WO2013089101A1 - 溶接ビード整形装置およびその整形方法 - Google Patents
溶接ビード整形装置およびその整形方法 Download PDFInfo
- Publication number
- WO2013089101A1 WO2013089101A1 PCT/JP2012/082071 JP2012082071W WO2013089101A1 WO 2013089101 A1 WO2013089101 A1 WO 2013089101A1 JP 2012082071 W JP2012082071 W JP 2012082071W WO 2013089101 A1 WO2013089101 A1 WO 2013089101A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- shape
- gouging
- weld bead
- torch
- shaping
- Prior art date
Links
Images
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
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/003—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to controlling of welding distortion
-
- 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
- B23K10/00—Welding or cutting by means of a plasma
-
- 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
- B23K10/00—Welding or cutting by means of a plasma
- B23K10/003—Scarfing, desurfacing or deburring
-
- 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
- B23K10/00—Welding or cutting by means of a plasma
- B23K10/006—Control circuits therefor
-
- 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
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
-
- 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
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/12—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to investigating the properties, e.g. the weldability, of materials
- B23K31/125—Weld quality monitoring
-
- 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
- B23K37/0235—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member forming part of a portal
-
- 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
-
- 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
-
- 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
- B23K9/32—Accessories
-
- 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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/001—Turbines
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D9/00—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor
- C21D9/50—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor for welded joints
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D9/00—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor
- C21D9/50—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor for welded joints
- C21D9/505—Cooling thereof
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/02—Arm motion controller
- Y10S901/03—Teaching system
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/02—Arm motion controller
- Y10S901/09—Closed loop, sensor feedback controls arm movement
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/30—End effector
- Y10S901/41—Tool
- Y10S901/42—Welding
Definitions
- the present invention relates to a weld bead shaping device for shaping a weld bead formed along a weld line and a shaping method thereof.
- a structure having a large and complicated structure such as a hydro turbine runner of a hydroelectric generator, is difficult to manufacture with an integral casting. For this reason, a structure is comprised from several components, and these components are mutually joined by welding. In the water turbine runner, the surface of the welded portion becomes a flow path, so that an eddy current is generated on the unshaped welded surface after joining, resulting in a large loss.
- the weld surface is shaped by manual grinding.
- this grinding work is a work in a bad environment due to the use of dust and vibration tools.
- the complicated structure has a narrow part, and the worker is forced to put a lot of labor, such as a posture with poor workability.
- a plasma gouging device has been proposed as a shaping method instead of grinding the welded portion (see Patent Document 1).
- This plasma gouging apparatus uses gouging speed and voltage as parameters to be controlled.
- an automatic gouging device has been proposed as an alternative to grinding a large complex structure (see Patent Document 2).
- This automatic gouging device uses a device for measuring a shape to be a model with a surplus detection stylus and storing a reference shape, and an arithmetic device for calculating the surplus by comparing the reference shape with the shape of the workpiece. Calculate surplus removal. Further, this automatic gouging device controls and shapes the amount of surplus removal with an arc air gouging torch mounted on a multi-axis slider. Thus, the automatic gouging device automatically processes the workpiece into a target shape.
- the plasma gouging device described in Patent Document 1 is a straight gouging device for the back chipping, there is a problem that it is not suitable for removing a wide surplus such as a thick plate weld bead.
- the automatic gouging device described in Patent Document 2 uses a surplus thickness detection stylus for measuring the surplus shape, a surplus measurement error is large, and a fine uneven shape such as a weld bead cannot be measured.
- it processed using arc air gouging there existed a subject that it was not suitable for the removal of the fine surplus.
- the present invention has been made to solve the above-described problems, and an object thereof is to provide a weld bead shaping device and a shaping method thereof capable of shaping a weld bead with high accuracy.
- the weld bead shaping device extracts shape data of the shaping object from a measurement result of a shape sensor that measures the shape of the shaping object on which the weld bead is formed.
- the extra shape of the weld bead is calculated from the difference between the extraction unit, the shape data, and the preset designated shape of the shaping object, and gouging is performed using a gouging torch based on the extra shape.
- An extra shape extraction / removal depth calculation unit for calculating a removal depth to be performed, and a target position / torch posture for calculating a target position and posture of the gouging torch based on the extra shape and the removal depth
- the calculation unit, a gouging condition calculation unit that calculates a gouging condition based on the extra shape and the removal depth, and the target position / torch posture calculation unit calculates Based on the target position and posture of the browsing torch and the gouging condition calculated by the gouging condition calculation unit, the driving device for driving the gouging torch and the shaping object and the gouging torch are controlled. And a control device.
- the welding bead shaping method includes a shape measurement step for measuring the shape of the shaping target, and a shape data extraction step for extracting shape data of the shaping target based on a measurement result of the shape measurement step. , Calculating an extra shape of the weld bead from a difference between the shape data and a preset shape of the shaping object, and extra shape extraction for calculating a removal depth for performing gouging from the extra shape; A removal depth calculation step, a target position / torch posture calculation step for calculating a target position and posture of the gouging torch based on the surplus shape and the removal depth, and the surplus shape and the removal depth A gouging condition calculation step for calculating a gouging condition based on the height, and the target position and the previous position of the gouging torch calculated by the target position / torch posture calculation unit. And a control step of controlling a gouging torch for performing the gouging and a driving device for driving the shaping object based on an attitude and the gouging condition calculated by the go
- the weld bead can be shaped with high accuracy.
- FIG. 1 It is a block diagram of the weld bead shaping apparatus in 1st Embodiment. It is a flowchart explaining the welding bead shaping pre-process implemented by the weld bead shaping apparatus of 1st Embodiment. It is explanatory drawing in case the weld bead shaping apparatus in 1st Embodiment performs the weld bead shaping of the blade weld part of a water turbine runner.
