JPH1119770A - Automatic welding equipment - Google Patents
Automatic welding equipmentInfo
- Publication number
- JPH1119770A JPH1119770A JP17834797A JP17834797A JPH1119770A JP H1119770 A JPH1119770 A JP H1119770A JP 17834797 A JP17834797 A JP 17834797A JP 17834797 A JP17834797 A JP 17834797A JP H1119770 A JPH1119770 A JP H1119770A
- Authority
- JP
- Japan
- Prior art keywords
- welding
- wire
- contact plate
- welding wire
- sensing
- 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.)
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Abstract
Description
【0001】[0001]
【発明の属する技術分野】本発明は、アーク溶接を行な
うための溶接ロボットを用いた自動溶接装置に関するも
のである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic welding apparatus using a welding robot for performing arc welding.
【0002】[0002]
【従来の技術】溶接ロボットを用い、予め教示された経
路にしたがって溶接トーチを移動させてアーク溶接を行
なう自動溶接装置において、高品質の溶接ビードを形成
するためには、個々のワーク毎に、その開先位置、突合
せ位置など溶接すべき位置に、溶接トーチ(溶接ワイヤ
の先端)を正確に位置決めして溶接を開始することが必
要になる。2. Description of the Related Art In an automatic welding apparatus for performing arc welding by moving a welding torch in accordance with a path taught in advance by using a welding robot, in order to form a high-quality weld bead, it is necessary to form a weld bead for each work. It is necessary to accurately position a welding torch (the tip of a welding wire) at a position to be welded, such as a groove position, a butt position, and start welding.
【0003】溶接位置を正確に検出するため、たとえ
ば、特開平2−92458号公報に開示されているよう
に、溶接トーチから突出する溶接ワイヤをセンサとして
用い、溶接部の開先位置を検出する方法が提案されてい
る。In order to accurately detect a welding position, for example, as disclosed in Japanese Patent Application Laid-Open No. 2-92458, a welding wire projecting from a welding torch is used as a sensor to detect a groove position of a welding portion. A method has been proposed.
【0004】この方法は、溶接ワイヤとワークの間に、
センシング電圧を印加しておき、溶接トーチをワークの
開先を横切る方向に所定のピッチで移動させるとともに
各停止位置で溶接トーチをワークの表面に対して垂直方
向に移動させ、溶接ワイヤがワークに接触したときに流
れるセンシング電流を検出し、この時の溶接トーチの空
間3軸における座標からワークの表面形状を求め、ワー
クの開先位置を検出するようにしている。[0004] In this method, between the welding wire and the workpiece,
A sensing voltage is applied, and the welding torch is moved at a predetermined pitch in a direction crossing the groove of the work, and at each stop position, the welding torch is moved in a direction perpendicular to the surface of the work, and the welding wire is moved to the work The sensing current flowing when the contact is made is detected, the surface shape of the work is obtained from the coordinates of the welding torch in three spatial axes at this time, and the groove position of the work is detected.
【0005】[0005]
【発明が解決しようとする課題】この検出方法では、溶
接ワイヤの先端が、溶接トーチの軸心上にあることを前
提とするものであり、溶接ワイヤに曲がりが発生する
と、検出結果に誤差が発生する。すなわち、溶接ワイヤ
に曲がりが発生した状態で開先位置の検出を行うと、溶
接時に、溶接ワイヤの曲がり量分だけ溶接トーチの狙い
位置がずれることになる。This detection method is based on the premise that the tip of the welding wire is located on the axis of the welding torch. If the welding wire is bent, an error occurs in the detection result. Occur. That is, if the groove position is detected while the welding wire is bent, the target position of the welding torch is shifted by the amount of bending of the welding wire during welding.
【0006】特に、溶接ワイヤの曲がりが、溶接ワイヤ
の巻き癖等による曲がり等の許容範囲超える場合、一層
あるいは二層など層数の少ない溶接においては、溶接ト
ーチの狙い位置がずれると、満足な溶接結果を得ること
ができない。In particular, when the bending of the welding wire exceeds the allowable range of bending due to the curl of the welding wire, etc., and in welding with a small number of layers such as one layer or two layers, it is satisfactory if the target position of the welding torch is shifted. Welding results cannot be obtained.
【0007】上記の事情に鑑み、本発明の目的は、溶接
トーチから突出する溶接ワイヤの曲がりが許容範囲内に
あるか否かを容易に検出できるようにし、センシング時
における溶接ワイヤの曲がりに起因する溶接不良の発生
を防止して、溶接品質を向上させることができるように
した自動溶接装置を提供することにある。In view of the above circumstances, an object of the present invention is to make it possible to easily detect whether or not the bending of a welding wire protruding from a welding torch is within an allowable range, and to detect the bending of the welding wire at the time of sensing. An object of the present invention is to provide an automatic welding apparatus capable of preventing the occurrence of defective welding and improving the welding quality.
