JP2016062477A - Device and method for programming for welding - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently perform a series of welding processes including setting an object to be welded at a jig, setting parameters for an automatic welder, and causing the welder to perform the welding.SOLUTION: According to an embodiment of the present invention, there is provided a device for programming for the welding, which performs programming for an operating program identifying positions of a wear plate and a nozzle plate and causing a welding robot to weld a part where the plates are engaged with each other. The device for programming for the welding includes: a storage section; an acquisition section; and a teaching point generation section. The storage section stores CAD data indicating an outer shape of the nozzle plate. The acquisition section acquires NC data for punching the wear plate. The teaching point generation section rotates the NC data for laser punching the wear plate having been acquired, and CAD data of the nozzle plate having been read from the storage section, to positions where a defect does not occur at the welding, and creates teaching points for the welding on the basis of the data for laser punching the wear plate.SELECTED DRAWING: Figure 1

Description

  Embodiments described herein relate generally to a welding program creation device and a welding program creation method.

  One of the members used in steam turbines is a nozzle diaphragm member responsible for the structure of a stationary blade. In the process of manufacturing this nozzle diaphragm, holes are made in the plate according to the shape of the nozzle plate, and the contact is made. There is a welding process in which a nozzle plate is inserted and welded into a hole in the plate, that is, a nozzle seal welding process.

  In this nozzle / seal welding process, for example, as with automatic welding of tube hole seals in heat exchangers, etc., processing errors and assembly errors of welding objects, installation errors of welding objects, and deviations in construction parts due to welding deformation are corrected. Therefore, the image of the construction site imaged by a visual sensor such as a CCD camera is pattern-matched with the master image that has been imaged in advance, the amount of deviation of the image of the construction site is detected, and the value of the operation of the automatic welding device is detected. The welding target position in the program is automatically corrected.

  Also, according to the gap generated between the outer peripheral surface of the nozzle plate and the surface of the contact plate and the level difference between the end surface of the nozzle plate and the surface of the contact plate, the operator can set the welding conditions in the operation program and the welding target. In addition to adjusting the position, an overlay welding operation program is created to fill the step if the step is more than specified.

Japanese Patent No. 3422687

  The operation program for operating the above automatic welding apparatus sets each operation axis of the welding object positioning device to a position where the inclination of the welding portion falls within the tolerance of the welding conditions, and positions the welding object to the welding object. While avoiding interference between the jig for fixing to the device and the welding torch, it is necessary to make it in consideration of welding in a construction order that suppresses welding deformation, etc. There was a problem that the setup work took time and the work efficiency was poor.

  Also, in the preliminary preparation work of welding using a visual sensor, it is necessary to set the parameters such as the image of the master image to detect the deviation of the construction location and the pattern matching target range as the standard for the actual construction object. An operator must perform the operation for a part, and it takes time to create a master image, and the work requires knowledge and experience.

  Furthermore, an operator must create an operation program for measurement by the visual sensor and automatic welding, and the welding conditions and the welding target position must be adjusted according to the gap and level difference.

  A problem to be solved by the present invention is a welding program creation device and welding program creation capable of efficiently performing a series of welding processes in which an object to be welded is set on a jig and parameters are set in an automatic welding device to perform welding. It is to provide a method.

  The welding program creation device of the embodiment is for measuring data of each engaging portion with a visual sensor in a state in which a nozzle plate is inserted and engaged in a hole provided in advance in the contact plate, and for pattern matching with the measured data A welding program creation device that creates a master image, creates an operation program for identifying a position of a contact plate and a nozzle plate based on the master image, and causing a welding robot to perform welding, and includes a storage unit, an acquisition unit, and a teaching point generation unit. Prepare. CAD data indicating the outer shape of the nozzle plate is stored in the storage unit. The acquisition unit acquires NC data for drilling the plate. The teaching point generation unit rotates the acquired NC data for drilling the plate and the CAD data of the nozzle plate read from the storage unit to a position where no defect occurs during welding, and from the laser drilling data for the plate Generate teaching points for welding.

