JP7657170B2 - Correction device, correction method, and correction program - Google Patents

Description

The present invention relates to a data correction device, a data correction method, and a data correction program.

When changing the type of product being produced on an existing manufacturing line, interference between the workpiece and end effectors, such as welding guns or open/close gripping hands attached to the robot's hands, cannot be avoided, and labor may be required to modify the dimensions of the end effectors.

Furthermore, the following Patent Document 1 discloses a position control method for an industrial robot that controls the position and posture of the industrial robot so as to maximize the reach of the robot's arm to a work object having redundancy. This method has six or more degrees of freedom, and when the position and posture of a target control point (matrix: ^oTcp ) is given in a Cartesian coordinate system in space, the position of the robot is controlled based on the relationship: ^oTcp = ^{oTb bTw wTf fTe} ( ^oTb is a position matrix determined by three basic axes J1, J2, J3; ^bTw is a posture matrix taken by three wrist axes; ^wTf is a mounting flange matrix for the tool; ^fTe is an end effector matrix for the tool). In this case, on a circumference having a point Pv in the redundant axis direction of vector V with the position of the target ^oTcp as its origin, which is a set of possible positions of ^oTb , the target ^oTcp is re-obtained as ^oTcp ' so that point Pb' which is the smallest distance from the robot calculation origin T0 becomes an orthogonal component of ^oTcp , and this ^oTcp ' is subjected to inverse kinematic transformation, and the positions of each axis of each derived joint coordinate system are set as the operation targets.

The following Patent Document 2 discloses a hand device for a robot. This hand device is equipped with a fixed locating pin, a movable locating pin, and a fixing means for releasing the restriction on the movement of the movable locating pin on a main body frame attached to a robot arm, and a positioning means for engaging and disengaging the movable locating pin at a fixed position. The positional relationship between the two locating pins can be adjusted steplessly by utilizing the motion control of the robot, making it possible to handle many types of workpieces with a single unit.

JP 2002-301672 A JP 2000-167791 A

However, the above-mentioned conventional technology does not take into consideration automatic correction that enables the end effector to assume a posture that does not interfere with the workpiece in all multiple operating positions.

The present invention aims to modify the dimensions of the end effector so that it does not interfere with multiple operating positions.

A correction device according to one aspect of the invention disclosed in the present application includes an acquisition unit that acquires design information related to an end effector and design information related to a workpiece having a plurality of action positions acted upon by the end effector; a calculation unit that calculates, for each action position, a first attitude of the end effector that is positioned so as to be able to act at the action position of the workpiece without interfering with the workpiece based on the design information related to the end effector and the design information related to the workpiece; and a correction unit that determines whether the first attitude exists in all of the plurality of action positions, and if there is at least one action position at which the first attitude does not exist, corrects dimensions of a component that constitutes the end effector based on a calculation result by the calculation unit, wherein the calculation unit specifies an interference resolution direction in which interference between the workpiece and the end effector is resolved for a second attitude of the end effector at an action position at which the first attitude does not exist, and selects a correction target component from a group of components that constitute the end effector based on an angle difference between the interference resolution direction and a direction of each component in the group of components, and the correction unit corrects the dimensions of the correction target component .

According to a representative embodiment of the present invention, the dimensions of the end effector can be modified so as not to interfere with each other at multiple operating positions. Problems, configurations, and advantages other than those described above will become clear from the description of the following examples.

FIG. 1 is an explanatory diagram showing an example of dimensional correction of an end effector by a correction device according to a first embodiment. FIG. 2 is a block diagram illustrating an example of a hardware configuration of the correction device. FIG. 3 is an explanatory diagram illustrating an example of end effector design information. FIG. 4 is a perspective view showing an example of a workpiece. FIG. 5 is an explanatory diagram illustrating an example of work design information. FIG. 6 is an explanatory diagram showing an example of the action position information. FIG. 7 is an explanatory diagram illustrating an example of search parameter information. FIG. 8 is a flowchart of an example of a procedure of a correction process performed by the correction device according to the first embodiment. FIG. 9 is a flowchart illustrating an example of a detailed process procedure of the process of calculating the position of the deployable end effector (step S802) illustrated in FIG. FIG. 10 is a flowchart illustrating a detailed example of the process of correcting the end effector dimension (step S803) illustrated in FIG. FIG. 11 is an explanatory diagram showing an example of end effector design information 300 indicating deployable end effectors. FIG. 12 is an explanatory diagram illustrating an example of the positionable end effector posture information. FIG. 13 is an explanatory diagram showing an example of the dimension correction information. FIG. 14 is a diagram illustrating an example of a display screen that displays output data according to the first embodiment. FIG. 15 is an explanatory diagram showing an example of the arrangement relationship between the robot arm, the end effector, the workpiece, and the jig. FIG. 16 is an explanatory diagram showing an example of calculating the trajectory of a robot arm. FIG. 17 is an explanatory diagram illustrating an example of robot arm design information. FIG. 18 is an explanatory diagram illustrating an example of the jig design information. FIG. 19 is a flowchart of an example of a procedure of a correction process performed by the correction device according to the second embodiment. FIG. 20 is a flowchart illustrating a detailed example of the robot arm trajectory generation process (step S1904) illustrated in FIG. FIG. 21 is an explanatory diagram illustrating an example of the robot arm trajectory information. FIG. 22 is a diagram illustrating an example of a display screen that displays output data according to the second embodiment.

The correction device is a computer that automatically corrects the dimensions of the end effector from the design information, and can reduce the amount of work required to correct the dimensions of the end effector during the design stage. An end effector is a device that is attached to the tip of an industrial robot arm such as a six-axis arm, and examples of such devices include welding guns, open/close gripping hands, torque drivers, and end mills.

Unless otherwise specified, the end effector in this specification does not refer to an actual end effector, but rather to the design information for the end effector, that is, three-dimensional graphic data (e.g., three-dimensional CAD data). The same applies to the workpiece that the end effector works on. Also, the three-dimensional graphic data for the end effector and workpiece are each defined in a local coordinate system, but when dimensional correction is performed using a correction device, the end effector and workpiece are placed in a common global coordinate system through coordinate transformation. The same applies to the robot arm to which the end effector is attached and the jig that holds the workpiece.

In addition, interference between an end effector and a workpiece literally means that the end effector and the workpiece overlap, but does not include contact of the end effector at the workpiece's operating position. For example, if the end effector is an open/close gripping hand, the end effector will come into contact with the workpiece by gripping the operating position, but this contact is not "interference." In other words, interference is when the end effector and the workpiece overlap at a position other than the operating position.

