WO2017088105A1

WO2017088105A1 - A method and system for machining, and a robot system

Info

Publication number: WO2017088105A1
Application number: PCT/CN2015/095377
Authority: WO
Inventors: Diamond Daimeng DONG; Shaojie Cheng; Lei Mao
Original assignee: Abb Schweiz Ag
Priority date: 2015-11-24
Filing date: 2015-11-24
Publication date: 2017-06-01

Abstract

The present invention discloses a method and system for machining a work piece, and a robot system using the same. The method comprises: generating a component database; defining a plurality of component properties; categorizing components into a plurality of component groups by the defined component properties; determining at least one component property; selecting relative components based on the determined component property; processing the selected components according to the predefined operation to machine the work piece. Compared with the existing prior arts, the proposed method and system improves machining efficiency and accuracy. With the method and system according to the present disclosure, high machining efficiency could be achieved as well as errors could be greatly reduced.

Description

A METHOD AND SYSTEM FOR MACHINING, AND A ROBOT SYSTEM

FIELD OF THE INVENTION

The present invention relates to a method and system for machining, and more particularly, to a method for machining a work piece and a robot system using the same.

BACKGROUND OF THE INVENTION

Nowadays, robots are wildly used in many fields such as welding, assembling, conveying, paint spraying, laser machining, etc. For example, a welding robot can perform welding operations automatically in a predetermined way in accordance with the robot program. In shipbuilding industry, a small-type steel ship usually has 100 thousands of welds to millions of welds, which means a large amount of workloads. To perform any operation for machining work pieces, i.e. modeling, offline programming, shaping and simulation of robot cells, users first need to select targets, paths and/or objects inside robotic applications.

In practical use, however, components in robotics applications are usually differentiated by names only. Generally, if users want to search for one specific component, he/she has to manually browse for the component within a given group. There is currently no other way to index the components, which makes the searching rather inconvenient. Furthermore, there is no search option when working with robotics application either.

To resolve the preceding problems, there is a need in the art to develop an improved method for machining a work piece.

SUMMARY OF THE INVENTION

The object of the present invention is to provide a novel method and system for machining a work piece, and a robot system using the same, so as to at least mitigate a part of problems in the prior art. With this solution, high machining efficiency could be achieved as well as errors could be greatly reduced.

According to one aspect of the invention, there is provided a method for machining a work piece, comprising: generating a component database； defining a plurality of component properties； categorizing components into a plurality of component groups by the defined component properties； determining at least one component property； selecting relative components based on the determined component property； processing the selected components according to the predefined operation to machine the work piece.

According to a preferred embodiment of the present invention, selecting relative components based on the determined component property further comprises: selecting relative components with the determined component property； or selecting relative components without the determined component property.

According to a preferred embodiment of the present invention, the method further comprises: displaying the component groups on a display.

According to a preferred embodiment of the present invention, the component property is configured to be any one of shape, size, length, color, material and location.

According to a preferred embodiment of the present invention, the component group is further configured to comprise at least one sub component groups.

According to a preferred embodiment of the present invention, defining component property is capable of customized adjusting, by performing any one of deleting, adding, modifying and re-arranging.

According to a preferred embodiment of the present invention, performing adding further comprises: creating a new component group under an already existed component group.

According to a preferred embodiment of the present invention, selecting is further performed by identifying two or more determined component properties.

According to another aspect of the invention, there is provided a robot system for machining a work piece, including: a manipulator； a machining tool； and a controller, being adapted for controlling the manipulator to operate the machining tool according to the method as described above.

According to another aspect of the invention, there is provided a system for machining a work piece, comprising: a generating unit configured to generate a component database； a defining unit configured to define a plurality of component properties； a categorizing unit configured to categorize components into a plurality of component groups by the defined component properties； a determining unit configured to determine at least one component property； a selecting unit configured to select relative components based on the determined component property； a processing unit configured to process the selected components according to the predefined operation to machine the work piece.

According to a preferred embodiment of the present invention, the selecting unit is configured to: select relative components with the determined component property； or select relative components without the determined component property.

According to a preferred embodiment of the present invention, the system further comprises: a displaying unit configured to display the component groups on a display.

According to a preferred embodiment of the present invention, the defining unit is capable of customized adjusting, by a performing adjusting unit to perform any one of deleting, adding, modifying and re-arranging.

According to a preferred embodiment of the present invention, the performing adjusting unit to perform adding further comprises: a creating unit to create a new component group under an already existed component group.

