JP2502533B2 - Welding robot with sensor - Google Patents
Welding robot with sensorInfo
- Publication number
- JP2502533B2 JP2502533B2 JP61182150A JP18215086A JP2502533B2 JP 2502533 B2 JP2502533 B2 JP 2502533B2 JP 61182150 A JP61182150 A JP 61182150A JP 18215086 A JP18215086 A JP 18215086A JP 2502533 B2 JP2502533 B2 JP 2502533B2
- Authority
- JP
- Japan
- Prior art keywords
- welding
- sensor
- weaving
- robot
- gap
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Classifications
-
- 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
- B23K9/1274—Using non-contact, optical means, e.g. laser means
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Optics & Photonics (AREA)
- Geometry (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Manipulator (AREA)
Description
【発明の詳細な説明】 産業上の利用分野 本発明はセンサ付溶接ロボットに関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding robot with a sensor.
従来の技術 近年、溶接ロボットは位置ずれや寸法精度の出ない被
溶接物（以後、溶接ワークという）に対処するためのセ
ンサを付けるようになってきた。センサとしてはアーク
センサと光学センサが主要なものである。アークセンサ
はウィービング溶接をしながらアーク電流や電圧の変動
から溶接線位置を検出して中厚板の溶接ワークの溶接線
を倣うものである。また従来の光学センサはスポット光
やスリット光を溶接ワークに投光することによって形状
を得，その形状から溶接線位置を検出するもので，薄板
にも適用できる。2. Description of the Related Art In recent years, welding robots have come to be equipped with a sensor for coping with an object to be welded (hereinafter referred to as a welded work) that does not have positional deviation or dimensional accuracy. Arc sensors and optical sensors are major sensors. The arc sensor detects the welding line position from the fluctuations of the arc current and voltage while weaving welding, and follows the welding line of the welded work of the medium thickness plate. Further, the conventional optical sensor obtains a shape by projecting spot light or slit light onto the welding work and detects the welding line position from the shape, and can be applied to thin plates.
発明が解決しようとする問題点 アークセンサの場合はアーク電流や電圧の変動の小さ
い薄板の溶接ワークに適用できず，また，ウィービング
無しのストレートのきれいな溶接ビードを形成できない
等の問題があり，その適用範囲が狭かった。Problems to be Solved by the Invention In the case of an arc sensor, there are problems that it cannot be applied to thin-plate welded work with small fluctuations in arc current and voltage, and that a straight and clean weld bead without weaving cannot be formed. The applicable range was narrow.
また従来の光学センサの場合は溶接線位置を検出して
倣ってストレートの比較的幅の狭い溶接ビードを形成す
るので，ギャップ部で強度のある正常な溶接ができない
場合があり、後工程で検査をし，手直しが必要であっ
た。In the case of the conventional optical sensor, the welding line position is detected and a straight weld bead with a relatively narrow width is formed. It was necessary to rework.
問題点を解決するための手段 上記の問題点を解決するために，本発明は溶接線の位
置とギャップ幅を検出する光学センサと，検出したギャ
ップ幅の大きさに対応してウィービング溶接およびウィ
ービング幅の大きさ、またはストレート溶接を決定する
第１の手段と，この第１の手段により決定したウィービ
ング幅に基づいてウィービングする第２の手段を備えて
なるものである。Means for Solving the Problems In order to solve the above problems, the present invention provides an optical sensor for detecting the position of a welding line and a gap width, and weaving welding and weaving corresponding to the detected gap width. The first means for determining the size of the width or the straight welding and the second means for weaving based on the weaving width determined by the first means are provided.
作用 溶接線のギャップのある所はウィービングをしてビー
ド幅の広い溶接を行なうことにより強度のある正常な溶
接を可能とする。Function Welding is performed where there is a gap in the welding line, and welding with a wide bead width enables strong and normal welding.
