End tool holder and working robot system

Abstract

To solve the problem that a conventional working robot has the difficulty of penetrating a torch into a narrow work area.SOLUTION: An end tool holder of the present invention comprises: torch holders 22, 23 rotatably mounted on a mount base part 21; a filler guide 26 mounted on a torch 24 so as to rotate with the torch 24 to supply a filler to a tip area of the torch 24; and a motor 25 mounted on the mount base part 21 to rotate the torch holders 22, 23, wherein the torch holders 22, 23, when the torch holders 22, 23 and the torch 24 are rotated by the drive power of the motor 25, holds the torch 24 so that rotation center axes of the torch holders 22, 23 may be coincident with a rotation center axis of a tip of the torch 24, and the motor 25 is arranged on an extension line of the rotation center axes of the torch holders 22, 23 and the torch 24 so that the rotation axis may be coincident with the rotation center axes of the torch holders 22, 23 and the torch 24.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an end tool holder and a work robot system, and more particularly to an end tool holder that holds a welding tool that requires the supply of filler, and a work robot system to which the end tool holder is attached. [Background technology]

[0002] Welding work includes consumable electrode welding, which involves melting a torch, and non-consumable electrode welding, which melts base materials without melting a torch, thereby welding the base materials together. Non-consumable electrode welding may use a filler that supplies molten metal in a rod shape. When using such a filler, a filler guide is provided adjacent to the welding torch to supply the filler. Patent Document 1 discloses a technology that includes a filler guide and employs a welding torch tool at the tip of a robot arm. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-6683 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the technology described in Patent Document 1, the filler guide rotation mechanism for moving the filler guide to match the shape of the welding point includes gears and the like, so the filler guide rotation mechanism is large, which results in problems with poor workability, such as the inability to insert the torch into a narrow work area. [Means for solving the problem]

[0005] One aspect of the present invention is an end tool holder comprising: a mounting base that is attached to a tool mounting portion of a robot arm; a torch holder that is rotatably attached to the mounting base and holds a torch; a filler guide that is attached to the torch so as to rotate together with the torch and that supplies filler to a tip region of the torch; and a motor that is attached to the mounting base and rotates the torch holder; wherein the torch holder holds the torch so that the central axis of rotation of the torch holder coincides with the central axis of rotation of the tip of the torch when the torch holder and the torch are rotated by the driving force of the motor, and the motor is positioned on an extension of the central axes of rotation of the torch holder and the torch so that the rotation axis of the motor coincides with the central axes of rotation of the torch holder and the torch.

[0006] One aspect of the present invention is a robot arm, an end tool holder for holding an end tool attached to the robot arm, and a control unit for controlling the attitude of the robot arm and the end tool, wherein the end tool holder comprises: an attachment base attached to a tool attachment portion of the robot arm; a torch holder rotatably attached to the attachment base and holding a torch; a filler guide attached to the torch so as to rotate together with the torch and supplying filler to a tip region of the torch; and a motor attached to the attachment base and rotating the torch holder, The torch holder holds the torch so that the central axis of rotation of the torch holder coincides with the central axis of rotation of the tip of the torch when the torch holder and the torch are rotated by the driving force of the motor, the motor is positioned on an extension of the central axis of rotation of the torch holder and the torch so that the rotation axis coincides with the central axis of rotation of the torch holder and the torch, and the control unit controls the attitude of the robot arm and the motor so that the torch, the filler guide, and the end tool holder are positioned such that they will not come into contact with the workpiece in a contact determination process performed in advance.

[0007] One aspect of the present invention is to fix the filler guide to the torch and have a torch holder that holds the torch so that the rotation axis of the tip of the torch and the rotation axis of the motor are on the same axis, thereby making it possible to reduce the size of the structure for rotating the filler guide. [Effects of the Invention]

[0008] According to one aspect of the present invention, it is possible to improve the workability of a robot arm using a torch. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a schematic diagram of a working robot system according to a first embodiment. [Figure 2] FIG. 1 is a schematic view of an end tool holder according to a first embodiment. [Figure 3] FIG. 1 is a schematic diagram of a sensor unit according to a first embodiment. [Figure 4] FIG. 2 is a diagram illustrating a state of work performed by the working robot system according to the first embodiment. [Figure 5] FIG. 10 is a schematic diagram of a working robot system according to a second embodiment. [Figure 6] FIG. 10 is a block diagram of a work information data generation system according to a second embodiment. [Figure 7] 10 is a flowchart illustrating a work flow in the working robot system according to the second embodiment. [Figure 8] 10 is a flowchart illustrating the flow of work information data generation processing according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] For clarity of explanation, the following description and drawings have been omitted and simplified as appropriate. Furthermore, each element shown in the drawings as a functional block performing various processes can be configured in hardware with a CPU (Central Processing Unit), memory, and other circuits, and in software with a program loaded into memory, etc. Therefore, those skilled in the art will understand that these functional blocks can be realized in various forms using only hardware, only software, or a combination thereof, and are not limited to any one of these. In addition, the same elements are designated by the same reference numerals in each drawing, and redundant explanations are omitted as necessary.

