CN104933287A - Computing device - Google Patents
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- CN104933287A CN104933287A CN201510111896.5A CN201510111896A CN104933287A CN 104933287 A CN104933287 A CN 104933287A CN 201510111896 A CN201510111896 A CN 201510111896A CN 104933287 A CN104933287 A CN 104933287A
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Abstract
The invention provides a computing device (2) used for calculating end points of welding paths in multi-layer and multi-pass welding of a robot. The computing device comprises a storage part (21) used for storing end surface inclination information and demonstration points of a first welding path in the multi-layer and multi-pass welding, wherein the end surface inclination information representing the inclination of end surfaces in the end surface inclination information relative to the welding line direction; an end surface calculating part (24) calculating the positions of the end surfaces according to the end surface inclination information and the demonstration points of the first welding path in the multi-layer and multi-pass welding; an end point calculating part (25) calculating the end points of the welding paths following the second welding path and storing the results in the storage part (21), the end points of the welding paths following the second welding path being the intersection points where the end surfaces whose positions are calculated by the end surface calculating part (24) and the lines corresponding to the welding paths following the second welding path intersect. Thus, even if multiple welding lines are not located on the same plane, the positions of the end points of the welding paths following the second welding path can be determined.
Description
Technical field
The present invention relates to a kind of calculation element, for calculating the end points of the welding track in the multi-pass welding of welding robot.
Background technology
In the past, when carrying out the multilayer multiple tracks arc welding in narrow gap, proceed as follows: sealing wire is divided between multiple weld zone, and the straight line that the end being adjusted to sealing wire is formed has pitch angle (such as with reference to patent documentation 1) relative to sealing wire.
At first technical literature
Patent documentation
Patent documentation 1: Japanese Unexamined Patent Publication 2002-178153 publication
Summary of the invention
Invent technical matters to be solved
In above-mentioned example in the past, in order to carry out the multi-pass welding in narrow gap, many sealing wires are present on same plane.Consequently, when the straight line making the end of sealing wire be formed has certain pitch angle relative to sealing wire, by welding starting point or the welding terminal of the sealing wire immediately below use, welding starting point or the welding terminal of each sealing wire easily can be determined.
And on the other hand, be not present in the multi-pass welding on same plane at many sealing wires, when plane, i.e. end face that the end points making welding bead (bead) hold in the same manner as above-mentioned patent documentation 1 is formed have pitch angle relative to sealing wire direction, there is the problem cannot determining the position of the end points of welding track in the same manner as above-mentioned patent documentation 1.
The present invention makes to solve the problem, and its object is to provides a kind of calculation element, even if when above-mentioned end face tilts to some extent relative to sealing wire direction, this calculation element also can calculate the end points of welding track.
For the scheme of technical solution problem
To achieve these goals, based on calculation element of the present invention for calculating the end points of the welding track in the multi-pass welding of welding robot, it is characterized in that, possess: storage part, for storing the taught point of the Article 1 welding track in end slope information and multi-pass welding, described end slope information is the plane, the i.e. end face that are formed about the welding bead end in the multi-pass welding information relative to the degree of tilt in sealing wire direction; End face calculating part, the taught point of use side face tilt information and Article 1 welding track, calculates the position of end face; And end points calculating part, for calculating the end points of the later each welding track of Article 2 welding track, and be saved in storage part, the end points of each welding track that described Article 2 welding track is later is, the intersection point that the line of each welding track that the end face being calculated position by end face calculating part is later with corresponding to Article 2 welding track is crossing.
Based on this structure, be not present at many sealing wires in the multi-pass welding on same plane, even if when the plane that welding bead end is formed, i.e. end face tilt relative to sealing wire direction, the end points of welding track also can be calculated.Therefore, by using the end points calculated like this to carry out multi-pass welding, the multi-pass welding that end face tilts relative to sealing wire direction can be carried out, and, such as can prevent at this end weld metal sagging.
In addition, based in calculation element of the present invention, can also be: in multi-pass welding that the direction, face of each mother metal is identical with the angle between each layer.
Based on this structure, such as, when to make mode that each layer is vertical with groove depth direction carry out multi-pass welding, the end points of welding track can be calculated.
In addition, based in calculation element of the present invention, can also be: in multi-pass welding, the direction, face that each layer is parallel to any one mother metal be parallel.
Based on this structure, such as, when carrying out multi-pass welding in the mode making each layer be parallel to any one groove face, the end points of welding track can be calculated.
In addition, based in calculation element of the present invention, can also be: end points calculating part calculates end points to any welding track in layers, and in layers the position of end points on sealing wire direction of not implementing the welding track that end points calculates is set to, identical with the position of the end points calculated on sealing wire direction.
Based on this structure, the processing load of the end points calculating welding track can be reduced.
In addition, based in calculation element of the present invention, can also be: in storage part, also store end line inclination information, described end line inclination information is the straight line, the i.e. end line that are formed about the welding bead end in the ground floor information relative to the degree of tilt in sealing wire direction, end face calculating part also uses end line inclination information, calculates the position of end face.
Invention effect
According to based on calculation element of the present invention, be not present in the multi-pass welding on same plane at many sealing wires, even if when the plane that welding bead end is formed, i.e. end face tilt relative to sealing wire direction, also can specific go out the position of end points of welding track.
Accompanying drawing explanation
Fig. 1 is the block diagram of the structure of the control device etc. illustrated based on the first embodiment of the present invention.
Fig. 2 is the process flow diagram of the action of the calculation element illustrated based on same embodiment.
Fig. 3 A is the figure of an example of the relation illustrated between mother metal in same embodiment and each weld layer.
Fig. 3 B is the figure of an example of the relation illustrated between mother metal in same embodiment and each weld layer.
