CN102218735A - Sensing motion generating method of working manipulator and sensing motion generating device - Google Patents
Sensing motion generating method of working manipulator and sensing motion generating device Download PDFInfo
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- CN102218735A CN102218735A CN2011100942979A CN201110094297A CN102218735A CN 102218735 A CN102218735 A CN 102218735A CN 2011100942979 A CN2011100942979 A CN 2011100942979A CN 201110094297 A CN201110094297 A CN 201110094297A CN 102218735 A CN102218735 A CN 102218735A
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Abstract
The invention provides a sensing motion generating method of a working manipulator and a sensing motion generating device. The sensing motion generating method of a working manipulator (2) in the invention is suitable for generating sensing motion data applied during a sensing motion process. The working manipulator (2) comprises a contact type sensor (3) contacting a working workpiece (W) having an arc part (C). The sensing motion generating method is characterized in that a real workpiece model (RM) performing interpolation among discrete points (D) is estimated based on a discrete workpiece model (DM) with a discrete point (D) similar to an arc part (C) of the working piece; and sensing motion data of the working manipulator (2) are generated based on the estimated real workpiece model (RM). In this way, proper sensing motion data can be generated even on working workpieces having arc parts. Therefore, loads of sensing motion data correction and working resetting can be alleviated.
Description
Technical field
The present invention relates to a kind of method and device thereof that under the off line environment, generates the suitable sensing action data of manipulator automatically.
Background technology
At present, usually before manipulator carries out operation to the operation workpiece, carry out following sensing operation, promptly, by the touch sensor that is provided with on hand at Work machine is contacted with the operation workpiece, thereby the position of operation workpiece on the checking computer and manipulator relation is verified the training data of correction manipulator as a result based on this.
For example, even want based on the training data on the computer, with manipulator in position, posture carries out weld job, because exist the shape of actual operation workpiece or alignment error, because of the bending of the initial position of manipulator itself, joint portion that gravity causes or backlash etc., so between the operation workpiece information of reality and training data, produce error, if actually want to carry out weld job, then deviation is understood in the welding position sometimes, and the operation workpiece is run at the position beyond the welding rod of manipulator.
Therefore, before operations such as manipulator welds, need carry out a kind of sensing operation, contact with the operation workpiece, revise the error between the training data of actual operation workpiece information and the operation workpiece on the computer to be used for the actual welding rod that makes.
When carrying out described sensing operation, need be with respect to the sensing action data of manipulator, generate this sensing action data method, be that the sensing action generation method of manipulator often is that the operator manually carries out, but also develop the technology of several automatic generation sensings actions.Technology is as follows disclosed in patent documentation 1, by with respect to operation workpiece with circular shape with any 3 contacts on the circular arc, carry out the sensing of the present position of this operation workpiece, calculate the actual operation workpiece and the deviation of the center of arc on the operation workpiece on the computer, be used for the operation action of actual weld job etc.
The technology of patent documentation 1 be a kind of with on the circular arc portion of operation workpiece arbitrarily 3 as the position of the present position of operation workpiece being carried out sensing, the direction that is created on the center by circular arc at this each sensing location is carried out the production line control method for correcting of industrial robot of the training data of contact action.
In detail, in patent documentation 1, under the situation of the circular-arc production line (sealing wire) between cylinder part and the flat board member being carried out the sensing action, based on the positional information on the computer, make first the sensing location of manipulator (robot) actual contact on the outer peripheral face of cylinder part.
Be stored in predetermined memory at the operation workpiece of the reality that this sensing location of first obtains and the error (correction value) of the operation workpiece on the computer, robot is contacted with second sensing location on the cylinder part.
When the contact of this sensing location of second, utilize the correction value that obtains at first sensing location, positional information on computers adds correction, makes robot be contacted with second sensing location.In addition, when making robot be contacted with thirdly sensing location, utilize the positional information on the correction computer at first and second compensating value that sensing location obtains.
