JP3421725B2 - Method and system for automatically determining welding process near the end of welding line - Google Patents
Method and system for automatically determining welding process near the end of welding lineInfo
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- JP3421725B2 JP3421725B2 JP2000334293A JP2000334293A JP3421725B2 JP 3421725 B2 JP3421725 B2 JP 3421725B2 JP 2000334293 A JP2000334293 A JP 2000334293A JP 2000334293 A JP2000334293 A JP 2000334293A JP 3421725 B2 JP3421725 B2 JP 3421725B2
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- welding line
- line
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Description
【０００１】[0001]
【発明の属する技術分野】本発明は溶接線端部付近の溶
接処理自動決定方法および溶接処理自動決定システムに
関する。さらに詳しくは、溶接線端部付近の加工品の形
状にかかわらずその形状に適した溶接処理を自動的に決
定する溶接線端部付近の溶接処理自動決定方法および溶
接処理自動決定システムに関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding process automatic determination method and a welding process automatic determination system near the end of a welding line. More specifically, the present invention relates to a welding process automatic determination method and a welding process automatic determination system near the end of a welding line that automatically determines a welding process suitable for the shape of the processed product near the end of the welding line.
【０００２】[0002]
【従来の技術】従来、多様な対象物の溶接に適用可能な
ことから溶接ロボットによる自動溶接が広く行われてい
る。この自動溶接を行うためには、溶接部分を示す溶接
線の位置情報を溶接ロボットに与える必要があるが、加
工品の形状が単純な場合には、パターン化された動作プ
ログラムにより対象部材を検知し、その検知位置に基づ
いて溶接線の始端と終端を算出することができる。つま
り、加工品の形状が単純な場合には、パターン化された
動作プログラムにより溶接線の位置を溶接ロボットに自
動教示できる。2. Description of the Related Art Conventionally, automatic welding by a welding robot has been widely performed because it can be applied to welding of various objects. In order to perform this automatic welding, it is necessary to give the welding robot position information of the welding line indicating the welded part, but if the shape of the processed product is simple, the target operation is detected by the patterned operation program. Then, the starting end and the ending end of the welding line can be calculated based on the detected position. That is, when the shape of the processed product is simple, the position of the welding line can be automatically taught to the welding robot by the patterned operation program.
【０００３】ところが、船舶用機材などのように構造が
複雑な生産品の製造においては、前述したパターン化さ
れた動作プログラムにより溶接線の自動教示がなし得
ず、そのため人手による溶接線の教示を余儀なくされて
いるが、人手による教示は効率的でないため、数値的デ
ータで直接溶接ロボットに溶接線の教示を含む溶接工程
を自動的に指示するシステムの利用が望まれている。こ
のような事情から、いわゆる３次元ＣＡＤ（Computer A
ided Design）システムを利用して、人手によらずに自
動的に教示用データを作成するシステムの開発が行われ
るようになってきている。However, in the production of a product having a complicated structure such as equipment for ships, it is impossible to automatically teach the welding line by the above-described patterned operation program, and therefore, the teaching of the welding line is manually performed. Although forced, manual teaching is not efficient, and therefore it is desired to use a system for automatically instructing a welding robot to directly perform a welding process including teaching of a welding line using numerical data. Under these circumstances, so-called three-dimensional CAD (Computer A
Using the ided Design system, development of a system that automatically creates teaching data without manual labor is being developed.
【０００４】しかしながら、取付部材と被取付部材の接
合部分を含む加工品の構造は多様であり、加工品の構造
が複雑である場合やビート継ぎ処理を行う必要がある場
合などにおいては、溶接線端部付近の溶接処理を自動的
にを決定することができない。そこで、そのような場合
には特開平１１−２９８２１５号公報に開示されている
ように、端部付近の形状などに適した溶接処理を人手に
よる入力で対処しているのが現状である。However, the structure of the processed product including the joint portion between the mounting member and the mounted member is diverse, and in the case where the structure of the processed product is complicated or when it is necessary to perform beat joint processing, the welding line is used. It is not possible to automatically determine the welding process near the edges. Therefore, in such a case, as disclosed in Japanese Patent Application Laid-Open No. 11-298215, the present situation is to handle the welding process suitable for the shape near the end by manual input.
【０００５】[0005]
【発明が解決しようとする課題】本発明はかかる従来技
術の課題に鑑みなされたものであって、溶接線の端部付
近の加工品の形状にかかわらず、その形状に適した溶接
処理を自動的に決定する溶接線端部付近の溶接処理自動
決定方法および溶接処理自動決定システムを提供するこ
とを目的とする。SUMMARY OF THE INVENTION The present invention has been made in view of the above problems of the prior art, and automatically performs a welding process suitable for the shape of the processed product near the end of the welding line regardless of the shape of the processed product. It is an object of the present invention to provide a welding process automatic determination method and a welding process automatic determination system in the vicinity of the end of a welding line to be determined in a mechanical manner.
【０００６】[0006]
【課題を解決するための手段】 本発明の溶接線端部付
近の溶接処理自動決定方法は、溶接線端部付近の溶接処
理を溶接線に対するトーチ角度と溶接線端部におけるト
ーチ動作とに基づいて、所要数の端部処理パターンに予
め分類しておき、溶接対象端部付近が前記パターンのい
ずれに該当するかを、各部材の形状データを用いて各部
材を加工品に組み立てるシミュレーションに基づいて自
動的に判定し、その判定結果により溶接線端部付近の溶
接処理を自動的に決定することを特徴とする。According to a method for automatically determining a welding process near the end of a welding line of the present invention, the welding process near the end of the welding line is based on a torch angle with respect to the welding line and a torch operation at the end of the welding line. Then, the required number of end processing patterns are classified in advance, and which part of the pattern the vicinity of the end to be welded corresponds to is determined by using the shape data of each member.
