JPH0252170A - Welding starting position detecting method for automatic welding equipment - Google Patents
Welding starting position detecting method for automatic welding equipmentInfo
- Publication number
- JPH0252170A JPH0252170A JP19994488A JP19994488A JPH0252170A JP H0252170 A JPH0252170 A JP H0252170A JP 19994488 A JP19994488 A JP 19994488A JP 19994488 A JP19994488 A JP 19994488A JP H0252170 A JPH0252170 A JP H0252170A
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- Prior art keywords
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- welding torch
- torch
- workpiece
- start position
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- 238000003466 welding Methods 0.000 title claims abstract description 206
- 238000000034 method Methods 0.000 title claims description 20
- 238000001514 detection method Methods 0.000 claims abstract description 31
- 230000033001 locomotion Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000005452 bending Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000004904 shortening Methods 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 230000035605 chemotaxis Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
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Abstract
Description
【発明の詳細な説明】
［産業上の利用分野コ
本発明は、予め定めた作業内容を再生動作する自動溶接
装置における消耗電極式溶接トーチにセンシング電圧を
印加し、この溶接トーチをセンサとして用いてワークを
検知しながら、溶接開始位置を検知する自動溶接装置の
溶接開始位置検知方法に関するものである。[Detailed Description of the Invention] [Industrial Field of Application] The present invention applies a sensing voltage to a consumable electrode type welding torch in an automatic welding device that reproduces predetermined work contents, and uses this welding torch as a sensor. The present invention relates to a welding start position detection method for an automatic welding device that detects a welding start position while detecting a workpiece.
［従来の技術］
消耗電極式溶接トーチ（以下、溶接トーチという）をセ
ンサとして用い、その溶接トーチから突出した消耗電極
（以下、ワイヤという）をワークに当接させて自動的に
溶接線を検知する手段が従来より用いられている（特公
昭５６−５６３４号公報参照）。[Prior art] A consumable electrode welding torch (hereinafter referred to as the welding torch) is used as a sensor, and the consumable electrode (hereinafter referred to as the wire) protruding from the welding torch is brought into contact with the workpiece to automatically detect the weld line. Conventionally, means to do this have been used (see Japanese Patent Publication No. 5634/1983).
［発明が解決しようとする課題］
しかしながら、この従来技術では、ワイヤ自体には余り
剛性が無く、ワイヤがワークに当接した時にたわんでし
まい、検知誤差が生じて適正な溶接開始位置を導き出せ
ない。[Problems to be Solved by the Invention] However, in this conventional technology, the wire itself does not have much rigidity and bends when it comes into contact with the workpiece, causing detection errors and making it impossible to derive an appropriate welding start position. .
本発明は、このようなｌｌ！題を解決しようとするもの
で、従来の溶接トーチから突出したあまり剛性の無いワ
イヤを用いても高精度で適正な溶接開始位置を検知でき
るようにした自動溶接装置の溶接開始位置検知方法を提
供することを目的とする。The present invention provides such ll! The present invention aims to solve this problem by providing a welding start position detection method for automatic welding equipment that can detect the appropriate welding start position with high accuracy even when using a wire that protrudes from a conventional welding torch and is not very rigid. The purpose is to
〔課題を解決するための手段］
上記目的を達成すべく１本発明の自動溶接装置の溶接開
始位置検知方法は、■通電検出手段にて通電状態を検出
することにより溶接トーチのワークに対する相対位置を
判別しながら、前記溶接トーチを定まった順序で移動さ
せ前記ワークに対する溶接狙い位置へ導いた後、■前記
溶接トーチを前記溶接狙い位置から前記溶接トーチの指
向方向へ所定距離だけ引き上げ、■その引き上げ位置で
の前記消耗電極のん端の位置情報を溶接開始位置として
取り込むことを特徴としている。[Means for Solving the Problems] In order to achieve the above object, a method for detecting a welding start position of an automatic welding device according to the present invention is as follows: (i) detecting the relative position of the welding torch with respect to the workpiece by detecting the energization state with the energization detection means; The welding torch is moved in a predetermined order and guided to the welding target position with respect to the work while determining the welding torch, and then: (1) the welding torch is pulled up a predetermined distance from the welding target position in the direction of the welding torch; The present invention is characterized in that the positional information of the top end of the consumable electrode at the pulled-up position is taken in as the welding start position.
［作 用］
上述した本発明の自動溶接装置の溶接開始位置検知方法
では、溶接トーチが、溶接狙い位置へ導かれた後、その
指向方向へ所定距離だけ引き上げられるので、ワイヤの
先端とワークとの間が、アークスタートに際して良好な
所定間隔だけあけられる。そして、溶接トーチの引き上
げ位置でのワイヤの先端の位置情報が、溶接開始位置と
して取り込まれるため、ワイヤの曲がり（たわみ）によ
る検知誤差が発生しない。[Function] In the welding start position detection method of the automatic welding device of the present invention described above, the welding torch is guided to the welding target position and then pulled up a predetermined distance in the pointing direction, so that the tip of the wire and the workpiece are A good predetermined distance is left between the two ends at the time of arc starting. Since the positional information of the tip of the wire at the raised position of the welding torch is taken as the welding start position, detection errors due to bending (deflection) of the wire do not occur.
