Machining device

Abstract

This machining device comprises a multi-axis robot 11, an input device 30 by which an operator manipulates the multi-axis robot 11, and a control device. The control device is configured to execute the following: moving a first coordinate system C1 set for a workpiece W along a character line CL set for the workpiece W; adjusting the orientation of the first coordinate system C1 so that a prescribed coordinate axis x1 of the first coordinate system C1 is aligned with the tangent of the character line CL at the current position of the first coordinate system C1 on the character line CL; accepting an input M1 into the input device 30 as an input TP into the first coordinate system C1; converting the input TP into the first coordinate system C1 to an input into a second coordinate system C2 to be used to operate the multi-axis robot 11; and operating the multi-axis robot 11 on the basis of the input into the second coordinate system C2.

Description

processing equipment

[0001] This application claims the benefit of priority from Japanese Patent Application No. 2024-016149, filed on February 6, 2024, the contents of which are incorporated herein by reference.

[0002] In remotely performed processing such as remote welding, a robot may move a tool instead of a human hand. In such processing, an operator operates the robot. It is often difficult for the operator to accurately grasp the position of the tool relative to the workpiece. For example, Patent Document 1 discloses a welding device equipped with a camera. In Patent Document 1, multiple images taken by the camera from different directions are processed, and the position of the welding torch relative to the workpiece is displayed on a display. The operator can perform remote operation while checking the images displayed on the display.

[0003] Japanese Patent Application Laid-Open No. 2022-131113

[0004] In such machining, the operator is often required to move the tool along a complex path, which can increase the burden on the operator.

[0005] The present disclosure aims to provide a processing device that can reduce the burden on an operator in operating a robot.

[0006] A processing apparatus according to one aspect of the present disclosure includes a multi-axis robot, an input device for an operator to operate the multi-axis robot, and a control device that operates the multi-axis robot based on input to the input device, the control device being configured to: move a first coordinate system set for a workpiece along a feature line set for the workpiece; adjust the orientation of the first coordinate system so that a predetermined coordinate axis of the first coordinate system coincides with a tangent to the feature line at the current position of the first coordinate system on the feature line; accept the input to the input device as input to the first coordinate system; convert the input to the first coordinate system into an input to a second coordinate system used to operate the multi-axis robot; and operate the multi-axis robot based on the input to the second coordinate system.

[0007] The processing device may be used for welding, and the characteristic lines may include at least one of a weld line and a virtual line that becomes a weld line after processing, a contour line of a workpiece, a boundary line between a first workpiece and a second workpiece, a boundary line between an intermediate bead and a workpiece in a multi-layer welding, a boundary line between intermediate beads and beads in a multi-layer welding, a center line in a bead in a multi-layer welding, a contour line of a bead in a multi-layer welding, and a line used to trace a weld.

[0008] The processing device may be used for gouging, and the characteristic lines may include at least one of a center line of a processing portion, a contour line of a workpiece, a boundary line between a first workpiece and a second workpiece, a boundary line between a processing portion in the middle of multiple processing operations and the workpiece, a boundary line between a processing portion in the middle of multiple processing operations and another processing portion, and a line used for gouging tracing.

[0009] The processing device may be used for chipping, and the characteristic lines may include at least one of a center line of a processed portion, a contour line of a workpiece, a boundary line between a first workpiece and a second workpiece, a boundary line between a processed portion in the middle of multiple processing operations and the workpiece, a center line of a processed portion in the middle of multiple processing operations, a boundary line between a processed portion in the middle of multiple processing operations and a processed portion, and a line used for tracing chipping.

[0010] A third coordinate system may be set for the input device, and the control device may be configured to accept input to the third coordinate system as input to the first coordinate system.

[0011] The processing device may include a camera that moves with the multi-axis robot and a monitor that displays images from the camera, and the control device may be configured to set the orientation of the third coordinate system so that a specific axis of the third coordinate system corresponds to a specific direction on the monitor.

[0012] According to the present disclosure, the burden on an operator in operating a robot can be reduced.

[0013] Fig. 1 is a schematic diagram showing a processing device according to an embodiment. Fig. 2 is a schematic diagram showing an example of the operation of the processing device. Fig. 3 is a schematic diagram showing another example of the operation of the processing device. Fig. 4 is a schematic diagram showing a processing device according to another embodiment. Fig. 5 shows an example of an image displayed on a monitor when the camera is in a first position. Fig. 6 shows an example of an image displayed on a monitor when the camera is in a second position.

[0014] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. Specific dimensions, materials, numerical values, etc. shown in the embodiments are merely examples for ease of understanding and do not limit the present disclosure unless otherwise specified. In this specification and drawings, elements having substantially the same functions and configurations are designated by the same reference numerals to avoid redundant explanation, and elements not directly related to the present disclosure are not shown.

[0015] 1 is a schematic diagram showing a processing apparatus 100 according to an embodiment. In this embodiment, the processing apparatus 100 is used for welding. The processing apparatus 100 may also be used for other processing. For example, in other embodiments, the processing apparatus 100 may be used for gouging, chipping, or the like. Processing for which the processing apparatus 100 can be used is not limited to these.

[0016] For example, the processing apparatus 100 includes a processing robot 10, a control device 20, an input device 30, and a monitor 40. The processing apparatus 100 may further include other components.

