JP6022394B2 - Work route information setting device, program, and work route information setting method - Google Patents

Description

  The present invention relates to a work route information setting device, a program, and a work route information setting method used in an automatic teaching system.

  As an example of a work target device that performs work on a workpiece, a welding robot that performs welding operates so as to execute a work set by the teaching data. As a teaching method for welding robots, for example, there is a CP (Continuous Pass) control method using PTP (Point to Point) linear interpolation, which is an interpolation method that connects the positions and postures of points that the robot should pass through. It is what you specify. However, this teaching method has a drawback that it takes too much time for teaching because the position and orientation of all points through which the robot passes and the interpolation method are specified by manual operation at the welding location of the workpiece to be worked. .

  As a prior art described in the publication, in order to increase efficiency when using a welding robot for welding a frame or the like, a corner joint shape, a welding locus, a welding condition, and the like are patterned and stored in a memory. When teaching a corner weld line, there is one that teaches pattern selection and one reference point (see, for example, Patent Document 1).

  In addition, there is an off-line teaching method using CAD data, in which when a similar thing is newly taught, a stored route library is called and used to create new work route data (for example, Patent Documents). 2). And in this patent document 2, when using a path | route library with respect to the same kind of target object, the input of the data of components is required (for example, refer patent document 2, paragraph [0069] paragraph).

  Also, a first teaching step that is a teaching-less method that automatically creates a work movement path of a robot based on three-dimensional information, and a second teaching step that is a normal offline teaching method in which an operator inputs a work movement path, There is a technique in which an operator teaches a work line to which the teaching-less method can be applied in the first teaching step and a work line to which the teaching-less method cannot be adopted (see, for example, Patent Document 3). . According to this, even if the work target has many work lines that cannot adopt the teaching-less method, the work area where online teaching is performed can be reduced by combining the teaching-less method and the offline teaching.

JP-A-56-102376 JP-A-8-286722 JP 2000-190264 A

  However, in these conventional technologies, every time the motion trajectory information of the robot that is the work target device is created, the operator designates the reference point of the work location that is the work target, and the work path is determined from the three-dimensional work model. It is necessary to specify and extract. Further, in order to create the motion trajectory information in each work route, the operator must input parameters necessary for motion trajectory creation, such as the motion trajectory pattern, the ID of the work target device, and the number of motion trajectory information. .

  In recent years, with the diversification of market needs, complications and enlargement of products (workpieces) have rapidly progressed, and it has become mainstream to produce a wide variety of workpieces in small quantities. Among them, when producing workpieces with different sizes such as height (H dimension), width (W dimension), and depth (D dimension), existing motion trajectory information is used even if the shape is similar. It was not possible, and it was necessary to perform teaching again each time the workpiece changed. In this re-teaching, the operator is required to perform a manual operation (hereinafter referred to as “work route information input work”) for extracting a number of work routes and inputting parameters necessary for creating a motion trajectory for each work route. The For an operator who uses offline teaching, the workload due to this manual operation is large, which has been one of the causes of deteriorating the efficiency of offline teaching using the automatic programming function.

  It is an object of the present invention to reduce the work route information input work performed by an operator every time the operation trajectory information of the work target device is created.

  A work route information setting device to which the present invention is applied is used in an automatic teaching system, and work route information of a work on which the work target device performs work for a work instruction before the work target device performs work. Is a work route information setting device that stores work route information of a base work model that is a basic shape in association with identification information for identifying a work route, and newly creates work route information. Structure information acquisition means for acquiring structure information of a similar work model that is a work model and has a size different from that of the base work model, and work path information of the base work model stored in the storage means The work process for creating work route information of the similar work model from the structure information of the similar work model acquired by the structure information acquisition means using An information creation means, wherein the work route information creation means has the same identification information as the work route identification information included in the structure information of the similar work model among the work route information of the base work model. The route information is reused to create work route information of the similar work model.

  Here, it further comprises display means for displaying a work result by the work route information creating means, wherein the work route information creating means includes structure information of the similar work model and the base work model stored in the storage means. If the same identification information is not compared, the new work route information is created using the structure information without using the work route information of the base work model, and the display The means may display a result of creating the new work route information.

  In addition, the work route information creating means may determine whether or not the number of work points is the same for each work route having the same identification information as the work route information of the work route information of the base work model. It is characterized in that at least one of whether or not the work direction is coincident is determined.

  On the other hand, the present invention is a program for causing a computer to function as a system for setting work route information of a work on which a work target device performs work for a work instruction before the work target device performs work, It has identification information for identifying a work route, has a function of acquiring work route information of a base work model that is a basic shape, and is an object for which a new work route is to be created, and the base work model has a size. The function of acquiring the structure information of the similar work model having a different shape and the work path information of the similar work model using the work path information of the base work model and creating the work path information of the similar work model, Among the work route information of the base work model, the same identification information as the work route identification information included in the structure information of the similar work model Reuse the work path information with realizing a function of creating a working path information of the similar workpiece model, to the computer.

  Further, when the present invention is grasped from the category of the method, the present invention is an operation for setting work route information of a work on which the work target device performs work for a work instruction before the work target device performs work. A route information setting method having identification information for identifying a work route, obtaining work route information of a base work model that is a basic shape, and a target for which a new work route is to be created, the base work The structure information of a similar work model having a size different from that of the model and similar in shape is acquired, and the work path information of the similar work model is obtained from the structure information of the similar work model using the work path information of the base work model. Created and has the same identification information as the work route identification information included in the structure information of the similar work model among the work route information of the base work model By reusing working path information, characterized in that to create a working path information of the similar work model.

