JP3259617B2 - Automatic welding path determination system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the application of welding robots in heavy industries such as shipbuilding, bridges, steel frames, and the like. The present invention relates to a welding path determination system for automatically generating a welding path among methods for automatically generating an operation program of a welding robot using a CAD / CAM system when performing assembling.

[0002]

2. Description of the Related Art Conventionally, a welding robot in heavy industries such as shipbuilding, bridges and steel frames has been applied in a simple form in which one welding robot is applied to one work. In such an application, work efficiency has been improved by eliminating teaching using a welding robot at a site using an off-line programming method using a personal computer. However, such a method is difficult to apply to a welding robot for a large-sized workpiece with a large number of kinds and a small amount in that the teaching time is too long in an application mode in which a plurality of welding robots are applied to one workpiece. there were. As a method for solving this problem, Japanese Patent Application Laid-Open No.
The technology disclosed in No. 14625 has been used. This automatically generates operation programs for a plurality of welding robots collectively using only the workpiece shape information and welding design information of the CAD system, and enables teaching-less. However, in this system, the welding path is automatically determined by a relatively simple algorithm, and the method of determining the welding path is not described in detail and clearly.

[0003]

In the case where the target work is of a large variety and a small amount and is a work having a complicated shape including many narrow portions due to a three-dimensional mounting member, welding is performed by a simple algorithm. The route cannot be determined automatically. In particular, the determination of the welding direction and the welding sequence in consideration of the welding quality and work efficiency largely depends on the experience of the robot operator, so that the automatic determination of the welding path by the computer was a difficult task. Furthermore, in an application in which a plurality of welding robots simultaneously perform the assembly work of one work at the same time, one of the welding robots is stopped for control in order to avoid interference between the welding robots. As a result, a large amount of dead time is generated. Determining the welding direction and welding order to avoid such interference between welding robots has been a major issue.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and has a high efficiency in assembling and welding a work using a plurality of welding robots.
It is an object of the present invention to provide an automatic welding path determination system that can sufficiently secure welding quality.

[0005]

According to the present invention, there is provided a system for automatically determining a welding path, wherein a plurality of mounting members on a workpiece are welded by a plurality of welding robots.
Welding line data reading means for reading data necessary for generating a welding line from the CAD / CAM system, wherein the data is determined based on the member shape information and welding design information registered in the D / CAM system; Welding direction determining means for determining a welding direction for each of the mounting members based on welding line data; welding order determining means for determining a welding order for each of the mounting members; and a welding direction and a welding order determined as described above. all have a welding path determining means for determining a welding path of the mounting member, a welding path data output means for outputting the data of the determined weld path to the CAD / CAM system, wherein the welding direction determining means smell
When determining the welding direction to the mounting member,
The end of the wire can be detected by the arc sensor.
It is characterized in that the.

Here, the data necessary for generating the welding line includes, for example, the member type, end position,
It is member shape information such as an attachment angle, and welding design information such as welding method, welding posture, leg length, groove data, and the like, and is premised on being registered in a CAD / CAM system database for each work. Further, it is assumed that the work is divided by the operation areas of a plurality of welding robots, and the welding line data is registered for each welding robot.

Further, the present invention is based on well-known techniques such as high-speed rotating arc welding, end position detection of an attachment member by an arc sensor, automatic profiling control of a welding line, and bead joining. In the direction determining means, predetermined rules are determined so that these techniques can be utilized. As this rule, for example, the end of the welding line is determined so that the end position can be detected by the arc sensor. Further, even if the welding line is divided by a region dividing line that defines an operation region of a plurality of welding robots, or the welding line is divided by another mounting member connected to the mounting member, for example, the scallop portion It is defined that the welding direction is the same for a welding line that can bead jointed through the joint, and the welding quality of the bead joint is ensured. Further, in principle, a direction toward the counterclockwise direction with respect to the mounting member is determined as a welding direction.

In the welding order determining means, for example, for a mounting member having a groove or an inclination (falling), a rule is determined so that a side on which a groove is processed or a wide angle side of the mounting angle is welded first. Have been. In principle, the welding sequence is such that the welding start point first determines the surface including the welding line closest to the robot system coordinate origin in the mounting member, and then the welding start point of the welding line group within the determined surface is determined. The welding line closest to the robot system coordinate origin is ranked first. These basic rules of the welding direction and the welding order are designed to minimize the occurrence of interference between welding robots.

