JP7141381B2 - Member Positional Relationship Estimating Device, Member Positional Relationship Estimating Method, and Member Positional Relationship Estimating Program - Google Patents

Description

The present invention relates to a member positional relationship estimation device, a member positional relationship estimation method, and a member positional relationship estimation program capable of estimating the positional relationship of members in welding.

In welding, from the designer, as design data, at least one of solid data, surface data, or polygon data as CAD data representing a three-dimensional shape, along with at least one of the solid data, the place to be welded Welding is performed by receiving the data indicating the welding line to be indicated. This weld line is sometimes called an arc line in arc welding. In order to perform automatic welding, it is necessary to set tags for robot teaching and to recognize the joint structure for the welding robot, and it is necessary to grasp the positional relationship between the members to be welded. Patent Literature 1 discloses a technique for determining whether or not two or more three-dimensional objects interfere with each other when they move relatively in space. Further, Patent Literature 2 discloses a technique for checking whether a robot and a workpiece to be operated by the robot interfere with each other. Further, Patent Document 3 discloses a welding program creation device that creates teaching data for a welding robot.

JP-A-1-48107 JP-A-5-324041 JP 2016-62477 A

By the way, in the above-mentioned method of specifying the welding line, the actual situation is that although the designer specifies whether or not welding is to be performed for the workpiece shape, the specific welding position is not specified. As a result, it may not be possible to grasp the positional relationship of the members and to recognize the position of the welding line to be actually taught.

Therefore, the present invention has been made in view of the above problems. An object of the present invention is to provide a relationship estimation method and a member positional relationship estimation program.

A member positional relationship estimating device according to an aspect of the present invention includes a receiving unit that receives three-dimensional shape data including at least two members to be welded and welding line data that indicates a welding location in the two members; A conversion unit that converts data into a wire frame, an arrangement unit that arranges a plurality of checking members on the weld line, and a determination unit that determines interference between each of the plurality of checking members and the wire frames of the two members. and a specifying unit that specifies the positional relationship between the two members based on the mode of interference between the plurality of checking members and the two members.

In addition, a member positional relationship estimation method according to an aspect of the present invention includes a receiving step in which the computer receives three-dimensional shape data including at least two members to be welded and welding line data indicating welding locations in the two members. , a conversion step of converting the three-dimensional shape data into a wire frame, an arrangement step of arranging a plurality of check members on the weld line, and interference between each of the plurality of check members and the wire frames of the two members. A determining step of determining, and an identifying step of identifying the positional relationship between the two members based on the mode of interference between the two members among the plurality of checking members.

Further, the member positional relationship estimation program according to one aspect of the present invention has a receiving function of receiving, in a computer, three-dimensional shape data including at least two members to be welded and welding line data indicating welding locations in the two members. , a conversion function that converts 3D shape data into a wire frame, a placement function that places multiple checking members on the weld line, and interference between each of the multiple checking members and the wire frames of the two members. A determination function of determining and a specifying function of specifying the positional relationship between the two members based on the mode of interference between the two members of the plurality of checking members are realized.

Further, in the member positional relationship estimating device, the specifying unit specifies the positional relationship between the two members based on the number of interferences in which the checking member interferes with the wire frames of the two members as the mode of interference. good too.

Further, in the member positional relationship estimating device, the identifying unit determines that the check member having a greater number of interferences with the wire frame of the member is the upper plate in welding, and the one having a smaller number of interferences is the lower plate in welding. It may be specified.

Further, in the member positional relationship estimating device, the specifying unit determines whether the checking member arranged on the weld line interferes with the surface of the member, interferes with the wire frame of the member, or does not interfere as the mode of interference. , the joint structure of the two members in welding may be specified as the positional relationship between the two members.

In the member positional relationship estimating device, the welding line data received by the receiving unit includes a root portion edge indicating the edge of the member serving as the root portion, and a torch indicating the edge of the member on the side where the torch of the welding torch enters. and a projection edge when projecting from one member with the torch portion entry edge to the other member, and the specific portion is the edge indicated by the weld line and the weld line The positional relationship between the two members may be specified using at least one of the root edge, the torch entry edge, and the projection edge, other than the edge indicated by .

Further, in the member positional relationship estimating device, the identifying unit has a root edge and a torch entry edge that both interfere with a surface of one of the two members, and the root edge and the torch entry edge interfere with each other. Two members may be identified as being connected in a T-shape if they both interfere with the wire frame of the other of the two members.

