JPS61168461A - Automating device for treating large-sized body - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] (Industrial application field) The present invention relates to an automated device for processing large objects.

BACKGROUND OF THE INVENTION Although numerous types of automated factories have been built or proposed in recent years to process various objects, the shipbuilding industry has not been relatively untapped by these developments. The reason for this is that shipbuilding seems to have special problems that are not encountered in many, if any, combinations in other industrial sectors.

(Problems to be Solved by the Invention) The first of these problems arises from the size of the product being manufactured. The dimensions of the hull or parts of the hull are something that should be brought to the working position by the robot, rather than having to transport the hull to the vicinity of a robot for continuous processing. Another problem arises from the fact that the work performed is generally not particularly repetitive. Consider a section of a ship's hull that consists of a number of cells defined by longitudinal or transverse bulkheads. Each cell assembles neighboring cells, but is generally distinct from those neighboring cells. As a general rule of thumb, there are very few cases in which two or more vessels are exactly the same. For this reason, organizational methods that strictly automate repetitive tasks end up leaving behind an unacceptable proportion of complex tasks.

A first object of the invention is to distinguish between objects which, because of the processing to which they are subjected and their shape, are not exactly identical, although generally speaking they have many similarities to each other. It is an object of the present invention to provide an automated device that can perform processing without moving.

A second object of the invention is to operate over large distances with an accuracy and working speed comparable to that achieved in equipment where the tools are moved only over short distances, whether in operation or not. There are companies that offer this type of equipment, which consists of a factory where tools can be moved.

It is an object of the present invention to provide a device that simultaneously and automatically provides multiple tooling functions.

(Rounding Means to Solve the Problem) To achieve these objectives, the present invention does not move objects of similar, but not necessarily identical kind and assembled into groups. The present invention provides an apparatus for automatically configuring and/or machining a tool, the apparatus comprising: a tool (which may be a robot);
A factory comprising a means of transport suitable for moving said tool means and a positioning and tracking sensor suitable for monitoring the environment of said tool means: receiving information regarding the objects constituted and/or the machining to be performed thereon; for receiving and storing technical specifications of the available tooling means, configuring, inspecting and, if necessary, modifying an operating program for one of said objects on the basis of said information and said standards; a programming center suitable for displaying said program and similarly processing a program relating to another object or a program for assembling an object; said programming center setting a program for moving a tool means from a first part to a second part; a system suitable for testing and storing said program; and receiving a program from said programming center;
Existence of tool means and execution of tool means Ki! a monitoring station suitable for detecting the time to ', communicating the instructions contained in the program to the tool and the transport means, and checking the means.

As can be understood from what has been said above, this device is
It is particularly advantageous in situations where the objects form part of a shipyard and are cells and the group of objects are blocks each forming part of a ship under construction.

A "geometric" database, which the programming center preferably receives via interface data regarding the object to be manufactured or machined; a "tool" database containing a description of the capabilities of the tool;

It is capable of extracting the required data from the above-mentioned three databases to prepare a "work nine parameters" database that includes work standards, and a work sequence corresponding to the object, and is equipped with an execution means that has a display simulation mechanism. A work preparation station that also prepares a work sequence for a group, a "work preparation station" that can receive a work sequence from a work station and return the work sequence upon request to the work preparation station, a work preparation station. It consists of a "statistical control" database, which can also be relayed two-way to the stations, and a group work sequence database, which can receive such work sequences prepared by the work stations and transmit them to the monitoring station.

Preferably said monitoring station comprises a vertical microprocessor coupled to a main microprocessor forming part of a programming center.

According to an advantageous feature of the invention, the factory is provided with overhead lanes, gantry cranes or similar suspension beams and with a plurality of rotating axes and/or a plurality of sliding links, each with a drive means. a first arm end adapted to be coupled to a tool for machining or inspecting a device, a part, coupled to a robotic carrier with removable gripping means suitable for providing a direct mechanical link to the object to be machined or inspected; at least one robot formed by an articulated arm comprising a second arm end, and further comprising control and power supply means for said drive means and said tool and means for coupling said control and power supply means to said drive means. Means is provided for providing a mechanical link between the carrier and the suspension beam so that the carrier with arms can be moved around the factory.

The means for connecting the carrier to the suspension beam are a detachable gripping means which is different from the means of providing a direct mechanical link to the object to be machined.

By "overhead lane, gantry crane or similar suspended beam" is meant a mobile unit, which is a mobile unit that lifts an object in a factory and moves this object at high speed to another part of the factory. Of the mobile units that fit this definition, overhead lanes are the most commonly used, but also
Especially gantry crane, wall crane 1. There are mobile cranes and various types of transport equipment. One variant consists of a gantry crane consisting of two tool carriers, a robot/carrier preparation section and a control walkway.

