JPH08309537A - Method for welding corrugated part of welding robot for corrugated lap plate joining - Google Patents

Abstract

PURPOSE: To make it possible to execute exact welding of corrugated parts by recognizing the shape deformation of the corrugated parts and correcting base NC data in a method for executing welding by adopting a delay control system for preceding sensors to a welding robot and previously calculating a corrugation shape as NC data. CONSTITUTION: The quantitization values by the shape correction rates by the heights Ha, Hb of the corrugated parts, the shape correction rates by skirt widths La, Lb and the shape correction rates of bulging of body parts by the length M of the corrugated parts are determined by the three parameters from the data obtd. by the sensors in order to correct the basic NC data. The basic NC data is operated by using-these quantitization values, by which the NC data for execution is obtd.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding method in a welding robot for joining corrugated lap plates, which welds corrugated membranes together, and more particularly to a method for welding corrugated portions.

[0002]

2. Description of the Related Art Conventionally, a contact type sensor for shape recognition has been used for welding corrugated membranes, and a torch angle control of a welding torch has adopted a copy control method. When a plasma arc welding method, which is a welding method that is faster than the conventionally used TIG welding method, is applied to the welding of the membranes, when a welding torch or the like is operated by the copy control method in the corrugated portion,
The change of the torch angle could not follow the sensing of the contact type sensor, and the welding defect was likely to occur. Therefore, a delay control method has been previously proposed in which a sensor precedes the welding torch so that the welding torch can easily follow the welding torch.

Next, a welding robot adapted to a high-speed plasma arc welding method by using a delay control system preceded by this sensor will be described. 5 is a schematic perspective view thereof, and FIG. 6 is a schematic plan view thereof.

In FIGS. 5 and 6, reference numerals 1 and 2 denote membranes having a corrugation shape, and corrugation portions 1B and 2B are formed on flat portions 1A and 2A at predetermined pitches. The membranes 1 and 2 are fitted with the corrugation portions 1B and 2B in the up-down direction and the edges are overlapped with each other, so that the corrugated laminated plate joint portion 3 is long in the direction orthogonal to the direction of the corrugation portions 1B and 2B. Is formed. The weld edge 4 is formed at the edge position of the upper membrane 2 in the corrugated laminated plate joint portion 3.
A guide rail 10 adjusted in the direction along the welding line 4 is arranged above the welding line 4, and is supported and guided by the guide rail 10 to move in the Y direction along the welding line 4. A body 11 is provided.

This welding machine main body 11 has a welding torch 12
Is the horizontal direction X and the vertical direction Z orthogonal to the welding line 4.
It is provided so as to be freely movable and to be swingable in an arc direction Θ about a horizontal axis 16 parallel to the left-right direction X and located at the arc tip of the torch tip. This welding torch 12
Uses a plasma arc welding method. Further, the welding machine main body 11 is provided with a control device 13 for controlling the movement of the welding torch 12 in the left-right direction X, the up-down direction Z, and the swing in the arc direction Θ, and the control device 13 includes a delay circuit. It is configured. Further, in the welder main body 11, a visual sensor 14 for measuring seam tracking of a welding line is provided at a front position in the torch moving direction preceding the welding torch 12, and a laser displacement for corrugate shape measurement is provided at a lateral position of the visual sensor 14. A sensor 15 is provided.

The welding operation of the corrugated laminated plate joint in the welding robot having the above structure will be described. Adjust the guide rail 10 and then, as shown in FIG. 6, welder body 1
The welding torch 12 and the visual sensor 14 provided in No. 1 are set to be located above the welding line 4. At this time, the laser displacement sensor 15 is not located on the welding line 4, but there is no problem in recognizing the corrugated shape. However, the laser displacement sensor 15 needs to be provided at a position preceding the welding torch 12. Then, by moving the welding machine main body 11 while being guided by the guide rail 10, the sensor 14,
While performing measurement by 15, plasma arc welding of the welding line 4 by the welding torch 12 is performed at a predetermined welding speed.
At this time, the laser displacement sensor 15 senses the surface of the membrane 2 and the visual sensor 14 performs seam tracking of the welding line 4. And the sensors 14 and 15 precede,
The welding torch 12 follows, but the delay is due to the control device 1
A delay circuit incorporated in 3 controls the movement of the welding torch 12 in the left-right direction X and the up-down direction Z and the swinging in the arc direction Θ about the horizontal axis 16 with a time delay.

