WO2026023021A1 - Dispositif de programmation de robot - Google Patents

Dispositif de programmation de robot

Info

Publication number
WO2026023021A1
WO2026023021A1 PCT/JP2024/026649 JP2024026649W WO2026023021A1 WO 2026023021 A1 WO2026023021 A1 WO 2026023021A1 JP 2024026649 W JP2024026649 W JP 2024026649W WO 2026023021 A1 WO2026023021 A1 WO 2026023021A1
Authority
WO
WIPO (PCT)
Prior art keywords
change
range
setting
change range
processing line
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/JP2024/026649
Other languages
English (en)
Japanese (ja)
Inventor
寛之 米山
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Priority to PCT/JP2024/026649 priority Critical patent/WO2026023021A1/fr
Publication of WO2026023021A1 publication Critical patent/WO2026023021A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine

Definitions

  • This disclosure relates to a robot programming device.
  • Robot programming devices are known that automatically generate robot programs for performing machining operations on workpieces offline.
  • Patent Document 1 describes a robot programming device that extracts multiple geometric features from a workpiece model and generates an operation program in which a tool moves between the multiple geometric features.
  • Patent Document 2 describes a simulation device configured to perform an offline simulation of operations equivalent to jog feed operations on an actual robot.
  • JP 2017-140684 A Japanese Patent Application Laid-Open No. 2007-286976
  • Conventional robot programming devices automatically generate a robot program for performing machining work by moving a tool along a machining line identified on a workpiece model, based on setting information regarding the conditions for generating teaching points.
  • this type of conventional technology it is possible to generate an appropriate robot program when the orientation of the robot model (tool model) on the machining line is constant and the positions of teaching points are easy to determine, such as when deburring along the contour line of a circular surface or welding in a straight line.
  • a robot programming device that can solve the above problems in conventional technology and reliably automatically generate appropriate robot programs for workpiece machining work.
  • One aspect of the present disclosure is a robot programming device that includes: a three-dimensional model placement unit that places a robot model, a tool model, and a workpiece model in a virtual space; a change range extraction unit that extracts, for a processing line specified on the workpiece model, a range in which the degree of change in the direction of at least one of a direction vector representing the direction of the processing line and a normal vector of a face including the processing line satisfies a predetermined condition; and a setting application unit that applies, to the extracted change range, settings related to the conditions for generating teaching points for the robot program that differ from the settings applied to a range outside the change range on the processing line.
  • FIG. 1 is a diagram illustrating an external configuration of a robot programming device according to an embodiment.
  • FIG. 2 is a functional block diagram of the robot programming device.
  • 10 is a flowchart showing a program generation process executed in the robot programming device.
  • FIG. 1 is a diagram showing a state in which a robot model, a tool model, and a workpiece model are arranged in a virtual space.
  • FIG. 10 is a diagram showing a state in which a processing line is specified on a workpiece model.
  • 10A and 10B are diagrams for explaining a situation in which default settings are applied to a circular processing line on a cylindrical workpiece model.
  • FIG. 10 is a diagram showing an example of a range of change of a normal vector in a processing line on a workpiece model.
  • 10A and 10B are diagrams for explaining an example of setting of teaching points within a range of change of a normal vector.
  • 10A and 10B are diagrams for explaining an example of changing settings related to teaching points within a range of change of a normal vector.
  • 10A to 10C are diagrams illustrating specific examples of the shape of a corner of a workpiece model and a change in the direction of a direction vector at the corner.
  • 10A and 10B are diagrams for explaining default settings for teaching points and settings for a change range of a direction vector at a corner of a workpiece model.
  • 10A and 10B are diagrams illustrating an example of changing the setting for the range of change of the direction vector at a corner of the workpiece model.
  • FIG. 10 is a diagram illustrating a situation in which a simulation is performed using a generated robot program.
  • FIG. 1 shows the external configuration of a robot programming device 10 according to one embodiment.
  • the robot programming device 10 has the function of arranging a robot model, tool model, workpiece model, etc. in a virtual space and automatically generating a robot program for performing specified machining operations using a tool.
  • the robot programming device 10 may be configured as a PC (personal computer), tablet terminal, or any other type of information processing device.
  • the robot programming device 10 may have the hardware configuration of a general computer, including a processor 11, memory (ROM, RAM, non-volatile memory, etc.), storage unit 12, display unit 13, operation unit 14, input/output interface, network interface, etc. (see Figures 1 and 2).
  • the storage unit 12 may be configured, for example, as non-volatile memory or a hard disk drive.
  • the display unit 13 may include, for example, an LCD display.
  • the operation unit 14 may include a keyboard, mouse, or any other type of input device.
