KR101359509B1 - Teaching control system and method for the same - Google Patents

Abstract

A teaching control system and a teaching control method are disclosed. A teaching control system according to an embodiment of the present invention includes a data creating unit for extracting feature data including position information of a member from computer-aided design data, and a member for matching teaching data generated according to teaching of the member with feature data of the member. And a scheduling unit for allocating the welding line of the member to the welding device according to the information matching unit and the matching feature data.

Description

Teaching Control System and Teaching Control Method {TEACHING CONTROL SYSTEM AND METHOD FOR THE SAME}

The present invention relates to a teaching control system and a teaching control method, and more particularly, to a teaching control system and a teaching control method for a member.

Various welding systems are used for welding the members. For example, as shown in FIG. 1, the welding system includes a welding device 110, such as a gantry robot, and a plurality of welding devices 110 may be disposed in one welding line. At this time, each welding device 110 has a welding area, the welding device 110 may be equipped with a pair of rotary welding torch that can weld both sides of the reinforcement at the same time.

An operator disposed in the welding line moves one of the plurality of welding devices 110 to a welding line position and performs a teaching operation on the welding line directly by using a teaching pendant mounted to the welding device. At this point, several problems occur.

First, while the worker is teaching using one welding device, the other welding device should be waiting. In addition, the welding operation cannot proceed while the welding apparatus performs the teaching operation.

Second, when there are a large number of complex welding seams inside the member, the operator has to teach all the individual welding seams so that the teaching time may be long.

Third, since the amount of work on the welding line distributed to each welding device is determined by the operator, when the amount of work is incorrectly distributed, the total work end time may increase.

Fourth, a collision problem may occur due to overlapping welding areas between gantry due to a worker teaching mistake.

Fifth, due to inefficient welding copper wire, the transfer time of the gantry is increased or all the welding seams cannot be taught at one time.

The teaching control system and the teaching control method according to an embodiment of the present invention are intended to reduce the time of teaching work and increase the efficiency of teaching work by automating the teaching work.

According to one aspect of the invention, the data generation unit for extracting the feature data including the position information of the member from the computer-aided design data, the member information matching unit for matching the teaching data generated according to the teaching of the member with the feature data of the member And a scheduling unit for allocating the welding line of the member to the welding device according to the matched feature data.

The feature data of the member may include data on the feature point of the member or the position of the feature line.

The feature data of the member may include data for two or more locations of vertices of the member.

The feature data of the member may include data about the position of a feature point included in two or more weld lines of the weld lines within the member.

The feature data of the member may include data on the positions of two or more sides of the edges of the member.

The feature data of the member may include data about the position of two or more weld lines among the weld lines within the member.

The data creator may simultaneously extract feature data about members located in regions of the plurality of welding apparatuses.

The member information matching unit may match the teaching data and the feature data having different coordinate systems.

When the matching process is performed by the member information matching unit, actual position information of the welding line inside the member may be obtained.

The scheduling unit may allocate the welding line evenly to the welding devices or set the welding order of the welding line of the member.

The teaching control system according to an aspect of the present invention may further include an information conversion unit for converting computer-use design data of another format into computer-use design data of a format suitable for the data creation unit.

The teaching control system according to an aspect of the present invention may further include a macro matching unit configured to select a macro suitable for a welding line among a plurality of preset macros and match the welding line.

The teaching control system according to an aspect of the present invention may further include a drawing output unit which outputs a drawing in which feature data of a member outputted from the data creating unit is displayed.

Teaching control system according to an aspect of the present invention may further include a monitoring unit for monitoring the working status of the welding device to feed back to the scheduling unit.

According to another aspect of the invention, the step of extracting the feature data indicating the position of the member from the computer-aided design data, matching the teaching data generated according to the teaching of the member with the characteristic data of the member and the matching feature data Accordingly, a teaching control method may be provided that includes allocating welding lines of a member to a welding device.

The feature data of the member may include data on the feature point of the member or the position of the feature line.

It is possible to simultaneously extract feature data for members located in regions of a plurality of welding devices.

It is possible to match teaching data and feature data having different coordinate systems.

Weld lines can be evenly assigned to welding devices or the welding order of the weld lines of a member can be established.

