JP4525605B2 - Finishing apparatus and finishing method - Google Patents

Description

  The present invention relates to a finishing apparatus and a finishing method for automatically finishing a welding site by grinding, polishing or the like with a robot.

  Currently, the work of finishing a portion (bead portion) welded by abutting a plurality of members such as a corner portion of a door frame by grinding, polishing or the like depends on human hands. In particular, the finishing operation of the bead portion is not merely polished, but a surface must be created as a product shape and a design, so that it is necessary to rely on human manual work. However, if the grinding and polishing operations including the finishing operation can be automated, a product having a stable design surface with a stable quality can be efficiently produced.

Conventionally, there has been an invention for automatically creating robot path information for the purpose of removing a bead part by a robot equipped with a grinding tool (which can also be polished). In Patent Document 1, route information for basic grinding is taught to the robot in advance, and after measuring the bead width of the welded portion with a visual sensor, route information considering the measured width is newly generated. Also, in Patent Document 2, a triangular surface is assigned to a polished portion to create a divided surface, and the normal direction of each divided surface is measured by a teaching touch sensor from the inclination angle of each divided surface. Then, the posture of the robot is calculated from the measured normal direction, and route information is created. Then, in Patent Document 3, three-dimensional data is acquired by measuring the undulations including the bead portion and its periphery, and the completed curved surface of the bead portion is calculated using this data. Then, the grinding amount and grinding path of the robot are generated from the difference between the three-dimensional data and the completed curved surface.
JP-A-5-345255 JP-A-6-285762 JP 2002-283099 A

  In order to automatically proceed from grinding to finishing, it is desirable to automatically generate a robot path. However, in the above-mentioned Patent Document 1 that requires teaching, the finishing cannot be automatically performed, and the shape of the bead part is not achieved. If the model is different from the teaching model, it is necessary to perform teaching again. Further, in Patent Document 2 described above, the robot's posture is controlled for each divided surface to generate a grinding path for the robot, that is, the divided surfaces are not calculated as continuous surfaces, and thus a smooth surface cannot be obtained. And said patent document 3 measures the undulation including a bead part and its periphery, acquires three-dimensional data, and calculates the completion | finish curved surface of a bead part using this data. Therefore, since the bead portion is included in the calculation of the completed curved surface, it is difficult to create a smooth finished surface due to the size, shape, welding distortion, and the like of the bead.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a finishing apparatus for automatically creating a smooth finished surface by removing a portion where a plurality of members are butted and welded.

A finishing apparatus according to the present invention includes a robot having a processing tool for removing a predetermined portion of a workpiece and finishing it, and a measuring unit that measures a three-dimensional shape including the predetermined portion to be removed of the workpiece and obtains shape data before processing. , Free-form surface generation means for obtaining free-form surface data that is a target finish surface from remaining shape data obtained by removing the removed shape data including the predetermined portion to be removed from the pre-processing shape data, the removed shape data and the free-form surface data wherein the removal data creating means for creating a removal data for removing a difference, a robot control unit for removing the predetermined portion of the workpiece by driving the robot on the basis of the removal data, that with the .

  In the finishing apparatus of the present invention, the removal shape data of a predetermined portion to be removed is removed from the shape data before machining of the workpiece, and the remaining shape data is obtained. Using the remaining shape data, free curved surface data which is the final target finished surface is calculated. Then, the robot is controlled using the removal data of the difference between the removed shape data and the free-form surface data.

The free curved surface generating means used in the finishing apparatus of the present invention includes first free curved surface generating means for obtaining first free curved surface data of a predetermined portion from the remaining shape data, and a combination in which the remaining shape data is connected to the first free curved surface data. It is preferable to comprise second free curved surface generation means for obtaining second free curved surface data as the free curved surface data from the point data and the first free curved surface data.

  The free curved surface generating means calculates once the free curved surface of the target finished surface of the predetermined member to be removed by the first free curved surface generating means. Then, the final free-form surface of the target finish surface is calculated from the first free-form surface by the second free-form surface generation means. The second free-form surface generation means includes not only the first free-form surface data of the first free-form surface but also the remaining shape data ahead of the first free-form surface.