  • the robot programming device 10 extracts, for a processing line specified on a workpiece model, a range in which the degree of change in the orientation of at least one of the direction vector representing the direction of the processing line and the normal vector of the surface including the processing line satisfies a predetermined condition as a change range, and can apply settings to the extracted change range that are different from the settings applied to ranges outside the change range of the processing line as settings related to the conditions for generating teaching points for the robot program.
  • the robot programming device 10 can reliably automatically generate an appropriate robot program for processing a workpiece.
  • the machining line may be specified as a line on the surface to be machined, such as a ridge on the workpiece model, or a fixed pattern defined on the surface to be machined.
  • ridge is used to refer to a straight or curved line formed at the boundary between surfaces on the workpiece model.
  • the settings related to the conditions for generating teaching points for the robot program include the movement type, speed, position, attitude, and offset amount related to the teaching points.
  • the movement type refers to the robot's movement type, such as linear movement or movement on each axis
  • the position refers to information regarding the interval at which teaching points are generated.
  • the offset amount refers to the amount of translation or rotation of the tool model based on the set attitude.
  • the robot programming device 10 includes a virtual space creation unit 121, a three-dimensional model placement unit 122, a processing line designation unit 123, a normal vector change range extraction unit 124, a normal vector change range setting definition unit 125, a normal vector change range setting application unit 126, a normal vector change range setting change unit 127, a direction vector change range extraction unit 128, a direction vector change range setting definition unit 129, a direction vector change range setting application unit 130, a direction vector change range setting change unit 131, a default setting definition unit 132, a default setting application unit 133, a robot program generation unit 134, and a simulation execution unit 135.
  • FIG. 2 also illustrates the memory unit 12.
  • the memory unit 12 stores three-dimensional model data for various objects, information defining the settings of teaching points, robot programs, and various other setting information.
  • the virtual space creation unit 121 creates a virtual space on the robot programming device 10.
  • the three-dimensional model placement unit 122 places three-dimensional models of objects that make up the robot system model, such as a robot model, tool model, and work model, within the virtual space.
  • the three-dimensional model placement unit 122 can place these in the virtual space based on actual placement information for the robot model, tool model, work model, etc. in the working space.
  • the models of these objects placed in the virtual space are displayed on the display unit 13.
  • the processing line designation unit 123 has the function of designating a processing line from the workpiece model based on predetermined conditions.
  • the processing line designation unit 123 can extract feature parts (shape features such as ridge lines (or contour lines), faces, etc.) from the workpiece model (CAD data of the workpiece, etc.) based on predetermined conditions and identify the processing line.
  • the predetermined conditions for identifying the processing line include a threshold value for the length of the ridge line to be extracted, a threshold value for the area of the face to be extracted, etc. This allows the processing line designation unit 123 to designate a processing line L on the workpiece model WM as shown in FIG. 5.
  • the processing line designated from the workpiece model in this way includes as components a direction vector along the processing line and a normal vector of the face including the processing line.
  • the normal vector change range extraction unit 124 extracts as the normal vector change range a range on the processing line where the degree of change in the direction of the normal vector satisfies a first condition.
  • the first condition is that the direction of the normal vector on the processing line changes by more than a predetermined threshold.
  • the threshold in this case may be stored in advance by the normal vector change range extraction unit 124, or may be set by the user. This allows the normal vector change range extraction unit 124 to extract curved parts, wavy changing parts, etc. on the processing line as the normal vector change range.
  • the normal vector change range setting definition unit 125 has the function of defining settings related to teaching points (motion type, speed, position, posture, offset amount, etc.) to be applied to the normal vector change range. This makes it possible to define appropriate settings related to teaching points to be applied to curved portions on the processing line or portions where the shape changes wavy, which differ from the normal settings (hereinafter sometimes referred to as default settings) applied to straight processing lines, etc. Below, the settings related to teaching points to be applied to the normal vector change range will sometimes be referred to as settings for the normal vector change range.
  • the normal vector change range setting application unit 126 applies the normal vector change range setting to the extracted normal vector change range.
  • the normal vector change range setting application unit 126 may associate data representing the normal vector change range with the defined normal vector change range setting, and operate so that the robot program generation unit 134 can apply the normal vector change range setting to the normal vector change range to generate teaching points.
  • the normal vector change range setting change unit 127 provides a function for changing the applied normal vector change range setting.
