JP6802961B2 - Robot motion control data generation method, motion control data generator, and motion control data generation program - Google Patents

Description

The present invention relates to a robot motion control data generation method, a motion control data generator, and a motion control data generation program.

Conventionally, as a method of easily teaching (so-called teaching) the operation to a robot that injects an injection material onto an object while moving an injection gun (hereinafter referred to as "injection gun") such as a painting robot. There is known a method of detecting the movement of a hand-blowing gun, generating hand-blowing motion data, and generating robot motion control data based on the generated hand-blown motion data (see, for example, Patent Document 1).

Specifically, in the robot three-dimensional position / posture teaching system described in Patent Document 1, an operator moves an operation grip provided with a six-DOF position / posture sensor, and the position / posture of the operation grip is detected by the sensor. Teach the robot the position and posture. Further, the operation grip described in Patent Document 1 is provided with an open / close switch, and teaches the timing at which an operator operates the paint gun by operating the open / close switch.

Japanese Unexamined Patent Publication No. 9-216183

By the way, in general, when injecting an injection material while moving an injection gun using a robot, the injection gun is often moved along a straight line or a specific curve. In that case, the operator moves the teaching hand-blowing gun along a straight line or a specific curve when teaching the robot an operation using the teaching hand-blowing gun. For example, FIG. 4B shows an ideal movement locus 30 when the teaching hand-blown gun is moved along a straight line, and FIG. 6 shows teaching when an injection material is injected onto the surface of a three-dimensional object 36 having a curved surface. The ideal movement locus 30 when the hand-blown gun is moved along an arc (an example of a specific curve) is shown.

Here, in FIGS. 4B and 6, the solid line 30A indicates a section of the movement locus 30 where the injection material is injected (hereinafter, referred to as “injection section”), and the alternate long and short dash line 30B is injected in a state where the injection material is not injected. The section in which the gun has moved (hereinafter referred to as the "injection stop section") is shown.

However, according to the robot three-dimensional position / posture teaching system described in Patent Document 1 described above, for example, when the operator moves the operation grip to move the paint gun of the robot along a straight line, FIG. 4A actually As shown in, the injection section does not become a straight straight line, and there is a risk of waviness or rattling. Therefore, there is a risk that the movement path of the paint gun will not accurately match the straight line or arc. The same applies when moving along a specific curve.

The present specification discloses a technique capable of accurately matching the movement path of the injection gun of the robot with a straight line or a specific curve in the injection section while easily teaching the robot the operation by using the hand-blown gun for teaching. To do.

The robot motion control data generation method disclosed in the present specification is a motion control data generation method that generates robot motion control data based on the hand blown motion data generated by detecting the motion of the teaching hand blow gun. Therefore, the hand-blowing operation data includes injection position information indicating an injection start position in which the operator instructed the injection of the injection material by using the teaching hand-blowing gun and an injection stop position instructing the injection to be stopped. Including, the motion control data generation method generates the motion control data so that the jet gun of the robot moves along a straight line or a specific curve in the jet section from the jet start position to the jet stop position. Includes steps.

According to the above-mentioned motion control data generation method, the movement path of the robot's injection gun is accurately matched to a straight line or a specific curve in the injection section while easily instructing the robot to operate using the teaching hand-blown gun. Can be done.

In addition, the robot's injection gun designates the injection section in the generation step, including a designated reception step of accepting a designation of whether to move the injection section along a straight line or a specific curve. The operation control data may be generated so as to move along the line specified in the reception process.

For example, if the computer decides whether to move the injection section along a straight line or a specific curve, it moves along the curve where it should originally be moved along the straight line. There is a possibility of making mistakes such as closing. According to the above-mentioned motion control data generation method, since the specification of whether to move along a straight line or along a specific curve is accepted, such an error can be reduced.

Further, the hand-blowing operation data includes origin position information representing the origin position of the teaching hand-blowing gun, and in the generation step, the injection stop section from the origin position to the first injection start position and the previous injection stop section. The robot is operated in parallel when the injection gun moves in at least one of the injection stop sections from the injection stop position of the injection section to the injection start position of the next injection section. Motion control data may be generated.

According to the above-mentioned operation control data generation method, the injection gun can be moved to the injection start position in a short time as compared with the case where each axis is not operated in parallel. This makes it possible to improve the productivity when painting with a robot.

Further, in the generation step, the operation control data may be generated so that the injection gun moves in the injection section at a constant speed.

According to the above-mentioned operation control data generation method, it is possible to suppress the occurrence of unevenness and dripping of the paint.

