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
  • B23K9/02—Seam welding; Backing means; Inserts
  • B23K9/0216—Seam profiling, e.g. weaving, multilayer
• • 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
  • B23K9/02—Seam welding; Backing means; Inserts
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B19/00—Programme-control systems
  • G05B19/02—Programme-control systems electric
  • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
  • G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
  • G05B19/4083—Adapting programme, configuration
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/36—Nc in input of data, input key till input tape
  • G05B2219/36503—Adapt program to real coordinates, software orientation
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/45—Nc applications
  • G05B2219/45104—Lasrobot, welding robot
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/45—Nc applications
  • G05B2219/45135—Welding
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/49—Nc machine tool, till multiple
  • G05B2219/49221—Control of scale

Definitions

• the invention relates to a scaling method for an automatic welding machine, and in particular, to a scaling method for an automatic welding machine that enables scaling on a loose three-dimensional surface. 'How to use it'.
• FIG. 1 is a schematic diagram of such a welding machine.
• WR is a wire
• the wire WR is fed out by the roller FR and is fed out little by little in the direction of the arrow, and the torch is passed through the guide member GB.
• the feed amount is controlled so that the tip of the TC protrudes, and the tip is located at a predetermined distance from the surface of the welding member WK.
• PS is a welding power source that generates a high voltage that is intermittent at a predetermined cycle, applies the plus side of this high voltage to the wire WR via the guide member GB, and welds the maunas side. It is being added to the Tokyo Metropolitan WK.
• the welding machine is supplied with carbon dioxide (CO s) from a gas supply unit (not shown) through the inside of the torch TC through the inside of the torch TC to the side indicated by the arrow. Oxidation of the welded part is prevented.
• CO s carbon dioxide
• Such a welding machine feeds out the wire WR little by little while supplying carbon dioxide (C02) from the gas supply unit.
• C02 carbon dioxide
• the arc will be generated from the wire WR tip, melting the wire and the welding member, and integrating the welding member.
• Weld has been increasingly used.
• the welding robot makes the robot grasp the torch of the welding machine, and uses the a-bottom to put the torch (wire tip) into the welding passage. And weld them together.
• Such a welding D-bottom informs the mouth-bottom of the position to which the torch should be moved, the torch's moving speed, etc.
• FIG. Fig. 2 is a cross-sectional view at the welding start point of a multiple weld portion in multi-layer welding.
• WI and W 2 --WB are the welding start points of the respective layers, and the welding start point W 1 of the first layer is the term of the welded portion (groove).
• the operator teaches the position data of this connection start point W 1 as primary teaching position data, and obtains subsequent teaching position data based on this point W i. I am doing it. Scaling is primary in this way This means that the subsequent teaching position is obtained based on the teaching position data.
• Fig. 3 shows the teaching widget group P on three sides of a rectangular parallelepiped.
• FIG. 4 (a) and 4 (b) are diagrams at the point P2 in FIG. 3 when the attempt is made to scale 1... Ps outward by the width W.
• FIG. 4 (a) and 4 (b) are diagrams at the point P2 in FIG. 3 when the attempt is made to scale 1... Ps outward by the width W.
• the angle between the welding line and the ridge formed by the A and B planes is S i
• the scaling width is S i.
• the present invention Since the present invention has been made to solve the problems of the conventional scaling method, it is possible to scale a loose three-dimensional curved body.
• the purpose of the present invention is to provide a scaling method for such an automatic welding machine.
• a robot control device for controlling a robot for grasping a welding torch
• the ⁇ -bot control device is provided with a primary welding point (P i--P n)
• the robot control device in the automatic welding machine that determines the subsequent teaching position based on the teaching position data
• a ring method is provided.
• the scaling point for the primary welding point is corrected based on the position data of any three points on the surface of the welding member. Corrected normal line is calculated based on the direction of the vector ( ⁇ ), so accurate scaling can be performed even for a connected member having a three-dimensional curved surface. And can be done. Therefore, the automatic welding machine can expand the applicable range of the scaling, and can expand the applicable field of the target welding member.
• the scaling method since the scaling method is performed by a robot control device that controls a robot that operates a welding torch, the scaling method must be performed quickly and reliably. Can be obtained.
• FIG. 1 is a schematic diagram of an automatic welding machine
• Fig. 2 is a cross-sectional view at the welding start point of multiple welding
• Fig. 3 is an explanatory diagram showing the problem points of conventional engineers
• Fig. 4 (A :) and (b) are partially enlarged views of FIG. 3
• FIG. 5 is a schematic view of an apparatus for performing the scaling method according to the present invention
• FIG. 6 is a view of the present invention.
• FIG. 7 (a) to (d) are detailed explanatory diagrams of the scaling method according to the present invention
• FIG. 8 is a diagram illustrating the present invention. Showing the operation of an example of the scaling method by That's one chart.
• Fig. 5 is a block diagram showing one example of a robot controller for implementing a scaling method according to the present invention. It is.
• DPU is a data processing unit, a processing unit CPU and a read-only program memory for storing a robot command data automatic creation program.
• BPM is the basis of the robot: (1)
• the operation pattern is a memory that records the operation pattern.
• DM is the data memory, and the sequence number and the service code.
• the data in the finger data storage area RCM, the port in the R ⁇ , and the port in the Z ⁇ 5 The current position storage area where the current position of the hand is recorded.
