WO2015044005A1 - Welding system with seam tracking and detection of a seam profile - Google Patents

Welding system with seam tracking and detection of a seam profile Download PDF

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Publication number
WO2015044005A1
WO2015044005A1 PCT/EP2014/069710 EP2014069710W WO2015044005A1 WO 2015044005 A1 WO2015044005 A1 WO 2015044005A1 EP 2014069710 W EP2014069710 W EP 2014069710W WO 2015044005 A1 WO2015044005 A1 WO 2015044005A1
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WIPO (PCT)
Prior art keywords
welding
sensor
joint
welding head
welding system
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PCT/EP2014/069710
Other languages
German (de)
French (fr)
Inventor
Martin WEINRICH
Christian Werner
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Siemens Aktiengesellschaft
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Publication of WO2015044005A1 publication Critical patent/WO2015044005A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/02—Seam welding; Backing means; Inserts
    • B23K9/028—Seam welding; Backing means; Inserts for curved planar seams
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/095—Monitoring or automatic control of welding parameters
    • B23K9/0956—Monitoring or automatic control of welding parameters using sensing means, e.g. optical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127—Means for tracking lines during arc welding or cutting
    • B23K9/1272—Geometry oriented, e.g. beam optical trading
    • B23K9/1274—Using non-contact, optical means, e.g. laser means

Definitions

  • the invention relates to a welding system.
  • Welding joint defined support points in which a required orientation of the welding head is determined. These orientations of the welding head are stored in a data memory. On the basis of these orientations stored in the data memory, a controller interpolates a movement path of the welding head between the support points, so that the welding head is guided in a suitably oriented manner along the length of the weld gap. In order to enable a multi-dimensional guidance of the welding head, must also be at
  • Welding forming arc be guided temporally and spatially defined along the weld joint.
  • measured values for the joint profile must be recorded and processed at at least two different locations on the weld joint.
  • a constant height above the workpiece to be welded can also be set.
  • circular-arc or arbitrarily curved progressions of a weld joint however, such guidance of the welding head is only possible to a limited extent. It is therefore an object of the invention to provide a welding system, with which an improved guidance of the welding head along an arbitrarily extending welding joint is possible. This object is achieved with a welding system having the features specified in claim 1.
  • the welding system has a welding head and a joint tracing device.
  • the joint tracking device comprises at least one first sensor, which is designed to detect a longitudinal course of a welding joint.
  • the joint tracing device comprises a second sensor which, for detecting a profile of the welding joint, in particular obliquely, preferably perpendicular, to the longitudinal course of the welding joint
  • the welding system according to the invention also comprises a first positioning unit which, depending on the longitudinal profile of the welding joint detected by means of the first sensor, sets the position and / or orientation of the second sensor relative to the welding head.
  • the welding system according to the invention is particularly preferably distinguished by a feed direction relative to the welding head, into which the welding head can be moved along the welding joint during welding, ie during operation (for example, the welding system comprises a narrow gap blade, which is designed as a flat part and which coincides with extends its two-dimensional extensions on the one hand from the remaining narrow-gap head and on the other hand extends in the advancing direction of the narrow-gap sword).
  • the first and / or the second sensor in the feed direction are / is then judged by the welding head and the first sensor is designed and arranged for detecting the longitudinal course of a welding joint in the feed direction relative to the welding head.
  • a longitudinal course of the weld joint in the sense of this invention is expediently understood to be the course of the weld joint parallel to the work piece plane or along the surfaces of the workpiece or workpieces to be joined at the weld joint.
  • the longitudinal course of a welding joint is thus the course along which a welding head is guided during the welding of the welding joint.
  • the first sensor more preferably the joint processing device in its entirety, on which
  • Welding head arranged.
  • the second sensor for detecting the profile of the welding joint is suitably adjustable in position and / or orientation relative to the welding head.
  • a detection of the profile of the weld joint can thus be carried out particularly reliably and in particular in advance as a result of the suitable position and / or orientation of the second sensor.
  • an adaptive curve guidance of the second sensor is possible.
  • the second sensor is set in such a way that a detection of the profile of the weld joint is always perpendicular to a tangent to the longitudinal course of the weld joint.
  • the welding quality is significantly increased according to the invention.
  • the welding system has a second
  • the welding head itself is made suitable by means of an adaptive cam guide.
  • the first and second positioning units for positioning are based on the longitudinal course and / or profile of the
  • the first and / or second positioning unit is particularly preferably designed to use a speed of the welding head along the welding joint and, depending on the speed, the position and / or orientation of the welding head and / or the first and / or the second Sensors of the joint tracking device to provide.
  • the longitudinal course of the weld joint can be used in an anticipatory manner so as to achieve / reach the first and / or second sensor and / or the welding head to reach / reach the region where the longitudinal course of the weld joint is detected.
