KR20130001955A - Remote control system and the method for automatic welding - Google Patents

Remote control system and the method for automatic welding Download PDF

Info

Publication number
KR20130001955A
KR20130001955A KR1020110062898A KR20110062898A KR20130001955A KR 20130001955 A KR20130001955 A KR 20130001955A KR 1020110062898 A KR1020110062898 A KR 1020110062898A KR 20110062898 A KR20110062898 A KR 20110062898A KR 20130001955 A KR20130001955 A KR 20130001955A
Authority
KR
South Korea
Prior art keywords
automatic welding
remote control
pattern information
motion pattern
transmitter
Prior art date
Application number
KR1020110062898A
Other languages
Korean (ko)
Inventor
김용백
지영은
김지온
문형순
Original Assignee
현대중공업 주식회사
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 현대중공업 주식회사 filed Critical 현대중공업 주식회사
Priority to KR1020110062898A priority Critical patent/KR20130001955A/en
Publication of KR20130001955A publication Critical patent/KR20130001955A/en

Links

Images

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
    • B23K9/095—Monitoring or automatic control of welding parameters
    • 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
    • B23K9/10—Other electric circuits therefor; Protective circuits; Remote controls
    • B23K9/1087—Arc welding using remote control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-controlled manipulators with master teach-in means

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Arc Welding Control (AREA)

Abstract

Disclosed are a remote control system and method for automatic welding.
The remote control system largely includes a remote control transmitter, an equipment receiver, and an automatic welding device. The remote control transmitter includes a motion sensor unit for detecting a user's movement and outputting an analog sensing signal, a remote controller for obtaining motion pattern information from the analog sensing signal, and a wireless communication transmitter for wirelessly transmitting motion pattern information. The equipment receiver includes a wireless communication receiver wirelessly receiving motion pattern information provided by the remote control transmitter, an equipment controller for generating a drive control signal based on the motion pattern information received remotely, and a drive control signal provided by the equipment controller. It includes a communication converter for transmitting to the layer. The automatic welding device is set to the upper layer of the communication converter and performs the automatic welding operation by imitating the user's movement by the driving control signal provided by the equipment receiver.
According to this, by allowing the robot to move by mimicking the delicate movements of the operator, it is possible to implement precision work at the start or end point during welding, thereby improving the productivity and quality of the welding.

Description

REMOTE CONTROL SYSTEM AND THE METHOD FOR AUTOMATIC WELDING}

The present invention relates to automatic welding technology, and more particularly to a remote control system and method for automatic welding.

Automation equipment using industrial robots has been widely applied in industries such as automobiles, mobile phones, and memory semiconductors, contributing to the improvement of productivity and quality. Recently, robots have been put into work with high repeatability due to the development of robot technology, but there are limitations in implementing delicate motions due to the limitations of robot programming and manipulation.

Especially in the case of welding work, it is common that additional work of manual welding type should be carried out due to welding defects in the start point and the end point even if the automation equipment is applied. However, there are limitations in implementing a delicate weaving motion of the operator by robot programming during additional manual welding, or by implementing a precise robot manipulation for additional welding using a remote pendant.

The present invention has been proposed to solve the problems of the prior art as described above, by implementing a precise operation at the start or end point during welding by allowing the robot to move to mimic the delicate movement of the operator, thereby the productivity and quality of welding It is an object of the present invention to provide a remote control system and a method for automatic welding that can be improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not intended to limit the invention to the precise form disclosed. There will be.

The remote control system for automatic welding according to the present invention includes a motion sensor unit for detecting a user's movement and outputting an analog sensing signal, a remote control unit for obtaining motion pattern information from the analog sensing signal provided by the motion sensor unit, and the remote control unit. A remote control transmitter including a wireless communication transmitter for wirelessly transmitting the motion pattern information provided by the controller; A wireless communication connection is established with the wireless communication transmitter to generate a driving control signal for automatic welding based on the wireless communication receiver receiving the motion pattern information provided by the remote control transmitter and the motion pattern information output from the wireless communication receiver. An equipment receiver including a communication controller configured to transmit a driving control signal provided by the equipment controller to a higher layer; And an automatic welding device which is set to an upper layer of the communication converter and controls the position, speed, and stoppage of a built-in motor to mimic a user's movement by driving control signals provided by the equipment receiver. Include.