Figure 1 is an explanatory diagram showing an example of end effector dimension correction using a correction device according to Example 1. The end effector 100 shown in Figure 1 is a welding gun that is roughly C-shaped and has a support part 101. Tips 104, 105 of a pair of welding parts 102, 103 bent at both ends of the support part 101 are bent so that they correspond to each other. When a workpiece 110 is inserted into the gap between the tips 104, 105, the end effector 100 is ready to weld.

The depth of the cavity surrounded by the support portion 101 and the pair of welded portions 102, 103 is called the bore depth d, which is the length of the pair of welded portions 102, 103. Also, w is the width of the support portion 101 and the pair of welded portions 102, 103, and g is the pair of welded portions 102, 103 and the length of the support portion 101.

(1) Calculation of Positionable End Effector Attitude The correction device first calculates the attitude of the end effector 100 at which the workpiece 110 can be placed. The position of the workpiece 110 to be welded by the tips 104, 105 is called the action position ap. A straight line passing through the tips 104, 105 and the action position ap is set as a normal line 111 of the workpiece 110. The correction device rotates the workpiece 110 in small increments around the normal line 111 as a rotation axis, and calculates the attitude of the end effector 100 when the workpiece 110 interferes with the support portion 101. It is assumed that an interference area 120 is detected by this calculation. The interference area 120 is an overlapping area between the workpiece 110 and the support portion 101 calculated by the correction device.

(2) End effector dimension correction When the interference area 120 is detected, the correction device extends the pair of welds 102, 103 in a direction (interference eliminating direction) 130 in which the interference is eliminated, thereby correcting the dimension of the end effector 100 and eliminating the interference. Specifically, for example, the correction device corrects the bore depth d to dr (>d).

<Example of hardware configuration of repair device>
2 is a block diagram showing an example of a hardware configuration of the correction device. The correction device 200 has a processor 201, a storage device 202, an input device 203, an output device 204, and a communication interface (communication IF) 205. The processor 201, the storage device 202, the input device 203, the output device 204, and the communication IF 205 are connected by a bus 206. The processor 201 controls the correction device 200. The storage device 202 is a working area for the processor 201. The storage device 202 is a non-temporary or temporary recording medium that stores various programs and data. Examples of the storage device 202 include a ROM (Read Only Memory), a RAM (Random Access Memory), a HDD (Hard Disk Drive), and a flash memory. The input device 203 inputs data. The input device 203 may be, for example, a keyboard, a mouse, a touch panel, a numeric keypad, a scanner, a microphone, or a sensor. The output device 204 outputs data. The output device 204 may be, for example, a display, a printer, or a speaker. The communication IF 205 connects to a network and transmits and receives data.

<End effector design information>
3 is a diagram illustrating an example of end effector design information. The end effector design information is stored in the storage device 202 of the correction device 200 or in a storage device of another computer that can communicate with the correction device 200.

The end effector design information 300 is design information for the end effector 100, i.e., graphic data showing the three-dimensional shape of the end effector 100. In FIG. 3, the end effector design information 300 is represented in a table format.

End effector design information 300 has fields including part 301, placement position/posture 302, surface information 303, and dimensions 304. Part 301 is one element (component) that constitutes end effector 100, and holds "Pe1", "Pe2", "Pe3", ... as values that uniquely identify part 301. Specifically, for example, "Pe1" indicates support part 101, "Pe2" indicates welded part 102, and "Pe3" indicates welded part 103.

The placement position and orientation 302 is the orientation of the part 301 when the end effector 100 is placed in its local coordinate system, and holds "Qe1", "Qe2", "Qe3", ... as values that uniquely identify the placement position and orientation 302. Specifically, for example, "Qe1" is a group of vertex coordinate values of the support part 101, "Qe2" is a group of vertex coordinate values of the welded part 102, and "Qe3" is a group of vertex coordinate values of the welded part 103.

The face information 303 is information about the faces of the part 301, and holds "Se11", "Se12", ..., "Se21", "Se22", ..., "Se31", "Se32", ... as values that uniquely identify the face information 303. Specifically, for example, each of "Se11", "Se12", ... indicates polygon data that constitutes the face of the support part 101, and includes a vertex coordinate value group and a normal vector of the polygon data. Also, each of "Se21", "Se22", ... indicates polygon data that constitutes the face of the welded part 102, and includes a vertex coordinate value group and a normal vector of the polygon data. Also, each of "Se31", "Se32", ... indicates polygon data that constitutes the face of the welded part 103, and includes a vertex coordinate value group and a normal vector of the polygon data.

Dimension 304 is information about the length of part 301, and has subfields type 341, direction 342, and value 343.

Type 341 is a combination of multiple classifications of dimensions 304, and values that uniquely identify type 341 include, for example, the above-mentioned depth d, width w, and spacing g. When part 301 is "Pe1", it is a welded portion 102, so type 341 is a combination of depth d and width w. When part 301 is "Pe2", it is a support portion 101, so type 341 is a combination of spacing g and width w.

The direction 342 indicates the orientation of the dimension 304 specified by the type 341 when the end effector 100 is placed in the local coordinate system. For example, the value dg1 that uniquely specifies the direction 342 of the spacing g when the part 301 is of type 341 "Pe1" (support part 101) is a vector (0,0,1) indicating the Z direction as shown in FIG. 1. Furthermore, the value dw1 that uniquely specifies the direction 342 of the width w is a vector (0,1,0) indicating the Y direction as shown in FIG. 1.

The value dd2 that uniquely identifies the direction 342 of the depth d of the part 301, which is type 341 of "Pe2" (weld 102), is a vector (1,0,0) indicating the X direction, as shown in FIG. 1. The value dw2 that uniquely identifies the direction 342 of the width w is a vector (0,1,0) indicating the Y direction, as shown in FIG. 1.

The value dd3 that uniquely identifies the direction 342 of the depth d of the part 301, which is type 341 of "Pe3" (weld 103), is a vector (1,0,0) that indicates the X direction, as shown in FIG. 1. The value dw3 that uniquely identifies the direction 342 of the width w is a vector (0,1,0) that indicates the Y direction, as shown in FIG. 1.

The numerical value 343 is the value of the dimension 304 specified by the type 341. For example, the value v (dg1) that uniquely specifies the numerical value 343 of the spacing g when the part 301 is of type 341 "Pe1" (support portion 101) is, for example, 500.0 [mm]. Also, the value v (dw1) that uniquely specifies the numerical value 343 of the width w is, for example, 50.0 [mm].

The value v(dd2) that uniquely identifies the numerical value 343 of the depth d of the part 301 that is type 341 of "Pe2" (weld 102) is, for example, 300.0 [mm]. The value v(dw2) that uniquely identifies the numerical value 343 of the width w is, for example, 50.0 [mm].

The value v(dd3) that uniquely identifies the numerical value 343 of the depth d of the part 301 that is type 341 of "Pe3" (weld 103) is, for example, 300.0 [mm]. The value v(dw3) that uniquely identifies the numerical value 343 of the width w is, for example, 50.0 [mm].