【0008】[0008]
【課題を解決するための手段】上記の目的を達成するた
め、本出願の第1の発明においては、ワークを位置決め
保持するポジショナと、溶接ワイヤを送り出す溶接トー
チを空間3軸で前記ワークの開先に沿って移動させる溶
接ロボットと、予めティーチングされた経路にしたがっ
て前記溶接ロボットの動作を制御する制御装置とを備え
た自動溶接装置において、所定の径の穴が形成された導
電性の接触板と、この接触板と前記溶接トーチの先端か
ら突出する溶接ワイヤにセンシング電圧を印加するセン
シング電源装置と、前記溶接ワイヤが接触したときに流
れるセンシング電流を検出する電流検出装置とから成る
ワイヤ曲がり検出装置を設けた。In order to achieve the above object, according to a first aspect of the present invention, a positioner for positioning and holding a work and a welding torch for feeding a welding wire are opened with three axes of space to open the work. In an automatic welding apparatus including a welding robot that moves along a tip and a control device that controls the operation of the welding robot in accordance with a previously taught path, a conductive contact plate in which a hole having a predetermined diameter is formed. Wire bending detection comprising: a sensing power supply device for applying a sensing voltage to the contact plate and a welding wire protruding from the tip of the welding torch; and a current detection device for detecting a sensing current flowing when the welding wire comes into contact. Equipment was provided.
【0009】また、本出願の第2の発明においては、前
記ワイヤ曲がり検出装置は、前記接触板の穴の軸心と溶
接トーチの軸心がほぼ一致するよう溶接トーチの先端部
の外周を案内するガイドを備え、前記接触板とガイドと
を一体に固定した。In the second invention of the present application, the wire bending detecting device guides the outer periphery of the tip of the welding torch such that the axis of the hole of the contact plate and the axis of the welding torch substantially coincide with each other. The contact plate and the guide are integrally fixed.
【0010】さらに、本出願の第3の発明においては、
前記ワイヤ曲がり検出装置は、径の異なる複数の接触板
を互いに絶縁して同心円状に配置した接触板を設けた。[0010] Further, in the third invention of the present application,
The wire bend detecting device includes a contact plate in which a plurality of contact plates having different diameters are insulated from each other and arranged concentrically.
【0011】[0011]
【発明の実施の形態】以下、本発明の実施の形態を図面
に基づいて説明する。図1は、本発明における自動溶接
装置の構成を示す斜視図、図2は、ワイヤ曲がり検出装
置の構成を示す斜視図、図3は、溶接ワイヤの曲がり検
出状態を示す工程図である。Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view showing a configuration of an automatic welding apparatus according to the present invention, FIG. 2 is a perspective view showing a configuration of a wire bending detection device, and FIG. 3 is a process diagram showing a state of detecting a bending of a welding wire.
【0012】図1において、1は多関節型のロボット
で、その手首部には、溶接トーチ2が取り付けられ、溶
接ロボットを構成している。3は制御装置で、ロボット
1を駆動制御して、溶接トーチ2を空間3軸で移動制御
する。4はティーチングボックスで、ロボット1に教示
した移動経路を記憶し、溶接作業時に、制御装置3に教
示された移動経路を出力する。In FIG. 1, reference numeral 1 denotes an articulated robot. A welding torch 2 is attached to a wrist of the robot to constitute a welding robot. Reference numeral 3 denotes a control device that drives and controls the robot 1 to move and control the welding torch 2 in three spatial axes. Reference numeral 4 denotes a teaching box that stores the movement path taught to the robot 1 and outputs the movement path taught to the control device 3 during welding work.
【0013】9は溶接ワイヤで、溶接トーチ2から所定
の長さ突出するように供給されている。5は溶接電源
で、溶接トーチ2を介して、溶接ワイヤ9に所定電圧、
波形の溶接電流を印加する。7はポジショナで、ロボッ
ト1に対し所定の位置に配置され、ワーク6を所要の姿
勢で支持する。Reference numeral 9 denotes a welding wire which is supplied so as to protrude from the welding torch 2 by a predetermined length. Reference numeral 5 denotes a welding power source, which has a predetermined voltage applied to the welding wire 9 via the welding torch 2.
Apply a waveform welding current. Reference numeral 7 denotes a positioner, which is arranged at a predetermined position with respect to the robot 1 and supports the work 6 in a required posture.
