CN104923886A - Interference avoiding device - Google Patents
Interference avoiding device Download PDFInfo
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- CN104923886A CN104923886A CN201510111897.XA CN201510111897A CN104923886A CN 104923886 A CN104923886 A CN 104923886A CN 201510111897 A CN201510111897 A CN 201510111897A CN 104923886 A CN104923886 A CN 104923886A
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- welding
- welding torch
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- interference
- track
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- 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
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
- G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
Abstract
Sometimes interference may occur between a welding torch and a base material when performing multi-layer and multi-channel welding corresponding to demonstrating information. The interference avoiding device (2) is provided with a storage part (21) used for storing shape information related to shape, demonstrating points used for indicating welding tracks of multi-layer multi-channel welding and welding torque information used for indicating position relation between the top end of the welding wire and the welding torque (3a) of the base material for multi-layer and multi-channel welding; a welding torque position calculation part (24) calculating the position of the welding torque (3a) by using the welding torque information and the demonstrating information; an interference judging part (25) judging whether interference between the welding torque (3a) and the base material (8) may occur by using the shape information and the position of the welding torque (3a); and a modification part (26) used for modifying the demonstrating information corresponding to the welding track as the judgment object when that the interference may occur is determined. The invention has a beneficial effect that interference in multi-layer and multi-channel welding can be avoided.
Description
Technical field
The present invention relates to a kind of jam avoidance device, revise for the teaching information in the multi-pass welding of butt welding machine device people, thus avoid interference.
Background technology
When carrying out multi-pass welding, when carrying out teaching to whole welding tracks, there is the problem required a great deal of time with labour.Therefore, such as be handled as follows: in multi-pass welding, teaching Article 1 welding track, and give the side-play amount relative to this Article 1 welding track, automatically or semi-automatically generate the later welding track of Article 2 welding track (such as with reference to patent document 1) thus.
In addition, in such multi-pass welding, also carry out yaw arc manipulation while the welding (such as with reference to patent document 2) of enforcement.
At first technical literature
Patent document
Patent document 1: Japanese Unexamined Patent Publication 2009-119525 publication
Patent document 2: Japanese Unexamined Patent Publication 2009-248171 publication
Summary of the invention
Invent technical problem to be solved
But when carrying out multi-pass welding according to teaching or the welding track generated and welding torch posture, welding torch and mother metal (workpiece) may disturb.This phenomenon is particularly remarkable when using side-play amount automatically to calculate welding track and welding torch posture.In addition, under the situation not having teaching, even without interference, sometimes also disturb owing to carrying out yaw arc manipulation.
The present invention makes for solving the problems of the technologies described above, and object is to provide a kind of jam avoidance device, and it can detect interference in multi-pass welding and automatically revise teaching information when there is interference.
For the scheme of technical solution problem
In order to reach above-mentioned purpose, possess based on jam avoidance device of the present invention: storage part, for storing shape information, teaching information and welding torch information, wherein, described shape information is the information relevant to shape of the mother metal by being carried out multi-pass welding by welding robot, described teaching information represents taught point and the welding torch posture of each welding track of this multi-pass welding, and described welding torch information represents the position relationship between the top of welding wire and welding torch; Welding torch position calculation portion, use welding torch information and with as judging the teaching information that the welding track of object is corresponding, calculate the welding torch position in the welding corresponding with welding track; Interference judging part, uses shape information and the welding torch position of being calculated by welding torch position calculation portion, to as judging in the welding that the welding track of object is corresponding whether welding torch and mother metal interference can occur and judge; And correction portion, when being judged as that welding torch and mother metal can occur to disturb by interference judging part, to as judging that the corresponding teaching information of the welding track of object is revised.
Based on this structure, when carry out according to teaching information multi-pass welding can occur interference when, this interference can be detected, and can revise this teaching information, can interference be avoided thus.In addition, due to auto modification can be carried out to this teaching information, therefore, also there is the advantage without the need to manual correction teaching information.
In addition, based in jam avoidance device of the present invention, can also be, when being judged as that welding torch and mother metal can occur to disturb by interference judging part, correction portion pair with as judging that the corresponding welding torch posture of the welding track of object is revised.
Based on this structure, interference can be avoided by the correction of welding torch posture.
In addition, based in jam avoidance device of the present invention, can also be, when being judged as that welding torch and mother metal can occur to disturb by interference judging part, correction portion to eliminate the mode of the interference at least one position, to as judging that the corresponding welding torch posture of the welding track of object is revised.
Based on this structure, such as when only there is the interference at a position and when can not due to elimination this interference carry out the correction of welding torch posture accordingly and there is new interference, interference will be avoided.
In addition, based in jam avoidance device of the present invention, can also be: welding torch position calculation portion also calculate with by corresponding welding torch position, the i.e. correction position of correction portion revised welding torch posture, whether interference judging part also to welding torch in the welding corresponding with correction position and mother metal, interference can occur judges, when being judged as that welding torch and mother metal can occur to disturb in the welding corresponding with correction position by interference judging part, correction portion makes taught point move, thus eliminates interference.
Based on this structure, when interference still can not be avoided after revising welding torch posture, by revising taught point, interference can be avoided.
In addition, based in jam avoidance device of the present invention, can also be: in multi-pass welding, welding torch is made to carry out yaw arc manipulation, also store perpendicular to the amplitude relevant information of this yaw arc manipulation on the direction of sealing wire, i.e. yaw arc manipulation amplitude information in described storage part, welding torch position calculation portion also uses yaw arc manipulation amplitude information, calculate with as the welding torch position judged in the welding that the welding track of object is corresponding.
Based on this structure, when carrying out yaw arc manipulation, also can carry out Interference Detection on the basis considering this yaw arc manipulation and carrying out the correction of the teaching information corresponding with this testing result.
Invention effect
According to based on jam avoidance device of the present invention, by judging whether welding torch and mother metal can disturb and revise teaching information according to this judged result, can avoid interference thus.
Accompanying drawing explanation
Fig. 1 is the block diagram of the structure of the control device etc. illustrated based on the first embodiment of the present invention.
Fig. 2 A is the flow chart of the action of the jam avoidance device illustrated based on same embodiment.
Fig. 2 B is the flow chart of the action of the jam avoidance device illustrated based on same embodiment.
Fig. 3 A is the figure of the position relationship illustrated between mother metal in same embodiment and welding torch.
Fig. 3 B is the figure that the region that the mother metal in same embodiment surrounds is shown.
Fig. 4 A is the figure of the position relationship between the top of the welding wire illustrated in same embodiment and welding torch.
Fig. 4 B is the figure of the position relationship between the top of the welding wire illustrated in same embodiment and welding torch.
Fig. 5 A is the figure for being described the correction of the welding torch posture in same embodiment.
