KR100680353B1 - Welding robot teaching system - Google Patents

Welding robot teaching system Download PDF

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Publication number
KR100680353B1
KR100680353B1 KR1020050124144A KR20050124144A KR100680353B1 KR 100680353 B1 KR100680353 B1 KR 100680353B1 KR 1020050124144 A KR1020050124144 A KR 1020050124144A KR 20050124144 A KR20050124144 A KR 20050124144A KR 100680353 B1 KR100680353 B1 KR 100680353B1
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South Korea
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panel
welding
teaching
robot
data
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KR1020050124144A
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Korean (ko)
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김동탁
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현대자동차주식회사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45104—Lasrobot, welding robot

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Theoretical Computer Science (AREA)
  • Business, Economics & Management (AREA)
  • Physics & Mathematics (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • General Physics & Mathematics (AREA)
  • Numerical Control (AREA)

Abstract

A welding robot teaching system which can secure welding quality of the robot even before the actual panel teaching by performing teaching of a robot although an actual panel of a new car is not used, and can greatly reduce a line preparation time by reducing teaching time is provided. A welding robot teaching system comprises: a computer(1) into which three-dimensional size information and three-dimensional welding point positional information of a new car panel are inputted; a data converter(2) for converting the three-dimensional size information and the three-dimensional welding point positional information of the panel received from the computer into hologram projection data and laser multi-point projection data respectively; an imaginary panel projector(3) for receiving the hologram projection data from the data converter to project an imaginary panel(8) into a space as a hologram; and a welding point projector(4) for receiving the laser multi-point projection data from the data converter to project welding points(9) on the imaginary panel projected into the space by the imaginary panel projector.

Description

용접 로봇 티칭 시스템{welding robot teaching system}Welding robot teaching system

도 1은 본 발명에 따른 용접 로봇 티칭 시스템의 구성도,1 is a block diagram of a welding robot teaching system according to the present invention,

도 2는 패널 및 용접점 투사장치들의 자기 위치 보정 개념도,2 is a conceptual diagram of magnetic position correction of the panel and welding point projection apparatus;

도 3은 패널 투사장치와 용접점 투사장치들의 작동 상태도,3 is an operating state diagram of the panel projection apparatus and the welding point projection apparatus,

도 4는 용접 로봇의 티칭 상태도,4 is a teaching state of the welding robot;

도 5는 본 발명의 작동 순서도이다.5 is an operational flowchart of the present invention.

**도면의 주요 부분에 대한 부호의 설명**** Description of the symbols for the main parts of the drawings **

1 : 컴퓨터, 2 : 데이터변환기,1: computer, 2: data converter,

3 : 가상패널 투사장치, 4 : 용접점 투사장치,3: virtual panel projection apparatus, 4: welding spot projection apparatus,

5,6 : 로봇, 7 : 대차,5,6 robot, 7: bogie,

7a : 툴링핀, 8 : 가상패널,7a: tooling pin, 8: virtual panel,

9 : 용접점.9: welding point.

본 발명은 용접 로봇 티칭 시스템에 관한 것으로, 특히 실제 패널을 사용하 지 않고도 로봇의 패널 용접점 티칭을 실시할 수 있도록 된 용접 로봇 티칭 시스템에 관한 것이다.The present invention relates to a welding robot teaching system, and more particularly, to a welding robot teaching system that enables to perform panel welding spot teaching of a robot without using an actual panel.

신차의 차체 생산 준비의 과정으로서 제품 도면 출도 후, 차체 분야는 설비에 대한 공법의 계획 작성, 설비 제작, 설비 설치 및 시운전을 시행하게 되며, 이와 같은 준비 과정에는 패널 접합을 실시하는 용접 로봇의 티칭 및 시운전도 포함된다.After issuing product drawings as a preparation process for the production of new cars, the body field will be involved in the planning, construction, installation and commissioning of the construction method for the facility. And commissioning.

한편, 종래의 로봇 티칭은 신차의 실제 패널이 현장에 공급되어서, 라인이 정지되는 휴일에 로봇 조작자가 집중적으로 실시하게 된다. 보통 로봇 1대의 티칭 소요시간은 1차종당 약 3~4시간 정도(실제 티칭시간은 2시간 정도 소요되고, 나머지는 용접점에 대한 위치 수정 및 각 용접점에 대한 용접조건(기동 분리)을 입력하는데 소요되는 시간이다.) 소요되며, 이때 로봇과, 신차용 지그 및, 신차 패널이 반드시 갖추어져 있어야 로봇의 티칭이 가능하다.Meanwhile, in the conventional robot teaching, the actual panel of the new car is supplied to the field, and the robot operator concentrates on the holiday when the line is stopped. Normally, the teaching time of one robot is about 3 ~ 4 hours per vehicle type (actual teaching time is about 2 hours, and the rest is inputted by modifying the position of welding point and welding condition (starting separation) for each welding point) The robot, the jig for the new car, and the panel of the new car must be equipped to teach the robot.