  According to the present invention, compared with the case where the present invention is not adopted, the work route information input work performed by the operator every time the operation trajectory information of the work target device is created can be greatly reduced.

It is a figure which shows schematic structure of the automatic teaching system using the welding robot which concerns on this Embodiment. It is a figure which shows the hardware structural example of the welding line information setting apparatus of this Embodiment. It is a figure which shows the function structural example of the welding line information setting apparatus of this Embodiment. (A), (b) is a figure for demonstrating an example of the structural information of the similar workpiece | work model memorize | stored in the similar workpiece | work structure information storage part, and acquired from a similar workpiece | work structure information acquisition part. It is the flowchart which showed the process performed in a similar work structure information acquisition part, a similar work structure information confirmation part, and a confirmation result display and correction reception part. (A), (b) is a figure for demonstrating the confirmation process of the structural information of the similar work model performed by step 102-104 of FIG. It is the figure which showed an example of the display screen used for the process of steps 106-108 of FIG. It is explanatory drawing for demonstrating the concept of the creation function of the welding line information of the similar workpiece | work model in this Embodiment. It is the flowchart which showed the flow of the process performed in a similar weld line information preparation part and a preparation result display / edit reception part. It is a figure for demonstrating the confirmation process of the same weld line name of step 202 of FIG. (A)-(c) is a figure for demonstrating the process of step 203,204,205 of FIG. (A), (b) is a figure for demonstrating the automatic input process of the welding line information in the process shown to step 207 of FIG. (A), (b) is a figure for demonstrating the process of judgment whether the vector data of step 208 of FIG. 9 has consistency. It is a figure for demonstrating the creation process of the new welding line information in the process shown to step 211 of FIG. It is the figure which showed the example of a display of the creation result of the welding line information of the similar workpiece | work model shown in step 210 of FIG. (A), (b) is explanatory drawing for demonstrating schematic structure of this Embodiment.

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings.
[Outline of this embodiment]
First, before entering a specific description of the present embodiment, an outline of welding line information setting to which the present embodiment is applied will be described in order to facilitate understanding thereof.
FIGS. 16A and 16B are explanatory diagrams for explaining a schematic configuration of the present embodiment. FIG. 16A is a conceptual diagram of welding line information setting to which the present embodiment is applied, and FIG. 16B is an example of the file setting GUI of the welding line reuse function, and the structure information of a similar work model. The example of the setting screen for creating the weld line information of the similar work model from the file and the weld line information file of the base work model is shown.
In FIG. 16A, as a work model to be welded by the robot 10, a base work model 301 and two similar work models 302 that are different in size but similar in shape to the base work model 301. , 303 are shown. In the example shown in FIG. 16A, a medium-sized base work model 301, a similar large similar work model 302, and a small similar work model 303 are shown.

In the automatic programming system of the welding robot, it is necessary to perform an operation of inputting welding line information in order to create the operation trajectory information of the robot 10. At that time, it was necessary for the operator to input the welding line information again every time a similar-shaped workpiece was changed to one having a different size on the production line according to the product-specific production plan. When inputting welding line information, even if the input time per line is short, for example, when there are nearly 400 welding lines, it takes several hours to input.
In the present embodiment, first, a base work model 301 serving as a reference when setting welding line information is selected. It is assumed that the weld line information of this base work model 301 already exists. Then, the welding line information of the base work model 301 is reused, and the welding line information of the similar work models 302 and 303 having different sizes but similar shapes is automatically input. Do it. This reduces the “input operation of welding line information” that is performed each time the work object having a similar shape is changed to a work having a different size.

  In the setting screen shown in FIG. 16B, in order to create the weld line information of the similar work models 302 and 303 from the base work model 301, it becomes a reference from the weld line database (weld line information storage unit 61 described later). A base work model weld line information file is selected, and similar work model structure information is selected from a similar work model file (similar work structure information storage unit 62 described later) to be newly welded. When the operator performs these selection operations, the operation of the present embodiment described later is executed. Note that the operator uses the input device 106 to select the setting screen displayed on the display device 104 shown in FIG.

  In this embodiment, the welding robot is an aspect of work target equipment represented by various industrial robots, and the welding line information setting device is handled as an aspect of the work path information setting device. The welding instruction is one of work instructions, and the welding line is handled as one of work paths. Similarly, the welding point is one of the working points, and the welding direction is one of the working directions. Thus, welding is handled as an aspect of work. Furthermore, the weld line information is an aspect of work route information.

Next, this embodiment will be specifically described. In the present embodiment, an automatic teaching system using a welding robot will be described as an example.
[Configuration of automatic teaching system]
FIG. 1 is a diagram showing a schematic configuration of an automatic teaching system using a welding robot according to the present embodiment.
As shown in FIG. 1, the welding robot system includes a robot (manipulator) 10, a control device (controller) 20 for controlling the robot, and a teaching device 30 for inputting teaching data. Moreover, the setting process of the welding line information which is the characteristic structure of this Embodiment is performed by the welding line information setting apparatus 50 implement | achieved by the computer system, for example. Further, the control device 20 includes an interface for reading and writing data with respect to a removable storage medium 40 such as a memory card, for example, and writing teaching data to the storage medium 40 or teaching data written to the storage medium 40. Can be read and stored in a storage device.