<Work 110>
4 is a perspective view showing an example of a workpiece 110. The workpiece 110 is an object of action of the end effector 100, and has one or more action positions ap1 to ap6 (six in FIG. 4 as an example). When the action positions ap1 to ap6 are not distinguished, they are simply referred to as action positions ap. In this example, the end effector 100 is a welding gun, so the action position ap is a welding position, but if the end effector 100 is an open/close gripping hand, it is a gripping position, if it is a torque driver, it is a screw tightening position, and if it is an end mill, it is a drilling position.

Figure 5 is an explanatory diagram showing an example of work design information. Work design information 500 is stored in the storage device 202 of the modification device 200 or in a storage device of another computer that can communicate with the modification device 200.

The workpiece design information 500 is design information for the workpiece 110, i.e., three-dimensional graphic data showing the three-dimensional shape of the workpiece 110. In FIG. 5, the workpiece design information 500 is represented in a table format.

The work design information 500 has fields including a part 501, a placement position and orientation 502, and face information 503. The part 501 is one element (constituent element) that constitutes the work 110, and holds "Pw1", ... as values that uniquely identify the work 110. Specifically, for example, "Pw1" is the main body of the work 110.

The placement position and orientation 502 is the orientation of the part 501 when the workpiece 110 is placed in the local coordinate system, and holds "Qw1", ... as values that uniquely identify the placement position and orientation 502. Specifically, for example, "Qe1" is a group of vertex coordinate values of the workpiece 110.

The face information 503 is information about the faces of the part 501, and holds "Sw11", "Sw12", ... as values that uniquely identify the face information 503. Specifically, for example, each of "Sw11", "Sw12", ... indicates polygon data that constitutes the face of the workpiece 110, and includes a group of vertex coordinate values and a normal vector of the polygon data.

Figure 6 is an explanatory diagram showing an example of action position information 600. In Figure 6, the action position information 600 is expressed in table format. The action position information 600 has the fields of an action position ID 601 and a coordinate value 602. The action position ID 601 is identification information that uniquely identifies the action position ap, and holds the action positions ap1 to ap6 as values. The coordinate value 602 indicates the three-dimensional positions of the action positions ap1 to ap6 in the local coordinate system of the workpiece 110.

<Search parameter information>
Fig. 7 is an explanatory diagram showing an example of search parameter information. Search parameter information 700 is stored in the storage device 202 of the modification device 200 or in a storage device of another computer that can communicate with the modification device 200. In Fig. 7, the search parameter information 700 is expressed in a table format.

Search parameter information 700 is a set of parameters for searching interference region 120, and has fields search parameter type 701 and value 702. Search parameter type 701 indicates the type of search parameter. Search parameter type 701 includes, for example, three types of search parameters: search angle increment number a, correction increment distance l, and maximum number of corrections k.

The search angle step number a is the step number when the end effector 100 is rotated around the normal line 111 as the rotation axis. The step angle is 2π/a. The correction step distance l is the step distance for correcting the dimension 304. The maximum number of corrections k is the maximum number of times that the end effector dimension correction (2) shown in FIG. 1 can be executed.

The value 702 is the setting value of the search angle step number a, the correction step distance l, and the maximum number of corrections k, which are specified by the search parameter type 701. The value 702 can be set by the user operating the input device 203.

<Correction process procedure>
8 is a flowchart showing an example of a correction process procedure by the correction device 200 according to the first embodiment. The correction device 200 executes a data acquisition process (step S801). Specifically, for example, the correction device 200 reads the end effector design information 300, the workpiece design information 500, the action position information 600, and the search parameter information 700 as an acquisition unit 801. Note that since the end effector 100 and the workpiece 110 are placed in a common global coordinate system, the coordinate values defined in the end effector design information 300, the workpiece design information 500, and the action position information 600 are converted.

Next, the modification device 200, as the calculation unit 802, executes a process of calculating the positionable end effector attitude (step S802). Specifically, for example, the modification device 200 executes the (1) calculation of the positionable end effector attitude shown in FIG. 1. Details of the process of calculating the positionable end effector attitude (step S802) will be described later with reference to FIG. 9.

Next, the correction device 200, as the correction unit 803, executes an end effector dimension correction process (step S803). Specifically, for example, the correction device 200 executes the end effector dimension correction (2) shown in FIG. 1. Details of the end effector dimension correction process (step S803) will be described later with reference to FIG. 10.

The acquisition unit 801, calculation unit 802, and correction unit 803 are specifically realized, for example, by having the processor 201 execute a program stored in the storage device 202 shown in FIG. 2, and each executes steps S801 to S803.

Figure 9 is a flowchart showing a detailed example of the process of calculating the positionable end effector attitude (step S802) shown in Figure 8. First, the correction device 200 sets the loop variable i of all action positions ap1 to apn (n is an integer equal to or greater than 1, and is the number of entries in the action position information 600, i.e., the total number of action positions ap) in the action position information 600 to i = 1 (step S901). In step S901, when the process is returned in step S905, the loop variable i is incremented.

Next, the correction device 200 positions the end effector 100 so that the tips 104 and 105 of the end effector 100 are in contact with the surface of the workpiece 110 perpendicularly at the action position api (step S902). As a result, the tips 104 and 105 and the action position api are positioned on the normal line 111 as shown in FIG. 1.

Next, the modification device 200 rotates the end effector 100 at the action position api by 2π/a around the normal 111 as the rotation axis, and calculates the interference between the workpiece 110 and the posture of the end effector 100 for each rotation (step S903). That is, the modification device 200 calculates the interference between the workpiece 110 and the posture of the end effector 100 for the search angle increment number a. In this way, the modification device 200 changes the posture of the workpiece 110 while keeping the posture of the end effector 100 fixed and the action position api fixed.

In this interference calculation, the correction device 200 calculates end effector posture information, interference area information, and interference resolution direction information. The end effector posture information is the posture of the end effector 100 for each rotation in increments of 2π/a, and specifically, for example, the placement position posture 302, face information 303, and dimensions 304 of the part 301 for each rotation in increments of 2π/a in the global coordinate system.

The interference area information is information that constitutes the interference area 120, which is a three-dimensional overlapping area between the end effector 100 and the workpiece 110. Specifically, for example, the interference area 120 is the surface of the workpiece 110 that has become located inside the end effector 100 due to interference, and the interference area information is defined by the surface information 503 of the surface of the workpiece 110 that is located inside the end effector 100. The interference area information also includes the volume of the interference area 120.