On the other hand, the remote control method for automatic welding in accordance with the present invention, in the remote control system for automatic welding comprising a remote control transmitter and the equipment receiving unit, the automatic welding device connected to the equipment receiving unit is established wireless communication connection with each other, A remote control transmitter wirelessly transmitting motion patterns to remote locations by obtaining motion pattern information from an analog sensing signal detecting a user's movement; Analyzing, by the equipment receiver, user attitude information using the motion pattern information received from the remote control transmitter; Generating, by the equipment receiver, a driving control signal for automatic welding according to an analysis result of user posture information; And performing the automatic welding operation by controlling the position, speed, and stopping of the built-in motor to mimic the movement of the user by the driving control signal provided by the equipment receiver.

According to the remote control system and the method for automatic welding of the present invention, by implementing a precise operation at the start or end point during welding by moving the robot to mimic the delicate movement of the operator, thereby improving the productivity and quality of welding Can be.

1 is a block diagram of a remote control system for automatic welding according to an embodiment of the present invention.
2 is a flow chart of a remote control method for automatic welding according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings will be described in detail with respect to the remote control system and method for automatic welding according to a preferred embodiment of the present invention.

1 is a block diagram of a remote control system for automatic welding according to an embodiment of the present invention.

In the remote control system for automatic welding according to an embodiment of the present invention, as shown in Figure 1, a wired connection to the remote control transmitter 100, the equipment receiving unit 200, the equipment receiving unit 200, the wireless communication connection is established with each other It includes an automatic welding device 300.

The remote control transmitter 100 converts the analog sensing signal provided by the motion sensor unit 110 into a digital value by incorporating a motion sensor unit 110 that detects a user's movement and outputting an analog sensing signal, and an analog / digital converter. Thereafter, by performing signal processing such as noise removal, the wireless controller, such as the remote controller 120 that obtains the motion pattern information, and establishes wireless communication such as Bluetooth, transmits the motion pattern information provided by the remote controller 120 to the wireless receiver within the equipment receiver 200. And a wireless communication transmitter 130 for transmitting to the receiver 210.

The motion sensor unit 110 may include a three-axis acceleration sensor 111 and a three-axis gyro sensor 112.

The above-described remote control unit 120 performs initialization, synchronization of baud rate, and transfer of information through the serial communication protocol.

In view of the fact that a user moves with the remote control transmitter 100, the acceleration sensor 111 and the gyro sensor 112 in the remote control transmitter 100 are reduced in size and weight, and the acceleration sensor 111 and the gyro sensor 112 are reduced. The measurement noise of the analog sensing signal output through the signal becomes worse.

Therefore, the remote controller 120 can apply several signal processing algorithms to effectively remove the measured noise of the analog sensing signal output through the acceleration sensor 111 and the gyro sensor 112 and extract the smooth and accurate sensing signal. have.

The signal processing algorithm applied here can be selected in consideration of noise reduction performance. The first order low pass filter algorithm, the moving average algorithm, and the Kalman low pass filter algorithm are tested in various ways. 111) shows the best results in noise reduction performance when the first low pass filter and the moving average algorithm are used for two smoothing.

In the case of the gyro sensor 112, there is a need to apply an algorithm having a strong noise canceling performance such as a Kalman low pass filter algorithm due to its high sensitivity.

In one embodiment, the remote control unit 120 obtains the angle data by calculating the Roll, Pitch, Yaw angle using the output value of the acceleration sensor 111 in order to accurately represent the user's posture After that, the speed data necessary for the carriage control of the automatic welding apparatus 300 may be calculated using the relation between the acceleration and the speed. Here, the pitch angle is a vertical direction, the yaw angle is a left and right direction, and the roll angle is a value with respect to the direction of rotation from side to side.

In addition, when the acceleration sensor 111 is not at the center axis of rotation, an error may occur when the angle is calculated using only the acceleration sensor 111, and thus, in one embodiment, an error may be generated through sensor fusion with the gyro sensor 112. You can correct it.

