KR960000388A - Arc Welding Method of ABB Welding Robot Using Touch Sensor - Google Patents

Arc Welding Method of ABB Welding Robot Using Touch Sensor Download PDF

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Publication number
KR960000388A
KR960000388A KR1019940015294A KR19940015294A KR960000388A KR 960000388 A KR960000388 A KR 960000388A KR 1019940015294 A KR1019940015294 A KR 1019940015294A KR 19940015294 A KR19940015294 A KR 19940015294A KR 960000388 A KR960000388 A KR 960000388A
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KR
South Korea
Prior art keywords
welding
abb
detection
touch sensing
robot
Prior art date
Application number
KR1019940015294A
Other languages
Korean (ko)
Other versions
KR960008014B1 (en
Inventor
박명환
권여성
Original Assignee
석진철
대우중공업 주식회사
Priority date (The priority date 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 date listed.)
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Publication date
Application filed by 석진철, 대우중공업 주식회사 filed Critical 석진철
Priority to KR94015294A priority Critical patent/KR960008014B1/en
Publication of KR960000388A publication Critical patent/KR960000388A/en
Application granted granted Critical
Publication of KR960008014B1 publication Critical patent/KR960008014B1/en

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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
    • B23K9/095—Monitoring or automatic control of welding parameters
    • B23K9/0956—Monitoring or automatic control of welding parameters using sensing means, e.g. optical
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • 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

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Arc Welding Control (AREA)

Abstract

본 발명은 ABB방식의 용접용 로봇에 관한 것으로, 특히 ABB로봇용 터치센서를 이용하여 피용접물의 용접위치를 정확하게 검출하여 아크용접을 하기 위한 방법에 관한 것으로, 터치센서에 전원입력단계, 터치센싱 조건부여단계 (기준 및 검출전압 온, 콘택터 오프). 터치센싱단계 (위치검출시 위치데이터를 위치레지스터에 저장), 용접시 조건부여단계(기준 및 검출전압 오프, 콘택터 온), 실용접단계로 구성되는 것을 특징으로 하며, 이와 같은 구성에 의해 기준워크 터치센싱 프로그램을 제외한, 용접워크 터치센싱 프로그램 밋 용접프로그램만으로 아크용접을 가능하게 하여 터치센싱 방식을 단순화 시켰으며, 용접로분의 용접프로그램 및 용접시간을 크게 단축할 수 있으며, 이를 ABB 방식의 용접로봇에 적웅하여 후판용접시 피용접물의 공차과다 발생으로 인하여 응접결함이 유밭되는 것을 방지할 수 있는 효과가 있다.The present invention relates to an ABB welding robot, and more particularly, to a method for arc welding by accurately detecting a welding position of a welded object using an ABB robot touch sensor. Conditioning step (reference and detection voltage on, contactor off). The touch sensing step (stores position data in the position register during position detection), the conditional step (welding and detection voltage off, contactor on) during welding, and the practical welding step. Welding Work Touch Sensing Program Except touch sensing program, arc welding is possible with only the welding program, which simplifies the touch sensing method, and greatly reduces the welding program and welding time of the welding furnace. Due to the robot's dropping of the weld plate, the weld defects can be prevented from occurring due to the excessive tolerance of the welded object.

Description

터치센서를 이용한 ABB용접로봇의 아크용접방법Arc welding method of ABB welding robot using touch sensor

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음As this is a public information case, the full text was not included.

제1A도 내지 제1C도는 FANUC 용접로봇의 용접흐름도들,1A to 1C are welding flow charts of the FANUC welding robot,

제2도는 븐 발명의 ABB 용접로봇의 용접흐름도,2 is a welding flow chart of the ABB welding robot of the invention

제3도는 본 발명의 ABB 용접로봇용 터치센서장치의 회로도.3 is a circuit diagram of the ABB welding robot touch sensor device of the present invention.

Claims (5)

터치센서에 전원입력단계, 터치센싱 조건부여단계(기준 및 검출전압 은, 콘택터 오프), 터치센싱 단계(위치검출시 위치데이터를 위치레지스터에 저장), 용접시 조건부여단계(기준 및 검출전압 오프, 콘택터 온), 실용접단계로 구성된 것을 특징으로 하는 ABB 용접로봇의 아크용접방법.Power input step to touch sensor, touch sensing conditional step (reference and detection voltage, contactor off), touch sensing step (save position data in position register when position detection), conditional step of welding (reference and detection voltage off) , Contactor on), arc welding method of ABB welding robot, characterized in that consisting of a practical welding step. 제1항에 있어서, 상기 검출전압은 DC 42볼트의 저전압인 것을 특징으로 하는 ABB용접로봇의 아크용접방법.The arc welding method according to claim 1, wherein the detection voltage is a low voltage of DC 42 volts. 제1항에 있어서, 상기 용접위치의 검출데이터 종류는 스텝, 모서리/표면의 2종류인 것을 특징으로 하는 ABB 용접로봇의 아크용접방법.The arc welding method according to claim 1, wherein the detection data of the welding position is of two types: step and edge / surface. 제1항에 있어서. 상기 검출감도가 최대 1Mohm인 것을 특징으로 하는 ABB 용접로봇의 아크용접방법.The method of claim 1. Arc detection method of the ABB welding robot, characterized in that the detection sensitivity is up to 1Mohm. 제1항에 있어서, 검출부의 응답속도는 12 ±5msec인 것을 특징으로 하는 ABB용접로봇의 아크용접방법.The arc welding method of claim 1, wherein the detection unit has a response speed of 12 ± 5 msec. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR94015294A 1994-06-29 1994-06-29 Abb welding robot arc welding method by touch sensor KR960008014B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR94015294A KR960008014B1 (en) 1994-06-29 1994-06-29 Abb welding robot arc welding method by touch sensor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR94015294A KR960008014B1 (en) 1994-06-29 1994-06-29 Abb welding robot arc welding method by touch sensor

Publications (2)

Publication Number Publication Date
KR960000388A true KR960000388A (en) 1996-01-25
KR960008014B1 KR960008014B1 (en) 1996-06-19

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ID=19386728

Family Applications (1)

Application Number Title Priority Date Filing Date
KR94015294A KR960008014B1 (en) 1994-06-29 1994-06-29 Abb welding robot arc welding method by touch sensor

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KR (1) KR960008014B1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR19980072285A (en) * 1997-03-04 1998-11-05 이종수 Welding robot teaching method and apparatus therefor
KR100544403B1 (en) * 2000-12-01 2006-01-23 현대중공업 주식회사 The Method of Robot's Round Welding By Detecting Workpiece's End Point

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100736137B1 (en) * 2005-12-28 2007-07-18 삼성중공업 주식회사 The Method of The Step Welding of Welding Robot Using Touch Sensor

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR19980072285A (en) * 1997-03-04 1998-11-05 이종수 Welding robot teaching method and apparatus therefor
KR100544403B1 (en) * 2000-12-01 2006-01-23 현대중공업 주식회사 The Method of Robot's Round Welding By Detecting Workpiece's End Point

Also Published As

Publication number Publication date
KR960008014B1 (en) 1996-06-19

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