The interference resolution direction information is information that defines the interference resolution direction 130, and is the normal vector of the polygon data that constitutes the surface of the end effector 100 that overlaps with the workpiece 110 (for example, the hatched surface of the interference area 120 shown in FIG. 1). The average of the normal vectors becomes the interference resolution direction 130. In this way, the presence or absence of interference between the end effector 100 and the workpiece 110 and, if interference occurs, the interference area 120 are identified.

That is, the interference resolution direction 130 is the direction in which the interference between the end effector 100 and the workpiece 110 is resolved, and when the workpiece 110 moves in the interference resolution direction 130 and moves away from the end effector 100, the volume of the interference area 120 decreases and the interference with the end effector 100 is resolved. In the end effector dimension correction process (step S803), the correction device 200 corrects the dimensions of the part 301 of the end effector 100 so that the end effector 100 can act at the action position ap without interfering with the workpiece 110.

The interference resolution direction 130 does not exist if the end effector 100 and the workpiece 110 do not interfere with each other even once, but since interference calculations are performed for the position of the search angle increment a, a maximum of a interference resolution directions exist for one action position ap.

Next, the correction device 200 records the end effector posture information, interference area information, and interference resolution direction information calculated in step S903 in the storage device 202 (step S904).

Then, the correction device 200 determines whether i = n, and if i = n, returns to step S901, and if i = n, ends the process of calculating the positionable end effector attitude.

Figure 10 is a flowchart showing a detailed example of the processing procedure of the end effector dimension correction process (step S803) shown in Figure 8. First, the correction device 200 sets the loop variable j of the maximum number of corrections k to i = 1 (step S1001). In step S1001, when the process is returned in step S1004, the loop variable j is incremented.

Next, the correction device 200 determines whether there is a posture of the end effector 100 that does not interfere with the workpiece 110 at all of the action positions ap1 to apn (step S1002). The posture of the end effector 100 that does not interfere with the workpiece 110 at each of the action positions ap1 to apn does not need to be the same posture. In other words, whatever the posture of the end effector 100, it is sufficient that it can act at all of the action positions ap1 to apn without interfering with the workpiece 110 with the current shape of the end effector 100 (loop variable j).

In other words, if there is no posture of the end effector 100 that does not interfere with the workpiece 110 at all of the action positions ap1 to apn (step S1002: No), this means that there is at least one action position ap that interferes with the workpiece 110 at any of the postures in the search angle increment number a.

If there is no posture of the end effector 100 that does not interfere with the workpiece 110 at all of the action positions ap1 to apn (step S1002: No), the modification device 200 selects a part 301 whose dimension 304 has a direction 342 that forms the smallest angle with the interference resolution direction 130 among the dimensions 304 of the end effector 100. Then, the modification device 200 increases the numerical value 343 of the dimension 304 of the selected part 301 having the direction 342 that forms the smallest angle with the closest interference resolution direction 130 by the modification step distance l (step S1003).

For example, if the direction 342 that forms the smallest angle with the interference resolution direction 130 is the direction dd2 of the bore depth d of the weld 102, the correction device 200 increases the value v (dd2) by the correction interval distance l. In this case, the correction device 200 also increases the value v (dd3) of the weld 103 that is paired with the weld 102 by the correction interval distance l.

Note that, since the interference resolution directions 130 are calculated for the position of the search angle increment a, there are a maximum of a interference resolution directions 130 for one action position ap, and therefore an interference resolution direction 130 also exists for each interference. Therefore, in step S1003, the correction device 200 may identify candidates for the part 301 with the smallest angle difference for each interference resolution direction 130, and select the part 301 with the smallest angle difference from among the candidate parts 301 as the part to be corrected.

In addition, when there are multiple interference resolution directions 130, the correction device 200 may select, as the part to be corrected, the part 301 having the dimension 304 with the direction 342 that forms the smallest angle with the interference resolution direction 130 in which the volume of the interference region 120 is maximized. This increases the possibility that the interference regions 120 corresponding to the other interference resolution directions 130 will also disappear.

In addition, when there are multiple interference resolution directions 130, the correction device 200 may select, as the part to be corrected, the part 301 having the dimension 304 with the direction 342 that forms the smallest angle with the interference resolution direction 130 in which the volume of the interference region 120 is the smallest. This allows fine adjustment of the dimensions of the end effector 100, in other words, prevents excessive correction of the dimensions.

In addition, if there are multiple action positions ap where the end effector 100 interferes with the workpiece 110, the correction device 200 selects one of the action positions ap and executes step S1003.

Then, the correction device 200 judges whether j=k or not, and if j=k is not satisfied, the process returns to step S1001, and if j=k is satisfied, the process ends the end effector dimension correction process (step S1004). In this case, even if corrections are made k times, the current shape of the end effector 100 will not be able to act on all of the action positions ap1 to apn without interfering with the workpiece 110.

In addition, in step S1002, if there is a posture of the end effector 100 that does not interfere with the workpiece 110 at all of the action positions ap1 to apn (step S1002: Yes), the correction device 200 updates and outputs the placeable end effector 100, the placeable end effector posture, and the dimensional correction information (step S1005). The dimensional correction information is the correction step distance l of the increase in step S1003.

Specifically, for example, when j=1, the correction device 200 sets the deployable end effector 100 to the end effector 100 whose dimensions have not been modified in step S1003, and when j≧2, the deployable end effector 100 to the end effector 100 whose dimensions have been modified in step S1003 for the (j-1)th time.

The correction device 200 also updates the positionable end effector posture information to end effector posture information that did not interfere with the workpiece 110 for all action positions ap1 to apn in the jth iteration.

When j=1, the correction device 200 sets the dimension correction information to the dimension correction information that has not been dimension corrected in step S1003, and when j≧2, the dimension correction information to the dimension correction information when the dimension is corrected in step S1003 for the (j-1)th time. This ends the end effector dimension correction process (step S803).

<Example of output data>
Next, an example of the output data in step S1005 will be described with reference to Figures 11 to 14. The output data may be displayed on a display device, which is an example of the output device 204, or may be transmitted to another computer via the communication IF 205 and displayed on a display device of the other computer.

Figure 11 is an explanatory diagram showing an example of end effector design information 300 indicating a deployable end effector 100. Figure 11 shows that "v(dd2)", which is the numerical value 343 of dimension 304 for the bore depth d of "Pe2" (weld 102) of part 301, and "v(dd3)", which is the numerical value 343 of dimension 304 for the bore depth d of "Pe3" (weld 103) of part 301, have been modified.

Figure 12 is an explanatory diagram showing an example of position information of a placeable end effector. Position information of a placeable end effector 1200 has fields of an action position ID 601, a position ID 1201, and a position 1202. The position ID 1201 is identification information that uniquely identifies the position 1202 of the end effector 100 that did not interfere with the workpiece 110 for all action positions ap1 to apn in the jth time.