그런데, 현재의 신차 개발 프로세스에 의하면 이 기간에 제품 패널의 미개발 또는 미양산으로 인하여 신차의 패널을 적시에 공급받지 못하게 된다. 따라서, 패널 접합을 실시하는 용접 로봇의 티칭 및 시운전이 필연적으로 지연될 수 밖에 없는 실정이다.However, according to the current new car development process, due to the undeveloped or unproduction of the product panel during this period, the panel of the new car cannot be supplied in a timely manner. Therefore, the teaching and commissioning of the welding robot for panel joining is inevitably delayed.

즉, 종래에는 신차 패널의 미확보시 라인의 로봇 티칭이 불가하였고, 실 패널 티칭 이전에는 로봇의 용접품질 사전확보가 불가능하였으며, 신차 패널이 공급된 경우에도 1공정에 1대의 로봇에 대한 티칭만 가능하여 티칭 시간이 증가하여 전체 생산 라인의 준비 기간이 증가하게 된다는 문제점이 있었다.That is, in the prior art, the robot teaching of the line was impossible when the new car panel was not secured, and the welding quality of the robot was not secured before the actual panel teaching. Therefore, the teaching time is increased, there is a problem that the preparation period of the entire production line is increased.

이에 본 발명은 상기와 같은 문제점을 해결하기 위하여 안출된 것으로, 신차의 실 패널을 사용하지 않고도 로봇의 티칭을 실시할 수 있게 되고, 이로서 실 패널 티칭 이전에도 로봇의 용접품질 사전확보가 가능해지며, 티칭 시간이 감소되어 라인 준비 기간이 크게 감소될 수 있도록 된 용접 로봇 티칭 시스템을 제공함에 그 목적이 있다.Accordingly, the present invention has been made to solve the above problems, it is possible to teach the robot without using the seal panel of the new car, thereby ensuring the welding quality of the robot prior to the seal panel teaching, It is an object of the present invention to provide a welding robot teaching system in which the teaching time is reduced and the line preparation period can be greatly reduced.

상기와 같은 목적을 달성하기 위한 본 발명은,The present invention for achieving the above object,

신차 패널의 3차원 치수 정보와 3차원 용접점 위치 정보가 입력되는 컴퓨터;A computer for inputting three-dimensional dimension information and three-dimensional welding point position information of the new vehicle panel;

상기 컴퓨터로부터 전달받은 패널의 3차원 치수 정보와 3차원 용접점 위치 정보를 각각 홀로그램 투사 데이터와 레이저 다점 투사 데이터로 변환하는 데이터변환기;A data converter for converting the 3D dimension information and the 3D welding point position information received from the computer into holographic projection data and laser multi-point projection data, respectively;

상기 데이터변환기로부터 홀로그램 투사 데이터를 전달받아 공간상에 가상 패널을 홀로그램으로 투사하는 가상패널 투사장치;A virtual panel projection device that receives the holographic projection data from the data converter and projects the virtual panel as a hologram in space;

상기 데이터변환기로부터 레이저 다점 투사 데이터를 전달받아 상기 가상패널 투사장치에 의해 공간상에 투사된 가상 패널에 용접점을 투사하는 용접점 투사장치로 구성된다.And a welding point projection device receiving laser multi-point projection data from the data converter and projecting a welding point to the virtual panel projected on the space by the virtual panel projection device.

따라서, 실제 신차의 패널을 확보하지 못한 상태에서도 로봇의 티칭을 실시할 수 있게 된다.Therefore, the teaching of the robot can be performed even without actually securing the panel of the new car.

이하, 본 발명을 첨부된 예시도면을 참조하여 설명한다.Hereinafter, the present invention will be described with reference to the accompanying drawings.

도 1에 도시된 바와 같이, 본 발명은 컴퓨터(1), 데이터변환기(2), 가상패널 투사장치(3), 용접점 투사장치(4)로 구성된다.As shown in Fig. 1, the present invention comprises a computer 1, a data converter 2, a virtual panel projection apparatus 3, and a welding point projection apparatus 4.