The welding route determining means determines the welding routes of all the mounting members according to a predetermined algorithm based on the welding direction and the welding order determined as described above. The welding path determining means has an interlock area setting means for setting an interlock area for avoiding mutual interference of welding robots, and a welding line selecting means for selecting a welding line included in the set interlock area. Configuration.
Further, as a predetermined algorithm, the interlock area setting means may set the operation area of the plurality of welding robots such that, when the operation area is divided into three in the vertical or horizontal direction, the number of welding lines at least partially included in the area on the right side or the upper side. A division direction is selected, and a region on the right side or an upper side according to the selected division direction is set as an interlock region. When the welding line selecting unit divides the operation region of the welding robot into three in the selected division direction, Welding line group spanning three regions (LCR welding line group), welding line group included in one or both of two regions (LC welding line group or CR
Welding line group) and select LC
The welding path is determined in the order of the R welding line group, the LC welding line group, and the CR welding line group.

According to the configuration of the present invention as described above, the welding direction determining means is configured to perform the CAD by the welding line data reading means.
Based on the welding line data read from the / CAM system, the direction of the terminal end is determined for each mounting member of the work, so that the welding directions of the welding lines existing on both sides of the mounting member are determined. When the welding direction is determined, the welding order is determined for each mounting member by the welding order determining means. Then, the welding route determining means is configured to reduce the interference between the welding robots based on the welding direction and the welding order determined by each of the above means, to reduce the arc cut time such as shortening the air cut time (actual operating rate). ) Can be determined so as to maximize the operation path (welding path) of all the welding robots.
Then, the welding path data determined in this way is
It outputs to the AD / CAM system, generates an operation program of the welding robot based on the data, transmits the program to each welding robot, and operates the welding robot.

[0011]

FIG. 1 is a block diagram of a system for automatically determining a welding route according to an embodiment of the present invention. In the figure, reference numeral 10 denotes a welding robot CAD / CAM system, and reference numeral 11 denotes a welding line data generation system that generates basic welding line data necessary for robot welding in the CAD / CAM system 10. The welding path automatic determination system 20 exemplified here is a CAD / CAM system 1
A welding line data reading unit 21 for reading necessary welding line data from the welding line data generation system 11 of 0, a welding direction determining unit 22 for determining a welding direction for each mounting member based on the read welding line data, Welding sequence determining means 23 for determining the welding sequence for each mounting member, and based on the determined welding direction and welding sequence, welding robot arcs such as reduction of interference between welding robots at the time of stoppage and reduction of air cut time. Welding path determination means 2 for determining the operation path of the welding robot so that the time rate (actual operation rate) is maximized.
And welding path data output means 25 for outputting the determined welding robot operation path data. Also, 26
Is a welding path display means for displaying data determined or output by the means 22 to 25.
The welding path data output from the output means 25 is CAD
The program is sent to the welding robot operation program generation system 12 of the / CAM system 10, where the operation programs of all the welding robots of the target work are automatically generated and transferred to each welding robot.

First, an example of a target work is shown in FIG. FIG. 2 is a plan view of a workpiece to be welded. Work 1
No. 00 assumes a case in which a plurality of mounting members 110 are automatically welded to a panel (base material) 101 having an opening 102 and assembled. Reference numeral 200 denotes a surface plate for setting the work 100. FIG. 3 shows an example of the arrangement of the works on the surface plate. Usually, two or more works 100 are arranged in combination. FIG. 4 illustrates an outline of a robot mechanism combining a plurality of welding robots for such a workpiece. In FIG. 4, each of the six-axis articulated robots 300 includes three-axis slide mechanisms 301 and 3.
02 and 303 are arranged in a suspended state, and can be moved up and down, back and forth, and left and right by a moving mechanism having a total of nine axes. A robot mechanism in which ten such welding robots 300 are combined. Each welding robot 30
A known welding torch 1 capable of high-speed rotating arc welding is attached to the tip of the “0”, which also can detect the end position of the mounting member, bead joint detection, and automatically follow the welding line by a known arc sensor. It has become. Further, as shown in FIG. 2, region dividing lines 311, 312, 31 that define an operation region of each welding robot with respect to the workpiece 100.
3, 314 and 315 are set vertically and horizontally. Therefore, some of the welding lines of the mounting member are divided by these region dividing lines.