In this case, the lifting fittings of the overhead lanes are advantageously replaced by articulated and/or sliding rigid metal ring members. For simplicity, all devices of this type are referred to herein as "hanging beams".

(Effects of the Invention) The device according to the invention can be used as a robot device with the same characteristics as the assembly consisting of a robot arm and its carrier, except that it has the travel distance and speed characteristics provided by the suspension beam during the transport period. offers the same advantages in terms of opening speed and precision operating.

For example, direct mechanical coupling of carriers to the early beam can be achieved if the ff15 beam is equipped with a block.
Although this solution is easily accomplished using conventionally suspended blocks from a movable carriage on a hanging beam, this solution suffers from the following deficiencies. That is, the position of the block can usually be selected from the control cab with an accuracy of 0.1 m in the longitudinal and lateral directions of the factory as well as the height; however, in most cases the orientation of the block is I can't control it. This hook is connected to the beam of the crane by one or two strands of cable, rather with a vertical axis pivot, so that the load carried by the VC hook, as in this case, is precisely oriented. If you need to, you have to intervene. Even if this vertical joint is omitted, the hook will still be oscillated about the vertical axis due to the weak return torque of the cable. It is difficult to control these movements from the control cab of the hanging beam, in other words it is difficult to set down the carrier in a given direction.

According to a preferred feature of the invention, means called "holders" provided on the suspension beam for co-operation with suitable gripping means provided on the carrier are suspended by means of cross or vertical cables carrying the load. ) is coupled to the remainder of the beam, and in this embodiment the holder is provided with a stabilizing device, the stabilizing device comprising a horizontal axis gyroscope and means for rotating said holder about an axis perpendicular to said device. , so that the holder can be brought in the required direction.As far as the grip mK of the carrier is concerned, this holder is
The grasping means may be 'passive' and the grasping means, for example consisting of a hook and in this case carried by a carrier, may be 'active', for example by a grasper K having a plurality of grips which are moved apart for release. Preferably, however, the control cab of the hanging beam is provided with means for rotating the holder and simultaneous control on the holder itself, the holder being "active" in the sense hitherto indicated. ing.

Another point of importance for the proper operation of the factory concerns the coupling means coupling the control means and the power means to the robot arm. As will be understood, these coupling means are:
If the control means and power means are coupled continuously to the robot arm, movement of the suspension beam will be hindered. On the other hand, the manual operation of this means, such as the uncoupling and reconnection of the coupling means for each movement of the suspension beam, constitutes a rather potentially dangerous task. The dot holder is comprised of two removable members, the first of which is adapted to receive power and/or control means for the robot arm from one or more winders. The connecting means itself is detachable at at least one point.

Especially if, as is often the case in automatic welding today, the tool is an electric welding torch using hundreds of thousands of units, the connecting means itself is 1 cI:! AL, another problem occurs. The interference caused by these currents, which are subject to sudden fluctuations, is of the type that leads to significant degradation of control and information signals.

Robot manufacturers are always on guard against this type of phenomenon. According to the invention, during the initialization and recognition of seams, a task with particularly important information flow, one robot/carrier combination is working while another is 1.
Adjacent, it is carried out as if preparing. In an industrial environment, it is practically impossible to dangerously transmit the radiation generated by arcing one side to the other.

In this case, it is advantageous to provide, in addition to the cable carrying the welding current, a coupling means consisting of a set of optical fibers constituting the busbar, so that the coder-decoder converts the electrical signal into an optical fiber.
provided at the end of the connecting means for converting the code and vice versa.

This approach further facilitates simplification of the factory structure. Adopting this approach, all computer control and program storage means are combined in a single processor placed together with the power supply and/or control means, so that the combination formed by the robot and its carrier effectively It consists only of a coder-decoder, and the necessary electrical or mechanical means and their direct control lines are connected to said coder-decoder. In this way, a central control computer is obtained, which can be located in an accessible area that is easy to maintain, preferably at or in the immediate vicinity of the monitoring station. The carrier and robot arm are made simple and lightweight because they contain minimal electronics to facilitate movement and maintenance, minimizing the risk of manual intervention required within the factory. moreover,
The control circuitry is handled by a single processor, which allows the two robots to work together on a common task without the need to transfer synchronization information! I can do 1 thing.

The invention will now be described in more detail with reference to the accompanying drawings of a non-limiting example of the invention relating to a shipyard with a plurality of robots for welding prefabricated block units of ships.

DESCRIPTION OF THE PREFERRED EMBODIMENTS For the sake of clarity, the apparatus will be described in the reverse order of what has been done so far, ie starting at the factory and ending at the programming center.