Further, in the member positional relationship estimating device, the identifying portion has one of the root portion edge and the torch portion entering edge interferes with one of the surfaces of the two members, and the projection edge Two members may be specified as being obliquely connected to the other if it does not interfere with the other of the two members.

Further, in the member positional relationship estimating device, the specifying unit performs two It may be specified that two members are connected together with their ends butted together.

Further, in the member positional relationship estimating device, the identifying portion has a root portion edge that interferes with one surface of the two members and the other wire frame, and a torch portion entry edge that interferes with one of the two members. Two members may be identified as being connected in an overlapping manner if they do not interfere with the member but with the wire frame of the other member.

The member positional relationship estimating device provides a virtual checking member on the weld line and specifies how the checking member interferes with each of the two members to be welded. positional relationship can be specified. Therefore, by automatically specifying the positional relationship between two members to be welded, the member positional relationship estimating device can contribute to the automation of receiving design data and performing welding, for example.

It is a block diagram which shows the structural example of a member positional relationship estimation apparatus. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a diagram illustrating two members to be welded and the edges associated with the weld, where (a) is a side view of the two members and (b) is a perspective view of the two members; (a) is a plan view of two members to be welded, and (b) is a plan view of the two members in which a checking member is arranged. (a) is a side view of two members when welding two members in a T shape, (b) is a perspective view of FIG. 4 (a), and (c) is a check member 4 is a table showing interference relationships between and members. (a) is a side view of two members when obliquely welding two members, (b) is a perspective view of FIG. 5 (a), and (c) is a checking member and a member It is a table showing an interference relationship with. (a) is a side view of two members when the two members are butt welded, (b) is a perspective view of FIG. 6 (a), and (c) is a checking member and a member It is a table showing an interference relationship with. (a) is a side view of two members when the two members are overlapped and welded, (b) is a perspective view of FIG. 7 (a), and (c) is a checking member and It is a table|surface which shows interference relationship with a member. 4 is a flowchart showing a process of estimating the vertical relationship between two members by the member positional relationship estimating device; It is a flowchart which shows the estimation process of the joint structure of two members by a member positional relationship estimation apparatus. FIG. 11 is a block diagram showing another configuration example of the member positional relationship estimation device;

Hereinafter, a member positional relationship estimation device according to an embodiment of the present invention will be described in detail with reference to the drawings.

<Embodiment 1>
<Configuration>
A member positional relationship estimation device 100 shown in FIG. 1 is a device that receives input of design data related to arc welding and estimates the positional relationship between two members to be welded. That is, the member positional relationship estimating device 100 estimates which of the two members to be welded is the upper plate and which is the lower plate, and the information on the aspect of the joint structure is included in the design data. It is a device that can estimate even if it is not installed. The member positional relationship estimation device 100 is implemented by an information processing device (computer) such as a tablet terminal, personal computer, or server device.

Here, a method for estimating a welding line (sometimes referred to as an arc line) indicating a location to be welded in the design data related to arc welding in the present embodiment and a vertical relationship between two members to be welded will be described. do.

FIG. 2 is an example of design data, (a) is a side view of two members to be welded, and (b) is a perspective view thereof. FIGS. 2A and 2B show an example of oblique welding of the first member 10 to the second member 20. FIG. In FIGS. 2(a) and 2(b), the position indicated by line segment 31 is actually welded. When such welding is performed, any one of the line segments 30, 31, and 32 is designated as the welding line in the design data. Here, a line segment 31 indicated by a dashed line is an edge on the side where the root of the welding torch approaches, and is called a root edge. A line segment 30 indicated by a solid line is an edge on the side where the torch portion of the welding torch approaches, and is called a torch portion entering edge. A line segment 32 indicated by a one-dot chain line drawn perpendicularly to the second member 20 from the torch entry edge 30 is called a projection edge. For the welding robot, the position that is actually taught as the welding position is the projected edge. As shown in FIG. 2, this is the teach position for oblique welding, and the edge to be taught differs depending on the joint structure when two members are welded. Details will be described later with reference to FIGS. 4 to 7. FIG.

Next, a method for determining the vertical relationship of members will be described with reference to FIG. FIG. 3 is a plan view of two members to be welded. As shown in FIG. 3(a), it is assumed that the design data designates a weld line 30 for welding the first member 10 and the second member 20 together. The member positional relationship estimating device 100 according to the present embodiment creates a wire frame of the first member 10 and the second member 20 shown in the design data, and displays a plurality of virtual check points on the weld line 30. The members 30a-30e are arranged. The member positional relationship estimating device 100 determines whether the checking members 30a to 30e and the wire frames of the first member 10 and the second member 20 interfere with each other. Then, the member positional relationship estimation device 100 estimates that the member with which the check member interferes more is the upper plate in the welding. In the example of FIG. 3(b), the wire frame of the first member 10 interferes with all the checking members 30a-30e. On the other hand, the wire frame of the second member 20 interferes with the checkable members 30a and 30e. As a result, in this case, the member positional relationship estimation device 100 estimates that the first member 10 is the upper plate in welding. A detailed description will be given below.

As shown in FIG. 1 , member positional relationship estimation device 100 according to the present invention includes communication section 110 , storage section 120 , control section 130 and output section 140 . Each part of the member positional relationship estimation device 100 may be configured to communicate with each other via the bus 160 .

The communication unit 110 has a function of receiving welding design data from a designer's terminal via a network line. The design data here includes at least two members to be arc-welded, and includes three-dimensional shape data of shapes and welding lines. The three-dimensional shape data is information (CAD data defined in any format) indicating any one of solid data, surface data, and polygon data, and includes a plurality of these data. good too. Solid data is data indicating information of a design object defined up to the internal structure in CAD (Computer Aided Design). Surface data is data that defines only the surface of a member, unlike solid data. Polygon data is data expressing the shape of a member by polygonal surfaces. Design data may be transferred in wireframes. Upon receiving design data on welding, communication unit 110 transmits the received design data to control unit 130 . Here, arc welding is explained as an example, but the method of estimating the positional relationship of the members and the method of estimating the joint structure shown in this embodiment are not limited to arc welding. It is only necessary to estimate the positional relationship between the members to be processed (made) by the material processing method, such as sealer application processing, hemming processing, adhesive processing, brazing processing, laser welding processing, ultrasonic welding processing, etc. It is also applicable to workpieces for combinations.

The storage unit 120 has a function of storing various programs and various data required by the member positional relationship estimation device 100 for its operation. The storage unit 120 can be realized by various recording media, such as an HDD (Hard Disc Drive), an SSD (Solid State Drive), and a flash memory. Storage unit 120 stores a member positional relationship estimation program for estimating the positional relationship between two members to be welded. The storage unit 120 may also store design data according to instructions from the control unit 130 .

The control section 130 has a function of controlling each section of the member positional relationship estimation device 100 . The control unit 130 can be implemented as a processor that executes the functions of the member positional relationship estimation device 100 by reading and executing the member positional relationship estimation program stored in the storage unit 120 .

The control unit 130 functions as a conversion unit 131 , an arrangement unit 132 , a determination unit 133 and an identification unit 134 as functions to be performed by the member positional relationship estimation device 100 .

The conversion unit 131 converts the solid data indicated in the design data transmitted from the communication unit 110 into wire frames. This can be achieved, for example, by edge analysis of solid data, but is not limited to this. If the solid data itself contains wire-frame structural data, the structural data may be extracted for conversion.

The arrangement unit 132 identifies the weld lines set for the two members to be welded indicated in the design data transmitted from the communication unit 110 . Then, a virtual checking member for specifying the positional relationship between the two members to be welded is placed on the specified welding line. The check member may be any member that can identify the interference with each of the two members and the manner of interference. Here, a plurality of spherical virtual objects are arranged on the weld line. In addition to the weld line designated by the design data, the placement unit 132 can also place check members on other weld lines that can be derived from the weld line. That is, the arranging section 132 can also arranging the checking member on the edge not designated by the welding line among the above-described root edge, torch entry edge, and projection edge.

The determination unit 133 determines whether each checking member placed by the placement unit 132 interferes with the wire frames of the two members (10, 20) to be welded. Further, the determination unit 133 determines whether or not each checking member placed by the placement unit 132 interferes with the surfaces forming the two members (10, 20) to be welded. Interference means that at least a part of the surface of the wire frame or member contacts (overlaps) the area set as the checking member with respect to the coordinate space in the design data.

