KR20240029686A - Apparatus and method for automatic welding in a mobile type based on direct teaching using a collaborative robot - Google Patents

Abstract

A welding device is provided. The welding device includes an acquisition unit that acquires welding information including the number of a plurality of members arranged at different positions in the work area; a generator that generates a welding path for each member placed in the work area using the welding information and direct teaching; It may include a control unit that controls a welding robot along the welding path targeting a plurality of members disposed at different positions on the work area.

Description

Mobile automatic welding device and method based on direct teaching using a collaborative robot {Apparatus and method for automatic welding in a mobile type based on direct teaching using a collaborative robot}

The present invention relates to an automatic welding device and method using a collaborative robot.

In the work phenomenon where general steel products and simple welding work are the main tasks, the work surface composed of steel plates is divided into several zones, and workers perform unit welding work in each zone.

There is a need for various measures to replace such manual work methods with collaborative robots.

Japanese Patent Laid-Open No. 58-141862 discloses a technology in which a first switch that provides action information, a second switch that provides an arcuate motion, and a third switch that provides welding information are formed around a welding area.

Japanese Patent Publication No. 58-141862

The present invention is intended to provide a welding device and method that can automate welding work through direct teaching.

The welding device of the present invention includes an acquisition unit that acquires welding information including the number of a plurality of members arranged at different positions in the work area; a generator that generates a welding path for each member placed in the work area using the welding information and direct teaching; It may include a control unit that controls a welding robot along the welding path targeting a plurality of members disposed at different positions on the work area.

The welding method of the present invention includes an acquisition step of acquiring welding information including the number of a plurality of members arranged at different positions in the work area; A generation step of generating a welding path for each member disposed in the work area using the welding information and direct teaching;

It may include a control step of controlling a welding robot along the welding path targeting a plurality of members arranged at different positions on the work area.

The generating step is performed when a second signal of a button corresponding to twice the number of the members is obtained under the teaching mode in which the direct teaching is performed, a first starting point, a first ending point, a second starting point, a second ending point,... ., can be set to the nth starting point (where n is the number of members), and the nth ending point.

In the generation step, the path traveled through direct teaching from the first starting point to the first ending point may be set as the first path.

In the creation step, the path traveled through direct teaching from the second starting point to the second ending point may be set as the second path.

In the generation step, the path traveled through direct teaching from the n-th starting point to the n-th ending point may be set as the n-th path.

The generation step may generate an entire path including the first path, the second path, and the n-th path corresponding to the welding path, and transfer the entire path to the control step.

The welding device of the present invention can provide an environment in which direct teaching can be performed on a welding robot performing welding work.

The welding robot directly taught by the welding device of the present invention can be used for welding work on irregular work objects, etc. Since automatic welding is possible using direct teaching, effects such as securing welding work stability, improving productivity, and improving workability can be expected.

General steel fabrication products and simple welding work are divided into several zones on a work surface made of steel plates and are directly performed by workers in each zone.

The present invention can teach the welding start and end points through direct teaching using a collaborative robot.

The welding device of the present invention can provide an environment in which a plurality of irregular members can be uniformly welded at once.

According to the present invention, even non-experts in welding can perform welding work by operating a robot. Additionally, since one worker can operate multiple welding robots, productivity can be improved.

1 is a schematic diagram showing the welding device of the present invention.
Figure 2 is a schematic diagram showing a welding robot placed in a work area.
Figure 3 is a schematic diagram showing a welding robot.
Figure 4 is a flowchart showing the operation of the welding device.
Figure 5 is a flow chart showing the welding method of the present invention.
6 is a diagram illustrating a computing device according to an embodiment of the present invention.

Below, with reference to the attached drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily implement the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. In order to clearly explain the present invention in the drawings, parts that are not related to the description are omitted, and similar parts are given similar reference numerals throughout the specification.

In this specification, duplicate descriptions of the same components are omitted.

Also, in this specification, when a component is mentioned as being 'connected' or 'connected' to another component, it may be directly connected or connected to the other component, but may be connected to the other component in the middle. It should be understood that may exist. On the other hand, in this specification, when it is mentioned that a component is 'directly connected' or 'directly connected' to another component, it should be understood that there are no other components in between.

Additionally, the terms used in this specification are merely used to describe specific embodiments and are not intended to limit the present invention.

Also, in this specification, singular expressions may include plural expressions, unless the context clearly dictates otherwise.

In addition, in this specification, terms such as 'include' or 'have' are only intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, and one or more It should be understood that this does not exclude in advance the presence or addition of other features, numbers, steps, operations, components, parts, or combinations thereof.