As shown in FIG. 7, the laser displacement sensor 15 performs normal sensing on the front plane area Aa of the plane portion 2A, and when facing the rising slope surface area Ba of the corrugated portion 2B, the tilt angle is increased. Becomes larger, the laser displacement sensor 15 cannot promote the reflected light, and the measurement becomes impossible. When the laser displacement sensor 15 faces the top range C, the planar shape of the top range C returns to a state in which reflected light can be promoted, and measurement becomes possible. Similarly, if it faces the falling slope surface range Bb, the measurement becomes impossible again, and if it faces the rear plane area Ab of the flat portion 2A, measurement becomes possible. Such a laser displacement sensor 1
In the measurement state of No. 5, the highest point T measured in the top range C is the point indicating the center position of the corrugated portion 2B. Here, a plurality of types of basic shapes of the corrugated portion 2B are given to the control device 13 in advance, one basic shape is selected from the input vertex T, and robot control is performed based on the shape of this corrugated portion. By selecting the NC data of the welding line 4 of the corrugated part created when activating the software for, and operating the welding torch 12 with the NC data after a predetermined delay time,
It is possible to control the speed of the corrugated portion 2B and control the movement in the vertical direction Z, and to control the swinging in the arc direction Θ around the horizontal axis 16, that is, the change of the torch angle θ.

Further, as shown in FIG. 8, the visual sensor 14 carries out a normal seam tracking with respect to the front weld line range Da of the weld line 4 with respect to the flat portions 1A and 2A, and the corrugated weld line range F. If it faces, the detection level will rise and it will be out of the visual field of the visual sensor 14, resulting in an unmeasurable state. This unmeasurable state is the entire area facing the corrugated part welding line range F, and can be measured again when the visual sensor 14 faces the rear welding line range Db. As described above, measurement is impossible over the entire corrugated part welding line range F, but the edge portions of the membrane 2 are substantially the same between the corrugated part welding line range F and the two adjacent welding line ranges Da and Db. Since it is located on the line, above the line connecting the coordinates of the starting point measured in the front welding line range Da and the coordinates of the ending point measured in the rear welding line range Db, for example, above the corrugated welding line range F. By taking the welding line 4 at, the horizontal direction X of the welding torch 12
Movement control can be performed.

As described above, in the welding robot having the above-described structure, the delay control method in which the sensor precedes is used, and the method of calculating the corrugated portion as NC data in advance is used, so that the high speed plasma arc welding method can be achieved. Also allows the welding torch to sufficiently follow the welding line. Next, the operation of the corrugated portion of the welding torch 12 will be described in more detail.

First, as shown in FIG. 9, the basic shape of the corrugated portion is as follows: the R1 portion forming the top area C, the R2a portion forming the rising slope portion, the R2b portion forming the falling slope portion, and the rising skirt portion. R3a portion to be formed and R3b portion to form the falling skirt portion, and the rising side skirt width L from the apex T to the rising skirt portion starting point S
a, the width Lb of the skirt on the falling side from the apex T to the end point E of the skirt, the heights Ha and Hb of the vertices, the membrane thickness g, and the starting point S of the skirt of the rising skirt and the trailing edge of the skirt T. The shape is obtained by calculating the center points of three consecutive arc portions and their connecting points, which has a length M up to the skirt portion end point E. A plurality of types of corrugated shapes (for example, large corrugations and small corrugations) thus obtained are recorded in the memory of the control device. NC data of the corrugated part created when one of the corrugated shapes is selected from the vertices of the corrugated part detected by the sensing of the laser displacement sensor and the robot control software is started based on this shape. Is created.