The specifying unit 134 specifies the vertical relationship in welding between the two members to be welded (which is the upper plate and which is the lower plate) based on the judgment of interference between each checking member and the member by the judgment unit 133. . The specifying unit 134 counts the number of check members that interfered with the wire frames of the first member 10 and the number of the check members that interfered with the wire frames of the second member 20, which are two members to be welded. Then, if the number of checking members that interfered with the wire frame of the first member 10 is greater than the number of members that interfered with the wire frame of the second member 20, the identifying unit 134 determines that the first member 10 is welded. Identify the upper plate in In addition, when the number of checking members that interfered with the wire frame of the second member 20 is greater than the number of members that interfered with the wire frame of the first member 10, the specifying unit 134 determines that the second member 20 is welded. Identify the upper plate in

In addition, the identification unit 134 determines in what manner the check member arranged at the root edge interferes (or does not interfere) with the first member 10 and the second member 20, and determines whether the torch entrance edge In what manner the placed checking member interferes (or does not interfere) with the first member 10 and the second member 20, and if present, the checking member placed at the projection edge The joint structure in the welding of the first member 10 and the second member 20 is specified depending on how the first member 10 and the second member 20 interfere (or do not interfere). Specific details of the joint structure will be described later with reference to FIGS. 4 to 7. FIG.

The output unit 140 has a function of outputting information specified by the control unit 130 . The output unit 140 outputs information regarding the positional relationship between the two members determined by the control unit 130, for example. The member positional relationship estimating apparatus 100 may be connected to a device such as a speaker or a monitor, and may output information regarding the positional relationship between two members by voice, or display sentences, charts, etc. on the monitor. It may be output. Alternatively, the output unit 140 may output the information regarding the positional relationship between the two members to an external device via the communication unit 110 in such a manner as to transmit the information. The information about the positional relationship between the two members includes information about which is the upper plate and which is the lower plate in the two members in arc welding, or information about how the joint structure in arc welding is. .

The above is the configuration of the member positional relationship estimation device 100 . Here, it is assumed that the communication unit 110 receives the design data, but for the design data, for example, design data that is designed by receiving direct input from the designer and stored in the storage unit 120 is used. Alternatively, design data stored in a storage medium such as a flash memory may be connected to the member positional relationship estimating apparatus 100, and the data stored in the flash memory may be used.

<Member Positional Relationship and Judgment Method>
FIG. 4 is a diagram showing the relationship between the welding line and the checking member when the first member 10 and the second member 20 are welded to the T-shaped joint structure.

FIG. 4(a) shows a side view when the first member 10 and the second member 20 are (made) welded in a T shape, and (b) shows a perspective view thereof. Moreover, FIG.4(c) is the graph which put together how each check member interferes with each member in the case of FIG.4(b).

In FIG. 4A, either the root edge 31 or the torch entry edge 30 is designated as the weld line. At this time, when the root edge 31 is specified as the welding line, the placement unit 132 places a plurality of checking members on the root edge 31 and also on the torch entry edge 30 . Place multiple The example shown in FIG. 4B shows an example in which five checking members 31a to 31e are arranged on the root edge 31 and five checking members 30a to 30e are arranged on the torch entry edge 30. ing. The judging section 133 judges the mode of interference between the checking members 30a to 30e and 31a to 31e with the first member 10 and the second member 20, respectively.

FIG. 4C is a table showing how each checking member interferes with each of the first member 10 and the second member 20, and shows the determination result of the interference mode by the determining unit 133. Information. In this table, if the check member interferes with the wire frame of the target member, it is described as "line", and if it interferes with the surface of the target member, that is, a solid, surface, or polygonal surface is described as "surface", and when there is no interference, it is described as "x".

As shown in FIG. 4C, for example, the checking member 30a interferes with the wire frame of the first member 10 and the wire frame of the second member 20 as well. This is also clear from FIG. 4(b). Similarly, the checking member 30b interferes with the wire frame of the first member 10 and also interferes with the surface of the second member 20. As shown in FIG. In this manner, the table shown in FIG. 4(c) can be created from the mode shown in FIG. 4(b) and from the mode of interference of each checking member.

By the way, since the checking members 30a to 30e are arranged on the torch entry edge 30, how the torch entry edge 30 itself interferes with each member from the interference state of these checking members. It is possible to identify whether That is, as shown in FIG. 4(c), the check members 30a to 30e on the torch entry edge 30 interfere with the first member 10 in a "line" manner. It can be understood that it interferes with the wireframe of In other words, it can be seen that the torch entry edge 30 of FIG. 4 interferes with the wire frame of the first member 10 . On the other hand, among the checking members 30a to 30e, two checking members interfere with the wire frame of the second member 20, while three checking members interfere with the surface of the second member 20. I can understand what you are doing. From this, it can be said that the torch portion entering edge 30 interferes with the surface of the second member 20 .