- (A)-(e) is explanatory drawing explaining the relationship between the shape data of a weld bead, a designated shape, and a crown, a band, and a blade
- FIG. 1 It is a block diagram of the weld bead shaping apparatus in 3rd Embodiment. It is a flowchart explaining the welding bead shaping pre-process implemented by the weld bead shaping apparatus of 3rd Embodiment. It is explanatory drawing explaining the relationship between the shape data of a weld bead, a designated shape, and a crown, a band, and a blade
- Embodiments of a weld bead shaping device and a shaping method thereof according to the present invention will be described with reference to the accompanying drawings.
- a weld bead shaping device and a shaping method thereof shape a weld bead formed on a blade weld portion of a turbine runner of a hydroelectric generator having a large and complicated structure will be described.
- FIG. 1 is a configuration diagram of a weld bead shaping device 1 according to the first embodiment.
- the weld bead shaping device 1 includes a slider device 11, an articulated robot 12, a plasma gouging torch 13, a shape sensor 14, an image processing device 16, and a robot control device 17.
- the slider device 11 includes a pedestal 21, a support column 22, a lift slide 23, a side arm 24, and a base 25.
- the pedestal 21 is installed on the installation surface 2 of the slider device 11 and supports the slider device 11.
- the column 22 extends upward from the pedestal 21 and rotates about the vertical axis (in the direction of arrow A in FIG. 1).
- the raising / lowering slide 23 is provided in the support
- the side arm 24 is provided on the lifting slide 23 and moves in a horizontal uniaxial direction (the direction of arrow C in FIG. 1) with respect to the lifting slide 23.
- the base 25 is provided at one end (tip) of the side arm 24.
- the multi-joint robot 12 has an arm that is attached to a base 25 and rotates multi-axis with a multi-joint.
- the articulated robot 12 has, for example, six joints and rotates around six axes.
- the first to sixth links are arranged at the first to sixth joints, respectively.
- the first joint is disposed on the base 25, and the tip of the sixth link corresponds to the tip of the arm.
- the slider device 11 and the articulated robot 12 are drive devices that drive the plasma gouging torch 13 and the shape sensor 14.
- the plasma gouging torch 13 is provided at the tip of the arm of the articulated robot 12 and performs gouging of the shaping object on which the weld bead is formed.
- the position and posture of the plasma gouging torch 13 are adjusted by the multi-joint mechanism of the multi-joint robot 12 and the position adjustment by moving the slider device 11 in the vertical and horizontal directions and rotating around the vertical axis.
- the plasma gouging torch 13 has a nozzle 29.
- the nozzle 29 injects a plasma gas for gouging the weld bead and a cooling gas for removing the goro. The amount of removal is increased or decreased by changing the pressure of the cooling gas.
- the shape sensor 14 is provided at the arm tip of the articulated robot 12.
- the shape sensor 14 is a sensor that measures the three-dimensional shape of the object to be shaped using, for example, a laser or an ultrasonic wave.
- These plasma gouging torch 13 and shape sensor 14 are attached to the tip of the arm of articulated robot 12 with their relative positions fixed.
- the image processing device 16 receives and processes the measurement data measured and output by the shape sensor 14.
- the image processing device 16 transmits gouging teaching data obtained based on the measurement data to the robot control device 17.
- the robot control device 17 (control device) has an operation axis control device 31 and a teaching data storage device 32.
- the motion axis control device 31 transmits a command signal to the slider device 11 and the articulated robot 12 to drive the slider device 11 and the articulated robot 12 by a predetermined amount.
- the teaching data storage device 32 stores the measurement teaching data and transmits it to the image processing device 16.
- the robot control device 17 has an operation device for operating the slider device 11 and the articulated robot 12 by an operator. Further, the robot control device 17 controls the gouging power source of the gouging torch 13.
- FIG. 2 is a flowchart for explaining the welding bead shaping pre-process performed by the weld bead shaping device 1 of the first embodiment.
- FIG. 3 is an explanatory diagram when the weld bead shaping device 1 according to the first embodiment performs the weld bead shaping of the blade welded portion of the water turbine runner 3.
- the welding bead shaping pre-processing performed by the weld bead shaping device 1 includes processing steps (steps S1, S2 and S12) performed by the robot control device 17 and processing steps (steps S3 to S11) performed by the image processing device 16. ).
- the welding bead shaping device 1 and the turbine runner 3 as the shaping target are installed.
- the turbine runner 3 is lifted up by a crane and installed on the turning roller 4 as shown in FIG.
- the turbine runner 3 rotates in conjunction with the rotation of the turning roller 4.
- the turbine runner 3 is stopped at an angle at which the welded portion (the shaping target portion) between the crown 5 and the band 6 and the blade 7 is positioned in front of the weld bead shaping device 1.
- the weld bead shaping device 1 is installed beside the opening of the water turbine runner 3. Thereafter, the slider device 11 and the articulated robot 12 are operated by the motion axis control device 31 of the robot control device 17.
- the shaping target portion which is the welded portion between the crown 5 and the band 6 and the blade 7 of the water turbine runner 3 is a flow path, it must be finished in a smooth r shape.
- the r shape which is an ideal shape when the shaping object is finished, is given as a preset shape designated for the shaping object.
- the teaching data storage device 32 stores teaching data.
- the teaching data is stored in the teaching data storage device 32 by an operation of an operator, for example.
- the operator drives the slider device 11 and the articulated robot 12 using the operation device of the robot control device 17.
- the shape sensor 14 (or the plasma gouging torch 13) moves to the teaching point on the scheduled gouging locus.
- the position of the slider device 11 and the posture of the articulated robot 12 are stored in the teaching data storage device 32 as teaching data.
- the teaching data is an operation command including position / posture data indicating the target position and torch posture of the shape sensor 14 and the plasma gouging torch 13 and the gouging conditions.
- the gouging condition is given for each teaching point, and includes a gouging speed, a weaving frequency, a current, and the like.
- the teaching data is divided into measurement teaching data used for shape measurement by the shape sensor 14 and gouging teaching data used for gouging by the plasma gouging torch 13.