Fig. 4 A is the figure be described for the calculating of the end points to the welding track in same embodiment.
Fig. 4 B is the figure be described for the calculating of the end points to the welding track in same embodiment.
Fig. 4 C is the figure be described for the calculating of the end points to the welding track in same embodiment.
Fig. 4 D is the figure be described for the calculating of the end points to the welding track in same embodiment.
Fig. 5 A is the figure be described for the calculating of the end points to the welding track in same embodiment.
Fig. 5 B is the figure be described for the calculating of the end points to the welding track in same embodiment.
Fig. 5 C is the figure be described for the calculating of the end points to the welding track in same embodiment.
Fig. 5 D is the figure be described for the calculating of the end points to the welding track in same embodiment.
Fig. 5 E calculates for the end points to the welding track in same embodiment the figure be described.
Description of reference numerals
1: control device 2: calculation element 11: Department of Communication Force
12: control part 21: storage part 22: acceptance division
23: welding track generating unit 24: end face calculating part 25: end points calculating part
Embodiment
Below, use embodiment, be described based on calculation element of the present invention.In addition, in the following embodiments, the inscape and the step that impart same reference numerals are same or equivalent inscape and step, omit sometimes again illustrate same or equivalent inscape and step.
(the first embodiment)
With reference to accompanying drawing, the control device possessed based on the calculation element of the first embodiment of the present invention is described.Based on the end points of the track (welding track) in the multi-pass welding that the calculation element of present embodiment tilts relative to sealing wire direction for the plane, the i.e. end face that calculate welding bead end and formed.
Fig. 1 is the block diagram of the structure of the welding robot system illustrated based on present embodiment.Welding robot system based on present embodiment possesses control device 1, mechanical arm 3 and bonding machine 4.
Control device 1 possesses Department of Communication Force 11 for carrying out communicating between control device 1 with bonding machine 4, for controlling control part 12 and the calculation element 2 of mechanical arm 3 and bonding machine 4.Calculation element 2 is for calculating the end points of the welding track in the multi-pass welding of welding robot, and calculation element 2 possesses storage part 21, acceptance division 22, welding track generating unit 23, end face calculating part 24 and end points calculating part 25.
Department of Communication Force 11, according to the instruction from control part 12, sends to bonding machine 4 and starts to weld, terminate to weld, start to give welding wire, terminate to give the instructions such as welding wire.In addition, Department of Communication Force 11 may be received in the data obtained in welding robot, such as welding current, weldingvoltage, welding gas flow etc.
Control part 12, according to the current location etc. of the taught point stored in storage part 21, the operation signal inputted from teaching machine (not shown) and the drive motor from the encoder accepts of mechanical arm 3, controls the position of each drive motor of mechanical arm 3.By this control, welding torch 3a will be moved to the position of expectation.In addition, when carrying out this control, control part 12 can control mechanical arm 3 by servo controller.In addition, control part 12 is by Department of Communication Force 11, and according to the weld job program stored in not shown storage medium and welding condition etc., the beginning that the beginning of the welding of butt welding machine 4 and end, output voltage, welding wire are given and end etc. control.
In storage part 21, store the taught point of the Article 1 welding track in end slope information and multi-pass welding, described end slope information is the plane, the i.e. end face that are formed about the welding bead end in the multi-pass welding information relative to the degree of tilt in sealing wire direction.As long as the information of the degree of tilt of end face can be indicated, end slope information can be arbitrary information, such as, can be the information at the pitch angle for representing end face, also can be the information of the collapsing length on the sealing wire direction for representing in the end one deck in multi-pass welding, can also be other information.This pitch angle can be the direction of prior decision in end face, the angle that formed as the direction of benchmark with Article 1 welding track etc.Specifically, this pitch angle can be the angle that the direction comprising in the plane (cross section) of Article 1 welding track, Article 1 welding track and end face is formed.In addition, from the viewpoint preventing the weld metal of welding bead end sagging, be preferably end face and tilt as follows: close to last one deck, the sealing wire of each layer is shorter.Therefore, the pitch angle of usual end face is relative to Bu Shi right angle, sealing wire direction.In addition, can by specifying in the coordinate figure etc. in the coordinate systems such as world coordinate system, the taught point of Article 1 welding track is set in storage part 21, or, also can set Article 1 welding track by making actual movement the in the position of the welding torch 3a in mechanical arm 3.In addition, information in addition can be stored at storage part 21.Such as, the taught point after the Article 2 welding track in multi-pass welding can be stored in storage part 21.In addition, as by being described hereinafter, the end points of each welding track that the Article 2 welding track such as calculated by end points calculating part 25 is later also can be stored in storage part 21.
