JPH0418945B2 - - Google Patents
Info
- Publication number
- JPH0418945B2 JPH0418945B2 JP16196784A JP16196784A JPH0418945B2 JP H0418945 B2 JPH0418945 B2 JP H0418945B2 JP 16196784 A JP16196784 A JP 16196784A JP 16196784 A JP16196784 A JP 16196784A JP H0418945 B2 JPH0418945 B2 JP H0418945B2
- Authority
- JP
- Japan
- Prior art keywords
- welding
- oscillation
- groove
- welding current
- welding torch
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired
Links
- 238000003466 welding Methods 0.000 claims description 79
- 230000010355 oscillation Effects 0.000 claims description 26
- 238000000034 method Methods 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 9
- 230000000694 effects Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 239000011324 bead Substances 0.000 description 3
- 230000001788 irregular Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 238000009429 electrical wiring Methods 0.000 description 1
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
- B23K9/12—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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
- Numerical Control (AREA)
Description
【発明の詳細な説明】
（産業上の利用分野）
この発明は、消耗電極を供給する溶接トーチを
開先の幅方向に揺動させながら溶接線をアークな
らい溶接するべくした溶接開先追従方法に関する
ものである。[Detailed Description of the Invention] (Industrial Application Field) The present invention provides a welding groove tracking method for welding a welding line along an arc while swinging a welding torch that supplies a consumable electrode in the width direction of the groove. It is related to.
（従来技術）
例えば溶接トーチの揺動中心から左側への半周
期の溶接電流検出値の積分値と右側への半周期の
溶接電流検出値の積分値とが等しくなるように、
溶接トーチの揺動中心を開先幅方向に位置制御す
るようにしたものがある。(Prior art) For example, the integral value of the welding current detection value for a half cycle to the left from the center of swing of the welding torch is equal to the integral value of the welding current detection value for a half cycle to the right.
There is one in which the position of the center of swing of the welding torch is controlled in the width direction of the groove.
しかしながら、消耗電極は送給路中で曲げられ
ていると溶接トーチから突き出されたときは、曲
げられていない場合に比べその先端とワークとの
空間距離が変わつて来るので溶接電流も変化す
る。また、消耗電極に給電するため溶接トーチ内
に設けられているチツプの内径は、所定位置にお
いて消耗電極の外径に適合したやや大きい目にな
るように作られているが、摩耗によつてチツプの
内径が大きくなると給電点位置が変わり、溶接電
流の変化が起り得る。そして、このような溶接電
流の変化は、一様なものでなく消耗電極の送給に
伴つて変動するので、検出した溶接電流のパター
ンは複雑なものであるため、溶接電流を検出して
演算処理し、開先追従を行う場合の障害になつて
いる。 However, when the consumable electrode is bent in the feed path and protruded from the welding torch, the spatial distance between its tip and the workpiece changes compared to when it is not bent, and the welding current also changes. In addition, the inner diameter of the tip provided in the welding torch to supply power to the consumable electrode is made to be slightly larger than the outer diameter of the consumable electrode at a predetermined position, but the tip may become damaged due to wear. When the inner diameter of the welding tube becomes larger, the position of the feeding point changes, which may cause a change in the welding current. Since such changes in welding current are not uniform and fluctuate as the consumable electrode is fed, the pattern of the detected welding current is complex, so it is necessary to detect and calculate the welding current. This has become an obstacle for processing and groove tracking.
（解決しようとする課題）
この発明は前述事情に鑑みてなされたものであ
り、前記揺動中に検出した溶接電流値に基いて溶
接トーチの揺動中心を位置制御し、開先に追従さ
せるにあたり、消耗電極の曲りや給電点位置の変
動に伴うノイズを含む溶接電流の変動の影響を受
けることなく、精度のよい追従を行わせようとす
るものである。(Problem to be Solved) This invention was made in view of the above-mentioned circumstances, and controls the position of the swing center of the welding torch based on the welding current value detected during the swing, so as to follow the groove. In doing so, the aim is to perform accurate tracking without being affected by fluctuations in the welding current, including noise due to bending of the consumable electrode or fluctuations in the position of the feed point.
（課題を解決するための手段）
この発明は、前記溶接電流検出値を演算処理す
るにあたり、検出した溶接電流のパターンを数式
化し、こと数式についての前記揺動の一端から前
記揺動中心までの1/4周期の積分値と前記揺動中
心から前記揺動の他の一端までの1/4周期の積分
値を求め、これら積分値の差の関数として表わさ
れる制御量によつて前記揺動中心を開先幅方向に
位置制御することにより、前記溶接トーチを開先
に追従させるようにしたものである。(Means for Solving the Problems) In calculating the detected welding current value, the present invention converts the detected welding current pattern into a mathematical formula, and calculates the pattern from one end of the oscillation to the center of the oscillation based on the mathematical formula. The integral value of the 1/4 period and the integral value of the 1/4 period from the center of the oscillation to the other end of the oscillation are determined, and the oscillation is controlled by the control amount expressed as a function of the difference between these integral values. By controlling the position of the center in the groove width direction, the welding torch is made to follow the groove.