It is a figure which shows the structure of the seal welding system of 1st Embodiment. It is a general view of a welding target object. It is a fragmentary sectional view of the welding target object of FIG. It is a flowchart which shows the operation | movement which the computer for CAD / CAM performs. It is a figure for demonstrating the positioning method of the construction location for downward welding. It is a figure for demonstrating the calculation method of the uppermost (lower) end. It is a figure for demonstrating the difference of a workpiece coordinate system and a robot coordinate system. It is a flowchart which shows creation operation of a master image. It is a figure for demonstrating the projection operation | movement at the time of creating a master image. It is a figure for demonstrating the operation | movement which produces a master image from a projection image. It is a figure for demonstrating the operation | movement which selects the capture range of a master image. It is a figure for demonstrating the image taking-in operation | movement by a visual sensor. It is a figure for demonstrating the shape measurement operation | movement by a two-dimensional shape sensor. It is a figure for demonstrating the preparation procedure of a seal welding program. It is a figure for demonstrating the operation | movement which thins out the laser drilling NC data (point sequence data) of this board, and reduces the number of teaching points. It is a figure for demonstrating the inflection point of a curve. It is a flowchart which shows automatic seal welding operation. It is a figure which shows the example using a distance sensor. It is a figure which shows the example using the visual sensor with an edge detection function.

  Hereinafter, embodiments will be described in detail with reference to the drawings.

(First embodiment)
FIG. 1 is a view showing a seal welding system of the first embodiment.
As shown in FIG. 1, a seal welding system according to the first embodiment includes a CAD / CAM computer 1, a robot control device 2, a two-dimensional shape sensor control device 3, a visual sensor control device 4, and a robot portion as a welding mechanism portion. 5. A CAD / CAM computer 1 and a laser NC device 7 connected through a network 6 such as a LAN.

  The laser NC device 7 stores in advance NC data for laser drilling for making holes 11a (see FIGS. 2 and 3) in the abutment plate 11 (see FIGS. 2 and 3).

  The CAD / CAM computer 1 is a CAD / CAM computer having a CPU, a memory, a hard disk device, a communication interface, etc., and the CPU reads a control program stored in the memory and executes the read control program. The creation of various measurement programs such as distance measurement, displacement measurement, and shape measurement, and the creation of welding programs such as seal welding and overlay welding, and pattern matching between actual measurement data and shape data derived from CAD data Create a master image to be used for

  The CPU is an acquisition unit that acquires NC data for laser drilling of the plate 11 from the laser NC device 7. The hard disk device of the CAD / CAM computer 1 stores (stores) three-dimensional CAD data as design data (shape data) of the nozzle plate 12 and the like in advance. That is, the hard disk device is a storage unit in which CAD data indicating the outer shape of the plate 11 and the nozzle plate 12 is stored.

  The CPU rotates the obtained NC data for drilling the plate 11 and the three-dimensional CAD data of the nozzle plate 12 read from the hard disk device to a position where no defect is generated during welding, and laser drills the plate 11. It functions as a teaching point generator that generates teaching points for welding from data.

  In addition, the CPU superimposes the NC data for laser drilling on the plate 11 acquired from the laser NC device 7 and the CAD data of the nozzle plate 12 read from the hard disk device, and fills the gap portion with each other to create a master image. It functions as a master image generation unit to generate.

  The CPU corrects the workpiece position / posture, the torch position / posture, the sensor position / posture based on the measurement information measured by each sensor such as the visual sensor 54 and the two-dimensional shape sensor 53, and the welding portion of the welding object 50. Welding conditions corresponding to the gap T1 (see FIG. 3) and the step T2 (see FIG. 3) are set in a welding program (such as a seal welding program and an overlay welding program).

