CN104076804A - Operation path information setting device, program and operation path information setting method - Google Patents
Operation path information setting device, program and operation path information setting method Download PDFInfo
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- CN104076804A CN104076804A CN201410072009.3A CN201410072009A CN104076804A CN 104076804 A CN104076804 A CN 104076804A CN 201410072009 A CN201410072009 A CN 201410072009A CN 104076804 A CN104076804 A CN 104076804A
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Abstract
The invention provides an operation path information setting device, a program and an operation path information setting method, which reduces operation path information input operation performed by an operator when action track information of operation object equipment is generated. The operation path information setting device is used for setting operation path information of a workpiece on which the operation object equipment performs operation for operation instruction for the operation object equipment before operation. The operation path information setting device is provided with the components of: a welding line information storage part (61) which stores the operation path information of a reference workpiece model correspondingly with identifying information; a similar workpiece structure information acquiring part (51) which acquires structure information of a similar workpiece model that is used as a workpiece model of the operation path information and has size that is different from the reference workpiece model and a shape that is similar with that of the reference workpiece model; and a similar welding line information generating part (55) which uses the operation path information of the reference workpiece model and generates the operation path information of the similar workpiece model according to the acquired similar workpiece model.
Description
Technical field
The present invention relates to working path information setting device, program and working path information setting method for automatic teaching system.
Background technology
As workpiece is implemented operation by an example of manipulating object equipment, the welding robot welding performs an action according to the mode of carrying out the operation set by its training data.In welding robot teaching method, exist for example based on PTP (Point to Point, point-to-point) CP (the Continuous Pass of linear interpolation, continuous pass) control mode, this is the teaching method of the interpolation method of these points of position, posture and link of the designated robot point that should pass through.But, this teaching method due to the welding position place of the workpiece as manipulating object come by manual operation that designated robot passes through position, posture and its interpolation method a little, therefore there is the too time-consuming shortcoming of teaching.
The prior art of recording as communique, (for example there is following technology, with reference to patent documentation 1): in the time welding robot being used in to the welding of framework etc., in order to raise the efficiency, by corner coupling head shape, welding track and welding condition isotypeization pre-stored in storer, in the time that the corner sealing wire of framework etc. is carried out to teaching, model selection and a reference point are carried out to teaching.
In addition, in the off line teaching method that has utilized cad data, there is following method (for example, with reference to patent documentation 2): in the time that similar operation is newly carried out to teaching, call the storehouse, path of interim preservation, for making of new working path data.And, in this patent documentation 2, in the time that object of the same race is utilized to storehouse, path, need the data (for example,, with reference to 2, the (0069) sections of patent documentations) of input block.
In addition, (for example there is following method, with reference to patent documentation 3): comprise the 2nd teaching step that automatically makes the 1st teaching step without teach mode of operation path of motion of robot and operator and input the common off line teach mode of operation path of motion based on three-dimensional information, carry out teaching for the production line that can apply without teach mode by the 1st teaching step, for adopting the production line without teach mode to carry out teaching by operator.Thus, much cannot adopt the operation object without the production line of teach mode even exist, also can be by combining to reduce the operating area of carrying out online teaching without teach mode and off line teaching.
Prior art document
Patent documentation
Patent documentation 1:JP JP 56-102376 communique
Patent documentation 2:JP Unexamined Patent 8-286722 communique
Patent documentation 3:JP JP 2000-190264 communique
But, in these prior aries, whenever making when by the movement locus information of the robot of manipulating object equipment, operator need to become the appointment of the reference point of the Seeding location of manipulating object, and specifies and extract working path from 3 D workpiece model.In addition,, in order to make the movement locus information in each working path, operator such as must input movement locus pattern, be made the required parameter of movement locus by the numbering of the ID of manipulating object equipment, movement locus information etc.
In recent years, follow the variation of the market demand, product (workpiece) complicated and the development rapidly of maximizing, and the workpiece of marginally producing many kinds becomes main flow.Wherein, in the case of producing the workpiece varying in size of height (H size), width (W size), depth (D size) etc., even also cannot utilize original movement locus information for analogous shape, when every subjob changes, all need again to carry out teaching., require operator to extract a lot of working paths and carry out according to each working path the manual operation (following, to be called " the input operation of working path information ") that input action track makes required parameter again when teaching at this.For the operator who utilizes off line teaching, this manually operated homework burden is very large, becomes one of reason of the degradation in efficiency of the off line teaching that has made to utilize automatic programming function.
Summary of the invention
The object of the invention is to, alleviate the input operation of the working path information that operator carries out in the time making by the movement locus information of manipulating object equipment.
Apply working path information setting device of the present invention, for automatic teaching system, for the operation of being implemented before operation by manipulating object equipment is indicated, and set this by the working path information of the workpiece of manipulating object equipment enforcement operation, described working path information setting device is characterised in that, possess: storage unit, it is stored the working path information of the benchmark part model of base shape and the identifying information of identification working path accordingly, tectonic information is obtained unit, its obtain as to newly make working path information part model, vary in size and the tectonic information of the similar similar part model of shape with described benchmark part model, make unit with working path information, its utilization is stored in the working path information of the described benchmark part model in described storage unit, make the working path information of this similar part model according to the tectonic information of being obtained the described similar part model of obtaining unit by described tectonic information, described working path information makes unit, to in the working path information of described benchmark part model, the working path information with the identifying information identical with the identifying information of the working path comprising in the tectonic information of described similar part model recycles to make the working path information of this similar part model.
At this, feature is also, also possess and show that described working path information makes the display unit of the operation result of unit, described working path information makes unit, the tectonic information of described similar part model and the working path information that is stored in the described benchmark part model in described storage unit are compared, in the case of not having identical identifying information, do not utilize the working path information of this benchmark part model, and utilize this tectonic information to make new working path information, described display unit shows the result that has made described new working path information.
In addition, feature is also, described working path information makes unit, for thering is each working path of identical identifying information with the working path of the working path information of described benchmark part model, judge whether the quantity of setting consistent, whether attribute consistent and operating direction in whether consistent at least any one.
