WO2023084907A1 - アーク溶接装置及びアーク溶接方法 - Google Patents
アーク溶接装置及びアーク溶接方法 Download PDFInfo
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- WO2023084907A1 WO2023084907A1 PCT/JP2022/034354 JP2022034354W WO2023084907A1 WO 2023084907 A1 WO2023084907 A1 WO 2023084907A1 JP 2022034354 W JP2022034354 W JP 2022034354W WO 2023084907 A1 WO2023084907 A1 WO 2023084907A1
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- welding
- arc welding
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- laser sensor
- processed
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- 238000003466 welding Methods 0.000 title claims description 150
- 238000000034 method Methods 0.000 title claims description 14
- 238000001514 detection method Methods 0.000 claims description 14
- 238000003754 machining Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 230000003044 adaptive effect Effects 0.000 description 3
- 240000001973 Ficus microcarpa Species 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
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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
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/346—Working by laser beam, e.g. welding, cutting or boring in combination with welding or cutting covered by groups B23K5/00 - B23K25/00, e.g. in combination with resistance welding
- B23K26/348—Working by laser beam, e.g. welding, cutting or boring in combination with welding or cutting covered by groups B23K5/00 - B23K25/00, e.g. in combination with resistance welding in combination with arc heating, e.g. TIG [tungsten inert gas], MIG [metal inert gas] or plasma welding
-
- 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
- B23K9/126—Controlling the spatial relationship between the work and the gas torch
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
Definitions
- the present disclosure relates to an arc welding apparatus and an arc welding method that perform arc welding by applying a welding voltage between a welding wire and a workpiece.
- the arc welding device disclosed in Patent Document 1 includes a welding torch, a laser sensor, a manipulator, and a controller.
- a welding torch holds a welding wire.
- the laser sensor irradiates an object to be processed with laser light and detects reflected light from the object to be processed.
- the manipulator has a welding torch and a laser sensor attached to its tip.
- the control unit controls the manipulator to perform movement control to move the welding position along a predetermined teaching trajectory with the laser sensor arranged in front of the welding torch in the direction of travel, between the welding wire and the workpiece.
- the control unit identifies the position of the characteristic portion of the workpiece based on the detection result of the reflected light by the laser sensor during execution of the movement control so that the identified characteristic portion becomes the welding position. corrects the teaching trajectory.
- the present disclosure has been made in view of this point, and its object is to provide an arc welding apparatus that moves the welding position along a predetermined teaching locus, even if the teaching locus is a curve. To facilitate correction of a teaching trajectory based on a detection result of .
- an arc welding apparatus performs arc welding by applying a welding voltage between a welding wire and a workpiece, and holds the welding wire.
- a welding torch that irradiates the object to be processed with a laser beam and detects reflected light from the object to be processed; and a rotary joint that rotates around a predetermined axis, wherein the predetermined axis is the A manipulator having the welding torch and the laser sensor attached to its tip so as to pass through the irradiation area of the laser beam on the workpiece, and by controlling the manipulator, the welding position is moved along a predetermined teaching trajectory.
- Movement control is executed in a state in which the welding voltage is applied between the welding wire and the workpiece, and during execution of the movement control, based on the result of detection of the reflected light by the laser sensor.
- a control unit that identifies the position of the characteristic portion of the workpiece and corrects the predetermined teaching locus so that the identified characteristic portion becomes the welding position.
- the characteristic portion is less likely to leave the laser beam irradiation area. Therefore, even when the taught trajectory is a curved line, it is easy to correct the taught trajectory based on the detection result of the laser sensor.
- an arc welding apparatus that moves a welding position along a predetermined teaching trajectory, even when the teaching trajectory is a curved line, it is possible to easily correct the teaching trajectory based on the detection result of the laser sensor.
- FIG. 1 is a schematic diagram showing an arc welding apparatus according to an embodiment of the present disclosure
- FIG. 2 is a schematic diagram around the manipulator.
- FIG. 3 is a block diagram showing the configuration of the control system.
- FIG. 4 is a perspective view illustrating an object to be processed.