The database of the CAD / CAM system 10 includes member shape information (outer shape of panel, type of mounting member, mounting position, cross-sectional shape, etc.) and welding design information (welding method, welding posture, type of groove). , Groove shape, gap,
Leg length, etc.) are stored.

Hereinafter, each system and means of FIG. 1 will be described in more detail.

(1) Welding Line Data Generation System The welding line data generation system 11 uses the CAD / CA
It reads out the member shape information and the welding design information registered in the database of the M system 10 and generates basic welding line data. Basic welding line data refers to data from the following. Position data (X, Y, Z) of the start point or end point of the welding line The welding line is the thickness (or width) of the welding part of the mounting member
It is represented by two line segments that allow for minutes. When there is no interference between the welding robot and the workpiece, the end position of the mounting member is a welding start point or a welding end point (these points are collectively referred to as “welding end points”). When interference between the welding robot and the workpiece occurs, the position of the intermediate portion of the mounting member, which is the point of occurrence of the interference, is the welding start point or the welding end point. Position data (X, Y, Z) of the welding intermediate point The welding intermediate point is a point for avoiding interference during welding, changing welding conditions, and changing the welding direction. Further, when the welding line is divided by the above-mentioned region dividing lines 311 to 315, it is a point including the region dividing point (the intersection of the welding line and the region dividing line). Torch angle (α, β) considering interference avoidance at each welding end point Here, α is an inclination angle of welding torch 1 in a vertical direction with respect to a horizontal plane as shown in FIG. As shown in FIG. 5B, the horizontal inclination angle of the welding torch 1 with respect to a normal line 111 of the mounting member 110. These angles are determined by interference avoidance processing between the welding robot and the workpiece. The welding point attribute at each of the above welding end points is a determination data of whether the welding point is a point at the end of the mounting member or a point at the intermediate portion. Is the determination data of whether the welding line is a bead seam by area division (area division line) of the welding robot or a bead seam by interference. The attachment angle (δ) of the attachment member δ is the inclination angle of the attachment member 110 with respect to the base material 101 as shown in FIG. Groove data of the mounting member As shown in FIG.
This is data on the type, shape, etc. of the groove when there is 2. The above is the basic data of the welding line. It is premised that the above data are registered in the CAD / CAM system 10 in advance.

(2) Welding line data reading means The welding line data reading means 21 outputs the data from the above for each mounting member 110 to the welding line data generation system 11.
Read more. For example, as shown in FIG. 8, a plurality of welding lines may be present in one member, for example, when welding is discontinuous due to interference.