  • the normal vector change range setting change unit 127 may be configured, for example, to accept a user operation to change the applied normal vector change range setting.
  • the normal vector change range setting change unit 127 may display a user interface for changing the normal vector change range setting on the display unit 13, and accept a user operation to change the normal vector change range setting via the user interface.
  • the normal vector change range setting change unit 127 may have a function to automatically change the normal vector change range setting according to the degree of change in the direction of the normal vector on the processing line.
  • the normal vector change range setting change unit 127 may set different values for the normal vector change range setting for ranges where the degree of change in the direction of the normal vector on the processing line is large and ranges where the degree of change is small.
  • the direction vector change range extraction unit 128 extracts as the direction vector change range a range in which the degree of change in the direction of the direction vector on the processing line satisfies a second condition.
  • the second condition is (r1) the direction of the direction vector on the processing line changes by more than a predetermined threshold, and (r2) the change in the direction of the direction vector at regular intervals on the processing line is not uniform.
  • the threshold for extracting the direction vector change range may be stored in advance by the direction vector change range extraction unit 128, or may be set by the user.
  • the direction vector change range setting definition unit 129 has the function of defining settings (motion type, speed, position, posture, offset amount, etc.) related to teaching points to be applied to the direction vector change range. This makes it possible to define appropriate settings related to teaching points to be applied to corners, curved portions, etc. on the processing line, which differ from the normal settings (default settings) applied to straight processing lines, etc.
  • the direction vector change range setting application unit 130 applies the direction vector change range setting to the extracted direction vector change range.
  • the direction vector change range setting application unit 130 may associate data representing the direction vector change range with the defined direction vector change range setting, and operate so that the robot program generation unit 134 can apply the direction vector change range setting to the direction vector change range to generate teaching points.
  • the direction vector change range setting change unit 131 provides a function for changing the applied direction vector change range setting.
  • the direction vector change range setting change unit 131 may be configured, for example, to accept a user operation to change the applied direction vector change range setting.
  • the direction vector change range setting change unit 131 may display a user interface for changing the direction vector change range setting on the display unit 13, and accept a user operation to change the direction vector change range setting via the user interface.
  • the direction vector change range setting change unit 131 may have a function to automatically change the direction vector change range setting according to the degree of change in the direction vector on the processing line.
  • the direction vector change range setting change unit 131 may set different values for the direction vector change range setting for ranges where the degree of change in the direction vector on the processing line is large and ranges where the degree of change is small.
  • the default setting definition unit 132 has the function of defining default settings (motion type, speed, position, orientation, offset amount, etc. related to the teaching point) to be applied to the range on the machining line where the degree of change in the direction of the normal vector does not satisfy the first condition above and the degree of change in the direction of the direction vector does not satisfy the second condition above (i.e., a range outside the normal vector change range and outside the direction vector change range; for ease of explanation, this range may be referred to as the default setting range below).
  • default settings motion type, speed, position, orientation, offset amount, etc. related to the teaching point
  • the default setting application unit 133 applies the default setting to the default setting range.
  • the default setting application unit 133 may associate data representing the default setting range with the defined default setting, and operate so that the robot program generation unit 134 can apply the default setting to the default setting range and generate teaching points.
  • the default setting is a setting that can be applied to straight machining lines, circular machining lines in which the change in direction of the direction vector at regular intervals is uniform, etc., and includes, for example, a setting that generates teaching points at regular intervals on the machining line.
  • the robot program generation unit 134 generates teaching points for the robot program along the machining line using the teaching point settings applied to the default setting range, normal vector change range, and direction vector change range on the machining line. Based on the generated teaching points, the robot program generation unit 134 can generate a robot program consisting of a group of commands for moving the robot (tool) along the machining line.
  • the simulation execution unit 135 has the function of executing a simulation that simulates the operation of a robot model in a virtual space in accordance with the generated robot program.
  • the program generation process executed in the robot programming device 10 will be described below with reference to the flowchart in Figure 3 and Figures 4 to 13. This program generation process is executed under the control of the processor 11 of the robot programming device 10.