  The robot 10 includes arms having a plurality of joints, and performs various operations based on teaching data. In the case of a welding robot system, a welding torch 11 for performing a welding operation of an object is provided at the tip of the arm. The control device 20 includes a storage device (memory) that stores teaching data and a processing device (CPU) that reads the teaching data and controls the operation of the robot 10. The teaching device 30 is used when an operator inputs a welding path, welding work conditions, and the like during teaching work of the robot 10. The teaching device 30 includes a display screen 31 constituted by a liquid crystal display or the like and an input button 32.

  The control device 20 has an interface for the robot 10 and an interface for the teaching device 30, and is connected to the robot 10 and the teaching device 30 via these. Further, the control device 20 includes an interface for reading and writing data with respect to a removable storage medium 40 such as a memory card, for example, and writing teaching data to the storage medium 40 or teaching data written to the storage medium 40. Can be read and stored in a storage device.

[Hardware configuration of welding line information setting device]
FIG. 2 is a diagram illustrating a hardware configuration example of the welding line information setting device 50.
As shown in FIG. 2, a welding line information setting device 50, which is one of work route information setting devices, includes a CPU (Central Processing Unit) 101 that is a calculation means and a memory 102 that is a main storage means. Further, as external devices, an image display mechanism (video card or the like) 103 and a display device 104, a magnetic disk device (HDD: Hard Disk Drive) 105, and an input device 106 such as a keyboard or a mouse are provided. FIG. 2 merely illustrates a hardware configuration when the welding line information setting device 50 is realized by a computer system, and the welding line information setting device 50 is not limited to the illustrated configuration.

[Functional configuration of welding line information setting device]
FIG. 3 is a diagram illustrating a functional configuration example of the welding line information setting device 50.
As shown in FIG. 3, the weld line information setting device 50 includes a weld line information storage unit 61 that functions as one of storage means for storing the weld line information of the base work model serving as a basis for setting the weld line information. And a similar work structure information storage unit 62 that functions as one of similar work structure information storage means for storing the structure information of the similar work model to be set as a new welding line information setting target. The weld line information storage unit 61 and the similar work structure information storage unit 62 can be realized by a magnetic disk device 105 (see FIG. 2) of a computer system. However, both or either of them may be provided in a housing different from the computer system shown in FIG. 2 or in an external location (for example, a remote server, an external storage device, etc.). In such a case, the computer system shown in FIG. 2 is connected via a network (not shown).

  As shown in FIG. 3, the welding line information setting device 50 includes a similar work structure information acquisition unit 51 that functions as one of the structure information acquisition means, and a similar work structure information confirmation unit that functions as one of the confirmation means. 52 and a confirmation result display / correction receiving unit 53. Furthermore, the base weld line information setting receiving unit 54, the similar weld line information creating unit 55 functioning as one of work route information creating means, and the creation result functioning as one of work route information creating means and / or display means. A display / edit reception unit 56 and a similar weld line information storage processing unit 57 are provided. This similar work structure information acquisition unit 51, similar work structure information confirmation unit 52, confirmation result display / correction reception unit 53, base weld line information setting reception unit 54, similar weld line information creation unit 55, creation result display / edit reception unit 56, the similar weld line information storage processing unit 57 is realized by, for example, the CPU 101, the memory 102, and the magnetic disk device 105 in the hardware configuration shown in FIG. More specifically, a program for realizing the function of the welding line information setting device 50 according to the present embodiment by a computer is stored in the magnetic disk device 105, this program is expanded in the memory 102, and executed by the CPU 101. The above functions are realized. The confirmation result display / correction receiving unit 53, the base weld line information setting receiving unit 54, and the creation result display / edit receiving unit 56 display various information on the display device 104 by the GUI function via the image display mechanism 103. An input from the operator is received via the input device 106.

  The similar work structure information acquisition unit 51 acquires the structure information of the similar work model for which the welding line information of the similar work model should be created from the similar work structure information storage unit 62. The acquired structural information is information obtained from a work model created in advance by a user (designer) who wants to use the automatic teaching system to which the present embodiment is applied. More specifically, a graphic model drawn by a predetermined CAD, a point coordinate value (weld line coordinate value), an attribute, and a weld line name constituting a weld line drawn when the graphic model is created. . The weld line name is determined systematically when the designer designs a workpiece product, and is determined as a rule on the designer side during product design. Details will be described with reference to FIGS.

  The structure information can have “ridge line” information instead of point coordinate values and attributes constituting the weld line. For example, a ridge line of each member that is expected to be a welding line with respect to the three-dimensional shape data of each member is provided instead of the point coordinate value or attribute or together with the point coordinate value or attribute. In such a case, a welding candidate line is set to the ridge line on the side where welding is expected, and data representing the set welding candidate line is set together with the three-dimensional shape data. Therefore, the “structure information” to which the present embodiment is applied includes identification information (for example, a weld line name) of the weld line and components of the weld line such as a ridge line.

In the similar work structure information confirmation unit 52, there is no contradiction between the similar weld lines from which the weld line information will be created from now on with respect to the structure information of the similar work model acquired by the similar work structure information acquisition unit 51. In addition, an inconsistency pre-check is performed based on the structure information of the similar work model.
In the confirmation result display / correction accepting unit 53, the result of checking the weld line information by the similar work structure information confirming unit 52 is displayed on the display device 104, and an operator (user) operates the input device 106 based on the display. Confirmation / correction processing performed The structure information of the similar work model subjected to the confirmation / correction processing in this way is stored in the magnetic disk device 105 as confirmation structure information of the similar work model.
In the present embodiment, an “operator (user)” is a person who operates the welding line information setting device 50, and is a “user (designer)” who designs a work model by operating a CAD. May have different subjects if they have the same subject.
The processes of the similar work structure information acquisition unit 51, the similar work structure information confirmation unit 52, and the confirmation result display / correction reception unit 53 will be described in detail with reference to FIGS.