Conventionally, the NC data of the corrugated portion was created in the following manner from the corrugated shape obtained as described above. FIG. 10A is a part of the welding line, and the Z-axis data for the Y-axis data is divided into the same unit width of the Y-axis based on the arc of the welding line on the plane coordinates. . Next, as shown in FIG. 10B, in order to correct the calculated values of the Y-axis and the Z-axis according to the same movement amount per unit time, on the curve of the arc, etc. Create interval data. Here, ○ mark shows the data obtained in the first calculation, △ mark shows the data obtained by correcting the torch so that it has a certain same speed, and between △ mark and △ mark the same length on the curve It is Further, as shown in FIG. 10C, the torch angles θ between the Δ marks are calculated in the corrected data. This corrected data (y
_{Based on 1} z ₁ ) to (y ₃ z ₃ ) and the torch angles θ ₁ and θ ₂ , NC data of the corrugated part created when the software of the robot control angle is activated is created. The welding torch height is controlled so as to follow this, and the welding speed and torch angle with respect to the welding line are controlled to be constant.

[0012]

In the welding of the corrugated portion by the welding robot having the above structure, the shape of the corrugated portion is considered to be uniform in all membranes, and based on this shape, software for robot control is used. The NC data of the corrugated part at the time of starting is created, and the welding control of the corrugation part is performed by the delay control method.
However, when the accuracy of the membrane is not uniform, or when the position when the membrane is attached is not appropriate, the corrugation part may have a different shape or deformation when temporarily attaching the membranes. In this case, the basic NC data as described above is used. When the welding line of the welding torch is followed by, the target position may be displaced due to the deformation of the corrugated portion, and a welding defect may occur.

The present invention solves the above problem, and recognizes the shape deformation of the corrugation portion based on the information of the laser displacement sensor, corrects the basic NC data, and enables accurate welding of the corrugated portion. An object of the present invention is to provide a corrugated portion welding method in a welding robot for joining corrugated laminated plates.

[0014]

In order to solve the above-mentioned problems, the welding method in the welding robot for corrugated lap plate joining of the present invention adopts a delay control system in which a sensor precedes the welding robot, and the corrugation shape is preset to N.
When calculating as C data and welding, the shape deformation state of the corrugated portion at the position along the welding line that occurs when temporarily tacking the membranes together is measured by the preceding sensor to determine the height and skirt width of the corrugation shape. Quantification is performed based on the information, and the basic NC data of the corrugated portion created when the robot control software is started based on the quantified value indicating the degree of deformation is operated to perform the NC for welding. The data is recalculated, and the welding operation of the corrugated portion is controlled by using the NC data for execution.

[0015]

With the above-described structure, the welding robot recognizes the shape deformation of the general corrugated portion, which is the reference, by the preceding sensor on the welding line, and the corrugated portion of the corrugated portion created when the robot control software is activated. Since the basic NC data is deformed based on the information on the height and the hem width of the corrugation shape measured by the preceding sensor, the conventional NC data is generated when the target position is displaced due to the deformation of the corrugated portion. Welding defects can be prevented.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a flow chart for explaining a corrugated portion welding method in a welding robot for corrugated lap joint according to one embodiment of the present invention, the main part of which is robot control based on the degree of deformation of the corrugation shape detected by the laser displacement sensor. Operating the basic NC data of the corrugated part created when the software for welding is started,
To recalculate C data.