【0014】8はワイヤ曲がり検出装置で、図2に示す
ように、センシング電源8aと、接触検出装置8bと、
内径が溶接トーチ2が嵌合するように形成されたガイド
部8cと、中央部に穴8fが形成された接触板8eと、
前記ガイド部8cの軸心と穴8fの軸心が一致するよう
にガイド部8cと接触板8eを固定する固定部8dとか
ら成り、前記溶接ワイヤ9と接触板8eに所定のセンシ
ング電圧を印加する構成になっている。Numeral 8 denotes a wire bending detecting device, as shown in FIG. 2, a sensing power supply 8a, a contact detecting device 8b,
A guide portion 8c having an inner diameter formed so that the welding torch 2 is fitted thereto; a contact plate 8e having a hole 8f formed in the center;
A guide part 8c and a fixing part 8d for fixing the contact plate 8e so that the axis of the guide part 8c and the axis of the hole 8f coincide with each other. A predetermined sensing voltage is applied to the welding wire 9 and the contact plate 8e. Configuration.
【0015】このような構成で、ロボット1は、ティー
チングボックス4を介して予め教示され、制御装置3に
記憶された経路にしたがって駆動され、ワーク6の溶接
を行う。ワーク6が交換されるごとに、ワーク6の加工
誤差、ポジショナ7の把持誤差などにより溶接線がずれ
るため、その都度開先位置の検出を行い、その検出結果
に基づいて、制御装置3に記憶された経路を補正する。With such a configuration, the robot 1 is taught in advance via the teaching box 4 and is driven according to the path stored in the control device 3 to perform welding of the work 6. Each time the workpiece 6 is replaced, the welding line is shifted due to a processing error of the workpiece 6, a gripping error of the positioner 7, etc., so that the groove position is detected each time and stored in the control device 3 based on the detection result. Correct the route that was performed.
【0016】この開先位置の検出時に、溶接ワイヤ9の
曲がりを検出しする。図3(a)に示すように、溶接ワ
イヤ9を所定量突出させた溶接トーチ2をガイド部8c
の上方に、互いの軸心が一致するように位置決めした
後、ガイド部8cの軸心に沿って溶接トーチ2を移動さ
せ、図3(b)に示すように、ガイド部8cに溶接トー
チ2を挿入する。この時、溶接ワイヤ9が接触板8eに
接触することなく穴8fを貫通すれば、溶接ワイヤ9の
曲がりは許容値内にあることになる。When the groove position is detected, the bending of the welding wire 9 is detected. As shown in FIG. 3A, the welding torch 2 having the welding wire 9 protruded by a predetermined amount is connected to the guide 8c.
After the positioning, the welding torch 2 is moved along the axis of the guide portion 8c, and the welding torch 2 is moved to the guide portion 8c as shown in FIG. Insert At this time, if the welding wire 9 penetrates the hole 8f without contacting the contact plate 8e, the bending of the welding wire 9 is within an allowable value.
【0017】図3(c)に示すように、ガイド部8cに
溶接トーチ2を嵌合させたとき、溶接ワイヤ9が接触板
8eに接触すると、溶接ワイヤ9の曲がりが許容値より
大きいことになる。As shown in FIG. 3C, when the welding wire 9 comes into contact with the contact plate 8e when the welding torch 2 is fitted to the guide portion 8c, the bending of the welding wire 9 is larger than the allowable value. Become.
【0018】なお、溶接ワイヤ9の曲がりの検出は、開
先検出の前に行うが、開先検出後に再度検出を行うよう
にしてもよい。Although the detection of the bending of the welding wire 9 is performed before the groove detection, the detection may be performed again after the groove detection.
【0019】溶接ワイヤ9の曲がりの原因は、溶接ワイ
ヤ9の巻き癖、溶接ワイヤ9の供給経路の不具合、溶接
トーチ2からの突出量の不具合、センシング時の母材と
の接触速度の不具合、ロボット1の移動経路における溶
接ワイヤと他のものとの衝突などが考えられる。The causes of the bending of the welding wire 9 include the winding habit of the welding wire 9, the problem of the supply path of the welding wire 9, the problem of the protrusion amount from the welding torch 2, the problem of the contact speed with the base material at the time of sensing, A collision between the welding wire and another object in the movement path of the robot 1 is considered.
