US20100270271A1 - Method and device to control a positioning device for welding - Google Patents

Method and device to control a positioning device for welding Download PDF

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Publication number
US20100270271A1
US20100270271A1 US12/765,077 US76507710A US2010270271A1 US 20100270271 A1 US20100270271 A1 US 20100270271A1 US 76507710 A US76507710 A US 76507710A US 2010270271 A1 US2010270271 A1 US 2010270271A1
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US
United States
Prior art keywords
reaction forces
electrode holder
welding
sum
positioning device
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.)
Abandoned
Application number
US12/765,077
Other languages
English (en)
Inventor
Dirk Jacob
Burkhard Stimmel
Michael Thuemmel
Martin Weiss
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Deutschland GmbH
Original Assignee
KUKA Roboter GmbH
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
Priority claimed from DE200910018403 external-priority patent/DE102009018403A1/de
Priority claimed from DE200910049327 external-priority patent/DE102009049327A1/de
Priority claimed from DE102009049329A external-priority patent/DE102009049329A1/de
Application filed by KUKA Roboter GmbH filed Critical KUKA Roboter GmbH
Assigned to KUKA ROBOTER GMBH reassignment KUKA ROBOTER GMBH ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: JACOB, DIRK, STIMMEL, BURKHARD, THUEMMEL, MICHAEL, WEISS, MARTIN
Publication of US20100270271A1 publication Critical patent/US20100270271A1/en
Abandoned legal-status Critical Current

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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
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/24—Electric supply or control circuits therefor
    • B23K11/25—Monitoring devices
    • 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
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/30—Features relating to electrodes
    • B23K11/31—Electrode holders and actuating devices therefor
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1635—Programme controls characterised by the control loop flexible-arm control
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • 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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic

Definitions

  • the present invention concerns a method and a device to control a positioning device (in particular a welding robot) for welding with an electrode holder and at least one force detection device to detect reaction forces at the electrode holder.
  • a positioning device in particular a welding robot
  • at least one force detection device to detect reaction forces at the electrode holder.
  • RSW resistance spot welding
  • this device takes up predetermined poses in a position-regulated manner in order to position electrode holder and work piece(s) relative to one another.
  • the positioning device can move the work piece and/or the electrode holder.
  • a welding robot can apply a robot-guided electrode holder to a stationary work piece or, conversely, can supply a gripped work piece to a stationary electrode holder.
  • the electrode holder is closed and a welding spot is generated via movement of at least one electrode towards the other electrode.
  • the poses to set the welding spots can, for example, be taught in advance via manual approach or be programmed offline and, for example, be taken up via proportional-integral-differential single joint regulators.
  • the position (i.e. bearing and/or orientation) of a work piece to be welded relative to a tool reference system of the positioning device—for example the TCP (“tool center point”)—of a welding robot now deviates from the position relative to which the pose was predetermined—for example since plates are deformed or imprecisely mounted in a feeder tool or feeder tool and positioning device are positioned imprecisely relative to one another—the position regulation attempts to forcibly reach the reference position. In particular given high strength and super high strength plates, this can lead to a degradation or a failure of the welding process, a damage to work piece, tool and/or positioning device and the like.
  • the present invention uses an arrangement on the basic type known from EP 1 508 396 B1 cited above, for example, of force detection devices at an electrode holder to regulate the pose of a positioning device to position work piece and electrode holder relative to one another (in particular the pose of a welding robot) in addition or as an alternative to the holder adjuster.
  • the regulation according to the invention is based on the insight that reaction forces are impressed on the element holder due to the pressing of the electrodes on the work piece(s) that is or, respectively, are to be welded, wherein the sum of reaction forces to generate the double-sided contact force increases.
  • the pose of the positioning device can be regulated on the basis of the determined sum of reaction forces so that such an offset is compensated or at least reduced.
  • a force sensor can also be designated as a moment sensor, for example to detect bending moments.
  • reaction forces or force components that are exerted on the electrode holder (in particular its electrodes) by a work piece to be welded is designated as a sum of reaction forces, for example that results on the welding electrodes tensioned opposite one another in the closing direction of the electrode holder and/or perpendicular to this.
  • the difference of two opposite reaction forces can also form a sum of reaction forces in the sense of the present invention.
  • the sum of reaction forces is determined on the basis of a difference between reaction forces that act in total or in a predetermined direction (in particular the closing direction) on two electrodes of the electrode holder.
  • a welding pose of the positioning device can then be regulated so that this is reduced, in particular minimized.
  • reaction forces can similarly be determined on the basis of forces that act between the electrode holder and its connection or, respectively, bearing, in particular an inertial bearing of a stationary electrode holder, or between a directed electrode holder and the positioning device bearing or guiding it.
  • Reaction forces acting on a directed electrode holder generate as a result a corresponding force between the electrode holder and a positioning device guiding it, in particular its tool flange or electrode holder console.
  • Reaction forces acting on a stationary electrode holder correspondingly generate as a result a corresponding force between the electrode holder and its inertial connection.
  • the inverse reaction forces that result from the double-sided, uniform contact pressure force mutually increase, such that no forces are transferred between the electrode holder and its respective connection.
  • a welding pose of the positioning device can accordingly be regulated so that the force that acts between the electrode holder and its connection (in particular between the electrode holder and the positioning device) is reduced, in particular is minimized.
  • weights of the electrode holder that also exert a force between the electrode holder and its connection (in particular between a directed electrode holder and a positioning device directing it) given the open electrode holder or the electrode holder closed in a correct position have not been taken into account; however, these are not reaction forces in the sense of technical mechanics. This allows these forces to be determined in advance and to be correspondingly taken into account (for example added or subtracted) in the determination of the sum of reaction forces.
  • reaction forces that are used to determine the sum of reaction forces for the pose regulation at the positioning device are also used to determine and regulate the welding force or contact pressure force, i.e. that force with which the two electrodes are pressed against one another or on both sides against the work piece(s) that is or, respectively, are to be welded.
  • the welding force or contact pressure force i.e. that force with which the two electrodes are pressed against one another or on both sides against the work piece(s) that is or, respectively, are to be welded.
  • the actual applied welding force can also be determined from these and be regulated via comparison with a desired welding force.
  • the regulation of the positioning device advantageously ensues on the basis of the determined sum of reaction forces only in proximity to the pose to be occupied or given a pose already occupied, in particular while the electrode holder is closed or opened and/or as long as the electrode holder is closed.
  • reaction forces can be determined by means of one or more pressure sensors (in particular piezosensors) and/or by means of one or more deformation sensors, in particular strain gauges. It is similarly possible to determine reaction forces by means of energy sensors (for example current sensors) that, for example, detect the power of actuators or, respectively, drive motors.
  • pressure sensors in particular piezosensors
  • deformation sensors in particular strain gauges.
  • energy sensors for example current sensors
  • FIG. 1 shows a welding robot with a controller according to one embodiment of the present invention.
  • FIG. 2 shows the opened electrode holder of the welding robot according to FIG. 1 in enlarged presentation upon approaching a work piece to be welded with positional offset.
  • FIG. 3 shows the electrode holder according to FIG. 2 in a closed state.
  • FIG. 4 shows the electrode holder according to FIG. 3 given a corrected pose of the robot.
  • FIG. 1 shows a six-axle welding robot 1 with an electrode holder 2 (shown enlarged in FIG. 2 through 4 ).
  • a regulator for example with PID individual joint regulators, a cascade regulation and/or current regulators
  • the electrode holder 2 is shown enlarged in FIG. 4 . It has a holder frame 2 . 1 made of aluminum and/or steel, connected with the robot 1 ; a holder arm 2 . 2 made of copper and arranged on the holder frame 2 . 1 , on which holder arm 2 . 2 a stationary welding electrode 2 . 3 is arranged in turn; and a movable welding electrode 2 . 4 that can be moved and pressed against the stationary electrode 2 . 3 (as is in particular indicated by the double arrow in FIG. 3 ), for example by means of a schematically indicated hydraulic, pneumatic or electrical motor with spindle drive.
  • the first force sensor S 1 is provided to detect a pressure force F 1 , F 1 ′ or F 1 ′′ (see FIG. 2 through 4 ) of the movable electrode 2 . 4 on the holder frame 2 . 1 , for example in the form of a piezosensor between the actuator of the movable electrode 2 . 4 and the holder frame 2 . 1 , or in the form of strain gauges on the movable electrode 2 . 4 or its spindle.
  • This pressure force can also similarly be determined, for example, from a power consumption of an electromotor to move the electrode 2 . 4 .
  • the second force sensor S 2 is provided to directly detect a pressure force F 2 on the stationary electrode 2 . 3 and can, for example, be fashioned in the form of a piezosensor between this and the holder arm 2 . 2 .
  • the third force sensor S 3 is provided to indirectly detect this pressure force on the stationary electrode 2 . 3 and can, for example, be arranged in the form of a strain gauge arrangement on the holder arm 2 . 2 in order to detect bending moments or transversal forces F 3 between holder arm 2 . 2 and holder frame 2 . 1 , for example, from which the pressure force F 2 on the stationary electrode 2 . 3 can be determined.
  • the fourth force sensor S 4 is provided to detect a pressure and/or tensile force F 4 between the holder frame 2 . 1 and the robot 1 or its tool flange or console, for example in the form of a piezosensor.
  • FIG. 2 Shown in FIG. 2 is a situation in which two plates 3 that are to be spot welded with one another are offset relative to a reference configuration 3 ′ (indicated with dashed line), for example due to deformation, imprecise positioning or the like, when the welding robot 1 takes up the predetermined welding pose (see FIG. 1 ), i.e. positions its electrode holder 2 with regard to the reference configuration 3 ′.
  • a reference configuration 3 ′ indicated with dashed line
  • the movable welding electrode 2 . 4 which is still inserted, thereby already contacts the offset plates 3 .
  • the sensors S 1 , S 4 therefore detect a pressure force
  • Detection values F of the sensors provided in a preferred embodiment are respectively communicated to a regulator R of the controller 4 .
  • this receives the difference (i.e. the sum, with algebraic sign, of the reaction forces on the two electrodes 2 . 3 , 2 . 4 ):
  • sensor S 4 between electrode holder 2 and robot 1 is sufficient for compensation of the offset.
  • at least one of the sensors S 1 , S 2 or S 3 is also provided here in order to detect the welding force S and thus to be able to regulate via corresponding activation of the actuator of the movable welding electrode 2 . 4 .
  • the regulation of the welding robot 1 that is explained in the preceding on the basis of the determined sum of reaction forces ensues only in proximity to the individual welding poses, where contact can occur between the welding electrodes 2 . 3 , 2 . 4 and an offset work piece 3 , while in-between these the robot 1 can, for example, occupy the next welding pose rigidly, precisely, in a position-regulated manner.
  • the regulation can ensue in one or more directions of the components of the reaction forces, in particular in the closing direction of the electrode holder 2 and/or perpendicular to this.
US12/765,077 2009-04-22 2010-04-22 Method and device to control a positioning device for welding Abandoned US20100270271A1 (en)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
DE200910018403 DE102009018403A1 (de) 2009-04-22 2009-04-22 Verfahren und Vorrichtung zur Regelung eines Manipulators
DE102009018403.1 2009-04-22
DE102009049329.8 2009-10-14
DE200910049327 DE102009049327A1 (de) 2009-10-14 2009-10-14 Verfahren und Kontrollvorrichtung zum Schweißen mittels einer Positioniervorrichtung
DE102009049327.1 2009-10-14
DE102009049329A DE102009049329A1 (de) 2009-10-14 2009-10-14 Verfahren und Vorrichtung zur Steuerung einer Positioniervorrichtung zum Schweißen

Publications (1)

Publication Number Publication Date
US20100270271A1 true US20100270271A1 (en) 2010-10-28

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US12/765,124 Active 2031-02-10 US8249746B2 (en) 2009-04-22 2010-04-22 Method and device to regulate an automated manipulator
US12/765,077 Abandoned US20100270271A1 (en) 2009-04-22 2010-04-22 Method and device to control a positioning device for welding
US12/765,104 Active 2031-04-01 US8395081B2 (en) 2009-04-22 2010-04-22 Method and monitoring device for welding by means of a positioning device

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US12/765,124 Active 2031-02-10 US8249746B2 (en) 2009-04-22 2010-04-22 Method and device to regulate an automated manipulator

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US12/765,104 Active 2031-04-01 US8395081B2 (en) 2009-04-22 2010-04-22 Method and monitoring device for welding by means of a positioning device

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US (3) US8249746B2 (zh)
EP (3) EP2243585B1 (zh)
JP (1) JP5971887B2 (zh)
KR (1) KR101683289B1 (zh)
CN (1) CN101890715B (zh)
ES (1) ES2424244T3 (zh)

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US20130146574A1 (en) * 2011-12-08 2013-06-13 Kuka Roboter Gmbh Welding Robot
US20130168366A1 (en) * 2010-09-13 2013-07-04 Kabushiki Kaisha Kobe Seiko Sho (Kobe Steel, Ltd.) Dissimilar metal joining method
US20150283644A1 (en) * 2012-12-18 2015-10-08 Honda Motor Co., Ltd. Seam welding apparatus, seam welding method, robot control device, and robot control method
US20150298244A1 (en) * 2014-04-18 2015-10-22 Kabushiki Kaisha Yaskawa Denki Seam welding system, seam welding method, and method for producing a to-be-welded object
US20160155519A1 (en) * 2014-11-27 2016-06-02 Kepco Nuclear Fuel Co., Ltd. Spot welding gun and welding method for the nuclear fuel skeleton
US20170021500A1 (en) * 2015-07-23 2017-01-26 Google Inc. System And Method For Determining A Work Offset
US11325251B2 (en) * 2017-02-09 2022-05-10 Franka Emika Gmbh Robot

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US20100270272A1 (en) 2010-10-28
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US20100274388A1 (en) 2010-10-28
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US8249746B2 (en) 2012-08-21
KR20100116545A (ko) 2010-11-01

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