For example, the remote controller 120 may apply a compensation filter algorithm that is easy to implement and has a small amount of calculation in order to fuse the output signals of the acceleration sensor 111 and the gyro sensor 112. This is an algorithm that performs compensation by the angle calculated by the acceleration sensor 111 periodically to eliminate the drift phenomenon, which is an error accumulation phenomenon that occurs when integrating the output signal of the gyro sensor 112.

Since the drift phenomenon that occurs when integrating the output signal of the gyro sensor 112 is an extremely low frequency region, the drift phenomenon is removed by passing through a high pass filter, and the rotation component and analog / Since the noise generated by the digital conversion is a high frequency region, the noise can be removed by passing through a low pass filter.

The equipment receiver 200 is connected to the wireless communication transmitter 130 and a wireless communication connection is established, the wireless communication receiver 210 for receiving the motion pattern information provided by the remote control transmitter 100 is output from the wireless communication receiver 210 An apparatus control unit 220 for generating a drive control signal for automatic welding based on the motion pattern information, and a communication converter 230 for transmitting a drive control signal provided by the equipment control unit 220 to the upper layer.

The motion pattern information is information including sensing signals output from the acceleration sensor 111 and the gyro sensor 112, angle data and velocity data obtained therefrom.

The equipment receiver 200 uses the motion pattern information provided by the remote control transmitter 100 to generate a drive control signal for controlling the speed, position, and stopping of the motor driving the carriage in the automatic welding apparatus 300. Will be created.

For example, the equipment receiver 200 may perform position control of the automatic welding device 300 using the speed data. In addition, the carriage of the automatic welding device 300 is composed of four axes can perform the speed control using the output signal of the acceleration sensor 111 for the weaving axis corresponding to the weaving operation of the double welding operation.

The automatic welding device 300 is set as the upper layer of the communication converter 230 and the carriage is moved by the user by controlling the position, speed and stopping of the built-in motor by the driving control signal provided by the equipment receiver 200. To mimic this, perform the automatic welding operation.

Here, the automatic welding device 300 is an analog welding device using a carriage, and is mainly composed of a welding power supply device, a wire feeding device, and a carriage. The welding power supply supplies power to the wire feeder and the carriage, and controls the operation of the wire feeder and the carriage through electrical signals. The wire feeding device supplies the wire to the carriage under the control of the welding power supply, and the carriage also performs an automatic welding operation using the wire received under the control of the welding power supply.

When a worker moves with a remote control transmitter 100 with a built-in motion sensor 110 as if welding, the carriage, which is an industrial robot, mimics the movement of the worker, thereby moving the operator in the automatic welding device 300. do.

As described above, one embodiment applies motion sensing to the remote control transmitter 100 for remote operation of the automatic welding device 300 so that welding may be performed according to an operator's operation during additional welding of a start point or an end point. The equipment receiving unit 200 controls the automatic welding device 300 in the form of robot programming by analyzing the operation of the operator through wireless communication with the remote control transmitter 100, and in this way, delicate operations at the starting point or the ending point during welding. The addition improves the productivity and quality of the weld.

2 is a flow chart of a remote control method for automatic welding according to an embodiment of the present invention.

First, when the analog sensing signal according to the user's movement is detected through the motion sensor unit 110 including the 3-axis acceleration sensor 111 and the 3-axis gyro sensor 112 in the remote control transmitter 100, the remote The control unit 120 converts it into a digital value and then performs signal processing such as noise fusion and sensor fusion for error correction (S120), and obtains the motion pattern information through the wireless communication transmitter 130 and the remote unit. Wirelessly transmits to the receiver 200 (S130).

In the equipment receiver 200, the equipment controller 220 receives the motion pattern information transmitted from the remote control transmitter 100 through the wireless communication receiver 210 (S130).

The motion pattern information obtained by the remote control transmitter 100 may be information including a sensing signal output from the acceleration sensor 111 and the gyro sensor 112, angle data and velocity data obtained from the sensing signal.

Thereafter, the equipment receiving unit 200 generates a driving control signal for controlling the position, speed, and stopping of the motor driving the carriage of the automatic welding apparatus 300 based on the motion pattern information received through S130 (S210). Transfer to the automatic welding device 300 (S220).

The automatic welding device 300 performs the automatic welding operation by controlling the position, speed, and stop of the built-in motor in a manner that mimics the user's movement by the drive control signal provided by the equipment receiver 200 (S310). ).

