WO2011139071A2

WO2011139071A2 - 3d jig modeling device and method thereof

Info

Publication number: WO2011139071A2
Application number: PCT/KR2011/003301
Authority: WO
Inventors: 왕지남; 박상철; 곽종근; 조희원
Original assignee: 주식회사 유디엠텍
Priority date: 2010-05-04
Filing date: 2011-05-03
Publication date: 2011-11-10
Also published as: WO2011139071A3

Abstract

Disclosed are a 3D jig modeling device and a method thereof. According to an embodiment of the present invention, the 3D jig modeling device comprises: a data input unit which receives tree structures of 3D jig shape data generated in a 3D CAD system, and extracts structural information that constitutes a 3D jig and shape information of the 3D jig among the tree structures of said 3D jig shape data; a kinematic information generation unit which generates motion information and kinematic information on a 3D jig shape by using the extracted 3D jig shape information and the extracted structural information that constitutes the 3D jig shape; and a data conversion unit which generates 3D model data that includes the generated kinematic information on the 3D jig shape, the generated motion information, and the extracted 3D jig shape information.

Description

3Digg Modeling Device and Method

The present invention relates to a virtual plant construction technology, and more particularly, to a technique for rapidly generating kinematic information on a jig shape for simulation of a jig designed in 3D.

If you can simulate in advance how large an imbalance between processes will result in line efficiency in the construction of a new plant, you can achieve significant productivity gains through design changes and improvements. In general, it is impossible to change the layout or process after the plant is completed, and it takes a lot of cost and time, so it is very important to analyze the operational problems and establish appropriate measures and reflect them in the final design until the plant's mass production is applied. .

The automotive industry is a typical manufacturing industry where production equipment changes frequently, and since the majority of the equipment making up the process is automated equipment, the use of 3D simulation has increased. As the automotive industry has evolved into a flexible manufacturing system (FMS), the complexity of the process has increased more than in the past, due to the wide variety of parts and equipment that share lines. Therefore, in order to achieve the installation and stabilization of the process in the shortest time, companies are making various efforts to manage and simulate the facilities as 3D models.

In the past, the equipments put into the production line were manufactured, reviewed in different environments, installed and commissioned on the production line, and many economic losses were incurred due to the error between the environment reviewed and the actual line. However, as computer performance improves, many of the automation facilities are modeled and reviewed in a 3D environment, reducing the loss of the past.

In particular, since the role of robots plays a big role in the automotive industry, much research has been conducted on OLP (Off-Line Programming) for the review of robot workplaces in a virtual environment. As OLP and 3D simulation environments spread to the automotive industry, facility and part data is managed in 3D format across the enterprise, but the economic burden of creating 3D models of individual installations is still far from small.

3D device and 3D part data are required to build a real manufacturing environment such as automobile manufacturing as a virtual manufacturing environment. 3D devices are kinematically moving equipments such as robots, jigs, and transporters. In order to operate them in a realistic manner, information is required to be kinematically along with 3D shapes. 3D part data, on the other hand, does not require any kinematic information because it is a manufacturing target of a virtual environment.

In the automotive industry, shape supply and demand is not a problem because body and facility data is managed in 3D. However, in order to create a simulation environment, adding kinematic information to 3D shapes is an additional task for simulation, and thus, humans have difficulty in performing it. This task is the most time-consuming part of the virtual environment creation process because the operator must add kinematic information to the device shape and movement.

In addition, the format of the shape information of the jig generated in the 3D CAD system is different from the format of the data used in the simulation system. Therefore, it is necessary to convert the format of the jig formation information generated in the 3D CAD system to the data format used in the simulation system. In this process, a problem of losing much of the shape information of the jig generated in the 3D CAD system occurs. As a result, the shape information and the kinematic information of the jig are not provided to the simulation system, which causes a problem that the simulation is not completed. As a result, a problem that takes a long time to build a virtual factory occurs.

A 3D jig modeling apparatus and a method for providing an environment in which kinematic information on a 3D jig shape can be conveniently input are proposed.

