JP3385370B2 - Welding line division instruction method and welding line division instruction system - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding line division instruction method and a welding line division instruction system. More specifically, when each member is welded by an automatic welding device such as a welding robot, other members that are obstacles when performing welding with one welding line are extracted by simulation,
The present invention relates to a welding line splitting instruction method and a welding line splitting instruction system for instructing splitting of a weld line when bead splicing cannot be achieved due to other members.

[0002]

2. Description of the Related Art Conventionally, automatic welding by a welding robot has been widely performed because it can be applied to various objects.

However, since manual teaching is inefficient in manufacturing a small number of products such as equipment for ships, it is desirable to use a system for directly instructing the welding process to the welding robot with numerical data. Under such circumstances, a so-called three-dimensional CAD (Computer Aided Design) system has been used to develop a system for automatically creating teaching data without manual labor.

However, in order to automate the welding operation, it is necessary to provide the welding robot with position information of the welding line, that is, information about which part should be welded, and when there is almost no intersection with other members, When such an intersection is determined by a certain rule, it is possible to execute automatic welding by only giving the start end and the end of the welding line by the patterned operation program.

However, if the workpiece to be manufactured has a complicated shape and there is no fixed rule in the manner of intersection between each member to be welded and another member, a patterned operation program cannot be used. For this reason, simply specifying the starting end and the ending end of the welding line will not be sufficient.

In relation to this point, JP-A-6-21462
Japanese Patent Publication No. 5 discloses a method of extracting a point where the attachment lines of respective members intersect with each other by a three-dimensional CAD system and dividing the welding line at this point.

However, according to this method, it is necessary to previously input information regarding the attachment lines of the respective members to the CAD device, and it is impossible to detect other members which obstruct the execution of welding particularly when assembling a work having a complicated shape. In some cases, there is a problem that it is not possible to respond sufficiently.

[0008]

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems of the prior art. Even when assembling a work having a complicated shape by welding using an automatic welding device such as a welding robot, welding is performed. To provide a welding line division instruction method and a welding line division instruction system for accurately extracting other members that are obstacles to execution and instructing the division of welding lines when it is necessary to divide the welding lines for other members. With the goal.

[0009]

According to the welding line division instructing method of the present invention, when each member is welded by an automatic welding apparatus such as a welding robot, another member having a possibility of failure is extracted from the assembly simulation result, and then the It is characterized in that a splitting factor member is extracted from other members having a possibility of failure, and a splitting of a welding line is instructed when a bead splice is impossible due to the splitting factor member.

The welding line division instruction method of the present invention is, specifically, an assembly simulation procedure for assembling each member on a computer, and a failure possibility other member extraction procedure for extracting a failure possibility other member from the assembly simulation result. And a division factor member extraction procedure for extracting a division factor member from the failure possibility other member, a division range detection procedure for detecting a range in which welding work is divided by the division factor member, and the division range. In the bead splicing propriety determination procedure for determining whether bead splicing is possible in, and a welding line split instruction procedure for instructing splitting of the weld line when bead splicing is determined in the bead splicing propriety determination procedure. It is characterized by including.

On the other hand, the welding line division instruction system of the present invention is a welding line division instruction system used when welding each member by an automatic welding device such as a welding robot. The splitting factor member is extracted from the other parts having the possibility of failure, and the splitting factor member is configured to instruct the splitting of the welding line when the bead splice cannot be performed. Characterize.

The welding line division instruction system of the present invention is, specifically, a welding line division instruction system used when welding each member by an automatic welding apparatus such as a welding robot. A simulation unit that executes an assembly simulation for assembling, a failure possibility other member extraction unit that extracts a failure possibility other member from the assembly simulation result, and a division factor member that extracts a division factor member from the failure possibility other member Extraction means, cutting range detection means for detecting a range in which the welding operation is divided by the division factor member, bead splicing possibility determination means for determining whether bead splicing is possible in the divided range, and the bead Weld line division for instructing the division of the weld line when the bead splicing is determined by the splicing possibility determination means Characterized by comprising a shown means.