Then, by making robot be contacted with cylinder part at 3 as sensing location, thereby can detect the coordinate of the center of arc of actual operation workpiece, the difference of the coordinate of the center of arc of the operation workpiece on detected center of arc coordinate and the computer as circular arc sensing compensating value, is used in the 4th later sensing action or the actual weld job.
The prior art document
Patent documentation 1:JP speciallys permit communique No. 2985336
But, though the method with above-mentioned patent documentation 1 can generate the sensing action data, but in fact robot is not contacted with the operation workpiece and just can't detects the revisal amount, can't be at the sensing action data after the position revisal of the center of arc that generates the operation workpiece under the off line environment.
But, be not limited in this patent documentation 1 disclosed method, in the generation of sensing action data, prior art all has the problem that can't avoid.
Promptly, the curved surface of the surrounding enviroment of the manipulator under the off line environment, for drawing or the high speed of the calculating of interference checking, the lightweight of cad data of manipulator and surrounding enviroment, approximate under the situation mostly with polygon performance work data (with reference to figure 2, Fig. 3), the curved surface of the manipulator that in the off line environment, reproduces or the curved surface of surrounding enviroment and actual operation workpiece in the position, vpg connection is different, therefore can't make sensing location on the face of the operation workpiece of reality sometimes.
For example shown in Fig. 3 (a), even set sensing location being approximately on the polygonal operation workpiece, shown in Fig. 3 (b), sometimes sensing location departs from respect to the operation workpiece of reality, and the touch sensor (welding rod etc.) that can produce the manipulator that will contact reaches the sensing training data of operation workpiece.In addition, though not shown, generate the touch sensor of manipulator and the situation of the sensing training data that the operation workpiece is interfered in addition.
Even this sensing training data is used for the robot real machine, neither obtain wanting the detection position of the center of the circular arc of calculating, so results operation person need use teaching suspension apparatus manual correction sensing locations such as (pendant).
Therefore, when the operator revises, exist the burden of teaching operation to want the problem of the part of this correction operation of corresponding increase.
Summary of the invention
In view of the above problems, the object of the present invention is to provide a kind of sensing action generation method and sensing action generating apparatus of manipulator, it is in having the operation workpiece of circular arc portion, can be under the off line environment, generation comprises the sensing action data of the detection position that can obtain wanting the center of arc position of calculating, in other words, the sensing action data of sensing can be correctly carried out in generation to circular arc portion, thereby can alleviate the correction operation of the sensing action of manipulator, the load of teaching operation.
In order to reach above-mentioned purpose, the present invention adopts following technological means.
The sensing action generation method of manipulator of the present invention generates the sensing action data that uses when manipulator carries out the sensing action, and described manipulator possesses the touch sensor that can contact with the operation workpiece with circular arc portion,
It is characterized in that,
Based on the discrete workpieces model of the circular arc portion that has been similar to described operation workpiece with discrete point, infer carrying out the true part model of interpolation between described discrete point,
Based on described true part model of inferring, generate the sensing action data of manipulator.
Thus, even have the operation workpiece of circular arc portion, by inferring true part model than the operation workpiece of the more approaching reality of discrete workpieces model, can reduce the actual operation workpiece and the error of the operation workpiece on the computer, can under the off line environment, automatic generation can make manipulator and the actual suitable sensing action data that contacts of operation workpiece, alleviate the burden of correction operation of the sensing action data of manipulator, therefore, the rise time of sensing action data can be shortened, the operating efficiency that training data generates can be improved.In addition, true part model be roughly faithful reappearance the part model of circular arc portion of operation workpiece, be the model of setting on computers.Can set the sensing action data again based on this true part model.
Preferably, when inferring described true part model, according to circular shape to carrying out interpolation between described discrete point.
In addition, preferably, when inferring described true part model, on described discrete workpieces model, extract the contact-making surface that touch sensor contacts with described discrete workpieces model, contact-making surface that extracts and the intersection that erects the datum level that this contact-making surface is set are extracted, and the circular arc of end points that then will be by the intersection that extracts extracts as described true part model.