- the motion axis control device 31 controls the motion axes of the slider device 11 and the articulated robot 12 based on the measured teaching data stored in the teaching data storage step S1.
- the shape sensor 14 measures the shape of the weld bead after the operation of the slider device 11 and the articulated robot 12.
- the shape of the welded part is measured by the shape sensor 14 attached to the arm tip of the articulated robot 12.
- the image processing device 16 (shape data extraction unit) binarizes and removes noise from the measurement data output from the shape sensor 14, and extracts the shape data of the weld bead.
- the image processing device 16 (inflection point / intersection extraction unit) superimposes the shape data extracted in the shape data extraction step S3 on the image.
- the image processing device 16 extracts a point where the shape data and the specified shape intersect as an intersection.
- the image processing device 16 extracts, as an inflection point, the vertex of the valley portion of the weld bead that is centered with respect to the specified shape in the shape data, that is, with respect to the specified shape.
- the image processing device 16 sets the apex of the weld bead facing the center point of the specified shape as a peak, and sets the apex of the weld bead facing the direction opposite to the center point of the specified shape as a valley.
- 4 (a) to 4 (e) are explanatory diagrams for explaining the relationship between the shape data B of the weld bead, the designated shape R, the crown 5, the band 6, and the blade 7 surface.
- the shape data B (weld bead) extracted in the shape data extraction step S3, the surface of the crown 5, the surface of the band 6 and the surface of the blade 7 are indicated by solid lines, the surface of the crown 5;
- a virtual line E that is an extension of the surface of the band 6 and the surface of the blade 7 is indicated by a dotted line, and the designated shape R is indicated by a one-dot chain line.
- the left-right direction in FIG. 4 is defined as the X-axis and the up-down direction is defined as the Y-axis.
- the designated shape R is defined by a circle (arc) having a predetermined radius in contact with the extension line E between the crown 5 surface or the band 6 surface and the blade 7 surface.
- the image processing device 16 extracts an intersection point i1 and an intersection point iN that are intersection points between the shape data B extracted in the shape data extraction step S3 and the designated shape R.
- the image processing device 16 extracts the inflection points i2 to i (N ⁇ 1) that are on the center point O side with respect to the designated shape R in the shape data B and are the vertices of the valleys.
- intersections and inflection points extracted at this time are i1, i2, i3... I (N-1), iN (N: extracted inflection points) in the shape data B having the smallest X-axis value. And the total number of intersections).
- the image processing device 16 compares the shape data with the designated shape, and there is a portion where the weld bead is insufficient (the weld bead is smaller than the designated shape). If the distance of the portion with insufficient margin is larger than the predetermined value, the trajectory (pass sequence) of the gouging performed continuously is divided. As a result, it is possible to prevent further gouging of the portion with insufficient surplus. When the obtained number of intersection points is greater than 2, the image processing device 16 determines that there is a portion with insufficient surplus. In addition, the image processing device 16 can calculate the distance of the portion where the surplus is insufficient by calculating the distance between the adjacent intersections.
- the image processing device 16 selects to perform gouging collectively between the intersections i1 to iN.
- the image processing device 16 calculates the distance d between adjacent intersections other than the intersections i1 and iN. For example, as shown in FIG. 4 (b), the image processing apparatus 16, if the intersection point i1, the intersection other than the intersection iN i2, the distance d between the intersection i3 is equal to or less than the predetermined value D 1, gouging at the intersection i1 ⁇ intersection iN Select to perform all at once. That is, the image processing apparatus 16 sets the intersection points i1 to iN as one pass sequence.
- the image processing apparatus 16 sets the intersection point i1 to the intersection point i2 as the path sequence 1, and sets the intersection point i3 to the intersection point iN as the path sequence 2.
- the image processing device 16 calculates the difference between the shape data and the specified shape as the extra shape.
- the image processing device 16 calculates the maximum extra scale in the extra form between adjacent intersections or inflection points, and sets the value obtained by subtracting the extra quantity to be shaved by hand finishing later from the average value.
- the image processing device 16 calculates a difference between the shape data and the designated shape R to obtain an extra shape.
- the image processing device 16 obtains the maximum value of the difference between the shape data B and the specified shape R as the surplus between adjacent intersections or inflection points extracted in the inflection point / intersection extraction step S4.
- the image processing device 16 obtains the extra shape between the intersection point i1 and the intersection point i2 at a plurality of points (points 1 to M).
- the image processing device 16 calculates the extra shape of the point 3 as the maximum extra scale.
- the image processing device 16 obtains an average value of each maximum extravagance obtained between the adjacent intersections i to N, and uses the value obtained by subtracting the extra embossing amount by hand finishing from this average value.
- the image processing apparatus 16 uses the distance of the intersections of both ends in the one pass sequence (gouging range) obtained in the pass sequence selection step S5 as the weaving width of the plasma gouging torch 13. . Further, an angle formed by two straight lines connecting the center point of the designated shape and the intersections of both ends is defined as a weaving angle.
- the image processing apparatus 16 sets the distance between the intersection point i1 and the intersection point iN extracted in the inflection point / intersection extraction step S4 as the weaving width W of the plasma gouging torch 13. .
- the image processing apparatus 16 the swing angle formed by the two straight lines connecting the specified shape R of the center point O and across the intersection i1 the intersection iN and respectively the weaving angle theta 1.
- the image processing device 16 determines the midpoint M of the weaving width obtained in the weaving width / angle calculation step S7 (middle point M in FIG. 4E). ) Is calculated as the target position.
- Target position is a teaching position of a point from the torch 13 tip for plasma gouging releases a predetermined tip-base distance D 2.
- the image processing device 16 calculates a torch posture in which the front and rear angles of the torch are always constant with respect to the processing surface, and the plasma gouging torch 13 is always perpendicular to the specified shape when the torch inclination angle is weaving. To do.
- FIG. 5 is an explanatory view showing a torch front-rear angle and a torch inclination angle.
