CN104070265A - Welding seam information setting device, program, automatic teaching system and welding seam information setting method - Google Patents
Welding seam information setting device, program, automatic teaching system and welding seam information setting method Download PDFInfo
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- CN104070265A CN104070265A CN201410024876.XA CN201410024876A CN104070265A CN 104070265 A CN104070265 A CN 104070265A CN 201410024876 A CN201410024876 A CN 201410024876A CN 104070265 A CN104070265 A CN 104070265A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
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Abstract
The invention provides a welding seam information setting device which reduces welding seam information input operation of an operator in setting action track information of a welding robot for workpiece models with similar shape and different sizes. A welding seam information setting device is used for an automatic teaching system of a welding robot. For setting the welding robot implement welding indication before operation, the welding seam information setting device sets the welding seam information of a workpiece model on which the welding robot implements operation. The welding seam information setting device is provided with the components of: a basic welding seam information storage part which stores welding seam information of a basic workpiece model as a basic shape; a similar workpiece structure information acquiring part which acquires a workpiece model of which the welding seam information is to be made from a similar workpiece structure information storage part, namely the structure information of a similar workpiece model with size which is different from that of the basic workpiece model and shape similar with that of the basic workpiece model; and a similar welding seam information setting part which utilizes the welding seam information of the basic workpiece model and automatically sets the welding seam information of the similar workpiece model according to the acquired structure information of the similar workpiece model.
Description
Technical field
The present invention relates to the weld seam information setting device, program, automatic teaching system and the weld seam information setting method that in automatic teaching system, use.
Background technology
The welding robot welding moves to carry out the mode of the operation of being set by its training data.The teaching method of welding robot has for example based on PTP(Point to Point) the CP(Continuous Pass of linear interpolation) control mode, the position of the point that its designated robot should be passed through, posture and the interpolating method that these points are linked up.Yet, because this teaching method is sentenced position, posture and the interpolating method thereof that manual working carrys out whole point that designated robot passes through in the welding position of the workpiece as manipulating object, therefore there is the shortcoming of overspending time in teaching.
As the prior art described in communique, there is following technology: during for welding carry out framework etc. with welding robot, implementation efficiency improves, in advance by turning seam shape and welding track and welding condition isotype and be stored in memory, when the turning weld seam of framework etc. is carried out to teaching, model selection and 1 of datum mark are taught to (for example,, with reference to patent documentation 1).
In addition, also there is following technology: when use has utilized the offline teaching method of cad data to carry out new teaching to similar workpiece, the temporary transient routing sequence storehouse of breathing out and storing, thereby as the formulation (for example,, with reference to patent documentation 2) of new operation route data.And, in this patent documentation 2, while utilizing routing sequence storehouse when the object with respect to of the same race, need the data paragraph [0069] of patent documentation 2 (for example, with reference to) of input block.
In addition, also there is following technology: comprise as automatically formulate the first teaching step without teach mode of operation action route of robot and the second teaching step of inputting the common off-line teaching mode of operation action route as operating personnel based on three-dimensional information, with respect to applying without for the production line of teach mode, in the first teaching step, carry out teaching, for adopting without for the production line of teach mode, by operating personnel, carry out teaching (for example,, with reference to patent documentation 3).According to foregoing, even if more existence cannot adopt the operation object without the production line of teach mode, also can be by combining to reduce the operating area of carrying out on-line teaching without teach mode and off-line teaching.
Technical literature formerly
Patent documentation
Patent documentation 1: Japanese kokai publication sho 56-102376 communique
Patent documentation 2: Japanese kokai publication hei 8-286722 communique
Patent documentation 3: TOHKEMY 2000-190264 communique
Brief summary of the invention
The problem that invention will solve
Yet in above-mentioned prior art, each while formulating the movement locus information of robot, operating personnel need to become the appointment of datum mark of the welding position of manipulating object, specify and extract weld seam from 3 D workpiece model.In addition, in order to formulate the movement locus information in each weld seam, operating personnel must input such as the movement locuses such as numbering of movement locus figure, the ID of robot, movement locus information and formulate needed parameter.
In recent years, be accompanied by the variation of the market demand, the complicated and maximization of product (workpiece) develops rapidly, and the workpiece of marginally producing in addition many kinds becomes main flow.Wherein, in the situation that produce the workpiece varying in size of height (H size), width (W size), depth (D size) etc., even if for example analogous shape also cannot utilize existing movement locus information, each change of workpiece, all needs to carry out teaching again.When carrying out this again during teaching, require operating personnel extract more weld seam and according to weld seam input action track formulate needed parameter manual working (following, be called " the input operation of weld seam information ".）。For utilizing the operating personnel of off-line teaching, the working load that this manual working brings is larger, becomes one of the reason of the degradation in efficiency of the off-line teaching that uses automatic Program Synthesis function.
Summary of the invention
The object of the invention is to, similar for shape but for the workpiece that varies in size, the input operation of the weld seam information that the operating personnel that carry out while reducing each movement locus information of formulating welding robot carry out.
Solution
In order to realize described problem, the weld seam information setting device of the present invention's application is used in the automatic teaching system of welding robot, in order to carry out this welding robot to implement the welding indication before operation, set the weld seam information that this welding robot is implemented the workpiece of operation, it is characterized in that, described weld seam information setting device possesses: basic weld seam information storage mechanism, and its storage is as the weld seam information of the basic part model of base shape; Tectonic information obtains mechanism, and it obtains should formulate the part model of weld seam information, vary in size with described basic part model and the tectonic information of the similar similar part model of shape; And similar weld seam information is formulated mechanism, its utilization is stored in the weld seam information of the described basic part model of described basic weld seam information storage mechanism, and according to the tectonic information that is obtained the described similar part model that mechanism gets by described tectonic information, automatically formulates the weld seam information of this similar part model.
At this, it is characterized in that, the weld seam information that is stored in the described basic part model of described basic weld seam information storage mechanism comprises identifying information and the welding track information of the weld seam of described basic part model, by described tectonic information, obtains the identifying information of weld seam and the inscape of inscape or weld seam that described tectonic information that mechanism obtains comprises described similar part model.
In addition, if it is characterized in that, described similar weld seam information is formulated mechanism to being stored in the weld seam information of described basic part model of described basic weld seam information storage mechanism, the weld seam information with the identifying information that the described identifying information that comprises with the tectonic information of described similar part model is identical recycles, and formulate the weld seam information of described similar part model, have at the part model in similarity relation and to relevant weld seam, give each other the tendency of identical identifying information, feature in view of the such operation field of above-mentioned tendency, at the input operation this respect that can reduce significantly weld seam information, be preferred.