Fig. 5 B is the figure for being described the correction of the welding torch posture in same embodiment.
Fig. 5 C is the figure for being described the correction of the welding torch posture in same embodiment.
Fig. 6 A is the figure for being described the correction of the taught point in same embodiment.
Fig. 6 B is the figure for being described the correction of the taught point in same embodiment.
Fig. 7 is the figure for judging to be described to the interference in same embodiment.
Description of reference numerals
1: control device 2: jam avoidance device
11: communication unit 12: control part
21: storage part 22: acceptance division
23: welding track generating unit 14: welding torch position calculation portion
25: interference judging part 26: correction portion
Detailed description of the invention
Below, use embodiment, be described based on jam avoidance device of the present invention.In addition, in the following embodiments, the inscape and the step that impart same reference numerals are identical or suitable inscape and step, omit repeat specification sometimes to same or equivalent inscape and step.
(the first embodiment)
With reference to accompanying drawing, the control device possessed based on the jam avoidance device of first embodiment of the invention is described.Jam avoidance device based on present embodiment is used for, to welding torch and mother metal, whether interference occurs and judges, and revises teaching information when there is interference.
Fig. 1 is the block diagram of the structure of the welding robot system illustrated based on present embodiment.Welding robot system based on present embodiment possesses control device 1, manipulator 3 and bonding machine 4.
Control device 1 possesses communication unit 11 for carrying out communicating between control device 1 with bonding machine 4, for controlling control part 12 and the jam avoidance device 2 of manipulator 3 and bonding machine 4.Jam avoidance device 2 possesses storage part 21, acceptance division 22, welding track generating unit 23, welding torch position calculation portion 24, interference judging part 25 and correction portion 26.In addition, the welding robot system based on present embodiment is set to the welding robot system carrying out multi-pass welding.In addition, in this multi-pass welding, welding torch yaw arc manipulation can be made, or also can be really not so.When carrying out yaw arc manipulation, this yaw arc manipulation can be such as the yaw arc manipulation not making welding torch postural change, or, as recorded in above-mentioned patent document 2, also can be the yaw arc manipulation making welding torch postural change.In the present embodiment, mainly the former situation is described.
Communication unit 11, according to the instruction from control part 12, sends to bonding machine 4 and starts to weld, terminate to weld, start to give welding wire, terminate to give the instructions such as welding wire.In addition, communication unit 11 may be received in the data obtained in welding robot, such as welding current, weldingvoltage, welding gas flow etc.
Control part 12, according to the teaching information stored in storage part 21, the operation signal inputted from teaching machine (not shown), current location etc. from the drive motors of the encoder accepts of manipulator 3, controls the position of each drive motors of manipulator 3.By this control, welding torch 3a will be moved to the position of expectation.In addition, when carrying out this control, control part 12 can control manipulator 3 by servo controller.In addition, control part 12 is by communication unit 11, and according to weld job program and welding condition etc., the beginning that the beginning of the welding of butt welding machine 4 and end, output voltage, welding wire are given and end etc. control.This weld job program etc. such as can be stored in storage part 21, or also can be stored in other not shown storage medium.
Shape information, teaching information and welding torch information is stored in storage part 21.Shape information is the information relevant to shape of the mother metal 8 by being carried out multi-pass welding by welding robot.This shape information can be such as the information relevant to the bevel shape that will carry out multi-pass welding.Be preferably, region that welding torch 3a and mother metal 8 can not occur to disturb can be distinguished by this shape information, with the two, the region of disturbing can occur.That is, being preferably, when welding torch 3a is present in certain position, can judging whether can disturb by using shape information.In addition, as a result, as long as this shape information can know the top of welding wire and welding torch 3a and by carry out the mother metal 8 of multi-pass welding shape between the information of relation, such as, can be the information of the shape for representing groove face etc. in world coordinate system, also can be the information of the shape for representing groove face etc. in local coordinate, or can also be the information of relative position relation of shape and welding torch 3a etc. for representing groove face etc.Shape information can be such as the information representing straight line F1, F2, will be described below about straight line F1, F2.
Teaching information is the information of the welding torch posture of the taught point of each welding track for representing multi-pass welding and each welding track of multi-pass welding.By this taught point, indicate the position of sealing wire, the position on the top of welding wire when namely carrying out arc welding.Taught point can be such as the coordinate value in the coordinate system of world coordinate system etc.In addition, welding torch posture such as can be represented by the angle (such as azimuth and the angle of pitch etc.) in the coordinate system of world coordinate system etc., also can by representing relative to the angle of welding track, i.e. target angle and/or forward-reverse angle.In the present embodiment, mainly the situation that welding torch posture is target angle is described.In addition, target angle can be the datum plane comprising sealing wire, the angle formed with the plane of length-wise axis (can be such as the length-wise axis of the tip portion of welding wire) comprising sealing wire and welding torch 3a.In addition, forward-reverse angle can be the angle that in the plane of the length-wise axis comprising sealing wire and welding torch 3a, the normal of sealing wire and the length-wise axis of welding torch 3a are formed.In addition, as previously mentioned, the taught point corresponding with whole welding tracks and welding torch posture can be set by the teaching of user, or also can generate the taught point corresponding with welding track at least partially and welding torch posture by welding track generating unit 23.In the former case, can by specifying in coordinate value in the coordinate system of world coordinate system etc. and angle etc., by teaching information setting in storage part 21, or also can the position of the welding torch 3a in manipulator 3 is actual mobilely set teaching information by making.In addition, when being generated by welding track generating unit 23, such as can only teaching Article 1 welding track and welding torch posture, and calculate the later welding track of Article 2 welding track and welding torch posture according to this Article 1 welding track etc.
Welding torch information is the information of the position relationship between top for representing welding wire and welding torch 3a.In addition, be preferably, by using taught point, welding torch posture and welding torch information, can to calculate when the top of welding wire is present in this taught point and welding torch 3a is in the posture corresponding with welding torch posture time the position of welding torch 3a.
In addition, can also store yaw arc manipulation amplitude information in storage part 21, this yaw arc manipulation amplitude information is the information relevant to the amplitude of the yaw arc manipulation in the direction perpendicular to sealing wire.In addition, when the yaw arc manipulation that the yaw arc manipulation amplitude of the yaw arc manipulation amplitude with the opposing party side of carrying out the side side clipping sealing wire is identical, yaw arc manipulation amplitude information can be the information of all amplitudes representing yaw arc manipulation.On the other hand, when carrying out the different yaw arc manipulation of both amplitudes, yaw arc manipulation amplitude information can be the information representing respective amplitude.In addition, this yaw arc manipulation amplitude information can set in units of welding track, or also can be really not so.In the latter case, for whole welding tracks, yaw arc manipulation amplitude can be identical.In addition, in yaw arc manipulation amplitude information, also can comprise the information in the direction representing yaw arc manipulation.In the present embodiment, the situation of the direction vertical along the length-wise axis and sealing wire with welding torch 3a being carried out to yaw arc manipulation is described, but, if not this situation, then can indicate its direction by yaw arc manipulation amplitude information.In addition, as recorded in above-mentioned patent document 2, when carrying out the yaw arc manipulation making welding torch postural change, yaw arc manipulation amplitude information such as can comprise the distance etc. on the top of the angle of the swing of welding torch 3a and the top from the center of swing to welding torch 3a and welding wire.