According to a preferred embodiment of the present invention, the selecting unit is further performed by identifying two or more determined component properties.

Compared with the existing prior arts, by using the new solution of machining a work piece, the present invention can achieve several advantages as below.

Selection and modification through properties is easy to improve efficiency of machining, because it provides an easy way within robotics applications to define, search for and modify any amount of components.

The present invention can save tremendous amount of operation time for the users.

The present invention can improve the machining accuracy, because it can reduce error rate by having clear indexed items.

Furthermore, by using the method of modification through properties, users are able to redefine unclear components by simply adding their own properties, and it will not even contradict with the first ones applied. In this way, indexing will no longer be limited to specific users.

Other features and advantages of embodiments of the present application will also be understood from the following description of specific exemplary embodiments when read in conjunction with the accompanying drawings, which illustrate, by way of example, the principles of the invention.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other features of the present disclosure will become more apparent through detailed explanation on the embodiments as illustrated in the description with reference to the accompanying drawings, throughout which like reference numbers represent same or similar components and wherein:

Fig. 1 schematically illustrates a flow diagram of a method for machining according to an embodiment of the present disclosure；

Fig. 2 schematically illustrates a component property editor according to a first embodiment of the present disclosure；

Fig. 3 schematically illustrates a component property editor according to a second embodiment of the present disclosure；

Fig. 4 schematically illustrates a component property editor according to a third embodiment of the present disclosure； and

Fig. 5 illustrates a robot system performing the machining process according to an embodiment of present invention； and

Fig. 5 illustrates a robot system performing the machining process according to an embodiment of present invention.

Fig. 6 illustrates a robot system performing the machining process according to another embodiment of present invention.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

Hereinafter, solutions as provided the present disclosure will be described in details through embodiments with reference to the accompanying drawings. It should be appreciated that these embodiments are presented only to enable those skilled in the art to better understand and implement the present disclosure, not intended to limit the scope of the present disclosure in any manner.

Generally, all terms used in the claims are to be interpreted according to their ordinary meaning in the technical field, unless explicitly defined otherwise herein. All references to "a/an/the/said [element, device, component, means, step, etc] " are to be interpreted openly as referring to at least one instance of said element, device, component, means, unit, step, etc., without excluding a plurality of such devices, components, means, units, steps, etc., unless explicitly stated otherwise. Besides, the indefinite article “a/an” as used herein does not exclude a plurality of such steps, units, modules, devices, and objects, and etc.

In general, embodiments of the present application provide a new method and system for machining a work piece. As will be apparent from the further discussions below, selection and modification through properties enables users to easily define, search for and modify components within machining application, so that high machining efficiency could be achieved as well as errors could be greatly avoided.

Throughout the descriptions of various embodiments of the present application, repeated descriptions of some similar elements will be omitted.

Next, reference will be made to describe an example of machining a work piece in which the first embodiment of the present disclosure can be implemented. To overcome the shortcomings of selecting components by names only as mentioned hereinbefore, in embodiments of the present disclosure, users can first categorize the components into groups depending on given properties inside robotics applications. Fig. 1 is a flow diagram of a method for machining which the present invention can proceed. A component database will be generated before the manufacturing. Users can define a plurality of component properties and property groups. The component property can consist of shape, size, length, color, material, location etc. The component group can further comprise at least one sub component groups. Properties will not have any limits and can be set by users. Then users can categorize components into component groups by the defined component properties.

In some embodiments, the defined properties will be visualized in order to enhance interactivity for the users. For example, the component groups can be displayed on a display. A component property editor can also be introduced according to the present application.

Furthermore, defining component property is also capable of customized adjusting. For example, users can delete, add, modify and re-arrange the groups, or create a new component group under an already existed component group.

As it can be seen in Fig. 2, by default component property groups are created in the same level inside a properties tree, but the levels and nodes can be easily adjusted. Dragging and dropping can be utilized to rearrange the order and grouping of properties and property groups. As shown in Fig. 3, user can perform the move action of property group “Iron” , from a sub property group to a main property group. Once a sub property is removed from a larger group, the components inside will be removed from the larger group as well. As shown in Fig. 4, user moves the sub property group “Iron” , this action will result in related components from the larger group “Material” . By removing the sub property group “Iron” , the components in group “Material” are also changed from “1, 3, 4, 5, 6, 9, 25, 99, 100, 101, 236, 537” to “3, 4, 5, 6, 99, 100, 101” accordingly.

