Control system using working robot, and work processing method using this system

• US 20070145027A1
• Filed: 02/05/2004
• Published: 06/28/2007
• Est. Priority Date: 02/06/2003
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Era, Tetsuo, Yamagami, Takeshi, Ueda, Koji, Izawa, Akinobu
• Granted Patent: US 7,605,347 B2
• Time in Patent Office: Days
• US Class Current: 219/124.340
• CPC Class Codes: B23K 9/032 for three-dimensional seams
• CPC Class Codes: B23K 9/0956 using sensing means, e.g. optical
• CPC Class Codes: B23K 9/127 Means for tracking lines during arc welding or cutting copying in general B23Q35/00
• CPC Class Codes: B23K 9/1272 Geometry oriented, e.g. beam optical trading
• CPC Class Codes: B23K 9/1274 Using non-contact, optical means, e.g. laser means
• CPC Class Codes: B25J 19/022 using lasers
• CPC Class Codes: B25J 9/1684 Tracking a line or surface by means of sensors
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: G05B 19/42 Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
• CPC Class Codes: G05B 2219/34096 Approximate, replace curve, surface with circle, linear segments, least error
• CPC Class Codes: G05B 2219/36407 Follow path with probe, store deviations for correction during normal operation
• CPC Class Codes: G05B 2219/36415 Adjust path and attitude tool by detecting path, line with a photosensor, laser
• CPC Class Codes: G05B 2219/36462 Minimize teach time, compress data, many points in curve, few in line
• CPC Class Codes: G05B 2219/45104 Lasrobot, welding robot
• CPC Class Codes: G05B 2219/4705 Detect edge during machining, welding, sewing
• CPC Class Codes: G05B 2219/49218 Compensation of workpiece dilatation

Abstract

The control system includes a welding robot (10) which moves a welding torch (16) along a work (W) for welding the work (W), a robot controller (40) for controlling driving of the welding robot (10), a laser sensor head (17) for detecting a shape change in the work (W) during welding by the welding torch (16), and a personal computer (30) for obtaining instruction information for the welding robot (10) in accordance with the shape change, based on a result of detection by the laser sensor head (17). The robot controller (40) moves the welding torch (16) by controlling the driving of the working robot, based on the instruction information obtained by the personal computer (30).

Claims

1. A control system using a working robot, comprising:

a working robot which moves processing means along a work for processing the work; and

control means for controlling drive of the working robot,

the control system further comprising;

detecting means for detecting a shape change in the work during the processing by the processing means; and

obtaining means for obtaining instruction information for the working robot in accordance with the shape change based on a result of detection by the detecting means

wherein the controlling means moves the processing means through the drive control to the working robot, based on the instruction information obtained by the obtaining means.

2. The control system using a working robot according to claim 1, wherein the obtaining means obtains data of a plurality of points representing the shape change in the work being processed, as data for candidate instruction points, and deletes part of the data which represents points satisfying a predetermined straight-line approximation condition, thereby making instruction information including data of a plurality of points.

3. The control system using a working robot according to claim 1, wherein the obtaining means obtains data of a plurality of points representing the shape change in the work being processed, as data for candidate instruction points, and deletes part of the data which represents points satisfying a predetermined arc-line approximation condition, thereby making instruction information including data of a plurality of points.

4. The control system using a working robot according to claim 2, wherein the obtaining means obtains data of a plurality of points representing the shape change in the work being processed, as data for candidate instruction points, and deletes part of the data which represents points satisfying a predetermined arc-line approximation condition, thereby making instruction information including data of a plurality of points.

5. A control system using a working robot, comprising:

a working robot which moves welding means along a work for welding the work; and

control means for controlling drive of the working robot,

the control system further comprising;

detecting means for detecting a shape change in the work during the welding by the welding means; and

obtaining means for obtaining instruction information for the working robot in accordance with the shape change based on a result detection by the detecting means

wherein the controlling means moves the welding means through the drive control to the working robot, based on the instruction information obtained by the obtaining means.

6. A work processing method by means of a control system using a working robot, the control system including a working robot which moves processing means along a work for processing the work, and control means for controlling driving of the working robot, the method comprising:

a first stage of having the processing means perform a rehearsal processing to a test work for detection of a shape change in the work during the processing;

a second stage of obtaining instruction information for the working robot based on the shape change detected in the test work in the first stage; and

a third stage of processing others of the work than the test work, based on the instruction information obtained in the second stage.

7. A work processing method by means of a control system using a working robot, the control system including a working robot which moves welding means along a work for welding the work, and control means for controlling driving of the working robot, the method comprising:

a first stage of having the welding means perform a rehearsal welding to a test work for detection of a shape change in the work during the welding;

a second stage of obtaining instruction information for the working robot based on the shape change detected in the test work in the first stage; and

a third stage of welding others of the work than the test work, based on the instruction information obtained in the second stage.