[0011] Furthermore, the above-described program includes a set of instructions (or software code) that, when loaded into a computer, causes the computer to perform one or more functions described in the embodiments. The program may be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, computer-readable media or tangible storage media include random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technology, CD-ROM, digital versatile disc (DVD), Blu-ray (registered trademark) disc or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The program may also be transmitted on a transitory computer-readable medium or communication medium. By way of example and not limitation, transitory computer-readable media or communication media include electrical, optical, acoustic, or other forms of propagated signals.

[0012] Embodiment 1 Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram of a working robot system 1 according to the first embodiment. As shown in FIG. 1, the working robot system 1 according to the first embodiment has an end tool 20 attached to a tool attachment portion 11 provided at the tip of a robot arm 10. In the working robot system 1, the end tool 20 is moved by the robot arm 10, thereby operating the end tool 20 at a position, angle, and speed appropriate for the work to be performed on a workpiece placed on a workbench. Since the end tool 20 is one of the features of the working robot system 1 according to the first embodiment, the end tool 20 will be described in detail below.

[0013] Various types of tools suitable for the work to be performed, such as welding, painting, drilling, and robotic hands, can be attached to the end tool 20. In the working robot system 1 according to the first embodiment, a tool holder optimal for a welding tool that performs welding is used as the end tool 20. Although there are various types of welding tools, the end tool 20 described below will be a torch used for non-consumable electrode welding that uses a filler guide that supplies a filler formed from molten metal in a rod shape. Note that the torch used as the end tool 20 described below is, for example, a well-known TIG (Tungsten Inert Gas) torch, but this does not limit its application to other welding torches such as laser welding torches.

[0014] In welding methods that use a filler, the filler must be supplied in the direction of travel of the torch. Therefore, when performing welding that requires the use of a filler using robot arm 10, the filler guide must be rotated around the torch in line with the direction of travel of the torch so that the filler can be supplied in the direction of travel of the torch.

[0015] Fig. 2 is a schematic diagram of the end tool holder according to the embodiment 1. As shown in Fig. 2, the end tool 20 according to the embodiment 1 has an end tool holder. The end tool holder includes a mounting base 21 attached to the tool mounting portion 11 of the robot arm 10, a torch holder (e.g., a configuration including a rotating base 22 and a rotating base 22) rotatably attached to the mounting base 21 and holding the torch 24, a filler guide 26 attached to the torch 24 so as to rotate together with the torch 24 and supplying filler FIR to the tip of the torch 24 (torch tip 24b), and a motor 25 attached to the mounting base 21 and rotating the torch holder, the torch holder holds the torch 24 so that the central axis of rotation of the torch holder coincides with the central axis of rotation of the tip of the torch 24 (e.g., torch rotation axis RX) when the torch holder and torch 24 are rotated by the driving force of the motor, and the motor 25 is positioned on an extension of the central axis of rotation of the torch holder and torch 24 so that the rotation axis coincides with the torch holder and torch rotation axis RX. The filler guide 26 also includes a filler guide fixing portion 27 that fixes the filler guide 26 to the torch 24 so that the filler guide 26 rotates together with the torch 24 .

[0016] Furthermore, as shown in FIG. 2, the end tool 20 includes a scanner holder 30 that is connected to the base 21 and that holds a scanner unit 31 that scans the shape of a work area where work is to be performed by the torch 24.

[0017] The configuration of the end tool 20 will now be described in more detail with reference to FIG. 2. In the example shown in FIG. 2, the base portion 21 and the scanner holding portion 30 are attached to the tool mounting portion 11 in such an order that the scanner holding portion 30 is sandwiched between the tool mounting portion 11 and the base portion 21. One end of the base portion 21 and the scanner holding portion 30 is secured to the tool mounting portion 11 with bolts, for example, in a state where they are overlapped so that the recesses and protrusions on the opposing surfaces fit together. Alternatively, the base portion 21 and the scanner holding portion 30 may be secured to the tool mounting portion 11 using a standardized joint structure that connects them. A torch holder 23 that holds a torch 24 is attached to the other end of the base portion 21. A scanner unit 31 is attached to the other end of the scanner holding portion 30 via a scanner joint 32.