The teaching control system and the teaching control method according to an embodiment of the present invention can prevent the atmospheric phenomenon of the welding apparatus and shorten the time required for the teaching work or the welding work by performing the teaching work for each member by using the feature data of the members. .

In addition, the teaching control system and the teaching control method according to the embodiment of the present invention can solve the collision problem caused by overlapping the gantry welding region due to the welding order scheduling.

1 shows a general welding system.
2 shows a teaching control system according to an embodiment of the present invention.
3A to 3D show various examples of feature data used in the teaching control system according to the embodiment of the present invention.
4 shows an example of a member including a base plate and a reinforcement welded to each other.
5A to 5D illustrate operations of the member information matching unit of the teaching control system according to an exemplary embodiment of the present invention.
6 illustrates an operation of a scheduling unit of the teaching control system according to an exemplary embodiment of the present invention.
7 is a flowchart illustrating a teaching control method according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. In describing the present embodiment, the same designations and the same reference numerals are used for the same components, and further description thereof will be omitted.

2 shows a teaching control system according to an embodiment of the present invention. As shown in FIG. 2, the teaching control system according to an exemplary embodiment of the present invention includes a data generator 210, a member information matching unit 230, and a scheduling unit 250.

The data creating unit 210 extracts feature data including positional information of the member from the computer-aided design data. In an embodiment of the present invention, the computer-aided design data may be CAD data, CATIA data, or SolidWorks data, but is not limited thereto.

According to an exemplary embodiment of the present invention, the data generator 210 may extract data about the position of the welding line and the length of the sheet in addition to the feature data of the member from the design data using the computer. The teaching control system according to an exemplary embodiment of the present invention uses the feature data to set the position of the member so that the position setting of the welding lines of the member can be simultaneously performed.

For example, as shown in FIGS. 3A to 3D, the feature data of the member may include data about the feature point of the member or the position of the feature line. The position of the member may be set through the position of the feature point or the feature line of the member.

That is, as shown in FIG. 3A, the feature data of the member may include data for two or more positions of vertices of the member. At this time, two selected vertices among the vertices of the member may be located in the diagonal direction of the member. When the vertices in the diagonal direction are selected, the position of the member may be set more accurately than the vertices in the horizontal or vertical direction.

As shown in FIG. 3B, the feature data of the member may include data regarding the position of a feature point included in two or more weld lines among the weld lines inside the member. At this time, the welding lines of the different positions may be located at the outermost inside of the member. When the feature points included in the outermost weld lines are selected, the position of the member may be set more accurately than when the feature points included in the relatively inner weld lines are selected.

In FIG. 3C and FIG. 3D, the feature data includes data on the position of the feature line, and the feature line of FIG. 3D is part of the weld lines located inside the member.

As shown in FIG. 3C, the feature data of the member may include data about the positions of two or more sides of the edges of the member. At this time, two selected sides of the sides of the member may be located opposite each other.

As shown in FIG. 3D, the feature data of the member may include data about the location of two or more weld lines among the weld lines within the member. At this time, the two welding lines which are located at different places may be located at the outermost inside of the member.

In this case, the data generator 210 of the teaching control system according to an exemplary embodiment of the present invention may simultaneously extract feature data about members located in regions of a plurality of welding apparatuses. For example, as shown in FIGS. 3A to 3D, the data generator 210 may include the feature points for the members 1, 2, and 3 located in regions where the welding apparatus 1 and the welding apparatus 2 perform welding. Alternatively, data about the location of the feature line can be extracted simultaneously from the computer-aided design data.

Meanwhile, as shown in FIG. 4, each length of the feature data of the member may represent the maximum thickness t of the portion where the welding is performed.

The teaching control system according to an embodiment of the present invention converts information for converting computer-use design data of another format input from the outside into computer-use design data of a format suitable for the data creating unit 210 to create the feature data of the member. A portion 270 may be further included.

In an embodiment of the present invention, the information converter 270 may receive computer-use design data including shape information of the member and weld line information, and convert the computer-use design data in a format suitable for the data creator 210.

In an embodiment of the present invention, the welding line information of the member may include position information of the welding line to which the reinforcing material 430 is welded to the base plate 410.

