WO2023234290A1 - Système de génération de tracé de travail et procédé de tracé de trajet de travail - Google Patents

Système de génération de tracé de travail et procédé de tracé de trajet de travail Download PDF

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Publication number
WO2023234290A1
WO2023234290A1 PCT/JP2023/020070 JP2023020070W WO2023234290A1 WO 2023234290 A1 WO2023234290 A1 WO 2023234290A1 JP 2023020070 W JP2023020070 W JP 2023020070W WO 2023234290 A1 WO2023234290 A1 WO 2023234290A1
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Prior art keywords
work
work route
welding
target member
measurement
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PCT/JP2023/020070
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English (en)
Japanese (ja)
Inventor
基史 鈴木
迪博 鈴木
文秀 新村
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リンクウィズ株式会社
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Publication of WO2023234290A1 publication Critical patent/WO2023234290A1/fr

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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
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • 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

Definitions

  • the present invention relates to technology for performing operations such as welding, adhesion, and other processing on target members.
  • Patent Document 1 Conventionally, a technique has been proposed for generating a welding operation of a welding robot based on measurement results of a welding target member, and Patent Document 1 particularly describes a three-dimensional point group of a welding target member obtained by a three-dimensional measurement sensor. A technique has been disclosed that generates a three-dimensional model from data and generates a welding operation based on the three-dimensional model.
  • One aspect of the present invention has been made in view of this background, and provides a work route generation system or a work route generation method that allows work route synthesis processing to be performed more easily.
  • One aspect of the present invention is a work route generation system that generates a work route for a work tool when welding or joining target members, the system comprising one or more work robots that measure the shape of the target member. , a work route generation unit that generates the work route based on a plurality of measurement data obtained multiple times by one of the work robots, or a plurality of measurement data obtained by a plurality of the work robots. , the work route generation unit includes a first work route generation unit that generates a first work route based on any one of the plurality of measurement data, and any other of the plurality of measurement data. a second work route generation unit that generates a second work route based on one measurement data; and a work route synthesis unit that combines the first work route and the second work route to generate a composite work route.
  • a work route generation system comprising:
  • FIG. 1 is a diagram showing an example of the overall configuration of a welding system 100 according to the present embodiment.
  • FIG. 2 is a diagram showing how a welding target member is measured using the welding system 100 of the present embodiment.
  • FIG. 2 is a diagram showing how welding target members are welded using the welding system 100 of the present embodiment.
  • It is a diagram showing an example of the configuration of the work control unit 25 and other hardware according to the present embodiment.
  • It is a diagram showing an example of the functional configuration of a work control unit 25 in the present embodiment.
  • FIG. 3 is a diagram showing an example of condition data stored by a torch position/angle condition storage unit according to the present embodiment.
  • FIG. 3 is a diagram showing an example of a control flowchart of the work route synthesis unit according to the present embodiment.
  • FIG. 3 is a diagram illustrating an example of welding target members and scheduled work positions when performing overlap type welding in the present embodiment.
  • FIG. 6 is a diagram illustrating an example of a plurality of cylindrical arcs defined around a scheduled work position in the present embodiment.
  • FIG. 7 is a diagram illustrating an example in which the gap measurement unit estimates a gap distance from point cloud data in the present embodiment.
  • FIG. 6 is a diagram showing how welding is performed when the gap distance is smaller than a predetermined value in this embodiment.
  • FIG. 6 is a diagram showing how welding is performed when the gap distance is larger than a predetermined value in this embodiment.
  • FIG. 2 is a diagram showing an example of a welding target member and a scheduled work position when T-type welding is performed in the present embodiment.
  • FIG. 6 is a diagram illustrating an example in which the gap measurement unit according to the present embodiment estimates a gap distance from point cloud data.
  • FIG. 6 is a diagram illustrating an example in which the gap measuring unit according to the present embodiment estimates a gap distance in a state where the target member is tilted.
  • FIG. 6 is a diagram showing how welding is performed when the gap distance is smaller than a predetermined value in this embodiment.
  • FIG. 6 is a diagram showing how welding is performed when the gap distance is larger than a predetermined value in this embodiment.
  • FIG. 2 is a diagram illustrating an example of a welding target member and a scheduled work position when performing J-type welding in the present embodiment.
  • FIG. 6 is a diagram illustrating an example in which the gap measurement unit according to the present embodiment estimates a gap distance from point cloud data.
  • FIG. 6 is a diagram illustrating an example in which the gap measuring unit according to the present embodiment estimates a gap distance in a state where the target member is tilted.
  • FIG. 6 is a diagram showing how welding is performed when the gap distance is smaller than a predetermined value in this embodiment.
  • FIG. 6 is a diagram showing how welding is performed when the gap distance is larger than a predetermined value in this embodiment. It is a figure which shows another example of the welding target object which performs overlap type welding based on this embodiment.
  • FIG. 1 is a diagram showing an example of a welding system 100 of this embodiment.
  • the welding inspection system 100 of this embodiment includes an input/output unit 1, a controller 3, one or more robots 20, one or more robot controllers 24, It has a control section 25.
  • the working robot 20 acquires information regarding the shape of the target object using the sensor 21 .
  • the robot control unit 24 is a control unit that is connected to the working robot 20 so as to be able to communicate with each other by wire or wirelessly, controls the operation of the working robot 20 during work including measurement and welding, and acquires measurement results. If there are a plurality of working robots, a plurality of robot control units 24 may be provided for each working robot.
  • the work control unit 25 is connected to each robot control unit 24 in a wired or wireless manner so as to be able to communicate with each other, and creates a work path that indicates a work position for welding or the like on the object 2 based on the measurement results obtained from each robot control unit 24. This is a control unit that generates (welding passes).
  • the work control section 25 does not necessarily have to be an independent device from the robot control section 24, and the work control section 25 and the robot control section 24 may be configured as one and the same device.
  • the input/output unit 1 is connected to the work control unit 25 so as to be able to communicate with each other by wire or wirelessly, and includes an output device (for example, a display) that displays data stored in the storage unit of the work control unit 25, and also includes a storage unit.
  • the computer is equipped with an information input device (for example, a keyboard, a mouse, a touch panel, etc.) for inputting data stored in the computer.