[0018] Base portion 21 is formed so that the surface on which torch holder 23 is attached forms a predetermined angle with respect to the surface that connects to tool mounting portion 11. Torch holder 23 is then attached to base portion 21. In the example shown in FIG. 2 , torch holder 23 is connected to base portion 21 via rotating base portion 22. Rotating base portion 22 and torch holder 23 can also be configured as inseparable components. However, because torches 24 are replaceable and come in various shapes depending on torch manufacturers or specifications, it is preferable that rotating base portion 22 and torch holder 23 be separable to accommodate these different torch shapes. Rotating base portion 22 is assembled to base portion 21 so that the rotational force generated by motor 25 rotates torch holder 23. For this reason, the torch holder is rotatably attached to the base portion, holds the torch, and is considered to include rotating base portion 22 and torch holder 23.

[0019] The motor rotates torch holder 23 by a direct drive system that transmits the rotational force of the rotation shaft directly to the torch holder (for example, rotating base 22 of the torch holder). More specifically, motor 25 is attached to the surface opposite the mounting surface of rotating base 22. Motor 25 rotates rotating base 22, thereby rotating torch holder 23.

[0020] Torch 24 is held by torch holder 23. Torch 24 is held in a replaceable manner relative to torch holder 23. Torch 24 is composed of a main body held by torch holder 23, a torch rod 24a, and a torch tip 24b. Filler guide 26 is a guide for supplying filler FIR to torch tip 24b. Torch 24 also has a filler guide fixing portion 27. Filler guide fixing portion 27 fixes filler guide 26 to torch 24 so that filler guide 26 rotates together with torch 24. In the example shown in FIG. 2, filler guide fixing portion 27 fixes filler guide 26 to torch rod 24a.

[0021] In the end tool 20, the torch holder 23 holds the torch 24 so that the central axis of rotation of the torch holder 23 coincides with the central axis of rotation of the tip of the torch when the torch holder 23 and the torch 24 are rotated by the driving force of the motor 25. The motor 25 is also disposed on an extension of the central axes of rotation of the torch holder 23 and the torch 24 so that the central axis of rotation of the motor 25 coincides with the central axes of rotation of the torch holder 23 and the torch 24. In FIG. 2, the central axis of rotation of the motor 25, the central axis of rotation of the torch holder 23, and the central axis of rotation of the torch 24 are shown as the torch rotation axis RX. From another perspective, the torch rotation axis RX is the central axis of rotation of the motor 25, and the end tool 20 is assembled so that the center point of the opening of the torch tip 24b when looking at the torch 24 from the torch tip 24b side and the central axis of rotation of the torch holder 23 and the rotating base 22 are located at the end of the extension of the central axis of rotation of the motor 25.

[0022] As described above, by assembling the end tool 20, the filler guide 26 can change its orientation by rotating together with the torch 24. In addition, by arranging the motor 25, which generates the rotational force that rotates the torch 24, on the central axis of rotation of the torch 24, it is possible to reduce the width of the torch 24 in the left-right direction. Furthermore, in the end tool 20, the center point on the bottom side of the torch tip 24b is on the central axis of rotation of the torch 24, so it is possible to prevent the position of the torch tip 24b from shifting even when the torch 24 is rotated.

[0023] The end tool 20 also has a scanner holding section 30, and a scanner unit 31 is connected to the scanner holding section 30 via a scanner joint 32. Here, in the first embodiment, the configuration of the scanner unit 31 will be described.

[0024] Fig. 3 is a schematic diagram of the sensor unit according to the first embodiment. Fig. 3 is a side view of the scanner unit 31 viewed from the right side of Fig. 2. As shown in Fig. 3, the scanner unit 31 includes a plurality of scanner joints 32 that serve as attachment portions to the scanner holding portion 30, and the plurality of scanner joints 32 are provided at different positions on the exterior of the scanner.

[0025] More specifically, scanner unit 31 holds the scanner body in a manner that allows it to be replaced by a scanner case 41. This makes it possible to replace the scanner body in scanner unit 31 depending on the work being performed and the specifications of working robot system 1. The scanner body acquires shape data of the workpiece, and one example is a laser scanner that acquires the unevenness of the target object as point cloud data.

