WO2013136756A1 - 溶接線検出方法および産業用ロボット - Google Patents
溶接線検出方法および産業用ロボット Download PDFInfo
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- WO2013136756A1 WO2013136756A1 PCT/JP2013/001547 JP2013001547W WO2013136756A1 WO 2013136756 A1 WO2013136756 A1 WO 2013136756A1 JP 2013001547 W JP2013001547 W JP 2013001547W WO 2013136756 A1 WO2013136756 A1 WO 2013136756A1
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- 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
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- 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
- B23K9/12—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
- B23K9/1278—Using mechanical means
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- 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 welding line detection method and an industrial robot that facilitate teaching of fillet welding, for example.
- a technique for detecting a welding position by providing a sensor on a welding torch is known as a welding line detection method when teaching a welding position to a welding robot as a pre-work before fillet welding (see, for example, Patent Document 1). .
- a sensor 83 is provided on a part of the outer periphery of the welding torch 82 from which the welding core wire (welding wire) 81 is led out.
- FIG. 8A when the welding torch 82 is positioned with respect to the fillet welding position P in the YZ plane, when the welding torch 82 is pushed in the direction of the welding core 81, the welding torch 82 is moved. A bending moment Md is generated in The sensor 83 detects this bending moment Md.
- the correspondence between the direction of the bending moment Md and the position of the welding torch 82 is set in advance in the welding robot.
- the welding robot that has recognized the position from the direction of the bending moment Md moves the welding torch 82 in the direction of the fillet welding position P, and finally enters the position state shown in FIG. 8B.
- no bending moment is generated in the welding torch 82, and only the axial force Fn, that is, the force in the direction of the welding core 81.
- the movement of the welding torch is stopped when the output from the axial force detection circuit exceeds a certain value.
- the welding core wire that is, the welding wire
- the protruding length of the welding wire is shorter than the protruding length necessary for the original welding.
- the bending moment of the welding torch is detected, and the welding robot always operates the welding torch automatically.
- the operator cannot easily switch between the state in which the bending moment of the welding torch is automatically detected and the state in which the bending moment of the welding torch is not automatically detected.
- the senor provided on the welding torch is not detachable, and a melted metal having a remarkably high temperature is generated during welding, and the sensor is likely to be damaged when the metal contacts the sensor.
- the transmission of signals from the sensor to the welding robot is performed by electric wires.
- molten metal which is extremely hot, is generated, and if this metal contacts the electric wires, the wires may be damaged. Is expensive.
- a welding line detection method of the present invention is a welding line detection method at the time of teaching fillet welding by an industrial robot having a welding torch, and an angle sensor having a contact is attached.
- the step of transmitting the angle information in a state where the contact is in contact with the object to be welded to the industrial robot, and the industrial robot is configured such that the contact angle becomes zero based on the angle information.
- a second moving step for moving the welding torch is a welding line detection method at the time of teaching fillet welding by an industrial robot having a welding torch, and an angle sensor having a contact is attached.
- the welding line detection method of the present invention includes a repeating step in which the welding torch moves in the direction of the fillet along the surface of the welding object by repeating the first movement step, the transmission step, and the second movement step. Have.
- the industrial robot transmits the fact that the contact has been pushed in the axial direction of the contact when the contact reaches the fillet portion of the welding object.
- the welding line detection method of the present invention further includes a stop step of stopping the movement of the welding torch by detecting that the contact has been pushed in the axial direction.
- the welding line detection method of the present invention after the stop step, moves the welding torch by the amount that the contact has been pushed in the direction in which the contact has been pushed, and the contact is pushed. And a releasing step for releasing the state.
- the weld line detection method of the present invention has two modes: a sensor mode in which the above-described weld line detection method is implemented and a normal mode in which it is not implemented.
- the first movement step is performed.
- the sensor mode is selected with the movement of the welding torch stopped, the above weld line detection method is started.
- the angle sensor further includes a wireless communication unit of the angle sensor that outputs angle information of the contact and information indicating that the contact has been pushed.
- the industrial robot includes a manipulator to which a welding torch is attached, a robot control device that controls the operation of the manipulator, and a teaching device that communicates with the robot control device.
- the robot control device obtains information output from the wireless communication unit of the angle sensor via the teaching device or directly from the angle sensor.