  That is, the CAD / CAM computer 1 measures the data of the engaging portions of the members by the visual sensor 54 in a state where the nozzle plate 12 is inserted and engaged in the hole 11a provided in the plate 11 in advance. A program creation device that generates a master image for pattern matching with data, identifies the positions of the contact plate 11 and the nozzle plate 12 based on the master image, and creates an operation program that causes the welding robot 51 to weld the mutual engaging portions It is.

  The two-dimensional shape sensor control device 3 calculates the distance to the welding object 50 and the gap / step from the measurement result of the distance to the construction site and the shape obtained by the two-dimensional shape sensor 53.

  The visual sensor control device 4 calculates the positional deviation amount from the pattern matching deviation amount with the construction site obtained by the visual sensor 54, and sends it to the robot control device 2.

  The robot control device 2 reads the measurement program and the welding program generated by the CAD / CAM computer 1, the positional deviation amount calculated by the visual sensor control device 4, and the distance calculated by the two-dimensional shape sensor control device 3. Then, a movement command (control signal) is output from the gap and the step to the welding robot 51, the slider 58, and the positioner 55 to perform measurement and seal welding.

  The robot unit 5 includes a welding robot 51 as an automatic welding device, a slider 58 that moves the welding robot 51 up and down (up and down), and a positioner 55 as a welding object positioning device.

  The welding robot 51 includes a plurality of arms 51a connected by a rotation shaft, and the tip of the arm 51a can be moved in various directions. At the tip of the arm 51a, a welding torch 52, a two-dimensional shape sensor 53 as a sensor for measuring the distance and shape from the construction site, and an image for measuring a positional deviation caused by welding deformation or core deviation are taken. A visual sensor 54 as an image pickup device is attached, and welding is possible while measuring the state of the welding object 50.

  The positioner 55 includes a disk-shaped member 56 to which a support 60 that supports the workpiece 50 is fixed, a rotating shaft 57 that rotates the disk-shaped member 56, and a positioner main body 59 that tilts the rotating shaft 57. Is.

  That is, the positioner 55 is a two-axis positioning device capable of moving in the direction A for inclining the welding object 50 and moving in the direction B for rotating. The positioner 55 moves (tilts / turns) to a position where the welding robot 51 can easily weld the welding object 50 while supporting the welding object 50.

2 is an overall view of the welding object 50, and FIG. 3 is a partial cross-sectional view thereof.
The welding object 50 is a part of a member responsible for the structure of a stationary blade called a nozzle diaphragm as one member used for a steam turbine, for example, and is obtained by engaging a nozzle plate and a contact plate.

  Specifically, as shown in FIG. 2, the welding object 50 is engaged by inserting the nozzle plate 12 into a hole 11a formed in the contact plate 11 in accordance with the outer shape of the nozzle plate 12, and the engagement. The part is sealed and welded.

  Since the nozzle plate 12 is thus inserted into the hole 11a of the contact plate 11, as shown in FIG. 3, a gap T1, a step T2, and the like are generated at the mutual engaging portions. For this reason, it is necessary to seal-weld so as to fill the gap T1 and the step T2 to form the seal welded portion 13 and join them.

  Here, the pre-welding preparation (before construction) work by the CAD / CAM computer 1 will be described.

FIG. 4 is a flowchart showing a preparatory procedure for setting the welding object 50 on the support 60 (jig), setting parameters in the welding robot 51, and performing seal welding.
Reading NC data for laser drilling of the plate 11 (step S101), alignment of the workpiece (step S102), coordinate conversion (step S103), master image creation (step S104), distance measurement program creation (step S105), Advance preparations are made in the order of positional deviation measurement program creation (step S106), shape measurement program creation (step S107), seal welding program creation (step S108), and overlay welding program creation (step S109).

  In other words, the processing performed by the CAD / CAM computer 1 before construction includes reading NC data for laser drilling of the plate 11, creating a measurement / welding program, and a master image used for pattern matching. Is to create.

Hereafter, each said procedure is demonstrated in detail.
In step S <b> 101, the CAD / CAM computer 1 first accesses the laser NC device 7 through the network 6, and reads the laser drilling NC data of the plate 11 from the laser NC device 7.