[0017] For example, the processing robot 10 includes a multi-axis robot 11 and a tool 12. The processing robot 10 may further include other components.

[0018] The multi-axis robot 11 holds the tool 12. The multi-axis robot 11 moves the tool 12 based on a signal from the control device 20. For example, the multi-axis robot 11 may be a multi-joint robot with multiple degrees of freedom. For example, the multi-axis robot 11 may move the tool 12 with six degrees of freedom, including the X direction, Y direction, Z direction, pitch direction, yoke direction, and roll direction.

[0019] For example, the multi-axis robot 11 may include multiple motors for moving the tool 12. For example, the motors may be servo motors, and the multi-axis robot 11 may include multiple encoders S1. The encoders S1 are connected to a PC 21 (described later) of the control device 20 so as to be able to communicate with each other via wire or wirelessly. The encoders S1 transmit measurement data to the PC 21. The control device 20 can obtain the position of the origin of the tool 12 and the attitude of the tool 12 based on the measurement data from the encoders S1.

[0020] The tool 12 is used to process the workpiece W. When the processing apparatus 100 is used for welding, the tool 12 is a heat source for welding, and specifically, in this embodiment, the tool 12 is a welding torch. Note that the tool 12 is not limited to a welding torch. In this embodiment, the processing apparatus 100 performs arc welding. In this embodiment, the tool 12 generates an arc discharge and melts the portion to be welded of the workpiece W. The arc welding may be, for example, TIG welding, plasma welding, gas metal arc welding, submerged arc welding, shielded metal arc welding, self-shielded arc welding, or electrogas arc welding. In other embodiments, the processing apparatus 100 may perform welding other than arc welding, such as laser welding, electron beam welding, electroslag welding, brazing (soldering, brazing), gas welding, thermal spraying, or plastic welding. The welding performed by the processing apparatus 100 is not limited to these. As described above, the processing apparatus 100 may also be used for processing other than welding, such as gouging or chipping. Depending on the type of processing being performed, the tool 12 may be a laser head, an electron gun, a welding rod, an electrode guide, a soldering iron, a gas torch, a thermal spray gun, a heat pen, a gas gouging torch, an air arc gouging torch, a plasma arc gouging torch, a laser gouging torch, a grinder, a chipping hammer, a wire brush or an air chipper, or the like.

[0021] In this embodiment, the processing robot 10 includes a distance measurement sensor S2. For example, the distance measurement sensor S2 may be a laser sensor, a millimeter wave sensor, an ultrasonic sensor, or a LiDAR. The distance measurement sensor S2 is not limited to these. The distance measurement sensor S2 is communicatively connected to the PC 21 via wired or wireless communication. The distance measurement sensor S2 transmits measurement data to the PC 21. The control device 20 can measure the position of the workpiece W relative to the position of the origin of the tool 12 based on the measurement data from the distance measurement sensor S2. For example, the distance measurement sensor S2 may be fixed to any position on the tool 12 or the multi-axis robot 11 where the distance measurement sensor S2 can measure the workpiece W, such as the side of the tool 12.

[0022] In this embodiment, the processing robot 10 includes a first camera CM1. For example, the first camera CM1 may include an imaging element such as a CMOS or CCD. For example, the first camera CM1 may include a single camera. Alternatively, for example, the first camera CM1 may include multiple cameras (e.g., a stereo camera). The first camera CM1 is communicatively connected to a PC 21 via wired or wireless communication. The first camera CM1 transmits images and videos to the PC 21. For example, the control device 20 may be configured to extract a specific point on the workpiece W based on known image processing and measure the distance to the extracted point based on multiple images taken from different positions. The first camera CM1 is communicatively connected to a monitor 40 via wired or wireless communication. The first camera CM1 transmits images and videos to the monitor 40. The first camera CM1 moves together with the multi-axis robot 11. For example, the first camera CM1 may be fixed to any position on the tool 12 or the multi-axis robot 11 where the first camera CM1 can photograph the workpiece W, such as the side of the tool 12.

[0023] In this embodiment, the machining robot 10 includes a second camera (bird's-eye view camera) CM2. For example, the second camera CM2 may include an imaging element such as a CMOS or CCD. For example, the second camera CM2 may include a single camera. Alternatively, for example, the second camera CM2 may include multiple cameras (e.g., a stereo camera). The second camera CM2 is communicatively connected to the PC 21 via wired or wireless communication. The second camera CM2 transmits images and videos to the PC 21. For example, the control device 20 may be configured to extract a specific point on the workpiece W based on known image processing and measure the distance to the extracted point based on multiple images taken from different positions. The second camera CM2 is communicatively connected to the monitor 40 via wired or wireless communication. The second camera CM2 transmits images and videos to the monitor 40. For example, the second camera CM2 may be fixed to any position where it can capture an image of the contact between the tool 12 and the workpiece W, such as a fixed object such as a wall.

[0024] The control device 20 controls the processing robot 10. The control device 20 may also control the entire processing device 100. For example, the control device 20 may be realized by one or more computers. In this embodiment, the control device 20 includes a single PC (first PC) 21. In other embodiments, the control device 20 may include multiple PCs. The control device 20 may also include other components such as a teaching pendant.

