WO2020175041A1 - 溶接線データ生成装置、溶接システム、溶接線データ生成方法及びプログラム - Google Patents
溶接線データ生成装置、溶接システム、溶接線データ生成方法及びプログラム Download PDFInfo
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- WO2020175041A1 WO2020175041A1 PCT/JP2020/004196 JP2020004196W WO2020175041A1 WO 2020175041 A1 WO2020175041 A1 WO 2020175041A1 JP 2020004196 W JP2020004196 W JP 2020004196W WO 2020175041 A1 WO2020175041 A1 WO 2020175041A1
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- WIPO (PCT)
- Prior art keywords
- welding
- combination
- members
- line data
- welding line
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/4093—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
- B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
- B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
- B23K26/24—Seam welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K28/00—Welding or cutting not covered by any of the preceding groups, e.g. electrolytic welding
- B23K28/006—Welding metals by means of an electrolyte
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/02—Seam welding; Backing means; Inserts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/095—Monitoring or automatic control of welding parameters
- B23K9/0953—Monitoring or automatic control of welding parameters using computing means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/10—Other electric circuits therefor; Protective circuits; Remote controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Definitions
- the present invention relates to a welding line data generation device, a welding system, a welding line data generation method, and a program.
- Patent Document 1 describes a technique for speeding up the selection of a welding line by an operator.
- Patent Document 1 Japanese Patent Laid-Open No. 2010-184182
- An object of the present invention is to enable a portion to be welded or a candidate thereof to be efficiently and automatically specified by a welding robot.
- a welding line data generation device for generating welding line data for identifying a position to be welded by a welding robot, the welding robot for each combination of constituent names of members.
- the recording part that records the availability information indicating whether or not welding is possible, and the extraction part that extracts the combination of two or more adjacent parts from the three-dimensional data of the structure manufactured by welding, and the extracted 2
- the generator that generates the welding line data that specifies the part to be welded between two or more members corresponding to the corresponding combination.
- the welding line data generation device uses the configuration name of each member forming the structure based on the shape of each member forming the three-dimensional data and/or the positional relationship between the member and another member. It is preferable to further include a configuration name specifying unit for specifying.
- the composition name identification section here identifies the members that do not require welding by the welding robot as non-welded members, and the generation section selects the corresponding combination if one of the extracted member combinations is a non-welded member. You may exclude from the object of welding.
- the configuration name specifying unit may specify the configuration name of the member having a plate-like shape based on the area of the member forming the three-dimensional data.
- information on the shape of the member used to specify the configuration name may include information on the groove shape.
- the configuration name identification unit may identify the configuration name of a member adjacent to another member based on the positional relationship with respect to the other member for which the configuration name is specified.
- the configuration name specifying unit calculates at least one of the inclination angle, the rotation angle, and the twist angle of one member with respect to the other member as the positional relationship between the extracted two members, and calculates If the calculated value is greater than or equal to the threshold value, the other member is identified as a non-welded member, and the generation unit, if the extracted combination of adjacent members is a non-welded member, It may be excluded from the target.
- configuration name specifying part here is the shape of the member and the positional relationship between the member and other members. ⁇ 2020/175041 3 ⁇ (:171? 2020 /004196
- the configuration name of each member that constitutes the structure may be specified by using a learned model that has learned the relationship between both or one of the members and the configuration name of the member.
- the generator further determines the presence or absence of a groove in the part where the two members are adjacent to each other.
- the welding line data may be generated according to information.
- a welding system having a welding robot that welds members to each other, and a welding control device that controls the operation of the welding robot based on a welding line data. Extraction that extracts the combination of two or more adjacent members from the recording part that records the availability information indicating the availability of welding by the welding robot for each combination of configuration names and the three-dimensional data of the structure manufactured by welding If the combination of the part and the configuration name corresponding to the combination of the extracted two or more members is weldable, the welding line data that identifies the part to be welded between the two or more members corresponding to the combination is generated.
- a welding system having a generating unit for generating is provided.
- a welding line data generation method for generating welding line data for specifying a portion to be welded by a welding robot, wherein the three-dimensional data of a structure manufactured by welding are adjacent to each other.
- the process of extracting the combination of two or more members and the welding propriety of the combination of the constituent names corresponding to the extracted combination of the two or more members are indicated by the prepared propriety information for each combination of the constituent names.
