TW200827083A - Welding device capable of micro tracking - Google Patents

Welding device capable of micro tracking Download PDF

Info

Publication number
TW200827083A
TW200827083A TW95147773A TW95147773A TW200827083A TW 200827083 A TW200827083 A TW 200827083A TW 95147773 A TW95147773 A TW 95147773A TW 95147773 A TW95147773 A TW 95147773A TW 200827083 A TW200827083 A TW 200827083A
Authority
TW
Taiwan
Prior art keywords
arm
welding
main
image sensor
image
Prior art date
Application number
TW95147773A
Other languages
Chinese (zh)
Inventor
Zong-Zhe Yan
Original Assignee
Techaction Electric Co Ltd
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.)
Filing date
Publication date
Application filed by Techaction Electric Co Ltd filed Critical Techaction Electric Co Ltd
Priority to TW95147773A priority Critical patent/TW200827083A/en
Publication of TW200827083A publication Critical patent/TW200827083A/en

Links

Abstract

This invention provides a welding device capable of micro tracking, comprising a robot arm, a small cross arm, a welding Gun, and an image sensing device. The small cross arm is installed on the robot arm and comprises a primary driving arm and an auxiliary driving arm capable of making relative movement. The welding gun is movably installed on the auxiliary driving arm. The image sensing device is installed on the primary driving arm and comprises an image sensor, a controller, and a light emitting device. The image sensor is used to detect the image of welding path and can make independent movement with respect to the welding gun. Therefore, the correct image information can be detected on a fixed reference coordinate and the welding gun can move accurately on the welding path after the controller performs a computation process to output a control signal to control the welding position of the welding gun.

