CN110475649B - 动作程序校正方法、结构物的组装方法、介质及焊接机器人系统 - Google Patents

动作程序校正方法、结构物的组装方法、介质及焊接机器人系统 Download PDF

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Publication number
CN110475649B
CN110475649B CN201880019898.3A CN201880019898A CN110475649B CN 110475649 B CN110475649 B CN 110475649B CN 201880019898 A CN201880019898 A CN 201880019898A CN 110475649 B CN110475649 B CN 110475649B
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China
Prior art keywords
welded
vertices
welding robot
welding
extracting
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CN201880019898.3A
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English (en)
Chinese (zh)
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CN110475649A (zh
Inventor
宫田俊介
定广健次
焦有卓
木村雄士
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Kobe Steel Ltd
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Kobe Steel Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • 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
    • B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0294—Transport carriages or vehicles
    • 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
    • B23K9/1272—Geometry oriented, e.g. beam optical trading
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Geometry (AREA)
  • Plasma & Fusion (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
CN201880019898.3A 2017-03-21 2018-02-27 动作程序校正方法、结构物的组装方法、介质及焊接机器人系统 Active CN110475649B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2017054686A JP6914067B2 (ja) 2017-03-21 2017-03-21 動作プログラム補正方法および溶接ロボットシステム
JP2017-054686 2017-03-21
PCT/JP2018/007371 WO2018173655A1 (ja) 2017-03-21 2018-02-27 動作プログラム補正方法および溶接ロボットシステム

Publications (2)

Publication Number Publication Date
CN110475649A CN110475649A (zh) 2019-11-19
CN110475649B true CN110475649B (zh) 2022-08-16

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CN201880019898.3A Active CN110475649B (zh) 2017-03-21 2018-02-27 动作程序校正方法、结构物的组装方法、介质及焊接机器人系统

Country Status (4)

Country Link
JP (1) JP6914067B2 (ja)
KR (1) KR102315485B1 (ja)
CN (1) CN110475649B (ja)
WO (1) WO2018173655A1 (ja)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111014892B (zh) * 2019-12-13 2021-11-23 华中科技大学鄂州工业技术研究院 一种焊缝轨迹监控系统
CN111070210B (zh) * 2020-01-02 2021-02-26 中车青岛四方机车车辆股份有限公司 一种工件定位校准方法
CN111673749B (zh) * 2020-06-09 2021-06-08 深圳中集智能科技有限公司 视觉焊接机器人的调校方法及视觉焊接机器人
US11407110B2 (en) 2020-07-17 2022-08-09 Path Robotics, Inc. Real time feedback and dynamic adjustment for welding robots
KR20230160276A (ko) 2021-02-24 2023-11-23 패스 로보틱스, 인코포레이티드 오토노머스 웰딩 로봇
JP2023125925A (ja) 2022-02-28 2023-09-07 株式会社神戸製鋼所 動作プログラムの補正方法、溶接システム、およびプログラム
CN115026839B (zh) * 2022-07-29 2024-04-26 西南交通大学 一种轨道车辆转向架斜楔支撑机器人摇枕孔定位方法

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Publication number Priority date Publication date Assignee Title
US4453085A (en) * 1981-05-11 1984-06-05 Diffracto Ltd. Electro-optical systems for control of robots, manipulator arms and co-ordinate measuring machines
JPS5887603A (ja) * 1981-11-20 1983-05-25 Tokico Ltd 産業用ロボツト
JP2512716B2 (ja) 1986-07-11 1996-07-03 株式会社日立製作所 自動溶接装置
JP2767417B2 (ja) * 1986-08-29 1998-06-18 ファナック 株式会社 ロボツト制御装置
JP3450609B2 (ja) * 1996-08-21 2003-09-29 株式会社東芝 ロボットのオフライン教示装置
JP3435447B2 (ja) 1999-03-01 2003-08-11 川崎重工業株式会社 走行ロボット
JP4060608B2 (ja) * 2001-03-14 2008-03-12 ユニバーサル造船株式会社 溶接装置
KR100473404B1 (ko) * 2001-09-27 2005-03-07 주식회사 한올레이저 마킹위치 자동 추적 마킹 방법
JP3733485B2 (ja) * 2002-03-04 2006-01-11 川崎重工業株式会社 自動開先倣い溶接装置および方法
JP3978368B2 (ja) * 2002-05-15 2007-09-19 株式会社神戸製鋼所 ツイン溶接ロボット装置
KR20050039350A (ko) * 2003-10-24 2005-04-29 현대자동차주식회사 차체 패널 용접용 로봇의 위치 보정 방법
DE102007008598A1 (de) * 2007-02-19 2008-08-21 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Automatische Programmierung von Robotern zum Abschweißen gehefteter Profile auf Mikropaneelen mit Hilfe digitaler Bilderfassung
JP5327709B2 (ja) 2009-04-27 2013-10-30 株式会社Ｉｈｉ 大型枠組構造物の溶接ロボット装置
JP5537868B2 (ja) * 2009-08-26 2014-07-02 株式会社アマダ 溶接ロボット
JP6170345B2 (ja) * 2013-06-03 2017-07-26 株式会社アマダホールディングス 自動補正システム及びその方法
CN105728972A (zh) * 2016-04-26 2016-07-06 河北工业大学 一种凹凸形变角焊缝自适应跟踪控制装置及其控制方法

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Publication number Publication date
CN110475649A (zh) 2019-11-19
JP2018153905A (ja) 2018-10-04
JP6914067B2 (ja) 2021-08-04
KR20190120283A (ko) 2019-10-23
KR102315485B1 (ko) 2021-10-20
WO2018173655A1 (ja) 2018-09-27

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