- the process of determining by referring to is possible between the two or more members corresponding to the corresponding combination.
- a process for generating the welding line data for specifying a portion to be welded to provide a welding line data generation method.
- [001 1] Furthermore, as another invention, a process of extracting a combination of two or more adjacent members from the three-dimensional data of a structure manufactured by welding, and a combination of the extracted two or more members The process of determining the weldability of the combination of configuration names corresponding to the above by referring to the prepared availability information for each combination of configuration names, and the configuration name corresponding to the extracted combination of two or more members.
- a program is provided that causes the computer to perform processing to generate welding line data that specifies the portion to be welded between two or more materials corresponding to the corresponding combination.
- a site to be welded or a candidate thereof can be efficiently and automatically specified by a welding robot.
- FIG. 1 is a diagram showing a configuration example of a welding system according to the present embodiment.
- Fig. 2 is a diagram illustrating a positional relationship such as inclination, rotation, and twist.
- Fig. 3 is a diagram illustrating a structural body and members that are its constituent elements.
- FIG. 4 is a diagram showing a structural example of welding propriety information recorded in a propriety information recording unit.
- FIG. 5 is a diagram showing an example of a relationship between members determined to have a groove.
- FIG. 6 is a diagram showing an example of a relationship between members determined to have no groove.
- FIG. 7 A flowchart for explaining the processing operation executed by the welding line data generation device.
- FIG. 8 is a diagram showing an example of a screen for accepting correction of welding line candidates.
- FIG. 1 is a diagram showing a configuration example of a welding system 1 according to the present embodiment.
- the welding system 1 shown in Fig. 1 consists of a welding robot 10 that welds members to be welded together, a welding controller 20 that controls the movement of the welding robot 10 and welding line data that gives the welding position.
- the welding line data generator 30 that gives the data to the welding controller 20 and the structure data that stores the three-dimensional data that describes the shape of each member that constitutes the structure manufactured by welding and the positional relationship between the members.
- Base 40 ⁇ 2020/175041 5 (:171? 2020/004196
- welding robots 10 There are various types of welding robots 10 depending on the application. For example, there are steel frame welding robots used for welding of steel frames, building parts welding robots, bridge welding robots, bogie parts welding robots, forklift parts welding robots, and welding robots for the marine sector.
- a steel frame welding robot is assumed as the welding robot 10.
- the welding control device 20 is composed of, for example, a computer, and controls the movement of one or a plurality of welding robots 10.
- the computer is a computing unit that executes the control program, a non-volatile semiconductor memory that stores the start-up program, a volatile semiconductor memory that executes the control program, and operating parameters collected from the welding robot 10. It consists of a hard disk drive that stores welding line data that specifies the part to be welded.
- An input device such as a keyboard and a touch panel, and a display device for displaying information on the progress of welding are also connected to the welding control device 20 as a computer.
- the welding line data in the present embodiment refers to a set of data that defines a portion (welding line) to be welded out of two or more materials that are adjacent to each other.
- Adjacent relationships include, for example, a relationship in which one member contacts another member, a relationship in which a gap exists between one member and another member, and a relationship in which another member bites into one member.
- the gap means a space in which members can be connected by welding and which has a predetermined distance or less.
- the welding line data generation device 30 is also configured by, for example, a computer.
- the computer here is a computing unit that executes an application program, a non-volatile semiconductor memory that stores a startup program, a volatile semiconductor memory that executes the application program, an application program, and a welding program.
- Hard disk device that records data including line data, input device It is composed of a display and a display device.
- welding availability information information indicating whether welding is possible or not
- welding availability information information indicating whether welding is possible or not
- the area portion of the hard disk device in which the welding propriety information is recorded is called the propriety information recording section 31.
- the availability information recording unit 31 is an example of a recording unit.
- a hard disk device is illustrated as a recording device for application programs and the like, but a device for reading/writing data from/to a recording medium such as a semiconductor memory may be used. Further, the hard disk device may be a device built in the welding line data generation device 30 or an external device.
- the welding control device 20 and the welding line data generation device 30 are drawn as independent devices, but some or all of the functions of the welding line data generation device 30 are included in the welding control device 20. It is also possible.
- the welding line data generation device 30 is connected to the welding control device 20 through a communication line or a network.
- the network here is, for example, LAN (Local Area Network) or the Internet (including cloud network).