- the teaching device further includes a wireless communication unit of the detachable teaching device, and the teaching device is information output from the angle sensor by the wireless communication unit of the teaching device.
- the teaching device transmits the information received from the angle sensor to the robot control device.
- the welding line detection method of the present invention performs the first movement step based on an operation program stored in the control device for the industrial robot.
- the welding line detection method of the present invention performs the first movement step by manually operating the industrial robot using a teaching device connected to the industrial robot.
- the angle sensor is attached to the welding torch instead of the power feeding tip with the nozzle and the power feeding tip attached to the welding torch removed.
- the outer peripheral dimension of the angle sensor attached to the welding torch is equal to or smaller than the outer peripheral dimension of the nozzle attached to the welding torch.
- the welding line detection method of the present invention stops the movement of the welding torch when the contact angle becomes equal to or greater than a predetermined angle.
- the industrial robot of the present invention has a manipulator with a welding torch attached thereto, a robot control device that controls the operation of the manipulator, and a teaching device that communicates with the robot control device.
- the industrial robot of the present invention is an industrial robot that performs fillet welding, and an angle sensor having a contact is attached to the welding torch, and the robot control device is directly from the angle sensor or teaching device.
- a control unit for receiving and processing the angle information of the contactor performs the 1st movement step which moves the welding torch which attached the angle sensor which has a contactor in the direction of a welding target object.
- the industrial robot of the present invention performs a receiving step of receiving angle information in a state where the contact is in contact with the welding object from the angle sensor.
- the industrial robot of the present invention performs a second movement step of moving the welding torch so that the contact angle becomes zero based on the angle information.
- the industrial robot of the present invention performs a repeating step in which the welding torch moves in the direction of the fillet along the surface of the welding object by repeating the first moving step, the receiving step, and the second moving step.
- the welding torch welds on the weld line by receiving that the contact has been pushed in the axial direction of the contact when the contact reaches the fillet portion of the welding object.
- a detection step for detecting that the power position has been reached is performed.
- the angle sensor is attached to the welding torch, and welding is performed so that the contact angle becomes zero based on the angle information in a state where the contact of the angle sensor is in contact with the welding object. Move the torch. Thereby, it is possible to easily detect the weld line.
- FIG. 1A is a diagram showing a schematic configuration of the robot system according to the first embodiment of the present invention.
- FIG. 1B is a diagram showing a schematic configuration of the angle sensor according to Embodiment 1 of the present invention.
- FIG. 2 is an explanatory diagram of a welding position detection operation in the first embodiment of the present invention.
- FIG. 3 is an explanatory diagram of a welding position detection operation in the first embodiment of the present invention.
- FIG. 4 is an explanatory diagram of a welding position detection operation in the first embodiment of the present invention.
- FIG. 5 is a diagram showing an appearance of the teaching device according to the second embodiment of the present invention.
- FIG. 6A is an explanatory view of the movement of the welding torch in the second embodiment of the present invention.
- FIG. 6B is an explanatory diagram of the movement of the welding torch in the second embodiment of the present invention.
- FIG. 7A is an explanatory diagram of the movement of the welding torch in the third embodiment of the present invention.
- FIG. 7B is a diagram showing an appearance of the teaching device according to Embodiment 3 of the present invention.
- FIG. 8A is an explanatory view of the movement of the conventional welding torch.
- FIG. 8B is an explanatory view of the movement of the conventional welding torch.
- FIG. 8C is a diagram illustrating an appearance of a conventional welding torch.
- FIG. 1A is a diagram illustrating a schematic configuration of a robot system.
- FIG. 1B is a diagram illustrating a schematic configuration of the angle sensor.
- the robot system mainly includes an industrial robot, that is, a manipulator 10, a robot control device 11, and a teaching device 17.
- the manipulator 10 has a plurality of joint axes, and the joint shaft is composed of a motor (not shown) and a speed reducer (not shown).
- the robot control device 11 controls the entire robot system.
- the teaching device 17 is for an operator to create a teaching program by operating the manipulator 10, for example.
- the teaching device 17 includes a second CPU 19 that controls communication with the robot control device 11, and a second wireless communication unit 18 that is a wireless communication unit of the teaching device for performing wireless communication with an external device.
- the second wireless communication unit 18 is detachable from the teaching device 17.
- the robot control device 11 includes a first CPU 12, a RAM 13, a drive unit 14, a first wireless communication unit 15, and a ROM 16.
- the first CPU 12 controls the entire robot system.
- the RAM 13 stores a teaching program taught by an operator and can be read / written at any time.
- the drive unit 14 controls the position and posture of the welding torch 21 by controlling the motor of the manipulator 10.
- the first wireless communication unit 15 is a wireless communication unit of the robot control device, and performs wireless communication with an external device.
- the ROM 16 is a read-only memory in which a robot control program for controlling the robot control device 11 is stored.
- a welding torch 21 is attached to the manipulator 10.
- An angle sensor 1 shown in FIG. 1B is attached to the welding torch 21.
- the welding torch 21 has the role of generating an arc by applying an arc voltage to the welding wire and supplying the welding wire to the object to be welded.
- a welding tip (not shown) for applying an arc voltage to the welding wire and a nozzle (not shown) for supplying welding gas are attached to the tip of the welding torch 21.
- a welding tip and a nozzle are removed and it replaces with these and the angle sensor 1 is attached.
- the dimensions of the angle sensor 1 and the contact 22 are such that the tip position of the welding wire before the angle sensor 1 is attached and the tip position of the contact 22 after the angle sensor 1 is attached indicate the same position. Is decided.
- the teaching operation is performed so that the tip of the welding wire indicates the position where the welding object is desired to be welded. It is intended that teaching work can be done with.
- the outer periphery dimension of the angle sensor 1 attached to the welding torch 21 is equal to or less than the outer periphery dimension of the nozzle attached to the welding torch 21.
- the angle sensor 1 attached to the welding torch 21 includes a contactor 22, a sensor unit 23, a third CPU 24, a third wireless communication unit 26, and a battery 25 as constituent elements.
- the contact 22 is in contact with the welding object.
- the sensor unit 23 detects the angle and the pushing state of the contact 22.
- the third CPU 24 reads information from the sensor unit 23.
- the third wireless communication unit 26 is a wireless communication unit of the angle sensor, and transmits information read by the third CPU 24 to the robot control device 11.
- the battery 25 supplies power to the sensor unit 23, the third CPU 24, the third wireless communication unit 26, and the like.
- the third CPU 24 reads the angle information from the sensor unit 23 and transmits the angle information to the robot control device 11 through the third wireless communication unit 26.
- the robot control device 11 also includes a first wireless communication unit 15 for receiving angle information transmitted from the angle sensor 1, and the first CPU 12 in the robot control device 11 performs first wireless communication.
- the angle information is read through the unit 15.
- FIGS. 2 to 4 are explanatory diagrams of the welding position detection operation in the present embodiment.
- FIG. 2 when the operator performs the teaching operation by operating the manipulator 10 using the teaching device 17, the welding torch 21 is moved in the direction of the welding object 30, that is, in the ⁇ Y direction. This is the first movement step.
- a welding torch 21 shown in FIG. 1A is attached to the manipulator 10, and the angle sensor 1 shown in FIG. 1B is attached to the welding torch 21.
- the third CPU 24 transmits angle information to the robot controller 11 through the third wireless communication unit 26.
- the angle ⁇ which is angle information transmitted from the angle sensor 1 is received by the first CPU 12 through the first wireless communication unit 15 provided in the robot control device 11.
- the relationship between the welding torch 21 and the shift direction depends on which direction the angle sensor 1 is attached to the welding torch 21. That is, when the direction in which the contact 22 of the angle sensor 1 is tilted is represented by XY, the angle information is also input as XY information, and in which direction the contact 22 is tilted by this XY information. Recognize.
- the direction in which the contact 22 falls and the shift direction of the welding torch 21 are uniquely determined by the direction in which the angle sensor 1 is attached to the welding torch 21.
- the operation amount in the shift direction increases or decreases in proportion to the input amount from the angle sensor 1.
- the angle of the contact 22 is small, the input amount is small and the shift amount in the shift direction is also small.
- the angle of the contact 22 is large, the input amount is large and the shift amount in the shift direction is also large.
- the operator continues the operation of moving the welding torch 21 in the direction of the welding object 30, that is, in the ⁇ Y direction. Therefore, the combined movement of the movement in the manual operation direction ⁇ Y direction and the movement in the shift direction Tz is the movement amount in the Tn direction. This is the second movement step.
- the welding torch 21 moves in the direction of the fillet portion Q along the surface of the welding object 30. This is a repeated step.