In addition, a 3D jig modeling apparatus and method for providing the simulation system with the kinematic information without damaging the shape information of the jig generated in the 3D CAD system to the simulation system is proposed.

According to an aspect of the present invention, a 3D jig modeling apparatus receives a tree structure of 3D jig shape data generated in a 3D CAD system and configures 3D jig shape information and 3D jig shape among tree structures of the 3D jig shape data. A data input unit for extracting structural information; A kinematic information generator for generating kinematic information and motion information for the 3D jig shape by using the extracted 3D jig shape information and structural information constituting the 3D jig shape; And a data converter configured to generate 3D model data including kinematic information and motion information of the generated 3D jig shape and the extracted 3D jig shape information.

The kinematic information generating unit generates 3D primitive data, which is 3D data of each element shape constituting the 3D jig, and provides a user with a camera view interface for the 3D jig to receive a camera view setting for the 3D jig. Generate a link that is a set of primitives using the selected primitive data through a user interface, generate a point by obtaining an intersection point between the links using a set camera view, and generate a point using the set camera view in a vertical direction of the generated point Is generated as an axis, and a mechanism for calculating an angle of a polygon consisting of the point according to a predetermined link variation among the links is generated using the generated points, and the length of the predetermined link is determined by the generated mechanism. Jig by defining the opening and closing of the jig In less defined, and wherein the generating mechanism appointed the length of the coupling link to define the opening and closing of the jig can be defined by this motion.

The link may be an input link, a fixed link, an output link, or a couple link.

Generating a point by obtaining an intersection point between the links using the set camera view may be generating four points by an intersection point between the links using the set camera view.

Generating a mechanism for calculating the angle of the polygon consisting of the point in accordance with a predetermined link variation of the link using the generated point, calculating the four angles of the quadrangle according to the couple link variation using the generated point It may be to create a mechanism to.

The 3D model data may include structural information, kinematic information, motion information, and 3D jig shape information constituting the 3D shape.

The structural information, kinematic information, and motion information constituting the 3D shape may be in a text file format, and the 3D jig shape information may have a binary code format.

According to another aspect of the present invention, a 3D jig modeling method includes receiving a tree structure of 3D jig shape data generated in a 3D CAD system and constructing 3D jig shape information and 3D jig among tree structures of the 3D jig shape data. Extracting information; Generating kinematic information and motion information for the 3D jig shape by using the extracted 3D jig shape information and structural information constituting the 3D jig shape; And generating 3D model data having a format usable for simulation of a 3D jig by using kinematic information and motion information on the generated 3D jig shape and the extracted 3D jig shape information.

According to the 3D jig modeling apparatus and method according to an embodiment of the present invention, the tree structure of the 3D jig shape data generated in the 3D CAD system is input to receive the 3D jig shape information and the 3D jig shape among the tree structure of the 3D jig shape data. Extract the structural information constituting the structure, generate kinematic information and motion information for the 3D jig shape by using the extracted 3D jig shape information and the structural information constituting the 3D jig shape, and kinematics for the generated 3D jig shape By generating 3D model data including information, motion information, and extracted 3D jig shape information, it is possible to conveniently and quickly define kinematic information about the 3D jig shape.

1 is a view showing the configuration of the 3D jig modeling apparatus according to an embodiment of the present invention.

2 is a view showing the structure of 3D jig model data according to an embodiment of the present invention.

3 is a flowchart illustrating a 3D jig modeling method according to an exemplary embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings will be described an embodiment of the present invention; In describing the embodiments of the present invention, when it is determined that detailed descriptions of related known functions or configurations may obscure the gist of the present invention, the detailed description thereof will be omitted. In addition, terms to be described below are terms defined in consideration of functions in the present invention, which may vary according to intention or custom of a user or an operator. Therefore, the definition should be made based on the contents throughout the specification.

Jig is the largest number and type of automation equipment under consideration in the 3D environment. First, the role of the jig and 3D model of the automotive process will be described. With the revival of the automobile industry, multi-vehicle production systems, which produce several models on one production line, are becoming more common. Thereby, the kind of parts which comprise a vehicle body becomes diversified, and the kind of jig | tool and conveyer which fixes a part becomes diverse. In particular, the cost of designing and manufacturing jig shapes in automobile factories is large enough to account for about 10-20% of the total manufacturing system construction cost.

The main function of the jig is to accurately fix the target part before the robot and device work. Therefore, the number, location and shape of the jig is variously varied according to the shape of the part shape, and when the shape of the vehicle body is changed, the jig characteristic is redesigned.

The automotive process is divided into a whole process (line unit) and a detailed process (cell unit). As the body parts injected at the beginning of the line flow into the detailed process, the line unit is completed at the end.

Carriage is a facility that carries the body along the line flow. The conveyer only serves to run without power, and the fixtures placed on the conveyer (JIG) fix the parts correctly before detailed process work. Since the shape of the jig and the position of the jig are determined by the part shape, the shape changes every time the process is planned and modified. Line carriers usually have 30 to 35 jigs, each of which receives a signal from the PLC and performs an action.

Therefore, when constructing a 3D environment for PLC simulation or OLP (OffLine Programming) simulation, the process of configuring the shape and movement of the jig is necessary. This is because the jig operation is necessary for the verification of the jig and the carrier operation according to the PLC signal in the PLC simulation, and the interlock check and the collision validation between the robot and the jig in the OLP simulation.

Important factors and characteristics in using the 3D jig model include accuracy, repeatability, and interaction.

As for accuracy, when the use and shape of the jig are determined from the data, motion simulation is performed to check for interference between the 3D model and the part. At this time, if the jig shape design or position assignment does not exactly fit, the design is performed again. Once the 3D jig shape is satisfied through the simulation, the 2D drawing of the jig is printed and manufactured.

Repeatedly, there are many kinds of car bodies to be put into the automotive process, and the design changes of car bodies occur very frequently at the initial design stage. As a result, the 3D model verification of the jig also occurs repeatedly as the body shape changes. This is repeated from the initial design stage of production to planning, modification and review to final jig production.

With regard to interaction, the jig's main role is to fix the body parts before starting work in the cell. The fixed jig performs collaboration with various robots and devices existing in the cell. At this time, the jig and the robot (OLP) or the jig and the device perform collision verification simulation to correct the position and shape of the jig.

Now, the apparatus and method for generating such a 3D jig model will be described.

1 is a view showing the configuration of a 3D jig modeling apparatus according to an embodiment of the present invention.

As shown, the 3D jig modeling apparatus according to an embodiment of the present invention, by using the shape information of the 3D jig of the tree structure for the 3D jig shape, generates kinematic information and motion information for the simulation of the 3D jig, 3D jig model data having a format usable for simulation is generated using shape information, generated kinematic information, and motion information of the 3D jig.

In other words, the 3D jig modeling apparatus includes a data input unit 10, a kinematic information generation unit 20, and a data conversion unit 30.

The data input unit 10 receives the tree structure of the 3D jig shape data generated in the 3D CAD system and generates kinematic information by extracting the 3D jig shape information and the structural information constituting the 3D jig shape from the tree structure of the 3D jig shape data. The part 20 and the data conversion part 30 are provided. In this case, the tree structure for the 3D jig shape data may include 3D jig shape information, structural information constituting the 3D jig shape, and design information for the 3D jig shape. The structural information constituting the 3D jig shape represents connection information between subcomponents of the 3D jig shape.

As such, only the 3D jig shape information and the structural information constituting the 3D jig shape are extracted from the 3D jig shape tree structure and provided to the kinematic information generation unit 20 for kinematic definition of the 3D jig shape. By removing design information about 3D jig shapes that are not necessary for kinematic definition, 3D jig using 3D jig shape data including all of the conventional 3D jig shape information, structural information constituting the 3D jig shape, and design information for 3D jig shape Compared to the kinematic definition of the shape, the kinematic definition of the 3D jig shape can be performed quickly.