Thus, according to circular shape to carrying out interpolation between discrete point, perhaps infer job model with a circle, therefore can infer the true part model of the operation workpiece of approaching more reality, even sensing location is set in job model on computers and the actual more different place (for example between discrete point) of job model, there is not the situation that does not reach actual operation workpiece or interfere yet, contact position can be set in and correctly calculates on the position of center of arc with the operation workpiece.
Preferably, described discrete workpieces model is made of the polygon that with described discrete point is the summit.
In addition also can be when generating described sensing action data, obtain the sensing location that touch sensor contacts with described discrete workpieces model on described discrete workpieces model, on true part model, the sensing location of obtaining is set again, generated the sensing action data in the mode that comprises the described sensing location of setting again.
Especially, can also be when generating described sensing action data, be set as follows the crossing point of such straight line and described true part model again as sensing location, the sensing location of described straight-line pass before setting again, and from according to the center of arc radius vector outer direction extension of circular shape to the true part model that carried out interpolation between described discrete point.
In addition, can also be when generating described sensing action data, be set as follows the crossing point of such straight line and described true part model again as sensing location, preceding sensing location is set in described straight-line pass again, and overlaps with the moving direction of described touch sensor.
Thus, except the sensing location before setting again, the moving direction of the touch sensor the when center of arc of the true part model of inferring by utilization or sensing action, can be set in sensing location on the circular arc of true part model reliably again, can further reduce the error of sensing location of the operation workpiece of the sensing location of actual operation workpiece and computer, can be fully under the off line environment, generate the high sensing action data of precision automatically, can realize the alleviating of burden of sensing action data correction, the shortening of time that the sensing action data generates.
And then, judge preferably also whether the sensing location of touch sensor contact on described discrete workpieces model is consistent with discrete point, be judged as under the inconsistent situation of described sensing location and discrete point, infer described true part model.
The sensing action generating apparatus of manipulator of the present invention, it generates the sensing action data that uses when manipulator carries out the sensing action, and described manipulator possesses the touch sensor that can contact with the operation workpiece with circular arc portion,
It is characterized in that,
Described sensing action generating apparatus has:
The model estimating mechanism, it is inferred carrying out the true part model of interpolation between described discrete point based on the discrete workpieces model of the circular arc portion that has been similar to described operation workpiece with discrete point; And
Data generate mechanism, and it generates the sensing action data of manipulator based on described true part model of inferring.
Preferred described model estimating mechanism constitutes according to circular shape carrying out interpolation between described discrete point.
In addition, preferred described model estimating mechanism constitutes and extracts the contact-making surface that touch sensor contacts with described discrete workpieces model, contact-making surface that extracts and the intersection that erects the datum level that this contact-making surface is set are extracted, and the circular arc of end points that then will be by the intersection that extracts extracts as described true part model.
Preferred described discrete workpieces model is made of the polygon that with described discrete point is the summit.
Also can be that described data generate mechanism and constitute and obtain the sensing location that touch sensor contacts with described discrete workpieces model in addition, on true part model, the sensing location of obtaining is set again, generated the sensing action data in the mode that comprises the described sensing location of setting again.
Especially can be that described data generate mechanism and constitute and be set as follows the crossing point of such straight line and described true part model again as sensing location, the sensing location of described straight-line pass before setting again, and from according to the center of arc radius vector outer direction extension of circular shape to the true part model that carried out interpolation between described discrete point.
Can be that described data generate mechanism and constitute and be set as follows the crossing point of such straight line and described true part model again as sensing location in addition, preceding sensing location is set in described straight-line pass again, and overlaps with the moving direction of described touch sensor.
And then whether consistent with discrete point preferred described sensing action generating apparatus have sensing location the discrete point decision mechanism of judgement touch sensor contact on described discrete workpieces model, described model estimating mechanism constitutes at described discrete point decision mechanism and is judged as under sensing location and the inconsistent situation of discrete point, infers described true part model.
