PROCESS FOR INTRODUCING / CHECKING A MOTION FLOW OF A WELDING ROBOT, A WELDING ROBOT AND A CONTROL T

专利摘要:
A method for teaching a welding robot is specified in which a position is determined and stored via a manually performed positioning operation. In a first step, a movably mounted welding wire (9, 30) is moved out of a welding head (29) to a length (I). Thereafter, the welding head (29) is moved to a position on a workpiece (14, 31). After positioning, a "wire-touch sensing process" is started in the welding machine in which a test voltage is applied between the welding wire (9, 30) and the workpiece (14, 31) and then the manual positioning operation with the welding head (FIG. In this case, the welding wire (9, 30) is retracted to interrupt the flow of current when a current flow between the welding wire (9, 30) and the workpiece (14, 31) or a dip in the test voltage is detected a welding system or a controller specified for the same, which perform the inventive method.
公开号:AT510886A1
申请号:T27/2011
申请日:2011-01-10
公开日:2012-07-15
发明作者:Josef Artelsmair
申请人:Fronius Int Gmbh；
IPC主号:

专利说明:

25 • * 16: 25 * 59 10-01-2011 5/54 * * * * * * * * * * * * * * * * * * * * * * * - * * * * * * -
The invention relates to a method for teaching a welding robot, in which a position is set and stored via a manually performed positioning, comprising the steps moving out a movably mounted welding wire from a welding head, in particular a welding torch, to a length and moving the welding head to a Position on a workpiece, preferably with deactivated power supply of the welding head. The invention also relates to a method for automatically positioning a welding head on a workpiece in which a preprogrammed position is approached.
Furthermore, the invention relates to a control for teaching a welding robot, in which a position is set and stored via a manually performed positioning, comprising a first output for driving a first drive system, which for moving the welding head to a position on a workpiece, preferably at deactivated power supply of the welding head is prepared, and a second output for driving a second drive system, which is prepared for retracting a movably mounted welding wire from a welding head, in particular of the welding torch to a length.
Finally, the invention relates to a welding system, comprising a welding device and a welding robot, which are coupled to each other via lines, in particular a bus system, and a welding torch, in particular on the last axis of the welding robot, fixed welding torch, wherein the welding torch from the welding robot along a predetermined Track is performed and the control of the thereby carried out welding process from Schwerßgerät from.
For a long time, industrial robots have been used for a wide range of tasks, including welding. In this case, a welding head is driven over a predefined path to perform the weld. According to the prior art exist
NZ010 / 1740D -2- 1f: 26 «14 10-01-2011 6 '54 25 various methods for programming industrial robots, in particular welding robots:
One possibility is to program the robot online. The programming of the robot thus takes place directly on or with the robot itself. These programming methods include the teach-in method and the playback method.
In the teach-in process, the programmer moves the robot with a control console to a position that is also included in the later, automatically executed motion sequence, and stores them. This sequence is repeated until the entire motion sequence to be executed is stored. When the program is executed, the robot then autonomously moves to all stored points. For the movement between the individual points, additional parameters such as speeds and accelerations of the welding head can be entered.
In the playback method, the programmer departs the intended path by directly guiding the robot arm. During the guidance of the welding head, coordinates are recorded by the robot and later converted into a robot program. The robot later repeats precisely this sequence of movements performed by the programmer.
Another option for programming welding robots is offline programming. Program development takes place offline on a computer independent of the robot. The robot itself is not needed.
Offline programming includes textual programming, CAD-based programming, macro programming and Acoustic Programming. Textual programming describes the movement process with a problem-oriented language. The method is similar to programming in a high-level programming language. For frequently recurring operations, macros are created that represent frequently used command sequences in a condensed form. The macro is programmed once and then inserted into the required locations of the control program.
In CAD-based programming, the robot is programmed based on design drawings and simulations. The entire sequence of movements is determined on the PC in a three-dimensional screen environment, with the N2010 / 17400 1S; 26; iC 10-01-2011 7/54 25
-3-
Environment of the robot and its tools are also shown. Frequently, design drawings are also converted directly into a sequence of movements by means of a special conversion program, which can also be changed or corrected manually if necessary.
In acoustic programming, the programming of the welding robot finally takes place via the natural language with the aid of a microphone. The system converts the spoken commands and generates a sequence of movements to be executed.
All programming methods have in common that sooner or later a motion sequence is executed on the real machine. In the teach-in procedure and the playback method, this motion sequence is not stored for the time being. On the real robot therefore a later to be executed movement is trained. Once the sequence of movements has been saved, be it through online or offline programming, it can be checked. This is particularly important for off-line programming, as in the virtual world real-world problems can easily be overlooked or not even displayed there.
In general, when learning and / or checking a movement sequence of a welding robot still no welding is performed. Instead, the welding head can be equipped with a welding wire, without the voltage required for the welding applied voltage, or the necessary power for welding is provided. In this way, the movement can be trained or checked relatively safely. The welding head takes the same position to the workpiece as later also during welding.
Due to inadequacy in online programming or programming errors, learning and / or examining it can easily cause the welding wire or, in the worst case, the welding head itself to collide with the workpiece and be damaged. in the former case, the problem can usually still be solved relatively easily and inexpensively by exchanging or shortening the welding wire (for example, a bent welding wire can be shortened and then extended out of the welding head by the shortened length). Although the material damage is negligible in the case of a damaged welding wire, a considerable loss of time may occur, for example because the welding head is difficult to access in the current position and / or is moved into a neutral position. In the latter case, it is often necessary to reset the sequence of movements so that positions that have already been checked are unnecessarily traversed again. If the welding head has been damaged, repairing the damage is usually even more time and cost intensive.
From the prior art, some publications are known to this problem. For example, WO 2001/034336 A1 discloses a method for positioning a welding torch or a welding wire by means of a seam. The welding torch is positioned by a robotic arm at a predetermined position between two seam flanks, whereupon an exhaust pouring process is carried out in which the welding torch is moved in one direction by the robot arm until a short between the welding torch or the welding wire and a seam flank of the welding torch Workpiece occurs, after which the welding torch is moved in the opposite direction until the occurrence of another short circuit between the welding torch or the welding wire and another seam flank of the workpiece. Subsequently, a seam center is calculated by a control device by evaluation of the displacement, on which the welding torch is positioned.
Further prior art is described, for example, in DE 2 847 169 A1, DE 690 27 236 T2. JP 6238449 A and JP 58070970 A discloses.
The object of the invention is now to provide an improved method for initiating / checking a movement sequence of a welding robot. In particular, the above-mentioned problems should be avoided.
The object of the invention is achieved with a method of the first type, in which: after positioning at the position a so-called wire-touch sensing process is started in the welding machine, in which a test voltage is applied between the welding wire and the workpiece and Subsequently, the manual positioning is continued with the Schwerßkopf, wherein upon detection of a current flow between the welding wire and the workpiece or a collapse of the test voltage of the welding wire is retracted to interrupt the flow of current. N2010 / 17400 -5- 15: 27: 6¾ 10-01-2011 9/54 25
The object of the invention is further elicited with a method of the second-mentioned type, wherein: after positioning a so-called wire touch sensing process is started in the welding machine, in which a test voltage is applied between the Schwejßdraht and the workpiece and the welding wire in Direction of the workpiece is promoted and upon detection of a current flow between the welding wire and workpiece, the welding wire is retracted to interrupt the Stromfiuses, and wherein a pre-programmed path is traversed, which preferably extends transversely to the planned weld axis, and wherein when adjusting the welding head of the welding wire repeated to Workpiece and the workpiece is moved back, so the contour of the workpiece is scanned, and from the values of the conveyed wire lengths a defined position, in particular a center position, is determined.
The object of the invention is also achieved with a control of the type mentioned, wherein the controller comprises a detection device for detecting a current flow in a circuit and means for starting a so-called wire-touch Senstng process after positioning at the position, wherein the wire Touch Sensing process is adapted to apply a test voltage between the welding wire and the workpiece, and then continue the manual positioning operation with the welding head and the controller is adapted to detect a current flow between the welding wire and the workpiece or a collapse of the Test voltage to issue a command via the second output, which causes the return of the welding wire to interrupt the flow of current.