In addition, information other than the above can be stored in storage part 21.Such as, above-mentioned weld job program etc. can be stored in storage part 21.In addition, the process storing information in storage part 21 is not limited to.Such as, information can be stored by storage medium in storage part 21, also can store the information sent via communication line etc. in storage part 21, or the information inputted by input equipment can also be stored in storage part 21.In the present embodiment, mainly the situation storing following information in storage part 21 is described: namely acceptance division 22 receive information, welding track generating unit 23 generate information, the revised information of correction portion 26.In addition, the storage carried out in storage part 21 can be the provisional storage carried out in random access memory (RAM) etc., or also can be that chronicity stores.In addition, storage part 21 can be realized by the storage medium (such as semiconductor memory, disk, CD etc.) of regulation.In addition, storage part 21 can be made up of independent storage medium, or also can be made up of multiple storage medium.In the latter case, such as shape information and teaching information can be stored in different storage mediums.
Acceptance division 22 receives information, and is kept in storage part 21.This information can be such as shape information, teaching information, welding torch information, yaw arc manipulation amplitude information etc.Acceptance division 22 such as can receive the information inputted from input equipment (such as keyboard, mouse, touch-screen etc.), also can receive the information sent via wired or wireless communication circuit, the information read out from the storage medium (such as CD, disk, semiconductor memory etc.) of regulation can also be received.In the present embodiment, mainly the situation that acceptance division 22 receives the information inputted by teaching machine is described.In addition, acceptance division 22 can comprise the equipment (such as modem or network interface card etc.) for performing reception, or also can not comprise the equipment for performing reception.In addition, acceptance division 22 can be realized by hardware, or also can by for driving the software of the driver of specified devices etc. to realize.
Welding track generating unit 23 can generate the later welding track of Article 2 welding track in multi-pass welding, and is saved in storage part 21.The method generating this welding track is not limit, such as, can adopt the method recorded in above-mentioned patent document 1.When generating this welding track, the shape information stored in storage part 21 can be used in.In addition, when generating this welding track, instruction from user can be received by teaching machine etc., or also can be really not so.In addition, welding track generating unit 23 also can generate the corresponding welding torch posture of the welding track later with Article 2 welding track, or also can be really not so.The teaching information comprising the taught point of welding track generating unit 23 generation etc. is stored in storage part 21.
Welding torch position calculation portion 24 use welding torch information and with as judging the teaching information that the welding track of object is corresponding, calculate the position of the welding torch 3a in the welding corresponding with this welding track.As judging that the welding track of object refers to the welding track as the object judging interference.Therefore, disturb for not carrying out the welding track judged, welding torch position calculation portion 24 can not calculate the position of welding torch 3a.In addition, usually and the position of the higher welding torch 3a of mother metal 8 possibility that occurs to disturb be the nozzle of the tip portion as welding torch 3a.Therefore, can think that the position of welding torch 3a refers to the position of the nozzle of welding torch 3a.As previously mentioned, welding torch information is the information of the position relationship between top for representing the welding wire stretched out from the top of welding torch 3a and welding torch 3a, and teaching information is the apical position (taught point) for representing welding wire and the information of the angle (welding torch posture) of welding torch 3a.Therefore, welding torch position calculation portion 24, by using welding torch information and teaching information, can calculate the position of welding torch 3a.In addition, the position of welding torch 3a that welding torch position calculation portion 24 calculates can be the position (as previously mentioned, the position etc. at the position of the higher welding torch 3a of the possibility of interference occurs) at the representational position representing welding torch 3a.Fig. 3 A observes the figure with the mother metal 8 of レ shape groove and the nozzle 5 of welding torch 3a and welding wire 6 from sealing wire direction.That is, Fig. 3 A is the figure of the mother metal 8 and nozzle 5 etc. illustrated in the plane (xy rectangular coordinate system) vertical with sealing wire.In addition, in this xy rectangular coordinate system, if x-axis direction be horizontal direction, y-axis direction is vertical direction.Also be identical about this point in other xy rectangular coordinate system.In figure 3 a, illustrate with dashed lines the nozzle 5 corresponding with the sealing wire of Article 1 welding track and the position of welding wire 6, show the nozzle 5 corresponding with the sealing wire of Article 2 welding track and the position of welding wire 6 with solid line.Such as, can weld towards the direction inwards of the paper in figure.In figure 3 a, the most easily there is the position (position first contacted with mother metal 8 when occurring to disturb) of the nozzle 5 disturbed with mother metal 8 for some C and some D.Therefore, by judging whether the some C, the some D that represent position, the i.e. nozzle 5 of welding torch 3a are present in the region I shown in Fig. 3 B, just can judge whether nozzle 5 and mother metal 8 can disturb.Therefore, welding torch position calculation portion 24 can calculate the position of this C, some D.At this, region I be positioned in figure the straight line F1 answered with the vis-a-vis of mother metal 8 upside and be positioned at the region on the right side of straight line F2.In addition, in figure 3b, for the ease of grasping the position of straight line F2, the expression of xy reference axis is eliminated.
In addition, when having been undertaken by correction portion 26 pairs of welding torch postures revising, welding torch position calculation portion 24 can also calculate position, the i.e. correction position of the corresponding welding torch 3a of welding torch posture revised with this, will be described below about correction portion 26.In addition, when having been undertaken by correction portion 26 pairs of taught points revising, welding torch position calculation portion 24 can also calculate the position of the corresponding welding torch 3a of taught point revised with this.In addition, welding torch position calculation portion 24 can also use yaw arc manipulation amplitude information, calculates and the position as the welding torch 3a judged in the welding that the welding track of object is corresponding.In this case, welding torch position calculation portion 24 it is also conceivable to the movement of the welding torch 3a produced due to yaw arc manipulation, and calculates the some C being positioned at peak swing place, the position of putting D.That is, when there is yaw arc manipulation, welding torch position calculation portion 24 can calculate the position of welding torch 3a corresponding with the maximum magnitude that welding torch 3a may exist in yaw arc manipulation.In addition, welding torch position calculation portion 24 can calculate the position of welding torch 3a to the whole welding track represented by teaching information, or also only can calculate the position of welding torch 3a to the welding track of a part.In addition, the position of welding torch 3a that welding torch position calculation portion 24 is calculated can be stored in not shown storage medium.