  Next, in steps S102 and S103, the three-dimensional shape data of the nozzle plate 12 stored in advance on the computer's own hard disk or the like is read, and the read three-dimensional shape data of the nozzle plate 12 and the laser hole of the plate 11 are read. After the NC data for dawn is rotated around the swivel axis to the position positioned by the swivel axis of the positioner 55 during actual welding and the position of the work is aligned, a point sequence is created on the hole end surface of the plate 11 and the point sequence is created. Coordinate the data from the work coordinate system to the robot coordinate system.

  As shown in FIG. 5, when the position of the plate laser drilling data is deviated from the uppermost end or the lowermost end of the positioner 55, the part to be seal welded is inclined and cannot be covered in the preset welding condition range. It is likely that welding defects will occur. For this reason, as shown in FIG. 6, an angle range ± θ with respect to the X axis that is the turning axis direction of the positioner 55 is set in advance as a range in which the possibility of occurrence of this welding defect is high.

  Next, the range in which the contact direction of the line of the hole end surface of the plate 11 falls within this ± θ is calculated, and the position centered by the Y-axis direction component that is the circumferential direction of the plate and Yφ is the uppermost end of the positioner 55 Alternatively, the three-dimensional data of the nozzle plate 12 and the NC data for laser drilling of the plate 11 are rotated around the turning axis so as to be at the lowest end. It should be noted that, instead of the method for obtaining the rotation angle in the angle range ± θ with respect to the X axis, a simple method for obtaining the area weight of the nozzle plate end face and setting this as Yφ can be applied.

  Next, in order to create a point sequence on the hole end surface of the abutment plate 11 and convert the point sequence data into position / posture information of teaching points of the robot program, as shown in FIG. The coordinate conversion is performed from the workpiece coordinate system to the robot coordinate system with the welding robot 51 as a reference.

  There are a plurality of nozzle plates 12 to be welded, and each has the same shape. Since the nozzle plate 12 is arranged (arranged) on the plate 11 at a constant angular pitch, it is desired to perform welding with a welding program created by aligning the position by turning the positioner 55 and performing the above coordinate conversion.

  However, in reality, misalignment of the core during installation or misalignment due to welding deformation occurs, and position correction is necessary.

  The visual sensor control device 4 performs the measurement of the positional deviation amount by pattern matching using image data acquired by the visual sensor 54.

  A master image necessary for pattern matching by the visual sensor control device 4 is obtained from the NC data for laser drilling of the plate 11 and the three-dimensional shape data of the nozzle plate 12 by the CAD / CAM computer 1 according to the flowchart shown in FIG. create.

  In this case, the CAD / CAM computer 1 accesses the laser NC device 7 through the network 6 and takes in the laser drilling NC data (three-dimensional data) of the plate 11 from the laser NC device 7 (step S201 in FIG. 8). ) Until the CAD / CAM data (three-dimensional shape data) of the nozzle plate 12 held in advance in the CAD / CAM computer 1 comes into contact with the laser drilling NC data on the 3D data. The shape data of the nozzle plate 12 is shifted in parallel (step S202).

  Projecting the line connecting point sequence data, which is NC data for laser drilling, with the line and the outer peripheral line of the end face of the CAD / CAM data of the nozzle plate 12 in the vertical direction of the center line of the nozzle plate 12 to make it two-dimensional (Step S203), the hole shape data 91 of the contact plate 11 and the shape data 92 of the nozzle plate 12 (see FIG. 10) are obtained.

  A gap is formed between the hole shape data 91 of the plate 11 and the shape data of the nozzle plate 12 (between lines), and this portion becomes a shadow when the real object is photographed by the visual sensor 54 (camera). Is painted black (step S204) to create a master image 94.

  Finally, referring to the viewing angle of the visual sensor 54 and the reference distance between the visual sensor 54 and the workpiece surface, the master image 94 is created by enlarging or reducing (enlarging or reducing) the image (step S205).