実施例 本発明の一実施例を第１図，第２図，第３図により説
明する。第１図，第２図，第３図はそれぞれ本実施例に
よるセンサ付溶接ロボットの要部斜視図，光学センサの
検出した形状図，センサデータの処理を行なう制御装置
のブロック図である。第１図において,1は光学距離計,1
aは投光部,1bは受光部,2は光学センサを振るための揺動
機構,3は揺動するためのステッピングモータ,4は重ね継
手ワーク,5は距離測定部,5aはスポット光,6は重ね継手
ワーク４の溶接線,7は溶接トーチ,8は溶接ビード,9は溶
接トーチホルダ,10は取付ベース,11はロボットの手首回
転部,12はセンサ制御部,13はロボット制御部,14はロボ
ット本体である。上記のように構成されたセンサ付溶接
ロボットの動作を下記に説明する。投光部1aからスポッ
ト光5aを重ね継手ワーク４の表面上に投光し，受光部1b
でその反射光を受光し，受光素子上の像の結像位置から
距離を検出する光学距離計１はステッピングモータ３に
より揺動機構２を介して溶接トーチ７の回りに揺動回転
し，溶接線６を横切る距離測定部５の距離データを一定
間隔0.1mmまたは0.2mmごとに順次得ると第２図に示すよ
うな形状が得られる。第２図のａはギャップのない部
分,bとｃはギャップのある部分の溶接線形状であり，第
３図のセンサ制御部12の認識部12aでマイコンにより溶
接線位置P1またはP2またはP3を走査位置と距離の座標と
して得る。溶接線位置P1とP3は距離データの差分をとる
ことにより特徴点として得られ，P2はギャップ部からの
反射による受光量が少ないために正しく距離が検出でき
ない点であるので特徴点O2を検出し、その後の２直線を
求めてその交点として得る。ギャップ幅はｂの場合は受
光量の少ないデータ数をもとに検出し,cの場合は溶接線
位置近傍で距離データの変化が大きいので差分の値の大
きいもののデータ数より検出できる。Embodiment An embodiment of the present invention will be described with reference to FIGS. 1, 2 and 3. FIG. 1, FIG. 2, and FIG. 3 are a perspective view of a main part of a welding robot with a sensor according to this embodiment, a shape diagram detected by an optical sensor, and a block diagram of a control device for processing sensor data. In Fig. 1, 1 is an optical rangefinder, 1
a is a light emitting unit, 1b is a light receiving unit, 2 is a swing mechanism for swinging the optical sensor, 3 is a stepping motor for swinging, 4 is a lap joint work, 5 is a distance measuring unit, 5a is spot light, 6 is the welding line of the lap joint work 4, 7 is the welding torch, 8 is the welding bead, 9 is the welding torch holder, 10 is the mounting base, 11 is the robot's wrist rotating part, 12 is the sensor control part, 13 is the robot control part, 14 is a robot body. The operation of the welding robot with a sensor configured as described above will be described below. Spot light 5a is emitted from the light emitting portion 1a onto the surface of the lap joint work 4 and is received by the light receiving portion 1b.
The optical range finder 1 which receives the reflected light and detects the distance from the image forming position on the light receiving element is oscillated and rotated around the welding torch 7 by the stepping motor 3 through the oscillating mechanism 2 to perform welding. When the distance data of the distance measuring unit 5 that crosses the line 6 is sequentially obtained at regular intervals of 0.1 mm or 0.2 mm, a shape as shown in FIG. 2 is obtained. 2 shows a weld line shape of a portion without a gap and b and c with a gap portion, and the weld line position P 1 or P 2 or by the microcomputer in the recognition unit 12a of the sensor control unit 12 of FIG. Get P 3 as coordinates of scan position and distance. Welding line positions P 1 and P 3 are obtained as feature points by taking the difference of the distance data, and P 2 is the point where the distance cannot be detected correctly because the amount of received light due to reflection from the gap is small. 2 is detected, and the two subsequent straight lines are obtained and obtained as the intersection. In the case of b, the gap width is detected on the basis of the number of data having a small amount of received light, and in the case of c, the change in the distance data is large in the vicinity of the welding line position, so that the gap value can be detected from the number of data although the difference value is large.