  • the spatial offset of the first and / or second sensor and / or welding head relative to one another is therefore suitably taken into account in this development of the invention.
  • the first sensor is formed with a camera.
  • the longitudinal course of the welding joint can be detected very easily with a camera.
  • the first sensor and / or the first and / or second position device are / are designed for automated image processing, which from the detected by the camera longitudinal course of the welding joint data for positioning the position and / or orientation of the second positioning and / or the welding head extracted yourself.
  • the second sensor is formed with a laser sensor.
  • Laser sensors in particular laser triangulation systems, are particularly suitable for determining distance information or the entire profile at a location of the weld joint in a plane perpendicular to the longitudinal extent of the weld joint.
  • the profile along a by the previous movement of the Sch Strukturko fs conditional measurement plane to capture is advantageously adapted to the longitudinal course of the weld.
  • the first positioning unit is designed in such a way that the position and / or the orientation of the second sensor is adjusted such that the profile of the welding joint is detected perpendicular to a web tangent to the welding joint.
  • the first positioning unit is not designed alone to provide the position and / or orientation of the second sensor relative to the welding head, but it is also designed, the position and / or orientation of the first sensor relative to the welding head put.
  • the first and second sensors are arranged to be coupled to one another in a motion-coupled manner.
  • the first and second sensor are provided together and are expediently integrally formed and / or in one piece manageable.
  • the first and second sensors are / are rotatably or pivotally connected to the welding head.
  • the orientation of the first and / or second sensor relative to the welding head can therefore be set particularly easily.
  • the welding system according to the invention is a
  • the welding head comprises a narrow gap blade.
  • the sole drawing figure 1 shows an inventive narrow gap welding system schematically in a schematic diagram in a plan view.
  • the narrow gap welding system shown in FIG. 1 comprises a narrow gap welding head with a narrow gap blade 5 and a joint tracing device 10.
  • the joint tracing device 10 comprises a first sensor 15, in the exemplary embodiment shown a camera, and a second sensor 20, in the illustrated exemplary embodiment a laser triangulation sensor.
  • First 15 and second sensors 20 are rotatably mounted on the narrow gap welding head.
  • the narrow gap blade 5 is in the form of a flat part, which extends firstly along a longitudinal direction (perpendicular to the plane of the drawing) into the weld joint 30 and secondly locally along the joint flanks of the weld joint 30.
  • the narrow gap blade 5 is thus distinguished by a feed direction.
  • the first sensor is spaced from the narrow gap blade 5 in the feed direction and thus detects when guiding the narrow gap head on the
  • the second sensor is arranged on a pointing in the feed direction narrow side of the narrow gap blade 5 and captured in advance the profile of the weld joint 30th
  • the welding system illustrated in FIG. 1 comprises a first positioning unit (not specifically shown) which is signal-connected to the first sensor 15 and is signal-connected to an adjusting device for positioning the second sensor 20 relative to the welding head.
  • the narrow gap welding system shown in FIG. 1 comprises a second one
  • Positioning unit (not specifically shown in the drawing), which is signal-connected to the first sensor 15 and which is signal-connected to the position of the position and / or orientation of the welding head.
  • the camera image of the first sensor 15 is transmitted to the first positioning unit.
  • the first positioning unit comprises an image recognition module which extracts characteristic data from the camera image for the longitudinal course. The first determines from these data
  • the camera image of the first sensor 15 is also transmitted to a second positioning unit, which extracts characteristic data for the position of the narrow gap welding head from the camera image for the longitudinal course. From these data, the second positioning unit determines a suitable position of the welding head on the welding joint 30.
  • Positioning unit adjusts the orientation and the position of the welding head and thus the position of the narrow gap blade 5 suitably by means of a mechanical adjusting device.
  • Positioning unit pull the feed rate of the
  • Welding head along the welding joint 30 zoom. In this way, it is taken into account that the welding head only reaches those locations on the welding joint 30 at which the longitudinal profile and the profile are detected by the first sensor 15 and the second sensor 20. The spatial offset of those locations at which the first and second sensors detect the longitudinal course and the profile to the location at which the narrow-gap blade 5 is currently located is thus taken into appropriate consideration.

Abstract

The welding system has a welding head and a joint tracking device (10) which comprises at least one first sensor (15) that is designed to detect a longitudinal course of a welding joint (30) and a second sensor for detecting a profile of the welding joint (30), said second sensor being movably arranged on the welding head. The welding system additionally comprises a first positioning unit which sets the position and/or orientation of the second sensor (20) relative to the welding head dependent on the welding joint (30) longitudinal course detected by means of the first sensor (15).