At this, for calculating welding torch position, namely putting the method for C, some D, the situation that there is not yaw arc manipulation is divided into be described with the situation that there is yaw arc manipulation.
[computational methods of the welding torch position when there is not yaw arc manipulation]
With reference to Fig. 4 A, the computational methods of the position of the welding torch 3a when there is not yaw arc manipulation are described.As shown in Figure 4 A, in the plane vertical with sealing wire, the apical position of welding wire 6, the coordinate of namely putting A are set to (x
1, y
1), the position stretched from nozzle 5 by welding wire 6, the coordinate namely putting B are set to (x
2, y
2), the coordinate of two end points C, the D on nozzle 5 top is set to (x respectively
3, y
3), (x
4, y
4).In addition, if the length direction of welding wire 6 (length-wise axis of welding torch 3a) is relative to the horizontal plane target angle θ angle as datum plane.Be set to the coordinate (x of an A
1, y
1) and target angle θ be included in teaching information.In addition, the length of the welding wire 6 stretched from nozzle 5 is set to L, the diameter of nozzle 5 is set to n.Be set to this L and n to be included in welding torch information.So, the coordinate (x of a B can be calculated like that with following mathematical expression
2, y
2).In addition, in the present embodiment, the length direction of welding wire 6 is set to identical with the length-wise axis of welding torch 3a.
x
2＝x
1+Lcosθ
y
2＝y
1+Lsinθ
In addition, because a B is the center of nozzle 5, therefore, the distance put between B and some C is n/2.Therefore, the coordinate (x of C is put
3, y
3) be expressed as following mathematical expression.
x
3＝x
2–(n/2)sinθ＝x
1+Lcosθ–(n/2)sinθ
y
3＝y
2+(n/2)cosθ＝y
1+Lsinθ+(n/2)cosθ
In addition, similarly, the coordinate (x of D is put
4, y
4) be expressed as following mathematical expression.
x
4＝x
2+(n/2)sinθ＝x
1+Lcosθ+(n/2)sinθ
y
4＝y
2–(n/2)cosθ＝y
1+Lsinθ–(n/2)cosθ
Therefore, as mentioned above, taught point (x is used
1, y
1) and welding torch posture θ, welding torch information L, n, the position (x of welding torch 3a can be calculated
3, y
3), (x
4, y
4).
[computational methods of the welding torch position when there is yaw arc manipulation]
With reference to Fig. 4 B, the computational methods of the position of the welding torch 3a when there is yaw arc manipulation are described.As shown in Figure 4 B, when the amplitude of carrying out be the yaw arc manipulation of w and the amplitude of this yaw arc manipulation in a C side with when a D side is equal, maximum amplitude, namely put C ' and some D ' be along yaw arc manipulation direction respectively from a C, some D away from the point of w/2.That is, identical with the situation width of nozzle 5 being set to n+w.Therefore, in the calculating formula of the some C when there is not yaw arc manipulation, some D, by n being set to n+w, the coordinate of a C ', some D ' just can be calculated.Specifically, the coordinate (x of C ' is put
5, y
5), some D ' coordinate (x
6, y
6) be expressed as following mathematical expression respectively.
x
5＝x
2–(n/2+w/2)sinθ
＝x
1+Lcosθ–(n/2+w/2)sinθ
y
5＝y
2+(n/2+w/2)cosθ
＝y
1+Lsinθ+(n/2+w/2)cosθ
x
6＝x
2+(n/2+w/2)sinθ
＝x
1+Lcosθ+(n/2+w/2)sinθ
y
6＝y
2–(n/2+w/2)cosθ
＝y
1+Lsinθ–(n/2+w/2)cosθ
Therefore, as mentioned above, taught point (x is used
1, y
1) and welding torch posture θ, welding torch information L, n, yaw arc manipulation amplitude information w, just can calculate the position (x of the welding torch 3a after considering yaw arc manipulation
5, y
5), (x
6, y
6).
In addition, in the above description, the amplitude of yaw arc manipulation a C side be equal in a D side, but also can be unequal.Such as, can be w/4 in a C side, be 3w/4 in a D side.In this case, in a C side, n/2 is set to n/2+w/4, in a D side, n/2 is set to n/2+3w/4, just can calculate the coordinate of a C ', some D ' thus.
In addition, in the above description, although be illustrated the situation of the yaw arc manipulation that welding torch posture does not change, but, even if when the yaw arc manipulation that welding torch posture changes, also can use the centre coordinate of the swing of such as yaw arc manipulation, this swing angle, from this centre coordinate to a C, some D distance etc. calculate a C ' and some D ' position, this is obviously, and description is omitted.
The position of welding torch 3a that interference judging part 25 is used shape information and calculated by welding torch position calculation portion 24, to as judging in the welding that the welding track of object is corresponding whether welding torch 3a and mother metal 8 interference can occur and judge.This judgement can be whether be included in the some C having been calculated position by welding torch position calculation portion 24, some D the judgement carried out in the region I of Fig. 3 B, also can be whether to be included in the some C ' having been calculated position by welding torch position calculation portion 24, some D ' judgement carried out in the region I of Fig. 3 B.In addition, region I is the region (region namely, according to shape information determined) determined by the position of mother metal 8, is that welding torch 3a freely can move and with mother metal 8, the region of disturbing can not occur.Such as, in figure 3b, if the mathematical expression of straight line F1, F2 is following formula.A
1, b
1, c
1, a
2, b
2, c
2it is any real number.Wherein, if a
1, b
1in at least one is not 0 and a
2, b
2in at least one is not 0.As previously shown, shape information can be the information of the mathematical expression for representing this straight line F1, F2.
Straight line F1:a
1x+b
1y=c
1
Straight line F2:a
2x+b
2y=c
2
In addition, in figure 3b, if I side in region is a compared with straight line F1
1x+b
1y≤c
1, I side in region is a compared with straight line F2
2x+b
2y≤c
2, then region I is a
1x+b
1y≤c
1and a
2x+b
2y≤c
2region.Therefore, disturb judging part 25 such as by judging whether to meet simultaneously
a
1x
3+b
1y
3≧c
1
a
2x
3+b
2y
3≧c
2
These two mathematical expressions, just can judge the some C (x of the position as welding torch 3a
3, y
3) whether be present in the I of region.When to meet this two mathematical expressions simultaneously, some C is present in the I of region.In addition, also can similarly judge for a D, some C ', some D '.In addition, although be included in the I of region at this point be set on straight line F1, F2, the point that yet can be set on straight line F1, F2 is not included in the I of region.In this case, by above-mentioned sign of inequality “≤" change into " > ".Usually, whether two positions of disturbing judging part 25 pairs of welding torch position calculation portions 24 to calculate are included in respectively in the I of region separately and judge.Therefore, interference judging part 25 such as can obtain following judged result: some C, some D both sides are included in the I of region, point C is included in the I of region and puts D and be not included in the I of region, and some D is included in the I of region and puts C and be not included in the I of region, and some C, that some D both sides are not included in region I is medium.This judged result can be stored in not shown storage medium.