  • the controller 3 is connected to the work control unit 25 by wire or wirelessly so as to be able to communicate with each other, and includes an input unit for inputting instructions for starting and stopping the operation of the work robot 20.
  • FIG. 2 is a diagram showing how one working robot 20 of the welding system 100 measures the three-dimensional shape of an object and generates a working path 200.
  • the working robot 20 has an arm 21 and a sensor 22 mounted on the tip of the arm 21. Based on the three-dimensional CAD data of the target object 2 obtained in advance, the position including the part where the first target member 201 and the second target member 202, which are the two members on which work such as welding is to be performed, are close to each other is determined. This is set as the measurement position, and the working robot 20 uses the sensor 22 provided on the arm 21 of the working robot 2 to acquire point cloud data of the surface shape of the range including the measurement position. As shown in FIG.
  • a plurality of work routes 200 for performing welding work are generated based on point cloud data acquired by multiple work robots or multiple measurements, and these work routes are combined to create a composite work route. generate.
  • FIG. 3 is a diagram showing how welding is performed on a work path 200 using the work robot 20 of the welding system 100.
  • the working robot 20 has at least an arm 21 and a welding torch 23 mounted on the tip of the arm 21. If the object 2 has a complex structure and it is difficult for one work robot to weld all positions on the work path 200 as shown in Figure 3, welding can be performed using multiple work robots. Actions can be shared and executed. Since the welding operation on the work path 200 is distributed to each work robot by the work distribution unit 3400 of the work control unit 25, the work robot 20 is set based on the welding operation assigned to its own machine. The operation of the arm 21 is controlled so that the welding torch 23 reaches the target position and angle, and the welding operation is executed.
  • FIG. 4 is a diagram showing the hardware configuration of the measurement control section 24, the work distribution section 34, the work robot control section 23, or the welding robot control section 33.
  • the work control unit 25 and the work robot control unit 24 may be, for example, a general-purpose computer such as a personal computer, or may be logically realized by cloud computing. Note that the illustrated configuration is an example, and other configurations may be used. For example, some of the functions provided in the processor 10 may be executed by a server or another terminal external to the work control unit 25 and the work robot control unit 24.
  • the work control unit 25 and the work robot control unit 24 include at least a processor 10, a memory 11, a storage 12, a transmitting/receiving unit 13, an input/output unit 14, etc., and these are electrically connected to each other via a bus 15.
  • the processor 10 controls the operation of the work control unit 24 and the like on which it is installed, controls the transmission and reception of data, etc. to and from devices connected by wire or wirelessly via the transmitting/receiving unit 13, and executes and authenticates applications.
  • This is a calculation device that performs information processing necessary for processing.
  • the processor 10 is a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or a CPU and a GPU, and executes programs for this system stored in the storage 12 and developed in the memory 11. Performs each information processing.
  • the memory 11 includes a main memory configured with a volatile storage device such as a DRAM (Dynamic Random Access Memory), and an auxiliary memory configured with a non-volatile storage device such as a flash memory or an HDD (Hard Disc Drive). .
  • the memory 11 is used as a work area of the processor 10, and also stores a BIOS (Basic Input/Output System) that is executed when the measurement control unit 24 and the like in which it is installed is started, various setting information, and the like.
  • BIOS Basic Input/Output System
  • the storage 12 stores various programs such as application programs.
  • a database storing data used for each process may be constructed in the storage 12.
  • the transmitting/receiving unit 13 connects to a device that is communicably connected to the device in which it is mounted, and transmits and receives data, etc. according to instructions from the processor.
  • the transmitter/receiver 13 is configured by wire or wirelessly, and in the case of wireless, it may be configured by, for example, a short-range communication interface such as WiFi, Bluetooth (registered trademark), and BLE (Bluetooth Low Energy). .
  • the bus 15 is commonly connected to each of the above elements and transmits, for example, address signals, data signals, and various control signals.
  • the working robot 20 includes the arm 21, the sensor 22, and the welding torch 23. Note that the illustrated configuration is an example, and the present invention is not limited to this configuration.
  • the operation of the arm 21 is controlled by a working robot control unit 23 based on a three-dimensional robot coordinate system. Further, the operation of the arm 21 may be controlled by the controller 3.
  • the sensor 22 performs sensing of the first and second target members 201 and 202 based on a three-dimensional sensor coordinate system.
  • the sensor 22 is, for example, a laser sensor that operates as a three-dimensional scanner, and acquires three-dimensional point group data 50 of the first and second target members 201 and 202 including the position to be welded by sensing.
  • each point data has coordinate information of the sensor coordinate system, and it is possible to grasp the shape of the object 2 using the point group.
  • the sensor 22 is not limited to a laser sensor, and may be an image sensor using a stereo system, for example, or may be a sensor independent of the working robot, and may be a sensor in a three-dimensional sensor coordinate system. Any information from which coordinate information can be obtained may be used. Further, in order to make the explanation more specific, a configuration using three-dimensional point group data as the three-dimensional model data 50 will be described below as an example.
  • the user can specify the position (coordinates) based on the sensor coordinate system, so that the arm 21 and sensor 22 can
  • the configuration may be such that the operation is controlled based on the position.
  • measurement may be performed multiple times using a plurality of work robots 20 or by changing the posture of the work robot 20.
  • three-dimensional point cloud data 50 of the first and second target members 201 and 202 of the target object 2 is acquired, and the work control unit 25 creates a work path 200 based on the three-dimensional point cloud data 50. is generated.
  • the three-dimensional point cloud data acquired by each work robot can be integrated in a short time, and the entire workpiece to be welded can be integrated.
  • 3D point cloud data can be obtained with high precision and in a short time.
  • the plurality of work paths generated by the three-dimensional point cloud data obtained by the plurality of work robots 20 or the plurality of measurement operations are synthesized by the measurement control unit 24, in order to perform the synthesis processing,
  • the measurement ranges of three-dimensional point group data obtained by a plurality of working robots 20 or a plurality of measurement operations are set so that the measurement positions overlap with each other.
  • FIGS. 1 and 3 A welding operation by the working robot 20 according to this embodiment will be explained using FIGS. 1 and 3.