FIG. 2 shows a schematic top view of a welding robot used in the welding method. In the previously proposed welding robot, as shown in FIG. 5, the visual sensor for seam tracking measurement and the laser displacement sensor for corrugation shape measurement are arranged in the robot moving direction in order to make the structure of the welding robot compact. The laser displacement sensor 15 is arranged so as to be aligned in the direction perpendicular to the laser displacement sensor 15 in FIG. 2, in order to recognize how the shape of the corrugated portion is deformed.
Is arranged in front of the visual sensor 14 so that the vicinity of the welding line 4 that causes deformation can be measured, and the welding torch 12, the visual sensor 14, and the laser displacement sensor 15 are aligned on the welding line 4.

Next, when correcting the shape of the corrugated portion,
Explanation of the method of measuring the apex T, the skirt start point S, and the skirt end point E to obtain the corrugated shape, the procedure of the shape correction performed from the data of the vertex T, the skirt start point S, and the skirt end point E, and the abdominal shape correction method. I do.

From the data of the laser displacement sensor 15, the vertex T
The coordinate values of and the coordinate values of the foot starting point S and the foot ending point E are known. That is, the coordinate value of the vertex T is the laser displacement sensor 1
5 has the smallest Z direction data (laser displacement sensor 1
5 is the shortest distance between the apex) and the coordinate values of the foot start point S and the foot end point E are calculated from the data of the laser displacement sensor 15 with the apex T as the center, and the Z around it is calculated.
Determined from the displacement of the axis data.

The method of measuring the apex T, the foot starting point S and the foot ending point E for obtaining the corrugated shape will be described in more detail. The shape correction is performed by dividing the corrugated part into the front and the rear. The laser displacement sensor 15 is shown in FIGS.
As described above, the anterior plane area Aa, the apex area C, and the posterior plane area Ab are measured, and the height Ha of the corrugated portion based on the anterior plane area Aa and the posterior plane area Ab are measured.
The height Hb of the corrugated part and the foot widths La and Lb of the anterior position and the posterior position with reference to are calculated. The process is as follows. 1) The laser displacement sensor 15 passes through the anterior plane range Aa of the corrugated portion and stores the measurement data until the measurement becomes impossible as the anterior plane range data. 2) After the laser displacement sensor 15 becomes unmeasurable, a top search algorithm that detects the vertex T from the distance between the laser displacement sensor and the vertex T is executed to obtain the position data of the vertex T. 3) When the position of the apex T is known, the measurement data is analyzed at a position where the corrugated part of the basic shape has returned to the running direction by about half the width of the skirt, and the position data of the starting point S of the rising skirt of the corrugated part is obtained. A method of obtaining the position data of the foot start point S will be described later. 4) By comparing the data of the apex T with the anterior plane range Aa, and comparing the data of the apex T with the data of the rising base start point S of the anterior position, the height H of the corrugated part in the anterior position.
a and the foot width La are obtained. 5) The measurement is continued even after the position of the apex T is obtained, and is stored as the rear plane range data from the time when the measurement becomes possible. 6) At the position where the laser displacement sensor 15 is advanced from the position of the apex T by about half the skirt width of the corrugated portion of the basic shape in the traveling direction, the rear plane range data is analyzed and the skirt of the rear corrugated portion is analyzed. The position data of the end point E of the section is obtained. 7) By comparing the data of the apex T with the posterior plane range Ab and comparing the data of the apex T with the position data of the posterior skirt end point E, the height Hb of the corrugated part in the posterior position is obtained.
And the foot width Lb are obtained.

The algorithm for finding the skirt start point S and skirt end point E of the corrugated part will be described in more detail below. Note that the trailing end point E is the same method as the trailing end point S, and a description thereof will be omitted.

After the position data of the apex T is obtained, first, the slope near the starting point of the skirt portion is examined. That is, FIG. 4 (a)
As shown in, the starting point P is a position that is returned from the obtained vertex T position data by about half the width of the skirt of the corrugated portion of the basic shape, and the position that is returned 1 to 2 mm before that position is the reference plane. From the measurement data of 10 to 15 mm in the range, the inclination (the inclination slightly generated by the pressing force at the time of molding) in the vicinity of the hem end is obtained.