On the other hand, it is characterized in that, described similar weld seam information is formulated mechanism the tectonic information of described similar part model and the weld seam information that is stored in the described basic part model of described basic weld seam information storage mechanism is compared, in the situation that do not there is identical identifying information, by the weld seam information of this basic part model, with this tectonic information, do not formulate new weld seam information.According to described invention, compare with not adopting the situation of this structure, can improve the free degree for the formulation of the weld seam information of similar part model.
On the other hand, the present invention be as implement the welding indication before operation for welding robot, set this welding robot implement operation workpiece weld seam information system and make the program of computer performance function, it is characterized in that, make the following function of described computer realization: obtain and comprise that base shape is the function of the identifying information of weld seam of basic part model and the weld seam information of the basic part model of welding track information; Obtain that the part model that should reformulate weld seam information varies in size with described basic part model and the function of the tectonic information of the similar similar part model of shape; The tectonic information of the described similar part model that the weld seam information of the described basic part model that utilization is read basis get is formulated the function of the weld seam information of this similar part model automatically.
In addition, the present invention is the automatic teaching system of welding robot, it is characterized in that, described automatic teaching system possesses: welding robot, and its front end at arm is provided with the welding torch that carries out weld job, and carries out the operation based on training data; Storage device, it stores described training data; Control device, it reads in this training data and the action of described welding robot is controlled from this storage device; Teaching apparatus, it can realize the input of the weld job condition that operating personnel carry out when the teaching operation of carrying out described welding robot; And weld seam information setting device, it sets in order to carry out described welding robot to implement the welding indication before operation the weld seam information that this welding robot is implemented the workpiece of operation, described weld seam information setting device possesses: basic weld seam information storage mechanism, and its storage is as the weld seam information of the basic part model of base shape; Tectonic information obtains mechanism, and it obtains should formulate the part model of weld seam information, vary in size with described basic part model and the tectonic information of the similar similar part model of shape; Similar weld seam information is formulated mechanism, its utilization is stored in the weld seam information of the described basic part model of described basic weld seam information storage mechanism, and according to the tectonic information that is obtained the described similar part model that mechanism gets by described tectonic information, automatically formulates the weld seam information of this similar part model.
In addition, the present invention is the weld seam information setting method of setting the weld seam information of the workpiece of this welding robot enforcement operation in order to carry out welding robot to implement the welding indication before operation, it is characterized in that, obtain the weld seam information as the basic part model of base shape, obtain the part model that should reformulate weld seam information, vary in size with described basic part model and the tectonic information of the similar similar part model of shape, the weld seam information of the described basic part model that utilization is read, according to the tectonic information of the described similar part model getting, automatically formulate the weld seam information of this similar part model.
Invention effect
According to the present invention, similar for shape but for the workpiece that varies in size, can reduce the input operation of the weld seam information of carrying out each operating personnel that carry out while formulating the movement locus information of welding robot.
Accompanying drawing explanation
Fig. 1 means the figure of the brief configuration of the automatic teaching system that uses the related welding robot of present embodiment.
Fig. 2 means the figure of hardware configuration example of the weld seam information setting device of present embodiment.
Fig. 3 means the figure of functional structure example of the weld seam information setting device of present embodiment.
Fig. 4 (a) and (b) are for the figure of an example of the tectonic information of the similar part model that is stored in similar workpiece configuration information storage part and obtains from similar workpiece configuration information acquiring section is described.
Fig. 5 means by similar workpiece configuration information acquiring section, similar workpiece configuration validation of information portion and confirms that result shows the flow chart of the processing that correction receiving portion completes.
Fig. 6 (a) and (b) are the figure for illustrating that the confirmation of the tectonic information of the similar part model carrying out in step 102～104 of Fig. 5 is processed.
Fig. 7 means the figure of an example of the display frame of using in the processing of the step 106 of Fig. 5～108.
Fig. 8 is for the key diagram of concept of formulation function of weld seam information of the similar part model of present embodiment is described.
Fig. 9 means by similar weld seam information formulation portion and formulates the flow chart that result shows the flow process of the processing that editor's receiving portion is carried out.
Figure 10 is the figure processing for the confirmation of the identical weld seam name of the step 202 of key diagram 9.
Figure 11 (a)～(c) is the figure of step 203,204 for key diagram 9,205 processing.
Figure 12 (a) and (b) are the figure for the automatic input processing of the weld seam information of the processing shown in the step 207 of key diagram 9.
Figure 13 (a) and (b) are figure of the processing of the judgement whether with matching of the vector data for the step 208 of key diagram 9.
Figure 14 is the figure processing for the formulation of the new weld seam information of the processing shown in the step 211 of key diagram 9.
Figure 15 means the figure of display case of formulation result of the weld seam information of the similar part model shown in the step 210 of Fig. 9.
Figure 16 (a) and (b) are for the key diagram of the brief configuration of present embodiment is described.
Description of reference numerals is as follows:
50 ... weld seam information setting device, 51 ... similar workpiece configuration information acquiring section, 52 ... similar workpiece configuration validation of information portion, 53 ... confirm that result shows correction receiving portion, 54 ... basic weld seam information setting receiving portion, 55 ... similar weld seam information formulation portion, 56 ... formulate result and show editor's receiving portion, 57 ... similar weld seam information stores processor portion, 61 ... weld seam information storage part, 62 ... similar workpiece configuration information storage part
The specific embodiment
Below, with reference to accompanying drawing, embodiments of the present invention are described in detail.
[brief description of present embodiment]
First, before specifically describing present embodiment, in order to facilitate the understanding of the present invention, the weld seam information setting of present embodiment application is briefly explained.
Figure 16 (a) and (b) are for the key diagram of the brief configuration of present embodiment is described.Figure 16 (a) is the concept map of the weld seam information setting of present embodiment application, and Figure 16 (b) sets an example of GUI and illustrates for formulate the setting picture example of the weld seam information of similar part model according to the file of the weld seam information of the file of the tectonic information of similar part model and basic part model as the file of weld seam recycling function.
In Figure 16 (a), as implemented the model of the workpiece of weld job by robot 10, basic part model 301 is shown and compares with this basic part model 301 and vary in size but similar two the similar part models 302,303 of shape.In the example shown in Figure 16 (a), medium-sized basic part model 301 and similarly large-scale similar part model 302 and small-sized similar part model 303 are shown.
For the automatic Program Synthesis mode of welding robot, in order to formulate the movement locus information of robot 10, need to carry out the input operation of weld seam information.Now, owing to pressing the product differentiation production schedule, on production line, the change of workpiece of each analogous shape is the workpiece that size is different, and operating personnel need again to input weld seam information.When input weld seam information, even if the input time of each is shorter, but have for example approach 400 weld seams in the situation that, input process need to spend several hours.