In addition, judging part 25 is disturbed can also to judge whether welding torch 3a and mother metal 8 can disturb in the welding corresponding with correction position.In this case, except as judging that the position of object is except correction position, identical with above-mentioned explanation.
When being judged as that welding torch 3a and mother metal 8 can occur to disturb by interference judging part 25, correction portion 26 to this as judging that the corresponding teaching information of the welding track of object is revised.The correction carried out this teaching information can be the correction carried out welding torch posture, also can be the correction carried out taught point, or can also be to the above-mentioned correction that both carry out.At this, mainly following situation is described: namely, correction portion 26 according to disturbing the detection carried out, welding torch posture being revised, when also detecting interference to revised correction position, taught point being revised.Described the correction that teaching information is carried out to be carried out in the mode can being eliminated interference by this correction.In addition, revised teaching information is stored in storage part 21 by correction portion 26.
[correction of welding torch posture]
Use Fig. 5 A, Fig. 5 B, Fig. 5 C, method correction portion 26 being revised to welding torch posture is described.In addition, although be described the situation that there is not yaw arc manipulation at this, when there is yaw arc manipulation, (by a C etc. is set to a C ' etc.) can be revised welding torch posture too.In fig. 5, show the position of the nozzle 5 before the correction of welding torch posture and welding wire 6 with solid line, illustrate with dashed lines the position of welding torch posture revised nozzle 5 grade.As shown in Figure 5A, put C in the I of region be not present in the I of region because a D is present in, therefore, be set to and be judged as that welding torch 3a and mother metal 8 there occurs interference by interference judging part 25.So correction portion 26 makes the length-wise axis of welding torch 3a rotate γ
1, and the target angle θ as welding torch posture is modified to δ
1=θ – γ
1, thus eliminate this interference.Below, to calculating δ
1method be described.
If by the some C of Fig. 5 A
1coordinate be set to (x
7, y
7), then due to a C
1be present on straight line F2, thus meet a
2x
7+ b
2y
7=c
2.In addition, if with (x
3, y
3) similarly use δ
1represent (x
7, y
7), be then expressed as following mathematical expression.Wherein, as previously mentioned, the coordinate of an A is set to (x
1, y
1).
x
7＝x
1+Lcosδ
1–(n/2)sinδ
1
y
7＝y
1+Lsinδ
1+(n/2)cosδ
1
Therefore, if by (x
7, y
7) substitute into the mathematical expression " a of straight line F2
2x
7+ b
2y
7=c
2", then can obtain asin δ
1+ bcos δ
1=c.Wherein, a, b, c are for shown in following mathematical expression.
a＝b
2L–a
2n/2
b＝a
2L+b
2n/2
c＝c
2–a
2x
1–b
2y
1
If solve δ to above-mentioned mathematical expression
1, then following mathematical expression can be drawn.Wherein, r=(a
2+ b
2)
1/2, α=sin
-1(b/r).
δ
1＝sin
-1(c/r)–α
Therefore, correction portion 26 is by being modified to δ by the target angle θ be stored in storage part 21
1, welding torch 3a just can be made to move to by the position shown in the dotted line of Fig. 5 A.
In addition, as shown in Figure 5 B, when a C be present in the I of region put D not to be present in the I of region, be judged as there occurs interference by interference judging part 25, also in the same manner as above-mentioned explanation, welding torch posture can be modified to δ
2, thus make a C, some D move to a C respectively
2, some D
2position.
In addition, as fig. 5 a and fig. 5b, when detecting interference, can be revised welding torch posture by the mode of the position of nozzle 5 grade shown in the dotted line of Fig. 5 C to make welding torch move to.In figure 5 c, with make the length-wise axis of welding torch 3a to be in the mother metal 8 in the I of region between the mode in angle (such as bevel angle) binary direction, welding torch posture is revised.
In addition, in Fig. 5 A, Fig. 5 B, although be illustrated the situation only having a side to there occurs interference in a C, some D, also can be really not so.(namely, put C when both sides there occurs interference, some D both sides are not present in situation in the I of region, such as nozzle 5 etc. are present in the situation of the position of the solid line of Fig. 6 B), correction portion 26 can be revised welding torch posture in the mode (namely, to make at least one party in a C, some D be included in mode in the I of region) eliminating the interference at least one position.In this case, such as can determine as revising welding torch posture in the mode making a C or some D be included in the I of region, or also can determine that wherein which some mode be included in the I of region is revised welding torch posture according to the situation of a C, some D.In the latter case, correction portion 26 such as can be revised welding torch posture close to the mode (to make target angle close to the mode of 90 ° in Fig. 5 A and Fig. 5 B etc.) of vertical direction to make the length-wise axis of welding torch 3a.Its reason is, under normal conditions, with carry out compared with arc welding under the state keeping flat welding torch 3a, the electric arc of the arc welding (electric arc welds downwards) of carrying out close to the mode of vertical direction with the length-wise axis of welding torch 3a is more stable, can carry out higher-quality welding.
[correction of taught point]
Use Fig. 6 A, Fig. 6 B, the method for correction portion 26 correcting taught point is described.In addition, although be described the situation that there is not yaw arc manipulation at this, when there is yaw arc manipulation, can revise taught point too.When being still judged as there occurs interference after the correction of welding torch posture, correction portion 26 can carry out the correction to this taught point, and when being judged as there occurs interference, correction portion 26 can carry out the correction correction of this taught point not being carried out to welding torch posture.In the present embodiment, to the former situation, namely following situation is described: when being judged as that welding torch 3a and mother metal 8 can occur disturb in the welding corresponding with correction position by interference judging part 25, taught point is moved, thus elimination is disturbed.In fig. 6, show the position of the nozzle 5 before taught point correction and welding wire 6 with solid line, illustrate with dashed lines the position of taught point revised nozzle 5 grade.As shown in Figure 6A, when a C be present in the I of region put D not to be present in the I of region and to be judged as there occurs interference, correction portion 26 can by making taught point A along comprising an A, the straight line F2 direction (direction in the front of mother metal 8) of some C mobilely eliminates interference.That is, correction portion 26 can make taught point A move to an A
4position, thus make a D move to some D on straight line F1
4position.In addition, when a D be present in the I of region put C be not present in the I of region, also similarly can eliminate interference by correcting taught point.Generally speaking, a side in a C, some D is not present in that in the I of region, the opposing party is present in the I of region, correction portion 26 can by make taught point A towards among straight line F1, F2, make a C, direction that some D both sides meet the straight line of inequality moves, thus make a C, some D both sides are included in the I of region.In addition, the direction of taught point A movement can be the direction (namely away from the direction of groove) away from the intersection point of the two in straight line F1, F2.