It is characterized in that it is automatically determined based on a simulation of assembling a material into a processed product, and the welding process near the end of the welding line is automatically determined based on the determination result.
【０００７】本発明の溶接線端部付近の溶接処理自動決
定方法は、具体的には、３次元ＣＡＤシステムとＣＡＭ
システムとを用いた溶接線端部付近の溶接処理自動決定
方法であって、３次元ＣＡＤシステムにより取付部材を
含む各部材を加工品に組立てるシミュレーションをなす
手順と、前記シミュレーションより得られた溶接線端部
付近の形状により、溶接対象端部付近が、溶接線に対す
るトーチ角度と端部におけるトーチ動作とに基づいて予
め設定されている所要数の端部処理パターンのいずれに
該当するかを判定する手順と、前記判定結果に対応した
溶接処理を選定する手順とを含んでなることを特徴とす
る。The method for automatically determining the welding process near the end of the welding line according to the present invention is specifically a three-dimensional CAD system and a CAM.
And a welding line obtained by the simulation, which is a method for automatically determining a welding process near an end of a welding line using the system and a simulation for assembling each member including a mounting member into a workpiece by a three-dimensional CAD system. Based on the shape near the end, it is determined which of the required number of end processing patterns that is set in advance the vicinity of the welding target end is based on the torch angle with respect to the welding line and the torch operation at the end. It is characterized by including a procedure and a procedure for selecting a welding process corresponding to the determination result.
【０００８】一方、本発明の溶接線端部付近の溶接処理
自動決定システムは、３次元ＣＡＤシステムとＣＡＭシ
ステムとを用いた溶接線端部付近の溶接処理自動決定シ
ステムであって、３次元ＣＡＤシステムにより取付部材
を含む各部材を加工品に組立てるシミュレーションをな
し、前記シミュレーションより得られた溶接線端部付近
の形状により、溶接対象端部付近が溶接線に対するトー
チ角度と端部におけるトーチ動作とに基づいて予め設定
されている所要数の端部処理パターンのいずれに該当す
るかを判定し、前記判定結果に対応した溶接処理を選定
するよう構成されてなることを特徴とする。On the other hand, the welding process automatic determining system near the end of the welding line of the present invention is a welding process automatic determining system near the end of the welding line using a three-dimensional CAD system and a CAM system. A simulation of assembling each member including a mounting member into a processed product by the system was performed, and due to the shape near the end of the welding line obtained from the simulation, the vicinity of the end to be welded was a torch angle with respect to the welding line and a torch operation at the end. Based on the above, it is configured to determine which of the required number of end portion processing patterns set in advance, and to select the welding processing corresponding to the determination result.
【０００９】ここで、溶接線に対するトーチ角度は、例
えば溶接線に対し垂直とすると、溶接線に対し傾けると
に分類され、かつ、端部におけるトーチ動作は、例えば
角巻き処理を行う、ビード継ぎ処理を行う、角巻き処理
およびビード継ぎ処理を行わないとに分類される。Here, the torch angle with respect to the welding line is classified into, for example, perpendicular to the welding line and inclined with respect to the welding line, and the torch operation at the end portion is, for example, a bead splicing for performing a square winding process. It is categorized into that the treatment is performed, the square winding treatment and the bead splicing treatment are not performed.
【００１０】[0010]
【作用】本発明は前記の如く構成されているので、溶接
線端部付近の加工品の形状にかかわらず、溶接線端部付
近の加工品の形状に適した溶接処理を自動的に決定でき
る。Since the present invention is configured as described above, it is possible to automatically determine a welding process suitable for the shape of the processed product near the end of the welding line regardless of the shape of the processed product near the end of the welding line. .
【００１１】[0011]
【発明の実施の形態】以下、添付図面を参照しながら本
発明を実施形態に基づいて説明するが、本発明はかかる
実施形態のみに限定されるものではない。BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, the present invention will be described based on the embodiments with reference to the accompanying drawings, but the present invention is not limited to such embodiments.
【００１２】図１に本発明の実施形態に係る溶接線端部
付近の溶接処理決定方法が適用される溶接処理自動決定
システムＴの概略構成を示し、溶接処理自動決定システ
ムＴは、加工品の形状が複雑な場合やビード継ぎ処理を
必要とする場合等でも、溶接線端部付近の加工品の形状
に適した溶接処理を自動的に決定するものである。FIG. 1 shows a schematic configuration of a welding process automatic determination system T to which a welding process determination method near the end of a welding line according to an embodiment of the present invention is applied. Even if the shape is complicated or a bead splicing process is required, the welding process suitable for the shape of the processed product near the end of the welding line is automatically determined.
【００１３】溶接処理自動決定システムＴは、３次元Ｃ
ＡＤシステム１１と、ＣＡＭ（Computer Aided Manufac
turing）システム１２と、ＣＡＭシステム１２からの指
示により製造現場で溶接ロボット１５に具体的な動作の
指示を行う製造現場制御装置１３と、製造現場制御装置
１３からの指示により溶接ロボット１５の動作を制御す
るロボットコントローラ１４とから構成される。The welding processing automatic determination system T is a three-dimensional C
AD system 11 and CAM (Computer Aided Manufac)
Turing) system 12, a manufacturing site control device 13 that gives a specific operation command to the welding robot 15 at the manufacturing site according to an instruction from the CAM system 12, and an operation of the welding robot 15 according to an instruction from the manufacturing site control device 13. It is composed of a robot controller 14 for controlling.