Further, when the hand-blowing operation data includes three or more of the injection position information and the injection sections represented by the three or more of the injection position information are substantially parallel to each other, the three or more are in the generation step. The injection position information may be modified so that the injection sections of the above are evenly spaced, and the operation control data may be generated based on the modified injection position information.

According to the above motion control data generation method, even if the interval of 3 or more injection sections varies when the operator teaches the motion, 3 or more substantially parallel injection sections are evenly spaced when the robot is painted. It can be painted so that it is lined up with.

Further, the hand-blowing operation data includes information indicating the direction of the teaching hand-blowing gun, and is used for teaching between the injection stop position of the previous injection section and the injection start position of the next injection section. When the direction of the hand-blown gun is changed, the operation control data may be generated so that the injection gun of the robot is separated from the injection target and then changed in the generation step.

According to the above-mentioned motion control data generation method, it is possible to reduce the possibility that the injection gun hits the injection target when the direction of the injection gun of the robot is changed.

Further, in the generation step, the operation control data may be generated so as to accelerate the injection gun before the injection section.

According to the above-mentioned operation control data generation method, when the injection gun moves at a constant speed when moving in the injection section, the injection gun can be accelerated to a constant speed before reaching the injection section.

Further, in the generation step, the operation control data may be generated so as to decelerate the injection gun after the injection section.

According to the above-mentioned operation control data generation method, the injection gun can be decelerated after the injection section.

Further, the robot motion control data generation device disclosed in the present specification generates motion control data that generates robot motion control data based on the hand blown motion data generated by detecting the motion of the teaching hand blow gun. In the device, the hand-blowing operation data is an injection start position in which the operator instructs the injection of the injection material by using the teaching hand-blowing gun, and an injection stop position in which the injection is instructed to stop. The operation control data generation device includes information, and the processing unit includes a processing unit in which the injection gun of the robot moves along an injection section from the injection start position to the injection stop position along a straight line or a specific curve. The generation process for generating the operation control data is executed so as to be performed.

According to the above-mentioned motion control data generator, the movement path of the robot's injection gun is accurately matched to a straight line or a specific curve in the injection section while easily instructing the robot to perform the operation using the teaching hand-blown gun. Can be done.

Further, the robot motion control data generation program disclosed in the present specification performs a process of detecting the motion of the teaching hand blow gun and generating the robot motion control data based on the generated hand blow motion data on the computer. It is an operation control data generation program to be executed, and the hand-blowing operation data is an injection start position in which an operator instructs the injection of an injection material by using the teaching hand-blowing gun, and an injection instructing to stop the injection. The operation control data generation program includes injection position information indicating a stop position, so that the injection gun of the robot moves along an injection section from the injection start position to the injection stop position along a straight line or a specific curve. The computer is made to execute a generation process for generating the operation control data.

According to the above-mentioned motion control data generation program, the movement path of the robot's injection gun is accurately matched to a straight line or a specific curve in the injection section while easily instructing the robot to perform the operation using the teaching hand-blown gun. Can be done.

According to the technique disclosed in the present specification, the movement path of the robot's injection gun is accurately matched to a straight line or a specific curve in the injection section while easily instructing the robot to operate using the teaching hand-blown gun. be able to.

Schematic diagram showing the overall configuration of the robot and the teaching device according to the first embodiment. Controller block diagram Block diagram of operation control data generator Schematic diagram showing the movement locus before correction represented by the hand blowing motion data Schematic diagram showing the corrected movement locus Perspective view showing the movement locus before correction Side view showing the movement locus before correction Side view showing the movement locus after correction Schematic diagram showing the movement locus when the injection gun is moved along an arc when painting the surface of a three-dimensional object having a curved surface. Schematic diagram showing the modified movement locus according to the second embodiment Schematic diagram showing the hand-blown operation data according to the third embodiment and the movement path of the injection gun of the robot.

<Embodiment 1>
The first embodiment will be described with reference to FIGS. 1 to 6.

(1) Configuration of Painting Robot and Teaching Device First, the painting robot 1 (an example of a robot) will be described with reference to FIGS. 1 and 2. As shown in FIG. 1, the painting robot 1 includes a multi-axis manipulator 10 and a controller 11 for controlling the manipulator 10.

The manipulator 10 includes a fixed base 12 fixed to the floor surface, a swivel base 13 provided on the fixed base 12 rotatably around a vertical axis, a motor (not shown) for rotationally driving the swivel base 13, and one end side supported by the swivel base 13. A first arm 14 that is rotated around an axis, a motor (not shown) that rotationally drives the first arm 14, a second arm 15 and a second arm that is supported by the other end side of the first arm 14 and rotates about an axis. A motor (not shown) that rotationally drives the arm 15, a wrist portion 16 provided on the other end side of the second arm 15 and capable of rotational movement with three degrees of freedom (yaw direction, roll direction, pitch direction), and a tip of the wrist portion 16. It is equipped with a paint gun 17 (an example of an injection gun) attached to the side.
The manipulator 10 has a total of 6 degrees of freedom according to the above-described configuration, and the coating gun 17 can take any position and posture as long as it is within the operating range of the manipulator 10.