FIG. 1 is a schematic diagram of a robot-equipped factory with a ship under construction. Only ship fragment 1 is prefabricated hull block 2
It is shown in the format. Several longitudinal and transverse reinforced bulkheads divide the space of the ship into a number of compartments 3 of different shapes and dimensions. The hanging beam 4 of the overhead running lane 4a or gantry crane 4b moves on two parallel rails 5. In FIG. 1, only portions of these means are shown. The beam 4 carries a carriage 6 with a pulley block 7, and is equipped with a hook 32 for supporting a holder 8 to which the block 7 is fixed with an inner shaft. The robot 10, which resembles the shape of an articulated arm, is fixed to the carrier and is equipped with a tool 11, in this example a welding torch. The robot arm 10 is connected by a supply cable 12 to a welding current generator 13 . The supply cable 12 consists of a conductor for the welding current, an optical fiber forming the information transmission bus 109 and two electrical conductors supplying power to the motor 103. The optical busbar 109 of the welding generator 13 is connected to a monitoring station (front end processor 115 color) provided in the control room. The movement of the beam 4, carriage 6, and pulley block 7 is controlled from the control cab 14.

The holder 8 is also controlled from the driver's cab 14 via transmission means symbolized at 15 .

When the carrier 9 is lifted by the holder 8 as shown in FIG. 1, the cable 12 is unplugged and wound onto the winder shown in FIGS. 4 to 8.

A tool or carrier changing station]7 is also shown.

Figure 2 shows fixed type robot arm 1 (10)? The robot/carrier combination formed by a robot and its carrier 9 is shown. The carrier 9 consists of a plate 18 provided on its bottom with an electromagnet 18a which is fixed to the floor of the compartment 3; and in this plate 18, at the upper end of the carrier there is a single-shaped gripping member; It can cooperate with a grasping member (such as a handle or pin) forming part 8.

The plate 18 is a container for the winding frame of the weld line array placed in the cassette. The jacket, including the weld line, passes through the beam 19 up to the welding torch 11, but in some embodiments may alternatively pass inside the arm 10. The plate 618 supports the circular pace 21 and has a robot arm 10 removably fixed to the pace, and the robot arm is attached to the base 21.
The bowl can be rotated about a vertical axis on 1 and conventionally comprises a pivot and a removable bowl holding device 11. Advantageously, the beam 19 is mounted for rotation about a vertical axis (FIG. 2).

In order that the beam does not interfere with the movement of the arm, the beam may be in the form of an arch 29 (FIG. 3) provided on both sides of the arm 10, in a more elegant solution than a single beam 1. Now arch 4 rotates on pace 21.

Means are provided to protect the arm 10. In FIG. 2 the protective member ρ, which is glued to the beam 19, can be moved from an extended position in which it protects the arm against impacts during operation, and in a retracted position this member does not hinder the movement of the arm 10. In a variant, these protection elements are replaced by mesh bell elements B, which are firmly attached to the holder 8 and protect the robot carrier combination during transport.

The connectors adjacent to the gripping members provide connections for cables 12 and are attached with auxiliary connector sections. In the pace 21 another connector is provided, by means of which the arm IO is rotatably mounted on the plate 18.

Figures 4-8 illustrate the various stages of moving the arm and carrier combination from a first work station to a second work station. In FIG. 4, the holder 8 supports a winder 16 on which the cable 12 is wound, the cable being disconnected from the welding generator [3, but connected to the carrier 9. The holder 8 is placed on top of the carrier 9 and is about to descend towards the carrier.

In FIG. 5 the holder 8 has been lowered as long as the carrier 9 and these two parts are secured together. As a result, the holder 8 is lifted on the ground with the arm carrier combination being transported to a new work station.

In FIG. 7, the holder 8 separated from the carrier 9 is lifted and moved towards the control station, dragging behind it the cable 12 unwound from the winder, so that the winder is free. Rotating. The connector supported by the winder 16 and connected to the cable 12 opposite the carrier is plugged into the welding generator so that the robot arm starts working.

In FIG. 8, the holder is disconnected from the single winder. The holder 8 and the crane as a whole are thus freed for further work.

If the arm carrier combination 9.10 has completed its work at this work station, the holder 8 will return and wind up the winder, so that the winder is disconnected or disconnected from the welding generator 12).

The holder 8 is then moved to the position shown in FIG. It is understood that the winder may also be of the spring loaded, free rotation type. Therefore, the cable hill is
It continues to be under tension while approaching the position shown in the figure.