【００１４】３次元ＣＡＤシステム１１は、溶接対象物
となる加工品を構成する各部材の形状データおよび溶接
線となることが予定される溶接候補線に関する情報を含
む溶接線情報を格納する形状・溶接線データベース１１
Ａを備えるとともに、各部材の形状データを用いて各部
材を加工品に組み立てるシミュレーション機能を有して
いる。ここで、各部材の形状データは、例えばその部材
を構成する面を多角形により近似し、その多角形の頂点
の座標の形態で保持されている。The three-dimensional CAD system 11 stores the shape data of each of the members constituting the workpiece to be welded and the shape of the welding line including the information about the candidate welding line which is expected to become the welding line. Welding line database 11
A has a simulation function of assembling each member into a processed product by using the shape data of each member. Here, the shape data of each member is held in the form of the coordinates of the vertices of the polygon, for example, by approximating the surface forming the member by a polygon.
【００１５】ＣＡＭシステム１２は、溶接条件データ、
運棒方法データ、端部処理パターンデータおよびセンシ
ング方向データなどの溶接作業の実行に関するデータを
格納する溶接作業データベース１２Ａを備えるととも
に、溶接線端部付近の溶接処理を決定する機能を有す
る。なお、端部処理パターンデータの内容については後
述する。The CAM system 12 uses welding condition data,
It has a welding work database 12A for storing data relating to the execution of welding work such as rod operating method data, end processing pattern data, and sensing direction data, and also has a function of determining welding processing near the end of the welding line. The contents of the edge processing pattern data will be described later.
【００１６】製造現場制御装置１３は、ＣＡＭシステム
１２により作成された数値制御データを数値制御データ
ベース１３Ａに保管するとともに、この数値制御データ
に基づいてロボットコントローラ１４にロボット１５の
動作を指示する。The manufacturing site controller 13 stores the numerical control data created by the CAM system 12 in the numerical control database 13A and instructs the robot controller 14 to operate the robot 15 based on the numerical control data.
【００１７】ロボットコントローラ１４は、製造現場制
御装置１３からの指示に基づきロボット１５の動作を制
御する。The robot controller 14 controls the operation of the robot 15 based on an instruction from the manufacturing site controller 13.
【００１８】次に、図２ないし図１０を参照しながら各
加工品の形状に対する溶接線端部付近の溶接処理につい
て説明する。Next, the welding process in the vicinity of the end of the welding line for the shape of each processed product will be described with reference to FIGS.
【００１９】図２に示すように、溶接線２３の端部に取
付部材２１と被取付部材２２以外の部材がない場合は、
溶接線２３に対しトーチを垂直にして角巻き処理を行
う。As shown in FIG. 2, when there is no member other than the mounting member 21 and the mounted member 22 at the end of the welding line 23,
The torch is set perpendicular to the welding line 23 to perform a square winding process.
【００２０】図３に示すように、溶接線３３の端部に取
付部材３１と被取付部材３２以外の部材はないが溶接残
しを設ける場合は、溶接線３３に対しトーチを垂直にし
て角巻き処理およびビード継ぎ処理を行わずに溶接を行
う。なお、図２に示す例において角巻き処理を行わない
場合は、残し量ｄが限りなく小さいものと考えることも
できる。As shown in FIG. 3, when there are no members other than the mounting member 31 and the mounted member 32 at the end of the welding line 33, but a welding residue is provided, the torch is perpendicular to the welding line 33 and square winding is performed. Weld without processing and bead splicing. In the example shown in FIG. 2, when the square winding process is not performed, the remaining amount d can be considered to be extremely small.
【００２１】図４に示すように、溶接線４３の端部に取
付部材４１と被取付部材４２以外の部材がなく、取付部
材４１と被取付部材４２の取付部分に先行ビード４４が
ある場合は、溶接線４３に対しトーチを垂直にしてビー
ド継ぎ処理を行う。As shown in FIG. 4, when there is no member other than the mounting member 41 and the mounted member 42 at the end of the welding line 43 and the preceding bead 44 exists in the mounting portion of the mounting member 41 and the mounted member 42. The bead splicing process is performed with the torch perpendicular to the welding line 43.
【００２２】図５に示すように、他の部材５５が溶接線
５３の左端に突き当たる場合は、他の部材５５と溶接線
５３との交差角θ（以下、単に交差角θという）の大き
さに応じて溶接方法が異なる。As shown in FIG. 5, when the other member 55 hits the left end of the welding line 53, the size of the intersection angle θ between the other member 55 and the welding line 53 (hereinafter simply referred to as the intersection angle θ). The welding method differs depending on the type.
【００２３】交差角θが、トーチを溶接線５３に対し垂
直にした場合に他の部材５５がトーチの妨げにならない
大きさであれば、溶接線５３に対しトーチを垂直にして
溶接を行う。また、交差角θが、トーチを溶接線５３に
対し垂直にすると他の部材５５がトーチの妨げになる大
きさではあるが、トーチを溶接線５３に対し傾けると交
点Ｐ１付近の溶接を行うことができる大きさであれば、
例えば溶接線５３に対しトーチを傾けて交点Ｐ１から溶
接を開始する。一方、交差角θが、トーチを傾けても交
点Ｐ１付近の溶接をすることができない大きさであれ
ば、溶接線５３に対しトーチを垂直にして溶接残しを設
けて溶接を行う。なお、トーチを傾けることにより交点
Ｐ１付近の溶接が可能な交差角θの範囲は（９０°±
α）とする。ここで、αは例えば３０度とされる。If the crossing angle θ is large enough not to interfere with the torch when the torch is perpendicular to the welding line 53, welding is performed with the torch perpendicular to the welding line 53. Further, although the crossing angle θ is such a size that the other member 55 hinders the torch when the torch is perpendicular to the welding line 53, when the torch is tilted with respect to the welding line 53, welding near the intersection P1 should be performed. If the size is
For example, the torch is inclined with respect to the welding line 53 and welding is started from the intersection P1. On the other hand, if the intersection angle θ is large enough to prevent welding in the vicinity of the intersection P1 even if the torch is tilted, the torch is made perpendicular to the welding line 53 and welding residue is provided to perform welding. The range of the crossing angle θ at which welding can be performed near the intersection P1 by tilting the torch is (90 ° ±
α). Here, α is, for example, 30 degrees.
