JP3089228B2 - Welding procedure teaching equipment for welding robots - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The invention according to this application relates to a work procedure for welding or sealing between work objects having a relatively simple configuration or for painting, cutting, polishing, handling, etc. of work objects by an industrial robot. it relates Tichin GuSo location for teaching a computer.

[0002]

2. Description of the Related Art Conventionally, work has been performed by industrial robots in various fields, and work is performed based on signals from a control device corresponding to work such as welding, sealing, painting, cutting, polishing, and handling. Have been done.

A description will be given below of an example of a welding robot which is one of such industrial robots. As an operation by the welding robot, for example, as shown in the perspective views of FIGS. There is an operation of welding between welding objects having a relatively simple configuration such as welding the vertical plate 52. In such welding, a flat plate 51 is fixed on a surface plate, and the flat plate 51 and the vertical plate 52 are connected. The gap is welded by fillet welding or the like. In addition, as shown in the perspective view of FIG. The welding by the welding robot is determined according to the shape of the welding target and the welding method, and is input to the computer in the control device as welding data.

A method of causing a computer of the control device to teach a welding procedure (work procedure) (in this specification,
The so-called online teaching method, which teaches the welding position (working position) while directly looking at the welding object (working object) at the manufacturing site, and using a computer other than the manufacturing site as a "teaching method" Creates CAD (computer-aided design) data of the welding target, draws an image of the welding target on a computer screen, and also inputs numerical data on the welding robot. A so-called off-line teaching method for teaching a welding procedure (work procedure) while moving the image is known.

[0005]

However, in the case of the above-described online teaching method, since the work is performed at the work site, the robot is stopped during the teaching to the welding robot, and the productivity is reduced due to a decrease in the equipment operation rate. It will cause deterioration.

On the other hand, in the case of the off-line teaching method, since the welding operation can be performed during teaching, the operating rate of the machine does not decrease. However, since much time and labor are required for creating CAD data and processing this data, This leads to a decrease in the efficiency of the entire equipment.

In addition, in this off-line teaching method, data must be created for each welding object, and when CAD data is input, various data such as welding points, transfer conditions of the welding object, and fixed position information are used. Must be input, the work efficiency is low, and the work requires much time and labor.

[0008] These problems are the same in other industrial robots. In an industrial robot performing various operations such as sealing, painting, cutting, polishing, and handling described above, much time and time are required for teaching work procedures. The labor is required, leading to a decrease in productivity.

[0009]

Therefore, in order to solve the above-mentioned problems, the invention according to the present application takes an image of a work object into a computer by a camera, superimposes the image on a work position of the image, and works by an input means. By drawing the position, the work procedure is calculated from the work position data on this work surface ,
Based on data from sensors provided in advance to the robot
The computer is taught in a range within an error correction range of the welding position . By doing this, if the user takes a picture taken from the camera and puts it into the computer and draws it by the input means, the work procedure is calculated based on the drawn work position data, so that the work position data can be easily taught to the computer. it can.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention relates to a camera for photographing a work surface of an object to be welded , a computer for capturing and displaying an image photographed by the camera, and a welding position of the displayed image on a screen of the computer. Input means for inputting the welding position of the work surface by drawing over the robot, a control device for calculating the welding procedure from the welding position data input by the input means, and moving to the welding site together with the arm tip of the welding robot. a height sensor for measuring the height in a direction perpendicular to the working surface of the welding target provided, the teaching point icon provided on a screen of the computer, icon for teaching point, end
Icon group for pattern selection and start / end point / end point selection
Icons, welding spot selection icons, and trajectory selection
Selection icon group, leg length selection icon, and correction icon
And a group of components to enable simultaneous input of welding- related information according to the welding procedure .
The object to be measured and the welding toe measured using the positioning sensor
Error in welding position of welding torch based on positional relationship with
The teaching can be performed within the range of the difference correction . This Reniyo
The work procedure is calculated based on the work position data drawn by the input means while viewing the image captured from the camera to the computer, and the position set in advance in the welding robot.
The working position in the error correction range of the fixed sensor can be easily taught to the computer. As this input means,
A mouse and keyboard that are generally widely used can be used. In addition, the work-related information can be input simultaneously with the icon.

Further, an icon for teaching point, and the end pattern selection icon group, starting, intermediate point, and the end selection icon group, a welding location selection icon group, the locus selection icon group, a leg selection Since it is composed of an icon and a group of icons for correction, these pieces of information can be input simultaneously.

[0012]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view showing a welding robot according to an embodiment of the present invention;

FIG. 1 is a schematic perspective view showing an embodiment of a welding robot provided with a teaching device according to the present invention, FIG. 2 is a plan view of the welding robot shown in FIG. 1, and FIG. It is an enlarged view of the camera visual field part shown.

As shown in the figure, a welding robot R of this embodiment includes a table q for fixing an object to be welded w and a traveling frame p which can travel along rails s provided on both sides of the table q. An articulated robot r provided so as to be able to traverse along the traveling frame p, and a control device u for controlling the traveling frame p and the articulated robot r.