- FIG. 5 is a flow chart for explaining the operation of the arc welding apparatus when welding joints of workpieces.
- FIG. 1 is a schematic diagram showing an arc welding device 1 according to an embodiment of the present disclosure.
- This arc welding apparatus 1 performs arc welding by applying a welding voltage between the welding wire 11 and the workpiece W.
- the arc welding apparatus 1 includes a welding torch 12, a wire feeder 13, a laser sensor 14, a manipulator 15, a welding power supply 16, and a control system 20 (control unit in the present disclosure). I have.
- the welding torch 12 holds the welding wire 11.
- the wire feeding device 13 feeds the welding wire 11 to the welding torch 12.
- the welding power supply 16 controls the feeding speed of the welding wire 11 by the wire feeding device 13 .
- the laser sensor 14 obtains position information indicating the distance from the laser sensor 14 to the processing object W by irradiating the processing object W with the laser light L and detecting the reflected light from the processing object W.
- FIG. 2 is a schematic diagram around the manipulator 15.
- FIG. The manipulator 15, as shown in FIG. 2, is a 6-axis vertical articulated robot having first to sixth revolute joints 151-156.
- the first to sixth rotary joints 151 to 156 are provided in order from the base end (opposite to the tip) side of the manipulator 15 .
- the first revolute joint 151 rotates around the first axis A1.
- the second revolute joint 152 rotates about a second axis A2.
- the third revolute joint 153 rotates around the third axis A3.
- the fourth revolute joint 154 rotates about a fourth axis A4.
- the fifth revolute joint 155 rotates about a fifth axis A5.
- the sixth revolute joint 156 rotates about a sixth axis A6.
- a fourth axis A4 is parallel to the X-axis shown in FIG.
- the second axis A2 the third axis A3 and the fifth axis A5 are parallel to the Y-axis shown in FIG.
- the first axis A1 and the sixth axis A6 are parallel to the Z-axis shown in FIG.
- a welding torch 12 and a laser sensor 14 are attached to the tip of the manipulator 15 .
- the laser sensor 14 is arranged such that the sixth axis A6 (predetermined axis in the present disclosure) passes through the center of the irradiation area R of the laser beam L on the workpiece W.
- a wire feeding device 13 is attached to the manipulator 15 as shown only in FIG. The wire feeding device 13 is attached, for example, to an arm between the third rotary joint 153 and the fourth rotary joint 154 .
- the welding power supply 16 applies a welding voltage between the welding wire 11 and the workpiece W.
- the welding power supply device 16 is also used as an operating power source for the wire feeding device 13 .
- Welding power supply 16 controls the feed speed of welding wire 11 by wire feeder 13 (see FIG. 1).
- FIG. 3 is a block diagram showing the configuration of the control system 20. As shown in FIG. FIG. 4 is a perspective view illustrating the workpiece W. FIG.
- control system 20 includes a sensor control device 30 and a robot control device 40.
- the sensor control device 30 has a joint identifying unit 31, a trajectory acquiring unit 32, a movement amount calculating unit 33, a correction amount calculating unit 34, an adaptive condition calculating unit 35, and an adding unit 36.
- a sensor controller 30 is connected to the laser sensor 14 .
- an object W to be processed is composed of two members joined to each other, that is, a member W1 and a member W2.
- the joint identification unit 31 identifies the position of the joint J between the member W1 and the member W2 as a characteristic portion in the workpiece W based on the detection result of the reflected light by the laser sensor 14 .
- the position of the joint J is identified based on positional information obtained by the laser sensor 14 .
- the joint identifying unit 31 also identifies the width of the gap between the member W1 and the member W2 based on the positional information obtained by the laser sensor 14 .
- the trajectory acquisition unit 32 acquires a taught trajectory input by the user or obtained in past welding operations.
- the movement amount calculation unit 33 calculates the amount of movement in the three-dimensional direction from the current welding position to the next welding position on the teaching locus acquired by the locus acquisition unit 32 .