- the direction in which the contact 22 falls and the direction in which the welding torch 21 shifts are uniquely determined. Therefore, in order to operate the welding torch 21 in the direction of the fillet portion Q, the operator advances the welding torch 21 with respect to the direction of the fillet portion Q, that is, the welding torch shown in FIG. It is necessary to bring the welding torch 21 into contact with the welding object 30 in the state of the angle formed by the torch 21 and the welding object 30.
- the contact 22 when the contact 22 reaches the fillet portion Q of the welding object 30, the contact 22 is pushed in the axial direction.
- the state in which the contact 22 is pushed in is detected by the sensor unit 23 in FIG. 1B, and the third CPU 24 transmits it to the robot control device 11 through the third wireless communication unit 26.
- Information transmitted from the angle sensor 1 and indicating the state in which the contact 22 is pushed in is received by the first CPU 12 through the first wireless communication unit 15 provided in the robot control device 11.
- the robot controller 11 detects that the welding torch 21 has reached the position to be welded on the weld line. This is a detection step.
- a mechanism for the sensor unit 23 to detect the angle information of the contact 22 for example, a general sensor such as a mechanism for detecting the position of the contact 22 by using a Hall element sensor using the Hall effect is used. Can be used.
- the first CPU 12 stops the movement of the welding torch 21 based on the received information indicating the state in which the contact 22 is pushed. This is a stop step. Thereby, the detection of the fillet portion Q of the welding object 30, that is, the detection of the weld line is completed. In this state, when the operator performs a teaching point registration operation using the teaching device 17, angle information of each joint of the manipulator 10 is stored as position information in the RAM 13 of the robot control device 11, and teaching point registration processing is performed. Is completed.
- the first CPU 12 stops the movement of the welding torch 21 based on the received information indicating the state in which the contact 22 is pushed
- the sensor 22 of the angle sensor 1 is pushed by the contact 22.
- the amount ⁇ detected is detected.
- the third CPU 24 reads the pushed amount ⁇ from the sensor unit 23, and transmits the pushed amount ⁇ to the robot control device 11 through the third wireless communication unit 26.
- the first CPU 12 of the robot control device 11 reads the amount ⁇ pushed through the first wireless communication unit 15 and controls the drive unit 14 to move the manipulator 10.
- the welding torch 21 is moved by the amount ⁇ pushed in the ⁇ Tx direction opposite to the torch direction, as indicated by the arrow in FIG.
- the operation is stopped.
- the state in which the contact 22 is pushed is released. This is a release step.
- the robot controller 11 controls the manipulator 10 based on the angle information from the angle sensor 1 so that the angle of the contact 22 becomes zero, and the welding torch. 21 is moved. Thereby, it is possible to easily detect the weld line.
- the teaching device 17 has the second wireless communication unit 18, and the second CPU 19 in the teaching device 17 reads the angle information through the second wireless communication unit 18 and also the first CPU in the robot control device 11. The angle information may be sent to the CPU 12.
- the second wireless communication unit 18 may be configured to be detachable from the teaching device 17.
- Examples of the detachable structure include a USB wireless module and an SD card wireless module.
- a wireless communication method between the angle sensor 1 and the first wireless communication unit 15 of the robot control device 11 or a wireless communication between the angle sensor 1 and the second wireless communication unit 18 connected to the teaching device 17 is used.
- a communication method a general wireless communication method is used.
- Common wireless communication methods include, for example, wireless LAN communication that conforms to the IEEE 802.11 standard, short-range wireless communication that conforms to the IEEE 802.15 standard, and the like.
- a general battery such as a button type battery or an electric double layer capacitor can be used.
- a charging connector is provided on the battery, and charging can be performed from a general-purpose power source such as a household power source or a USB power source.
- teaching device 17 can be provided with a power supply connector to charge the battery.
- the teaching device 17 is provided with a USB connector, and the battery can be charged from this USB power source.
- FIG. 5 is a diagram showing an external appearance of the teaching device 17.
- the teaching device 17 includes a mode switch 52 for switching modes to be described later, a display screen 53, a mode display unit 54, and operation keys 55.
- the mode switch 52 When the mode switch 52 is switched to the “NORMAL” side, the normal mode is set. At this time, a display indicating that the mode is the normal mode is performed on the mode display unit 54 which is a part of the display screen 53. For example, “NORMAL” is displayed as the display content.