(3) Welding direction determining means The welding direction determining means 22 comprises welding line data reading means 21
Mounting member 1 based on the data
The welding direction is determined for every 10. The rules for determining the welding direction are, for example, as follows. Rule R1: The welding direction is set so that the end that can be detected by the arc sensor is the welding end point (end). Since the allowable range of the end detection sensor (arc sensor) has a restriction that the torch angle β is within ± 30 °, the side where the torch angle β at the end of the welding line falls within this range is defined as the welding end point. For example, as shown in FIG. 9A, when one side of the mounting member 110 is connected to another mounting member 113, the torch angle β is set to be smaller in order to avoid interference between the welding torch 1 and the work. The member 113 is greatly inclined with respect to the welding line (β> 30 °). On the other hand, since the opposite end has no interference, the torch angle β is within the allowable range of the end detection sensor. Therefore, for the mounting member 110, the end on the mounting member 113 side is the welding start point W _S , and the end on the side without interference is the welding end point W _E , and the welding direction is determined in the direction indicated by the arrow. Is done. On the other hand, as shown in FIG. 9B, when the mounting member 110 is sufficiently separated from the mounting member 113, either of them may be set as the welding start point, but in such a case, a rule R4 described later is used. Is used to set the welding direction in a counterclockwise direction with respect to the mounting member 110. In this case, turning welding may be performed at the end of the mounting member 110. When turning welding is performed, the welding start point and the welding end point match. further,
As another example, when there are a plurality of welding lines on one side of the mounting member, for example, as shown in FIG. 8, when the mounting member 110 is connected to another mounting member 114, 115, 121, Three welding lines 122 and 123 (note that, for the sake of convenience in the following description, symbols that represent the welding line and the welding direction at the same time) are present on one side of the mounting member 110. In such a case, the welding line 121, the welding line 123
Is divided into clockwise and counterclockwise directions according to the above rule R1. On the other hand, the welding line 122
Since both sides are outside the allowable range of the terminal detection sensor, the welding direction is not determined. Also in such a case, the welding direction is set to the counterclockwise direction with respect to the mounting member 110 using the rule R4 described later. Rule R2: When one or both of the welding lines form a bead joint, the welding direction is a direction from the side closer to the robot system coordinate origin to the side farther from the origin. This is shown in FIG.
As shown in the figure, even when one welding line is divided due to interference or the like even in the same welding robot operation area, when the welding lines 121 to 123 can be connected by the bead joining process, welding is performed. By defining the direction as one, the welding quality at the bead joints 141 and 142 can be stabilized by making the welding overlap in one way. In the example of FIG. 10, the scallop portions 118 are provided on the other attachment members 116 and 117 connected to the attachment member 110, respectively.
The bead splicing is possible through. Rule R3: When one or both of the welding lines are divided by a region dividing line that defines the operation region of the welding robot, the welding direction of the welding line is set to a direction from a side closer to the robot system coordinate origin to a side farther away. . This is shown in FIG.
As shown in FIG. 1, one attachment member 110 extends over the operation area of a plurality of welding robots, and the area dividing lines 311, 31
2, welding lines 121 to 123 and welding lines 12 on both sides.
In the case where 4 to 126 are divided, by defining the welding direction in one direction, the region dividing points 151, 1
This is for stabilizing the weld quality of the bead joint at 52. Rule R4: When the welding direction is not uniquely determined by the rules of R1 and R2, the welding direction of the welding line is set to a direction going counterclockwise. The above rules are applied in the order of R3 → R2 → R1 → R4.

(4) Welding sequence determining means The welding sequence determining means 23 determines the welding sequence for each mounting member 110. The principle rule Ra for that is as follows. First, the surface including the welding line whose welding start point is closest to the robot system coordinate origin in the mounting member is determined. That is, it is determined which of the front and back sides of the mounting member is to be welded first. In order to determine the surface including the welding line to be welded first, it is determined whether or not the normal vector of the surface is directed to the robot system coordinate origin. For example, in FIG. 8, the robot system coordinates OX
When Y is taken as shown in FIG.
The normal vector Va perpendicular to 0a points toward the robot system coordinate origin O (the X component V of the normal vector Va).
Since the sum of ax and the Y component Vay becomes a minus sign, the sum is directed toward the origin O). On the other hand, a normal vector Vb perpendicular to the back surface 110b of the mounting member 110 faces the direction opposite to the robot system coordinate origin O (normal vector Vb).
(The sum of the X component Vbx and the Y component Vby is a plus sign, so that the direction is opposite to the origin O). Therefore, the mounting member 1
For 10, the welding line included in the surface 110a is first welded. Next, welding is started with the welding line whose welding start point is closest to the robot system coordinate origin O as the first place among the welding line group included in the surface. In the example of FIG. 8, among the welding line groups 121 to 123 included in the surface 110a,
Since the welding start point W _S is the closest to the welding line on the robot system coordinate origin O is a weld line of 121, the weld line 121 is first welded. Therefore, in the example of FIG. 8, the welding order is the welding line 121 on the surface 110a → the welding line 122.
→ Welding line 123 → The order of the welding line 124 on the back surface 110b is determined. Also, the following rules apply. Rule Rb: The side with the groove is welded first. This rule is to minimize the occurrence of defects such as blowholes caused by the primer, such as when the groove is coated with a primer. For example, in the case of the attachment member as shown in FIG. 7, the welding line on the groove 112 side (left side) is welded first.

(5) Welding path determination means The welding path determination means 24 is designed to minimize the interference between welding robots based on the welding direction and welding order of each mounting member determined as described above, and to minimize air interference. The welding path is determined so that the cutting time is as short as possible. In the case of a multi-robot, minimizing interference between welding robots is an important factor for improving the arc time rate.
Specifically, as shown in FIG. 12, the interlock area setting means 27 for avoiding interference, the welding line selecting means 28 for selecting a welding line included in the set interlock area, and The welding path determining means 24 determines a welding path for each welding line. As a method of avoiding interference between the welding robots, the welding robots perform welding while taking an interlock (synchronization) for each of the above-described regions, thereby minimizing the probability that two welding robots will simultaneously enter adjacent regions. I keep it low.

(5-1) Interlock area setting means The setting of the interlock area for avoiding interference depends on the number of welding lines included in the operation area of the welding robot.
In the interlock area setting means 27, the welding line included in the R area (the right or upper interlock area in the operation area of the welding robot) is the most of the two division methods as shown in FIG. Choose a splitting method that will increase. In the method shown in (a), focusing on the interference between the left and right welding robots, the operation area of each welding robot is divided into three in the vertical direction, and the hatched portions on each right side are interlocked areas 321, 322, and 323. , 324. On the other hand, the method shown in (b) focuses on the interference between the upper and lower welding robots, divides the operating area of each welding robot into three parts in the horizontal direction, and interlocks the interlock area in the upper hatched part in the lower area. 325 is set. The division ratio of the operating region of the welding robot is usually equal, but may be different depending on the work. In the example of FIG. 13, since the welding line length included in the method (a) is longer than the welding line length included in the method (b), the method (a) having a high probability of occurrence of an interference problem is employed. You.

(5-2) Welding line selection means As shown in FIG. 14, the welding line selection means 28 provides three areas in the operation area of the welding robot, and classifies the welding lines for each area. Specifically, a welding line group (LCR welding line group) extending over the three regions L, C, and R, and a welding line group (LC welding line group) included in one or both of the two regions L and C.
And a welding line group (CR welding line group) included in one or both of the two regions C and R.

(5-3) Welding route determination means The welding route is determined in the order of the LCR welding line group, the LC welding line group, and the CR welding line group. At the time of actual welding, the interlock is taken for each area by the welding robot group control system. The welding path for each area is selected so that the air cut is minimized. Specifically, start from the mounting member whose welding start point is closest to the robot system coordinate origin, and select another mounting member with the welding start point closest to the welding end point of the last welding line of that mounting member. repeat.

FIG. 15 shows the relationship between the welding path and the interlock.
Shown in Referring to this figure, first, step S
In the welding of the 31 LCR welding lines, it is checked whether the LCR welding lines exist in the operation area of the welding robot. If the LCR welding line group exists and the LCR welding line group also exists in the left welding robot adjacent to the left side of the welding robot, the welding is waited until the left welding robot completes welding (welding is not started). If the left welding robot is waiting for the interlock, no interference occurs between the left and right welding robots, and the welding of the welding robot is started. Next, LCR is given to the welding robot.
When the welding line group does not exist and the LC welding line group exists, when the welding of the LCR welding line group of the left welding robot is completed, the welding of the LC welding line group of the welding robot is started (step S32). ). Finally, the welding robot is given L
If neither the CR welding line group nor the LC welding line group exists, and the CR welding line group exists, the welding of the CR welding line group of the welding robot is completed when the welding of the LC welding line group of the right welding robot is completed. Is started (step S33). Then, in the welding of each welding line group, welding is started from a mounting member having a welding start point closest to the robot system coordinate origin, and from the welding end point of the last welding line of the mounting member to the welding end point most. Move to another mounting member with a closer welding start point. This minimizes air cut.

FIG. 16 shows a specific example. The origin O of the robot system coordinates is set at the lower left corner of the surface plate 200, and the L, C, and R regions are set according to the method shown in FIG. As shown in FIG. No. 1 to No. 7. In the figure, W _S is the welding start point of the weld line, W _E is welding end point of the weld line, 121 to 132 are weld line, 141
143 to bead connection points, 151 to 164 are area dividing points, 171 to 179 are scallop end points of the mounting member, 3
Numerals 11 to 315 denote area dividing lines.