Also, in this specification, the term 'and/or' includes a combination of a plurality of listed items or any of the plurality of listed items. In this specification, 'A or B' may include 'A', 'B', or 'both A and B'.

Additionally, in this specification, detailed descriptions of well-known functions and configurations that may obscure the gist of the present invention will be omitted.

The automatic welding device 100 designed in the general automation equipment field, such as automobile, aviation, and electronic fields, may be intended to automate the manufacturing of a specific object (manufactured product). In addition, the drawing information of the object is clear, and the shape, size, and tolerance of the work object are small.

However, ship manufacturing sites or sites where general manual welding work is mainly performed are far from sites that mass produce objects of a given shape. In most cases, small quantities of a variety of products are produced for irregular objects with irregular shapes and sizes. Working conditions in these sites are also poor, making it difficult to utilize camera vision devices and other sensing devices for automatic recognition of atypical objects. In addition, in the case of this site, because it is too costly to realistically realize the construction of facilities using high-precision recognition devices, automation is given up and products are produced manually.

The present invention can provide a system that can realistically automate welding work for workplaces where manual welding work is mainly used.

Figure 1 is a schematic diagram showing the welding device 100 of the present invention. Figure 2 is a schematic diagram showing a welding robot placed in a work area. Figure 3 is a schematic diagram showing a welding robot.

The welding device 100 may be provided in at least one of a welding robot, a controller 330 of the welding robot, and a TP (Touch Pendant, Teaching Pendant) of the welding robot.

The welding device 100 shown in FIG. 1 may include an acquisition unit 110, a generation unit 130, and a control unit 150.

The acquisition unit 110 may acquire welding information including the number of the plurality of members 80 arranged at different positions in the work area. As an example, a camera may be provided to photograph the work area. The acquisition unit 110 can automatically determine the number of members 80 arranged in the work area through analysis of the captured image. Alternatively, the acquisition unit 110 may obtain the number of members 80 entered by the user through an input means such as a keyboard or keypad.

The generator 130 may generate a welding path for each member 80 arranged in the work area using welding information and direct teaching.

As an example, the work area may be formed on the work plate 209 that supports the welding robot. When the welding robot is designed to be movable, fixing the workpiece to the setting work plate 209 using a suction plate, electromagnet, etc. may be carried out in advance to suppress vibration during work. The welding robot that has completed the fixing work is fixed to the work plate 209 and can automatically weld the member 80 corresponding to the welding object placed on the work plate 209 as a target.

For automatic welding by a welding robot, prior learning about which path the welding robot should move the welding torch 90 placed at the end of the robot arm 10 is required. For preliminary machine learning, direct teaching in which the user holds and moves the robot arm 10 or the end of arm tooling (EOAT) at the end of the robot arm 10 can be used.

The work area may be included in the range in which the welding robot can perform welding work. That is, the welding robot can weld the member 80 placed in the work area. Each welding operation targeting the work plate 209 and the plurality of members 80 arranged on the work area needs to be performed. To this end, direct teaching can be performed on a plurality of members 80 in the same situation. The generator 130 may generate a welding path for the welding robot through direct teaching. As an example, the first member 81, the second member 82, and the third member 83 may be arranged in the work area. At this time, the generator 130 may generate a first path corresponding to the welding path of the first member 81. The generator 130 may generate a second path corresponding to the welding path of the second member 82. The generator 130 may generate a third path corresponding to the welding path of the third member 83. In addition, in order to perform welding work on the first member 81, the second member 82, and the third member 83 at the same time, the generating unit 130 includes a path that passes from the first path to the second path, A path for the welding robot that goes from the second path to the third path can be additionally created.

As an example, the generator 130 may generate a first path r1 having a first starting point s1 and a first ending point e1 through first direct teaching of the first member 81.

The generating unit 130 generates a second path r2 having a second starting point s2 and a second ending point e2 through second direct teaching to the second member 82 disposed in a different position from the first member 81. You can.

The generating unit 130 has a third starting point s3 and a third ending point e3 through a third direct teaching to the third member 83 spaced apart from the first member 81 and the second member 82. Path r3 can be created.

A link path passing from the first end point e1 to the second start point s2 may be defined. An additional path passing from the second end point e2 to the third start point s3 may be defined.

The generator 130 may generate an entire path including a first path, a linked path, a second path, an additional path, and a third path.

The control unit 150 may control the welding robot along a welding path targeting a plurality of members 80 arranged at different positions in the work area. The control unit 150 can complete direct teaching and move the welding robot along the completed welding path.