- the worker performs the first movement step of operating the welding torch 21 to which the angle sensor 1 shown in FIG. 1B is attached.
- the robot controller 11 stops the movement of the welding torch 21.
- the movement to the fillet portion Q is not performed.
- the contact 22 remains in contact with the welding object 30 and stopped. This is the normal mode.
- the set value of the predetermined angle ⁇ can be set by the operator using the teaching device 17.
- the sensor mode is set. .
- the welding line described in the first embodiment is detected. The processing at this time will be described below.
- the welding torch 21 performs a shift operation to release the fall state of the contact 22.
- the contact 22 falls down greatly in a short time.
- the shift operation for releasing the contact 22 from falling down cannot catch up with the welding torch 21 coming into contact with the welding object 30 at a high speed, and the angle sensor 1 is likely to be damaged. . Therefore, the operator normally operates the welding torch 21 in the “NORMAL” mode.
- the angle information of the contact 22 is periodically transmitted to the first CPU 12 of the robot control device 11. As shown in FIG. 7A, when the contact 22 comes into contact with the welding object 30 and the angle of the contact 22 is larger than a predetermined angle ⁇ , the angle information ⁇ is sent to the first CPU 12 of the robot controller 11. Is sent. Thereby, the first CPU 12 immediately stops the movement of the welding torch 21.
- the set value of the angle ⁇ is set larger than the set value of the angle ⁇ .
- the setting value of the angle ⁇ can be set by the operator using the teaching device 17.
- the predetermined angle ⁇ becomes a threshold value for stopping, and damage can be prevented.
- the operation in the sensor mode may be started after stopping for a predetermined time instead of maintaining the stop.
- the angle of the contact 22 becomes larger than the predetermined angle ⁇
- the movement of the welding torch 21 is stopped, whereby the angle sensor 1 or the welding torch 21 is damaged. Can be prevented.
- the detection of the weld line in the case where the operator continuously performs the first movement step using the teaching device 17 has been described.
- the weld line may be detected by automatically continuing the first movement step based on, for example, an operation program stored in the robot controller 11.
- the present invention is industrially useful as, for example, a weld line detection method when teaching fillet welding and an industrial robot for performing the method.
Abstract
Description
図1Aは、ロボットシステムの概略構成を示す図である。図1Bは、角度センサの概略構成を示す図である。