In the present embodiment, first, when weld seam information setting, be selected to the basic part model 301 of benchmark.As prerequisite, the weld seam information of this basic part model 301 exists.Then, recycle the weld seam information of this basic part model 301, and automatically carry out that weld seam information not yet exists, vary in size but the input of the weld seam information of the similar similar part model 302,303 of shape.Thus, reduce " the input operation of weld seam information " carried out when manipulating object at each analogous shape is changed to the different workpiece of size.
In the setting picture shown in Figure 16 (b), in order to formulate the weld seam information of similar part model 302,303 according to basic part model 301, from weld seam database (weld seam information storage part 61 described later), be selected to the file of weld seam information of the basic part model of benchmark, and from should again implementing the file (similar workpiece configuration information storage part 62 described later) of the similar part model of weld job, select the tectonic information of similar part model.Operating personnel carry out above-mentioned selection operation, carry out thus the operation of present embodiment described later.It should be noted that, operating personnel use the shown setting picture of display unit 104 shown in 106 couples of Fig. 2 of input instrument to select operation.
Then, present embodiment is specifically described.In the present embodiment, take the automatic teaching system that uses welding robot describes as example.
[structure of teaching system automatically]
Fig. 1 means the figure of brief configuration of the automatic teaching system of the use welding robot that present embodiment is related.
As shown in Figure 1, welding robot system possesses the control device (controller) 20 of robot (manipulator) 10, control, the teaching apparatus 30 of input training data.In addition, as the setting of the weld seam information of the characteristic structure of present embodiment, process by the weld seam information setting device 50 of for example realizing by computer system and carry out.In addition, control device 20 possesses with respect to such as storage card etc., movably storage medium 40 and the interface that carries out the read-write of data can write out training data or read in the training data writing to storage medium 40 and be stored in storage device to storage medium 40.
Robot 10 possesses the arm in a plurality of joints (arm), 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 for carrying out the welding torch 11 of the weld job of object.Control device 20 possesses the storage device (memory) of storage training data and reads in training data and the treating apparatus of the action of control 10 (CPU).When the teaching operation of robot 10, operator uses teaching apparatus 30 in order to input welding route, weld job condition etc.Teaching apparatus 30 possesses display frame 31, the load button 32 consisting of liquid crystal display etc.
Control device 20 has with respect to the interface of robot 10 and with respect to the interface of teaching apparatus 30, via above-mentioned interface Er Yu robot 10 and teaching apparatus 30, connects.In addition, control device 20 possesses with respect to such as storage card etc., movably storage medium 40 and the interface that carries out the read-write of data can write out training data or read in the training data writing to storage medium 40 and be stored in storage device to storage medium 40.
[hardware configuration of weld seam information setting device]
Fig. 2 means the figure of the hardware configuration example of weld seam information setting device 50.
As shown in Figure 2, weld seam information setting device 50 possesses the CPU(Central Processing Unit as arithmetical organ) 101 and as the memory 102 of primary storage mechanism.In addition, as external instrument, possess the input instruments 106 such as image indication mechanism (video card etc.) 103 and display unit 104, disk set (HDD:Hard Disk Drive) 105, keyboard, mouse.It should be noted that, Fig. 2 only exemplifies by computer system and realizes the hardware configuration in the situation of weld seam information setting device 50, and weld seam information setting device 50 is not limited to illustrated structure.
[functional structure of weld seam information setting device]
Fig. 3 means the figure of the functional structure example of weld seam information setting device 50.
As shown in Figure 3, weld seam information setting device 50 possesses: as to becoming one of the basic weld seam information storage mechanism of storing for the weld seam information of the basic basic part model of weld seam information setting and the weld seam information storage part 61 of performance function; As to becoming one of similar workpiece configuration information storage mechanism that the tectonic information of similar part model of the object of new weld seam information setting stores and the similar workpiece configuration information storage part 62 of performance function.This weld seam information storage part 61 and similar workpiece configuration information storage part 62 can be by computer system disk set 105(with reference to Fig. 2) realize.Yet, also exist above-mentioned both or either party to be located at the situation of the separated outside in housing, the space different from the computer system shown in Fig. 2 (for example, remote server, peripheral hardware storage device etc.).In said case, via not shown network, be connected with the computer system shown in Fig. 2.
In addition, as shown in Figure 3, weld seam information setting device 50 possesses: as tectonic information, obtain one of mechanism and the similar workpiece configuration information acquiring section 51 of performance function; Similar workpiece configuration validation of information portion 52; Confirm that result shows correction receiving portion 53.Also possess: basic weld seam information setting receiving portion 54; As similar weld seam information, formulate one of mechanism and the similar weld seam information formulation portion 55 of performance function; As similar weld seam information, formulate one of mechanism and the formulation result demonstration editor receiving portion 56 of performance function in the same manner; And similar weld seam information stores processor portion 57.This similar workpiece configuration information acquiring section 51, similar workpiece configuration validation of information portion 52, confirm that result shows and revise receiving portion 53, basic weld seam information setting receiving portion 54, similar weld seam information formulation portion 55, formulate result and show that editor's receiving portion 56, similar weld seam information stores processor portion 57 realize by the CPU101 in example hardware configuration as shown in Figure 2, memory 102 and disk set 105.More particularly, the program that realizes the function of the weld seam information setting device 50 based on present embodiment by computer is stored in disk set 105, this program is launched in memory 102, and carried out by CPU101, realizes thus each above-mentioned function.In addition, confirm that result shows and revise receiving portion 53, basic weld seam information setting receiving portion 54, formulate result and show editor's receiving portion 56 by image indication mechanism 103 and utilize GUI function and in display unit 104, show various information, by input instrument 106, accept the input from operating personnel.
Similar workpiece configuration information acquiring section 51 is obtained for formulating the tectonic information of similar part model of the weld seam information of similar part model from similar workpiece configuration information storage part 62.The tectonic information obtaining is the information that is intended to utilize the user (designer) of the automatic teaching system of present embodiment application to obtain from the part model making in advance.More particularly, be the graphical model of being described by the CAD stipulating, point coordinates value (weld seam coordinate figure), attribute and the weld seam name that forms the weld seam of describing while formulating this graphical model.Weld seam name is that designer in a planned way determines when design workpiece product, and the rule by designer when product design determines.As details, use Fig. 4 (a) and (b) and describe.
It should be noted that, as tectonic information, the information that can hold " crest line " replaces forming point coordinates value, the attribute of weld seam.For example, the crest line that expects each member that becomes weld seam with respect to the three-dimensional shape data of each member is replaced to point coordinates value, attribute or possesses in the lump this point coordinates value, attribute.In said case, at the crest line that expects a side of welding, set welding candidate line, and the data and the three-dimensional shape data that represent this welding candidate line setting are set in the lump.Thereby " tectonic information " of present embodiment application comprises the inscape of the weld seams such as the identifying information (such as weld seam name) of weld seam, crest line.
