WO2023234291A1

WO2023234291A1 - Welding system and welding method

Info

Publication number: WO2023234291A1
Application number: PCT/JP2023/020071
Authority: WO
Inventors: アヤーデ・ヒーブ
Original assignee: リンクウィズ株式会社
Priority date: 2022-06-01
Filing date: 2023-05-30
Publication date: 2023-12-07
Also published as: JP2023176950A

Abstract

[Problem] One embodiment of the present invention provides a welding system and a welding method with which it is possible to realize good quality welding when welding is to be performed at a position where tack welding has been applied. [Solution] One embodiment of the present invention pertains to a welding system that is for performing welding work, by means of a welding torch, on butted portions between a first target member and a second target member, said system comprising: a shape data acquisition unit which acquires shape data of a region that encompasses the butted portions; a tack welding detection unit which, on the basis of the shape data, detects a tack-welded region where the butted portions have been tack welded; and a migration path generation unit which generates a migration path for the welding torch by using the shape data that corresponds to a region outside the tack-welded region but without using the shape data that corresponds to the tack-welded region.

Description

Welding system and welding method

The present invention relates to a welding system and a welding method.

When butt-welding the end faces of two workpieces to be welded using a welding robot, tack welding is performed prior to the main welding operation to prevent the positions of the two workpieces from shifting. technology is used. In addition, in the part where tack welding has been performed, the end face of the workpiece is hidden by the tack weld, so it is necessary to follow the proper route along the end face of the workpiece without being affected by the tack weld. The challenge is to perform welding. For example, Patent Document 1 discloses a technique in which when a detection result by a laser sensor that detects an end face at the same time as main welding becomes larger than a predetermined reference value, the previous detection position is set as the welding position.

Japanese Patent Application Publication No. 2016-150349

However, with the above technology, the end face of the welded part cannot be accurately determined at the position where tack welding is performed, so the position of the actual welding pass deviates from the position where the main welding is to be performed, resulting in poor welding quality. There are challenges. Alternatively, if the quality of tack welding is not ensured to a certain degree, the welded members cannot be properly positioned, resulting in a problem that the welding quality deteriorates.

One aspect of the present invention has been made in view of this background, and is intended to realize high-quality welding when welding a position where tack welding has been performed.

One aspect of the present invention is
A welding system that performs an operation of welding an abutting portion of a first target member and a second target member using a welding torch, the welding system comprising: a shape data acquisition unit that acquires shape data of a region including the abutting portion; a tack welding detection unit that detects a tack welding area where a part is tack welded based on the shape data, and a tack welding detection unit that detects a tack welding area based on the shape data; a welding system, comprising: a movement path generating section that generates a movement path of the welding torch using the shape data.
or,
A welding system that performs an operation of welding an abutting portion of a first target member and a second target member using a welding torch, the welding system comprising: a shape data acquisition unit that acquires shape data of a region including the abutting portion; a tack welding detection unit that detects a tack welding area where the part is tack welded based on the shape data; and a tack welding detection unit that determines whether welding is possible based on information about the tack welding area detected by the tack welding detection unit. This is a welding system that includes a weldability determination section.

Other problems disclosed in the present application and methods for solving them will be clarified by the section of the embodiments of the invention and the drawings.

According to one aspect of the present invention, it is possible to provide a welding system and a welding method that realize high-quality welding when welding a position where tack welding has been performed.

1 is a diagram showing an example of the overall configuration of a welding system 100 according to an embodiment of the present invention. FIG. 3 is a diagram showing how a target member is measured using the welding system 100 according to the present embodiment. FIG. 3 is a diagram showing how target members are welded using the welding system 100 according to the present embodiment. FIG. 3 is a diagram showing an example of the hardware configuration of the terminal 1. FIG. FIG. 1 is a diagram showing an example of a functional configuration of a terminal 1. FIG. FIG. 3 is a diagram showing an example of a process for detecting a tack welding area by the tack welding detection unit 104 according to the present embodiment. FIG. 3 is a diagram showing an example of information stored in a weldability determination criterion storage unit 124 according to the present embodiment. FIG. 4 is a diagram showing an example of conditions related to the position of tack welding stored in the weldability determination criterion storage unit 124 according to the present embodiment. FIG. 4 is a diagram showing an example of conditions related to the size of tack welding stored in a weldability determination criterion storage unit 124 according to the present embodiment. FIG. 4 is a diagram illustrating an example of a condition related to a distance from an adjacent tack weld, which is stored in a weldability determination criterion storage unit 124 according to the present embodiment. FIG. 4 is a diagram showing an example of the torch position and angle conditions stored in the torch position/angle condition storage unit 124 according to the present embodiment. The figure which shows an example of determining a torch position and angle in an overlap type. The figure which shows an example of determining a torch position and angle in T type. The figure which shows an example of determining a torch position and angle in J type. FIG. 7 is a diagram showing another example of the torch position and angle conditions stored in the torch position/angle condition storage unit 124 according to the present embodiment. FIG. 3 is a diagram showing the overall control flow of the welding system according to the present embodiment. The figure which shows the example which defines the several circular arc 220 along the work schedule route in T type. The figure which shows an example of the positional relationship of each member in the two-dimensional plane defined by the circular arc 220, and gap distance measurement in T type. The figure which shows an example of gap distance measurement in the state where the relative position of a target member is inclined in T type. The figure which shows the example which specifies P1-P4 in arbitrary positions of the 1st end surface 201a and the 2nd end surface 202a. The figure which shows the example which detects each terminal end of the 1st and 2nd target member 201, 202. FIG. 3 is a diagram illustrating an example of creating a plurality of reference lines 250. FIG. 23 is a diagram showing a partially enlarged view of FIG. 22; FIG. 3 is a diagram illustrating how a level difference is detected. FIG. 3 is a diagram illustrating an example of generating a melt transfer path by connecting midpoints generated by a transfer path generation unit 106; The figure which shows the example of the whole structure of the welding system 1000 based on other embodiment of this invention.

<Details of embodiment>
A specific example of a welding system 100 according to an embodiment of the present invention will be described below with reference to the drawings. Note that the present invention is not limited to these examples, but is indicated by the scope of the claims, and is intended to include all changes within the meaning and scope equivalent to the scope of the claims. In the following description, the same or similar elements are given the same or similar reference numerals and names in the accompanying drawings, and overlapping description of the same or similar elements may be omitted in the description of each embodiment. Furthermore, features shown in each embodiment can be applied to other embodiments as long as they do not contradict each other.