Description

200827083 九、發明說明: 【發明所屬之技術領域】 本發明係關於一種焊接裝置, 兀》係關於一種可於捏 接過知中,自動偵測焊道偏移量 、 、 戶、音致「 卩3^地’且準確地修正 烊道路徑之「可微動追跡之焊接 【先前技術】 焊接係為一種將複數金屬工侔人 接5之技術,其技術特 點在於施焊接部位具有相當強 田强之抗變形強度,且易於將不 同材質及形狀之金屬工件透過焊接 卞返垃坏接方式結合;由於焊接之 工作環境常伴隨著對人體有害強光、有毒氣體、且以人工 方式焊接存在著精準度不^、效率不佳之問題,故目前業 界皆係朝自動化焊接之領域發展。 習知自動化焊接裝置之結構可參閱我國新型專利證書 號第159810號第3圖所示,其包含有一機械手臂⑽、: 焊搶(21)、一影像感測器(1〇)、以及一控制器(圖中未示), 該焊搶(21)係固設於機械手臂(2〇)上,可隨機械手臂(2〇) 沿上下方向及左右方向移動而調整施蟬位置,該影像感測 器(10)亦係固設於該機械手臂(2〇)上,用以偵測焊缝之形 片、及路位該控制器連接於影像感測器(1 〇 )之輸出端與機 械手臂(2 0 )之輸入端間,用以接收影像感測器(i 〇 )偵測所 得之影像資訊,並將該些影像資訊運算處理後轉換為控制 仏遽輸入至機械手臂(2〇),以控制機械手臂(2〇)移動調整 位置;藉此,該焊接裝置可於焊接過程中即時修正焊搶之 4 200827083 施焊位置,提升焊道之準確度。 然而’習知焊接裝置之影像感測器(1〇)以及焊槍(21) 同係固設於機械手臂(20)上,故於控制器控制機械手臂(2〇) 移動以調整焊搶(21)施焊位置之同時,該影像感測器(1〇) 亦會隨著機械手臂(2〇)與焊槍(21)移動,使該影像感測器 (10)無法於一固定之參考座標上偵測焊縫之形狀與路徑, 且於移動過程中所產生之晃動,亦會造成影像感測器(1〇) 偵測所得之影像資訊產生誤差,使得焊搶(21)之施焊位置 仍有偏移而無法具有足夠之精準度。 此外’該焊接裝置僅係藉由該機械手臂(2〇)之移動以 凋整焊搶(21)位置,由於該機械手臂(2〇)僅具有兩自由度 以及單一寸動距離(即其單位移動距離),對於一些較為 =雜或精密之焊接作t,例如真圓、橢圓或其他曲線焊接, 〜、有應用上之限制而無法達到精準度之要求。 鲁 【發明内容】 71月之主要目的在於提供一種可微動追跡之焊接裝 置,解沐羽4 、、 之知接裝置之影像感測器無法準確地偵測影 ^薇七及對於較為複雜或精密之焊接作業,難以達到精準 度要求之問題。 為:到前揭之目的,本發明可微動追跡之焊接裝置包 F置,兮祕 小十子#、一焊槍、以及一影像感測 臂包含有—亍#上< 有滑座可於其上滑移;該小十字 3 主驅動臂以及一附驅動臂,該主驅動臂設於滑 200827083 座上且可隨之㈣’該主驅動臂上設有—主位移座可沿其 長 向(扎長度較長之方向)移動、以及一主驅動馬達 作:該主位移座之動力源、,該附驅動臂設於主位移座上且 口广動"亥附驅動臂上設有-附位移座可沿其長度方 。移動乂及附驅動馬達作為該附位移座之動力源。200827083 IX. Description of the Invention: [Technical Field] The present invention relates to a welding device, which is capable of automatically detecting a bead offset, a household, and a sound in a kneading process. 3^地' and accurately correct the "frequently traced welding" of the ramp path. [Previous technique] The welding system is a technique for connecting a plurality of metalworkers to the 5th. The technical feature is that the welded part has a strong field strength. It is resistant to deformation and is easy to combine metal workpieces of different materials and shapes through welding and splicing. Because the working environment of welding is often accompanied by harmful glare, toxic gases and artificial welding, there is precision. The problem is not good, the efficiency is not good, so the current industry is developing in the field of automatic welding. The structure of the conventional automatic welding device can be seen in Figure 3 of China's new patent certificate No. 159810, which includes a mechanical arm (10), : welding grab (21), an image sensor (1〇), and a controller (not shown), the solder grab (21) is fixed to the robot arm (2〇), the mechanical position (2〇) can be moved in the up and down direction and the left and right direction to adjust the position of the application. The image sensor (10) is also fixed on the robot arm (2〇). To detect the shape of the weld and the position of the weld, the controller is connected between the output of the image sensor (1 〇) and the input end of the robot arm (20) for receiving the image sensor (i 〇 Detecting the obtained image information, and converting the image information into a control 仏遽 input to the robot arm (2〇) to control the movement position of the robot arm (2〇); thereby, the welding device can Instantly correct the welding position in the welding process. 200802783 Welding position to improve the accuracy of the weld bead. However, the image sensor (1〇) and the welding gun (21) of the conventional welding device are fixed on the robot arm ( 20) Up, so when the controller controls the robot arm (2〇) to adjust the welding position (21), the image sensor (1〇) will also follow the robot arm (2〇) and the welding torch. (21) moving so that the image sensor (10) cannot be detected on a fixed reference coordinate The shape and path of the seam, and the shaking caused during the movement, will also cause errors in the image information detected by the image sensor (1〇), so that the welding position of the welding grab (21) is still offset. It is not possible to have sufficient precision. In addition, the welding device only uses the movement of the robot arm (2〇) to get the position of the welding (21), since the robot arm (2〇) has only two degrees of freedom and Single inching distance (ie, its unit moving distance), for some relatively mixed or precise welding, such as true round, ellipse or other curve welding, ~, there are application restrictions and can not meet the accuracy requirements. SUMMARY OF THE INVENTION The main purpose of the 71-month is to provide a micro-motion-tracking welding device. The image sensor of the device can not accurately detect the shadow and the welding operation for more complicated or precise welding. It is difficult to meet the accuracy requirements. For the purpose of the prior disclosure, the welding device of the present invention can be placed in a fretting trace, the 兮 secret xiaozizi #, a welding gun, and an image sensing arm include - 亍 #上上<Up-sliding; the small cross 3 main drive arm and a drive arm, the main drive arm is set on the slide 200827083 and can be followed by (4) 'the main drive arm is provided - the main displacement seat can be along its long direction ( The direction of the longer length of the tie is moved, and a main drive motor is used as: the power source of the main displacement seat, and the attached drive arm is disposed on the main displacement seat and the mouth is widely moved. The displacement seat can be along its length. The mobile cymbal and the attached drive motor are used as the power source for the attached displacement seat.