[0025] The PC 21 includes components such as a processor 21a and a storage device 21b, which are connected to each other via a bus. The PC 21 may further include other components. For example, the processor 21a includes a CPU (Central Processing Unit). For example, the storage device 21b includes a hard disk, a ROM (Read Only Memory) in which programs and the like are stored, and a RAM (Random Access Memory) as a work area. For example, the operation of the PC 21 may be realized by the processor 21a executing a program stored in the storage device 21b.

[0026] The PC 21 is communicably connected to the multi-axis robot 11, the input device 30, and the monitor 40 via wire or wirelessly. The PC 21 controls the processing robot 10 based on signals from the input device 30.

[0027] The input device 30 receives inputs from the operator H for operating the processing robot 10. The input device 30 may further receive other inputs related to the processing robot 10 and the processing apparatus 100 from the operator H. For example, the input device 30 may include at least one of a position input device and a speed input device. For example, the input device 30 may include at least one of a haptic device, a foot switch, a joystick, a button, a dial, a foot pedal, a touch panel, a smartphone, a tablet, a scroll wheel, a steering wheel, a lever, a paddle shifter, and a motion controller. The input device 30 is not limited to these.

[0028] For example, the input device 30 receives input from the operator H to move the tool 12 in at least one direction selected from the X direction, Y direction, Z direction, pitch direction, yoke direction, roll direction, and combinations thereof.

[0029] The monitor 40 displays various information output from the control device 20. The monitor 40 also displays images and videos output from the first camera CM1 and the second camera CM2. For example, the operator H may operate the input device 30 to remotely control the multi-axis robot 11 while viewing the images or videos on the monitor 40.

[0030] Next, the operation of the processing device 100 will be described.

[0031] FIG. 2 is a schematic diagram showing an example of the operation of the processing apparatus 100. As will be described in detail later, in the example of FIG. 2, the characteristic line CL is set on the boundary line between the first workpiece W1 and the second workpiece W2. However, in FIG. 2, for better understanding, the characteristic line CL is drawn slightly shifted from the boundary line on the second workpiece W2. Furthermore, for better understanding, the characteristic line CL is extracted and enlarged in the middle of FIG. 2.

[0032] In the example of FIG. 2 , the workpiece W includes a first workpiece W1 and a second workpiece W2. For example, the first workpiece W1 is a pipe, and the second workpiece W2 is a plate. The workpiece W is not limited to these shapes and may have other shapes. In the example of FIG. 2 , butt welding is performed between the end surface W1a of the first workpiece W1 and the flat surface W2a of the second workpiece W2. Weaving is performed in this butt welding. Weaving involves reciprocating the tool 12 in a direction that intersects with the boundary line between the first workpiece W1 and the second workpiece W2. Therefore, the path TP of the tool 12 vibrates.

[0033] Before welding, a characteristic line CL is set for the workpiece W.

[0034] For example, the "characteristic line" may refer to a line that is approximately the average line or center line of the vibration path TP of the tool 12. For example, when the processing apparatus 100 performs welding, the "characteristic line" may include at least one of the following: a weld line and a virtual line that will become a weld line after processing; a contour line of the workpiece W; a boundary line between a first workpiece W1 and a second workpiece W2 among the workpieces W; a boundary line between an intermediate bead and the workpiece W in a multi-layer welding; a boundary line between intermediate beads in a multi-layer welding; a center line within a bead in a multi-layer welding; a contour line of a bead in a multi-layer welding; and a line used for tracing a weld. Note that the "weld line" may also be defined as a virtual line that represents a bead or a welded portion as a single line (see, for example, JIS Z3001-1). Characteristic lines for welding are not limited to these.

[0035] In addition, when the processing device 100 performs processing other than welding, for example, when the processing device 100 performs gouging, the "characteristic line" may include, for example, the center line of the processed portion (hereinafter simply referred to as the "processed portion") after welding, gouging, chipping, or other processing, the contour line of the workpiece W, the boundary line between the first workpiece W1 and the second workpiece W2 of the workpiece W, the boundary line between the processed portion in the middle of multiple processing operations and the workpiece W, the boundary line between the processed portion in the middle of multiple processing operations and the processed portion, and a line used for tracing the gouging.

[0036] For example, when the processing device 100 performs chipping, the "characteristic lines" may include the center line of the processed portion after processing, the contour line of the workpiece W, the boundary line between the first workpiece W1 and the second workpiece W2 of the workpiece W, the boundary line between the processed portion in the middle of multiple processing operations and the workpiece W, the center line of the processed portion in the middle of multiple processing operations, the boundary line between the processed portion in the middle of multiple processing operations and the processed portion, and a line used to trace the chipping.

[0037] Furthermore, the characteristic lines CL are not limited to those formed in unprocessed portions, but may also include portions that have undergone various processes, including welding, gouging, and chipping, as well as the boundary lines between them.

[0038] In the example of Fig. 2, the characteristic line CL is set on the boundary line between the end surface W1a of the first workpiece W1 and the plane W2a of the second workpiece W2. Specifically, in the example of Fig. 2, the characteristic line CL is set to extend on the horizontal plane W2a.

[0039] The characteristic line CL may be set by various methods.

[0040] For example, the characteristic line CL may be set by teaching using a teaching pendant (not shown). For example, in teaching, a touch probe (not shown) may be held by the multi-axis robot 11 instead of the tool (welding torch) 12. For example, when the touch probe comes into contact with the workpiece W, the position of the touch probe measured by the encoder S1 may be used as a point on the characteristic line CL.