Configuration of the remote control system and method for automatic welding according to the present invention can be carried out in various modifications within the scope of the technical idea of the present invention without being limited to the above-described embodiment.

100: remote control transmitter 110: motion sensor
120: remote control unit 130: wireless communication transmitter
200: equipment receiver 210: wireless communication receiver
220: equipment control unit 230: communication conversion unit
300: automatic welding device

Claims (4)

A motion sensor unit for detecting a user's movement and outputting an analog sensing signal, a remote controller for obtaining motion pattern information from the analog sensing signal provided by the motion sensor unit, and a wireless communication for wirelessly transmitting motion pattern information provided by the remote controller. A remote control transmitter including a transmitter;
A wireless communication connection is established with the wireless communication transmitter to generate a driving control signal for automatic welding based on the wireless communication receiver receiving the motion pattern information provided by the remote control transmitter and the motion pattern information output from the wireless communication receiver. An equipment receiver including a communication controller configured to transmit a driving control signal provided by the equipment controller to a higher layer; And
It is set to the upper layer of the communication conversion unit and includes an automatic welding device to perform the automatic welding operation by controlling the position, speed and stop of the built-in motor to mimic the user's movement by the drive control signal provided by the equipment receiving unit Remote control system for automatic welding.
The method of claim 1,
The motion sensor unit remote control system for automatic welding comprising an acceleration sensor and a gyro sensor.
In the remote control system for automatic welding comprising a remote control transmitter and a device receiving unit, the automatic welding device connected to the device receiving unit is a wireless communication connection is established,
Obtaining, by the remote control transmitter, motion pattern information from an analog sensing signal detecting a user's movement and wirelessly transmitting the motion pattern information to a remote location;
Analyzing, by the equipment receiver, user attitude information using the motion pattern information received from the remote control transmitter;
Generating, by the equipment receiver, a driving control signal for automatic welding according to an analysis result of user posture information; And
Remote welding for the automatic welding comprising the step of performing the automatic welding operation by the automatic welding device to control the position, speed and stop of the built-in motor to mimic the user's movement by the drive control signal provided by the equipment receiving unit Control method.
The method of claim 3,
The motion pattern information detected by the remote control transmitter includes a sensing signal output from an acceleration sensor and a gyro sensor, and angle data and velocity data obtained from the sensing signal.
KR1020110062898A 2011-06-28 2011-06-28 Remote control system and the method for automatic welding KR20130001955A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020110062898A KR20130001955A (en) 2011-06-28 2011-06-28 Remote control system and the method for automatic welding

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020110062898A KR20130001955A (en) 2011-06-28 2011-06-28 Remote control system and the method for automatic welding

Publications (1)

Publication Number Publication Date
KR20130001955A true KR20130001955A (en) 2013-01-07

Family

ID=47834783

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020110062898A KR20130001955A (en) 2011-06-28 2011-06-28 Remote control system and the method for automatic welding

Country Status (1)

Country Link
KR (1) KR20130001955A (en)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101459478B1 (en) * 2013-06-14 2014-11-07 현대자동차 주식회사 Joint guarantee system for vehicle assembly and control method of the same
WO2015147956A1 (en) * 2014-03-28 2015-10-01 Illinois Tool Works Inc. Systems and methods for wireless control of an engine-driven welding power supply
WO2015147957A1 (en) * 2014-03-28 2015-10-01 Illinois Tool Works Inc. Systems and methods for wireless control of a welding power supply
US9651934B2 (en) 2013-08-12 2017-05-16 Hyundai Motor Company Joint guarantee system for vehicle assembly and control method of the same
US9718141B2 (en) 2014-03-28 2017-08-01 Illinois Tool Works Inc. Systems and methods for prioritization of wireless control of a welding power supply
US10118241B2 (en) 2012-09-07 2018-11-06 Illinois Tool Works Inc. Welding system with multiple user interface modules
WO2019078375A1 (en) * 2017-10-17 2019-04-25 엘지전자 주식회사 Welding system and operation method thereof
US10464156B2 (en) 2014-03-28 2019-11-05 Illinois Tool Works Inc. Systems and methods for pairing of wireless control devices with a welding power supply
US11103948B2 (en) 2014-08-18 2021-08-31 Illinois Tool Works Inc. Systems and methods for a personally allocated interface for use in a welding system

