JP2021094581A - アーク溶接ロボットシステム - Google Patents
アーク溶接ロボットシステム Download PDFInfo
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- JP2021094581A JP2021094581A JP2019228142A JP2019228142A JP2021094581A JP 2021094581 A JP2021094581 A JP 2021094581A JP 2019228142 A JP2019228142 A JP 2019228142A JP 2019228142 A JP2019228142 A JP 2019228142A JP 2021094581 A JP2021094581 A JP 2021094581A
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- 238000003466 welding Methods 0.000 title claims abstract description 145
- 230000005856 abnormality Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 description 3
- 238000010891 electric arc Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 230000006698 induction Effects 0.000 description 1
- 238000005304 joining Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
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Classifications
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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
- B23K9/16—Arc welding or cutting making use of shielding gas
- B23K9/173—Arc welding or cutting making use of shielding gas and of a consumable electrode
-
- 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
-
- 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
- B23K9/095—Monitoring or automatic control of welding parameters
- B23K9/0953—Monitoring or automatic control of welding parameters using computing means
-
- 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
- B23K9/095—Monitoring or automatic control of welding parameters
- B23K9/0956—Monitoring or automatic control of welding parameters using sensing means, e.g. optical
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- 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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- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
-
- 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
- G05B19/18—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
- G05B19/4155—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 programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
-
- 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
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Robotics (AREA)
- Automation & Control Theory (AREA)
- Theoretical Computer Science (AREA)
- Evolutionary Computation (AREA)
- Artificial Intelligence (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- General Physics & Mathematics (AREA)
- Arc Welding Control (AREA)
Abstract
Description
2 ロボット
3 アーク溶接機
3a アーク溶接電源
3b 溶接トーチ
3c 溶接ワイヤ
4 ロボット制御装置
5 パラメータ保持装置
6 溶接対象物
7 溶接治具
Claims (5)
- ロボットとアーク溶接機とからなるアーク溶接ロボットシステムにおいて、
ロボット制御装置と、
前記ロボット制御装置と前記アーク溶接機の両方、または、いずれか一方に設けられたパラメータ保持装置と、を備え、
溶接対象物の構成ごとに、溶接回路のインピーダンス及びインダクタンスを予め取得して前記パラメータ保持装置に保存し、
前記ロボット制御装置が、溶接対象物の構成に応じて、前記パラメータ保持装置に保存されている前記インピーダンス及びインダクタンスに基づいて前記溶接対象物の溶接制御を行う、
アーク溶接ロボットシステム。 - 前記アーク溶接機に設けられた前記パラメータ保持装置が複数の前記パラメータを保持し、前記アーク溶接機が前記パラメータに応じた溶接制御を行う場合に、前記ロボット制御装置が使用する前記パラメータを指定して溶接制御を行い、
前記アーク溶接機が複数の前記パラメータを保持せず、単一の前記パラメータに応じた溶接制御を行う場合に、前記ロボット制御装置に設けられた前記パラメータ保持装置が複数の前記パラメータを保持し、使用するパラメータを前記アーク溶接機に送って溶接制御を行う、
請求項1に記載のアーク溶接ロボットシステム。 - 前記ロボット制御装置が複数のパラメータを保持し、前記アーク溶接機が前記パラメータに応じた溶接制御を行わない場合、前記ロボット制御装置が使用するパラメータに基づく最適な溶接指令値として、溶接電流値、溶接電流波形のピーク値、ベース値等を算出し、その値を前記アーク溶接機へ送って溶接制御を行う、
請求項1に記載のアーク溶接ロボットシステム。 - 前記パラメータ保持装置は、前記溶接回路のインピーダンス及びインダクタンスを定期的に取得して保存し、