[0026] Additionally, scanner joints 32 are provided on each of the three surfaces of scanner case 41. In this way, by providing scanner joints 32 on multiple surfaces of scanner case 41, it becomes possible to change the direction in which scanner unit 31 is connected to scanner holding portion 30. In this way, by changing the attachment direction of scanner unit 31, it becomes possible to adjust the orientation of the scanner depending on the type of work.

[0027] Here, we will explain the operation using the end tool 20. FIG. 4 is a diagram illustrating the state of operation performed by the work robot system according to the first embodiment. In the operation example shown in FIG. 4, the plates WB and WC are assembled into an L-shape, and the plate WC is assembled to connect the sides of the plates WB and WC. In the operation example shown in FIG. 4, the assembly line where the plates WA and WB meet is welded from the side away from the plate WC toward the plate WC. In the example shown in FIG. 4, the filler guide 26 needs to be positioned closer to the plate WC. Therefore, if the structure related to the filler guide becomes large in the welding area close to the plate WC, the structure related to the filler guide will come into contact with the plate WC, causing a problem in which the welding area close to the plate WC cannot be welded. However, when the end tool 20 according to the first embodiment is used, the structure related to the filler guide 26 is configured small in the width direction of the torch 24, making it less likely that the structure related to the filler guide 26 will come into contact with the plate WC in the welding area close to the plate WC.

[0028] As described above, in working robot system 1 according to the first embodiment, motor 25 for rotating torch 24 and the rotation shaft of motor 25 are provided on the central axis of rotation of torch 24, and filler guide 26 fixed to torch 24 is rotated. As a result, in working robot system 1 according to the first embodiment, the rotation radius for rotating filler guide 26 and the width of the structure for rotating filler guide 26 can be reduced. Furthermore, in working robot system 1 according to the first embodiment, by reducing the rotation radius for rotating filler guide 26 and the width of the structure for rotating filler guide 26, it is possible to prevent end tool 20 including filler guide 26 from coming into contact with the workpiece even in a narrow work area, thereby improving workability. Furthermore, torch holder 23 holds torch 24 in a replaceable manner, making it easy to replace torch 24.

[0029] Embodiment 2 In the second embodiment, a method for generating work information data for setting how to operate the robot arm 10 of the working robot system 1 according to the first embodiment will be described. Note that in the description of the second embodiment, the same components as those in the first embodiment will be assigned the same reference numerals as those in the first embodiment, and description thereof will be omitted.

[0030] Fig. 5 is a schematic diagram of a working robot system 2 according to a second embodiment. As shown in Fig. 5, working robot system 2 according to the second embodiment is obtained by adding a control unit (e.g., robot controller 12) and a work information data generation system 50 to working robot system 1. In working robot system 2 according to the second embodiment, robot arm 10 includes a control unit (e.g., robot controller 12) that controls the rotational position of motor 25, and the control unit controls motor 25 so that the rotational position of motor 25 is a position at which it is determined that the filler guide will not come into contact with the workpiece in a contact determination process performed in advance by the control unit.

[0031] That is, the working robot system 2 according to the second embodiment includes a robot arm 10, an end tool holder that holds an end tool 20 attached to the robot arm 10, and a control unit (for example, a robot controller 12) that controls the attitude of the robot arm 10 and the end tool. The end tool holder includes an attachment base 21 that is attached to the tool attachment portion of the robot arm, a torch holder (including a rotation base 22 and a torch holder 23) that is rotatably attached to the attachment base 21 and holds a torch 24, a filler guide 26 that is attached to the torch 24 so as to rotate together with the torch 24 and supplies a filler FIR to the tip region of the torch, and an attachment base 21 that is rotatable with the torch 24. The torch holder is attached to the mounting base 21 and includes a motor 25 that rotates the torch holder. When the torch holder and the torch 24 are rotated by the driving force of the motor 25, the torch holder holds the torch 24 so that the central axis of rotation of the torch holder coincides with the central axis of rotation of the tip of the torch. The motor 25 is arranged on an extension of the central axis of rotation of the torch holder and the torch 24 so that the rotation axis coincides with the central axis of rotation of the torch holder and the torch 24. The control unit controls the attitude of the robot arm 10 and the motor 25 so that the torch 24, the filler guide 26, and the end tool holder are positioned such that they are determined not to come into contact with the workpiece in a contact determination process (step S24) performed in advance.