[0041] Alternatively or additionally, for example, the feature line CL may be set on the PC 21 based on at least one of the measurement data from the distance measurement sensor S2 and the image from the first camera CM1. For example, the operator H may select an arbitrary point on the workpiece W in the image from the first camera CM1 on the PC 21, and the selected point may be used as a point on the feature line CL.

[0042] Alternatively or additionally, for example, the feature line CL may be set on the PC 21 using a CAD model of the workpiece W. For example, the operator H may select any point on the CAD model of the workpiece W on the PC 21, and the selected point may be used as a point on the feature line CL. In this case, data from the encoder S1, the distance measurement sensor S2, and the first camera CM1 may not be used to set the feature line CL.

[0043] The characteristic line CL may be stored in the storage device 21 b. For example, when the characteristic line CL is set based on teaching, measurement data, or an image, the characteristic line CL may be smoothed by a filter such as a Fourier transform, a low-pass filter, a high-pass filter, or a median filter.

[0044] In this embodiment, the control device 20 uses at least two coordinate systems. Specifically, the control device 20 uses at least a first coordinate system C1 and a second coordinate system C2. For example, each of the first coordinate system C1 and the second coordinate system C2 is an orthogonal coordinate system including an X-axis, a Y-axis, and a Z-axis.

[0045] The first coordinate system C1 is set relative to the workpiece W. Specifically, the first coordinate system C1 is set relative to the characteristic line CL. The first coordinate system C1 is a time-varying coordinate system.

[0046] Specifically, for example, the control device 20 sets a point on the characteristic line CL, for example, one of the end points of the characteristic line CL, as the start point SP. For example, the control device 20 first sets the origin of the first coordinate system C1 to the start point SP.

[0047] For example, if the feature line CL extends on a plane, the Z-axis z1 is set to coincide with the perpendicular to the plane. Alternatively, if the feature line CL extends on a curved surface such as a cylindrical surface, the Z-axis z1 is set to coincide with the normal to the curved surface at the start point SP. In this embodiment, the feature line CL extends on a horizontal plane W2a, so the Z-axis z1 always coincides with the vertical direction.

[0048] The X-axis x1 is set so as to be perpendicular to the Z-axis z1 and coincide with a tangent to the characteristic line CL at the start point SP.

[0049] The Y-axis y1 is set perpendicular to both the X-axis x1 and the Z-axis z1.

[0050] As will be described in detail later, as the welding operation progresses, the tool 12 moves along the path TP. Therefore, as the welding progresses, the current position of the tool 12 on the feature line CL also changes. The control device 20 moves the origin of the first coordinate system C1 to the current position of the tool 12 on the feature line CL. Strictly speaking, the tool 12 moves along the path TP and does not stay on the feature line CL. Therefore, for example, the "current position of the tool 12 on the feature line CL" (i.e., the current position of the origin of the first coordinate system C1 on the feature line CL) may be defined as follows: For example, if the distance between the feature line CL and the current position of the tool 12 is closer than the radius of curvature of the feature line CL, the position on the feature line CL that is closest to the current position of the tool 12 on the path TP may be defined as the "current position of the tool 12 on the feature line CL." Alternatively, a normal to the feature line CL may be drawn so as to pass through the current position of the tool 12 on the path TP. The position on the feature line CL where this normal line intersects may be defined as the “current position of the tool 12 on the feature line CL.” The “current position of the tool 12 on the feature line CL” may also be defined in other ways.

[0051] In addition, as the welding operation progresses, the control device 20 adjusts the orientation of the first coordinate system C1 so that the X-axis x1 coincides with the tangent to the characteristic line CL at the current position of the origin of the first coordinate system C1 on the characteristic line CL.

[0052] Specifically, the orientation of the Z-axis z1 is adjusted so as to coincide with the perpendicular to the plane on which the feature line CL extends or the normal to the curved surface on which the feature line CL extends. As described above, in this embodiment, the feature line CL extends on the horizontal plane W2a, so the Z-axis z1 always coincides with the vertical direction.

[0053] The orientation of the X-axis x1 is adjusted according to the position on the feature line CL so that it is perpendicular to the Z-axis z1 and coincides with the tangent to the feature line CL at the current position of the origin of the first coordinate system C1 on the feature line CL.

[0054] The Y-axis y1 is adjusted to extend perpendicular to both the X-axis x1 and the Z-axis z1. For example, the first coordinate system C1 may be a right-handed coordinate system.

[0055] The second coordinate system C2 is set relative to the multi-axis robot 11 and is used to operate the multi-axis robot 11. The second coordinate system C2 is a time-invariant coordinate system. For example, the origin of the second coordinate system C2 may be set at any point on the multi-axis robot 11 or at a point outside the multi-axis robot 11 related to the multi-axis robot 11. For example, the origin of the second coordinate system C2 may be set at a predetermined point on the base. For example, the Z-axis z2 may be set parallel to the vertical direction. The X-axis x2 is set in any direction perpendicular to the Z-axis z2. The Y-axis y2 is set perpendicular to both the X-axis x2 and the Z-axis z2. For example, the second coordinate system C2 may be a right-handed coordinate system.

[0056] In this embodiment, the control device 20 uses a third coordinate system C3 in addition to the first coordinate system C1 and the second coordinate system C2. For example, the third coordinate system C3 is a Cartesian coordinate system including an X-axis, a Y-axis, and a Z-axis.