In another embodiment, if user creates a new one under a component with an already given property, the child node will inherit the father properties and be placed under that property group.

Generally, in the properties view of a component property editor of the present application, users can see, arrange the different kinds of properties and modify them based on the needs.

The present application not only introduces the creation of properties and applying them to components for modification, but also relates to a search option intended for browsing through property combinations. After categorization has been performed, users will be able to search them. It will be possible to locate all the components with the given property directly. Namely users can selecting relative components with the determined component property, or oppositely, without the determined component property. The search tool can be set as searching for indexed property names. Usually, a specific component can have multiple properties. By this way, it will be easier to distinguish them apart, while the method according to the present invention also allows multiple users to interact with the same system by indexing in their own way. Compared with the conventional way, there is only one way for naming. So when the system is handed over to another user, they would be lost because of the different naming conventions.

According to another embodiment of the present application, selecting is further performed by identifying two or more determined component properties. For example, user wishes to search for: “copper bolts larger than 15 mm diameter” and machine or modify them. To conduct searching, first of all, it can be separated into three different properties: copper, bolt and > 15mm diameter. However separately, they will not yield the same results. After locating them, users will have the opportunity to modify size, location or other property of the components, then operate them.

In some embodiments, to enhance interactivity for the users, all related components from the selected property group can be displayed in the 3D graphics window of the robot application.

In addition, the search option including: AND, OR, NOT, <, >, INSIDE, OUTSIDE, etc. For example: user needs to locate the components involving the following factors: Copper AND bolt AND diameter > 15mm OUTSIDE cell 1.

To proceed the selection, all copper bolts with diameter greater than 15mm outside of cell 1 where “copper” , “bolt” , “> 15mm diameter” and “outside of cell 1” are all pre-defined properties by the user.

Another example is: Aluminum INSIDE zone 3 < 300g.

This selection would locate anything made out of aluminum inside zone 3 of 300g or lighter. Zone 3 could be a pre-defined space in the workspace. Such kind of usage of zones could be especially helpful for welding.

With this solution, users can easily select relative components based on the determined component property, and then process the selected components according to the predefined operation to machine the work piece. Such operation not only includes manufacturing, but also includes modeling, offline programming and simulation.

Therefore, the present disclosure is advantageous because it is easy to define, search for and modify any amount of components by the method of selection and modification through properties. Also, it can save tremendous amount of operation time and reduce error rate by having clear indexed items.

Fig. 5 illustrates a robot system performing the machining process according to an embodiment of present invention. The robot system 5 includes a manipulator 500, a machining tool 501 and a controller 502. The manipulator 500 is arranged to hold the machining tool 501. The controller 502 can be offline programmed to control the manipulator 500 to operate the machining tool 501 according to the method as described above.

Fig. 6 illustrates a robot system performing the machining process according to another embodiment of present invention. The robot as illustrated includes an arm 500 and a welding gun 501 which will be used to weld the welding object. For the arc welding application, a larger area can be divided and expressed as smaller areas as shown in Fig. 6. Particularly, an entire ship can be firstly divided into smaller cells. Then, for a specific cell, user can use the selection method disclosed in the present application to choose and select all areas that have a T or X junction, which is calculated by the tool. X junction is a junction where one horizontal and one vertical section meet through a cross connection. T junction is a junction where one horizontal and one vertical section meet as in a T connection. Users may also have corresponding methods to identify other type of properties. Afterwards, arc welding paths can be applied to the areas users wish to include for arc welding purposes.

Another embodiment of the present application will be further discussed below. A system for controlling a machining of a work piece is also provided. The system comprises: a generating unit configured to generate a component database； a defining unit configured to define a plurality of component properties； a categorizing unit configured to categorize components into a plurality of component groups by the defined component properties； a determining unit configured to determine at least one component property； a selecting unit configured to select relative components based on the determined component property； a processing unit configured to process the selected components according to the predefined operation to machine the work piece.

In some embodiments, the selecting unit is configured to: select relative components with the determined component property； or select relative components without the determined component property.

In some embodiments, the system further comprises: a displaying unit configured to display the component groups on a display.

In some embodiments, the component property is configured to be any one of shape, size, length, color, material and location.

In some embodiments, the component group is further configured to comprise at least one sub component groups.

In some embodiments, the defining unit is capable of customized adjusting, by a performing adjusting unit to perform any one of deleting, adding, modifying and re-arranging.

In some embodiments, the performing adjusting unit to perform adding further comprises: a creating unit to create a new component group under an already existed component group.