Description

Beschreibung description
SCHWEISSSYSTEM MIT NAHTVERFOLGUNG UND ERFASSUNG EINES NAHTPROFILS Die Erfindung betrifft ein Schweißsystem. WELDING SYSTEM WITH SEAM TRACKING AND DETECTION OF A SEAM PROFILE The invention relates to a welding system.
In der automatisierten Lichtbogenschweißtechnik ist häufig eine Verfolgung des Längsverlaufs einer Schweißfuge mittels Sensoren zur Fugenverfolgung zweckmäßig. Eine gleichzeitige Erfassung sowohl des Längsverlaufs einer Schweißfuge sowie eine präzise Vermessung fugenspezifischer Merkmale, wie beispielsweise Fugenbreite oder Fugentiefe, ist jedoch in der Praxis schwierig. In der automatisierten Lichtbogenschweißtechnik mit nicht linearen Fugenlängsverläufen werden daher entlang einer In automated arc welding technology, tracing the longitudinal course of a weld joint by means of joint tracking sensors is often expedient. However, a simultaneous detection of both the longitudinal course of a weld joint and a precise measurement of joint-specific features, such as joint width or joint depth, is difficult in practice. In the automated arc welding technique with non-linear joint longitudinal courses are therefore along a
Schweißfuge Stützpunkte definiert, in welchen eine erforderliche Orientierung des Schweißkopfs festgelegt wird. Diese Orientierungen des Schweißkopfs werden in einem Datenspeicher hinterlegt. Auf Basis dieser in dem Datenspeicher hinterlegten Orientierungen interpoliert eine Steuerung eine Bewegungsbahn des Schweißkopfs zwischen den Stützpunkten, so dass der Schweißkopf entlang des Schweißfugenlängsverlaufs geeignet orientiert geführt wird. Um eine mehrdimensionale Führung des Schweißkopfs zu ermöglichen, muss zudem ein sich beimWelding joint defined support points in which a required orientation of the welding head is determined. These orientations of the welding head are stored in a data memory. On the basis of these orientations stored in the data memory, a controller interpolates a movement path of the welding head between the support points, so that the welding head is guided in a suitably oriented manner along the length of the weld gap. In order to enable a multi-dimensional guidance of the welding head, must also be at
Schweißen ausbildender Lichtbogen zeitlich und räumlich definiert entlang der Schweißfuge geführt werden. Dabei müssen an zumindest zwei unterschiedlichen Stellen an der Schweißfuge Messwerte zum Fugenprofil erfasst und verarbeitet werden. Beispielsweise kann neben einer Führung des Schweißkopfs mit einer konstanten Position in Richtungen parallel zur Ebene des Längsverlaufs einer Schweißfuge auch eine konstante Höhe über dem zu schweißenden Werkstück eingestellt werden. Bei kreisbogenförmigen oder beliebig gekrümmten Verläufen einer Schweißfuge ist eine solche Führung des Schweißkopfs jedoch lediglich eingeschränkt möglich. Es ist daher Aufgabe der Erfindung, ein Schweißsystem anzugeben, mit welchem eine verbesserte Führung des Schweißkopfs entlang einer beliebig verlaufenden Schweißfuge möglich ist. Diese Aufgabe wird mit einem Schweißsystem mit den in Anspruch 1 angegebenen Merkmalen gelöst. Bevorzugte Weiterbildungen der Erfindung sind in den zugehörigen Unteransprüchen, der nachfolgenden Beschreibung und der Zeichnung angegeben. Das erfindungsgemäße Schweißsystem weist einen Schweißkopf sowie eine Fugenverfolgungseinrichtung auf. Erfindungsgemäß umfasst die Fugenverfolgungseinrichtung mindestens einen ersten Sensor, welcher zur Erfassung eines Längsverlaufs einer Schweißfuge ausgebildet ist. Zudem umfasst die Fugenverfol- gungseinrichtung erfindungsgemäß einen zweiten Sensor, welcher zur Erfassung eines Profils der Schweißfuge, insbesondere schräg, vorzugsweise senkrecht, zum Längsverlauf der Welding forming arc be guided temporally and spatially defined along the weld joint. In this case, measured values for the joint profile must be recorded and processed at at least two different locations on the weld joint. For example, in addition to guiding the welding head with a constant position in directions parallel to the plane of the longitudinal course of a welding joint, a constant height above the workpiece to be welded can also be set. In circular-arc or arbitrarily curved progressions of a weld joint, however, such guidance of the welding head is only possible to a limited extent. It is therefore an object of the invention to provide a welding system, with which an improved guidance of the welding head along an arbitrarily extending welding joint is possible. This object is achieved with a welding system having the features specified in claim 1. Preferred embodiments of the invention are set forth in the appended subclaims, the following description and the drawing. The welding system according to the invention has a welding head and a joint tracing device. According to the invention, the joint tracking device comprises at least one first sensor, which is designed to detect a longitudinal course of a welding joint. In addition, according to the invention, the joint tracing device comprises a second sensor which, for detecting a profile of the welding joint, in particular obliquely, preferably perpendicular, to the longitudinal course of the welding joint