［発明の実施例］
以下、図面により本発明の自動溶接装置の溶接開始位置
検知方法の実施例について説明するに先立ち、まず、第
３図により、本発明の方法に適用される自動溶接装置の
１種であるアーク溶接ロボットの構成を説明する。[Embodiments of the Invention] Before describing embodiments of the welding start position detection method of an automatic welding device of the present invention with reference to the drawings, first, FIG. The configuration of one type of arc welding robot will be explained.
第３図に示すように、多関節型のアーク溶接ロボット１
の手首部１ａには、溶接トーチ２が取り付けられその位
置と姿勢が制御されるようになっている。この制御は、
ロボット制御盤３もしくはこのロボット制御盤３に付属
するティーチングボックス４にて行なわれる。また、溶
接１−一千２には、ワイヤが供給され、溶接を実行する
溶接条件に従い溶接トーチ２から送給される。As shown in Figure 3, an articulated arc welding robot 1
A welding torch 2 is attached to the wrist portion 1a of the user, and its position and posture are controlled. This control is
This is performed on the robot control panel 3 or the teaching box 4 attached to the robot control panel 3. Further, wire is supplied to welding 1 to 1,22 and is fed from the welding torch 2 according to the welding conditions for performing the welding.
そして、溶接トーチ２をセンサとして用いるべく、溶接
トーチ２とワーク７との間に溶接電圧とセンシング電圧
とを選択的に印加する溶接電源６には、センシング用電
源（図示せず）がそなえられている。ワイヤとワーク７
との接触による通電状態は、ロボット制御盤３内の通電
検出手段（図示せず）によって検知される。なお、ワー
ク７は、ポジショナ８により溶接ロボット１に対して姿
勢制御される。In order to use the welding torch 2 as a sensor, the welding power source 6 that selectively applies a welding voltage and a sensing voltage between the welding torch 2 and the workpiece 7 is equipped with a sensing power source (not shown). ing. Wire and work 7
The energization state due to contact with is detected by energization detection means (not shown) in the robot control panel 3. Note that the posture of the workpiece 7 is controlled with respect to the welding robot 1 by a positioner 8.
なお、アーク溶接ロボット１によるワーク７への溶接作
業は、予めその溶接作業内容を教示（ティーチング）し
ておき、ロボット制御盤３の記憶装置に記憶されたプロ
グラムに従って再生動作される。その教示は、ティーチ
ングボックス４を用い手動操作によって溶接トーチ２と
ワーク７とを相対的に位置制御し、例えば次のような手
順（ａ）〜（ｅ）に沿って行なわれる。The arc welding robot 1 performs the welding work on the workpiece 7 by teaching the contents of the welding work in advance, and reproduces the welding work according to a program stored in the storage device of the robot control panel 3. The teaching is performed by manually controlling the relative positions of the welding torch 2 and the workpiece 7 using the teaching box 4, and following, for example, the following steps (a) to (e).
（ａ）退避位置〔第２図（ａ）、（ｂ）および第５図の
位置Ｐ０参照〕まで溶接トーチ２を移動させてその位置
を記憶させる。(a) Move the welding torch 2 to the retracted position (see position P0 in FIGS. 2(a) and (b) and FIG. 5) and store that position.
（ｂ）溶接トーチ２より所定長さ突出したワイヤ先端を
、ワーク７における溶接線の溶接狙い位置〔第２図（ａ
）、（ｂ）および第５図の位置ＰＣ参照〕まで移動させ
、この位置を記憶させる。(b) Move the tip of the wire protruding a predetermined length from the welding torch 2 to the welding target position of the welding line on the workpiece 7 [Fig.
), (b) and position PC in FIG. 5] and store this position.
（Ｃ）この位置ＰＣにおいて、センシング開始指令と、
ワーク７の開先形状に応したセンシング動作の種類（例
えば、水平隅肉継手の場合は第１図に示すフローチャー
トに従うプログラム、Ｖ形開先継手の場合は第４図に示
すフローチャートに従うプログラム等として予め教示・
記憶されている）と、溶接条件とを設定する。(C) At this position PC, a sensing start command is issued,
The type of sensing operation depending on the groove shape of the workpiece 7 (for example, a program that follows the flowchart shown in Figure 1 for a horizontal fillet joint, a program that follows the flowchart shown in Figure 4 for a V-shaped groove joint, etc.) Teach in advance/
(memorized) and welding conditions.
（ｄ）続いて、必要であれば溶接線の溶接中間位置を記
憶させ、最後に溶接終了位置を記憶させてクレータ処理
条件を設定する。(d) Subsequently, if necessary, the welding intermediate position of the welding line is memorized, and finally the welding end position is memorized to set crater treatment conditions.
（ｅ）その後に、溶接終了後の溶接トーチ２の退避位置
を記憶させ、他の溶接線がワーク７にあれば、同じ教示
を行なっていく。(e) After that, the retracted position of the welding torch 2 after welding is completed is memorized, and if there is another welding line on the workpiece 7, the same teaching is performed.
さて、次に第１〜３図により本発明の第１実施例として
の溶接開始位置検知方法について説明する。この第１実
施例では１本発明の方法を、第２図（ａ）、（ｂ）に示
すような水平隅肉継手の溶接に適用する。Next, a method for detecting a welding start position as a first embodiment of the present invention will be explained with reference to FIGS. 1 to 3. In this first embodiment, the method of the present invention is applied to welding a horizontal fillet joint as shown in FIGS. 2(a) and 2(b).