In similar workpiece configuration validation of information portion 52, tectonic information for the similar part model being got by similar workpiece configuration information acquiring section 51, tectonic information based on this similar part model and carry out inconsistently checking in advance, to avoid thus producing contradiction at the similar weld seam of formulating weld seam information between separately.
Confirming that result shows in correction receiving portion 53, the inspection of the weld seam information that similar workpiece configuration validation of information portion 52 carries out the results are shown in display unit 104, based on this, show confirmation/correcting process that operating personnel (user) operation input instrument 106 acceptance are carried out.Thus, the tectonic information of similar part model of having implemented confirmation/correcting process is as the confirmation tectonic information of similar part model and be stored in disk set 105.
It should be noted that, in the present embodiment, " operating personnel (user) " is the personnel of operation weld seam information setting device 50, exists from operation by CAD and designs " user (designer) " situation that main body is identical of part model, also has a situation that main body is different.
Use Fig. 5～Fig. 7 to show that to similar workpiece configuration information acquiring section 51, similar workpiece configuration validation of information portion 52 and confirmation result the processing of revising receiving portion 53 is elaborated.
Comparison other is read and be set as to basic weld seam information setting receiving portion 54 by the weld seam information that becomes the basic basic part model of the similar part model that should reformulate weld seam information from weld seam information storage part 61.In the situation that weld seam information storage part 61 stores the weld seam information of a plurality of kinds, to accept to select with respect to the user of basic weld seam information who becomes the basic basic part model of the similar part model that should reformulate, sense data is also set.In weld seam information storage part 61, according to the kind of the kind of basic part model or similar part model, store the weld seam message file that (preservation) has the manual weld seam message file of formulating or automatically formulated by present embodiment.
At this, " weld seam information " comprises as the weld seam name of the identifying information of weld seam and welding track information thereof.Should " weld seam information " take a weld seam as unit setup parameter.
It should be noted that, in the present embodiment, for convenience of explanation, sometimes the weld seam information of basic part model is economized slightly to " basic weld seam information ", the weld seam information of similar part model is economized slightly to " similar weld seam information ", the weld seam information of newly formulating economized slightly to " new weld seam information " and used.
" welding track information " is illustrated in the parameter of using automatic Program Synthesis function and inputting while formulating movement locus information.This welding track information for example comprises movement locus pattern, the ID of robot, the numbering of movement locus information, the inscape of weld seam.This inscape comprises and represents the position (coordinate) of weld seam, the information of attribute, such as weld seam model etc.
In addition, welding track information comprises Vector Message and other information of the member faces such as mother metal face, riser face sometimes.Even if the Vector Message operating personnel of member face do not input, can automatically calculate according to inscape yet.
" movement locus pattern " Shi Jiang robot is with respect to the arc manipulation weldering pattern of welding position.
" ID of robot " represents to utilize the identifying information (ID) of the robot of the movement locus information after automatically formulating, and when usage operation trajectory model is formulated movement locus information, represents to become the identifying information (ID) of the robot that processes object.
" numbering of welding track information " means the identifying information (ID) of giving to movement locus information, i.e. so-called tutorial program numbering.
" movement locus information " represents that the robot of mobile real machine band are useful on the tutorial program of the movement locus that welds (robot passes through a little and posture and interpolation information between points), robotic command (radian ON/OFF etc.).
Similar weld seam information formulation portion 55 is used the weld seam information of the basic part model of being set by basic weld seam information setting receiving portion 54, and shows according to the confirmation result by similar part model the weld seam information that tectonic information that receiving portion confirms is formulated similar part model of revising.
Show in editor's receiving portion 56 formulating result, the weld seam information for the similar part model of being formulated by similar weld seam information formulation portion 55, shows and formulates result.Especially between the basic weld seam information of part model and the weld seam information of the similar part model of formulation, detect in inconsistent situation Graphics Processing result under the state that becomes clear in inconsistent position.Correcting process, the editing and processing of the weld seam message file of the similar part model of then, accepting to be completed by operating personnel with respect to this demonstration.It should be noted that, do not detecting in inconsistent situation, also can not carry out the processing that this formulation result shows editor's receiving portion 56, and directly move to the processing of next similar weld seam information stores processor portion 57.
Similar weld seam information stores processor portion 57 carries out following processing: in order, as the weld seam information of new basic part model, the weld seam information of the similar part model of automatically formulating to be stored in to weld seam information storage part 61.
Then, the content of each function part shown in above-mentioned Fig. 3 is described in detail.
[explanation of the tectonic information of similar part model]
Fig. 4 (a) and (b) are for the figure of an example of the tectonic information of the similar part model that is stored in similar workpiece configuration information storage part 62 and obtains from similar workpiece configuration information acquiring section 51 is described.Fig. 4 (a) illustrates an example of weld seam, and Fig. 4 (b) illustrates presentation graphs 4(a) shown in weld seam tectonic information charge to form example.
Weld seam shown in Fig. 4 (a) consists of First Line 76, the second line 77, the 3rd line 78.First Line 76 is straight line, by 1: 71 with second point 72 these 2 performances.In addition, the second line 77 being connected with First Line 76 is curve, by second point 72, thirdly the 73, the 4th: 74 these 3 performances.In addition, the 3rd line 78 being connected with the second line 77 is straight line, by the the 4th: 74 and the 5th: 75 these 2 performances.Bead direction is 73 → the 4th: 74 → the 5th: 75 the order of first 71 → second point 72 → thirdly.
Tectonic information shown in Fig. 4 (b) has the sum of the point of weld seam name 79 and formation weld seam and counts 80.This weld seam name 79 is brought into play function as identifying the identifying information of weld seam.In the present embodiment, for have the weld seam of relation, the weld seam name that use is identical with the weld seam name of the weld seam information of basic part model with basic part model among similarity relation.This be due to, in the use design phase of the part model of CAD for example that is intended to utilize the user (designer) of automatic teaching system, to the associated weld seam each other of the workpiece in similarity relation, give identical identiflication number.
In addition, the tectonic information shown in Fig. 4 (b) comprises First Line 76, the second line 77, the 3rd line 78 each straight line (L) or attribute of the line of circular arc (C) naturally.In addition, as weld seam coordinate figure, comprise the coordinate figure (X, Y, Z) of the point (1: 71～the 5th: 75) that forms each weld seam.
[confirmation of the tectonic information of similar part model is processed]
Then, the confirmation of similar workpiece configuration information is processed and described.