On the other hand, the present invention is a kind of program, computing machine is played a role as setting the system of this working path information of being implemented the workpiece of operation by manipulating object equipment in order to be implemented the operation instruction before operation by manipulating object equipment, and described program makes the following function of described computer realization: the function that obtains the working path information with the identification identifying information of working path and the benchmark part model of base shape; Obtain as to newly make working path object, vary in size with described benchmark part model and the function of the tectonic information of the similar similar part model of shape; With utilize the working path information of described benchmark part model to make the working path information of this similar part model according to the tectonic information of described similar part model, and working path information in the working path information of this benchmark part model, that have the identifying information identical with the identifying information of the working path comprising in the tectonic information of this similar part model is recycled to the function of the working path information that makes this similar part model.
And then, if grasp the present invention from the category of method, the present invention is a kind of working path information setting method, for the operation of being implemented before operation by manipulating object equipment is indicated, and set this by the working path information of the workpiece of manipulating object equipment enforcement operation, described working path information setting method is characterised in that, obtain the identifying information with identification working path, and the working path information of the benchmark part model of base shape, obtain as the object that will newly make working path, vary in size with described benchmark part model and the tectonic information of the similar similar part model of shape, utilize the working path information of described benchmark part model to make the working path information of this similar part model according to the tectonic information of described similar part model, and in the working path information of this benchmark part model, the working path information with the identifying information identical with the identifying information of the working path comprising in the tectonic information of this similar part model recycles to make the working path information of this similar part model.
Invention effect
According to the present invention, compared with not adopting situation of the present invention, can significantly alleviate the input operation of the working path information that operator is carried out in the time making by the movement locus information of manipulating object equipment.
Brief description of the drawings
Fig. 1 is the figure that has represented to utilize the summary of the automatic teaching system of the related welding robot of present embodiment to form.
Fig. 2 is the figure that represents the hardware configuration example of the sealing wire information setting device of present embodiment.
Fig. 3 is the figure that represents the function composing example of the sealing wire information setting device of present embodiment.
Fig. 4 (a), (b) are for illustrating the figure of an example of tectonic information of the similar part model that is stored in similar workpiece configuration information storage part, obtain from similar workpiece configuration information obtaining section.
Fig. 5 is the process flow diagram of the representation class processing that seemingly workpiece configuration information obtaining section, similar workpiece configuration validation of information portion and show/correction of the confirmation result portion of accepting carry out.
Fig. 6 (a), (b) are the figure of the confirmation processing of the tectonic information for the similar part model carrying out in step 102～104 of Fig. 5 is described.
Fig. 7 is the figure of an example of the display frame that uses in the processing of step 106～108 that are illustrated in Fig. 5.
Fig. 8 is the key diagram of the concept that makes function of the sealing wire information of the similar part model for present embodiment is described.
Fig. 9 is that representation class makes portion like sealing wire information and makes the process flow diagram that result shows/edit the flow process of accepting the performed processing of portion.
Figure 10 is the figure for the confirmation processing of the same weld line name of the step 202 of key diagram 9.
Figure 11 (a)～(c) is the figure for the step 203,204 of key diagram 9,205 processing.
Figure 12 (a), (b) are the figure for the automatic input processing of the sealing wire information of the processing shown in the step 207 of key diagram 9.
Figure 13 (a), (b) are the figure whether for the vector data of the step 208 of key diagram 9 with the judgement processing of matching.
Figure 14 is the figure that makes processing for the new sealing wire information of the processing shown in the step 211 of key diagram 9.
Figure 15 is the figure of the display case that makes result of the sealing wire information of the similar part model shown in the step 210 of presentation graphs 9.
Figure 16 (a), (b) are the key diagrams that the summary for present embodiment is described forms.
Symbol description:
50 ... sealing wire information setting device, 51 ... similar workpiece configuration information obtaining section, 52 ... similar workpiece configuration validation of information portion, 53 ... confirmation result shows/revises accepts portion, 54 ... benchmark sealing wire information setting is accepted portion, 55 ... similar sealing wire information makes portion, 56 ... show/editor accepts portion to make result, 57 ... similar sealing wire information stores processor portion, 61 ... sealing wire information storage part, 62 ... similar workpiece configuration information storage part.
Embodiment
Below, with reference to accompanying drawing, embodiments of the present invention are at length described.
(summary description of present embodiment)
First,, before entering the illustrating of present embodiment, for easy understanding, the summary of the sealing wire information setting to application present embodiment describes.
Figure 16 (a), (b) are the key diagrams that the summary for present embodiment is described forms.Figure 16 (a) is the concept map of the sealing wire information setting of application present embodiment, Figure 16 (b) sets an example of GUI as the file of sealing wire recycling function, show the setting picture example of the sealing wire information for make similar part model according to the file of the sealing wire information of the file of the tectonic information of similar part model and benchmark part model.
In Figure 16 (a), as the model of being implemented the workpiece of weld job by robot 10, show benchmark part model 301 and vary in size but similar 2 the similar part models 302,303 of shape with respect to this benchmark part model 301.In the example shown in Figure 16 (a), show medium-sized benchmark part model 301 and similarly large-scale similar part model 302 and small-sized similar part model 303.
In the automated programming mode of welding robot, in order to make the movement locus information of robot 10, need to carry out the input operation of sealing wire information.Now, according to the production schedule of point product, on production line, when the workpiece of each analogous shape becomes the different workpiece of size, operator needs again to input sealing wire information.In the time of sealing wire input information, even if the input time of every 1 is shorter, for example exist nearly 400 sealing wires in the situation that, input also needs a few hours.
In the present embodiment, first, in the time of sealing wire information setting, select as base reference of reference part model 301.As prerequisite, suppose that the sealing wire information of this benchmark part model 301 exists.Then, the sealing wire information of this benchmark part model 301 is recycled, automatically carry out sealing wire information still non-existent, vary in size but the input of the sealing wire information of the similar similar part model 302,303 of shape.Thus, alleviated " the input operation of sealing wire information " in the time that the manipulating object of analogous shape becomes the different workpiece of size, carried out.
In the setting picture shown in Figure 16 (b), in order to make the sealing wire information of similar part model 302,303 according to benchmark part model 301, and select the file as the sealing wire information of base reference of reference part model from sealing wire database (sealing wire information storage part 61 described later), and from should newly implement the file (similar workpiece configuration information storage part 62 described later) of the similar part model of weld job the tectonic information of the similar part model of selection.Operator selects operation by carrying out these, carries out the operation of present embodiment described later.In addition, operator, for setting picture shown in the display device 104 shown in Fig. 2, utilizes input equipment 106 to select operation.