- the role of the welding line data generator 30 is to generate the welding line data necessary for welding, and the connection between the welding line data generator 30 and the welding controller 20 is not essential. For example, if the welding line data generator 30 and the welding controller 20 are not connected by a communication line or the like, the welding line data generated by the welding line data generator 30 is recorded on a portable recording medium. And write it in the welding controller 20.
- the welding line data generation device 30 realizes a function of efficiently and automatically identifying a welding line or a candidate of a welding line through execution of an application program by the calculation unit.
- the configuration name specifying unit 3 2 and the combination extracting unit 3 3 and welding line data generator 3 4 3 Represents one.
- the configuration name identification unit 32 is provided.
- the combination extraction unit 3 3 and the welding line data generation unit 3 4 are used to identify the welding line or the candidate of the welding line. Will be possible. If a component name has already been assigned to each member on the 3D CAD data (hereinafter also referred to as “3D data”), the component name identification unit 32 is unnecessary or provided. Stop the execution of the configuration name identification part 32.
- the configuration name identification unit 32 reads information regarding the shape of each member constituting the structure and the positional relationship between the members from the three-dimensional data recorded in the structure database 40. , It is a functional unit that automatically identifies the constituent names of each member that makes up the structure. The method used to identify a configuration name may vary from structure to structure.
- the configuration name identifying unit 32 first identifies the configuration name of a member having a characteristic shape such as area, and then determines the positional relationship with respect to the member for which the configuration name is identified. Based on this, the component names of other members are specified. It should be noted that the configuration name is given in advance the condition that the corresponding member must satisfy.
- non-welded members Members that do not require welding (hereinafter referred to as “non-welded members”) are also classified as “other”.
- the configuration name specifying unit 32 also uses at least one of the inclination angle, the rotation angle, and the twist angle of one member with respect to the other member as the positional relationship between the two members. .. If the values of the tilt angle, the rotation angle, and the twist angle calculated based on the three-dimensional data are equal to or greater than the threshold value, the configuration name specifying unit 32 in this embodiment classifies the other member as a non-welded member. To do. By including the information such as the inclination angle in the positional relationship, the accuracy of identifying the configuration name is improved.
- the member having the larger area is defined as "one member”. ⁇ 2020/175041 8 ⁇ (:171? 2020 /004196
- the member with the smaller area is called the "other member”.
- the positional relationship between members becomes clear, and the accuracy of identifying the component name of each member increases.
- the member whose constituent name has already been specified is "one member", and the member whose constituent name has not been specified.
- Fig. 2 is a diagram for explaining the positional relationship such as inclination, rotation, and twist.
- FIG. 2 illustrates a member (3 to ⁇ positional relationship to a structure defined by a flat plate member having the largest area and a flat plate member having the second largest area.
- the largest face of the eight is parallel to the X-plane, and the largest face of the member is parallel to the plane, that is, the member eight and the member are perpendicular to each other. It is attached to the member so as to extend in the axial direction.
- the member ⁇ represents a positional relationship in which there is neither inclination nor rotation.
- the largest surface of the member (3 is parallel to the lower surface. Therefore, the member (3 is perpendicular to both the member 8 and the member wall).
- the member mouth is the positional relationship rotated around the normal axis of the largest surface (here, the X axis). This positional relationship is called "twist".
- the member's mean is the positional relationship rotated around the side in contact with the member (here, the axis). In this case, the member wall is only perpendicular to the member wall. This positional relationship is called "tilt”.
- a member refers to a positional relationship in which it is rotated around the side (here, the vertical axis) that is in contact with the member's body. In this case, the member is only perpendicular to the member. This positional relationship is called "rotation".
- Member ⁇ means a positional relationship that includes both inclination and rotation.
- It may be a general-purpose model that learned the relationship between the shape and the positional relationship between members and the configuration name, or a dedicated model that learned the relationship between the shape of the member and the positional relationship between the members and the configuration name for each application. But it's okay.
- the configuration name identification unit 32 obtains the configuration name of each member by giving the learned model three-dimensional data corresponding to the structure to be manufactured.
- the learned model When generating a learned model, you may learn the relationship between the shape of the member and the configuration name, or you may learn the relationship between the positional relationship between the members and the configuration name.