The welding current generator 13 is arranged to receive the winder and connect to the supply cable 12 by virtue of a truncated conical socket, which socket expands in an upward direction and connects the various wires of the supply cable. Optical busbar, electric cable,
Equipped with means to automatically connect protective gas hoses, cooling water hoses, etc.

The information carried by the optical busbar is transmitted to a "monitoring station" provided at the control station, the structure of which will be explained below.

In a simple variant, the carrier is fixed and the only actuators provided to the carrier are electromagnets or other means of fixing the carrier to the work station support surface to fix the carrier at the processing station.

Movement of the tool at the work station can only be accomplished by a robot arm with the required degrees of freedom.

The carrier 9 may be mobile, being equipped with a plurality of legs that can be moved step by step and provided with means of fixing itself to a supporting surface. To ensure a good quality of work, it is not always possible to carry out small incremental movements, especially when welding, by stopping the tool during the movement of the carrier 9 or by appropriate movements of the robot, the arm, especially the wrist 19a. It is also necessary to compensate for the discontinuous movement of the carrier. This makes it more complex (as far as the control means are concerned), but guarantees a precise effect.

In an advantageous variant, the carrier is divided into two parts,
A first part of the image part is fixed, thus forming a path or rail of movement for the second part, the second part being able to move continuously while the machining is being carried out. The fixed portion may be a rigid beam that is fixed to the floor of the compartment 30 or to the top of the two reinforced bulkheads that make up the compartment.

This fixed part may be a flexible beam of the "Bag-O" type sold by the Honord Company, which beam follows the support surface and is provided with a plurality of rack-like protrusions. These beams may be secured by means of magnets or vacuum suction or lamella grips to grip the projections or reinforcing bulkheads, preferably with telescoping struts for positioning them at convenient heights in the case of rigid beams. Good too. These fixing means may themselves be mobile, so as to effect movement of the rigid beam, for example, along the top of the partition between the compartments and perpendicular to its length.

The second part of this type of carrier is a carriage that moves along a hanging beam and also supports a robot arm.

A beam with an extension may be provided if desired. 1st
The choice of a middle or second carrier is a matter for the engineering office, and carrier replacement is carried out at a tool and carrier exchange station where various types of compatible carriers for the same robot arm are stocked. be.

The changing station 17 also stores tools of various types. Of these tools, please note the following in particular:

i.e. 'MICk/MAG' welding torch, '
TIG" torch, various equipment for cutting thin plates, chamfering, removing curls, milling, measurement, optical inspection, ultrasonic inspection, gun i-ray inspection, etc. As already mentioned above, optical inspection equipment is simplified. (11th)
figure).

FIG. 9 is an exploded detailed schematic diagram of the deformation of the holder and the parts cooperating with this holder; The holder 8 consists of an upper casing (9) with a support spindle 31, designed to cooperate with the rack wings of the lane in which the spindle 31 runs overhead, and supported by a pulley block 7 suspended from a support cable. The casing (material) is screwed onto that edge of the stabilizer plate that is fixed to the pulley block 7.
(not shown) consists of ribs fixed by K. The casing blade supports the rotating plate via the vertical shaft 36a.

A gyroscopic stabilizer is provided in this casing, and this stabilizer is connected to a horizontal shaft rotor 3 that is driven to rotate at high speed by a gear box 39 that rotationally drives a motor and a plate.
Consists of 7. In this example a gyroscopic stabilizer is provided, but it is clear that this is not the only type of stabilizer possible.

Two electromagnetically biased gripping devices 40, 41 are fixed against the bottom surface of the rotating plate. A first device is designed to cooperate with the gripping powder of the carrier 9 (FIG. 2).

A second device of the same construction is designed to cooperate with a similar gripping member 42 secured to the winder 16. A connecting cable holder extends laterally out of the winder towards the connector 23 provided by the beam 19 of the carrier 9. The winder 16 consists of an automatically operated connector on its board; if the winder 16 is placed on a suitable support of the welding generator 13, the cable 12 is automatically connected.

Note that this cable originates from optical busbar 109, which is connected to central processor 115 by connector 1119 when the connector is operated.

The cables 12 consist of feed conductors for the Yayalya's various actuators and robot arms, welding power conductors, and hoses for protective gases, cooling fluids, etc.

The holder 8 is supplied with power and control signals via a cable 15 connected to the driver's cab 14 of the lane 4 in which the vehicle runs overhead.

A breakable connector 43 supported by a stabilizer plate serves to interrupt the connection when it is necessary to remove the holder 8 from the hook n and use the hook.

FIG. 10 shows a modification of the holder and its fixing method. This holder part is not suspended by a pulley block 7 suspended from a support cable, but rather by a telescoping rod n of apparently square cross section, which makes a telescoping stabilizer superfluous. It is coupled to the round trip 6. This type of rod n is shown in Figure 1 as a gantry clay/4
shown connected to b.

