WO2013133197A1

WO2013133197A1 - Welding robot and gap adjustment method for welding robot

Info

Publication number: WO2013133197A1
Application number: PCT/JP2013/055795
Authority: WO
Inventors: 輝菊地; 剛岩野; 英子茂知野; 竜一戸島; 栄貴小林
Original assignee: 株式会社アマダ
Priority date: 2012-03-08
Filing date: 2013-03-04
Publication date: 2013-09-12
Also published as: JP2013184197A; JP5947571B2

Abstract

To control the gap between a welding head and work so as to be an appropriate distance with a simple constitution, the constitution in this welding robot is such that a welding region on work (W) is imaged by a CCD camera (13) in a state in which the focal distance of the CCD camera (13) and the focal distance of a welding head (5) are set the same. Furthermore, the focal distance or focal position of the CCD camera (13) is changed and an upper limit position and a lower limit position are found when the focal point is off by a fixed value or greater. Furthermore, an intermediate point between these is found, and the position of the welding head (5) is adjusted such that the focal point comes to this intermediate point.

Description

Welding robot and gap adjustment method for welding robot

The present invention relates to a welding robot having a function of automatically adjusting a gap between a welding head and a workpiece to be appropriate, and a gap adjusting method for the welding robot.

Conventionally, when performing welding using a welding robot that performs laser welding or arc welding, as an initial setting, a teaching operation (teaching) that guides the welding head of the robot on the actual welding path and stores the welding position (teaching) And welding is performed by moving the welding head along the taught path.

Such teaching operation can teach the two-dimensional position of the welding head, but it is difficult to set the distance (gap) between the welding head and the workpiece to an appropriate distance. In other words, it is difficult to set the gap between the welding head and the workpiece so that the gap between the welding head and the workpiece coincides with the focal length of the laser in welding processing by a welding robot. Thus, the gap between the tip of the welding head and the workpiece is adjusted to be a predetermined distance.

Further, Patent Document 1 discloses that when a workpiece is distorted, a sensor for measuring the distortion is provided to correct the teaching program.

JP-A-9-248687

However, the technique disclosed in Patent Document 1 has a configuration in which a sensor for distance measurement is provided in order to measure a gap between the machining head and the workpiece, and there is a problem that the configuration becomes large. .

The present invention has been made to solve this problem, and the object of the present invention is to control the gap between the welding head and the workpiece to an appropriate distance with a simple configuration. Another object of the present invention is to provide a laser welding robot and a gap adjusting method thereof.

In order to achieve the above object, a welding robot according to the present invention has a welding head arranged with a predetermined gap with respect to a workpiece, and welds a desired part of the workpiece with the welding head. An imaging unit (for example, a CCD camera 13) that is installed in the vicinity and set to the same focal length as the welding head and images a workpiece to be welded by the welding head, and a workpiece image captured by the imaging unit Based on the focal length set by the focal point control means (for example, the robot controller 16) and the focal point control means for setting the focal length of the imaging means so as to be in focus, the gap between the welding head and the workpiece is set. And gap control means (for example, robot controller 16) for controlling That.

In the welding robot gap setting method according to the present invention, the welding robot has a welding head arranged with a predetermined gap with respect to the workpiece, and the welding robot adjusts the gap in the welding robot that welds a desired portion of the workpiece. In the adjustment method, the focal length of the imaging means is adjusted so that the step of changing the focal length of the imaging means for imaging the welded part of the workpiece and the image of the welded part of the workpiece imaged by the imaging means are in focus. And a step of controlling the position of the welding head so that the position is in focus.