  • the working robot 230 includes a welding torch 23 in addition to the arm 21 and the sensor 22. Note that the illustrated configuration is an example, and the present invention is not limited to this configuration.
  • the welding torch 23 performs welding work based on a work path 200 set in the vicinity of the first and second target members 201 and 202 based on a three-dimensional torch coordinate system.
  • the welding torch 23 is a tool used for welding methods by fusion welding, such as arc welding, laser welding, electron beam welding, and plasma arc welding, and outputs arc, laser, beam, etc. from the welding torch to melt the target member. Then, the first and second target members 201 and 202 are welded.
  • the welding torch may be a discharge part for a filler material (adhesive) used in soldering such as brazing, or a discharge part for a sealant or an adhesive.
  • the user can specify the position (coordinates) based on the torch coordinate system, so that the arm 21 and the welding torch 23 can be adjusted.
  • the configuration may be such that the operation is controlled based on the corresponding position.
  • welding is performed using multiple work robots, by defining the robot coordinate systems of multiple work robots as the same coordinate system, it is possible to perform welding work on the work path distributed from the work distribution section. can be executed in a short time.
  • the robot control unit 24 is provided for each working robot.
  • the robot control unit 24 also receives measurement conditions related to the measurement operation (including the position and measurement direction of the sensor 22) from the work control unit 25, generates an operation command that satisfies the measurement conditions, and is communicably connected.
  • the operation command is transmitted to the working robot 20 to control the measurement operation by the working robot 20, and the three-dimensional point group data 50 measured by the working robot 20 is acquired.
  • the robot control unit 24 transmits the acquired three-dimensional point group data 50 to the work control unit 25.
  • the robot control unit 24 does not necessarily need to be provided for each working robot, and if the computing performance of the hardware is sufficiently high, one robot control unit 24 can control multiple working robots. It may be configured to control.
  • FIG. 5 is a block diagram illustrating functions implemented in the work control section 25.
  • the work control section 25 includes a measurement control section 2400 and a work distribution section 3400.
  • a block diagram illustrating functions implemented in the measurement control unit 2400 is shown in FIG. 6, and functions implemented in the work distribution unit 3400 are shown in FIG. 29, which will be described later.
  • the measurement control section 2400 includes a processing section 2410 and a storage section 2420.
  • the processing unit 2410 includes a measurement condition determination unit 2411, a point cloud data acquisition unit 2412, a gap measurement unit 2413, a welding torch position/angle determination unit 2414, a work route generation unit 2415, and a work route synthesis unit 2416.
  • the storage unit 2420 of the measurement control unit 24 also includes a measurement condition storage unit 2421, a three-dimensional CAD data storage unit 2422, a measurement point group data storage unit 2423, a torch position/angle condition storage unit 2424, a gap storage unit 2425, and a working route. It has a storage section 2426, a synthesis condition storage section 2427, and a synthesis work route storage section 2428.
  • the measurement method determining unit 2411 determines the method based on the measurement conditions stored in the measurement condition storage unit 2421 and the three-dimensional CAD data (three-dimensional shape data) of the welding object 2 stored in the three-dimensional CAD data storage unit 2422. , determines a measurement method including the position and measurement direction (orientation of the sensor 22 ) of the sensor 22 that performs the measurement, and transmits the measurement conditions to the robot control unit 23 .
  • the three-dimensional CAD data includes information on a predetermined welding location on the object 2, and the measurement conditions include information on the position and measurement direction of the sensor 22 with respect to the welding location. There is.
  • the measurement condition storage unit 2421 includes information on assignment of measurement ranges of the plurality of work robots 20 as measurement conditions, and the measurement condition determination unit 2411 assigns a measurement range to each of the plurality of work robots 20, determines measurement conditions including the position and measurement direction (orientation of the sensor 22) of the sensor 22 of each work robot, and determines the measurement conditions for each work robot.
  • the measurement conditions are transmitted to the robot control unit 24 corresponding to the robot 20 for use.
  • the measurement condition storage unit 2421 stores the measurement conditions for each of the multiple measurement operations by the work robot 20.
  • the measurement condition determining unit 2411 allocates measurement ranges for multiple measurement operations, and also includes the position and measurement direction (orientation of the sensor 22) of the sensor 22 of each work robot. Measurement conditions are determined and transmitted to the robot control unit 24 corresponding to the working robot 20. Here, since the work paths generated by each measurement operation need to be synthesized by the work control unit 25, the three-dimensional point cloud data obtained by multiple work robots 20 or multiple measurement operations can be combined with each other. The position and measurement direction of the sensor 22 are recorded as measurement conditions so that the measurement positions overlap.
  • the point cloud data acquisition unit 2412 acquires three-dimensional point cloud data of the welding object 2 including preset welding locations acquired by the work robot 20 via the robot control unit 24.
  • the acquired three-dimensional point group data is, for example, three-dimensional coordinate information data based on the sensor coordinate system, and is stored in the measurement point group data storage unit 2423.
  • the gap measurement unit 2413 calculates the gap between the first target member 201 and the second target member 202 at the welding planned location set in the three-dimensional CAD data based on the acquired three-dimensional point cloud data and three-dimensional CAD data. Measure the distance (gap distance). The measured gap distance is recorded in the gap storage section 2424.
  • the distance between the first target member 201 and the second target member 202 is the gap between the first target member 201 and the second target member 202 in the vicinity of the welding location.
  • the distance for example, the distance between two points where the straight line distance is the shortest among the straight line distances connecting the point group of the first target member 201 and the point group of the second target member 202 at the planned welding location.
  • the gaps are estimated at multiple positions of the planned welding location. A specific method for estimating the gap will be described later.
  • the welding torch position/angle determining unit 2414 performs gap measurement according to the measured gap distance, information on each shape type of T type, J type, and overlap type, and information in the torch position/angle condition storage unit 2424. Determine the position and angle of the welding torch relative to the workpiece to be welded. In addition, if the gap distance exceeds a predetermined value (for example, a predetermined threshold value), it is determined that welding is not possible, and an error notification is sent via the input/output unit 14 to the effect that welding should not be performed. Prohibit execution of an action. Details of how to determine the position and angle of the welding torch for each of the T-shape, J-shape, and overlap-shape types will be described later.