[0057] The third coordinate system C3 is set relative to the input device 30. The third coordinate system C3 is a time-invariant coordinate system. For example, in the example of FIG. 2, the input device 30 includes a multi-joint arm with multiple degrees of freedom, similar to the multi-axis robot 11. The operator H can specify the input M1 with six degrees of freedom, including the X direction, Y direction, Z direction, pitch direction, yoke direction, and roll direction. For example, the origin of the third coordinate system C3 may be set to any point on the input device 30 or to a point outside the input device 30 related to the input device 30. For example, the origin of the third coordinate system C3 may be set to a predetermined point on the base. For example, the Z axis z3 may be set parallel to the vertical direction. The X axis x3 is set in any direction perpendicular to the Z axis z3. The Y axis y3 is set perpendicular to both the X axis x3 and the Z axis z3. For example, the third coordinate system C3 may be a right-handed coordinate system.

[0058] When the welding operation is started, the operator H operates the input device 30 to move the tool 12 and weld the first workpiece W1 and the second workpiece W2 together.

[0059] During welding, the control device 20 receives an input M1 from the operator H to the input device 30 as an input to the first coordinate system C1. Specifically, the control device 20 receives an input M1 from the operator H to the third coordinate system C3 as an input to the first coordinate system C1. More specifically, the control device 20 receives an input component in a direction along the X-axis x3 in the third coordinate system C3 as an input component in a direction along the X-axis x1 in the first coordinate system C1. Similarly, the control device 20 receives input components in directions along the Y-axis y3 and Z-axis z3 in the third coordinate system C3 as input components in directions along the Y-axis y1 and Z-axis z1 in the first coordinate system C1, respectively. The control device 20 may multiply the input components in each direction by a predetermined magnification (scale conversion). The control device 20 generates the movement direction of the tool 12 at that position, i.e., a path TP (a small section of the path TP), by combining the input components in all directions. The path TP can also be said to be an input to the first coordinate system C1.

[0060] As described above, the third coordinate system C3 of the input device 30 is a time-invariant coordinate system, and the X-axis x3 is fixed during welding. However, the first coordinate system C1 of the feature line CL is a time-variant coordinate system, and as the welding operation progresses, i.e., as the tool 12 moves along the feature line CL, the X-axis x1 is constantly adjusted to coincide with the tangent to the feature line CL. Therefore, the input component along the X-axis x3 in the third coordinate system C3 is automatically converted into an input component along the feature line CL. That is, the feature line CL can be considered a straight line along the X-axis x3 in the third coordinate system C3. With this configuration, during welding, the operator H does not need to bend the input M1 along the feature line CL. Instead, when performing weaving, the operator H can concentrate on moving the input M1 back and forth in the direction along the Y-axis y3 while moving the input M1 along the linear X-axis x3. This reduces the burden on the operator H in operating the robot.

[0061] During the welding operation, the control device 20 transforms the path (input) TP in the generated first coordinate system C1 into the second coordinate system C2. As a result, the control device 20 can move the multi-axis robot 11 along the path TP. The coordinate transformation from the first coordinate system C1 to the second coordinate system C2 may be performed based on various known methods in robotics. Details of the coordinate transformation from the first coordinate system C1 to the second coordinate system C2 will be omitted. The control device 20 repeats the above steps as the welding operation progresses, i.e., as the tool 12 moves along the characteristic line CL.

[0062] The machining apparatus 100 as described above includes a multi-axis robot 11, an input device 30 through which an operator H operates the multi-axis robot 11, and a control device 20 that operates the multi-axis robot 11 based on an input M1 to the input device 30. The control device 20 is configured to execute the following operations: move a first coordinate system C1 set for the workpiece W along a characteristic line CL set for the workpiece W; adjust the orientation of the first coordinate system C1 so that the X-axis x1 of the first coordinate system C1 coincides with a tangent to the characteristic line CL at the current position of the first coordinate system C1 on the characteristic line CL; accept the input M1 to the input device 30 as an input TP to the first coordinate system C1; convert the input TP to the first coordinate system C1 into an input to a second coordinate system C2 used to operate the multi-axis robot 11; and operate the multi-axis robot 11 based on the input to the second coordinate system C2. With this configuration, an input component in a specific direction to the input device 30 is automatically converted into an input component along the characteristic line CL. Therefore, during processing, the operator does not need to move the input M1 along the curve of the characteristic line CL, and can concentrate on moving the input M1 in other directions. This reduces the burden on the operator H when operating the robot.

[0063] In the above embodiment, the processing apparatus 100 is used for welding, and the characteristic lines CL include at least one of a weld line and a virtual line that will become a weld line after processing, a contour line of the workpiece W, a boundary line between a first workpiece W1 and a second workpiece W2 of the workpieces W, a boundary line between an intermediate bead in a multi-layer welding and the workpiece W, a boundary line between intermediate beads in a multi-layer welding, a center line in a bead in a multi-layer welding, a contour line of a bead in a multi-layer welding, and a line used for welding copying. For example, these lines can be easily determined based on teaching, a CAD model, or measurements using a sensor.

[0064] Furthermore, the machining apparatus 100 may be used for gouging, and the characteristic line CL may include at least one of the center line of the machining portion, the contour line of the workpiece W, the boundary line between a first workpiece W1 and a second workpiece W2 of the workpiece W, the boundary line between a machining portion in the middle of multiple machining operations and the workpiece W, the boundary line between machining portions in the middle of multiple machining operations and another machining portion, and a line used for gouging tracing. For example, these lines can be easily determined based on teaching or measurement by a sensor.

