WO2022009844A1 - レーザ加工のための教示装置及び教示方法 - Google Patents
レーザ加工のための教示装置及び教示方法 Download PDFInfo
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- WO2022009844A1 WO2022009844A1 PCT/JP2021/025344 JP2021025344W WO2022009844A1 WO 2022009844 A1 WO2022009844 A1 WO 2022009844A1 JP 2021025344 W JP2021025344 W JP 2021025344W WO 2022009844 A1 WO2022009844 A1 WO 2022009844A1
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- Prior art keywords
- robot
- path
- posture
- twist amount
- optical fiber
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- 238000003754 machining Methods 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims description 54
- 239000013307 optical fiber Substances 0.000 claims abstract description 45
- 238000004088 simulation Methods 0.000 claims abstract description 34
- 238000011156 evaluation Methods 0.000 claims abstract description 15
- 238000012545 processing Methods 0.000 claims description 50
- 238000003466 welding Methods 0.000 claims description 42
- 230000008859 change Effects 0.000 claims description 10
- 238000011158 quantitative evaluation Methods 0.000 claims 1
- 239000000835 fiber Substances 0.000 abstract description 2
- 210000001577 neostriatum Anatomy 0.000 description 28
- 230000008569 process Effects 0.000 description 21
- 238000013016 damping Methods 0.000 description 8
- 210000000707 wrist Anatomy 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 4
- 230000008602 contraction Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 230000001678 irradiating effect Effects 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Images
Classifications
-
- 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
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/082—Scanning systems, i.e. devices involving movement of the laser beam relative to the laser head
-
- 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
-
- 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
- B23K26/702—Auxiliary equipment
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1684—Tracking a line or surface by means of sensors
-
- 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
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40613—Camera, laser scanner on end effector, hand eye manipulator, local
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45104—Lasrobot, welding robot
Definitions
- the present invention relates to a teaching device and a teaching method for laser machining that teaches a laser machining system using a robot.
- a laser processing system has been proposed in which a laser is irradiated from a processing head mounted on the tip of a robot arm to perform processing such as welding on a work (for example, Patent Document 1-5).
- the robot's operation path is generated by the teaching device so that the dots are within the irradiation range of the galvano scanner attached to the robot from the arrangement of the dots.
- the fiber connected to the galvano scanner may be twisted beyond the permissible range depending on the posture of the galvano scanner.
- One aspect of the present disclosure is set as an object in a teaching device for teaching the operation of the robot of a laser processing system including a laser processing head to which an optical fiber is connected and a robot for moving the laser processing head.
- a path determination unit that determines the motion path of the robot based on the positions of a plurality of machining points, a simulation execution unit that executes motion simulation of the robot according to the determined motion path, and the robot based on the motion simulation.
- the twist amount of the optical fiber is obtained by simulating the behavior of the optical fiber according to the movement of the optical fiber, and the twist amount is evaluated by comparing the twist amount with a predetermined allowable range.
- It is a teaching device including a robot posture changing unit that changes the posture of the robot so that the twist amount becomes smaller for the operation of the robot whose twist amount exceeds a predetermined allowable range.
- Another aspect of the present disclosure is set to an object in a teaching method for teaching the operation of the robot of a laser processing system including a laser processing head to which an optical fiber is connected and a robot for moving the laser processing head.
- the motion path of the robot is determined based on the positions of a plurality of processing points, the motion simulation of the robot is executed according to the determined motion path, and the motion of the robot according to the motion simulation of the optical fiber.
- the twist amount of the optical fiber is obtained by simulating the behavior, the twist amount is evaluated by comparing the twist amount with a predetermined allowable range, and the twist amount exceeds the predetermined allowable range of the robot. This is a teaching method for changing the posture of the robot so that the amount of twist is small.
- FIG. 1 An example is shown in which the posture of the robot when moving the motion path is determined so that the moving direction of the robot is along the side of the irradiation range of the scanner.
- FIG. 1 An example is shown in which the posture of the robot when moving the motion path is determined so that the moving direction of the robot is along the side of the irradiation range of the scanner.
- FIG. 1 An example is shown in which the posture of the robot when moving the motion path is determined so that the moving direction of the robot is along the side of the irradiation range of the scanner.
- FIG. 1 An example is shown in which the posture of the robot when moving the motion path is determined so that the moving direction of the robot is along the side of the irradiation range of the scanner.
- FIG. 1 An example is shown in which the posture of the robot when moving the motion path is determined so that the moving direction of the robot is along the side of the irradiation range of the scanner.
- FIG. 1 An example is shown in which the posture of the robot when moving the motion path
- FIG. 1 is an overall configuration diagram of a laser machining system 100 including a laser machining teaching device 60 according to an embodiment.