FIG. 1 is a diagram showing an example of a welding system 100 of this embodiment. As shown in FIG. 1, the welding system 100 of this embodiment includes a terminal 1, a working robot 2, and a controller 3. The working robot 2 has at least an arm 21, a sensor 22, and a welding torch 23. The terminal 1, the controller 3, and the working robot 2 are connected to each other by wire or wirelessly so that they can communicate with each other.

FIG. 2 is a diagram showing how the work robot 2 of the welding system 100 is used to measure the planned work route 31. A scheduled work route 31 for main welding is set by the user and is generated along the butt portion 203 of the two target members 201 and 202. In this embodiment, the sensor 22 provided on the arm 21 of the work robot 2 acquires point cloud data of the shape of the surface and end face near the abutting portion 203 along the planned work route 31, and from the point cloud data. By detecting tack welds and gaps existing in the butt portion 203, adjusting the welding movement path 32, and determining whether or not welding is possible, high-quality welding can be achieved.

FIG. 3 is a diagram showing how the work robot 2 of the welding system 100 is used to weld the generated welding path 200a. A movement path 32 including the target position and target angle of the welding torch is determined according to the generated welding path 200a, and the work robot 2 moves the arm 21 so that the welding torch 23 moves along the movement path 32. The welding operation is performed approximately along the X-axis direction.

<Terminal 1>
FIG. 4 is a diagram showing the hardware configuration of the terminal 1. The terminal 1 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 functions provided in the processor 10 of the terminal 1 may be executed by an external server or another terminal.

The terminal 1 includes at least a processor 10, a memory 11, a storage 12, a transmitting/receiving section 13, an input/output section 14, etc., which are electrically connected to each other via a bus 15.

The processor 10 is an arithmetic device that controls the overall operation of the terminal 1, controls transmission and reception of data, etc. with at least the measurement robot 2 and the welding robot 3, and performs information processing necessary for application execution and authentication processing. be. For example, 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. Perform 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 for the processor 10, and also stores a BIOS (Basic Input/Output System) executed when the terminal 1 is started, various setting information, and the like.

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 the terminal 1 to at least the working robot 2, and transmits and receives data, etc. according to instructions from the processor. Note that 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). .

For example, when the terminal 1 is a personal computer, the input/output unit 14 is composed of an information output device (for example, a display) and an information input device (for example, a keyboard and a mouse), and when the terminal 1 is composed of a smartphone or a tablet terminal. In some cases, it consists of information input/output devices such as touch panels.

The bus 15 is commonly connected to each of the above elements and transmits, for example, address signals, data signals, and various control signals.
<Work robot 2>
Returning to FIG. 1-3, the working robot 2 according to this embodiment will be explained.

As described above, the working robot 2 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. As shown in FIG. 24, a measuring robot 2000 including an arm 2100 and a sensor 2200, and a welding robot 3000 including an arm 3100 and a welding torch 3200 are provided, and the measuring robot performs a measuring operation. It is also possible to perform the welding operation using a welding robot.

The movements of the arm 21 of the measuring robot 2 and the arm 31 of the welding robot 3 are controlled by the terminal 1 based on a three-dimensional robot coordinate system. Further, the operations of the arm 21 and the arm 31 may be controlled by a controller 4 connected to the measuring robot 2 and the welding robot 3 by wire or wirelessly.

The sensor 22 of the working robot 2 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 detects a three-dimensional point near the abutting portion 203 where the first target member 201 and the second target member forming the abutting portion 203 are abutted. Obtain group data. In the three-dimensional point cloud data, for example, each point data has coordinate information of a sensor coordinate system, and the shape of the object to be inspected can be grasped from the point group. The acquired three-dimensional point cloud data is used to detect the tack welding area 30 where the first and second target members 201 and 202 are tack-welded, and to detect the area between the first and second target members 201 and 202 at the butt portion 203. Used to detect gap distance. Based on the detected tack welding area 30 and information on the gap distance, a welding path 200a, which is a welding path, is further generated.

Note that 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 based on a three-dimensional sensor coordinate system. Any coordinate information that can be obtained is sufficient. Further, in order to make the explanation more concrete, a configuration using three-dimensional point group data will be described below as an example.

Note that by performing a predetermined calibration before work and associating the robot coordinate system and the sensor coordinate system with each other, for 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.

The welding torch 23 of the work robot 2 performs a welding path 200a set approximately along the X-axis direction at the abutting portion 203 of the first and second target members 201 and 202 based on the three-dimensional sensor coordinate system. perform welding work. 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. The first and second target members 201 and 202 are welded by outputting a melting arc, laser, beam, or the like. Note that the welding torch 23 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.

Note that a predetermined calibration is performed before the work, and the robot coordinate system of the work robot 2 and the torch coordinate system are associated with each other. For example, by the user specifying the position (coordinates) based on the torch coordinate system, the arm 21 and the welding torch 23 may be configured so that their operations are controlled based on the corresponding positions.

<Function of terminal 1>
FIG. 5 is a block diagram illustrating functions implemented in the terminal 1. In the present embodiment, the processor 10 of the terminal 1 includes a condition setting section 101, a shape data acquisition section 102, a gap/step measurement section 103, a tack welding detection section 104, a weldability determination section 105, and a movement path generation section 106. , and a welding execution section 107. Furthermore, the storage 12 of the terminal 1 includes a condition storage section 121, a three-dimensional CAD data storage section 122, a measured shape data storage section 123, a weldability determination criterion storage section 124, and a torch position/angle condition storage section 125. .

The condition setting unit 101 receives input of information regarding the first and second target members 201 and 202 and information regarding the measurement conditions from the user via the input/output unit 14 of the terminal 1. For example, as information regarding the member to be welded, the user selects and inputs information such as material and shape. As information regarding the measurement conditions, the range of the measurement target, the angle of the measurement sensor, the measurement sampling period, etc. are input by the user. The input information is stored in the welding condition storage section 121.

The condition setting unit 101 further performs linear welding in which a linear welding path is generated by continuously performing a welding operation while moving the welding torch 23, and spot welding in which a welding operation is performed with the welding torch 23 stationary. You can also enter the weld type from . Further, the planned work route 31 can be set and input to the CAD data of the welding target member stored in the three-dimensional CAD data storage section 122. Furthermore, it is possible to set and input a position (two-dimensional plane) for performing gap measurement, which will be described later, for the work planned route 31. The input information on the welding type, welding pass, and gap measurement position is stored in the welding condition storage section 121.

The shape data acquisition unit 102 controls, for example, the measurement robot 2 and operates the arm 21 and the sensor 22 according to instructions from the terminal 1 to obtain first and second target members including a preset work schedule route 31. The three-dimensional point group data of the matching section 203 of 201 and 202 is acquired. Note that the operations of the arm 21 and the sensor 22 are set in advance so that the three-dimensional point group data of the matching section 203 can be acquired. 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 measured shape data storage unit 123.