In addition, in the present embodiment, welding robot be with the artificial representative of various industrial machines by a mode of manipulating object equipment, sealing wire information setting device is treated as a mode of working path information setting device.In addition, welding instruction is one of operation instruction, and sealing wire is treated as one of working path.Equally, pad is one of setting, and direction of welding is one of operating direction.Like this, welding is treated as a mode of operation.And sealing wire information is a mode of working path information.
Then, present embodiment is specifically described.In the present embodiment, describe as an example of the automatic teaching system that utilized welding robot example.
(formation of teaching system automatically)
Fig. 1 is the figure that forms of the summary of automatic teaching system of welding robot that represented utilization that present embodiment is related.
As shown in Figure 1, welding robot system possesses: the teaching apparatus 30 of the control device (controller) 20 of robot (mechanical arm) 10, control and input training data.In addition, the setting processing of the sealing wire information forming as the feature of present embodiment, for example, carry out by the sealing wire information setting device 50 of being realized by computer system.In addition, control device 20 for example possesses interfaces that movably storage medium 40 carries out the read-write of data such as storage cards, training data can be written out to storage medium 40, or memory storage is read in and be saved in to the training data that is written to storage medium 40.
Robot 10 possesses the arm (arm) with multiple joints, carries out the various operations based on training data.The in the situation that of welding robot system, at the front end of arm, be provided with the welding torch 11 of the weld job for carrying out object.Control device 20 possesses the memory storage (storer) of storage training data and reads in training data and carry out the treating apparatus of the action of control 10 (CPU).Teaching apparatus 30 is for inputting path of welding, weld job condition etc. by operator when the teaching operation of carrying out robot 10.Teaching apparatus 30 possesses the display frame 31 and the load button 32 that are made up of liquid crystal display etc.
Control device 20 has the interface to robot 10 and the interface to teaching apparatus 30, is connected with robot 10 and teaching apparatus 30 via these interfaces.In addition, control device 20 for example possesses interfaces that movably storage medium 40 carries out the read-write of data such as storage cards, training data can be written out to storage medium 40, or memory storage is read and stored into the training data that is written to storage medium 40.
(hardware of sealing wire information setting device forms)
Fig. 2 is the figure that represents the hardware configuration example of sealing wire information setting device 50.
As shown in Figure 2, possess CPU (Central Processing Unit, central processing unit) 101 as arithmetic element and the storer 102 as main memory unit as the sealing wire information setting device 50 of one of working path information setting device.In addition,, as external unit, possess the input equipments 106 such as image indication mechanism (video card etc.) 103 and display device 104, disk set (HDD:Hard Disk Drive, hard disk drive) 105 and keyboard or mouse.In addition, Fig. 2 is only illustrating the hardware of having been realized in the situation of sealing wire information setting device 50 by computer system and forms, and sealing wire information setting device 50 is not limited to illustrated formation.
(function composing of sealing wire information setting device)
Fig. 3 is the figure that represents the function composing example of sealing wire information setting device 50.
As shown in Figure 3, sealing wire information setting device 50 possesses: become one of storage unit of the sealing wire information of the basic benchmark part model of sealing wire information setting as storage and the sealing wire information storage part 61 that plays a role; With become one of the similar workpiece configuration information memory cell of tectonic information of similar part model of object of new sealing wire information setting as storage and the similar workpiece configuration information storage part 62 that plays a role.This sealing wire information storage part 61 and similar workpiece configuration information storage part 62 can be realized by the disk set of computer system 105 (with reference to Fig. 2).But, also exist the two or any one party to be arranged at the situation of the outside (for example, remote server, external storage device etc.) of the housing different from the computer system shown in Fig. 2, place separation.In this case, by not shown network, be connected with the computer system shown in Fig. 2.
In addition, as shown in Figure 3, sealing wire information setting device 50 possesses: obtain one of unit and the similar workpiece configuration information obtaining section 51 that plays a role as tectonic information; The similar workpiece configuration validation of information portion 52 playing a role as one of confirmation unit; Show/revise with confirmation result the portion 53 that accepts.And, possess: benchmark sealing wire information setting is accepted portion 54, made one of unit and the similar sealing wire information that plays a role makes portion 55, makes one of unit and/or display unit and the show/editor that makes result that plays a role accepts portion 56 and similar sealing wire information stores processor portion 57 as working path information as working path information.This similar workpiece configuration information obtaining section 51, similar workpiece configuration validation of information portion 52, confirm that result shows/revise that the portion 53 that accepts, benchmark sealing wire information setting accept that portion 54, similar sealing wire information make portion 55, the show/editor that makes result accepts portion 56, similar sealing wire information stores processor portion 57, for example, hardware as shown in Figure 2 CPU101, storer 102 and the disk set 105 in forming realized.More particularly, the program of the function of the sealing wire information setting device 50 by computer realization present embodiment is kept in disk set 105, this program development is arrived to storer 102, and carried out by CPU101, realize thus above-mentioned each function.In addition, confirm that result shows/revise that the portion 53 that accepts, benchmark sealing wire information setting are accepted portion 54, show/editor accepts portion 56 to make result, in display device 104, show various information via image indication mechanism 103 by GUI function, and accept the input from operator via input equipment 106.
Similar workpiece configuration information obtaining section 51 obtains the tectonic information of the similar part model of the sealing wire information that should make similar part model from similar workpiece configuration information storage part 62.Obtained tectonic information is the user (deviser) who wants to utilize the automatic teaching system of having applied present embodiment, the information obtaining from the part model making in advance.More particularly, be the graphical model of describing by the CAD of regulation, point coordinate value (sealing wire coordinate figure), attribute and the sealing wire name that is formed in the sealing wire of describing while making this graphical model.Sealing wire name is that deviser in a planned way determines in the time of design workpiece product, in the time of product design, determines as the rule of deviser's side.About details, utilize Fig. 4 (a), (b) to describe.
In addition,, as tectonic information, can replace the point coordinate value, attribute that forms sealing wire and the information with " crest line ".For example, replace point coordinate value, attribute or possess the each member that becomes sealing wire of crest line estimate to(for) the three-dimensional shape data of each member together with this point coordinate value, attribute.In this case, on the crest line of a side of estimating welding, set welding candidate line, and the data of the welding candidate line that represents this setting are set together with three-dimensional shape data.Therefore, in " tectonic information " of application present embodiment, the inscape of the sealing wire such as identifying information (such as sealing wire name) and crest line that comprises sealing wire.