At this, the relation between each layer (weld layer) in multi-pass welding and mother metal is briefly described.As the relation between each layer and mother metal, such as, there is the relation shown in Fig. 3 A, Fig. 3 B.Fig. 3 A, Fig. 3 B are the sectional views at the position of having carried out multi-pass welding, and this cross section is vertical with sealing wire direction.With the numeral welding track (sealing wire) of circle, and weld according to the order of this numeral.In figure 3 a, the direction, face (left and right directions in figure and above-below direction) of each mother metal 8a, 8b is identical with the angle between each layer.Therefore, the direction of each layer (particularly the second layer, third layer) is perpendicular to the depth direction (depth direction of such as groove) of welding position.In addition, in figure 3b, each layer is parallel to the direction, face (left and right directions in figure) of one of them mother metal 8a.In addition, in the multi-pass welding of Fig. 3 B, although usually to make each layer weld close to the mode of horizontal direction, also can be really not so.In addition, angle is identical, can refer to that angle is strictly identical, or also can refer to that comprising angle is similar to the degree that can be considered that essence is identical.Angle is similar to the degree that can be considered that essence is identical, can refer to that angle is consistent in the scope of foozle with measuring error.In addition, each layer is parallel, can refer to each layer perfect parallelism, or also can refer to that comprising each layer is similar to the degree that can be considered that essence is parallel.Each layer is similar to the degree that can be considered that essence is parallel, can refer to that each layer is parallel in the scope of foozle with measuring error.Below, the stacking method of the welding bead of the multi-pass welding shown in Fig. 3 A is called the first stacking method, the stacking method of the welding bead of the multi-pass welding shown in Fig. 3 B is called the second stacking method.In addition, as shown in Fig. 3 A, Fig. 3 B, the multi-pass welding in present embodiment normally also exists the not identical multi-pass welding of the quantity of the sealing wire that the multi-pass welding of the layer comprising the above sealing wire of twice and each layer comprise, but also can be really not so.In addition, the multi-pass welding in present embodiment also can adopt the stacking method beyond Fig. 3 A, Fig. 3 B.That is, can be that each layer is all not parallel relative to the direction, face of the mother metal of any one, or the direction, face of each mother metal be not identical with the angle between each layer.
Be not limited to the process storing information in storage part 21.Such as, information can be stored by storage medium in storage part 21, also can store the information sent via communication line etc. in storage part 21, or, the information inputted by input equipment can also be stored in storage part 21.In the present embodiment, mainly the situation storing following information in storage part 21 is described: the information that information, welding track generating unit 23 that namely acceptance division 22 receives generate and the information etc. calculated of end points calculating part 25.Storage part 21 realizes by the storage medium (such as semiconductor memory and disk etc.) of regulation.In addition, the storage carried out in storage part 21 can be the provisional storage carried out in random access memory (RAM) etc., or also can be that chronicity stores.In addition, storage part 21 can be made up of independent storage medium, or also can be made up of multiple storage medium.In the latter case, the end points of each welding track after end slope information and taught point and the Article 2 welding track preserved by the process of end points calculating part 25 such as can be stored in different storage mediums.
Acceptance division 22 receives information, and is saved in storage part 21.This information can be such as the taught point of welding track.Acceptance division 22 such as can receive the information inputted from input equipment (such as keyboard, mouse, touch screen etc.), also can receive the information sent via wired or wireless communication circuit, the information read out from the storage medium (such as CD, disk, semiconductor memory etc.) of regulation can also be received.In the present embodiment, mainly the situation that acceptance division 22 receives the information inputted by teaching machine is described.In addition, acceptance division 22 can comprise the equipment (such as modulator-demodular unit or network interface card etc.) for performing reception, or also can not comprise the equipment for performing reception.In addition, acceptance division 22 can be realized by hardware, or also can by for driving the software of the driver of specified devices etc. to realize.
Welding track generating unit 23 can generate the later welding track of Article 2 welding track in multi-pass welding, and is saved in storage part 21.The method generating this welding track is not construed as limiting, such as, can adopts the method recorded in Japanese Unexamined Patent Publication 2009-119525 publication.When carrying out the generation of this welding track, the information representing and will carry out the shape of the mother metal welded and bevel shape etc. can be used.In addition, when carrying out the generation of this welding track, can be received from the instruction of user by teaching machine, or also can be really not so.The information that welding track generating unit 23 generates such as can be stored in storage part 21.
End face calculating part 24 is used in the taught point of end slope information and the Article 1 welding track stored in storage part 21, calculates the position of end face.Calculate the position of end face to refer to, calculate can specific go out the information of position of end face.Such as, this information can be the Plane Equation (such as ax+by+cz=d etc.) of the position for representing the end face in the coordinate systems such as world coordinate system, or also can be the coefficient (such as a, b, c, d etc.) comprised in this equation.According to the taught point of Article 1 welding track, the position of the sealing wire suitable with Article 1 welding track can be learnt, in addition, according to end slope information, the position of the end face relative to this sealing wire can be learnt.Therefore, end face calculating part 24 use these information can specific go out the position of end face.In addition, the concrete process about the position calculating end face will be described below.
End points calculating part 25 calculates the end points of the later each welding track of Article 2 welding track, and be saved in storage part 21, the end points of each welding track that described Article 2 welding track is later is, the intersection point that the line of each welding track that the end face being calculated position by end face calculating part 24 is later with corresponding to Article 2 welding track is crossing.Corresponding to the line of the later each welding track of Article 2 welding track, the straight line that each welding track later with Article 2 welding track is suitable or curve can be referred to, or, this straight line or curve and end face non-intersect time, extend the suitable straight line of (extrapolation) each welding track later with Article 2 welding track or curve and the straight line that obtains or curve.When extending each welding track, if welding track is straight line, then extend this straight line in the longitudinal direction.On the other hand, if welding track is curve, be then preferably, such as, extend in the mode not making this bent curvature of a curve etc. change.For representing that the taught point of each welding track that this Article 2 welding track is later can be stored in storage part 21 in the same manner as Article 1 welding track.The taught point of each welding track that Article 2 welding track is later such as can equally with Article 1 welding track be inputted by user, or the taught point of Article 1 welding track etc. also can be used to generate out by welding track generating unit 23.Calculate end points refer to generate can specific go out the information of position of end points, such as, can be the coordinate calculating end points, also can be the welding track on the end points (flexible before end points) of the acquiescence calculating welding track and end face end points between side-play amount.In addition, the end points normally point of position not on end face of the acquiescence of welding track, the end points etc. of the welding track that such as welding track generating unit 23 generates.The position of the end points of each welding track that the Article 2 welding track that end points calculating part 25 calculates is later is welding starting point or the welding terminal of the later each welding track of Article 2 welding track.The each welding track later to Article 2 welding track performs the welding employing following welding track: namely, employs the welding track that the end points that calculates with this end points calculating part 25 is welding starting point or welding terminal.