FIG. 1 is a side view showing an appearance of a welding robot according to an embodiment of the present invention. FIG. 2 is a block diagram showing an electrical configuration of the welding robot shown in FIG. FIG. 3 is a diagram schematically showing the relationship between the welding head and the workpiece in the welding robot shown in FIG. FIG. 4 is a flowchart showing a processing procedure of gap adjustment processing in the welding robot according to the first embodiment of the present invention. FIG. 5 is a flowchart showing a processing procedure of gap adjustment processing in the welding robot according to the second embodiment of the present invention. FIG. 6 is a flowchart showing a processing procedure of gap adjustment processing in the welding robot according to the third embodiment of the present invention. FIG. 7 is a diagram showing an operation of gap adjustment processing in the welding robot according to the first embodiment of the present invention. FIG. 8 is a diagram showing the operation of the gap adjustment process in the welding robot according to the second embodiment of the present invention. FIG. 9 is a diagram illustrating an operation of gap adjustment processing in the welding robot according to the third embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[Description of First Embodiment]
FIG. 1 is a side view showing an appearance of a laser welding robot according to an embodiment of the present invention, and FIG. 2 is a block diagram showing an electrical configuration of the laser welding robot. The laser welding robot shown in FIG. 1 is a 6-axis multi-joint mechanism robot, and includes an arm 3 and a welding head 5 provided at the tip of the arm 3, and further includes a 6-axis multi-joint mechanism 11 (see FIG. 2). It has. Then, by operating the 6-axis multi-joint mechanism 11, the tip position of the welding head 5 can be moved to an arbitrary three-dimensional position.

The welding head 5 is connected to a laser oscillator 12 (see FIG. 2) via a transmission optical fiber 7, and laser light output from the laser oscillator 12 passes through the transmission optical fiber 7 and is welded to the welding head 5. The laser beam is irradiated from the tip of the welding head 5 toward the workpiece W. In addition, a CCD camera 13 for capturing an image in the vicinity of the welded portion is provided on the side of the welding head 5.

The CCD camera 13 has a focus adjustment function capable of adjusting the focal length, and an image captured by the CCD camera 13 is output to the teaching monitor 14 and output to the operation screen 22. Further, as shown in FIG. 2, a gas flow rate controller 15 is connected to the welding head 5, and a shield gas is supplied from the gas flow rate controller 15.

The 6-axis multi-joint mechanism 11, the laser oscillator 12, the CCD camera 13, and the gas flow rate controller 15 are connected to the robot controller 16 and operate under the control of the robot controller 16. That is, the robot controller 16 has a function of storing a machining program, outputs an operation command signal to the 6-axis multi-joint mechanism 11, outputs a laser oscillation command to the laser oscillator 12, and supplies a gas flow rate to the gas flow rate controller 15. A supply command is output, and an imaging command and a focus setting command are output to the CCD camera 13.

Further, the robot controller 16 is connected to the teaching pendant 21 operated by the operator, and outputs an operation command signal to each in accordance with an operation instruction input from the teaching pendant 21. Further, the robot controller 16 is connected to an operation screen 22 such as a touch panel, and the operation screen 22 operates a welding condition editing / selection function, a processing schedule management function, a processing program storage function, and a TAS (program correction) function. Can do. Further, the operation screen 22 is connected to the CCD camera 13 and displays an image captured by the CCD camera 13 on the screen.

FIG. 3 is a diagram schematically showing a detailed configuration of the welding head 5. As shown in the figure, the tip 5a of the welding head 5 is disposed so as to face the workpiece W to be welded, and the welding head 5 is connected to a laser oscillator 12 via a transmission optical fiber 7. The laser beam is guided to the tip 5a. And the front-end | tip part 5a of the welding head 5 is set to the focal distance based on the distance between the workpiece | work W, a laser beam is irradiated by this focal distance, and the desired site | part of the workpiece | work W is welded.

Further, a CCD camera 13 is provided on the side of the welding head 5, and an image of the processed part of the workpiece W is captured by the CCD camera 13, and the captured image is displayed on the teaching monitor 14 shown in FIG. 2. It is displayed. Therefore, the operator can monitor on the screen the processing site where laser welding is performed. Furthermore, the focal point of the CCD camera 13 is set to coincide with the focal point of the welding head 5. Therefore, as will be described later, the focus of the welding head 5 can be adjusted by adjusting the focus when the CCD camera 13 images the workpiece W.

Next, the gap adjustment processing of the welding head in the welding robot according to the first embodiment of the present invention will be described with reference to the flowchart shown in FIG. This control is performed by the robot controller 16.

The welding head 5 is initially set as a measurement start position, for example, at a position separated from the workpiece W by a predetermined distance as shown in FIG. As shown in FIG. 7, the welding head 5 is arranged so that the central axis thereof is slightly inclined with respect to the workpiece W.