【００２４】図６に示すように、他の部材６５が取付部
材６１に接触せずに取付部材６１の左端側にある場合に
は、溶接線６３に対してトーチを垂直にして角巻き処理
を行うが、取付部材６１と他の部材６５の間隔ｄ１がト
ーチの妨げにならない大きさであれば、図６（ｂ）に示
すように角巻き処理を行う。また、図６（ｃ）に示すよ
うに他の部材６５が取付部材６１の端面に接合していれ
ば、当然に角巻き処理は行わない。As shown in FIG. 6, when the other member 65 is not in contact with the mounting member 61 and is on the left end side of the mounting member 61, the torch is perpendicular to the welding line 63 to perform the square winding process. However, if the distance d1 between the mounting member 61 and the other member 65 is of a size that does not hinder the torch, a square winding process is performed as shown in FIG. 6B. Further, as shown in FIG. 6C, if another member 65 is joined to the end surface of the mounting member 61, naturally, the square winding process is not performed.
【００２５】図７に示すように、他の部材７３が取付部
材７１に接触せずに溶接線７３側にある場合には、取付
部材７１と他の部材７５との間隔ｄ２の大きさに応じて
溶接方法が異なる。As shown in FIG. 7, when the other member 73 does not contact the mounting member 71 and is on the welding line 73 side, depending on the size of the distance d2 between the mounting member 71 and the other member 75. The welding method is different.
【００２６】取付部材７１と他の部材７５との間隔ｄ２
が広くて他の部材７５がトーチの妨げにならなければ、
図２の場合と同様、溶接線７３に対してトーチを垂直に
して角巻き処理を行う。その逆に、取付部材７１と他の
部材７５との間隔ｄ２が狭くて他の部材７５がトーチの
妨げになれば、他の部材７５の延長線が溶接線７３に突
き当たる点Ｐ２近傍でトーチを傾けてビード継ぎ処理を
行う。The distance d2 between the mounting member 71 and the other member 75
Is wide and the other member 75 does not interfere with the torch,
Similar to the case of FIG. 2, the torch is perpendicular to the welding line 73 and the square winding process is performed. Conversely, if the distance d2 between the mounting member 71 and the other member 75 is narrow and the other member 75 interferes with the torch, the torch is moved near the point P2 where the extension line of the other member 75 strikes the welding line 73. Tilt and perform bead splicing.
【００２７】図８に示すように、スカラップ端８５ａを
有する他の部材８５が取付部材８１と被取付部材８２に
接触している場合には、他の部材８５が溶接線８３に突
き当たる点Ｐ３近傍でトーチを傾けてビード継ぎ処理を
行う。As shown in FIG. 8, when the other member 85 having the scalloped end 85a is in contact with the attachment member 81 and the attached member 82, the vicinity of the point P3 where the other member 85 abuts the welding line 83. Tilt the torch to perform bead splicing.
【００２８】図９に示すように、スカラップ端９１ａを
有する取付部材９１と被取付部材９２以外の他の部材９
５が、取付部材９１と被取付部材９２に接触している場
合には、原則として溶接線９３に対してトーチを垂直に
して角巻き処理を行う。ただし、スカラップ端の半径ｒ
が小さいときは角巻き処理は行わない。As shown in FIG. 9, a member 9 other than the mounting member 91 having the scalloped end 91a and the mounted member 92.
When 5 is in contact with the mounting member 91 and the mounted member 92, as a general rule, the torch is perpendicular to the welding line 93 and the square winding process is performed. However, the radius r of the scalloped end
When is small, square winding is not performed.
【００２９】図１０に示すように、他の部材１０５が溶
接線１０３の左端に突き当たる場合には、図５と同様に
溶接処理を行う。As shown in FIG. 10, when the other member 105 hits the left end of the welding line 103, the welding process is performed in the same manner as in FIG.
【００３０】前述したことから、溶接線端部付近の溶接
処理は、次のように分類可能であるのがわかる。まず、
トーチ角度に関しては、溶接線に対し（１）垂直にす
る、（２）傾ける、の２種類に分類できる。また、トー
チ動作に関しては、（１）角巻き処理を行う、（２）ビ
ード継ぎ処理を行う、（３）角巻き処理およびビード継
ぎ処理を行わない、の３種類に分類できる。したがっ
て、溶接線端部付近の溶接処理は６種類のパターン（端
部処理パターン）に分類することができる。From the above, it can be seen that the welding process near the end of the weld line can be classified as follows. First,
The torch angle can be classified into two types: (1) perpendicular to the welding line and (2) tilting. The torch operation can be classified into three types: (1) square winding process, (2) bead splicing process, and (3) square winding process and bead splicing process are not performed. Therefore, the welding process near the end of the welding line can be classified into six types of patterns (end processing pattern).
【００３１】以下、前記各パターンについて図１１を参
照しながら説明する。The respective patterns will be described below with reference to FIG.
【００３２】第１のパターンは、溶接線に対しトーチを
垂直にして角巻き処理を行うパターンであり、以下では
第１のパターンを「オープン端」という。図２および図
９に示す例がこれに該当する。The first pattern is a pattern in which the torch is perpendicular to the welding line to perform the square winding process, and the first pattern is hereinafter referred to as an "open end". The examples shown in FIGS. 2 and 9 correspond to this.
【００３３】第２のパターンは、溶接線に対しトーチを
垂直にして角巻き処理もビード継ぎ処理もなさずに溶接
を行うパターンであり、以下では第２のパターンを「セ
ミオープン端」という。図３に示す例がこれに該当す
る。The second pattern is a pattern in which the torch is perpendicular to the welding line and welding is performed without square winding processing or bead splicing processing, and the second pattern is hereinafter referred to as a "semi-open end". The example shown in FIG. 3 corresponds to this.