またｂとｃは同じ方向に傾いた２直線の距離から得る
こともできる。この時、スポット光5aのサイズ径は0.5m
m以下の方が検出精度が良い。第３図において，センサ
制御部12の認識部12aで得た溶接線位置とギャップ幅を
ロボット制御部13のセンサからのデータ処理部13aに通
信し，そこでマイコンにより溶接線位置を現在位置計算
部13bからのロボットの位置データと合せてロボットの
一般座標系に変換し，さらにギャップ幅をあらかじめマ
イコンの処理プログラムに登録した定数（一例0.5mm）
の何倍あるかでウィービング幅とウィービング速度等の
ウィービング条件をテーブルから選択してメモリ13cに
格納する。ウィービング条件のテーブルでギャップ幅が
所定定数未満の時はウィービング無しの条件にしておく
ことによってギャップ幅によりウィービングの有無およ
びウィービング幅の大きさを決める。ロボットの現在位
置が、メモリ13cに格納された溶接線位置と一致すれば
次の溶接線位置のデータを動作位置計算部13dに現在位
置計算部13bに設けたマイコンにより送る。動作位置計
算部13dでは次の溶接線位置へ移動するための倣い量と
ウィービング量を計算して合成し，サーボ制御部13eに
データを送る。13eはロボット本体14を動作させる。Further, b and c can also be obtained from the distance between two straight lines inclined in the same direction. At this time, the spot light 5a has a size diameter of 0.5 m.
The detection accuracy is better when m or less. In FIG. 3, the welding line position and the gap width obtained by the recognizing unit 12a of the sensor control unit 12 are communicated to the data processing unit 13a from the sensor of the robot control unit 13, where the welding line position is calculated by the microcomputer as the current position calculation unit. A constant that was converted to the general coordinate system of the robot together with the robot position data from 13b, and the gap width was registered in advance in the processing program of the microcomputer (0.5 mm, for example).
The weaving conditions such as the weaving width and the weaving speed are selected from the table and stored in the memory 13c depending on how many times. In the table of weaving conditions, when the gap width is less than a predetermined constant, the condition without weaving is set to determine the presence or absence of weaving and the size of the weaving width according to the gap width. If the current position of the robot matches the welding line position stored in the memory 13c, the next welding line position data is sent to the operating position calculation unit 13d by the microcomputer provided in the current position calculation unit 13b. The operation position calculation unit 13d calculates and combines the scanning amount and the weaving amount for moving to the next welding line position, and sends the data to the servo control unit 13e. 13e operates the robot body 14.
なお溶接ワークとしては隅肉継手ワークや突き合せ継
手ワークでも同様に行なえる。It should be noted that, as the welding work, a fillet joint work or a butt joint work can be similarly performed.
また光学センサとしてはスリット光を投光しても同様
に行える。The same can be done by projecting slit light as the optical sensor.
発明の効果 以上説明したように本発明によれば，光学センサによ
り溶接線位置とギャップ幅を検出して倣いギャップがあ
る部分はウィービング溶接を行い、ギャップがない部分
はストレート溶接を行うことができるので薄板のギャッ
プのある溶接ワークに適用でき，強度のある正常な溶接
ができる。このため後工程での検査や手直しが非常に少
なくなる。EFFECTS OF THE INVENTION As described above, according to the present invention, the welding line position and the gap width are detected by the optical sensor, and the weaving welding can be performed on the portion having the scanning gap, and the straight welding can be performed on the portion having no gap. Therefore, it can be applied to welding work with a thin plate gap, and strong and normal welding can be performed. For this reason, the inspection and rework in the subsequent process are extremely reduced.
従って、適用範囲が拡がる。また、ギャップ幅が大き
い場合には異常なワークとして検出することもできる。
このように本発明の実用効果は大なるものがある。Therefore, the applicable range is expanded. Further, when the gap width is large, it can be detected as an abnormal work.