- the correction amount calculation unit 34 calculates a correction amount in the three-dimensional direction for moving the corresponding location in the teaching trajectory acquired by the trajectory acquisition unit 32 to the position of the joint J specified by the joint specification unit 31 .
- the adaptive condition calculation unit 35 calculates the welding current, the welding voltage, and their amplitudes based on the width of the gap between the member W1 and the member W2 identified by the joint identification unit 31.
- the addition unit 36 adds the correction amount calculated by the correction amount calculation unit 34 to the movement amount calculated by the movement amount calculation unit 33, and outputs the corrected movement amount.
- the robot controller 40 includes a robot position controller 41 and a power controller 42 .
- Robot controller 40 is connected to manipulator 15 , welding power supply 16 and sensor controller 20 .
- the robot position control unit 41 controls the rotary joints 151 to 156 of the manipulator 15 so as to move the welding position by the corrected movement amount output by the addition unit 36 of the sensor control device 30 .
- the power supply control unit 42 controls the welding power supply 16 based on the welding current and welding voltage calculated by the adaptive condition calculation unit 35 and their amplitudes.
- the object W to be processed shown in FIG. 4 is composed of two plate-like members, that is, a member W1 and a member W2, which are stacked vertically in a stepped manner.
- step 101 (S101) the trajectory acquisition unit 32 acquires a taught trajectory.
- the movement amount calculation unit 33 moves the manipulator 15 from the current position to a position where the welding start position on the teaching locus acquired by the locus acquisition unit 32 in step 101 (S101) can be irradiated with the laser beam L of the laser sensor 14.
- the correction amount calculator 34 does not calculate the correction amount.
- the robot position control unit 41 controls each of the rotary joints 151 to 156 of the manipulator 15 so as to move the welding position by the amount of movement calculated by the movement amount calculation unit 33 .
- the laser sensor 14 moves to a position where the laser beam L can be applied to the welding start position on the teaching locus acquired by the locus acquisition unit 32 in step 101 (S101).
- step 102 the laser sensor 14 irradiates the object W to be processed with the laser light L and detects light reflected from the object W to be processed.
- the joint identification unit 31 identifies the position of the joint J as a characteristic portion in the workpiece W based on the detection result of the reflected light by the laser sensor .
- step 104 the movement amount calculation unit 33 calculates the distance from the welding position corresponding to the current position of the welding torch 12 to the next welding position on the teaching locus acquired by the locus acquisition unit 32 in step 101 (S101). , the amount of movement in the three-dimensional direction is calculated.
- step 105 the correction amount calculation unit 34 places the teaching trajectory acquired by the trajectory acquisition unit 32 in step 101 (S101) on the position of the joint J specified by the joint specifying unit 31 in step 103 (S103). A correction amount in the three-dimensional direction for moving the corresponding portion in is calculated.
- step 106 the addition unit 36 adds the correction amount calculated by the correction amount calculation unit 34 in step 105 (S105) to the movement amount calculated by the movement amount calculation unit 33 in step 104 (S104). By doing so, the movement amount after correction is output.
- step 107 the robot position control unit 41 moves the welding position corresponding to the position of the welding torch 12 by the corrected movement amount output by the addition unit 36 in step 106 (S106). It controls the rotary joints 151 to 156 of the manipulator 15, respectively.
- the movement trajectory of the welding position becomes a trajectory obtained by correcting the teaching trajectory acquired by the trajectory acquisition section 32 by the correction amount calculated by the correction amount calculation section 34 .
- the joint J specified by the joint specifying unit 31 becomes the welding position.
- step 108 the movement amount calculation unit 33 determines whether or not there is a next welding position in the teaching locus. If it is determined that there is a next welding position, the process proceeds to step 109 (S109). When it is determined that there is no next welding position, the process proceeds to step 111 (S111).
- step 109 the robot position control unit 41 determines whether the welding position corresponding to the current position of the welding torch 12 is the desired welding position. If it is determined that the welding position is not the desired one, the process returns to step 102 (S102). If the desired welding position is determined, the process proceeds to step 110 (S110).