Fig. 5 means the flow chart that is shown the processing that correction receiving portion 53 completes by similar workpiece configuration information acquiring section 51, similar workpiece configuration validation of information portion 52 and confirmation result.
First, similar workpiece configuration information acquiring section 51 is carried out the reading in of tectonic information (step 101) of similar part model from similar workpiece configuration information storage part 62.Then, by similar workpiece configuration validation of information portion's 52 judgement data relevant to the weld seam of similar part model, whether exist inconsistent.More particularly, first, judge whether to exist weld seam name and weld seam coordinate figure (step 102).In the situation that not there is not weld seam name and weld seam coordinate figure, (in step 102, being NO), moves to step 106 described later.In the situation that there is weld seam name and weld seam coordinate figure (being YES in step 102), whether the weld seam name that judgement exists does not repeat (step 103).In the situation that repeating (being NO), move to step 106 described later in step 103.In unduplicated situation (being YES), judge whether weld seam coordinate figure does not repeat (step 104) in step 103.In the situation that repeating (being NO), move to step 106 described later in step 104.In unduplicated situation (being YES in step 104), (step 105) processed in the formulation that moves to the weld seam information of the similar part model based on similar weld seam information formulation portion 55.
Fig. 6 (a) and (b) are the figure for illustrating that the confirmation of the tectonic information of the similar part model carrying out in step 102～104 of Fig. 5 is processed.Fig. 6 (a) means the figure of the check result example that has or not/repeat of weld seam name and weld seam coordinate figure, and Fig. 6 (b) means the figure of the repetition example of weld seam (coordinate figure).
In the information " AWELD_C ... 300L2 " of the weld seam of the 1st section shown in Fig. 6 (a), " AWELD_C " is weld seam name 112.In addition, the coordinate figure 113 that " ... 300L2 " is the weld seam that showed by dot information.Below, also identical after the 2nd section.In the information 114 of the weld seam being represented by " AWELD_C ... 300L2 " of the 2nd section, weld seam name 112 and coordinate figure 113 are consistent with the information of the weld seam of the 1st section.In the information 115 of the weld seam being represented by " AWELD_C ... 800L2 " of the 4th section, " AWELD_C " is that weld seam name 112 is consistent with the information of the weld seam of the 1st section.In the information 116 of the weld seam being represented by " AWELD_D ... 300L2 " of the 5th section, " ... 300L2 " be that coordinate figure 113 is consistent with the information of the weld seam of the 1st section.In the information 117 of the weld seam of the 6th section, weld seam name 112 is " without (blank) ".In the information 118 of the weld seam of the 7th section, coordinate figure 113 is " without (blank) ".
In the left figure of Fig. 6 (b), the first weld seam 121 and the second weld seam 122 repeat at line part 123.In the right figure of Fig. 6 (b), the 3rd weld seam 125 and the 4th weld seam 126 repeat at line part 127.
So, in similar workpiece configuration validation of information portion 52, carry out the inspection that has or not/repeat of weld seam name and weld seam coordinate figure, even being judged as in an in-problem situation, move to the processing of step 106.
At this, in the information shown in coordinate figure 113, for example " 3 " of " ... 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 (the face vector of mother metal face, riser face, member etc.) of weld seam.
[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 weld seam that forms similar part model.Then, the cancel button that is present in display frame by whether pressing confirms to cancel have or not (step 107) of indication.Cancelling indication temporarily stops to the handover of the processing of being carried out by similar weld seam information formulation portion 55.Without cancellation indication in the situation that (being NO), move to step 105 in step 107.In the situation that having the indication of cancellation (being YES in step 107), confirmation result demonstration correction portion 53 is accepted correction and/or the editor's (step 108) that the confirmation result of operating personnel based on showing carried out.Then, return to step 102.
Fig. 7 means the figure of an example of the display frame of using in the processing of step 106～108.Display frame as shown in Figure 7 shows by the display unit 104 shown in Fig. 2.The confirmation of the step 102 of Fig. 5～104 is processed and is carried out item by item by weld seam, and demonstration is as shown in Figure 7 that the result of processing as the confirmation under the weld seam integral body of similar part model shows.In the display frame shown in Fig. 7, show the kind 131 of weld seam, the information 132 of weld seam name, remarks column 133 etc.Be positioned at the demonstration of " recycling " of kind 131, when formulating similar weld seam information, the weld seam of the similar workpiece that expression is used in recycling according to basic weld seam information.In addition, be positioned at the demonstration performance weld seam name of " unregistered " of kind 131 or the situation of coordinate figure blank.In the example of Fig. 7 " unregistered ", as the situation of no-welding-seam name, complete at the place, hurdle of the information 132 of weld seam name and show " no-welding-seam name ".
In addition, in the situation that having warning, it is also effective that colored differentiation of the information of weld seam showed.For example, in the situation that weld seam name repeats, be red, in the situation that weld seam (coordinate) repeats, be purple etc.In addition, in the situation that thering is warning, at remarks column 133 warnings.
In addition, in the display frame shown in Fig. 7, can accept the indication from correction/editor of operating personnel.In the example shown in Fig. 7, show OK button 138 and cancel button 139.Operating personnel make to move to as the sighting instruments such as mouse of one of input instrument 106 position that above-mentioned button shows, and click above-mentioned button.
Weld seam information setting device 50 identifying operation personnel are with respect to the operation of this display frame, can identify thus the indication of the operating personnel shown in the step 107 of Fig. 5.In addition, for the displaying contents shown in Fig. 7, after clicking cancel button 139, operating personnel directly input displaying contents with keyboard etc., the correction editor shown in thus can the step 108 of acceptance pattern 5.
By above-mentioned a series of processing, the tectonic information of similar part model of newly formulating weld seam information is complete, moves to step 105 and is similar weld seam information and formulate and process.
[formulation of the weld seam information of similar part model]
Then, to the similar weld seam information formulation portion 55 based on shown in Fig. 3, formulate similar weld seam information that result shows editor's receiving portion 56 and formulate to process and describe.
Fig. 8 is for the key diagram of concept of formulation function of weld seam information of the similar part model of present embodiment is described.The weld seam information 141 of basic part model is that basic weld seam information setting receiving portion 54 is as shown in Figure 3 read from weld seam information storage part 61 for weld seam recycling.The weld seam information 141 of this basic part model be take a weld seam and is carried out set information as unit.When weld seam 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 and revises the tectonic information that receiving portion 53 is accepted revised similar part model.This tectonic information 144 also be take a weld seam and is carried out set information as unit.
In the present embodiment, utilize the formulation of the weld seam information of similar part model to process, with the tectonic information 144 of the weld seam information 141 of basic part model, similar part model, automatically formulate the weld seam information 145 of similar part model.