- the evaluation result of the worker etc. with respect to the output result may be given as a reward (so-called ⁇ value), and the learned model may be modified.
- the component name of each member can be efficiently specified.
- the combination extraction unit 33 reads the positional relationship between the members that make up the structure from the 3D data recorded in the structure database 40, and combines the two or more members that are in an adjacent relationship. Is a functional unit that automatically extracts The combination extraction unit 33 here is an example of the extraction unit.
- the combination extraction part 33 will be And the combination of the member date, the combination of the member and the member and the member, and the combination of the member and the member and the member O. However, in each combination, the calculated tilt angle, rotation angle, and twist angle The value is less than the threshold.
- the member ⁇ is located next to the member ⁇ in the X-axis direction.
- member ⁇ and member ⁇ can be broadly regarded as an adjacent relationship. ⁇ 2020/175041 10 boxes (:171? 2020 /004196
- the combination of the members is excluded from the combination of two or more adjacent members.
- the minimum distance here is equal to or less than a predetermined distance at which members can be connected by welding as described above.
- the minimum distance may be determined for each member according to the area and thickness of the largest surface, or may be uniformly determined based on the distance at which welding is possible.
- member ⁇ 3 and member ⁇ are excluded from the combination of two or more parts that are in an adjacent relationship.
- the welding line data generation unit 34 registers the combination of the constituent names of the members that make up the combination as weldable. Function part that performs the function of determining whether or not there is a weld and, if welding is possible, the function of specifying the part to be welded between two or more members corresponding to the applicable combination and outputting it as welding line data. Is.
- the welding line data generation unit 34 here is an example of a generation unit.
- Fig. 3 is a diagram illustrating a structure and members that are its constituent elements.
- the structure shown in FIG. 3 has a configuration in which a plurality of members are attached to the 1 to 1 shaped steels arranged in a square shape on the lower plane. It should be noted that “member 1" to "part 7" and “other” in the figure represent the names of the members (that is, the part names) in the present embodiment.
- the 1 to 1 shaped steels are composed of three flat plate portions of “member 1”, “member 3” and “member 4”.
- the parts are distinguished from each other, and the ⁇ member 1'' Members 3” and 4”. ⁇ 0 2020/175041 1 1 ⁇ (: 17 2020 /004196
- Member 2 is the name of reinforcing materials used to prevent the deformation of the 1-1 to 1 shaped steels.
- “Member 5" is the name of the attachment et al are member to the end of the 1 to 1 type member is used binding to non Figure ⁇ member.
- “Other” is a collective name of members that cannot be specified as “member 1” to “member 7”. Members that correspond to the above “non-welded members” are also included in “Others”.
- FIG. 4 is a diagram showing a structural example of the welding propriety information recorded in the propriety information recording section 31 (see FIG. 1).
- Weldability information has a structure in which information indicating whether or not welding is possible by the welding robot 10 (see Fig. 1) is recorded for each combination of different members.
- Fig. 4 there are two pieces of information indicating whether or not it is possible to weld (O in the figure) and non-weldable (X in the figure).
- member 1 there are two member names that can be welded: “member 5" and “member 6”.
- the welding line data generation unit 34 determines whether or not the combination of the member names constituting each combination extracted by the combination extraction unit 33 includes a combination of weldable ( ⁇ in FIG. 4). It has a judgment function. The judgment here is based on the relationship between the two materials.
- the welding line data generation unit 34 decomposes one combination to be judged into a combination of two members, and obtains it after decomposition. It is determined whether or not welding is possible for each of a plurality of combinations.
- the welding line data generation unit 34 determines, based on the three-dimensional data, the portion where multiple members contact each other or the portion where the gap between the members is less than the weldable distance. Identify and register as weld line or weld line candidate.
- the weld line data generation unit 34 specifies the candidate part of the weld line according to the groove shape information.
- the portion where the groove is provided is specified as the welding line or the candidate for the welding line.
- the welding line data generation unit 34 of the present embodiment is provided with a function of determining the presence or absence of a groove.
- FIG. 5 is a diagram showing an example of a relationship between members determined to have a groove.
- FIG. 6 is a diagram showing an example of a relationship between members determined to have no groove.
- Figure 5 shows three examples that are considered to have a groove.
- the entire surface adjacent to "member” is processed into a slope.
- the angle formed by the slope of the member “and the member ⁇ is the groove angle.