The gap/level difference measurement unit 103 measures the first target member 201 and the second target member 201 based on the acquired point cloud data, information in the condition storage unit 121, and, depending on the case, information in the three-dimensional CAD data storage unit 122. The gap distance between the target members 202 is measured. In the case of T-type welding, the gap measurement is performed by acquiring point cloud data on a plane defined by a plurality of circular arcs 220 defined along the planned work route 31 as shown in FIG. Gap distance is measured based on point cloud data. A detailed method of gap measurement will be described later. Furthermore, in the case of welding in which the end surfaces of the plates are butted against each other as shown in FIGS. 18-23, the step inclination (θ2) shown in FIG. 22 is measured. A detailed method of determining the slope of the step will be described later.

The tack weld detection unit 104 is an area in the butt part 203 where tack welding has been performed, based on point cloud data acquired by the shape data acquisition unit 102 and stored in the measured shape data storage unit 123. The tack welding area 30 is detected. In particular, when the abutting portion of the first and second target members 201, 202 is long and the distance of the planned work route 31 is long, if the relative positions of the first and second target members 201, 202 are slightly shifted, Since the gap distance and step difference between target members becomes large, tack welding is often performed on the butt portion 203 by tack welding performed prior to main welding.

FIG. 6 shows an example of the process of detecting the tack welding area 30 by the tack welding detection unit 104. FIG. 6 shows a process for detecting a tack weld area when welding the first target member 201 and the second target member 202, particularly when welding is performed in which the end surfaces of plate materials are butted together. The lower side of the drawing shows the first target member 201, the upper side shows the second target member 202, and the dotted line in the center shows the butt part between the target members (that is, the planned work route 31). The tack welding detection unit 103 tack-welds a point group having a large value in the Z-axis direction (depth direction in the drawing) orthogonal to the first and second target members 201 and 202 from the three-dimensional point cloud data of the butt part 203. It is extracted as a welding area 30. In other words, a group of points higher than the surface of the target member is determined to be the tack welding region 30. A method for extracting a point group in the tack welding region 30 is to extract a point group whose value in the Z-axis direction is larger than the average value by a predetermined distance or more, or larger than a predetermined percentage of the thickness of the target member. Alternatively, the value in the Z-axis direction of the first target member 201 and the second target member 202 at a position away from the abutting portion 203 in the Y-axis direction may be used as a reference value, and the value determined in advance from the reference value may be A point group that is larger than a predetermined distance or larger than a predetermined percentage of the thickness of the target member may be extracted. Further, other methods may be used as long as they extract positions that are higher than the surface of the target member.

The tack weld detection unit 104 detects the maximum value point (the point located closest to the second target member) and the minimum value point (the point located closest to the first target member side) in the Y-axis direction of the extracted tack weld area 30. (points located at ) are detected, and the difference between these points in the Y-axis direction is detected. That is, the length of the tack welding area 30 in the Y-axis direction is detected. Alternatively, the center of gravity position of the tack welding area 30 is detected, and the line passing through the center of gravity and connecting the point on the second target member side and the point on the first target member side is the line that has the maximum length and is tack welded. It may also be detected as the length of the region 30.

The weldability determination criteria storage unit 124 stores weldability determination criteria regarding the tack welding position, the size (length) of the tack welding area 30, the tack welding interval, and the gap, as shown in FIG. 7, for example. It stores criteria for determining whether or not welding is possible regarding the distance and step angle of the abutting portion. If the quality of the tack welding is not sufficiently high, there is a possibility that the positional relationship of the target parts will shift during the actual welding process, resulting in a large gap distance or step, which may deteriorate the welding quality of the actual welding. In the weldability determination criteria storage unit 124, conditions are set where the quality of tack welding is poor and actual welding should not be performed.

The criterion for welding failure regarding the position of tack welding is set, for example, as the position of tack welding region 30 being outside the allowable range. Conditions regarding the position of this tack welding will be explained using FIG. 8. As shown in Fig. 8, a tolerance range is set in advance in the Y-axis direction, and if the position of the point group in the tack welding area 30 in the Y-axis direction is within the range of the tolerance position, welding is determined to be OK, and the tack welding is performed. If at least part of the point group in the welding area 30 is outside the allowable range, it is determined that the welding is NG.

Next, the judgment condition for welding failure regarding the size of the tack weld is set as, for example, that the width of the tack weld area 30 is smaller than the lower threshold or larger than the upper threshold. . Conditions regarding the size (length) of this tack welding will be explained using FIG. 9. As an example of the determination condition, as shown in FIG. 9, an allowable range is set in advance for the length (width) L1 of the tack welding area 30 in the Y-axis direction, and the length detected by the tack welding detection unit 104 If L is within the allowable range (more than the lower limit threshold and less than the upper limit threshold), it is determined that welding is OK, and the length L1 detected by the tack welding detection section 104 is outside the allowable range (below the lower limit threshold). or larger than the upper limit threshold), it is determined that welding is NG. Note that the judgment condition does not necessarily have to be the length of the tack welding area 30 in the Y-axis direction; for example, the length of the tack welding area 30 passing through the center of gravity of the tack welding area 30 and the point on the second target member side and the first target It may be the length of the longest line connecting points on the member side. Alternatively, the determination may be made based on whether other parameters related to the size of the tack welding area 30 are within a predetermined range.

Next, the criterion for welding failure regarding the interval between tack welds is that the distance (interval) between adjacent tack welds is greater than a predetermined distance. Conditions regarding the distance between the adjacent tack welds will be explained using FIG. 10. As shown in FIG. 10, if the adjacent distance L2 to the adjacent tack weld is less than or equal to a predetermined distance, it is determined that welding is OK, and if the adjacent distance L2 is longer than the predetermined distance, it is determined that welding is NG. Note that the adjacent distance L2 may be defined as the distance where the straight line distance is the shortest among the point groups of the adjacent tack welding areas 30, or the distance in the X direction where the distance in the X axis direction is the shortest. , or the distance in the X direction between the center of gravity positions of adjacent tack welding areas 30.

Next, the criterion for welding failure regarding the gap distance is that the gap distance exceeds a predetermined threshold value. Specifically, as shown in FIG. 11, if the welding type is overlap type, the gap distance n is larger than a predetermined threshold value (Th2), and if the welding type is T type, the gap distance n is larger than a predetermined threshold value (Th4), and if the welding type is J type, the gap distance n is larger than a predetermined threshold value (Th7). Further, when the welding type is the end butt type, the criterion for welding failure regarding the gap distance is that the gap distance n is larger than a predetermined threshold value (Th9), as shown in FIG.