【0020】したがって、溶接ワイヤ9の曲がりの原因
を究明し、その原因に応じて、ワイヤ矯正機の新設、追
加、溶接ワイヤ9の供給経路の変更、溶接トーチ2から
の突出量の適正化、センシング時におけるワークと溶接
ワイヤの接触速度の適正化、ロボット1の移動経路の変
更等、溶接ワイヤ9の曲がりを許容値内に納めるよう適
宜対策を実行する。Therefore, the cause of the bending of the welding wire 9 is investigated, and according to the cause, a wire straightening machine is newly installed or added, the supply route of the welding wire 9 is changed, the amount of protrusion from the welding torch 2 is optimized, Appropriate measures are taken to keep the bending of the welding wire 9 within an allowable value, such as optimizing the contact speed between the workpiece and the welding wire during sensing and changing the movement path of the robot 1.
【0021】図4は、本発明の第2の実施の形態を示す
ワイヤ曲がり検出装置の斜視図である。同図において、
図2と同じものは同じ符号を付けて示してある。8jは
第2の接触板で、絶縁材8kを介して接触板8eの外周
に固定されている。FIG. 4 is a perspective view of a wire bending detecting apparatus according to a second embodiment of the present invention. In the figure,
The same components as those in FIG. 2 are denoted by the same reference numerals. 8j is a second contact plate fixed to the outer periphery of the contact plate 8e via an insulating material 8k.
【0022】このような構成とすることにより、溶接ワ
イヤ9の状態を (1)溶接ワイヤ9の曲がりが許容範囲内にある場合。
溶接ワイヤ9が接触板8e、8jともに接触しない。 (2)溶接ワイヤ9の曲がりが軽度の許容範囲外にある
場合。溶接ワイヤ9が接触板8eに接触し、接触板8j
とは接触しない。 (3)溶接ワイヤ9の曲がりが軽度の許容範囲外にある
場合。溶接ワイヤ9が接触板8eに接触せず、接触板8
jと接触する。 の3つのパターンで検出することができ、その原因の究
明を容易にすることができる。With such a configuration, the state of the welding wire 9 is: (1) When the bending of the welding wire 9 is within an allowable range.
The welding wire 9 does not contact both the contact plates 8e and 8j. (2) A case where the bending of the welding wire 9 is out of a slight allowable range. The welding wire 9 contacts the contact plate 8e, and the contact plate 8j
Does not contact with (3) The case where the bending of the welding wire 9 is out of the mild allowable range. The welding wire 9 does not contact the contact plate 8e,
Contact with j. And the cause can be easily determined.
【0023】なお、上記各実施の形態におけるワイヤ曲
がり検出装置8のガイド部8cは設けなくてもよい。ま
た、ワイヤ曲がり検出装置8の設置位置は、ロボット1
に支持された溶接トーチ2の移動範囲であれば、任意の
場所に置くことができる。The guide portion 8c of the wire bending detecting device 8 in each of the above embodiments may not be provided. The installation position of the wire bending detection device 8 is determined by the robot 1
Can be placed at any location within the range of movement of the welding torch 2 supported by the torch.
【0024】また、ガイド部8cを設ける場合には、ガ
イド部8cの内周に溶接トーチ2と接触する複数の突起
を設け、この突起により溶接トーチ2を案内するように
してもよい。When the guide portion 8c is provided, a plurality of projections may be provided on the inner periphery of the guide portion 8c so as to come into contact with the welding torch 2, and the welding torch 2 may be guided by the projections.
【0025】[0025]
【発明の効果】以上述べたごとく、本発明によれば、ワ
ークを位置決め保持するポジショナと、溶接ワイヤを送
り出す溶接トーチを空間3軸で前記ワークの開先に沿っ
て移動させる溶接ロボットと、予めティーチングされた
経路にしたがって前記溶接ロボットの動作を制御する制
御装置とを備えた自動溶接装置において、所定の径の穴
が形成された導電性の接触板と、この接触板と前記溶接
トーチの先端から突出する溶接ワイヤにセンシング電圧
を印加する電源装置と、前記溶接ワイヤが接触したとき
に流れるセンシング電流を検出する電流検出装置とから
成るワイヤ曲がり検出装置を設けたので、溶接ワイヤの
曲がりが許容範囲内であることを確認して作業すること
ができるので、溶接品質を向上させることができる。As described above, according to the present invention, according to the present invention, a positioner for positioning and holding a work, a welding robot for moving a welding torch for feeding a welding wire along a groove of the work in three axes of space, and An automatic welding apparatus comprising: a control device for controlling the operation of the welding robot according to the taught path; a conductive contact plate having a hole having a predetermined diameter; and a contact plate and a tip of the welding torch. Since a wire bending detecting device including a power supply device for applying a sensing voltage to a welding wire projecting from the wire and a current detecting device for detecting a sensing current flowing when the welding wire comes into contact is provided, the bending of the welding wire is allowed. Since the operation can be performed after confirming that it is within the range, welding quality can be improved.
【図1】本発明における自動溶接装置の構成を示す斜視
図。FIG. 1 is a perspective view showing a configuration of an automatic welding device according to the present invention.
【図2】ワイヤ曲がり検出装置の構成を示す斜視図。FIG. 2 is a perspective view showing a configuration of a wire bending detection device.
【図3】溶接ワイヤの曲がり検出状態を示す工程図。FIG. 3 is a process diagram showing a state in which a bending of a welding wire is detected.
【図4】ワイヤ曲がり検出装置の斜視図。FIG. 4 is a perspective view of a wire bending detection device.
1…ロボット、2…溶接トーチ、3…制御装置、6…ワ
ーク、7…ポジショナ、 8…ワイヤ曲がり検出装置、
8a…センシング電源、8b…電流検出装置、8c…ガ
イド部、8e…接触板、8j…接触板、9…溶接ワイ
ヤ、DESCRIPTION OF SYMBOLS 1 ... Robot, 2 ... Welding torch, 3 ... Control device, 6 ... Work, 7 ... Positioner, 8 ... Wire bending detection device,
8a: sensing power supply, 8b: current detection device, 8c: guide portion, 8e: contact plate, 8j: contact plate, 9: welding wire,
Claims (3)
溶接ワイヤを送り出す溶接トーチを空間3軸で前記ワー
クの開先に沿って移動させる溶接ロボットと、予めティ
ーチングされた経路にしたがって前記溶接ロボットの動
作を制御する制御装置とを備えた自動溶接装置におい
て、所定の径の穴が形成された導電性の接触板と、この
接触板と前記溶接トーチの先端から突出する溶接ワイヤ
にセンシング電圧を印加するセンシング電源装置と、前
記溶接ワイヤが接触したときに流れるセンシング電流を
検出する電流検出装置とから成るワイヤ曲がり検出装置
を設けたことを特徴とする自動溶接装置。1. A positioner for positioning and holding a work,
An automatic welding apparatus comprising: a welding robot that moves a welding torch that feeds a welding wire along a groove of the workpiece in three spatial axes; and a control device that controls an operation of the welding robot according to a path that has been taught in advance. A conductive contact plate having a hole of a predetermined diameter, a sensing power supply for applying a sensing voltage to the contact plate and a welding wire protruding from the tip of the welding torch; An automatic welding apparatus, comprising: a wire bend detecting device including a current detecting device for detecting a flowing sensing current.
の穴の軸心と溶接トーチの軸心がほぼ一致するよう溶接
トーチの先端部の外周を案内するガイドを備え、前記接
触板とガイドとを一体に固定したことを特徴とする請求
項1に記載の自動溶接装置。2. The wire bending detecting device according to claim 1, further comprising a guide for guiding an outer periphery of a tip of the welding torch such that an axis of a hole of the contact plate and an axis of the welding torch substantially coincide with each other. 2. The automatic welding apparatus according to claim 1, wherein and are integrally fixed.
複数の接触板を互いに絶縁して同心円状に配置した接触
板を設けたことを特徴とする請求項1もしくは請求項2
のいずれかに記載の自動溶接装置。3. The wire bending detecting device according to claim 1, further comprising a contact plate in which a plurality of contact plates having different diameters are insulated from each other and arranged concentrically.
The automatic welding apparatus according to any one of the above.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP17834797A JPH1119770A (en) | 1997-07-03 | 1997-07-03 | Automatic welding equipment |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP17834797A JPH1119770A (en) | 1997-07-03 | 1997-07-03 | Automatic welding equipment |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH1119770A true JPH1119770A (en) | 1999-01-26 |
Family
ID=16046914
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP17834797A Pending JPH1119770A (en) | 1997-07-03 | 1997-07-03 | Automatic welding equipment |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH1119770A (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109406859A (en) * | 2018-11-30 | 2019-03-01 | 苏州汇川技术有限公司 | Current detecting plate and drive control device |
JP2019150857A (en) * | 2018-03-06 | 2019-09-12 | 株式会社神戸製鋼所 | Adjustment method for workpiece posture, and method of and device for producing molded material |
-
1997
- 1997-07-03 JP JP17834797A patent/JPH1119770A/en active Pending
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2019150857A (en) * | 2018-03-06 | 2019-09-12 | 株式会社神戸製鋼所 | Adjustment method for workpiece posture, and method of and device for producing molded material |
CN109406859A (en) * | 2018-11-30 | 2019-03-01 | 苏州汇川技术有限公司 | Current detecting plate and drive control device |
CN109406859B (en) * | 2018-11-30 | 2024-04-30 | 苏州汇川技术有限公司 | Current detection plate and drive controller |
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