In the welding line division instruction method and system of the present invention, for example, all the other members that come into contact with both the member to be welded and the member to be welded to be welded with the welding line are treated as the possibility of failure. Among the above-mentioned obstacle possibility other members,
Those that are in the normal direction of the welding line configuration surface of both the welding target member and the welded target member are division factor members, and each of the division factor members of the division factor member and the welding line when it is an infinite plane The distance between the two points that are the farthest apart from each other is the dividing range.

Further, in the welding line splitting instruction method and system of the present invention, for example, when the splitting factor surface of the splitting factor member is in contact with the welding line, bead splicing is not possible, and the splitting factor member is Among the surfaces near the welding line of, the surface that is not parallel to the welding line is the splitting factor surface.

Furthermore, in the method and system for instructing welding line division of the present invention, for example, among the outer shape constituting surfaces of the division factor member, the surface within a predetermined minute distance from the welding line is defined as the welding line vicinity surface, and When there is no weld line vicinity surface within the predetermined minute distance, the weld line vicinity surface is extracted by extending the predetermined minute distance by a predetermined amount.

[0016]

Since the present invention is configured as described above, when assembling a work having a complicated shape by automatic welding, the obstacle possibility other member that interferes with the execution of welding is accurately extracted and the obstacle possibility other member is extracted. The division factor member is extracted from the above, the range in which the welding work is divided by the division factor member is detected, and the division of the welding line is automatically instructed when the bead splicing is not possible in the divided range. Therefore, it is not necessary to instruct the division position of the welding line in advance, thereby improving workability.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION The present invention will be described below with reference to the accompanying drawings, but the present invention is not limited to such embodiments.

FIG. 1 shows a schematic configuration of a computer-controlled manufacturing system applied to a welding line dividing method according to an embodiment of the present invention. This computer-controlled manufacturing system (hereinafter, simply referred to as manufacturing system) T is a computer-based manufacturing system. Simulation means 1 for executing an assembly simulation of each member using the three-dimensional shape data and position information of each member created, and a welding target member and a welding target member to be welded at the welding line according to the simulation result. A member that may interfere with the welding work because it contacts both, that is, a failure possibility other member extraction means 2 that extracts a failure possibility other member, and a factor that divides the welding line from the failure possibility other member. The division factor member extraction means 3 for extracting the division factor members and the range in which the welding work is divided by the division factor members. Based on the judgment result in the bead splicing possibility determining means 5 and the bead splicing possibility determining means 5 which determines whether the bead splicing is possible or not with respect to the welding range detection means 4 which is output A welding line division instructing means 6 for instructing division, and each member W ₁ ,
The welding line L for welding W ₂ (see FIG. 5) is directly instructed to the welding robot 16 by using the numerical control data, and an obstacle may occur when performing welding at the welding line L (see FIG. 6). Other members (possibly other members with a failure) W ₃ ,
W ₄ and W ₇ (see FIG. 5) are automatically extracted, and there is a possibility of obstacles to those other members W ₃ , W ₄ , and W ₇ that become a factor for dividing the welding line L (division factor member). ) W ₃ and W ₄ (see FIG. 5) are automatically extracted, the range where the welding operation is divided by the dividing factor members is automatically detected, and the bead splicing is performed in the range where the welding operation is divided. Whether or not is determined, and if the bead splicing is impossible in the determination, it is instructed to divide the welding line L.

FIG. 2 shows the hardware configuration of the manufacturing system T.