In some embodiments, the selecting unit is further performed by identifying two or more determined component properties.

It should be appreciated that the features of the method as described above with reference to Figs. 1-4 are all applicable to the system. Moreover, the components of the system may be a hardware module or a software unit module. For example, in some embodiments, the system may be implemented partially or completely with software and/or firmware, for example, implemented as a computer program product embodied in a computer readable medium. Alternatively or additionally, the system may be implemented partially or completely based on hardware, for example, as an integrated circuit (IC) , an application-specific integrated circuit (ASIC) , a system on chip (SOC) , a field programmable gate array (FPGA) , and so forth. The scope of the present disclosure is not limited in this regard.

Hereinabove, embodiments of the present disclosure have been described in details through embodiments with reference to the accompanying drawings. It should be appreciated that, while this specification contains many specific implementation details, these details should not be construed as limitations on the scope of any invention or of what may be claimed, but rather as descriptions of features that may be specific to particular embodiments of particular inventions. Certain features that are described in this specification in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable sub-combination. Moreover, although features may be described above as acting in certain combinations and even initially claimed as such, one or more features from a claimed combination can in some cases be excised from the combination, and the claimed combination may be directed to a sub-combination or variation of a sub-combination.

Various modifications, adaptations to the foregoing exemplary embodiments of this disclosure may become apparent to those skilled in the relevant arts in view of the foregoing description, when read in conjunction with the accompanying drawings. Any and all modifications will still fall within the scope of the non-limiting and exemplary embodiments of this disclosure. Furthermore, other embodiments of the disclosures set forth herein will come to mind to one skilled in the art to which these embodiments of the disclosure pertain having the benefit of the teachings presented in the foregoing descriptions and the associated drawings.

Therefore, it is to be understood that the embodiments of the disclosure are not to be limited to the specific embodiments disclosed and that modifications and other embodiments are intended to be included within the scope of the appended claims. Although specific terms are used herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims

A method for machining a work piece, comprising:

generating a component database；

defining a plurality of component properties；

categorizing components into a plurality of component groups by the defined component properties；

determining at least one component property；

selecting relative components based on the determined component property；

processing the selected components according to the predefined operation to machine the work piece.
The method according to Claim 1, characterized in that, selecting relative components based on the determined component property further comprises:

selecting relative components with the determined component property； or

selecting relative components without the determined component property.
The method according to Claim 1 or 2, characterized in that, the method further comprises:

displaying the component groups on a display.
The method according to Claim 1 or 2, characterized in that, the component property is configured to be any one of shape, size, length, color, material and location.
The method according to Claim 1 or 2, characterized in that, the component group is further configured to comprise at least one sub component groups.
The method according to Claim 1 or 2, characterized in that, defining component property is capable of customized adjusting, by performing any one of deleting, adding, modifying and re-arranging.
The method according to Claim 6, characterized in that, performing adding further comprises:

creating a new component group under an already existed component group.
The method according to Claim 1 or 2, characterized in that, selecting is further performed by identifying two or more determined component properties.
A robot system for machining a work piece, including:

a manipulator；

a machining tool； and

a controller, being adapted for controlling the manipulator to operate the machining tool according to the method set forth in any of Claims 1 to 8.
A system for machining a work piece, comprising:

a generating unit configured to generate a component database；

a defining unit configured to define a plurality of component properties；

a categorizing unit configured to categorize components into a plurality of component groups by the defined component properties；

a determining unit configured to determine at least one component property；

a selecting unit configured to select relative components based on the determined component property；

a processing unit configured to process the selected components according to the predefined operation to machine the work piece.
The system according to Claim 10, characterized in that, the selecting unit is configured to:

select relative components with the determined component property； or

select relative components without the determined component property.
The system according to Claim 10 or 11, characterized in that, the system further comprises:

a displaying unit configured to display the component groups on a display.
The system according to Claim 10 or 11, characterized in that, the component property is configured to be any one of shape, size, length, color, material and location.
The system according to Claim 10 or 11, characterized in that, the component group is further configured to comprise at least one sub component groups.
The system according to Claim 10 or 11, characterized in that, the defining unit is capable of customized adjusting, by a performing adjusting unit to perform any one of deleting, adding, modifying and re-arranging.
The system according to Claim 15, characterized in that, the performing adjusting unit to perform adding further comprises:

a creating unit to create a new component group under an already existed component group.
The system according to Claim 10 or 11, characterized in that, the selecting unit is further performed by identifying two or more determined component properties.