[0032] In the working robot system 2 according to the second embodiment, the robot arm 10 is controlled by reading the work information data generated by the work information data generation system 50 into the robot controller 12. The work information data can be transferred from the work information data generation system 50 to the robot controller 12 by any method that allows the transfer of digital data, such as data communication using wired or wireless signals, or transfer using a storage device or the like.

[0033] The work information data also includes shape data of the contour line of the work object, position data indicating the position of the contour line on the work object, and data related to work information such as the dimensions of the work object, work position, work path, material and thickness of each part of the work object, etc. For example, in the case of welding work, the attribute data includes at least one of data on welding conditions such as welding current, welding speed, torch angle, and rotation position of the filler guide.

[0034] The work information data generation system 50 according to the second embodiment determines the rotational position of the filler guide 26 and the posture of the robot arm 10 so that the filler guide 26 and other components of the end tool 20 do not come into contact with the work target (e.g., workpiece) in the contact determination process performed during the work information data generation process. The work information data generation system 50 will now be described in more detail.

[0035] 6 is a block diagram of a work information data generation system 50 according to the second embodiment. The work information data generation system 50 can be executed, for example, by a computer having a calculation unit capable of executing a work information data generation program. As shown in FIG. 6, the work information data generation system 50 has a calculation unit 51, a memory unit 52, an input unit 53, a display unit 54, and an output unit 55.

[0036] The input unit 53 is an input interface for the computer, such as a keyboard, a communication interface, or a USB (registered trademark) terminal. The display unit 54 is one of the user interfaces that presents various information to the user. The output unit 55 is an output interface for the computer, such as a communication interface or a USB (registered trademark) terminal. The memory unit 52 is at least one of a large-scale storage device such as a hard disk or a temporary storage device such as DRAM mounted on the computer, and stores the work information data generation program, intermediate data required when generating work information data, and the generated work information data.

[0037] The calculation unit 51 executes a work information data generation program to realize functions equivalent to the following functional blocks. The functions realized by the calculation unit 51 include a machine shape data generation unit 61, an object shape data generation unit 62, a work path setting unit 63, a tool path setting unit 64, a virtual data generation unit 65, a contact determination unit 66, and a work information data generation unit 67.

[0038] In the working robot system 2 according to the second embodiment, it is assumed as an example that the scanner unit 31 attached to the end tool 20 acquires the shape of the workpiece as point cloud data. Therefore, although an example will be described in which the work information data generation system 50 generates work information data based on point cloud data, it is also possible to process the work information data through data processing that is not based on point cloud data.

[0039] The machine shape data generation unit 61 generates three-dimensional model data that represents the shapes of the robot arm 10 and the end tool 20 in three dimensions as machine shape data. The object shape data generation unit 62 generates three-dimensional model data that represents, for example, the shape of a workpiece in three dimensions as object shape data. Here, data to be input to the machine shape data generation unit 61 and the object shape data generation unit 62 may include design data or data obtained by measurement using a scanner. The data is stored in the storage unit 52 of the work information data generation system 50, or is provided to the work information data generation system 50 from the input unit 53 via communication or a portable storage device (e.g., USB (registered trademark) memory), etc.

[0040] The design data is, for example, CAD data information indicating the shapes of the robot arm 10, the end tool 20, and the workpiece. The CAD data information may represent the two-dimensional shapes of the robot arm 10, the end tool 20, and the workpiece, or may represent the three-dimensional shapes. The design data may be the design data of the robot arm 10, the end tool 20, and the workpiece itself, or may be data generated by processing the design data of the robot arm 10, the end tool 20, and the workpiece. The shape data output by the machine shape data generation unit 61 and the object shape data generation unit 62 may be data that can represent the shapes of the robot arm 10, the end tool 20, and the workpiece in three dimensions. The shape data output by the machine shape data generation unit 61 and the object shape data generation unit 62 can be in various formats, such as primitive shape data that represents the shapes of the robot arm 10, end tool 20, and workpiece using a combination of primitive shapes such as three-dimensional blocks, mesh data that represents the three-dimensional shapes of the robot arm 10, end tool 20, and workpiece using mesh shape data, and point cloud data that represents the robot arm 10, end tool 20, and workpiece in three dimensions using a collection of point clouds.