As shown in FIG. 2, the manufacturing system T uses a three-dimensional CAD system 11 for executing an assembly simulation of each member W using the three-dimensional shape data and position information of each member W which is a welding object, Using the assembly simulation result by the three-dimensional CAD system 11, other members W having a possibility of failure (other members having a possibility of failure) W are automatically extracted at the time of execution of welding, and the other members W having the possibility of failure W
_3, W _4, W other members (dividing factor member) which is a factor of dividing the welding line L from the ₇ W _3, W ₄ automatically extracts the welding operation is interrupted by their division factor member A CAM that automatically detects the range, determines whether bead splicing is possible within the range in which the welding work is divided, and creates numerical control data for instructing the welding line according to the determination.
The system 12 and the CAM system 12 control the operation of the welding robot 16 according to the instructions from the manufacturing site control system 14 and the manufacturing site control system 14 that gives specific instructions to the welding robot 16 at the manufacturing site. And a robot controller 15 that operates.

The three-dimensional CAD system 11 is a member / welding that stores three-dimensional shape data and position information of each member W to be welded and welding line information regarding the position of the welding line L when welding each member W. Line information database 11
A has a function as a simulation unit 1 that executes an assembly simulation of each member W using three-dimensional shape data and position information.

The CAM system 12 uses numerical control data,
A welding work database 12A for storing data relating to welding work such as welding condition data, rod operating method data, and sensing method data is provided, and three-dimensional CAD is also provided.
Based on the assembly simulation result in the system 11, another member (fault-probable other member) W that obstructs welding at the welding line L is extracted, and the division factor member W is extracted from this fault-probable other member W, and this member is extracted. Detecting a range in which the welding line L is divided by W, determining whether or not bead splicing is possible in this divided range, and instructing division of the welding line based on the result of this determination Extraction unit 2, division factor member extraction unit 3, division range detection unit 4, bead splicing possibility determination unit 5, and welding line division instruction unit 6
Has the function of.

The manufacturing site control system 14 stores the numerical control data created by the CAM system 12 in the numerical control database 14A and instructs the robot controller 15 on the welding line based on the numerical control data.

The robot controller 15 controls the operation of the welding robot 16 so as to execute welding with the welding line instructed by the manufacturing site control system 14.

The welding line division processing executed by the CAM system 12 will be described below with reference to FIGS. 3, 4, 5, and 6.

FIGS. 3 and 4 are flow charts showing the procedure of the welding line dividing process, and FIG. 5 is a diagram showing an arrangement example of each member referred to when explaining the welding line dividing process. FIG. 6 is a schematic diagram showing a positional relationship between a welding line and another member for explaining a process of detecting a welding line division range by another member using three-dimensional shape data. In addition, reference symbols S1 to S15 in FIGS. 3 and 4 indicate step numbers.

In step S1, an assembly simulation of each member W is executed on the three-dimensional CAD system 11 using the three-dimensional shape data and position information of each member W, and the result is stored.

In step S2, the information about the position of the welding line L for welding the member W _{1 to} be welded and the member W ₂ to be welded is input to the three-dimensional CAD system 11. This input method is, for example, a three-dimensional CAD system 11
Welding target member W ₁ displayed on the monitor (not shown)
And systems and that in such inscribing the weld line in the display image of the welded members W ₂ inputs the welding line L, automatically weld line by assembling the simulation results of the welded members W ₁ and the welded members W ₂ According to a known conventional method such as using a system for selecting L.

In step S3, the welding target member W ₁ and the welding target member W ₂ to be welded to each other at the welding line L are specified. The information for identifying the member W _{1 to} be welded and the member W ₂ to be welded is registered in the three-dimensional CAD system 11 in advance, or the member W having the welding line L on the surface is registered. It is specified by extracting.

At step S4, another member (other member having a possibility of failure) W (for example, another member having a possibility of failure) that comes into contact with both the welding target member W ₁ and the welding target member W ₂ specified in step S3.
All the members W ₃ , W ₄ , W ₇ ) are extracted. This extraction is
In the concrete processing by the computer, for example, for all members (W ₃ , W ₄ , W ₅ , W ₆ , W ₇ ) other than both members (W ₁ , W ₂ ) welded to each other at the welding line L, This is done by sequentially determining whether or not there is a surface shared with both surfaces of both the members (W ₁ , W ₂ ).