U焊搶係^又於附位移座上且可隨之移動;該影像感測 設於主,動臂上,包含有-影像感測器、-控制器、 以及一打光器,該影像感測器係用以偵測焊接路徑與焊道 以像該控制器與影像感測器以及主、附驅動馬達電性 連接用以接收、運算處理影像感測器所得之影像資訊, 、移座之私動’以调整焊搶之施焊位置,該打光器設於鄰 近影像感測器處以提供其偵測影像時所需之亮度。The U-welding system is also attached to the displacement seat and can be moved therewith; the image sensing is disposed on the main and the boom, and includes an image sensor, a controller, and a lighter, the image sense The detector is used for detecting the welding path and the bead to be electrically connected to the image sensor and the main and the attached driving motor for receiving and processing the image information obtained by the image sensor, and transferring the image. The private movement 'adjusts the welding position of the welding, and the lighter is disposed adjacent to the image sensor to provide the brightness required for detecting the image.
」亥機械手臂之移動範圍相當廣,而該小十字臂雖然移 動:&圍較小’但其寸動距離(即單位移動距離)卻較機械 #為J疋以焊搶易於藉由小十字臂之移動進行較為複 精*之焊接作業;於進行焊接作⑽,可藉由機械手 臂之移動而使小字臂移至鄰近待焊之工件處,於此狀態下 影像感測裝置便可㈣焊接路徑,並將所得之影像資料輸 入至控制器,經控制器運算處理後即可輸出控制信號至 主:附驅動馬達,以調整焊搶之施焊位置,由於焊搶與影 像感鄭裝置分別係設置於附位移座與主驅動臂上,故兩者 間可獨立移動,是以影像感測器可於一固定之參考座標上 摘測烊接路徑,而不會隨焊搶之移動而移動並造成^之 6 200827083 情形,使所測得之影像產生誤差。 興習知之焊接裝 故可進行較為精密與複雜之焊接作業, 十子濠 佶:目,丨旦/推味 具衫像感测器於 偵測衫像%不會隨焊搶移動而產生晃動之情形,可洌^ 、 確之焊接路徑,可供控制器將焊搶準確地調整至施=正 置,正確地進行焊接作業。 也、位The movement range of the Hai robot arm is quite wide, and the small cross arm moves: &small; but its inching distance (ie, unit moving distance) is better than the mechanical #J疋 welding to easily use the small cross The movement of the arm performs a relatively refining* welding operation; in the welding operation (10), the small arm can be moved to the adjacent workpiece to be welded by the movement of the robot arm, and the image sensing device can be (4) welded in this state. Path, and input the obtained image data to the controller, after the controller is processed and processed, the control signal can be output to the main: a driving motor is attached to adjust the welding position of the welding, and the welding device and the image sensing device are respectively It is disposed on the attached displacement seat and the main driving arm, so that the two can be independently moved, so that the image sensor can pick up the splicing path on a fixed reference coordinate without moving with the movement of the welding rush. Causes the case of 6 200827083, causing errors in the measured image. Xing Xizhi's welding fixtures can carry out more precise and complicated welding operations. Ten sons: The eye-catching/tweet-like shirt-like sensor detects that the shirt image does not shake with the movement of the welding. In the case, the welding path can be confirmed and confirmed, and the controller can accurately adjust the welding to the positive position and perform the welding operation correctly. Also, bit
【實施方式】 咐多閱第一至二圖,為本發明可微動追跡之焊接裝 之一較佳實施例,其包含有: " 其上設有一滑座(1 4)可於 一機械手臂(10 其上滑移; J、十予臂(2 0 ),包含有一主驅動臂(2丄)以 及一附驅動臂 切咸l 2 2 ),该主驅動臂(2丄)設於滑座(工 4)上(如第五圖所示),且可隨滑座(14)移動,該 主驅動# ( 2 ^ ) i設有_主位移座(2)可沿其長 度方向(指長度較長之方向)移動、以及一主驅動馬達(2 1 2 )作為該主位移座(2丄丄)之動力源,該附驅動臂 (2 2) °又於主位移座(2 1 1 )上與主驅動臂(2 1 ) 呈直父狀,且可隨主位移座(2 1 1 )沿主驅動臂(2 1 ) 之長度方向移動’該附驅動f(22)上設有—附位移座 1 )可沿其長度方向移動、以及一附驅動馬達(2 2 2 )作為該附位移座(2 2 1 )之動力源; 一焊搶f Q Π、 v J ϋ ),設於附位移座(2 2 1 )上且可隨 7 200827083 附位移座(2 2 1 )沿附驅動臂(2 2 )之長度方向移動; 以及 一影像感測裝置(4 0 ),架設於主驅動臂(2 1 ) 上,包含有一影像感測器(41)、一控制器(46)、 以及一打光器(4 2 )(如第四圖所示),該影像感測器 (4 1 )係用以偵測焊接路徑與焊道之影像,該控制器(4 6 )與影像感測器(4 1 )、主驅動馬達(2 1 2 )以及 附驅動馬達(2 2 2 )電性連接(如第七圖所示),用以 接收影像感測器(4 1 )彳貞測所得之影像資訊,並將該些 衫像資訊運异處理後轉換為控制信號輸入至主驅動馬達 (2 1 2 )以及附驅動馬達(2 2 2 )控制主位移座(2 1 1 )以及附位移座(2 2 1 )之移動,以調整焊搶(3 0 )之施焊位置,該打光器(4 2 )設於鄰近影像感測器 (4 1 )處,用以提供影像感測器(4 i )偵測影像時所 需之亮度。 於進行焊接作業時,可藉由機械手臂(1 〇)之之滑 座(1 4 )之移動調整,將小十字臂(2 〇 )移至欲施焊 處附近’於此狀態下,影像感測器(4 1 )偵測焊接路徑 之形狀與大小,並將所測得之影像資訊輸入至控制器(4 6 ),該些影像資訊經控制器(4 6 )運算處理後轉換為 控制信號,控制主驅動馬達(2 i 2 )與附驅動馬達(2 2 2 )帶動主位移座(2 1 1 )與附位移座(2 2丄)移 動,使焊搶(3 0)可調整至正確之焊接路徑上施焊,達 到焊接之準確性。 8 200827083 由於上述之影像感測器(41)與焊搶(3〇)分別 係設於主驅動臂(2 1 )與附位移座(2 2工)上,故兩 者間可獨立移動,當主位移座(211)與附位移座(2 2 1 )受控制信號控制而調整焊搶(3 〇 )位置時,影像 感測器(4 1 )仍可定位於主驅動臂(2丄)上,其參考 座標並不會隨焊搶(3 〇 )之銘#^ ^ 之私動而移動,是以當焊槍(3 ㈧移動時’影像感測器(41)仍可定位於一固定之參 鲁考座標上债測焊接路徑之影像,而不會隨焊搶(3 〇)移 動而產生晃動之情形,藉庇盆伯力丨 精此其偵測所得之影像資訊之正確 性大,提升,亦因此焊搶(3 〇)之施焊位置之準綠度也 有顯著地提高。 請參閱第一圖,於本較佳眚Α +罕乂仫Κ %例中,上述之機械手臂 (1 0)係為一大十字臂 兮士 “+’該大十字臂之尺寸相對於小十 字臂(20)而言為大,其包含 士辟,, 路, 八匕θ有一主臂(1 1 )以及一 附臂(1 2 ),該主臂(1 1 ) μ _ 士 )上§又有一主移動座(1 3 ) _ 可/σ八長度方向移動,該附臂(Ί 9 ^ < • 3)上與主臂(11)呈直二(12)…移動座(1 且可隨主移動座(1 3 ) …(11)之長度方向移動,而上述之滑座( 係設於該附臂(12)上而 ^ j &其長度方向移動。 藉此,由於大十字臂與小十 A^ _ 丨予皆具有兩自 十:臂裝置共可達到四自由度之移動,且由於小 字臂為小, 動距離(即其單位移動距離)較大十 吉冋. 一馬稷雜或精密之焊接作業,例如 /、圓、橢圓或其他曲線焊, 筏亦可透過影像感測裝置(4 9 200827083 〇)調整小十字臂(20)之移動,使 確地於焊接路徑上施焊㈣到焊接之正H 于準 另外:根據所應用領域…,該機械手臂(… 亦可為之;k軸或縱軸,而上述 .