  • a virtual space is generated by the virtual space creation unit 121 and the three-dimensional model placement unit 122, and a robot model, tool model, and workpiece model are placed within the virtual space (step S1).
  • Figure 4 shows the state in which the robot model 10M, tool model 20M, and workpiece model WM are placed within the virtual space.
  • the tool model 20M is attached to the tip of the arm of the robot model 10M.
  • the state in which the robot system model including the robot model 10M, tool model 20M, and workpiece model WM are placed within the virtual space is displayed on the display unit 13 of the robot programming device 10.
  • step S2 the processing line designation unit 123 performs processing to designate a processing line from the workpiece model WM.
  • Figure 5 shows a situation in which the above-mentioned function of the processing line designation unit 123 extracts a ridge line corresponding to the contour line of the end face SA of the quadrangular prism-shaped portion of the workpiece model WM, and this ridge line is designated as the processing line L.
  • the processing line L includes as its components a direction vector (D1 to D4) indicating the direction in which the tool model 20M advances along the ridge line, and a normal vector N indicating the normal direction to the face (end face SA) that includes the ridge line.
  • the ridge line is considered to be included in the face whose contour is defined by that ridge line.
  • the default setting definition unit 132 defines default settings that define the operation type, speed, position, posture, offset amount, etc. for the teaching point for a range (default setting range) outside the normal vector change range and outside the direction vector change range on the processing line L.
  • default settings can be applied to the processing line L1 as settings for the teaching point.
  • the default setting definition unit 132 can define the posture of the tool coordinate system C on the processing line L1 as the posture at the teaching point, based on a direction vector, a normal vector, or two vectors formed by the intersection of a direction vector and a normal vector.
  • Figure 6 illustrates the direction vector D and normal vector N at one point on the processing line L1.
  • the direction of the normal vector N is constant on the processing line L1.
  • the tool coordinate system C is a coordinate system set on the tool model 20M so that its origin coincides with the tip of the tool model 20M and its Z axis coincides with the central axis of the tool model 20M. As shown in FIG.
  • the orientation of the tool model 20M tilted inward with respect to the normal vector of the processing line L1 may be defined by setting an offset amount at each teaching point so that the X axis of the tool coordinate system C is parallel to the direction vector and the Z axis rotates a predetermined angle around the X axis with the direction of the normal vector as the reference.
  • the default settings for the processing line L1 may further include settings for moving the robot along an arc-shaped trajectory as the operating format, settings for setting the spacing between teaching points to a fixed value, etc.
  • the default setting definition unit 132 may store the default settings thus determined in the memory unit 12.
  • the default setting application unit 133 applies the default settings defined above to the range (default setting range) on the processing line other than the normal vector change range and the direction vector change range (step S4).
  • the normal vector change range extraction unit 124 extracts the range on the machining line where the degree of change in the direction of the normal vector satisfies the first condition as the normal vector change range (step S5).
  • a workpiece model WM2 as shown in Figure 7.
  • the machining line L2 on the workpiece model WM2 includes a range A where the shape changes to a wave shape.
  • a default setting is applied, such as making the orientation of the tool model parallel to the normal direction of the surface SB including the ridge line as the machining line L2, the orientation of the tool model will become unstable and an appropriate teaching point will not be obtained.
  • the normal vector change range extraction unit 124 extracts the range on the machining line where the degree of change in the direction of the normal vector satisfies the first condition as the normal vector change range.
  • the normal vector change range extraction unit 124 may extract the range on the machining line where the orientation of the normal vector changes by more than a threshold value as the normal vector change range. This allows range A, where the shape of the processed line L2 in Figure 7 changes to a waveform, to be extracted as the normal vector change range.
  • the normal vector change range setting definition unit 125 defines a normal vector change range setting in which the motion type, speed, position, posture, offset amount, etc. related to the teaching point are defined for the normal vector change range (step S6).
  • the normal vector change range setting definition unit 125 may define the posture so that the posture of the tool model 20M is always constant within the normal vector change range (range A), as shown in Figure 8.
  • the posture is defined so that the posture of the tool model 20M is always parallel to the vertical direction within the normal vector change range (range A).
  • step S7 the normal vector change range setting application unit 126 applies the normal vector change range setting defined above to the normal vector change range. This enables the robot program generation unit 134 to generate a robot program that allows the tool to operate stably even in a range where the shape of the processing line changes, such as the normal vector change range (range A) shown in Figure 8.