In step S5, it is determined whether or not there is another member (other member with a possibility of failure) W extracted in step S4. Here, if there is no such other member W, the present process is terminated, while if it is present, the process proceeds to step S6.

In step S6, the extracted other members (obstacles)
Possibility of other materials) W₃, W_Four, W₇On weld line L closest to
Point (hereinafter referred to as the nearest point) PW₃, PW_Four, PW₇But
Required, each other member W₃, W_Four, W₇Nearest point PW for each₃，
PW_Four, PW₇Each member including W ₁, W₂External configuration surface of
Below, it is referred to as a weld line constituting surface) is specified.

That is, in the three-dimensional CAD system 11, as shown in FIG. 5B, the outer shapes of both members W ₁ , W ₂ are a plurality of polygons IA ₁ , IA ₂ , ..., IB ₁ , respectively.
It is represented by IB ₂ , ... This is because, in computer graphics technology, a general method is to approximate the outer shape of an object by a large number of polygons and use the coordinates of the vertices of the large number of polygons as shape data representing the outer shape of the object.

Thus, in FIG. 5, for example, another member W
_If the point on the weld line L closest to ₃ is PW ₃ ,
The outer shape constituting surfaces IA ₁ and IB _{2 of the} respective members W ₁ and W ₂ including W ₃ are extracted as the welding line constituting surfaces.

In step S7, the other member (other member having a possibility of failure) W is in the normal direction of each welding line forming surface extracted in step S6 (direction indicated by an arrow in FIG. 5B, that is, welding line forming). (A direction perpendicular to the surface and toward the outside of both members W)
Or not. Here, when there is no such other member W, the present process is terminated, and when such another member W is present, the process proceeds to step S8.

In the example of FIG. 5, since the other member W ₃ is in the normal direction of both the welding line constituting surfaces IA ₁ and IB ₂ , step S7 is performed.
Is determined to be in the normal direction of the weld line constituting surface, and is extracted as a division factor member. On the other hand, other member W ₇
Is in the normal direction of the welding line forming surface IB ₂ , but is not in the normal direction of the welding line forming surface IA ₁ , and thus is not extracted as a division factor member. That is, it is determined that the member is a failure possibility other member but not a division factor member. Similarly, the other member W ₄ is extracted as the division factor member.

In step S8, the outer shape forming surface having the apex within a predetermined minute distance d from the welding line L in the outer shape forming surface of the division factor member W (hereinafter referred to as the welding line vicinity surface).
Is extracted. Here, the minute distance d is, for example, 3 mm.

For example, as shown in FIG.
Factor W_kThe external configuration surface of each polygon (P₁, P₂, P_Four),
(P₁, P₂, P₆), (P₁, P_Four, P₈), (P₁, P_Five，
P₆), (P₁, P_Five, P₈), (P₂, P₃, P_Four),
(P₂, P₃, P₆), (P₃, P_Four, P₇), (P₃, P₆，
P₇), (P_Four, P₇, P₈) And (P_Five, P₆, P₇，
P₈), As shown in FIG.
Point P that is within a predetermined minute distance d from the welding line L₁And points
P₂Each external configuration surface including (P₁, P₂, P_Four), (P₁，
P ₂, P₆), (P₁, P_Four, P₈), (P₁, P_Five, P₆),
(P₁, P_Five, P₈), (P₂, P₃, P_Four) And (P₂，
P₃, P₆) Is the division factor member W_kAs a surface near the welding line of
Will be issued.

In step S9, it is determined whether or not there is a weld line vicinity surface in step S8. When there is no surface near the welding line, the process proceeds to step S10, the predetermined minute distance d is extended by a fixed length, for example, 5 mm, and the process returns to step S8. As shown in FIG. 6C, the surfaces near the welding line which are not parallel to the welding line L are divided factor surfaces (P ₁ , P ₄ , P ₈ ),
Extract as (P ₁ , P ₅ , P ₈ ) and (P ₂ , P ₃ , P ₆ ), and proceed to step S 11.