第２図（ａ）、（ｂ）に示す継手は、互いに直交する部
材７ａ、７ｂからなり、Ｐｃは教示した溶接開始位置（
溶接狙い位置）を示す。破線で示した水平隅肉継手が教
示の時の位置で、第２図（ａ）は、次のワークの水平隅
肉継手が実線で示すように−Ｙ力方向つ＋Ｚ力方向ずれ
た場合の、溶接トーチ２の移動状態の例を説明するため
の図であり、第２図（ｂ）は１次のワークの水平隅肉継
手が実線で示すように＋Ｙ力方向つ一２方向にずれた場
合の、溶接トーチ２の移動状態の例を説明するための図
である。The joint shown in FIGS. 2(a) and 2(b) consists of members 7a and 7b orthogonal to each other, and Pc is the taught welding start position (
(target welding position). The horizontal fillet joint shown by the broken line is the position at the time of teaching, and Fig. 2 (a) shows the position when the horizontal fillet joint of the next workpiece is shifted in the -Y force direction and +Z force direction as shown by the solid line. , is a diagram for explaining an example of the moving state of the welding torch 2, and in FIG. 2(b), the horizontal fillet joint of the primary workpiece is shifted in two directions, one in the +Y force direction and the other as shown by the solid line. FIG. 3 is a diagram for explaining an example of the moving state of the welding torch 2 in the case of FIG.
（１）まず始めに、ティーチングデータに基づき溶接ト
ーチ２が、教示した退避位［Ｐ、に位置決めされ（ステ
ップＳＬ）、次いで、溶接開始位置ｐｃよりも約１０ｍ
ｍだけ４５°斜め上方（指向方向）の位置Ｐｃ′ を演
算して位置決めされる（ステップＳ２）。(1) First, based on the teaching data, the welding torch 2 is positioned at the taught retracted position [P (step SL), and then about 10 m from the welding start position pc.
The position is determined by calculating a position Pc' diagonally upward (direction direction) by 45° by m (step S2).
（２）その位［Ｐｃ’ に位置決めされると、教示され
たセンシング開始指令によりセンシング電圧が溶接トー
チ２に印加され、教示値［ｔ２Ｐｃの方向（４５°斜め
下方）へ移動する（ステップＳ３）。(2) Once positioned at that point [Pc', a sensing voltage is applied to the welding torch 2 according to the taught sensing start command, and the welding torch 2 moves in the direction of the taught value [t2Pc (45° diagonally downward) (Step S3) .
（３）この下降の間に通電検出手段からの通電検出出力
の有無を判定する（ステップＳ４）。通電検出出力が有
るまで、ステップＳ３による移動を続行する。このよう
にして、その出力が得られた時点で、部材７ｂもしくは
７ａ上の位置Ｐ０が検知される。(3) During this lowering, it is determined whether there is an energization detection output from the energization detection means (step S4). The movement in step S3 is continued until there is an energization detection output. In this way, the position P0 on member 7b or 7a is detected at the time the output is obtained.
（４）位置Ｐ１の検知後、溶接トーチ２を、＋Ｚ力方向
所定距離（数ｌｌ１１程）だけ移動させて位置Ｐ２へ配
置しくステップＳ５）、この位置点Ｐ２において１通電
検出手段からの通電検出出力の有無を判定する（ステッ
プＳ６）％通電検出出力が無いと判定された場合には１
部材７ｂをまず検知したと認識して、ステップＳ７に進
む一方、出力有りと判定された場合には、部材７ａを検
知したと認識して、ステップＳＩＯに進む。(4) After detecting the position P1, move the welding torch 2 by a predetermined distance (approximately several 11) in the +Z force direction and place it at the position P2 (Step S5), and at this position P2, the energization detection means detects the energization. Determine the presence or absence of output (step S6) If it is determined that there is no % energization detection output, 1
It is recognized that the member 7b has been detected first, and the process proceeds to step S7. On the other hand, if it is determined that there is an output, it is recognized that the member 7a has been detected, and the process proceeds to step SIO.
（５）ステップＳ６にて通電検出出力が無い、即ち部材
７ｂをまず検知したとの認識から、続いて溶接トーチ２
を−Ｙ力方向ま部材７ａを探しに水平移動させて（ステ
ップＳ７）、部材７ａを検知する（ステップＳ８）、そ
して、溶接トーチ２を１位置Ｐ３から−Ｚ方向へ距ｍΣ
コζＣ数ｍｍ程）だけ移動させる（ステップＳ９）、に
れにより、溶接トーチ２は、教示した溶接開始位［Ｐｃ
に対応する現在のワーク７に対する溶接狙い位置Ｐ、に
到達する。(5) Since there is no energization detection output in step S6, that is, it is recognized that the member 7b is detected first, the welding torch 2
is horizontally moved in the -Y force direction to find the member 7a (step S7), the member 7a is detected (step S8), and the welding torch 2 is moved from the 1st position P3 to the -Z direction by a distance mΣ
The welding torch 2 is moved by the taught welding starting position [Pc
The welding target position P for the current workpiece 7 corresponding to is reached.
（６）一方、ステップＳ６にて通電検出出力が有る、即
ち、部材７ａをまず検知したとの認識から。(6) On the other hand, it is recognized that there is an energization detection output in step S6, that is, the member 7a is detected first.
溶接トーチ２を、＋Ｙ力方向まり部材７ａから離れる方
向へ所定距離（数ｌ程）だけ水平移動させて位置Ｐ、に
配置する（ステップ５１０）。その後、溶接トーチ２を
−Ｚ力方向まり部材７ｂを探しに垂直移動させて（ステ
ップ５１１）、部材７ｂを検知する（ステップ５１２）
、そして。The welding torch 2 is horizontally moved by a predetermined distance (about several liters) in the direction away from the +Y force direction binding member 7a and placed at position P (step 510). Thereafter, the welding torch 2 is vertically moved in the -Z force direction to search for the stuck member 7b (step 511), and the member 7b is detected (step 512).
,and.
溶接トーチ２を１位ｒｌ Ｐ ７から−Ｙ力方向乳腫「
フξ（数ａｎ程）だけ移動させる（ステップ５１３）、
これにより、溶接トーチ２は、教示した溶接開始位１！
Ｐ ｃに対応する現在のワーク７に対する溶接狙い位
置Ｐ４に到達する。Welding torch 2 from 1st position rl P 7 to -Y force direction mastoma'
Move by ξ (about several an) (step 513),
As a result, the welding torch 2 moves to the taught welding start position 1!
The welding target position P4 for the current workpiece 7 corresponding to Pc is reached.
（７）このようにして、溶接トーチ２が、定まった順序
で移動しながら溶接狙い位置Ｐ、へ導かれた後、この溶
接トーチ２を、その指向方向つまり４５°斜め上方へ向
けて２ｍｍだけ引き上げる（ステップ５１４）、そして
、この引き上げ位置でのワイヤ先端の位置Ｐ、を、溶接
開始位置として取り込んで記憶しくステップＳ １５）
、この位置Ｐ、のデータとティーチングデータＰ。どの
差Δを演算して記憶する（ステップ８１６）。(7) In this way, after the welding torch 2 is guided to the welding target position P while moving in a predetermined order, the welding torch 2 is directed in its direction, that is, 45 degrees diagonally upward, by 2 mm. Then, the position P of the wire tip at this pulled-up position is taken as the welding start position and stored in step S15).
, this position P, data and teaching data P. Which difference Δ is calculated and stored (step 816).
（８）以上の操作により溶接トーチ２を、適正な溶接開
始位置（詳細については後述する）である位置Ｐ４に移
動させた後は、演算・記憶された差Δに基づき、以降の
ティーチングデータを修正して（ステップ５１７）、水
平隅肉継手の溶接線に沿った溶接を行なう。(8) After the welding torch 2 has been moved to position P4, which is the appropriate welding start position (details will be described later), the subsequent teaching data is calculated and stored based on the calculated and stored difference Δ. After correction (step 517), welding is performed along the weld line of the horizontal fillet joint.
なお、上記説明では、ワーク７のずれ方向を判別するた
めに、ステップＳ５において溶接トーチ２を＋Ｚ力方向
移動させたが、溶接トーチ２を＋Ｙ力方向移動させるこ
とによっても判別は可能である。In the above description, the welding torch 2 is moved in the +Z force direction in step S5 in order to determine the direction of displacement of the workpiece 7, but the determination can also be made by moving the welding torch 2 in the +Y force direction.
以上のように１本発明の第１実施例では、ステップＳ１
４．Ｓ１５において、溶接狙い位置Ｐ４へ導かれた溶接
トーチ２を、その指向方向へ２ｍｓだけ引き上げ、その
位置を溶接開始位置とするので、ワイヤの先端とワーク
７との間が、アークスタートに際して良好な所定間隔だ
けあけられる。As described above, in the first embodiment of the present invention, step S1
4. In S15, the welding torch 2 guided to the welding target position P4 is raised for 2 ms in the pointing direction, and that position is set as the welding start position, so that there is a good distance between the tip of the wire and the workpiece 7 at the time of arc start. Can be spaced at specified intervals.
記憶再生動作する溶接ロボット１は、溶接トーチ２より
所定長さ突出したワイヤ先端を位置制御ポイントとし、
溶接中のワイヤ突出長さを一定にして、設定された溶接
条件で溶接させることにしているが、溶接電源６による
ワイヤ突出長さ一定化制御により、溶接終了後には２ｍ
ｍ程短＜１３ｍｍだけ突出した状態となる。このため、
前述のように。The welding robot 1 that performs memory replay operation uses the tip of the wire that protrudes a predetermined length from the welding torch 2 as a position control point.
The wire protrusion length during welding is kept constant and welding is performed under the set welding conditions, but the wire protrusion length constant control by the welding power source 6 causes the wire protrusion length to be constant after welding is completed.
It will be in a state where it protrudes by a distance of about m < 13 mm. For this reason,
As aforementioned.
溶接狙い位置Ｐ、到達後、溶接トーチ２を２ｍｌ１１だ
け引き上げた位置Ｐ、は、実質的にセンシング後の適正
溶接開始位置となるのである。The welding target position P, the position P where the welding torch 2 is pulled up by 2 ml11 after reaching the position P, is substantially the proper welding start position after sensing.
また、溶接トーチ２の引き上げ位置Ｐ、でのワイヤの先
端の位置情報を、ステップＳ１５にて溶接開始位置とし
て取り込むため、ワイヤの曲がり（たわみ）による検知
誤差も発生しない。Further, since the positional information of the tip of the wire at the pulled-up position P of the welding torch 2 is taken in as the welding start position in step S15, detection errors due to bending (deflection) of the wire do not occur.