It can be seen in FIG. 1 that the gantry crane 4b is of relatively large width. This is due to the fact that the tool and carrier changing station 17 is located in this gantry crane rather at the side of the factory. This variant provides significant time savings if tools or carriers are changed frequently.

FIG. 11 is a schematic diagram of a particular preferred embodiment of the optoelectronic device of this setup. In this figure, the upper part shows the movable member and the lower part shows the fixed member, and the connection between the two series of members is made via a connecting cable 12.

The movable members are a carrier element P1 and a robot arm element R.
1, and optionally a visual element ■.

Since this factory is equipped with multiple carrier robot combinations, there are multiple elements such as PI, R1, Vl, etc.

These elements are interchangeable.

The stationary member consists of a control and monitoring station or "monitoring device" UC and, if the tool is a welding tool, a welding unit US.

The structure of the carrier element P1 and the robot arm element R1 is generally the same: for each possible movement (rotation, sliding, preferably in two directions, energizing an electromagnet, etc.) there is a node connected to the power source 103. The actuators 108 and sensors 104 controlled by the 9 worker card 102 can be connected to the input/output interface 7 without forming a control loop.
05 and control loop configuration is performed at the monitoring device level. This arrangement avoids interference at sensitive locations. Carrier element PI and robot! ! All interfaces of element R1 are connected to a common decoder multiplexer, 106-107, which converts electrical signals to optical signals and vice versa.

The optical signal is connected to the optical busbar 10 via the optical connector 108.
9. The connecting cable 12 consists of an optical busbar 109 in its central part. The cable consists of multiple cables that provide power to multiple actuators.

In the welding state, this cable furthermore consists of a cable carrying the welding current and possibly hoses for welding gases, cooling fluids, etc.

When provided, the visual element 1 is an optical member 110 that transmits information sent to the optical bus 109 via the optical cog 111 without converting it into an electrical signal, instead of a video camera.
Consists of. Element 1 also consists of a laser 112 connected to the power supply 103 via an interface 113 which is itself connected to the optical cog 111.

An important element of the monitoring station UC is the auxiliary storage device 1
It is a 7A front end set t 115 with 16. is connected to a multiplexer demultiplexer decoder 117 via a set of microprocessors 115a that performs a control loop, with the decoder 1
17 is connected to the part 118 of the optical bus bar which converts the signal from the combination 115a into an optical signal and vice versa and is connected to the rest of the optical section 41109 via an optical connector 109 forming that part of the connector. Ru. A front end processor 115 is also connected to a high speed processor 120 which processes the signals from the optical components passing through an optical demultiplexer 121 and an optical signal processing device 122.

An important feature of the invention relates to a programming center. The information supplied to the robot carrier combination originates from two different sources: i.e. External (C'AD/CAM system, operator) local inputs (obtained in real time at the work site by the robot itself).

The system comprising this robot is connected to the existing C'AD/CAM database 200, which may consist of a known system called szcgN (Information System for Ship Ideas and Research), which will be described in more detail here.
8IC'E! Don't explain N.

The programming center 212 can model any type of robot, graphically simulate the robot's work,
The graphical representation also allows automatic off-line programming of robot jobs and, eventually, scheduling of all compartments of a block without intervention in the factory.

During the course of the game, the player installed at the programming station 212, which is connected to various databases, uses simple aids (high-level language, flashing lights, menus, etc.) that are not shown for interaction, and robots). Design a task to be performed by K. This pre-destructor also has access to the display means 208.

This programming center from the CAD/CAM database provides all the information necessary for automatic operation of factory robots.

The information obtained from the CAD/CAM database is considered theoretical, and therefore the work of the programming center is only a theoretical design of the work.

The monitoring station is responsible for adapting this information to the actual live factory environment.

The preparation of information that defines the work that the robot carrier combination performs never causes a reflux of information from the monitoring station to the CAD/CAM database.

The essential operating instructions for the programming center are listed below. i.e. trajectory (tool), geometry, speed, commands regarding movement from the first to second working range, commands regarding the work to be performed, positioning (carrier), commands regarding marking, oiler intervention, operator. Instructions regarding UFRT dialogue, etc.

Cell-level display and simulation verification methods are
Includes: i.e., verifying commands and trajectories, verifying work orders, verifying position commands, verifying that available resources are suitable for completion, verifying the consistency of all information, etc.

This information may be modified.

Theoretical information defining the sequence of tasks to be performed by the robot is stored block by block in the database as to where the operation is to be performed.

All information is based on hard support (disk, tape,
cassette) and then transmitted to the monitoring station, or directly to the monitoring station.