- FIG. 6 is an explanatory diagram showing the gouging direction, the weaving width W, and the like.
- the torch front-rear angle ⁇ 2 is an angle formed by the lower plate 8 (for example, the crown 5 and the band 6) and the axis of the plasma gouging torch 13.
- the torch inclination angle ⁇ 3 is an angle formed by the axis of the upright plate 9 (for example, the blade 7) substantially orthogonal to the lower plate 8 and the plasma gouging torch 13. Further, the front and rear of the torch are in the gouging direction, and the weaving width W is a width corresponding to a direction orthogonal to the gouging direction.
- the image processing device 16 calculates the gouging speed, the weaving frequency, and the current as the gouging condition by using the gouging removal depth formula.
- the weaving speed is a speed in a direction perpendicular to the gouging direction
- the gouging speed is a speed in the gouging direction.
- the weaving speed is Vw
- the gouging speed is V
- the heat input is Q
- the gouging removal depth y is expressed by the following equation (1).
- C1, C2, and C3 are constants obtained from experiments.
- the image processing device 16 obtains the weaving frequency from the weaving width obtained in the weaving width / angle calculating step S7 and the weaving speed obtained from the equation (1).
- the image processing device 16 teaches the gouging conditions formed by the above-described gouging speed, weaving frequency / width, and current, and the position / posture data calculated in the target position / torch posture calculation step S8 as gouging teaching data. Store in the data storage device 32.
- the image processing device 16 proceeds to the gouging condition calculation step S9. Go and set the gouging condition to minimize the removal depth.
- the image processing device 16 sets a gouging condition that lowers the current to a predetermined value and raises the gouging speed to a predetermined value. By setting such gouging conditions, in the subsequent gouging operation, the plasma gouging torch 13 does not gouging (performs the minimum gouging) and operates under the condition that the arc is not cut.
- the image processing device 16 determines whether or not the pass sequence has been divided in the pass sequence selection step S5. If the image processing device 16 determines that the pass sequence has been divided (NO in step S10), the process returns to the extra shape extraction / removal depth calculation step S6, and the extra shape extraction / removal depth calculation step S6 to gouging condition calculation. Steps S6 to S9 are performed on the pass sequence in which step S9 is not performed.
- the image processing device 16 determines whether there is another teaching point in the teaching point determination step S11. If the image processing device 16 determines that another teaching point exists (NO in step S11), the image processing device 16 returns to the operation axis control step S2 and performs steps S2 to S10 for all the teaching points.
- the robot control device 17 in the robot control step S12 the gouging teaching data stored in the teaching data storage device 32, etc. Accordingly, the axes of the articulated robot 12 and the slider device 11 and the gouging power supply are controlled to perform gouging automatically.
- FIG. 8A shows the cross-sectional shape (solid line) and the designated shape (dotted line) before gouging of the blade welded portion
- FIG. 8B shows the cross-sectional shape (solid line) and the designated shape (dotted line) after gouging. It is a graph.
- Plasma gouging was performed on the weld bead shown in FIG. 8 (a) using the fixing conditions shown in FIG. 7 and the gouging conditions obtained by equation (1). As a result, as shown in FIG.8 (b), the surplus part was shape
- Such a weld bead shaping device 1 and a weld bead shaping method in the first embodiment can automatically and accurately form a weld bead regardless of the size of the object to be shaped and the complexity of the structure.
- the weld bead shaping device 1 can accurately measure the shape of the shaping object by the shape sensor 14 and acquire gouging teaching data such as the gouging conditions and the target position / torch posture. Further, the weld bead shaping device 1 can automatically gouge within a certain range automatically by the operation axis control device 31.
- the weld bead shaping device 1 and the shaping method thereof calculate the maximum surplus between adjacent intersections and inflection points from the shape of the weld bead, and the average is taken as the removal depth, so that the surplus is shaved excessively. And can be suitably shaped. Moreover, since the welding bead shaping apparatus 1 and its shaping method can be continuously shaped under the calculated preferred gouging conditions, the work process and work time can be reduced.
- the weld bead shaping device 1 and the shaping method thereof calculate the distance of the portion where the surplus is insufficient, and divide the gouging range when the distance is equal to or greater than a predetermined value.
- the weld bead shaping apparatus 1 and the shaping method thereof can be suitably shaped without excessive removal in a portion where there is insufficient surplus.
- FIG. 9 is a configuration diagram of the weld bead shaping device 41 in the second embodiment.
- the weld bead shaping device 41 in the second embodiment is different from the first embodiment in that the teaching data stored in the teaching data storage device 32 in the teaching data storage step is acquired from the offline teaching system 42. .
- Components and parts corresponding to those in the first embodiment are denoted by the same reference numerals, and redundant description is omitted.
- the weld bead shaping device 41 includes a slider device 11, an articulated robot 12, a plasma gouging torch 13, a shape sensor 14, an image processing device 16, a robot control device 17, a product design three-dimensional CAD 43, and an offline teaching system 42. Have.
- the product design 3D CAD 43 creates 3D shape data of a shaping object such as the turbine runner 3.
- the offline teaching system 42 is a system (numericalization device) that performs teaching to the slider device 11 and the articulated robot 12 in a virtual space on a computer screen.
- FIG. 10 is a flowchart for explaining the welding bead shaping pre-processing performed by the weld bead shaping device 41 of the second embodiment.
- the welding bead shaping pretreatment performed by the weld bead shaping device 41 includes a processing step (step S21) performed by the offline teaching system 42 and a processing step (steps S22, S23, and S33) performed by the robot controller 17. And processing steps (steps S24 to S32) performed by the image processing apparatus 16.
- the offline teaching system 42 creates measurement teaching data for the shaping object based on the three-dimensional shape data of the shaping object.
- the three-dimensional shape data is created using the product design three-dimensional CAD 43 and input to the off-line teaching system 42.