次に、第１図のステップＳ３．Ｓ８およびＳ１２で実行
されるセンシング動作（ワーク７の検知動作）を、上述
のようなアーク溶接ロボット１を用いて行なう場合、従
来のセンシング動作の際の移動速度は、常時６０】／分
程度であった。Next, step S3 in FIG. When the sensing operation (detection operation of the workpiece 7) performed in S8 and S12 is performed using the arc welding robot 1 as described above, the moving speed during the conventional sensing operation is always about 60]/min. there were.
ただし、アーク溶接ロボット１が溶接する１つのワーク
には数多くの溶接線があり、この溶接線毎のセンシング
所要時間が１つのワークの溶接作業を完了する所要時間
に占める割合はかなり大きく、センシング所要時間の短
縮は溶接作業所要時間の短縮につながる。そこで、セン
シング所要時間を短縮できる方法にて別の溶接継手に本
発明の方法を適用した実施例の説明をする。However, one workpiece to be welded by the arc welding robot 1 has many welding lines, and the time required for sensing each welding line accounts for a large proportion of the time required to complete welding work on one workpiece. Shortening the time leads to shortening the time required for welding work. Therefore, an example will be described in which the method of the present invention is applied to another welded joint in a manner that can shorten the sensing time.
第４図により本発明の第２実施例としての溶接開始位置
検知方法について説明する。この第２実施例では、本発
明の方法を、第５図に示すような下向きＶ形開先継手の
溶接に適用する。A welding start position detection method as a second embodiment of the present invention will be explained with reference to FIG. In this second embodiment, the method of the invention is applied to welding a downward V-shaped groove joint as shown in FIG.
第５図において、ｐｃは教示した溶接開始位置を示し、
破線で示したＶ形開先継手が教示の時の位置であり、こ
の第５図は、次のワークのＶ形開先継手が実線で示すよ
うに−Ｙ方向にずれた場合の、溶接トーチ２の移動状態
の例を説明するための図である。In FIG. 5, pc indicates the taught welding start position,
The V-shaped groove joint shown by the broken line is the teaching position, and Fig. 5 shows the position of the welding torch when the V-shaped groove joint of the next workpiece is shifted in the -Y direction as shown by the solid line. FIG. 2 is a diagram for explaining an example of movement state No. 2;
（１）まず始めに、ティーチングデータに基づき溶接ト
ーチ２を教示した退避位置Ｐ０へ位置決めしくステップ
Ｂｌ）、続いて溶接開始位置ｐｃより約１０ｍｍ上方の
位［Ｐｃ’ を演算して溶接トーチ２を位置決めする（
ステップＢ２）。(1) First, based on the teaching data, position the welding torch 2 to the taught retreat position P0 (Step Bl), then calculate the position [Pc' approximately 10 mm above the welding start position pc, and move the welding torch 2 to the taught retreat position P0. Position (
Step B2).
（２）位置Ｐｃ′ に位置決めされると、教示されたセ
ンシング開始指令によりセンシング電圧が溶接トーチ２
に印加され、教示位置ｐｃに向かって高速で下降する（
ステップＢ３）。(2) When the welding torch 2 is positioned at the position Pc', the sensing voltage is increased by the taught sensing start command.
is applied and descends at high speed toward the teaching position pc (
Step B3).
（３）この下降の間に通電検出手段からの通電検出出力
の有無を判定する（ステップＢ４）０通電検出出力が有
れば、２ｒＲ１１程溶接トーチ２を引き上げてから（ス
テップＢ５）、予め入力した＋Ｙ力方向移動する（ステ
ップＢ６）。そして、部材７ａ上の点Ｐ１□を検知しく
ステップＢ７）、その時の溶接トーチ２の位Ｋ Ｐ １
□を記憶する（ステップＢ８）。(3) During this lowering, determine whether there is an energization detection output from the energization detection means (step B4). If there is a 0 energization detection output, raise the welding torch 2 by about 2rR11 (step B5), and then input the It moves in the +Y force direction (step B6). Then, in step B7), the point P1□ on the member 7a is detected, and the position of the welding torch 2 at that time is K P 1
□ is stored (step B8).
（４）次いで、溶接トーチ２を−Ｙ力方向高速で水平移
動させて（ステップＢ９）、部材７ｂを検知する（ステ
ップＢ１０）。溶接トーチ２が位置Ｐ１□に到達したと
判断して、この位Ｗ ｐ １ｚと記憶した位Ｂ ｐ ｘ
□とに基づき距離ＩＰ□ｉＰ１□１／２を演算し、その
演算値だけ＋Ｙ力方向移動して、溶接トーチ２を、Ｖ形
開先の溶接線上方の位置Ｐｉ、に配置させる（ステップ
Ｂ１１）。(4) Next, the welding torch 2 is horizontally moved in the -Y force direction at high speed (step B9), and the member 7b is detected (step B10). It is determined that the welding torch 2 has reached the position P1□, and the position W p 1z is stored as B p x
A distance IP□iP1□1/2 is calculated based on □, and the welding torch 2 is moved in the +Y force direction by the calculated value to place it at a position Pi above the welding line of the V-shaped groove (Step B11 ).
（５）この後１位置Ｐ□、から一２方向（垂直下方）へ
向けて溶接トーチ２を移動させる（ステップＢ１２）。(5) After this, the welding torch 2 is moved from the 1st position P□ in 12 directions (vertically downward) (step B12).
そして、ｖ形開先の中心位置である点ａを検知する（ス
テップＢ１３）。これにより５溶接トーチ２は、教示し
た溶接開始位置ｐｃに対応する現在のワーク７に対する
溶接狙い位置ａに到達する。Then, point a, which is the center position of the v-shaped groove, is detected (step B13). As a result, the fifth welding torch 2 reaches the welding target position a for the current workpiece 7, which corresponds to the taught welding start position pc.
（６）このようにして、溶接トーチ２が、定まった順序
で移動しながら溶接狙い位置ａへ導かれた後、この溶接
トーチ２を、その指向方向つまり＋Ｚ力方向向けて２＋
ａ＋ｍだけ引き上げ（ステップＢ１４）、この引き上げ
位置でのワイヤ先端の位［ｐ ｉ４を、溶接開始位置と
して取り込んで記憶する（ステップＢ１５）。そして、
この位置ＰＬ４のデータとティーチングデータｐｃとの
差Δを演算して記憶する（ステップ８１６）。(6) In this way, after the welding torch 2 is guided to the welding target position a while moving in a predetermined order, the welding torch 2 is oriented in the directional direction, that is, in the +Z force direction.
The wire is pulled up by a+m (step B14), and the position [pi4] of the wire tip at this pulled up position is captured and stored as the welding start position (step B15). and,
The difference Δ between the data at this position PL4 and the teaching data pc is calculated and stored (step 816).
（７）以上の操作により溶接トーチ２を、ワーク７の設
置位置に対して相対的に適正な位置Ｐ工、に移動させた
後は、演算・記憶された差Δに基づき、ティーチングデ
ータを修正して（ステップＢ１７）、Ｖ形開先の溶接線
に沿った溶接を行なう。(7) After the welding torch 2 is moved to the appropriate position P relative to the installation position of the workpiece 7 through the above operations, the teaching data is corrected based on the calculated and stored difference Δ. (Step B17), and welding is performed along the welding line of the V-shaped groove.
なお、上記実施例では、次のワークの■形開先継手が−
Ｙ力方向ずれた場合について説明しているが、ワークが
＋Ｙ力方向ずれている場合も同様にして溶接点の検出が
行なわれる。In addition, in the above example, the ■-shaped groove joint of the next workpiece is -
Although the case where the workpiece is deviated in the Y force direction has been described, the welding point is detected in the same manner when the workpiece is deviated in the +Y force direction.
また、上記説明において、ワークのずれによる一方の部
材７ａ、７ｂを判別するために予め溶接トーチ２の移動
方向を入力しておく方式を採ったが、溶接トーチ２を±
Ｙ力方向微小移動させることによっても判別は可能であ
り、一方の部材の判別を確実にできる方法を用いればよ
い。In addition, in the above explanation, a method was adopted in which the moving direction of the welding torch 2 was inputted in advance in order to distinguish one of the members 7a and 7b due to the shift of the workpiece, but the welding torch 2 was
Discrimination is also possible by slight movement in the Y force direction, and any method that can reliably discriminate one member may be used.
以上のように、本発明の第２実施例でも、第１実施例と
ほぼ同様に、ステップＢ１４において、溶接狙い位置Ｐ
、へ導かれた溶接トーチ２を、その指向方向へ２ｍｍだ
け引き上げるので、ワイヤの先端とワーク７との間が、
アークスタートに際して良好な所定間隔だけあけられる
。As described above, in the second embodiment of the present invention, in step B14, the welding target position P is almost the same as in the first embodiment.
The welding torch 2 guided to
A good predetermined spacing is provided when starting the arc.
なお、上記実施例では、水平隅肉継手およびＶ形開先継
手の溶接開始位置検知方法について説明したが、本発明
の方法は、これに限定されるものではなく、他の種々の
継手形状の溶接に際しても上述と同様に適用される。In addition, in the above embodiment, a method for detecting the welding start position of a horizontal fillet joint and a V-shaped groove joint was described, but the method of the present invention is not limited to this, and can be applied to various other joint shapes. The same applies to welding as described above.
また、本発明の実施例で述べたセンシング動作の溶接ト
ーチ２の設定移動速度は、使用するコンピュータの演算
能力から決定されるもので、今後、コンピュータの演算
能力がさらに向上すれば、その移動速度もより速くする
ことができる。Furthermore, the set moving speed of the welding torch 2 for the sensing operation described in the embodiment of the present invention is determined by the computing power of the computer used, and if the computing power of the computer further improves in the future, the moving speed can also be made faster.
さらに、部材表面検知後に溶接トーチ２が移動する所定
距離は部材表面状態形状によって変える必要がある。例
えば、自動車関連の車体もしくは部品等の薄板では１部
材表面の通電状態が良いので、移動する距離を２ＩＩ１
ｍ位としても問題が無い。Furthermore, the predetermined distance that the welding torch 2 moves after detecting the surface of the member needs to be changed depending on the state and shape of the surface of the member. For example, in the case of thin plates such as car bodies or parts related to automobiles, the surface of each member has good electrical conductivity, so the distance traveled is 2II1.
There is no problem even if it is at m rank.