In similar workpiece configuration validation of information portion 52, for the tectonic information of the obtained similar part model of similar workpiece configuration information obtaining section 51, tectonic information based on this similar part model carries out unmatched precheck, make next make sealing wire information similar sealing wire separately between do not produce contradiction.
Show/revise in confirmation result and accept in portion 53, the sealing wire information check that similar workpiece configuration validation of information portion 52 is carried out the results are shown in display device 104, and accept operator (user) based on this demonstration, input equipment 106 to be operated and the confirmation/correcting process of carrying out.Implement like this tectonic information of the similar part model of confirmation/correcting process, as the confirmation tectonic information of similar part model and store disk set 105 into.
In addition, in the present embodiment, " operator (user) " is the people that sealing wire information setting device 50 is operated, and has the situation different from " user (deviser) " situation, the main body that main body is identical of a side that designs part model by the operation of CAD.
Show/revise about similar workpiece configuration information obtaining section 51, similar workpiece configuration validation of information portion 52 and confirmation result the processing of accepting portion 53, utilize Fig. 5～Fig. 7 to describe in detail.
Benchmark sealing wire information setting is accepted portion 54, the sealing wire information of the basic benchmark part model that becomes the similar part model that should newly make sealing wire information is read from sealing wire information storage part 61, and be set as comparison other.In sealing wire information storage part 61, store the sealing wire information of multiple kinds, accept for become the similar part model that should newly make basic benchmark part model benchmark sealing wire information user select, sense data is also set.In sealing wire information storage part 61, be divided into the species of benchmark part model or the species of similar part model, storage (preservation) has the sealing wire message file manually making or the sealing wire message file automatically making by present embodiment.
At this, in " sealing wire information ", comprise sealing wire name and this welding track information as the identifying information of sealing wire.Should " sealing wire information " set parameter taking 1 sealing wire as unit.
In addition, in the present embodiment, for the convenience illustrating, sometimes by the sealing wire information of benchmark part model referred to as " benchmark sealing wire information ", by the sealing wire information of similar part model referred to as " similar sealing wire information ", by the sealing wire information newly making referred to as " new sealing wire information ".
" welding track information " represents the parameter of inputting while utilizing automatic programming function to make movement locus information.In this welding track information, for example, comprise movement locus pattern, the ID of robot, the numbering of movement locus information and the inscape of sealing wire.In this inscape, comprise and represent the position (coordinate) of sealing wire or the information of attribute, such as sealing wire model etc.In addition,, in welding track information, sometimes comprise vector information, other information of the member face such as mother metal face or riser face.For the vector information of member face, even if operator does not input, also can automatically calculate according to inscape.
" movement locus pattern " obtains robot to the arc manipulation pattern of welding position.
" ID of robot " represents the identifying information (ID) of the robot that utilizes the movement locus information automatically making, in the time utilizing movement locus pattern to make movement locus information, represent the identifying information (ID) of the robot that becomes handling object.
" numbering of welding track information " represents the identifying information (ID) that movement locus information is given, and is so-called tutorial program numbering.
" movement locus information " represents the tutorial program with movement locus (robot passes through a little and posture and interpolation information between points), robotic command (electric arc is opened (ON)/pass (OFF) etc.) that the robot for making real machine starts and welds.
Similar sealing wire information makes portion 55 and utilizes the sealing wire information of accepting the benchmark part model that portion 54 sets by benchmark sealing wire information setting, shows/revise that according to the confirmation result by similar part model tectonic information that the portion of accepting confirms makes the sealing wire information of similar part model.
Making result, show/editor accepts in portion 56, for the sealing wire information that is made the similar part model that portion 55 makes by similar sealing wire information, has shown and has made result.Particularly, between the sealing wire information of benchmark part model and the sealing wire information of the similar part model that makes, detect in unmatched situation, do not mating clearly Graphics Processing result under state of position.Then, accept correcting process, the editing and processing of the sealing wire message file of the similar part model that operator carries out this demonstration.In addition, also can be configured to, detect in unmatched situation, not carry out this and make result show/editor accepts the processing of portion 56, and directly transfer to the processing of next similar sealing wire information stores processor portion 57.
Similar sealing wire information stores processor portion 57 is in order to utilize as the sealing wire information of new benchmark part model, and carries out the sealing wire information of the similar part model automatically making to store into the processing of sealing wire information storage part 61.
Then, be described in further detail for the content of the each function part shown in above-mentioned Fig. 3.
(explanation of the tectonic information of similar part model)
Fig. 4 (a), (b) are the figure of an example of the tectonic information for the similar part model that is stored in similar workpiece configuration information storage part 62 and obtain from similar workpiece configuration information obtaining section 51 is described.Fig. 4 (a) represents an example of sealing wire, Fig. 4 (b) illustrate the sealing wire shown in presentation graphs 4 (a) tectonic information charge to form example.
Sealing wire shown in Fig. 4 (a) is made up of the 1st line the 76, the 2nd line 77 and the 3rd line 78.The 1st line 76 is straight lines, with the the 1st: 71 and the 2nd: 72 these 2 show.In addition, the 2nd line 77 being connected with the 1st line 76 is curves, with the the 2nd: 72, the 3rd: 73 and the 4th: 74 these 3 show.And the 3rd line 78 being connected with the 2nd line 77 is straight lines, with the the 4th: 74 and the 5th: 75 these 2 show.Sealing wire direction is the the 1st: 71 → the the the 2nd: 72 → the 3rd: 73 → the 4th: 74 → the 5th: 75 order.
In the tectonic information shown in Fig. 4 (b), there is the sum of the point of sealing wire name 79 and formation sealing wire to count 80.This sealing wire name 79 plays a role as identifying the identifying information of sealing wire.In the present embodiment, for sealing wire relevant to benchmark part model in similarity relation, the sealing wire name that employing is identical with the sealing wire name of the sealing wire information of benchmark part model.This is because in part model design phase of for example having utilized CAD of user (deviser) side of wanting to utilize automatic teaching system, give identical identiflication number to the associated sealing wire between the workpiece in similarity relation.