As an example, the control unit 150 may move the welding robot along a first path, a linked path, a second path, an additional path, and a third path according to the entire path generated by the generator 130.

An interface module 230, such as a teaching pendant, may be provided to perform direct teaching.

As an example, in FIGS. 2 and 3, a welding robot fixed on the work plate 209 may be provided.

The welding robot includes a robot arm 10 that moves the welding torch 90, a support part 210 that supports the robot arm 10, a fixing part 240 that fixes the support part 210 to the work plate 209, and a support part ( An adjustment bar 220 that moves 210) may be provided.

A tensioner 250 may be additionally provided to suppress vibration that occurs despite being supported by the support portion 210. The tensioner 250 is connected to the support portion 210 and the torch 90 and can pull the torch 90 with a set elastic force. The vibration force of the torch 90 caused by the lack of support may not overcome the elastic force continuously applied to the torch 90 by the tensioner 250 and may be attenuated.

The fixing part 240 may be fixed to the work board 209 through electromagnetic force, suction force, screw coupling, etc. When the support part 210 is fixed to the work board 209 by the fixing part 240, the robot arm 10 supported on the support part 210 may also be fixed to the work board 209. The welding robot can perform welding work or direct teaching while the robot arm 10 is fixed to the work plate 209.

The control bar 220 may be formed to have a degree of freedom for forward movement, a degree of freedom for rotation, etc. to allow the support portion 210 to be moved in various ways. As an example, the control rod 220 may be formed as a joint structure having a plurality of joints.

Additionally, the welding robot includes a control unit 360 that controls the movement of the control bar 220, a base 300 on which the control unit 360 is installed, and a moving unit that supports the base 300 that can move with respect to the ground. (301) can be provided. A welding robot controller 330 may be additionally mounted on the pedestal 300.

The control unit 360 may include an air balance that prevents the control rod 220 from swinging or relieves the weight of the support unit 210 and the robot arm 10.

The moving unit 301 may include a wheel formed between the pedestal 300 and the ground.

The user can move the robot arm 10 to various positions by moving the moving unit 301. When the set position is reached, the user can place the support part 210 on the support plate using the control part 360 and the control bar 220. When the support part 210 is placed in an appropriate position on the support plate, the user can fix the support part 210 to the support plate using the fixing part 240. Afterwards, the user (operator) can directly perform teaching by manipulating the robot arm 10 and the EOAT installed at the end of the robot arm 10.

When the welding device 100 creates a welding path through direct teaching, the robot arm 10 can then move the torch 90 along the welding path and perform automatic welding on the member 80.

In order for the user to realistically perform the teaching directly, the interface module 230 with a first button and a second button may be provided at a location that can be operated by the user or worker, for example, the support part 210.

The generator 130 may distinguish between a first signal generated when the first button is operated and a second signal generated when the second button is operated.

The generator 130 may determine whether to perform direct teaching based on the first signal. For example, if the user does not press the first button, the robot arm 10 may remain in a locked state. In this case, the user cannot move the robot arm 10 itself. When the user presses the first button, the direct teaching performance mode (teaching mode) is executed, and the robot arm 10 can be freely moved by the user's physical strength.

The generator 130 may determine the action point according to the second signal. The point of action can indicate a position that the welding robot must learn and recognize. For example, the action point may represent a transit point through which the torch 90 must pass, for example, a starting point or an ending point. Additionally, the operating point may indicate a position where the welding torch 90 should be turned on (in a weldable state).

The generator 130 may sequentially determine the first starting point s1, the first ending point e1, the second starting point s2, and the second ending point e2 according to the order in which the action points are input under the teaching mode in which teaching is performed directly by the first signal. there is.

As an example, assume a situation in which a user presses the same second button four times in order while moving the robot arm 10.

First, when the second button is pressed, the position of the torch 90 or the position of the robot arm 10 at the corresponding time may be determined by the generator 130 as the first starting point s1.

Next, when the second button is pressed, the position of the torch 90 or the position of the robot arm 10 at the corresponding time may be determined by the generator 130 as the first end point e1.

Third, when the second button is pressed, the position of the torch 90 or the position of the robot arm 10 at the corresponding time may be determined by the generator 130 as the second starting point s2.

Fourth, when the second button is pressed, the notch position or the position of the robot arm 10 at the corresponding time may be determined by the generator 130 as the second end point e2.

Once the operating point is determined, the generator 130 can set a welding path.

As an example, the generator 130 may set the path traveled through direct teaching from the first starting point s1 to the first ending point e1 as the first path r1.