- the input three-dimensional shape data of the object to be shaped is created in advance by the weld bead shaping device 41 (slider device 11, articulated robot 12, shape sensor 14, plasma gouging torch 13). Along with the 3D model, it is placed in a virtual space on the computer.
- the off-line teaching system 42 is a position and direction passing through the center of the angle between the surface of the crown 5 or the band 6 and the surface of the blade 7 on the vertical plane of the gouging line of the weld of the shaping object represented by the three-dimensional shape data.
- the measurement teaching data is calculated so that the shape sensor 14 (and the plasma gouging torch 13) is arranged in (posture).
- the off-line teaching system 42 adds teaching data for approaching and retracting the calculated position and posture. In this way, the offline teaching system 42 creates measurement teaching data by adding an operation command to each teaching point.
- the teaching data storage device 32 stores the teaching data created in the measurement teaching step S21. Since the operation axis control step S23 to the robot control step S33 are substantially the same as the operation axis control step S2 to the robot control step S12 of the welding bead shaping pre-process (FIG. 2) in the first embodiment, a detailed description will be given here. Omitted.
- the operator operates the articulated robot 12 and the slider device 11 using the operation device provided in the robot control device 17 to teach data.
- the welding bead shaping device 41 and the welding shaping method in the second embodiment use a digitized data as teaching data using a three-dimensional CAD 43 for product design and an off-line teaching system 42. Input to the joint robot 12.
- the weld bead shaping device 41 and the shaping method thereof eliminate the need for teaching work using the actual shaping object and device in addition to the effects of the first embodiment, and the work amount and work for welding bead shaping. Time can be reduced.
- FIG. 11 is a configuration diagram of a weld bead shaping device 51 in the third embodiment.
- the welding bead shaping device 51 in the third embodiment is different from the first embodiment in that it further includes a welding torch 52 and performs not only gouging but also welding.
- Components and parts corresponding to those in the first embodiment are denoted by the same reference numerals, and redundant description is omitted.
- the weld bead shaping device 51 includes a slider device 11, an articulated robot 12, a plasma gouging torch 13, a shape sensor 14, an image processing device 16, a robot control device 17, and a welding torch 52.
- the position and orientation of the welding torch 52 are adjusted by the multi-joint mechanism of the multi-joint robot 12 and the position adjustment by moving the slider device 11 in the vertical and horizontal directions and rotating around the vertical axis.
- the plasma gouging torch 13 and the welding torch 52 are appropriately selected and used according to the work performed by the weld bead shaping device 51.
- FIG. 12 is a flowchart for explaining the welding bead shaping pre-processing performed by the weld bead shaping device 51 of the third embodiment.
- the welding bead shaping pre-processing performed by the weld bead shaping device 51 includes processing steps (steps S41, S42, S48, S49, S55, and S56) performed by the robot control device 17, and processing performed by the image processing device 16. It is divided into steps (steps S43 to S47 and S50 to S54).
- teaching data storage step S41 to the shape data extraction step S43 are substantially the same as the teaching data step S1 to the shape data extraction step S3 of the welding bead shaping pre-process (FIG. 2) in the first embodiment, detailed description will be given here. Is omitted.
- the image processing device 16 In the inflection point / intersection extraction step S44, the image processing device 16 superimposes the shape data extracted in the shape data extraction step S43 on the image. The image processing device 16 extracts a point where the shape data and the specified shape intersect as an intersection. Further, the image processing device 16 extracts the apex of the valley portion of the weld bead in the shape data as an inflection point.
- FIG. 13 is an explanatory view for explaining the relationship between the shape data B of the weld bead, the specified shape R, the crown 5, the band 6, and the blade 7 surface.
- the image processing device 16 extracts the intersection point i1, the intersection point i2, the intersection point i6, and the intersection point iN that are intersection points between the shape data B extracted in the shape data extraction step S43 and the designated shape R.
- the image processing device 16 uses the inflection points i3 to i5 and the inflection point i (N ⁇ ) as the apexes of the valleys of the weld beads in the shape data B (convex in the direction opposite to the center point O of the designated shape R). Extract as 1).
- the image processing device 16 extracts the apex of the valley as an inflection point regardless of whether it is inside or outside the specified shape R.
- intersections and inflection points extracted at this time are i1, i2, i3... I (N-1), iN (N: extracted inflection points from the smallest X-axis value in the shape data B. And the total number of intersections).
- the image processing device 16 determines whether to perform gouging or welding. Specifically, the image processing device 16 compares the specified shape with the shape data extracted in the shape data extraction step S43. The image processing device 16 determines that welding is performed when the inflection point is outside the specified shape, that is, when the weld bead is less than the specified shape. The image processing device 16 determines that gouging is performed when the inflection point is on the inner side of the specified shape, that is, when the extra amount is sufficient.
- the image processing device 16 determines to perform welding because there exist inflection points i3 to i5 whose welding beads (shape data B) are less than the specified shape.
- the image processing apparatus 16 determines to perform welding, in the inflection point extracted in the inflection point / intersection extraction step S44 in the aim position calculation step S46, the inflection point outside the specified shape is determined as the target position. To do. If there are a plurality of inflection points outside the specified shape, the image processing device 16 performs the target position calculation step S46 to the robot control step S49 for each inflection point.
- the image processing device 16 performs welding conditions including a welding current, a welding voltage, a welding speed, and a weaving frequency / amplitude selected so as not to have an overlapping shape that causes a poor penetration into the target position. Determine the target position and torch posture.
- the image processing device 16 stores the calculated welding condition, target position, and torch posture in the teaching data storage device 32 as welding teaching data.
- the robot controller 17 selects and switches the welding torch 52 as a torch attached to the tip of the articulated robot 12.
- the robot control device 17 performs welding by controlling the operation of the articulated robot 12 and the welding power source based on the welding teaching data stored in the teaching data storage device 32. After welding is performed based on the calculated welding teaching data, the process returns to the teaching data storage step S41 again, and the operation axis control step S42 to the mode switching step S45 are performed again.