In step S11, as shown in FIG. 6D, the division factor surfaces (P ₁ , P ₄ , P ₈ ), (P ₁ , P ₅ ,
Intersection points PL ₁₄₈ , PL ₁₅₈ , PL ₂₃₆ with the welding line L when P ₈ ) and (P ₂ , P ₃ , P ₆ ) are infinite planes (in the figure, the intersection points PL ₁₄₈ and PL ₁₅₈ are the same point). Is required). Of the intersections thus obtained, the two farthest intersections are defined as division points (step S1).
2). That is, the portion sandwiched by these two intersections is set as a range divided by the other member (division factor member) W.

In step S13, it is determined whether or not the division factor member W is in contact with the welding line L. If they are in contact with each other, the process proceeds to step S14, and the process is terminated assuming that the welding line L is a part where the bead splicing is impossible, that is, the welding line L is divided.

If they are not in contact with each other in step S13, the process proceeds to step S15 and the processing is terminated assuming that the bead splicing point, that is, the welding line L is not divided.

In this way, the manufacturing system T of this embodiment is
Assembling simulation of each member W is performed by the three-dimensional CAD system 11, and using this assembly simulation result, another member W having a possibility of obstacle when performing welding at the welding line L by the CAM system 12 That is, the obstacle possibility other member W is extracted, and the welding line L is determined by determining the range in which the welding line L is divided by the obstacle possibility other member W and whether or not bead splicing can be performed in the divided range. Since it is determined whether or not the
Even when a welding robot 16 welds a workpiece having a complicated shape, it is not necessary to give an instruction such as dividing one welding line in consideration of the positional relationship of each member W in advance, and the welding work can be performed efficiently. Can be executed.

Although the present invention has been described above based on the embodiments, the present invention is not limited to such embodiments and various modifications can be made. For example, although the present embodiment has been described by taking the welding robot as an example, the application of the present invention is not limited to the welding robot and can be applied to various automatic welding devices.

[0045]

As described in detail above, according to the present invention,
When assembling a workpiece with a complicated shape by automatic welding, other parts that may be obstacles to welding execution are extracted, the division factor members are extracted from the other possibility elements, and the welding work is performed by the division factor members. It is not necessary to specify the welding line division position in advance because the area to be divided is detected and the division of the welding line is automatically instructed when the bead splicing is not possible in the divided range. Therefore, an excellent effect that workability is improved can be obtained.

[Brief description of drawings]

FIG. 1 is a block diagram showing a schematic configuration of a welding line division instruction system according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a hardware configuration of the system.

FIG. 3 is a flowchart showing the first half of the procedure of the welding line division processing.

FIG. 4 is a flowchart showing the latter half of the procedure of the welding line division processing.

FIG. 5 is a schematic view showing an example of arrangement of respective members.

FIG. 6 is a schematic view showing a positional relationship between a welding line and each member by using three-dimensional shape data and positional information.

[Explanation of symbols]

1 Simulation means 2 Failure possibility other member extraction means 3 Division factor member extraction means 4-division range detection means 5 Bead connection possibility judgment means 6 Weld line division instruction means 11 3D CAD system 12 CAM system W member L welding line T manufacturing system

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Junichi Kawabata 1-1 Kawasaki-cho, Akashi City Kawasaki Heavy Industries Ltd. Akashi Factory (56) References JP 9-164483 (JP, A) JP 11- 291039 (JP, A) JP-A-10-277741 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) B23K 9/12

Claims (18)