  • a predetermined value for example, a predetermined threshold value
  • the work path generation unit 2415 generates information about the position of the welding torch with respect to the workpiece to be welded, which is determined by the welding torch position/angle determination unit 2414. A plurality of work paths are generated for each three-dimensional point cloud data of the object 2 including the planned welding locations.
  • the generated work route is recorded in the work route storage unit 2426.
  • the generated work route is defined in a coordinate system based on the same measurement target member as the coordinate system of the work robot.
  • the work route composition unit 2416 combines the plurality of work routes generated by the work route generation unit 2415 based on the composition conditions stored in the composition condition storage unit 2427, and generates a composite work route.
  • the compositing condition storage unit 2427 includes information on coordinate directions to be fixed when composing a plurality of work routes. Further, the work route synthesis unit 2416 stores the synthesized combined work route in the combined work route storage unit 2428.
  • FIG. 7 is a diagram showing an example of information recorded in the torch position/angle condition storage section 2424.
  • the torch position/angle condition storage unit 2424 stores the measured gap distance, information on the position and angle of the welding torch corresponding to each shape type of T type, J type, and overlap type, and information on welding suitability. has been done.
  • the overlap type when the gap distance n is smaller than the first threshold value (Th1), the welding torch position and welding torch angle are not changed from the predetermined position and predetermined angle ( ⁇ 1), respectively, and the gap distance is If n is larger than the first threshold value (Th1) and smaller than the second threshold value (Th2), the position of the welding torch is shifted from the predetermined position to the positive side in the Z direction (the torch angle is set to a predetermined value). If the gap distance n is larger than the second threshold value (Th2), the gap distance is too large and welding is rejected.
  • the welding torch position is set to the member boundary position, and the welding torch angle is set to a predetermined angle ( ⁇ 2). If the gap distance n is larger than the third threshold value (Th3) and smaller than the fourth threshold value (Th4), the torch position is shifted from the member boundary position to the positive side in the Z direction. (the torch angle is not changed from the predetermined angle ( ⁇ 2)), and if the gap distance n is larger than the fourth threshold value (Th4), the gap distance is too large and welding is rejected.
  • the gap distance n is smaller than the fifth threshold value (Th5), the welding torch position and welding torch angle remain unchanged from the predetermined position and predetermined angle ( ⁇ 3), respectively.
  • the gap distance n is larger than the fifth threshold value (Th5) and smaller than the sixth threshold value (Th6), the torch position is shifted from the predetermined position to the negative side in the X direction, and the torch angle is set to the predetermined value. Do not change the angle.
  • the gap distance n is larger than the sixth threshold value (Th6) and smaller than the seventh threshold value (Th7), the torch position is shifted from the predetermined position to the negative side in the X direction, and the torch angle is set to the predetermined value. The angle is decreased from the angle ( ⁇ 3) to an angle ( ⁇ 3') that is nearly parallel to the lower member. If the gap distance n is larger than the seventh threshold value (Th7), the gap distance is too large and welding is rejected.
  • FIG. 8 is a diagram showing a control flow of the measurement control section 2400 in this embodiment.
  • the measurement condition determination unit 2411 determines measurement conditions, etc. (step 101).
  • the point cloud data acquisition unit 2412 acquires three-dimensional point cloud data (step 102).
  • the work robot 20 is controlled to measure the target object 2 based on the measurement conditions determined in step 101 described above, and the three-dimensional surface shape of the target member (201, 202) including the planned welding location is measured. Obtain point cloud data.
  • gap measurement is performed by the gap measurement unit 2413 (step 103).
  • the gap measurement unit 2413 measures the distance (gap distance) between the first and second target members 201 and 202 at the welding planned location based on the measured three-dimensional point group data.
  • FIG. 10 shows a first scheduled work position (solid line) and a second scheduled work position (dotted line) on the boundary line between the first and second target members 201 and 202 when performing overlap type welding. ) is shown.
  • the scheduled work position is a position where work such as welding, sealing, adhesion, etc. is scheduled.
  • the gap measurement unit 2413 generates a plurality of circular arcs surrounding the first scheduled work position (solid line) and the second scheduled work position (dotted line) based on information on the planned welding location set in advance in the three-dimensional CAD data. Then, a space on the cylinder is created around each scheduled welding location.
  • FIG. 11 shows an example of a plurality of cylindrical arcs defined around the first scheduled work position in this process.
  • the gap measurement unit 2413 extracts two-dimensional point cloud data within the cylinder (inside the circular arc) on each cross-sectional plane defined by this circular arc from the three-dimensional point cloud data acquired by the point cloud data acquisition unit 2412.
  • the gap measurement unit 2413 calculates the gap distance between the first target member 201 and the second target member 202 at the first scheduled work position based on this two-dimensional point group data.
  • the welding torch position/angle determination unit 2414 determines the welding position and angle of the welding torch on each cross-sectional plane defined by the aforementioned circular arcs (step 104).
  • the welding torch position/angle determining unit 2414 uses information on the torch position and angle corresponding to the gap distance and shape type, and information on welding suitability, which are stored in the torch position/angle condition storage unit 2424. , determines the position of the welding torch and the angle of the welding torch, determines the suitability of welding, and notifies the user of the determination result of suitability of welding via the controller 3 or the input/output unit 1.
  • the work route generation unit 2415 generates a work route (step 105).
  • the work route generation unit 2415 generates a work route that is a movement route of the welding torch based on the position of the welding torch determined for each cross-sectional plane defined by a plurality of circular arcs.
  • the angle target which is the attitude angle of the welding torch at each position on the work path, is calculated based on the welding torch angle determined for each cross-sectional plane defined by multiple circular arcs. It may be generated.
  • the work route can also be defined as a movement route defined only by the position of the welding torch.
  • the work route generation unit 2415 generates a work route corresponding to each scheduled work position using the method described above. That is, as shown in FIG. 10, when there are multiple scheduled work positions (a first scheduled work position and a second scheduled work position), a plurality of work routes for each scheduled work position are generated.