First, the welding robot No. In 2, the LCR
There is no welding line included in the welding line group. Next, since the B member and the C member are included in the LC welding line group, the welding path is
From the B member near the robot system coordinate origin O, the welding line 12 is rotated counterclockwise based on the rule of the minimum air cut.
1, the welding line 122, and then to the C member, the welding line 123 of the C member, and the welding line 124 in this order. Finally, the CR welding line group includes a part of the A member, a part of the D member, and a part of the E member,
In addition, since the E member is connected to the D member (the E member is provided with a scalloped portion as shown in FIG. 10), the A member close to the robot system coordinate origin O starts from the A member.
Counterclockwise, the weld line 125, the weld line 126, then passes to D member, (section of the welding start point W _S domain decomposition point 151) the weld line 127, weld line 128 (weld start point W _S and the bead connection A welding line 129 (a section between the bead connection point 141 and the area dividing point 152) and a welding line 130 (a section between the scallop end point 171 and the area dividing point 153) and a welding line 131 (a section between the bead connecting point 141 and the area dividing point 152). The welding path is set in the order of the scallop end point 172 and the area dividing point 154).

Next, the welding robot No. In 1, the LCR
Although there is no welding line included in the welding line group, the LC welding line group includes the remaining portion of the D member and the F member connected thereto (the F member is provided with the scalloped portion as described above). If you have.) Therefore, first, from the D member close to the robot system coordinate origin O, the welding line 121 (section between the area dividing point 151 and the bead connection point 142), the welding line 122
(Section between the bead connection point 142 welding end point W _E), the weld line 123 (section area division point 152 and the bead connecting point 143), the weld line 124 (section between the bead connection point 143 welding end point W _E) welding path is set as (interval scalloped section end point 173 and the welding end point W _E) then F welding line 125 of the member, the weld line 126 (scalloped section end point 17
4 a section of the welding end point W _E), then G in CR weld line group
Since a part of the member and the H member are included (the case where the scallop portion is similarly provided in the G member), the welding line 127 (from the scallop end point 175 and the area Section 155), welding line 128 (scallop end point 176 and area division point 156)
), And finally, welding lines 129 and 13 of the H member.
A welding path is set as 0.

The welding robot No. In FIG. 3, since the G member is included in the LCR welding line group, the welding path is
1 (a section between the area dividing point 155 and the area dividing point 157), a welding line 122 (a section between the area dividing point 156 and the area dividing point 158), and a welding line 123 (a member connecting point 181 and the area dividing point 1).
58 section). Next, since the LC welding line group includes the I member, the welding lines become 124 and 125, and finally CR
Since a part of the E member and the J member are included in the welding line group, the welding line 126 of the E member (region division point 160 and region division point 16
2 sections), the section of the weld line 127 (section area division point 159 and the area dividing point 161), and the weld lines 128 of J member (member connecting point 182 and the welding end point W _E), the weld line 12
9 the order of (section between member connection point 181 welding end point W _E). Hereinafter, similarly, the welding path of the welding line is determined as shown in the drawing for all the mounting members in the operation area of the other welding robot. Table 1 summarizes the above results in a table.

[0028]

[Table 1]

(6) Welding path data output means The welding path data output means 25 outputs the welding path data of all the mounting members determined as described above for each welding robot.

In the above description, the welding path of the planar welding line has been described. However, the vertical welding line for welding the mounting members is formed after the welding on the plane is completed.
In the operation area of each welding robot, welding is normally performed in ascending order from a welding line close to the robot system coordinate origin.

[0031]

As described above, according to the present invention, CAD / CAM can be performed no matter how complicated a workpiece is.
A welding path can be automatically determined using only the member shape information and welding design information registered in the system, and its application is made possible while avoiding mutual interference of multiple welding robots. Therefore, efficiency is good,
Welding quality is also sufficiently ensured. Therefore, it is very effective for automatic welding of large-sized, small-quantity, large-sized and complicated-shaped workpieces.

[Brief description of the drawings]

FIG. 1 is a block diagram of an automatic welding route determination system according to the present invention.

FIG. 2 is a plan view showing an example of a work.

FIG. 3 is a plan view showing an example of arrangement of works on a surface plate.

FIG. 4 is a schematic diagram of a robot mechanism including a plurality of welding robots.

FIG. 5 is an explanatory diagram of a torch angle with respect to a mounting member.

FIG. 6 is an explanatory diagram of a mounting angle of a mounting member.

FIG. 7 is an explanatory view of a mounting member having a groove.

FIG. 8 is an explanatory diagram in a case where a plurality of welding lines are present on a mounting member.