(57) [Claims] 1. When welding each member by an automatic welding device such as a welding robot, another obstacle possibility member is extracted from an assembly simulation result, and then a division factor member is extracted from the obstacle possibility other member. A method for instructing division of a welding line, characterized by instructing division of a welding line when a bead splice cannot be performed due to the division factor member. 2. An assembly simulation procedure for assembling each member on a computer, a failure possibility other member extraction procedure for extracting a failure possibility other member from the assembly simulation result, and a division factor from the failure possibility other member. A division factor member extraction procedure for extracting a member, a division range detection procedure for detecting a range where welding work is divided by the division factor member, and a bead splicing for determining whether bead splicing is possible in the segmented range A welding line splitting instruction method comprising a feasibility determination procedure and a welding line splitting instruction procedure for instructing splitting of a welding line when bead splicing is determined to be impossible in the bead splicing propriety determination procedure. . 3. The welding line according to claim 1, wherein all other members that come into contact with both the welding target member and the welding target member to be welded with the welding line are obstacle-probable other members. Split instruction method. 4. A member which is in the normal direction of the welding line constituting surfaces of both the welding target member and the welding target member, among the other possible obstacle members, is the division factor member. The welding line division instruction method according to 1 or 2. 5. The dividing range is defined by a distance between two points most distant from each other at each intersection with the welding line when each of the division factor surfaces of the division factor member is an infinite plane. How to instruct welding line division. 6. The welding line splitting instruction method according to claim 2, wherein bead splicing is disabled when the splitting factor surface of the splitting factor member is in contact with the welding line. 7. The welding line splitting instruction method according to claim 5 or 6, wherein among the faces near the welding line of the splitting factor member, a face which is not parallel to the welding line is a splitting factor face. 8. The welding line splitting instruction method according to claim 7, wherein a surface within a predetermined minute distance from the welding line is defined as a surface near the welding line among the outer shape constituting surfaces of the splitting factor member. 9. The welding line according to claim 8, wherein when the welding line vicinity surface does not exist within the predetermined minute distance, the welding line vicinity surface is extracted by extending the predetermined minute distance by a predetermined amount. Split instruction method. 10. A welding line division instructing system used when welding each member by an automatic welding device such as a welding robot, wherein a possibility of failure other member is extracted by an assembly simulation, and then the possibility of failure other member. A welding line splitting instruction system, wherein a splitting factor member is extracted from among the splitting factor members, and a splitting of the welding line is instructed when a bead splice is impossible due to the splitting factor member. 11. A welding line division instruction system used when welding each member by an automatic welding apparatus such as a welding robot, and simulation means for executing an assembly simulation for assembling each member on a computer, and the assembly simulation. A failure possibility other member extracting means for extracting a failure possibility other member from the result, a division factor member extracting means for extracting a division factor member from the failure possibility other member, and a welding operation are divided by the division factor member. The range is detected by the dividing range, the bead splicing possibility determining unit that determines whether bead splicing is possible in the segmented range, and the bead splicing propriety determination unit determines that bead splicing is impossible. Welding line division instructing means for instructing division of the welding line when the welding is performed. Division instruction system. 12. The other member, which is in contact with both the member to be welded and the member to be welded to be welded by the welding line, is defined as another member having a possibility of failure.
The welding line division instruction system described. 13. A member which is in the normal direction of the welding line constituting surfaces of both the welding target member and the welding target member among the other possible obstacle members is a division factor member. Or the welding line division instruction system according to item 11. 14. The splitting range is defined by the two points farthest apart from each other at each intersection with the welding line when each splitting factor surface of the splitting factor member is an infinite plane. Welding line division instruction system. 15. The welding line splitting instruction system according to claim 11, wherein when the splitting factor surface of the splitting factor member is in contact with the welding line, bead splicing is disabled. 16. In the surface near the welding line of the division factor member,
The welding line division instruction system according to claim 14 or 15, wherein a surface that is not parallel to the welding line is used as a division factor surface. 17. The welding line splitting instruction system according to claim 16, wherein a surface within a predetermined minute distance from the welding line is defined as a surface near the welding line in the outer shape constituting surface of the splitting factor member. 18. The welding line vicinity surface is extracted by extending the predetermined minute distance by a predetermined amount when the welding line vicinity surface does not exist within the predetermined minute distance.
The welding line division instruction system described.