  • the work route synthesis unit 2416 generates a composite work route by combining the plurality of work routes generated by the work route generation unit 2415, and stores the composite work route in the composite work route storage unit 2428. Details of the work route synthesis process performed by the work route synthesis unit 2416 in this step will be described using FIG. 9.
  • FIG. 9 is a diagram showing details of work route synthesis processing by the work route synthesis unit 2416.
  • information on a plurality of work routes to be combined is acquired (step 201).
  • the information on the work route to be acquired is defined in three-dimensional coordinates.
  • the coordinate direction to be fixed is determined based on the information on the coordinate direction to be fixed stored in the synthesis condition storage unit 2427 (step 202).
  • the first working route generated corresponding to the first scheduled working position and the second working route generated corresponding to the second scheduled working position are connected to the welding target member. Since it is generated along the flat plate 202, the positions in the Z-axis direction perpendicular to the plane of the flat plate are substantially constant for both the first working route and the second working route. Therefore, the Z-axis direction is stored in advance in the synthesis condition storage unit 2427 as a fixed coordinate direction.
  • a specific example of calculating the Z-axis direction for example, by acquiring point cloud data in a plurality of cross sections defined by a plurality of circular arcs 220 shown in FIG. and the Z-axis direction perpendicular to it.
  • the Z-axis direction grasped in this way can be determined as the coordinate direction to be fixed when composing the work route.
  • the method of determining the coordinate direction to be fixed based on the measured point cloud data is not limited to the method described above.
  • a plane with the minimum distance may be defined based on the three-dimensional coordinate values of the generated work route.
  • a coordinate direction perpendicular to the plane may be determined as a fixed coordinate direction.
  • a work route is synthesized on two-dimensional coordinates (step 203).
  • the Z-axis direction is fixed, and the first work route and the second work route are combined using the remaining two-dimensional plane coordinates in the X-axis direction and the Y-axis direction to generate a composite work route.
  • the two-dimensional plane coordinates are synthesized so that the distance between two corresponding synthesis points on the first work route and the second work route on the two-dimensional plane coordinate is the shortest.
  • the Z-axis coordinate value is added to the composite work route (two-dimensional coordinates) to convert the composite work route into three-dimensional coordinates (step 204).
  • the first working route and the second working route are both formed along the flat plate of the flat member to be welded 202, so the first working route and the second working route are is guaranteed to be approximately the same value in the Z-axis direction perpendicular to the plane of the flat plate of the member 202 to be welded.
  • the overlap type is, for example, a state in which the first and second target members 201 and 202 shown in FIG. Refers to the weld type in the position.
  • FIG. 25 is a diagram showing another example of a welding object to be subjected to overlap type welding.
  • the first target member 201 is placed on the planar upper surface of the welding target member 202, and the edge portion of the opening provided in the center of the welding target member 201 is set as the scheduled work position. ing.
  • the first to fourth scheduled work positions are measured four times, and four work routes corresponding to each scheduled work position are generated.
  • FIG. 26 is a diagram showing still another example of a welding object to which overlap type welding is performed.
  • the welding target member 201 is in contact with the welding target member 202 so as to cover the columnar welding target member 202 from one side, and the edge position of the welding target member 201 is the planned work position.
  • the first and second scheduled work positions are measured separately, and two work routes corresponding to each scheduled work position are generated.
  • FIG. 12A shows the first target member 201 and the second target member 201 and the second target member 201 and the second target member 201 and 202 of the overlap shape type on the cross-sectional plane defined by the circular arc 220 when measuring the first and second target members 201 and 202 of the overlap type shape type.
  • the positional relationship between the target member 202 and the sensor 22 is shown.
  • 12(b) and 12(c) show point cloud data ( 2D).
  • the gap measurement unit 2413 calculates a point group indicating the lowest part (end) of the first target member 201 and the second target member 202 based on two-dimensional point cloud data as shown in FIG. 12(b).
  • the gap distance between the first and second target members 201 and 202 is obtained by calculating the distance from the point group showing the surface shape of .
  • the gap distance in the overlap type (a shape in which the target members are arranged so as to overlap each other) shown in FIG.
  • a pair of points of the first target member 201 and a point group of the second target member 202 can be defined as the distance between the pair of points where the straight line distance between the point groups is the shortest.
  • it does not necessarily have to be the distance between the point clouds where the straight-line distance is the shortest, and it is a pair of point clouds of the first target member 201 and the second target member 202 that are close to each other. It may also be defined as the distance.
  • the gap measuring unit 103 calculates the coordinates in the Z-axis direction of a point group indicating the upper surface of the welding target member 201 and the second target member, as shown in FIG. 12(c). It is also possible to calculate the distance between the top surfaces from the coordinates in the Z-axis direction of the point group indicating the top surface of 202, and further obtain the value obtained by subtracting the thickness of the first target member 201 from the distance. be.
  • FIG. 13 is a diagram showing the welding position and the angle of the welding torch when the gap distance between the members is less than the first threshold value (for example, 1 mm).
  • the first threshold value for example, 1 mm.
  • the welding torch is shifted from the member boundary position in the X-axis direction by a predetermined distance (several millimeters) in the X-axis direction. is the welding position, and the angle of the welding torch with respect to the plane of the member 202 to be welded is determined to be a predetermined angle ( ⁇ 1 ).
  • Figure 14 shows the welding position and angle of the welding torch when the gap distance (n mm) between the members is greater than the first threshold (for example, 1 mm) and less than the second threshold.
  • FIG. 14 when the gap distance between the members is larger than the first threshold (for example, 1 mm) and less than the second threshold, the welding torch moves to the second target member in the Z-axis direction.
  • the welding position is a position shifted by a gap distance (n millimeters) from the surface position of the second target member 202 in the Z-axis direction from the boundary position of the member, and the angle of the welding torch is a predetermined angle ( ⁇ 1 ) from the member plane of the second target member 202. Determined to be a tilted angle (i.e.
  • FIG. 15 is a diagram showing members to be welded and scheduled work positions when performing T-type welding.
  • the T-type refers to a welding type in which the planned work position is the edge position where the plate surfaces of the first and second target members 201 and 202 contact each other in a substantially perpendicular state shown in FIG. 15, for example.
  • FIG. 27 is a diagram showing another example of a welding target subject to T-type welding.