本実施の形態において、実施の形態1と同様の箇所については、同一の符号を付して詳細な説明を省略する。実施の形態1と異なる主な点は、後述するセンサモードとノーマルモードを設け、これらを切り替えるようにした点である。
本実施の形態において、実施の形態1や実施の形態2と同様の箇所については、同一の符号を付して詳細な説明を省略する。実施の形態1や実施の形態2と異なる主な点は、接触子22の角度が所定の角度γより大きい角度となったとき、溶接用トーチ21の移動を直ちに停止するようにした点である。
10 マニピュレータ
11 ロボット制御装置
12 第1のCPU
13 RAM
14 駆動部
15 第1の無線通信部(ロボット制御装置の無線通信部)
16 ROM
17 教示装置
18 第2の無線通信部(教示装置の無線通信部)
19 第2のCPU
21 溶接用トーチ
22 接触子
23 センサ部
24 第3のCPU
25 バッテリー
26 第3の無線通信部(角度センサの無線通信部)
81 溶接心線
82 溶接用トーチ
Claims (12)
- 溶接用トーチを備えた産業用ロボットによる隅肉溶接の教示時における溶接線検出方法であって、
接触子を備えている角度センサを取り付けた前記溶接用トーチを溶接対象物の方向に移動させる第1の移動ステップと、
前記接触子が前記溶接対象物に接触した状態の角度情報を前記産業用ロボットに送る送信ステップと、
前記産業用ロボットが前記角度情報に基づいて前記接触子の角度がゼロとなるように前記溶接用トーチを移動させる第2の移動ステップと、
前記第1の移動ステップと前記送信ステップと前記第2の移動ステップを繰り返すことにより前記溶接用トーチが前記溶接対象物の表面に沿って隅肉部の方向へ移動する繰り返しステップと、
前記接触子が前記溶接対象物の前記隅肉部に到達したときに前記接触子が前記接触子の軸方向に押し込まれたことを前記産業用ロボットに送信することにより前記産業用ロボットは溶接線上の溶接すべき位置に到達したことを検出する検出ステップとを備えた溶接線検出方法。 - 前記接触子が前記接触子の軸方向に押し込まれたことを検出することにより、前記溶接用トーチの移動を停止する停止ステップをさらに備えた請求項1記載の溶接線検出方法。
- 前記停止ステップの後、前記接触子が押し込まれた方向と反対方向に、前記接触子が押し込まれた量だけ溶接用トーチを移動させて前記接触子が押し込まれた状態を解除する解除ステップをさらに備えた請求項2記載の溶接線検出方法。
- 請求項1記載の溶接線検出方法を実施させるセンサモードと実施させないノーマルモードの2つのモードを有し、
前記ノーマルモードを選択した状態で、前記第1の移動ステップを行い、前記接触子が溶接対象物に接触して前記接触子の角度が所定の角度よりも大きくなると溶接用トーチの移動を停止し、
前記溶接用トーチの移動を停止した状態で前記センサモードを選択すると、前記請求項1記載の溶接線検出方法を開始する請求項1から3のいずれか1項に記載の溶接線検出方法。 - 前記角度センサは、接触子の角度情報や前記接触子が押し込まれたことを示す情報を出力する角度センサの無線通信部をさらに備え、
前記産業用ロボットは、前記溶接用トーチを取り付けるマニピュレータと、前記マニピュレータの動作を制御するロボット制御装置と、前記ロボット制御装置と通信を行う教示装置とを備え、
前記ロボット制御装置は、前記教示装置を介して、または、前記角度センサから直接、前記角度センサの無線通信部から出力された情報を得る請求項1から4のいずれか1項に記載の溶接線検出方法。 - 前記教示装置は、着脱自在な教示装置の無線通信部をさらに備え、
前記教示装置は前記教示装置の無線通信部により前記角度センサが出力した情報を受信し、
前記教示装置は、前記角度センサから受信した情報を前記ロボット制御装置に送信する請求項5記載の溶接線検出方法。 - 前記第1の移動ステップを、前記産業用ロボットの制御装置に記憶された動作プログラムに基づいて行う請求項1から6のいずれか1項に記載の溶接線検出方法。
- 前記第1の移動ステップを、前記産業用ロボットに接続された前記教示装置を用いて、作業者が手動で前記産業用ロボットを動作させることにより行う請求項1から6のいずれか1項に記載の溶接線検出方法。
- 前記角度センサは、前記溶接用トーチに取り付けられていたノズルと給電チップを取り外した状態で、前記給電チップに替えて前記溶接用トーチに取り付けられる請求項1から8のいずれか1項に記載の溶接線検出方法。
- 前記溶接用トーチに取り付けられる前記角度センサの外周寸法は、前記溶接用トーチに取り付けられるノズルの外周寸法以下である請求項1から9のいずれか1項に記載の溶接線検出方法。
- 前記接触子の角度が所定の角度以上になった場合には、前記溶接用トーチの移動を停止する請求項1から10のいずれか1項に記載の溶接線検出方法。
- 溶接用トーチを取り付けたマニピュレータと、前記マニピュレータの動作を制御するロボット制御装置と、前記ロボット制御装置と通信を行う教示装置を備えており、隅肉溶接を行う産業用ロボットであって、
前記溶接用トーチには、接触子を備えている角度センサが取り付けられ、
前記ロボット制御装置は、前記角度センサから直接、または、前記教示装置を介して前記接触子の角度情報を受け取って処理する制御部を備え、
前記接触子を備えている前記角度センサを取り付けた前記溶接用トーチを溶接対象物の方向に移動させる第1の移動ステップと、
前記接触子が前記溶接対象物に接触した状態の角度情報を前記角度センサから受け取る受信ステップと、
前記角度情報に基づいて前記接触子の角度がゼロとなるように前記溶接用トーチを移動させる第2の移動ステップと、
前記第1の移動ステップと前記受信ステップと前記第2の移動ステップを繰り返すことにより前記溶接用トーチが前記溶接対象物の表面に沿って隅肉部の方向へ移動する繰り返しステップと、
前記接触子が前記溶接対象物の前記隅肉部に到達したときに前記接触子が前記接触子の軸方向に押し込まれたことを受信することにより前記溶接用トーチが溶接線上の溶接すべき位置に到達したことを検出する検出ステップとを行う産業用ロボット。
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