DE19936888A1 - Programming aid for industrial robot welding system produces programming control point with laser light and/or distance of welding pistol from workpiece is measured using laser light - Google Patents

Abstract

The programming aid produces a control point for programming (accurate weld wire position) with laser light and/or the distance of the welding pistol from the workpiece is measured using laser light. The welding pistol can be replaced with a programming pistol using laser light for producing a center point and/or for distance measurement. An Independent claim is also included for a spirit level.

Description

field of use

The invention relates to programming aids for welding robot systems for arc welding.

State of the art

So that a welding robot system can weld a workpiece, the necessary program must be created beforehand. As is well known is this done by means of a handheld programming device in the so-called "Teach In" - Method.

During programming, the welding gun and / or the workpiece is brought into the best possible welding position and the position reached is saved. (Angle bisection, 3-5 ° stabbing gun position; possibly trough position; without incline / slope). The welding wire tip from the center of the welding gun is the trend-setting element of the programming. At the same time, the wire or wire length also represents the distance to the workpiece ( Figure 1).

Furthermore, in welding robot systems with external axes Check the workpiece position (lying flat; horizontal plane) using a standard spirit level.  

disadvantage

The required accuracy of programming is therefore one exactly linear and exactly on constant length cut welding wire depending. It is very time consuming as the wire is often deformed (collision with the Workpiece) and must be cut to length each time.

This results in the wire length being either even more time consuming Measurement or by estimation must be pinched off.

In addition, the programming process is interrupted. This bothers the Concentration of the operator (increased error rate) and extends the uneconomical programming time unnecessary.

Furthermore, it is difficult to set the welding parameters, because different wire lengths (due to imprecise cutting to length) mean different resistance. They are often different Parameters necessary, although the requirements for welding themselves strongly the same.

In addition, it is usually necessary to have one before each programming screw in a new contact tip to ensure the linear course of the To ensure welding wire.

For welding robots with external axes, where that in the Device clamped workpiece usually in a tub position a check with a spirit level is not or only conditionally possible.

The ideal torch position or workpiece position (bisection of angles, Trough position, no gradient / slope) must therefore largely through Estimation can be set by eye. This is made more difficult Programming also through inaccessible workpieces that obscure the view hinder and / or a "shadow side" in the weld path produce. So programming is inevitably done after "Trial and error" system.

Because with pipes or round workpieces the reference points for the The highest point is missing, here too precise programming is required difficult.

The need to improve the programs due to Inaccuracies in programming make the job additionally uneconomical.  

task

The object of the invention is a resistant to bending Generate guiding point that is simultaneously the distance of the gun for the workpiece. Also, should by simple Aids workpiece position and torch holding can be optimized.

solution

The task is solved in that the welding wire tip is simulated by a laser light spot. The necessary orientation for the distance between the welding gun and the workpiece (ideal: 18-22 mm) is made possible by the second, preferably differently colored, light point. The special spirit levels ( Figure 6; screw, ( 1 ) hose, ( 2 ) and angular shape ( 3 )) allow easy control of the workpiece and welding gun.

It is important to carry out an exact welding on pipes always weld at the highest point. With the hose spirit level this is guaranteed in a simple form. There are several options Lengths to Available.

Another aid is the 90 ° spirit level ( Fig. 6 / # 3), which has a fit at the appropriate angle. It has two lenses:

• 1. for horizontal alignment
• 2. for vertical alignment

benefits

The colored laser dot contrasts well with the surface of the The light beam is always linear and cannot collide or deform.

The distance between the welding gun and the workpiece can be kept constant become.

This considerably simplifies the setting of the welding parameters. It is very often possible to work with existing options, if the conditions are the same.

Workpieces can be brought into the optimal welding position very easily become. The gun position can also be grasped at a glance and be optimized or homogenized. Become dark fields illuminated so that programming can be done easily. The programming time is shortened and the quality of the programming elevated.

The quality of the welds becomes more constant. The plant works thereby more economical.  

description

The construction of the programming gun (wood, metal, plastic) is the Welding gun in length, diffraction, external dimensions, d. H. externally absolutely identical.

( Figure 2 shows schematically a possible version of a gun).

A laser light is attached exactly in the middle of the gun. ( Fig. 3) The light spot ( Fig. 3 / # 3) simulates the tip of the welding wire. A differently colored laser light is attached to the side, which is responsible for precise spacing. The precise angle is preferably achieved by mirroring ( Figure 4).

The intersection of the two light points on the workpiece is the optimal distance to the workpiece. Depending on the requirement, this is variable. (14-30 mm; 2 mm grid).

Table 1 shows excerpts of the different degrees of angle.

The interior of the gun (contact tip, nozzle holder) is not required. Instead, the power supply for the laser light can take place here. The soul piece is redirected through a decentralized hole. The gas nozzle is replaced by a special nozzle with the required mirror effect at the required angles ( Figure 4). In a preferred embodiment, the union nut also serves as a special spirit level with a 0 ° and 45 ° line in order to quickly and precisely recognize the angle of inclination of the welding gun. Alternatively, in an embodiment that is not shown, only the contact tip can be unscrewed and a prepared nozzle can be installed instead. ( Figure 5 shows schematically only such a contact tip)

Table 1

Claims (5)

1. Programming aid for programming welding robot systems, characterized in that the control point of the programming (exact welding wire position) is generated by laser light, and / or the distance measurement of the welding gun to the workpiece is made possible by means of a second laser light. 2. Programming aid for programming welding robot systems characterized in that the welding gun by a Programming gun with laser light for center point generation is replaced and / or the distance measurement to the workpiece by means of 2. Laser light is made possible. 3. Programming aid according to claim 1 or 2, characterized indicates that the pistol is integrated Has a spirit level for checking the angle of inclination. 4. Spirit level, characterized in that the bearing surface has an angular fit. 5. Spirit level, characterized in that the bearing surface is adaptable / flexible.