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1. WO2022009710 - OPERATION AUTOMATIC GENERATION METHOD AND OPERATION AUTOMATIC GENERATION SYSTEM FOR WELDING ROBOT

Publication Number WO/2022/009710
Publication Date 13.01.2022
International Application No. PCT/JP2021/024263
International Filing Date 28.06.2021
IPC
B23K 9/12 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
9Arc welding or cutting
12Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
B25J 9/22 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
22Recording or playback systems
G05B 19/4093 2006.1
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
18Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
4093characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
CPC
B23K 9/12
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
9Arc welding or cutting
12Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
B25J 9/1656
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1656characterised by programming, planning systems for manipulators
G05B 19/4093
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
18Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
4093characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
Applicants
  • ジャパンマリンユナイテッド株式会社 JAPAN MARINE UNITED CORPORATION [JP]/[JP]
Inventors
  • 齊藤 幸男 SAITOH Yukio
Agents
  • 越前 昌弘 ECHIZEN Masahiro
Priority Data
2020-11632206.07.2020JP
Publication Language Japanese (ja)
Filing Language Japanese (JA)
Designated States
Title
(EN) OPERATION AUTOMATIC GENERATION METHOD AND OPERATION AUTOMATIC GENERATION SYSTEM FOR WELDING ROBOT
(FR) PROCÉDÉ DE GÉNÉRATION AUTOMATIQUE D'OPÉRATION ET SYSTÈME DE GÉNÉRATION AUTOMATIQUE D'OPÉRATION POUR ROBOT DE SOUDAGE
(JA) 溶接ロボットの動作自動生成方法及び動作自動生成システム
Abstract
(EN) The present invention provides an operation automatic generation method and an operation automatic generation system for a welding robot, which makes it possible to reduce a prior work of the welding robot and automatically generate operations of the welding robot on site. An operation automatic generation method for a welding robot 1 according to this embodiment includes: a setting step for disposing a 3D measurement sensor 4 on a predetermined spot (Step 1); a measurement step for dividing a welding spot into a plurality of measurement areas and measuring the areas with the 3D measurement sensor 4 (Step 2); a point group processing step for generating an extraction plane from point group data capable of being recognized as a plane out of measured point group data and generating an assumption plane from an invalid area from which no point group data can be obtained and not capable of being recognized (Step 3); a measurement checking step for checking whether all measurements on the welding spots are terminated or not (Step 4); and a 3D model generation step for generating a 3D model of the welding spots from the extraction plane and the assumption plane (Step 5).
(FR) La présente invention concerne un procédé de génération automatique d'opération et un système de génération automatique d'opération pour un robot de soudage, ce qui permet de réduire un travail antérieur du robot de soudage et de générer automatiquement des opérations du robot de soudage sur le site. Un procédé de génération automatique d'opération pour un robot de soudage 1 selon ce mode de réalisation comprend : une étape de réglage servant à disposer un capteur de mesure 3D 4 sur un point prédéterminé (étape 1) ; une étape de mesure servant à diviser un point de soudage en une pluralité de zones de mesure et à mesurer les zones avec le capteur de mesure 3D 4 (étape 2) ; une étape de traitement de groupe de points servant à générer un plan d'extraction à partir de données de groupe de points en mesure d’être reconnu comme étant un plan parmi des données de groupe de points mesurées et à générer un plan d'hypothèse à partir d'une zone invalide à partir de laquelle aucune donnée de groupe de points ne peut être obtenue et n’étant pas en mesure d’être reconnu (étape 3) ; une étape de vérification de mesure servant à vérifier si toutes les mesures sur les points de soudage sont terminées ou non (étape 4) ; et une étape de génération de modèle 3D servant à générer un modèle 3D des points de soudage à partir du plan d'extraction et du plan d'hypothèse (étape 5).
(JA) 溶接ロボットの事前作業を削減し、現場で溶接ロボットの動作を自動生成することができる、溶接ロボットの動作自動生成方法及び動作自動生成システムを提供する。 本実施形態に係る溶接ロボット1の動作自動生成方法は、3D計測センサ4を所定の場所に配置するセッティング工程Step1と、溶接場所を複数の計測領域に分割して3D計測センサ4で計測する計測工程Step2と、計測された点群データのうち平面として認識可能な点群データから抽出面を生成し、点群データが得られない認識不能な無効領域から想定面を生成する点群処理工程Step3と、溶接場所における全ての計測を終了したか否か確認する計測確認工程Step4と、抽出面及び想定面から溶接場所の三次元モデルを生成する三次元モデル生成工程Step5と、を含んでいる。
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