  In order to accurately calculate the positional deviation amount, it is necessary to photograph the welding target object 50 by the visual sensor 54 from the reference distance. Therefore, the vertical distance of the nozzle plate 12 from the visual sensor 54 to the welding target object 50 is determined. A distance measurement program including the posture of the welding robot 51 to be measured and a measurement command is created.

  When performing pattern matching, the capture range of an image captured by the visual sensor 54 is calculated from the master image 94. As shown in FIG. 11, the range 95 where the image is captured is close to the top (upper end) of the master image 94 because a range having a characteristic shape is suitable. In addition, the lower end may be used.

  As shown in FIG. 12, the welding object 50 is photographed by the visual sensor 54 from the vertical reference distance of the nozzle plate 12, and the outer shape of the nozzle plate 12 and the image of the capturing range 95 are detected from the entire photographed image. The amount of displacement between the image and the master image 94 (data) is calculated.

  By correcting the teaching point position of the measurement / welding program with the value of the calculated displacement amount, construction corresponding to the displacement is possible.

  The CAD / CAM computer 1 creates a displacement measurement program including the position / posture of the welding robot 51 and a measurement command for photographing the welding object 50 by the visual sensor 54.

  Since the gap T1 and the step T2 shown in FIG. 3 exist at the location to be welded, it cannot be handled under a single welding condition. For this reason, the welding conditions corresponding to the gap T1 and the step T2 must be set (selected) in the robot controller 2.

  Therefore, as shown in FIG. 13, the gap T <b> 1 and the step T <b> 2 are measured by the two-dimensional shape sensor 53 moved to the reference distance in the vertical direction of the nozzle plate 12. For this purpose, the CAD / CAM computer 1 creates a shape measurement program including the posture of the welding robot 51 and a measurement command.

Next, a procedure for creating a seal welding program will be described with reference to the flowchart of FIG. 14 and FIGS. 15 and 16.
It has been found that the teaching point of the robot program for seal welding is suitable for aiming at the end of the hole 11a formed in the plate 11 from the welding conditions and the weaving conditions.

  Therefore, the NC data 101 for laser drilling of the contact plate 11 shown in FIG. 15 is used.

  The laser drilling NC data 101 is a large number of point sequence data, but the welding robot 51 is operated by circular interpolation by narrowing the teaching points so that the operator (operator) can correct the teaching points. Is required.

  For this reason, the CAD / CAM computer 1 creates a seal welding program by reducing the number of teaching points by thinning out teaching points so as to have a preset interval or the number of teaching points, that is, to satisfy a certain condition. .

  In this case, the CAD / CAM computer 1 reads the laser drilling NC data 101 of the contact plate 11 (step S301 in FIG. 14).

  Subsequently, the read laser drilling NC data 101 (point sequence data) is connected with a line, and an inflection point is detected, which is a point at which the bending direction of the line switches when the line draws an arc (step S302). .

  Subsequently, the CAD / CAM computer 1 thins out points from the laser drilling NC data 101 (point sequence data) so as to obtain a preset interval or the number of teaching points (step S303), as shown in FIG. The thinned teaching point 102 is set.

  As a condition for thinning out points from the point sequence data, the inflection point 103 is always left as a teaching point as shown in FIG. Further, when the arc radius is larger or smaller than the appropriate range, the arc interpolation may deviate from the target position.

  Therefore, in order to perform interpolation between the teaching points, the CAD / CAM computer 1 calculates the arc radius of the arc connecting the teaching points before and after the teaching point (step S304), and whether the arc radius is within a preset appropriate range. If it is outside the proper range (No in step S305), the CAD / CAM computer 1 sets the interpolation processing to linear interpolation (step S306).

As a result of the determination, if it is within the appropriate range (Yes in step S305), the CAD / CAM computer 1 sets the interpolation processing to circular interpolation (step S307).
Further, by calculating the posture of the welding robot 51 at each teaching point from the tool position information stored in advance in the robot controller 2 (step S308), a seal welding robot program is always created in a downward posture.

