operation is stopped and the process moves to stencil S7. .

Note that if the workpiece W1 has a recess or the like as shown by the dashed dotted line Y in FIG. 4(a), the coordinates on the workpiece position data do not include the interference candidate point P, so it is determined that there is no interference. and,
The process advances to step S9, and if the entire trajectory data check has not been completed, the process returns to step S3 to continue the simulation operation to the next point.

Since the above judgment is a comparison judgment between data, it is naturally processed at high speed.

When it is determined that there is interference by the second interference checking means described above, the first view (
The presence or absence of interference is determined by comparing the coordinates of the interference candidate point P on the side view in FIG. A means for realizing the function is an example of an interference determining means.

Then, in the next step S7, an interference display to notify the operator of the presence of interference is made by, for example, pointing an interference point PL on the side view shown in FIG. 4 Φ) with an arrow.

The arrow x in the right side view of FIG. 7(C) mentioned above is also a similar example.

Then, in the next step S8, the operator corrects the trajectory planning data via the human power section 2.

Examples of the modification of the trajectory planning data include modification of the approach position of the robot arm 8, modification of the arrangement position of the workpiece W and the robot, and the like.

After that, the process returns to step S3 again, and the simulation operation to the next point is started again, and the following step S34.
... etc. will be done.

Step S4 is then performed for all points of the trajectory planning data. If it is determined that there is no interference in the determination processes of S5 and S36, and that all point checks are completed in step S9,
The process moves to the next step 310.

Then, the operator determines whether or not to check the interference of other arms (line segments). If it is determined not to check, the operator moves to the next step Sll, and the above trajectory is determined based on the registration command given via the input unit 2. The data is registered in the storage unit 3.

If the operator determines in step S10 that he or she would like to check in more detail about the robot arm that is likely to interfere with the specified line segment than the designated arm 8, the operator returns to step S2 and determines that the robot arm that is likely to interfere with the specified robot arm. After specifying another specific line segment, the processing in step S3, etc. is continued.

Although the plan view of FIG. 4(C) is used as an example of the above-mentioned first view, the front view of FIG. 4(d) may be used.

In this case, the data regarding Pa on the side view of the interference point (FIG. 4, etc.) is checked, and the coordinates on the position data of the workpiece W1 are set on the upper surface of the workpiece W.

Furthermore, although the above-mentioned arm 8 is a robot arm, as mentioned above, it may be a hand or the like. j! It may be of rough shape.

Furthermore, although the interference check mentioned above takes the example of the intersection of line segments, as mentioned above, when the interference check includes a certain width as a safety range and the figures are close together, it is also possible to
), the present invention may also be applied to a workpiece W2 whose corners are curved.

Note that the example of the figure shown in FIGS. 6(a) and 6(b) does not have the recess shown by the dashed line in FIG.
It is determined that there is interference by both of the interference checking means 5 and the second interference checking means, and interference candidate points are also determined, but in both cases, the interference candidate points are the workpieces W, .

Figures are shown for reference when they are not included in the coordinates on the workpiece position data.

Therefore, in this case as well, the interference determining means determines that there is no interference.

In addition, if the workpiece is cylindrical, interference between a specific line segment and the workpiece outline is checked in a side view perpendicular to the flat circle (S4), and a side view of the circle (e.g. Interference between a specific line segment and the outline of the workpiece is similarly checked in the plan view (S5).

In this case, the above S4. If interference is checked in any step S5 (that is, if there is an interference point), it is determined that there is interference in step S6, and the next step S
At 7, for example, the interference point in the above plan view is displayed with an arrow.

711i1U (C) shows that the interference state of a specific line molecule is checked and indicated by an arrow ×, but in FIG. 7(d), the above specific line segment P (in the figure This is an example in which the corners of other arms that are connected to the right side view are also extracted and displayed as straight lines, and interference is checked in more detail.

FIGS. 7(e) and 7(f) show that interference checks have been completed for all arms and simulation operations are being performed for all trajectory data before registration.

〔Effect of the invention〕

According to the present invention, there is provided a robot interference checking device for checking interference between a workpiece (or environment) and a specific line segment integral to an arm of a robot model whose motion is simulated on a screen. a first interference check means for checking for interference between the specific line segment and the outline of the workpiece (or environment) on a side view in a direction perpendicular to the specific line segment in the three-view view; and the first interference a second interference checking means for checking interference between the outline of the workpiece (or environment) and the specific line segment in at least one view other than the side view when the checking means determines that there is interference; 2. When it is determined that there is interference by the interference checking means, the coordinates on the side view of the interference candidate point in the above first view of the robot in that posture and the workpiece (or environment) of the interference point in the above first view of the workpiece (or environment) are determined. An interference checking device for a robot is provided, characterized in that it is equipped with an interference determining means that compares coordinates on position data (or environment) and determines the presence or absence of interference.

Therefore, interference is checked using a linear function between lines, so
Wasteful calculation processing is omitted and calculation processing is performed at high speed.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of a robot interference check device according to an embodiment of the present invention, FIG. 2 is a flow chart showing an example of interference check processing in the robot interference check device, and FIGS. ), (C). (d) is a perspective view, right side view, top view, and front view showing an example of a state in which the interference check device of the robot is used to check the interference state between the arm and the workpiece;
Figures 4 (a), (b), (C), and (d) show examples of other states in which the interference check device of the same robot is used to check the interference state between an arm and a workpiece. Perspective view, right side view, top view, front view, Figure 5(a)
, (b) is a perspective view and right side view showing an example of checking the state of interference between the arm and other workpieces, and Figures 6 (a) and (c) are the same arm and another workpiece. FIG. 7 is a perspective view showing an example of a state in which there is no interference with the
a) is an explanatory diagram of an example of a work model displayed on the screen using a perspective view, right side view, top view, and front view, and Figure 7 (b) is a perspective view, right side view, top view, and front view. Figures 7 (c), (d), (e), and (f) are explanatory diagrams of the simulated motion of the robot model displayed on the screen using a perspective view, right side view, top view, and front view. FIG. 2 is an explanatory diagram of a work model displayed on a screen and a robot model that is being simulated and checked for interference. [Explanation of symbols] 1... Robot interference check device 2... Input section 3... Storage section 4... Robot trajectory planning section 5... Graphic display section 6... Motion simulation section 7 ...Interference check section Fig. 2 Fig. 1 Fig. 6 Fig. 3 Fig. 5 Right side view perspective view (c) Fig. 7 (a) (b) 1 (f) Fig. 7 (d) (e )

Claims (1)

[Claims] 1. In a robot interference checking device that checks interference between a workpiece (or environment) and a specific line segment integral to an arm of a robot model whose motion is simulated on a screen, ) and a first interference checking means for checking interference between the specific line segment and the outline of the workpiece (or environment) on a side view in a direction perpendicular to the specific line segment in the three-view diagram of the robot model; , when it is determined that there is interference by the first interference checking means, a second interference check for checking interference between the outline of the work (or environment) in at least one view other than the side view and the specific line segment; means, when it is determined that there is interference by the second interference checking means, the coordinates on the side view of the interference candidate point in the first view of the robot in that posture, and the coordinates of the interference candidate point in the first view of the workpiece (or environment) in the first view. 1. An interference checking device for a robot, comprising interference determining means for determining the presence or absence of interference by comparing the coordinates of an interference point with workpiece (or environment) position data.