The starting point S of the skirt portion of the corrugated portion is estimated in consideration of this inclination. That is, the above-mentioned inclination is subtracted from the measurement data of the skirt portion and correction is performed, and this inclination portion is determined to be a straight line portion in consideration of the inclination generated at the time of molding,
Find the starting point of the arc. Next, in the arc portion measured by the laser displacement sensor 15, three points having appropriate intervals in the traveling direction are selected as shown in FIG. 4B, and a circle passing through the three points is obtained. Then, the portion immediately below the center point of the circle whose radius is the closest to the ideal is set as the skirt portion start point S (skirt portion end point E) of the corrugated portion. Coordinate values of three points (y ₁ , z ₁ ), (y
The radius R and the center (y, z) of a circle passing through ₂ , z ₂ ) and (y ₃ , z ₃ ) are calculated by the following equation.

[0024]

[Equation 1]

Next, the procedure for correcting the shape of the corrugated portion and the method for correcting the shape of the abdomen based on the data of the apex and the starting point S and the ending point E of the skirt will be described. (1) Height correction parameter FIG. 3A shows the correction in the height direction.
I is the basic shape of the corrugated shape, and II is the corrected shape with the height direction corrected. Upon correction in the height direction, the height Ha of the corrugated portion based on the anterior plane range Aa (shown in FIG. 7) obtained by measurement is compared with the height Hs of the basic shape I of the corrugated portion, Obtain the shape correction factor in the height direction. Further, the height Hb of the corrugated portion based on the posterior plane range Ab (shown in FIG. 3) is compared with the height Hs of the basic shape I of the corrugated portion to obtain the shape correction rate in the height direction. Then, the height direction data of the basic shape is multiplied by the front and rear correction factors over the entire corrugated portion to obtain new shape data II. At this time, it is necessary to obtain how much the length of the entire arc has changed due to the correction, but when the correction in the height direction is performed, the correction rate becomes 1.00 regardless of whether the correction is in the expansion direction or the reduction direction. If the numbers are close,
It has been confirmed by calculation that the correction factor and the change in arc length are proportional. (2) Parameter for correction in the width direction FIG. 3B shows correction in the width direction.
Shows the corrected shape data II of FIG. 3A, and III shows the shape after correction in the width direction. The front hem width La and the rear hem width Lb obtained as described above are compared with the hem width Ls of the basic shape of the corrugated portion to obtain the shape correction ratio in the width direction. The widthwise data of the basic shape is multiplied by the front and rear correction factors over the entire corrugated area, and the result is shown in Fig. 3 (a) II.
The shape data of is overlapped to form new data III.

At this time, it is necessary to obtain how much the length of the entire arc has changed by the correction. However, when the correction in the width direction is performed, the correction rate is 1 regardless of whether the correction ratio is in the expansion direction or the reduction direction. It has been confirmed by calculation that the correction factor and the change in the length of the arc are proportional to each other when the value is close to 0.00. This characteristic does not change significantly even after performing the height correction. (3) Abdominal Correction Parameter FIG. 3C shows correction of the abdomen of the corrugated part. In this figure, III is the same shape as the new shape data III in FIG. 3B, and IV is the shape after correction of the abdomen. The correction of the abdomen of the corrugated portion corrects the length M of the arc changed by the height and width direction shape correction of the corrugated portion. At that time, since the arc length M of the entire corrugated part does not change even if the corrugated part is deformed, the positions of the skirt start point S, the apex T, and the skirt end point E obtained by the calculation do not change, and the abdomen of the corrugate part does not change. Change the bulge of. Unlike the correction in the height and width directions of the corrugated part, the characteristics of shape change are slightly different between expansion and contraction. Therefore, the correction formulas suitable for each enlargement and reduction are selected as follows.