[0041] The three-dimensional model data includes three-dimensional CAD data and attribute data, which will be described later. The CAD data may be data containing surface information that indicates the shape of the workpiece. The CAD data may be in the format of STEP (Standard for the Exchange of Product model data), IGES (Intial Graphics Exchange Specification), STL (STereoLithography), or the like. The attribute data may include data such as part names, part numbers, materials, dimensions, work conditions, and contour shapes. As will be described later, the attribute data may also include work object lines. The attribute data may be data included in the model data in a computer-readable data format, or may be data on assemblies and parts (e.g., ASSY (Assembly) data) that is written on a paper drawing. When data acquired using a scanner is provided to the machine shape data generation unit 61 and the object shape data generation unit 62, it is preferable for the user to add attribute data to the acquired data.

[0042] The work path setting unit 63 extracts the shape of a portion of the workpiece designated as the work path to be worked on. The tool path setting unit 64 generates tool path information that sets the trajectory of the movement of the end tool 20 (e.g., a torch) along the work path extracted by the work path setting unit 63. The virtual data generation unit 65 extracts a portion of the object shape data where machine shape data will enter when the machine shape data is moved along the tool path information relative to the object shape data. The contact determination unit 66 determines whether the virtual data generation unit 65 determines whether the object shape data contains a portion where machine shape data will enter. The work information data generation unit 67 generates work information data by applying tool path information determined by the contact determination unit 66 to the work information in the work information data.

[0043] FIG. 7 is a flowchart illustrating the flow of work in working robot system 2 according to the second embodiment. As shown in FIG. 7, in working robot system 2 according to the second embodiment, at the start of work, first, the work piece to be welded and the welding tool (e.g., the type of torch) are determined (step S1). Next, work information data generation process is performed in which work information data is generated by work information data generation system 50 based on the determined work piece to be welded and the welding tool (step S2). Note that in the work information data generation process, a contact determination process is performed to determine whether filler guide 26 and the like will come into contact with the workpiece. Next, the work information data generated in step S2 is read into the working robot (step S3). Thereafter, work is performed based on the work information data read in step S3 (step S4). Note that the work information data generation process only needs to be performed once for the same workpiece and the same task.

[0044] Here, a description will be given of the details of the work information data generation process performed by the work information data generation system 50. Fig. 8 is a flowchart illustrating the flow of the work information data generation process according to the second embodiment.

[0045] As shown in FIG. 8, in the work information data generation process, first, a machine shape data generation process is performed in which a machine shape data generation unit 61 generates machine shape data representing the shapes of the robot arm 10 and the end tool 20 using point cloud data (step S10). Next, an object shape data generation process is performed in which an object shape data generation unit 62 generates object shape data representing the shape of the workpiece using point cloud data (step S11). Next, a work path setting process is performed in which a work path setting unit 63 extracts a work path that specifies the shape of the workpiece location (step S12). Next, a tool path setting process is performed in which a tool path setting unit 64 generates tool path information indicating a trajectory along which the end tool 20 (e.g., a torch) will move (step S13). Next, a contact determination process is performed in which a virtual data generation unit 65 and a contact determination unit 66 determine whether the filler guide 26 and the like will come into contact with the workpiece (step S14).

[0046] Specifically, in the contact determination process, the virtual data generation unit 65 performs a virtual data generation process to extract a portion of the object shape data into which the machine shape data will enter when the machine shape data is moved relative to the object shape data along the tool path information (step S20). Next, the contact determination unit 66 performs a contact determination process to determine whether the virtual data generation unit 65 has a portion in the object shape data into which the machine shape data will enter (steps S21 and S22). Then, if it is determined in the contact determination process that there is no contact between the workpiece and the filler guide 26 (for example, if there is no portion in the object shape data into which the machine shape data will enter), a work information data generation process is performed to generate work information data including, as work information, the tool path information for which it has been determined there is no contact, and the work information data generation process is terminated (step S15). On the other hand, if it is determined in the contact determination process that there is contact between the workpiece and filler guide 26 (for example, if there is a portion where machine shape data is mixed into the target object shape data), the machine shape data generation unit 61 is used to correct the position of the filler guide on the machine shape data (step S23), and the virtual data generation process (step S20) is performed again. The work information data generation system 50 repeats the processes of steps S20 to S23 a predetermined number of times until it is determined in step S22 that there is no contact between the workpiece and filler guide 26.

[0047] In the work information data generation system 50, the initial value of the rotational position of the filler guide is set to a rotational position along the direction of travel of the work path. Then, in the correction process of step S23, a correction may be performed to shift the filler guide by a predetermined angle in a direction that does not contact the workpiece. Also, in the explanation of FIG. 8, the contact determination target was limited to contact between the workpiece and the filler guide, but in reality, the contact determination process is performed on the entire robot arm 10 and end tool 20.