（作用）
検出した溶接電流値は、第７図ａのようにノイ
ズを含んだ複雑な変動パターンをもつているが、
演算処理には第７図ｂのような数式が使われるの
で、溶接トーチの揺動による変化だけを含んだ溶
接電流値が使われる。(Function) Although the detected welding current value has a complicated fluctuation pattern containing noise as shown in Figure 7a,
Since the mathematical formula shown in FIG. 7b is used in the calculation process, a welding current value that includes only changes due to swinging of the welding torch is used.
（実施例）
第２図のような水平Ｖ開先ＧをもつたワークＷ
に対して多関節ロボツトＲで溶接トーチＴを揺動
させながら、揺動中心OSCの両側における揺動
の1/4周期の溶接電流値の積分値を比較して溶接
トーチＴを開先Ｇに追従させて溶接し、溶接ビー
ドBdを形成させるようにした溶接開先追従方法
での実施例について説明する。(Example) Workpiece W with a horizontal V groove G as shown in Fig. 2
While the welding torch T is oscillated by the articulated robot R, the integral value of the welding current value for 1/4 period of the oscillation on both sides of the oscillation center OSC is compared, and the welding torch T is moved to the groove G. An embodiment of a welding groove tracking method will be described in which welding is performed following the welding groove to form a weld bead Bd.
この実施例では、第３図に示すように、溶接ト
ーチＴは揺動経路Ｐを画き、１回目の揺動、２
回目の揺動、３回目の揺動…Ｎ回目の揺動
へと揺動しながら、溶接速度VNで開先方向GDに
添つて溶接して行く。 In this embodiment, as shown in FIG. 3, the welding torch T draws a swing path P, and
The welding is carried out along the groove direction GD at the welding speed V N while oscillating from the 3rd oscillation to the 3rd oscillation to the Nth oscillation.
ここで、Ｎ回目の揺動について、図上の左端か
ら揺動中心OSCまでの1/4周期をNa、揺動中心
OSCから図上右端までの1/4周期をNb、右端から
揺動中心OSCまでの1/4周期をNc、揺動中心OSC
から左端までの1/4周期をNdと呼ぶ。 Here, for the Nth oscillation, 1/4 period from the left end on the diagram to the oscillation center OSC is Na, the oscillation center
Nb is the 1/4 period from OSC to the right end of the diagram, Nc is the 1/4 period from the right end to the swing center OSC, and is the swing center OSC.
The 1/4 period from to the left end is called Nd.
そして、このような溶接トーチＴの揺動と溶接
進行方向GDへの移動は、第４図のように最終腕
先に溶接トーチＴを取り付けたロボツトＲの関節
角α１〜α５を制御することによつて行われる。
溶接トーチＴには、図示しないモーターによつて
駆動される消耗電極送給装置Ｒによつて消耗電極
Ｅが送給され、消耗電極Ｅには、溶接電源１から
溶接トーチＴの図示しないチツプを通して溶接電
流Ｉが供給される。 The swinging and movement of the welding torch T in the welding direction GD is controlled by controlling the joint angles α1 to α5 of the robot R, which has the welding torch T attached to the end of its final arm, as shown in Fig. 4. It is done by folding.
A consumable electrode E is fed to the welding torch T by a consumable electrode feeder R driven by a motor (not shown), and a consumable electrode E is fed from a welding power source 1 through a chip (not shown) of the welding torch T. A welding current I is supplied.
溶接電源Ｉから溶接トーチＴへの電気配線上に
は電流センサ２が設けられており、電流センサ２
の出力は、ローパスフイルタ３、サンプルホール
ド回路４、Ａ／Ｄコンバータ５、ポート６を通し
てバス７に接続される。また、バス７にはマイク
ロコンピユータ８およびインターフエース９を通
じてロボツトＲの各関節軸駆動用サーボ回路１０
〜１４が接続されている。なお、マイクロコンピ
ユータ８は、図示しないCPU、ROM、RAMか
らなる公知のもので、この溶接開先追従に関する
プログラムを内蔵し、演算を行い、かつそのデー
タを格納する。このような電流センサ２〜サーボ
回路１４で制御装置１５が構成されている。そし
て、サーボ回路１０〜１４は、ロボツトＲの各関
節角α１〜α５を制御するα１軸モータ１６〜α
５軸モータ２０にそれぞれ接続されている。ま
た、操作部２１がバス７に接続されている。 A current sensor 2 is provided on the electrical wiring from the welding power source I to the welding torch T.