- the power supply controller 42 causes the welding power supply 16 to apply a welding voltage between the welding wire 11 and the workpiece W. Also, the welding power supply 16 causes the wire feeder 13 to feed the welding wire 11 . Thereby, arc welding is performed.
- step 111 the movement amount calculation unit 33 determines that the welding position corresponding to the current position of the welding torch 12 is the welding end position on the teaching locus acquired by the locus acquisition unit 32 in step 101 (S101). Determine whether or not If it is determined to be the welding end position, the process proceeds to step 112 (S112). If it is determined that the welding end position is not reached, the process returns to step 103 (S103).
- the power supply controller 42 causes the welding power supply 16 to stop applying the welding voltage between the welding wire 11 and the workpiece W. This completes the arc welding.
- control system 20 performs movement control to move the welding position along a predetermined teaching trajectory by controlling the manipulator 15.
- the welding voltage is applied between the welding wire 11 and the workpiece W.
- the position of the joint J of the workpiece W is specified based on the detection result of the reflected light by the laser sensor 14, and the specified characteristic portion is taught to be the welding position. Correct the trajectory.
- the sixth axis A6 of the manipulator 15 does not pass through the irradiation area R of the laser light L emitted by the laser sensor 14, but passes through the vicinity of the tip of the welding wire 11, for example, the sixth rotary joint Due to the rotation of 156, the irradiation area R of the laser light L is separated from the joint J, and there is a possibility that the above-described correction of the teaching trajectory based on the detection result of the laser sensor 14 cannot be performed.
- the sixth axis A6 of the manipulator 15 passes through the center of the irradiation area R of the laser beam L on the workpiece W. Therefore, even if the sixth rotary joint 156 is rotated while the joint J is positioned in the irradiation region R of the laser light L, the joint J does not leave the irradiation region R of the laser light L. FIG. Therefore, even if the taught locus is a curved line, the taught locus can be corrected based on the detection result of the laser sensor 14 .
- the sixth axis A6 of the manipulator 15 passes through the center of the irradiation area R of the laser beam L on the object W to be processed.
- the sixth axis A6 may pass through the irradiation area R.
- the joint J is less likely to leave the irradiation region R of the laser light L due to the rotation of the sixth revolute joint 156 compared to the case where the sixth axis A6 does not pass through the irradiation region R of the laser light L.
- the arc welding apparatus and the arc welding method of the present disclosure in an arc welding apparatus that moves the welding position along a predetermined teaching trajectory, corrects the teaching trajectory based on the detection result of the laser sensor even if the teaching trajectory is a curved line. It can be done easily. Therefore, it is useful as an arc welding apparatus and an arc welding method for performing arc welding by applying a welding voltage between a welding wire and a workpiece.