[0065] Furthermore, the processing device 100 may be used for chipping, and the characteristic line CL may include at least one of the center line of the processed portion, the contour line of the workpiece W, the boundary line between a first workpiece W1 and a second workpiece W2 of the workpiece W, the boundary line between a processed portion during multiple processing operations and the workpiece W, the center line of a processed portion during multiple processing operations, the boundary line between a processed portion during multiple processing operations and another processed portion, and a line used for chipping copying. For example, these lines can be easily determined based on teaching or measurement by a sensor.

[0066] Furthermore, in the processing apparatus 100, a third coordinate system C3 is set for the input device 30, and the control device 20 is configured to receive input to the third coordinate system C3 as input to the first coordinate system C1. With this configuration, the operator H can operate the input device 30 three-dimensionally.

[0067] Next, another example of the operation of the processing device 100 will be described.

[0068] 3 is a schematic diagram showing another example of the operation of the processing apparatus 100. In the example of FIG. 3, the control device 20 automatically moves the multi-axis robot 11 in a direction along the X-axis x1 without any input component in a direction along the X-axis x3 to the input device 30. In other words, the control device 20 automatically moves the multi-axis robot 11 in a direction along the characteristic line CL. In other respects, the processing apparatus 100 may be similar to the processing apparatus 100 in the example of FIG. 2.

[0069] For example, the control device 20 may move the multi-axis robot 11 at a constant speed along the X-axis x1. The input device 30 may include an input device (e.g., a haptic device, foot switch, joystick, button, dial, foot pedal, touch panel, smartphone, tablet, scroll wheel, handle, lever, paddle shift, or motion controller) (not shown) for adjusting the speed along the X-axis x1. The input device 30 may also include an input device (e.g., a haptic device, foot switch, joystick, button, dial, foot pedal, touch panel, smartphone, tablet, scroll wheel, handle, lever, paddle shift, or motion controller) (not shown) for adjusting the height along the Z-axis z1. With this configuration, the operator H only needs to specify an input M2 along the Y-axis y3 using the input device 30, and does not need to constantly specify inputs along the X-axis x3 or the Z-axis z3.

[0070] According to this configuration, an input device having only a single axis can be used to specify the path TP, in which case the third coordinate system C3 is not essential.

[0071] For example, the input device 30 may include a dial 30A. The path TP can be specified by combining automatic movement in a direction along the X-axis x1 with movement in a direction along the Y-axis y3 by the dial 30A, i.e., movement in a direction along the Y-axis y1.

[0072] For example, the input device 30 may include a joystick 30B. The path TP can be specified by combining automatic movement in the direction along the X-axis x1 with movement in the direction along the Y-axis y3 by the joystick 30B, i.e., movement in the direction along the Y-axis y1. The joystick 30B may also be used to adjust the speed of the automatic movement in the direction along the X-axis x1.

[0073] The input device 30 is not limited to the dial 30A or the joystick 30B, and may include, for example, other input devices (e.g., a haptic device, a foot switch, a button, a foot pedal, a touch panel, a smartphone, a tablet, a scroll wheel, a steering wheel, a lever, a paddle shifter, or a motion controller). The input device 30 may also include multiple input devices, each of which may be configured to input a direction along one of the axes. For example, the speed of automatic movement along the X-axis x1 may be adjusted with a foot pedal, movement along the Z-axis z1 may be adjusted with a paddle shifter, and movement along the Y-axis y1 may be controlled with a steering wheel. Alternatively, the speed of automatic movement along the X-axis x1 may be adjusted with a dial, movement along the Z-axis z1 may be adjusted with a button or dial, and movement along the Y-axis y1 may be controlled with a haptic device. Alternatively, the speed of automatic movement along the X-axis x1 may be adjusted with a button, movement along the Z-axis z1 may be adjusted with a button, and movement along the Y-axis y1 may be controlled with a joystick. Combinations of multiple input devices are not limited to these.

[0074] With this configuration, the operator H does not need to constantly specify the direction along the X-axis x3, thereby further reducing the burden on the operator H in operating the robot. As described above, the speed of automatic movement along the X-axis x1 can be adjusted even during welding. For example, the condition near the weld is not necessarily constant from the first half to the second half of welding. Therefore, if the need for adjusting the movement speed arises during welding, the speed of automatic movement along the X-axis x1 may be adjusted. For example, as the welding progresses to the second half, the cooling rate of the bead may slow due to the influence of heat in the first half of welding. Therefore, it is possible to increase the movement speed to maintain a constant cooling rate for the entire bead. Furthermore, for example, the shape of the groove may change due to the influence of heat in the first half of welding. Therefore, the speed of automatic movement along the X-axis x1 may be adjusted in the second half of welding. Situations in which the speed of automatic movement along the X-axis x1 is adjusted are not limited to these.

[0075] 4 is a schematic diagram showing a processing apparatus 100A according to another embodiment. The processing apparatus 100A differs from the processing apparatus 100 described above in that the control device 20 sets the orientation of the third coordinate system C3 with respect to the monitor 40. The other configurations of the processing apparatus 100A may be the same as those of the processing apparatus 100.