ただし、建設機械部品等の厚板（厚さ４．！ｏ＋＋ｍ以
上）では、部材表面にペイントが塗布されており、且つ
、溶接継手形成に切断加工した箇所に錆が発生しやすく
、ワイヤが曲がった状態で検知され、検知後に２ｍｍ程
度移動してもまだワイヤ先端が部材表面に接していて、
その移動中に再検知し誤検知となってしまう。従って、
センシング時間を加味し厚板の場合は、上記所定距離を
４ｍｍ程度とすることが望ましい。However, with thick plates (thickness 4.!o++m or more) such as construction machinery parts, paint is applied to the surface of the material, and rust is likely to occur in the areas cut to form welded joints, causing wires to bend. The tip of the wire is still in contact with the surface of the component even if it moves about 2 mm after detection.
During the movement, it will be detected again, resulting in a false detection. Therefore,
Considering the sensing time, in the case of a thick plate, it is desirable that the predetermined distance be about 4 mm.
また１本発明の第１，２実施例のステップＳ４゜Ｂ４に
おいて、教示点ｐｃまで溶接トーチ２を移動させてもま
だ通電検出出力が無ければ、溶接トーチの移動に代えて
、ワイヤを送給して通電検出手段の出力にてワイヤ送給
モータの作動を止め、その後に、各実施ｆγ１ｊのステ
ップと同様の動作を実行するようにしてもよい、ただし
、この場合、溶接を開始してアーク発生後に溶接電流等
を検出しつつワイヤ突出長さ一定化倣い制御を最低室な
いながら溶接を実行することを必要とする。Furthermore, in step S4°B4 of the first and second embodiments of the present invention, if there is still no energization detection output even after moving the welding torch 2 to the teaching point pc, the wire is fed instead of moving the welding torch. The operation of the wire feeding motor may be stopped by the output of the energization detection means, and then the same operation as the step of each implementation fγ1j may be executed.However, in this case, welding is started and the arc After the welding occurs, it is necessary to detect the welding current and perform welding while keeping the wire protrusion length constant and tracing control to a minimum.
さらに、上記実施例では、溶接終了時に、ワイヤの突出
長さは、溶接電源６による長さ一定化制御によって溶接
中よりも２ｍｏ＋たけ短い１３ｍｍとなっているが、溶
接終了位置に必ずギャップが発生して制御が働かないと
きや、−走化制御の無い溶接電源を用いるときには、特
公昭５９−３０５１０号公報に記載の溶接終了後にニッ
パ−を用い一定の長さ（１３ｍｍ）に切ることや、特公
昭６２−１０７５１号公報に記載の基準部材にワイヤ先
端を当接させて同じ効果を得ることを行なってもよい。Furthermore, in the above example, the protruding length of the wire at the end of welding is 13 mm, which is 2mo+longer than during welding due to length constant control by the welding power source 6, but a gap always occurs at the welding end position. When the control does not work or when using a welding power source without chemotaxis control, use nippers to cut to a certain length (13 mm) after welding is completed as described in Japanese Patent Publication No. 59-30510. The same effect may be obtained by bringing the tip of the wire into contact with the reference member described in Japanese Patent Publication No. 62-10751.
また、上記実施例では、検出した溶接狙い位置からの溶
接トーチ２の引き上げ量（所定距離）を２ａ＋＋＋＋と
じている。これは、溶接電流によるワイヤ突出長さ一定
化制御によっても変わるし、溶接開始時のこの間隙によ
るタイムロスを考慮すれば２ＩｆｉＩ１１程度が妥当で
あるからであるが１本発明はこれに限定されるものでは
ない。Further, in the above embodiment, the amount of lifting of the welding torch 2 (predetermined distance) from the detected welding target position is defined as 2a++++. This is because it changes depending on the wire protrusion length constant control using the welding current, and considering the time loss due to this gap at the start of welding, approximately 2IfiI11 is appropriate; however, the present invention is not limited to this. isn't it.
［発明の効果］
以上詳述したように、本発明の自動溶接装置の溶接開始
位置検知方法によれば、溶接狙い位置へ導かれた溶接ト
ーチをその指向方向へ所定距離だけ引き上げ、その引き
上げ位置での消耗電極の先端の位置情報を溶接開始位置
として取り込むので、消耗電極の先端とワークとの間が
、アークスタートに際して良好な所定間隔だけあけられ
るとともに、消耗電極の曲がり（たわみ）による検知誤
差も発生しなくなり、従来の溶接トーチから突出したあ
まり剛性の無い消耗電極を用いても高精度で適正な溶接
開始位置を検知できる効果がある。[Effects of the Invention] As detailed above, according to the welding start position detection method of the automatic welding device of the present invention, the welding torch guided to the welding target position is pulled up a predetermined distance in the pointing direction, and the pulled up position is detected. Since the position information of the tip of the consumable electrode is taken in as the welding start position, the tip of the consumable electrode and the workpiece are kept at a suitable predetermined distance at the time of arc start, and detection errors due to bending (deflection) of the consumable electrode are prevented. The present invention has the effect that even if a consumable electrode, which is not very rigid and protrudes from a conventional welding torch, is used, the appropriate welding start position can be detected with high accuracy.