^ ^ L 述之/肖座(1 4 )係設於橫軸 或縱軸上而可沿横轴或縱軸 辟f 1 D \上 < 長度方向移動,於該機械手 #( 1 0 )為橫軸或縱軸之垂 只讀'樣中’其滑座(1 4 ) 運動之自由度係為1〇 y[Embodiment] Referring to the first to second figures, a preferred embodiment of the welding device capable of tracking in accordance with the present invention comprises: " having a slider (14) for a robot arm (10, the upper sliding; J, the ten-arm (2 0), including a main driving arm (2丄) and a driving arm for cutting salt 2 2 2), the main driving arm (2丄) is set on the sliding seat (Work 4) (as shown in Figure 5), and can be moved with the carriage (14), the main drive # ( 2 ^ ) i is provided _ the main displacement seat (2) can be along its length (refer to the length a longer direction) movement, and a main drive motor (2 1 2 ) as the power source of the main displacement seat (2 )), the auxiliary drive arm (2 2) ° and the main displacement seat (2 1 1 ) The upper and the main driving arm (2 1 ) are straight and can be moved along the length of the main driving arm (2 1 ) with the main displacement seat (2 1 1 ). The attached drive f (22) is provided with - The displacement seat 1) can be moved along its length, and a drive motor (2 2 2 ) is used as a power source of the attached displacement seat (2 2 1 ); a welding grabs f Q Π, v J ϋ ) Displacement seat (2 2 1 ) and 7 200827083 The displacement seat (2 2 1 ) moves along the length of the attached drive arm (2 2 ); and an image sensing device (40) is mounted on the main drive arm (2 1 ) and includes an image sensing device The device (41), a controller (46), and a lighter (42) (as shown in the fourth figure), the image sensor (4 1) is used to detect the welding path and the bead Image, the controller (4 6 ) is electrically connected to the image sensor (4 1 ), the main drive motor (2 1 2 ), and the attached drive motor (2 2 2 ) (as shown in FIG. 7 ). The image sensor (4 1 ) receives the image information obtained by the image sensor, and converts the image information into a control signal input to the main driving motor (2 1 2 ) and the driving motor (2 2 2). Controlling the movement of the main displacement seat (2 1 1 ) and the displacement seat (2 2 1 ) to adjust the welding position of the welding grab (30), the lighter (42) being disposed adjacent to the image sensor (4 1 ) is used to provide the brightness required for the image sensor (4 i ) to detect images. For the welding operation, the small cross arm (2 〇) can be moved to the vicinity of the place to be welded by the movement adjustment of the sliding seat (1 4 ) of the robot arm (1 〇), in this state, the image sense The detector (4 1 ) detects the shape and size of the welding path, and inputs the measured image information to the controller (4 6 ), and the image information is converted into a control signal by the controller (4 6 ). , control the main drive motor (2 i 2 ) and the attached drive motor (2 2 2 ) to drive the main displacement seat (2 1 1 ) and the attached displacement seat (2 2丄) to move, so that the welding grab (30) can be adjusted to the correct Welding is performed on the welding path to achieve the accuracy of welding. 8 200827083 Since the above image sensor (41) and welding grab (3〇) are respectively arranged on the main driving arm (2 1 ) and the attached displacement seat (2 2 working), the two can move independently. When the main displacement seat (211) and the attached displacement seat (2 2 1 ) are controlled by the control signal to adjust the position of the welding grab (3 〇), the image sensor (4 1 ) can still be positioned on the main driving arm (2丄). The reference coordinates will not move with the private movement of the welding (3 〇) Ming #^ ^, so that when the welding torch (3 (eight) moves) the image sensor (41) can still be positioned in a fixed reference The image of the welding path is measured by the Luke coordinate, and it will not be shaken with the movement of the welding (3 〇). The correctness of the image information obtained by the detection is greatly improved. Therefore, the quasi-greenness of the welding position of the welding grab (3 〇) is also significantly improved. Please refer to the first figure, in the preferred 眚Α + 乂仫Κ % example, the above-mentioned robot arm (1 0) It is a large cross-arm gentleman "+'. The size of the big cross arm is larger than that of the small cross arm (20). It consists of a stone, a road, and a gossip. a main arm (1 1 ) and an attached arm (1 2 ), the main arm (1 1 ) μ _ 士) has a main moving seat (1 3 ) _ can / σ eight length direction movement, the arm ( Ί 9 ^ < • 3) Straight two (12) with the main arm (11)... move the seat (1 and move with the length of the main moving seat (1 3 ) ... (11), and the above slide (The system is disposed on the arm (12) and moves in the length direction of the arm. Therefore, since the big cross arm and the small ten A^ _ 丨 are both have two self-tenth: the arm device can reach a total of four degrees of freedom The movement, and because the small arm is small, the moving distance (that is, its unit moving distance) is larger than 10 冋. One horse is noisy or precise welding operations, such as /, round, elliptical or other curved welding, can also pass The image sensing device (4 9 200827083 〇) adjusts the movement of the small cross arm (20) so that the welding is performed on the welding path (4) to the positive H of the welding. In addition: according to the field of application... It can also be a k-axis or a vertical axis, and the above-mentioned .^ ^ L is described on the horizontal axis or the vertical axis, and can be divided along the horizontal axis or the vertical axis by f 1 D \ Long The direction of movement, in the manipulator # (10) on the horizontal axis or the vertical longitudinal axis of the read-only 'sample' degrees of freedom (14) the movement of the carriage train which is 1〇 y