The object of the invention is finally achieved with a welding system of the type mentioned above, wherein prior to performing a welding process, a manually controlled teaching operation in which a position is set and stored via a manually operated movement sequence, comprising the following steps:
Extending a movably mounted welding wire from a welding head to a predefinable length and
Moving the welding head to a position on a workpiece at the time of the welding head being energized, N2010 / 17400 15:27:49 10-01-2011 10/54 25 • · · · · · a * * * a * * -6
Starting a teaching process in the welder after positioning at the position where a test voltage is applied between the welding wire and the workpiece and then the manual movement is performed with the welding head, wherein upon detection of a current flow between the welding wire and the workpiece or at collapse Test voltage of the welding wire for letting the current flow is moved back and after the luffing of the welding wire to the workpiece or to the predetermined length is moved, and wherein the welding wire as long as the length is not reached is repeatedly moved to the workpiece and from the workpiece back along the contour of the workpiece.
According to the invention is achieved by avoiding collisions between the welding wire or welding head and workpiece or mitigated their consequences. For this purpose, a test voltage is applied between the welding wire and the workpiece. If the welding wire touches the workpiece, a current flows or the applied test voltage drops in the circuit in which the welding wire and the workpiece lie. This change in state of current and voltage can be detected by detection means known from the prior art, such as, for example, a current comparator or voltage comparator. If such a case occurs, the welding wire is moved back into the welding head. Additionally or alternatively, the welding head may also be stopped or even retracted (e.g., in the opposite direction to the original direction of movement).
In this way, damage to the welding wire and the Schwetßkopfs can be effectively prevented. Due to the low inertia of the welding wire, this can namely be moved back so fast that it does not damage it.
The welding head can usually not be stopped or reduced so fast because of its significantly greater inertia. In any case, a rapid stopping or retracting the welding head requires considerable energy and mechanical stress. It is therefore advantageous to quickly return the welding wire. N2010 / 17400 15:27:35 10-01-2011 11/54 25 · * ···· * · * ·· «« · «t * ·« »* ·· "* * * * · * * ·· * ·· * ·· * · -7-driving and stopping the welding head swiftly but not jerkily within the clearance thus gained, just so fast that no collision with the workpiece occurs In an advantageous variant, the robot controller knows how far the welding wire projects beyond the welding head (in particular the contact tube), so that the available stopping distance is also known in principle.
Advantageous embodiments and developments of the invention will become apparent from the dependent claims and from the description in conjunction with the figures. It is favorable if the welding wire is moved again to the workpiece or to the predefinable length after the interruption. In this way, after a collision of the welding wire with the workpiece, the teaching-in / checking-up of the movement sequence can be continued with the original setting of the welding wire.
It is particularly advantageous if the return speed of the welding wire is chosen such that it is always higher than the speed of the forward movement of the manually controlled welding torch. In this way, bending of the welding wire can be avoided since, in this variant of the invention, it is faster from the workpiece is withdrawn as the welding torch "after" " moves. The welding wire is thus immediately lifted off the workpiece. It is also favorable if the welding wire is always driven out to a predefinable length. In this way, an initial state is repeatedly produced with regard to the extended welding wire. The operator or programmer of a welding robot therefore does not need to stiffen to a new situation once the welding wire has been retracted. The Einlemen / checking a movement is thus greatly simplified.
It is advantageous in this context if the distance of the welding head (in particular of the contact tube) from the workpiece during welding corresponds to the distance when the welding wire which has traveled out by the predeterminable length touches the workpiece. In this variant of the invention, the welding head takes the same position later during welding relative to the workpiece as in Einlemen / checking the sequence of movements. For example, a threatening collision of the welding head or of the contact tube with the workpiece can already be detected during the learning process and can be detected and / or prejudiced. N2010 / 17400 15 <27; 5 > 10-01-2011 12/54 25 «* ·« «· · · · · * ♦ 4 · 9 · -8 Starting the taught-in motion sequence, in order then to produce the weld, can therefore be done relatively safely.
In an advantageous variant of the invention, the welding wire is moved out after the start of the wire-touch sensing process until a current flow is detected. In this way, the distance between the welding head and the workpiece can be determined without the welding head would have to be moved in the direction of the workpiece. The determination of the said distance can therefore be carried out particularly securely.
It is particularly advantageous if the welding wire is repeatedly moved to the workpiece and back from the workpiece during adjustment of the sulfur head, that is, the contour of the workpiece is scanned, as long as the length is not reached. In this connection, a method of teaching / checking a movement sequence of the welding robot is advantageous, comprising the steps of: a) applying the test voltage between the welding wire and the workpiece by activating the wire-touch sensing process, b) moving the welding head along the c) Moving out of the movably mounted welding wire from the welding head until it touches the workpiece and thereby in the circuit in which the welding wire and the workpiece is located, a current flow or a voltage dip is detected, d) retraction of the welding wire by a predetermined retraction distance, but at least until the circuit is interrupted again (the welding wire then no longer touches the workpiece) and repeating steps a) to d).
In this variant of the invention, the welding wire is continuously out to the workpiece surface and then moved back slightly. The movement of the welding wire thus resembles the movement of a needle of a sewing machine. This driving back and forth takes place while the welding head is moved along the said movement sequence on the workpiece. In this way, data about the distance of the welding head to the workpiece can be continuously obtained and used, for example, to correct a sequence of movements to be learned or already stored. In particular, in the online programming method, the welding head is usually not moved with sufficient accuracy by the operator or programmer, i. The welding head is usually not performed with a constant distance to the workpiece. N2010 / 17400 2 $ 2 $ 13/54 · »« * «· · * 19 * 28:> G 10-01-2011 • * · * *« · · · * * * »· *« ··· « ···············································································.
By constantly scanning with the welding wire, however, the robot can "guess" as it were. what is desired by the operator, and optimize or correct the planned sequence of movements with regard to a constant distance between the welding head and the workpiece. It should be noted at this point that a repetition of step a) is understood to mean both the repeated application of the test voltage and the permanent application of the same. In this sense, with constantly applied test voltage even with a repetition of steps b) to d) the Auslangen be found. It should be noted at this point that the above-mentioned method formed by steps a) to d) can also be independent of other features, in particular independently of the features of patent claim 1, an independent invention. It is also favorable if the length by which the welding wire is moved out of and / or back out of the welding head is measured, in particular measured manually, or set via an input and / or output device or defined by contact with the workpiece. In this way, the control according to the invention is always known, at which position the welding wire or its end or tip is located.
It is advantageous if the test voltage or the resulting Stromfiuss are smaller than a voltage required for the formation of an arc / a current required to form an arc. In this way, the surface of the workpiece can be spared because there is no burning phenomena on contact between the welding wire and the workpiece.
It is also advantageous if the test voltage or the resulting Stromfiuss are smaller than a required for AbschmeJzen the welding wire voltage / a current required for melting of the welding wire current. In this way, damage to the workpiece surface can also be avoided. Furthermore, it can be prevented that the actual length, on which the welding wire is extended, is shorter than the length assumed by the control according to the invention. This usually has no information as to whether or how much a welding wire has melted off. It is also favorable in this context if the current source limits the amount of energy such that melting of the welding wire and of the workpiece does not occur due to a short circuit, but the contacting of the two N2010 / 17400 25 25 14/54 15 * 28: 26 * 10 -01-2011 «· ·« · · · · · · · · ··· · · # ··· such as the short-circuit dissolution, the wire conveying, the protective gas supply, the cooling circuit, etc., the welding machine remain disabled. Advantageously, modules that are not needed anyway during training of the robot are turned off, which on the one hand increases safety, but on the other hand also reduces energy consumption.
It is particularly advantageous if the test voltage or the resulting current flow greater than a voltage required to form an arc t is a current required to form an arc, but less than a voltage required to melt the welding wire / a current required to melt the welding wire are. In other words, it is particularly advantageous if the test voltage or the resulting current flow are adjusted so that when lifting the welding wire from the workpiece very briefly a small arc is ignited, the thermal energy due to the short burning time is so low that no melting of the welding wire or workpiece takes place. The advantage is that this resulting, highly visible flash of light, it allows the operator to be able to recognize the position of the wire end of the workpiece very well and this is done directly at the point that is usually observed by the operator. This is all the more advantageous .when, in addition, the light conditions at the point to be programmed are poor.
It is also particularly advantageous if the welding head is moved in the region of a finished or produced weld transverse to its course, the position of the welding head and optionally the welding wire is stored or determined when a current flow is detected in said circuit, and stored from a plurality or determined positions, the width / height of the weld seam and / or the position of the welding head or of the welding wire relative to the weld seam is determined.
