JPH09164483A - Automatically deciding system for welding route - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain the system to automatically decide a welding route of a welding robot for complicated shape by using plural welding robots and using member shape information and welding design information only registered in a CAD/CAM system. SOLUTION: The system consists of a means 21 to read in the data required for a weld line to generate from a CAD/CAM system 10, a means 22 to decide a welding direction for each mounting member of a work based on the read in weld line data, a means 23 to decide welding sequence for each mounting member, a means 24 to decide a welding route based on the decided welding direction/welding sequence and means 25 to output the decided welding route data to the CAD/CAM system.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the application of welding robots in heavy industries such as shipbuilding, bridges, and steel frames, and in particular, it utilizes a plurality of welding robots for complex workpieces of high-mix low-volume production. The present invention relates to a welding route determination system relating to automatic generation of a welding route among automatic generation methods of operation programs for welding robots using a CAD / CAM system when performing assembly.

[0002]

2. Description of the Related Art Conventionally, a welding robot in heavy industries such as shipbuilding, bridges and steel frames has been applied in a simple form in which one welding robot is applied to one work. In such an application form, the work efficiency has been improved by eliminating the teaching using the welding robot in the field by using the off-line programming method using the personal computer. However, such a method is difficult to apply to a welding robot for a large number of small workpieces of a large number of products, because the teaching time is too long for the application mode in which a plurality of welding robots are applied to one workpiece. there were. As a method for solving this problem, Japanese Patent Laid-Open No. 6-2 of the prior application of the present applicant
The technique disclosed in 14625 has been used. This is to automatically generate an operation program for a plurality of welding robots collectively using only the work shape information and the welding design information that the CAD system has, and to enable teachingless. However, in this system, the welding route is automatically determined by a relatively simple algorithm, and the determination method is not described in detail and clearly.

[0003]

When the work to be processed is of a wide variety of small quantities and has a complicated shape including many narrow portions due to the three-dimensional mounting member, welding is performed using a simple algorithm. The route cannot be determined automatically. In particular, the determination of the welding direction and the welding sequence in consideration of the welding quality and work efficiency largely depends on the experience of the robot operator, so that the automatic determination of the welding path by the computer was a difficult task. Furthermore, in an application mode in which multiple welding robots simultaneously perform the work of assembling one work, one of the welding robots will be stopped due to control in order to avoid mutual interference between the welding robots. As a result, a large amount of dead time is generated. Determining the welding direction and welding order to avoid such interference between welding robots has been a major issue.

The present invention has been made in order to solve the above problems, and is highly efficient in the case of assembling and welding a work using a plurality of welding robots.
It is an object of the present invention to provide an automatic welding route determination system capable of ensuring sufficient welding quality.

[0005]

An automatic welding route determination system according to the present invention uses a welding route when welding a plurality of attachment members on a work by a plurality of welding robots.
What is determined based on the member shape information and the welding design information registered in the D / CAM system, the welding line data reading means for reading the data necessary for generating the welding line from the CAD / CAM system, and the read data. Welding direction determining means for determining a welding direction for each of the mounting members based on welding line data, welding sequence determining means for determining a welding order for each of the mounting members, and welding direction and welding order determined by the above And a welding route data output unit for outputting data of the determined welding route to the CAD / CAM system.

Here, the data necessary for generating the welding line are, for example, the member type of each mounting member, the end position,
Member shape information such as mounting angle, and welding design information such as welding method, welding posture, leg length, groove data, etc. are premised on being registered for each work in the database of the CAD / CAM system. Further, it is premised that the work is divided by the operation areas of a plurality of welding robots, and the welding line data is registered for each welding robot.

Further, the present invention is premised on well-known techniques such as high-speed rotary arc welding, detection of the end position of the mounting member by an arc sensor, automatic welding line copying control, bead splicing, etc. The direction determining means has predetermined rules so that these techniques can be utilized. As this rule, for example, the end of the welding line is determined so that the end position can be detected by the arc sensor. Further, even if the welding line is divided by a region dividing line that defines the operation region of a plurality of welding robots, or the welding line is divided by another attachment member connected to the attachment member, for example, the scallop portion For welding lines that can be bead-joined through, the welding direction is set to be the same so as to ensure the welding quality of the bead-joint portion. Furthermore, as a general rule, the direction counterclockwise with respect to the mounting member is defined as the welding direction.

In the welding order determining means, for example, for a mounting member having a groove or an inclination (tilt), a rule is set so that the grooved side or the wide angle side of the mounting angle is welded first. Has been. In principle, the welding sequence is such that the welding start point first determines the surface including the welding line closest to the robot system coordinate origin in the mounting member, and then the welding start point of the welding line group within the determined surface is determined. The welding line closest to the robot system coordinate origin is ranked first. These basic rules of the welding direction and the welding order are designed to minimize the occurrence of interference between welding robots.

The welding route determining means determines the welding routes of all the attachment members according to a predetermined algorithm based on the welding direction and welding sequence determined above. The welding route determination means has an interlock area setting means for setting an interlock area for avoiding mutual interference of the welding robots, and a welding line selection means for selecting a welding line included in the set interlock area. The configuration.
Further, as a predetermined algorithm, in the interlock region setting means, when the operating regions of the plurality of welding robots are divided into three in the vertical or horizontal directions, the welding lines even partially included in the region on the right side or the upper side thereof become the largest. It is assumed that the dividing direction is selected, and the area on the right side or the upper side according to the selected dividing direction is set as the interlock area, and the welding line selecting means divides the operation area of the welding robot into three in the selected dividing direction, Welding line group (LCR welding line group) extending over three regions, welding line group included in one or both of two regions (LC welding line group or CR
Welding line group) and select LC
The welding path is determined in the order of the R welding line group, the LC welding line group, and the CR welding line group.

According to the configuration of the present invention as described above, the welding direction determining means uses the welding line data reading means for CAD.
Since the end direction is determined for each attachment member of the workpiece based on the welding line data read from the / CAM system, the welding directions of the welding lines present on both sides of the attachment member are determined. Once the welding direction is determined, the welding sequence determining means then determines the welding sequence for each attachment member. Then, the welding route determining means reduces the interference between the welding robots based on the welding direction and the welding order determined by each of the above means, shortens the air cut time, and reduces the arc time rate (actual operation rate). ) Can be determined so that the operation path (welding path) of all welding robots is maximized.
Then, the welding route data determined in this way is set to C
It is output to the AD / CAM system, an operation program of the welding robot is generated based on the data, the program is transmitted to each welding robot, and the welding robot is operated.

[0011]

1 is a block diagram of an automatic welding route determination system according to an embodiment of the present invention. In the figure, 10 is a CAD / CAM system of a welding robot, and 11 is a welding line data generation system for generating basic welding line data necessary for robot welding in the CAD / CAM system 10. The welding route automatic determination system 20 illustrated here is a CAD / CAM system 1
A welding line data reading means 21 for reading necessary welding line data from the welding line data generation system 11 of 0, a welding direction determining means 22 for determining a welding direction for each attachment member based on the read welding line data, Based on the welding sequence determining means 23 for determining the welding sequence for each attachment member and the determined welding direction and welding sequence, the welding robot arcs such as reduction of interference between the welding robots at the time of stop, reduction of air cut time, etc. Welding route determining means 2 for determining the movement route of the welding robot so that the time rate (actual operation rate) is maximized.
4 and welding route data output means 25 for outputting the determined welding robot operation route data. Also, 26
Is a welding route display means for displaying data determined or outputted by means 22 to 25.
The welding route data output from the output means 25 is CAD.
/ Sending to the welding robot operation program generation system 12 of the CAM system 10, the operation programs of all the welding robots of the target work are automatically generated and transferred to each welding robot.

First, an example of a target work is shown in FIG. FIG. 2 is a plan view of a work to be welded. Work 1
00 assumes a case where a plurality of mounting members 110 are automatically welded to a panel (base material) 101 having an opening 102 for assembly. 200 is a surface plate for setting the work 100. FIG. 3 shows an arrangement example of the works on the surface plate, and usually two or more works 100 are arranged in combination. FIG. 4 illustrates an outline of a robot mechanism that combines a plurality of welding robots for such a work. In FIG. 4, each 6-axis articulated robot 300 has a 3-axis slide mechanism 301, 3 respectively.
It is arranged on 02 and 303 in a suspended position, and can be moved up and down, front and back, and left and right by a total of 9 axis moving mechanisms. A robot mechanism is formed by combining 10 such welding robots 300. Each welding robot 30
A welding torch 1 capable of known high-speed rotary arc welding is attached to the tip of 0, and this also enables detection of the end position of the attachment member, bead joint detection, and automatic welding line copying control by a known arc sensor. Has become. In addition, as shown in FIG. 2, area dividing lines 311, 312, 31 that define the operation area of each welding robot with respect to the work 100.
3, 314 and 315 are set vertically and horizontally. Therefore, some of the welding lines of the mounting member are divided by these region dividing lines.

In the database of the CAD / CAM system 10, member shape information (panel outer shape, mounting member type / mounting position / cross-sectional shape, etc.) and welding design information (welding method, welding posture, groove type). , Groove shape, gap,
(Leg length, etc.) is stored.

Hereinafter, each system and means of FIG. 1 will be described in more detail.

(1) Welding line data generation system The welding line data generation system 11 uses the above CAD / CA.
The member shape information and the welding design information registered in the database of the M system 10 are read to generate basic welding line data. Basic welding line data refers to the data from: Position data (X, Y, Z) of the start or end point of the weld line The weld line is the plate thickness (or plate width) at the welded part of the mounting member.
It is represented by two line segments that allow for minutes. When there is no interference between the welding robot and the work, the end position of the attachment member becomes the welding start point or the welding end point (these points are collectively referred to as “welding end points”). When the welding robot and the work interfere with each other, the position of the intermediate portion of the attachment member, which is the occurrence point of the interference, becomes the welding start point or the welding end point. Position data (X, Y, Z) of points in the middle of welding The points in the middle of welding are points for avoiding interferences during welding, changing welding conditions, and changing welding direction. When the welding line is divided by the area dividing lines 311 to 315, it is a point including the area dividing point (intersection point of the welding line and the area dividing line). Torch angles (α, β) considering interference avoidance at each welding end point, where α is a vertical tilt angle of the welding torch 1 with respect to a horizontal plane as shown in FIG. 5A, and β is As shown in FIG. 5 (b), the horizontal inclination angle of the welding torch 1 with respect to the normal line 111 of the mounting member 110. These angles are determined by the interference avoidance processing between the welding robot and the work. Welding point attribute at each welding end point The welding point attribute is the judgment data whether the welding point is the end point or the middle point of the mounting member, and in the case of the middle point of the mounting member, that point. Is the judgment data as to whether the welding line is a bead splicing due to the region division (region dividing line) of the welding robot or a bead splicing due to interference. The mounting angle (δ) δ of the mounting member is an inclination angle of the mounting member 110 with respect to the base material 101, as shown in FIG. 6. Groove data of the mounting member This is a groove 11 in the mounting member 110 as shown in FIG.
It is data such as the type and shape of the groove when there is 2. The above is the basic welding line data, but it is premised that each of the above data is registered in advance in the CAD / CAM system 10.

(2) Welding line data reading means The welding line data reading means 21 obtains the above-mentioned data for each mounting member 110 from the welding line data generation system 11.
Read more. For example, as shown in FIG. 8, there may be a plurality of welding lines on one member, such as when welding causes discontinuity.

(3) Welding direction determining means The welding direction determining means 22 is a welding line data reading means 21.
Mounting member 1 based on data read by
The welding direction is determined every 10. The rule for determining the welding direction is as follows, for example. Rule R1: The welding direction is set in such a direction that the end point (end point) can be detected if the end point can be detected by the arc sensor. The allowable range of the end detection sensor (arc sensor) has a restriction that the torch angle β is within ± 30 °, so the side where the torch angle β at the end of the welding line falls within this range is the welding end point. For example, when one side of the mounting member 110 is connected to another mounting member 113 as shown in FIG. 9A, the torch angle β is set to avoid the interference between the welding torch 1 and the work. On the member 113 side, it is greatly inclined with respect to the welding line (β> 30 °). On the other hand, since the opposite end has no interference, the torch angle β is within the allowable range of the end detection sensor. Therefore, with respect to the mounting member 110, the end on the mounting member 113 side is the welding start point W _S and the end on the side without interference is the welding end point W _E , and the welding direction is determined in the direction shown by the arrow. To be done. On the other hand, as shown in FIG. 9B, when the mounting member 110 is sufficiently distant from the mounting member 113, either of them may be set as the welding start point. Is used to set the welding direction to the mounting member 110 in the counterclockwise direction. In this case, turning welding may be performed at the end of the mounting member 110. When turning welding is performed, the welding start point and the welding end point match. further,
As another example, when there are a plurality of welding lines on one side of the mounting member, for example, when the mounting member 110 is connected to another mounting member 114, 115 as shown in FIG. 8, 121, Three welding lines 122 and 123 (for the sake of convenience of the following description, reference numerals indicating the welding line and the welding direction are used at the same time) are present on one side of the mounting member 110. In such a case, the welding line 121 and the welding line 123
According to the above rule R1, the welding directions are divided into clockwise and counterclockwise directions, respectively. On the other hand, the welding line 122 is
The welding direction cannot be determined because both ends are outside the allowable range of the end detection sensor. Also in such a case, the welding direction is set to the counterclockwise direction with respect to the mounting member 110 using the rule R4 described later. Rule R2: When one or both of the welding lines form a bead joint, the welding direction is from the side closer to the robot system coordinate origin to the side farther. This is shown in FIG.
As shown in FIG. 3, even in the same welding robot operation area, when one welding line is divided due to interference or the like, and the welding lines 121 to 123 can be connected by bead splicing, welding is performed. By defining the direction as one, it is possible to stabilize the welding quality by making the welding in the bead joints 141 and 142 one way. In the example of FIG. 10, since the scallop portions 118 are provided on the other attachment members 116 and 117 connected to the attachment member 110, the scallop portions 118 are provided.
Bead splicing is possible through. Rule R3: When one or both of the welding lines are divided by the area dividing line that defines the operation area of the welding robot, the welding direction of the welding line is from the side close to the robot system coordinate origin to the side far from the origin. . This is shown in FIG.
As shown in FIG. 1, one attachment member 110 extends over the operation areas of a plurality of welding robots, and the area dividing lines 311 and 31 are provided.
2 weld lines 121-123 and weld line 12 on both sides
In the case where 4 to 126 are divided, by defining the welding direction as one direction, the area division points 151, 1
This is for stabilizing the welding quality of the bead joint at 52. Rule R4: When the welding direction is not uniquely determined by the rules of R1 and R2, the welding direction of the welding line is set to the counterclockwise direction. The above rules are applied in the order of R3 → R2 → R1 → R4.

(4) Welding order determining means The welding order determining means 23 determines the welding order for each mounting member 110. The basic rule Ra for that is as follows. First, the surface including the welding line whose welding start point is closest to the robot system coordinate origin in the mounting member is determined. That is, it is determined which of the front and back sides of the mounting member is to be welded first. In order to determine the surface including the welding line to be welded first, it is determined whether or not the normal vector of the surface is directed to the robot system coordinate origin. For example, in FIG. 8, robot system coordinates OX
When Y is taken as shown, the surface 11 of the mounting member 110 is
The normal vector Va perpendicular to 0a is oriented toward the robot system coordinate origin O (X component V of the normal vector Va).
Since the sum of ax and the Y component Vay is a minus sign, it faces the origin O). On the other hand, the normal vector Vb perpendicular to the back surface 110b of the mounting member 110 faces the direction opposite to the robot system coordinate origin O (normal vector Vb).
The sum of the X component Vbx and the Y component Vby of + is a + sign, so the direction is opposite to the origin O). Therefore, the mounting member 1
For No. 10, the welding line contained in the surface 110a is welded first. Next, welding is started with the welding line whose welding start point is closest to the robot system coordinate origin O as the first place among the welding line group included in the surface. In the example of FIG. 8, among the welding line groups 121 to 123 included in the surface 110a,
Since the welding start point W _S is the closest to the welding line on the robot system coordinate origin O is a weld line of 121, the weld line 121 is first welded. Therefore, in the example of FIG. 8, the welding sequence is as follows: welding line 121 → welding line 122 on surface 110a.
→ Weld line 123 → Weld line 124 on back surface 110b is determined in this order. Also, the following rules apply. Rule Rb: The side with the groove is welded first. This rule is to minimize the occurrence of defects such as blowholes caused by the primer, such as when the groove is coated with a primer. For example, in the case of a mounting member as shown in FIG. 7, the welding line on the groove 112 side (left side) is welded first.

(5) Welding Path Determining Means The welding path determining means 24 is designed to minimize interference between welding robots based on the welding direction and welding order of each attachment member determined above, and to reduce air interference. Determine the welding path so that the cutting time is as short as possible. In the case of a multi-robot, minimizing interference between welding robots is an important factor for improving the arc time rate.
As shown in FIG. 12, the specific processing is performed by the interlock area setting means 27 for avoiding interference, the welding line selecting means 28 for selecting the welding line included in the set interlock area, and the selected. It comprises a welding route determining means 24 for obtaining a welding route for each welding line. As a method of avoiding interference between the welding robots, the welding robots perform welding while taking an interlock (synchronization) for each of the above-described regions, thereby minimizing the probability that two welding robots will simultaneously enter adjacent regions. I keep it low.

(5-1) Interlock area setting means The setting of the interlock area for avoiding interference depends on the number of welding lines included in the operation area of the welding robot.
In this interlock area setting means 27, of the two division methods as shown in FIG. 13, even a part of the welding line included in the R area (the right or upper interlock area in the operation area of the welding robot) is the most. Choose a partitioning method that increases. In the method shown in (a), focusing on the interference between the left and right welding robots, the operation area of each welding robot is divided into three parts in the vertical direction, and the hatched portions on the right side of each are interlock areas 321, 322, 323. 324 is set. On the other hand, in the method shown in (b), focusing on the interference between the upper and lower welding robots, the operation area of each welding robot is divided into three in the horizontal direction, and the interlock area is formed in the upper hatched portion in the lower area. 325 is set. The division ratio of the operating region of the welding robot is usually equal, but may be different depending on the work. In the example of FIG. 13, since the welding line length included in the method of (a) is longer than the welding line length included in the method of (b), the method of (a) with a high probability of occurrence of interference problem is adopted. It

(5-2) Welding Line Selecting Means The welding line selecting means 28, as shown in FIG. 14, provides three regions within the operating region of the welding robot and classifies the welding lines for each region. Specifically, a welding line group (LCR welding line group) that extends over three regions L, C, and R, and a welding line group (LC welding line group) included in one or both of the two regions L and C.
And a welding line group (CR welding line group) included in one or both of the two regions C and R.

(5-3) Welding route determining means As the welding route, the welding route is determined in the order of the LCR welding line group, the LC welding line group, and the CR welding line group. At the time of actual welding, the interlock is taken for each area by the welding robot group control system. The welding path for each area is selected so that the air cut is minimized. Specifically, start from the mounting member whose welding start point is closest to the robot system coordinate origin, and select another mounting member with the welding start point closest to the welding end point of the last welding line of that mounting member. repeat.

FIG. 15 shows the relationship between the welding path and the interlock.
Shown in Referring to this figure, first, step S
In the welding of the 31 LCR welding line group, it is checked whether the LCR welding line group exists in the operation area of the welding robot. If the LCR welding line group exists and the LCR welding line group also exists in the left welding robot adjacent to the left side of the welding robot, the welding is waited until the left welding robot completes welding (welding is not started). If the left welding robot is waiting for the interlock, no interference occurs between the left and right welding robots, and the welding of the welding robot is started. Next, LCR is applied to the welding robot.
When the welding line group does not exist and the LC welding line group exists, when welding of the LCR welding line group of the left welding robot is completed, welding of the LC welding line group of the welding robot is started (step S32). ). Finally, the welding robot
When neither the CR welding line group nor the LC welding line group exists and the CR welding line group exists, if the welding of the LC welding line group of the right welding robot is completed, the welding of the CR welding line group of the welding robot is completed. Is started (step S33). Then, in the welding of each welding line group, welding is started from a mounting member having a welding start point closest to the robot system coordinate origin, and from the welding end point of the last welding line of the mounting member to the welding end point most. Move to another mounting member with a closer welding start point. This minimizes air cut.

A concrete example is shown in the example of FIG. The robot system coordinate origin O is set at the lower left corner of the surface plate 200, and the L, C, and R regions are set according to the method of FIG. As shown in FIG. 16, the arrangement relationship of each welding robot with respect to the work 100 is shown in FIG. No. 1 to No. Indicated by 7. In the figure, W _S is the welding start point of the welding line, W _E is the welding end point of the welding line, 121 to 132 are welding lines, 141
˜143 are bead connection points, 151˜164 are area dividing points, 171˜179 are scallop end points of mounting members, 3
11 to 315 are area dividing lines.

First, the welding robot No. In 2, LCR
There are no welding lines included in the welding line group. Next, since the LC welding line group includes the B member and the C member, the welding route is
From the B member near the origin O of the robot system coordinate, the welding line 12 is turned counterclockwise based on the rule of the minimum air cut.
1, the welding line 122, and then the C member, the welding line 123 of the C member, and the welding line 124 are in this order. Finally, the CR welding line group includes a part of A member, a part of D member and a part of E member,
Moreover, since the E member is connected to the D member (the E member is provided with the scallop portion as shown in FIG. 10), from the A member near the robot system coordinate origin O,
In the counterclockwise direction, the welding line 125, the welding line 126, and then the D member are moved, and the welding line 127 (the section between the welding start point W _S and the area dividing point 151) and the welding line 128 (the welding start point W _S and the bead connection) are connected. It becomes a welding line 129 (a section between the bead connection point 141 and the area dividing point 152), and then a welding line 130 of the E member (a section between the scallop end point 171 and the area dividing point 153) and a welding line 131 (a section of the point 141). The welding path is set in the order of the scallop end point 172 and the area dividing point 154).

Next, the welding robot No. In 1, LCR
Although there are no welding lines included in the welding line group, the LC welding line group includes the rest of the D member and the F member connected to it (the F member is provided with the scalloped portion as described above). If you are). Therefore, first, from the D member close to the robot system coordinate origin O, the welding line 121 (the section between the area dividing point 151 and the bead connecting point 142) and the welding line 122.
(Bead connection point 142 and welding end point W _E section), welding line 123 (region dividing point 152 and bead connection point 143 section), welding line 124 (bead connection point 143 and welding end point W _E section) The welding path is set as follows. After that, the welding line 125 of the F member (the section between the scallop end point 173 and the welding end point W _E ) and the welding line 126 (the scallop end point 17).
4 and the welding end point W _E ), and then G to the CR welding line group.
Since a part of the members and the H member are included (this is the case where the scallop portion is also provided for the G member), the welding line 127 (the scallop portion end point 175 and the region is formed from the G member near the robot system coordinate origin O). Section of division point 155), weld line 128 (scallop end point 176 and area division point 156)
Section), and finally the welding lines 129, 13 of the H member
The welding path is set as 0.

Welding robot No. In No. 3, since the G member is included in the LCR welding line group, the welding route is the welding line 12
1 (section of area division point 155 and area division point 157), welding line 122 (section of area division point 156 and area division point 158), welding line 123 (member connection point 181 and area division point 1)
58 section), and since the LC welding line group includes the I member, it becomes welding lines 124 and 125, and finally CR.
Since the welding line group includes a part of the E member and the J member, the welding line 126 of the E member (the region dividing point 160 and the region dividing point 16
2 sections), the section of the weld line 127 (section area division point 159 and the area dividing point 161), and the weld lines 128 of J member (member connecting point 182 and the welding end point W _E), the weld line 12
9 (member connection point 181 and welding end point W _E ). Hereinafter, similarly, the welding paths of the welding lines are determined as shown for all the attachment members in the operation region of the other welding robot. The above results are summarized in a table as shown in Table 1.

[0028]

[Table 1]

(6) Welding path data output means The welding path data output means 25 outputs the welding path data of all the attachment members determined as described above in units of welding robots.

In the above description, the welding path of the flat welding line has been described, but the vertical welding line for welding the attachment members to each other after the welding on the plane is completed,
In the operation area of each welding robot, welding is normally performed in sequence starting from the welding line near the origin of the robot system coordinates.

[0031]

As described above, according to the present invention, no matter how complicated the workpiece is, CAD / CAM can be used.
Welding route can be automatically determined using only the member shape information and welding design information registered in the system, and the application is possible while avoiding mutual interference of multiple welding robots. Therefore, efficiency is good,
Welding quality is sufficiently secured. Therefore, it is very effective for automatic welding of large-scale, small-quantity, large-sized, and complicated workpieces.

[Brief description of the drawings]

FIG. 1 is a block diagram of a welding route automatic determination system of the present invention.

FIG. 2 is a plan view showing an example of a work.

FIG. 3 is a plan view showing an example of the arrangement of works on a surface plate.

FIG. 4 is a schematic view of a robot mechanism including a plurality of welding robots.

FIG. 5 is an explanatory diagram of a torch angle with respect to a mounting member.

FIG. 6 is an explanatory view of a mounting angle of a mounting member.

FIG. 7 is an explanatory view of a mounting member having a groove.

FIG. 8 is an explanatory diagram when a plurality of welding lines are present on the mounting member.

FIG. 9 is an explanatory view showing the direction of the welding end in the relationship between the mounting member and another mounting member.

FIG. 10 is an explanatory diagram showing a case where a plurality of welding lines can be connected.

FIG. 11 is an explanatory diagram showing a case where a welding line is divided by a region dividing line.

FIG. 12 is a block diagram showing a configuration of a welding route determination means.

FIG. 13 is an explanatory diagram showing a method of dividing the operation area of the welding robot.

FIG. 14 is a layout diagram of each area according to the division method of FIG.

FIG. 15 is a flowchart showing a relationship between a welding path and an interlock.

FIG. 16 is an explanatory diagram of a welding route of a work.

[Explanation of symbols]

 1 Welding torch 10 CAD / CAM system 11 Welding line data generation system 12 Welding robot operation program generation system 20 Welding route automatic determination system 21 Welding line data reading means 22 Welding direction determination means 23 Welding sequence determination means 24 Welding route determination means 25 Welding Route data output means 26 Display means 27 Interlock area setting means 28 Welding line selecting means 100 Work piece 101 Base material 110 to 117 Mounting member 121 to 131 Welding line 300 Welding robot 311 to 315 Area dividing line

Claims (9)

[Claims] 1. A welding path for welding a plurality of mounting members on a work by a plurality of welding robots is CAD / C.
What is determined based on the member shape information and the welding design information registered in the AM system, the welding line data reading means for reading the data necessary for generating the welding line from the CAD / CAM system, and the read welding line Welding direction determining means for determining a welding direction for each mounting member based on data, welding sequence determining means for determining a welding order for each mounting member, and all based on the welding direction and welding order determined by the above. Automatic determination of a welding route, which comprises: a welding route determining means for determining a welding route of the attachment member of 1); and welding route data output means for outputting data of the determined welding route to the CAD / CAM system. system. 2. The welding path determining means selects an interlock area setting means for setting an interlock area for avoiding mutual interference of the welding robots, and a welding line included in the set interlock area. The welding line automatic determination system according to claim 1, further comprising: 3. The welding according to claim 1, wherein, when the welding direction determining means determines the welding direction with respect to the attachment member, the end of the welding line is set so that the end position can be detected by an arc sensor. Automatic route determination system. 4. The bead splicing is possible even if the welding line is divided by a region dividing line that defines the operation region of the plurality of welding robots, or the welding line is divided by another attachment member connected to the attachment member. The welding route automatic determination system according to claim 1, wherein the welding direction is determined to be the same direction by the welding direction determination means with respect to the welding line. 5. The welding direction determining means, when determining the welding direction for the mounting member, sets the welding direction counterclockwise with respect to the mounting member. 4. A welding route automatic determination system described in 4. 6. When determining the welding sequence for the attachment member in the welding sequence determining means, first, a plane including a welding line whose welding start point is closest to the robot system coordinate origin is determined in the attachment member and then determined. 2. The automatic welding route determination system according to claim 1, wherein the welding start point is the welding line closest to the origin of the robot system coordinate in the welding line group in the plane. 7. For a mounting member having a groove or an inclination, the welding sequence determining means gives priority to a welding line on the grooved side or the wide-angle side of the mounting angle. Automatic welding route determination system described. 8. The interlock area setting means sets the operation areas of the plurality of welding robots in a vertical or horizontal direction.
When splitting, select the splitting direction so that the number of weld lines that are partly included in the right or upper region is the largest, and set the right or upper region according to the selected splitting direction as the interlock region. A system for automatically determining a welding route according to claim 2. 9. The welding line selecting means divides an operation region of the welding robot into three in the selected dividing direction into three groups of welding line groups (LCR welding line group) and two regions. A welding line group (LC welding line group or CR welding line group) included in one or both is selected, and in the welding path determining means, the LCR welding line group and the L welding line group.
The automatic welding route determination system according to claim 8, wherein the welding route is determined in the order of the C welding line group and the CR welding line group.