As shown in FIG. 2, the controller 11 includes a control unit 18, a storage unit 18D, and an interface unit 19. The control unit 18 includes a CPU 18A, a ROM 18B, and a RAM 18C. The operation control data generated by the teaching device 2 is stored in the storage unit 18D, and the controller 11 controls the operation of the manipulator 10 based on the operation control data.

Next, the teaching device 2 will be described with reference to FIGS. 1 and 3. The teaching device 2 detects the operation of the teaching hand-blowing gun 20 in chronological order when the operator paints the object to be painted (an example of the injection object) using the teaching hand-blowing gun 20, and the hand-blowing operation data. Is a device that generates motion control data for the painting robot 1 based on the generated hand-blown motion data. In the following description, the operation in which the operator paints the object to be painted by using the hand-blown gun 20 for teaching is referred to as a teaching operation.

As shown in FIG. 1, the teaching device 2 includes a teaching hand-blowing gun 20, a plurality of cameras 21 that image the teaching hand-blowing gun 20, and a trigger sensor that detects on / off of the trigger 22 of the teaching hand-blowing gun 20. 23 and a control device 24 (an example of an operation control data generation device and a computer) are provided.

The teaching hand-blown gun 20 is a hand-blown paint gun to which a plurality of marks 20A for detecting the position and orientation are attached. The teaching hand-blown gun 20 is connected to an air supply device and a paint supply device (not shown) via hoses 31A and 31B. Further, the teaching hand-blown gun 20 is provided with a trigger 22 for switching air injection / stop, and when the trigger 22 is pulled, the normally closed on-off valve opens to inject paint (an example of an injection material) together with air. ..

Here, a case where a hand-blown paint gun capable of actually injecting paint is used as the teaching hand-blown gun 20 will be described as an example, but the teaching hand-blown gun 20 does not have a function of injecting paint. It may be a dedicated simulated hand-blown paint gun.

The plurality of cameras 21 are for capturing the mark 20A and detecting the XYZ coordinates of the teaching hand-blown gun 20. These plurality of cameras 21 are arranged in a positional relationship in which the XYZ coordinates of the teaching hand-blown gun 20 can be specified from the image obtained by capturing the mark 20A. Although FIG. 1 shows three cameras 21, the number of cameras 21 is not limited to three.

The trigger sensor 23 is a sensor that detects the on / off of the trigger 22. The trigger sensor 23 according to the present embodiment is a proximity sensor, which turns on when the trigger 22 is pulled and turns off when the trigger 22 is returned. The trigger sensor 23 indirectly detects the on / off of the trigger 22 by detecting the opening / closing of the air flow valve 40 attached to the hose 31A that supplies air to the teaching hand blow gun 20. You may.

As shown in FIG. 3, the control device 24 includes a processing unit 25, a storage unit 26, an operation unit 27, a display unit 28, an interface unit 29, and the like. The processing unit 25 includes a CPU 25A, a ROM 25B, and a RAM 25C. Various programs such as an operation control data generation program are stored in the storage unit 26. Further, the storage unit 26 stores data or the like generated by the operation control data generation program. The plurality of cameras 21 and the trigger sensor 23 described above are connected to the interface unit 29.

(2) Processing of the control device The processing unit 25 of the control device 24 (hereinafter, simply referred to as the control device 24) performs a process of generating hand-blown operation data and a generated hand-blown operation by executing an operation control data generation program. A process of generating operation control data of the painting robot 1 is executed based on the data.

(2-1) Processing for generating hand-blown operation data In the generation of hand-blown operation data, the operator of the control device 24 first operates the operation unit 27 to notify the control device 24 of the start of the teaching operation, and then. It is assumed that the operator starts the teaching operation by using the teaching hand-blown gun 20.
The control device 24 starts measuring the elapsed time when the start of the teaching operation is notified. Then, the control device 24 causes a plurality of cameras 21 to simultaneously image the teaching hand-blown gun 20 at regular time intervals, and the image captured by each camera 21, the elapsed time when the image is captured, and the trigger sensor 23 are turned off. Memorizes the elapsed time when the camera changes from on to on (that is, when the operator instructs the paint to be sprayed), the elapsed time when the trigger sensor 23 changes from on to off (that is, when the spray is instructed to stop), and the like. To do.