Another problem is that the step angle of the butt portion in end butt type welding exceeds a predetermined threshold value. Specifically, as shown in FIG. 12, the step angle θ2 exceeds a predetermined threshold value (Th11).

The weldability determination unit 105 uses the weldability determination criteria related to tack welding and gap distance, which are stored in the weldability determination criteria storage unit 124, as well as information regarding the tack welding area 30 detected by the tack welding detection unit, and the gap. Based on the information regarding the gap distance detected by the measurement unit, it is determined whether or not welding is possible. If the weldability determination unit 105 determines that welding is not possible (in other words, it is determined that welding is not permitted), welding paths and welding torch movement paths that are necessary to perform welding The generation or output of 32 is prohibited, or the user is notified via the terminal 1 or the controller 4 that the determination result of whether or not welding is "impossible". Details of the weldability determination will be described later.

The torch position/angle condition storage unit 124 stores the torch position and angle conditions according to the gap distance and step angle between the first target member 201 and the second target member 202, as shown in FIGS. 11 and 15. remembered. In the example shown in FIG. 11, the overlap type shown in FIG. 12 (the type in which the first target member 201 and the second target member 202 are welded in a parallel overlapping state), the T type shown in FIG. mold type (a type in which the end face of the first target member 201 is welded in a position where it is approximately perpendicular to the flat part of the second target member 202), a J-type type as shown in FIG. The length of the gap distance between the first target member 201 and the second target member 202 in each welding type in which the first target member 201 is welded to the flat part of the second member at the curved surface part. Conditions for the position and angle of the welding torch are stored in accordance with the welding conditions.

In the overlap type, when the gap distance n is smaller than the first threshold value (Th1), the position of the welding torch and the angle of the welding torch are at a predetermined position and a predetermined angle, respectively, as shown in FIG. (θ1) is not changed. When the gap distance n is larger than the first threshold value (Th1) and smaller than the second threshold value (Th2), the position of the welding torch is changed from the predetermined position to Z as shown in FIG. 12(b). direction (the torch angle is not changed from the predetermined angle). Moreover, if the gap distance n is larger than the second threshold value (Th2), the gap distance is too large, so welding is rejected.

Next, in the case of the T type, when the gap distance n is smaller than the third threshold value (Th3), the welding torch position is set to the member boundary position to weld, as shown in FIG. 13(a), The angle of the welding torch cannot be changed from a predetermined angle (θ2). When the gap distance n is larger than the third threshold value (Th3) and smaller than the fourth threshold value (Th4), the torch position is changed from the member boundary position to the Z direction as shown in FIG. 13(b). (the torch angle is not changed from the predetermined angle (θ2)), and if the gap distance n is larger than the fourth threshold value (Th4), the gap distance is too large and welding is rejected.

Next, in the J type, when 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 (θ3), respectively. When the gap distance n is larger than the fifth threshold (Th5) and smaller than the sixth threshold (Th6), the torch position is changed from the predetermined position in the X direction as shown in FIG. 14(a). Shift it to the minus side, and do not change the torch angle from the specified angle. When the gap distance n is larger than the sixth threshold (Th6) and smaller than the seventh threshold (Th7), the torch position is changed from the predetermined position in the X direction as shown in FIG. 14(b). By shifting to the minus side, the torch angle is changed from a predetermined angle (θ3) to an angle (θ3') that decreases from a predetermined angle and becomes almost 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.

Furthermore, in the example shown in FIG. 15, the welding torch is adjusted according to the length of the gap distance between the first target member 201 and the second target member 202 in end-butt welding as shown in FIG. Position and angle conditions are memorized. For example, when the gap distance n is smaller than the eighth threshold value (Th8), the position of the welding torch 23 and the angle of the welding torch 23 are not changed from the predetermined position and the predetermined angle (θ1), respectively, and the gap distance n is larger than the eighth threshold (Th8) and smaller than the ninth threshold (Th9), the position of the welding torch 23 is shifted from the predetermined position to the positive side in the Y-axis direction (the torch angle is If the gap distance n is larger than the ninth threshold value (Th9), 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. and prohibits the execution of welding operations.

In the example shown in FIG. 15, the surface on which the first target member 201 and the second target member 202 are placed (in FIG. 23, the Y-axis Conditions for the position and angle of the welding torch according to the inclination (θ2) with respect to the direction) are stored. For example, when the inclination (θ2) is smaller than the tenth threshold (Th10), the position of the welding torch 23 and the angle of the welding torch 23 are not changed from the predetermined position and predetermined angle (θ3), respectively, and the inclination ( When θ2) is larger than the 10th threshold value (Th10) and smaller than the 11th threshold value (Th11), the angle of the welding torch 23 is made larger than a predetermined angle, and the inclination (θ2) is If it is larger than the eleventh threshold (Th11), welding is impossible because the step is too large.

When the welding type is an overlap type, a T type, or a J type, the movement path generation unit 105 uses information in the torch position/angle condition storage unit 124 shown in FIG. The position and angle of the welding torch 23 are determined at each plane position defined by the plurality of circular arcs 220 on which the gap is to be measured according to the gap distance between the target members 202, and the position and angle are determined at each of the plurality of positions. A moving path 32 is generated such that the position of the welding torch 23 is the same. Further, in addition to the movement path 32, an angle target for the attitude angle of the welding torch may be generated so that the angle of the welding torch 23 is determined at each of the plurality of positions.

Here, in the tack welding area 30 detected by the tack welding detection unit 104, the surface shapes of the first and second target members 201 and 202 are covered with the welding material, and the boundary line between each target member is Since it is not possible to accurately measure the distance or the gap distance, if information on the gap distance detected in the tack welding area 30 is used, there is a possibility that the movement path 32 cannot be accurately generated. Therefore, the moving route generation unit 105 excludes information on the plane including the tack welding area 30 from the information on the position of the welding torch 23 determined at the position of each plane of the plurality of circular arcs 220 (that is, the information on the plane including the tack welding area 30). 30), the moving route 32 is generated using information on the position of the welding torch 23 determined at a position corresponding to an area other than the tack welding area 30. In addition, in the same way as above, the angle target for the attitude angle of the welding torch is determined by excluding information on the plane that includes the tack welding area 30 (that is, without using the shape data corresponding to the tack welding area 30), and by An angle target is determined using information on the angle of the welding torch 23 determined at a position corresponding to an area other than the area 30.

Alternatively, if the welding type is a welding type in which the end surfaces of the plates of the first target member 201 and the second target member 202 are butted against each other as shown in FIG. At each position where the step inclination is measured, according to the information in the torch position/angle condition storage unit 124 shown in FIG. The position and angle of the welding torch 23 are determined, and a moving path 32 is generated such that the position and angle of the welding torch 23 are respectively determined at the plurality of positions.