前記アーク溶接ロボットシステムは、前記パラメータ保持装置に保存されている前記インピーダンス及びインダクタンスに一定値以上の差異が発生した場合に、前記溶接回路に異常が有ると判断する異常判断部をさらに備える、請求項1から3いずれかに記載のアーク溶接ロボットシステム。 - 前記パラメータ保持装置に保存されている前記インピーダンス及びインダクタンスは、溶接時に取得したものであるか、または非溶接時に前記ロボットを移動させて前記アーク溶接機が備える溶接ワイヤの先端を前記溶接対象物に接触させて取得したものである、請求項1から4いずれかに記載のアーク溶接ロボットシステム。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019228142A JP7339147B2 (ja) | 2019-12-18 | 2019-12-18 | アーク溶接ロボットシステム |
DE102020214588.1A DE102020214588A1 (de) | 2019-12-18 | 2020-11-19 | Bogenschweiss-robotersystem |
US17/100,727 US20210187647A1 (en) | 2019-12-18 | 2020-11-20 | Arc welding robot system |
CN202011489226.4A CN113000983A (zh) | 2019-12-18 | 2020-12-16 | 电弧焊接机器人*** |
Applications Claiming Priority (1)
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JP2019228142A JP7339147B2 (ja) | 2019-12-18 | 2019-12-18 | アーク溶接ロボットシステム |
Publications (2)
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JP2021094581A true JP2021094581A (ja) | 2021-06-24 |
JP7339147B2 JP7339147B2 (ja) | 2023-09-05 |
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JP2019228142A Active JP7339147B2 (ja) | 2019-12-18 | 2019-12-18 | アーク溶接ロボットシステム |
Country Status (4)
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---|---|
US (1) | US20210187647A1 (ja) |
JP (1) | JP7339147B2 (ja) |
CN (1) | CN113000983A (ja) |
DE (1) | DE102020214588A1 (ja) |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012183566A (ja) * | 2011-03-07 | 2012-09-27 | Daihen Corp | 溶接システム及び溶接用電源装置 |
JP2013116500A (ja) * | 2011-10-31 | 2013-06-13 | Daihen Corp | 溶接システム及び制御装置 |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5196668A (en) * | 1988-11-17 | 1993-03-23 | Honda Giken Kogyo Kabushiki Kaisha | DC resistance welding apparatus |
SE525419C2 (sv) * | 2003-06-13 | 2005-02-15 | Abb Ab | Metod för avstämning av ett system för bågsvetsning samt bågsvetssystem, datorprogramprodukt och datorläsbart medium |
US7683290B2 (en) * | 2006-05-12 | 2010-03-23 | Lincoln Global, Inc. | Method and apparatus for characterizing a welding output circuit path |
JP5756297B2 (ja) * | 2011-01-27 | 2015-07-29 | 株式会社ダイヘン | 溶接用電源装置及び溶接機 |
JP5756298B2 (ja) * | 2011-01-27 | 2015-07-29 | 株式会社ダイヘン | 溶接用電源装置及び溶接機 |
JP5901921B2 (ja) * | 2011-09-29 | 2016-04-13 | 株式会社ダイヘン | 溶接用電源装置 |
JP5868712B2 (ja) * | 2012-01-20 | 2016-02-24 | 株式会社ダイヘン | 溶接用電源装置 |
US10071434B2 (en) * | 2012-05-17 | 2018-09-11 | Lincoln Global, Inc. | Intelligent waveform selection for a welding system having particular electrical output characteristics |
DE102013221273A1 (de) * | 2013-10-21 | 2015-04-23 | Robert Bosch Gmbh | Verfahren zum Überwachen und Regeln einer Qualität von Schweißpunkten |
US10747393B2 (en) * | 2016-10-03 | 2020-08-18 | Lincoln Global, Inc. | User interface with real time pictograph representation of parameter settings |
JP6572281B2 (ja) * | 2017-10-06 | 2019-09-04 | ファナック株式会社 | スポット溶接システム |
-
2019
- 2019-12-18 JP JP2019228142A patent/JP7339147B2/ja active Active
-
2020
- 2020-11-19 DE DE102020214588.1A patent/DE102020214588A1/de active Pending
- 2020-11-20 US US17/100,727 patent/US20210187647A1/en active Pending
- 2020-12-16 CN CN202011489226.4A patent/CN113000983A/zh active Pending
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012183566A (ja) * | 2011-03-07 | 2012-09-27 | Daihen Corp | 溶接システム及び溶接用電源装置 |
JP2013116500A (ja) * | 2011-10-31 | 2013-06-13 | Daihen Corp | 溶接システム及び制御装置 |
Also Published As
Publication number | Publication date |
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US20210187647A1 (en) | 2021-06-24 |
CN113000983A (zh) | 2021-06-22 |
JP7339147B2 (ja) | 2023-09-05 |
DE102020214588A1 (de) | 2021-06-24 |
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