  • the normal vector change range setting change unit 127 provides a function for changing the settings of the teaching points within the normal vector change range.
  • the normal vector change range setting change unit 127 may be configured to accept a user operation for changing the settings for the normal vector change range.
  • the settings may be changed individually for each normal vector change range that exists separately on the machining line. This allows the user to change the operation type, speed, position, posture, offset, etc. related to the teaching points for each normal vector change range as needed.
  • the user may perform an adjustment by specifying an offset amount for rotating the tool model 20M so that the tool model 20M is always tilted at a constant angle relative to the vertical direction within the normal vector change range (range A) of the workpiece model WM2.
  • the normal vector change range setting modification unit 127 may have a function to automatically change the normal vector change range setting depending on the degree of change in the direction of the normal vector within the normal vector change range. For example, there may be an example in which the normal vector change range setting is different for a normal vector change range in which the degree of change in the direction of the normal vector is relatively large and a normal vector change range in which the degree of change in the direction of the normal vector is relatively small. In this case, the normal vector change range setting modification unit 127 may modify the normal vector change range setting from various perspectives such as machining quality, operational stability, and cycle time.
  • the normal vector change range setting modification unit 127 may adopt settings that result in a relatively narrow teaching point spacing and a relatively slow operating speed for a normal vector change range in which the degree of change in the direction of the normal vector is relatively large, and adopt settings that result in a relatively wide teaching point spacing and a relatively high operating speed for a normal vector change range in which the degree of change in the direction of the normal vector is relatively small.
  • the direction vector change range extraction unit 128 extracts the range in which the degree of change in the direction of the direction vector on the processing line satisfies the second condition described above as the direction vector change range (step S9).
  • the direction vector change range extraction unit 128 may extract the direction vector change range using the above-mentioned conditions (r1) and (r2).
  • the direction vector change range setting definition unit 129 defines a direction vector change range setting for the extracted direction vector change range, in which the operation type, speed, position, posture, offset, etc. related to the teaching point are defined (step S10).
  • a corner K on the machining line L of the workpiece model WM where the direction of the direction vector changes significantly is shown surrounded by a dashed circle 90.
  • the direction of the direction vector changes significantly from direction vector D11 to direction vector D12.
  • Enlarged views of specific examples of the shape of the corner K are shown within dashed circles 90a and 90b in Figure 10.
  • the corner K may be formed into a shape that bends at a right angle (circle 90a) or a shape that curves sharply (circle 90b). Applying default settings for teaching points to such corners K is likely to result in an inappropriate teaching point.
  • the direction vector change range extraction unit 128 can extract a certain range that includes such corners K as the direction vector change range.
  • FIG. 11 shows examples of teaching point generation when default settings for teaching points are applied to the corner K shown in FIG. 10.
  • FIG. 11 also expresses the orientation set for each teaching point using the tool coordinate system C.
  • teaching points P1 and P2 are generated to have the same orientation, while the orientation changes by 90 degrees between teaching points P2 and P3, the two adjacent teaching points before and after the corner K. In this case, the tool will rotate abruptly at the corner K, and teaching points P1 to P3 are therefore inappropriate from the perspective of tool stability, etc.
  • teaching point P11 is generated on the straight portion just before corner K
  • teaching point P12 is generated at corner K with its orientation rotated 90 degrees relative to teaching point P11.
  • the tool moves from teaching point P11 to teaching point P12 while rotating on the straight portion just before corner K, so teaching points P11 and P12 are not appropriate from the perspective of tool stability, processing quality, etc.
  • the direction vector change range setting definition unit 129 inserts multiple teaching points P (only some of which are marked with the symbol P in FIG. 11) into the direction vector change range (range B) that includes the corner K, as shown by reference symbol 90e on the right side of FIG. 11, so that the change in tool posture is smooth within the direction vector change range (range B).
  • the direction vector change range setting definition unit 129 may define settings related to the teaching points so that the change in posture (rotation angle) between adjacent teaching points among the multiple teaching points P set at the corner K is uniform.
  • step S11 the direction vector change range setting application unit 130 applies the direction vector change range setting defined above to the direction vector change range. This enables the robot program generation unit 134 to generate a robot program that allows the tool to operate stably even within the direction vector change range.
  • the direction vector change range setting change unit 131 provides a function for changing the settings of teaching points within the direction vector change range.
  • the direction vector change range setting change unit 131 may be configured to accept user operations for changing the settings for the direction vector change range.
  • the settings may be changed individually for each direction vector change range that exists separately on the processing line. This allows the user to change the operation type, speed, position, posture, offset, etc. related to the teaching points for each direction vector conversion range as needed.
  • Figure 12 shows a situation in which the setting of the position of teaching point P (the interval at which teaching points are generated) within the direction vector change range (range B) is set so that the density of teaching points is sparser than in the situation shown by reference numeral 90e on the right side of Figure 11.
  • the direction vector change range setting modification unit 131 may have a function to automatically change the direction vector change range setting depending on the degree of change in the direction of the direction vector within the direction vector change range. For example, there may be cases where the direction vector change range setting is different for a direction vector change range where the degree of change in the direction of the direction vector is relatively large and a direction vector change range where the degree of change in the direction of the direction vector is relatively small. In this case, the direction vector change range setting modification unit 131 may modify the direction vector change range setting from various perspectives such as processing quality, operation stability, and cycle time.
  • the robot program generation unit 134 generates teaching points for the robot program along the processing line L based on the normal vector change range settings, directional vector change range settings, and default settings for the processing line L generated as described above (step S13).
  • the robot program generation unit 134 can generate a robot program based on the generated teaching points, normal vector change range settings, directional vector change range settings, and default settings.
  • the simulation execution unit 135 can execute a simulation that simulates the operation of the robot model 10M (tool model 20M) in a virtual space (display screen) based on the generated robot program. This allows the user to check the operation of the robot program and adjust the robot program as necessary.
  • the configuration of the above-described embodiment can be applied not only to processing lines as ridge lines on a workpiece model, but also to processing lines defined on the surface to be processed.
  • the settings related to the conditions for generating teaching points of a robot program were described as including the motion type, speed, position, orientation, and offset amount related to the teaching points, but this is an example, and the settings related to the conditions for generating teaching points of a robot program may also be composed of some of the motion type, speed, position, orientation, and offset amount related to the teaching points.
  • the functional blocks of the robot programming device described above may be realized by one or more processors of the robot programming device executing various software stored in a storage device, or may be realized by a hardware-based configuration such as an ASIC (Application Specific Integrated Circuit).
  • ASIC Application Specific Integrated Circuit
  • the programs that execute various processes can be recorded on various computer-readable recording media (e.g., semiconductor memory such as ROM, EEPROM, and flash memory, magnetic recording media, and optical discs such as CD-ROM and DVD-ROM).
  • semiconductor memory such as ROM, EEPROM, and flash memory
  • magnetic recording media e.g., magnetic tape, magnetic tape, etc.
  • optical discs such as CD-ROM and DVD-ROM.
  • (Appendix 1) a three-dimensional model placement unit (122) that places a robot model, a tool model, and a workpiece model in a virtual space; a change range extraction unit (124, 128) that extracts, as a change range, a range in which the degree of change in the direction of at least one of a direction vector representing the direction of the processing line and a normal vector of a surface including the processing line satisfies a predetermined condition, for the processing line specified on the workpiece model; a setting application unit (126, 130) that applies, to the extracted change range, a setting related to a condition for generating a teaching point of a robot program, which setting is different from a setting that is applied to a range other than the change range in the processing line;
  • a robot programming device (10) comprising: (Appendix 2) the change range extraction unit (124, 128) extracts a range in which the degree of change in the direction of the normal vector on the processing line satisfies a first
  • the robot programming device further comprising: a setting change unit configured to accept a user operation for changing the setting to be applied to the range of change of the normal vector.
  • a setting change unit configured to change the setting to be applied to the change range of the direction vector in accordance with a degree of change in orientation of the direction vector within the change range of the direction vector.
  • Appendix 8 5.
  • the robot programming device according to claim 1, further comprising: a setting change unit configured to accept a user operation to change the setting to be applied to the change range of the direction vector. (Appendix 9) 9.
  • the robot programming device (10) according to any one of appendices 1 to 8, wherein settings related to conditions for generating teaching points of the robot program include a motion type, a speed, a position, a posture, and an offset amount related to the teaching points.
  • (Appendix 10) 10.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)

Abstract

Le présent dispositif de programmation de robot comprend : une unité d'agencement de modèle tridimensionnel qui agence, dans un espace virtuel, un modèle de robot, un modèle d'outil et un modèle de pièce ; une unité d'extraction de plage de changement qui extrait, en tant que plage de changement, une plage dans laquelle un degré de changement d'orientation satisfait une condition prédéterminée, ledit degré de changement d'orientation étant d'au moins un élément parmi un vecteur de direction indiquant une direction d'un chemin de travail spécifié dans le modèle de pièce et un vecteur normal d'une surface contenant ledit chemin de travail ; et une unité d'application de réglage qui, par rapport à la plage de changement extraite, applique, en tant que réglage associé à des conditions de génération de points d'apprentissage d'un programme de robot, un réglage qui diffère d'un réglage à appliquer pour une plage à l'extérieur de la plage de changement du chemin de travail.
PCT/JP2024/026649 2024-07-25 2024-07-25 Dispositif de programmation de robot Pending WO2026023021A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2024/026649 WO2026023021A1 (fr) 2024-07-25 2024-07-25 Dispositif de programmation de robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2024/026649 WO2026023021A1 (fr) 2024-07-25 2024-07-25 Dispositif de programmation de robot

Publications (1)

Publication Number Publication Date
WO2026023021A1 true WO2026023021A1 (fr) 2026-01-29

Family

ID=98565126

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2024/026649 Pending WO2026023021A1 (fr) 2024-07-25 2024-07-25 Dispositif de programmation de robot

Country Status (1)