- the groove depth is given by the length of the slope of the member ⁇ in the X-axis direction.
- a part of the surface adjacent to "member” is machined into a slope, and the remaining surface is in contact with "member”.
- the angle formed by the “member” and the slope portion of the member 1_ is the groove angle.
- the groove depth is given by the length of the slope portion of the member 1_ in the X-axis direction.
- Member IV! has the same shape as member 1_, but there is a gap between it and member 1_.
- the angle formed by the extension line of the sloped part of member 1 ⁇ /1 as "member” is the groove angle.
- the groove depth is given by the length of the sloped part in the X-axis direction of member 1 ⁇ /1.
- the shape of the groove is not limited to the rectangular shape shown in Fig. 5, and may be a ⁇ shape, I shape, V shape, "shape, X shape, reshape, double-sided” shape, double-sided 11 shape, and the like.
- FIG. 6 shows three examples that are considered to have no groove. ⁇ 2020/175041 13 ⁇ (:171? 2020/004196
- member 1 ⁇ 1 and member The relationship between "member 1 ⁇ 1 and member” is called a hinge joint, and the rectangular member 1 ⁇ 1 and member” form a letter. In this case, it is determined that member 1 ⁇ 1 has no groove.
- member ⁇ and member The relationship between “member ⁇ and member” is called natural groove, and the members” are in contact at the corners of the rectangular member ⁇ .
- a triangle-shaped gap is formed in the X plane between the member ⁇ and the member, but this is due to the mounting relationship and is not treated as a groove.
- the relationship between members is called a full groove.
- the member has the same shape as the member (see Fig. 5), but since the entire slope is in contact with the surface of the member ", it is not treated as a groove like member 1 ⁇ 1.
- By using the presence/absence of the groove it is possible to improve not only the accuracy of identifying the composition name but also the accuracy of identifying the welding line or the part that is a candidate for the welding line.
- FIG. 7 is a flow chart for explaining the processing operation executed by the welding line data generation device 30 (see FIG. 1).
- the procedure shown in Fig. 7 is an example of a welding line data generation method.
- the symbol 3 in the figure indicates a step.
- the welding line data generation device 30 takes in three-dimensional data of the structure manufactured by welding from the structure database 40 (see Fig. 1) (step 1).
- the 3D data to be imported is specified by the operator through an operation screen (not shown), for example.
- the welding line data generation device 30 extracts all combinations of two or more adjacent members (step 2). This processing operation is executed by the combination extraction unit 33 (see Fig. 1).
- the welding line data generator 30 selects one unprocessed combination from all the extracted combinations (step 3).
- the welding line data generation device 30 identifies the constituent names of a plurality of members that make up the selected combination (step 4). Parts at each position that makes up the structure ⁇ 2020/175041 14 ⁇ (:171? 2020 /004196
- the constituent name of the material is specified by the constituent name specification unit 3 2 (see Fig. 1).
- the welding line data generation device 30 determines whether or not a welding-possible combination is included through matching with the welding propriety information ( Step 5). This processing operation is executed by the weld line data generator 34 (see Fig. 1).
- step 5 the welding line data generation device 30 identifies the portion to be welded between the weldable members (step 6) and registers it as a welding line candidate (step 7).
- the welding line data generation device 30 determines whether or not there is an unprocessed combination (step 8).
- step 5 If a negative result is obtained in step 5, the welding line data generation device 30 executes the determination in step 8 without executing steps 6 and 7.
- step 8 While a negative result is obtained in step 8, the welding line data generation device 30 returns to step 3 and executes the series of processes described above for the newly selected one combination.
- the welding line data generation device 30 determines whether or not confirmation of candidates is necessary (step 9). This determination process is not essential, but in the present embodiment, it is possible to select whether or not the operator confirms the automatically registered welding line candidates.
- step 11 When a positive result is obtained in step 9 (that is, when confirmation is unnecessary), the welding line data generation device 30 outputs all of the automatically registered welding line candidates as welding line data. (Step 11).
- step 9 when a negative result is obtained in step 9 (that is, when confirmation is performed by the operator), the welding line data generation device 30 receives correction of the welding line candidate (step 10).
- FIG. 8 is a diagram showing an _ example of Step 1 0 screen 1 0 Keru to accept any modification of the candidate of the weld line is available in 0 in FIG.