In addition, during angle (such as bevel angle) binary direction between the length-wise axis of welding torch 3a is in the mother metal 8 in the I of region, as shown in Figure 6B, correction portion 26 can move along the length direction of welding torch 3a by making taught point A, with make a C, some D move to a C respectively
5, some D
5mode, make a C, some D be positioned at region I.In addition, in fig. 6b, also show the position of the nozzle 5 before taught point correction and welding wire 6 with solid line, illustrate with dashed lines the position of taught point revised nozzle 5 grade.Such as, the correction of the taught point shown in this Fig. 6 B can be implemented after having carried out the welding torch posture shown in Fig. 5 C revising.In addition, such as using the length direction of welding wire 6 as in the three-dimensional cartesian coordinate system of Z-direction, i.e. tool coordinates system, can move along this Z-direction the correction carrying out the taught point shown in Fig. 6 B by making the position of taught point A.In addition, when carrying out the correction of taught point when not carrying out the correction of welding torch posture, correction portion 26 can carry out the correction of the length direction movement making taught point A along welding torch 3a.
In addition, when revising taught point, in order to be confirmed whether to disturb according to revised taught point, can suitably perform by welding torch position calculation portion 24 calculate welding torch 3a position, carry out by interference judging part 25 process that judges etc.
In addition, in the present embodiment, mainly the situation that control device 1 has a jam avoidance device 2 is described, but also can be really not so.Such as, can be that teaching machine has jam avoidance device 2.And this jam avoidance device 2 can read out the information of welding track etc. from the storage part of control device 1, thus carry out interference judgement and correction etc., and revised teaching information is returned to control device 1.In addition, jam avoidance device 2 can be different from control device 1 and teaching machine and independently exist.
Manipulator 3 has the multiple arms coupled together by joint, and this joint is driven by drive motors via reductor.This drive motors has encoder, can be detected the current location of drive motors by this encoder.In addition, the welding torch 3a for carrying out arc welding to mother metal 8 is installed on the top of this manipulator 3.And, give portion 3b from welding wire and give welding wire, and between the welding wire and mother metal 8 on welding torch 3a top, apply high voltage by bonding machine 4, thus produce electric arc, and pass through heat melting welding wire and the mother metal 8 of this electric arc, carry out the welding to mother metal 8 thus.In addition, the structure of manipulator 3 has been known, and description is omitted.In addition, in arc welding, although generally protective gas can be sprayed from welding torch 3a, omit the explanation to this structure.
Bonding machine 4 is possessed for supplying the welding high-tension source of welding current used to welding torch 3a and mother metal 8, for giving the welding control part etc. that the welding wire controlled is given control part and controlled the source of welding current according to the welding condition sent from control device 1 to the welding wire being given 3b execution in portion by welding wire.In addition, bonding machine 4 can obtain welding current, weldingvoltage, welding gas flow, welding wire give the data such as speed, and these data are sent to control device 1.In addition, the structure of bonding machine 4 has been known, and description is omitted.
In addition, in the present embodiment, situation control device 1 being controlled to a manipulator 3 and a bonding machine 4 is described, but also can be really not so.Control device 1 also can control multiple manipulator 3 and multiple bonding machine 4.Therefore, jam avoidance device 2 also can carry out the process of the correction of Interference Detection and teaching information etc. to the welding track related in the multi-pass welding of multiple welding robot.In this case, can give for representing that this teaching information is the identifying information of the data of which welding robot teaching information etc.
Next, use the flow chart of Fig. 2 A, the action of jam avoidance device 2 is described.
(step S101) acceptance division 22 receives shape information, teaching information, welding torch information, yaw arc manipulation amplitude information, and is saved in storage part 21.When not carrying out yaw arc manipulation, the yaw arc manipulation amplitude information representing yaw arc manipulation amplitude=0 can be stored.In addition, acceptance division 22 such as can receive the teaching information of Article 1 welding track, and is saved in storage part 21.Then, according to the teaching information of this Article 1 welding track and shape information etc., the later teaching information of Article 2 welding track can be generated by welding track generating unit 23, and is saved in storage part 21.In addition, as mentioned above, when by making the actual movement in the position of welding torch 3a thus setting the teaching information of Article 1 welding track, the preservation of this teaching information can be carried out by control part 12.In addition, the instruction that the receives information of step S101 such as can input according to the information relative to user is undertaken by teaching machine.
(step S102) welding torch position calculation portion 24 sets 1 to the counter p for identifying sealing wire (welding track).
(step S103) welding torch position calculation portion 24 calculates the position of the welding torch 3a corresponding with p article of welding track.Detailed content about this process is described using the flow chart of Fig. 2 B below.
(step S104) disturbs judging part 25 to judge the point that whether there is I outside, region in the position of calculating.Then, when there is the point of I outside, region, owing to there occurs interference, therefore enter step S105, otherwise, owing to not disturbing, therefore enter step S112.
(step S105) disturbs judging part 25 whether to be all positioned at I outside, region to calculate two end points to judge.Then, when only an orientation, when region I is outside, enters step S106, when both sides are positioned at region I outside, enter step S109.
(step S106) correction portion 26 is revised the welding torch posture of p article of welding track, is included in region I to make the end points being arranged in I outside, region.Such as, as shown in Figure 5A, when a C is not included in the I of region, target angle θ is modified to δ
1, thus make a C move to a C
1position.In addition, such as, as shown in Figure 5 B, when a D is not included in the I of region, target angle θ is modified to δ
2, thus make a D move to a D
2position.
(step S107) welding torch position calculation portion 24 uses revised welding torch posture, calculates the position of the welding torch 3a corresponding with p article of welding track.Detailed content about this process is described using the flow chart of Fig. 2 B below.
(step S108) disturbs judging part 25 to judge the point that whether there is I outside, region in the position of calculating in step s 107.Then, when there is the point of I outside, region, owing to there occurs interference, therefore enter step S111, otherwise, owing to not disturbing, therefore enter step S112.