Similarly, the root edge 31 interferes with the wire frame of the first member 10 and interferes with the surface of the second member 20 . In such a case, as shown in FIG. 4A, it can be specified that the first member 10 and the second member 20 are (are) welded in a T shape.

FIG. 5 is a diagram showing the relationship between the welding line and the checking member when the first member 10 and the second member 20 are welded to the oblique joint structure.

FIG. 5(a) shows a side view when obliquely welding the first member 10 and the second member 20, and FIG. 5(b) shows a perspective view thereof. FIG. 5(c) is a graph summarizing how each checking member interferes with each member in the case of FIG. 5(b).

In FIG. 5A, as the welding line, any one of the root edge 31, the torch entry edge 30, and the projection edge 32 is specified in the design data, as described above. At this time, the placement unit 132 identifies the weld lines at locations not specified in the design data. That is, if the welding line specified in the design data is the torch entry edge 30, the placement unit 132 identifies the root edge 31 and projection edge 32 of the other edges. Then, the placement unit 132 places a plurality of checking members on all of the identified edges in addition to the edges designated by the design data. In the example of FIG. 5(b), the torch entry edge 30 has checking members 30a to 30e, and the root edge 31 has checking members 31 to 31e (however, considering the visibility of the drawing, (not shown in FIG. 5B), and the projected edge 32 is provided with checking members 32a to 32e. Then, the mode of interference between these checking members and the first member 10 and the second member is the mode shown in FIG. 5(c).

As can be understood from FIG. 5(c), the checking member placed on the torch entry edge 30 interferes with the wire frame of one member (first member 10) and the other member (second member 20). , the checking member placed on the root edge 31 interferes with the wire frame of one member (first member 10) and interferes with the surface of the other member (second member 20), When the checking member placed on the projection edge 32 does not interfere with one member (the first member 10) but interferes with the surface of the other member (the second member 20), FIG. , the joint structure is such that the first member 10 and the second member 20 are obliquely welded.

FIG. 6 is a diagram showing the relationship between the welding line and the checking member when the first member 10 and the second member 20 are welded to the butt joint structure.

FIG. 6(a) shows a side view when the first member 10 and the second member 20 are butt-welded (done), and FIG. 6(b) shows a perspective view thereof. Moreover, FIG.6(c) is the graph which put together in what kind of aspect each member for a check interferes with each member in the case of FIG.6(b).

As can be understood from FIG. 6(c), when it can be specified that the checking members arranged at the torch portion entry edge 30 and the root portion edge 31 both interfere with the wire frames of both of the two members , the two members can be specified to have a butt joint structure of the weld, as shown in FIG. 6(b).

FIG. 7 is a diagram showing the relationship between the welding line and the checking member when the first member 10 and the second member 20 are welded to the overlapping joint structure.

FIG. 7(a) shows a side view when the first member 10 and the second member 20 are overlapped and welded together, and FIG. 7(b) shows a perspective view thereof. FIG. 7(c) is a graph summarizing how each checking member interferes with each member in the case of FIG. 7(b).

As can be understood from FIG. 7(c), the checking member arranged on the torch entry edge 30 does not interfere with one member (first member 10), and the other member (second member 20) While interfering with the wire frame, the checking member arranged on the root edge 31 interferes with the wire frame of one member (first member 10) and does not interfere with the other member (second member 20). When this can be specified, it can be specified that the joint structure of the two members is a structure in which the two members are overlapped with each other, as shown in FIG. 7(b).

The member positional relationship estimating device 100 can estimate the joint structure between the first member 10 and the second member 20 based on the differences in the tables shown in FIGS.

<Action>
FIG. 8 is a flow chart showing processing for creating motion segments by the member positional relationship estimation device 100 . Hereinafter, the process of creating an action segment of the member positional relationship estimation device 100 will be described with reference to FIG. 8 .

(Step S801)
In step S801, the communication unit 110 of the member positional relationship estimation device 100 receives solid data including weld lines (step S801). Communication unit 110 transmits the received solid data to control unit 130, and proceeds to the process of step S802.

(Step S802)
In step S802, the conversion unit 131 of the control unit 130 converts the transferred solid data into a wireframe. Converting solid data to wireframes can be accomplished using existing technology. Also, if the transferred design data originally has a wireframe structure, this process can be omitted. After converting into a wire frame, the process proceeds to step S803.