In this variant of the invention, the welding robot and the power source function less as a welding system but rather as a measuring device. For example, the welding wire projecting into a prepared V-seam is moved back and forth to "feel" the position of the workpiece parts. Likewise, the elevation of a completed weld can be measured. In this way, therefore, geometric parameters
N2010 / 1740D - 11 - 25 - 11 - 25 15/54 15228: ^ ·, 10-01-2011 of the weld to be produced or already finished. Also conceivable is the production of surface profiles or 3D representations of the weld by raster-shaped scanning of the same. In this way, for example, the waviness of the weld can be measured or assessed. By this variant of the invention, therefore, the scope of functions of a welding system is dramatically expanded, since this can be used not only for welding but also for quality control. It does not even have to be re-equipped because the "measuring probe" is formed by the welding wire. This also eliminates the time-consuming task of placing the workpiece on a specially provided automatic measuring machine.
It is furthermore advantageous if the longest stickout (ie the length by which the welding wire protrudes from the welding torch) during the evaluation of the welding wire feed, which corresponds to the center position of the weld, is determined. Since the (unfinished) weld usually has the lowest point in the middle, the center can be determined simply by storing the position where the longest stickout was detected. Conversely, the (finished) weld is usually highest in the middle, so that its center can be determined simply by storing the position at which the shortest stickout was detected. It is also beneficial if an alarm is triggered if a current flow or a voltage dip is not detected, although this would be expected from the position of the welding head or the welding wire and the workpiece coordinates. This problem arises in particular when the shape of the workpiece and its position relative to the welding robot is known, i. essentially when an already programmed movement sequence is to be checked. If the tip of the welding wire presumed by the robot control moves to the surface of the workpiece without a flow of current or a voltage drop, then the scene suspected by the robot controller does not seem to coincide with reality and an alarm is triggered.
It is particularly advantageous in this context if, when triggering the alarm, a tolerance value dimensioned in a length and / or - if the welding head / the welding wire is moved - a tolerance value measured over a period of time is taken into account. To avoid an alarm being triggered with every slightest irregularity, a tolerance value can also be taken into account when an alarm is triggered. Can be used in one length or, if a movement of the welding head and / or the welding wire is required, also in a period of time. N2010 / 17400 25 «« * * 15129: 0 ** 10-01-2011 16/54 - 12-years be measured.
As a rule, there is a drive system for the welding wire. The invention can therefore be implemented particularly easily in this case in practice. In addition, it is easy to imagine that existing welding robots are extended with the functions of the invention. The field of application of the invention is thus significantly increased. In addition, welding wires are usually comparatively thin and are therefore ideal as a .Meßsonde ", which the welding robot is very good not only for welding but also for quality control.
Particularly advantageous is a method in which a test voltage is applied between an electrically conductive part of the welding head and the workpiece and the welding head is stopped or retracted when in a circuit in which said conductive part and the workpiece is a current flow or a Voltage drop is detected. In this variant of the invention, the already mentioned principles and the resulting advantages are applied directly to the welding head by detecting the contact of electrically conductive parts thereof, for example a metallic gas nozzle, with the workpiece. If this is true, again a current flow is detected in said circuit. This variant of the invention is not limited to the teaching / testing of a sequence of movements, but can also be applied during welding itself. In this way, unwanted contacts between the welding head and the workpiece can thus be detected even when processing a sequence of movements and their consequences are mitigated.
It is advantageous in a welding system according to the invention if an automatic determination of the center position of a welding bead is carried out, in which the welding robot moves the welding torch transversely to the welding bead. In this way, the center of a bead can be determined automatically and safely.
In this context, it is advantageous if the welding wire is constantly moved back and forth on the workpiece during the movement of the welding torch transversely to the welding bead, in particular transversely to a fillet weld, and then an evaluation of the welding wire feeding is carried out. By this measure, a collision of the welding machine with the workpiece is particularly effectively avoided because the welding wire is always very short in contact with the workpiece. N2010 / 17400 25 25 17/54. · *. . * ·. ϊί 9ί5 1 ° -01-2011 »*« ** «I · * f | It is advantageous for the welding robot to comprise a welding current / voltage source, but it is advantageous if the welding robot comprises a welding current / voltage source. which is prepared to generate the test voltage. In this way, the Schweißstrom- / spannungsquelie can fulfill a double benefit, namely allow welding and teaching / checking a sequence of movements. Finally, it is also advantageous if the welding robot comprises a welding current / voltage source and another voltage / current source prepared for generating the test voltage. In this variant, therefore, a separate Spannungsunge- / power source for generating the test voltage is provided. Under certain circumstances, the test voltage can be more easily generated in this way, since there are several orders of magnitude, in particular, between the welding current and the test current.
In the context of the invention, a "voltage / current source" means any electrical energy source with any desired characteristic. However, energy sources with the required, selectable characteristics are advantageously used both for welding and for teaching / checking a sequence of movements, but of course in clearly different current ranges.
It should be noted at this point that the variants mentioned for the method according to the invention and the resulting advantages relate equally to the control according to the invention and to the welding robot or the welding system according to the invention. The same is true, of course, vice versa. The above measures can also be combined as desired.
For a better understanding of the invention, this will be explained in more detail with reference to the following figures.
Each shows in a highly schematically simplified representation:
Fig. 1 is a schematic representation of a welding machine or a welding device;
Fig. 2 is a schematic representation of a welding robot;
Fig. 3 is a schematic diagram of the test circuit according to the invention;
FIG. 4 shows a welding torch positioned above two workpiece parts, which are prepared for a weld, before a wire-touch sensing process; FIG. N2010 / 17400 - 14 - 25 15: ίϊ; 37 10-01-2011 18/54
FIG. 5 shows the welding torch from FIG. 4 after starting the wire-touch sensing process; FIG.
FIG. 6 shows the welding torch from FIG. 4, after being moved onto a workpiece part; FIG.
FIG. 7 shows the welding torch from FIG. 4 after retracting the welding wire; FIG.
Fig. 8, the welding torch of Figure 4, after approaching the other work piece part.
FIG. 9 shows the welding torch from FIG. 4 after the detection of the center of the weld; FIG.
FIG. 10 shows a Y-weld to be measured before it is produced; FIG.
11 shows a Y-weld to be measured after its production;
12 is a flowchart for visualizing the egg-inventive method and
13 sub-routines for the flowchart of FIG. 12th
By way of introduction, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals or the same component names, wherein the disclosures contained in the entire description can be mutatis mutandis to the same parts with the same reference numerals or component names. Also, the location information chosen in the description, such as top, bottom, side, etc. related to the immediately described and illustrated figure and are to be transferred to the new situation mutatis mutandis when a change in position. Furthermore, individual features or combinations of features from the different exemplary embodiments shown and described can also represent independent, inventive or inventive solutions. All statements on ranges of values in the description of the present invention should be understood to include any and all sub-ranges thereof, e.g. the indication 1 to 10 should be understood to include all sub-ranges, starting from the lower limit 1 and the upper limit 10, i. all subregions begin with a lower limit of 1 or greater and end at an upper limit of 10 or less, e.g. 1 to 1.7, or 3.2 to 8.1 or 5.5 to 10. N2010 / 17400 - 15-
25 15: £ 9: 51 10-01-2011 19 ISA In Fig. 1, a welder 1 known per se or a welder for a variety of processes such as e.g. MIG / MAG welding, TIG / TIG welding or electrode welding, double wire / tandem welding, plasma or soldering, etc. are shown.
The welding apparatus 1 comprises a power source 2 with a power unit 3, a control device 4 and other components and lines, not shown, such as a switching element, control valves, etc. The control device 4 is connected, for example, to a control valve which is in a supply line for a Gas 5, in particular a protective gas, such as CO 2, helium or argon and the like., Between a gas storage 6 and a welding torch 7 and a burner is arranged.
In addition, via the control device 4, a wire feed device 8, which is often used for MIG / MAG welding, are controlled, via a supply line, a filler material or a welding wire 9 from a storage drum 10 and a wire reel in the field of welding torch 7 is supplied. Of course, it is possible that the wire feeder 8, as is known from the prior art, in the welding device 1, in particular in the housing 11 of the power source 2, is integrated and not, as shown in Fig. 1, as an additional device to a carriage 12th is positioned. Here is spoken by a so-called "compact welding machine" 1. It is also possible that the wire feeder 8 can be placed directly on the welding device 2, that is, that the housing 11 of the power source 2 is formed on the top for receiving the wire feeder 8, so that the carriage 12 can be omitted.
It is also possible for the wire feed device 8 to supply the welding wire 9 or the additional material outside the welding torch 7 to the processing station, for which purpose a non-consumable electrode is preferably arranged in the welding torch 7, as is usual in TIG / TIG welding.