Here as well, as described above, the moving path generation unit 105 generates information on the plane including the tack welding area 30 from the information on the position of the welding torch 23 (center point of the gap) determined at the positions of the plurality of reference lines 250. The moving path 32 is determined by excluding (that is, not using the shape data corresponding to the tack welding area 30) and using information on the position of the welding torch 23 determined at a position corresponding to an area other than the tack welding area 30. generate. In addition, in the same way as above, the angle target for the attitude angle of the welding torch is determined by excluding information on the plane that includes the tack welding area 30 (that is, without using the shape data corresponding to the tack welding area 30), and by An angle target is determined using information on the angle of the welding torch 23 determined at a position corresponding to an area other than the area 30.

The welding execution unit 106 controls the work robot 2 to execute a welding operation based on the generated movement path 32.

As described above, the condition storage unit 121 stores information on the material and shape of the welding target member, measurement conditions, welding type, and gap measurement position input and set in the condition setting unit 101. Note that the stored information is not limited to information input by the user via the welding condition setting unit 101, but may also be information registered in the system in advance or information automatically determined by the system based on predetermined rules. Good too.

The three-dimensional CAD data storage unit 122 stores information on the materials and shapes of the first and second target members 201 and 202, information on the planned work route 31, and plate thickness (Z) of the first and second target members 201 and 202. information such as the thickness in the axial direction).

The measured shape data storage unit 123 stores point cloud data acquired by the point cloud data acquisition unit 102.

<Control flow>
FIG. 16 is a diagram showing the overall control flow of the welding system. First, welding conditions and the like are determined by the welding condition setting section 101 (step 101). In this step, the condition setting unit 101 sends information on the planned work route 31 of the welding target members 201 and 202, the input welding type (T type or plate edge butt type), and shape measurement position information to the terminal 1. It is received from the user via the input/output unit 14. These pieces of information do not necessarily need to be input by the user, and may be registered in the system in advance.

Next, the shape data acquisition unit 102 acquires three-dimensional point group data (step 102). In this step, the working robot 2 is controlled based on the information regarding the scheduled work route 31 that is input in step 101 or set in advance, and the working robot 2 is controlled so that the first and second Three-dimensional point group data of the butt portion 203 of the target members 201 and 202 is acquired. Next, gap measurement is performed by the gap/level difference measuring section 103 (step 103). In this step, the gap/step measuring unit 103 measures the gap distance of the abutting portion and the step inclination of the abutting portion based on the measured three-dimensional point group data. This will be explained in more detail below.

Next, information regarding the tack welding area 30 is acquired by the tack welding detection unit 104 (step 103). Next, the weldability determining unit 105 determines whether welding is possible (step 106). In this step, weldability is determined based on the criteria stored in the weldability determination criteria storage section 124 and the information measured or detected in steps 103 and 104. Next, if the weldability determination result is welding NG, the process transitions to step 111, and if the weldability determination result indicates welding OK, the process transitions to step 108 (step 107). If the result of the welding determination is that the welding is NG, execution of the welding is prohibited and the user is notified that the welding is NG (step 111).

Next, if the result of the welding determination is that welding is OK, the moving path generation unit 106 determines the position and angle of the welding torch (step 108). In this step, based on the conditions stored in the torch position/angle condition storage unit 125 as shown in FIG. Determine the position and angle of. Next, the movement path generating section generates a movement path 32 for the welding torch (step 109). In this step, a welding torch movement path 32 is generated so that the position and angle of the welding torch are set in each two-dimensional plane generated in step 108. Next, the welding torch is controlled along the generated movement path 32 to perform welding (step 110).

17-19 shows the gap distance in T-type welding (a state in which the end surface of the second target member 202 is abutted approximately perpendicularly to the flat surface of the first target member 201) as shown in FIG. A specific example of measuring (step 103) and generating the travel route 32 (step 109) will be described.

FIG. 17(a) shows an example in which a plurality of circular arcs 220 are defined along the planned work route 31 when performing gap measurement in step 103 in T-type welding. Arcs 220 are defined at predetermined intervals in the Y-axis direction along the planned work route 31 stored in the three-dimensional CAD data storage unit 122 or the like. Point cloud data is acquired for each two-dimensional plane defined by each arc 220. FIG. 17(b) is a diagram showing an example of point cloud data acquired for each two-dimensional plane defined by each of the circular arcs 220 described above. On a plane other than the tack welding area 30, L-shaped point cloud data is acquired along the surface shapes of the first and second target members.

FIG. 18A shows the positional relationship of each member in a two-dimensional plane defined by an arc 220 when measuring T-shaped target members 201 and 202. FIG. 18(b) shows an example of point cloud data on a two-dimensional plane defined by the circular arc 220. The gap/level difference measurement unit 103 calculates a point group indicating the lowest part (end) of the target member 201 and the surface shape of the target member 202 based on two-dimensional point cloud data as shown in FIG. 18(b). By calculating the distance to the indicated point group, the gap distance between the target members 201 and 202 is obtained. As an example, 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, and can be defined as the distance between the pair of points where the straight-line distance between the point groups is the shortest. However, 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.

Furthermore, FIGS. 19(a) and 19(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. 19(a) shows a state in which the target member 201 is tilted in a direction away from the working robot 2. As shown in FIG. 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. . On the other hand, FIG. 19(b) shows a state in which the first target member 201 is tilted in a direction approaching the measurement robot. In this state, the distance between the edge position of the first target member 201 on the working robot 2 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. do.

In the generation of the movement path 32 (step 109), the welding torch movement path 32 is generated so that the welding torch position determined in step 108 is reached in the plane position defined by the circular arc 220. Here, as shown in FIG. 17(b), since the surface shapes of the first and second target members cannot be measured in the plane position including the tack welding area 30, it is difficult to accurately obtain the gap distance. Therefore, it is not possible to properly judge the position of the welding torch. Therefore, in generating the moving route 32 (step 109), data including the tack welding area 30 is excluded from the information used to generate the moving route 32. Specifically, point cloud data acquired at a plane position including the tack welding area 30 shown in FIG. 17(b), a gap distance measured based on this, and a welding torch determined based on this. The welding torch is moved based on point cloud data acquired at a plane position that does not include the tack welding area 30, the gap distance generated based on this, and the information on the welding torch position. Generate route 32. For example, the movement path 32 of the welding torch in the tack welding area 30 is a path connecting the positions of the welding torch in a plane that does not include the tack welding area 30 adjacent to both sides of the tack welding area 30 in the Y-axis direction. It can be done.

FIG. 20-25 shows the measurement of the gap distance (step 103) and the generation of the movement path 32 when welding is performed with the end surfaces of the plates of the first target member 201 and the second target member 202 butted against each other. A specific example of executing (step 109) will be described.

FIG. 20 shows an example of preprocessing when measuring the gap distance (gap) and level difference of the abutting portion 203 including the first end surface 201a and the second end surface 202a of the first and second target members 201 and 202. It shows. As shown in FIG. 20, a gap G with a gap distance n exists between the first end surface 201a and the second end surface 202a, and a plurality of tack welding regions 30 exist. In such a case, first, specify P1 at an arbitrary position on the first end surface 201a of the first target member 201, and then specify P1 at an arbitrary position on the second end surface 202a of the second target member 202 with the gap G in between. Specify P2 as the position. Further, P3 and P4 are designated on the plus side and minus side of the first end surface 201a in the X-axis direction, respectively, so as to sandwich P1. Here, the designation of P1, 2, 3, and 4 may be input by the user via the terminal 1 or controller 3, or may be automatically designated by the welding system 100.

Next, as shown in FIG. 21, point cloud search is performed by scanning the operation spheres 230 and 240 along the X-axis direction in the plus and minus sides of the X-axis with reference to the specified P1 and P2. Then, the ends of each of the first and second target members 201 and 202 are detected. Here, the radius of each operation sphere (SearchRadius) 230 from P1 is SearchRadiusV, the arrangement interval of the operation spheres 230 is PitchV, and similarly, the radius of each operation sphere 240 from P2 is SearchRadiusV, The arrangement interval of the operation sphere (SearchRadius) 240 is PitchV, and the points are scanned in the plus side and minus side of the X-axis direction, respectively, and the point where point cloud data (two-dimensional) on the cross-sectional plane cannot be obtained is the first terminal point. 203a, 204a, and second terminal ends 203b, 204b.

Next, as shown in FIG. 22, the gap measurement unit 103 connects the corresponding balls with a straight line across the gap G between the operating balls 230 and 240, and creates a plurality of reference lines that are the cross section of the planned work route 31. Create 250. At this time, pair each sphere 230, 240 so that the distance is the shortest to the point group in each operation sphere (SearchRadius) 230, 240, that is, the point group in SearchRadius is the shortest distance to each other. The shortest distance between the first end surface 201a of the first target member 201 and the second end surface 202a of the second target member 202 is obtained as the gap distance n.

FIG. 23 is a partially enlarged view of FIG. 22. Here, the reference line 250 created in FIG. 22 is further divided. As shown in FIG. 23, the radius of each operating ball 260 is SearchRadiusU, and the arrangement of the operating balls 260 is Scanning is performed on the plus side and the minus side in the Y-axis direction with an interval of PitchV, and a midpoint is searched for every reference line 250.

FIG. 24 shows how steps are detected using the position of the center of gravity of the point of the operating ball 260 in FIG. 23. As shown in FIG. 24, if there is a step between the upper surfaces of the first target member 201 and the second target member 202, for example, in FIG. The midpoint C of the line segment 280 connecting the end points 201b and 202b of the end faces 201a and 202a that can no longer be obtained is calculated. Here, since the amount of change in the center of gravity position of the point of the operating ball 260 is large, the difference in height in the Z-axis direction is detected as a step.

Next, the welding torch position/angle determination unit 104 determines the welding position by the welding torch 23 and the welding torch angle (step 104). In this step, the welding torch position/angle determining unit 104 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 124. , determines the position of the welding torch 23 and the angle of the welding torch 23, determines the suitability of welding, and notifies the user of the determination result of suitability of welding.

For example, as shown in FIG. 15, when the gap distance n is smaller than the first threshold (Th1), the welding torch position/angle condition storage unit 124 stores The angles of are unchanged from the predetermined position and predetermined angle (θ1), respectively, and if the gap distance n is larger than the first threshold value (Th1) and smaller than the second threshold value (Th2), the welding torch 23 is shifted from the predetermined position to the positive side in the Y-axis direction (the torch angle is not changed from the predetermined angle), and if the gap distance n is larger than the second threshold (Th2), it is determined that welding is not possible. Then, an error notification indicating that welding should not be performed is sent via the input/output unit 14, and execution of the welding operation is prohibited.

In addition, as shown in FIG. 15, the welding torch position/angle condition storage unit 124 stores information when there is a step (deviation in the Z-axis direction) on the upper surfaces of the first target member 201 and the second target member 202. , the welding torch position/angle determining unit 104 has a gap surface GS formed by connecting the first end surface 201a and the second end surface 202a, and the first and second target members 201 and 202 are placed. The position and angle of the welding torch 23 with respect to the gap plane GS at the gap measurement position are determined according to the information regarding the inclination (θ2) with respect to the plane (Y-axis direction in FIG. 24) and the information in the torch position/angle condition storage unit 124. do. For example, when the inclination (θ2) is smaller than the third threshold value (Th3), the position of the welding torch 23 and the angle of the welding torch 23 are not changed from the predetermined position and the predetermined angle (θ3), respectively, and the inclination ( If θ2) is larger than the third threshold (Th3) and smaller than the fourth threshold (Th4), the angle of the welding torch 23 is made larger than the predetermined angle, and the inclination (θ2) is If it is larger than the fourth threshold (Th4), it is determined that welding is not possible because the step is too large, and an error notification indicating that welding should not be performed is sent via the input/output unit 14, and the welding operation is executed. prohibited. At this time, it is preferable to adjust the angle of the welding torch 23 with respect to the gap surface GS to be perpendicular to the gap surface GS in order to improve welding quality.

Next, as shown in FIG. 25, a welding path 200a is generated by connecting the midpoints generated by the moving path generating section 106 (step 109). In this step, the movement path generation unit 106 is set to be substantially along the X-axis direction, and based on the position of the welding torch 23 and the angle of the welding torch 23, the movement path generation unit 106 moves the welding torch 23 defined by the movement route and angle. Generate route 32. Here, the moving route 32 can also be defined as a moving route defined only by the position of the welding torch 23.

Here, in the generation of the movement path 32 (step 109), the movement path 32 of the welding torch is generated so that the position of the welding torch determined in step 108 is reached at each position of the reference line 250. Here, as shown in FIG. 25, since the surface shapes of the first and second target members cannot be measured in the plane position including the tack welding area 30, the gap distance and inclination (θ2) must be accurately obtained. Therefore, the position of the welding torch cannot be determined appropriately. Therefore, in generating the moving route 32 (step 109), data including the tack welding area 30 is excluded from the information used to generate the moving route 32. Specifically, excluding the gap distance and inclination (θ2) obtained from the reference line 250 passing through the tack welding area 30 shown in FIG. 25, and the position of the welding torch determined based on this, A moving path 32 of the welding torch is generated based on point cloud data acquired with a reference line that does not pass through the tack welding area 30 and information on the gap distance and the position of the welding torch generated based on the data. For example, a path connecting the welding torch position (gap midpoint) determined on a reference line that does not include the tack welding area 30 adjacent to both sides of the tack welding area 30 in the X-axis direction in FIG. 25 with a straight line, This can be a moving path 32 of the welding torch in the tack welding area 30 .

