WO1997038819A1 - Procede de commande pour soudage sequentiel a passes multiples - Google Patents
Procede de commande pour soudage sequentiel a passes multiples Download PDFInfo
- Publication number
- WO1997038819A1 WO1997038819A1 PCT/JP1997/001288 JP9701288W WO9738819A1 WO 1997038819 A1 WO1997038819 A1 WO 1997038819A1 JP 9701288 W JP9701288 W JP 9701288W WO 9738819 A1 WO9738819 A1 WO 9738819A1
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- WO
- WIPO (PCT)
- Prior art keywords
- welding
- layer
- robot
- gap width
- gap
- Prior art date
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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
- B23K9/02—Seam welding; Backing means; Inserts
- B23K9/025—Seam welding; Backing means; Inserts for rectilinear seams
-
- 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
- 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
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
Definitions
- the present invention relates to a technique for performing multi-layer welding using a robot equipped with a torch for arc welding, and more specifically, a technique for performing adaptive welding control during multi-layer welding using a laser sensor. About.
- the quality of arc welding depends on welding conditions such as welding current, welding voltage, welding speed (robot moving speed), and offset amount of welding torch tip position.
- welding conditions such as welding current, welding voltage, welding speed (robot moving speed), and offset amount of welding torch tip position.
- the appropriate values of these quantities are determined by the size of the gap (hereinafter referred to as “gear”) between the weld joints (ie, between the welded workpieces).
- the width of the tip For example, it is common for the appropriate weld bead width to change according to the gap width, and it is necessary to change the welding conditions accordingly. Rolling force gap width is not always constant throughout the welding zone.
- the gap width is also detected, and the welding current, welding voltage, etc. are determined according to the detected gap width.
- a method for controlling the conditions in real time has been proposed (see Japanese Patent Document, Japanese Patent Application Laid-Open No. 7-80443). Such a method of performing arc welding while controlling the welding conditions according to the transition of the gap state is generally called “adaptive welding control”.
- the necessity of controlling the welding conditions according to the gap width for the second and subsequent layers may naturally arise.
- the gap width of the welding joint is large, not only the first layer but also the second layer It is also desirable to increase the weld bead width thereafter, but for that purpose, it is considered that adaptive welding control should also be applied to the second layer and subsequent welding.
- the welding line is not normally detected by a laser sensor.
- the applied welding control described in the gazette could not be applied to the second layer and subsequent welding in multi-layer welding.
- the laser sensor In order to perform applicable welding control for the second and subsequent layers in multi-layer welding, the laser sensor is used for the second and subsequent layers in the same way as for the first layer. It is thought that what should be done is. However, even in such a case, in the multi-pass welding, the bead gradually rises as the welding layers are superimposed on the second and third layers. It can be difficult for a sensor to be clearly identified, or it can be indistinguishable. Note that even if the laser sensor could detect the edge of the weld joint in the second and subsequent welding, the laser sensor was used to detect the gap width for each layer of the multi-layer welding. Repetition of the same operation reduces working efficiency.
- An object of the present invention is to provide a multi-layer welding with a welding robot equipped with a laser sensor, in the second and subsequent layers, in the same manner as in the case of the first layer.
- An object of the present invention is to provide a control method capable of applying welding conditions according to a gap width between a workpiece and a workpiece to be welded.
- a control method for multi-layer welding using a welding robot equipped with an arc welding tool and a laser sensor includes the following steps. (a) Predetermining the relationship between the width of the gap existing in the part to be welded and the welding conditions; (b) Continuously setting the width of the gear existing in the part to be welded along the welding path The gap width data detected is sequentially or sequentially detected, and the detected gap width data is stored in the storage means, and the welding of the first layer is performed in accordance with the welding conditions corresponding to the detected gap width. (C) performing the welding of the second and subsequent layers along the welding path by controlling the welding conditions corresponding to the gap width stored in the memory. Is the step of controlling and executing in real time.
- the control method in the multi-layer welding according to the present invention has the above-described configuration, even when welding the second and subsequent layers in the multi-layer welding using the arc welding robot, the welding target workpiece and the workpiece to be welded are also controlled. Since welding conditions can be applied according to the gap between the gaps, improvement in the quality of multi-pass welding can be expected.
- Fig. 1 is a schematic diagram for explaining the basic arrangement and the detection of the gap width when applying the present invention to a butt weld.
- FIG. 1 is a schematic diagram for explaining the basic arrangement and the detection of the gap width when applying the present invention to a butt weld.
- FIG. 2 is a diagram illustrating a schematic configuration of a laser sensor used in the present embodiment.
- FIG. 3 is a diagram for explaining a method of obtaining the position of the reflection point on the sensor coordinate system from the position detected by the light receiving element of the laser sensor.
- FIG. 4 is a schematic diagram for explaining the arrangement and the detection of the gap length when the present invention is applied to a stepped welding portion.
- FIG. 5 is a diagram for explaining a method of measuring the gap length h (X) using the three-dimensional position measurement function of the laser sensor.
- FIG. 6 is a diagram for explaining a teaching route in the present embodiment.
- FIG. 7 is a block diagram of a main part showing an overall configuration of a system including a robot controller that can be used in carrying out the present invention.
- FIG. 8 is a diagram illustrating an operation program according to the present embodiment.
- FIG. 9A is a diagram for explaining that an appropriate path shift amount changes in each layer of the multi-layered butt welding.
- FIG. 9B is a diagram for explaining that an appropriate amount of path shift changes in each layer of the multi-layer pile in step welding.
- FIG. 10 is a diagram exemplifying a tracking condition setting screen in the present embodiment.
- FIG. 11 is a diagram exemplifying an adaptive welding schedule setting screen in the present embodiment.
- FIG. 12 is a diagram exemplifying an adaptive welding condition setting screen in the present embodiment.
- FIG. 13 is a flowchart illustrating the process 1 in the present embodiment.
- FIG. 14 is a flowchart for explaining the process 2 in the present embodiment.
- FIG. 15 is a flowchart for explaining the process 3 in the present embodiment.
- the welding joints to be welded are represented by workpieces A and B positioned on a work table WT using a jig (not shown). These workpieces A and B form a gap G extending substantially along the X-axis direction of the workpiece coordinate system set on the robot.
- the gear width is the length in the Y direction.
- the gap width at the position where the X-axis coordinate value is X (hereinafter simply referred to as “position X”) is represented by g (X).
- a welding torch 2 and a laser sensor 3 are attached to a robot tip 1 of a robot whose main part is omitted with a suitable mounting mechanism.
- Symbol 4 is the robot
- the laser sensor 3 is arranged so that the scanning beam 5 scans a region preceding the welding point 4 in the robot traveling direction.
- the locus 6 A. 6 B of the bright spot formed on the work A, B or the work table WT by the scanning beam 5 is detected by the light detecting section of the laser sensor 3, and the position of the welding line is determined based on it.
- the gear width g (X) is the gear width g (X).
- FIG. 2 illustrates a schematic configuration of a laser sensor used in the present embodiment.
- the main body of the laser sensor 3 includes a projection unit 10 and a light detection unit 13, and the projection unit 10 is a laser oscillator. Equipped with 1 1 and oscillating mirror (galvanometer) 1 2 for beam scanning.
- the light detection section 13 includes an optical system 14 for imaging and a light receiving element 15.
- the laser sensor control unit 20 includes a mirror driving unit 21 for oscillating the oscillating mirror 12, a laser driving unit 22 for driving the laser oscillator 11 to generate a laser beam, and a light receiving element 1.
- a signal detector 23 for detecting the position of the laser beam 5 incident on the target object from the light receiving position in 5 is connected. These are connected to a general-purpose interface (to be described later) of the robot controller via a line 24.
- the laser drive unit 22 drives the laser oscillator 11 to generate a laser beam 5.
- the swing of the swing mirror 12 is started by the mirror drive unit 21. Thereby, the laser beam generated from the laser oscillator 11 is scanned on the object surface.
- the laser beam diffusely reflected at the reflection point S on the object surface forms an image on the light receiving element 15 by the optical system 14 according to the position of the reflection point S.
- the light-receiving element 15 includes a one-dimensional CCD array as a split-type light-receiving element, a position detector (PSD) as a non-division-type integrating element, or a CCD camera with a two-dimensional CCD array. Is used.
- a one-dimensional CCD array is used as the light receiving element 15.
- the light hitting the light receiving surface of the light receiving element 15 (image of the reflected light) is converted into photoelectrons and stored in the cell.
- the electric charge stored in the cell is output in order from the first end at predetermined intervals in accordance with the CCD scanning signal from the signal detection unit 23, and is sent to the robot control via the signal detection unit 23 and the line 24. Sent to
- the scanning cycle of the CCD is set to be sufficiently shorter than the scanning cycle of the oscillating mirror 12 (for example, 1/100), and the transition of the oscillating angle of the oscillating mirror 12 and the CCD element output Changes in status can be grasped at any time.
- the output state of the CCD element is grasped by the cell position (cell number) with the maximum output, and the cell position where the reflected light hits is detected. From this position, the position of the reflection point S on the sensor coordinate system is obtained.
- FIG. 3 is a diagram for explaining a method of obtaining the position (Xs, Ys) of the reflection point S on the sensor coordinate system based on the detection position s of the light receiving element 15.
- the origin (0, 0) of the sensor coordinate system is on the line connecting the center of the optical system 14 and the center point of the light-receiving element 15, and this line is the Y axis, and the axis orthogonal to this Y axis is X Axis.
- the distance from the origin of the sensor coordinate system to the center of the optical system is L1
- the distance from the center of the optical system to the center point of the light receiving element 15 is L2
- the swing from the sensor origin to the X-axis direction is L2.
- D is the distance from the center of oscillation of the moving mirror 1 to 2
- L 0 is the distance of the Y axis from the sensor origin to the center of the swing of the mirror 12, and the laser beam is reflected by the mirror 12.
- the angle of the light with respect to the Y-axis direction is ⁇
- the light receiving position on the light receiving surface of the light receiving element 15 is s.
- Y s can be obtained by solving the following two equations, (1). (2).
- Y s is a coordinate system recognized by the robot (for example, data representing the relationship between the sensor coordinate system and the robot coordinate system) using the posture data of the robot and the calibration data (data representing the relationship between the sensor coordinate system and the robot coordinate system). Is converted to 3D data on 0 — XYZ) shown in Fig. 1.
- a series of data obtained in each scanning cycle of the laser beam 5 is analyzed by software processing in the robot controller, and the edge of each B is analyzed. The positions of EA and EB are determined. This is (x ea, y ea, z ea) and
- the position of the weld line is calculated by the following formula, for example, as the position of the midpoint Q of the edges EA and EB (X q, yq, ⁇ q) I can do it.
- FIG. 4 is a schematic diagram for explaining the arrangement and gap width detection when the present invention is applied to a stepped welding portion using the same format and reference numerals as in FIG.
- C and D are works to be welded constituting a joint, and at least the thickness d of the upper work D is assumed to be known.
- a welding torch 2 and a laser sensor 3 are attached to the robot hand 1 via an appropriate mounting mechanism.
- Reference numeral 4 denotes a welding torch tip end position (weld point) set as a robot tool tip point.
- the laser sensor 3 is arranged so that the scanning beam 5 scans a region ahead of the welding point 4 in the robot traveling direction.
- the welding including the robot hand 1, the welding torch 2, and the laser sensor 3 is performed in such a manner that the whole is inclined in a direction that intersects the XYZ axes at a fixed angle that is non-perpendicular to each other. ing.
- the structure and function of the laser sensor 3 are as described above c.
- the trajectories 6 C, 6 H, and 6 D of the bright spots formed by the scanning beam 5 on the works C and D are detected.
- 6C and 6D are trajectories formed on the flat surfaces of the works C and D, respectively
- 6H is a trajectory extending along the edge of the work D substantially in the Z-axis direction. The end of the trajectory 6 C on the side of the gear H may be unclear due to the shadow of the workpiece D.
- FIG. 5 is a diagram illustrating a method of measuring the gap width h (X) using the three-dimensional position measuring function of the laser sensor 3 described above.
- the gap width h (X) is a length obtained by subtracting the thickness d of the work D from the height of the edge DE of the work D measured from the flat surface of the work C. It is required as such.
- the gap width h (X ) Is obtained by the following equation.
- the Z coordinate value zf of the flat surface of the work C is, for example, the scanning range Is obtained as the Z coordinate value of a point C F2 on a flat surface of the work C which is separated from the end point C F1 of the work C by a fixed distance f (or a fixed scanning angle) appropriately set. Note that FIG. 5 illustrates a state where the laser beam 5 is incident on the point CF2.
- the position of the welding point can be determined by the following equation, for example, as the lower end position K (xk, yk, zk) of the gap H.
- the present invention does not particularly limit the method of measuring the gap width using the laser sensor, and the gap width may be obtained by any method other than the above.
- the laser sensor to be used for example, one using a CCD camera or a position detector (PSD) as a light detection unit may be used.
- the robot controller 30 for controlling the entire system has a central processing unit (hereinafter, CPU) 31, and the CPU 31 has ROM 32, RAM power, memory 33, non-volatile memory 34, robot axis controller 35, teaching operation panel 38 with LCD 37, and Outside
- CPU central processing unit
- ROM 32 read-only memory
- RAM random access memory
- non-volatile memory 34 non-volatile memory
- robot axis controller 35 teaching operation panel 38 with LCD 37
- a general-purpose interface 39 for connection with the device is bus-coupled.
- the ROM 32 stores a program for controlling the entire system including the robot controller 30 itself. This includes a program necessary for inputting various data for implementing the present invention on a screen in a mode to be described later (a part of the RAM 33 is data for processing performed by the CPU 31).
- the RAM 33 has several buffer registers for storing sensing data, route correction data, and the like, which will be described later.
- the non-volatile memory 34 there are set several position registers for storing positional data and the path shift amount at the time of multi-layer printing.
- each welding section P2—P3, P3—P4, P4—P5 has a gap as shown in Figure 1 (for butt welding) or Figure 4 (for step welding). It is assumed that a group exists.
- the target angle of the torch 2 posture around the X-axis direction
- the advance angle the inclination with respect to the X-axis direction
- the robot Moves from the initial position (home position) P0 to the welding start point P2 via the approach point P1, and starts the first welding. Then, the first-layer welding is sequentially performed on the sections P2-P3, P3-P4, and P4-P5, and the first-layer welding is completed at the welding end point P5.
- P3 P4, P4 P5 sequentially perform the second layer welding and finish the second layer welding at welding end point P5 c .
- Welding by N times (N layers) of robot movement is repeated to complete multi-layer welding.
- multi-layer welding according to the present invention is performed under the following premise.
- the welding conditions controlled by the adaptive welding control are the welding voltage, welding current, welding speed (moving speed of the robot), path shift amount, weaving condition and torch position shift amount. .
- the welding voltage and welding current are not controlled individually, but are selected according to the gap length from the conditions prepared for both sets.
- FIG. 8 shows an example of the operation program.
- positions [1] to [6] correspond to P1 to P6 in FIG. 6, respectively. Therefore, the main points of the operation specified by each line number in this operation program are as follows (see also Fig. 6).
- the arc start condition is the condition at the start of the arc.
- the path data includes a path correction that indicates the deviation between the teaching path and the detected welding line. It is important that in addition to the data, the gap data determined by the method described above is included.
- the path correction data is calculated as a correction amount in the Y-axis direction and the Z-axis direction when the welding progress direction in each welding section is set to the X-axis direction.
- the arc termination condition is a condition in which the condition at the end of the arc (such as welding voltage and welding current when the arc is stopped) is set in advance, and an appropriate number of conditions are prepared below [1].
- Positioning ratio is 40% (decelerates but does not stop).
- the route data stored in the Knob Register [2] and the route shift stored in the Position Register [4] Multi-layer welding using the data.
- the route data includes gap data in addition to the route correction data. If, in the tracking conditions, the specification that the adaptive welding control for the second and subsequent layers is to be enabled, the adaptive welding control is performed during the welding for the second and subsequent layers.
- FIG. 9A is a diagram illustrating an example of butt welding
- FIG. 9B is a diagram illustrating an example of step welding.
- Point Q in FIG. 9A and point K in FIG. 9B represent the positions of the welding lines detected during welding of the first layer, respectively. It should be noted, however, that there is a degree of freedom in defining the position of the weld line.
- the definition of the point Q is given by the above equations (3), (4), and (5), and the definition of the point K is
- point Q 0 in FIG. 9A and point K 0 in FIG. 9B represent the position of the welding line taught.
- the displacement of the point Q with respect to the point Q 0 and the displacement of the point K with respect to the point K 0 are calculated by the route compensation. They are stored as positive data in the buffer register.
- point Q ⁇ in FIG. 9A and point K1 in FIG. It indicates the appropriate robot position when welding the eyes.
- the deviation amount between the points Q and Q 1 or between the points K and K 1 (the vector amount QQ 1 or KK 1 having Y and Z components) is specified by the offset amount during tracking described later. Is done. If the welding line position is defined to match the tool tip point position that is considered appropriate for welding the first layer, the offset amount during tracking is set to 0 and the point Q 1 and the point Q is or and the point K 1 is the point K,, almost matching child becomes a c - how, 9 points in a Q 2 ⁇ Q 5 and 9 put that points B K 2 - K 5 is It shows the appropriate robot position when forming each of the second to fifth weld layers.
- the welding of the second layer is completed.
- the second layer welding is performed under the adaptive welding control as long as the adaptive welding control for the second and subsequent layers is specified as valid in the tracking conditions.
- the welding of the third to fifth layers is repeatedly performed based on the instructions of the row numbers 15 to 35.
- the position register number (the argument of the one register) in each multi-layer welding start command is different. This is because the amount of route shift specified each time is different.
- the position register number is It will be the same. Since the same route data is used every time (data acquired during welding of the first layer), the key data number (argument) is common every time.
- the setting of the tracking conditions is performed on the setting screen as illustrated in FIG. 10 called by the LCD 37 of the teaching operation panel 36.
- four types of conditions Johngen to Johgen4 are set.
- the tracking condition cited in line 3 of the operation program shown in FIG. The main points of the items specified by each line number are as follows.
- the torch tip position on the first layer is adjusted. If the offset is set to 0, the tracking control is performed so that the detected welding line position matches the position of the tool tip point (usually coincident with the torch tip position).
- Adaptive welding control conditions for first layer welding are set by condition numbers.
- a setting of “0” means that the adaptive welding control is not performed (Refer to the sections 1 and 2).
- the contents of other condition numbers are described later. Is set on the screen shown in Fig. 12.
- Figure 11 shows an example of the screen for setting the adaptive welding schedule.
- the setting of the adaptive welding schedule is performed by specifying the condition number.
- the contents of the adaptive welding conditions specified by each condition number are further displayed on a screen as shown in Fig. 12.
- This setting can be changed by keyboard operation.
- [2] and [3] are specified on the joken 3 in Fig. 10 (specified in the operation program) and the adaptive welding schedule setting screen in Fig. 11.
- the contents of Johken 2 and 3 are shown.
- numerical values and the like are merely exemplary. The meaning of each item is as follows.
- noisy In the range of the gap width, 1 is 0.0 mm to less than 2. O mm, 2 is less than 2. O mm to 3.5 mm, 3 is 3.5 mm to 4. O mm , 4 means less than 4.0 mm to less than 5.2 mm, 5 means 5.2 mm to less than 8.0 mm, and 6 means 8.0 mm or more.
- the gap width of 6 is 8.0 m Forces marked with * in each column above m This means output of error signal (robot stops, welding stops).
- V (mm / sec) This is the welding speed (robot's command movement speed) expressed in mm / sec units.
- Y (mm) Y component of path shift amount added for adaptive welding control.
- Z (mm) Z component of path shift amount added for adaptive welding control.
- Weaving The condition of weaving, specified by the condition number.
- An example of the settings for each number is shown in the lower part of Fig. 12.
- the live pattern indicated by the live 'pattern number is set separately (details are omitted).
- Condition number 0 indicates no weaving.
- Nerai Aiming angle (degree or radian) added for adaptive welding control with respect to the torch position being taught.
- Zenshin The advance angle (in degrees or radians) added to the torch position being taught for adaptive welding control. If Nerai and Zenshin are both 0 (see Joken 2), the torch as taught It means that the welding is performed in the first place.
- step 3 real-time tracking by the laser sensor is performed.
- step 3 adaptive welding control is performed according to the gap width.
- Process 1 is a process for creating data for tracking and adaptive welding control (first layer). That is, after waiting for a tracking start command to be output in processing 2 described later (step S1), sensing by the laser sensor is started (step S2). According to the method described above, the path correction amount and the gear width are obtained based on the edge position of the work detected by the laser sensor, and the damage is stored in the register 1 (step S3). ). Until the tracking end command is output in the processing 2 described later (step S4), the sensing by the laser sensor and the data storage in the buffer register 1 are repeated. . When the tracking end command is output, the processing ends.
- Process 2 is a process for performing the first layer welding in parallel with tracking and adaptive welding control.
- the first line of the operation program shown in FIG. 8 is read, and processing for moving the mouth robot to P1 is performed (step T1).
- C Further, the second line is read, and the robot is moved to P2. Move and light the torch (step T 2).
- the third and fourth lines and the related data specified therein are read (step T3). The contents of the related data have already been described with reference to FIGS. 8 to 12, and are omitted here.
- the fifth line is read and a tracking start instruction is output (step T4). As a result, the accumulation of the path correction data and the gap width data is started in the buffer register 1 in the processing 1, and they are read out (step # 5).
- step # 8 the range to which the gap width data read from the buffer register 1 belongs (see FIG. 12, description of "Hanny") is checked. This is compared with the previous range, and if there is a change in the range, the welding conditions (welding voltage, welding current, welding speed, path shift, weaving conditions, torch position, etc.) are adjusted accordingly. (See related description in 2) (Step 9). The range of the first read data is unconditionally changed.
- Step T10 A movement target point is determined using the data, and processing for movement there is performed. Steps T5 to T10 are repeated until the robot reaches point P3. When the point P 3 is reached (step T 11), the next fifth line is read, and by repeating the same processing as in steps T 5 to T 11, the adaptive welding to the point P 4 is performed. Tracking movement under control is executed (Step T12)
- step T14 the processing for the first layer ends.
- the process 3 shown in the flowchart of FIG. 15 is executed. Sensing by the laser sensor is not performed.
- Process 3 is a process for performing multi-layer welding by adaptive welding control (second and subsequent layers) while reproducing the tracking path of the first layer.
- the eighth line of the operation program shown in FIG. 8 is read, and a process of moving the robot to P6 is performed (step W1). Further, the ninth line and the related data specified therein are read (step W2). The contents of the related data have already been described with reference to FIGS. 8 to 12, and will not be described here.
- step W3 the first row is read, and the processing of multi-layer welding is started (step W4).
- the path correction data and the gap width data are read from the buffer register 2 (step W5).
- step W6 the range to which the gap width data read from the buffer register 2 belongs (see FIG. 12, description of "Hanny") is checked. This is compared with the previous range, and if there is a change in the range, the welding conditions (welding voltage, welding current, welding speed, path shift, wiring conditions, torch posture, etc.) are adjusted accordingly. 12) (see step W7). Note that the range of the first readout data is unconditionally changed.
- step W8 a movement target point is determined using the path correction data, and processing for movement there is performed. Steps W5 to W7 are repeated until the robot reaches point P3. When the point P 3 is reached (step W 8), the next line 12 is read, and by repeating the same processing as in steps W 5 to W 7, the point Movement to P4 under adaptive welding control is performed (step W10).
- Step W11 the movement under the adaptive welding control to the point P5 is executed, and the torch is turned off (step W11). Then, read the 14th line (Step W1 2) and execute the multi-layer building (the second layer). End processing
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Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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DE69727886T DE69727886T2 (de) | 1996-04-12 | 1997-04-14 | Steuerverfahren und system zum mehrschichtigen schweissen |
US08/981,818 US6023044A (en) | 1996-04-12 | 1997-04-14 | Control method in multi-layer welding |
EP97915719A EP0842725B1 (en) | 1996-04-12 | 1997-04-14 | Control method and system for multi-layer sequence welding |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP8/114371 | 1996-04-12 | ||
JP8114371A JPH09277045A (ja) | 1996-04-12 | 1996-04-12 | 多層盛り溶接における制御方法 |
Publications (1)
Publication Number | Publication Date |
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WO1997038819A1 true WO1997038819A1 (fr) | 1997-10-23 |
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ID=14636038
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP1997/001288 WO1997038819A1 (fr) | 1996-04-12 | 1997-04-14 | Procede de commande pour soudage sequentiel a passes multiples |
Country Status (5)
Country | Link |
---|---|
US (1) | US6023044A (ja) |
EP (1) | EP0842725B1 (ja) |
JP (1) | JPH09277045A (ja) |
DE (1) | DE69727886T2 (ja) |
WO (1) | WO1997038819A1 (ja) |
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CN107186319A (zh) * | 2017-07-03 | 2017-09-22 | 江苏科技大学 | 一种基于激光传感器的焊接机器人盖面焊在线跟踪方法 |
Families Citing this family (42)
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JP3215086B2 (ja) * | 1998-07-09 | 2001-10-02 | ファナック株式会社 | ロボット制御装置 |
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- 1997-04-14 EP EP97915719A patent/EP0842725B1/en not_active Expired - Lifetime
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Also Published As
Publication number | Publication date |
---|---|
US6023044A (en) | 2000-02-08 |
EP0842725A1 (en) | 1998-05-20 |
DE69727886D1 (de) | 2004-04-08 |
JPH09277045A (ja) | 1997-10-28 |
DE69727886T2 (de) | 2004-07-29 |
EP0842725A4 (en) | 2000-01-19 |
EP0842725B1 (en) | 2004-03-03 |
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