Fig. 9 means the flow chart that is shown the flow process of the processing that editor's receiving portion 56 is carried out by similar weld seam information formulation portion 55 and formulation result.In the processing shown in Fig. 9, tectonic information for the weld seam of the weld seam name similar part model consistent with the weld seam information of basic part model, using other confirm items be weld seam counting each other, attribute unanimously as condition, use the tectonic information of the weld seam information of consistent basic part model and the weld seam of similar part model, the weld seam information that recycles basic part model is formulated the weld seam information of similar part model.On the other hand, the tectonic information for weld seam name with the weld seam of the inconsistent similar part model of weld seam information of basic part model, is not used the weld seam information of basic part model, and only with the tectonic information of this weld seam, formulates new weld seam information.
First, similar weld seam information formulation portion 55 obtains the weld seam information of basic part model and the tectonic information (step 201) of similar part model.
Then, take the weld seam information of basic part model and the tectonic information of similar part model as basis, carry out the inspection of identical weld seam name, confirm weld seam name whether identical (step 202).
Weld seam information (being YES in step 202) with identical weld seam name moves to next confirmation processing (after step 203).Without the weld seam information (being NO) of identical weld seam name, move to the formulation processing (step 211) of new weld seam information in step 202, be labeled as " unregistered " (step 212), and carry out the result demonstration (step 210) of the formulation processing of similar weld seam information.
In step 202 for YES, be weld seam name identical in the situation that, as it, confirm to process, first, judge weld seam whether unanimously count (step 203) each other.Weld seam count in inconsistent situation (being NO) each other, for inconsistent weld seam, move to the termination that the formulation of weld seam information of the similar part model of step 213 is processed in step 203.Then, as using display unit 104(with reference to Fig. 2) the result processed of the formulation of weld seam information of similar part model show, for this weld seam, be shown as " mistake " (step 214), and move to step 210.In the situation that whether unanimously weld seam count consistent (being YES in step 203) each other judge weld seam attribute each other (step 204).At this, " attribute " refer to use Fig. 4 and illustrated such as being straight line (L) or circular arc (C) etc.In inconsistent situation, (in step 204, being NO), moves to step 213, for inconsistent weld seam, ends the formulation of the weld seam information of similar part model and processes, and this weld seam is labeled as to " mistake " (step 214), and move to step 210.In the situation that attribute is consistent (being YES), judge weld seam welding direction each other whether unanimously (step 205) in step 204.Consistent in the situation that (being YES in step 205), (step 207) processed in the formulation that moves to the weld seam information of similar part model.In inconsistent situation (being NO in step 205), by display unit 104, carry out warning label (for the mark of " warning ") (step 206), and move to step 207.
The formulation of having carried out the weld seam information of similar part model in step 207 completes the judgement (step 208) whether vector data has matching after processing.If have matching (in step 208 for YES), result be normal, and carries out the result demonstration (step 210) that the formulation of the weld seam information of similar part model is processed.If do not there is matching (in step 208 for NO), be labeled as " mistake " (step 209), and carry out the result that the formulation of the weld seam information of similar part model processes and show (step 210).
Figure 10 is the figure processing for the confirmation of the identical weld seam name of description of step 202.The upper figure of Figure 10 is accepted and the weld seam information of the basic part model set by basic weld seam information setting receiving portion 54.Figure below of Figure 10 is to revise by similar workpiece configuration validation of information portion's 52 confirmations or by confirming that result shows the tectonic information that receiving portion 53 is accepted revised similar part model.What in the confirmation of identical weld seam name is processed, become comparison other is the weld seam name 151 of weld seam information of basic part model and the weld seam name 152 in the tectonic information of similar part model.In the example shown in Figure 10, " AWELD_C " of similar part model has identical weld seam name with " AWELD_A ", and " AWELD_D " do not exist identical weld seam name in the weld seam information of basic part model.As mentioned above, become the situation of identical weld seam name and be displaced downwardly to step 203 having.Become the situation of identical weld seam name and be displaced downwardly to step 211 not having, and the formulation of carrying out new weld seam information is processed.
Figure 11 (a)～(c) is for the figure of above-mentioned step 203,204,205 processing is described.At this, the weld seam information of the basic part model that becomes comparison other and the tectonic information of similar part model are shown.
In the processing of step 203, the weld seam information based on basic part model and the tectonic information of similar part model and carry out each other the relatively confirmation that weld seam is counted at weld seam mutually of the same name.Consequently, for the weld seam consistent weld seam of counting, its weld seam information moves to next and confirms to process (step 204).In the example shown in Figure 11 (a), the weld seam of basic part model 161-1 and the weld seam of the similar part model 161-2 that counts that counts is compared each other at weld seam mutually of the same name.
In the processing of step 204, the weld seam information based on basic part model and the tectonic information of similar part model and at weld seam mutually of the same name, carry out each other the relatively confirmation of weld seam attribute.Consequently, for the consistent weld seam of weld seam attribute, its weld seam information moves to next and confirms to process (step 205).In the example shown in Figure 11 (b), the basic weld seam attribute 162-1 of part model and the weld seam attribute 162-2 of similar part model are compared each other at weld seam mutually of the same name.
In the processing of step 205, the weld seam information based on basic part model and the tectonic information of similar part model and at weld seam mutually of the same name, carry out each other the relatively confirmation of bead direction.In the example shown in Figure 11 (c), the bead direction being calculated by the coordinate figure 163-1 of basic part model is compared at weld seam mutually of the same name each other with the bead direction that the coordinate figure 163-2 by similar part model calculates.It should be noted that, in Figure 11 (c), although at coordinate figure 163-1,163-2 place, the coordinate figure of 1 is only shown separately, in fact, for example take straight line as 2 points, circular arc as 3 like this, there are separately a plurality of coordinate figures.At this, for example, by 2 above-mentioned points, the direction from starting point to end point is made as bead direction, and be made as the object of comparison.
And as the result of above-mentioned comparison, for the consistent weld seam of bead direction, (step 207) processed in the formulation that moves to the weld seam information of similar part model.In the inconsistent situation of bead direction, via the processing of the warning label of step 206, and in step 207, be set as the bead direction of tectonic information of the weld seam of similar part model.
Figure 12 (a) and (b) are the figure for the automatic input processing of the weld seam information of the processing shown in description of step 207.Figure 12 (a) illustrates the weld seam information of the basic part model with weld seam mutually of the same name and the tectonic information of similar part model.At this, both charging to is sequentially different.In addition, Figure 12 (b) illustrates the example of weld seam information of the similar part model of automatic input.