[0048] An example of a variation of the work information data generation system 50 is a difference in the method of generating the trajectory data of the machine shape data referenced by the contact determination unit 66. The trajectory data of the machine shape data is generated by first reading the tool trajectory (tool path) generated by the tool path setting unit 64 into the machine shape data generation unit 61. The machine shape data generation unit 61 then moves the design data of the robot arm 10 and the end tool 20 along the tool path, generating three-dimensional tool trajectory data of the three-dimensional shape, and outputs it as machine shape data. The machine shape data generation unit 61 can generate the three-dimensional shape of the tool trajectory along the tool path regardless of whether the input data is two-dimensional data or three-dimensional data. The contact determination unit 66 can then determine whether the machine shape data generated in this manner overlaps with the object shape data generated by the object shape data generation unit 62.

[0049] As explained above, the work robot system 2 according to the second embodiment uses the work information data generation system 50 to generate work information data that positions the filler guide 26 in a position where it does not come into contact with the work, thereby making it possible to easily perform work in which the filler guide 26 does not come into contact with the work.

[0050] When the end tool 20 shown in FIG. 2 is used, the movement of the filler guide 26 can be expressed by rotating the torch 24 and the filler guide 26 to represent the difference in position before and after the movement. With graphic data, shape rotation can be easily performed by coordinate transformation. Therefore, in the working robot system 2 according to the second embodiment, by using the end tool 20 shown in FIG. 2, it is possible to reduce the amount of calculation required to correct the position of the filler guide 26.

[0051] The present invention is not limited to the above-described embodiments, and can be modified as appropriate without departing from the spirit of the present invention. For example, a person skilled in the art can easily conceive of implementing the present invention by appropriately combining the features described in each embodiment.

[0052] Finally, the embodiments of the present invention will be summarized with reference to the drawings etc. As shown in Figs. 1 to 8, the embodiments of the present invention are described below.

[0053] (Appendix 1) an attachment base portion (21) attached to the tool attachment portion (11) of the robot arm (10); a torch holder (22, 23) rotatably attached to the attachment base portion (21) and holding a torch (24); a filler guide (26) attached to the torch (24) so as to rotate with the torch (24) and supplying filler to a tip region of the torch (24); a motor (25) attached to the mounting base portion (21) and rotating the torch holders (22, 23), the torch holders (22, 23) hold the torch (24) so that the central axis of rotation of the torch holders (22, 23) coincides with the central axis of rotation of the tip of the torch (24) when the torch holders (22, 23) and the torch (24) are rotated by the driving force of the motor (25); The motor (25) is arranged on an extension of the rotational axis of the torch holder (22, 23) and the torch (24) so that the rotational axis of the motor (25) coincides with the rotational axis of the torch holder (22, 23) and the torch (24).

[0054] (Appendix 2) 2. The end tool holder of claim 1, wherein the filler guide includes a filler guide fixing portion that fixes the filler guide to the torch so that the filler guide rotates together with the torch.

[0055] (Appendix 3) 3. The end tool holder of claim 2, further comprising a scanner holding portion (30) coupled to the base portion and holding a scanner unit (31) that scans the shape of a working area where work is to be performed by the torch (24).

[0056] (Appendix 4) 4. The end tool holder according to claim 3, wherein the scanner unit (31) comprises a plurality of scanner joints (32) that serve as attachment portions to the scanner holding portion (30), and the plurality of scanner joints (32) are provided at different positions on the exterior of the scanner unit (31).

[0057] (Appendix 5) 5. The end tool holder according to claim 1, wherein the motor (25) rotates the torch holder (22, 23) by a direct drive system that transmits the rotational force of a rotation shaft directly to the torch holder (22, 23).

[0058] (Appendix 6) The robot arm (10) includes a control unit (12) that controls the rotational position of the motor (25), 6. The end tool holder according to claim 1, wherein the control unit (12) controls the motor (25) so that the rotation position of the motor (25) becomes a position at which it is determined that the filler guide (26) will not come into contact with a workpiece in a contact determination process performed in advance.