The current for constructing an arc 13, in particular a working arc, between the electrode or the welding wire 9 and a preferably formed from one or more parts workpiece 14 is connected via a welding line, not shown, from the power section 3 of the power source 2, the welding torch 7, in particular the electrode or the welding wire 9, supplied, wherein the workpiece to be welded 14 via another welding line for the further potential, in particular the mass N2010 / 17400 2S 15:30:06 10-01-2011 20/54
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Cable, with the power source 2 (not shown) is connected and thus a circuit can be constructed via the arc 13 and the Piasmastrahl formed for a process. When using a burner with internal arc 13, the two welding lines, not shown, led to the burner, so that in the burner, a corresponding circuit can be constructed, as can be the case with plasma torch.
For cooling the welding torch 7, the welding torch 7 can be connected via a cooling device 15 with the interposition of ev. Components, such as a flow switch, with a liquid container, in particular a water tank 16 with a level indicator 17, whereby the cooling device 15 during commissioning of the welding torch. 7 , in particular a liquid pump used for the liquid arranged in the water tank 16, is started and thus a cooling of the welding torch 7 can be effected. As shown in the illustrated embodiment, the cooling device 15 is positioned on the carriage 12, on which then the power source 2 is placed. The individual components of the welding system, that is, the current source 2, the wire feed device 8 and the cooling device 15, are designed such that they have corresponding projections or recesses, so that they can be safely stacked on each other or placed on each other.
The welding device 1, in particular the power source 2, furthermore has an input and / or output device 16, via which the most varied welding parameters, operating modes or welding programs of the welding device 1 can be set or called up and displayed. In this case, the welding parameters, operating modes or welding programs set via the input and / or output device 18 are forwarded to the control device 4, from which the individual components of the welding system or the welding device 1 are subsequently controlled or corresponding setpoint values for the regulation or control are specified , Here, it is also possible that when using a corresponding welding torch 7 and adjusting operations on the welding torch 7 can be made, for which purpose the welding torch 7 is equipped with a Schwerßbrenner input and / or output device 19. In this case, the welding torch 7 is preferably connected via a data bus, in particular a serial data bus, to the welding device 1, in particular the current source 2 or the wire feed device 8. To start the welding process, the welding torch 7 usually has a start switch, not shown, so that the arc 13 can be ignited by actuating the start switch. To be against the big one
N2010 / 1740D 25 25 21/54 15: | Q; 27 10-01-2011 · * «« »· · · ·· #« * · · · «· ** · ** φ · * * * * * * · * ·· M ft Μ · - 17-
Heat radiation from the arc 13 to be protected, it is possible that the welding torch 7 is equipped with a heat shield 20.
Furthermore, in the illustrated embodiment, the welding torch 7 is connected via a hose package 21 to the welding device 1 or the welding system, wherein the hose package 21 is attached to the welding torch 7 via a bend protection 22. In the hose package 21, the individual lines, such as the supply line or lines for the welding wire 9, for the gas 5, for the cooling circuit, for data transmission, etc., are arranged from the welding device 1 to the welding torch 7, whereas the ground cable preferably connected to the power source 2,
The hose assembly 21 is connected via a coupling device (not shown) to the power source 2 or the wire feeder 8, whereas the individual lines are secured in the hose assembly 21 with a kink protection on or in the welding torch 7. In order for a corresponding strain relief of the hose assembly 21 is ensured, the hose assembly 21 may be connected via a strain relief device, not shown, with the housing 11 of the power source 2 or the wire feeder 8.
In principle, it should be mentioned that not all of the previously named components must be used or used for the different welding methods or welding apparatuses 1, such as, for example, TIG devices or MIG / MAG devices or plasma devices. For this purpose, it is possible, for example, that the welding torch 7 can be designed as an air-cooled welding torch 7, so that, for example, the cooling device 15 can be dispensed with. Furthermore, it is possible that even more parts or components, such as a grinding guard 23 on the wire feeder 8 or an option carrier 24 on a holding device 25 for the gas storage 6, etc., can be arranged or used.
FIG. 2 now shows in a greatly simplified manner a welding robot 26 having a robot base 27, a robot arm 28 and a welding head 29, from which a welding wire 30 protrudes. 2, an exemplary workpiece 31 is also shown. The welding robot 26 shown in FIG. 2 has a first drive system known per se with a first drive control (not shown) known per se for the welding head 29. Furthermore, the welding robot 26 may comprise the assemblies mentioned in FIG. 1 in a basically known composition. N2010 / 17400 -18- 25 15; ίί): 44 10-01-2011 22/54
FIG. 3 now shows a simplified electrical circuit diagram of the welding robot 26. In turn, the welding head 29 with the projecting welding wire 30 is shown above the workpiece 31. The welding wire 30 can be extended over the two rollers 32, wherein at least one is driven out of the welding head 29 and also moved back again. The drive roller (s) 32 thus form the second drive system. This is controlled by a second drive control 33. Between the rollers 32 and the workpiece 31, a voltage / current source 34 and a serial ammeter 35 is connected. Alternatively or additionally, a voltmeter may also be provided for measuring the test voltage generated by the voltage / current source 34 (not shown). Advantageously, the length I by which the welding wire 30 is moved out of the welding head 29 can also be measured, for example by means of rotary encoders on the rollers 32 or by optical image processing, in which the surface structure of the welding wire 30 passing by an optical sensor is evaluated ,
A first functional variant of the welding robot 26 illustrated in FIGS. 2 and 3 is now as follows:
In a first step, the welding wire 30 is moved out of the welding head 29 by a predefinable length I ("stickout"). Then, a position on the workpiece 31 is approached. This can be started manually, z. B. to set a sequence of movements for the welding robot 26 ("Teach-In"), or automatically approached, for example, to check a stored movement. Particularly in the case of the methods known from the prior art, the movements, which in some cases are still very immature in this phase, lead to frequent and frequently rough contacts between the welding wire 30 and the workpiece 31.
In extreme cases, even the welding head 29 can strike against the workpiece 31. This results in bending of the welding wire 30 or even damage to the welding head 29. Both result in a loss of time during the testing / testing process because the bent end of the welding wire 30 must be manually removed and / or the welding head 29 repaired.
A sequence of a teaching process in which at least one starting position and / or end position are set and stored on the workpiece 14 or workpiece 31 for the welding torch 7 or welding head 29 is shown in simplified form in FIGS. Usually, a plurality of such positions are manually set, so that N201O / 174D0 25 25 23/54 15ÄI; 02 10-01-2011 · # * ··· * · · ♦ ft * · «* I * · ft ·· *» · Afterwards, a corresponding welding process can be performed along a path by calculating the positions in between. In this case, the process is performed manually by the user and serves to store the most varied positions along a workpiece 14.
In so-called teaching, first the welding torch 7, which is fastened at the end, in particular to the last axis of the welding robot 26, is controlled by the user via a robot control console with a manual setting operation of the welding robot 26 such that the welding torch 7 is positioned above the workpiece 14, for example is, as can be seen in Fig. 4. Usually, the power supply of the welding torch 7 and other control and regulating systems are deactivated by the welding device 1, so that no unforeseen current flows can occur in the event of an undesired short circuit. Preferably, before the welding torch 7 is positioned by the user, the welding wire 9 is first shortened, ie nipped at the end face of the contact tube and then extended by specifying a length I, ie a so-called "stick-out", so that the welding wire 9 correspondingly has the correct position for a Weld takes. This procedure can be performed manually by the user on the welding machine 1 or, if present, initiated via the control panel. Thus, the positions can be fixed with the Stlckout I required for the welding process. This has the advantage that when teaching to the appropriate distance of the welding torch 7 to the workpiece 14 with the required embroidery I can be respected.
If the user has roughly positioned the welding torch 7 over a desired starting position on the workpiece 14 with a corresponding embroidery length I (see FIG. 4), a so-called "wire-touch sensing process" is now started according to the invention on the welding device 1, such as this is shown schematically in Fig. 5 by activating the switch 36. This can be done in a variety of ways. Beispietspeise this process by activating a button / shifter 36 on a robot control panel (not shown) are activated, or the user presses a button 36 on the welding machine 1 or on a remote control. Upon activation of the teaching process, the welding torch 7, in particular the welding wire 9, and the workpiece 14 are connected to a teaching power source 34 in the welding apparatus 1, so that a circuit can be formed between them. Of course, it is possible that, instead of the teaching power source 34 used for this purpose, it is also possible to use the power unit, that is to say the current source 2 of the welding apparatus 1. The current source 34 has the N2010 / 17400 25 15 * 1: 20 10-01-2011 24/54 »·· * · * ·» * I * t I > I · · * ** · «« ·· * i -20-
Task to limit the amount of energy such that in a short circuit, so a contact of the welding wire 9 with the workpiece 14 no fusion of the welding wire 9 and the workpiece 14 comes about, however, the contact of the two is detected as soon as possible, but the usual Welding process further monitoring, control and regulating functions, such as the short circuit resolution, the wire conveying, the protective gas supply, cooling circuit, etc., the welding device 1 remain disabled. The current source 34 preferably emits such a large amount of energy that, when the welding wire 9 is lifted off the workpiece 14, an easily visible short arc 37 is ignited, but it is extinguished after a predefinable period of time or due to an excessively large distance between the workpiece 14, 31 and the welding wire 9 automatically clears.