First, in step S11 shown in FIG. 4, the robot controller 16 raises the welding head 5 by a certain amount. Next, in step S 12, the robot controller 16 outputs an imaging command signal to the CCD camera 13 mounted on the welding head 5 and images the vicinity of the processing portion of the workpiece W by the welding head 5.

In step S13, the robot controller 16 determines whether or not the image captured by the CCD camera 13 is out of a certain value with respect to the case where the image is in focus. If it is determined that the image is out of focus by a certain value (focused to some extent) (NO in step S13), the process returns to step S11, and the welding head 5 is again moved by a certain amount. Raise. In other words, in this process, the focus of the image captured by the CCD camera 13 deviates by more than a predetermined value while the welding head 5 shown in FIG. Move.

If the focus of the image deviates by a certain value or more (YES in step S13), in step S14, the robot controller 16 sets the current coordinates of the welding head 5 as a focus upper limit position in a memory or the like (not shown). Save and save. As a result, for example, the upper limit position P1 shown in FIG. 7B is stored and saved.

In step S15, the robot controller 16 moves the welding head 5 to the measurement start position. In this process, the welding head 5 is returned to the measurement start position shown in FIG. Thereafter, in step S16, the robot controller 16 lowers the welding head 5 by a certain amount. Next, in step S 17, the robot controller 16 outputs an imaging command signal to the CCD camera 13 mounted on the welding head 5, and images the vicinity of the processing portion of the workpiece W by the welding head 5.

In step S18, the robot controller 16 determines whether or not the image captured by the CCD camera 13 is out of a certain value with respect to the case where the image is in focus. If it is determined that the image is out of focus by a certain value (focused to some extent) (NO in step S18), the process returns to step S16, and the welding head 5 is again moved by a certain amount. Lower. In other words, in this process, the welding head 5 shown in FIG. 7A is moved down by a certain amount so that the focus of the image picked up by the CCD camera 13 deviates by a predetermined value or more.

If the focus of the image deviates more than a certain value (YES in step S18), in step S19, the robot controller 16 sets the current coordinates of the welding head 5 as a lower limit position of the focus in a memory or the like (not shown). Save and save. As a result, for example, the lower limit position P2 shown in FIG. 7B is stored and saved.

In step S20, the robot controller 16 obtains an intermediate point P3 between the upper limit position P1 and the lower limit position P2 obtained by the above processing (see FIG. 7C), and the tip of the welding head 5 is located at the intermediate point P3. The 6-axis multi-joint mechanism 11 is controlled so as to be positioned. An intermediate point P3 between the upper limit position P1 and the lower limit position P2 is a position where the image captured by the CCD camera 13 is in focus, and as described above, the focus of the welding head 5 is the focus of the CCD camera 13. Since they are set to match, the focal length of the welding head 5 can be adjusted to an appropriate distance.

In this way, in the welding robot according to the first embodiment, the CCD camera 13 is installed on the side of the welding head 5, and the processed part of the workpiece W is imaged by the CCD camera 13. An upper limit position and a lower limit position at which the deviation amount becomes a predetermined value are obtained, and the position of the welding head 5 is adjusted so that the tip of the welding head 5 comes to an intermediate point between these upper limit position and lower limit position.

Therefore, the focus of the welding head 5 set to be the same as the focus of the CCD camera 13 can be adjusted to an appropriate distance, and a highly accurate gap can be set. As a result, it is possible to perform a highly accurate welding operation.

[Description of Second Embodiment]
Next, a second embodiment of the present invention will be described. The welding robot according to the second embodiment has substantially the same configuration as that shown in the first embodiment, and is different in that the focal length of the CCD camera 13 can be appropriately adjusted by the robot controller 16. That is, in the second embodiment, the focal length of the CCD camera 13 can be changed by an external signal.

Hereinafter, the gap adjustment processing of the welding head in the welding robot according to the second embodiment will be described with reference to the flowchart shown in FIG. This control is performed by the robot controller 16. First, in step S31, the robot controller 16 stores the focal position of the CCD camera 13. At this time, the CCD camera 13 is set to a preset initial focal length (reference focal length). For example, the focal length is set so that P10 shown in FIG.