[0076] Specifically, in this embodiment, the processing apparatus 100A includes a PC (second PC) 22 in addition to the PC 21 .

[0077] Like the PC 21, the PC 22 includes components such as a processor 22a and a storage device 22b, which are connected to each other via a bus. The PC 22 may further include other components. For example, the processor 22a includes a CPU. For example, the storage device 22b includes a hard disk, a ROM for storing programs, and a RAM as a work area. For example, the operation of the PC 22 may be realized by the processor 22a executing a program stored in the storage device 22b.

[0078] The PC 22 is communicably connected via wire or wirelessly to the PC 21, the first camera CM1, the second camera CM2, and the monitor 40. For example, the PC 22 may be connected to the PC 21 via a network such as the Internet.

[0079] The PC 22 is configured to set the orientation of the third coordinate system C3 of the input device 30 so that a specific axis of the third coordinate system C3 coincides with a specific direction on the monitor 40.

[0080] Specifically, the control device 20 determines the second coordinate system C2 of the multi-axis robot 11 as described above.

[0081] Furthermore, the control device 20 sets the display orientation on the monitor 40 so that a specific direction on the monitor 40 coincides with a specific axis of the second coordinate system C2. For example, the control device 20 may use a fourth coordinate system C4 for the monitor 40. For example, the fourth coordinate system C4 is a Cartesian coordinate system including an X-axis, a Y-axis, and a Z-axis. For example, the positive direction of the X-axis x2 may be set to point left on the monitor 40, the positive direction of the Y-axis y2 may be set to point downward on the monitor 40, and the positive direction of the Z-axis z2 may be set to point perpendicular to the screen of the monitor 40. In this case, the traveling direction of the multi-axis robot 11 is always leftward. The display orientation on the monitor 40 is not limited to this. For example, the direction on the monitor 40 that coincides with the axis of the second coordinate system C2 may be input in advance by an operator and stored in the storage device 21b.

[0082] The control device 20 corrects the image from the first camera CM1 to fit the second coordinate system C2 and the fourth coordinate system C4. For example, the correction may include physically rotating and moving the first camera CM1. The correction may also include software image processing such as image rotation, keystone correction, and cropping.

[0083] Furthermore, the control device 20 sets the orientation of the third coordinate system C3 of the input device 30 so that a specific axis of the third coordinate system C3 coincides with a specific direction on the monitor 40. In other words, the orientation of the third coordinate system C3 is set so that a specific axis of the third coordinate system C3 of the input device 30 coincides with a specific axis of the second coordinate system C2 of the multi-axis robot 11 via the fourth coordinate system C4. For example, the positive direction of the X-axis x3 may be set to point left on the monitor 40, the positive direction of the Y-axis y3 may be set to point downward on the monitor 40, and the positive direction of the Z-axis z3 may be set to point perpendicular to the screen of the monitor 40. The orientation of the third coordinate system C3 is not limited to this. For example, which axis of the third coordinate system C3 coincides with which direction on the monitor 40 may be input in advance by an operator and stored in the storage device 21b.

[0084] FIG. 5 shows an example of an image V1 displayed on the monitor 40 when the camera C is in the first position. Referring to the figure, the first coordinate system C1 in FIG. 5 indicates the orientation of the tool 12 at its current position on the characteristic line CL. The tool 12 is moved along the characteristic line CL while being reciprocated in a direction perpendicular to the characteristic line CL. That is, the tool 12 is moved in a direction along the X-axis x1 while being reciprocated in a direction along the Y-axis y1. In the example of FIG. 5, the camera C is disposed on the forward side of the tool 12 in the movement direction.

[0085] Referring to the image V1, in the example of FIG. 5 , the camera C captures the image V1 so that the X-axis x1 of the first coordinate system C1 coincides with the vertical direction of the monitor 40 and the forward movement side is displayed at the bottom of the monitor 40. The input device 30 is set so that, as viewed from the operator H, the orientation of the Y-axis y3 of the third coordinate system C3 of the input device 30 coincides with the orientation of the Y-axis y1 of the feature line CL in the image V1 captured by the camera C in the first arrangement of FIG. 5 . Therefore, when the camera C is arranged as shown in FIG. 5 , as viewed from the operator H, the orientation of the Y-axis y1 of the feature line CL on the monitor 40 coincides with the orientation of the Y-axis y3 of the input device 30. This is convenient for the operator to perform weaving. Therefore, the PC 22 displays the image V1 from the camera C on the monitor 40 without converting its orientation. Note that, although the camera C is arranged on the forward movement side of the tool 12 in FIG. 5 , the arrangement of the camera C is not limited thereto. For example, the camera C may be disposed on the rearward side in the movement direction relative to the tool 12. Furthermore, the orientation of the image V1 may be changed to facilitate operation by the operator and displayed on the monitor 40. For example, if the characteristic line CL is a weld line, this allows the operator to perform welding in a downward position instead of vertical position welding, thereby stabilizing the operator's operation.

[0086] 6 shows an example of an image V3 displayed on the monitor 40 when the camera C is in the second position. Image V2 shows the image from the camera C before transformation, and image V3 shows the image after transformation displayed on the monitor 40. Referring to the above figures, in the example of FIG. 6, the camera C is disposed laterally in the movement direction relative to the tool 12. In other respects, the example of FIG. 6 may be similar to the example of FIG. 5.

[0087] 6, the camera C captures the image V2 so that the movement direction of the camera C coincides with the left-right direction of the image V2. In this case, as seen from the operator H, the direction of the Y axis y3 of the input device 30 is perpendicular to the direction of the Y axis y1 of the feature line CL in the image V2. This is inconvenient for the operator H when performing weaving.

[0088] The PC 22 converts the image V2 from the camera C into an image V3 so that the X-axis x1 of the first coordinate system C1 coincides with the vertical direction of the monitor 40 and so that the forward movement direction is displayed at the bottom of the monitor 40. The aspect ratio of the image V3 may be corrected so that it coincides with the aspect ratio of the monitor 40. The PC 22 displays the converted image V3 on the monitor 40. With this configuration, as viewed from the operator H, the direction of the Y-axis y3 of the input device 30 coincides with the direction of the Y-axis y1 of the feature line CL on the monitor 40. Therefore, the operator H can easily operate the input device 30. As described above, details of the conversion from image V2 to image V3 will be omitted.

[0089] The processing apparatus 100A as described above can achieve the same effects as the processing apparatus 100. The processing apparatus 100A also includes a first camera CM1 that moves together with the multi-axis robot 11 and a monitor 40 that displays an image from the first camera CM1, and the control device 20 is configured to set the orientation of the third coordinate system C3 so that a specific axis of the third coordinate system C3 coincides with a specific direction on the monitor 40. With this configuration, as viewed from the operator H, the direction of operation of the input device 30 and the direction of the corresponding movement of the tool 12 on the monitor 40 coincide with each other. Therefore, the operator H can easily operate the input device 30.

[0090] Although the embodiments have been described above with reference to the accompanying drawings, the present disclosure is not limited to the above-described embodiments. It is clear to those skilled in the art that various modifications and alterations can be made within the scope of the claims, and it is understood that these modifications and alterations naturally fall within the technical scope of the present disclosure. Furthermore, the steps performed by the control device 20 do not have to be performed in the order described above, and may be performed in a different order as long as no technical contradiction occurs.

[0091] For example, in the above embodiment, weaving includes reciprocating motion of the tool 12 in a direction along the Y-axis y1. In other embodiments, weaving may include reciprocating or rotational motion of the tool 12 in other directions. Also, reciprocating motion is not limited to weaving.

[0092] Also, for example, in the processing apparatus 100A, the control device 20 includes a PC 21 and a PC 22. In other embodiments, the function of the PC 22 may be incorporated into the PC 21, and the control device 20 may not include the PC 22.

[0093] 11 Multi-axis robot 20 Control device 30 Input device 40 Monitor 100 Processing device 100A Processing device CM1 First camera C1 First coordinate system C2 Second coordinate system C3 Third coordinate system CL Characteristic line H Operator M1 Input to input device M2 Input to input device TP Path (input to first coordinate system) V1 Image V2 Image V3 Image W Workpiece W1 First workpiece W2 Second workpiece

Claims

1. A machining apparatus comprising: a multi-axis robot; an input device for an operator to operate the multi-axis robot; and a control device that operates the multi-axis robot based on an input to the input device, the control device being configured to: move a first coordinate system set for a workpiece along a feature line set for the workpiece; adjust the orientation of the first coordinate system so that a predetermined coordinate axis of the first coordinate system coincides with a tangent to the feature line at the current position of the first coordinate system on the feature line; accept the input to the input device as an input to the first coordinate system; convert the input to the first coordinate system into an input to a second coordinate system used to operate the multi-axis robot; and operate the multi-axis robot based on the input to the second coordinate system.

2. The processing device according to claim 1, wherein the processing device is used for welding, and the characteristic lines include at least one of a weld line and an imaginary line that becomes a weld line after processing, a contour line of the workpiece, a boundary line between a first workpiece and a second workpiece among the workpieces, a boundary line between an intermediate bead and the workpiece in a multi-layer welding, a boundary line between intermediate beads in a multi-layer welding, a center line within a bead in a multi-layer welding, a contour line of a bead in a multi-layer welding, and a line used to trace a weld.

3. The processing device according to claim 1, wherein the processing device is used for gouging, and the characteristic lines include at least one of a center line of a processing portion, a contour line of a workpiece, a boundary line between a first workpiece and a second workpiece among the workpieces, a boundary line between a processing portion in the middle of multiple processing operations and the workpiece, a boundary line between processing portions in the middle of multiple processing operations and processing portions, and a line used for gouging tracing.

4. The processing device according to claim 1, wherein the processing device is used for chipping, and the characteristic lines include at least one of a center line of a processed portion, a contour line of a workpiece, a boundary line between a first workpiece and a second workpiece among the workpieces, a boundary line between a processed portion in the middle of multiple processing operations and the workpiece, a center line of a processed portion in the middle of multiple processing operations, a boundary line between a processed portion in the middle of multiple processing operations and another processed portion, and a line used for tracing chipping.

5. The processing device according to any one of claims 1 to 4, wherein a third coordinate system is set for the input device, and the control device is configured to receive an input to the third coordinate system as an input to the first coordinate system.

6. The processing device according to claim 5, wherein the processing device comprises: a camera that moves together with the multi-axis robot; and a monitor that displays an image from the camera; and the control device is configured to perform the following: set the orientation of the third coordinate system so that a specific axis of the third coordinate system coincides with a specific direction on the monitor.

Images