Schweißfuge, ausgebildet und am Schweißkopf beweglich angeordnet ist. Das erfindungsgemäße Schweißsystem umfasst zudem eine erste Positioniereinheit, welche abhängig von dem mittels des ersten Sensors erfassten Längsverlauf der Schweißfuge die Position und/oder Orientierung des zweiten Sensors relativ zum Schweißkopf stellt. Besonders bevorzugt ist das erfindungsgemäße Schweißsystem durch eine Vorschubrichtung re- lativ zum Schweißkopf ausgezeichnet, in welche der Schweißkopf entlang der Schweißfuge während des Schweißens, also im Betrieb, bewegbar ist (beispielsweise umfasst das Schweißsystem ein Engspaltschwert, welches als Flachteil ausgebildet ist und welches sich mit seinen flächigen Erstreckungen zum einen vom übrigen Engspaltkopf fortstreckt und zum anderen in Vorschubrichtung des Engspaltschwerts erstreckt) . Weld joint, trained and arranged movably on the welding head. The welding system according to the invention also comprises a first positioning unit which, depending on the longitudinal profile of the welding joint detected by means of the first sensor, sets the position and / or orientation of the second sensor relative to the welding head. The welding system according to the invention is particularly preferably distinguished by a feed direction relative to the welding head, into which the welding head can be moved along the welding joint during welding, ie during operation (for example, the welding system comprises a narrow gap blade, which is designed as a flat part and which coincides with extends its two-dimensional extensions on the one hand from the remaining narrow-gap head and on the other hand extends in the advancing direction of the narrow-gap sword).
Geeigneterweise ist/sind der erste und/oder der zweite Sensor in Vorschubrichtung dann vom Schweißkopf aus beurteilt angeordnet und es ist der erste Sensor zur Erfassung des Längs- Verlaufs einer Schweißfuge in Vorschubrichtung relativ zum Schweißkopf ausgebildet und angeordnet. Unter einem Längsverlauf der Schweißfuge im Sinne dieser Erfindung ist zweckmäßig der Verlauf der Schweißfuge parallel zur Werkstückebene oder entlang der an der Schweißfuge zu vereinigenden Oberflächen des oder der zu schweißenden Werk- stücke zu verstehen. Der Längsverlauf einer Schweißfuge ist also derjenige Verlauf, entlang welcher ein Schweißkopf während des Schweißens der Schweißfuge geführt wird. Suitably, the first and / or the second sensor in the feed direction are / is then judged by the welding head and the first sensor is designed and arranged for detecting the longitudinal course of a welding joint in the feed direction relative to the welding head. A longitudinal course of the weld joint in the sense of this invention is expediently understood to be the course of the weld joint parallel to the work piece plane or along the surfaces of the workpiece or workpieces to be joined at the weld joint. The longitudinal course of a welding joint is thus the course along which a welding head is guided during the welding of the welding joint.
Bevorzugt ist auch der erste Sensor, weiter bevorzugt die Fu- genverfOlgungseinrichtung in ihrer Gesamtheit, an dem Also preferred is the first sensor, more preferably the joint processing device in its entirety, on which
Schweißkopf angeordnet . Welding head arranged.
Mittels des erfindungsgemäßen Schweißsystems ist der zweite Sensor zur Erfassung des Profils der Schweißfuge geeignet in Position und/oder Orientierung relativ zum Schweißkopf einstellbar. Eine Erfassung des Profils der Schweißfuge kann somit infolge der geeigneten Position und/oder Orientierung des zweiten Sensors besonders zuverlässig und insbesondere vorlaufend erfolgen. Erfindungsgemäß ist also eine adaptive Kur- venführung des zweiten Sensors möglich. Geeigneterweise wird dabei der zweite Sensor derart gestellt, dass eine Erfassung des Profils der Schweißfuge stets senkrecht zu einer Tangente an den Längsverlauf der Schweißfuge erfolgt. Die Schweißqualität ist erfindungsgemäß deutlich erhöht. By means of the welding system according to the invention, the second sensor for detecting the profile of the welding joint is suitably adjustable in position and / or orientation relative to the welding head. A detection of the profile of the weld joint can thus be carried out particularly reliably and in particular in advance as a result of the suitable position and / or orientation of the second sensor. Thus, according to the invention, an adaptive curve guidance of the second sensor is possible. Suitably, the second sensor is set in such a way that a detection of the profile of the weld joint is always perpendicular to a tangent to the longitudinal course of the weld joint. The welding quality is significantly increased according to the invention.