  The robot control means used in the finishing apparatus of the present invention includes control data creation means for creating machining tool control data and a robot movement path from the removal data, and machining tool control for controlling the machining tool based on the control data. It is preferable to have means and path control means for driving the robot according to the movement path.

  The robot used in the finishing apparatus of the present invention is controlled by robot control means that moves a welding portion to be removed according to a movement path and drives a machining tool according to control data. The movement path and control data are determined based on the removal data.

  The finishing apparatus of the present invention preferably further includes a work table having a fixing means for fixing the workpiece.

The finishing method of the present invention includes a step of measuring a three-dimensional shape including the predetermined portion to be removed of a workpiece to obtain pre-processing shape data, and removing shape data including the predetermined portion to be removed from the pre-processing shape data. Based on the removed data, a step of obtaining free curved surface data as a target finish surface from the removed remaining shape data , a step of creating removal data to be removed which is a difference between the removed shape data and the free curved surface data, and Driving a robot having a processing tool to remove the predetermined portion of the workpiece.

  In the finishing method of the present invention, the removed shape data of a predetermined portion to be removed is removed from the shape data before processing of the workpiece to obtain remaining shape data. Using the remaining shape data, free curved surface data which is the final target finished surface is calculated. Then, the robot is controlled using the removal data of the difference between the removed shape data and the free-form surface data.

The step of obtaining the free-form surface data used in the finishing method of the present invention includes the step of obtaining the first free-form surface data of a predetermined part from the remaining shape data, and the connection point data for connecting the remaining shape data to the first free-form surface data; Preferably, the second free-form surface data, which is the free-form surface data, is obtained from the first free-form surface data.

  In the step of obtaining the free-form surface data, first free-form surface data of the free-form surface (first free-form surface) of the target finish surface of the predetermined member to be removed is calculated once. Then, the second free-form surface data of the final free-form surface (second free-form surface) of the target finish surface is calculated from the first free-form surface data. In the step of obtaining the second free-form surface data, not only the first free-form surface data but also the remaining shape data ahead of the first free-form surface is included in the calculation.

  The step of removing a predetermined part of the workpiece used in the finishing method of the present invention includes a step of creating machining tool control data and a robot movement path from the removal data, and a step of controlling the machining tool based on the control data And a step of controlling the movement of the robot according to the movement path.

According to the finishing apparatus and the finishing method of the present invention, in order to remove a predetermined part of the workpiece, the three-dimensional shape of the entire workpiece is measured, the removal data necessary for the removal is calculated, and the robot is based on the removal data. It is possible to automate a finishing process for finishing a series of grinding, polishing, and the like that drives. The free-form surface data of the finished surface is created by removing the data of the predetermined part to be removed from the entire data before processing, so it is smooth without being affected by the shape of the predetermined part to be removed, the size of the undulations, and the welding distortion A free-form surface. Therefore, in the finishing device of the present invention, the robot is driven based on the difference between the free-form surface data and the removed shape data ( a part of the shape data before processing ) , so that the surface is finished to a very smooth surface. Products that maintain stable quality can be manufactured.

  According to the free curved surface generating means used in the finishing apparatus and finishing method of the present invention, first free curved surface data that is a free curved surface that is not affected by the shape of the predetermined portion to be removed, the size of the undulation, and the welding distortion is obtained. It is done. Next, in order to calculate the second free-form surface data which is the final finish target surface using the coordinate data of each connection point connected to the first free-form surface and the first free-form surface data among the remaining shape data, Not only the predetermined portion to be removed is finished to a smooth surface, but also the boundary portion between the predetermined portion to be removed and the remaining shape portion can be finished to a smooth surface without a step.

  According to the robot control means used in the finishing apparatus and the finishing method of the present invention, the control data and the movement path of the robot processing tool are created from the removal data by the control data creating means, and the robot is processed according to the control data. Since the robot is moved according to the movement path by driving the predetermined portion, it is possible to carry out the removal operation of the predetermined portion up to the finish without any human labor.