• the base of the APM and the robot *: The operation pattern record that records the combination data of the operation pattern. It has an area VDM, a point storage area PPM that records the position of each point on the operation pattern, and so on.
• the SPM associates a sequence number in the robot command program with a point number that identifies each point on the operation pattern (base program). This is a base program that memorizes programs.
• this teaching operation is a mode selection mode that selects a mode such as teaching mode (+), repeat (playback), and operation mode (RP :). Override and multiply the switch and jog re-sending speed and the re-sending speed during robot automatic operation.Override switch and sigma-bottom R Jog buttons for jogging the hand in the positive and negative directions of ⁇ , Z ⁇ , and ⁇ ⁇ , respectively, and the current status of the hand held in the data memory DM It has a voting record button for setting the position as the position of each point, a numeric key, and so on.
• the CRT is a display device that inputs a combination of (1) a combination of base operation patterns and (2) a correspondence between sequence numbers and point numbers. When this is done, the operation pattern and the point number that identifies each point are displayed.
• KBD is a keyboard for inputting various working conditions.
• PDC is a pulse distributor that drives a drive device that operates the robots R ⁇ , Z-axis, and ⁇ ⁇ ⁇ based on a control signal output from the data processing unit DPU. Outputs signals RP, ZP and QP.
• FIG. 6 is a schematic view of the scaling in which the scaling is performed on a gentle three-dimensional surface, that is, the pseudo plane ⁇
• Fig. 7 is the scaling according to the invention.
• FIG. 8 is a flowchart showing an embodiment of the scaling method according to the present invention. The scaling method will be described in detail with reference to these figures.
• the primary welding start point P i and the three points Q i, Q 2, Qs on the pseudo plane cc and the number of points of the primary welding point ( ⁇ 14) Teach.
• the robot In the manual mode, the operator uses the teaching pendant TB to set the position information and the primary welding start point ⁇ 1 and the three points Q1, 0.20. ⁇ on the pseudo plane ⁇ .
• the processing unit CPU of the data processing unit DPu stores the position information in a data memory. Stored in the DM's point storage area ⁇ ⁇ M (Step: ⁇ 1) o
• the processing unit CPU calculates a vector in the normal direction of the pseudo plane based on the three points Q 1 Q 2, 0.s on the pseudo plane ot, and deciphers the result of the calculation.
• the data is stored in a predetermined empty address of the memory D (step P2).
• the processing unit CPU scales the scaling points Ri to Ri 4 based on the welding points to Pi 4. To hang. How to set the scaling point will be described in detail with reference to FIGS. 7 (a) to 7 (d). The method of determining the scaling point R2 in FIG. 6 will be described as an example.
• the operator indicates the scaling start point RI. That is, when the operator inputs the position information of the scaling start point R i with respect to the primary welding start point P i from the teaching operation panel, the processing unit CPU outputs the data.
• the data is stored in the point storage area PPM of the memory DM (step; P4).
• the processing unit CPU calculates the Y-axis direction vector Vy by taking the product of the normal vector VI and the X ⁇ direction vector Vx, This is stored in a predetermined empty address of the data memory DM. (Step P6).
• the vector IVy in the Y-axis direction is a vector in a direction perpendicular to a plane formed by the vector XV in the X-axis direction and the normal vector iri. .
• the processing unit CPU calculates the product of the vector W x in the X ⁇ direction and the vector V y in the Y axis direction to obtain a vector in the z axis direction 3 ⁇ 4 / z is calculated, and this is Store in a fixed empty address. Note that this Z direction
• ⁇ Vz is a vector in the direction perpendicular to the plane formed by the X ⁇ vector wx and the Y ⁇ vector Vy.
• the processing unit CPU obtains a scaling point R 2 based on the vector 3 ⁇ 4z in the Z ⁇ direction. This is stored in the data storage DPM in the point description area DPM (step P8).
• Fig. 7 (a) This is an example of scaling a group of points taught on a plane cc. : *: In the example, the scaling width in the direction of the normal vector 1 ⁇ ⁇ is set to almost 0 to simplify the explanation. That is, it can be on the point group plane ⁇ after scaling.
• This coordinate conversion method is a well-known method based on the basics, and the description is omitted here.
• Fig. 7 (c ) The coordinates of the scaling point R i are R xi, R yi, and R zi, as follows.
• This Ah is also measured by the teaching of the scaling start point Ri, and is the distance between the plane ⁇ and the point Ri.
• FIG. 7 (b) shows a case where the group of teaching points is taught not on a perfect plane but on a gentle curved surface.
• the normal vector and all vectors! In contrast to the direction of "1", the direction of the vector directional force S in Fig. 7 (b) is the same as the direction of the normal vector (Fig. 7 (b)). If there is a method that can determine each of these vectors 3 ⁇ 4t using the normal vector 1, the scaling point on the plane The goal can be achieved in exactly the same way as how to determine the int Ri [see Fig. 7 (a)].
• the vector Y i is a vector perpendicular to the vector X i and the normal vector. 2
• the scaling method according to the invention enables scaling on a three-dimensional surface, so that a gradual three-dimensional surface such as a car's Bonnet can be used. It is suitable for use in automatic welding of welding members.

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• Engineering & Computer Science (AREA)
• Physics & Mathematics (AREA)
• Plasma & Fusion (AREA)
• Mechanical Engineering (AREA)
• Human Computer Interaction (AREA)
• Manufacturing & Machinery (AREA)
• General Physics & Mathematics (AREA)
• Automation & Control Theory (AREA)
• Manipulator (AREA)
• Numerical Control (AREA)

Applications Claiming Priority (2)

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Citations (2)

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• 1984
  • 1984-02-20 JP JP59029887A patent/JPS60174274A/ja active Granted
• 1985
  • 1985-02-20 EP EP19850901064 patent/EP0172257A4/en not_active Withdrawn
  • 1985-02-20 US US06/795,278 patent/US4742207A/en not_active Expired - Lifetime
  • 1985-02-20 WO PCT/JP1985/000069 patent/WO1985003783A1/ja not_active Application Discontinuation

Patent Citations (2)

Non-Patent Citations (1)

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