- the image processing device 16 determines to go go in the mode switching step S45, the image processing device 16 proceeds to the pass sequence selection step S50.
- the pass sequence selection step S50 to the gouging condition calculation step S54 are substantially the same as the pass casing selection step S5 to the gouging condition calculation step S9 of the weld bead shaping pre-process (FIG. 2) in the first embodiment, and therefore detailed here. Description is omitted.
- the robot controller 17 selects and switches the plasma gouging torch 13 as a torch attached to the tip of the articulated robot 12.
- the robot control device 17 performs gouging by controlling the operation of the articulated robot 12 and the gouging power source based on the gouging teaching data stored in the teaching data storage device 32.
- Such a weld bead shaping device 51 and its shaping method in the third embodiment can perform not only gouging but also welding at a place where the surplus is insufficient, in addition to the effects exhibited by the first embodiment. For this reason, the weld bead shaping device 51 and the shaping method thereof can automatically and highly accurately shape the weld bead regardless of the size of the object to be shaped and the complexity of the structure.
Abstract
Description
また、本発明に係る溶接ビード整形方法は、整形対象物の形状を計測する形状計測工程と、前記形状計測工程の計測結果に基づいて前記整形対象物の形状データを抽出する形状データ抽出工程と、前記形状データと予め設定された前記整形対象物の指定形状との差から前記溶接ビードの余盛形状を算出し、前記余盛形状からガウジングを行う除去深さを算出する余盛形状抽出・除去深さ算出工程と、前記余盛形状および前記除去深さに基づいて、前記ガウジング用トーチのねらい位置と姿勢とを算出するねらい位置・トーチ姿勢算出工程と、前記余盛形状および前記除去深さに基づいて、ガウジング条件を算出するガウジング条件算出工程と、前記ねらい位置・トーチ姿勢算出部が算出する前記ガウジング用トーチの前記ねらい位置および前記姿勢と、前記ガウジング条件算出部が算出する前記ガウジング条件とに基づいて、前記ガウジングを行うガウジング用トーチおよび前記整形対象物を駆動する駆動装置を制御する制御工程とを備えたことを特徴とする。
本発明に係る溶接ビード整形装置およびその整形方法の第1実施形態を添付図面に基づいて説明する。
y=C1+C2*Vw/V+C3*Q・・・・・・式(1)
本発明に係る溶接ビード整形装置およびその整形方法の第2実施形態を添付図面に基づいて説明する。
本発明に係る溶接ビード整形装置およびその整形方法の第3実施形態を添付図面に基づいて説明する。
11 スライダ装置
12 多関節ロボット
13 プラズマガウジング用トーチ
14 形状センサ
16 画像処理装置
17 ロボット制御装置
29 ノズル
31 動作軸制御装置
32 教示データ記憶装置
42 オフライン・ティーチング・システム
43 製品設計用3次元CAD
52 溶接用トーチ
Claims (11)
- 溶接ビードが形成された整形対象物の形状を計測する形状センサの計測結果から前記整形対象物の形状データを抽出する形状データ抽出部と、
前記形状データと予め設定された前記整形対象物の指定形状との差から前記溶接ビードの余盛形状を算出し、前記余盛形状に基づいて、ガウジング用トーチを用いてガウジングを行う除去深さを算出する余盛形状抽出・除去深さ算出部と、
前記余盛形状および前記除去深さに基づいて、前記ガウジング用トーチのねらい位置と姿勢とを算出するねらい位置・トーチ姿勢算出部と、
前記余盛形状および前記除去深さに基づいて、ガウジング条件を算出するガウジング条件算出部と、
前記ねらい位置・トーチ姿勢算出部が算出する前記ガウジング用トーチの前記ねらい位置および前記姿勢と、前記ガウジング条件算出部が算出する前記ガウジング条件とに基づいて、前記ガウジング用トーチおよび前記整形対象物を駆動する駆動装置、並びに前記ガウジング用トーチを制御する制御装置と、を具備したことを特徴とする溶接ビード整形装置。 - 前記形状データと前記指定形状とを比較し、前記指定形状に対して前記溶接ビードの余盛が足りない部分がある場合、ガウジングの軌跡を分割するパスシーケンス選択部をさらに備えた請求項1記載の溶接ビード整形装置。
- 前記形状データと前記指定形状とが交わる点を交点として抽出し、前記形状データにおける前記指定形状に対して余盛りされた前記溶接ビードの谷部の頂点を変曲点として抽出する変曲点・交点抽出部をさらに備え、
前記パスシーケンス選択部は、前記交点の数が2より大きい場合隣接する交点間の距離を算出し、前記距離が所定値より大きい場合前記ガウジングの軌跡を分割し、前記距離が所定値以下である場合前記ガウジングの軌跡を分割しない請求項2記載の溶接ビード整形装置。 - 前記形状データと前記指定形状とが交わる点を交点として抽出し、前記形状データにおける前記指定形状に対して余盛りされた前記溶接ビードの谷部の頂点を変曲点として抽出する変曲点・交点抽出部をさらに備え、
前記余盛形状抽出・除去深さ算出部は、隣り合う前記交点または前記変曲点間における前記形状データと前記指定形状との差に基づいて前記余盛形状を算出し、各前記余盛形状における最大余盛を算出し、各前記最大余盛の平均値を少なくとも用いて前記除去深さを算出する請求項1~3のいずれか一項記載の溶接ビード整形装置。 - 前記駆動装置は、多関節ロボットを有し、
前記ガウジング用トーチおよび前記形状センサは、相対的位置が固定されて前記多関節ロボットに取り付けられた請求項1~4のいずれか一項記載の溶接ビード整形装置。 - 前記駆動装置は、複数の軸を有するスライダ装置を有し、
前記多関節ロボットは、前記スライダ装置のいずれかの軸に設けられた請求項1~5のいずれか一項記載の溶接ビード整形装置。 - 前記溶接ビードが形成された前記整形対象物を溶接する溶接用トーチと、
前記溶接ビードが前記指定形状に満たない場合、前記溶接用トーチを用いて溶接を行うモード切替部とをさらに備えた請求項1~6のいずれか一項記載の溶接ビード整形装置。 - 前記制御装置は、前記駆動装置に対する教示データをオフライン・ティーチング・システムより取得する請求項1記載の溶接ビード整形装置。
- 前記ガウジング用トーチは、プラズマガウジング用トーチである請求項1~8のいずれか一項記載の溶接ビード整形装置。
- 前記ガウジング用トーチは、前記溶接ビードをガウジングするプラズマ用ガスと、ガウジングにより発生するノロを除去するクーリングガスとを噴射するノズルを有する請求項1記載の溶接ビード整形装置。
- 整形対象物の形状を計測する形状計測工程と、
前記形状計測工程の計測結果に基づいて前記整形対象物の形状データを抽出する形状データ抽出工程と、
前記形状データと予め設定された前記整形対象物の指定形状との差から前記溶接ビードの余盛形状を算出し、前記余盛形状からガウジングを行う除去深さを算出する余盛形状抽出・除去深さ算出工程と、
前記余盛形状および前記除去深さに基づいて、前記ガウジング用トーチのねらい位置と姿勢とを算出するねらい位置・トーチ姿勢算出工程と、
前記余盛形状および前記除去深さに基づいて、ガウジング条件を算出するガウジング条件算出工程と、
前記ねらい位置・トーチ姿勢算出部が算出する前記ガウジング用トーチの前記ねらい位置および前記姿勢と、前記ガウジング条件算出部が算出する前記ガウジング条件とに基づいて、前記ガウジングを行うガウジング用トーチおよび前記整形対象物を駆動する駆動装置を制御する制御工程とを備えたことを特徴とする溶接ビード整形方法。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/364,571 US9533377B2 (en) | 2011-12-13 | 2012-12-11 | Weld bead shaping apparatus and weld bead shaping method |
BR112014014590A BR112014014590A8 (pt) | 2011-12-13 | 2012-12-11 | aparelho e método de conformação de cordão de solda |
CN201280061753.2A CN103987485B (zh) | 2011-12-13 | 2012-12-11 | 焊珠成形设备和焊珠成形方法 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011272223A JP5823278B2 (ja) | 2011-12-13 | 2011-12-13 | 溶接ビード整形装置およびその整形方法 |
JP2011-272223 | 2011-12-13 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2013089101A1 true WO2013089101A1 (ja) | 2013-06-20 |
Family
ID=48612548
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2012/082071 WO2013089101A1 (ja) | 2011-12-13 | 2012-12-11 | 溶接ビード整形装置およびその整形方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US9533377B2 (ja) |
JP (1) | JP5823278B2 (ja) |
CN (1) | CN103987485B (ja) |
BR (1) | BR112014014590A8 (ja) |
WO (1) | WO2013089101A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110476131A (zh) * | 2017-03-21 | 2019-11-19 | 株式会社神户制钢所 | 焊道确定方法、程序、示教程序及焊接机器人系统 |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10046421B2 (en) * | 2014-06-11 | 2018-08-14 | Andersen Industries, Inc. | Welding apparatus |
US20160214200A1 (en) * | 2015-01-23 | 2016-07-28 | Illinois Tool Works Inc. | User Configuration of Image Capture and Display in a Welding Vision System |
CN105710875B (zh) * | 2016-04-05 | 2018-03-13 | 苏州盟川自动化科技有限公司 | 一种五轴机器人 |
JP6441255B2 (ja) * | 2016-04-07 | 2018-12-19 | ファナック株式会社 | ロボットの線条体処理構造 |
CN105904131A (zh) * | 2016-05-27 | 2016-08-31 | 大连智汇达科技有限公司 | 全自动焊接机械手臂 |
CN106425062B (zh) * | 2016-10-09 | 2020-02-04 | 山西汾西矿业(集团)有限责任公司 | 用于btw耐磨钢的平面刨削方法和平面加工装置 |
KR20180064866A (ko) * | 2016-12-06 | 2018-06-15 | 현대자동차주식회사 | 용접건 및 이를 구비한 편방향 용접 시스템 |
JP6472472B2 (ja) * | 2017-03-08 | 2019-02-20 | 本田技研工業株式会社 | 位置姿勢調整方法 |
KR102120414B1 (ko) * | 2017-11-30 | 2020-06-08 | 오성규 | 용접부위 형상과 3d 좌표 측정을 이용한 용접 자동화시스템 및 이를 이용한 용접 방법 |
EP3537410A1 (en) * | 2018-03-07 | 2019-09-11 | Seabery North America, S.L. | Systems and methods to simulate joining operations on customized workpieces |
CN109079356B (zh) * | 2018-10-25 | 2023-09-19 | 山东瓦鲁智能科技股份有限公司 | 一种机器人自动气刨焊接钢圈工作站及其使用方法 |
WO2020106730A1 (en) * | 2018-11-20 | 2020-05-28 | Hypertherm, Inc. | Systems and methods for multi-path gouging |
JP7247876B2 (ja) * | 2019-12-10 | 2023-03-29 | トヨタ自動車株式会社 | 溶着ビード切削装置および溶着ビード切削方法 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5717372A (en) * | 1980-07-02 | 1982-01-29 | Mitsubishi Heavy Ind Ltd | Automatic gouging device |
JPH06114553A (ja) * | 1992-10-02 | 1994-04-26 | Fukushima Seiko Kk | 自動ガウジング装置 |
JPH06285762A (ja) * | 1993-04-06 | 1994-10-11 | Mitsubishi Electric Corp | ロボットによる自由曲面のティーチング方法 |
JPH071148A (ja) * | 1993-06-17 | 1995-01-06 | Hitachi Zosen Corp | 鉄骨ボックス柱用ガウジング装置 |
JPH10211578A (ja) * | 1997-01-29 | 1998-08-11 | Nippon Steel Weld Prod & Eng Co Ltd | 角継手の2電極サブマージアーク溶接方法 |
JP2002283099A (ja) * | 2001-03-22 | 2002-10-02 | Koatec Kk | 溶接部位仕上げ方法及び装置 |
WO2011102142A1 (ja) * | 2010-02-18 | 2011-08-25 | 株式会社 東芝 | 溶接装置および溶接方法 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2839760B2 (ja) | 1991-08-05 | 1998-12-16 | 日鐵溶接工業株式会社 | プラズマガウジング装置 |
JP5637753B2 (ja) * | 2010-07-02 | 2014-12-10 | 株式会社東芝 | 溶接狙い位置計測装置 |