The invention effect
According to the present invention, even the circular arc portion of the part model on the computer is made of discrete data, also can generate automatically comprise can make manipulator suitably contact actual operation workpiece sensing location at interior sensing action data, can alleviate the correction of sensing action and the homework burden of teaching.
Description of drawings
Fig. 1 is the pie graph of the sensing action generating apparatus of manipulator of the present invention;
Fig. 2 is the actual operation workpiece of expression and to the figure of its approximate discrete workpieces model, and Fig. 2 (a) is a stereogram, and Fig. 2 (b) is a vertical view;
Fig. 3 (a) is the setting of the sensing location of the operation workpiece of expression on the computer, and Fig. 3 (b) is be illustrated in that sensing location departs from the actual operation workpiece figure of (reach or interfere);
Fig. 4 (a), Fig. 4 (b) are vertical view, the stereograms at the edge of the face of the touch sensor contact on the expression discrete workpieces model and datum level; Fig. 4 (c), Fig. 4 (d) are stereogram, the vertical view of expression from the circle of the end points extraction at edge;
Fig. 5 (a) is the vertical view of the circle of initial sensing location of expression and extraction, Fig. 5 (b) is the vertical view that expression utilizes the sensing location that initial sensing location and center of arc set again, and Fig. 5 (c) is the vertical view that expression utilizes the sensing location that the moving direction of initial sensing location and touch sensor sets again;
Fig. 6 is the flow chart of the sensing action generation method of expression manipulator.
Fig. 7 is the pie graph of the sensing action generating apparatus of manipulator;
Among the figure:
1-sensing action generating apparatus
The 2-manipulator
3-touch sensor (welding rod)
The 4-computer
W-operation workpiece
The circular arc portion of C-operation workpiece
The D-discrete point
DM-discrete workpieces model
The true part model of RM-
The T-contact-making surface
The K-datum level
The intersection of E-contact-making surface and datum level (edge)
The end points at EP-edge
RC-is by the circular arc of the end points at edge
The P-sensing location
O-center of arc
Sensing location before P1-sets again
Sensing location after P2-sets again
M1-sensing action set mechanism (data generate mechanism)
M2-discrete point decision mechanism
M3-model estimating mechanism
M4-is set mechanism again
The specific embodiment
Below based on Fig. 1～Fig. 7 embodiments of the present invention are described.
In addition, following embodiment is the example that the present invention is specialized, and does not limit technical scope of the present invention.
[formation of manipulator]
Fig. 1 represents the sensing action generating apparatus 1 of manipulator 2 of the present invention (operation robot).
This sensing action generating apparatus 1 has manipulator 2, makes the control panel 11 of these manipulator 2 actions and the teaching suspension apparatus 12 that can import training data according to built-in training data.And then control panel 11 is connected in the computer 4 that the off line teaching is used.
[about the sensing action]
The computer 4 of present embodiment is being contacted with operation workpiece W by the welding rod 3 (touch sensor) that makes setting on manipulator 2 under the off line environment, generates the training data (sensing action data) of the sensing posture of the manipulator 2 when comprising sensing location P, sensing in interior sensing action.
In addition, the operation workpiece W position of the position of the operation workpiece W in the training data of computer 4 on off line and the reality that obtained by welding rod 3 detections is not simultaneously, utilize difference with the position of surveying, can revise the action of the later manipulator 2 in the position of carrying out sensing action one by one, carry out the sensing operation simultaneously.
In addition, the operator is with the input of computer 4 or teaching suspension apparatus 12, according to teaching in advance the program (tutorial program) of action, control manipulator 2 perhaps also can manually generate the sensing action data.
Manipulator 2 is six general articulated robot as welding with robot, is equipped with welding rod 3 at its hand front end 2a (front end).In addition, manipulator 2 also can be manipulator or the manipulator more than seven that possesses slide block.
Welding rod 3 is the bar members with specific length, when the sensing operation, can also play the effect of surveying with the touch sensor that contacts of operation workpiece W.For example, can make hand front end 2a near operation workpiece W, observe the short-circuit condition when contacting, judge whether to contact with welding rod 3 at the electrode flow electric current of the hand front end 2a of manipulator 2.