(Step S803)
In step S803, the placement unit 132 of the control unit 130 places a plurality of virtual checking members on the weld line indicated by the design data. The checking member arranged by the arrangement unit 132 at this time may be, for example, a spherical object having a predetermined radius. Although the check member is a sphere here, it is not limited to a sphere, and may be of any other shape as long as the interference with a wire frame, solid data, surface data, or polygon data surface can be identified. For example, a rectangular parallelepiped or any other shape such as a cube. Also, the number of check members arranged by the arrangement unit 132 may be any number as long as it is plural, but the more the check members are, the more the positional relationship of the members and the accuracy of estimating the joint structure are improved. After arranging the check members, the member positional relationship estimation device 100 proceeds to the process of step S804.

(Step S804)
In step S804, the determination unit 133 of the control unit 130 confirms whether or not each checking member arranged by the arrangement unit 132 interferes with each of the two members to be welded (the first member 10 and the second member 20). . Then, the process proceeds to step S805.

(Step S805)
In step S805, the specifying unit 134 of the control unit 130 compares the number of interferences between each checking member determined by the determination unit 133 and the wire frames of the two members (the first member 10 and the second member 20) to be welded. do. That is, the identifying unit 134 determines whether the number of interferences between the checking member and the wire frame of the first member is greater than the number of interferences between the wire frame of the second member. When the identification unit 134 identifies that the number of interferences of the checking member with the wire frame of the first member is greater than the number of interferences with the wire frame of the second member (YES), the process proceeds to step S806. , when it is specified that the number of interferences of the checking member with the wire frame of the first member is not more (less) than the number of interferences with the wire frame of the second member (NO), the process proceeds to step S807. .

(Step S806)
In step S806, the identification unit 134 identifies that the first member 10 is the upper plate in welding (the second member 20 is the lower plate in welding), and ends the process.

(Step S807)
In step S807, the identifying unit 134 identifies that the first member 10 is the lower plate in welding (the second member 20 is the upper plate in welding), and ends the process.

Although not shown in FIG. 8, after steps S806 and S807, the output unit 140 outputs the positional relationship between the two members to be welded specified by the specifying unit 134, that is, the upper plate or the lower plate in welding. You may output the information which shows whether it is. By executing the processing shown in FIG. 8, the member positional relationship estimating device 100 can estimate the vertical relationship in welding between two members to be welded.

Next, the process of specifying the joint structure of two members to be welded by the member positional relationship estimation device 100 will be described with reference to FIG. 9 .

(Step S901)
In step S<b>901 , the identifying unit 134 identifies whether each checking member interferes with each member (two members to be welded) in terms of surface, line, or non-interference. Interference on the surface means that the check member interferes with the surface constituting the member to be welded, as described above. Interfering with a line means that the checking member interferes with the wire frame of the member to be welded so as to overlap. After identifying the mode of interference between the check member and each of the two members to be welded, the process proceeds to step S902.

(Step S902)
In step S<b>902 , the identifying unit 134 identifies whether the torch entry edge 30 and the root edge 31 both linearly interfere with both the first member 10 and the second member 20 . That is, it is specified whether the checking member arranged on the torch portion entering edge 30 linearly interferes with the wire frames of both the first member 10 and the second member 20 . If the identification unit 134 determines that both the torch portion entry edge 30 and the root portion edge interfere with the wire frames of both the first member 10 and the second member 20 (YES), the process proceeds to step S903. If not (NO), the process proceeds to step S904.

(Step S903)
In step S903, the identification unit 134 determines that the welded joint structure between the first member 10 and the second member 20 is a butt joint structure, and ends the process. At this time, the output unit 140 may output joint structure information.

(Step S904)
In step S904, the identification unit 134 determines that one of the torch entry edge 30 and the root edge 31 interferes linearly with both the first member 10 and the second member 20, and the other is planar. Identify what interferes. That is, the checking member arranged on either the torch entry edge 30 or the root edge 31 interferes with the wire frame of the first member 10 and the second member 20, and is arranged on the other. If it is specified that the checking member interferes with the surfaces of the first member 10 and the second member 20 (YES), the process proceeds to step S905; otherwise (NO), the process proceeds to step S906. transition to

(Step S905)
In step S905, the identifying unit 134 determines that the welded joint structure between the first member 10 and the second member 20 is a T-shaped structure, and ends the process. At this time, the output unit 140 may output joint structure information.