In step S32, the robot controller 16 adjusts the focal length of the CCD camera 13 to raise the focal point by a certain amount. In step S 33, the robot controller 16 images the processed part of the workpiece W by the welding head 5 using the CCD camera 13.

In step S34, the robot controller 16 determines whether the focus of the captured image has deviated from a predetermined value or more. If it is determined that the focus of the image has not deviated beyond a certain value (NO in step S34), the process returns to step S32, and the focal distance of the CCD camera 13 is changed again to raise the focus by a certain amount. .

If the focus of the image deviates from a predetermined value or more (YES in step S34), in step S35, the robot controller 16 stores and saves the current focus position as an upper limit position in a memory (not shown) or the like. That is, in this process, with the welding head 5 shown in FIG. 8A fixed, the focal length of the CCD camera 13 is changed to gradually raise the focal point from P10, and the defocus amount is constant. When the value is reached, this position is stored and saved in a memory or the like as the upper limit position P11.

In step S36, the robot controller 16 returns the focus of the CCD camera 13 to the start focus. That is, the focal length of the CCD camera 13 is adjusted so as to be the focal position stored in the process of step S31. Specifically, adjustment is made so that the position of P10 shown in FIG.

Thereafter, in step S37, the robot controller 16 adjusts the focal length of the CCD camera 13 to lower the focal point by a certain amount. In step S 38, the robot controller 16 images the processed part of the workpiece W by the welding head 5 using the CCD camera 13.

In step S39, the robot controller 16 determines whether the focus of the captured image has deviated from a predetermined value or more. If it is determined that the focus of the image has not deviated beyond a certain value (NO in step S39), the process returns to step S37 to change the focal length of the CCD camera 13 again to lower the focus by a certain amount. .

If the focus of the image deviates from a certain value (YES in step S39), in step S40, the robot controller 16 stores and saves the current focus position as a lower limit position in a memory (not shown) or the like. That is, in this process, with the welding head 5 shown in FIG. 8A fixed, the focal length of the CCD camera 13 is changed to gradually lower the focal point from P10, and the defocus amount is constant. When the value is reached, this position is stored and saved in a memory or the like as the lower limit position P12.

In step S41, the robot controller 16 obtains an intermediate point between the upper limit position P11 and the lower limit position P12 obtained by the above processing, and further, the difference between this intermediate point and the focal position when the reference focal length is set. Is calculated. That is, as shown in FIG. 8B, when the intermediate point P13 is obtained, the distance between P10 and P13 is calculated as the difference L.

Thereafter, in step S42, the robot controller 16 moves the welding head 5 by the difference L between P10 and P13. Specifically, as shown in FIG. 8 (c), the welding head 5 is lowered by a difference L and adjusted so that the focus of the welding head 5 matches the machining site of the workpiece W. Thus, the gap between the welding head 5 and the workpiece W can be set to an appropriate distance.

In this way, in the welding robot according to the second embodiment, the focal length of the CCD camera 13 mounted on the welding head 5 is appropriately changed to obtain the upper limit position and the lower limit position, and further, the intermediate points thereof are determined. The position of the welding head 5 is moved based on the relationship between the intermediate point and the reference focal length, and the welding head 5 is adjusted to be in focus. Therefore, the same effects as those of the first embodiment can be obtained, and further, the welding head 5 is not moved up and down at the time of gap adjustment, so that the labor required for gap adjustment can be reduced. Furthermore, it is possible to prevent the welding head 5 from contacting an obstacle or the like.

[Description of Third Embodiment]
Next, a welding robot according to a third embodiment of the present invention will be described. Since the welding robot according to the third embodiment has the same configuration as that of the first embodiment, description of the configuration is omitted. Hereinafter, the gap adjustment processing of the welding head in the welding robot according to the third embodiment will be described with reference to the flowchart shown in FIG. This control is performed by the robot controller 16. And this process is performed in the state (refer to Drawing 9 (a)) set to the position where welding head 5 was fully raised beforehand to work W. Further, similarly to the first embodiment, the focal length of the welding head 5 and the focal length of the CCD camera 13 are set to coincide with each other.