But, above-mentioned what is called " sensing action " is meant operation as follows: even manipulator 2 is with suitable position, posture is carried out weld job, sometimes also between the operation workpiece W information of reality and training data, produce error, therefore, make welding rod 3 be contacted with operation workpiece W actual before carrying out weld job, to being relevant to manipulator 2 on the computer 4 or shape or the configuration of the operation workpiece W on the computer 4 (being part model M), and then revise and even set again for the sensing location P on the part model M (welding rod 3 of manipulator 2 under the off line environment with part model M position contacting).
[problem points when generating the sensing action data]
The sensing action data that is used to make manipulator 2 to carry out this sensing action is based on that the model (part model M) of the operation workpiece W on the computer 4 makes.
As shown in Figure 1, 2, the workpiece W of present embodiment erects the workpiece that cylinder-like part is set from the flat-sheet material (its upper surface is equivalent to datum level K described later) as benchmark, at this moment, the inner peripheral surface of cylinder-like part and outer peripheral face are the circular arc portion C of operation workpiece W.
Especially as shown in Figure 2, the part model M of operation workpiece W has the operation workpiece W of the reality of curved surface with polyhedron approximation, especially is similar to the circular arc portion C with polygon (with reference to figure 2 (b)) in overlooking.This is for the high speed of the calculating by simplifying lightweight that part model M realizes the cad data on the computer 4, interference checking etc.
In addition, shown in the right figure of Fig. 2 (b), part model M links actual operation workpiece W with straight line and goes up between the point (discrete point D) that devices spaced apart exists, and is the circular arc portion C that the polygon on summit is represented operation workpiece W in order to discrete point D.
It is " discrete workpieces model DM " that the operation workpiece W of so, utilization reality goes up approximate (that is, being similar to discrete point D) the part model M of discrete point D that exists.In addition, even discrete workpieces model DM links discrete point D without straight line, also can link discrete point D with SPL etc.
Consider to utilize this discrete workpieces model DM, under the off line environment, generation makes touch sensor 3 be contacted with the situation of the training data of operation workpiece W.
Shown in Fig. 3 (a), on described discrete workpieces model DM, setting sensing location P on the computer 4.
At this, so-called sensing location P specifically welding rod 3 is contacted with the position of operation workpiece W (being discrete workpieces model DM at this moment), the vector (sensing vector SV) of the direction that welding rod 3 moves when also comprising simultaneously this contact action of expression, the pose information of the manipulator 2 of this moment.
At circular arc portion C (promptly, between discrete point D) when setting this sensing location P, the inboard configuration sensing location P that leaves at inner peripheral surface from the operation workpiece W of the reality represented with imaginary line, or in the outside of the inner peripheral surface of the operation workpiece W of reality, i.e. the internal configurations sensing location P of the operation workpiece W of reality.
At this moment, if use discrete workpieces model DM, be created on the sensing action data of the position configuration sensing location P that departs from from the operation workpiece W of reality, mobile operating manipulator 2 real machines, when making welding rod 3 be contacted with actual operation workpiece W, shown in Fig. 3 (b), welding rod 3 does not arrive the inwall of operation workpiece W, perhaps, the part of touch sensor 3 or manipulator 2 and operation workpiece W interfere (operation workpiece W also is absorbed in from inwall).
Therefore, when the situation of this interference etc. takes place, need revise again the sensing location P in the training data with the margin of error of the operation workpiece W information of reality and training data and set.
[the generation method of the sensing action data among the present invention: truly part model infers]
Consider this situation, utilize Fig. 6, Fig. 7, the sensing action generation method of manipulator 2 of the present invention is described.The processing that this sensing action generates is to be undertaken by the computer 4 that the off line teaching that is connected with control panel 11 is used.
In addition, sensing action generating apparatus 1 has the computer program (sensing action generator) that is used to carry out sensing action generation method of the present invention.
Shown in the flow chart of Fig. 6, sensing action generator generates the processing of sensing action data in order to make computer 4, and the data of the form that can read as computer 4 are recorded in the recording medium (diagram is omitted).
In step S1 (data generation step), as shown in Figure 6, the sensing location P for welding rod 3 contacts with operation workpiece W at first specifies 3 points on discrete workpieces model DM.
In step S2, three sensing location P that judge all appointments whether with the discrete point D on the discrete workpieces model DM consistent (discrete point determining step).
Be judged as under all sensing location P and the inconsistent situation of discrete point D, handling entering step S3.In addition, if under the situation of unanimity, end process.
In step S3 (model is inferred step), extract contact-making surface T that welding rod 3 contact with discrete workpieces model DM and the intersection (edge E) of datum level K (upper surface of flat-sheet material), the circular arc R C conduct of extracting all (six) the end points EP by this edge E is part model RM truly.
So-called this true part model RM is the part model M that the circular arc portion C of operation workpiece W is roughly enriched reproduction, is the model of setting on computer 4.The setting again that can carry out the sensing action data etc. is as the criterion with this true part model RM.
Then, in step S4 (setting step again), on the true part model RM that extracts, set sensing location P in advance again, generate the sensing action data once more in the mode that comprises this sensing location P that sets again.
Below, describe step S1～step S4 in detail.
In step S1, at first,, on computer 4, generate discrete workpieces model DM from manipulator 2 and the geometry shape of operation workpiece W and the geometry data of configuration.
Then, by sensing action Notified body M1 (data generate mechanism), on the discrete workpieces model DM that generates, specify the sensing location P of three welding rods 3.
These sensing locations P is by by the gainer on mouse or the keyboard designated computer 4, perhaps generates the sensing action data by searching database etc. based on the data of storage and appointed.
At this, there is the error (with reference to figure 2) of shape, position and the posture of training data and actual operation workpiece W, as mentioned above, need the sensing action data be revised making before welding rod 3 is contacted with actual operation workpiece W.
So in step S2, under the off line environment, judge by discrete point decision mechanism M2 whether three sensing location P of appointment are consistent with the discrete point D on the discrete workpieces model DM.
Be judged as under three sensing location P and the inconsistent situation of discrete point D at discrete point decision mechanism M2, handle entering next step S3.
In addition, under three sensing location P situation consistent with discrete point D, promptly, be contacted with under the situation that is positioned at the discrete point D on the actual operation workpiece W at welding rod 3, as long as calculate circle by initial three sensing location P that set, then do not produce the error between training data and the actual operation workpiece W, even do not carry out inferring or the setting again of sensing location P of true part model RM shown below, owing to can not produce above-mentioned interference etc., so can generate suitable sensing action data yet.
In step S3, infer means M3 by model and extract the round RC of the end points EP on the edge E that passes through contact-making surface T and datum level K as true part model RM.
Shown in Fig. 4 (a) and (b), by on discrete workpieces model DM, setting three sensing location P (the initial sensing location P1 that sets), the contact-making surface T that contacts of the decision welding rod 3 corresponding (can with respect to the unique extraction of each sensing location P) respectively on computer 4 with each sensing location P.And also can extract these contact-making surfaces T and the intersection (edge E) that erects the datum level K (upper surface of flat-sheet material) that these contact-making surfaces T is set respectively.
Below, shown in Fig. 4 (c), (d), the round RC of all (six) end points EP that will be by the edge E that extracts extracts as true part model RM.
[the generation method of sensing action data of the present invention :] based on the setting again of the sensing action data of true part model
In step 4, on true part model RM, setting sensing location P by set mechanism M4 more again, generate the sensing action data that comprises the sensing location P2 after setting again.
The initial sensing location P1 that sets of utilization carries out the setting again to this sensing location P2.
For example shown in Fig. 5 (a) and (b), set by initial sensing location P1, and from as the O of center of arc of the circle of the true part model RM straight line L along the outer direction extension in the footpath of circle.The point that the circle of this straight line L and true part model RM is crossing is set as new sensing location P2 again.
Initial sensing location P1 is owing to being provided with three, so the also true again part model RM of the sensing location P2 of She Dinging is provided with three again on discrete workpieces model DM.
At this, true part model RM with along the mode of the shape of the operation workpiece W of reality to carrying out interpolation between discrete point D, therefore the sensing location P2 on true part model RM is positioned on the actual operation workpiece W.
Therefore,, under the off line environment, also can set the sensing location P that welding rod 3 can be contacted with actual operation workpiece W, can generate suitable sensing action data automatically even manipulator 2 real machines do not move.
In addition, above-mentioned setting again of sensing location P2 also can be carried out according to order shown below.
Shown in Fig. 5 (a), (c), set by initial sensing location P1, and along moving direction (sensing vector SV) the straight line L ' that direction is extended outside the footpath of circle that sets preceding welding rod 3 again.The point that this straight line L ' and true part model RM are intersected is as the sensing location P2 of setting again.
This moment, the sensing location P2 on the true part model RM was positioned on the actual operation workpiece W too.
Therefore, can under the off line environment, generate suitable sensing action data automatically.
As mentioned above, carry out step S1～step S4 by moving for sensing, can under the off line environment, generate the sensing action data of the suitable sensing location P of indication automatically, if this sensing action data is applicable to manipulator 2 real machines, then do not need operator's correction, set again, the compensating value of center that can reliably carry out the circular arc portion C of operation workpiece W detects, and also realizes alleviating of teaching homework burden simultaneously.
The present invention is not limited to aforesaid embodiment.Each structure of sensing action generating apparatus 1 grade or whole structure, shape, size etc. can suitably change in the scope that does not break away from purport of the present invention.
The sensing action generating apparatus 1 of manipulator 2 judges by discrete point decision mechanism M2 whether sensing location P is consistent with discrete point D, even if but do not have discrete point decision mechanism M2, promptly, must carry out inferring of true part model RM no matter whether sensing location P is consistent with discrete point D.
Manipulator 2 is not limited to weld the manipulator of usefulness, and application various manipulators such as uses can with, assembling.
Touch sensor 3 is not limited to the welding rod of the contact of the short-circuit condition when circulating current is observed contact in lead-in wire, also can be the loading detecting sensor that possesses load cell.
Sensing location P1 and the O of center of arc before set mechanism M4 will set again again link up, on true part model RM, set sensing location P2 again, but also can be with the point on the true part model RM of the sensing location P1 before the most approaching setting again as the sensing location P2 that sets again.
Claims (16)
1. the sensing of manipulator action generation method generates the sensing action data that uses when manipulator carries out the sensing action, and described manipulator possesses the touch sensor that can contact with the operation workpiece with circular arc portion,
It is characterized in that,
Based on the discrete workpieces model of the circular arc portion that has been similar to described operation workpiece with discrete point, infer carrying out the true part model of interpolation between described discrete point,
Based on described true part model of inferring, generate the sensing action data of manipulator.
2. the sensing of manipulator as claimed in claim 1 action generation method is characterized in that,
When inferring described true part model, according to circular shape to carrying out interpolation between described discrete point.
3. the sensing of manipulator as claimed in claim 1 or 2 action generation method is characterized in that,
When inferring described true part model, on described discrete workpieces model, extract the contact-making surface of touch sensor contact, contact-making surface that extracts and the intersection that erects the datum level that this contact-making surface is set are extracted, and the circular arc of end points that then will be by the intersection that extracts extracts as described true part model.
4. as the sensing action generation method of each described manipulator in the claim 1～3, it is characterized in that,
Described discrete workpieces model is made of the polygon that with described discrete point is the summit.
5. as the sensing action generation method of each described manipulator in the claim 1～4, it is characterized in that,
When generating described sensing action data, on described discrete workpieces model, obtain the sensing location of touch sensor contact, on true part model, the sensing location of obtaining is set again, generated the sensing action data in the mode that comprises the described sensing location of setting again.