The statistical control device determines and manages the work sequence (length of movement, time, etc.) and robot carrier combinations in each cell.

The computer CAD/C'AM ink 7m-base 202 is capable of performing any current C
Perform AD/CAMCAM system. This CAD
/ The CAM system may be a 5ICEN system. The warp gill design of this interface is similar to other C'AD
/ Can be adapted to the CAM system.

The geometric, tonological and operational information generated during the design phase and extracted from its interfaces is stored in a so-called "geometric" database 203. The components involved are metal construction tools.

Alphanumeric and graphical screens 208 allow the operator to enter the number of metal construction blocks and the elements of the blocks are extracted from the C'AD/CAM system.

The interface handles the transfer and necessary transformations.

Existing CAD/CAM systems can be
It may be supplemented by information specific to the use of “welding robots”.

The geometrical database is filled in by a CAD/CAM software fi7ace and consulted by a working task preparation and/or simulation program. This database contains all elements (plates, irregular cross sections, shims, etc.) that reconstruct blocks in three dimensions (3D).
Contains geometric, topological and welding information extracted from the CAD/CAM system.

The computer program that describes the robot carrier combination 204 serves to define the geometry and kinematics of the combination used. The information generated in this way is stored in a so-called robot description database 205.

The morphology of the welding equipment is described by assembling standard geometric volumes (parallelepipeds, truncated cones, etc.) that constitute the tools, arms, carriers.

Descriptive computer languages are available for pre-destruction.

The kinematics description provides a graphical representation of the changing movement of the robot carrier combination. The capabilities of degrees of freedom and the laws governing each joint are considered.

The robot carrier combination description database is populated by a robot carrier description program and consulted by simulation software. This database contains all geometric and kinematic information about all the components of the various combinations that can be used.

The work standard description program 206 enables standardized connections between different types of parameters set from the reports. The information generated in this way is so-called “
Work standard database" 207.

Standard relationships are established by hierarchical connections between the various parameters according to the rules commonly used in shipbuilding work methods.

These relationships are standardized but not fixed.

The program modifies or replaces one or more parameters of the hierarchical linkage according to specific requirements.

The work standard database is populated by the standard description program and consulted by the work sequence preparation program. All information defining the standardization relationships between the nomadic parameters of different machines is stored in a work standard database.

A working task is prepared at the base of a three-dimensional graphical representation 208 of the block to be processed. This graphical display shows all the elements of the block (plates, profiles, shims,
It consists of upright parts, etc.). No lines are omitted; if hidden, they are shown in dotted line form. The graphical display provided consists of magnification, rotation, interactivity and selectively increased brightness.

The program that prepares the work tasks to be performed by the robot prepares the realization and chaining of the following operations.

The initial value setting of the work sequence database 209 is, for example, a hard medium (70 disc).
Alternatively, the transmission of the identification of the blocks to be welded to the database may be combined in the form of operator messages transmitted directly to the monitoring station (see FIG. 12).

Realization of working reality and display of blocks (senna,
The same principle is used to convey the list of resources provided by the preparatory stage for K (visual equipment, etc.).

The realization of the positioning of the blocks as actually present in the factory is based on the possibilities of the graphical software (for example rotation). The results are communicated to a "work sequence" database and then to a monitoring station that verifies the location of the factory block being prepared.

The indexed dot defines the position of the sensor (ultrasonic, infrared, etc.) used to locate the block in the factory.

The recognition of the reference system associated with the blocks in the reference system associated with the factory allows the supervisor to detect the position of the blocks and all based on the geometrical definition of their elements (plates, contour members, etc.). Perform the required transformation of .

There is a privileged selection of positioning of these three elements (joints, links, etc.).

Compartments and cells are the basic components of blocks. The compartments are defined by plates or profile members and are constructed in the preliminary stage. The cell limits the robot's working range by multiple boundaries. All cells thus defined in the block are identified by their tabulated boundaries. The table of cells is transmitted to A2 to check the readiness of the sequence for all blocks and to help establish the target plan for the blocks.

The selected cells of the block are visually extracted from the three-dimensional graphical representation of the block using a botching method. Information regarding compartment dimensions is indicated on the screen.

Once this operation is performed, the program sets up a table of all processed ranges of cells and CAD/
CAM (5IEN) system is associated with each parameter provided by the system.

A range is extracted and processed based on the three-dimensional graphical representation of the compartment. This range is selected (e.g., by data entry right hand).

Its graphic configuration appears with increased brightness. The identification of the list of compartment joints must be distinguished from other identifications. The weld seam is selected by K indicating the starting point of the weld beat to be performed.