Attitude 1202 indicates the placement position in the global coordinate system of the end effector 100 that did not interfere with the workpiece 110 for all action positions ap1 to apn in the jth iteration, and is defined, for example, by a set of vertex coordinate values of the end effector 100.

Figure 13 is an explanatory diagram showing an example of dimension correction information. Dimension correction information 1300 has the fields type 341 and correction value 1301. Correction value 1301 is the value of the correction to the length (depth d, spacing g, width w, ...) specified by type 341, and is a multiple of the correction interval distance l.

FIG. 14 is an explanatory diagram showing an example of a display screen that displays output data according to the first embodiment. The display screen 1400 displays placeable end effector attitude information 1200 and dimension correction information 1300. Furthermore, the end effector 100 in the placeable end effector attitude information 1200 and the dimension correction information 1300 is drawn based on the corrected end effector design information 300 shown in FIG. 11. The workpiece 110 is drawn based on the workpiece design information 500.

The display screen 1400 also has a correction increment distance pull-down 1401, a unit pull-down 1402, and a recalculation button 1403. The correction increment distance pull-down 1401 is a user interface that allows the user to select the correction increment distance l by operating the input device 203. It is also possible to directly input the correction increment distance l. Although not shown, a correction increment distance pull-down 1401 may be provided for each type 341. This allows the correction increment distance l to be different for each type 341.

The unit pull-down 1402 is a user interface that allows the unit of the correction increment distance l to be selected by operating the input device 203. The recalculation button 1403 is a user interface that instructs re-execution of the end effector dimension correction process (step S803) by operating the input device 203. When the recalculation button 1404 is pressed, the end effector dimension correction process (step S803) is re-executed with the correction increment distance l selected in the correction increment distance pull-down 1401.

In this way, according to the first embodiment, it is possible to make corrections so as not to interfere with multiple operating positions. In other words, the dimensions of the end effector 100 that can act on the workpiece 110 at any operating position ap can be corrected in advance at the design stage. Therefore, it is possible to reduce the amount of work required to correct the dimensions of the end effector 100.

Next, a second embodiment will be described. The correction device 200 according to the second embodiment calculates the trajectory of the robot arm to which the end effector 100 is attached in the first embodiment. This makes it possible to identify the trajectory of the robot arm that can be moved in the corrected posture of the end effector 100. In other words, even if the posture of the end effector 100 is one that can be placed, if the trajectory of the robot arm cannot be generated, the correction will not be effective. In this way, the effectiveness of the corrected posture of the end effector 100 can be improved by taking the trajectory of the robot arm into consideration. It is assumed that the order in which the robot arm passes through the multiple action positions ap is set in the correction device 200.

In the second embodiment, the differences from the first embodiment will be mainly described, and the common parts will not be described. In addition, the calculation of the trajectory of the robot arm itself is a known technique, so the description will not be provided.

Figure 15 is an explanatory diagram showing an example of the relative positions of the robot arm, end effector 100, workpiece 110, and jig. The workpiece 110 is held by jig 1500. Jig 1500 has a base 1501 and four support members 1502 on base 1501. The four support members 1502 clamp the workpiece 110 from four sides, thereby holding the workpiece 110 so that the surface of the workpiece 110 is approximately horizontal.

The robot arm 1510 is, for example, a six-axis manipulator and has a tip 1511. The tip 1511 is detachable from the end effector 100.

<Example of trajectory calculation of robot arm 1510>
Fig. 16 is an explanatory diagram showing an example of trajectory calculation of the robot arm 1510. In Fig. 16, for the sake of simplicity, the action positions ap are designated as ap1 and ap3. It is assumed that, as a result of the placeable end effector attitude calculation process (step S802) and the end effector dimension correction process (step S803), attitudes 1202 with attitude IDs 1201 of R11 to R13 (hereinafter referred to as attitudes R11 to R13) are output for the action position ap1, and attitudes 1202 with attitude IDs 1201 of R21 to R23 (hereinafter referred to as attitudes R23 to R33) are output for the action position ap3.

The correction device 200 selects one of nine combinations of the orientations R11 to R13 and the orientations R31 to R33 of the deployable end effector 100 {(R11, R31), (R11, R32), (R11, R33), (R12, R31), (R12, R32), (R12, R33), (R13, R31), (R13, R32), (R13, R33)}. Specifically, for example, the correction device 200 selects a combination that minimizes the change in the orientation of the robot arm 1510. In the example of FIG. 16, the combination of orientations R11 and R32 is selected as the combination that minimizes the change in the orientation of the robot arm 1510.

The posture of the robot arm 1510 is determined, for example, by the rotation angle vectors of multiple joints of the robot arm 1510. A change in posture of the robot arm 1510 is determined, for example, by the Euclidean distance between the rotation angle vector before the posture change of the robot arm 1510 and the rotation angle vector after the posture change of the robot arm 1510.

The robot arm 1510 before the posture change refers to the initial posture before the robot arm 1510 moves when selecting from postures R11 to R13 of the deployable end effector 100, and refers to the posture of the robot arm 1510 when taking each of postures R11 to R13 of the deployable end effector 100 at the action position ap1 when selecting from postures R31 to R33 of the deployable end effector 100.

The post-posture change attitude of the robot arm 1510 refers to the attitude of the robot arm 1510 when the deployable end effector 100 takes one of the attitudes R11 to R13 at the action position ap1 when selecting from the attitudes R11 to R13 of the deployable end effector 100, and refers to the attitude of the robot arm 1510 when the deployable end effector 100 takes one of the attitudes R31 to R33 at the action position ap3 when selecting from the attitudes R31 to R33 of the deployable end effector 100.

The combination (R11, R32) in which the Euclidean distance before and after the posture change of the robot arm 1510 is the smallest is the combination in which the posture change of the robot arm 1510 is the smallest.

Then, the correction device 200 generates a trajectory 1601 of the robot arm 1510 that interpolates between the initial posture of the robot arm 1510 before the movement and the posture of the robot arm 1510 when the deployable end effector 100 takes the posture R11 at the action position ap1.

Similarly, the correction device 200 generates a trajectory 1602 of the robot arm 1510 that interpolates between the posture of the robot arm 1510 when the deployable end effector 100 takes posture R11 at the action position ap1 and the posture of the robot arm 1510 when the deployable end effector 100 takes posture R32 at the action position ap3.

If at least one of the trajectories 1601, 1602 of the robot arm 1510 cannot be generated, the correction device 200 reselects from the nine combinations of the orientations R11-R13 and R31-R33 of the deployable end effector 100 a combination that minimizes the Euclidean distance before and after the orientation change of the robot arm 1510, excluding the combination (R11, R32), and regenerates the trajectory of the robot arm 1510 for the reselected combination.