- the laser processing system 100 scans the laser beam while moving a galvano scanner (hereinafter, simply referred to as a scanner) 90 as a laser processing head attached to a predetermined movable portion (arm tip portion in the present embodiment) of the robot 110. It is configured as a so-called cooperative remote laser processing system that processes each processing point on the work W.
- the laser machining system 100 includes a robot 110, a robot control device 70 that controls the robot 110, a laser oscillator 80, and a laser machining teaching device 60.
- the robot 110 is a vertical articulated robot in the configuration example of FIG.
- the scanner 90 has a function of scanning a laser beam transmitted from a laser oscillator 80 via an optical fiber 81 in the XY direction by driving a mirror, and driving a lens in the Z direction to move a laser spot in the Z direction. It has a function to make it.
- the optical fiber 81 is connected to the central portion of the upper surface 90a in a state where the connection end portion 81a to the scanner 90 is substantially perpendicular to the upper surface 90a of the scanner 90.
- the laser machining teaching device 60 is a programming device that generates operation programs for the robot 110 and the scanner 90 off-run.
- the laser processing teaching device 60 may have a configuration as a general PC having hardware components such as a CPU, ROM, RAM, hard disk, input device, display device, and network interface.
- various information processing devices such as a desktop PC, a notebook PC, and a portable information terminal can be used.
- the laser processing teaching device 60 is connected to the robot control device 70 via a network, and the operation programs of the robot 110 and the scanner 90 created by the laser processing teaching device 60 are networked. It can be transferred from the laser processing teaching device 60 to the robot control device 70 via the above.
- the robot control device 70 includes an operation control unit 71 that controls the robot 110 according to an operation program.
- the robot control device 70 may have a configuration as a general computer having a CPU, ROM, RAM, a storage device, and the like.
- the operation program of the scanner 90 generated by the laser machining teaching device 60 is transferred from the laser machining teaching device 60 to the control unit 91 of the scanner 90 via the robot control device 70.
- the control unit 91 of the scanner 90 can operate according to the loaded operation program.
- the control unit 91 of the scanner 90 may have a configuration as a general computer having a CPU, ROM, RAM, a storage device, and the like.
- the laser processing system 100 can perform various laser processing such as welding and cutting. Hereinafter, the description will be made assuming that the laser processing system 100 performs welding. As will be described in detail below, the laser processing teaching device 60 executes an operation simulation of the robot 110 in the process of creating an operation program for welding a group of dots to be welded, and the optical fiber 81 accompanying the movement of the robot 110. By evaluating the amount of twist, the posture of the robot 110 is corrected so that the optical fiber 81 is not twisted.
- FIG. 2 is a diagram showing the functional configurations of the laser machining teaching device 60, the robot control device 70, and the scanner 90.
- the functional block of the laser machining teaching device 60 shown in FIG. 2 may be realized by the CPU 61 of the laser machining teaching device 60 executing software, or by a dedicated wordware such as an ASIC (Application Specific Integrated Circuit). It may be realized.
- the laser machining teaching device 60 includes a data input unit 161, a path determination unit 162, a simulation execution unit 163, a twist amount evaluation unit 164, a robot posture change unit 165, and an operation program creation unit 166.
- the data input unit 161 acquires various data necessary for the operation program creation process including model data such as a group of hit points to be welded, a welding time of each hit point, a welding pattern, a robot 110, and a work W. These various data may be stored in advance in the storage device in the laser machining teaching device 60, or may be input to the laser machining teaching device 60 via the operation unit. Alternatively, various data may be input from an external device to the laser machining teaching device 60 via a network.
- model data such as a group of hit points to be welded, a welding time of each hit point, a welding pattern, a robot 110, and a work W.
- the route determination unit 162 performs a group of hitting points acquired by the data input unit 161, determines an operation path passing through each group, and operates so that all the hitting points to be welded can be welded and the cycle time can be shortened. Determine the speed.
- the simulation execution unit 163 executes the motion simulation of the robot 110 using the motion path and motion speed determined by the path determination unit 162.
- the twist amount evaluation unit 164 obtains the twist amount of the optical fiber 81 by simulating the behavior of the optical fiber 81 according to the movement of the robot 110 by the motion simulation, and twists by comparing the twist amount with a predetermined allowable range. Evaluate the quantity.
- the robot posture changing unit 165 changes the posture of the robot 110 so that the twist amount becomes smaller for the operation of the robot 110 whose twist amount exceeds a predetermined allowable range.
- the operation program creation unit 166 creates an operation program for the robot 110 and the scanner 90 using data such as an operation path, an operation speed, and a welding period at each hitting point, for which various adjustments have been made. As a result, an operation path (operation program) of the robot 110 and an operation program of the scanner 90 that execute a predetermined welding operation so that the twist amount of the optical fiber 81 can be kept within an allowable range are generated.