  • the first target member 201 is arranged on the planar upper surface portion of the second target member 202, and the plate surface portion of the first target member 201 is the upper surface portion of the second target member 202.
  • the contact point is approximately perpendicular to the contact point.
  • the edge portion where both members come into contact is set as the scheduled work position.
  • the first scheduled work position (solid line) and the second scheduled work position (dotted line) are measured separately, and two work routes corresponding to each scheduled work position are generated. Ru.
  • FIG. 28 is a diagram showing still another example of a welding object to be subjected to T-type welding.
  • the first target member 201 is arranged on the planar upper surface portion of the second target member 202, and the plate surface portion of the first target member 201 is the upper surface portion of the second target member 202.
  • the contact point is approximately perpendicular to the contact point.
  • the edge portion where both members come into contact is set as the scheduled work position.
  • the first scheduled work position (solid line) and the second scheduled work position (dotted line) are measured separately, and two work routes corresponding to each scheduled work position are generated. Ru.
  • FIG. 16A shows the positional relationship on the cross-sectional plane defined by the circular arc 220 when measuring the T-shaped members 201 and 202 to be welded.
  • FIG. 16(b) shows point group data (two-dimensional) on a cross-sectional plane defined by the circular arc 220, extracted from the three-dimensional point group data acquired in the positional relationship shown in FIG. 16(a).
  • the gap measurement unit 2413 calculates a point group indicating the lowest part (end) of the first target member 201 and the second target member 202 based on two-dimensional point cloud data as shown in FIG. 16(b).
  • the gap distance between the first and second target members 201 and 202 is obtained by calculating the distance from the point group showing the surface shape of .
  • the gap distance in the T-shape (a shape in which the members to be welded are substantially perpendicular to each other) shown in FIG.
  • a pair of points of the target member 201 and a point group of the second target member 202 can be defined as the distance between the pair of points where the straight-line distance between the point groups is the shortest.
  • it does not necessarily have to be the distance between the point clouds where the straight-line distance is the shortest, and it is a pair of point clouds of the first target member 201 and the second target member 202 that are close to each other. It may also be defined as the distance.
  • FIGS. 17(a) and 17(b) show the measurement of the gap distance in a state where the relative positional relationship between the first target member 201 and the second target member 202 is tilted left and right from a state where they are substantially perpendicular to each other.
  • FIG. 2 is a diagram illustrating the method.
  • FIG. 17A shows a state in which the first target member 201 is tilted in the direction away from the working robot (or welding robot). In this state, the distance between the edge position of the first target member 201 on the working robot side and the upper surface of the second target member 202 in the direction perpendicular to the upper surface of the second target member 202 is measured as the gap distance. .
  • FIG. 17A shows a state in which the first target member 201 is tilted in the direction away from the working robot (or welding robot). In this state, the distance between the edge position of the first target member 201 on the working robot side and the upper surface of the second target member 202 in the direction perpendicular to the upper surface
  • 17(b) shows a state in which the first target member 201 is tilted in the direction approaching the working robot.
  • the distance between the edge position of the first target member 201 on the working robot side and the upper surface of the second target member 202 in the direction perpendicular to the upper surface of the second target member 202 is measured as the gap distance.
  • FIG. 18 is a diagram showing the welding position and the angle of the welding torch when the gap distance between the members is less than the third threshold (for example, 0.5 mm).
  • the welding torch sets the welding position at the member boundary position, and the welding torch angle is set to the member plane of the second target member 202.
  • the angle is determined to be inclined by a predetermined angle ( ⁇ 2 ) from the angle ⁇ 2 .
  • Figure 19 shows the welding position and angle of the welding torch when the gap distance (n millimeters) between members is greater than the third threshold (for example, 0.5 mm) and less than the fourth threshold.
  • FIG. 19 when the gap distance between the members is greater than the third threshold (for example, 0.5 mm) and less than the fourth threshold, the welding torch moves to the second object in the Z-axis direction.
  • the welding position is a position shifted from the surface position of the member 202 by the gap distance (n millimeters) in the Z-axis direction from the boundary position of the member, and the angle of the welding torch is set at a predetermined angle ( ⁇ 2 ) from the member plane of the second target member 202.
  • arc etc. discharged from the welding torch will follow the upper target member, and will be connected to the lower target member. Can be joined.
  • the J-shape means that a curved part of a welding target member 201 having a bent curvature part and a flat part of a welding target member 202 are close to each other, and the adjacent curvature part is located at the planned work position. This means the welding type.
  • FIG. 21(a) shows the positional relationship on the cross-sectional plane defined by the circular arc 220 when measuring the first and second target members 201 and 202 of the J-shape type.
  • FIG. 21(b) shows point group data (two-dimensional) on a cross-sectional plane defined by the circular arc 220, extracted from the three-dimensional point group data acquired in the positional relationship shown in FIG. 21(a). As shown in FIG.
  • the gap measuring unit 2413 estimates the radius of curvature of the bent curvature portion of the first target member 201 based on the point cloud data of the bent curvature portion, or estimates the radius of curvature of the bent curvature portion of the first target member 201, or calculates the radius of curvature based on information input by the user. Get the radius of curvature.
  • the gap distance between the lower side of the curvature portion of the first target member 201 and the second target member 202 is estimated based on the estimated or acquired radius of curvature.
  • the gap distance in the J-shape (a shape in which a first target member 201 having a bent curvature portion and a plate-shaped second target member 202 are welded at the curvature portion) shown in FIG.
  • the distance between the end of the bent curvature portion of the first target member 201 that is close to the second target member 202 and the end of the second target member 202; can be defined as the distance between the ends where the straight line distance is the shortest.
  • the distance between the point clouds of the first and second target members 201 and 202 when they are in contact with the upper surface of the second target member 202 is set in advance as an offset distance, and The gap distance can be measured by subtracting the offset distance from the distance between the point groups of the second target members 201 and 202.
  • FIG. 22(b) is a diagram showing a method of measuring the gap distance in a state where the relative positional relationship between the first target member 201 and the second target member 202 is tilted left and right from a state where they are substantially orthogonal to each other.