The teaching control system according to the exemplary embodiment of the present invention may further include a macro matching unit 290. In an embodiment of the present invention, the macro may be a program for controlling the welding position of the welding device. The welding shape may vary depending on the welding line, and the welding type may be varied, such as two-torch (two-sided) welding, one-torch (one-sided) welding, turning of member end welding, multi-pass welding, or other special motion. Accordingly, since the welding apparatus needs to perform welding according to various types of welding lines, the welding posture of the welding apparatus may also vary. Therefore, the macro matching unit 290 may select a macro suitable for the welding line among the plurality of preset macros and match the welding line.

In the exemplary embodiment of the present invention, the macro matching unit 290 receives computer-use design data from the information conversion unit 270 and performs macro matching. Alternatively, after the macro matching unit 290 receives the computer-use design data from the outside and performs macro matching, the information conversion unit 270 may convert the computer-use design data matched to the macro.

When the teaching control system according to the exemplary embodiment of the present invention further includes the macro matching unit 290, the feature data of the member may further include macro related information corresponding to the welding line.

The teaching control system according to an exemplary embodiment of the present invention may further include a drawing output unit 215 for outputting a drawing in which feature data of a member output from the data creating unit 210 is displayed. The drawing output from the drawing output unit 215 may be used later for the operator to teach the position of the member, which will be described later.

Meanwhile, the member information matching unit 230 matches the teaching data generated according to the teaching of the member with the feature data of the member. In an embodiment of the present invention, the teaching data is generated by the laser point of the welding device teaching the feature point or feature line of the member shown in FIGS. 3A-3D. When the laser point moves to teach the feature point or feature line of the member, the control unit of the welding apparatus generates teaching data including positional information about the feature point or feature line of the member. In this process, the operator can teach the feature point or the feature line of the member by manipulating the laser point with reference to the drawing output by the drawing output unit 215.

At this time, the teaching data includes information on the feature point or the position of the feature line in the coordinate system of the welding apparatus. The feature data also includes information about the feature point or the position of the feature line in the coordinate system of the teaching control system. As described above, since the coordinate system of the welding apparatus and the coordinate system of the teaching control system are different from each other, the member information matching unit 230 matches the teaching data generated according to the teaching of the member with the feature data of the member.

5A through 5D illustrate the operation of the member information matching unit 230. The feature points and the feature lines of the members indicated by solid lines in FIGS. 5A to 5D are the same as the feature points and the feature lines of the members indicated in FIGS. 3A to 3D, and the feature points or feature lines of the members indicated by dotted lines indicate teaching by the welding apparatus. .

As shown in FIGS. 5A to 5D, the position of the feature point or feature line extracted by the data generator 210 may not coincide with the position of the feature point or feature line taught by the welding apparatus due to the difference in the coordinate system.

The member information matching unit 230 may determine a minimum mean square error in which an error between the position of the feature point or the feature line extracted by the data generator 210 and the position of the feature point or the feature line taught by the welding apparatus is determined. Make it satisfying.

As described above, the member information matching unit 230 may be a location of the feature point or feature line extracted by the data generation unit 210 and the position of the feature point or feature line taught by the welding apparatus through rotation conversion or parallel movement. Match

Accordingly, the member information matching unit 230 may match the feature points or the feature lines in the direction of the arrow.

As such, when the matching process for the feature point or the feature line is performed by the member information matching unit 230, actual position information of the welding line inside the member is obtained. That is, according to the matching operation of the member information matching unit 230, the position change amount or the movement amount of the feature point or the feature line extracted by the data creating unit 210 is determined.

If the position of the weld line extracted by the data generator 210 is changed or moved by the feature point or the position change amount or the movement amount of the feature line, the actual weld line position information when the member is placed on the weld surface can be obtained.

The member information matching unit 230 obtains actual position information of the welding line and outputs the actual position information to the scheduling unit 250.

Therefore, when teaching and matching the member using a feature point or a feature line, even if there is no teaching process for the weld line, the position data of the weld line included in the feature data may be set to be weldable.