- FIG. 3 is a flowchart showing an operation program creation process for generating an operation program for executing a predetermined welding operation while keeping the twist amount of the optical fiber 81 within an allowable range.
- the operation program creation process of FIG. 3 is executed under the control of the CPU 61 of the laser machining teaching device 60.
- various data necessary for the operation program creation process including model data such as a group of hit points to be welded, a welding time of each hit point, a welding pattern, and a work W are via the data input unit 161. It is assumed that it has been entered.
- FIG. 4 is a flowchart showing the process of generating the operation path and determining the operation speed in step S11.
- the dot group 201-215 is grouped into a temporary dot group.
- one group defines a plurality of hit points for welding while the robot 110 operates with one operation command.
- the robot 110 operates with one operation command, and during that time, the scanner 90 performs a scanning operation to weld each hitting point belonging to the group. With one operation command, the robot 110 operates linearly at a constant speed.
- the RBI group 201-215 is tentatively divided into three RBI groups G1 to G3.
- step S22 for each group G1-G3, the route of the robot 110 passing through the center of the hitting point group is determined.
- the straight line passing through the center of the dot group is obtained by, for example, the least squares method.
- the path R1 is obtained as a straight line in which the sum of squares of the distances from each hitting point 201-205 to the path R1 is minimized. Since the hitting points are located on the three-dimensional space, the hitting points 201-205 are actually distributed in the three-dimensional space. The above path is determined assuming that each hitting point exists at a position where the hitting point is projected on this plane.
- the plane passing through the averaged position of each hitting point position can be obtained, for example, by using the least squares method or by using Newell's algorithm. It is assumed that the routes R1, R2, and R3 are determined as the routes of the hitting point groups G1, G2, and G3 by the processing in step S22, respectively.
- the path may be determined as a path in which the foot of the perpendicular line drawn from the irradiation position of the laser beam to the plane defining the hitting point group moves on the plane.
- step S23 it is confirmed whether or not each hitting point is within the operating range (irradiation range) of the scanner 90 for each hitting point group.
- the hitting point group G1 it is possible to confirm in this step S23 depending on whether or not the distance from each hitting point 201-205 to the path R1 is within the operating range of the scanner 90. If a hitting point outside the operating range of the scanner 90 is found (S23: NG), the grouping is repeated (step S21).
- step S24 the movement order between the hitting point groups and the hitting point order within the hitting point group are optimized.
- the movement order between the groups and the hitting order within the hitting point group are determined so that the total moving distance between the groups is minimized.
- various methods known in the art for solving the so-called traveling salesman problem can be used.
- the dot group G1-G3 and the path R1-R3 are determined for the dot group 201-215 as shown in FIG.
- various methods known in the art for example, the method for determining the operation path described in JP-A-2020-35404) may be applied.
- the operating speed of the robot 110 is determined.
- the operation speed of the robot 110 may be determined by the following procedure.
- (Procedure 1) Determine a temporary operating speed for each hitting point group.
- (Procedure 2) Execute a robot motion simulation using the determined path and motion speed.
- (Procedure 3) Calculate the period during which each hitting point can be welded on the robot's operation path
- (Procedure 4) Determine the position and time for welding each hitting point.
- (Procedure 5) Optimize the operating speed.
- step 1 the provisional speed may be set uniformly for all the dot groups at a low speed at which it is considered that the dots of each dot group can be welded without any problem.
- a typical speed based on the experience value may be set uniformly for each RBI group.
- step 2 the motion simulation of the robot 110 is executed using the path (path R1-R3) determined as described above and the temporary motion speed.
- the motion simulation By executing the motion simulation, the position data (hereinafter, also referred to as the motion path) for each interpolation cycle of the robot is acquired.
- step 3 the period corresponding to the range in which each hitting point can be welded on the operation path of the robot 110 using the operation path of the robot 110 obtained by the operation simulation of the robot 110 (hereinafter, the weldable period). ) Is calculated. Specifically, first, the position of the scanner 90 attached to the tip of the arm of the robot 110 based on the position on the operation path of the robot 110 (specifically, for example, the position of the condenser lens in the scanner 90). Is obtained, and the path of the laser beam connecting the position of the scanner 90 and the position of the hitting point is obtained. At this time, (1) The path of the laser beam does not interfere with the work or jig. (2) The path of the laser beam is the operating range of the scanner.
- the irradiation angle which is the angle between the normal direction of the work and the laser beam at the striking point position, is within a predetermined allowable range. When the condition of is satisfied, it may be determined that welding is possible for the path of this laser beam.