  As a result, instead of teaching robot programs one by one, it is possible to perform preliminary preparation work for welding only by the operator correcting and confirming the automatically created program.

When the level difference between the surface of the plate 11 and the end surface of the nozzle plate 12 is large, the shape is adjusted by overlay welding. For this purpose, the CAD / CAM computer 1 creates a build-up welding robot program.
In this case, the CAD / CAM computer 1 determines whether or not overlay welding is necessary from the step T2 obtained by the shape measurement by the two-dimensional shape sensor 53 described above.

  When overlay welding is required, the CAD / CAM computer 1 calculates the overlay amount necessary to fill the step T2, and calculates the welding conditions and weaving conditions according to the calculated overlay amount, and has already been created Based on the teaching point position / posture data of the seal welding robot program, the position / posture data of the overlay welding teaching point is calculated.

  Since the step differs depending on the assembly error of the nozzle plate 12, the arc length during overlay welding varies depending on the nozzle plate 12. In order to keep the arc length constant, the position data in the height direction of the teaching point of overlay welding is corrected according to the level difference.

Next, automatic seal welding will be described with reference to FIG.
FIG. 17 is a flowchart showing an automatic seal welding operation using the welding robot 51.

  The robot control device 2 moves to the next welding target location by turning the positioner 55 with respect to the welding target location having the same shape. At this time, the order of construction points in consideration of welding deformation is selected (step S401 in FIG. 17). Further, it is determined whether or not the jig for fixing the welding object to the positioner 55 interferes with the welding torch 52 (step S402), and when there is no interference (Yes in step S402), the robot controller 2 performs measurement / measurement. Perform welding.

  The robot controller 2 executes the distance measurement program created by the CAD / CAM computer 1 to move the welding robot 51 to the distance measurement position (step S404), and sends a distance measurement instruction to the two-dimensional shape sensor 53. (Step S405), the distance is measured by the two-dimensional shape sensor 53 (step S406), the difference from the reference distance is obtained to calculate the distance correction amount (step S407), and the measurement is performed with the calculated distance correction amount. -The welding program is corrected (step S408).

  Next, the robot controller 2 executes the positional deviation amount measurement program to move the welding robot 51 to the positional deviation measurement position (step S409), and then issues a positional deviation amount measurement instruction to the visual sensor 54. Thus (step S410), an image is captured by the visual sensor 54, the amount of positional deviation is measured by the visual sensor control device 4 (step S411), and the positional deviation amount of the measurement result is input to the robot control device 2. .

  The robot control device 2 compares the input misregistration amount with a preset error range threshold to determine whether the misregistration amount is within the error range (step S412). If it is not within the error range (No in step S412), the positional deviation of the measurement / welding program is corrected according to the positional deviation amount (step S413).

  Then, the robot control device 2 causes the visual sensor 54 and the visual sensor control device 4 to measure the amount of misalignment again, and repeats misalignment correction until it falls within the error range.

  As a result, after the positional deviation is within the error range (Yes in step S412), the robot controller 2 moves the welding robot 51 to the shape measurement position by executing the shape measurement program (step S414). Then, by issuing a shape measurement command to the two-dimensional shape sensor 53 (step S415), the two-dimensional shape sensor 53 measures the gap T1 and the step T2 (step S416), and the gap T1 and the step T2 of the measurement result are determined by the robot controller. Enter in 2.

  The robot controller 2 selects seal welding conditions from the gap T1 and step T2 of the measurement result (step S417), and executes the seal welding program to cause the welding robot 51 to perform seal welding (step S418). .

  When the seal welding is finished, the robot controller 2 determines whether or not build-up welding is necessary for the seal welding portion (step S419), and if build-up welding is necessary (Yes in step S419), Conditions for prime welding are selected (step S420).

  And the robot control apparatus 2 performs overlay welding by executing the overlay welding program (step S421).