Then, the control device 24 makes a plurality of images simultaneously captured by the plurality of cameras 21 into one image group, analyzes a plurality of images constituting the image group for each image group, and analyzes the plurality of images constituting the image group in the XYZ direction of the mark 20A. By recognizing the position of, the XYZ coordinates of the teaching hand-blown gun 20 are determined. Then, the control device 24 stores the determined XYZ coordinates in the storage unit 26 in association with the elapsed time. As a result, movement locus data representing the movement locus 30 (see FIG. 4A) of the teaching hand-blown gun 20 with the elapsed time is generated. The first XYZ coordinates in the movement locus data are an example of origin position information.

Further, the control device 24 analyzes a plurality of images constituting the image group for each image group, recognizes the relative positions of the plurality of marks 20A, and indicates the direction of the teaching hand blow gun 20 from the relative positions. To judge. Then, the control device 24 stores the determined direction in the storage unit 26 in association with the XYZ coordinates. As a result, orientation data (an example of information indicating the orientation) representing the orientation of the teaching hand-blown gun 20 together with the XYZ coordinates is generated. The control device 24 may store the determined direction in association with the elapsed time.

Further, the control device 24 has XYZ coordinates (injection start position P1) of the teaching hand-blowing gun 20 when the operator instructs the injection of paint, and the teaching hand-blowing gun 20 when instructing to stop the injection. The XYZ coordinates (injection stop position P2) of the above are stored in the storage unit 26. As a result, injection position information representing the injection start position P1 and the injection stop position P2 of the teaching hand blow gun 20 is generated. The control device 24 may store the elapsed time when the injection is started or the elapsed time when the injection is stopped instead of the XYZ coordinates.

The above-mentioned movement locus data, orientation data, and injection position information are examples of hand-blown operation data. In addition to these data, the hand-blown operation data may include data representing other operations of the teaching hand-blown gun 20.

(2-2) Process for generating motion control data In the process for generating motion control data, the control device 24 modifies the above-mentioned hand blow motion data and generates motion control data based on the modified hand blow motion data. .. Hereinafter, a specific description will be given.

(2-2-1) Correction of movement locus of injection section As shown in FIG. 4A, in the teaching operation using the teaching hand-blowing gun 20, the injection section 30A undulates in the movement locus 30 represented by the hand-blowing operation data. It may get loose or rattle. Therefore, as shown in FIG. 4B or FIG. 6, the control device 24 modifies the injection section 30A into a straight line or an arc (an example of a specific curve).

Specifically, for example, the control device 24 displays the movement locus 30, the injection start position P1 and the injection stop position P2 of the teaching hand blowing gun 20 represented by the hand blowing operation data on the display unit 28, and the operator is displayed. It is determined whether the injection section 30A is corrected to a straight line or an arc by looking at the moving locus 30. Then, the operator operates the operation unit 27 to specify a shape (straight line or arc) determined by any of them. In other words, the operator specifies whether to move the injection section 30A along a straight line or along an arc.

When the operator specifies a straight line, the control device 24 modifies the injection section 30A to a straight line connecting the injection start position P1 and the injection stop position P2 (an example of the designated line). On the other hand, when the operator specifies an arc, the control device 24 uses the injection start position P1, the injection stop position P2, and the parameters of the arc (an example of the specified line) from the XYZ coordinates between them by arc interpolation or the like. (Center, radius, etc. of the arc) is determined, and the injection section 30A is corrected to the arc of the determined parameter.

Here, in the example shown in FIG. 4A, a plurality of injection sections 30A exist. When a plurality of injection sections 30A exist, the control device 24 corrects all injection sections 30A to straight lines when the operator specifies a straight line, and corrects all injection sections 30A to arcs when an arc is specified. It shall be.

(2-2-2) Pitch correction of injection section As shown in FIG. 4B, when the painting robot 1 is to be painted, it is desired that three or more parallel injection sections 30A are lined up at equal intervals. In some cases. However, as shown in FIG. 4A, when an operator performs a teaching operation using the teaching hand-blown gun 20, it is generally difficult to make the intervals of three or more injection sections 30A completely equal. is there. For this reason, there is a possibility that the intervals of the three or more injection sections 30A will vary in the movement locus 30 of the teaching hand blow gun 20.

Therefore, the control device 24 determines whether or not three or more substantially parallel injection sections 30A exist in the movement locus 30A represented by the hand blowing operation data, and if it is determined that the injection sections 30A exist, FIG. 4B shows. As shown, the movement locus 30 is modified so that the intervals of the three or more injection sections 30A are equal. In other words, the control device 24 includes three or more injection position information in the hand blowing operation data, and when the injection sections 30A represented by the three or more injection position information are substantially parallel to each other, the three or more injections are injected. The injection position information is corrected so that the sections 30A are evenly spaced. In the present embodiment, this correction is referred to as pitch correction.