  Since the workpiece is fixed, the finishing device of the present invention can stably finish the workpiece.

  Hereinafter, the present invention will be specifically described with reference to examples.

(Example)
A configuration perspective view of the finishing apparatus 1 of this embodiment is shown in FIG. 1, and a side view is shown in FIG.

  1 and 2, a finishing apparatus 1 includes a robot 3 that finishes a workpiece 2, a measuring unit 4, and a work table 5 fixed to a floor 6, and includes a computer (not shown). .

  The work 2 includes a welded portion (bead) 20 in which two members are brought into contact with each other by welding.

  The robot 3 includes a processing tool 30 used for finishing the bead 20 and an arm 31 that moves the processing tool 30 to a target position. The robot 3 is driven according to control data obtained by a computer and a movement path.

  The measuring means 4 is a three-dimensional measuring device for measuring the three-dimensional shape of the workpiece 2 and includes a projector 40 and a light receiver 41. The light projector 40 irradiates the workpiece 2 with a laser, and the light receiver 41 receives the laser that the irradiated laser bounces back. Then, the measuring means 4 measures the three-dimensional shape of the workpiece 2 according to the principle of triangulation.

  The work table 5 fixes the work 2 to the upper part 50 by a fixing means (not shown).

FIG. 3 shows a finishing process flow that summarizes the finishing process according to the finishing method of this embodiment, and FIG. 4 shows the polygon of the work 2 and the finish target shape. 3 and 4, the flow of removing and finishing a predetermined portion (bead 20) of the work 2 by the finishing method of the present embodiment using the processing finishing apparatus 1 of the present embodiment, including the configuration of the computer, will be described. To do.

  The finishing device 1 of this embodiment removes and finishes a predetermined portion of the workpiece 2 set on the work table 5 by a finishing method.

  First, in S1, the measuring means 4 measures the three-dimensional shape of the workpiece 2 and creates pre-processing shape data.

  Next, the obtained shape data before processing is processed by a computer. The computer includes polygon creating means, first free curved surface creating means, second free curved surface creating means, removal data creating means, control data creating means, and robot control means used in each step.

In S2, the polygon 21 is created by using the remaining shape data obtained by removing the removed shape data of the beads 20 from the shape data before processing using the polygon creation means. The removal shape data includes data of a predetermined width near the bead 20 in the bead 20. The removed shape data corresponds to the removed shape portion 22 in FIG.

In S3, first free- form surface data that is a target finish surface of the removed shape portion 22 is calculated from the polygon 21 using NURBS, splines, Bezier, etc. using the first free-form surface generation means. That is, the first free-form surface data is calculated only from the polygon 21 data.

  In S4, the second free curved surface data which is the final target finished surface is obtained from the remaining shape data and the first free curved surface data connected to the first free curved surface data of the target finished surface using the second free curved surface generation means. calculate.

In S5, the grinding amount (removal data) is calculated from the difference between the removed shape data and the second free-form surface data using the removal data creating means.

  In S6, it is determined whether or not the grinding amount is negative. If negative, the parameter used in the second free-form surface generating means is changed in S7, and the second free surface is again generated using the second free-form surface generating means in S4. Calculate curved surface data. Then, the grinding amount is calculated by the removal data creation means in S5. Again, in S6, it is determined whether the grinding amount is negative. Until the grinding amount becomes negative in S6, the parameters are reset in S7 and the calculations in S4 and S5 are performed. If the grinding amount is not negative, the process proceeds to S8.

  In S8, the control data of the machining tool 30 and the movement path of the robot arm 31 are created from the grinding amount using the control data creation means.

  In S9, the machining tool 30 is moved based on the control data using the robot control means, the robot arm 31 is moved along the movement path, the bead 20 of the workpiece 2 is removed, and finishing is performed to finish the surface smooth.