- the period corresponding to the range in which the path of the laser beam is continuously determined to be weldable on the operation path is the weldable period for each hitting point.
- step 4 the position and time for welding each hitting point are determined using the weldable period for each hitting point.
- the welding time of each hitting point is taken into consideration, and the welding time is ensured that the welding time of each hitting point is satisfied without depending on the start time of the weldable period of each hitting point.
- the weldable period of the spot A is 1 to 4 seconds from the start of operation
- the weldable period of the spot B is 1.1 seconds from the start of operation. It is assumed that it is 2.1 seconds from the eye.
- the hitting point A it is the hitting point A that can be welded first, but if the hitting point A is welded from the first second to the second second, the hitting point B cannot be welded.
- the dot B is welded from the 1.1 second to the 2.1 second, and the dot A is welded from the 2.1 second to the 3.1 second.
- step 5 the operating speed is adjusted and optimized so that all the hit points can be welded and the cycle time is shortened.
- the operating speed of the robot 110 is set to the same value for all the hitting points, the operating speed is lowered until welding is possible for all the hitting points, and then the operating speed is increased for each hitting point group.
- the operation speed determination process in step S25 is completed.
- the route determination unit 162 may determine the posture of the robot 110 (that is, the posture of the scanner 90) as follows. It is assumed that the robot 110 is operating and welding a certain hitting point. While the robot 110 is irradiating the laser beam to weld the hit point, the hit point needs to remain within the irradiation range of the scanner 90. Assuming that the irradiation range of the scanner 90 is rectangular, it is better that the operation direction of the robot 110 is along either the vertical side or the horizontal side of the irradiation range during the welding time of the hitting point. The distance that can be moved becomes longer, and the operating speed of the robot 110 can be further increased. It also makes it possible to shorten the cycle time. This will be described with reference to FIGS. 6A and 6B.
- the irradiation range (scanning range) of the scanner 90 attached to the wrist of the robot 110 is indicated by reference numeral 90A.
- FIGS. 6A and 6B show an XY coordinate system fixed to the wrist portion of the robot 110 (that is, fixed to the scanner 90).
- the irradiation range 90A is a rectangular area having a width WX in the X-axis direction and a width WY in the Y-axis direction.
- the scanner 90 is moved in a direction parallel to the X axis (direction A in FIG. 6A) when irradiating the striking point 221 with the laser.
- the moving direction A of the robot 110 is a direction along the side (X-axis direction) of the irradiation range 90A, the robot 110 can move the distance L1 during the welding time of the dot 221. ..
- the wrist portion of the robot 110 (that is, the scanner 90) moves in the direction of arrow B in the figure in the posture as shown in FIG. 6B.
- the moving direction of the robot 110 is not along the direction of the side of the irradiation region 90A. Therefore, the distance that the robot 110 can move during the welding time in which the robot 110 welds the hitting point 221 is the distance L2.
- the distance L2 is shorter than the distance L1 (L2 ⁇ L1). From the above, when the moving direction of the robot 110 is along any side (X-axis or Y-axis) of the irradiation range of the scanner 90, the distance that the robot 110 can move during the welding time of the hitting point becomes longer. That is, it can be understood that the operating speed of the robot 110 can be increased.
- FIG. 7 shows the posture of the robot 110 (scanner 90) when moving the paths R1-R3 so that the moving direction of the robot 110 is along any side (X-axis or Y-axis) of the irradiation range of the scanner 90. It shows an example when it is decided.
- the posture of the wrist portion of the robot 110 in the path R1, the posture of the wrist portion of the robot 110 is determined so that the Y axis of the irradiation range 90A is parallel to the path R1, and in the path R2, the X axis of the irradiation range 90A is the path R2.
- the posture of the wrist portion of the robot 110 is determined so as to be parallel, and in the path R3, the posture of the wrist portion of the robot 110 is determined so that the Y axis of the irradiation range 90A is parallel to the path R3.
- step S12 of the operation program determination process the twist amount evaluation unit 164 evaluates the twist amount of the optical fiber 81 by physical simulation. A physical simulation of the twist amount of the optical fiber 81 as a striatum will be described with reference to FIGS. 8 to 10.
- FIG. 8 is a perspective view showing an example of a striatal model 2 having a circular cross section.
- the striatal model 2 is formed by a plurality of mass points 3 and a plurality of spring elements 4 connecting the mass points 3 to each other.
- the mass point 3 includes a first mass point 31 and a second mass point 32 arranged on a plane 20 perpendicular to the longitudinal direction of the striatum.
- the first mass point 31 is arranged at the radial center portion of the plane 20.