  • FIG. 22(b) shows a state in which the first target member 201 is tilted in a direction away from the working robot. In this state, the distance between the lowest part of the curvature portion of the first target member 201 and the upper surface of the second target member 202 in the direction perpendicular to the upper surface of the second target member 202 is measured as the gap distance.
  • FIG. 23 is a diagram showing the welding position and the angle of the welding torch when the gap distance between the members is less than the fifth threshold (for example, 1 mm).
  • the welding torch connects the extension line of the side surface of the upper first target member 201 and the lower second target member.
  • the welding position is a position shifted by a predetermined distance (for example, 1 mm) in the negative direction of the X-axis from the intersection of 202, and the angle of the welding torch is inclined at a predetermined angle ( ⁇ 3 ) from the plane of the second target member 202. It is determined.
  • the welding torch can be The arc etc. discharged from the upper and lower parts can more easily hit the members to be welded, and the parts to be welded can be joined more reliably.
  • FIG. 24 is a diagram showing the welding position and the angle of the welding torch when the gap distance (n millimeters) between members is larger than the fifth threshold (for example, 1 millimeter).
  • the angle of the welding torch is such that if the gap distance (n mm) between the parts is greater than the fifth threshold (e.g. 1 mm) and less than the sixth threshold (e.g. 2 mm), the welding torch The angle is determined to be a predetermined angle ( ⁇ 3 ) (that is, the angle is not changed). If the gap distance (n mm) between the parts is greater than the sixth threshold (e.g. 2 mm) and less than the seventh threshold (e.g. 3 mm), the angle of the welding torch should be reduced.
  • the fifth threshold e.g. 1 mm
  • the sixth threshold e.g. 2 mm
  • the seventh threshold e.g. 3 mm
  • ⁇ 3′ which is smaller than ⁇ 3, is determined as the angle of the welding torch (that is, the lower target member).
  • ⁇ 3 ' which is smaller than ⁇ 3
  • the welding position by the welding torch is the upper side.
  • the predetermined distance + ⁇ (for example, 1 millimeter) is ) Set the shifted position as the welding position.
  • the welding position is a position shifted by ⁇ in the direction toward the back of the curved portion from the welding position shown in FIG. 23 .
  • the welding torch is moved in the negative direction of the X-axis (that is, the direction toward the back of the curved part) from the intersection of the extension line of the side surface of the first target member 201 on the upper side and the second target member 202 on the lower side.
  • the first target member 201 is arranged on the planar upper surface portion of the second target member 202, and the edge portion of the opening provided in the center of the first target member 201 are set as the first to fourth scheduled work positions.
  • a circular arc 220 as shown in FIG. 11 is defined at each of these first to fourth scheduled work positions, and point cloud data at each cross section defined by the circular arc is acquired.
  • the plane of the upper surface of the target member 202 is acquired, and the Z-axis direction (arrow in the drawing) perpendicular to the plane is set as the coordinate direction fixed when combining each work route.
  • the first target member 201 is arranged on the planar upper surface portion and side surface portion of the second target member 202, and the plate surface portion of the first target member 201 is arranged on the second target member 202. It is in contact with the upper surface portion and the side surface portion of the target member 202 in a substantially orthogonal state, and the edge portions where both members are in contact are set as the first and second scheduled work positions.
  • a circular arc 220 as shown in FIG. 11 is defined at each of these first and second scheduled work positions, and point cloud data at each cross section defined by the circular arc is acquired.
  • the direction perpendicular to the plate surface portion of the target member 201 is defined as the X-axis direction (arrow in the drawing), and is set as the coordinate direction fixed when combining each work route.
  • the first target member 201 is arranged on the planar upper surface portion of the second target member 202, and the plate surface portion of the first target member 201 is placed on the second target member 202. It is in contact with the upper surface portion of the surface in a substantially perpendicular manner. Furthermore, the edge portions where both members come into contact are set as the first and second scheduled work positions.
  • the first scheduled work position (solid line) and the second scheduled work position (dotted line) are measured separately, and two work routes corresponding to each scheduled work position are generated. Ru.
  • a circular arc 220 as shown in FIG. 11 is defined at each of these first and second scheduled work positions, and point cloud data at each cross section defined by the circular arc is acquired.
  • the direction perpendicular to the upper surface of the target member 202 is defined as the Z-axis direction (arrow in the drawing), and is set as the coordinate direction fixed when combining each work route.
  • FIG. 29 is a block diagram illustrating functions implemented in the work distribution unit 3400 of the work control unit 25.
  • the structure of the object 2 is complex, and if a task such as welding cannot be completed in one operation, the operation may be divided into multiple steps with one work robot, or the work may be performed on multiple work robots.
  • the work distribution section 3400 includes a processing section 3410 and a storage section 3420.
  • the processing section 3410 includes a welding order determining section 3411, a welding work assignment determining section 3412, and a welding execution instruction section 3413.
  • the storage section 3420 of the work distribution section 34 includes a welding order storage section 3421, a distribution condition storage section 3422, a robot characteristic storage section 3423, and a work history storage section 3424.
  • the welding order determining unit 3411 divides the work route into multiple types of areas and performs welding based on the gap information received from the measurement control unit 24 and the information regarding the welding priority recorded in the welding priority storage unit 3421. Make order decisions.
  • the welding work allocation determining unit 3412 determines the allocation (distribution) of welding work to be performed by one or more work robots.
  • the allocation conditions can be set and changed by the user via the input/output unit 1 or the controller 3 from a plurality of distribution conditions recorded in the distribution condition storage unit 3422.
  • the welding execution instruction unit 3413 transmits a welding execution command to the robot control unit 24 corresponding to the working robot according to the welding work allocation to each working robot determined by the welding work allocation determining unit 3412, and performs the welding work.
  • the work history storage unit 3424 records performance information of work such as welding actually performed by the working robot from the robot control unit 24 in the work history storage unit 3423.
  • the robot control unit 24 does not necessarily need to be provided for each working robot, and if the computing performance of the hardware is sufficiently high, one robot control unit 24 can control multiple working robots. It may be configured to control.
  • FIG. 30 is a diagram showing an example of a control flowchart of the work sharing section 3400.
  • the work route and gap information are acquired from the measurement control unit 2400 (step 301).