FIG. 9 is an explanatory diagram showing a direction of a welding end in a relationship between a mounting member and another mounting member.

FIG. 10 is an explanatory diagram showing a case where a plurality of welding lines can be connected.

FIG. 11 is an explanatory diagram showing a case where a welding line is divided by a region dividing line.

FIG. 12 is a block diagram showing a configuration of a welding route determination unit.

FIG. 13 is an explanatory diagram showing a method of dividing the operation area of the welding robot.

FIG. 14 is an arrangement diagram of each area according to the division method of FIG. 13;

FIG. 15 is a flowchart showing a relationship between a welding path and an interlock.

FIG. 16 is an explanatory diagram of a workpiece welding path.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Welding torch 10 CAD / CAM system 11 Welding line data generation system 12 Welding robot operation program generation system 20 Welding path automatic determination system 21 Welding line data reading means 22 Welding direction determination means 23 Welding sequence determination means 24 Weld path determination means 25 Welding Route data output means 26 Display means 27 Interlock area setting means 28 Welding line selection means 100 Work 101 Base material 110-117 Mounting member 121-131 Welding line 300 Welding robot 311-315 Area division line

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-6-214625 (JP, A) JP-A-7-284932 (JP, A) JP-A 8-286722 (JP, A) JP-A 9-208 164483 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B23K 9/127 B25J 9/18 G05B 19/4093 G05B 19/4097

Claims (6)

(57) [Claims] A welding path for welding a plurality of mounting members on a workpiece by a plurality of welding robots is defined as CAD / C.
A welding line data reading means for reading data necessary for generating a welding line from the CAD / CAM system, based on the member shape information and the welding design information registered in the AM system; Welding direction determining means for determining a welding direction for each of the mounting members based on data; welding order determining means for determining a welding order for each of the mounting members; all based on the welding direction and the welding order determined by the above. has between welding path determining means for determining a welding path of the mounting member, a welding path data output means for outputting the data of the determined weld path to the CAD / CAM system, the front
In the welding direction determining means, the welding direction is determined.
When determining the tangent direction, the end of the welding line is
Welding capable of detecting the end position
Automatic route determination system. 2. A welding path for welding a plurality of mounting members on a workpiece by a plurality of welding robots is referred to as CAD / C.
A welding line data reading means for reading data necessary for generating a welding line from the CAD / CAM system, based on the member shape information and the welding design information registered in the AM system; Welding direction determining means for determining a welding direction for each of the mounting members based on data; welding order determining means for determining a welding order for each of the mounting members; all based on the welding direction and the welding order determined by the above. has between welding path determining means for determining a welding path of the mounting member, a welding path data output means for outputting the data of the determined weld path to the CAD / CAM system, the front
The area dividing line that defines the operation area of multiple welding robots
Therefore, the welding line is divided or connected to the mounting member.
Bead even if the welding line is split by another mounting member
For weld line capable of splicing, the welding direction determining means
Wherein the welding direction is determined in the same direction . 3. An interlock area setting means for setting an interlock area for avoiding mutual interference of the welding robots, and a welding line included in the set interlock area. 3. A welding line selecting means, comprising:
Automatic welding path determination system described . 4. When the welding order determining means determines a welding order for the mounting member, first, a surface including a welding line whose welding start point is closest to the origin of the robot system coordinates is determined on the mounting member. The welding sequence according to any one of claims 1 to 3, wherein the welding order in which the welding start point is closest to the robot system coordinate origin in the group of welding lines in the set surface is set to the first position. Automatic route determination system. 5. The interlock area setting means sets an operation area of the plurality of welding robots in a vertical or horizontal direction.
When the division is performed, the division direction is selected such that the welding line included even in a part of the right or upper region is the largest, and the right or upper region according to the selected division direction is set as an interlock region. 4. The automatic welding route determination system according to claim 3, wherein: 6. The welding line selecting means, when the operating region of the welding robot is divided into three in the selected dividing direction, a welding line group (LCR welding line group) extending over three regions, and a welding line group extending over three regions. A welding line group (LC welding line group or CR welding line group) included in one or both is selected, and the LCR welding line group, the L
The welding path automatic determination system according to claim 5 , wherein the welding path is determined in the order of the C welding line group and the CR welding line group.