After the user has activated the wire-touch sensing process, ie the current source 34 has been activated for monitoring a short circuit, the latter can now position the welding torch 7 exactly on the path on the workpiece 14. For this purpose, the welding torch 7 is manually moved horizontally and / or vertically over the robot control panel, the user now has the opportunity to carry out the positioning over the welding wire 9, that he leads the welding torch 7 until the end of the welding wire 9 at the desired position - for example, at the position 100 of FIG. 9 - is positioned. For example, the welding torch 7 according to FIG. 6 is moved vertically in the direction of the workpiece 14 in accordance with arrow 38. Now that the wire-touch sensing process is activated, the user no longer needs to pay attention to the welding wire 9, in particular to the contact of the welding wire Θ with the workpiece 14, since with the wire-touch sensing process a so-called Coliision protection is present, thus preventing the welding wire 9 is bent in contact with the workpiece 14. Thus, as shown, the user can easily move the welding torch 7 toward the workpiece 14 because, as the shorting is detected, the welding wire 9 is moved backwards and thus the stickout length I is undershot / reduced, as shown in FIG. This has the advantage that the user can thus see the exact position of the welding torch 7 on the workpiece 14 and thus the deviation from the desired position 100. Also, due to the position of the welding wire 9 can be deduced the center of the welding torch 7, since now no distance between the welding wire 9 and the workpiece 14 is present and the orientation of the welding wire 9 has not been changed. N2010 / 17400 -21 - 15ή1: 39 10-01-2011 25/54 25
Thus, since the wire-touch sensing process is activated, the welding apparatus 1 detects the short circuit and immediately conveys the welding wire 9 in accordance with the arrow 39 in FIG. 6. If the user continues to control the welding torch 7 in the direction of the workpiece 14, the automatically initiated return feed of the welding wire 9 prevents the welding wire 9 from being bent, ie the user need not pay attention to the stickout I of the welding wire 9 and the welding torch 7 can approach as close as possible to the workpiece 14, since the welding wire 9 is conveyed back immediately upon detection of a short circuit against the welding torch movement and thus bending of the welding wire 9 is prevented.
If the user stops the welding torch movement in the direction of the workpiece 14, however, the conveying-back of the welding wire 9 is continued, since there is still a short circuit. According to FIG. 7, it can be seen that the welding wire 9 is always moved backwards until it lifts off from the surface of the workpiece 14 and, for example, an arc 37 is ignited for optical perception of the position. Subsequently, the recovery is stopped and the promotion of Schwerßdrahtes 9 on its length I eingeieitet of the welding machine 1, ie that after lifting the welding wire 9 from the workpiece 14, 31, the wire promotion is reversed and the welding wire 9 is promoted to its Stickoutlänge I or at a renewed short circuit the process is repeated. It is thus a constant forward / backward movement - as shown schematically according to arrow 39 in Fig. 7 - carried out as long as the welding torch 7 has a smaller distance from the workpiece 14, 31, as the set length / Stickoutlänge I amounts.
Basically, it should be mentioned that the return speed is preferably chosen such that it is faster than the forward movement of the manually controlled welding torch 7, so that bending of the welding wire 9 is prevented, since the welding torch 7 can not be driven so fast to the workpiece 14 as the welding wire 9 is conveyed back. Preferably, the current source 34 is designed such that the arc 37 is ignited when lifting the welding wire 7 from the workpiece 14, as shown in Fig. 7. By the brief flash of the arc 37 is achieved in an advantageous manner namely that the user in poor illumination of the workpiece 14, especially in hard to reach auto carousels, the position better determine / assess, since by the continuous up / down movement of the welding wire 9 a repeated ignition of the arc 37 occurs N20W17400 -22- 25 15: "ί: 57 10Ό1-2011 26/54 and thus an illumination of the environment is created whereby the deviation to the desired position 100 can be seen.
As can now be seen in FIGS. 6 and 7, the welding torch 7 is not yet positioned centrally on the workpiece 14, in particular at the planned position 100, so that the user carries out a further correction of the welding torch 7 and adjusts it laterally, for example in Fig. 8 according to arrow 40 is shown. In this case, the welding wire 9 is constantly returned when a short circuit occurs and again forward to before the next short circuit or the predetermined length I. In the example shown in Fig. 8, the welding torch 7 is again positioned within the length I on the workpiece 14, so that a constant up and down movement of the welding wire 9 according to arrow 39, so simultaneously during the horizontal movement of the position of the welding torch 7 in accordance Fig. 7 to the position of the welding torch 7 shown in FIG. 8 - according to arrow 40 - the welding wire 9 thus the surface of the workpiece 14, so the contour, by the constant up / down movement leaves without bending it. It can thus be said that the surface of the workpiece 14 with the welding wire 9 is traversed by correspondingly close positioning of the welding torch 7 within the embroideryoutlength I, whereby a very exact adjustment / positioning of the welding torch 7 is made possible because, as it were, the welding wire 9 directly on the Workpiece 14 is positioned and thus transmits the position 100 of the welding torch 7.
If the user has set the desired position 100, for example the center point of a welding bead, manually, as shown in FIG. 9, he terminates the wire-touch sensing process, for example by pressing the switch 36 or another key again, whereby the current source 34 is separated from the welding torch 7. At the same time, it is possible for the position of the welding torch 7, that is, the welding robot position, to be automatically stored on termination, or the position to be stored manually to be initiated by the user. It is also possible that after setting up the welding torch 7, a welding process can be started immediately.
But it is also possible that when terminating the wire-touch sensing process, a warning signal is issued when the welding torch 7 is positioned within the stickout length I - ie too close to the workpiece 14 - so that the user by simply returning the torch 7 can fix. Furthermore, it is also possible that the forward / backward movement is stopped when terminating the wire-touch sensing process, even if the welding torch 7 is positioned within the embroideryoutlength I, N2010 / 17400 25 15: «: 16 10-01 -2011 27/54 · »· · · · · · ϊ · * * * -23-but for this purpose the welding wire 9 is first fed back until the short circuit is canceled and then the forward / return movement is stopped and thus no short circuit is present. Of course it is possible that even more safety functions can be integrated, which prevent problems when starting a welding process can occur.
Furthermore, it is possible for the user to make different settings in the wire-touch sensing process. On the one hand, a wire-touch sensing process can be selected in which the welding wire 9 is positioned according to a predefinable embroideryoutlength I, as described in FIGS. 4 to 9, or else the welding wire 9 is always independent of contact with the workpiece 14 a Stickoutlänge I is extended, that is, that the welding wire 9 is automatically promoted when starting the wire-touch sensing process in the direction of the workpiece 14 until it causes a short circuit to the workpiece 14.
Of course, the Wire Touch Sensing process, which has just been described manually, can also be automated. In this case, for example, the embroideryoutlength I is monitored substantially continuously and the height position of the welding torch 7 is adjusted accordingly and thus the desired position 100 is determined.
In an advantageous variant, a necessary deceleration of the welding torch 7 is calculated with the aid of its instantaneous speed and with the aid of the length I taking into account a safety distance. If s denotes the length I minus the safety distance, then the necessary deceleration a can easily be determined using the equation a = v2 / 2s, v being the speed of the welding torch 7.
After the dangerous situation has been clarified, the welding wire 9 can be extended again to the length I in order to approach a new position in the movement sequence of the welding torch 7.
Advantageously, the distance of the welding torch 7 from the workpiece 14 later during welding corresponds to the distance when the welding wire 9 driven out by the predeterminable length I touches the workpiece 14. The welding torch 7 therefore assumes the same position relative to the workpiece 14 during insertion / checking of the movement sequence as during welding. In this way, a particularly simple teaching is possible. In this case, the welding torch 7 is manually and comparatively quickly at a desired N201QM7400 25 25 28/54 15 * > 2: 33 10-01-2011 ··· «*« · · · * · ·· * · · · · ** * · · · -24-
Position moved to the workpiece 14. If the welding wire 9 touches the workpiece 14, the position is stored on the one hand, and on the other hand a collision is prevented as described above, without the operator having to manually slow down the welding torch 7. This can be done fully automatically.
In a further variant of the invention, a test voltage is applied between an electrically conductive part of the welding torch 7, for example a metallic gas nozzle, and the workpiece 14. If a current flow and / or voltage dip is detected in a circuit in which the said conductive part of the welding torch 7 and the workpiece 14 is located, then the welding torch 7 is stopped or retracted. It is conceivable that in addition to the welding wire 9 and a gas nozzle of the welding torch 7 is connected to the voltage ZStromquelle 34. For example, contact wires (not shown) in the welding torch 7 can remove the test voltage from the welding wire 9 and pass it on to the gas nozzle or make a conductive connection with the gas nozzle via the nozzle. It is also conceivable that a separate line is provided in a hose package to direct the test voltage to the gas nozzle. The ammeter 35 or the electronic detection device then detects both contacts between the welding wire 9 and the workpiece 17 and between the welding torch 7 and the workpiece 14. It is also conceivable that a separate, second test circuit is provided for the welding torch 7. For this purpose, at least one further ammeter or detection means and - if the additional test circuit is carried out completely separate - also a further voltage-ZStromquelle needed. Advantageously, it can then be distinguished whether the welding wire 9 or the welding torch 7 touches the workpiece 14. The detection of a contact between the welding torch 7 and the workpiece 14 is not limited to the Ein- lemenZPrüfen a movement sequence, but can also be applied during welding itself. In this way, unwanted contacts between welding torch 7 and workpiece 14 can also be detected when processing a sequence of movements and their consequences are mitigated.
In a further variant of the invention, the width / height of a weld (to be produced or manufactured) and / or the position of the welding head 29 or the welding wire 30 relative to the weld are determined with reference to the arrangement shown in FIGS. 2 and 3. N2010 / 17400 -25- 25 15: ίϊ: 51 10-01-2011 29/54
Ffg. 10 shows two workpiece parts 31a and 31b prepared for welding (in this case for a Y seam) and the welding head 29 and the protruding welding wire 30. The welding head 29 is now moved in the region of the weld transverse to its course. In this case, the position of the welding head 29 and optionally of the welding wire 30 is stored or determined when the ammeter 35 detects a current flow, i. when the welding wire 30 contacts the workpiece 31. The width b of the weld seam and / or the position of the welding head 29 or the welding wire 30 relative to the weld are then determined from a plurality of stored or determined positions (see also the offset of the central axis of the weld to the central axis of the welding head 29 or of the welding wire 30).
Fig. 11 shows the seam of Fig. 10 after completion. Again, the width b of the weld and / or the position of the welding head 29 and the welding wire 30 can be determined relative to the weld. This is done in much the same way as described with reference to FIG. 4, but the welding head 29 now approaches the weld seam from the outside.
Of course, in the cases shown in Figs. 10 and 11, the height profile of the weld can be measured. Thus, for example, the depth of the chamfer in the Y-seam or also the height of the projecting in Fig. 11 on the workpiece surface weld can be measured. In this way, the welding robot 26 can be used not only for welding but also for quality control by measuring the weld after welding. Also conceivable is the production of surface profiles or 3D representations of the weld by raster-shaped scanning of the same. In this way, for example, the waviness of the weld can be measured or assessed.
In a further variant of the invention, an alarm for a defect in the circuit or in a drive system of the welding wire 30 (here essentially consisting of the rollers 32 and the second drive control 33) is triggered if a current flow is not detected, although this is known from the Position of the welding head 29 and the welding wire 30 and the workpiece coordinates would be expected. This problem arises above all when the shape of the workpiece 31 and its position relative to the robot base 27 are known (for example when checking an already stored sequence of movements). If the tip of the welding wire 30 presumed by the robot control is moved up to the surface of the workpiece 31 without it being N2010 / 17400 25 25 30/54 • 15:31:03 10-01-2011 * ··· »* · * · ·· If a current flows, then the one assumed by the robot controller is correct Scenery does not match reality.
This can have several reasons: for example, a different workpiece 31 than the expected can be placed on the working surface. Also, a robot controller or the first drive system may be defective, so that the welding head 29 is actually located elsewhere than assumed by the robot controller. The same applies to the second drive system (here the rollers 32) and its control 33). For example, the welding wire 30 may have slipped between the rollers 32, so that the real length I does not correspond to the expected length. Also, the voltage / current source 34 or the ammeter / Detektionsmittei 35 may be defective. Another possibility would be that the welding wire 30 is melted unrecognized and the tip of the same is really somewhere else than expected. This may happen, for example, if the voltage / current source 34 is set too high, for example because it has been mistakenly set to a thicker welding wire 30 than that actually used.
To avoid an alarm being triggered with every slightest irregularity, an alarm value can also be taken into account when an alarm is triggered. This may be sized in length, e.g. a few tenths of a millimeter, or, if a movement of the welding head 29 and / or the welding wire 30 is anticipated, may also be dimensioned in a period of time, e.g. a few tenths of a second.
The invention has hitherto been explained in connection with a welding wire 9 or welding wire 30. Of course, the invention is also applicable without restriction to other movably mounted welding media, for example to welding electrodes, although at first sight this seems to be impractical.
Furthermore, it is noted that the welding robot 26 may also have a different design. For example, this can be designed as a gantry robot. Instead of the rollers 32, another drive for the welding wire 30 may be provided. Similarly, instead of an ammeter 35, a comparator or other evaluation circuit can be used to detect a current flow. The voltage / current source 34 may also have any voltage / current characteristic. Advantageously, the voltage source 3 is formed by the welding current / voltage source 1 which is also used for welding and which is used to generate the test voltage in accordance with N2010 / 17400 25 15: i *: 26 10-01-2011 31/54
* * * * * * * * * * • · «» < * # t I
-27-is made. But even a separate voltage / current source 34 is of course replaceable.
It is essential that for teaching a welding robot, in which a position is determined and stored via a manually controlled movement sequence, the following steps / sequences are carried out:
Moving out of a movably mounted welding wire 30 / welding wire S from a welding head 29 / welding torch 7 to a predetermined length and
Moving the welding head 29 / welding torch 7 to a position on a workpiece 14, 31 with deactivated power supply of the welding head 29 / welding torch 7 via the welding device 1, and that started after positioning at the position of a so-called wire-touch sensing process in the welding machine in which a test voltage is applied between the welding wire 30 / welding wire 9 and the workpiece 14, 31 and then the manual positioning operation is continued with the welding head 29 / welding torch 7, wherein upon detection of a current flow between welding wire 9, 30 and workpiece 14, 31 of the welding wire 9, 30 is retracted to interrupt the flow of current. After the interruption, the welding wire 9, 30 is preferably moved back to the workpiece 14, 31 or to the predefinable length I. When adjusting the welding head 29 / welding torch 7, the welding wire 9, 30 as long as the length I is not reached is repeated to the workpiece 14, 31 and the workpiece 14, 31 moves back, so it is the contour of the workpiece 14, 31 is scanned.
A sequence for the automatic determination of a center position of a welding bead in the form of a flow chart is now shown in simplified form in FIGS. 12 to 13. The specified in the individual function blocks processes, control operations, functions, etc. are used for Austegung / programming for the skilled person, the programming according to the welding robot 26 and the welding device 1 used is different and thus will not be described in detail. The person skilled in the art is able to create individual coherent program sequences from the given functional blocks so that the welding robot 26 and the welding apparatus 1 perform corresponding tasks / tasks.
However, so that an automatic sequence can be carried out, it is advantageous if some parameters are set / specified by the user before the start. For this purpose, he can set corresponding input on the welding device 1 and / or the welding robot 26.
N2010 / 1740D 25 15:33:44 10-01-2011 32/54 «* * V V ft ft ft ft ft ft ft ft I I I I I I I I I. Call -28-bemenüs. In particular, it is advantageous if the type of seam, e.g. a fillet weld, butt weld, lap seam, etc. are selected / set, since the processes are adapted to the most varied seam types. Subsequently, a sequence for a Keht-seam is described on the basis of which it is possible for a person skilled in the art to be able to create the further sequences for the further types of seams or to be able to adapt this.
At the beginning 41, the welding torch 7 is positioned on the workpiece 14 via the welding robot 26. This can be done manually by the user or automatically via the programming of the welding robot 26, wherein preferably first a manual coarse positioning of the welding torch 7 is made. Subsequently, a "wire teach process" 42 is started, in which a subroutine according to FIG. 13 is called, which will be described later in more detail. If the coarse positioning of the welding torch 7 occurred manually, then this process should also be started manually by the user, whereas an automatically preprogrammed coarse positioning also allows an automatic starting of this process.
Subsequently, a correction of the Schwelßbrennerpositfon 43 and / or an angle adjustment due to an ev. Defined Stickout I can be made by this, followed by a Abfageautomatik 44 which causes a loop so that is corrected until the correct position is reached Corresponds to the set position a predetermined / preprogrammed position or the user releases them manually, the automatic interrogator 44 is answered with "yes", whereupon the welding head movement 45 is stopped. Subsequently, a submenu "Stickout Auto Teach" 46 is invoked, wherein the user must decide how to continue the process. There are two possibilities; .Track Auto Teach "47 or" Singlepoint Auto Teach "48. In this case, it is possible that the polling process is interrupted and the user is prompted to make a corresponding selection or that this has already been entered by the user before the start.
If the user has decided on "Track Auto Teach" 47, the program sequence on the right side will now proceed. In this case, the "differential path detection" 49 is activated, whereupon the subroutine "high-speed wire touch" 42 is again started / called up. In parallel, the functions 50 to 56, are processed in succession: - Departure of a robot track with predefined start and end point, wherein a predefined pendulum motion is performed across the seam 50; N2010 / 17400 25 15:34:01 10-01-2011 33/54 * · -29- - in predefined sections the calculation 51 takes place, in which - the average deviation is determined from the difference of the relative positions of the wire end at the turning points of a pendulum period 52 becomes; Correction of the position parameter - burner tip is centered 53; Calculation of the height deviation from the difference of current wire length and stickout reference in center position 54; - correction of the height position 55; Storing the corrected position data 56.
After all processes have been run, a comparison is made "End position reached" 57 yes / no. If the end position is reached, the process is terminated by selecting the function "End" 58, whereas in the case of non-Errelchen, the function "Next segment " 59 is called and then jumped back to function 51 back. This process is repeated until all sections and thus the end position is reached.
However, if the user has the "Start Stickout Auto Teach" subroutine 46, the function "Single Point Auto Teach" will be displayed. 48, the function sequence of the left column would be called and executed. In this function, the seam center detection / calculation is performed automatically, but the control of the movement sequence, ie left or right, forward or backward of the welding torch 7 manually, as in the figures described above, is performed by the user, whereas the previous described procedure of "Track Auto Teach". 47, the burner movement control was performed automatically by the welding robot 26.
The function 60 "Step 1 Find seam center (fillet weld)" is called, to which the functions "Gasnozzle TouchSensing ON " 61 and "difference way capture active " 62 if they have been selected by default. At function 61, a polling routine "Nozzle Touch" will be displayed. 63, in which the contact of the gas nozzle with the workpiece 14 is monitored, so that the user can manually adjust the welding torch 7, in parallel with the function 62 being executed, as will be described later. Touches the gas nozzle 7, the workpiece 14, this detects the query and jumps to the function "Robot Stop". 64, whereas after a movement of the welding torch 7, in which no contact takes place, the loop is returned back to the query again 0/17400 -30-. This function thus fulfills the function of collision detection, runs in the background parallel to other functions and can be shaded on or off by the user.
In function 62, that is, "Difference Path Detection", the subroutine "High Speed Wire Touch Sensing" is selected. 42, whereupon the user can move the welding torch 7 and this is monitored.
Since in a manual movement of the welding robot 26 and / or the welding device 1 and / or the controller must first recognize the direction in which the user controls, some monitoring / evaluation functions must be run through.
For this purpose, the functions 65 to pass through 73, in which the Stickoutlängs I is checked, so that due to their change in the direction of the robot movement can be deduced, the individual functions include the following tasks: - "moving the burner tip in any direction across the seam" 65 - "Stickout becomes smaller" 66, if yes - "Embroidery change > Srnm "67, if yes -" Stop burner tip movement "68 - Activate Save the relative position Wire and position data Robot in defined path section of the robot path" 69 - Movement of the burner tip in the opposite direction across the seam 70 - "Stickout becomes smaller" 71, if yes - "embroidery change > 5mm " 72, if so - "movement burner tip stop" 73
Through this process, the welding torch 7 was moved once from a starting point across the seam to be performed later, for which purpose the stickout length I was monitored and stored. N2010 / 17400 15:34:29 10-01-2011 35/54 25 »« «·· * * * ·» »* * *« «* * *« * * i ι * «» ·! * » # 4 · «« * · * -31 -
After such a sequence of movements has been carried out, the data must be evaluated, for which purpose the function 74 "Evaluation of the data" after max. Wire length (= middle seam) - is executed. For this purpose, the function 75 "temporary storage" of the position data belonging to the center seam is executed as a program point in the robot - and performing the function 76 "movement of the burner tip to temporary stored position". Thus, the welding torch 7 is positioned in the center / center of the planned fillet weld, so that now the correct height can be determined, for which the function "step 2 height jut" 77 is called. The functions 78 to 80 are now carried out, whereupon the burner is positioned at the correct height and in the middle and the program is terminated at the end 81. The functions 78 through 80 include: determining the required direction of movement of the burner tip from the difference between the current wire length and the stickout reference 78;
Movement in corresponding direction until difference = 0;
Final saving of the position data as a robot program point
Thus, an automatic center point detection is completed and stored the corresponding position, whereupon can be moved to the next position and again a new position in another section can be determined.
However, in order that the welding wire 9 is not bent in contact with the workpiece 14, it is necessary that the so-called "wire-touch sensing process" in which the contact is detected and the welding wire 9 is pulled back, as in the above described figures, is activated. This is done with the subroutine 42a, 42b, 42c wire-touch sensing process, as illustrated in detail in FIG. After activating this program part, the individual functions are at least partially active in parallel to the processes described in FIG. 12. Usually, the user can save corresponding default settings or reenter before each teaching process.
After calling the "Start Stickout Auto Teach" function 42a, the "Activation Touch Detector Voltage Source" 82 is called and the wire feed forward function 83 is started, applying the current source 34 to the welding wire 9 and the workpiece 14 and the welding wire 9 in the direction Workpiece 14 is promoted. In order to detect a short circuit, a query 84 "Wire touched" is then sent. N2010 / 17400 15:34:46 10-01-2011 36/54 25 15:34:46 10-01-2011 36/54 25
*** * * * * * * * * * * * * * »* * * * * t * I *» ·· -32-piece " activated, in which case no shorting has taken place, the function 83 is again jumped, that is to say that the welding wire 9 is conveyed to contact with the workpiece 14, since otherwise these loops will not be left. If the welding wire 9 touches the workpiece, ie if the query 84 indicates a "yes", then the function "wire feed backwards" is jumped so that now the welding wire 9 is pulled back from the workpiece 14 to break the short circuit. This is in turn queried via a query 86 "wire touched workpiece". with "No" the function "wire feed stop" and a "store the embroidery-out position (reference)" 87 is called and the sub-menu 42a with the function "Stickout Referenzadjustment Ende". is ended.
On the other hand, if the main program is submenu 42b "Highspeed Wire Touch Rever-sing". is called, so again a similar procedure is started as before for the submenu 42a. Now, in turn, with the function 89 "activating touch detector voltage source " the power source 34 is activated. Thereupon, a query 90 "wire touched workpiece " started so that when manually adjusting the welding torch 7 by the user a touch can be detected. If there is no contact, the query jumps back to the interrogation, whereas in the case of a touch, that is, at * 'Yes, the function 91 "wire feed backwards". is called and started so that the welding wire 9 is conveyed immediately away from the workpiece 14. In order that the cancellation of the short circuit or, better, the lifting of the welding wire 9 from the workpiece 14, is detected, a query 92 is started again. Then function 93 "wire feed stop" will be displayed. to complete the backward movement of the welding wire 9, which in turn is continued with the interrogation 90, so that a corresponding circuit results and with each touch the welding wire 7 is withdrawn and thus can not be bent. By jumping back to the query 90 ensures that the further manual adjustment of the welding torch 7 and a repeated touch this is recognized and corrected.