Country Link
WO (1) WO2026023021A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013099815A (ja) * 2011-11-08 2013-05-23 Fanuc Ltd ロボットプログラミング装置
JP2019048358A (ja) * 2017-09-12 2019-03-28 ファナック株式会社 溶接ロボットプログラミング装置および溶接ロボットのプログラミング方法
JP2020069492A (ja) * 2018-10-30 2020-05-07 ファナック株式会社 加工条件設定装置及び三次元レーザ加工システム
WO2021230237A1 (fr) * 2020-05-14 2021-11-18 ファナック株式会社 Dispositif de création de chemin de traitement
CN116984993A (zh) * 2023-06-19 2023-11-03 中国科学院沈阳自动化研究所 一种基于坐标系集成的机器人研磨抛光轨迹修正方法及系统

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013099815A (ja) * 2011-11-08 2013-05-23 Fanuc Ltd ロボットプログラミング装置
JP2019048358A (ja) * 2017-09-12 2019-03-28 ファナック株式会社 溶接ロボットプログラミング装置および溶接ロボットのプログラミング方法
JP2020069492A (ja) * 2018-10-30 2020-05-07 ファナック株式会社 加工条件設定装置及び三次元レーザ加工システム
WO2021230237A1 (fr) * 2020-05-14 2021-11-18 ファナック株式会社 Dispositif de création de chemin de traitement
CN116984993A (zh) * 2023-06-19 2023-11-03 中国科学院沈阳自动化研究所 一种基于坐标系集成的机器人研磨抛光轨迹修正方法及系统

Similar Documents

Publication Publication Date Title
Ho et al. Five-axis tool orientation smoothing using quaternion interpolation algorithm
JP6249936B2 (ja) 軌道を生成する方法およびシステム
KR102028203B1 (ko) 워크피스의 기계가공의 시뮬레이션
JP4545171B2 (ja) 切削加工のシミュレーション方法、切削加工のシミュレーション方法のプログラム、切削加工のシミュレーション方法のプログラムを記録した記録媒体、モデリング方法、モデリング方法のプログラム及びモデリング方法のプログラムを記録した記録媒体
JP7041660B2 (ja) 工具経路生成方法、工具経路生成装置および工作機械の制御装置
WO2019167650A1 (fr) Procédé et dispositif permettant de générer des trajectoires d'outil
CN112100823B (zh) 刀具纳米级精度设计制造方法
EP3721304A1 (fr) Systèmes, procédés et dispositifs de virtualisation et d'optimisation de trajet d'outil
CN101228489B (zh) 程序生成装置及程序生成方法
CN117452881A (zh) 一种叶轮的计算辅助制造方法、装置及介质
WO2026023021A1 (fr) Dispositif de programmation de robot
CN113196193A (zh) 用于管理机器人程序的方法和装置
Nair et al. ACAM: a CNC simulation software for effective learning
CN108227628A (zh) 加工程序解析装置、加工程序解析程序和加工程序解析方法
TW202604689A (zh) 機器人程式編寫裝置
JP6219866B2 (ja) 表示機能付き数値制御装置および表示プログラム
JP2006227701A (ja) 円弧加工指令作成装置及びその方法並びにプログラム
WO2023062756A1 (fr) Dispositif de simulation et support d'enregistrement lisible par ordinateur
JP2005202792A (ja) 工具高さ計算装置とそのための計算方法とプログラム
JPWO1995001608A1 (ja) 接円作成装置
JP7721047B1 (ja) 加工可否判定装置、加工可否学習装置、加工可否判定方法、加工可否学習方法、加工可否判定プログラム及び加工可否学習プログラム
Jalil et al. CAD CAM by Mastercam 2nd Edition
CN120508049B (zh) 精密机械零部件的多轴联动加工过程控制方法及系统
JPS59195707A (ja) 旋盤用自動プログラミングにおける素材形状特定方法
WO2014050246A1 (fr) Système de traitement, dispositif de génération de données de commande numérique et procédé de génération de données de commande numérique

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 24948718

Country of ref document: EP

Kind code of ref document: A1