At substantially the center of the traveling frame p, a camera 1 is provided to face a welding surface (in plan view) of an object to be welded w fixed on a table q. The image data captured by the camera 1 is taken into the computer 5 via the camera controller 3 and the video capture board 4 by the wiring 2. The computer 5 is provided with a mouse and a keyboard as general input means.

The traveling frame p has a controller 6 for controlling the movement of the welding robot R so that the operation can be performed while measuring the coordinates of the traveling frame p with respect to the reference coordinates of the table q and the coordinates of the articulated robot r. Is provided,
The controller 6 is connected to a control device u via a wiring 7.

Further, the control device u and the computer 5
Are connected by a wiring 8 so that the control device u sends a control signal to the controller 6 based on a signal from the computer 5.

In this embodiment, as shown in FIG. 2, the entire width direction of the table q and a predetermined longitudinal direction are projected in the field of view v of one camera 1 provided substantially at the center of the traveling frame p. Have been. The dotted line, the one-dot chain line, and the two-dot chain line in the figure illustrate the size of the welding object w.

FIG. 3 is an enlarged view of the camera field of view shown in FIG. 2. In this example, two types of welding objects w ₁ and w are set within a field of view v.
₂ is shown. The center indicates the center position of the visual field v. 9a and 9b are flat plates fixed on the table q, and 10a and 10b are vertical plates welded on the flat plates 9a and 9b.

FIG. 4 is a front view of the screen of the computer captured and captured by the camera. A screen m (monitor) displaying an image captured by the camera 1 (FIG. 1) and welding-related images while looking at the screen m. , And a camera position monitor n for displaying the position of the field of view v of the camera 1 on the table q. On this screen m, the welding objects w ₁ and w _{2 in the} field of view v are shown, and a cursor 11 of the teaching point is displayed at the end of the vertical plate 10 a on the flat plate 9 a. The flat plate 9b
A welded mark 12 is shown on the side of the upper vertical plate 10b.

FIG. 5 is an enlarged view of an icon for a teaching point displayed on the screen of the computer shown in FIG. 4. In this embodiment, the screen includes welding-related information (leg length, end shape of member, etc.). It is configured to allow input on the above,
These are combined to create welding procedure data of the welding robot.

The teaching point icon i of this embodiment is an example, and an end pattern selection icon group a, a start point, an intermediate point, and an end selection icon group b, a welding point selection icon group c, a locus (Straight line, curve) selection icon group d,
It is composed of a leg length selection icon e and a correction icon group f.

The end pattern selection icon group a is configured to be selectable according to four types of end shapes, and the start end, intermediate point, and end selection icon group b is
The welding point selection icon group c is composed of three types of icons that can select both sides and one side of the fillet welding, and is composed of three types of icons that can select a start end, an intermediate point, and an end. (Straight line, curve) selection icon d is configured to be selectable from a straight line and a curve, leg length selection icon e is configured by a numerical value input icon capable of leg length input, and correction icon group f is partially corrected. And two types of icons, all of which can be modified. The selection of these icons is made by the operator based on the drawing data. In addition, if the welded part during the operation is displayed in a color different from that of the unwelded part, the worker can easily recognize the welded part. Further, an icon may be provided so that welding other than fillet welding can be selected, and an icon corresponding to a welding operation may be provided.

According to the teaching device T of the welding robot R configured as described above, the welding line data of the welding object w can be taught to the computer 5 as follows.

First, an image obtained by viewing the welding surface (plan view) of the welding object w by the camera is taken into a computer and displayed on the screen m.

Then, the welding position is taught to the computer 5 by drawing the position to be welded on an image by using a mouse or the like as input means. At this time, the operator selects and inputs welding conditions such as the end shape of the welding member and the welding locus from the teaching point icon i based on the drawing data.

When the input is made in this manner, the computer 5 calculates the work procedure from the welding line data (work position data) on the image input by the mouse. By this calculation, actual welding line data on the workpiece is calculated using a conversion formula obtained in advance, and a relative position with respect to the reference coordinates is obtained.

This conversion formula is calculated from the position information of the camera 1 in the welding robot R and the position information of the welding object w projected on the camera 1. If the camera is fixed, the coordinates of the camera 1 are calculated. If the traveling frame p (camera) is in a traveling state, the absolute coordinate position of the traveling frame p on the welding robot R is added to this information. Is calculated.

In this embodiment, one camera 1 is used to teach the welding position of the object to be welded w. However, a plurality of cameras are provided to switch according to the welding position. The number of cameras and the operating conditions may be appropriately set according to the size of the welding object w, the type of the welding robot, and the like.