(Step S906)
In step S<b>906 , the identification unit 134 determines that one of the entering edges interferes with the wire frames of both the first member 10 and the second member 20 and the other of the entering edges interferes with the wire frames of the first member 10 and the second member 20 . Determine if the projected edge interferes with the wireframe of one of the members, or does not interfere with the face of the That is, the identifying part 134 is such that the checking member arranged on either one of the torch part entry edge 30 and the root part edge 31 interferes with the wire frames of both the first member 10 and the second member 20. and the checking member disposed on the other of the torch entry edge 30 and the root edge 31 interferes or does not interfere with the surfaces of the first member 10 and the second member 20, If it is determined that the checking member placed on the projection edge 32 interferes with the wire frame of either the first member 10 or the second member 20 (YES), the process proceeds to step S907; In the case (NO), the process proceeds to step S908.

(Step S907)
In step S907, the identifying unit 134 determines that the welded joint structure between the first member 10 and the second member 20 is a superimposed structure, and ends the process. At this time, the output unit 140 may output joint structure information.

(Step S908)
In step S<b>908 , the identification unit 134 determines that one of the entering edges interferes with the wire frames of both the first member 10 and the second member 20 and the other of the entering edges interferes with the wire frames of the first member 10 and the second member 20 . , and whether the projected edge interferes with one of the members. That is, the identifying part 134 is such that the checking member arranged on either one of the torch part entry edge 30 and the root part edge 31 interferes with the wire frames of both the first member 10 and the second member 20. and the checking member disposed on the other of the torch entry edge 30 and the root edge 31 interferes or does not interfere with the surfaces of the first member 10 and the second member 20, If it is determined that the checking member placed on the projected edge 32 does not interfere with either the first member 10 or the second member 20 (YES), the process proceeds to step S909; otherwise (NO ), terminate the process.

(Step S909)
In step S909, the identification unit 134 determines that the welded joint structure between the first member 10 and the second member 20 is an oblique structure or an oblique cut-off structure, and ends the process. At this time, the output unit 140 may output joint structure information.

The method for estimating the welded joint structure by the member positional relationship estimating device 100 has been described above.

<Summary>
According to the member positional relationship estimating device 100 according to the above embodiment, a plurality of virtual check members are arranged with respect to the weld line included in the design data, and each check member and two members to be welded are arranged. It is possible to specify which of the two members to be welded will be the upper plate (lower plate) in welding depending on whether or not there is interference with the wire frame that is the outer frame of the. That is, it is possible to specify the relative positional relationship between the two members with a relatively simple configuration.

Similarly, it is possible to specify how the joint structure in welding is based on how the checking member interferes with the two members.

Therefore, the member positional relationship estimation device 100 can contribute to automatic creation of a welding program in teaching a robot in welding. As an example, using the result of estimating the positional relationship of the members by the member positional relationship estimation device 100, the correct teaching point to be welded by the robot is automatically generated from the weld line by the designer, and the welding conditions (the positional relationship of the member) It will be possible to automatically determine the amount of current, welding speed, etc. determined by

<Supplement>
It goes without saying that the member positional relationship estimating device according to the above embodiment is not limited to the above embodiment, and may be realized by other methods. Various modifications will be described below.

(1) In the above embodiment, the processor functioning the member positional relationship estimation device 100 executes the member positional relationship estimation program or the like to determine whether or not the new operation program is possible. It may be realized by a logic circuit (hardware) or a dedicated circuit formed in a circuit (IC (Integrated Circuit) chip, LSI (Large Scale Integration)) or the like. Moreover, these circuits may be realized by one or more integrated circuits, and the functions of the plurality of functional units shown in the above embodiments may be realized by one integrated circuit. LSIs are sometimes called VLSIs, super LSIs, ultra LSIs, etc., depending on the degree of integration. That is, as shown in FIG. 10, each functional unit that configures member positional relationship estimation device 100 may be realized by a physical circuit. As shown in FIG. 10, the member positional relationship estimation apparatus 100 includes a communication circuit 110a, a storage circuit 120a, a control circuit 130a (a conversion circuit 131a, an arrangement circuit 132a, a determination circuit 133a, and a specification circuit 134a), and an output circuit 140a. and each circuit has a function similar to that of the functional unit with the same name described above.

In addition, the member positional relationship estimation program may be recorded on a processor-readable recording medium, and the recording medium may be a "non-temporary tangible medium" such as a tape, disk, card, semiconductor memory, programmable A logic circuit or the like can be used. Further, the member positional relationship estimation program may be supplied to the processor via any transmission medium (communication network, broadcast wave, etc.) capable of transmitting the member positional relationship estimation program. The present invention can also be implemented in the form of a data signal embedded in a carrier wave in which the component positional relationship estimation program is embodied by electronic transmission.

In addition, the member positional relationship estimation program can be used, for example, in addition to programming languages such as C language, C++ language, and Basic language, script languages such as ActionScript and JavaScript (registered trademark), Objective-C, Java (registered trademark), etc. It can be implemented using an object-oriented programming language, a markup language such as HTML5, and so on.

(2) The configurations shown in the above embodiments and supplements may be combined as appropriate.

10 First member 20 Second member 30 Torch entry edge 31 Root edge 32 Projection edges 30a to 30e, 31a to 31e, 32a to 32e Check member 100 Member positional relationship estimation device 110 Communication unit 120 Storage unit 130 Control unit 131 Conversion unit 132 Arrangement unit 133 Determination unit 134 Identification unit 140 Output unit

Claims (11)

a receiving unit that receives three-dimensional shape data including at least two members to be welded and welding line data indicating a welded portion in the two members;
a conversion unit that converts the three-dimensional shape data into a wire frame;
an arrangement unit for arranging a plurality of checking members on the weld line;
a determination unit that determines interference between each of the plurality of checking members and the wire frames of the two members;
a specifying unit that specifies the positional relationship between the two members based on the mode of interference between the plurality of checking members and the two members;
A member positional relationship estimation device comprising: 3. The identifying unit identifies the positional relationship between the two members based on the number of times the checking member interferes with the wire frames of the two members, as the mode of interference. 2. The member positional relationship estimating device according to 1. The specifying unit specifies that the check member having more interference with the wire frame of the member is the upper plate in welding, and the one with less interference is the lower plate in welding. The member positional relationship estimating device according to claim 2. The specific part determines whether the check member placed on the weld line interferes with the surface of the member, interferes with the wire frame of the member, or does not interfere with the interference mode. The member positional relationship estimating device according to any one of claims 1 to 3, wherein a joint structure of the two members in the welding is specified as the positional relationship between the two members. The welding line data received by the receiving unit includes a root portion edge indicating an edge of a member serving as a root portion, a torch portion entry edge indicating an edge of a member on the side where the torch of the welding torch enters, and the torch portion. and a projected edge when projected from one member with an entering edge onto the other member,
The specific portion uses at least one of the edge indicated by the weld line, the root portion edge other than the edge indicated by the weld line, the torch portion entry edge, and the projection edge to obtain the two 5. The member positional relationship estimating device according to claim 4, wherein the positional relationship between two members is specified. The identification unit
Both the root edge and the torch entry edge interfere with the surface of one of the two members,
When both the root edge and the torch entry edge interfere with the wire frame of the other of the two members,
The member positional relationship estimating device according to claim 5, wherein the two members are identified as being connected in a T shape. The identification unit
Either one of the root edge and the torch entry edge interferes with one of the two members,
If the projected edge does not interfere with the other of the two members,
6. The member positional relationship estimating device according to claim 5, wherein the two members are specified as being obliquely connected to the other. The identification unit
The root edge interferes with the wire frames of both of the two members,
When the torch entry edge interferes with the wire frames of both of the two members,
6. The member positional relationship estimating device according to claim 5, wherein the two members are specified to be connected in such a manner that their ends are butted against each other. The identification unit
The root edge interferes with one surface of the two members and interferes with the other wire frame,
When the torch entry edge does not interfere with the one member but interferes with the wire frame of the other member,
6. The member positional relationship estimating device according to claim 5, wherein the two members are specified to be connected so as to overlap each other. the computer
a receiving step of receiving three-dimensional shape data including at least two members to be welded and welding line data indicating a weld location in the two members;
a conversion step of converting the three-dimensional shape data into a wire frame;
an arrangement step of arranging a plurality of checking members on the weld line;
a determination step of determining interference between each of the plurality of checking members and the wire frames of the two members;
an identifying step of identifying the positional relationship between the two members based on the mode of interference between the plurality of checking members and the two members;
Member positional relationship estimation method including. to the computer,
a receiving function for receiving three-dimensional shape data of two members to be welded and welding line data indicating a welding location in the two members;
a conversion function for converting the three-dimensional shape data into a wire frame;
An arrangement function for arranging a plurality of checking members on the weld line;
A determination function for determining interference between each of the plurality of checking members and the wire frames of the two members;
A specific function of specifying the positional relationship between the two members based on the mode of interference between the plurality of checking members and the two members;
Member position relationship estimation program that realizes.

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