上述焊接路徑之型式根據欲施焊之工件尺寸、形 及焊接作業之型態而有所不 flr不冋〜,右所欲進行 將兩薄型工件併接,則並卜曰u ^ n 、J /、綷接路徑係為該兩薄型工件併接 時所產生之狹縫;再請灸關榮丄β ^ 丹明參閱弟六圖,若工件具有一定厚度, 則可於工件表面設置焊鲦 咏( 坪縫(9 1 ),則其焊接路徑即為焊 、’、9 1 )’如第六圖所示’該影像感測裳s ( 4 〇 )之 取像係精由打光器打弁;^、ρθ # 光抑打九在坏接路徑上,供該影像感測器(4 1 )於足夠之亮度下取像。 於本較佳實施例中’上述之主驅動馬達(212)與 附驅動馬達(2 2 2 )係以可做回授控制之伺服馬達為佳, …、其亦可為步進馬達;且於本較佳實施例,上述之主驅動 馬達(2 1 2 )、主驅動臂(2 1 )與主位移座(2 1 1 ) 分別為-主線性祠達馬達5 〇 )之伺服馬達、定子 ,、動子,上述之附驅動馬達(2 m、附驅動臂(2 2) 與附位移座(2 2 1 )分別為-附線性伺服馬達(6 〇 ) 之饲服馬達、定手盘勤不 ο 疋亍/、動子,错此,該小十字臂(2 〇 )為 包各有兩線性伺服馬達呈直交狀設置之伺服移動機構,可 10 200827083 根據控制器(4 6 )所輸人之控制信冑,以回授控制方式 微動調整焊槍(3 〇 )之施焊位置。 於本較佳實施例中,上述之打光器(4 2 )係為UD (Light Emitting Diode),具有低耗電率之優點,然其 亦可為雷射或其他發光元件;且於本較佳實施例中,上述 之影像感測器(4 1 )係為 CCD( Charge Coupled Device), 由於CCD感光時會將所接收的光線能量轉換成電荷,光線 _ 越強、電荷也就越多,這些電荷經解碼轉換後即能還原成 原始影像,此一特性使得採用CCD作為感光元件之影像感 測器(4 1 ),可將偵测所得之影像資訊以數位方式傳輸。 於本較佳實施例中,上述之主臂(i i )係呈縱向設 置’而附臂(1 2 )係呈橫向設置,然主臂(1 1 )亦可 呈橫向設置,而令附臂(1 2 )呈縱向設置與主臂(丄工) 直交;於本較佳實施例中,上述之主驅動臂(2丄)係呈 橫向設置’而附驅動臂(2 2 )係呈縱向設置,同理,主 _ 驅動臂(21)亦可呈縱向設置,而令附驅動臂(22) 呈橫向設置與主驅動臂(2 1 )直交。 再請參閱第四圖,於本較佳實施例中,上述之影像感 測裝置(4 0)尚包含有一測距感測器(47)設於鄰近 影像感測器(4 1 )處’並電性連接至控制器(4 6 ), 該測距感測器(4 7 )係用以感測其與焊接路徑間之垂直 距離,並將所感測之信號回傳至控制器(4 6 ),經控制 器(4 6 )運算處理後轉換為控制信號控制附驅動臂(2 2 )之附位移座(2 2 1 )升降,以將焊槍(3 〇 )調整 200827083 至適當高度進行焊接作業;該測距感測器可為雷射式測距 感測器,亦可為音波式測距感測器。The type of the above-mentioned welding path is not according to the size, shape and welding operation type of the workpiece to be welded, and the two thin workpieces are connected in parallel, and then the 曰u ^ n , J / The splicing path is the slit generated when the two thin workpieces are connected together; and then the moxibustion Guan Rong 丄 β ^ Dan Ming refers to the sixth figure. If the workpiece has a certain thickness, the welding surface can be placed on the surface of the workpiece ( For the flat seam (9 1 ), the welding path is welded, ', 9 1 )'. As shown in the sixth figure, the image sensing system (4 〇) is taken by the lighter; ^, ρθ # 抑 打 九 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在 在In the preferred embodiment, the above-mentioned main drive motor (212) and the auxiliary drive motor (2 2 2 ) are preferably servo motors that can be feedback-controlled, and can also be stepper motors; In the preferred embodiment, the servo motor and the stator of the main drive motor (2 1 2 ), the main drive arm (2 1 ) and the main displacement seat (2 1 1 ) are respectively - the main linear motor 5 〇). , mover, the above-mentioned attached drive motor (2 m, with drive arm (2 2) and attached displacement seat (2 2 1 ) respectively - with a linear servo motor (6 〇) feeding motor, fixed hand disk ο 疋亍 /, mover, wrong, the small cross arm (2 〇) is a servo moving mechanism with two linear servo motors arranged in a straight line, which can be 10 200827083 according to the controller (4 6 ) The control signal is used to adjust the welding position of the welding torch (3 〇) in a feedback control manner. In the preferred embodiment, the above-mentioned lighter (42) is a UD (Light Emitting Diode) with low consumption. The advantage of the electrical rate, which may also be a laser or other illuminating element; and in the preferred embodiment, the image sensor described above 4 1) is a CCD (Charge Coupled Device). Since the CCD is sensitive to convert the received light energy into electric charge, the stronger the light _ is, the more the electric charge is. These charges can be restored to the original image after being decoded and converted. The feature is that the CCD is used as the image sensor of the photosensitive element (4 1 ), and the detected image information can be transmitted in a digital manner. In the preferred embodiment, the main arm (ii) is The longitudinal setting 'and the attached arm (1 2 ) are horizontally arranged, but the main arm (1 1 ) can also be arranged in the lateral direction, and the attachment arm (12) is arranged in a longitudinal direction and is orthogonal to the main arm (achievement); In a preferred embodiment, the main driving arm (2丄) is disposed in a lateral direction and the attached driving arm (2 2 ) is longitudinally disposed. Similarly, the main driving arm (21) may also be disposed in a longitudinal direction. The driving arm (22) is disposed in a lateral direction and is orthogonal to the main driving arm (2 1 ). Referring to the fourth figure, in the preferred embodiment, the image sensing device (40) further includes a ranging device. The sensor (47) is disposed adjacent to the image sensor (4 1 ) and electrically connected to the control The measuring sensor (4 6 ) is for sensing the vertical distance between the measuring sensor and the welding path, and transmitting the sensed signal back to the controller (4 6 ) via the controller ( 4 6) After the arithmetic processing, it is converted into a control signal to control the lifting and lowering of the attached driving arm (2 2 ) (2 2 1 ) to adjust the welding torch (3 〇) to 200827083 to the appropriate height for welding work; The device can be a laser ranging sensor or an acoustic wave ranging sensor.