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11278980B2 (en) 2012-09-07 2022-03-22 Illinois Tool Works Inc. Welding system with multiple user interface modules
US10118241B2 (en) 2012-09-07 2018-11-06 Illinois Tool Works Inc. Welding system with multiple user interface modules
US9242686B2 (en) 2013-06-14 2016-01-26 Hyundai Motor Company Joint guarantee system for vehicle assembly and control method of the same
KR101459478B1 (en) * 2013-06-14 2014-11-07 현대자동차 주식회사 Joint guarantee system for vehicle assembly and control method of the same
US9651934B2 (en) 2013-08-12 2017-05-16 Hyundai Motor Company Joint guarantee system for vehicle assembly and control method of the same
US9943924B2 (en) 2014-03-28 2018-04-17 Illinois Tool Works Inc. Systems and methods for wireless control of an engine-driven welding power supply
US9718141B2 (en) 2014-03-28 2017-08-01 Illinois Tool Works Inc. Systems and methods for prioritization of wireless control of a welding power supply
US9724778B2 (en) 2014-03-28 2017-08-08 Illinois Tool Works Inc. Systems and methods for wireless control of a welding power supply
CN106457443A (en) * 2014-03-28 2017-02-22 伊利诺斯工具制品有限公司 Systems and methods for wireless control of an engine-driven welding power supply
WO2015147957A1 (en) * 2014-03-28 2015-10-01 Illinois Tool Works Inc. Systems and methods for wireless control of a welding power supply
US10464156B2 (en) 2014-03-28 2019-11-05 Illinois Tool Works Inc. Systems and methods for pairing of wireless control devices with a welding power supply
US10525545B2 (en) 2014-03-28 2020-01-07 Illinois Tool Works Inc. Systems and methods for wireless control of an engine-driven welding power supply
WO2015147956A1 (en) * 2014-03-28 2015-10-01 Illinois Tool Works Inc. Systems and methods for wireless control of an engine-driven welding power supply
US11440120B2 (en) 2014-03-28 2022-09-13 Illinois Tool Works Inc. Systems and methods for pairing of wireless control devices with a welding power supply
US11103948B2 (en) 2014-08-18 2021-08-31 Illinois Tool Works Inc. Systems and methods for a personally allocated interface for use in a welding system
WO2019078375A1 (en) * 2017-10-17 2019-04-25 엘지전자 주식회사 Welding system and operation method thereof

Similar Documents

Publication Publication Date Title
KR20130001955A (en) Remote control system and the method for automatic welding
US11147641B2 (en) Robot system
US11045955B2 (en) Robot control device
CN107708937B (en) Calibration device and robot system using the same
US10232512B2 (en) Coordinate system setting method, coordinate system setting apparatus, and robot system provided with coordinate system setting apparatus
KR102029154B1 (en) Self-propelled articulated robot
CN101920497B (en) Carriage device
JP5986125B2 (en) Mechanical system with wireless sensor
CN106457560B (en) The control device of robot
CN103009353A (en) Method for determining a position change of a tool and the tool and the tool control unit
KR20190044496A (en) Automatic apparatus
CN110267770A (en) Robot system and its control method
CN106862742A (en) Spot welding system
US11230005B2 (en) Following robot and work robot system
JP2019136808A (en) Work robot system
JPWO2018230517A1 (en) Work system
JP2019000923A (en) Method for estimating mechanism model parameter of articulated robot
KR20020044499A (en) Control system and method for robot
CN102818557A (en) Automatic pose measuring device and engineering machine
CN114502337A (en) Robot system and method for forming three-dimensional model of workpiece
KR20130000496A (en) Teaching apparatus of robot having acceleration sensor and gyro-sensor and teaching method for robot using the same
JP2020006469A (en) Automatic machine and controller
KR100842088B1 (en) The automotive position measuring system on a continuously moving conveyor and method thereof
JP7309592B2 (en) Robot curved surface scanning control method
TW202206244A (en) Device and method for capturing velocities of arm segments of a robot

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E601 Decision to refuse application