【００３４】第３のパターンは、溶接線に対しトーチを
垂直にしてビード継ぎを行うパターンであり、以下では
第３のパターンを「セミオープン継ぎ端」という。図４
に示す例がこれに該当する。The third pattern is a bead splicing pattern in which the torch is perpendicular to the welding line, and the third pattern is hereinafter referred to as a "semi-open splice end". Figure 4
The example shown in corresponds to this.
【００３５】第４のパターンは、溶接線に対しトーチを
傾けて角巻き処理を行うものであるが、実際には溶接が
実行不可能なためパターン分類処理で分類されるパター
ンには第４のパターンは含まない。図６（ｂ）に示す例
がこれに該当する。In the fourth pattern, the torch is tilted with respect to the welding line to perform the square winding process. However, since the welding cannot be actually executed, the pattern classified by the pattern classification process has the fourth pattern. Does not include pattern. The example shown in FIG. 6B corresponds to this.
【００３６】第５のパターンは、溶接線に対しトーチを
傾けて角巻き処理もビード継ぎもなさずに溶接を行うパ
ターンであり、以下では第５のパターンを「クローズ
端」という。図５、図６（ｃ）および図１０に示す例が
これに該当する。The fifth pattern is a pattern in which the torch is inclined with respect to the welding line and welding is performed without square winding processing or bead joining, and the fifth pattern is referred to as a "closed end" below. The examples shown in FIG. 5, FIG. 6C and FIG. 10 correspond to this.
【００３７】第６のパターンは、溶接線に対しトーチを
傾けてビード継ぎ処理を行うパターンであり、以下では
第６のパターンを「クローズ継ぎ端」という。図７およ
び図８に示す例がこれに該当する。The sixth pattern is a pattern for performing the bead splicing process by inclining the torch with respect to the welding line, and the sixth pattern is hereinafter referred to as "close splice end". The examples shown in FIGS. 7 and 8 correspond to this.
【００３８】次に、図１２を参照しながら、ＣＡＭシス
テム１２における加工品の形状に基づく溶接線端部付近
の溶接処理を前記いずれのパターンとするかの判定手順
について説明する。この判定手順は、本出願人が先に提
案した部材の突き当たりによる溶接線の分割作業（特願
２０００−２２１６４５参照）を行った後になされる。
そのため、以下の処理は溶接線の途中に他の部材が突き
当ることはないとしてなされる。なお、図１２中の符号
Ｓ1〜Ｓ１０はステップ番号を示す。Next, with reference to FIG. 12, a description will be given of a procedure for determining which of the above patterns is used for the welding process in the vicinity of the end of the welding line based on the shape of the processed product in the CAM system 12. This determination procedure is performed after the welding line division work (see Japanese Patent Application No. 2000-221645) that has been previously proposed by the applicant of the present invention is performed by the abutting of a member.
Therefore, the following process is performed on the assumption that other members do not hit in the middle of the welding line. In addition, reference numerals S1 to S10 in FIG. 12 indicate step numbers.
【００３９】ステップＳ１では、溶接の障害となる部材
（以下、他部材という）が溶接線の端点付近に存在する
かを、３次元ＣＡＤシステム１１により加工品を構成す
る各部材を用いて組み立てられた加工品に基づいて判定
する。そして、他部材があると判定した場合にはステッ
プＳ２の処理に移行し、他部材がないと判定した場合に
はステップＳ７の処理に移行する。In step S1, it is determined whether or not a member (hereinafter referred to as another member) which is an obstacle to welding exists near the end point of the welding line by using the respective members constituting the processed product by the three-dimensional CAD system 11. Determined based on the processed product. When it is determined that there is another member, the process proceeds to step S2, and when it is determined that there is no other member, the process proceeds to step S7.
【００４０】ステップＳ２では、取付部材と他部材との
交差角θを求め、交差角θが（９０−α）以上（９０＋
α）以下の範囲内にあるか否かを判定する。そして、交
差角θが前記範囲内にあると判定した場合にはステップ
Ｓ３の処理に移行し、交差角θが前記範囲内にないと判
定した場合にはステップＳ６の処理に移行する。In step S2, the crossing angle θ between the mounting member and another member is obtained, and the crossing angle θ is (90-α) or more (90+
α) Determine whether or not it is within the following range. When it is determined that the intersection angle θ is within the range, the process proceeds to step S3, and when it is determined that the intersection angle θ is not within the range, the process proceeds to step S6.
【００４１】ステップＳ３では、他部材が溶接線に接触
しているかを溶接線と他部材の距離を計算することによ
って判定する。そして、接触していると判定した場合に
はステップＳ４の処理に移行し、接触していないと判定
した場合にはステップＳ５の処理に移行する。In step S3, it is determined whether another member is in contact with the welding line by calculating the distance between the welding line and the other member. When it is determined that they are in contact, the process proceeds to step S4, and when it is determined that they are not in contact, the process proceeds to step S5.
【００４２】ステップＳ４では、溶接線の端部付近の溶
接処理をクローズ端と判定して処理を終了する。In step S4, the welding process near the end of the welding line is determined to be a closed end, and the process ends.
【００４３】ステップＳ５では、溶接線の端部付近の溶
接処理をクローズ継ぎ端と判定して処理を終了する。In step S5, the welding process near the end of the welding line is determined to be a closed joint end, and the process ends.
【００４４】ステップＳ６では、溶接線の端部付近の溶
接処理をセミオープン端と判定して処理を終了する。In step S6, the welding process near the end of the welding line is determined to be a semi-open end, and the process ends.
【００４５】ステップＳ７では、対象の溶接線の端点付
近にビード継ぎ可能な溶接線があるか否かを、３次元Ｃ
ＡＤシステム１１により組み立てられた加工品の形状お
よび溶接の順序に基づいて判定する。そして、ビード継
ぎ可能な溶接線がないと判定した場合にはステップＳ８
の処理に移行し、ビード継ぎ可能な溶接線があると判定
した場合にはステップＳ１０の処理に移行する。In step S7, it is determined whether or not there is a bead splicing weld line near the end point of the target weld line by three-dimensional C.