- control system control unit 156 sixth revolute joint A6 sixth axis J joint L laser beam R irradiation area W object to be processed
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Abstract
Description
11 溶接ワイヤ
12 溶接トーチ
14 レーザセンサ
15 マニピュレータ
20 制御システム(制御部)
156 第6の回転関節
A6 第6の軸線
J 継手
L レーザ光
R 照射領域
W 加工対象物
Claims (4)
- 溶接ワイヤと加工対象物との間に溶接電圧を印加することによりアーク溶接を行うアーク溶接装置であって、
前記溶接ワイヤを保持する溶接トーチと、
前記加工対象物にレーザ光を照射し、前記加工対象物からの反射光を検出するレーザセンサと、
所定の軸線周りに回転する回転関節を有し、前記所定の軸線が前記加工対象物における前記レーザ光の照射領域を通過するように前記溶接トーチ及び前記レーザセンサが先端に取り付けられたマニピュレータと、
前記マニピュレータを制御することにより所定の教示軌跡に沿って溶接位置を移動させる移動制御を、前記溶接ワイヤと前記加工対象物との間に前記溶接電圧が印加された状態で実行するとともに、前記移動制御の実行中に、前記レーザセンサによる前記反射光の検出結果に基づいて前記加工対象物の特徴部の位置を特定し、前記特定した特徴部が前記溶接位置となるように前記所定の教示軌跡を補正する制御部と、
を備えるアーク溶接装置。 - 請求項1に記載のアーク溶接装置において、
前記所定の軸線は、前記レーザ光の照射領域の中心を通過するアーク溶接装置。 - 溶接ワイヤと加工対象物との間に溶接電圧を印加することによりアーク溶接を行うアーク溶接方法であって、
前記溶接ワイヤを保持する溶接トーチと、
前記加工対象物にレーザ光を照射し、前記加工対象物からの反射光を検出するレーザセンサと、
所定の軸線周りに回転する回転関節を有し、前記溶接トーチ及び前記レーザセンサが先端に取り付けられたマニピュレータと、を備えたアーク溶接装置を用いて、
前記マニピュレータを制御することにより所定の教示軌跡に沿って溶接位置を移動させる移動制御を、前記溶接ワイヤと前記加工対象物との間に前記溶接電圧が印加され、かつ前記所定の軸線が前記加工対象物における前記レーザ光の照射領域を通過する溶接状態で実行するとともに、前記移動制御の実行中に、前記レーザセンサによる前記反射光の検出結果に基づいて前記加工対象物の特徴部の位置を特定し、
前記特定した特徴部が前記溶接位置となるように前記所定の教示軌跡を補正する、
ことを含む、アーク溶接方法。 - 請求項3に記載のアーク溶接方法において、
前記溶接状態において、前記所定の軸線は、前記レーザ光の照射領域の中心を通過するアーク溶接方法。
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CN202280064394.XA CN117980104A (zh) | 2021-11-10 | 2022-09-14 | 电弧焊接装置以及电弧焊接方法 |
JP2023559450A JPWO2023084907A1 (ja) | 2021-11-10 | 2022-09-14 | |
EP22892408.0A EP4431216A1 (en) | 2021-11-10 | 2022-09-14 | Arc welding device and arc welding method |
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CN118002888A (zh) * | 2024-04-10 | 2024-05-10 | 南京理工大学 | 一种基于时序信息融合的鲁棒实时焊缝跟踪方法 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6437604A (en) * | 1987-08-04 | 1989-02-08 | Meidensha Electric Mfg Co Ltd | Profile controller for robot |
JP2003164987A (ja) * | 2001-11-26 | 2003-06-10 | Mitsubishi Heavy Ind Ltd | 3次元形状物溶接方法及びその装置 |
JP2010089117A (ja) * | 2008-10-07 | 2010-04-22 | Jfe Engineering Corp | 溶接用レーザ・視覚複合センサおよび溶接制御方法 |
JP2018122335A (ja) * | 2017-02-01 | 2018-08-09 | 株式会社神戸製鋼所 | アーク点調整棒取付構造、及び多関節溶接ロボット、並びに溶接装置 |
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- 2022-09-14 WO PCT/JP2022/034354 patent/WO2023084907A1/ja active Application Filing
- 2022-09-14 CN CN202280064394.XA patent/CN117980104A/zh active Pending
- 2022-09-14 JP JP2023559450A patent/JPWO2023084907A1/ja active Pending
- 2022-09-14 EP EP22892408.0A patent/EP4431216A1/en active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6437604A (en) * | 1987-08-04 | 1989-02-08 | Meidensha Electric Mfg Co Ltd | Profile controller for robot |
JP2003164987A (ja) * | 2001-11-26 | 2003-06-10 | Mitsubishi Heavy Ind Ltd | 3次元形状物溶接方法及びその装置 |
JP2010089117A (ja) * | 2008-10-07 | 2010-04-22 | Jfe Engineering Corp | 溶接用レーザ・視覚複合センサおよび溶接制御方法 |
JP2018122335A (ja) * | 2017-02-01 | 2018-08-09 | 株式会社神戸製鋼所 | アーク点調整棒取付構造、及び多関節溶接ロボット、並びに溶接装置 |
Cited By (1)
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CN118002888A (zh) * | 2024-04-10 | 2024-05-10 | 南京理工大学 | 一种基于时序信息融合的鲁棒实时焊缝跟踪方法 |
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