JP2008264845A5 - - Google Patents
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- JP2008264845A5 JP2008264845A5 JP2007113075A JP2007113075A JP2008264845A5 JP 2008264845 A5 JP2008264845 A5 JP 2008264845A5 JP 2007113075 A JP2007113075 A JP 2007113075A JP 2007113075 A JP2007113075 A JP 2007113075A JP 2008264845 A5 JP2008264845 A5 JP 2008264845A5
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- welding
- gap length
- sensor
- condition
- robot
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Claims (9)
前記溶接トーチに接続され前記溶接トーチへ溶接電流を出力する溶接電源と、
前記溶接トーチ近傍に装着されワークの溶接線の位置および前記溶接線のギャップ長を前記溶接トーチに先行して検出するセンサと、
前記センサに接続され前記センサを制御するセンサ制御装置と、
前記ロボットに接続され前記ロボットの駆動軸を制御するとともに、前記溶接電源および前記センサ制御装置に接続され情報の入出力を行うロボット制御装置とを備え、
前記センサによって検出した前記溶接線の位置に基づき前記溶接トーチの位置を補正するとともに、前記ギャップ長に応じて溶接条件を変更しながら溶接作業を行うロボットシステムにおいて、
前記ロボット制御装置は、前記ギャップ長と前記ギャップ長に応じて段階的に変化する前記溶接条件との対応を記録した溶接条件テーブルと、
前記ギャップ長の変化に伴う前記溶接条件の変更の遅れ量を設定する条件緩和パラメータと、
前記溶接条件テーブルでの前記溶接条件の変化点に対応するギャップ長近傍における前記溶接条件の変更を前記条件緩和パラメータによって設定された分だけ遅らせて出力する条件緩和演算部とを備えることを特徴とするロボットシステム。 A robot having a plurality of drive shafts and mounting a welding torch at the tip;
A welding power source connected to the welding torch and outputting a welding current to the welding torch;
A sensor that is mounted in the vicinity of the welding torch and detects a position of a welding line of a workpiece and a gap length of the welding line in advance of the welding torch;
A sensor control device connected to the sensor and controlling the sensor;
A robot controller connected to the robot to control the drive axis of the robot and connected to the welding power source and the sensor controller to input / output information;
In the robot system that corrects the position of the welding torch based on the position of the welding line detected by the sensor and performs the welding operation while changing the welding conditions according to the gap length,
The robot control device, a welding condition table that records the correspondence between the gap length and the welding conditions that change stepwise according to the gap length,
A condition relaxation parameter for setting a delay amount of the change of the welding condition accompanying the change of the gap length;
A condition relaxation calculation unit that outputs the change of the welding condition in the vicinity of the gap length corresponding to the change point of the welding condition in the welding condition table by delaying by an amount set by the condition relaxation parameter. Robot system to do.
前記溶接トーチに接続され前記溶接トーチへ溶接電流を出力する溶接電源と、
前記溶接トーチ近傍に装着されワークの溶接線の位置および前記溶接線のギャップ長を前記溶接トーチに先行して検出するセンサと、
前記センサに接続され前記センサを制御するセンサ制御装置と、
前記ロボットに接続され前記ロボットの駆動軸を制御するとともに、前記溶接電源および前記センサ制御装置に接続され情報の入出力を行うロボット制御装置とを備え、
前記センサによって検出した前記溶接線の位置に基づき前記溶接トーチの位置を補正するとともに、前記ギャップ長に応じて溶接条件を変更しながら溶接作業を行うロボットシステムにおいて、
前記ロボット制御装置は、前記ギャップ長と前記ギャップ長に応じて段階的に変化する前記溶接条件との対応を記録した溶接条件テーブルと、
前記センサによって検出したギャップ長と前記溶接条件テーブルに設定された前記溶接条件の変化点に対応するギャップ長とを照合し、
前記センサによって検出したギャップ長の前後2つの溶接条件を読み出し、
前記2つの溶接条件に対応するギャップ長と前記センサによって検出したギャップ長との差の比率から前記2つの溶接条件を補間する演算を行い、前記演算によって得られた溶接条件を出力する条件補間演算部とを備えることを特徴とするロボットシステム。 A robot having a plurality of drive shafts and mounting a welding torch at the tip;
A welding power source connected to the welding torch and outputting a welding current to the welding torch;
A sensor that is mounted in the vicinity of the welding torch and detects a position of a welding line of a workpiece and a gap length of the welding line in advance of the welding torch;
A sensor control device connected to the sensor and controlling the sensor;
A robot controller connected to the robot to control the drive axis of the robot and connected to the welding power source and the sensor controller to input / output information;
In the robot system that corrects the position of the welding torch based on the position of the welding line detected by the sensor and performs the welding operation while changing the welding conditions according to the gap length,
The robot control device, a welding condition table that records the correspondence between the gap length and the welding conditions that change stepwise according to the gap length,
The gap length detected by the sensor is compared with the gap length corresponding to the change point of the welding condition set in the welding condition table,
Read two welding conditions before and after the gap length detected by the sensor,
Conditional interpolation calculation for performing an operation for interpolating the two welding conditions from the ratio of the difference between the gap length corresponding to the two welding conditions and the gap length detected by the sensor, and outputting the welding conditions obtained by the calculation A robot system comprising a portion.
The robot system according to claim 1, wherein the gap length is a magnitude of a deviation that occurs in a parallel direction or a vertical direction with respect to the workpiece surface.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007113075A JP5428136B2 (en) | 2007-04-23 | 2007-04-23 | Robot system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007113075A JP5428136B2 (en) | 2007-04-23 | 2007-04-23 | Robot system |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2008264845A JP2008264845A (en) | 2008-11-06 |
JP2008264845A5 true JP2008264845A5 (en) | 2011-06-30 |
JP5428136B2 JP5428136B2 (en) | 2014-02-26 |
Family
ID=40045090
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007113075A Expired - Fee Related JP5428136B2 (en) | 2007-04-23 | 2007-04-23 | Robot system |
Country Status (1)
Country | Link |
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JP (1) | JP5428136B2 (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CA2941153C (en) * | 2014-03-17 | 2018-06-05 | Bombardier Transportation Gmbh | Hybrid laser welding system and method using two robots |
JP7507480B2 (en) | 2020-08-26 | 2024-06-28 | 公立大学法人大阪 | Welding equipment and welding method |
JP7506174B2 (en) | 2020-10-30 | 2024-06-25 | ファナック株式会社 | Robot Welding System |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0780643A (en) * | 1993-09-13 | 1995-03-28 | Fanuc Ltd | Control method of welding robot |
JPH0929433A (en) * | 1995-07-21 | 1997-02-04 | Sumitomo Metal Ind Ltd | Welding method |
JP3255046B2 (en) * | 1996-11-13 | 2002-02-12 | 日本鋼管株式会社 | Welding condition adaptive control method |
JPH10244367A (en) * | 1997-03-03 | 1998-09-14 | Fanuc Ltd | Welding robot system |
JP2000210771A (en) * | 1999-01-26 | 2000-08-02 | Hitachi Ltd | Automatic copying controller for welding position and welding method for groove parts of members to be welded |
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2007
- 2007-04-23 JP JP2007113075A patent/JP5428136B2/en not_active Expired - Fee Related
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