Mechanical arm 3 has the multiple arms coupled together by joint, and this joint is driven by drive motor via reductor.This drive motor has scrambler, can be detected the current location of drive motor by this scrambler.In addition, the welding torch 3a for carrying out arc welding to mother metal (workpiece) 8 is installed on the top of this mechanical arm 3.And, give portion 3b from welding wire and give welding wire, and between the welding wire and mother metal 8 on welding torch 3a top, apply high voltage by bonding machine 4, thus produce electric arc, and pass through heat melting welding wire and the mother metal 8 of this electric arc, carry out the welding to mother metal 8 thus.In addition, the structure of mechanical arm 3 has been known, and description is omitted.In addition, in arc welding, although generally blanket gas can be sprayed from welding torch 3a, omit the explanation to this structure.
Bonding machine 4 possesses the source of welding current for supplying welding high-tension electricity used to welding torch 3a and mother metal 8, for giving to being given welding wire that portion 3b performs by welding wire the welding control part etc. that the welding wire controlled gives control part and control the source of welding current according to the welding condition sent from control device 1.In addition, bonding machine 4 can obtain welding current, weldingvoltage, welding gas flow, welding wire give the data such as speed, and these data are sent to control device 1.In addition, the structure of bonding machine 4 has been known, and description is omitted.
In addition, in the present embodiment, situation control device 1 being controlled to a mechanical arm 3 and a bonding machine 4 is described, but also can be really not so.Control device 1 can control multiple mechanical arm 3 and multiple bonding machine 4.Therefore, calculation element 2 also can calculate the end points of the welding track in the multi-pass welding relating to multiple welding robot.In this case, can give for representing that this welding track etc. is the identifying information of the data of which welding robot the welding track calculated etc.
Next, use the process flow diagram of Fig. 2, the action of the calculation element 2 based on present embodiment is described.
(step S101) acceptance division 22 receives the taught point of Article 1 welding track, and is saved in storage part 21.In addition, acceptance division 22 can also receive the later taught point of Article 2 welding track, and is saved in storage part 21.In addition, as previously mentioned, when by making the actual movement in the position of welding torch 3a thus setting the taught point of Article 1 welding track, the preservation of this taught point can be carried out by control part 12.
(step S102) acceptance division 22 receiving end face tilt information and carry out the information of the selection result of multi-pass welding for representing by the first stacking method (Fig. 3 A) or by the second stacking method (Fig. 3 B), and be saved in storage part 21.In addition, the information relevant to last one deck of multi-pass welding can not be received by acceptance division 22, but by making actual movement the in the position of the welding torch 3a in mechanical arm 3 set.In addition, the information relevant to the shape of mother metal can also be received, and be saved in storage part 21.
In addition, the instruction that the receives information of step S101, S102 such as can input according to the information relative to user is undertaken by teaching machine.In addition, in step S101, S102, also the information relevant to last one deck of multi-pass welding can be received (such as, can be the information of the quantity of the layer representing multi-pass welding, also can be the information of the gross thickness representing multi-pass welding, can also be the information of the position representing last one deck), and be saved in storage part 21.In addition, relevant to last one deck of this multi-pass welding information also can be the taught point of the welding track in last one deck.In addition, when the taught point after using the taught point of Article 1 welding track to calculate Article 2 welding track, welding track generating unit 23 can use the taught point of the Article 1 welding track preserved, the information relevant to the shape of mother metal, the information relevant with last one deck of multi-pass welding, calculate the taught point that Article 2 welding track is later, and be saved in storage part 21.
(step S103) end face calculating part 24 have selected the first stacking method to the stacking method as the welding bead in multi-pass welding or have selected the second stacking method judges.Then, when have selected the first stacking method, entering step S104, when have selected the second stacking method, entering step S105.
(step S104) end face calculating part 24 calculates the position of the end face corresponding with the first stacking method.Usually, end face calculating part 24 calculates the position of two end faces corresponding with two end points of Article 1 welding track, but also can be really not so.End face calculating part 24 also can calculate the position of an end face corresponding with Article 1 welding track end points.The position of this end face can be stored in storage part 21 or not shown storage medium.In addition, the detailed process about this step will be described below.
(step S105) end face calculating part 24 calculates the position of the end face corresponding with the second stacking method.Usually, end face calculating part 24 calculates the position of two end faces corresponding with two end points of Article 1 welding track, but also can be really not so.End face calculating part 24 also can calculate the position of an end face corresponding with Article 1 welding track end points.The position of this end face can be stored in storage part 21 or not shown storage medium.In addition, the detailed process about this step will be described below.
(step S106) end points calculating part 25 sets 1 to the counter n for identification layer, and sets 2 to the counter p for identifying the sealing wire (welding track) in each layer.That is, for the welding track that the Article 2 welding track in ground floor is later, end points calculating part 25 will calculate end points, and for the first welding track of ground floor, end points calculating part 25 directly uses the end points represented by the taught point of Article 1 welding track.
Whether (step S107) end points calculating part 25 couples of counter n have exceeded N judges.Then, when counter n has exceeded N, by terminating a series of process being used for the end points calculating welding track, when counter n is not more than N, entered step S108.In addition, N is the quantity of layer.That is, the value of the counter n of last one deck is N.The value being set to this N has been stored in not shown storage medium.