The determination is made based on the shape of the work piece assembled by the AD system 11 and the welding sequence. If it is determined that there is no weld line capable of bead joining, step S8
When it is determined that there is a weld line capable of bead joining, the process proceeds to step S10.
【００４６】ステップＳ８では、溶接線の端点が取付部
材の頂点に一致するか否かを３次元ＣＡＤシステム１１
により加工品に組み立てられた取付部材の形状に基づい
て判定する。そして、一致すると判定した場合にはステ
ップＳ９の処理に移行し、一致しないと判定した場合に
はステップＳ６の処理に移行する。In step S8, the three-dimensional CAD system 11 determines whether the end points of the welding line coincide with the vertices of the mounting member.
Is determined based on the shape of the mounting member assembled into the processed product. When it is determined that they match, the process proceeds to step S9, and when it is determined that they do not match, the process proceeds to step S6.
【００４７】ステップＳ９では、溶接線端部付近の溶接
処理をオープン端と判定して処理を終了する。In step S9, the welding process near the end of the welding line is determined to be an open end, and the process ends.
【００４８】ステップＳ１０では、溶接線端部付近の溶
接処理をセミオープン継ぎ端と判定して処理を終了す
る。In step S10, the welding process near the end of the welding line is determined to be a semi-open joint end, and the process ends.
【００４９】このように、本実施形態の端部処理自動決
定システムは、溶接線端部付近の溶接処理方法を分類し
（図１１参照）、溶接線端部付近がどの端部処理パター
ンに該当するのかを自動的に判定するようにしているの
で、溶接線端部付近の加工品の形状にかかわらず、その
形状に適した溶接処理を自動的に決定することが可能と
なる。As described above, the end portion automatic determination system of this embodiment classifies the welding treatment methods near the end portion of the welding line (see FIG. 11), and which end portion treatment pattern corresponds to the end portion near the welding line. Since it is automatically determined whether or not to perform the welding, regardless of the shape of the processed product near the end of the welding line, it is possible to automatically determine the welding process suitable for that shape.
【００５０】以下、図１２のフローチャートに従って説
明した溶接線端部付近における溶接処理の判定手順の具
体例を、図１３を参照しながら説明する。なお、図１３
は溶接線端部付近における溶接処理の判定手順の具体例
を示す説明図である。A specific example of the procedure for determining the welding process near the end of the welding line described with reference to the flowchart of FIG. 12 will be described below with reference to FIG. Note that FIG.
FIG. 4 is an explanatory diagram showing a specific example of a procedure for determining a welding process in the vicinity of a weld line end.
【００５１】加工品Ｗにおいて取付部材１２１と被取付
部材１２２以外の部材１２３、１２４、１２５、１２６
が溶接の障害となるかを判定し（ステップＳ１）、溶接
の障害となる部材がないと判定され、ステップＳ７の処
理に移行する。In the processed product W, members 123, 124, 125, 126 other than the mounting member 121 and the mounted member 122.
Indicates that there is no obstacle to welding (step S1), it is determined that there is no member that interferes with welding, and the process proceeds to step S7.
【００５２】溶接対象の溶接線１２７以外にビード継ぎ
可能な溶接線があるかを判定し（ステップＳ７）、ビー
ド継ぎ可能な溶接線がないと判定され、ステップＳ８の
処理に移行する。It is determined whether there is a weld line capable of bead joining other than the weld line 127 to be welded (step S7), it is determined that there is no weld line capable of bead joining, and the process proceeds to step S8.
【００５３】溶接線１２７の端部Ａが取付部材１２１の
頂点に一致するかを判定し（ステップＳ８）、一致する
と判定され、ステップＳ９の処理に移行する。It is determined whether the end A of the welding line 127 coincides with the apex of the mounting member 121 (step S8), it is determined that they coincide, and the process proceeds to step S9.
【００５４】溶接線の端部付近の溶接処理パターンを
「オープン端」と判定し（ステップＳ９）、処理を終了
する。The welding process pattern near the end of the welding line is determined to be an "open end" (step S9), and the process ends.
【００５５】このように、加工品において取付部材と被
取付部材以外の部材が存在する場合であっても、図１３
に示す加工品の形状に適した溶接処理を自動的に決定す
ることができる。As described above, even when the processed product includes members other than the mounting member and the mounted member,
It is possible to automatically determine a welding process suitable for the shape of the processed product shown in FIG.
【００５６】また、この実施形態によれば、溶接線端部
付近の端部処理パターンを自動的に判定できるので、予
め端部処理パターンごとに端部運棒データを設定してお
けば端部溶接用のロボット動作プログラムの自動作成が
容易になし得る。Further, according to this embodiment, since the end treatment pattern near the end of the welding line can be automatically determined, if the end rod data is set in advance for each end treatment pattern, the end treatment pattern can be set. A robot operation program for welding can be easily created automatically.
【００５７】以上、本発明を実施形態に基づいて説明し
てきたが、本発明はかかる実施形態のみに限定されるも
のではなく、種々改変が可能である。例えば、本実施形
態では、理解の容易のために平板に直方体部材を水平隅
肉溶接により取り付ける場合を例に採り説明されている
が、他の形状の部材を取り付ける場合についても適用で
き、また適用できる溶接方法は水平隅肉溶接に限定され
るものではなく、各種溶接に適用できる。さらに、本実
施形態では溶接ロボットを例に採り説明されているが、
本発明の適用は溶接ロボットに限定されるものではな
く、各種の自動溶接装置における溶接線端部付近の溶接
方法の決定に適用可能である。Although the present invention has been described above based on the embodiments, the present invention is not limited to such embodiments and various modifications can be made. For example, in the present embodiment, for ease of understanding, a case where a rectangular parallelepiped member is attached to a flat plate by horizontal fillet welding is described as an example, but the present invention is also applicable to a case where a member having another shape is attached. The welding method that can be used is not limited to horizontal fillet welding, but can be applied to various types of welding. Furthermore, in the present embodiment, a welding robot is described as an example,
The application of the present invention is not limited to the welding robot, but can be applied to the determination of the welding method in the vicinity of the end of the welding line in various automatic welding devices.