  • the welding order determining section 3411 determines the welding order based on the information acquired from the measurement control section 2400 and the information recorded in the welding priority storage section 3421 (step 302).
  • the welding work allocation determining unit 3412 determines the welding work allocation (step 303).
  • the welding execution instruction section 3413 transmits a welding command to the robot control section 24 (step 304).
  • the working robot 2 was configured to include both the sensor 22 and the welding torch 23 as an example of the welding system 100 of the present embodiment, but as shown in FIG. Alternatively, a configuration may be provided in which a measuring robot equipped with a sensor and a welding robot equipped with a welding torch are provided.
  • FIG. 31 is a diagram showing an example of the overall configuration of a welding system 1000 according to another embodiment of the present invention.
  • the welding system 1000 of this embodiment includes a terminal 1, a measuring robot 2000, a welding robot 3000, a controller 3, a measuring robot control section 2401, a work control section 2500, a welding robot control section 2402.
  • the measurement robot 2000 includes at least an arm 2100 and a sensor 2200 mounted on the tip of the arm 2100.
  • the welding robot 3000 includes at least an arm 3100 and a welding torch 3200 mounted on the tip of the arm 3100.
  • the terminal 1 and the controller 3 are connected to the work control unit 2500 by wire or wirelessly so that they can communicate with each other.
  • the present invention is applied to a welding system that welds a target member using a robot arm and a welding torch, but the present invention is not limited to welding applications, but can also be applied to sealing work and It is also possible to apply the present invention to a work system that includes other work such as gluing on the boundary portion of two members, and in that case, the welding torch can be used with a sealant or adhesive. It is possible to replace the welding torch with a discharge part that discharges the discharge part or a working nozzle that performs other work, and the welding torch in this specification shall be interpreted to include the discharge part and other working nozzles.
  • a work route generation system that generates a work route (200) for a work tool when welding or joining target members, one or more work robots (20) that measure the shape of the target member;
  • the work route (200) is generated based on a plurality of measurement data acquired multiple times by one work robot (20) or a plurality of measurement data acquired by a plurality of work robots (20).
  • a work route generation system comprising: (Claim 2) The work route generation system according to claim 1, When composing the first work route and the second work route, the work route synthesis unit (2416) fixes the value of one coordinate direction among the three-dimensional coordinate directions and changes the value of the other coordinate axis components.
  • the first work route and the second work route are combined on the two-dimensional coordinates, the work route (200) on the combined two-dimensional coordinates is converted to three-dimensional coordinates, and the work route (200) on the three-dimensional coordinates is A work route generation system that generates the synthetic work route.
  • the coordinate direction in which the value is fixed is specified in advance based on user input information.
  • the coordinate direction in which the value is fixed is automatically set based on design data of the target member.
  • the work route synthesis unit (2416) is a work route generation system that detects the coordinate direction in which the value of the coordinate direction is fixed based on the point group data acquired as the measurement data.
  • the work route synthesis unit (2416) converts the work route (200) on the synthesized two-dimensional coordinates into three-dimensional coordinates by converting the coordinate directions in the first work route and the second work route.
  • a work route generation system that uses the coordinate values of (Claim 7)
  • a work route generation method using a system that generates a work route (200) for a work tool when welding or joining target members comprising: Measuring a plurality of measurement data regarding the shape of the target member acquired multiple times by one working robot (20), or a plurality of measurement data regarding the shape of the target member acquired by a plurality of work robots (20). death, Generating a first work route based on any one of the plurality of measurement data, Generating a second work route based on any other measurement data of the plurality of measurement data,
  • a work route generation method comprising: composing the first work route and the second work route to generate a composite work route.

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Abstract

Un aspect de la présente invention concerne un système de génération de tracé de travail ou un procédé de génération de tracé de travail pouvant mettre en œuvre un processus de combinaison de tracés de travail d'une manière plus simple. Un aspect de la présente invention concerne un système de génération de tracé de travail destiné à générer un tracé de travail pour un outil de travail lors du soudage ou de l'assemblage d'un élément cible, le système de génération de tracé de travail comprenant : un ou une pluralité de robots de travail destinés à mesurer la forme de l'élément cible ; et une unité de génération de tracé de travail destinée à générer le tracé de travail sur la base d'une pluralité de données de mesure acquises une pluralité de fois par le robot de travail, ou une pluralité de données de mesure acquises par la pluralité de robots de travail. L'unité de génération de tracé de travail comprend : une première unité de génération de tracé de travail destinée à générer un premier tracé de travail sur la base d'un élément de données de mesure parmi la pluralité de données de mesure ; une seconde unité de génération de tracé de travail destinée à générer un second tracé de travail sur la base d'un autre élément de données de mesure parmi la pluralité de données de mesure ; et une unité de combinaison de tracés de travail destinée à générer un tracé de travail combiné par combinaison du premier tracé de travail et du second tracé de travail.
PCT/JP2023/020070 2022-06-01 2023-05-30 Système de génération de tracé de travail et procédé de tracé de trajet de travail WO2023234290A1 (fr)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008020993A (ja) * 2006-07-11 2008-01-31 Tookin:Kk 作業用ロボットの教示データ作成装置
JP2015212012A (ja) * 2009-02-03 2015-11-26 ファナック アメリカ コーポレイション ロボットツールの制御方法
JP2017148878A (ja) * 2016-02-22 2017-08-31 株式会社東芝 軌道データ生成装置および軌道データ生成方法
WO2022009710A1 (fr) * 2020-07-06 2022-01-13 ジャパンマリンユナイテッド株式会社 Procédé de génération automatique d'opération et système de génération automatique d'opération pour robot de soudage

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008020993A (ja) * 2006-07-11 2008-01-31 Tookin:Kk 作業用ロボットの教示データ作成装置
JP2015212012A (ja) * 2009-02-03 2015-11-26 ファナック アメリカ コーポレイション ロボットツールの制御方法
JP2017148878A (ja) * 2016-02-22 2017-08-31 株式会社東芝 軌道データ生成装置および軌道データ生成方法
WO2022009710A1 (fr) * 2020-07-06 2022-01-13 ジャパンマリンユナイテッド株式会社 Procédé de génération automatique d'opération et système de génération automatique d'opération pour robot de soudage

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