Here, the criteria for determining whether or not the two injection sections 30A are substantially parallel can be appropriately determined. For example, as shown in FIG. 4A, the distance between the injection start position P1 of one injection section 30A and the injection stop position P2 of another injection section 30A is set to Da, and the injection stop position P2 of the certain injection section 30A and the other injection When the distance from the injection start position P1 in the section 30A is Db, if the absolute value of the difference (= Da−Db) is equal to or less than a certain value, it may be determined that they are substantially parallel.

Further, in the pitch correction, the corrected interval H7 (see FIG. 4B) of the two adjacent injection sections 30A becomes the average value of the intervals H1 to H6 (see FIG. 4A) of the respective injection sections 30A before the correction. It may be modified, or it may be modified so that the interval is specified by the operator.

Further, in the present embodiment, pitch correction is performed when three or more injection sections 30A are substantially parallel, but pitch correction is performed when three or more injection sections 30A are substantially parallel and at approximately equal intervals. You may do so. Criteria for determining whether or not the intervals are approximately equal can be appropriately determined. For example, if the variation of the interval is 5% or less of the average value of the intervals H1 to H6 of each injection section 30A before correction, it may be determined that the intervals are substantially equal.

(2-2-3) Addition of evacuation route In FIGS. 5A and 5B, the object to be painted 35 has a cubic shape, and the upper surface of the object to be painted 35 is painted with the hand-blown gun 20 for teaching facing downward, and then painted. By moving the teaching hand-blowing gun 20 so as to rotate the teaching hand-blowing gun 20 around the corner of the object 35, the object to be painted 35 changes the direction of the teaching hand-blowing gun 20 backward. The case of moving to the injection start position P1 on the front surface of the above is shown. In this case, if the painting robot 1 reproduces this operation as it is, the painting gun 17 may hit the corner of the object to be painted 35.

Therefore, as shown in FIG. 5C, in the control device 24, the direction of the teaching hand blow gun 20 has changed between the injection stop position P2 of the previous injection section 30A and the injection start position P1 of the next injection section 30A. In this case, the movement locus 30 is modified so that the paint gun 17 is separated from the object to be painted 35 when the direction of the paint gun 17 is changed. In the present embodiment, this modification is referred to as the addition of an evacuation route.

Specifically, for example, in the control device 24, the coating gun 17 is separated upward from the coating object 35 at the final injection stop position P2 on the upper surface of the coating object 35, and in that state, moves to the front side while changing backward. Then, the movement locus 30 is modified so that it is located at the injection start position P1 by moving toward the rear side. The distance to separate the coating gun 17 from the object to be coated 35 may be automatically determined by the control device 24 or may be specified by the operator.

(2-2-4) Generation of motion control data As described above, the control device 24 generates motion control data from the modified hand-blown motion data. At that time, the control device 24 sets the moving speed of the painting gun 17 of the painting robot 1 in the operation control data. Hereinafter, a specific description will be given.

In the manual teaching using the teaching hand-blown gun 20, the teaching hand-blown gun 20 does not always move in the injection section 30A at a constant speed, and the speed may vary. If the speed of the teaching hand-blown gun 20 varies, the speed of the coating gun 17 of the painting robot 1 also varies, which may cause unevenness or dripping of the paint.

Therefore, the control device 24 generates motion control data so that the painting gun 17 of the painting robot 1 moves in the injection section 30A at a constant speed. The speed at which the painting gun 17 moves in the injection section 30A may be, for example, the average speed when the teaching hand-blown gun 20 moves in the injection section 30A, or may be the speed specified by the operator.

(3) Effect of Embodiment According to the control device 24 according to the first embodiment described above, the painting robot in the injection section 30A while simply teaching the painting robot 1 the operation using the teaching hand-blown gun 20. The movement path of the coating gun 17 of 1 can be accurately matched to a straight line or an arc.

Further, according to the control device 24, the operator of the control device 24 receives a designation as to whether to modify the injection section 30A to a straight line or an arc. For example, if the control device 24 determines whether to correct the injection section 30A to a straight line or an arc, an error may occur in which the part that should originally be corrected to a straight line is corrected to an arc. There is. According to the control device 24, since the operator accepts the designation of whether to correct the injection section 30A to a straight line or a circular arc, such an error can be reduced.

Further, according to the control device 24, the painting gun 17 of the painting robot 1 generates motion control data so as to move in the injection section 30A at a constant speed, so that when the teaching hand-blown gun 20 moves in the injection section 30A. When the painting gun 17 of the painting robot 1 moves in the injection section 30A, it can be moved at a constant speed even if the speed is not constant. As a result, it is possible to prevent unevenness and dripping of the paint from occurring.