On the one hand, the program uses the geometric database 203
It is necessary to automatically infer the working environment from That is, on the one hand, this information appears on the screen so as to make possible modifications of this environment on the initiative of the pre-bearer, but also on the basis of the standards that programs are assigned to the selection based on the information stored in the work standards database 206. Inferring the parameters of a set, this set also appears on the graphical screen and may be modified as required.

All information generated in this way is stored in the work sequence database 209.

The "Statistical Control" database 210 is enriched with new information (time, length, etc.).

The “work sequence standard” database 211 is also updated.

Sequence validation and organization for the full range of compartments is done by software.

For this purpose, the pre-designer should take care to verify that all ranges to be processed by the robot are processed, and to create a logical chain of work sequences by indicating the ranges as appropriate for the method used. Ask them to organize themselves.

The databases 209, 210 and 211 are updated and enriched with the information thus generated.

The selection of robot carrier combinations is conditioned by a database containing descriptions of these combinations and dimensions of the compartments to be processed. Once selected, this combination is optimally positioned in the compartment.

The program must perform all calculations necessary to determine whether the selected combination dimensions and compartment dimensions are compatible.

Once these operations have been performed, the selected combination, the combination's position and its orientation are stored in the block's database.

The sequence access trajectory is the trajectory followed by this combination. Their trajectories provide rapid approach to one working guidance position.

If obstacles have to be dealt with, the pre-area 2 is suitable for predefined and parameterized standardized trajectories to connect ranges. Once these operations are performed, the program verifies all connections between ranges.

Execution simulation and verification comprises verification of movement of the combination executing a preset sequence for the compartments. On the one hand, this provides for the detection of any anticipated collisions and inaccessible areas, and on the other hand, it reduces the time during which the robot is fixed in the factory and thus ensures stable working conditions overall.

The sequence may be modified according to information from the simulation program.

Once this verification is performed, the ``Block Weld'' database is updated to the definitive state for the compartment: ``Statistical Control'' and ``Standard Sequence''.
The database is updated as necessary.

If all cells have been processed, the pre-bearer uses computer aids to verify that all compartments have been processed and schedule them. “Statistical control” and “block welding” databases are
Be enriched with this information. 1 Work Sequence Standards database is populated by the pre-bearer when preparing the welding sequences to be used for a compartment. This work sequence standard database stores all work sequences that are considered standard. These standard sequences are used for other ranges or other compartments of the same topology.

The “Statistical Control” database contains all information regarding: - the number of working areas, the characteristics of the working areas (length, surface area, etc.) of the blocks (including multi-qs) for a given ship, the execution time per compartment and per block for a given ship, the working time; , the average time between failures.

This database is subject to changes and the information listed above is not exhaustive.

The "work" database is populated by preparation, simulation and scheduling programs and consulted by command generation and formatting programs. This database stores all previously written information.

The commands that can be executed by the supervisor for one block are as follows. In other words, a command to generate a message on the robot console for the following items. - verifying the similarity of the blocks (indication and/or identification); - verifying the positioning of the blocks in the factory; - verifying the presence of all resources necessary to perform the welding task. commands (indexing) to determine the initial values of ), the generation of compartment graphs to prepare the task scheduling of the welding equipment, commands that cause the transportation means to pick up the welding equipment and place this equipment in the adjacent compartment.

When done in this way, the programming center accomplishes the following objectives. These include: relieving the monitoring station from all work sequence design tasks; performing mask time work; pre-execution of tasks in the factory; performing maximum validation; and - handling specific 0-bot language issues.

[Brief explanation of drawings]

Fig. 1 is a schematic overall perspective view of the factory, Fig. 2 is a perspective view of a robot carrier combination, Fig. 3 is a perspective view of another robot carrier combination, and Figs. 4 to 8 are equipment of the present invention. FIG. 9 is a detailed schematic view of the holder and cooperating parts; FIG. 10 is a schematic view of the same holder with other cooperating parts; FIG. 11 is a schematic diagram of the factory. Mechanical block diagram of various units and monitoring station, FIG. 12 is a functional block diagram of the programming center. 8... Holder, 9... Robot carrier, 10...
- Joint arm, 12... connection means, processing... grasping means, 212... programming center. Patent Applicant Inmechi 4 Neat 6 De, Risiercier. Te, U, Construction, Nabere FIG, 2 FIG, 3 FIG, 6 FIG, B

Claims (15)

[Claims] (1) In an apparatus for automatically configuring and/or processing objects without movement of objects of similar but not necessarily the same kind and capable of being assembled into groups, the tool means (which may be a robot), a factory equipped with a means of transport suitable for moving said tool means and a position selection and tracking sensor suitable for monitoring the environment of said tool means; receiving and storing information regarding processes to be carried out; receiving and storing technical specifications of the available tooling means; displaying programs for checking and, if necessary, modifying; programs relating to other objects and objects; A programming center (212
), said programming center is suitable for setting a program for moving the tool from a first part to a second part, checking and storing said program, receiving a program from said programming center;
a monitoring station suitable for detecting the presence of tool means and the time required for their execution, communicating instructions contained in the program to the tools and means of transport, and checking the means; device to do. (2) Claims that form part of a shipyard and are characterized in that the objects are a number of cells and each group of objects is a plurality of blocks each forming a part of a ship under construction. Apparatus according to paragraph 1. (3) a "geometric" database (203) which the programming center receives via the interface data regarding the objects to be manufactured or processed; a "tool" database (203) containing a description of the capabilities of a number of tools;
05), “Work Parameter” database including work standards (20
7), Step 3 above to prepare the work sequence corresponding to the object.
a work preparation station that can extract required data from two databases, is equipped with an execution means having a visual simulation mechanism, and can also prepare a work sequence for a group of objects; a work preparation station that receives work sequences from the work preparation station; a "Statistical Control" database (210) that can also relay work sequences in two directions with the Work Preparation Station; and a Work Sequence of this kind prepared by the Work Preparation Station. 3. The apparatus according to claim 1, further comprising: a group work sequence database capable of receiving and transmitting work sequences to a monitoring station. 4. Device according to claim 1, characterized in that the monitoring station consists of a vertical microcomputer connected to a main microcomputer forming part of a programming center. (5) Install overhead lanes, gantry cranes, or similar suspension beams and multiple rotating shafts and/or
or a plurality of dynamic linkages, each with a drive means, the first arm end being connectable to a tool (11) for machining or inspecting the part, suitable for providing a direct mechanical link to the object to be machined or inspected; at least one robot formed by an articulated arm (10) consisting of a second arm end connected to a robot carrier (9) with removable gripping means, and furthermore control over said drive means and said tool; between said carrier and said suspension beam so as to be able to move said carrier with said arm around the factory, comprising power means and means (12) for coupling said control and power means to said drive means; in a factory equipped with means for providing a mechanical link, characterized in that the means for connecting the carrier to the hanging beam are removable gripping means (20) different from the means for providing a direct mechanical link to the object to be processed. A device according to one of claims 1 to 4 of the patent. (6) the carrier (9) comprises an arched beam (29) with a plurality of upright posts on each side of the arm (10);
The beam (29) is the base of the carrier plate (18) (
21), and the above beam (
6. Device according to claim 5, characterized in that said releasable grasping means (20) are directed to communicate the carrier (9) with respect to the carrier (9). (7) The carrier (9) is provided with means for protecting the robot arm (10), such as a protection means (22) mounted pivotably on the beam (29). Alternatively, the device according to paragraph 6. (8) a holder (8) in which said removable grasping means (20) is connected to a reciprocating number (6) movable along said beam by a series of rigid means pivoting or sliding relative to each other; 7. Device according to claim 6, characterized in that it consists of means (39) provided for rotating the holder (8) about a vertical axis. (9) The holder (9) is provided with a mesh bell member (25) that protects the combination of the robot and the carrier while it is moving. Apparatus according to one. (10) The holder (9) connects the crossing cable or the horizontal axis gyroscope (37) and the above holder (
8) A device according to claim 5, characterized in that it comprises a ballast consisting of means for rotating said holder (8) about the perpendicular to the ballast so as to bring about the holder (8). (11) Furthermore, the holder (8) indicates a removable auxiliary grasping means (41) suitable for coupling with a winding machine capable of indicating connection means (12) for coupling control and power means to the robot arm; 8. Device according to claim 5, characterized in that the connecting means themselves are disconnectable at least at one point. (12) that the carrier (9) is in two parts, a first part suitable for being fixed relative to the part to be treated and a second part movable along the first part; Characteristic claims 5th to 1st
1. Apparatus according to one of clauses 1 to 1. (13) According to one of claims 5 to 12, characterized in that the holder (9) moves in small steps, which is compensated for by appropriate movements of the arm (10), in particular of the wrist. equipment. (14) the carrier (9) comprises an arched beam (29) consisting of upright columns on each side of the arm (10);
14. Device according to one of claims 5 to 13, characterized in that the beam (29) is adapted to rotate on the base (21) of the plate (18). (15) The computer control and program storage means of the monitoring station and factory are provided with a single common processor located together with the control and power, and the robot arm (10) and its carrier (9) are equipped with a coder-decoder, the necessary electrical and mechanical means and 15. Device according to claim 14, characterized in that it consists only of direct power control means of both said means connected to said coder-decoder.