  After the welding for one welding target location is completed, the positioner 55 is turned to move to the next welding construction location, but the transition of the construction location between the inner peripheral surface side and the outer peripheral surface side is The position of the slider 58 is calculated from the peripheral or outer peripheral plate radius, and the position of the welding robot 51 is moved by the slider 58.

  Thus, a series of welding processes are complete | finished because the welding with respect to the last construction location is complete | finished (Yes of step S422).

  As described above, according to the first embodiment, by using the operation program created by the CAD / CAM computer 1, the position of each operation axis of the positioner 55 is set so that the inclination of the welding portion falls within the tolerance of the welding conditions. Automatically set to

  In addition, since the master image is generated by overlaying the NC data for laser drilling of the actual contact plate 11 and the CAD data of the nozzle plate 12 to fill the gap portions, the actual hole 11a of the contact plate 11 is actually generated. It is possible to set (set) the welding conditions substantially equivalent to the state in which the nozzle plate 12 is incorporated in the welding program.

  Further, by using the master image created with high accuracy, the welding conditions and the welding target position can be adjusted according to the situation of the gap T1 and the step T2.

  Furthermore, based on the NC data for laser drilling of the actual contact plate 11, the position and orientation of the seal welding teaching point is obtained at a preset interval or the number of teaching points, and the radius for drawing the arc is within an appropriate range. Interpolation processing is determined depending on whether or not it is within, that is, when the arc radius is within the proper range, circular interpolation is performed, and when the arc radius is outside the proper range, linear interpolation is performed, so that the welding object 50 is fixed to the positioner 55. It is possible to automatically create an operation program for operating the welding robot 51 in consideration of a construction sequence for avoiding interference between the support tool 60 and the welding torch 52 and suppressing welding deformation.

  As a result, in the preliminary preparation work of welding, without any intervention by the operator as much as possible, the position deviation and shape measurement, the program for welding is automatically created, while correcting the position deviation caused by welding deformation and core deviation Then, welding can be performed one after another under welding conditions and weaving conditions suitable for the shape of the welding target location such as the gap T1 and the step T2.

(Second Embodiment)
A second embodiment will be described with reference to FIGS. 18 and 19. In the second embodiment, the visual sensor 54 used in the first embodiment has an edge detection function, and the secondary shape sensor 53 is changed to the distance sensor 29. Details other than the measurement of the distance to the welding target location and the shape measurement of the welding target location are the same as those in the first embodiment, and a description thereof is omitted.

  In the second embodiment, as shown in FIG. 18, the distance from the vertical direction of the center of the nozzle plate 12 is measured by the distance sensor 29, and the difference from the distance (reference distance) at which shooting is performed by the visual sensor 54 for positional deviation measurement. The position of the measurement / welding program is corrected by a certain distance deviation.

  The distance sensor 29 is used to measure the level difference of the construction site. Based on the three-dimensional data of the nozzle plate 12, the position of the ventral side plate 11, the position 106 of the ventral side nozzle plate 12, the position 107 of the back side nozzle plate 12, and the position 108 of the back side plate 11 are totaled. The CAD / CAM computer 1 creates a distance measurement program at the step measurement position, measures the distance at each measurement position, calculates the difference between the distance on the contact plate 11 side and the distance on the nozzle plate 12 side, and calculates this difference. The step is T2.

  As shown in FIG. 19, the gap measurement of the construction site is performed by a visual sensor 54 having an edge detection function. A position to be welded is photographed by the visual sensor 54 from a position measurement position that is vertically separated from the center of the nozzle plate 12 by a reference distance, and an edge detection position 96 is automatically set based on the three-dimensional data of the nozzle plate 12. The gap T1 of the place to be welded is measured.

  As described above, according to the second embodiment, the visual sensor 54 is provided with an edge detection function, and the two-dimensional shape sensor 53 is changed to the distance sensor 29, so that the first embodiment is not used. As with the first embodiment, it is possible to automatically create a program for robots for measuring misalignment and shape and welding without the need for operator intervention as much as possible. While correcting misalignment caused by the misalignment, welding can be performed one after another under welding conditions and weaving conditions suitable for the shape of the construction site such as the gap T1 and the step T2.