Accordingly, various problems of the welding system described above with reference to FIG. 1 may be solved. In the teaching control system according to an exemplary embodiment of the present invention, when teaching and member information matching for each member are made through feature data, positioning of all welding lines that are in charge of all welding apparatuses may be automatically performed. Therefore, it is possible to solve the problem of waiting for the rest of the welding device while the worker is teaching using one welding device or a long teaching time when there are a large number of complicated welding seams inside the member.

On the other hand, as shown in Figure 2, the teaching control system according to an embodiment of the present invention may further include an information correction unit (235). The information correction unit 235 may modify the position data of the weld line of the feature data set by the member information matching unit 230. When the teaching control system according to the exemplary embodiment of the present invention further includes the information correction unit 235, the scheduling unit 250 may receive the modified position data of the welding line from the information correction unit 235.

The scheduling unit 250 allocates welding lines of the member to the welding apparatus according to the matched feature data. For example, if there are three welding devices on one work line, the scheduling unit 250 assigns a specific welding line to one of the three welding devices. Accordingly, the welding device performs welding along the assigned welding line.

In this case, the scheduling unit 250 may allocate welding lines to welding devices evenly. For example, the scheduling unit 250 divides the time (welding preparation time, welding time, post-welding movement time, etc.) required for welding the entire welding line by the number of welding apparatuses, and the work time performed by the welding apparatuses. Can be equalized. Alternatively, when the total number of welding lines is 90 and there are three welding apparatuses, the scheduling unit 250 may allocate 30 welding lines to one welding apparatus.

In addition, the scheduling unit 250 may set the welding order of the welding line of the member. For example, as shown in the left side of FIG. 6, when the welding order of the welding line is determined, the welding apparatus must weld the welding line 3 by skipping the two welding lines after welding the welding lines 1 and 2. After that, the welding apparatus returns to the welding line 4 again and performs welding on the welding lines 4 and 5. Finally, the welding device must skip welding line 3 and perform welding on welding line 6. This welding sequence increases the travel distance of the welding device, which may increase the welding time. Accordingly, as shown in the right side of FIG. 6, the scheduling unit 250 rearranges the welding order of welding lines so that the welding distance of the welding device can be minimized, so that welding can be efficiently performed. That is, the welding order of welding lines may be rearranged so that welding lines 1 to 6 may be sequentially welded.

As such, when the welding order is rearranged, collision between welding devices may be prevented. As shown in the left figure of FIG. 6, after the welding apparatus welds the welding line 2 and the welding apparatus skips the 4th and 5th welding lines and performs the welding on the welding line 6, the moving distance of the welding device becomes large. As the movement distance of the welding device increases in this way, the possibility of collision with an adjacent welding device increases.

However, as shown in the right side of FIG. 6, when the scheduling unit 530 rearranges the welding order, the welding device may sequentially weld the welding lines 1 to 6, thereby reducing the moving distance of the welding device and possibly colliding with the adjacent welding device. Can be reduced.

As described above, the teaching control system according to the exemplary embodiment of the present invention determines the amount of work on the welding line distributed to each welding device, so that the amount of work can be efficiently distributed as compared to the amount determined by the operator.

The teaching control system according to an exemplary embodiment of the present invention may further include a driving data generator 251. The driving data generator 251 generates data for supplying power required when welding is performed according to the feature data of the member output from the scheduling unit 250.

The teaching control system according to the embodiment of the present invention may further include a monitoring unit 253. The monitoring unit 253 monitors the working condition of the welding apparatus and feeds back to the scheduling unit 250, so that the scheduling unit 250 reassigns welding lines of the member to the welding apparatus according to the working situation. The working condition of the welding apparatus refers to various situations that may occur during the operation, such as an error of the welding apparatus or an operation stop. The monitoring unit 253 may receive a signal corresponding to a work situation from a control unit of the welding apparatus and perform an operation.

In addition, the scheduling unit 250 may reassign the welding lines of the member to the welding apparatus when the emergency stop signal is input from the outside, such as a forced stop.

Next, a teaching control method according to an embodiment of the present invention will be described with reference to the drawings.

7 is a flowchart illustrating a teaching control method according to an embodiment of the present invention.

Characteristic data including the positional information of the member is extracted from the computer-aided design data (S710). Extraction of feature data has been described above, and thus a detailed description thereof will be omitted.