【００５８】[0058]
【発明の効果】以上詳述したように、本発明によれば、
溶接線端部付近の加工品の形状にかかわらず、溶接線端
部付近の形状に適した溶接処理方法を自動的に決定でき
るという優れた効果が得られる。As described in detail above, according to the present invention,
An excellent effect that the welding processing method suitable for the shape near the end of the welding line can be automatically determined regardless of the shape of the processed product near the end of the welding line is obtained.
【図１】溶接線の端部付近の溶接処理決定方法が適用さ
れる溶接処理自動決定システムの概略構成図である。FIG. 1 is a schematic configuration diagram of a welding process automatic determination system to which a welding process determination method near an end of a welding line is applied.
【図２】溶接線端部付近の溶接処理方法の説明図であっ
て、同（ａ）は概略斜視図であり、同（ｂ）は平面図で
ある。2A and 2B are explanatory views of a welding processing method in the vicinity of an end portion of a welding line, in which FIG. 2A is a schematic perspective view and FIG. 2B is a plan view.
【図３】溶接線端部付近の溶接処理方法の説明図であっ
て、同（ａ）は概略斜視図であり、同（ｂ）は平面図で
ある。3A and 3B are explanatory views of a welding processing method in the vicinity of an end portion of a welding line, in which FIG. 3A is a schematic perspective view and FIG. 3B is a plan view.
【図４】溶接線端部付近の溶接処理方法の説明図であっ
て、同（ａ）は概略斜視図であり、同（ｂ）は平面図で
ある。4A and 4B are explanatory views of a welding treatment method near the end of the welding line, in which FIG. 4A is a schematic perspective view and FIG. 4B is a plan view.
【図５】溶接線端部付近の溶接処理方法の説明図であっ
て、同（ａ）は概略斜視図であり、同（ｂ）は平面図で
ある。5A and 5B are explanatory views of a welding processing method near the end of the welding line, in which FIG. 5A is a schematic perspective view and FIG. 5B is a plan view.
【図６】溶接線端部付近の溶接処理方法の説明図であっ
て、同（ａ）は概略斜視図であり、同（ｂ）は平面図で
あり、同（ｃ）は他の態様の平面図である。6A and 6B are explanatory views of a welding treatment method near the end of a welding line, in which FIG. 6A is a schematic perspective view, FIG. 6B is a plan view, and FIG. It is a top view.
【図７】溶接線端部付近の溶接処理方法の説明図であっ
て、同（ａ）は概略斜視図であり、同（ｂ）は平面図で
ある。7A and 7B are explanatory views of a welding treatment method near the end of the welding line, in which FIG. 7A is a schematic perspective view and FIG. 7B is a plan view.
【図８】溶接線端部付近の溶接処理方法の説明図であっ
て、同（ａ）は概略斜視図であり、同（ｂ）は平面図で
ある。8A and 8B are explanatory views of a welding treatment method near the end of the welding line, in which FIG. 8A is a schematic perspective view and FIG. 8B is a plan view.
【図９】溶接線端部付近の溶接処理方法の説明図であっ
て、同（ａ）は概略斜視図であり、同（ｂ）は平面図で
ある。9A and 9B are explanatory views of a welding processing method near the end of the welding line, in which FIG. 9A is a schematic perspective view and FIG. 9B is a plan view.
【図１０】溶接線端部付近の溶接処理方法の説明図であ
って、同（ａ）は概略斜視図であり、同（ｂ）は平面図
である。FIG. 10 is an explanatory diagram of a welding treatment method near the end of the welding line, in which FIG. 10 (a) is a schematic perspective view and FIG. 10 (b) is a plan view.
【図１１】溶接線端部付近の溶接処理パターンを示す図
である。FIG. 11 is a diagram showing a welding treatment pattern near the end of the welding line.
【図１２】溶接線端部付近における溶接処理の分類手順
を示すフローチャートである。FIG. 12 is a flowchart showing a classification procedure of welding processing in the vicinity of an end of a welding line.
【図１３】溶接線端部付近における溶接処理の決定方法
の具体例の説明図である。FIG. 13 is an explanatory diagram of a specific example of a method of determining a welding process near the end of a welding line.
１１ ３次元ＣＡＤシステム １１Ａ 形状・溶接線データベース １２ ＣＡＭシステム １２Ａ 溶接作業データベース １３ 製造現場制御装置 １３Ａ 数値制御データベース １４ ロボットコントローラ １５ 溶接ロボット Ｔ 溶接処理自動決定システム Ｗ 加工品 11 3D CAD system 11A shape / welding line database 12 CAM system 12A welding work database 13 Manufacturing site control device 13A Numerical control database 14 Robot controller 15 Welding robot T Welding process automatic determination system W processed products
───────────────────────────────────────────────────── フロントページの続き (72)発明者 川端 純一 明石市川崎町１番１号 川崎重工業株式 会社 明石工場内 (56)参考文献 特開 平９−164483（ＪＰ，Ａ) 特開 平10−211575（ＪＰ，Ａ) 特開 平６−301415（ＪＰ，Ａ) (58)調査した分野(Int.Cl.7，ＤＢ名) B23K 9/127 B25J 9/22 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Junichi Kawabata 1-1 Kawasaki-cho, Akashi City Kawasaki Heavy Industries Ltd. Akashi Factory (56) References JP-A-9-164483 (JP, A) JP-A-10- 211575 (JP, A) JP-A-6-301415 (JP, A) (58) Fields investigated (Int.Cl. 7 , DB name) B23K 9/127 B25J 9/22
Claims (5)
するトーチ角度と溶接線端部におけるトーチ動作とに基
づいて、所要数の端部処理パターンに予め分類してお
き、溶接対象端部付近が前記パターンのいずれに該当す
るかを、各部材の形状データを用いて各部材を加工品に
組み立てるシミュレーションに基づいて自動的に判定
し、その判定結果により溶接線端部付近の溶接処理を自
動的に決定することを特徴とする溶接線端部付近の溶接
処理自動決定方法。1. A welding process near the end of a welding line is pre-classified into a required number of end processing patterns based on a torch angle with respect to the welding line and a torch movement at the end of the welding line. To determine which of the above patterns the neighborhood corresponds to , use the shape data of each member to make each member a processed product.