According to the finishing apparatus and the finishing method of the present embodiment, the target finished surface is not obtained by teaching. Therefore, even if the shape of the workpiece 2 or the shape of the bead 20 changes, the target finished surface is determined from the remaining shape data. Can be calculated. Since the removal shape data is not included in the calculation for obtaining the finished surface, a smooth surface free from the influence of undulation or the like of the bead 20 can be obtained. That is, the first free-form surface data and the second free-form surface data, which are target finish surfaces, are calculated only from the remaining shape data (polygon 21 data). Therefore, since the grinding amount is determined using the smooth surface data, the workpiece is finished to a very smooth surface.

  As mentioned above, although the suitable Example of this invention was described, this invention is not limited to the said Example. For example, the workpiece 2 is a welded two members, but it is a welded three or more members, the bead may be removed, or the unevenness of one member may be eliminated to finish a smooth surface good. Further, the robot that performs the finishing process may have any size, shape, or the like as long as it can perform grinding, polishing, and the like. And since the measuring means 4 is intended to measure the three-dimensional shape of the workpiece 2, it emits light of a stripe pattern or a unique pattern from the projector 40, and the reflected light is received by the light receiver 41, It suffices if shape data before processing can be acquired by a phase shift method, a spatial encoding method, or the like.

It is a schematic block diagram of the finishing apparatus 1 of a present Example. It is a side view of the finishing apparatus 1 of a present Example. It is a finishing process flow of the finishing method of a present Example. It is a figure which shows the polygon and target shape of the workpiece | work 2 of a present Example.

Explanation of symbols

1: Finishing processing device 2: Work piece 20: Bead 3: Robot 30: Processing tool 31: Arm 4: Measuring means 40: Projector 41: Receiver 5: Work table 50: Upper part 6: Floor

Claims (7)

A robot having a processing tool that removes and finishes a predetermined part of the workpiece;
Measuring means for measuring a three-dimensional shape including the predetermined portion to be removed of the workpiece and obtaining shape data before processing;
Free-form surface generation means for obtaining free-form surface data as a target finish surface from remaining shape data obtained by removing the removed shape data including the predetermined portion to be removed from the pre-processing shape data;
Removal data creating means for creating removal data to be removed, which is a difference between the removed shape data and the free-form surface data;
Robot control means for driving the robot based on the removal data to remove the predetermined portion of the workpiece;
Finishing device characterized by having. The free curved surface generating means includes first free curved surface generating means for obtaining first free curved surface data of the predetermined portion from the remaining shape data, coupling point data for connecting the residual shape data to the first free curved surface data, and the 2. The finishing apparatus according to claim 1, further comprising second free-form surface generating means for obtaining second free-form surface data as the free-form surface data from the first free-form surface data.   The robot control means includes control data creation means for creating control data of the machining tool and a movement path of the robot from the removal data, machining tool control means for controlling the machining tool based on the control data, The finishing apparatus according to claim 1, further comprising path control means for controlling movement of the robot according to the movement path.   The finishing apparatus according to any one of claims 1 to 3, further comprising a workbench having a fixing means for fixing the workpiece. Measuring a three-dimensional shape including the predetermined portion to be removed of the workpiece to obtain shape data before processing;
Obtaining free-form surface data which is a target finish surface from the remaining shape data obtained by removing the removed shape data including the predetermined portion to be removed from the shape data before processing;
Creating removal data to be removed which is a difference between the removal shape data and the free-form surface data;
Driving a robot having a processing tool based on the removal data to remove the predetermined portion of the workpiece;
A finishing method characterized by having The step of obtaining the free-form surface data includes the step of obtaining the first free-form surface data of the predetermined portion from the remaining shape data, the connection point data connecting the remaining shape data to the first free-form surface data, and the first free-form surface data. The finishing method according to claim 5, further comprising the step of obtaining second free-form surface data that is the free-form surface data from curved surface data. Removing the predetermined portion of the workpiece includes creating control data of the machining tool and a movement path of the robot from the removal data; controlling the machining tool based on the control data; The finishing method according to claim 5, further comprising a step of controlling the movement of the robot according to the movement path.

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