As explained in FIGS. 20-25, by setting the movement path 32 at the center of the gap, the movement path 32 can be generated even if the gap is not on a plane. Furthermore, by welding at the center of the gap, welding can be performed with minimal input resources and energy. Furthermore, it becomes easy to change the welding conditions according to the extracted gap amount. As a result, even if there is a gap or a step in the butt portion of the target members to be welded, and the width of the gap or step is not constant, welding can be performed with high precision, and the quality of welding can be improved.

Although the present embodiment has been described above, the above embodiment is for facilitating the understanding of the present invention, and is not intended to be interpreted as limiting the present invention. The present invention may be modified and improved without departing from the spirit thereof, and the present invention also includes equivalents thereof.

For example, in FIG. 1, as an example of the welding system 100 of the present embodiment, the working robot 2 is configured to include both a sensor 22 and a welding torch 23; It is also possible to have a configuration including a welding robot equipped with a welding robot.

FIG. 26 is a diagram showing an example of the overall configuration of a welding system 1000 according to another embodiment of the present invention. A welding system 1000 shown in FIG. 26 includes a terminal 1, a measuring robot 2000, a welding robot 3000, and a controller 3. The measuring 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 measuring robot 2000 and the welding robot 3000, respectively, by wire or wirelessly so that they can communicate with each other.

In this embodiment, the sensor 2200 provided on the arm 2100 of the measurement robot 2000 acquires point cloud data of the shapes of the surfaces and end surfaces near the abutting portion 203 of the two target members 201 and 202 shown in FIG. A moving route 32 is generated from the point group data according to the gaps and steps of the butt portions 203. Then, the welding robot 3000 controls the operation of the arm 3100 according to the generated movement path 32, and performs a welding operation approximately along the X-axis direction.

In the embodiment described above, an example in which the present invention is applied to a welding system that performs welding using a robot arm has been described, but the present invention is not limited to welding applications, but can also be applied to sealing work, bonding work, etc. The present invention can also be applied to a welding system that performs work such as adhesion on butt portions. In that case, the welding torch can be replaced with a discharge part that discharges the sealant or adhesive.

Finally, embodiments of the present invention will be summarized below using drawings and corresponding descriptions.

(Claim 1)
A welding system (100, 1000) that performs the work of welding a butt part (203) of a first target member (201) and a second target member (202) with a welding torch (23),
a shape data acquisition unit (102) that acquires shape data of a region including the butt portion (203);
a tack weld detection unit (104) that detects a tack weld area (30) where the butt portion (203) is tack welded based on the shape data;
The movement path (32 ) A welding system (100), comprising: a movement path generating section (106) that generates a movement path generating section (106).
(Claim 2)
The welding system (100, 1000) according to claim 1,
The shape data acquisition unit (102) measures three-dimensional point group data of a region including the butt part (203),
The tack welding detection unit (104) performs the tack welding on a region raised in the thickness direction of the first target member (201) or the second target member (202) based on the three-dimensional point cloud data. A welding system (100) that determines a region (30).
(Claim 3)
The welding system (100, 1000) according to any one of claims 1 and 2,
A gap measuring unit (103) that measures a gap distance (n) between the first target member (201) and the second target member (202) in an outer region of the tack welding region (30). ,
The welding system (100), wherein the movement path generation section (106) generates a movement path (32) for the welding torch (23) based on the gap distance (n) measured by the gap measurement section (103).
(Claim 4)
The welding system (100, 1000) according to any one of claims 1 to 3,
A welding system (100) comprising a weldability determination section (105) that determines whether or not welding is possible based on information regarding the tack welding area (30) detected by the tack welding detection section (104).
(Claim 5)
The welding system (100, 1000) according to any one of claims 1 to 4,
When the welding capability determining unit (105) determines that welding is not possible, prohibiting the generation or output of the movement path (32) of the welding torch (23), or notifying the user that welding is not possible; Welding system (100).
(Claim 6)
The welding system (100, 1000) according to any one of claims 1 to 5,
The weldability determination unit (105) determines that welding is possible when the position of the tack welding area (30) falls within a preset allowable position range, and determines that welding is possible when the position of the tack welding area (30) falls within a preset allowable position range. A welding system (100) that determines that welding is not possible when the welding is not performed.
(Claim 7)
The welding system (100, 1000) according to any one of claims 1 to 6,
The weldability determination unit (105) determines whether at least one of the length, area, and volume of the tack welding area (30) falls within a preset tolerance range, and A welding system (100) that determines that welding is possible when the range is within the allowable range, and determines that welding is not possible when the range is not within the allowable range.
(Claim 8)
The welding system (100, 1000) according to any one of claims 1 to 7,
When a plurality of the tack welding regions (30) exist in the butt portion (203),
The weldability determination unit (105) determines whether an adjacent distance between any of the tack welding areas (30) and another adjacent tack welding area (30) falls within a preset tolerance range. A welding system (100) that determines whether or not the welding is possible, and determines that welding is possible if it falls within the tolerance range, and determines that welding is not possible if it does not fall within the tolerance range.
(Claim 9)
A welding system (100, 1000) that performs the work of welding a butt part (203) of a first target member (201) and a second target member (202) with a welding torch (23),
a shape data acquisition unit (102) that acquires shape data of a region including the butt portion (203);
a tack weld detection unit (104) that detects a tack weld area (30) where the butt portion (203) is tack welded based on the shape data;
A welding system (1000) comprising a weldability determining unit (105) that determines whether welding is possible based on information regarding the tack welding area (30) detected by the tack welding detection unit (104).
(Claim 10)
The welding system (100, 1000) according to claim 9,
When the welding capability determining unit (105) determines that welding is not possible, prohibiting the generation or output of the movement path (32) of the welding torch (23), or notifying the user that welding is not possible; Welding system (1000).
(Claim 11)
The welding system (100, 1000) according to any one of claims 9 or 10,
The weldability determination unit (105) determines that welding is possible when the position of the tack welding area (30) falls within a preset allowable position range, and determines that welding is possible when the position of the tack welding area (30) falls within a preset allowable position range. A welding system (1000) that determines that welding is not possible when the welding is not performed.
(Claim 12)
The welding system (100, 1000) according to any one of claims 9 to 11,
The weldability determination unit (105) determines whether at least one of the length, area, and volume of the tack welding area (30) falls within a preset tolerance range, and A welding system (1000) that determines that welding is possible when the range is within the allowable range, and determines that welding is not possible when the range is not within the allowable range.
(Claim 13)
The welding system (100, 1000) according to any one of claims 9 to 12,
When a plurality of the tack welding regions (30) exist in the butt portion (203),
The weldability determination unit (105) determines whether an adjacent distance between any of the tack welding areas (30) and another adjacent tack welding area (30) falls within a preset tolerance range. A welding system (1000) that determines whether or not the welding is possible, and determines that welding is possible if it falls within the tolerance range, and determines that welding is not possible if it does not fall within the tolerance range.
(Claim 14)
This is a welding method using a welding system (100, 1000) for welding a butt part (203) of a first target member (201) and a second target member (202) with a welding torch (23). hand,
obtaining shape data of a region including the butt portion (203);
detecting a tack welding area (30) where the butt portion (203) is tack welded based on the shape data;
The movement path (32 ), welding method.
(Claim 15)
This is a welding method using a welding system (100, 1000) for welding a butt part (203) of a first target member (201) and a second target member (202) with a welding torch (23). hand,
obtaining shape data of a region including the butt portion (203);
detecting a tack welding area (30) where the butt portion (203) is tack welded based on the shape data;
A welding method that determines whether or not welding is possible based on information regarding the tack welding area (30) detected by the tack welding detection unit (104).