The output of is connected to a bus 7 through a low pass filter 3, a sample hold circuit 4, an A/D converter 5, and a port 6. In addition, the bus 7 is connected to a servo circuit 10 for driving each joint axis of the robot R through a microcomputer 8 and an interface 9.
~14 are connected. The microcomputer 8 is a well-known device consisting of a CPU, ROM, and RAM (not shown), and contains a program related to this welding groove tracking, performs calculations, and stores the data. The current sensor 2 to the servo circuit 14 constitute a control device 15. The servo circuits 10 to 14 operate α1-axis motors 16 to α that control each joint angle α1 to α5 of the robot R.
Each is connected to a five-axis motor 20. Further, an operation section 21 is connected to the bus 7.
ここで、この溶接開先追従方法の背景となる一
般的な作用について説明する。例えばＮ回目の揺
動が始まるに当り、第５図のように割込がかか
ると、溶接トーチＴの揺動中、揺動周期を適宜分
割した各期間（図示せず）中に溶接電流値を適宜
回数サンプルし、平均してその期間の溶接電流検
出値Intとして図示しないRAMに取り込む。そし
て、溶接トーチＴが揺動の一端に来て、これらの
溶接電流検出値の積分され、その結果、1/4周期
Naに関する積分値ANａ、1/4周期Nbに関する積
分値BNｂは第６図の通りになる。ただし、この
図では溶接電流Ｉは不規則な変動を含まない理想
的な姿で描かれている。そして、ANｂからBNｂ
を減算して得た差Ｃの関数ｆ(C)として、溶接トー
チＴの揺動中心の位置制御量を演算し、更にロボ
ツトＲの各関節軸α１〜α５の駆動量が演算され
て出力し、割込みの処理が終る。 Here, the general operation behind this welding groove tracking method will be explained. For example, when an interruption occurs as shown in FIG. 5 at the start of the Nth oscillation, the welding current value will be is sampled an appropriate number of times, and the average value is taken into a RAM (not shown) as the detected welding current value Int for that period. Then, when the welding torch T comes to one end of the oscillation, these welding current detection values are integrated, and as a result, 1/4 period
The integral value A N a regarding Na and the integral value B N b regarding 1/4 period Nb are as shown in FIG. However, in this figure, the welding current I is depicted in an ideal form without irregular fluctuations. And from A N b to B N b
As a function f(C) of the difference C obtained by subtracting , the position control amount of the swing center of the welding torch T is calculated, and furthermore, the drive amount of each joint axis α1 to α5 of the robot R is calculated and output. , the interrupt processing ends.
ここで、次の割込みがかかり、この出力によ
りロボツトＲは溶接トーチＴを揺動させながら溶
接を行わせ、同時に前述同様、溶接電流を検出す
る。このような動作の繰返しにより、溶接トーチ
Ｔを開先Ｇに追従せしめて溶接ビードBdを形成
させる。 Here, the next interrupt is generated, and this output causes the robot R to perform welding while swinging the welding torch T, and at the same time detect the welding current as described above. By repeating such operations, the welding torch T is made to follow the groove G and a weld bead Bd is formed.
以下、この発明にかかる作用について説明す
る。Ｎ回目の揺動が始まるに当り、第１図のよう
に割込みがかかると、溶接電流検出、検出した
溶接電流を適宜回数サンプリングと平均、溶接電
流検出値の格納と言う各ステツプを揺動の半周期
について行う点は、前述の通りである。 The effects of this invention will be explained below. When an interruption occurs as shown in Figure 1 when the Nth oscillation begins, each step of oscillation is performed: detecting the welding current, sampling and averaging the detected welding current an appropriate number of times, and storing the detected welding current value. The points performed regarding the half cycle are as described above.
一方、マイクロコンピユータ８には、３次式で
式化する、４次式で近似させるなどのプログラム
が書き込まれており、操作部２１で数式化の次数
を３に選ぶと与えられた時間ｔに対して
ｆ（ｔ）＝at3＋bt2＋ct＋ｄ
なる演算を行うプログラムの実行ができるように
なる。そして、誤差率もまた操作部２１で例えば
誤差を５％に選ぶと、前式ｆ（ｔ）の演算結果が、
検出された溶接電流値と５％の誤差範囲で一致す
るよう、前式の定数ａ、ｂ、ｃ、ｄが求められる
ようになる。この定数ａ、ｂ、ｃ、ｄを求める演
算は、公知の最小自乗法にる収束演算によるもの
であり、このような演算法をマイクロコンピユー
タ８のプログラムにすることは公知のことであ
る。 On the other hand, the microcomputer 8 is programmed with programs such as formulating a formula using a cubic equation or approximating it using a quaternary equation. On the other hand, it becomes possible to execute a program that performs the calculation f(t)=at 3 +bt 2 +ct+d. Then, if the error rate is also selected to be, for example, 5% using the operation unit 21, the calculation result of the previous formula f(t) becomes
The constants a, b, c, and d in the above equation are determined so that they match the detected welding current value within an error range of 5%. The calculations for determining the constants a, b, c, and d are based on convergence calculations based on the well-known method of least squares, and it is well known to program the microcomputer 8 using such calculation methods.
前述数式化の次数および誤差率は、装置１５の
動作に先立つて選択されているので、前述格納し
た溶接電流検出値Intの中から代表的に適宜何点
かのものが選ばれると前式のｆ（ｔ）が与えられ
その検出した時間ｔに応じて前述演算がなされ、
定数ａ、ｂ、ｃ、ｄが決定されるので、溶接電流
の時間に対する関係を規定する式ｆ（ｔ）が決定
される。つまり、第７図ａのような不規則な変動
を含む溶接電流検出値のパターンが、同図ｂのよ
うな不規則な変動を含まない曲線で表わされるよ
うになる。 Since the order and error rate of the above-mentioned formula are selected before the operation of the device 15, when a number of representative points are appropriately selected from the welding current detection values Int stored above, the above equation is f(t) is given and the above calculation is performed according to the detected time t,
Since the constants a, b, c, and d are determined, the equation f(t) that defines the relationship between welding current and time is determined. In other words, the pattern of the detected welding current value that includes irregular fluctuations as shown in FIG. 7a is now represented by a curve that does not include irregular fluctuations as shown in FIG. 7b.
そこで、この数式ｆ（ｔ）＝at3＋bt3＋ct＋ｄに
対して、Ｎ回目の揺動中の1/4周期Naおよび
Nbについて積分し、積分値A′NａおよびB′Nｂを
求め、更にA′NａからB′Nｂを減算して差C′を求め
る。そして、この差Ｃの関数として溶接トーチＴ
の揺動中心の位置制御量が演算され、更にロボツ
トＲの各関節軸α１〜α５の駆動量が演算され
る。この各関節軸α１〜α５の駆動量が出力され
たところで割込み処理が終る。 Therefore, for this formula f(t) = at 3 + bt 3 + ct + d, 1/4 period Na and
Integrate with respect to Nb to obtain integral values A' N a and B' N b, and further subtract B' N b from A' N a to find the difference C'. Then, as a function of this difference C, the welding torch T
The position control amount of the swing center of the robot R is calculated, and the drive amount of each of the joint axes α1 to α5 of the robot R is calculated. The interrupt process ends when the drive amount of each of the joint axes α1 to α5 is output.
ここで、次の割込みがかかり、先の割込み
で得た出力によつて、ロボツトＲは溶接トーチＴ
にＮ＋１回目の揺動Ｎ＋１を行わせて溶接を行
う。このような動作の繰返しにより、溶接トーチ
Ｔを正確に開先Ｇに追従せしめて溶接ビードBd
を形成し、開先Ｇの端に到る。 At this point, the next interrupt occurs, and the robot R uses the welding torch T based on the output obtained from the previous interrupt.
Welding is performed by causing N+1 to perform the N+1 oscillation. By repeating these operations, the welding torch T can be made to accurately follow the groove G and weld bead Bd.
, and reaches the end of the groove G.
（他の実施例）
他の実施例として、溶接電流検出値Intは、揺
動周期中、適宜間欠的にだけ検出して取り込むこ
と、揺動幅中の適宜位置において検出し、取り込
むようにすることができる。(Other Embodiments) As another embodiment, the welding current detection value Int may be detected and captured only intermittently during the oscillation cycle, or may be detected and captured at appropriate positions within the oscillation width. be able to.
また水平隅肉など他の形状の開先についての開
先追従についても実施できる。 It is also possible to perform groove tracking for grooves of other shapes such as horizontal fillets.
また、使用される数式も３次式に限ることはな
く、４次式およびその他の数式とすることがで
き、このような数式化についても最小自乗法以外
の係数決定方法によることができる。 Furthermore, the formula used is not limited to a cubic formula, but can be a quaternary formula or other formulas, and such formulas can also be expressed by coefficient determination methods other than the least squares method.
また、Ｎ回目の揺動の半周期の揺動中心にお
ける溶接電流検出値をＷ（ｔ）Ｎとし、Ｋ回の揺
動の平均値
１／ＫK
〓N=1
Ｗ（ｔ）N-Kまたはウエート
を持たせた平均値
K
〓N=1
2-KＷ（ｔ）N-Kをもとに、
次数を決定する等の方法がある。 In addition, the welding current detection value at the center of the half cycle of the Nth oscillation is W(t)N, and the average value of the K oscillations is 1/K K 〓 N=1 W(t) NK or weight There is a method such as determining the order based on the average value K 〓 N=1 2 -K W(t) NK .
（効果）
以上の通り、この発明は、検出した溶接電流か
ら、消耗電極の曲りや給電点の位置変動に伴うノ
イズおよびその他のノイズを含まない、溶接電流
を表わすような数式化を行い、この数式によつて
演算処理を行うので、精度のよい溶接開先追従が
行えると言う効果がある。従つて、基準値を定め
る場合、そのため幾つかの振動についてサンプリ
ングを行ういわゆる学習と言うような面倒な動作
がいらなくなると言う効果もある。(Effects) As described above, the present invention converts the detected welding current into a mathematical formula that expresses the welding current without including noise caused by bending of the consumable electrode or positional fluctuation of the power feeding point, and other noises. Since the arithmetic processing is performed using mathematical formulas, there is an effect that accurate welding groove tracking can be performed. Therefore, when determining the reference value, there is an effect that there is no need for a troublesome operation such as so-called learning in which sampling is performed for several vibrations.
図面はこの発明の実施例を示すものであつて、
第１図はフロー図、第２図は概略図、第３図は模
式図、第４図はブロツク図、第５図はフロー図、
第６図は模式図、第７図は模式図である。
これらの図面において、Ｅは消耗電極、Ｔは溶
接トーチ、Ｇは開先、Ｗはワーク、OSは揺動方
向、Ｓ１１〜Ｓ３０は演算処理のステツプであ
る。
The drawings show embodiments of the invention,
Figure 1 is a flow diagram, Figure 2 is a schematic diagram, Figure 3 is a schematic diagram, Figure 4 is a block diagram, Figure 5 is a flow diagram,
FIG. 6 is a schematic diagram, and FIG. 7 is a schematic diagram. In these drawings, E is a consumable electrode, T is a welding torch, G is a groove, W is a workpiece, OS is a swing direction, and S11 to S30 are steps of calculation processing.
Claims (1)
向に揺動させながら溶接線をアークならい溶接す
るべくした溶接開先追従方法において、 前記溶接トーチの揺動中に検出した溶接電流か
ら、この溶接電流のパターンを数式化し、この数
式についての前記揺動の一端から前記揺動中心ま
での1/4周期の積分値と前記揺動中心から前記揺
動の他の一端までの1/4周期の積分値を求め、こ
れら積分値の差の関数として表わされる制御量に
よつて前記揺動中心を開先幅方向に位置制御する
ことにより、前記溶接トーチを開先に追従させる
ようにした、前記溶接開先追従方法。[Scope of Claims] 1. In a welding groove tracking method in which a welding line is welded along an arc while a welding torch that supplies a consumable electrode is oscillated in the width direction of the groove, detection is made while the welding torch is oscillating. From the welding current obtained, the pattern of this welding current is expressed mathematically, and the integral value of the 1/4 period from one end of the oscillation to the oscillation center and the other end of the oscillation from the oscillation center are calculated using this mathematical expression. By determining the integral value of the 1/4 period of The method for following a welding groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16196784A JPS6138784A (en) | 1984-07-31 | 1984-07-31 | Method for following up welding groove |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16196784A JPS6138784A (en) | 1984-07-31 | 1984-07-31 | Method for following up welding groove |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6138784A JPS6138784A (en) | 1986-02-24 |
| JPH0418945B2 true JPH0418945B2 (en) | 1992-03-30 |
Family
ID=15745478
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16196784A Granted JPS6138784A (en) | 1984-07-31 | 1984-07-31 | Method for following up welding groove |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6138784A (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009183976A (en) * | 2008-02-06 | 2009-08-20 | Panasonic Corp | Welding control method and welding device |
| JP5081134B2 (en) * | 2008-11-18 | 2012-11-21 | 株式会社ダイヘン | Method for setting scanning parameter of arc sensor for robot and apparatus for setting copying parameter of arc sensor for robot |
-
1984
- 1984-07-31 JP JP16196784A patent/JPS6138784A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6138784A (en) | 1986-02-24 |
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