Figure 17 is an explanatory diagram showing an example of robot arm design information. Robot arm design information 1700 is stored in the storage device 202 of the correction device 200 or in a storage device of another computer that can communicate with the correction device 200.

The robot arm design information 1700 is design information for the robot arm 1510, that is, three-dimensional graphic data showing the three-dimensional shape of the robot arm 1510. In FIG. 17, the robot arm design information 1700 is represented in a table format.

The robot arm design information 1700 has the fields of a part 1701, a placement position and orientation 1702, and face information 1703. The part 1701 is one element (component) that constitutes the robot arm 1510, and holds "Pr1", "Pr2", ... as values that uniquely identify the part 1701. Specifically, for example, "Pr1" is a joint, and "Pr2" is a link.

The placement position and orientation 1702 is the orientation of the part 1701 when the robot arm 1510 is placed in the local coordinate system, and holds "Qr1", "Qr2", ... as values that uniquely identify the placement position and orientation 1702. Specifically, for example, "Qr1" is a group of vertex coordinate values of a joint and a rotation angle of the joint, and "Qr2" is a group of vertex coordinate values of a link.

Face information 1703 is information about the faces of part 1701, and holds "Sr11", "Sr12", ..., "Sr21", "Sr22", ... as values that uniquely identify face information 1703. Specifically, for example, each of "Sr11", "Sr12", ... indicates polygon data that constitutes the face of a joint, and includes a group of vertex coordinate values and a normal vector of that polygon data. Similarly, each of "Sr21", "Sr22", ... indicates polygon data that constitutes the face of a link, and includes a group of vertex coordinate values and a normal vector of that polygon data.

Figure 18 is an explanatory diagram showing an example of jig design information. Jig design information 1800 is stored in the storage device 202 of the correction device 200 or in a storage device of another computer that can communicate with the correction device 200.

The jig design information 1800 is design information for the jig 1500, that is, three-dimensional graphic data showing the three-dimensional shape of the jig 1500. In FIG. 18, the jig design information 1800 is represented in a table format.

The jig design information 1800 has fields including a part 1801, a placement position and orientation 1802, and face information 1803. The part 1801 is one element (constituent element) that constitutes the jig 1500, and holds "Pj1", "Pj2", ... as values that uniquely identify the part 1801. Specifically, for example, "Pj1" is the base 1501, and "Pj2" is the support member 1502.

The placement position and orientation 1802 is the orientation of the part 1801 when the jig 1500 is placed in the local coordinate system, and holds "Qj1", "Qj2", ... as values that uniquely identify the placement position and orientation 1802. Specifically, for example, "Qj1" is a group of vertex coordinate values of the base 1501, and "Qr2" is a group of vertex coordinate values of the support member 1502.

The face information 1803 is information about the faces of the part 1801, and holds "Sj11", "Sj12", ..., "Sj21", "Sj22", ... as values that uniquely identify the face information 1803. Specifically, for example, each of "Sj11", "Sj12", ... indicates polygon data that constitutes the face of the base 1501, and includes a group of vertex coordinate values and a normal vector of the polygon data. Similarly, each of "Sj21", "Sj22", ... indicates polygon data that constitutes the face of the support member 1502, and includes a group of vertex coordinate values and a normal vector of the polygon data.

<Correction process procedure>
19 is a flowchart showing an example of a correction process procedure by the correction device 200 according to the second embodiment. The correction device 200 executes a data acquisition process (step S1901). In the data acquisition process (step S1901), the correction device 200 reads the end effector design information 300, the workpiece design information 500, the action position information 600, and the search parameter information 700, as well as the robot arm design information 1700 and the jig design information 1800.

Then, the correction device 200 executes a placeable end effector posture calculation process (step S802) and an end effector dimension correction process (step S803). After step S803, the correction device 200 executes a robot arm trajectory generation process (step S1904) as the generation unit 1904. The robot arm trajectory generation process (step S1904) is a process for calculating the trajectory of the robot arm 1510 without interfering with the jig 1500.

Specifically, the generation unit 1904 is realized by, for example, causing the processor 201 to execute a program stored in the storage device 202 shown in FIG. 2, and executes step S1904.

Figure 20 is a flowchart showing a detailed example of the processing procedure of the robot arm trajectory generation process (step S1904) shown in Figure 19. The correction device 200 searches for a posture 1202 in which the end effector 100 can be placed at each action position ap, in which the change in posture of the robot arm 1510 before and after the movement of the end effector 100 between the action positions ap is minimized (step S2001).

Specifically, for example, in the example shown in FIG. 21, the correction device 200 searches for the posture 1202 of the end effector 100 that minimizes the posture change of the robot arm 1510 from the initial posture before the movement of the robot arm 1510, among the postures R11 to R13 of the end effector 100 at the action position ap1. In the example of FIG. 21, the posture R11 of the end effector 100 is searched for as the posture 1202 of the end effector 100 that minimizes the posture change of the robot arm 1510.

The correction device 200 also searches for the posture 1202 of the end effector 100 that minimizes the posture change of the robot arm 1510 from the initial posture before the movement of the robot arm 1510, among the postures R31 to R33 of the end effector 100 at the action position ap3. In the example of FIG. 21, the posture R32 of the end effector 100 is searched for as the posture 1202 of the end effector 100 that minimizes the posture change of the robot arm 1510.

Next, the correction device 200 generates robot arm trajectory information indicating the posture of the robot arm 1510 between the action positions ap before and after the movement (step S2002). The robot arm trajectory information is stored in the storage device 202.

Figure 21 is an explanatory diagram showing an example of robot arm trajectory information. Robot arm trajectory information 2100 has fields of time 2101 and joint angle 2102. Each entry indicates the posture of the robot arm 1510 at time 2101, and the chronological order constitutes the trajectory of the robot arm 1510. The time 2101 is the timing at which the robot arm 1510 operates. The joint angle 2102 is a vector indicating the angle of each joint of the robot arm 1510 at time 2101, and defines the posture of the robot arm 1510.

For example, in the example of FIG. 16, the joint angle 2102 at time 2101 "t0" indicates the initial posture of the robot arm 1510 before movement, the joint angles 2102 from "t1" to "t3" are the trajectory 1601 of the robot arm 1510 indicating the posture of the robot arm 1510 interpolating from the initial posture to the action position ap1, the joint angle 2102 at "t4" is the posture of the robot arm 1510 at the action position ap1, the joint angles 2102 from "t5" to "t8" are the trajectory 1602 of the robot arm 1510 indicating the posture of the robot arm 1510 interpolating from the action position ap1 to the action position ap2, and the joint angle 2102 at "t9" is the posture of the robot arm 1510 at the action position ap2.

FIG. 22 is an explanatory diagram showing an example of a display screen that displays output data according to Example 2. The display screen 2200 displays robot arm trajectory information 2100 and dimension correction information 1300. The end effector 100 in the robot arm trajectory information 2100 is drawn based on the corrected end effector design information 300 shown in FIG. 11. The workpiece 110 is drawn based on the workpiece design information 500. The robot arm 1510 is drawn based on the robot arm design information 1700. The jig 1500 is drawn based on the jig design information 1800.

On the display screen 2200, the robot arm trajectory information 2100 may be displayed as a still image for each time 2101, or may be displayed in a time-series video format that can be played back at the times 2101.

In this way, according to Example 2, the posture of the robot arm 1510 can be generated so that the posture change of the robot arm 1510 between the action positions ap is minimized, and the efficiency of the work performed by the deployable end effector 100 and the robot arm 1510 can be improved.

In addition, by generating a trajectory of the movable robot arm 1510 in the posture of the deployable end effector 100, the dimensional correction of the end effector 100 itself is effective for the action position ap, but it is possible to avoid rework such as re-correcting the dimensions of the end effector 100, which occurs when the trajectory of the robot arm 1510 cannot be generated in such a posture of the deployable end effector 100.

The correction device 200 according to the above-mentioned first and second embodiments can also be configured as follows (1) to (14).

(1) The correction device 200 has an acquisition unit 801 that acquires end effector design information 300 and work design information 500 having multiple action positions acted upon by the end effector 100, a calculation unit 802 that calculates, for each action position ap, a first attitude 1202 of the end effector 100 that is positioned so as to be able to act at the action position ap of the workpiece 110 without interfering with the workpiece 110 based on the end effector design information 300 and the workpiece design information 500, and a correction unit 803 that corrects the dimension 304 of the part 301 that constitutes the end effector 100 based on the calculation result by the calculation unit 802.

(2) In the correction device 200 described above in (1), the correction unit 803 determines whether the first attitude 1202 exists at all of the multiple action positions ap, and if the first attitude 1202 exists at all of the multiple action positions ap, outputs the corrected end effector design information 300.

(3) In the correction device 200 of (1) above, the correction unit 803 determines whether the first attitude 1202 exists at all of the multiple action positions ap, and if the first attitude 1202 exists at all of the multiple action positions ap, outputs deployable end effector attitude information 1200 that associates the first attitude 1202 with the action positions ap.

(4) In the correction device 200 of (1) above, the correction unit 803 determines whether the first attitude 1202 exists at all of the multiple action positions ap, and if there is even one action position ap at which the first attitude 1202 does not exist, corrects the dimension 304 of the part 301.

(5) In the correction device 200 of (4) above, the calculation unit 802 identifies an interference resolution direction 130 in which the interference between the workpiece 110 and the end effector 100 is resolved for the second orientation 1202 of the end effector 100 at the action position ap where the first orientation 1202 does not exist, and selects a correction target part 301 from a group of parts 301 constituting the end effector 100 based on the angle difference between the interference resolution direction 130 and the direction 342 of each part 301 in the group of parts, and the correction unit 803 corrects the dimension 304 of the correction target part 301.

(6) In the correction device 200 of (5) above, the calculation unit 802 selects the part 301 having the direction 342 in which the angle difference is smallest as the part 301 to be corrected.

(7) In the correction device 200 of (6) above, when there are multiple second orientations 1202, the calculation unit 802 identifies the interference resolution direction 130 for each second orientation 1202, identifies a part candidate having a direction 342 in which the angle difference is smallest for each interference resolution direction 130, and selects the part 301 having the direction 342 in which the angle difference is smallest from among the part candidates as the part 301 to be corrected.

(8) In the correction device 200 of (6) above, when there are multiple second orientations 1202, the calculation unit 802 identifies the interference resolution direction 130 and the interference area 120 between the workpiece 110 and the end effector 100 for each second orientation 1202, and selects the part 301 having the direction 342 with the smallest angle difference from the specific interference resolution direction 130 in which the volume of the interference area 120 is maximized as the part 301 to be corrected.

(9) In the correction device 200 of (6) above, when there are multiple second orientations 1202, the calculation unit 802 identifies the interference resolution direction 130 and the interference area 120 between the workpiece 110 and the end effector 100 for each second orientation 1202, and selects the part 301 having the direction 342 with the smallest angle difference from the specific interference resolution direction 130 in which the volume of the interference area 120 is the smallest, as the part 301 to be corrected.

(10) In the modification device 200 of (4) above, the modification unit 803 updates the end effector design information 300 with the modified dimensions 304 of the end effector 100, and determines whether the first orientation 1202 exists at all of the multiple action positions ap based on the updated end effector design information 300. If there is at least one action position ap where the first orientation 1202 does not exist, the modification unit 803 modifies the dimensions 304 of the part 301.

Example 2
(11) In the correction device 200 of (1) above, the acquisition unit 801 acquires robot arm design information 1700 to which the end effector 100 is attached, and has a generation unit 1904 that generates a trajectory of the robot arm 1510 that moves the end effector 100 attached to the robot arm 1510 from a first action position ap to a second action position ap based on the robot arm design information 1700, the end effector design information 300 after correction by the correction unit 803, and the first attitude 1202 at each of the multiple action positions ap.

(12) In the correction device 200 of (11) above, the generation unit 1904 generates a trajectory of the robot arm 1510 so that the end effector 100 takes the first posture 1202 of the first action position ap at the first action position ap and the first posture 1202 of the second action position ap at the second action position ap.

(13) In the correction device 200 of (12) above, when there are a plurality of first attitudes 1202 of the first action position ap, the generation unit 1904 identifies the first attitude 1202 of the first action position ap that is to be the subject of trajectory generation from among the plurality of first attitudes 1202 of the first action position ap, based on the attitude change of the robot arm from each of the first attitudes 1202 of the first action position ap to the first attitude 1202 of the second action position ap.

(14) In the correction device 200 of (12) above, when there are a plurality of first attitudes 1202 of the second action position ap, the generation unit 1904 identifies the first attitude 1202 of the second action position ap that is to be the subject of trajectory generation from among the plurality of first attitudes 1202 of the second action position ap, based on the attitude change of the robot arm from the first attitude 1202 of the first action position ap to each of the first attitudes 1202 of the second action position ap.

The present invention is not limited to the above-described embodiments, but includes various modified examples and equivalent configurations within the spirit of the appended claims. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to having all of the configurations described. Furthermore, a portion of the configuration of one embodiment may be replaced with the configuration of another embodiment. Furthermore, the configuration of another embodiment may be added to the configuration of one embodiment. Furthermore, other configurations may be added, deleted, or replaced with part of the configuration of each embodiment.

Furthermore, each of the configurations, functions, processing units, processing means, etc. described above may be realized in part or in whole in hardware, for example by designing them as integrated circuits, or may be realized in software by a processor interpreting and executing a program that realizes each function.