When formulating the weld seam information of similar part model, the ID of robot, movement locus pattern, movement locus information encoding are obtained from the weld seam information of basic part model.On the other hand, the inscape of weld seam is obtained from the tectonic information of similar part model.And the rule according to determining " weld seam information ", according to the order-assigned of charging to of weld seam information, can realize the automatic setting of weld seam information such shown in Figure 12 (b) thus.
Figure 13 (a) and (b) are figure of the processing of the judgement whether with matching of the vector data for description of step 208.The basic part model that Figure 13 (a) expression is compared and the example of similar part model, Figure 13 (b) means the figure of an example of the index that the matching of above-mentioned vector data is judged.
By above-mentioned each, processed the weld seam information that makes and with respect to the weld seam information of basic part model, whether there is the confirmation (inspection) as the matching of the weld seam information of similar part model.As its method, first, to the bead direction vector 181-1 of the weld seam of basic part model and the difference D of welding direction vector 181-2 that formulates as described above the weld seam of the similar part model have weld seam information calculate.Then, whether this difference D is judged in allowed band.For example, when allowed band is more than 0 ° below 10 ° time, the absolute value of the value of difference D in allowed band, that is, if 0 °≤| D|≤10 °, think and there is matching.Thus, judge that difference D whether in allowed band, if in allowed band, is judged as and has matching (in step 208, being Yes), if allowed band outside (larger than 10 °), be judged as and do not there is matching (in step 208, being No).It should be noted that, " welding direction vector 181(181-1; 181-2) " is for example the vector of following direction, if each weld seam is by welding starting point 185(185-1,185-2) with welding end point 186(186-1,186-2) these 2 define, this direction is from this welding starting point 185(185-1,185-2) towards welding end point 186(186-1,186-2) direction.
Figure 14 is the figure processing for the formulation of the new weld seam information of the processing shown in description of step 211.As mentioned above, Figure 10 (a) " AWELD_D " is without identical weld seam name.Therefore, the tectonic information based on similar part model " AWELD_D " and carry out the formulation of weld seam information.In the example shown in Figure 14, with the starting point 153 of weld seam and the coordinate figure of terminal 154 of similar part model, formulate 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 above-mentioned information, formulate new weld seam information.
[formulating the demonstration of result]
Figure 15 is the figure of display case of formulation result that the weld seam information of the similar part model shown in step 210 is shown.Formulation result shown in Fig. 3 shows that the display unit 104 shown in editor's receiving portion 56 use Fig. 2 shows formulation result to operating personnel.Various confirmations shown in the flow chart of Fig. 9 are processed and are carried out item by item by weld seam, the result that demonstration is as shown in Figure 15 processed as the confirmation of the weld seam integral body at similar part model and being shown.
In the display case shown in Figure 15, the kind 191 of processing, the content 195 of numbering result 194, mistake or the warning of (No.) 192, weld seam name 193, formulation processing are formulated in demonstration.In addition, complete as the wrong number mark gathering 196 and the warning number mark 197 of formulating result.
At this, for kind 191, in the situation that can utilize the weld seam information of basic part model to be labeled as " recycling ", the new mark using non-existent weld seam in the weld seam information at basic part model as step 212 and be labeled as " unregistered ".In step 211, formulate new weld seam information, for the weld seam that is labeled as " unregistered " in step 212, become afterwards the input object of the numbering etc. of movement locus pattern, the ID of robot, welding track information.
For formulating the result 194 of processing, be labeled as " normally ", " mistake " or " warning "." normally " is labeled as the situation of the matching of confirming vector data in step 208." mistake " is the result queue of step 209, step 212, step 214." warning " is the warning label of step 206.For content 195 wrong, warning, the form that actual wrong content is understood by convenient operation personnel shows.
Thus, will formulate result shows to operating personnel.
[editor of the weld seam information of similar part model]
As described above, formulate similar weld seam information, and show formulation result.Formulation result shown in Fig. 3 shows the input instrument 106 shown in editor's receiving portion 56 use Fig. 2 and accepts operating personnel as required and the editing operating carrying out.For example, weld seam editor, the weld seam such as flexible of the change of welding direction, length eliminate, the combination of weld seam, the editor of welding track information be, the editor of welding sequence etc.The edited result of carrying out is as the weld seam information of new similar part model and cover and be stored in memory 102 etc., processed, and be stored in weld seam information storage part 61 by similar weld seam information stores processor portion 57.
Then, in the situation that automatically formulate the weld seam information of ensuing new similar part model, can utilize similar weld seam information stores processor portion 57 by be stored in weld seam information storage part 61 before the weld seam information of similar part model as the weld seam information of new basic part model.
By thering is above-mentioned editor's the function of accepting, for example, even if in the situation that because the design alteration of the appending of new structural member, model causes only making a part for workpiece to change its shape, also can formulate weld seam information.And, if extract this weld seam information and append, be registered in weld seam information storage part 61, afterwards can recycle this weld seam information.Therefore in addition, owing to can deleting the weld seam information that becomes unwanted basic part model, can prevent that mistake from utilizing the weld seam information of basic part model, and the management of the weld seam information of basic part model becomes simple.
[effect of present embodiment]
Above, as describing in detail, according to present embodiment, in the part model (similar part model) of analogous shape, can be based on from becoming the weld seam information of the basic part model that extracts of basic part model on basis, concentrate and automatically carry out the formulation of the weld seam information of similar part model.Thus, without again carrying out in the past such input operation, in the different workpiece of the size of analogous shape, each that carry out while changing manipulating object, weld seam extracts the input operation that operation and movement locus are formulated needed parameter.Therefore, the burden of the input operation based on operating personnel can be alleviated, thereby the efficiency of the off-line teaching system of using automatic Program Synthesis function can be improved.Therefore in addition, because the formulation of movement locus information is also promptly carried out, can also shorten significantly time, workload in the teaching of robot.
It should be noted that, as described above, although weld seam information that can be using the weld seam information of the similar part model of being formulated by present embodiment as new basic part model and be stored in weld seam information storage part 61, can also distinguish the weld seam information of above-mentioned basic part model to preserve and utilize according to the machine of workpiece.Machine by according to workpiece is distinguished and is preserved and utilize, and the weld seam management becoming between the part model of manipulating object becomes easy, can prevent from automatically formulating with the weld seam of different machines the mistake of movement locus information etc.In addition, owing to using weld seam information in automatic Program Synthesis function, the therefore indivedual settings to automatic Program Synthesis function without weld seam information.Thus, the formulation time of movement locus information also shortens.
[other structure example of present embodiment]
In the above description, the weld seam information setting device 50 of being realized by computer obtains the weld seam information of basic part model and the tectonic information of similar part model, and formulates the processing of the weld seam information of similar part model.On the other hand, also the function of the weld seam information setting device 50 based on present embodiment can be realized by control device 20 and the teaching apparatus 30 of example welding robot system as shown in Figure 1.