The teaching data generated according to the teaching of the member is matched with the characteristic data of the member (S720). Since the matching of the teaching data and the feature data has been described above, a detailed description thereof will be omitted.

Welding lines of the members are allocated to the welding apparatus according to the matched feature data (S730). The assignment of weld lines has been described above, and thus a detailed description thereof will be omitted.

Meanwhile, the teaching control method according to an exemplary embodiment of the present invention may further include converting computer-use design data of a specific format input from the outside into computer-use design data of another format.

The teaching control method according to an embodiment of the present invention may further include selecting a macro suitable for a welding line among a plurality of preset macros and matching the welding line with the welding line.

The teaching control method according to an embodiment of the present invention may further include outputting a drawing in which feature data of a member is displayed.

The teaching control method according to an embodiment of the present invention may further include modifying the position data of the weld line of the feature data after the teaching data is matched with the feature data of the member.

Teaching control method according to an embodiment of the present invention may further include the step of reallocating the welding line of the member to the welding device in accordance with the working condition by monitoring the working condition of the welding device.

It will be apparent to those skilled in the art that the present invention can be embodied in other specific forms without departing from the spirit or scope of the invention as defined in the appended claims. It is obvious to them. Therefore, the above-described embodiments are to be considered as illustrative rather than restrictive, and the present invention is not limited to the above description, but may be modified within the scope of the appended claims and equivalents thereof.

Claims (19)

A data creating unit for extracting feature data including positional information of the member from the computer-aided design data;
A member information matching unit for matching teaching data generated according to teaching of the member with feature data of the member; And
A scheduling unit for allocating welding lines of the member to a welding device according to the matching feature data;
The scheduling unit
Rearrange the welding order of the welding lines so that the transport distance of the welding device can be minimized,
And a reassignment of the welding lines to the welding device according to the working condition by receiving a feedback of the working condition of the welding device including an error or an operation stop of the welding device. The method of claim 1,
And the feature data of the member includes data on the feature point of the member or the position of the feature line. 3. The method according to claim 1 or 2,
And the feature data of the member includes data for two or more positions of vertices of the member. 3. The method according to claim 1 or 2,
And the feature data of the member includes data on the position of a feature point included in two or more weld lines among the weld lines inside the member. 3. The method according to claim 1 or 2,
And the feature data of the member includes data on positions of two or more sides of the edges of the member. 3. The method according to claim 1 or 2,
And the feature data of the member includes data on the position of two or more weld lines among the weld lines inside the member. The method of claim 1,
And the data creation unit simultaneously extracts feature data for members located in regions of a plurality of welding apparatuses. The method of claim 1,
And the member information matching unit matches teaching data and feature data having different coordinate systems. The method according to claim 1 or 8,
And a matching process by the member information matching unit to obtain actual position information of the welding lines in the member. The method of claim 1,
The scheduling unit
And the welding lines are equally allocated to the welding devices. The method of claim 1,
And a data conversion unit for converting computer use design data of another format into computer use design data of a format suitable for the data creation unit. The method of claim 1,
And a macro matching unit configured to select a macro corresponding to the welding line among the plurality of preset macros and match the welding line. The method of claim 1,
And a drawing output unit for outputting a drawing in which the feature data of the member outputted from the data creating unit is displayed. delete Extracting feature data indicative of the position of the member from the computer-aided design data;
Matching teaching data generated according to teaching of the member with feature data of the member; And
Assigning weld lines of the member to a welding device according to the matching feature data;
Rearranging the welding order of the welding lines to minimize the transport distance of the welding device;
And reassigning the welding lines to the welding device according to the working condition by receiving a feedback of the working condition of the welding device including an error or an operation stop of the welding device. 16. The method of claim 15,
And the feature data of the member includes data on the feature point of the member or the position of the feature line. 16. The method of claim 15,
Teaching control method, characterized in that for extracting the feature data for the members located in the regions of the plurality of welding apparatus at the same time. 16. The method of claim 15,
A teaching control method characterized by matching teaching data and feature data having different coordinate systems. 16. The method of claim 15,
And the welding lines are equally allocated to the welding devices.

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