Whether (step S108) end points calculating part 25 couples of counter p have exceeded P
njudge.Then, when counter p has exceeded P
ntime, owing to performing the computing of end points to the whole welding track in n-th layer, therefore enter step S111, when counter p is not more than P
ntime, enter step S109.In addition, P
nfor the quantity of the welding track in n-th layer.That is, the value of the counter p of the last item welding track in n-th layer is P
n.Be set to the P corresponding with each n
nvalue (P
1, P
2..., P
n) be stored in not shown storage medium.
(step S109) end points calculating part 25 calculates end points, and is saved in storage part 21, and this end points is, is calculated the intersection point that the end face of position is crossing with the line of the p article of welding track corresponded in n-th layer by step S104 or S105.When calculating the position of two end faces, end points calculating part 25 can calculate two end points corresponding with each end face, and when calculating the position of an end face, end points calculating part 25 can calculate an end points corresponding with this end face.In addition, the detailed process about this step will be described below.
(step S110) end points calculating part 25 makes counter p increase by 1.Then, step S108 is returned.
(step S111) end points calculating part 25 makes counter n increase by 1, and sets numerical value 1 to counter p.Then, step S107 is returned.
In addition, in the flowchart of fig. 2, the situation of the end points calculating the later welding track of the Article 2 welding track of ground floor is illustrated, but, in the first stacking method, owing to only comprising Article 1 welding track in ground floor, therefore, the calculating of end points can be carried out from the Article 1 welding track of the second layer.In addition, in the second stacking method, the length of each welding track comprised in ground floor is identical, namely for ground floor without the need to calculating with the intersection point of end face when, also can carry out the calculating of end points from the Article 1 welding track of the second layer.In addition, the processing sequence in the process flow diagram of Fig. 2 is an example, as long as can obtain same result, can change the order of each step.In addition, in the flowchart of fig. 2, process by cutting off the electricity supply or inserting interruption that process terminates and terminate.
Next, the detailed process of step S104, S105, S109 is specifically described.In the following description, by end slope information, indicate the tiltangleθ of end face relative to Article 1 welding track.This tiltangleθ is following pitch angle: using the sealing wire direction of Article 1 welding track as 0 degree (deg), and using the direction vertical with this sealing wire direction as 90 degree.Therefore, usual 0 ° of < θ < 90 °.In addition, before step S104, S105, also can be calculated by the taught point of welding track generating unit 23 by each welding track later for Article 2 welding track, or the taught point of each welding track also Article 2 welding track can being specified later by user.
[calculating the end face (step S104) in the first stacking method (Fig. 3 A)]
Use concrete example, the computing method of the position of the end face when being carried out multi-pass welding by the first stacking method (Fig. 3 A) are described.In addition, in this concrete example, be assumed to be and carry out fillet weld seam like that as shown in Figure 4 A, and the taught point be assumed to be by storing in storage part 21 can learn the terminal A S of Article 1 welding track A, the position of AE.In addition, as previously mentioned, the position being assumed to be the later each welding track of Article 2 welding track has also been calculated.In addition, each welding track being calculated next Article 2 welding track later is assumed to be identical with welding track A length and parallel with welding track A.In addition, be assumed to be the two ends being calculated each welding track come to be present in Figure 4 A in the plane vertical with the welding track A crossing some AS and the plane vertical with the welding track A crossing some AE.In addition, in Figure 4 A, the final weld bead shape will formed in multi-pass welding is shown with solid line.
First, end points calculating part 25 by specific go out the position of Article 1 in last one deck and the last item welding track.As previously mentioned, these welding tracks P1, P2 can generate out by welding track generating unit 23.Welding track P1 is from a P1S
0to a P1E
0line segment, welding track P2 is from a P2S
0to a P2E
0line segment.
Next, end points calculating part 25 is by the distance h calculating welding track A and pass through between the specific last one deck out of welding track P1, P2
n.This h
nsometimes final bead height is also referred to as.Fig. 4 B is the figure representing the cross section vertical with welding track A, P1, P2 of being parallel to each other.Therefore, in figure 4b, welding track A, P1, P2 become some A, P1, P2.In figure 4b, intersection point B is the intersection point of vertical line drawn to the straight line crossing some P1, P2 from an A, from an A to the length of intersection point B be final bead height h
n.At this, this B and the straight line parallel with welding track A, P1, P2 is called straight line B will be crossed.In addition, in figure 4b, set with the xy rectangular coordinate system of an A as initial point, if the coordinate of set up an office P1, P2 is respectively (x
1, y
1), (x
2, y
2), then the straight line crossing some P1, P2 is expressed as following mathematical expression.
y＝(y
1–y
2)x/(x
1–x
2)+(x
1y
2–x
2y
1)/(x
1–x
2)
In addition, the straight line crossing some A, B is expressed as following mathematical expression.
y＝–(x
1–x
2)x/(y
1–y
2)
Therefore, by obtaining the intersection point of two straight lines, the coordinate (x of a B just can be calculated
3, y
3).In addition, the coordinate of this B can be used, calculate final bead height h by following mathematical expression
n.
h
N＝(x
3 2+y
3 2)
1/2
In addition, this final bead height h
ncan be stored in storage part 21 or not shown storage medium.
Fig. 4 C be represent comprise straight line B and welding track A plane (namely, comprise Article 1 welding track sealing wire and with the plane of last one deck right angle intersection) figure.In the plane shown in Fig. 4 C, the position of end face is by representing relative to the tiltangleθ of welding track A.Therefore, not only on straight line B, but also the point be included in end face be some BS, BE.In addition, because the length from a BS to the vertical line of welding track A is h
n, therefore, the distance, delta k between the intersection point of the vertical line drawn to welding track A from a BS and some AS
nbe expressed as following mathematical expression.In addition, this Δ k
nsometimes also referred to as side-play amount.
Δk
N＝h
N/tanθ＝h
Ntan(90°–θ)
In addition, intersection point P1S, P1E, P2S, P2E of welding track P1, P2 and each end face are from a P1S
0, P1E
0, P2S
0, P2E
0respectively to the center position translational offsets amount Δ k of welding track
nafter point, therefore, end face calculating part 24 can calculate these intersection points P1S, P1E, P2S, P2E.The coordinate of these intersection points can be stored in storage part 21 or not shown storage medium.Afterwards, end face calculating part 24 calculates like that with following mathematical expression and appears an AS, puts P1S, puts the mathematical expression of the end face (this end face is called " the first end face ") of P2S and cross a some AE, some P1E, puts the mathematical expression of the end face (this end face is called " the second end face ") of P2E.In addition, calculated the position of end face by end face calculating part 24, such as, can refer to the mathematical expression calculating the end face represented by following mathematical expression, or also can refer to calculate this end face mathematical expression in each coefficient of comprising.These information such as can be stored in storage part 21 or not shown storage medium.
First end face: a
1x+b
1y+c
1z=d
1
Second end face: a
2x+b
2y+c
2z=d
2
In addition, coefficient a
1, b
1, c
1, d
1can use respectively an AS, some P1S, some P2S coordinate calculate, coefficient a
2, b
2, c
2, d
2can use respectively an AE, some P1E, some P2E coordinate calculate.
[calculating the end face (step S105) in the second stacking method (Fig. 3 B)]
Use concrete example, the computing method of the position of the end face when being carried out multi-pass welding by the second stacking method (Fig. 3 B) are described.In addition, in this concrete example, be also assumed to be and carry out fillet weld seam as shown in fig. 5 a, and the taught point be assumed to be by storing in storage part 21 can learn the terminal A S of Article 1 welding track A, the position of AE.In addition, as previously mentioned, the position being assumed to be the later each welding track of Article 2 welding track has been calculated, identical with the situation of the first stacking method about this point.In addition, in fig. 5, the final weld bead shape will formed in multi-pass welding is shown with solid line.
First, end points calculating part 25 by specific go out the position of welding track, i.e. P3 of last one deck.As previously mentioned, this welding track can generate out by welding track generating unit 23.Welding track P3 is from a P3S
0to a P3E
0line segment.
Next, end points calculating part 25 will calculate the distance h comprised between the surface of the mother metal 8a of welding track A and welding track P3
n.Fig. 5 B represents the figure of plane (surface of mother metal 8b) comprising welding track A, welding track P3.This plane is the plane vertical with each layer that will be formed.In figure 5b, the distance between welding track A and welding track P3 is final bead height h
n.Therefore, end points calculating part 25 (such as puts P3S by the distance of calculating two welding tracks
0and the distance between an AS), just can calculate final bead height h
n.In addition, this final bead height h
ncan be stored in storage part 21 or not shown storage medium.In addition, identical with the situation of the first stacking method, end face calculating part 24 can calculate offset Δ k like that with following mathematical expression
n.
Δk
N＝h
N/tanθ＝h
Ntan(90°–θ)
Therefore, because intersection point P3S, P3E of welding track P3 and each end face are from a P3S
0, P3E
0respectively to the center position translational offsets amount Δ k of welding track
nafter point, therefore, end face calculating part 24 can calculate these intersection points P3S, P3E.The coordinate of these intersection points can be stored in storage part 21 or not shown storage medium.Afterwards, end face calculating part 24 is with the mathematical expression of the end face (this end face is called " the 3rd end face ") of the such calculated some AS of following mathematical expression, some P3S, some P4S and the mathematical expression of end face (this end face is called " the 4th end face ") crossing a some AE, some P4E, some P4E.In addition, welding track P4 can be the welding track generated by welding track generating unit 23, also can be the welding track of being specified by user.In addition, the position being calculated end face by end face calculating part 24 such as can refer to the mathematical expression calculating the end face represented by following mathematical expression, or also can refer to calculate this end face mathematical expression in each coefficient of comprising.These information such as can be stored in storage part 21 or not shown storage medium.
3rd end face: a
3x+b
3y+c
3z=d
3
4th end face: a
4x+b
4y+c
4z=d
4
In addition, coefficient a
3, b
3, c
3, d
3can use respectively an AS, some P3S, some P4S coordinate calculate, coefficient a
4, b
4, c
4, d
4can use respectively an AE, some P3E, some P4E coordinate calculate.
[calculating end points (step S109)]
Use concrete example, the computing method of the end points using each welding track of position calculation of end face are described.At this, the computing method of the end points of each welding track of position calculation of use first end face are described, but the computing method using other end face to calculate the end points of each welding track are also same.
In fig. 4d, suppose that p article of welding track in the n-th layer generated by welding track generating unit 23 is welding track C, the two ends of this welding track C are a CS
0and CE
0.At this, CS will be put
0coordinate figure be set to (x
4, y
4, z
4), will CE be put
0coordinate figure be set to (x
5, y
5, z
5).In addition, if established with a CS
0for starting point, with a CE
0vector for terminal is V
c=(v
x, v
y, v
z), then vectorial V
cbe expressed as following mathematical expression.
V
c＝(v
x，v
y，v
z)
＝(x
5–x
4，y
5–y
4，z
5–z
4)
Therefore, the coordinate comprising the point on the straight line of welding track C represents with following mathematical expression.Wherein, t is any real number.
(x，y，z)＝(x
4，y
4，z
4)+t(v
x，v
y，v
z)
In addition, by solving t in the mathematical expression that the x, y, z in above formula substituted into the first end face, the first end face and the value t of the t corresponding to intersection point CS of straight line intersection comprising welding track C just can be calculated
cS.This t
cSbe expressed as following mathematical expression, and then the coordinate of intersection point CS can be calculated.
t
CS＝{d
1–(a
1x
4+b
1y
4+c
1z
4)}/(a
1v
x+b
1v
y+c
1v
z)
Similarly, end points calculating part 25 can also calculate the welding track C intersection point CE crossing with the second end face.In addition, in fig. 4d, due to a CS
0and the distance between a CS equals a CE
0and the distance between a CE, therefore, the value t of the t corresponding to intersection point CE that welding track C is crossing with the second end face
cEbe expressed as following mathematical expression.Therefore, for the intersection point CE that welding track C is crossing with the second end face, can be calculated by less calculated amount.
t
CE＝1–t
CS
In addition, although be illustrated the situation of operation parameter t calculating end points in the above description, also can not calculate like this.The intersection point of welding track C and end face can be calculated by the equation of the equation and end face that solve the straight line comprising welding track C.In addition, by carrying out above-mentioned process to each welding track of each layer, the end points of the later each welding track of Article 2 welding track can be calculated.
In addition, as shown in Figure 5 C, when the second stacking method, although intersection point CS, CE of welding track C and the 3rd end face and the 4th end face will be calculated, but in this case, end points calculating part 25 also can calculate intersection point CS, CE in the mode identical with above-mentioned explanation.
Usually, end points calculating part 25 will calculate each end points by each welding track later to Article 2 welding track.And on the other hand, when the second stacking method, end points calculating part 25 only can calculate end points to any welding track in layers.Then, in layers, the position of end points on sealing wire direction of not implementing the welding track that end points calculates is set to identical with the position of the end points calculated on sealing wire direction.Fig. 5 D is used to be explained.Fig. 5 D is the figure of the n-th layer representing the second stacking method.From Fig. 5 A, when the second stacking method, each layer is rectangle.Therefore, in n-th layer with each welding track C1, C2, C3 ... relevant offset Δ k
nall identical, and each welding track C1, C2, C3 ... length also identical.Namely, welding track C1, C2, C3 ... end points C1S, C2S, C3S of side ... position on sealing wire direction (left and right directions in the figure of Fig. 5 D) is all identical, and welding track C1, C2, C3 ... end points C1E, C2E, C3E of opposite side ... position on sealing wire direction is also all identical.Specifically, the value of above-mentioned t when solving these end points is identical.Therefore, in layers, as long as end points calculating part 25 calculates t to any welding track, then t can not be calculated to other welding track.Therefore, such as end points calculating part 25 only can calculate t to welding track C1, and uses this t to calculate end points C1S, C2S, C3S ... Deng.In addition, such as, for representing in the coordinate system of end points, when z-axis being set as sealing wire direction, the z-axis value of the wherein end points of a welding track (such as welding track C1 etc.) can only be saved in storage part 21 grade by end points calculating part 25.Then, control part 12 can circulate read out this welding track z-axis value using the z-axis value of the end points of each welding track as n-th layer.
In addition, in the above description, the situation that ground floor in the second stacking method is rectangle is illustrated, but also can be really not so.Such as, as shown in fig. 5e, straight line, i.e. end line (cross the straight line of some AS and some P4S or cross some AE and the straight line putting P4E) that the welding bead end in ground floor is formed can not be 90 degree relative to sealing wire direction.In this case, be set to and also store end line inclination information in storage part 21, described end line inclination information is the straight line, the i.e. end line that are formed about the welding bead end in the ground floor information relative to the degree of tilt in sealing wire direction.This end line inclination information can be such as the information of the angle γ represented in Fig. 5 E, also can be represent a P4S
0and the distance between a P4S and some P4E
0and the information of the distance between a P4E, can also be can specific go out end line relative to other information of the degree of tilt in sealing wire direction.Then, end face calculating part 24 can use this end line inclination information to calculate the position of end face.Specifically, end face calculating part 24, by using end line inclination information, can calculate the some P4S on end face and the position of putting P4E.Therefore, such as end face calculating part 24 can to crossing a some AS, some P3S, the position of the 3rd end face of some P4S calculates, also can to crossing a some AE, some P3E, the position of the 4th end face of some P4E calculates.In addition, the ground floor in the second stacking method refers to that whole welding tracks is all positioned at the layer on mother metal 8a.
In addition, in the above description, when will carry out two end slopes at the position of multi-pass welding to making certain, the situation that the tiltangleθ of two end faces is set to equal angular will be illustrated, but also can be really not so.Also pitch angle can be set in units of end face.In addition, this point for end line angle γ be also same.
In addition, in the above description, be that the situation at the pitch angle of end face is illustrated to end slope information, but as previously mentioned, end slope information also can be the information representing the collapsing length of last one deck on sealing wire direction (side-play amount).Specifically, end slope information can be above-mentioned Δ k
n.
In addition, in the above description, be that the situation of the plane of the end points of Article 1 welding track is illustrated to end face, but also can be really not so.When end face and Article 1 welding track have relation in addition, the calculating of end face and the calculating of end points can be carried out too.
As mentioned above, according to the control device 1 based on present embodiment, calculate the position of end face, and calculate the end face being calculated its position, the intersection point crossing with the line corresponding to the later welding track of Article 2 welding track, thereby, it is possible to specific go out the welding starting point of the later each welding track of Article 2 welding track and welding terminal.In addition, so specific owing to carrying out, therefore, even many sealing wires are not present in the multi-pass welding on same plane, also can reasonably specific go out the welding starting point etc. of the later each welding track of Article 2 welding track.In addition, by reasonably setting end slope information and end line inclination information, the weld metal of end can be prevented sagging, thus the quality of multi-pass welding can be made to be improved.
