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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