상기 컴퓨터(1)는 신차의 패널에 대한 3차원 치수 정보와 용접점 위치 정보를 카티아(CATIA)나 캐드(CAD) 형식의 데이터로 입력받는다. 이 시점에서 신차에 대한 설계는 완료된 상태이므로 패널에 대한 치수 정보는 완성되어 있다.The computer 1 receives three-dimensional dimension information and welding point position information of a panel of a new car as data in a CATIA or CAD format. At this point, the design of the new car is complete, so the dimension information for the panel is complete.

상기 데이터변환기(2)는 상기 카티아나 캐드 형식의 패널 치수 정보와 용접점 정보를 3차원 홀로그램 투사 데이터와 3차원 레이저 다점 투사 데이터로 변환한다.The data converter 2 converts the panel dimension information and the welding point information of the Catiana CAD format into three-dimensional hologram projection data and three-dimensional laser multi-point projection data.

상기 가상패널 투사장치(3)는 상기 데이터변환기(2)로부터 실 패널에 대한 3차원 홀로그램 투사 데이터를 전달받아 공간상에 가상 패널(8)을 홀로그램으로 투사한다.The virtual panel projection device 3 receives the three-dimensional hologram projection data for the real panel from the data converter 2 and projects the virtual panel 8 as a hologram in the space.

상기 용접점 투사장치(4)는 상기 데이터변환기(2)로부터 실 패널의 용접점 위치에 대한 3차원 레이저 다점 투사 데이터를 전달받아 상기 가상 패널(8)에 용접점(9)들을 투사한다.The welding spot projection apparatus 4 receives the three-dimensional laser multi-point projection data of the welding spot position of the seal panel from the data converter 2 and projects the welding spots 9 on the virtual panel 8.

이제 본 발명의 작동에 관해 설명한다.The operation of the present invention will now be described.

먼저, 작업자는 신차 패널의 3차원 치수 정보와 용접점 위치에 대한 카티아(CATIA)나 캐드(CAD) 형식의 데이터를 무선 랜이나 휴대용 대용량 저장장치를 통해 상기 컴퓨터(1)에 입력시킨다.(이하, 도 5 동시 참조) 인터넷을 통해 전송할 수도 있음은 물론이다.First, the operator inputs the three-dimensional dimension information of the new car panel and data of CATIA or CAD format of the welding point position to the computer 1 through a wireless LAN or a portable mass storage device. Simultaneously, FIG. 5 may be transmitted through the Internet.

상기 컴퓨터(1)에서는 입력된 상기 데이터를 가상패널 투사장치(3)와 용접점 투사장치(4)가 직접 레이저 투사에 활용할 수 있도록 상기 데이터변환기(2)가 3차원 홀로그램 투사 데이터와 3차원 레이저 다점 투사 데이터로 변환한다.In the computer (1), the data converter (2) is a three-dimensional holographic projection data and a three-dimensional laser so that the virtual panel projection device 3 and the welding point projection device 4 can utilize the input data directly to the laser projection Convert to multipoint projection data.

한편, 상기 가상패널 투사장치(3)와 용접점 투사장치(4)는 부팅 이후 즉시 도 1,2에 도시된 바와 같이, 구비하고 있는 레이저 센서로 대차(7)의 툴링핀(7a) 4곳을 측정하여 원점 확인 후 자기위치를 보정한다.(적정오차는 0.1mm 이하로 한다.) 즉, 대차(7)는 상기 4곳의 툴링핀(7a)으로써 가상패널 티칭 기준점을 제공한다.On the other hand, the virtual panel projection device 3 and the welding point projection device 4 immediately after booting, as shown in Figures 1 and 2, the laser sensor is provided with four tooling pins (7a) of the cart 7 After correcting the origin, the magnetic position is corrected. (The proper error is 0.1 mm or less.) That is, the bogie 7 provides the virtual panel teaching reference point with the four tooling pins 7a.

자기 위치가 보정된 후에는 전술한 바와 같이, 3차원 홀로그램 투사 데이터와 3차원 레이저 다점 투사 데이터를 전송받아 도 3에 도시된 바와 같이, 상기 가상패널 투사장치(3)는 3차원 가상 패널 홀로그램을 공간상에 투사하고, 상기 용접점 투사장치는 상기 공간에 투사된 3차원 가상 패널 홀로그램에 용접점(9)을 표시하게 된다.After the magnetic position is corrected, as described above, the 3D hologram projection data and the 3D laser multi-point projection data are received. As shown in FIG. 3, the virtual panel projection apparatus 3 generates a 3D virtual panel hologram. Projecting onto space, the welding spot projection apparatus displays the welding spot 9 on the three-dimensional virtual panel hologram projected into the space.

이어, 도 4와 같이 실제 패널과 동일한 상태의 상기 가상 패널(8)과 이의 용접점(9)을 이용하여 로봇의 티칭을 실시한다. 이때 공정 3D 용접점을 기준으로 티칭을 실시할 경우 4대가 동시에 티칭하는 것이 가능하다.Next, the teaching of the robot is performed using the virtual panel 8 and its welding point 9 in the same state as the actual panel as shown in FIG. 4. At this time, when teaching based on the process 3D welding point, it is possible to teach four units at the same time.

로봇 티칭이 완료된 후에는 티칭 프로그램을 저장하고, 티칭된 로봇으로 실제 패널 로딩 후 이에 대한 용접을 실시함으로써 양산시의 용접품질을 사전에 확보하는 것이 가능해졌다.After the robot teaching is completed, it is possible to secure the welding quality at the time of mass production by storing the teaching program and welding the panel after actual panel loading.

이상 설명한 바와 같이 본 발명에 따르면, 신차의 실 패널을 사용하지 않고 도 로봇의 티칭을 실시할 수 있게 되고, 이로써 실 패널 티칭 이전에도 로봇의 용접품질 사전확보가 가능해지며, 티칭 시간이 감소되어 라인 준비 기간이 크게 감소되는 효과가 있다.As described above, according to the present invention, the teaching of the robot can be performed without using the seal panel of the new vehicle, thereby enabling the robot to obtain the welding quality prior to the seal panel teaching, and the teaching time is reduced, thereby reducing the line. The preparation period is greatly reduced.

Claims (2)

신차 패널의 3차원 치수 정보와 3차원 용접점 위치 정보가 입력되는 컴퓨터(1);A computer 1 into which three-dimensional dimension information and three-dimensional welding point position information of a new vehicle panel are input; 상기 컴퓨터(1)로부터 전달받은 패널의 3차원 치수 정보와 3차원 용접점 위치 정보를 각각 홀로그램 투사 데이터와 레이저 다점 투사 데이터로 변환하는 데이터변환기(2);A data converter (2) for converting the three-dimensional dimension information and the three-dimensional welding point position information of the panel received from the computer (1) into holographic projection data and laser multi-point projection data, respectively; 상기 데이터변환기(2)로부터 홀로그램 투사 데이터를 전달받아 공간상에 가상 패널(8)을 홀로그램으로 투사하는 가상패널 투사장치(3);A virtual panel projection device (3) which receives the holographic projection data from the data converter (2) and projects the virtual panel (8) as a hologram in space; 상기 데이터변환기(2)로부터 레이저 다점 투사 데이터를 전달받아 상기 가상패널 투사장치(3)에 의해 공간상에 투사된 가상 패널(8)에 용접점(9)을 투사하는 용접점 투사장치(4)로 구성된 용접 로봇 티칭 시스템.The welding point projection device 4 which receives the laser multi-point projection data from the data converter 2 and projects the welding point 9 to the virtual panel 8 projected on the space by the virtual panel projection device 3. Welding robot teaching system consisting of. 제 1항에 있어서, 상기 가상패널 투사장치(3)와 용접점 투사장치(4)는 부팅 이후 즉시 구비된 레이저 센서로 대차(7)의 툴링핀(7a) 4곳을 측정하여 원점 확인 후 자기위치를 보정하도록 된 것을 특징으로 하는 용접 로봇 티칭 시스템.According to claim 1, wherein the virtual panel projection device 3 and the welding point projection device 4 is a laser sensor provided immediately after booting to measure the four tooling pins (7a) of the trolley (7) to determine the home position Welding robot teaching system, characterized in that for correcting the position.
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101018049B1 (en) 2009-11-30 2011-03-02 목포대학교산학협력단 System for compensation of welding distortion and method for compensation of welding distortion using the same
CN114012714A (en) * 2021-11-29 2022-02-08 三江学院 Robot teaching platform based on MCD technology

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KR20020090557A (en) * 2001-05-28 2002-12-05 현대자동차주식회사 Welding line simulation device of vehicle and method thereof
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JPH01113177A (en) * 1987-10-22 1989-05-01 Shin Meiwa Ind Co Ltd Method for controlling industrial robot
KR20020025455A (en) * 2000-09-29 2002-04-04 이계안 Method for compensating robot position using laser analyzer
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101018049B1 (en) 2009-11-30 2011-03-02 목포대학교산학협력단 System for compensation of welding distortion and method for compensation of welding distortion using the same
CN114012714A (en) * 2021-11-29 2022-02-08 三江学院 Robot teaching platform based on MCD technology

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