First, in step S51, the robot controller 16 lowers the welding head 5 by a certain amount (arrow in FIG. 9A). Next, in step S 52, the robot controller 16 images the processed part of the workpiece W by the welding head 5 with the CCD camera 13 provided on the side of the welding head 5.

In step S53, the robot controller 16 determines whether the image captured by the CCD camera 13 is in focus. If the focus is not achieved (NO in step S53), the process returns to step S51, and the process of lowering the welding head 5 by a predetermined amount is performed again.

On the other hand, when the focus is achieved (YES in step S53), in step S54, the robot controller 16 sets the current position coordinates of the welding head 5 as the focus position, and stops the welding head 5 at this position. As a result, as shown in FIG. 9B, the welding head 5 can be stopped at a position where the focus is achieved. Thereafter, this process is terminated.

Thus, in the welding robot according to the third embodiment, as an initial operation, the welding head 5 is set at a position sufficiently away from the workpiece W with respect to the workpiece W, and then the welding head 5 is gradually moved. The welding head 5 is stopped at a position close to the work W and the image captured by the CCD camera 13 is in focus, and this position is set as a processing position by the welding head 5. Therefore, the focus of the welding head 5 can be adjusted to a desired position by a simple method.

Moreover, since the moving amount of the welding head 5 can be reduced as compared with the first embodiment, it is possible to reduce the occurrence of troubles such as contact with an obstacle.

As mentioned above, although the welding robot and the gap adjustment method of the present invention have been described based on some embodiments, the present invention is not limited to this, and the configuration of each part is an arbitrary configuration having the same function. Can be replaced with something.

For example, in each of the above-described embodiments, a laser welding robot has been described as an example of a welding robot, but the present invention is a welding robot that needs to strictly adjust the gap between the welding head 5 and the workpiece W, For example, it can be applied to an arc welding robot.

The present invention can be used to appropriately control the gap between the welding head of the welding robot and the workpiece.

Claims

In a welding robot having a welding head arranged with a predetermined gap with respect to a workpiece, and welding a desired part of the workpiece by the welding head,
An imaging means that is installed in the vicinity of the welding head and is set to the same focal length as the welding head and images a workpiece to be welded by the welding head;
A focus control unit that sets a focal length of the imaging unit so that a work image captured by the imaging unit is in focus;
Gap control means for controlling the gap of the welding head to the workpiece based on the focal length set by the focus control means;
A welding robot characterized by comprising:
The gap control means is an upper limit position when the amount of defocus of the work image exceeds a predetermined value when the welding head is separated from or close to the work under a condition that the focal length of the imaging means is constant. The welding robot according to claim 1, wherein a lower limit position is obtained and the tip of the welding head is moved to a position that is an intermediate point between the upper limit position and the lower limit position.
The gap control means obtains a position where the welding image is focused by separating or approaching the welding head with respect to the work under the condition that the focal length of the imaging means is constant, and the position of the welding head is determined at this position. It sets as a front-end | tip part, The welding robot of Claim 1 characterized by the above-mentioned.
The focal point control unit presets a reference focal length of the imaging unit, and changes a focal length of the imaging unit with respect to the reference focal length, whereby a defocus amount of the image of the workpiece becomes a predetermined value. Obtain an upper limit focal length that exceeds the lower limit focal length, and further obtain an intermediate focal length that is an intermediate point between the upper limit focal length and the lower limit focal length.
The welding robot according to claim 1, wherein the gap control unit moves the tip of the welding head by a difference between the intermediate focal length and the reference focal length.
The gap control means sets the position where the welding head is sufficiently separated from the work as a reference position, gradually moves the welding head closer to the work from the reference position, and the image taken by the imaging means is focused. The welding robot according to claim 1, wherein when the position is reached, the position is set as the position of the welding head.
In an adjustment method for adjusting the gap in a welding robot having a welding head arranged with a predetermined gap with respect to a workpiece, and welding a desired part of the workpiece by the welding head,
Changing the focal length of the imaging means for imaging the welded part of the workpiece;
Changing the focal length of the imaging means so that the image of the welded part of the workpiece imaged by the imaging means is in focus;
Controlling the position of the welding head so as to be in the focused position;
A gap adjustment method for a welding robot, comprising: