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WO2009143882A1 - Robot de soudage à l'arc - Google Patents

Robot de soudage à l'arc Download PDF

Info

Publication number
WO2009143882A1
WO2009143882A1 PCT/EP2008/056481 EP2008056481W WO2009143882A1 WO 2009143882 A1 WO2009143882 A1 WO 2009143882A1 EP 2008056481 W EP2008056481 W EP 2008056481W WO 2009143882 A1 WO2009143882 A1 WO 2009143882A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
welding
arc
sensed
voltage
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2008/056481
Other languages
English (en)
Inventor
Görgen Johansson
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABB Technology AG
Original Assignee
ABB Technology AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ABB Technology AG filed Critical ABB Technology AG
Priority to PCT/EP2008/056481 priority Critical patent/WO2009143882A1/fr
Publication of WO2009143882A1 publication Critical patent/WO2009143882A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

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
    • B23K9/095—Monitoring or automatic control of welding parameters
    • B23K9/0953—Monitoring or automatic control of welding parameters using computing means
    • 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
    • B23K9/1272—Geometry oriented, e.g. beam optical trading
    • 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
    • B23K9/1276—Using non-contact, electric or magnetic means, e.g. inductive means
    • 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
    • B23K9/24—Features related to electrodes
    • B23K9/28—Supporting devices for electrodes
    • B23K9/287—Supporting devices for electrode holders

Definitions

  • the present invention in a first aspect relates to an arc welding robot 5 including a welding gun.
  • the invention in a second aspect relates to a method for controlling an arc welding robot, the method being of the kind performed by an arc welding robot as set out above.
  • the robot is pre-programmed to move the welding torch along the seam in its nominal position.
  • the robot also is programmed to roughly localize the joint. It is of course important that the welding gun exactly follows the joint such that the neutral
  • Known tracking system include the use of a video camera or a laser beam for tracking the joint and to provide the robot controller with the obtained information for governing the welding gun to be
  • the object of the present invention is to reach a tracking system of the varying impedance based kind where the drawbacks of known such system are overcome or at least reduced, in particular to reduce the cost for a tracking system based on the varying impedance.
  • an arc welding robot having a welding power source, a robot controller, a voltage sensor arranged for sensing the voltage across the arc gap, a position measurement system arranged for sensing the position of the welding gun and processing means arranged for processing data and deliver robot commands based on the input data, the input data including the voltage sensed by the voltage sensor, the voltage across the arc gap and the position data sensed by the position measurement system includes the specific feature that the processing means is the micro processor of the robot controller.
  • the current sensor forms a part of the welding power source.
  • the need for an external current sensor for the joint tracking is eliminated. This will further reduce the cost for auxiliary equipment.
  • the robot further includes a voltage sensor arranged for sensing the voltage across the arc gap, which voltage sensor forms a part of the welding power source, and the input data includes the voltage sensed by the voltage sensor.
  • the voltage sensor is integrated in the welding power source the need for external equipment also for this function is eliminated which further contributes to achieve a low-cost tracking system. Normally also a voltage sensor is present in the welding power source. This function thereby does not require any additional components within the welding power source.
  • a method for controlling an arc welding robot of the kind specified above includes the specific measure that the input data are processed in the micro processor of the robot controller.
  • Preferred embodiments of the invented method correspond to the preferred embodiments of the invented arc welding robot as set out above.
  • the invented method and the preferred embodiments thereof have advantages corresponding to those of the invented arc welding robot as explained above.
  • Fig 1 illustrates the track of a welding gun across the joint.
  • Fig 2 is a schematical side view of an arc welding robot according to the invention.
  • Fig. 1 illustrates joining two work pieces 101 and 102 to each other along a V-shaped joint 103.
  • the welding gun travels in the direction of the joint, the x-direction and in a reciprocating movement perpendicular thereto in the y-direction.
  • the reciprocating movement bridges the V-shaped joint.
  • the two motions in this case add up to sinusoidal travelling path P of the welding gun.
  • the impedance across the arc gap is proportional to the length of the arc.
  • the robot is programmed to follow the joint which can be a straight line or follow a certain curve.
  • the robot is also programmed to make the lateral motion corresponding to the width of the joint.
  • This pre-set travelling pattern matches the actual location of the seam.
  • the robot is pre-programmed to move the welding torch along the seam in its nominal position. For various reasons the actual position of a part including the seam may be misaligned with its nominal position. It is therefore necessary to take measures so that the programmed travelling pattern of the welding gun exactly matches the joint.
  • the shape of the impedance curve and its correlation with the pendulum pattern is used to generate path correlations perpendicular to the joint.
  • the mean calculation of the impedance is used to generate corrections of the arc length.
  • Fig. 2 is a schematic side view of an arc welding robot according to the invention.
  • the welding gun 2 operates to join the work pieces 101 , 102 along a joint 103 and is carried by the robot frame 1.
  • the required voltage is received from the welding power source 3 and the operation of the robot is governed by the robot controller 4.
  • the current sensor 5 and the voltage sensor 6 normally present in the welding power source are used to provide the data required for obtaining the impedance across the arc gap.
  • the position measurement system 7 of the robot controller provides the information represented by the curves B and C of figures 2 and 3. This information together with the impedance data received from the welding power source via the bus 9 are processed in the micro processor 8 of the robot controller 4 and governs the movements of the welding gun. All equipment required for the joint tracking thus is integrated in the welding power source and the robot controller, eliminating the need for external equipment traditionally used for this.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Geometry (AREA)
  • Theoretical Computer Science (AREA)
  • Manipulator (AREA)

Abstract

L'invention porte sur un robot de soudage à l'arc présentant un pistolet de soudage (2), une source d'énergie de soudage (3), un dispositif de commande de robot (4), un détecteur de courant (5) détectant le courant délivré à l'arc, un système de mesure de position (7) détectant la position du pistolet de soudage (2) et des moyens de traitement traitant des données associées au courant détecté et à la position détectée, et délivrant des commandes de robot sur la base des données traitées. Selon l'invention, les moyens de traitement sont constitués par le microprocesseur (8) du dispositif de commande de robot (4). L'invention porte également sur un procédé correspondant pour commander un robot de soudage à l'arc.
PCT/EP2008/056481 2008-05-27 2008-05-27 Robot de soudage à l'arc Ceased WO2009143882A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2008/056481 WO2009143882A1 (fr) 2008-05-27 2008-05-27 Robot de soudage à l'arc

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2008/056481 WO2009143882A1 (fr) 2008-05-27 2008-05-27 Robot de soudage à l'arc

Publications (1)

Publication Number Publication Date
WO2009143882A1 true WO2009143882A1 (fr) 2009-12-03

Family

ID=40336533

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2008/056481 Ceased WO2009143882A1 (fr) 2008-05-27 2008-05-27 Robot de soudage à l'arc

Country Status (1)

Country Link
WO (1) WO2009143882A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102151948A (zh) * 2011-01-21 2011-08-17 哈尔滨工业大学 用于极限环境管道维修的宏-微机器人遥控焊接方法
CN110871439A (zh) * 2018-09-03 2020-03-10 苏州睿牛机器人技术有限公司 一种爬行弧焊机器人及爬行弧焊机器人的控制方法、装置
CN111843120A (zh) * 2020-08-07 2020-10-30 北京时代科技股份有限公司 基于电弧传感和位置前馈的机器人焊缝跟踪算法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5624588A (en) * 1994-08-22 1997-04-29 Fanuc Ltd. Method of controlling robot for use in arc welding
EP1038640A2 (fr) * 1999-03-25 2000-09-27 Fanuc Ltd. Commande de manipulateur
EP1168126A1 (fr) * 1999-05-25 2002-01-02 Fanuc Ltd Commande de robot présentant une fonction de surveillance d'anomalies
US20030038156A1 (en) * 2000-04-05 2003-02-27 Josef Artelsmair Method for continuously regulating or tracking a position of a welding torch or a welding head

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5624588A (en) * 1994-08-22 1997-04-29 Fanuc Ltd. Method of controlling robot for use in arc welding
EP1038640A2 (fr) * 1999-03-25 2000-09-27 Fanuc Ltd. Commande de manipulateur
EP1168126A1 (fr) * 1999-05-25 2002-01-02 Fanuc Ltd Commande de robot présentant une fonction de surveillance d'anomalies
US20030038156A1 (en) * 2000-04-05 2003-02-27 Josef Artelsmair Method for continuously regulating or tracking a position of a welding torch or a welding head

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102151948A (zh) * 2011-01-21 2011-08-17 哈尔滨工业大学 用于极限环境管道维修的宏-微机器人遥控焊接方法
CN110871439A (zh) * 2018-09-03 2020-03-10 苏州睿牛机器人技术有限公司 一种爬行弧焊机器人及爬行弧焊机器人的控制方法、装置
CN111843120A (zh) * 2020-08-07 2020-10-30 北京时代科技股份有限公司 基于电弧传感和位置前馈的机器人焊缝跟踪算法
CN111843120B (zh) * 2020-08-07 2022-01-07 北京时代科技股份有限公司 基于电弧传感和位置前馈的机器人焊缝跟踪算法

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