第１，２図は本発明の第１実施例としての自動溶接装置
における水平隅肉継手の溶接開始位置検知方法を示すも
ので、第１図はその手順を説明するためのフローチャー
ト、第２図（ａ）、（ｂ）はいずれも第１図の手順に沿
う溶接トーチの移動状態の例を説明するための図であり
、第３図は本発明の方法の適用を受けるアーク溶接ロボ
ットを示す斜視図、第４，５図は本発明の第２実施例と
じてにおけるＶ形開先継手の自動溶接装置の溶接点検出
方法を示すもので、第４図はその手順を説明するための
フローチャート、第５図は第４図の手順に沿う溶接トー
チの移動状態の例を説明するための図である。
図において、１・−アーク溶接ロボット（自動溶接装置
）、ｌａ−手首部、２−溶接トーチ、３・・・・ロボッ
ト制御盤、４−ティーチングボックス、６−・溶接電源
、７−ワーク、７ａ、７ｂ・・−溶接継手を形成する部
材、８−ポジショナ。
特許出願人 株式会社 神戸製鋼所1 and 2 show a method for detecting the welding start position of a horizontal fillet joint in an automatic welding device as a first embodiment of the present invention, and FIG. 1 is a flowchart for explaining the procedure, and FIG. (a) and (b) are both diagrams for explaining an example of the movement state of the welding torch according to the procedure shown in Figure 1, and Figure 3 shows an arc welding robot to which the method of the present invention is applied. The perspective view and FIGS. 4 and 5 show a welding point detection method of an automatic welding device for a V-shaped groove joint according to the second embodiment of the present invention, and FIG. 4 is a flowchart for explaining the procedure. , FIG. 5 is a diagram for explaining an example of the movement state of the welding torch according to the procedure of FIG. 4. In the figure, 1 - arc welding robot (automatic welding device), la - wrist, 2 - welding torch, 3 - robot control panel, 4 - teaching box, 6 - welding power source, 7 - work, 7a , 7b... - member forming a welded joint, 8 - positioner. Patent applicant: Kobe Steel, Ltd.
Claims (1)
選択的に印加し、センシング電圧の印加時に前記溶接ト
ーチから突出した消耗電極とワークとの通電状態を検出
する通電検出手段を有し、予め教示された作業内容を再
生動作する自動溶接装置の溶接開始位置検知方法であっ
て、前記通電検出手段にて通電状態を検出することによ
り前記溶接トーチの前記ワークに対する相対位置を判別
しながら、前記溶接トーチを定まった順序で移動させて
前記ワークに対する溶接狙い位置へ導いた後、前記溶接
トーチを前記溶接狙い位置から前記溶接トーチの指向方
向へ所定距離だけ引き上げ、その引き上げ位置での前記
消耗電極の先端の位置情報を溶接開始位置として取り込
むことを特徴とする自動溶接装置の溶接開始位置検知方
法。The consumable electrode type welding torch has an energization detection means for selectively applying a welding voltage and a sensing voltage, and detecting the energization state between the consumable electrode protruding from the welding torch and the workpiece when the sensing voltage is applied, and is taught in advance. A method for detecting a welding start position of an automatic welding apparatus that reproduces the work performed by the automatic welding apparatus, wherein the welding start position is detected by the energization detection means to determine the relative position of the welding torch with respect to the workpiece. After moving the torch in a predetermined order and guiding it to the welding target position with respect to the workpiece, the welding torch is pulled up a predetermined distance from the welding target position in the pointing direction of the welding torch, and the consumable electrode is A method for detecting a welding start position of an automatic welding device, characterized by taking in position information of a tip as a welding start position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19994488A JPH0252170A (en) | 1988-08-12 | 1988-08-12 | Welding starting position detecting method for automatic welding equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19994488A JPH0252170A (en) | 1988-08-12 | 1988-08-12 | Welding starting position detecting method for automatic welding equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0252170A true JPH0252170A (en) | 1990-02-21 |
| JPH0461750B2 JPH0461750B2 (en) | 1992-10-01 |
Family
ID=16416194
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP19994488A Granted JPH0252170A (en) | 1988-08-12 | 1988-08-12 | Welding starting position detecting method for automatic welding equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0252170A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04138875A (en) * | 1990-09-28 | 1992-05-13 | Kobe Steel Ltd | Welding starting position detecting method for automatic welding equipment |
| JP2011245536A (en) * | 2010-05-28 | 2011-12-08 | Kobe Steel Ltd | Electrode position control method for tandem arc welding, robot controller for tandem arc welding system, and tandem arc welding system |
| EP4088852A1 (en) * | 2021-05-12 | 2022-11-16 | SKS Welding Systems GmbH | Method for detecting points of a joint between components and for a subsequent welding process |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5930511A (en) * | 1982-08-14 | 1984-02-18 | Canon Inc | Rotating polyhedral mirror body |
-
1988
- 1988-08-12 JP JP19994488A patent/JPH0252170A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5930511A (en) * | 1982-08-14 | 1984-02-18 | Canon Inc | Rotating polyhedral mirror body |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04138875A (en) * | 1990-09-28 | 1992-05-13 | Kobe Steel Ltd | Welding starting position detecting method for automatic welding equipment |
| JP2011245536A (en) * | 2010-05-28 | 2011-12-08 | Kobe Steel Ltd | Electrode position control method for tandem arc welding, robot controller for tandem arc welding system, and tandem arc welding system |
| EP4088852A1 (en) * | 2021-05-12 | 2022-11-16 | SKS Welding Systems GmbH | Method for detecting points of a joint between components and for a subsequent welding process |
| WO2022238016A1 (en) * | 2021-05-12 | 2022-11-17 | Sks Welding Systems Gmbh | Method for detecting points on a join line between components, and for a subsequent welding method therefor |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0461750B2 (en) | 1992-10-01 |
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