- the second mass points 32 are arranged around the first mass points 31 at equal intervals in the circumferential direction, and define the outer peripheral surface of the striatum.
- the first mass point 31 and the second mass point 32 are arranged at equal intervals along the longitudinal direction of the striatum.
- Each mass point 3 has mass information, three-dimensional position information (position data), and three-dimensional velocity information.
- the mass of each mass point 3 can be a value obtained by dividing the mass of the striatum by the number of mass points.
- the spring element 4 includes a first spring 41 that connects the second mass points 32 arranged on the circumference of the same plane 20, and the first mass point 31 and the second mass point 31 that extend radially from the first mass point 31 on the plane 20.
- the second spring 42 that connects the mass points 32
- the third spring 43 that sequentially connects the first mass points 31 and the second mass points 32 arranged in a row along the longitudinal direction of the strip, and the third spring 43 in the longitudinal direction.
- the first spring 41 and the second spring 42 represent the elasticity in the radial direction of the striatum
- the third spring 43 and the fourth spring 44 represent the elasticity in the longitudinal direction of the striatum.
- the twist amount evaluation unit 164 sets a plurality of points of interest 33 for grasping the twisted state of the striatum on the striatum model 2.
- attention is paid to a part of the circumferential direction of the striatum model, more specifically, a row of second mass points 32 along the longitudinal direction of the striatum sequentially connected via the third spring element 43.
- Point 33 is set.
- the point of interest 33 can be arbitrarily set by the user on the striatum model 2 via the operation unit of the laser machining teaching device 60.
- the twist amount evaluation unit 164 operates the robot model according to a predetermined motion program, and simulates the behavior of the striatum accompanying the motion of the robot. That is, the elastic force, gravity, and damping force from the spring element 4 acting on each mass point 3 of the strip model 2 are calculated for each predetermined unit time according to the operation of the robot model, and each mass point is calculated for each unit time. A simulation (physical simulation) that changes the position of 3 is executed.
- the elastic force F1 of the spring element 4 acting on the mass point 3A when the mass point 3A and the mass point 3B are connected to each other via the spring element 4 can be calculated by the following equation (I).
- F1 (unit vector of 3A ⁇ 3B) ⁇ spring constant ⁇ spring expansion / contraction amount (I)
- the expansion / contraction amount (spring expansion / contraction amount) of the spring element 4 is a value obtained by subtracting the natural length of the spring element 4 from the length of the spring element 4 in a certain state.
- the natural length of the spring element 4 corresponds to the distance between the mass points 3A and 3B in the natural state without expansion and contraction and bending of the striatal model 2.
- the damping force of the spring element includes a damping force F2 that suppresses the vibration of the spring and a damping force F3 that suppresses the translational motion of each mass point 3, and can be calculated by the following equations (II) and (III), respectively.
- F2 v ⁇ v inner product ⁇ vibration damping coefficient (II)
- F3 velocity of each mass point x damping coefficient of translational motion (III)
- v is a unit vector of (velocity of mass point 3B-velocity of mass point 3A).
- the damping forces F2 and F3 act to slow down the movement of the spring.
- the gravity F4 acting on each mass point 3 can be calculated by the following equation (IV).
- F4 unit vector in the direction of gravity x gravitational acceleration x mass of mass points (IV)
- a repulsive force acting on the mass point 3 may be calculated.
- the value of the component of the mass point velocity at the time of collision in the direction perpendicular to the plane of the collision is the value obtained by multiplying the velocity before the collision by the coefficient of restitution and inverting the sign.
- the repulsive force can be calculated by multiplying the acceleration obtained by dividing the amount of change in velocity before and after the collision by the unit time by the mass of the mass point.
- the twist amount evaluation unit 164 further calculates the resultant force of the forces F1 to F4 acting on each mass point 3, and divides this by the mass to calculate the acceleration of the mass point 3. Further, the amount of change in the speed of the mass point 3 is calculated by multiplying the acceleration by the unit time, and the speed of the mass point 3 is calculated by adding this to the speed of the mass point 3. Further, the displacement amount of the mass point 3 is calculated by the velocity ⁇ the unit time, and the position of the mass point 3 is calculated by adding this to the three-dimensional position data of the mass point 3.
- the twist amount evaluation unit 164 changes the position of the mass point 3 in the striatum mounting portion (the connection portion of the optical fiber 81 to the scanner 90) according to the movement of the robot every unit time, and changes the position of the mass point 3 to each mass point 3.
- the acting forces F1 to F4 are calculated as described above, and these resultant forces are calculated, and the velocity and position of each mass point 3 are updated to simulate the behavior of the striatum.
- time-series position data of each mass point 3 can be obtained.
- the position data of the point of interest 33 can also be obtained.
- FIG. 9 is a diagram showing an example of a striatum image 51 in which the state of the striatum is imaged according to the simulation result, and an example of the focus point image 52 in the case where the focus point is imaged.
- the striatal image 51 is shown by a solid line
- the point of interest image 52 is shown by a black circle. Since the points of interest 33 are set in the same phase in the circumferential direction of the striatum in a row in the longitudinal direction, when the striatum is twisted, the point of interest image 52 is twisted on the striatum image 51 as shown in FIG. It will be in a state of being.
- the twist amount evaluation unit 164 further has a function of calculating the twist amount in order to quantitatively represent the twist state of the striatum.
- FIG. 10 is a diagram illustrating a procedure for calculating the amount of twist.
- 20n and 20n + 1 are planes adjacent to each other in the linear model 2 in which the mass point 3 is set, and 31n and 31n + 1 are mass points located at the center of the planes 20n and 20n + 1, respectively, 32n, 32n + 1 is a mass point located at the same position (same phase) in the circumferential direction on the circumference of the planes 20n and 20n + 1, respectively.
- the mass points 32n and 32n + 1 are, for example, points of interest 33.
- the amount of twist of the striatum between the planes 20n and 20n + 1 can be defined by the angle between the surface formed by the mass points 31n, 32n and 31n + 1 and the surface formed by the mass points 31n + 1, 32n + 1 and 31n.
- a clockwise twist is defined as a plus
- a counterclockwise twist is defined as a minus toward the tip (scanner side) in the length direction of the striatum.
- the twist amount evaluation unit 164 calculates the total twist amount of the optical fiber 81 having one end connected to the central portion of the upper surface 90a of the scanner 90. When the optical fiber 81 is fixed to the arm of the robot 110 at an intermediate position, the twist amount is calculated between the connection end of the optical fiber 81 to the scanner 90 and the mounting position to the robot 110. May be.
- the twist amount evaluation unit 164 evaluates the twist amount of the optical fiber 81 when the robot 110 moves in each path R1-R3 (that is, the entire operation path). For example, it is assumed that the twist amount of the optical fiber 81 when the robot 110 operates the path R1, the path R2, and the path R3 is obtained as the twist amounts T1, T2, and T3, respectively.
- the twist amount evaluation unit 164 compares the twist amounts T1, T2, and T3 with a predetermined allowable range. When there is a twist amount exceeding a predetermined allowable range, the twist amount evaluation unit 164 targets the operation of the robot 110 when the twist amount exceeds the allowable value to change the posture (step S12).
- the robot posture changing unit 165 changes the posture of the robot 110 whose twist amount exceeds the permissible range.
- the posture change is, for example, the axial direction of the connection end portion 81a of the optical fiber 81 to the scanner 90 so that the optical fiber 81 is twisted in the negative direction when the twisting direction is the positive direction. This may be done by rotating around parallel axes.
- the circumference of the axis parallel to the axis direction of the connection end portion 81a is, for example, around the axis of the connection end portion 81a or around the axis in the vertical direction passing through the center of the upper surface 90a of the scanner 90.
- the robot posture changing unit 165 changes the posture of the robot 110 so as to rotate the scanner 90 counterclockwise (direction of arrow C1 in FIG. 11) with respect to the operation of the path R1.
- the robot posture changing unit 165 changes the posture of the robot 110 so as to rotate the scanner 90 clockwise (in the direction of arrow C2 in FIG. 11).
- the amount of change in posture in step S13 that is, the amount of rotation of the scanner 90 may be smaller than the amount of twisting that exceeds the permissible range. For example, assume that the calculated twist amount is +30 degrees and the allowable range is ⁇ 15 degrees. In this case, the amount of twist exceeding the allowable range is +15 degrees. In this case, the change amount (rotation amount) of the posture of the scanner 90 may be about -5 degrees.
- the posture may be changed, for example, for the operation of the route R1, the posture may be changed at the teaching points set at the start point and the end point of the route R1.
- a hitting point may occur that deviates from the irradiation range while the welding time specified for the hitting point ends.
- such striking points are adjusted so as not to deviate from the irradiation range during welding (during laser irradiation). Specifically, by slowing down the operating speed of the robot 110 or adjusting the welding timing of the hitting point, the hitting point does not deviate from the irradiation range during welding.
- the welding timing can be adjusted by a method of recalculating the weldable period of each dot and setting the welding period of the dot before and after the dot so as not to interfere with the welding period. Such an adjustment process is repeated for all hit points until the irradiation range is not deviated during welding (steps S14 and S15).
- steps S12 to S15 an operation of re-evaluating the twist amount after changing the posture of the robot
- steps S12 to S15 an operation of re-evaluating the twist amount after changing the posture of the robot
- the operation program creation unit 166 creates an operation program for the robot 110 and the scanner 90 using various information including the operation path, the operation speed, and the welding period generated as described above.