By the way, at the time of actual work, a positional relationship (height direction) between the welding object w and the welding torch r ₁ (FIG. 1) using an existing positioning sensor (not shown) provided in advance in the welding robot. , measured in the width direction, etc.), it is performed error correction of the welding position by the welding torch r ₁ based on the data from the sensor. As the error correction range,
For example, it can be corrected if it is about ± 50 mm.
Therefore, in the above-described embodiment, teaching in the height direction is not considered, and it is considered that teaching in a range falling within the allowable error range is sufficient.

Therefore, a case where a welding object w having a height exceeding the allowable error range is welded will be described below.
In this case, for example, it provided the height sensor to measure the distance in the height direction in the vicinity of the welding torch r _1, move the height sensor to the welding site with a welding torch r _1, welded at the height sensor The height of the welding object w may be measured before the welding position data is corrected.
As this height sensor, for example, a non-contact type using a laser beam is preferable.

If such a height sensor is provided, even if the object to be welded requires a certain height, if the welding line data of the welding surface (in plan view) is taught, the height direction can be changed at the time of welding. Automatic welding can be performed while correcting. By providing the height sensor in the vicinity of the welding torch r _1,
Because it can correct welding position data by measuring the welding operation just before by the welding torch r _1, it is possible to save time and effort as compared with the case of pre-height data input.

Note that this height sensor is used for the welding object w.
Any means that can measure the height dimension (Z coordinate) of
An input switch may be provided for the teaching point icon i, and the present invention is not limited to the height sensor.

Further, when removing distortion due to welding heat from the welding object w after welding, a gas burner may be provided in place of the welding torch, and the welding object w after welding may be turned upside down to indicate the welding position. The strain relief operation of heating with a gas burner can be easily performed, and the online efficiency of such a plurality of operations can greatly improve the work efficiency.

As described above, according to the teaching device T of the present invention, the teaching time of the work position data can be greatly reduced as compared with the conventional online teaching method, and the conventional offline teaching method can be achieved. Since there is no need to input the shape data of the work target to the computer in advance as in the above, an operation program of an industrial robot that can flexibly cope with an unspecified work target is quickly created to perform efficient work. It becomes possible.

Further, the welding robot R in the above-described embodiment is merely an example, and may be configured only with the articulated robot r. The configuration and type of the industrial robot are not limited to the above-described embodiment.

[0037]

The invention according to this application is implemented in the form described above, and has the following effects.

By superimposing and drawing by the input means while viewing the image captured by the computer from the camera, the work procedure is calculated based on the work position data drawn, so that the work position data can be easily transferred to the computer by the online teaching method. it can be taught, moreover, since it is possible to simultaneously enter icons that work-related information, can be provided on-line teaching device as possible is possible to improve productivity by increasing the overall capacity utilization Becomes

[Brief description of the drawings]

FIG. 1 is a schematic perspective view showing a welding robot according to an embodiment having a teaching device according to the present invention.

FIG. 2 is a plan view of the welding robot shown in FIG.

FIG. 3 is an enlarged view of a camera field of view shown in FIG. 2;

FIG. 4 is a front view of the screen of the computer shown in FIG. 1;

FIG. 5 is an enlarged view of an icon on a screen of the computer shown in FIG. 4;

FIG. 6 is a perspective view showing an example of an object to be welded by a welding robot provided with the invention according to the present application.

FIG. 7 is a perspective view showing another example of an object to be welded by a welding robot having the invention according to the present application.

FIG. 8 is a perspective view showing still another example of an object to be welded by a welding robot having the invention according to this application.

[Explanation of symbols]

1 Camera 2 wiring 3 camera controller 4 video capture board 5 Computer 6 controls 7,8 wirings 9a, 9b flat 10a, 10b vertical plate p traveling frame u controller v viewing w, w _1, w ₂ welding target r articulated Type robot R Welding robot T Teaching device

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-9-174468 (JP, A) JP-A-9-103978 (JP, A) JP-A-5-324049 (JP, A) JP-A-7-174 171700 (JP, A) JP-A-7-308878 (JP, A) JP-A-10-58363 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B25J 9/22 B23K 9 / 127 509 G05B 19/42

Claims (1)

(57) [Claims] 1. A camera for photographing a work surface of an object to be welded , a computer for capturing and displaying an image photographed by the camera, and a computer for capturing and displaying the work surface on the screen of the computer so as to overlap the welding position of the displayed image. input means for inputting the welding position, and a control unit for calculating a welding hand <br/> order from the welding position data input by the input means, the welding object by moving the welding site with the arm tip of the welding robot A height sensor for measuring a height in a direction orthogonal to the work surface, a teaching point icon provided on the computer screen ,
The dot icon is a group of icons for selecting the end pattern,
Icons for selecting end, middle and end points, and for selecting welding spots
Icons, trajectory selection icons, and leg length selection
Icon and a set of correction icons to respond to the welding procedure.
Flip welding-related information by simultaneous input configured to be able to, welding robot
Measurement using a positioning sensor provided in advance
Welding is performed based on the positional relationship between the welding target and the welding torch.
To be able to teach within the range of welding position error correction of contact torch
Welding procedure teaching equipment for welding robots.