In addition, in the tectonic information shown in Fig. 4 (b), for each bar of line of the 1st line the 76, the 2nd line the 77, the 3rd line 78, the attribute that comprises straight line (L) or the line of circular arc (C).In addition, as sealing wire coordinate figure, the coordinate figure (X, Y, Z) that comprises the point (the the 1st: 71～the 5th: 75) that forms each sealing wire.
(the confirmation processing of the tectonic information of similar part model)
Then, the confirmation processing of similar workpiece configuration information is described.
Fig. 5 is representation class like workpiece configuration information obtaining section 51, similar workpiece configuration validation of information portion 52 and confirms that result shows/revise the process flow diagram of accepting the processing that portion 53 carries out.
First, similar workpiece configuration information obtaining section 51 is read in the tectonic information (step 101) of similar part model from similar workpiece configuration information storage part 62.Then, judge in the relevant data of the sealing wire of similar part model whether exist and do not mate by similar workpiece configuration validation of information portion 52.More particularly, first, judge whether to exist sealing wire name and sealing wire coordinate figure (step 102).In these non-existent situations, (in step 102, being "No"), transfers to step 106 described later.The in the situation that of these existence (being "Yes" in step 102), judge whether the sealing wire name existing does not repeat (step 103).In the situation that repeating (being "No" in step 103), transfer to step 106 described later.In unduplicated situation (being "Yes" in step 103), judge whether sealing wire coordinate figure does not repeat (step 104).In the situation that repeating (being "No" in step 104), transfer to step 106 described later.In unduplicated situation (being "Yes" in step 104), transfer to similar sealing wire information make the similar part model that portion 55 carries out sealing wire information make processing (step 105).
Fig. 6 (a), (b) are the figure of the confirmation processing of the tectonic information for the similar part model carrying out in step 102～104 of Fig. 5 is described.Fig. 6 (a) is the figure that represents the check result example that has or not/repeat of sealing wire name and sealing wire coordinate figure, and Fig. 6 (b) is the figure that represents the repetition example of sealing wire (coordinate figure).
In the information " AWELD_C ... 300L2 " of the sealing wire of the 1st section shown in Fig. 6 (a), " AWELD_C " is sealing wire name 112.In addition, " ... 300L2 " is the coordinate figure 113 of the sealing wire that shows with dot information.Below, be also same at the 2nd section later.The information 114 of " AWELD_C ... 300L2 " of the 2nd section represented sealing wire, sealing wire name 112 and coordinate figure 113 are consistent with the information of the sealing wire of the 1st section.The information 115 of " AWELD_C ... 800L2 " of the 4th section represented sealing wire is consistent with the information of the sealing wire of the 1st section as the sealing wire name 112 of " AWELD_C ".The information 116 of " AWELD_D ... 300L2 " of the 5th section represented sealing wire is consistent with the information of the sealing wire of the 1st section as the coordinate figure 113 of " ... 300L2 ".In the information 117 of the sealing wire of the 6th section, sealing wire name 112 is " without (blank) ".In the information 118 of the sealing wire of the 7th section, coordinate figure 113 is " without (blank) ".
In the left figure of Fig. 6 (b), the 1st sealing wire 121 and the 2nd sealing wire 122 repeat on line part 123.In the right figure of Fig. 6 (b), the 3rd sealing wire 125 and the 4th sealing wire 126 repeat on line part 127.
Like this, in similar workpiece configuration validation of information portion 52, carry out the inspection that has or not/repeat of sealing wire name and sealing wire coordinate figure, have problem as long as judge 1, just transfer to the processing of step 106.
At this, in the information shown in coordinate figure 113, " 3 " of for example " ... 300L2 " represent X coordinate figure, and " 0 " represents Y coordinate figure, and ensuing " 0 " represents Z coordinate figure, and " L " represents the attribute of line, and " 2 " represent always to count.In addition, though not shown, also comprise the identifying information of the member face (mother metal face, riser face, member towards amount etc.) of sealing wire.
(the confirmation result of the tectonic information of similar part model shows and revises)
In the step 106 shown in Fig. 5, show the confirmation result of the sealing wire that forms similar part model.Then, whether be pressed according to the cancel button that is present in display frame, confirm to cancel have or not (step 107) of instruction.Cancelling instruction is to make to make to similar sealing wire information the instruction that the transfer of the performed processing of portion 55 temporarily stops.In the situation that not cancelling instruction, (in step 107, being "No"), transfers to step 105.In the situation that having the instruction of cancellation (being "Yes" in step 107), confirmation result demonstration/correction portion 53 is accepted correction and/or editor's (step 108) of the confirmation result of operator based on shown.Then, return to step 102.
Fig. 7 is the figure that is illustrated in an example of the display frame using in the processing of step 106～108.Display frame shown in Fig. 7 display device 104 as shown in Figure 2 shows.The confirmation of step 102～104 of Fig. 5 is processed 1 sealing wire ground of 1 sealing wire and is carried out, and the demonstration shown in Fig. 7 is shown as the result of the confirmation processing of the sealing wire entirety of similar part model.In the display frame shown in Fig. 7, show the species 131 of sealing wire, information 132, the reference column 133 etc. of sealing wire name.The demonstration of " recycling " in species 131, is illustrated in while making similar sealing wire information, for the sealing wire of the similar workpiece that recycles according to benchmark sealing wire information.In addition, the demonstration of " unregistered " in species 131 has showed sealing wire name or coordinate figure is blank situation.In the example of Fig. 7 " unregistered ", as there is no the situation of sealing wire name and carried out the demonstration of " solderless wiring name " in the hurdle of the information 132 of sealing wire name.
In addition,, in the situation that there is warning, the information of a sealing wire point color is showed also very effective.For example, in the situation that sealing wire name repeats, be red, in the situation that sealing wire (coordinate) repeats, be purple etc.And, in the situation that there is warning, warning in reference column 133.
In addition,, in the display frame shown in Fig. 7, can accept the instruction from correction/editor of operator.In the example shown in Fig. 7, OK button 138 and cancel button 139 are shown.Operator makes to move to as indicator devices such as the mouses of one of input equipment 106 position that these buttons show, and clicks these buttons.Sealing wire information setting device 50, the operation by identifying operation person to this display frame, can identify the instruction of the operator shown in the step 107 of Fig. 5.In addition,, for the displaying contents shown in Fig. 7, by allowing operator utilize the directly input displaying contents such as keyboard, can accept the correction/editor shown in the step 108 of Fig. 5 after having clicked cancel button 139.