此外’該影像感測裝置(4 0 )尚包含有一濾光片(4 8 )設於影像感測器(4 1 )下方,該濾光片(4 8 )表 面可根據需求鍍有UV FILTER、IR FILTER或電銲面罩上常 用之濾光片或濾光玻璃等,藉此,於焊接時所產生之強烈 弧光可被該濾光片(4 8 )濾除,避免影像感測器(4工) 所偵測之影像資訊受強烈弧光干擾而產生偏差;而若所施 灯之焊接方式係為潛弧焊接等不會產生強烈弧光之焊接方 式’則可不使用濾光片(4 8 )。 另外,該影像感測裝置(4 〇 )尚包含有一支撐架(4 3),該支撐架(43) —端係固設於主驅動臂(2工) 上’另端則延伸至鄰近焊搶(3 〇 )處供影像感測器Η 1 )、打光器(4 2 )、測距感測器(4 7 )與濾光片(* 8 )設置其上,藉此,該影像感測裝i ( 4 0 )可架設於 主驅動臂上。 、 桊餐月可微動追跡之焊接裝置之主要功效如下·· 〜像感測裝置(4 〇 )可正確取像,由於本發明 之影像感測11 ( 4 1 )肖焊搶(3 0 )係分別設置於主驅 動臂(2 1 ) ±與附位移座(2 2 i )上,故兩者間可獨 立移動,因而影像咸測哭^ , 豕敏測為(4 1 )可於一固定之參考座# 上偵測焊接路徑之影像,而不會隨焊搶(3q)進行位^ 調整而移動,是以影像感測_ (41)不會產生晃動之情 形亦㈣測出正確之焊接路徑影像,提高焊接之準確性。 12 200827083 二、應用範圍磨,士 Λ 固M 本發明之機械手劈fin、 瘙士夕*叫士μ< 丁淨Cl〇)可於一 廣大之工間巾移動且其 0)囡A且古#丄 穴十子臂,而小十字臂(2 m # 4s jl a % - ^ )為小之寸動距離而可針 對微小工件進讀為㈣或精密 施焊空間相當廣,Α煤、#會1 接作業㈣發明之 谁杆并宓芬、— 相§長度,且兼有可 進仃精孩及稷雜施垾之優點。 【圖式簡單說明】 第一圖··為本發明可 施例之前視圖。 第二圖:為第 十字臂之立體圖(- 十字為第—圖所示之可微動追跡之焊接裝置之小 十子#之立體圖(二) f四圖·為第二圖所示之小十字臂之前視圖。 弟五圖·為第一圖所示之可微動追跡之烊接裝 微動追跡之蟬接裝置之一較佳實 圖所示之可微動追跡之焊接裝置 之小 視圖 置之側 部放::::丨第一圖所示之可微動追跡之焊接裝置之局 #敌大動作示意圖。 制方2 m圖料之可微動追跡之焊接裝置之控 主要元件符號說明】 1〇)機械手臂 (11)主臂 13 200827083 (1 2 )附臂 (1 3 ) (14)滑座 (20) (2 1 )主驅動臂 (211 (2 1 2 )主驅動馬達(2 2 : (221)附位移座 (222 (3 0 )焊槍 (40)影像感測裝置(41: (4 2 )打光器 (43) (4 6 )控制器 (47) (4 8 )濾光片 (5 0 )主線性伺服馬達機構 (6 0 )附線性伺服馬達機構 (9 1 )焊缝 主移動座 小十字臂 )主位移座 附驅動臂 )附驅動馬達 影像感測器 支撐架 測距感測器 14In addition, the image sensing device (40) further includes a filter (48) disposed under the image sensor (4 1 ), and the surface of the filter (48) can be coated with UV FILTER according to requirements. IR FILTER or filter or filter glass commonly used on welding masks, so that the strong arc generated during welding can be filtered by the filter (4 8 ) to avoid image sensor (4 work) The detected image information is deviated by strong arc interference; and if the welding method of the lamp is a welding method such as submerged arc welding that does not produce strong arc light, then the filter (4 8) may not be used. In addition, the image sensing device (4 〇) further includes a support frame (43), the support frame (43) is fixed on the main drive arm (2 work), and the other end is extended to the adjacent welding (3 〇) for the image sensor Η 1 ), the lighter (4 2 ), the distance measuring sensor (4 7 ) and the filter (* 8 ) are set thereon, whereby the image sensing The i ( 4 0 ) can be mounted on the main drive arm. The main functions of the welding device that can be traced by the meal during the meal are as follows: · The image sensing device (4 〇) can correctly take the image, because the image sensing 11 ( 4 1 ) of the present invention is the same (3 0 ) They are respectively arranged on the main driving arm (2 1 ) ± and the attached displacement seat (2 2 i ), so that the two can be moved independently, so the image is smeared and the sensation is (4 1 ) can be fixed. The image of the welding path is detected on the reference block #, and the position of the welding path is not moved with the welding (3q), so that the image sensing _ (41) does not cause swaying. (4) Detecting the correct welding path Image to improve the accuracy of welding. 12 200827083 Second, the application range of grinding, gentry solid M The invention of the manipulator 劈fin, 瘙士夕*叫士μ<丁净Cl〇) can be moved in a vast work area and its 0)囡A and ancient #丄穴十子臂, and the small cross arm (2 m # 4s jl a % - ^ ) is a small inching distance and can be read for small workpieces (4) or precision welding space is quite wide, Yan coal, #会1 Pick up the work (4) Who is the invention and the 宓 、 — — — — — — — — — — — — — — — — , 。 。 。 。 。 。 。 。 。 。 BRIEF DESCRIPTION OF THE DRAWINGS The first figure is a front view of an embodiment of the present invention. The second picture is a perspective view of the cross arm (- the cross is the perspective view of the micro-moving trace of the weldable device shown in the first figure (2) f four figure · the small cross arm shown in the second figure The front view. The fifth view of the micro-moving tracing device shown in the first figure is a small view of the micro-moving tracing welding device shown in the figure. ::::丨 The first picture of the welding device that can be traced by the first action. #大大操作图. The main component symbol of the welding device for the 2 m material of the micro-motion traceable device] 1〇) (11) Main arm 13 200827083 (1 2 ) Attachment arm (1 3 ) (14) Slide (20) (2 1 ) Main drive arm (211 (2 1 2 ) Main drive motor (2 2 : (221) attached Displacement seat (222 (30) torch (40) image sensing device (41: (4 2) lighter (43) (4 6) controller (47) (4 8) filter (50) master Linear servo motor mechanism (60) with linear servo motor mechanism (9 1) weld main moving seat small cross arm) main displacement seat with drive arm) with drive motor image sensor support frame From the sensor 14