In this case, control device 20 possesses CPU101, memory 102, the disk set 105 in the hardware configuration example shown in Fig. 2.In addition, utilize the display frame 31 of teaching apparatus 30 and driving mechanism thereof to realize image indication mechanism 103 and display unit 104, by the load button 32 of teaching apparatus 30, realize input instrument 106.In this case, for example the setting picture shown in Figure 16 (b), Fig. 7, display frame are as shown in Figure 15 shown in to the display frame 31 of teaching apparatus 30.Then, the load button 32 that operating personnel operate teaching apparatus 30 carries out desirable assignment.The input operation that control device 20 is accepted based on this teaching apparatus 30.
In addition, the weld seam information setting method of being realized by present embodiment as described above, the processing that can carry out as the CPU101 of weld seam information setting device 50 and applying.Yet, also can disperse each step and be realized by a plurality of computer installations connected to the network.In addition, the preservation of the tectonic information of similar part model is completed by for example portable storage device (not shown), the weld seam information of basic part model is stored in the disk set 105 of weld seam information setting device 50 etc., for the place of retention of data, also can have variety of way.
Claims (6)
1. a weld seam information setting device, this weld seam information setting device is used in the automatic teaching system of welding robot, in order to carry out this welding robot to implement the welding indication before operation, set the weld seam information that this welding robot is implemented the workpiece of operation, it is characterized in that
Described weld seam information setting device possesses:
Basic weld seam information storage mechanism, its storage is as the weld seam information of the basic part model of base shape;
Tectonic information obtains mechanism, and it obtains should formulate the part model of weld seam information, vary in size with described basic part model and the tectonic information of the similar similar part model of shape; And
Similar weld seam information is formulated mechanism, its utilization is stored in the weld seam information of the described basic part model of described basic weld seam information storage mechanism, and according to the tectonic information that is obtained the described similar part model that mechanism gets by described tectonic information, automatically formulates the weld seam information of this similar part model.
2. weld seam information setting device according to claim 1, is characterized in that,
The weld seam information that is stored in the described basic part model of described basic weld seam information storage mechanism comprises identifying information and the welding track information of the weld seam of described basic part model,
By described tectonic information, obtain the identifying information of weld seam and the inscape of inscape or weld seam that described tectonic information that mechanism obtains comprises described similar part model.
3. weld seam information setting device according to claim 2, is characterized in that,
Described similar weld seam information is formulated mechanism and is recycled being stored in weld seam information in the weld seam information of described basic part model of described basic weld seam information storage mechanism, that have the identifying information that the described identifying information that comprises with the tectonic information of described similar part model is identical, and formulates the weld seam information of described similar part model.
4. weld seam information setting device according to claim 2, is characterized in that,
Described similar weld seam information is formulated mechanism the tectonic information of described similar part model and the weld seam information that is stored in the described basic part model of described basic weld seam information storage mechanism is compared, in the situation that do not there is identical identifying information, by the weld seam information of this basic part model, with this tectonic information, do not formulate new weld seam information.
5. an automatic teaching system, this automatic teaching system is the automatic teaching system of welding robot, it is characterized in that,
Described automatic teaching system possesses:
Welding robot, its front end at arm is provided with the welding torch that carries out weld job, and carries out the operation based on training data;
Storage device, it stores described training data;
Control device, it reads in this training data and the action of described welding robot is controlled from this storage device;
Teaching apparatus, it can realize the input of the weld job condition that operating personnel carry out when the teaching operation of carrying out described welding robot; And
Weld seam information setting device, it sets in order to carry out described welding robot to implement the welding indication before operation the weld seam information that this welding robot is implemented the workpiece of operation,
Described weld seam information setting device possesses:
Basic weld seam information storage mechanism, its storage is as the weld seam information of the basic part model of base shape;
Tectonic information obtains mechanism, and it obtains should formulate the part model of weld seam information, vary in size with described basic part model and the tectonic information of the similar similar part model of shape; And
Similar weld seam information is formulated mechanism, its utilization is stored in the weld seam information of the described basic part model of described basic weld seam information storage mechanism, and according to the tectonic information that is obtained the described similar part model that mechanism gets by described tectonic information, automatically formulates the weld seam information of this similar part model.
6. a weld seam information setting method, this weld seam information setting method is implemented the welding indication before operation and sets the weld seam information that this welding robot is implemented the workpiece of operation in order to carry out welding robot, it is characterized in that,
Obtain the weld seam information as the basic part model of base shape,
Obtain and should reformulate the part model of weld seam information, vary in size with described basic part model and the tectonic information of the similar similar part model of shape,
The weld seam information of the described basic part model that utilization is read, formulates the weld seam information of this similar part model automatically according to the tectonic information of the described similar part model getting.
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| CN106583974B (en) * | 2016-12-16 | 2018-04-13 | 南京合信智能装备有限公司 | One kind quickly seeks a welding system and welding method without programming structure part laser |
| CN106583974A (en) * | 2016-12-16 | 2017-04-26 | 南京合信智能装备有限公司 | Laser quick locating welding system and laser quick locating welding method without programming structural part |
| CN107958108A (en) * | 2017-11-17 | 2018-04-24 | 广东核电合营有限公司 | Weld seam generation method, device, storage medium and computer equipment |
| CN107958108B (en) * | 2017-11-17 | 2021-08-03 | 广东核电合营有限公司 | Weld joint generation method and device, storage medium and computer equipment |
| CN112440018A (en) * | 2019-09-04 | 2021-03-05 | 中冶赛迪技术研究中心有限公司 | Welding system and welding method |
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| CN110893525A (en) * | 2019-12-05 | 2020-03-20 | 珠海屏珠科技有限公司 | Method for identifying welding area of welding workpiece, computer device and computer-readable storage medium |
| CN110893525B (en) * | 2019-12-05 | 2022-05-24 | 珠海屏珠科技有限公司 | Method for identifying welding area of welding workpiece, computer device and computer readable storage medium |
| CN111189393A (en) * | 2020-01-21 | 2020-05-22 | 北京卫星制造厂有限公司 | High-precision global vision measurement method for three-dimensional thin-wall structural weld joint |
| CN111189393B (en) * | 2020-01-21 | 2021-10-01 | 北京卫星制造厂有限公司 | High-precision global vision measurement method for three-dimensional thin-wall structural weld joint |
| CN112589303A (en) * | 2020-11-25 | 2021-04-02 | 上海新时达机器人有限公司 | Tower foot welding method and device for tower foot of power transmission tower and communication tower |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104070265B (en) | 2016-06-01 |
| JP6022393B2 (en) | 2016-11-09 |
| JP2014194656A (en) | 2014-10-09 |
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