By these a series of processing, the tectonic information of similar part model that newly makes sealing wire information is complete, and transferring to step 105 is that similar sealing wire information makes processing.
(making of the sealing wire information of similar part model)
Then, to the similar sealing wire information shown in Fig. 3 make portion 55, the show/editor that makes result accepts similar sealing wire information that portion 56 carries out and makes to process and describe.
Fig. 8 is the key diagram of the concept that makes function of the sealing wire information of the similar part model for present embodiment is described.For sealing wire recycling and the sealing wire information 141 of accepting portion 54 and read benchmark part model from sealing wire information storage part 61 by the benchmark sealing wire information setting shown in Fig. 3.The sealing wire information 141 of this benchmark part model has been set information taking 1 sealing wire as unit.In the time that sealing wire recycles, with reference to the tectonic information 144 of similar part model.This tectonic information 144 is that confirmation result as shown in Figure 3 shows/revise the tectonic information of accepting portion 53 and accepted the similar part model of revising.This tectonic information 144 has also been set information taking 1 sealing wire as unit.
In the present embodiment, making in processing of the sealing wire information of similar part model, utilize the sealing wire information 141 of benchmark part model and the tectonic information 144 of similar part model, automatically make the sealing wire information 145 of similar part model.
Fig. 9 is that representation class makes portion 55 like sealing wire information and makes the process flow diagram that result shows/edit the flow process of accepting the performed processing of portion 56.In the processing shown in Fig. 9, for the tectonic information of the sealing wire of the sealing wire name similar part model consistent with the sealing wire information of benchmark part model, using confirm as other counting between the sealing wire of items, attribute unanimously as condition, utilize the tectonic information of the sealing wire information of consistent benchmark part model and the sealing wire of similar part model, sealing wire information to benchmark part model recycles, and makes the sealing wire information of similar part model.On the other hand, for the tectonic information of the sealing wire of the inconsistent similar part model of sealing wire information of sealing wire name and benchmark part model, do not utilize the sealing wire information of benchmark part model, and only utilize the tectonic information of this sealing wire to make new sealing wire information.
First, similar sealing wire information makes portion 55 and is taken into the sealing wire information of benchmark part model and the tectonic information (step 201) of similar part model.
Then, the sealing wire information based on benchmark part model and the tectonic information of similar part model, carry out the inspection of same weld line name, confirms sealing wire name whether identical (step 202).The sealing wire information (being "Yes" in step 202) with same weld line name is transferred to confirmation processing (step 203 is following) below.What the sealing wire information (in step 202 for "No") without same weld line name was transferred to new sealing wire information makes processing (step 211), and being labeled as " unregistered " (step 212), the result that makes processing of carrying out similar sealing wire information shows (step 210).
In step 202, be "Yes", in the situation that sealing wire name is identical, confirm to process as it, first, judge whether unanimously count (step 203) between sealing wire.Counting (being "No" in step 203) in inconsistent situation between sealing wire, for inconsistent sealing wire, transfers to the termination that makes processing of sealing wire information step 213, similar part model.Then, show as the result that makes processing of sealing wire information of the similar part model that has utilized display device 104 (with reference to Fig. 2), show " mistake " (step 214) for corresponding sealing wire, and transfer to step 210.In the case of counting between sealing wire is consistent (being "Yes" in step 203), judge whether unanimously (step 204) of attribute between sealing wire.This " attribute " refer to utilize that Fig. 4 is illustrated, be for example straight line (L) or circular arc (C) etc.In inconsistent situation (being "No" in step 204), transfer to step 213, end for inconsistent sealing wire similar part model sealing wire information make processing, and corresponding sealing wire is labeled as to " mistake " (step 214), transfer to step 210.In the situation that attribute is consistent (being "Yes" in step 204), judge whether unanimously (step 205) of direction of welding between sealing wire.Consistent in the situation that (being "Yes" in step 205), transfer to similar part model sealing wire information make processing (step 207).In inconsistent situation (being "No" in step 205), utilize display device 104 to carry out warning label (mark of " alarm ") (step 206), and transfer to step 207.
In step 207, carried out similar part model sealing wire information make processing after, judge whether vector data has matching (step 208).If there is matching (being "Yes" in step 208),, using result as normally, carry out the result demonstration (step 210) that makes processing of the sealing wire information of similar part model.If do not there is matching (being "No" in step 208), be labeled as " mistake " (step 209), and carry out the result demonstration (step 210) that makes processing of the sealing wire information of similar part model.
Figure 10 is the figure for the confirmation processing of the same weld line name of description of step 202.The upper figure of Figure 10 is the sealing wire information of being accepted the benchmark part model that portion 54 accepts and set by benchmark sealing wire information setting.Figure below of Figure 10 is to be confirmed or by confirming that result shows/revise the tectonic information of accepting portion 53 and accepted the similar part model of revising by similar workpiece configuration validation of information portion 52.In processing, the confirmation of same weld line name becomes comparison other, the sealing wire name 152 in the sealing wire name 151 of the sealing wire information of benchmark part model and the tectonic information of similar part model.In the example shown in Figure 10, " AWELD_C " of similar part model and " AWELD_A " have same weld line name, and " AWELD_D " do not exist same weld line name in the sealing wire information of benchmark part model.As previously mentioned, transfer to step 203 in the case of having identical sealing wire name.Transfer to step 211 in the case of not having identical sealing wire name, and carry out the processing that makes of new sealing wire information.
Figure 11 (a)～(c) is the figure for above-mentioned step 203,204,205 processing are described.At this, show the sealing wire information of the benchmark part model of object and the tectonic information of similar part model as a comparison.
In the processing of step 203, the sealing wire information based on benchmark part model and the tectonic information of similar part model carry out the relatively confirmation that sealing wire is counted between the sealing wire of same names.As a result, for the sealing wire consistent sealing wire of counting, its sealing wire information transfer is to confirmation processing (step 204) below.In the example shown in Figure 11 (a), between the sealing wire of same names, the sealing wire of the benchmark part model sealing wire of 161-1 and the similar part model 161-2 that counts that counts is compared.
In the processing of step 204, the sealing wire information based on benchmark part model and the tectonic information of similar part model carry out the relatively confirmation of sealing wire attribute between the sealing wire of same names.As a result, for the consistent sealing wire of sealing wire attribute, its sealing wire information transfer arrives confirmation processing (step 205) below.In the example shown in Figure 11 (b), the sealing wire attribute 162-2 of the sealing wire attribute 162-1 to benchmark part model between the sealing wire of same names and similar part model compares.
In the processing of step 205, the sealing wire information based on benchmark part model and the tectonic information of similar part model carry out the relatively confirmation of sealing wire direction between the sealing wire of same names.In the example shown in Figure 11 (c), the sealing wire direction calculating to the sealing wire direction calculating according to the coordinate figure 163-1 of benchmark part model with according to the coordinate figure 163-2 of similar part model between the sealing wire of same names compares.In addition, in Figure 11 (c), in coordinate figure 163-1,163-2, only show respectively the coordinate figure of 1, but in fact, the words of for example straight line exist the words of 2 points, circular arc to have 3 points, have so respectively multiple coordinate figures.At this, for this 2 point, for example using from starting point towards the direction of end point as sealing wire direction, and object as a comparison.
Then, are sealing wires that sealing wire direction is consistent for these results relatively, transfer to similar part model sealing wire information make processing (step 207).In the inconsistent situation of sealing wire direction, via the processing of the warning label of step 206, in step 207, be set as the sealing wire direction of the tectonic information of the sealing wire of similar part model.
Figure 12 (a), (b) are the figure for the automatic input processing of the sealing wire information of the processing shown in description of step 207.Figure 12 (a) shows the sealing wire information of benchmark part model of the sealing wire with same names and the tectonic information of similar part model.At this, in both, charge to order different.In addition, Figure 12 (b) shows the example of the sealing wire information of the similar part model of automatically being inputted.
In the time making the sealing wire information of similar part model, obtain the ID of robot, movement locus pattern, movement locus information encoding from the sealing wire information of benchmark part model.On the other hand, obtain the inscape of sealing wire from the tectonic information of similar part model.Then, according to the rules the rule of " sealing wire information ", according to sealing wire information charge to order distribute, can carry out thus the automatic setting of sealing wire information such shown in Figure 12 (b).
Figure 13 (a), (b) are the figure whether for the vector data of description of step 208 with the judgement processing of matching.Figure 13 (a) represents the benchmark part model that is compared and the example of similar part model, and Figure 13 (b) shows the figure of an example of the index of the matching that judges these vector datas.
Confirm whether the sealing wire information that (inspection) makes by above-mentioned each processing has the matching as the sealing wire information of similar part model with respect to the sealing wire information of benchmark part model.As the method, first, calculate benchmark part model sealing wire sealing wire direction vector 181-1 and made as described above the difference D between the direction of welding vector 181-2 of sealing wire of the similar part model of sealing wire information.Then judge that this difference D is whether in permissible range.For example, if establish permissible range be 0 ° above below 10 °, if the absolute value of the value of difference D is in permissible range, that is,
0°≤|D|≤10°
Think so and have matching.Like this, whether difference D is judged in permissible range, there is matching (in step 208 for "Yes") if be judged as in permissible range, do not have matching (being "No" in step 208) if (be greater than 10 °) be judged as in permissible range outside.In addition, for example, if each sealing wire is by welding starting point 185 (185-1,185-2) with welding end point 186 (186-1,186-2) these 2 define, and " direction of welding vector 181 (181-1,181-2) " is from this welding starting point 185 (185-1,185-2) towards the vector of direction of welding end point 186 (186-1,186-2).
Figure 14 is the figure that makes processing for the new sealing wire information of the processing shown in description of step 211.As previously mentioned, Figure 10 (a) " AWELD_D " do not have same weld line name.Therefore, the tectonic information based on similar part model " AWELD_D " carries out making of sealing wire information.In the example shown in Figure 14, utilize the initial point 153 of sealing wire of similar part model and the coordinate figure of terminal 154 to make line model 155.Then, based on the automatic detection means face of this line model 155 (mother metal face 156 and riser face 157).Based on these information, make new sealing wire information.
(making the demonstration of result)
Figure 15 is the figure that represents the display case that makes result of the sealing wire information of the similar part model shown in step 210.Result demonstration/the editor that makes shown in Fig. 3 accepts portion 56, utilizes the display device 104 shown in Fig. 2, and operator is shown and makes result.Various confirmations shown in the process flow diagram of Fig. 9 are processed 1 sealing wire ground of 1 sealing wire and are carried out, and the demonstration shown in Figure 15, are shown as the result of the confirmation processing of the sealing wire entirety of similar part model.
In the display case shown in Figure 15, show make processing species 191, numbering (No.) 192, sealing wire name 193, make the content 195 of result 194, mistake or the alarm of processing.In addition, carried out counting mark 197 as wrong number mark 196 and the alarm of the summary that makes result.At this, in species 191, in the case of having utilized the sealing wire information of benchmark part model, be labeled as " recycling ", the new mark using non-existent sealing wire in the sealing wire information of benchmark part model as step 212 and be labeled as " unregistered ".For making new sealing wire information and be marked as the sealing wire of " unregistered " in step 211 in step 212, become afterwards the input object of numbering of movement locus pattern, the ID of robot, welding track information etc.
In the result 194 that makes processing, mark " normally ", " mistake " or " alarm "." normally " mark is the situation of having confirmed the matching of vector data in step 208." mistake " is the result queue of step 209, step 212, step 214." alarm " is the warning label of step 206.In the content 195 of mistake or alarm, actual wrong content is held intelligible form with operator and is showed.
Like this, show and make result to operator.
(editor of the sealing wire information of similar part model)
Make as above similar sealing wire information, and demonstration makes result.Result demonstration/the editor that makes shown in Fig. 3 accepts portion 56, accepts operator and utilizes the input equipment 106 shown in Fig. 2 as required and the editing operating carrying out.For example, be sealing wire editor, sealing wire deletion, the combination of sealing wire, editor, the editor of welding sequence etc. of welding track information such as flexible of the change of direction of welding or length.The edited result of carrying out, as the sealing wire information of new similar part model and cover and be saved in storer 102 etc., is processed by similar sealing wire information stores processor portion 57, and stores sealing wire information storage part 61 into.