A method for automatically determining a welding process near the end of a welding line, which is automatically determined based on a simulation for assembling, and the welding process near the end of the welding line is automatically determined based on the determination result.
とを用いた溶接線端部付近の溶接処理自動決定方法であ
って、 ３次元ＣＡＤシステムにより取付部材を含む各部材を加
工品に組立てるシミュレーションをなす手順と、 前記シミュレーションより得られた溶接線端部付近の形
状により、溶接対象端部付近が、溶接線に対するトーチ
角度と端部におけるトーチ動作とに基づいて予め設定さ
れている所要数の端部処理パターンのいずれに該当する
かを判定する手順と、 前記判定結果に対応した溶接処理を選定する手順とを含
んでなることを特徴とする溶接線端部付近の溶接処理自
動決定方法。2. A method for automatically determining a welding process in the vicinity of an end of a welding line using a three-dimensional CAD system and a CAM system, wherein a simulation for assembling each member including a mounting member into a work product by the three-dimensional CAD system is performed. By the procedure and the shape near the end of the welding line obtained from the simulation, the vicinity of the end to be welded is the required number of ends that are preset based on the torch angle with respect to the welding line and the torch operation at the end. A method for automatically determining a welding process in the vicinity of a weld line end, comprising a process of determining which of the process patterns the process corresponds to, and a process of selecting a welding process corresponding to the determination result.
対し垂直とすると、溶接線に対し傾けるとに分類され、
かつ、端部におけるトーチ動作が、角巻き処理を行う、
ビード継ぎ処理を行う、角巻き処理およびビード継ぎ処
理を行わないとに分類されていることを特徴とする請求
項１または２記載の溶接線端部付近の溶接処理自動決定
方法。3. The torch angle with respect to the welding line is classified as being inclined with respect to the welding line when it is perpendicular to the welding line,
And, the torch motion at the end performs square winding processing,
The method for automatically determining a welding process in the vicinity of the end of a welding line according to claim 1 or 2, wherein the method is classified into a bead splicing process, a square winding process, and a bead splicing process.
とを用いた溶接線端部付近の溶接処理自動決定システム
であって、 ３次元ＣＡＤシステムにより取付部材を含む各部材を加
工品に組立てるシミュレーションをなし、前記シミュレ
ーションより得られた溶接線端部付近の形状により、溶
接対象端部付近が溶接線に対するトーチ角度と端部にお
けるトーチ動作とに基づいて予め設定されている所要数
の端部処理パターンのいずれに該当するかを判定し、前
記判定結果に対応した溶接処理を選定するよう構成され
てなることを特徴とする溶接線端部付近の溶接処理自動
決定システム。4. A system for automatically determining a welding process in the vicinity of an end of a welding line using a three-dimensional CAD system and a CAM system, wherein a simulation for assembling each member including a mounting member into a work product by the three-dimensional CAD system is performed. , The shape of the vicinity of the end of the welding line obtained from the simulation, the vicinity of the end of the welding target of the required number of end processing pattern preset based on the torch angle to the welding line and the torch operation at the end. A system for automatically determining a welding process near the end of a welding line, characterized in that it is configured to determine which one corresponds and to select a welding process corresponding to the determination result.
対し垂直とすると、溶接線に対し傾けるとに分類され、
かつ、端部におけるトーチ動作が、角巻き処理を行う、
ビード継ぎ処理を行う、角巻き処理およびビード継ぎ処
理を行わないとに分類されていることを特徴とする請求
項４記載の溶接線端部付近の溶接処理自動決定システ
ム。5. The torch angle with respect to the welding line is classified as being inclined with respect to the welding line when it is perpendicular to the welding line.
And, the torch motion at the end performs square winding processing,
5. The automatic welding process determination system in the vicinity of the end of the welding line according to claim 4, characterized in that the bead splicing process is performed, the square winding process and the bead splicing process are not performed.
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|---|---|---|---|
| JP2000334293A JP3421725B2 (en) | 2000-11-01 | 2000-11-01 | Method and system for automatically determining welding process near the end of welding line |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000334293A JP3421725B2 (en) | 2000-11-01 | 2000-11-01 | Method and system for automatically determining welding process near the end of welding line |
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| Publication Number | Publication Date |
|---|---|
| JP2002137061A JP2002137061A (en) | 2002-05-14 |
| JP3421725B2 true JP3421725B2 (en) | 2003-06-30 |
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|---|---|---|---|
| JP2000334293A Expired - Lifetime JP3421725B2 (en) | 2000-11-01 | 2000-11-01 | Method and system for automatically determining welding process near the end of welding line |
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| JP5578791B2 (en) | 2009-02-13 | 2014-08-27 | 株式会社神戸製鋼所 | Welding line selection method |
| JP6809948B2 (en) * | 2017-03-21 | 2021-01-06 | 株式会社神戸製鋼所 | Welding path information acquisition method and welding robot system |
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