The following is a correction formula for the abdominal shape of the corrugated part.
This will be explained in more detail. Where each symbol in the correction formula
Is determined as follows. y: traveling direction value y_n: Calculated travel direction value y_w: Corrugated skirt width z: Height direction value z_n: Height direction value after calculation z_H: Height of corrugated part r: correction rate (rate) In the case of the expansion direction (in this case, the width direction (Y coordinate) is
Leave it and expand the abdomen in the height direction (Z coordinate)) The same correction formula in the height direction is used for the front and back positions.
Height direction value z after calculation _nIs as follows.

[0028]

[Equation 2]

The correction rate r at this time is different between the small corrugation having a small height T and the large corrugation having a large height T among the types of corrugated portions, and is as follows.・ In the case of small corrugations If the change in length is in the range of 0 to 1.08 mm

[0030]

(Equation 3)

If the change in length exceeds 1.08 mm

[0032]

[Equation 4]

In the case of large corrugation If the change in length is in the range of 0 to 2.16 mm

[0034]

(Equation 5)

If the change in length exceeds 2.16 mm

[0036]

(Equation 6)

In the case of the contraction direction (in this case, the height direction (Z coordinate) is left as it is, and the abdomen is contracted in the width direction (Y coordinate)). Since the coordinates are reduced in the opposite direction, the correction formula in the width direction is different between the front and rear positions, and the calculated traveling direction value y in the front position is y.
_n is as follows.

[0038]

(Equation 7)

Further, the traveling direction value y _n after the calculation at the rear position is as follows.

[0040]

(Equation 8)

The correction rate r at this time is different between the small corrugation and the large corrugation, and is as follows.・ Small corrugation If the change in length is 0.12 mm or more

[0042]

[Equation 9]

In the case of large corrugation If the change in length is in the range of 0.12 to 1.8 mm

[0044]

[Equation 10]

If the change in length exceeds 1.8 mm

[0046]

[Equation 11]

In the above modification, (1)
(2) Although the corrugated portion is continuously corrected using the parameters of (3), the corrugated portion need not be corrected using all three parameters. That is, in the corrugated shape, generally, when the height direction is measured higher than the basic shape I, the lateral spread tends to be measured shorter than the basic shape I, and the height direction is lower than the basic shape I. When measured, the lateral spread generally tends to be longer than that of the basic shape I. Therefore, (1)
It may be possible to deal with this by deforming the height direction with the parameter of, and then deforming the lateral shape with respect to this deformed shape with the parameter of (2). However, when the height direction is measured lower than the basic shape I and the lateral spread is measured shorter than the basic shape I, the middle abdomen tends to bulge, so the parameter (3) is required. And

These methods are based on the assumption that the length of a corrugated shape does not change even if the corrugated shape is deformed. Next, the basic NC data of the corrugated part created when the software for controlling the robot is started is operated from the quantified value indicating the degree of deformation obtained as described above, and the NC for execution during welding is executed. The data is recalculated and stored in another memory within the controller. The calculation of the execution NC data is performed when the laser displacement sensor 15 measures each corrugation and the shape deformation parameters are determined. After that, the basic NC data is transformed and stored in another memory, and the stored new execution N is stored.
Since the control is performed by the C data, it is possible to prevent the target position from being deviated due to the deformation of the corrugated portion. next,
From the quantified value indicating the degree of deformation obtained as described above, the basic NC data of the corrugated part created when the robot control software is started is operated to re-execute the execution NC data at the time of welding execution. It is calculated and stored in another memory in the controller. The calculation of the execution NC data is performed at the time when the measurement by the laser displacement sensor is performed for each corrugation and the parameters of the shape deformation are determined. After that, the basic NC data is modified and stored in another memory and controlled by this new stored NC data for execution. Therefore, it is possible to prevent the target position from being deviated due to the modification of the corrugated part.