  The base weld line information setting reception unit 54 reads out the weld line information of the base work model, which is the basis of the similar work model for which new weld line information should be created, from the weld line information storage unit 61 and sets it as a comparison target. . When a plurality of types of weld line information are stored in the weld line information storage unit 61, a user selection for the base weld line information of the base work model that is the basis of a similar work model to be newly created is received, and data Is read and set. The weld line information storage unit 61 stores (saves) a manually created weld line information file or a weld line information file automatically created according to the present embodiment for each type of base work model or similar work model. )

Here, the “weld line information” includes a weld line name which is identification information of the weld line, and its welding trajectory information. In the “weld line information”, parameters are set for each weld line.
In this embodiment, for convenience of explanation, the welding line information of the base work model is “base welding line information”, the welding line information of the similar work model is “similar welding line information”, and the newly created welding line information Is sometimes abbreviated as “new weld line information”.
“Welding trajectory information” indicates parameters input when creating motion trajectory information using the automatic programming function. The welding trajectory information includes, for example, an operation trajectory pattern, a robot ID, an operation trajectory information number, and a component of a weld line. This component includes information indicating the position (coordinates) and attributes of the weld line, such as a weld line model. In addition, the welding trajectory information may include vector information of member surfaces such as a base material surface and a standing plate surface, and other information. The vector information of the member surface can be automatically calculated from the components without being input by the operator.
The “motion trajectory pattern” is a pattern of the robot's rod movement with respect to the welding location.
“Robot ID” indicates identification information (ID) of a robot that uses automatically generated motion trajectory information. When creating motion trajectory information using an motion trajectory pattern, the robot ID to be processed is identified. Information (ID) is shown.
The “number of welding track information” indicates identification information (ID) given to the operation track information, and is a so-called teaching program number.
“Motion trajectory information” refers to motion trajectories for moving the actual robot and performing welding (robot passing points and postures, interpolation information between points) and robot commands (arc ON / OFF, etc.) A teaching program with

The similar weld line information creation unit 55 uses the weld line information of the base work model set by the base weld line information setting reception unit 54, from the structural information confirmed by the similar work model confirmation result display / correction reception unit. Create weld line information for similar workpiece models.
The creation result display / edit reception unit 56 displays the creation result for the weld line information of the similar work model created by the similar weld line information creation unit 55. In particular, when an inconsistency is detected between the weld line information of the base work model and the weld line information of the created similar work model, the processing result is displayed in a state where the inconsistent portion becomes clear. And the correction process and edit process of the weld line information file of the similar workpiece | work model made by the operator with respect to this display are received. It should be noted that when no inconsistency is detected, it is possible to directly shift to the next processing of the similar weld line information storage processing unit 57 without performing the processing of the creation result display / editing reception unit 56. is there.
The similar weld line information storage processing unit 57 stores the weld line information of the automatically created similar work model in the weld line information storage unit 61 so that it can be used as the weld line information of the new base work model. .

Next, the contents of each functional unit shown in FIG.
[Explanation of similar work model structure information]
FIGS. 4A and 4B are diagrams for explaining an example of the structure information of the similar work model stored in the similar work structure information storage unit 62 and acquired from the similar work structure information acquisition unit 51. FIG. 4A shows an example of a weld line, and FIG. 4B shows an example of a format for entering structure information indicating the weld line shown in FIG. 4A.

  The weld line shown in FIG. 4A is composed of a first line 76, a second line 77, and a third line 78. The first line 76 is a straight line and is represented by two points, a first point 71 and a second point 72. The second line 77 connected to the first line 76 is a curved line, and is expressed by three points including a second point 72, a third point 73, and a fourth point 74. Further, the third line 78 connected to the second line 77 is a straight line and is expressed by two points, a fourth point 74 and a fifth point 75. The welding line direction is in the order of the first point 71 → the second point 72 → the third point 73 → the fourth point 74 → the fifth point 75.

  The structural information shown in FIG. 4B includes a weld line name 79 and a score 80 that is the total number of points constituting the weld line. The weld line name 79 functions as identification information for identifying the weld line. In the present embodiment, the same weld line name as the weld line name of the weld line information of the base work model is used for the weld line related to the base work model in the similar relationship. This is because, at the design stage of a work model using, for example, CAD on the user (designer) side who intends to use the automatic teaching system, the same identification number is assigned to the weld line related to the works having similar relations. By being done.

  Further, in the structure information shown in FIG. 4B, for each of the first line 76, the second line 77, and the third line 78, the attribute of the straight line (L) or the circular arc (C) is set. included. Moreover, the coordinate values (X, Y, Z) of the points (the first point 71 to the fifth point 75) constituting each weld line are included as the weld line coordinate values.

[Confirmation processing of similar work model structure information]
Next, similar work structure information confirmation processing will be described.
FIG. 5 is a flowchart showing processing performed by the similar work structure information acquisition unit 51, the similar work structure information confirmation unit 52, and the confirmation result display / correction reception unit 53.
First, the similar work structure information acquisition unit 51 reads the structure information of the similar work model from the similar work structure information storage unit 62 (step 101). Thereafter, the similar work structure information confirmation unit 52 determines whether or not there is inconsistency in the data related to the weld line of the similar work model. More specifically, it is first determined whether or not a weld line name and a weld line coordinate value exist (step 102). If they do not exist (NO in step 102), the process proceeds to step 106 described later. If these exist (YES in step 102), it is determined whether or not the existing weld line names do not overlap (step 103). If they overlap (NO in step 103), the process proceeds to step 106 described later. If they do not overlap (YES in step 103), it is determined whether or not the weld line coordinate values overlap (step 104). If they overlap (NO in step 104), the process proceeds to step 106 described later. If they do not overlap (YES in step 104), the process proceeds to a process for creating weld line information of a similar work model by the similar weld line information creating unit 55 (step 105).

FIGS. 6A and 6B are diagrams for explaining the structure information confirmation processing of the similar work model performed in steps 102 to 104 in FIG. 5. FIG. 6A is a diagram illustrating an example of a check result of the presence / absence of weld line names and weld line coordinate values, and FIG. 6B is a diagram illustrating an example of overlap of weld lines (coordinate values). It is.
In the information “AWELD_C... 300L2” of the first stage welding line shown in FIG. 6A, “AWELD_C” is the welding line name 112. "... 300L2" is the coordinate value 113 of the weld line expressed by point information. The same applies to the second and subsequent stages. In the welding line information 114 represented by “AWELD_C... 300L2” in the second stage, the welding line name 112 and the coordinate value 113 coincide with the information in the first stage welding line. In the welding line information 115 represented by “AWELD_C... 800L2” in the fourth stage, the welding line name 112 “AWELD_C” matches the information in the first stage welding line. In the welding line information 116 represented by “AWELD_D... 300L2” in the fifth stage, the coordinate value 113 of “... 300L2” matches the information in the first stage welding line. In the information 117 of the sixth stage weld line, the weld line name 112 is “blank”. In the information 118 of the seventh stage weld line, the coordinate value 113 is “blank”.
In the left view of FIG. 6B, the first weld line 121 and the second weld line 122 overlap at the straight line portion 123. In the right view of FIG. 6B, the third weld line 125 and the fourth weld line 126 overlap at the straight line portion 127.
As described above, the similar work structure information confirmation unit 52 checks the presence / absence / overlap of the weld line name and the weld line coordinate value, and when it is determined that there is any problem, the process proceeds to step 106. Transition.
Here, in the information indicated by the coordinate value 113, for example, “3” of “... 300L2” is the X coordinate value, “0” is the Y coordinate value, “0” is the Z coordinate value, and “L” is the line value. The attribute “2” represents the total number of points. In addition, although not shown, identification information of a member surface (base material surface, standing plate surface, member surface vector, etc.) of the weld line is also included.

[Display and correction of confirmation result of structure information of similar work model]
In step 106 shown in FIG. 5, the confirmation result of the weld line constituting the similar work model is displayed. Then, the presence / absence of a cancel instruction is confirmed based on whether or not a cancel button existing on the display screen has been pressed (step 107). The cancel instruction is for temporarily stopping the transition to the process executed by the similar weld line information creating unit 55. If there is no cancel instruction (NO in step 107), the process proceeds to step 105. When there is a cancel instruction (YES in step 107), the confirmation result display / correction unit 53 receives an operator's correction and / or editing based on the displayed confirmation result (step 108). Thereafter, the process returns to step 102.

FIG. 7 is a diagram showing an example of a display screen used for the processing in steps 106 to 108. A display screen as shown in FIG. 7 is displayed on the display device 104 shown in FIG. The confirmation processing in steps 102 to 104 in FIG. 5 is performed for each weld line, but the display as shown in FIG. 7 is displayed as a result of the confirmation processing for the entire weld line of the similar work model. On the display screen shown in FIG. 7, a weld line type 131, weld line name information 132, a remarks column 133, and the like are displayed. The display of “reuse” in the type 131 indicates the weld line of the similar workpiece used for reuse from the base weld line information when the similar weld line information is created. The display of “unregistered” in the type 131 represents a case where the weld line name or the coordinate value is blank. In the example of “unregistered” in FIG. 7, “no weld line name” is displayed in the field of the weld line name information 132 in the case where there is no weld line name.
In addition, when there is a warning, it is also effective to express the welding line information in different colors. For example, the color is red when the weld line names overlap, and the color is purple when the weld lines (coordinates) overlap. Further, when there is a warning, warning information is displayed in the remarks column 133.

Further, on the display screen shown in FIG. 7, it is possible to accept a correction / editing instruction from the operator. In the example shown in FIG. 7, an OK button 138 and a cancel button 139 are displayed. The operator moves a pointing device such as a mouse, which is one of the input devices 106, to these button display positions, and clicks these buttons. The welding line information setting device 50 can recognize the operator's instruction shown in step 107 of FIG. 5 by recognizing the operator's operation on this display screen. Further, with respect to the display content shown in FIG. 7, after the cancel button 139 is clicked, the correction / edit shown in step 108 of FIG. 5 can be accepted by allowing the operator to directly input the display content using a keyboard or the like. it can.
Through a series of these processes, the structure information of the similar work model in which the weld line information is newly created is prepared, and the process proceeds to the similar weld line information creation process in step 105.

[Create Welding Line Information for Similar Work Models]
Next, similar welding line information creation processing by the similar welding line information creation unit 55 and the creation result display / edit reception unit 56 shown in FIG. 3 will be described.
FIG. 8 is an explanatory diagram for explaining the concept of a function for creating weld line information of a similar work model in the present embodiment. The weld line information 141 of the base work model is read from the weld line information storage unit 61 by the base weld line information setting receiving unit 54 shown in FIG. Information on the weld line information 141 of the base work model is set for each weld line. When reusing the weld line, the structure information 144 of the similar work model is referred to. The structure information 144 is structure information of a similar work model whose correction is received by the confirmation result display / correction receiving unit 53 shown in FIG. The structure information 144 is also set for each weld line.

  In the present embodiment, the welding line information 145 of the similar work model is automatically generated using the welding line information 141 of the base work model and the structure information 144 of the similar work model in the process of creating the welding line information of the similar work model. Created.

  FIG. 9 is a flowchart showing the flow of processing executed by the similar weld line information creation unit 55 and the creation result display / edit reception unit 56. In the process shown in FIG. 9, for the weld line structure information of similar work models whose weld line names match the weld line information of the base work model, the points and attributes of weld lines that are other confirmation items are matched. As a condition, the weld line information of the similar work model is created by using the weld line information of the matching base work model and the structure information of the weld line of the similar work model and reusing the weld line information of the base work model. . On the other hand, the structure information of the weld line of the similar work model whose weld line name does not match the weld line information of the base work model, without using the weld line information of the base work model. New weld line information is created using only

First, the similar weld line information creation unit 55 takes in the weld line information of the base work model and the structure information of the similar work model (step 201).
Next, based on the weld line information of the base work model and the structure information of the similar work model, the same weld line name is checked, that is, whether or not the weld line names are the same (step 202). The weld line information having the same weld line name (YES in step 202) shifts to the next confirmation process (step 203 and subsequent steps). Weld line information that does not have the same weld line name (NO in step 202) is transferred to a process for creating new weld line information (step 211), written as “unregistered” (step 212), and a similar weld line. The result of the information creation process is displayed (step 210).

  If YES in step 202, that is, if the weld line names are the same, it is first determined as a confirmation process whether the scores of the weld lines match (step 203). If the numbers of the weld lines do not match (NO in step 203), the process proceeds to step 213 to cancel the process of creating the weld line information of the similar work model for the mismatched weld lines. Then, “error” is displayed for the corresponding weld line as a result display of the process of creating the weld line information of the similar work model using the display device 104 (see FIG. 2) (step 214), and the process proceeds to step 210. To do. If the numbers of the weld lines match (YES in step 203), it is determined whether the attributes of the weld lines match (step 204). Here, the “attribute” is, for example, a straight line (L) or a circular arc (C) described with reference to FIG. If they do not match (NO in step 204), the process proceeds to step 213, where the welding line information creation processing of the similar work model is stopped for the mismatched weld lines, and “error” is indicated for the corresponding weld lines. (Step 214), the process proceeds to step 210. If the attributes match (YES in step 204), it is determined whether or not the welding directions of the weld lines match (step 205). If they match (YES in step 205), the process proceeds to a process for creating weld line information of a similar work model (step 207). If they do not match (NO in step 205), a warning notation (notation "warning") is performed using the display device 104 (step 206), and the process proceeds to step 207.

  After creating the welding line information of the similar work model in step 207, it is determined whether or not the vector data has consistency (step 208). If there is consistency (YES in step 208), the result is displayed as normal and the result of the process for creating the weld line information of the similar work model is displayed (step 210). If there is no consistency (NO in step 208), “error” is written (step 209), and the result of the process for creating the weld line information of the similar work model is displayed (step 210).

  FIG. 10 is a view for explaining the confirmation processing of the same weld line name in step 202. The upper diagram of FIG. 10 shows the weld line information of the base work model received and set by the base weld line information setting receiving unit 54. The lower part of FIG. 10 shows the structure information of the similar work model confirmed by the similar work structure information confirmation unit 52 or corrected by the confirmation result display / correction reception unit 53. In the confirmation process of the same weld line name, the comparison target is the weld line name 151 of the weld line information of the base work model and the weld line name 152 of the structure information of the similar work model. In the example shown in FIG. 10, “AWELD_C” and “AWELD_A” of similar work models have the same weld line name, and “AWELD_D” does not have the same weld line name in the weld line information of the base work model. As described above, if the weld line names are the same, the process proceeds to step 203. If the weld line names that are the same do not exist, the process proceeds to step 211, and a process for creating new weld line information is performed.

FIGS. 11A to 11C are diagrams for explaining the processing of steps 203, 204, and 205 described above. Here, the weld line information of the base work model to be compared and the structure information of the similar work model are shown.
In the process of step 203, based on the weld line information of the base work model and the structure information of the similar work model, the number of weld lines with the same name is compared and confirmed. As a result, for the weld lines having the same number of weld lines, the weld line information moves to the next confirmation process (step 204). In the example shown in FIG. 11A, the number of weld lines 161-1 of the base work model and the number of weld lines 161-2 of the similar work model are compared between the weld lines having the same name.

  In the process of step 204, based on the weld line information of the base work model and the structure information of the similar work model, the weld line attributes are compared and confirmed between the weld lines having the same name. As a result, for the weld line having the same weld line attribute, the weld line information moves to the next confirmation process (step 205). In the example shown in FIG. 11B, the weld line attribute 162-1 of the base work model and the weld line attribute 162-2 of the similar work model are compared between the weld lines having the same name.

In the process of step 205, based on the weld line information of the base work model and the structure information of the similar work model, the comparison of the weld line direction between the weld lines having the same name is performed. In the example shown in FIG. 11C, the weld line direction calculated from the coordinate value 163-1 of the base work model and the weld line direction calculated from the coordinate value 163-2 of the similar work model have the same name. The welding lines are compared with each other. In FIG. 11C, the coordinate values 163-1 and 163-2 indicate only one coordinate value, but actually, for example, two points for a straight line and three points for an arc. Each has a plurality of coordinate values. Here, these two points, for example, the direction from the start point to the end point is the weld line direction, and is the object of comparison.
As a result of these comparisons, for the weld lines having the same weld line direction, the process proceeds to a process for creating weld line information of a similar work model (step 207). If the weld line directions do not match, the warning notation process in step 206 is followed, and in step 207, the weld line direction of the structure information of the weld line of the similar work model is set.

FIGS. 12A and 12B are diagrams for explaining automatic input processing of weld line information in the processing shown in step 207. FIG. 12A shows the weld line information of the base work model having the same name weld line and the structure information of the similar work model. Here, the order of entry differs between the two. Moreover, FIG.12 (b) has shown the example of the weld line information of the similar workpiece | work model input automatically.
When creating the weld line information of the similar work model, the robot ID, the motion trajectory pattern, and the motion trajectory information number are acquired from the weld line information of the base work model. On the other hand, the constituent elements of the weld line are acquired from the structure information of the similar work model. And according to the rule which defined "welding line information", automatic setting of welding line information as shown in FIG.12 (b) is attained by assigning in order of entry of welding line information.

FIGS. 13A and 13B are diagrams for explaining the process of determining whether or not the vector data in step 208 has consistency. FIG. 13A shows an example of a base work model and a similar work model to be compared, and FIG. 13B shows an example of an index for determining the consistency of these vector data.
It is confirmed (checked) whether or not the weld line information created by the above-described processes has consistency as the weld line information of the similar work model with respect to the weld line information of the base work model. As the method, first, the difference D between the weld line direction vector 181-1 of the weld line of the base work model and the weld direction vector 181-2 of the weld line of the similar work model in which the weld line information is created as described above. Calculate Then, it is determined whether or not the difference D is within an allowable range. For example, if the allowable range is 0 ° or more and 10 ° or less, the absolute value of the value of the difference D is within the allowable range, that is,
0 ° ≦ | D | ≦ 10 °
If so, it is accepted that there is consistency. In this way, it is determined whether or not the difference D is within the allowable range. If the difference D is within the allowable range, it is determined that there is consistency (Yes in Step 208), and if it is outside the allowable range (greater than 10 °). It is determined that there is no consistency (No in step 208). The “welding direction vector 181 (181-1, 181-2)” includes, for example, a welding start point 185 (185-1, 185-2) and a welding end point 186 (186-1, 182-1). 186-2), it is a vector in a direction from the welding start point 185 (185-1, 185-2) to the welding end point 186 (186-1, 186-2).

  FIG. 14 is a diagram for explaining a process for creating new weld line information in the process shown in step 211. As described above, “AWELD_D” in FIG. 10A does not have the same weld line name. Therefore, weld line information is created based on the structure information “AWELD_D” of the similar work model. In the example shown in FIG. 14, the line model 155 is created using the coordinate values of the start point 153 and end point 154 of the weld line of the similar work model. Based on the line model 155, the member surfaces (the base material surface 156 and the standing plate surface 157) are automatically detected. Based on this information, new weld line information is created.

[Display creation result]
FIG. 15 is a view showing a display example of the creation result of the weld line information of the similar work model shown in step 210. The creation result display / edit reception unit 56 shown in FIG. 3 displays the creation result for the operator using the display device 104 shown in FIG. The various confirmation processes shown in the flowchart of FIG. 9 are performed for each weld line, but the display as shown in FIG. 15 is displayed as a result of the confirmation process for the entire weld line of the similar work model.
In the display example shown in FIG. 15, a type 191 of creation processing, a number (No.) 192, a weld line name 193, a result 194 of creation processing, and contents 195 of errors and warnings are displayed. Also, an error number notation 196 and a warning number notation 197 are made as a summary of the creation results. Here, in the type 191, “reuse” is used when the weld line information of the base work model can be used, and a weld line that does not exist in the weld line information of the base work model is expressed as “new notation” in step 212. “Not registered”. New welding line information is created in step 211, and the welding line described as “unregistered” in step 212 is subsequently subject to input of an operation locus pattern, a robot ID, a number of welding locus information, and the like. .

In the result 194 of the creation process, “normal”, “error”, or “warning” is written. The “normal” notation is a case where the consistency of the vector data is confirmed in step 208. “Error” is the result notation of step 209, step 212, and step 214. “Warning” is a warning notation in step 206. In the error and warning content 195, the actual error content is expressed in a form that is easy for the operator to understand.
In this way, the creation result is displayed for the operator.

[Edit weld line information of similar work model]
Similar weld line information is created as described above, and the creation result is displayed. The creation result display / edit acceptance unit 56 shown in FIG. 3 accepts editing work performed by the operator as necessary using the input device 106 shown in FIG. For example, welding line editing such as changing the welding direction and length expansion / contraction, welding line deletion, welding line combination, welding trajectory information editing, and welding sequence editing. The edited result is overwritten and saved in the memory 102 or the like as weld line information of a new similar work model, processed by the similar weld line information storage processing unit 57, and stored in the weld line information storage unit 61.
Thereafter, when automatically creating the welding line information of the next new similar work model, the welding line information of the previous similar work model stored in the welding line information storage unit 61 by the similar welding line information storage processing unit 57 is newly set. It can be used as weld line information for a simple base work model.

  By having such an editing reception function, it is possible to create weld line information even when the shape of only a part of the workpiece changes due to, for example, addition of a new member or model design change. If the weld line information is extracted and additionally registered in the weld line information storage unit 61, the weld line information can be reused thereafter. Further, since the welding line information of the base work model that is no longer necessary can be deleted, it is possible to prevent the use of incorrect welding line information of the base work model, and it becomes easy to manage the welding line information of the base work model.

[Effect of this embodiment]
As described above in detail, according to the present embodiment, similar work models (similar work models) are similar based on the weld line information of the base work model extracted from the base work model as a base. It is possible to automatically create the weld line information of the work model. This eliminates the need to repeat the welding line extraction operation and the parameter input operation necessary for creating the operation trajectory, which has been performed every time the work target is changed to a workpiece having a similar shape size. Therefore, the burden of input work by the operator can be reduced, and the efficiency of the off-line teaching system using the automatic programming function can be improved. In addition, since the operation trajectory information can be quickly created, the time and labor required for teaching the robot can be greatly reduced.

  As described above, the weld line information of the similar work model created according to the present embodiment can be stored in the weld line information storage unit 61 as the weld line information of the new base work model. The weld line information of the workpiece model can be stored separately for each workpiece model. By saving and using workpieces separately for each model, it is easy to manage weld lines between workpiece models to be worked on, and prevents errors such as automatically creating motion trajectory information using different types of weld lines. it can. Moreover, since the welding line information is used for the automatic programming function, individual setting of the welding line information to the automatic programming function becomes unnecessary. This shortens the time for creating the motion trajectory information.

[Other configuration examples of this embodiment]
In the above description, the weld line information setting device 50 realized by a computer acquires the weld line information of the base work model and the structure information of the similar work model, and performs the process of creating the weld line information of the similar work model. It was. On the other hand, the function of the welding line information setting device 50 according to the present embodiment can be realized by, for example, the control device 20 and the teaching device 30 of the welding robot system shown in FIG.

  In this case, the control device 20 includes the CPU 101, the memory 102, and the magnetic disk device 105 in the hardware configuration example shown in FIG. In addition, the image display mechanism 103 and the display device 104 are realized by the display screen 31 of the teaching device 30 and its driving mechanism, and the input device 106 is realized by the input button 32 of the teaching device 30. In this case, for example, the setting screen shown in FIG. 16B and the display screens shown in FIGS. 7 and 15 are displayed on the display screen 31 of the teaching device 30. Then, the operator operates the input button 32 of the teaching device 30 to perform a desired designation work. The control device 20 receives an input operation by the teaching device 30.

  Moreover, the welding line information setting method implement | achieved in this Embodiment is applicable as a process which CPU101 of the welding line information setting apparatus 50 performs as mentioned above. However, each step can be distributed and realized by a plurality of computer devices connected to the network. Further, the structure information of the similar work model is stored in, for example, a portable storage device (not shown), and the weld line information of the base work model is stored in the magnetic disk device 105 of the weld line information setting device 50. There may be various modes for the data storage location.

DESCRIPTION OF SYMBOLS 50 ... Welding line information setting apparatus, 51 ... Similar work structure information acquisition part, 52 ... Similar work structure information confirmation part, 53 ... Confirmation result display / correction reception part, 54 ... Base welding line information setting reception part, 55 ... Similar welding Line information creation unit 56 ... Creation result display / edit reception unit 57 ... Similar weld line information storage processing unit 61 ... Weld line information storage unit 62 ... Similar work structure information storage unit

Claims (5)

A work path information setting device that is used in an automatic teaching system and sets work path information of a work on which a work target device performs work for a work instruction before the work target device performs work,
Storage means for storing work route information of a base work model that is a basic shape in association with identification information for identifying a work route;
Structure information acquisition means for acquiring structure information of a similar work model that is a work model for which work route information should be newly created and is different in size and similar in shape from the base work model;
Work route information for creating work route information of the similar work model from the structure information of the similar work model acquired by the structure information acquisition unit using the work route information of the base work model stored in the storage unit Creating means, and
The work route information creating means reuses the work route information having the same identification information as the work route identification information included in the structure information of the similar work model among the work route information of the base work model. A work route information setting device characterized by creating work route information of a similar work model. It further comprises display means for displaying work results by the work route information creating means,
The work route information creating means compares the structure information of the similar work model with the work route information of the base work model stored in the storage means, and if the same work information is not included, Create new work route information using the structure information without using the work route information of the base work model,
The work path information setting apparatus according to claim 1, wherein the display unit displays a result of creating the new work path information.   Whether the number of work points is the same or the attribute is the same for each work route having the same identification information as the work route of the work route information of the base work model. 3. The work route information setting device according to claim 1, wherein at least one of whether or not and whether the work directions coincide with each other is determined. A program that causes a computer to function as a system for setting work route information of a work on which the work target device performs work for work instructions before the work target device performs work,
A function for obtaining work route information of a base work model that is a basic shape, having identification information for identifying a work route,
A function for acquiring structure information of a similar work model that is a target object for which a new work route is to be created and is different in size from the base work model and similar in shape,
The work path information of the similar work model is created from the structure information of the similar work model using the work path information of the base work model, and the structure information of the similar work model among the work path information of the base work model A function to create work route information of the similar work model by reusing work route information having the same identification information as the work route identification information included in
Is realized by the computer. A work route information setting method for setting work route information of a work on which the work target device performs work for a work instruction before the work target device performs work,
It has identification information that identifies the work route, acquires the work route information of the base work model that is the basic shape,
Obtain structure information of a similar work model that is a target object for which a new work route is to be created and is different in size from the base work model and similar in shape,
The work path information of the similar work model is created from the structure information of the similar work model using the work path information of the base work model, and the structure information of the similar work model among the work path information of the base work model A work route information setting method comprising: reusing work route information having the same identification information as the work route identification information included in the work route information to create work route information of the similar work model.

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