1 Terminal 2 Work robot 3 Controller 10 Processor 11 Memory 12 Storage 13 Transmission/reception unit 14 Input/output unit 15 Bus 21 Arm 22 Sensor 23 Welding torch 30 Tack welding area 31 Scheduled work route 32 Travel path 100, 1000 Welding system 101 Condition setting Section 102 Shape data acquisition section 103 Gap/step measurement section 104 Tack weld detection section 105 Weldability determination section 106 Movement path generation section 107 Welding execution section 121 Condition storage section 122 Three-dimensional CAD data storage section 123 Measured shape data storage section 124 Weldability determination criteria storage unit 125 Torch position/angle condition storage unit 201 First target member 201a First end face 201b First end point 202 Second target member 202a Second end face 202b Second end point 203 Abutment portion 203a , 204a First end 203b, 204b Second end 220 Arc 230, 240, 260 Operation sphere 250 Reference line 270 Point group 280 Line segment 2000 Measuring robot 3000 Welding robot G Gap GS Gap surface n Gap distance C Midpoint

Claims

A welding system that performs the work of welding a butt part of a first target member and a second target member with a welding torch, the welding system comprising:
a shape data acquisition unit that acquires shape data of a region including the butt portion;
a tack weld detection unit that detects a tack weld area where the butt portion is tack welded based on the shape data;
a movement path generation unit that generates a movement path of the welding torch using the shape data corresponding to an area outside the tack welding area without using the shape data corresponding to the tack welding area; , welding system.
The welding system according to claim 1,
The shape data acquisition unit measures three-dimensional point cloud data of a region including the butt portion,
The welding system, wherein the tack welding detection unit determines a region raised in the thickness direction of the first target member or the second target member as the tack welding region based on the three-dimensional point group data.
The welding system according to claim 1 or 2,
comprising a gap measuring unit that measures a gap distance between the first target member and the second target member in an area outside the tack welding area,
In the welding system, the movement path generation section generates a movement path of the welding torch based on the gap distance measured by the gap measurement section.
The welding system according to claim 1,
A welding system, comprising: a weldability determining unit that determines whether or not welding is possible based on information regarding the tack welding area detected by the tack welding detection unit.
The welding system according to claim 4,
A welding system that prohibits generation or output of a movement path of the welding torch or notifies a user that welding is not possible when the welding possibility determining unit determines that welding is not possible.
The welding system according to claim 4,
The weldability determination section determines that welding is possible when the position of the tack welding area is within a preset allowable position range, and determines that welding is not possible when it is not within the allowable position range. The welding system is determined to be.
The welding system according to claim 4,
The weldability determination unit determines whether at least one of the length, area, and volume of the tack welding region falls within a preset tolerance range, and if it falls within the tolerance range, A welding system that determines that welding is possible, and determines that welding is not possible if it is not within the tolerance range.
The welding system according to claim 4,
When a plurality of the tack welding areas exist in the butt portion,
The weldability determination unit determines whether an adjacent distance between any of the tack welding areas and the other adjacent tack welding area is within a preset tolerance range, and A welding system that determines that welding is possible when the range is within the range, and determines that welding is not possible when it is not within the allowable range.
A welding system that performs the work of welding a butt part of a first target member and a second target member with a welding torch, the welding system comprising:
a shape data acquisition unit that acquires shape data of a region including the butt portion;
a tack weld detection unit that detects a tack weld area where the butt portion is tack welded based on the shape data;
A welding system, comprising: a weldability determining unit that determines whether or not welding is possible based on information regarding the tack welding area detected by the tack welding detection unit.
The welding system according to claim 9,
A welding system that prohibits generation or output of a movement path of the welding torch or notifies a user that welding is not possible when the welding possibility determining unit determines that welding is not possible.
The welding system according to claim 9,
The weldability determination section determines that welding is possible when the position of the tack welding area is within a preset allowable position range, and determines that welding is not possible when it is not within the allowable position range. The welding system is determined to be.
The welding system according to claim 9,
The weldability determination unit determines whether at least one of the length, area, and volume of the tack welding region falls within a preset tolerance range, and if it falls within the tolerance range, A welding system that determines that welding is possible, and determines that welding is not possible if it is not within the tolerance range.
The welding system according to claim 9,
When a plurality of the tack welding areas exist in the butt portion,
The weldability determination unit determines whether an adjacent distance between any of the tack welding areas and the other adjacent tack welding area is within a preset tolerance range, and A welding system that determines that welding is possible when the range is within the range, and determines that welding is not possible when it is not within the allowable range.
A welding method using a welding system that performs the work of welding a butt part of a first target member and a second target member with a welding torch, the welding method comprising:
obtaining shape data of a region including the butt portion;
detecting a tack welding area where the butt portion is tack welded based on the shape data;
A welding method, wherein a moving path of the welding torch is generated using the shape data corresponding to an area outside the tack welding area without using the shape data corresponding to the tack welding area.
A welding method using a welding system that performs the work of welding a butt part of a first target member and a second target member with a welding torch, the welding method comprising:
obtaining shape data of a region including the butt portion;
detecting a tack welding area where the butt portion is tack welded based on the shape data;
A welding method that determines whether or not welding is possible based on information regarding the tack welding area detected by the tack welding detection section.