- the laser processing system 100 that is, generate an operation program for executing a predetermined welding operation so that the twist amount of the optical fiber 81 is within an allowable range. This makes it possible to prevent the optical fiber 81 from being damaged during the welding operation by the robot 110.
- the posture of the robot is corrected to correct the posture.
- the optical fiber 81 is twisted instead of or in combination with such a method. You may take measures to attach it to the scanner 90 by twisting it in a direction in which the amount is eliminated. For example, if the twist amount is +30 degrees in the behavior simulation, the optical fiber 81 can be twisted by -15 degrees to attach the scanner 90, and the twist can be set to ⁇ 15 degrees within the allowable range ( ⁇ 15 degrees).
- a method for obtaining the twist amount of the striatum by simulation a method known in the art other than the method shown in the above-described embodiment may be applied.
- the above-described embodiment is not limited to the optical fiber, and can be applied to eliminate the twist of various cables attached to the robot.
- the program that executes various processes is a recording medium that can be read by a computer.
- semiconductor memory such as ROM, EEPROM, flash memory, magnetic recording medium, optical disk such as CD-ROM, DVD-ROM
- CD-ROM compact disc-read only memory
- DVD-ROM digital versatile disc-read only memory
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Abstract
Description
(手順1)各打点グループについての仮の動作速度を決定する。
(手順2)決定された経路および動作速度を用いてロボットの動作シミュレーションを実行する。
(手順3)ロボットの動作経路上で各打点を溶接できる期間を算出
(手順4)各打点を溶接する位置・時間を決定する。
(手順5)動作速度を最適化する。
(1)レーザ光の経路がワーク、ジグと干渉しない、
(2)レーザ光の経路がスキャナの動作範囲である、
(3)打点位置でのワークの法線方向とレーザ光とがなす角度である照射角度が所定の許容範囲であること、
の条件を満たすとき、このレーザ光の経路については溶接可能であると判定しても良い。そして、動作経路上で連続してレーザ光の経路が溶接可能であると判定される範囲に対応する期間が、各打点についての溶接可能期間である。
F1=(3A→3Bの単位ベクトル)×ばね定数×ばね伸縮量 (I)
上式(I)で、ばね要素4の伸縮量(ばね伸縮量)は、ある状態のばね要素4の長さからばね要素4の自然長を減算した値とする。ばね要素4の自然長は、線条体モデル2の伸縮および曲げがない自然な状態の質点3A、3B間の距離に相当する。
F2=v×vの内積×振動の減衰係数 (II)
F3=各質点の速度×並進運動の減衰係数 (III)
上式(II)で、vは、(質点3Bの速度-質点3Aの速度)の単位ベクトルである。減衰力F2,F3は、ばねの動きを遅くように作用する。
F4=重力方向の単位ベクトル×重力加速度×質点の質量 (IV)
なお、線条体モデル2の質点3が、ある干渉面に衝突したとき、質点3には反発力が作用する。この点を考慮し、弾性力と重力と減衰力だけでなく、質点に作用する反発力を算出してもよい。この場合、衝突時の質点の速度の、衝突した面の面直方向の成分の値は、衝突前の速度に反発係数を乗算して符号を反転した値になる。このとき、反発力は、衝突の前後の速度の変化量を単位時間で割って得られる加速度に、質点の質量を乗算することで算出できる。
ねじれの解消に適用し得る。
3 質点
4 ばね要素
20 平面
51 線条体画像
52 着目点画像
60 レーザ加工教示装置
70 ロボット制御装置
71 動作制御部
80 レーザ発振器
81 光ファイバ
81a 接続端部
90 スキャナ
90A 照射範囲
91 制御部
100 レーザ加工システム
110 ロボット
161 データ入力部
162 経路決定部
163 シミュレーション実行部
164 ねじれ量評価部164
165 ロボット姿勢変更部
166 動作プログラム作成部
R1-R3 経路
Claims (10)
- 光ファイバが接続されたレーザ加工ヘッドと該レーザ加工ヘッドを移動させるロボットとを含むレーザ加工システムの前記ロボットの動作を教示するための教示装置において、
対象物に設定される複数の加工点の位置に基づいて前記ロボットの動作経路を決定する経路決定部と、
決定された前記動作経路にしたがって前記ロボットの動作シミュレーションを実行するシミュレーション実行部と、
前記動作シミュレーションによる前記ロボットの動きにしたがって前記光ファイバの挙動をシミュレーションすることで前記光ファイバのねじれ量を求め、該ねじれ量と所定の許容範囲とを対比することで前記ねじれ量を評価するねじれ量評価部と、
前記ねじれ量が前記所定の許容範囲を超える前記ロボットの動作について、前記ねじれ量が小さくなるように前記ロボットの姿勢を変更するロボット姿勢変更部と、
を備える教示装置。 - 前記ねじれ量評価部と前記ロボット姿勢変更部は、前記ロボットの姿勢を変更後に前記ねじれ量を再度評価する動作を、前記動作経路全体について前記光ファイバのねじれ量が前記所定の許容範囲に収まるまで繰り返し実行する、請求項1に記載の教示装置。
- 前記経路決定部は、前記ロボット姿勢変更部により前記ロボットの姿勢を変更した結果として、溶接中に加工点が前記レーザ加工ヘッドによるレーザの照射範囲から逸脱する前記ロボットの動作について、前記ロボットの動作速度を落とす、又は、前記加工点の溶接タイミングを調整することにより、前記加工点が溶接中に前記照射範囲に収まるようにする、請求項1又は2に記載の教示装置。
- 前記レーザ加工ヘッドのレーザの照射範囲は矩形であり、
前記経路決定部は、前記動作経路に沿った前記ロボットの動作方向と前記照射範囲のいずれかの辺とが平行になるように前記ロボットが前記動作経路上を動作する際の前記ロボットの姿勢を決定する、請求項1から3のいずれか一項に記載の教示装置。 - 前記ロボット姿勢変更部は、前記光ファイバの前記レーザ加工ヘッドへの接続端部の軸線方向と平行な軸回りに前記レーザ加工ヘッドを回転させることで前記ロボットの姿勢を変更する、請求項1から4のいずれか一項に記載の教示装置。
- 光ファイバが接続されたレーザ加工ヘッドと該レーザ加工ヘッドを移動させるロボットとを含むレーザ加工システムの前記ロボットの動作を教示するための教示方法において、
対象物に設定される複数の加工点の位置に基づいて前記ロボットの動作経路を決定し、
決定された前記動作経路に従い前記ロボットの動作シミュレーションを実行し、
前記動作シミュレーションによる前記ロボットの動きにしたがって前記光ファイバの挙動をシミュレーションすることで前記光ファイバのねじれ量を求め、該ねじれ量と所定の許容範囲とを対比することで前記ねじれ量を評価し、
前記ねじれ量が前記所定の許容範囲を超える前記ロボットの動作について、前記ねじれ量が小さくなるように前記ロボットの姿勢を変更する、教示方法。 - 前記ロボットの姿勢を変更後に前記ねじれ量を再度評価する動作を、前記動作経路全体について前記光ファイバのねじれ量が前記所定の許容範囲に収まるまで繰り返し実行する、請求項6に記載の教示方法。
- 前記ロボットの姿勢を変更した結果として、溶接中に加工点が前記レーザ加工ヘッドによるレーザの照射範囲から逸脱する前記ロボットの動作について、前記ロボットの動作速度を落とす、又は、前記加工点の溶接タイミングを調整することにより、前記加工点が溶接中に前記照射範囲に収まるようにする、請求項6又は7に記載の教示方法。
- 前記レーザ加工ヘッドのレーザの照射範囲は矩形であり、
前記動作経路に沿った前記ロボットの動作方向と前記照射範囲のいずれかの辺とが平行になるように、前記ロボットが前記動作経路上を動作する際の前記ロボットの姿勢を決定する、請求項6から8のいずれか一項に記載の教示方法。 - 前記ロボットの姿勢の変更は、前記光ファイバの前記レーザ加工ヘッドへの接続端部の軸線方向と平行な軸回りに前記レーザ加工ヘッドを回転させることで行われる、請求項6から9のいずれか一項に記載の教示方法。
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JPH10275007A (ja) * | 1997-03-31 | 1998-10-13 | Nissan Motor Co Ltd | ロボット動作シミュレーション方法 |
JP2006247677A (ja) * | 2005-03-09 | 2006-09-21 | Fanuc Ltd | レーザ溶接教示装置及び方法 |
JP2016087750A (ja) * | 2014-11-06 | 2016-05-23 | ファナック株式会社 | ロボットシミュレーション装置 |
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JP2006344052A (ja) | 2005-06-09 | 2006-12-21 | Nissan Motor Co Ltd | ロボット動作教示方法 |
JP2007021550A (ja) | 2005-07-19 | 2007-02-01 | Nissan Motor Co Ltd | レーザ溶接装置、レーザ溶接システム、およびレーザ溶接方法 |
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JPH10275007A (ja) * | 1997-03-31 | 1998-10-13 | Nissan Motor Co Ltd | ロボット動作シミュレーション方法 |
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