[0049]

As described above, according to the present invention, the basic NC data of the corrugated portion, which is created when the software for controlling the robot is activated, is corrected according to the shape deformation of the corrugated portion. Since the welding operation of the corrugated portion is controlled by using the obtained new NC data for execution, it is possible to prevent the welding defect which is conventionally caused by the deformation of the corrugated portion and the target position is displaced.

[Brief description of drawings]

FIG. 1 is a flow chart of a main part of a corrugated part welding method in a welding robot for joining corrugated laminated plates according to an embodiment of the present invention.

FIG. 2 is a schematic top view of a welding robot for joining corrugated laminated plates used in the corrugated welding method.

FIG. 3 is a diagram illustrating three parameters for correcting basic NC data created when software for controlling a robot is activated in the corrugated welding method.

FIG. 4 is a diagram illustrating an algorithm for finding a corrugated skirt end portion in the same corrugated welding method.

FIG. 5 is a schematic perspective view of the welding robot for corrugated lap plate joint proposed previously.

FIG. 6 is a schematic plan view of the welding robot for joining corrugated laminated plates.

FIG. 7 is a diagram illustrating a measurement state by a laser displacement sensor.

FIG. 8 is a diagram illustrating a measurement state by a visual sensor.

FIG. 9 is a diagram showing a shape and a main part dimension of a corrugated portion.

FIG. 10 is a diagram illustrating a method of calculating NC data of a corrugation unit.

[Explanation of symbols]

 4 Welding line 11 Welder main body 12 Welding torch 13 Control device 14 Visual sensor for seam tracking measurement 15 Laser displacement sensor for corrugation shape measurement T Apex S Bottom of hem part E End of skirt part Aa Front plane part Ab Rear plane part C Top area Ha Corrugated front height Hb Corrugated rear height La Front foot width Lb Rear foot width

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI technical display location B23K 10/00 502 8315-4E B23K 10/00 502A B25J 9/16 B25J 9/16 9/22 9 / 22 Z 13/08 13/08 A G05B 19/18 G05B 19/18 D 19/42 19/42 W (72) Inventor Takeo Miyazaki 5-3-8 Nishikujo 5-chome, Konohana-ku, Osaka City, Osaka Prefecture Hitachi Zosen Corporation In the company

Claims (3)

[Claims] 1. A delay control system in which a welding robot is preceded by a sensor is adopted, and a corrugation shape is set to N in advance.
A method of welding a corrugated portion in a welding robot for corrugated lap joints, which calculates and welds as C data, in which the shape deformation state of the corrugated portion along the welding line is measured by the preceding sensor to determine the height and the bottom width of the corrugated shape. Quantify based on the information, operate the basic NC data of the corrugated part created when the software for robot control is started based on the quantified value, and execute NC for welding.
A method for welding a corrugated portion in a welding robot for corrugated lap plate joining, which comprises recalculating data and controlling the welding operation of the corrugated portion using the NC data for execution. 2. The height of the corrugated portion is obtained from at least one of the data of the anterior plane range and the posterior plane range and the vertex data, and the height of the corrugated portion is compared with the height of the basic shape of the corrugated portion. The shape correction rate in the height direction is obtained, and this shape correction rate is applied to the height direction data of the basic shape to obtain the shape data in the height direction. The width of the bottom of the corrugated part is compared with the width of the bottom of the basic shape of the corrugated part to obtain the shape correction factor in the width direction, and the shape data in the width direction is added to the corrected shape data in the height direction. A method for welding corrugated parts in a corrugated lap joint welding robot according to claim 1, wherein the new shape data is multiplied by a correction factor to be new NC data for execution during welding. . 3. The length of the arc changed by the shape correction in the height and width direction of the corrugated portion is the same as the length of the corrugated portion of the basic shape without changing the positions of the skirt starting point S, the apex T and the skirt ending point E. The method for welding a corrugated portion in a welding robot for splicing corrugated lap joints according to claim 2, wherein the corrugated portion is corrected in length to correct the degree of bulging of the abdomen of the corrugated portion.