The kinematic information generation unit 20 uses the 3D jig shape information and the structural information constituting the 3D jig shape among the 3D jig shape tree structures provided from the data input unit 10 to obtain kinematic information and motion information for the 3D jig shape. It generates and provides it to the data converter 30. The reason for generating the kinematic information is that the 3D jig shape data has only shape information and cannot be simulated.

At this time, the kinematic information generation unit 20 performs kinematics on the 3D jig shape through five steps of 1) link definition, 2) point of interest definition, 3) axis definition, 4) mechanism application, and 5) motion definition. It generates information and provides a user interface for receiving data from the user in each step. That is, the kinematic information generator 20 provides a user interface for defining a link, a user interface for defining a point of interest, a user interface for defining an axis, a user interface for applying a mechanism, and a user interface for defining motion. can do.

Terms used to generate kinematic information for 3D jig shapes will be described. Link is defined as a rigid body that defines the relationship between two neighboring joint axes of a manipulator. Links are defined by defining a set of faces that belong to the same category kinematically among the Surfaces. Typically, this process is defined through hierarchies or colors at the upper 3D design application level.

The definition of the Concerning Point is as follows. It is necessary to create a point of interest for defining mechanisms and creating axes. Generally defined by jig shape and operator's perception.

Axis definition is as follows. Two links and one axis are needed to define the joint of the manipulator. Thus, we prepare for the joint definition by creating a common axis between the links.

Mechanism application is explained as follows. The mechanism of jig movement used in the field is generally the Slider-Crank mechanism. This is one of the basic mechanisms of kinematics, which can be classified into R-P-R-R type and P-R-R-R type according to the joint application order. Where R (Rotational) is the rotational motion of the joint, P (Prismatic) is a linear motion.

The motion definition is as follows. The jig generally has the movement of Clamp and Unclamp. Since each joint has a parameterized joint value for two-stage motion, the motion is applied using this.

The five steps described above are a general process used in the field to define the kinematic information of the jig. The five steps described above can be automated to reduce the time and effort required for this process.

That is, the kinematic information generation unit 20 provides a user interface for defining kinematic calculation information of the 3D jig and performs kinematic definition of the 3D jig using information input by the user. In an embodiment, the kinematic information generation unit 20 generates 3D primitive data that is 3D data of each element shape constituting the jig. The kinematic information generation unit 20 provides a user with a camera view interface for the jig and receives a setting for the camera view for the jig. Create a link that is a set of primitives using the primitive data selected through the user interface. The link may be an input link, a fixed link, an output link, or a couple link. In this case, the fixed link means a link that is a reference in kinematic information modeling. The input link is a link for inputting a force for movement in the kinematic information modeling, and the couple link is a link between the input link and the output link. The link is transmitted, and the output link means a link that finally outputs the exercise force transmitted through the couple link. Since such contents are easily understood by those skilled in the art, detailed descriptions will be omitted.

Points are generated by finding the intersection points between the links using the set camera view. In particular, four intersection points are obtained for the four links and are called four points (input point, fixed point, output point, and couple point). The vertical direction of the generated point is generated as an axis using the set camera view. Using the generated points, a mechanism for calculating an angle of a polygon composed of the points according to a predetermined link variation of the links is generated. In particular, the generated point may be used to generate a mechanism for calculating the four angles of the quadrangle according to the couple link variation. In the generated mechanism, the length of the predetermined link is defined to define the opening and closing of the jig to define the jig operation. In particular, in the generated mechanism, the length of the couple link is defined to define the opening and closing of the jig to define it as a motion.

Meanwhile, the data converter 30 includes 3D jig shape information among tree structures for 3D jig shapes, kinematic information, motion information, and 3D jig shapes generated by the kinematic information generation unit 20, and includes 3D jig shapes. 3D model data having a format that can be used for the simulation of the data is generated and provided to the simulation system.

One embodiment of the format of 3D model data usable for such a simulation is shown in FIG. 2. As shown in Fig. 2, the 3D model data for the jig that can be used for the simulation is composed of a set of * .co and * .cob. * .co has a text file (txt) format and includes structural information, kinematic information, and motion information constituting the shape. In this case, the structural information constituting the shape is structural information constituting the 3D jig shape provided by the data input unit 10. * .cob is a binary code format and contains 3D jig shape information (3D jig shape information extracted from a tree structure of 3D jig shape data).

As shown, the 3D jig modeling apparatus extracts the shape information of the 3D jig and the structural information constituting the 3D jig shape from the tree structure of the 3D jig shape data generated and input in the 3D CAD system (S1). In this case, the tree structure for the 3D jig shape data may include 3D jig shape information, structural information constituting the 3D jig shape, and design information for the 3D jig shape. The structural information constituting the 3D jig shape represents connection information between subcomponents of the 3D jig shape.

The 3D jig modeling apparatus generates kinematic information and motion information for the 3D jig shape using the extracted 3D jig shape information and the structural information constituting the 3D jig shape (S2).

Subsequently, the 3D jig modeling apparatus includes 3D jig modeling information including kinematic information, motion information, and 3D jig shape information of the generated 3D jig shape, and has a format usable for simulation of the 3D jig (S3).

So far, the present invention has been described with reference to the embodiments. Those skilled in the art will understand that the present invention may be implemented in a modified form without departing from the essential characteristics of the present invention. Therefore, the disclosed embodiments should be considered in descriptive sense only and not for purposes of limitation. Therefore, the scope of the present invention should not be construed as being limited to the above-described examples, but should be construed to include various embodiments within the scope of the claims and equivalents thereof.

The invention can be used in the field of automated building systems of factories.

Claims

A data input unit which receives a tree structure of 3D jig shape data generated by a 3D CAD system and extracts shape information of a 3D jig and structural information constituting a 3D jig among the tree structures of the 3D jig shape data;

A kinematic information generator for generating kinematic information and motion information for the 3D jig shape by using the extracted 3D jig shape information and structural information constituting the 3D jig shape; And

And a data converter configured to generate 3D model data including kinematic information and motion information of the generated 3D jig shape and the extracted 3D jig shape information.
The method of claim 1,

The kinematic information generation unit,

Generates 3D primitive data, 3D data of each element shape constituting the 3D jig, provides the user with a camera view interface for the 3D jig, receives the settings for the camera view for the 3D jig, and selects the selected primitive through the user interface. Generate a link that is a set of primitives using data, generate points by obtaining intersections of the links using a set camera view, generate a vertical direction of the generated points as axes using the set camera view, Using the generated points, a mechanism for calculating an angle of a polygon consisting of the points according to a predetermined link variation of the links is generated, and the opening and closing of the jig is defined by defining the length of the predetermined link in the generated mechanism. To define the jig operation, and In kanijeum, 3D modeling apparatus jig to define them by regulating the opening and closing of the jig appointed the length of the coupling link of the link to the motion.
The method of claim 2,

Wherein the link is an input link, a fixed link, an output link, or a couple link.
The method of claim 2,

Generating a point by obtaining the intersection point between the links using the set camera view, 3D jig modeling apparatus to generate four points by the intersection point between the links using the set camera view.
The method of claim 2,

Generating a mechanism for calculating the angle of the polygon consisting of the point in accordance with a predetermined link variation of the link using the generated point, calculating the four angles of the quadrangle according to the couple link variation using the generated point 3D jig modeling apparatus, which generates a mechanism to make.
The method of claim 1,

The 3D model data,

3D jig modeling apparatus comprising structural information, kinematic information, motion information and 3D jig shape information constituting the 3D jig shape.
The method of claim 6,

The structural information, kinematic information and motion information constituting the 3D jig shape are in a text file format, and the 3D jig shape information is in binary code format.
Receiving a tree structure of 3D jig shape data generated in a 3D CAD system and extracting shape information of a 3D jig and structural information constituting a 3D jig shape among the tree structures of the 3D jig shape data;

Generating kinematic information and motion information for the 3D jig shape by using the extracted 3D jig shape information and structural information constituting the 3D jig shape; And

And generating 3D model data including kinematic information and motion information for the generated 3D jig shape and the extracted 3D jig shape information.