US9120184B2 (en) * | 2011-04-18 | 2015-09-01 | Toyota Jidosha Kabushiki Kaisha | Method and apparatus for manufacturing vehicle power transmission device |
-
2011
- 2011-12-13 JP JP2011272223A patent/JP5823278B2/ja not_active Expired - Fee Related
-
2012
- 2012-12-11 WO PCT/JP2012/082071 patent/WO2013089101A1/ja active Application Filing
- 2012-12-11 BR BR112014014590A patent/BR112014014590A8/pt not_active Application Discontinuation
- 2012-12-11 US US14/364,571 patent/US9533377B2/en not_active Expired - Fee Related
- 2012-12-11 CN CN201280061753.2A patent/CN103987485B/zh not_active Expired - Fee Related
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5717372A (en) * | 1980-07-02 | 1982-01-29 | Mitsubishi Heavy Ind Ltd | Automatic gouging device |
JPH06114553A (ja) * | 1992-10-02 | 1994-04-26 | Fukushima Seiko Kk | 自動ガウジング装置 |
JPH06285762A (ja) * | 1993-04-06 | 1994-10-11 | Mitsubishi Electric Corp | ロボットによる自由曲面のティーチング方法 |
JPH071148A (ja) * | 1993-06-17 | 1995-01-06 | Hitachi Zosen Corp | 鉄骨ボックス柱用ガウジング装置 |
JPH10211578A (ja) * | 1997-01-29 | 1998-08-11 | Nippon Steel Weld Prod & Eng Co Ltd | 角継手の2電極サブマージアーク溶接方法 |
JP2002283099A (ja) * | 2001-03-22 | 2002-10-02 | Koatec Kk | 溶接部位仕上げ方法及び装置 |
WO2011102142A1 (ja) * | 2010-02-18 | 2011-08-25 | 株式会社 東芝 | 溶接装置および溶接方法 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110476131A (zh) * | 2017-03-21 | 2019-11-19 | 株式会社神户制钢所 | 焊道确定方法、程序、示教程序及焊接机器人系统 |
Also Published As
Publication number | Publication date |
---|---|
JP2013123716A (ja) | 2013-06-24 |
JP5823278B2 (ja) | 2015-11-25 |
US20140332504A1 (en) | 2014-11-13 |
CN103987485A (zh) | 2014-08-13 |
CN103987485B (zh) | 2017-03-08 |
BR112014014590A2 (pt) | 2017-06-13 |
US9533377B2 (en) | 2017-01-03 |
BR112014014590A8 (pt) | 2017-07-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5823278B2 (ja) | 溶接ビード整形装置およびその整形方法 | |
CN109914756B (zh) | 基于室内施工智能机器人的室内墙体3d腻子打印平整处理方法 | |
JP7386397B2 (ja) | レーザ切断加工装置及びレーザ切断加工方法 | |
CN102218578B (zh) | 基于径向偏置的机器人堆焊复杂外形工件的轨迹规划方法 | |
US8857697B2 (en) | Automated welding of moulds and stamping tools | |
US20050159840A1 (en) | System for surface finishing a workpiece | |
CN104858748A (zh) | 一种叶片进排气边磨削机器人自动化装备 | |
JPH02237726A (ja) | 表面領域の形状を自動的に検出して、表面領域上で作業を行う方法及び装置 | |
JP5268495B2 (ja) | オフライン教示データの作成方法及びロボットシステム | |
EP3539710B1 (en) | Applying a cladding layer to a component | |
CN108698152A (zh) | 焊接装置及焊接装置的控制方法 | |
EP3416009A1 (en) | Beam tool pathing for 3d compound contours using machining path surfaces to maintain a single solid representation of objects | |
CA3062081A1 (en) | Autonomous modification of waterjet cutting systems | |
CN112663042A (zh) | 一种激光增材修复的轨迹规划方法 | |
Bui et al. | Adaptive speed control for waterjet milling in pocket corners | |
JP6435962B2 (ja) | 制御装置、工作機械及びコンピュータプログラム | |
JP7111666B2 (ja) | 可搬型溶接ロボットの溶接制御方法、溶接制御装置、可搬型溶接ロボット及び溶接システム | |
JP2009262306A (ja) | ロボットの教示方法 | |
JP4525605B2 (ja) | 仕上げ加工装置及び仕上げ加工方法 | |
JP6734316B2 (ja) | ロボットの動作プログラムの設定装置、ロボット、およびロボットの制御方法 | |
WO2021111759A1 (ja) | リペア溶接装置およびリペア溶接方法 | |
KR20120125879A (ko) | 공구의 연속 이동 제어방법 | |
JP7070114B2 (ja) | ロボット制御装置及びロボット制御方法 | |
JP7035467B2 (ja) | 加工装置 | |
JP7142249B2 (ja) | 溶接装置およびその制御方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 12857045 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 14364571 Country of ref document: US |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
REG | Reference to national code |
Ref country code: BR Ref legal event code: B01A Ref document number: 112014014590 Country of ref document: BR |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 12857045 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 112014014590 Country of ref document: BR Kind code of ref document: A2 Effective date: 20140613 |