Information such as programs, tables, and files that realize each function can be stored in a storage device such as a memory, a hard disk, or an SSD (Solid State Drive), or in a recording medium such as an IC (Integrated Circuit) card, an SD card, or a DVD (Digital Versatile Disc).

In addition, the control lines and information lines shown are those considered necessary for explanation, and do not necessarily represent all control lines and information lines necessary for implementation. In reality, it is safe to assume that almost all components are interconnected.

100 End effector 110 Workpiece 120 Interference area 130 Interference resolution direction 200 Correction device 201 Processor 202 Storage device 300 End effector design information 301 Part 304 Dimension 341 Type 342 Direction 343 Value 500 Workpiece design information 600 Action position information 700 Search parameter information 801 Acquisition unit 802 Calculation unit 803 Correction unit 1200 Placeable end effector attitude information 1202 Attitude 1300 Dimension correction information 1500 Jig 1510 Robot arm 1601, 1602 Trajectory 1700 Robot arm design information 1904 Generation unit 2100 Robot arm trajectory information

Claims (13)

An acquisition unit that acquires design information regarding an end effector and design information regarding a workpiece having a plurality of action positions that are acted on by the end effector;
a calculation unit that calculates, for each action position, a first attitude of the end effector that is disposed so as to be able to act at an action position of the workpiece without interfering with the workpiece, based on design information regarding the end effector and design information regarding the workpiece;
a correction unit that determines whether or not the first orientation exists in all of the plurality of action positions, and corrects dimensions of components that configure the end effector based on a calculation result by the calculation unit when there is at least one action position in which the first orientation does not exist,
the calculation unit specifies an interference resolution direction in which interference between the workpiece and the end effector is resolved for a second orientation of the end effector at an operating position where the first orientation does not exist, and selects a correction target part from a group of parts constituting the end effector based on an angle difference between the interference resolution direction and a direction of each part in the group of parts;
The correction unit corrects a dimension of the correction target part.
A repair device comprising: 2. The correction device of claim 1,
the correction unit determines whether the first orientation exists in all of the plurality of action positions, and when the first orientation exists in all of the plurality of action positions, outputs design information related to the end effector after the correction.
A repair device comprising: 2. The correction device of claim 1,
the correction unit determines whether the first attitude exists in all of the plurality of action positions, and when the first attitude exists in all of the plurality of action positions, outputs attitude information in which the first attitude is associated with the plurality of action positions.
A repair device comprising: 2. The correction device of claim 1,
the calculation unit selects the part having a direction in which the angle difference is smallest as the correction target part.
A repair device comprising: 5. The correction device according to claim 4,
the calculation unit, when there are a plurality of the second orientations, identifies the interference resolution direction for each of the second orientations, identifies a component candidate having a direction in which the angular difference is smallest for each of the interference resolution directions, and selects, from the component candidates, the component having the direction in which the angular difference is smallest as the correction target component.
A repair device comprising: 5. The correction device according to claim 4,
the calculation unit, when there are a plurality of the second orientations, identifies the interference resolution direction and an interference area between the workpiece and the end effector for each of the second orientations, and selects, as the correction target part, the part having a direction that has a minimum angle difference from a specific interference resolution direction in which the volume of the interference area is maximized.
A repair device comprising: 5. The correction device according to claim 4,
the calculation unit, when there are a plurality of the second orientations, identifies the interference resolution direction and an interference area between the workpiece and the end effector for each of the second orientations, and selects, as the correction target part, the part having a direction that has a minimum angle difference from a specific interference resolution direction in which the volume of the interference area is minimum.
A repair device comprising: 2. The correction device of claim 1,
the correction unit updates design information related to the end effector with the corrected dimensions of the end effector, determines whether or not the first orientation exists in all of the plurality of action positions based on the updated design information related to the end effector, and corrects the dimensions of the part if there is at least one action position where the first orientation does not exist.
A repair device comprising: 2. The correction device of claim 1,
The acquisition unit acquires design information related to a robot arm to which the end effector is attached,
a generation unit that generates a trajectory of the robot arm that moves the end effector attached to the robot arm from a first operating position to a second operating position, based on design information about the robot arm, design information about the end effector after the correction by the correction unit, and the first attitude at each of the plurality of operating positions;
A repair device comprising: 10. The correction device of claim 9,
the generation unit generates a trajectory of the robot arm such that the end effector takes the first posture of the first operating position at the first operating position and takes the first posture of the second operating position at the second operating position.
A repair device comprising: 11. The correction device of claim 10,
the generation unit, when there are a plurality of first postures of the first operational position, identifies the first posture of the first operational position that is to be a target for trajectory generation from among the plurality of first postures of the first operational position, based on a posture change of the robot arm from each of the first postures of the first operational position to the first posture of the second operational position.
A repair device comprising: A correction method using a correction device having a processor that executes a program and a storage device that stores the program, comprising:
The processor,
An acquisition process for acquiring design information on an end effector and design information on a workpiece having a plurality of action positions to be acted on by the end effector;
a calculation process for calculating, for each action position, a first attitude of the end effector that is disposed so as to be able to act at an action position of the workpiece without interfering with the workpiece, based on design information regarding the end effector and design information regarding the workpiece;
determining whether the first orientation exists in all of the plurality of operating positions, and if there is at least one operating position where the first orientation does not exist, executing a correction process to correct dimensions of components that configure the end effector based on a calculation result by the calculation process;
In the calculation process, the processor identifies an interference resolution direction in which interference between the workpiece and the end effector is resolved for a second orientation of the end effector at an operating position where the first orientation does not exist, and selects a correction target part from a group of parts constituting the end effector based on an angle difference between the interference resolution direction and a direction of each part in the group of parts;
In the modification process, the processor modifies a dimension of the part to be modified.
A correction method comprising: The processor:
An acquisition process for acquiring design information on an end effector and design information on a workpiece having a plurality of action positions to be acted on by the end effector;
a calculation process for calculating, for each action position, a first attitude of the end effector that is disposed so as to be able to act at an action position of the workpiece without interfering with the workpiece, based on design information regarding the end effector and design information regarding the workpiece;
determining whether the first orientation exists in all of the plurality of operating positions, and if there is even one operating position in which the first orientation does not exist, executing a correction process to correct dimensions of components that configure the end effector based on a calculation result by the calculation process;
In the calculation process, the processor is caused to execute a process of identifying an interference resolution direction in which interference between the workpiece and the end effector is resolved for a second orientation of the end effector in an operating position where the first orientation does not exist, and selecting a correction target part from a group of parts constituting the end effector based on an angle difference between the interference resolution direction and a direction of each part in the group of parts;
In the modification process, the processor is caused to execute a process of modifying a dimension of the modification target part.
A fix characterized by:

Images