[0059] (Appendix 7) A robotic arm (10); an end tool holder for holding an end tool (20) attached to the robot arm (10); a control unit that controls the attitude of the robot arm (10) and the end tool, The end tool holder includes: a mounting base portion (21) attached to the tool mounting portion (11) of the robot arm (10); a torch holder (22, 23) rotatably attached to the attachment base portion (21) and holding a torch (24); a filler guide (26) attached to the torch (24) so as to rotate with the torch (24) and supplying filler to a tip region of the torch (24); a motor (25) attached to the mounting base portion (21) and rotating the torch holders (22, 23), the torch holders (22, 23) hold the torch (24) so that the central axis of rotation of the torch holders (22, 23) coincides with the central axis of rotation of the tip of the torch (24) when the torch holders (22, 23) and the torch (24) are rotated by the driving force of the motor (25); the motor (25) is disposed on an extension of the rotational axis of the torch holder (22, 23) and the torch (24) so that the rotational axis of the motor (25) coincides with the rotational axis of the torch holder (22, 23) and the torch (24); The control unit A working robot system that controls the posture of the robot arm (10) and the motor (25) so that the torch (24), the filler guide (26), and the end tool holder are positioned so as to be determined not to come into contact with the workpiece in a contact determination process that is performed in advance. [Explanation of symbols]

[0060] 1. Working robot system 2. Working robot system 10 Robotic Arm 11 Tool mounting part 12 Robot Controller 20 End Tools 21 Base 22 Rotating base 23 Torch holder 24 Torch 24a Torch stick 24b Torch tip 25 motor 26 Filler Guide 27 Filler guide fixing part 30 Scanner holder 31 Scanner unit 32 Scanner Joint 41 Scanner Case 50 Work information data generation system 51 Arithmetic section 52 Storage section 53 Input section 54 Display section 55 Output section 61 Machine shape data generation unit 62 Object shape data generation unit 63 Work path setting section 64 Tool path setting section 65 Virtual Data Generation Unit 66 Contact determination section 67 Work information data generation unit

Claims

1. a mounting base portion that is attached to the tool mounting portion of the robot arm; a torch holder rotatably attached to the attachment base and holding a torch; a filler guide attached to the torch so as to rotate with the torch and configured to supply filler to a tip region of the torch; a motor attached to the mounting base portion and configured to rotate the torch holder; the torch holder holds the torch so that a central axis of rotation of the torch holder coincides with a central axis of rotation of the tip of the torch when the torch holder and the torch are rotated by the driving force of the motor; An end tool holder, wherein the motor is arranged on an extension of the rotational axis of the torch holder and the torch so that the rotational axis coincides with the rotational axis of the torch holder and the torch.

2. The end tool holder of claim 1 , wherein the filler guide comprises a filler guide fastener that secures the filler guide to the torch so that the filler guide rotates with the torch.

3. The end tool holder according to claim 2 , further comprising a scanner holding portion connected to the base portion and holding a scanner unit that scans the shape of a working area where work is to be performed by the torch.

4. 4. The end tool holder according to claim 3, wherein the scanner unit includes a plurality of scanner joints that serve as attachment portions to the scanner holding portion, and the plurality of scanner joints are provided at different positions on an exterior of the scanner unit.

5. 2. The end tool holder according to claim 1, wherein the motor rotates the torch holder by a direct drive system that transmits a rotational force of a rotation shaft directly to the torch holder.

6. the robot arm includes a control unit that controls a rotational position of the motor; 2. The end tool holder according to claim 1, wherein the control unit controls the rotational position of the motor so that the motor is at a position at which it is determined that the filler guide will not come into contact with a workpiece in a contact determination process performed in advance.

7. A robotic arm, an end tool holder for holding an end tool attached to the robot arm; a control unit that controls the attitude of the robot arm and the end tool, The end tool holder includes: a mounting base portion attached to the tool mounting portion of the robot arm; a torch holder rotatably attached to the attachment base and holding a torch; a filler guide attached to the torch so as to rotate with the torch and configured to supply filler to a tip region of the torch; a motor attached to the mounting base portion and configured to rotate the torch holder; the torch holder holds the torch so that a central axis of rotation of the torch holder coincides with a central axis of rotation of the tip of the torch when the torch holder and the torch are rotated by the driving force of the motor; the motor is disposed on an extension of the rotational axis of the torch holder and the torch so that the rotational axis of the motor coincides with the rotational axis of the torch holder and the torch; The control unit a working robot system that controls the attitude of the robot arm and the motor so that the torch, the filler guide, and the end tool holder are positioned such that they are determined not to come into contact with the workpiece in a contact determination process that is performed in advance.

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