In einer bevorzugten Weiterbildung des erfindungsgemäßen Schweißsystems weist das Schweißsystem eine zweite In a preferred embodiment of the welding system according to the invention, the welding system has a second
Positioniereinheit auf, welche abhängig von dem erfassten Längsverlauf der Schweißfuge die Position und/oder die Orien- tierung des Schweißkopfs, insbesondere zumindest einer zweckmäßig vorhandenen Schweißelektrode, stellt. In dieser Weiterbildung der Erfindung wird auch der Schweißkopf selbst mittels einer adaptiven Kurvenführung geeignet gestellt. Zweckmäßigerweise sind erste und zweite Positioniereinheit zur Po- sitionierung anhand des Längsverlaufs und/oder Profils derPositioning on which depending on the detected longitudinal profile of the weld joint, the position and / or the orientation of the welding head, in particular at least one suitably existing welding electrode, provides. In this embodiment of the invention, the welding head itself is made suitable by means of an adaptive cam guide. Expediently, the first and second positioning units for positioning are based on the longitudinal course and / or profile of the
Schweißfuge in Vorschubrichtung zum Schweißkopf ausgebildet. Besonders bevorzugt sind bei dem erfindungsgemäßen Schweißsystem erste und/oder zweite Positioniereinheit ausgebildet, zusätzlich zum erfassten Längsverlauf eine Geschwindigkeit des Schweißkopfs entlang der Schweißfuge heranzuziehen und abhängig von der Geschwindigkeit die Position und/oder Orientierung des Schweißkopfs und/oder des ersten und/oder des zweiten Sensors der Fugenverfolgungseinrichtung zu stellen. Auf diese Weise kann erfindungsgemäß der Längsverlauf der Schweißfuge gewissermaßen vorauseilend herangezogen werden, um dann, wenn erster und/oder zweiter Sensor und/oder der Schweißkopf den Bereich, an welchem der Längsverlauf der Schweißfuge erfasst ist, erreicht/erreichen, geeignet zu stellen. Der räumliche Versatz von erstem und/oder zweiten Sensor und/oder Schweißkopf zueinander wird in dieser Weiter- bildung der Erfindung folglich geeignet berücksichtigt. Welding joint formed in the feed direction to the welding head. In the welding system according to the invention, the first and / or second positioning unit is particularly preferably designed to use a speed of the welding head along the welding joint and, depending on the speed, the position and / or orientation of the welding head and / or the first and / or the second Sensors of the joint tracking device to provide. In this way, according to the invention, the longitudinal course of the weld joint can be used in an anticipatory manner so as to achieve / reach the first and / or second sensor and / or the welding head to reach / reach the region where the longitudinal course of the weld joint is detected. The spatial offset of the first and / or second sensor and / or welding head relative to one another is therefore suitably taken into account in this development of the invention.
Zweckmäßig ist bei dem erfindungsgemäßen Schweißsystem der erste Sensor mit einer Kamera gebildet. Der Längsverlauf der Schweißfuge lässt sich mit einer Kamera besonders einfach er- fassen. Insbesondere ist/sind der erste Sensor und/oder die erste und/oder zweite Positionseinrichtung zur automatisierten Bildverarbeitung ausgebildet, welche aus dem mittels der Kamera erfassten Längsverlauf der Schweißfuge geeignete Daten zur Stellung der Position und/oder Orientierung der zweiten Positioniereinheit und/oder des Schweißkopfs selbst extrahiert . Suitably, in the welding system according to the invention, the first sensor is formed with a camera. The longitudinal course of the welding joint can be detected very easily with a camera. In particular, the first sensor and / or the first and / or second position device are / are designed for automated image processing, which from the detected by the camera longitudinal course of the welding joint data for positioning the position and / or orientation of the second positioning and / or the welding head extracted yourself.
In einer weiteren vorteilhaften Weiterbildung des erfindungsgemäßen Schweißsystems ist der zweite Sensor mit einem Laser- sensor gebildet. Lasersensoren, insbesondere Lasertriangulationssysteme, sind besonders geeignet, um Abstandsinformationen oder das gesamte Profil an einer Stelle der Schweißfuge in einer Ebene senkrecht zur Längserstreckung der Schweißfuge zu bestimmen. In a further advantageous development of the welding system according to the invention, the second sensor is formed with a laser sensor. Laser sensors, in particular laser triangulation systems, are particularly suitable for determining distance information or the entire profile at a location of the weld joint in a plane perpendicular to the longitudinal extent of the weld joint.
Infolge der geeigneten Stellung des zweiten Sensors ist es im Gegensatz zum Stand der Technik nicht allein möglich, das Profil entlang einer durch die vorherige Bewegung des Schweißko fs bedingten Messebene zu erfassen, sondern erfindungsgemäß ist eine solche Messebene des Lasersensors vorteilhaft an den Längsverlauf der Schweißfuge angepasst. Idealerweise ist die erste Positioniereinheit derart ausgebil- det, dass die Position und/oder die Orientierung des zweiten Sensors derart eingestellt wird, dass eine Erfassung des Profils der Schweißfuge senkrecht zu einer Bahntangente an die Schweißfuge erfolgt . In einer besonders vorteilhaften Weiterbildung der Erfindung ist die erste Positioniereinheit nicht allein ausgebildet, die Position und/oder die Orientierung des zweiten Sensors relativ zum Schweißkopf zu stellen, sondern sie ist ferner ausgebildet, die Position und/oder Orientierung des ersten Sensors relativ zum Schweißkopf zu stellen. Idealerweise sind erster und zweiter Sensor miteinander bewegungsgekoppelt angeordnet. In dieser Weiterbildung der Erfindung werden dabei erster und zweiter Sensor gemeinsam gestellt und sind zweckmäßig einstückig und/oder einteilig handhabbar ausgebildet. Due to the suitable position of the second sensor, it is not only possible in contrast to the prior art, the profile along a by the previous movement of the Schweißko fs conditional measurement plane to capture, but according to the invention, such a measurement plane of the laser sensor is advantageously adapted to the longitudinal course of the weld. Ideally, the first positioning unit is designed in such a way that the position and / or the orientation of the second sensor is adjusted such that the profile of the welding joint is detected perpendicular to a web tangent to the welding joint. In a particularly advantageous embodiment of the invention, the first positioning unit is not designed alone to provide the position and / or orientation of the second sensor relative to the welding head, but it is also designed, the position and / or orientation of the first sensor relative to the welding head put. Ideally, the first and second sensors are arranged to be coupled to one another in a motion-coupled manner. In this embodiment of the invention while the first and second sensor are provided together and are expediently integrally formed and / or in one piece manageable.
In einer bevorzugten Weiterbildung der Erfindung ist/sind erster und zweiter Sensor drehbar oder schwenkbar an dem Schweißkopf angebunden. Die Orientierung von erstem und/oder zweitem Sensor relativ zum Schweißkopf lässt sich somit be- sonders einfach stellen. In a preferred embodiment of the invention, the first and second sensors are / are rotatably or pivotally connected to the welding head. The orientation of the first and / or second sensor relative to the welding head can therefore be set particularly easily.
Idealerweise ist das erfindungsgemäße Schweißsystem ein Ideally, the welding system according to the invention is a
Engspalt-Schweißsystem. Zweckmäßigerweise umfasst dabei der Schweißkopf ein Engspaltschwert. Narrow gap welding system. Expediently, the welding head comprises a narrow gap blade.
Nachfolgend wird die Erfindung anhand eines in der Zeichnung dargestellten Ausführungsbeispiels näher erläutert. The invention will be explained in more detail with reference to an embodiment shown in the drawing.
Die einzige Zeichnungsfigur 1 zeigt ein erfindungsgemäßes Engspaltschweißsystem schematisch in einer Prinzipskizze in einer Draufsicht. Das in Figur 1 dargestellte Engspaltschweißsystem umfasst einen Engspaltschweißkopf mit einem Engspaltschwert 5 sowie eine Fugenverfolgungseinrichtung 10. Die Fugenverfolgungseinrichtung 10 umfasst einen ersten Sensor 15, im dargestellten Ausführungsbeispiel eine Kamera, sowie einen zweiten Sensor 20, im dargestellten Ausführungsbeispiel ein Lasertriangulationssensor. Erster 15 und zweiter Sensor 20 sind an dem Engspaltschweißkopf drehbeweglich ange- ordnet. The sole drawing figure 1 shows an inventive narrow gap welding system schematically in a schematic diagram in a plan view. The narrow gap welding system shown in FIG. 1 comprises a narrow gap welding head with a narrow gap blade 5 and a joint tracing device 10. The joint tracing device 10 comprises a first sensor 15, in the exemplary embodiment shown a camera, and a second sensor 20, in the illustrated exemplary embodiment a laser triangulation sensor. First 15 and second sensors 20 are rotatably mounted on the narrow gap welding head.
Das Engspaltschwert 5 ist als Flachteil ausgebildet, welche sich zum einen entlang einer Längsrichtung (senkrecht zur Zeichenebene) in die Schweißfuge 30 hinein und zum anderen lokal längs entlang der Fugenflanken der Schweißfuge 30 erstrecken. Das Engspaltschwert 5 ist folglich durch eine Vorschubrichtung ausgezeichnet. Der erste Sensor ist vom Engspaltschwert 5 in Vorschubrichtung beabstandet angeordnet und erfasst somit bei der Führung des Engspaltkopfs an der The narrow gap blade 5 is in the form of a flat part, which extends firstly along a longitudinal direction (perpendicular to the plane of the drawing) into the weld joint 30 and secondly locally along the joint flanks of the weld joint 30. The narrow gap blade 5 is thus distinguished by a feed direction. The first sensor is spaced from the narrow gap blade 5 in the feed direction and thus detects when guiding the narrow gap head on the
Schweißfuge 30 entlang und dem Engspaltschwert 5 vorauseilend den Längsverlauf der Schweißfuge 30. Der zweite Sensor ist an einer in Vorschubrichtung weisenden Schmalseite des Engspaltschwerts 5 angeordnet und erfasst vorauseilend das Profil der Schweißfuge 30. Welding joint 30 along and the narrow-gap blade 5 leading the longitudinal course of the weld joint 30. The second sensor is arranged on a pointing in the feed direction narrow side of the narrow gap blade 5 and captured in advance the profile of the weld joint 30th
Ferner umfasst das in Figur 1 dargestellte Schweißsystem eine erste Positioniereinheit (nicht eigens dargestellt) , welche mit dem ersten Sensor 15 signalverbunden ist und mit einer Stelleinrichtung zur Stellung des zweiten Sensors 20 relativ zum Schweißkopf signalverbunden ist. Zudem umfasst das in Figur 1 dargestellte Engspaltschweißsystem eine zweite Furthermore, the welding system illustrated in FIG. 1 comprises a first positioning unit (not specifically shown) which is signal-connected to the first sensor 15 and is signal-connected to an adjusting device for positioning the second sensor 20 relative to the welding head. In addition, the narrow gap welding system shown in FIG. 1 comprises a second one
Positioniereinheit (nicht eigens in der Zeichnung dargestellt) , welche mit dem ersten Sensor 15 signalverbunden ist und welche zur Stellung der Position und/oder Orientierung des Schweißkopfs signalverbunden ist. Positioning unit (not specifically shown in the drawing), which is signal-connected to the first sensor 15 and which is signal-connected to the position of the position and / or orientation of the welding head.
Nachfolgend wird die Funktion des erfindungsgemäßen Engspalt- schweißsystems erläutert: Mittels des ersten Sensors 15 wird ein Kamerabild der The function of the narrow gap welding system according to the invention is explained below: By means of the first sensor 15 is a camera image of the
Schweißfuge 30 aufgenommen. Das Kamerabild des ersten Sensors 15 wird der ersten Positioniereinheit übertragen. Die erste Positioniereinheit umfasst ein Bilderkennungsmodul, welches aus dem Kamerabild für den Längsverlauf charakteristische Daten extrahiert. Aus diesen Daten ermittelt die erste Welding joint 30 was added. The camera image of the first sensor 15 is transmitted to the first positioning unit. The first positioning unit comprises an image recognition module which extracts characteristic data from the camera image for the longitudinal course. The first determines from these data
Positioniereinheit eine Stellung des zweiten Sensors 20 derart, dass dieser zur Erfassung eines Profils senkrecht zu ei- ner Tangente an den Längsverlauf der Schweißfuge 30 orientiert ist. Positioning a position of the second sensor 20 such that it is oriented for detecting a profile perpendicular to a tangent to the longitudinal course of the weld joint 30.
Ferner wird das Kamerabild des ersten Sensors 15 auch einer zweiten Positioniereinheit übermittelt, welche aus dem Kame- rabild für den Längsverlauf charakteristische Daten zur Stellung des Engspaltschweißkopfs extrahiert. Aus diesen Daten ermittelt die zweite Positioniereinheit eine geeignete Stellung des Schweißkopfs an der Schweißfuge 30. Die zweite Furthermore, the camera image of the first sensor 15 is also transmitted to a second positioning unit, which extracts characteristic data for the position of the narrow gap welding head from the camera image for the longitudinal course. From these data, the second positioning unit determines a suitable position of the welding head on the welding joint 30. The second
Positioniereinheit stellt mittels einer mechanischen Stell- einrichtung die Orientierung sowie die Position des Schweißkopfes und somit die Position des Engspaltschwerts 5 geeignet ein . Positioning unit adjusts the orientation and the position of the welding head and thus the position of the narrow gap blade 5 suitably by means of a mechanical adjusting device.
Sowohl die erste Positioniereinheit als auch die zweite Both the first positioning unit and the second
Positioniereinheit ziehen die Vorschubgeschwindigkeit desPositioning unit pull the feed rate of the
Schweißkopfs entlang der Schweißfuge 30 heran. Auf diese Weise wird berücksichtigt, dass der Schweißkopf diejenigen Orte an der Schweißfuge 30, an welchen vom ersten 15 und zweiten Sensor 20 der Längsverlauf und das Profil erfasst werden, erst nacheilend erreicht. Der räumliche Versatz derjenigen Orte, an welchen erster und zweiter Sensor den Längsverlauf und das Profil erfassen, zu demjenigen Ort, an welchem sich aktuell das Engspaltschwert 5 befindet, wird somit geeignet berücksichtigt . Welding head along the welding joint 30 zoom. In this way, it is taken into account that the welding head only reaches those locations on the welding joint 30 at which the longitudinal profile and the profile are detected by the first sensor 15 and the second sensor 20. The spatial offset of those locations at which the first and second sensors detect the longitudinal course and the profile to the location at which the narrow-gap blade 5 is currently located is thus taken into appropriate consideration.

Claims

Patentansprüche claims
1. Schweißsystem aufweisend einen Schweißkopf und eine Fugenverfolgungseinrichtung (10) , die mindestens einen ersten Sen- sor (15) , ausgebildet zur Erfassung eines Längsverlaufs einer Schweißfuge (30) und einen zweiten Sensor zur Erfassung eines Profils der Schweißfuge (30) , der an dem Schweißkopf beweglich angeordnet ist, umfasst, sowie eine erste A welding system comprising a welding head and a joint tracer (10) comprising at least a first sensor (15) adapted to detect a longitudinal course of a welding joint (30) and a second sensor for detecting a profile of the welding joint (30) the welding head is movably arranged, and a first
Positioniereinheit, welche abhängig von dem mittels des ers- ten Sensors (15) erfassten Längsverlauf der Schweißfuge (30) die Position und/oder Orientierung des zweiten Sensors (20) relativ zum Schweißkopf stellt. Positioning unit which, depending on the longitudinal profile of the welding joint (30) detected by means of the first sensor (15), sets the position and / or orientation of the second sensor (20) relative to the welding head.
2. Schweißsystem nach Anspruch 1, aufweisend eine zweite Positioniereinheit, welche abhängig von dem erfassten Längsverlauf der Schweißfuge (30) die Position und/oder Orientierung des Schweißkopfs, insbesondere relativ zur Schweißfuge (30) und/oder zum Verlauf der Schweißfuge (30), stellt. 2. Welding system according to claim 1, comprising a second positioning unit which, depending on the detected longitudinal profile of the welding joint (30), determines the position and / or orientation of the welding head, in particular relative to the welding joint (30) and / or to the course of the welding joint (30), provides.
3. Schweißsystem nach einem der vorhergehenden Ansprüche, bei welchem die erste und/oder zweite Positioniereinheit ausgebildet ist/sind, zusätzlich zum erfassten Längsverlauf eine Geschwindigkeit des Schweißkopfs entlang der Schweißfuge (30) heranzuziehen und abhängig von der Geschwindigkeit die Posi- tion und/oder Orientierung des Schweißkopfs und/oder der Fugenverfolgungseinrichtung (10) und/oder des ersten Sensors (15) und/oder des zweiten Sensors (20) zu stellen. 3. Welding system according to one of the preceding claims, wherein the first and / or second positioning unit is / are used in addition to the detected longitudinal course of a speed of the welding head along the weld joint (30) and depending on the speed of the position and / or Orientation of the welding head and / or the joint tracing device (10) and / or the first sensor (15) and / or the second sensor (20) to provide.
4. Schweißsystem nach einem der vorhergehenden Ansprüche, bei welchem der erste Sensor (15) mit einer Kamera gebildet ist. 4. Welding system according to one of the preceding claims, wherein the first sensor (15) is formed with a camera.
5. Schweißsystem nach einem der vorhergehenden Ansprüche, bei welchem der zweite Sensor (20) mit einem Lasersensor gebildet ist . 5. Welding system according to one of the preceding claims, wherein the second sensor (20) is formed with a laser sensor.
6. Schweißsystem nach einem der vorhergehenden Ansprüche, bei welchem der erste (15) und/oder zweite Sensor (20) drehbar oder schwenkbar an dem Schweißkopf angebunden ist/sind. 6. Welding system according to one of the preceding claims, wherein the first (15) and / or second sensor (20) is rotatably or pivotally connected to the welding head / are.
7. Schweißsystem nach einem der vorhergehenden Ansprüche, welches ein Engspaltschweißsystem ist und bei welchem der Schweißkopf ein Engspaltschwert (5) umfasst. 7. Welding system according to one of the preceding claims, which is a narrow gap welding system and wherein the welding head comprises a narrow gap blade (5).
PCT/EP2014/069710 2013-09-30 2014-09-16 Welding system with seam tracking and detection of a seam profile WO2015044005A1 (en)

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