  According to at least one embodiment described above, it is possible to efficiently perform a series of welding processes in which an object to be welded is set on a jig, a parameter is set in a welding robot, and welding is performed.

  Although the embodiment of the present invention has been described, this embodiment is presented as an example and is not intended to limit the scope of the invention. The novel embodiment can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

  Further, each component of the CAD / CAM computer 1 shown in the above embodiment may be realized by a program installed in a storage such as a hard disk device of a general-purpose computer, and the above program may be realized by a computer-readable electronic medium. : It may be stored in electronic media, and the computer may realize the functions of the present invention by causing the computer to read the program from the electronic medium. Examples of the electronic medium include a recording medium such as a CD-ROM, flash memory, and removable media. Further, the configuration may be realized by distributing and storing components in different computers connected via a network, and communicating between computers in which the components are functioning.

  DESCRIPTION OF SYMBOLS 1 ... CAD / CAM computer, 2 ... Robot control apparatus, 3 ... Two-dimensional shape sensor control apparatus, 4 ... Visual sensor control apparatus, 5 ... Robot part, 6 ... Network, 7 ... Laser NC apparatus, 11 ... This board, DESCRIPTION OF SYMBOLS 11a ... Hole, 12 ... Nozzle plate, 13 ... Seal welding part, 29 ... Distance sensor, 50 ... Welding object, 51 ... Welding robot, 51a ... Arm, 52 ... Welding torch, 53 ... Two-dimensional shape sensor, 54 ... Visual Sensor, 55 ... Positioner, 56 ... Disk-shaped member, 57 ... Rotating shaft, 58 ... Slider, 59 ... Positioner main body, 60 ... Supporting tool.

Claims (6)

In a state where the nozzle plate is inserted and engaged in a hole provided in advance in the contact plate, the data of each engaging portion is measured by a visual sensor, and a master image for pattern matching with the measured data is generated, and the master image In a welding program creation device for creating an operation program for identifying the positions of the contact plate and the nozzle plate based on the above and causing the welding robot to perform welding,
A storage unit storing CAD data indicating the outer shape of the nozzle plate;
An acquisition unit for acquiring NC data for laser drilling on the plate;
The obtained NC data for drilling the plate and the CAD data of the nozzle plate read from the storage unit are rotated to a position where no defect is generated during welding, and the laser drill data for the plate is obtained. A welding program creation device comprising a teaching point generator for generating teaching points for welding.   The welding program creation device according to claim 1, further comprising an image generation unit that generates a master image by superimposing the laser drilling NC data and the CAD data to fill each other's gap portion.   When generating teaching points for welding of a welding program that is one of the operation programs of the welding robot based on the NC data for laser drilling, the NC data is thinned by a predetermined interval or a predetermined number of points. The welding program creation device according to claim 1, wherein teaching points for welding are set.   The NC data is connected by a line, and when the line draws an arc, a point at which the bending direction of the line is switched is detected as an inflection point, and the detected inflection point is left as at least one of the teaching points. Item 2. A welding program creation device according to item 1.   The welding program creation device according to claim 3, wherein interpolation processing is determined according to whether or not a radius for drawing the arc is within an appropriate range. In a state where the nozzle plate is inserted and engaged in a hole provided in advance in the contact plate, the data of each engaging portion is measured by a visual sensor, and a master image for pattern matching with the measured data is generated, and the master image In the welding program creation method in the welding program creation device for creating an operation program for identifying the position of the contact plate and the nozzle plate based on the above and welding the welding robot,
Obtain NC data for laser drilling on the plate,
The obtained NC data for drilling the plate and the CAD data of the nozzle plate read from the storage unit storing the CAD data indicating the outer shape of the nozzle plate are rotated to a position where no defect occurs during welding. And a welding program creation method for generating teaching points for welding from laser drilling data for the contact plate.

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