- the screen 100 shown in Figure 8 confirms to display the 3D model corresponding to the structure. ⁇ 2020/175041 15 ⁇ (:171? 2020 /004196
- Screen 1 10 a candidate field 1 20 that displays a list of welding line candidates, and a confirm button 1 3 0 that is operated to confirm the candidate specified by force-sol 1 2 1 as a welding line.
- the configuration name specified by the welding line data generator 30 is displayed with a leader line from the corresponding member.
- the confirmation screen 110 is displayed so that the operator can see the part corresponding to the candidate specified by force-sol 1 21.
- the site on the structure corresponding to "candidate 2" specified by force-sol 1 2 1 is changed to highlighted.
- highlighting for example, thick line display, high brightness display, preset color display, leader line display, or a combination thereof may be used.
- the operator when including a part not included in the candidate in the welding line, the operator operates the new button 150, for example, to generate a new record, and then on the confirmation screen 110. Specify the part to add.
- the welding line data generation device 30 transfers to step 11 and outputs the corrected set of welding line candidates as welding line data.
- the information on the presence or absence of the groove is used to identify the welding line or a part that serves as a candidate for the welding line, but it may be used to identify the component name of the member that constitutes the structure. ..
- the welding line data generation unit 34 it is possible to select whether or not to correct the welding line candidates registered by the welding line data generation unit 34 (see FIG. 1).
- the part 34 does not have to have the function of selecting whether or not to modify.
- the portion specified by the welding line data generation unit 34 becomes the welding line as it is.
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Abstract
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CN202080016127.6A CN113474114B (zh) | 2019-02-26 | 2020-02-04 | 焊接线数据生成装置、焊接系统、焊接线数据生成方法及记录介质 |
KR1020217026839A KR102537026B1 (ko) | 2019-02-26 | 2020-02-04 | 용접선 데이터 생성 장치, 용접 시스템, 용접선 데이터 생성 방법 및 기록 매체 |
US17/433,783 US20220134464A1 (en) | 2019-02-26 | 2020-02-04 | Weld line data generation device, welding system, weld line data generation method, and computer readable medium |
CA3130902A CA3130902C (en) | 2019-02-26 | 2020-02-04 | Weld line data generation device, welding system, weld line data generation method, and computer readable medium |
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KR102615646B1 (ko) * | 2022-01-28 | 2023-12-19 | 삼성엔지니어링 주식회사 | 용접 그루브 형성 방법 및 중공형 물품 |
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JPS5953294B2 (ja) * | 1976-02-23 | 1984-12-24 | 帝人化成株式会社 | コ−テイング用組成物 |
JPH11224119A (ja) * | 1998-02-09 | 1999-08-17 | Mitsubishi Heavy Ind Ltd | ロボット動作パターン決定装置および方法 |
JP2004001226A (ja) * | 2003-07-18 | 2004-01-08 | Jfe Engineering Kk | 溶接ロボット動作プログラムの自動生成システム |
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JP5578791B2 (ja) * | 2009-02-13 | 2014-08-27 | 株式会社神戸製鋼所 | 溶接線選定方法 |
JP5965859B2 (ja) | 2013-03-28 | 2016-08-10 | 株式会社神戸製鋼所 | 溶接線情報設定装置、プログラム、自動教示システム、および溶接線情報設定方法 |
JP5968294B2 (ja) * | 2013-11-29 | 2016-08-10 | 株式会社神戸製鋼所 | 溶接条件の検索支援システム |
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JPS5953294B2 (ja) * | 1976-02-23 | 1984-12-24 | 帝人化成株式会社 | コ−テイング用組成物 |
JPH11224119A (ja) * | 1998-02-09 | 1999-08-17 | Mitsubishi Heavy Ind Ltd | ロボット動作パターン決定装置および方法 |
JP2004001226A (ja) * | 2003-07-18 | 2004-01-08 | Jfe Engineering Kk | 溶接ロボット動作プログラムの自動生成システム |
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US20220134464A1 (en) | 2022-05-05 |
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CA3130902C (en) | 2023-08-29 |
JP7174647B2 (ja) | 2022-11-17 |
KR102537026B1 (ko) | 2023-05-26 |
KR20210118896A (ko) | 2021-10-01 |
CN113474114A (zh) | 2021-10-01 |
CA3130902A1 (en) | 2020-09-03 |
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