Thus, the practical effects of the present invention are great.
第１図は本発明によるセンサ付溶接ロボットの要部斜視
図、第２図は同ロボットの光学センサの検出した形状
図、第３図はセンサデータの処理を行なう制御装置のブ
ロック図である。 １……光学距離計、２……揺動機構、３……ステッピン
グモータ、４……重ね継手ワーク、５……距離測定部、
６……溶接線、７……溶接トーチ、８……溶接ビード、
12……センサ制御部、12a……認識部、13……ロボット
制御部、13a……センサからのデータ処理部、13b……現
在位置計算部、13e……サーボ制御部、14……ロボット
本体。FIG. 1 is a perspective view of a main part of a welding robot with a sensor according to the present invention, FIG. 2 is a shape diagram detected by an optical sensor of the robot, and FIG. 3 is a block diagram of a control device for processing sensor data. 1 ... Optical distance meter, 2 ... swing mechanism, 3 ... stepping motor, 4 ... lap joint work, 5 ... distance measuring unit,
6 ... Welding line, 7 ... Welding torch, 8 ... Welding bead,
12 ... Sensor control unit, 12a ... Recognition unit, 13 ... Robot control unit, 13a ... Sensor data processing unit, 13b ... Current position calculation unit, 13e ... Servo control unit, 14 ... Robot body .
Claims (1)
とウィービング機能を備えたセンサ付溶接ロボットであ
って、前記溶接線の位置とギャップ幅を検出する光学セ
ンサと、検出したギャップ幅の大きさに対応してウィー
ビング溶接およびウィービング幅の大きさ、またはスト
レート溶接を決定する第１の手段と、前記第１の手段に
より決定したウィービング幅に基づいてウィービングす
る第２の手段を備えたことを特徴とするセンサ付溶接ロ
ボット。1. A welding robot with a sensor for detecting a welding line position and a gap width and a sensor having a weaving function, wherein an optical sensor for detecting the position of the welding line and the gap width and a size of the detected gap width. And a second means for weaving based on the weaving width determined by the first means. A characteristic welding robot with a sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61182150A JP2502533B2 (en) | 1986-08-01 | 1986-08-01 | Welding robot with sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61182150A JP2502533B2 (en) | 1986-08-01 | 1986-08-01 | Welding robot with sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6340677A JPS6340677A (en) | 1988-02-22 |
| JP2502533B2 true JP2502533B2 (en) | 1996-05-29 |
Family
ID=16113230
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61182150A Expired - Lifetime JP2502533B2 (en) | 1986-08-01 | 1986-08-01 | Welding robot with sensor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2502533B2 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2791400B2 (en) * | 1996-07-30 | 1998-08-27 | 川崎重工業株式会社 | Consumable electrode type arc welding method and arc welding apparatus |
| KR20030078133A (en) * | 2002-03-28 | 2003-10-08 | 현대중공업 주식회사 | Vision sensor system which can adapt to a gap variation in SUS corrugation panel plasma welding system |
| JP2020015075A (en) * | 2018-07-26 | 2020-01-30 | ファナック株式会社 | Control device |
| CN113664357A (en) * | 2021-09-18 | 2021-11-19 | 湘潭大学 | System and method for measuring height difference between two thin plate electron beam welding plates |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5091559A (en) * | 1973-12-14 | 1975-07-22 | ||
| JPS513346A (en) * | 1974-06-28 | 1976-01-12 | Hitachi Ltd | JIDOYOSETSUKINOSEIGYOSOCHI |
| JPS6133774A (en) * | 1984-07-26 | 1986-02-17 | Toyota Motor Corp | Detection of gap of work in automatic arc welding |
| JPS61147978A (en) * | 1984-12-21 | 1986-07-05 | Mitsubishi Heavy Ind Ltd | Intelligence type welding device |
-
1986
- 1986-08-01 JP JP61182150A patent/JP2502533B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6340677A (en) | 1988-02-22 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |