JP2020062659A - 教示位置補正方法 - Google Patents
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- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/10—Spot welding; Stitch welding
- B23K11/11—Spot welding
- B23K11/115—Spot welding by means of two electrodes placed opposite one another on both sides of the welded parts
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- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/002—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating specially adapted for particular articles or work
- B23K20/004—Wire welding
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- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/121—Devices for the automatic supply of at least two electrodes one after the other
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1278—Using mechanical means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40099—Graphical user interface for robotics, visual robot user interface
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40581—Touch sensing, arc sensing
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45104—Lasrobot, welding robot
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45138—Laser welding
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Abstract
Description
特許文献1においては、溶接母材の外面に溶接ワイヤを接触させて行うタッチセンシングにより、溶接母材のずれを検出し、検出されたずれを補償する変換マトリクスを生成して教示位置を補正している。
本発明は、溶接母材自体の誤差による教示位置のずれを補正することができる教示位置補正方法を提供することを目的としている。
この構成により、タッチセンシングにおける溶接ワイヤの移動量の絶対値が第1閾値よりも大きいときには、教示位置のずれが大き過ぎるので、その旨を報知することにより、操作者に異常を知らせることができる。
本実施形態に係る教示位置補正方法は、ロボット1の先端に装着した溶接トーチ2の先端から溶接ワイヤ3を突出させてアーク溶接を行う場合のロボット1の教示位置を補正する方法である。ロボット1は、図1に示されるように、例えば、6軸多関節型ロボットである。
タッチセンシング機能は、溶接母材Xに溶接ワイヤ3が接触したことを検出する機能であり、溶接トーチ2に設けられたサーボモータ4によって、溶接ワイヤ3を駆動する。
制御装置10は、図6から図9に示されるように、溶接ワイヤ3が溶接母材Xの表面に直交する方向となる溶接トーチ2の姿勢を維持しながら、生成された補正開始点から検出経路に沿って補正終了点まで溶接トーチ2を移動させ、その間に、溶接電源20はタッチセンシング機能により、溶接ワイヤ3を出没させて、図6に示されるように、ツール先端点からの溶接ワイヤ3の移動量Lの検出により表面位置の検出を行う。
そこで、制御装置10は、検出されたプロファイルに基づいて、溶接母材Xの段差位置を検出する。すなわち、補正開始点からの検出経路における溶接ワイヤ3の移動量Lの変化量ΔLが第2閾値を超えるか否かを判定する(ステップS10)。変化量ΔLの最大値が第2閾値以下である場合には、溶接母材Xの表面は検出経路に沿ってほぼ平坦であることがわかる。
また、ツール先端点および移動許容量は15mm以外の任意の値を採用してもよい。
3 溶接ワイヤ
L 移動量
ΔL 変化量(絶対値)
X 溶接母材
Claims (4)
- 溶接母材の溶接経路に沿って設定された複数の教示位置をそれぞれ前記溶接経路に交差する方向に挟む位置に、補正開始点および補正終了点を生成し、
生成された各前記補正開始点から各前記補正終了点に向かう検出経路に沿って、溶接ワイヤを突出させた溶接トーチを移動させながら、タッチセンシングを行うことにより、前記検出経路に沿う前記溶接母材のプロファイルを検出し、
検出された該プロファイルに基づいて、前記教示位置を補正する教示位置補正方法。 - 前記溶接トーチの先端から所定量突出させた前記溶接ワイヤの先端位置をツール先端点として設定し、
前記タッチセンシングは、前記溶接ワイヤと前記溶接母材との接触が検出されていないときには前記溶接ワイヤを突出させ、前記溶接ワイヤと前記溶接母材との接触が検出されたときには前記溶接ワイヤを引っ込める動作を繰り返し、前記溶接ワイヤと前記溶接母材との接触が検出された時点での前記ツール先端点の座標および該ツール先端点からの前記溶接ワイヤの移動量を記録する請求項1に記載の教示位置補正方法。 - 前記タッチセンシングにより記録された前記溶接ワイヤの移動量の絶対値が、第1閾値よりも大きいときには、その旨を報知する請求項2に記載の教示位置補正方法。
- 前記タッチセンシングにより記録された前記溶接ワイヤの移動量の絶対値が、前記第1閾値以下であり第2閾値よりも大きいときに、前記溶接経路を検出したものと判定し、その時点での前記ツール先端点の座標および該ツール先端点からの前記溶接ワイヤの移動量に基づいて、前記教示位置を補正する請求項3に記載の教示位置補正方法。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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JP2018195554A JP6863944B2 (ja) | 2018-10-17 | 2018-10-17 | 教示位置補正方法 |
US16/594,296 US20200125062A1 (en) | 2018-10-17 | 2019-10-07 | Method for compensating teaching positions |
DE102019127385.4A DE102019127385A1 (de) | 2018-10-17 | 2019-10-10 | Verfahren zum kompensieren von lernpositionen |
CN201910972966.4A CN111055046B (zh) | 2018-10-17 | 2019-10-14 | 示教位置校正方法 |
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JP2018195554A JP6863944B2 (ja) | 2018-10-17 | 2018-10-17 | 教示位置補正方法 |
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JP6863944B2 JP6863944B2 (ja) | 2021-04-21 |
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JP (1) | JP6863944B2 (ja) |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113634871A (zh) * | 2021-08-16 | 2021-11-12 | 上海发那科机器人有限公司 | 基于离线编程的机器人搅拌摩擦焊轨迹规划方法 |
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EP4088851A1 (de) * | 2021-05-12 | 2022-11-16 | SKS Welding Systems GmbH | Verfahren zur detektion von stellen einer fügelinie zwischen bauteilen sowie für ein nachfolgendes schweissverfahren dazu |
EP4088852A1 (de) * | 2021-05-12 | 2022-11-16 | SKS Welding Systems GmbH | Verfahren zur detektion von stellen einer fügelinie zwischen bauteilen sowie für ein nachfolgendes schweissverfahren dazu |
CN114937388B (zh) * | 2022-04-08 | 2023-03-24 | 郑州科慧科技股份有限公司 | 一种工业机器人高仿焊接模拟教学装置及模拟焊接方法 |
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2018
- 2018-10-17 JP JP2018195554A patent/JP6863944B2/ja active Active
-
2019
- 2019-10-07 US US16/594,296 patent/US20200125062A1/en active Pending
- 2019-10-10 DE DE102019127385.4A patent/DE102019127385A1/de active Pending
- 2019-10-14 CN CN201910972966.4A patent/CN111055046B/zh active Active
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JPH01181977A (ja) * | 1988-01-14 | 1989-07-19 | Matsushita Electric Ind Co Ltd | 自動位置補正方法 |
JP2001300724A (ja) * | 2000-04-18 | 2001-10-30 | Daihatsu Motor Co Ltd | アーク溶接方法 |
JP2011088177A (ja) * | 2009-10-21 | 2011-05-06 | Fanuc Ltd | 溶接ワーク位置検出方法 |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN113634871A (zh) * | 2021-08-16 | 2021-11-12 | 上海发那科机器人有限公司 | 基于离线编程的机器人搅拌摩擦焊轨迹规划方法 |
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US20200125062A1 (en) | 2020-04-23 |
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JP6863944B2 (ja) | 2021-04-21 |
DE102019127385A1 (de) | 2020-04-23 |
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