Claims (1)

  1. 200827083 十、申請專利範圍: 1·一種可微動追跡之焊接裝置,其包含有: 一機械手臂,其上設有一滑座可於其上滑移; 一小十字臂,包含有一主驅動臂以及一附驅動臂,該 主驅動臂設於滑座上,且其上設有一主位移座可沿其長度 方向移動、以及-主驅動馬達作為該主位移座之動力源, 該附驅動臂設於主位移座上與主驅動臂呈直交狀,且其上 設有一附位移座可沿其長度方向移動、以及一附驅動馬達 作為該附位移座之動力源,· 一焊搶,設於附位移座上;以及 :影像感測裝置,架設於主驅動臂上,包含有一影像 感測器、-控制器、以及一打光器,該影像感測器係用以 镇測焊接路徑與焊道之影像,該控制器與影像感測器、主 驅動馬達以及㈣料達電性連接,奸μ設於鄰近影 像感測器處。 2 ·如中請專利㈣第丄項所述之可微動追跡之焊接 裝置’其中’該機械手臂係為—尺寸較小十字臂大之大十 字臂’其包含有-主臂以及―附臂’豸主臂上設有一主移 動座可沿其長度方向移動’該附臂設於主移動座上愈主臂 呈直交狀,且該滑座係設於附臂上而可沿其長度方向移動。 :如申請專利範圍第1或2項所述之可微動追跡之 :置’其中,該主驅動馬達與附驅動馬達係為飼服馬 達。 4.如中請專利範圍第1或2項所述之可微動追跡之 15 200827083 焊接衣置’其中,該 別為-主線性伺達…達主驅動臂與主位移座分 動民、查 之伺服馬達、定子與動子,該附驅 動馬達、附驅動臂盘 " 饲服馬達、定子與^ 為1線性飼服馬達之 5苴:申請專利範圍第4項所述之可微動追跡之 裝置’其中’影像感測裝置尚包含有一測距感測器設於鄰200827083 X. Patent application scope: 1. A welding device capable of micro-tracking, comprising: a mechanical arm having a sliding seat thereon for sliding; a small cross arm comprising a main driving arm and a a driving arm is disposed on the sliding seat, and a main displacement seat is disposed thereon to be movable along a length thereof, and a main driving motor is used as a power source of the main displacement seat, and the auxiliary driving arm is disposed on the main body The displacement seat is orthogonal to the main driving arm, and is provided with a displacement seat movable along the length thereof, and a driving motor as a power source of the displacement seat, and a welding grab is provided on the displacement seat. And an image sensing device mounted on the main driving arm, including an image sensor, a controller, and an illuminator for measuring the welding path and the bead image The controller is electrically connected to the image sensor, the main drive motor, and (4), and is disposed adjacent to the image sensor. 2 · For the micro-motion traceable welding device described in the third paragraph of the patent (4), the 'the robot arm is a small cross arm with a small size and a large arm' containing the main arm and the 'arm' The main arm of the crucible is provided with a main moving seat movable along the length thereof. The arm is disposed on the main moving seat, and the main arm is orthogonal, and the sliding seat is disposed on the arm and movable along the length thereof. The fine-movable tracing as described in claim 1 or 2, wherein the main drive motor and the attached drive motor are feeding clothes. 4. For example, please refer to the fiducifiable tracing mentioned in item 1 or 2 of the patent scope. 200827083 Welding clothes set 'Where, the other is the main linear servo... The main driving arm and the main displacement seat are divided into the people, check the Servo motor, stator and mover, the drive motor, the drive arm disc, the feed motor, the stator and the motor of the linear feed motor: the device capable of tracking the track according to item 4 of the patent application scope 'The 'image sensing device still contains a ranging sensor located adjacent to
    =影像感測器4 ’並電性連接至該控制器,用以感測其與 焊接路徑間之垂直距離。 、 6如申明專利範圍第4項所述之可微動追跡之焊接 裝置,其中,該影像感測裝置尚包含有一濾光片橫向設於 影像感測器下方。 、 7 .如申請專利範圍第5項所述之可微動追跡之焊接 裝置,其中,該影像感測裝置尚包含有一濾光片設於影像 感測器下方。 8 ·如申請專利範圍第4項所述之可微動追跡之焊接 _ 裝置,其中,該打光器係為LED。 9 ·如申請專利範圍第4項所述之可微動追跡之焊接 裝置,其中,該影像感測器係為CCD。 1 0 ·如申請專利範圍第8項所述之可微動追跡之焊 接裝置,其中,該影像感測器係為CCD。 1 1 ·如申請專利範圍第4項所述之可微動追跡之焊 接裝置’其中,該影像感測裝置尚包含有一支撐架,該支 撐架一端係固設於主驅動臂上,另端則延伸至鄰近焊搶處 供影像感測器與打光器設置其上。 16The image sensor 4' is electrically coupled to the controller for sensing its vertical distance from the welding path. 6. The micro-motion traceable soldering device of claim 4, wherein the image sensing device further comprises a filter disposed laterally below the image sensor. 7. The solderable traceable soldering device of claim 5, wherein the image sensing device further comprises a filter disposed under the image sensor. 8. The solderable _ device according to item 4 of the patent application, wherein the illuminator is an LED. 9. The micro-motion traceable soldering device of claim 4, wherein the image sensor is a CCD. 1 0. The fine-traceable welding device according to item 8 of the patent application, wherein the image sensor is a CCD. 1 1 · The micro-moving traceable welding device as described in claim 4, wherein the image sensing device further comprises a support frame, the support frame is fixed at one end to the main drive arm, and the other end is extended The image sensor and the lighter are placed on the adjacent soldering station. 16
TW95147773A 2006-12-20 2006-12-20 Welding device capable of micro tracking TW200827083A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
TW95147773A TW200827083A (en) 2006-12-20 2006-12-20 Welding device capable of micro tracking