6. the sensing of manipulator as claimed in claim 5 action generation method is characterized in that,
When generating described sensing action data, be set as follows the crossing point of such straight line and described true part model again as sensing location, the sensing location of described straight-line pass before setting again, and from according to the center of arc radius vector outer direction extension of circular shape to the true part model that carried out interpolation between described discrete point.
7. the sensing of manipulator as claimed in claim 5 action generation method is characterized in that,
When generating described sensing action data, be set as follows point that such straight line and described true part model intersect again as sensing location, preceding sensing location is set in described straight-line pass again, and overlaps with the moving direction of described touch sensor.
8. as the sensing action generation method of each described manipulator in the claim 1～7, it is characterized in that,
Whether the sensing location of judgement touch sensor contact on described discrete workpieces model is consistent with discrete point,
Be judged as under the inconsistent situation of described sensing location and discrete point, inferring described true part model.
9. the sensing of manipulator action generating apparatus, it generates the sensing action data that uses when manipulator carries out the sensing action, and described manipulator possesses the touch sensor that can contact with the operation workpiece with circular arc portion,
It is characterized in that,
Described sensing action generating apparatus has:
The model estimating mechanism, it is inferred carrying out the true part model of interpolation between described discrete point based on the discrete workpieces model of the circular arc portion that has been similar to described operation workpiece with discrete point; And
Data generate mechanism, and it generates the sensing action data of manipulator based on described true part model of inferring.
10. the sensing of manipulator as claimed in claim 9 action generating apparatus is characterized in that,
Described model estimating mechanism constitutes according to circular shape carrying out interpolation between described discrete point.
11. the sensing action generating apparatus as claim 9 or 10 described manipulators is characterized in that,
Described model estimating mechanism constitutes and extracts the contact-making surface that touch sensor contacts with described discrete workpieces model, contact-making surface that extracts and the intersection that erects the datum level that this contact-making surface is set are extracted, and the circular arc of end points that then will be by the intersection that extracts extracts as described true part model.
12. the sensing action generating apparatus as each described manipulator in the claim 9～11 is characterized in that,
Described discrete workpieces model is made of the polygon that with described discrete point is the summit.
13. the sensing action generating apparatus as each described manipulator in the claim 9～12 is characterized in that,
Described data generate mechanism and constitute and obtain the sensing location that touch sensor contacts with described discrete workpieces model, on true part model, the sensing location of obtaining is set again, generated the sensing action data in the mode that comprises the described sensing location of setting again.
14. the sensing of manipulator as claimed in claim 13 action generating apparatus is characterized in that,
Described data generate mechanism and constitute and be set as follows the crossing point of such straight line and described true part model again as sensing location, the sensing location of described straight-line pass before setting again, and from according to the center of arc radius vector outer direction extension of circular shape to the true part model that carried out interpolation between described discrete point.
15. the sensing of manipulator as claimed in claim 13 action generating apparatus is characterized in that,
Described data generate mechanism and constitute and be set as follows point that such straight line and described true part model intersect again as sensing location, and preceding sensing location is set in described straight-line pass again, and overlaps with the moving direction of described touch sensor.
16. the sensing action generating apparatus as each described manipulator in the claim 9～15 is characterized in that,
Whether consistent with discrete point described sensing action generating apparatus have sensing location the discrete point decision mechanism of judgement touch sensor contact on described discrete workpieces model,
Described model estimating mechanism constitutes at described discrete point decision mechanism and is judged as under sensing location and the inconsistent situation of discrete point, infers described true part model.
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| CN104470687A (en) * | 2012-07-20 | 2015-03-25 | 株式会社安川电机 | Robot simulator, robot teaching device and robot teaching method |
| CN108890666A (en) * | 2018-09-25 | 2018-11-27 | 刘悦吟 | A kind of robot welding welding seam tracking method and system |
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Also Published As
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| CN102218735B (en) | 2013-10-16 |
| JP5495915B2 (en) | 2014-05-21 |
| JP2011224710A (en) | 2011-11-10 |
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