Then, in the case of automatically making the sealing wire information of next new similar part model, the sealing wire information that stores the similar part model above of sealing wire information storage part 61 into can be used as the sealing wire information of new benchmark part model by similar sealing wire information stores processor portion 57.
By thering is this editor's the function of accepting, for example, even by the appending or the design alteration of model of new structural member, and only in the situation of the alteration of form of a part for workpiece, also can make sealing wire information.And, if extract this sealing wire information, and append and register to sealing wire information storage part 61, can recycle this sealing wire information after.In addition,, because can delete the sealing wire information of unwanted benchmark part model, so can prevent the utilization of the sealing wire information of wrong benchmark part model, in addition, the management of the sealing wire information of benchmark part model becomes simple.
(effect of present embodiment)
Above, as described in detail, according to present embodiment, in the part model (similar part model) of analogous shape, based on the sealing wire information of benchmark part model from extracting as base reference of reference part model, can unify automatically to carry out the making of sealing wire information of similar part model.Thus, the input operation that does not need again to carry out in the past to carry out in the time that manipulating object is changed into the different workpiece of the size of analogous shape, sealing wire extracts operation and movement locus and make required parameter.Therefore, can alleviate the burden of operator's input operation, can make the efficiency of the off line teaching system that has utilized automatic programming function improve.In addition,, because making also of movement locus information can be carried out rapidly, therefore also can significantly shorten time and strength in the teaching of robot.
In addition, as mentioned above, can store the sealing wire information of the similar part model making by present embodiment into sealing wire information storage part 61 as the sealing wire information of new benchmark part model, but also can preserve respectively and utilize by the type of workpiece the sealing wire information of these benchmark part models.By preserving respectively and utilize by the type of workpiece, the sealing wire management becoming between the part model of manipulating object becomes easily, and the sealing wire that can prevent from utilizing different type of machines is from the mistake of moving into movement locus information etc.In addition,, owing to utilizing sealing wire information in automatic programming function, therefore do not need to set separately sealing wire information to automatic programming function.Thus, the time that makes of movement locus information also shortens.
(other configuration examples of present embodiment)
In the above description, by computer implemented sealing wire information setting device 50, obtain the sealing wire information of benchmark part model and the tectonic information of similar part model, and carried out the processing of the sealing wire information that makes similar part model.To this, the function of the sealing wire information setting device 50 of present embodiment for example also can realize by the control device of the welding robot system shown in Fig. 1 20 and teaching apparatus 30.
In the case, control device 20 possesses CPU101, storer 102, the disk set 105 in the hardware configuration example shown in Fig. 2.In addition, the display frame 31 by teaching apparatus 30 with and driving mechanism realize image indication mechanism 103 and display device 104, realize input equipment 106 by the load button 32 of teaching apparatus 30.In the case, the display frame shown in for example, setting picture shown in Figure 16 (b), Fig. 7, Figure 15 is shown in the display frame 31 of teaching apparatus 30.Then, operator operates the load button 32 of teaching apparatus 30, the assignment of wishing.Control device 20 is accepted the input operation of being undertaken by this teaching apparatus 30.
In addition, the sealing wire information setting method of realizing by present embodiment, as mentioned above, can apply as the performed processing of CPU101 of sealing wire information setting device 50.But, also can disperse each step, realized by the multiple computer installations that connected by network.In addition, the preservation of the tectonic information of similar part model is for example undertaken by portable memory storage (not shown), the sealing wire information of benchmark part model also can be saved in the disk set 105 of sealing wire information setting device 50 etc., also can have variety of way about the place of retention of data.
Claims (4)
1. a working path information setting device, it for the operation of being implemented before operation by manipulating object equipment is indicated, and sets this by the working path information of the workpiece of manipulating object equipment enforcement operation for automatic teaching system,
Described working path information setting device is characterised in that to possess:
Storage unit, it is stored the working path information of the benchmark part model of base shape and the identifying information of identification working path accordingly;
Tectonic information is obtained unit, its obtain as to newly make working path information part model, vary in size and the tectonic information of the similar similar part model of shape with described benchmark part model; With
Working path information makes unit, its utilization is stored in the working path information of the described benchmark part model in described storage unit, make the working path information of this similar part model according to the tectonic information of being obtained the described similar part model of obtaining unit by described tectonic information
Described working path information makes unit, working path information in the working path information of described benchmark part model, that have the identifying information identical with the identifying information of the working path comprising in the tectonic information of described similar part model is recycled to make to the working path information of this similar part model.
2. working path information setting device according to claim 1, is characterized in that,
Also possess and show that described working path information makes the display unit of the operation result of unit,
Described working path information makes unit, the tectonic information of described similar part model and the working path information that is stored in the described benchmark part model in described storage unit are compared, in the case of not having identical identifying information, do not utilize the working path information of this benchmark part model, and utilize this tectonic information to make new working path information
Described display unit shows the result that has made described new working path information.
3. working path information setting device according to claim 1 and 2, is characterized in that,
Described working path information makes unit, for thering is each working path of identical identifying information with the working path of the working path information of described benchmark part model, judge whether the quantity of setting consistent, whether attribute consistent and operating direction in whether consistent at least any one.
4. a working path information setting method, for the operation of being implemented before operation by manipulating object equipment is indicated, and sets this by the working path information of the workpiece of manipulating object equipment enforcement operation,
Described working path information setting method is characterised in that,
Obtain the working path information of the benchmark part model of base shape, described working path information has the identifying information of identification working path,
Obtain as to newly make working path object, vary in size and the tectonic information of the similar similar part model of shape with described benchmark part model,
Utilize the working path information of described benchmark part model to make the working path information of this similar part model according to the tectonic information of described similar part model, and working path information in the working path information of this benchmark part model, that have the identifying information identical with the identifying information of the working path comprising in the tectonic information of this similar part model is recycled to make the working path information of this similar part model.
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| JP2013070638A JP6022394B2 (en) | 2013-03-28 | 2013-03-28 | Work route information setting device, program, and work route information setting method |
| JP2013-070638 | 2013-03-28 |
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| CN110153584A (en) * | 2019-06-10 | 2019-08-23 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | The rapid workpiece welding method accelerated based on figure video card |
Also Published As
| Publication number | Publication date |
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| JP6022394B2 (en) | 2016-11-09 |
| JP2014194658A (en) | 2014-10-09 |
| CN104076804B (en) | 2017-05-24 |
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