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
TW95147773A TW200827083A (en) 2006-12-20 2006-12-20 Welding device capable of micro tracking

Publications (1)

Publication Number Publication Date
TW200827083A true TW200827083A (en) 2008-07-01

Family

ID=44817105

Family Applications (1)

Application Number Title Priority Date Filing Date
TW95147773A TW200827083A (en) 2006-12-20 2006-12-20 Welding device capable of micro tracking

Country Status (1)

Country Link
TW (1) TW200827083A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102151948A (en) * 2011-01-21 2011-08-17 哈尔滨工业大学 Macro-micro robot remote welding method for pipeline maintenance in extreme environment
CN103990893A (en) * 2014-05-13 2014-08-20 上海气焊机厂有限公司 Mechanical welding seam tracking device
CN105364266A (en) * 2015-12-18 2016-03-02 广东省自动化研究所 Mechanical arm motion trail adjusting system and method
TWI689388B (en) * 2016-02-01 2020-04-01 加拿大商賽融公司 Range finder device for monitoring robot processing tool position and method thereof

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102151948A (en) * 2011-01-21 2011-08-17 哈尔滨工业大学 Macro-micro robot remote welding method for pipeline maintenance in extreme environment
CN103990893A (en) * 2014-05-13 2014-08-20 上海气焊机厂有限公司 Mechanical welding seam tracking device
CN103990893B (en) * 2014-05-13 2016-06-22 上海气焊机厂有限公司 Mechanical type welding seam tracking device
CN105364266A (en) * 2015-12-18 2016-03-02 广东省自动化研究所 Mechanical arm motion trail adjusting system and method
TWI689388B (en) * 2016-02-01 2020-04-01 加拿大商賽融公司 Range finder device for monitoring robot processing tool position and method thereof

Similar Documents

Publication Publication Date Title
CN100377827C (en) Automatic tracking control method for submerged-arc welding seam
JP2009148845A (en) Small-size production equipment
JP2007527800A (en) Robot equipment equipped with tools, camera and light source
TW200827083A (en) Welding device capable of micro tracking
US20100176106A1 (en) Carriage for Automating Welding, Brazing, Cutting and Surface Treatment Processes
JP2007203326A (en) Friction stir welding equipment
CN1200691A (en) Teaching unit for robots
CN207447543U (en) A kind of soldering robot and soldering and welding equipment
KR101031238B1 (en) Apparatus for tracking welding line
JP2014123631A (en) Electronic component mounting device
CN201264138Y (en) Device for automatically recognizing and tracking weld joint by video camera imaging
KR101078233B1 (en) Automatic tracking welding equipment
JP2007237187A (en) Method and apparatus for temporary soldering of friction stir welding
CN207840503U (en) U-shaped beam inner reinforced plate numerically controlled intelligent robot welding system
CN109822194A (en) A kind of weld tracker and welding method
CN1778511A (en) Pulse plasma automatic welding method for lap welding of thin plate and its device
CN210024311U (en) Double-mechanical-arm welding control system
JP6401286B2 (en) Image acquisition apparatus and robot apparatus
JP4932923B2 (en) Parts transfer device
CN109676253A (en) A kind of electric connector and multicore cable automatic laser welding machine
CN205571674U (en) Soldering joint tracking vision sensory control system based on structured light
CN101829870A (en) Welding fume collecting device and method capable of automatically tracking and positioning welding point
JP2004273507A (en) Wire bonding device
CN207733080U (en) A kind of printed circuit board jig
KR101412336B1 (en) Arc welding apparatus