(step S109) correction portion 26 is revised the welding torch posture of p article of welding track, is included in region I to make at least one party of two end points being arranged in I outside, region.In this correction, as previously mentioned, can towards the adjustment in direction welding torch posture making the length direction of welding torch 3a close to vertical direction.Such modification method is specifically described.Such as, as shown in the solid line of Fig. 6 B, when a C, some D both sides there occurs interference, the inclination angle of correction portion 26 couples of straight lines F1, F2 compares.In addition, inclination angle is set to and the angle of horizontal direction (0 ~ 90 degree).Then, when the inclination angle of the inclination angle > straight line F2 of straight line F1, because straight line F1 is closer to vertical direction (inclination angle=90 degree), therefore, correction portion 26 is revised welding torch posture close to the mode in the direction of straight line F1 to make the length direction of welding torch 3a.That is, correction portion 26 is revised welding torch posture in the mode of the interference eliminating some C sides.On the other hand, when the inclination angle of the inclination angle < straight line F2 of straight line F1, because straight line F2 is closer to vertical direction, therefore, correction portion 26 is revised welding torch posture close to the mode in the direction of straight line F2 to make the length direction of welding torch 3a.That is, correction portion 26 is revised welding torch posture in the mode of the interference eliminating some D sides.In addition, when the inclination angle of the inclination angle=straight line F2 of straight line F1, correction portion 26 can be revised welding torch posture to make the mode in the close wherein direction of certain straight line of the length direction of welding torch 3a.
(step S110) welding torch position calculation portion 24 uses revised welding torch posture, calculates the position of the welding torch 3a corresponding with p article of welding track.Detailed content about this process is described using the flow chart of Fig. 2 B below.
(step S111) correction portion 26 is revised the taught point of p article of welding track, with the inside making the position of the welding torch 3a being present in I outside, region move to region I.
The total P whether (step S112) welding torch position calculation 24 pairs, portion counter p is more than or equal to welding track judges.Then, when p is more than or equal to P, owing to processing the whole P bar welding tracks in multi-pass welding, therefore, end is used for a series of process revising teaching information, when p is less than P, enters step S113.In addition, the total P being set to welding track has been stored in not shown storage medium.
(step S113) welding torch position calculation portion 24 makes counter p increase by 1.Then, step S103 is returned.
As scheme this Fig. 2 A flow chart shown in, disturbance regime is judged, when causing interference for each welding track, teaching information is revised, thus eliminates this interference, teaching Information revision can be become can not cause the teaching information of interference thus, as a result, interference can be avoided.In addition, the processing sequence in the flow chart of Fig. 2 A is an example, as long as can obtain same result, can change the order of each step.In addition, in the flow chart of Fig. 2 A, the situation of judgement etc. is disturbed to be illustrated to carrying out successively from Article 1 welding track, but also can be really not so.Such as, when so that the mode of interference can not be caused to teach Article 1 welding track by manual operations, interference can be carried out judge from Article 2 welding track.In this case, such as 2 can be set to counter p in step s 102.
Fig. 2 B is the flow chart of the detailed content illustrated the process (step S103, S107, S110) that the position of the welding torch 3a in the flow chart of Fig. 2 A calculates.
(step S201) welding torch position calculation portion 24 judges whether will carry out yaw arc manipulation in p article of welding track.Then, when by when carrying out yaw arc manipulation, entering step S202, when not carrying out yaw arc manipulation, entering step S203.In addition, welding torch position calculation portion 24 such as can be judged as there is not yaw arc manipulation when the amplitude of the yaw arc manipulation of p article of welding track is set to 0, is judged as there is yaw arc manipulation when being set to beyond 0.
(step S202) welding torch position calculation portion 24 uses teaching information, welding torch information, yaw arc manipulation amplitude information, calculates the position of the welding torch 3a when there is yaw arc manipulation.This calculating can be the position of two end points of the welding torch 3a calculated in the plane vertical with welding direction, such as, can be the some C ' calculated in Fig. 4 B and the coordinate putting D '.Then, turn back in the flow chart of Fig. 2 A.
(step S203) welding torch position calculation portion 24 uses teaching information and welding torch information, calculates the position of the welding torch 3a when there is not yaw arc manipulation.This calculating can be the position of two end points of the welding torch 3a calculated in the plane vertical with welding direction, such as, can be the some C calculated in Fig. 4 A and the coordinate putting D.Then, turn back in the flow chart of Fig. 2 A.
In addition, in step S202, S203, when the calculating of position carrying out the welding torch 3a corresponding with step S103, the welding torch posture of the p article of welding track comprised in the teaching information using and be set in advance in storage part 21 is set to.On the other hand, when the calculating of position carrying out the welding torch 3a corresponding with step S107 and step S110, the welding torch posture being used in corrected p article of welding track in step S106 and step S109 is set to.
In addition, in the above description, mainly the mother metal 8 with レ shape groove is illustrated, but, such as, for the mother metal 8 of groove with I shape, V-arrangement, X-shaped, U-shaped, K shape, J-shaped, two-sided J-shaped, H-shaped etc., interference can be carried out too and judge.In addition, as U-shaped and J-shaped etc., when the face of will carry out welding is curve, straight line F1, F2 can be replaced and use curve.
As mentioned above, according to the jam avoidance device 2 based on present embodiment, when welding according to teaching information, when welding torch 3a can be caused and mother metal 8 occurs to disturb, by revising this teaching information in advance, actual interference can be avoided.Particularly, when carrying out yaw arc manipulation, the mode being difficult to avoid interference carries out teaching, but, by being undertaken by jam avoidance device 2 disturbing the correction etc. judging and carry out the teaching information corresponding with this judged result, even if make also can avoid interference when carrying out yaw arc manipulation.In addition, in the correction of teaching information, first carry out the correction of welding torch posture, and carry out the correction of taught point when interference also cannot be eliminated by this correction, thereby, it is possible to avoid interference by carrying out required minimal correction.
In addition, in the present embodiment, use straight line F1, F2 are judged whether that the situation that can occur to disturb is illustrated, but also can be really not so.Such as, in the case shown in figure 7, although some D is not present in by the determined region I of straight line F1, F2, also interference can not be caused.Therefore, such as, even if when at least one party in a C, some D is not present in the I of region, in line segment AB in the figure 7, line segment CD and the nonoverlapping situation of mother metal 8, judging part 25 is disturbed can be judged as disturbing.In addition, can shape information be used, carry out the judgement whether line segment AB and line segment CD is overlapping with mother metal 8.
In addition, in the present embodiment, carry out disturbing the situation of judgement etc. to be illustrated to the coordinate used in the plane vertical with sealing wire, but also can be really not so.Such as, the position (3D shape) of the welding torch 3a in three-dimensional system of coordinate can be calculated, and use the position of the position of this welding torch 3a and the mother metal 8 to be showed by shape information, in three-dimensional system of coordinate, whether can there is interference to welding torch 3a and mother metal 8 judge, when there occurs interference, welding torch posture and/or taught point are revised, thus eliminates this interference.Like this, by carrying out the process in three-dimensional system of coordinate, can more accurate judgement etc. be carried out, and more complicated shape etc. can be tackled.
In addition, in the above-described embodiment, each process or each function can by being undertaken focusing on realizing by independent device or independent system, or also can by being carried out dispersion treatment to realize by multiple device or multiple system.
In addition, in the above-described embodiment, for the information transmission carried out between each inscape, such as when two inscapes of carrying out this information transmission are physically different inscapes, can by being performed the output of information by an inscape, and carry out this information transmission by the reception of another inscape execution information, or, when two inscapes of carrying out this information transmission are physically identical inscape, can by corresponding to an inscape processing stage transfer to corresponding to another inscape processing stage carry out this information transmission.
In addition, even if clearly do not record in the above description, in the above-described embodiment, the information etc. of the shape of the information of also can store the information relevant to the process performed by each inscape to provisional or chronicity in not shown storage medium, such as each inscape receives, obtain, select, generate, send, receiving and used the in processes threshold value of each inscape, mathematical expression, address, mother metal and groove etc.In addition, can be performed by each inscape or not shown storage unit to the information of preserving in this not shown storage medium.In addition, from this not shown storage medium, read information to be performed by each inscape or not shown reading part.
In addition, even if clearly do not record in the above description, in the above-described embodiment, such as, when the information used in each inscape, each inscape is used in processes threshold value, address, the information such as mother metal and the shape of groove, various setting values can be changed by user, also can be arranged to enable user suitably change these information, or also can be really not so.When user can change these information, this modification is as the not shown acceptance division that can be indicated by the change for receiving from user and for realizing the not shown changing unit that information changes according to this change instruction.The reception of the change instruction undertaken by this not shown acceptance division, it can be such as the reception that the information from input equipment is carried out, also can be the reception carried out the information sent by communication line, can also be the reception carried out the information read out in the storage medium from regulation.
In addition, in the above-described embodiment, each inscape can be consisted of special hardware, or, for also can being realized by performing a programme by the inscape of software simulating.Such as, read by the program execution department of CPU etc. and perform the software program be stored in the storage medium such as hard disk or semiconductor memory, thus each inscape can be realized.When this execution, program execution department can access storage part and/or storage medium performing a programme.In addition, this program can be performed by downloading this program from server etc., also can by read out be stored in regulation storage medium (such as CD, disk, semiconductor memory etc.) in program perform this program.In addition, this program can be used as the program of configuration program product.In addition, can be one for performing the computer of this program, also can be multiple stage.That is, can focus on, or also can carry out dispersion treatment.
In addition, the present invention is not limited to above embodiment, can carry out various change, and the embodiment after those changes is also contained in protection scope of the present invention.
Industry utilizes possibility
According to above explanation, by based on jam avoidance device of the present invention, when carrying out the multi-pass welding corresponding with teaching information, when interference can be there is, can revise obtaining teaching information thus avoid the effect disturbed, such as, be very effective as the device etc. for revising teaching information.
Claims (6)
1. a jam avoidance device, is characterized in that, possesses:
Storage part, for storing shape information, teaching information and welding torch information, wherein, described shape information is the information relevant to shape of the mother metal by being carried out multi-pass welding by welding robot, described teaching information represents taught point and the welding torch posture of each welding track of this multi-pass welding, and described welding torch information represents the position relationship between the top of welding wire and welding torch;
Welding torch position calculation portion, use described welding torch information and with as judging the teaching information that the welding track of object is corresponding, calculate the welding torch position in the welding corresponding with this welding track;
Interference judging part, the welding torch position using described shape information and calculated by described welding torch position calculation portion, to described as judging in the welding that the welding track of object is corresponding whether welding torch and mother metal interference can occur and judge; And
Correction portion, when being judged as that welding torch and mother metal can occur to disturb by described interference judging part, to described as judging that the corresponding teaching information of the welding track of object is revised.
2. jam avoidance device according to claim 1, is characterized in that,
When being judged as that welding torch and mother metal can occur to disturb by described interference judging part, described correction portion pair with described as judging that the corresponding welding torch posture of the welding track of object is revised.
3. jam avoidance device according to claim 2, is characterized in that,
When being judged as that welding torch and mother metal can occur to disturb by described interference judging part, described correction portion to eliminate the mode of the interference at least one position, to described as judging that the corresponding welding torch posture of the welding track of object is revised.
4. the jam avoidance device according to Claims 2 or 3, is characterized in that,
Described welding torch position calculation portion also calculate with by corresponding welding torch position, the i.e. correction position of described correction portion revised welding torch posture,
Whether described interference judging part also to welding torch in the welding corresponding with described correction position and mother metal, interference can occur judges,
When being judged as that welding torch and mother metal can occur to disturb in the welding corresponding with correction position by described interference judging part, described correction portion makes described taught point move, thus eliminates interference.
5. the jam avoidance device according to any one in claims 1 to 3, is characterized in that,
In described multi-pass welding, welding torch is made to carry out yaw arc manipulation,
Also store perpendicular to the amplitude relevant information of this yaw arc manipulation on the direction of sealing wire, i.e. yaw arc manipulation amplitude information in described storage part,
Described welding torch position calculation portion also uses described yaw arc manipulation amplitude information, calculate with as the welding torch position judged in the welding that the welding track of object is corresponding.
6. jam avoidance device according to claim 4, is characterized in that,
In described multi-pass welding, welding torch is made to carry out yaw arc manipulation,
Also store perpendicular to the amplitude relevant information of this yaw arc manipulation on the direction of sealing wire, i.e. yaw arc manipulation amplitude information in described storage part,
Described welding torch position calculation portion also uses described yaw arc manipulation amplitude information, calculate with as the welding torch position judged in the welding that the welding track of object is corresponding.
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| CN108698152A (en) * | 2016-02-17 | 2018-10-23 | 株式会社神户制钢所 | The control method of welder and welder |
| KR20180066782A (en) * | 2016-12-09 | 2018-06-19 | 한화에어로스페이스 주식회사 | Collaborative robot |
| CN110267772A (en) * | 2016-12-09 | 2019-09-20 | 韩华精密机械株式会社 | Cooperate robot |
| CN110267772B (en) * | 2016-12-09 | 2022-07-12 | 韩华株式会社 | Cooperative robot |
| KR102630230B1 (en) | 2016-12-09 | 2024-01-29 | 한화로보틱스 주식회사 | Collaborative robot |
| CN111055046A (en) * | 2018-10-17 | 2020-04-24 | 发那科株式会社 | Teaching position correction method |
| CN113386127A (en) * | 2020-03-13 | 2021-09-14 | 欧姆龙株式会社 | Interference determination device and method, and storage medium |
| CN113386127B (en) * | 2020-03-13 | 2023-10-20 | 欧姆龙株式会社 | Interference judging device and method, and storage medium |
Also Published As
| Publication number | Publication date |
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| CN104923886B (en) | 2018-11-09 |
| JP6359847B2 (en) | 2018-07-18 |
| JP2015174142A (en) | 2015-10-05 |
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