In addition, in the above-described embodiment, each process or each function can by being undertaken focusing on realizing by independent device or independent system, or also can by being carried out dispersion treatment to realize by multiple device or multiple system.
In addition, in the above-described embodiment, for the information transmission carried out between each inscape, such as when two inscapes of carrying out this information transmission are physically different inscapes, can by being performed the output of information by an inscape, and carry out this information transmission by the reception of another inscape execution information, or, when two inscapes of carrying out this information transmission are physically identical inscape, can by corresponding to one of them inscape processing stage transfer to corresponding to another inscape processing stage carry out this information transmission.
In addition, even if clearly do not record in the above description, in the above-described embodiment, the information etc. of the shape of the information of also can store the information relevant to the process performed by each inscape to provisional or chronicity in not shown storage medium, such as each inscape receives, obtain, select, generate, send, receiving and used the in processes threshold value of each inscape, mathematical expression, address, mother metal and groove etc.In addition, can be performed by each inscape or not shown storage unit to the information of preserving in this not shown storage medium.In addition, from this not shown storage medium, read information to be performed by each inscape or not shown reading part.
In addition, even if clearly do not record in the above description, in the above-described embodiment, such as, when the information used in each inscape, each inscape is used in processes threshold value, address, the information such as mother metal and the shape of groove, various setting values can be changed by user, also can be arranged to enable user suitably change these information, or also can be really not so.When user can change these information, this modification is as the not shown acceptance division that can be indicated by the change for receiving from user and for realizing the not shown changing unit that information changes according to this change instruction.The reception of the change instruction undertaken by this not shown acceptance division, it can be such as the reception that the information from input equipment is carried out, also can be the reception carried out the information sent by communication line, can also be the reception carried out the information read out in the storage medium from regulation.
In addition, in the above-described embodiment, each inscape can be consisted of special hardware, or, for also can being realized by executive routine by the inscape of software simulating.Such as, read by the program execution department of CPU etc. and perform the software program be stored in the storage medium such as hard disk or semiconductor memory, thus each inscape can be realized.When this execution, program execution department can access storage part and/or storage medium executive routine.In addition, this program can be performed by downloading this program from server etc., also can by read out be stored in regulation storage medium (such as CD, disk, semiconductor memory etc.) in program perform this program.In addition, this program can be used as the program of configuration program product.In addition, can be one for performing the computing machine of this program, also can be multiple stage.That is, can focus on, or also can carry out dispersion treatment.
In addition, the present invention is not limited to above embodiment, can carry out various change, and the embodiment after those changes is also contained in protection scope of the present invention.
Industry utilizes possibility
According to above explanation, by based on calculation element of the present invention, even many sealing wires are not present in the multi-pass welding on same plane, also by obtain can specific go out the technique effect of end points of the later each welding track of Article 2 welding track, such as, the device etc. as the taught point calculating welding robot is very effective.
Claims (5)
1. a calculation element, for calculating the end points of the welding track in the multi-pass welding of welding robot, is characterized in that, possessing:
Storage part, for storing the taught point of the Article 1 welding track in end slope information and described multi-pass welding, described end slope information is the plane, the i.e. end face that are formed about the welding bead end in the described multi-pass welding information relative to the degree of tilt in sealing wire direction;
End face calculating part, uses the taught point of described end slope information and described Article 1 welding track, calculates the position of described end face; And
End points calculating part, for calculating the end points of the later each welding track of Article 2 welding track, and be saved in described storage part, the end points of each welding track that described Article 2 welding track is later is, the intersection point that the line of each welding track that the end face being calculated position by described end face calculating part is later with corresponding to Article 2 welding track is crossing.
2. calculation element according to claim 1, is characterized in that,
In described multi-pass welding, the direction, face of each mother metal is identical with the angle between each layer.
3. calculation element according to claim 1, is characterized in that,
In described multi-pass welding, each layer is parallel to the direction, face of any one mother metal.
4. calculation element according to claim 3, is characterized in that,
Described end points calculating part calculates end points to any welding track in layers,
In layers, the position of end points on sealing wire direction of not implementing the welding track that end points calculates is set to, identical with the position of the end points calculated on sealing wire direction.
5. calculation element according to claim 3, is characterized in that,
In described storage part, also store end line inclination information, described end line inclination information is the straight line, the i.e. end line that are formed about the welding bead end in the ground floor information relative to the degree of tilt in sealing wire direction,
Described end face calculating part also uses described end line inclination information, calculates the position of described end face.
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| CN109926703A (en) * | 2017-12-19 | 2019-06-25 | 株式会社达谊恒 | Welding position detection device, welding position detection method and welding robot system |
| CN113942014A (en) * | 2021-11-08 | 2022-01-18 | 北京华航唯实机器人科技股份有限公司 | Trajectory generation method, trajectory generation device, robot apparatus, and storage medium |
| CN114450122A (en) * | 2019-10-03 | 2022-05-06 | 三菱电机株式会社 | Machining program generating device, laminated modeling device, machining program generating method, laminated modeling method, and machine learning device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109926703A (en) * | 2017-12-19 | 2019-06-25 | 株式会社达谊恒 | Welding position detection device, welding position detection method and welding robot system |
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| CN114450122A (en) * | 2019-10-03 | 2022-05-06 | 三菱电机株式会社 | Machining program generating device, laminated modeling device, machining program generating method, laminated modeling method, and machine learning device |
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| CN113942014A (en) * | 2021-11-08 | 2022-01-18 | 北京华航唯实机器人科技股份有限公司 | Trajectory generation method, trajectory generation device, robot apparatus, and storage medium |
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|---|---|
| CN104933287B (en) | 2021-05-07 |
| JP2015178119A (en) | 2015-10-08 |
| JP6378510B2 (en) | 2018-08-22 |
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