The generator 130 may set the path traveled through direct teaching from the second starting point s2 to the second ending point e2 as the second path r2.

The generator 130 may set the path traveled through direct teaching from the first end point e1 to the second start point s2 as a linked path.

If the generation unit 130 determines that the linking path has not retreated by a set distance along the longitudinal direction of the welding torch 90, the generating unit 130 may correct the linking path so that the welding torch 90 retracts by the set distance. The set distance may be set to prevent surrounding elements from being damaged by the flame of the welding torch 90 when crossing from member 80 to member 80 .

The generator 130 may generate an entire path including the corrected linked path, the first path r1, and the second path r2.

The generation unit 130 may transmit the entire path to the control unit 150. The control unit 150 may control the welding robot along the first path r1, the corrected linked path, and the second path r2.

Figure 4 is a flowchart showing the operation of the welding device 100.

Moving the workplace (S 311), fixing the work to the work board 209 (S 312), placing the member 80 on the work board 209 (S 313), and fixing the member 80 to the work board 209. The task (S 314) and inputs (S 315) related to actual operation are performed by the operator. Here, the welding information that must be entered in advance is the number of members 80 to be welded, the welding current to be used, voltage, weaving parameters (weaving width, cycle, weaving shape, dwell-time), and the weaving motion during the welding operation. It may include at least one of /no and welding progress speed. The number of members 80 may necessarily be included in the welding information.

When the pre-input (S 315) is completed and the operator inputs the welding start button corresponding to the first button (S 316), a certain length in front of the torch 90 is cut through a pneumatically driven wire cutter provided on the support part 210. Wire cutting can be performed leaving as much wire as possible (S 317).

Afterwards, the operator uses the direct teaching function at the desired point to bring the tip of the torch (90) to the welding start and end points and input it through the teaching completion switch corresponding to the second button, and teaching can be completed (S 318 ).

Afterwards, when the welding start button is re-entered (S 319), the control unit 150 can perform automatic welding according to the input teaching point (S 310, S 321). When welding for each member 80 is completed (S 322), the robot arm 10 or torch 90 returns to the initial position (home position) by the control unit 150 for uniform welding quality and repetitive welding work. (S 323), and then the wire cutting motion can be automatically performed (S 324). The above control process may be repeated (S325) as many times as the member 80 on the work board 209 is newly unloaded or loaded.

Through this work, even if the worker is not a welding expert, the worker can produce welding results of uniform quality by moving the tip of the torch (90) attached to the robot to the welding start point, inputting the switch, moving to the end point, and inputting the switch. can be created.

In addition, when two or more such systems are installed, a situation is possible in which one person can control multiple welding robots while performing direct teaching work of another robot system while the existing robot performs welding work.

Figure 5 is a flow chart showing the welding method of the present invention.

The welding method of FIG. 5 may be performed by the welding apparatus 100 of FIG. 1 .

The welding method may include an acquisition step (S 510), a creation step (S 520), and a control step (S 530).

In the acquisition step (S510), welding information including the number of plural members 80 arranged at different positions in the work area may be acquired. The acquisition step (S510) may be performed by the acquisition unit 110.

In the creation step (S520), welding paths for each member 80 arranged in the work area may be created using welding information and direct teaching. The generation step (S520) may be performed by the generation unit 130.

In the control step (S530), the welding robot may be controlled along a welding path targeting a plurality of members 80 arranged at different positions in the work area. The control step (S530) may be performed by the control unit 150.

In the generating step (S520), when a second signal of a button corresponding to twice the number of members 80 is obtained under a teaching mode in which direct teaching is performed, a first starting point, a first ending point, a second starting point, and a second It can be set as an end point,..., an n-th starting point (where n is the number of members 80), and an n-th end point.

In the creation step (S520), the path traveled through direct teaching from the first starting point to the first ending point may be set as the first path.

In the creation step (S520), the path traveled through direct teaching from the second starting point to the second ending point may be set as the second path.

In the creation step (S520), the path traveled through direct teaching from the n-th starting point to the n-th ending point can be set as the n-th path.

If it is necessary to set a separate transit point r between the start and end points of a specific route, a separate third button for setting the transit point may be additionally provided in the interface module 230.

In the creation step (S520), an entire path including the first path, second path, and nth path corresponding to the welding path may be generated and transmitted to the control step.

According to the present invention, direct teaching can be performed on a plurality of members 80 present in the work area at once, and the entire path required for automatic welding of the plurality of members 80 can be created.

6 is a diagram illustrating a computing device according to an embodiment of the present invention. Computing device TN100 of FIG. 6 may be a device described herein (e.g., welding device 100, etc.).