Further, according to the control device 24, when three or more substantially parallel injection sections 30A exist in the movement locus 30, the movement locus 30 is modified so that the three or more injection sections 30A are evenly spaced. Even if the intervals of 3 or more injection sections 30A vary when the operator teaches the operation, when the painting robot 1 is to be painted, 3 or more substantially parallel injection sections 30A are arranged at equal intervals. Can be painted.

Further, according to the control device 24, since the operation control data is generated so that the painting gun 17 of the painting robot 1 changes its direction after being separated from the object 35 to be painted, the painting gun 17 is changed when the direction of the painting gun 17 is changed. The possibility that the 17 hits the object to be painted 35 can be reduced.

<Embodiment 2>
Next, the second embodiment will be described with reference to FIG.
The section from the origin position represented by the origin position information to the first injection section 30A and the section from the injection stop position P2 of the previous injection section 30A to the injection start position P1 of the next injection section 30A are teaching hands. This is the injection stop section 30B in which the blow gun 20 moves while the paint injection is stopped. In order to improve the productivity, it is desirable to move the painting gun 17 of the painting robot 1 in a short time in the injection stop section 30B.

Therefore, as shown in FIG. 7, the control device 24 according to the second embodiment has the coating gun 17 when the coating gun 17 moves in the injection stop section 30B and reaches the injection start position P1 of the next injection section 30A. The motion control data is generated so that each axis (that is, 6 axes) of the manipulator 10 is operated in parallel under the condition that the velocity of the manipulator 10 reaches the above-mentioned constant velocity. In order to move the coating gun 17 in a short time, it is desirable to operate each axis in parallel and at the highest possible speed.

By the way, as shown in FIG. 7, when each axis of the manipulator 10 is operated in parallel, the moving path of the painting gun 17 of the painting robot 1 is one with the moving locus 30 of the teaching hand-blown gun 20 in the injection stop section 30B. There is a possibility that we will not do it. However, since there is generally no restriction on the movement path when the coating gun 17 moves in the injection stop section 30B, it can be said that there is no problem even if it does not match the movement locus 30 of the teaching hand-blown gun 20.

According to the control device 24 according to the second embodiment described above, the coating gun 17 can be moved to the injection start position P1 in a shorter time than when the axes of the manipulator 10 are not operated in parallel. As a result, the productivity when painting with the painting robot 1 can be improved.

The control device 24 according to the second embodiment is substantially the same as the control device 24 according to the first embodiment in other respects.

<Embodiment 3>
Next, the third embodiment will be described with reference to FIG.
In the first embodiment described above, a case where the worker actually paints the object to be painted 35 by using the teaching hand-blown gun 20 when teaching the operation to the painting robot 1 has been described as an example. However, the teaching method using the teaching hand-blown gun 20 is not limited to this, and a simpler teaching method such as designating the injection start position P1 and the injection stop position P2 as points is possible as shown in FIG. is there.

Specifically, for example, the operator moves the teaching hand-blown gun 20 to the injection start position P1 and turns on the trigger 22 at that position. As a result, the XYZ coordinates of the injection start position P1 are acquired. Similarly, the operator moves the teaching hand blow gun 20 to the injection stop position P2 and turns off the trigger 22 at that position. As a result, the XYZ coordinates of the injection stop position P2 are acquired. In this case, the hand-blowing operation data includes the injection position information, but does not include the movement locus data.

Then, the control unit 24 controls the operation so that the coating gun 17 moves along the line (straight line or arc) designated by the operator in the injection section 30A from the injection start position P1 to the injection stop position P2 designated by the point. Generate data. In this case, since there is no XYZ coordinate between the injection start position P1 and the injection stop position P2, circular interpolation cannot be performed. Therefore, in this case, the operator may specify the parameters of the arc (center, radius, etc. of the arc). Alternatively, a point for performing circular interpolation between the injection start position P1 and the injection stop position P2 may be designated by the teaching hand blow gun 20.

By the way, also in the third embodiment, when the coating gun 17 moves in the injection section 30A, the coating gun 17 is moved at a constant speed. In this case, when the movement locus data is included in the hand blowing motion data as in the first embodiment, the position where the paint gun 17 starts accelerating (in other words, the acceleration section) can be specified from the movement locus data. , If the movement trajectory data is not included, the acceleration section cannot be specified.

Similarly, in the third embodiment, the coating gun 17 is decelerated to the stopped state after the injection section 30A, but when the movement locus data is not included, the position where the coating gun 17 is stopped (in other words, the deceleration section) is specified. Can't.

Therefore, as shown in FIG. 8, the control device 24 according to the third embodiment adds the acceleration section S1 before the injection section 30A and the deceleration section S2 after the injection section 30A. As a result, the operation control data is generated so as to accelerate the coating gun 17 before the injection section 30A and to decelerate the coating gun 17 after the injection section 30A.

It is desirable that the length of the acceleration section S1 described above is such that the speed of the coating gun 17 reaches the target speed (the speed at which the injection section 30A is moved at a constant speed) almost immediately before the injection section 30A. In this way, the paint gun 17 can be accelerated to the target speed before the paint gun 17 reaches the injection section 30A, and the unnecessary moving distance from the position where the paint gun 17 reaches the target speed to the injection start position P1 is reduced. be able to.
In the present embodiment, the length of the deceleration section S2 shall be the same as the length of the acceleration section S1. The length of the deceleration section S2 does not necessarily have to be the same as the length of the acceleration section S1.

According to the control device 24 according to the third embodiment described above, since the acceleration section S1 and the deceleration section S2 are set before and after the injection section, the operator's burden is as compared with the case where the operator sets the acceleration section S1 and the deceleration section S2. Can be reduced. Further, when the operator sets the acceleration section S1 or the deceleration section S2, it may be difficult to set the acceleration section S1 or the deceleration section S2 having an appropriate length with less wasted travel distance, but according to the control device 24. It is possible to more reliably set the acceleration section S1 and the deceleration section S2 having appropriate lengths with less wasted travel distance than when the operator sets them.

The control device 24 according to the third embodiment is substantially the same as the control device 24 according to the first embodiment or the second embodiment in other respects.

<Other embodiments>
The present invention is not limited to the embodiments described in the above description and drawings, and for example, the following embodiments are also included in the technical scope of the present invention.

(1) In the above embodiment, an arc has been described as an example as a specific curve. Generally, it is rare to move the paint gun 17 along a curve other than the arc, but if necessary, the specific curve may be other than the arc.
Further, in the above embodiment, the case where the specific curve is fixed to the arc has been described as an example, but the specific curve may be a curve designated by the operator from among a plurality of curves. Further, the operator may arbitrarily set the shape of a specific curve.

(2) In the above embodiment, when the operator specifies a straight line, all the injection sections 30A are corrected to straight lines, and when an arc is specified, all the injection sections 30A are corrected to arcs. On the other hand, the designation of whether to modify to a straight line or an arc may be accepted for each injection section 30A.
Further, in the above embodiment, the case where the operator specifies whether to modify to a straight line or an arc has been described as an example, but the control device 24 automatically determines whether to modify to a straight line or an arc. You may. Further, in that case, the operator may check the result of the judgment by the computer, and if the judgment is incorrect, the operator may be able to correct it.

(3) In the above embodiment, the case where the control device 24 determines whether or not to perform pitch correction has been described as an example, but the operator may specify whether or not to perform pitch correction.

(4) In the above embodiment, the case where the XYZ coordinates and the orientation of the teaching hand-blown gun 20 are detected by a plurality of cameras 21 has been described as an example, but the method for detecting the XYZ coordinates and the orientation can be appropriately selected. For example, a 6-DOF position / orientation sensor may be attached to the teaching hand-blown gun 20, and the XYZ coordinates and orientation may be detected from the detection result of the sensor. Further, both the camera 21 and the 6-DOF position / orientation sensor may be provided, and the detection result of one may be supplemented by the detection result of the other.

(5) In the above embodiment, the case where the operation control data generation program executes the "process for generating the hand-blown operation data" has been described as an example. However, the motion control data generation program may at least execute the "process of generating motion control data", and the "process of generating hand-blown motion data" may be executed by another program.

(6) In the above embodiment, the case where the teaching hand-blowing gun 20 is moved along a straight line or an arc (specific curve) has been described as an example, but the teaching hand-blowing gun 20 is a complicated combination of curved surfaces. It is also possible to teach the operation of painting an object to be painted with a different shape. However, in that case, since the movement locus 30A in the injection section cannot be modified to a simple straight line or arc, the motion control data may be generated only by performing so-called smoothing in which the movement locus 30A becomes smooth.

(7) Although the paint has been described as an example of the propellant in the above embodiment, the propellant is not limited to the paint, and may be, for example, a liquid material such as a mold release agent or a lubricant, or a sealing material. Further, the jetting material is not limited to a liquid material such as a paint, and may be, for example, a powder.