In the embodiment of FIG. 6, the computing device TN100 may include at least one processor TN110, a transceiver device TN120, and a memory TN130. Additionally, the computing device TN100 may further include a storage device TN140, an input interface device TN150, an output interface device TN160, etc. Components included in the computing device TN100 may be connected by a bus TN170 and communicate with each other.

The processor TN110 may execute a program command stored in at least one of the memory TN130 and the storage device TN140. The processor TN110 may refer to a central processing unit (CPU), a graphics processing unit (GPU), or a dedicated processor on which methods according to embodiments of the present invention are performed. Processor TN110 may be configured to implement procedures, functions, and methods described in connection with embodiments of the present invention. The processor TN110 may control each component of the computing device TN100.

Each of the memory TN130 and the storage device TN140 can store various information related to the operation of the processor TN110. Each of the memory TN130 and the storage device TN140 may be comprised of at least one of a volatile storage medium and a non-volatile storage medium. For example, the memory TN130 may be comprised of at least one of read only memory (ROM) and random access memory (RAM).

The transceiving device TN120 can transmit or receive wired signals or wireless signals. The transmitting and receiving device (TN120) can be connected to a network and perform communication.

Meanwhile, the embodiments of the present invention are not only implemented through the apparatus and/or method described so far, but may also be implemented through a program that realizes the function corresponding to the configuration of the embodiment of the present invention or a recording medium on which the program is recorded. This implementation can be easily implemented by anyone skilled in the art from the description of the above-described embodiments.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements made by those skilled in the art using the basic concept of the present invention defined in the following claims are also possible. It falls within the scope of invention rights.

10...robot arm 90...torch
80...member 81...first member
82...Second member 83...Third member
100...welding device 110...acquisition department
130...generation part 150...control part
209...work board 210...support part
220...adjustment bar 230...interface module
240...fixer 250...tensioner
300...Pedestal 301...Moving part
330...controller 360...control unit

Claims (4)

an acquisition unit that acquires welding information including the number of a plurality of members arranged at different positions in the work area;
a generator that generates a welding path for each member placed in the work area using the welding information and direct teaching;
a control unit that controls a welding robot along the welding path for a plurality of members arranged at different positions on the work area;
A welding device comprising a.
According to paragraph 1,
The generating unit generates a first path having a first starting point and a first ending point through a first direct teaching to the first member,
The generating unit generates a second path having a second starting point and a second ending point through second direct teaching to a second member disposed in a different position from the first member,
When a linkage path from the first end point to the second start point is defined,
The generator generates an entire path including the first path, the linked path, and the second path,
A welding device wherein the control unit moves the welding robot along the first path, the linked path, and the second path according to the overall path.
According to paragraph 1,
The generator distinguishes a first signal from a first button and a second signal from a second button,
The generator determines whether to perform the direct teaching according to the first signal,
The generator determines an action point according to the second signal,
The generator sequentially determines a first starting point, a first ending point, a second starting point, and a second ending point according to the order in which the action points are input under the teaching mode in which the direct teaching is performed by the first signal,
The generator sets the path traveled through direct teaching from the first starting point to the first ending point as the first path,
The generator sets the path traveled through direct teaching from the second starting point to the second ending point as the second path,
The generator sets the path traveled through direct teaching from the first end point to the second start point as a linked path,
If the generator determines that the linked path has not retreated by a set distance along the longitudinal direction of the welding torch, it corrects the linked path so that the welding torch retracts by the set distance,
The generator generates an entire path including the corrected linked path, the first path, and the second path,
A welding device in which the generating unit transmits the entire path to the control unit.
In a welding method performed by a welding device,
An acquisition step of acquiring welding information including the number of plural members arranged at different positions in the work area;
A generation step of generating a welding path for each member arranged in the work area using the welding information and direct teaching;
A control step of controlling a welding robot along the welding path targeting a plurality of members arranged at different positions on the work area,
The generating step is performed when a second signal of a button corresponding to twice the number of the members is obtained under the teaching mode in which the direct teaching is performed, a first starting point, a first ending point, a second starting point, a second ending point,... ., set to the nth starting point (where n is the number of members), and the nth ending point,
The generating step sets the path traveled through direct teaching from the first starting point to the first ending point as the first path,
The generating step sets the path traveled through direct teaching from the second starting point to the second ending point as the second path,
The generation step sets the path traveled through direct teaching from the n-th starting point to the n-th ending point as the n-th path,
The generating step generates an entire path including the first path, the second path, and the n-th path corresponding to the welding path, and transmits the entire path to the control step.

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