1 ... Painting robot, 17 ... Painting gun (example of injection gun), 20 ... Hand-blown gun for teaching, 24 ... Control device (example of operation control data generator and computer), 25 ... Processing unit, 30 ... Movement locus , 30A ... Injection section, 30B ... Injection stop section, 35 ... Painting object, S1 ... Acceleration section, S2 ... Deceleration section

Claims (9)

It is a motion control data generation method that generates motion control data of a robot based on the motion of the hand blown gun for teaching by detecting the motion of the hand blown gun.
The hand-blowing operation data includes injection position information indicating an injection start position in which the operator instructed the injection of the injection material by using the teaching hand-blowing gun and an injection stop position instructing to stop the injection.
The operation control data generation method is
After the manual blowing operation data is generated, a designated reception process that accepts a designation of whether to move the injection section from the injection start position to the injection stop position along a straight line or along a specific curve. ,
A generation step of generating the motion control data so that the injection gun of the robot moves the injection section along the line designated in the designated reception process .
Robot motion control data generation methods, including. It is a motion control data generation method that generates motion control data of a robot based on the motion of the hand blown gun for teaching by detecting the motion of the hand blown gun.
The hand-blowing operation data includes injection position information indicating an injection start position in which the operator instructed the injection of the injection material by using the teaching hand-blowing gun and an injection stop position instructing to stop the injection.
The motion control data generation method comprises a generation step of generating the motion control data so that the injection gun of the robot moves along a straight line or a specific curve in the injection section from the injection start position to the injection stop position. Including
When the hand-blowing operation data includes three or more of the injection position information and the injection sections represented by the three or more of the injection position information are substantially parallel to each other, the three or more injections are performed in the generation step. A robot motion control data generation method in which the injection position information is modified so that the sections are evenly spaced, and the motion control data is generated based on the modified injection position information. It is a motion control data generation method that generates motion control data of a robot based on the motion of the hand blown gun for teaching by detecting the motion of the hand blown gun.
The hand-blowing operation data includes injection position information indicating an injection start position in which the operator instructed the injection of the injection material by using the teaching hand-blowing gun and an injection stop position instructing to stop the injection.
The motion control data generation method is a generation step of generating the motion control data so that the jet gun of the robot moves along a straight line or a specific curve in the jet section from the jet start position to the jet stop position. Including
The hand-blowing motion data includes information indicating the orientation of the teaching hand-blowing gun.
When the direction of the teaching hand-blown gun changes between the injection stop position of the previous injection section and the injection start position of the next injection section, the injection gun is the injection target in the generation step. A method for generating motion control data for a robot, which generates the motion control data so as to change the direction after being separated from an object. The hand-blown operation data includes origin position information representing the origin position of the teaching hand-blown gun.
In the generation step, the injection stop section from the origin position to the first injection start position, and the injection stop section from the injection stop position of the previous injection section to the injection start position of the next injection section. The operation of the robot according to any one of claims 1 to 3 , which generates the operation control data so as to operate each axis of the robot in parallel when the injection gun moves at least one of them. Control data generation method. The robot motion control data generation method according to any one of claims 1 to 4, wherein in the generation step, the motion control data is generated so that the jet gun moves in the jet section at a constant speed. .. The robot motion control data generation method according to any one of claims 1 to 5 , wherein in the generation step, the motion control data is generated so as to accelerate the injection gun before the injection section. The robot motion control data generation method according to any one of claims 1 to 6 , wherein in the generation step, the motion control data is generated so as to decelerate the injection gun after the injection section. A motion control data generator that detects the motion of a hand-blown gun for teaching and generates motion control data for a robot based on the generated hand-blown motion data.
The hand-blowing operation data includes injection position information indicating an injection start position in which the operator instructed the injection of the injection material by using the teaching hand-blowing gun and an injection stop position instructing to stop the injection.
The operation control data generator is provided with a processing unit.
The processing unit
After the hand-blowing operation data is generated, the designated reception process that accepts the designation of whether to move the injection section from the injection start position to the injection stop position along a straight line or along a specific curve. ,
A generation process for generating the operation control data so that the injection gun of the robot moves the injection section along the line designated by the designated reception process .
Operation control data generator that executes. An operation control data generation program that causes a computer to execute a process of generating robot operation control data based on the hand-blown operation data generated by detecting the operation of a hand-blown gun for teaching.
The hand-blowing operation data includes injection position information indicating an injection start position in which the operator instructed the injection of the injection material by using the teaching hand-blowing gun and an injection stop position instructing to stop the injection.
The operation control data generation program is
After the hand-blowing operation data is generated, the designated reception process that accepts the designation of whether to move the injection section from the injection start position to the injection stop position along a straight line or along a specific curve. ,
A generation process for generating the operation control data so that the injection gun of the robot moves the injection section along the line designated by the designated reception process .
A robot motion control data generation program that causes the computer to execute.

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