If, on the other hand, the submenu 42c is called, then a sensing process is started where the welding wire 9 can be guided over the contour of the workpiece 14, that is to say the welding wire 9 is repeatedly moved toward the workpiece 14 for touching. The detection is started with the function 94 "Activation of the contact detector voltage source", since thereby the current source 34 is applied to the workpiece 14 and the welding wire 9. This is followed by a query 95 "wire touched workpiece", in which at N2010 / 17400 15:35:04 10-01-2011 37/54 25 ** · · · * · -33-a touch, ie a "yes". the function 96 "wire feed backwards " is activated to feed back and release the touch. This in turn is queried 97 "wire touched workpiece". monitored, whereupon, when lifting the welding wire 9 from the workpiece 14, ie at "no", now the function 98 "wire feed forward " is called and thus the welding wire 9 is moved back to the workpiece 14. In order to detect the renewed short circuit or touching, function 98 jumps to query 95, so that a closed circuit results.
Furthermore, it is possible for the positioning of the welding wire 9 that a referencing, for example, after 5 cycles, is performed, so that an ev, occurring slip of the welding wire can be corrected. For this purpose, for example, the welding wire 2 cm are extended, whereupon the user is asked to cut off this at the contact tube, so that now a defined point is given.
The embodiments show possible embodiments of a welding robot 26 according to the invention, which should be noted at this point that the invention is not limited to the specifically illustrated embodiments thereof, but also various combinations of the individual embodiments are possible with each other and this Vartations possible speed due to the teaching technical action by objective invention in the skill of working in this technical field expert. So are all conceivable embodiments, which are possible by combinations of individual details of the illustrated and described embodiment variant, includes the scope of protection.
Furthermore, the described invention is suitable not only for the teach-in method but also in other programming methods, e.g. Playback, offline programming, CAD-based programming and Acoustic Programming. The invention is applicable to all types of welding robots and welding equipment. Variants and their advantages disclosed for welding robots therefore also relate to welding systems and vice versa.
For the sake of order, it should finally be pointed out that for a better understanding of the construction of the welding robot 26, this or its components have been shown partially unevenly and / or enlarged and / or reduced in size. N2010 / 17400 15:35:21 10-01-2011 38/54 25 i I t ΐ · -34-
The task underlying the independent inventive solutions can be taken from the description. NZ010 / 17400 15:36:55 10-01-2011 46/54 • «* * * *» • φ * »* * * * * *» «*
Number of references I Length by which the welding medium projects beyond the welding head b Width of the weld
welding machine
power source
power unit
control device
gas
gas storage
welding torch
Wire feeder
welding wire
storage drum
casing
trolley
Electric arc
Workpiece cooling unit
Water tank level indicator
Input and output device
Welding torch-on and / or
output device
Hftzeschutzschild
hosepack
kink protection
grinding protection
option carrier
holder
welding robots
robot base
robot arm
welding head
welding wire
Workpiece first workpiece part second workpiece part roller second drive control
Voltage / current source
ammeter
switch
Arc N2010 / 17400

权利要求:
Claims (22)
[1]
1. A method for teaching a welding robot (26) in which a position is set and stored via a manually performed positioning process, comprising the steps of: moving out a mobile robot mounted welding wire (9, 30), from a welding head (29), in particular a welding torch (7), to a length (I) and moving the welding head (29) to a position on a workpiece (14, 31), preferably at deactivated Power supply of the welding head (29), characterized in that after positioning at the position a so-called wire touch sensing process is started in the welding machine, in which between the welding wire (9, 30) and the workpiece (14, 31) a Test voltage is applied and then the manual positioning operation is continued with the welding head (29), wherein upon detection of a current flow between the welding wire (9, 30) and the workpiece (14, 31) or a collapse of the test voltage of the welding wire (9, 30) is moved back to interrupt the flow of current.
[2]
2. The method according to claim 1, characterized in that the welding wire (9, 30) after the interruption again to the workpiece (14, 31) or to the predetermined length (I) is moved.
[3]
3. The method according to claim 1 or 2, characterized in that the welding wire (9, 30) when moving the welding head (29) repeatedly to the workpiece (14, 31) and from the workpiece (14, 31) is moved back, so the contour of the workpiece (14, 31) is scanned as long as the length (I) is not reached.
[4]
4. The method according to any one of the preceding claims, characterized in that the return speed of the welding wire (9, 30) in such N2010 / 17400 15-.3537 10-01-2011 40/54 25 »« · · · · · · · »· This is always higher than the speed of forward movement of the manually controlled welding torch (7) Is.
[5]
5. The method according to any one of the preceding claims, characterized in that the current source (34) limits the amount of energy such that in a short circuit no melting of the welding wire (9, 30) and the workpiece (14, 31) comes about, however, the contacting the two are detected as quickly as possible, but remain for the actual welding process further monitoring, control and regulating functions, such as the short circuit resolution, the wire conveying, the protective gas supply, the cooling circuit, etc., the welding device (1) disabled.
[6]
6. The method according to any one of the preceding claims, characterized in that the distance of the welding head (29) from the workpiece (14, 31) later during welding corresponds to the distance when the by the predeterminable length (I) herausgedfahrene welding wire (9, 30) the workpiece (31) touched.
[7]
7. The method according to any one of the preceding claims, characterized in that the welding wire (9, 30) is moved out after starting the wire-touch sensing process until a current flow is detected.
[8]
A method of initiating / verifying a movement of the welding robot (26) according to claim 7, comprising the steps of: a) applying the test voltage between the welding wire (9, 30) and the workpiece (14, 31) by activating the wire-touch Sensing processes, b) moving the welding head (29) along said movement on the workpiece (14,31), c) moving out the movably mounted welding wire (9, 30) from the welding head (29) to the circuit in which the welding wire (9, 30) and the workpiece (14, 31) is located, a current flow is detected, and d) returning the welding wire (9, 30) by a predefinable retraction distance and repeating steps a) to d). N2010 / 17400 * «* · 15'.35; 52 10-01-2011 41/54 25 -3-
[9]
9. The method according to any one of claims 1 to 8, characterized in that the length (I) by which the welding wire (9, 30) from the welding head (29) out and / or retracted is measured, in particular measured manually, or adjusted via an input and / or output device or by touching with the workpiece (14, 31) is defined.
[10]
10. The method according to any one of claims 1 to 9, characterized in that the test voltage or the resulting current flow is smaller than a voltage required for forming an arc (37) / a voltage required to form an arc (37) current.
[11]
11. The method according to any one of claims 1 to 10, characterized in that the test voltage or the resulting current flow smaller than a voltage required for melting the welding wire (9, 30) / a measured to melt the welding wire (9, 30) required current ,
[12]
12. The method according to claim 11, characterized in that the test voltage or the resulting current flow is greater than a voltage required for forming an arc (37) / a current required to form an arc (37), but less than one for melting the welding wire (9, 30) required voltage / for the melting of the welding wire (9, 30) required current are dimensioned.
[13]
13. The method according to any one of claims 1 to 12, characterized in that the welding head (29) is moved in the region of a finished or produced weld transverse to its course, the position of the welding head (29) and optionally the welding wire (9, 30) is stored or determined when a current flow in said circuit or a collapse of the test voltage is detected, and from several stored or determined positions, the width (b) / the height of the weld and / or the position of the welding head (29) or the welding wire (9, 30) is determined relative to the weld. N2010 / 17400 15:36:06 10-01-2011 42/54 25 - 4 -
[14]
14. The method according to any one of claims 1 to 13, characterized in that in the evaluation of the welding wire conveying the longest stickout (I), which corresponds to the center position of the weld, is determined.
[15]
15. The method according to any one of claims 1 to 14, characterized in that an alarm is triggered when a current flow or a voltage dip is not detected, although this from the position of the welding head (29) or the welding wire (9, 30) and the Workpiece coordinates would be expected.
[16]
16. The method according to any one of claims 1 to 15, characterized in that: between a electrically conductive part of the welding head (29) and the workpiece (14, 31) a test voltage is applied and the welding head (29) is stopped or retracted, if in a circuit in which the said conductive part and the workpiece (14, 31) is located, a current flow or a collapse of the test voltage is detected.
[17]
17. A control for teaching a welding robot, in which a position is set and stored via a manually performed positioning process, comprising: a first output for driving a first drive system, which is for moving the welding head (29) to a position on a workpiece (14 , 31), preferably with a deactivated power supply of the welding head (29), is prepared, a second output for controlling a second drive system (32), which for moving out a movably mounted welding wire (9, 30) from a welding head (29), in particular Welding torch (7) is prepared to a length (I), characterized in that the controller comprises a detection device (35) for detecting a current flow in a circuit and means for starting a so-called wire-touch sensing process after positioning at the Position, wherein the wire-touch sensing process is adapted to between the Sc Welding wire (9, 30) and the N2010 / 17400 ι · · · 15:36:20 10-01-2011 43/54 25 «« t * * * «·» · -5- workpiece (14, 31) a test voltage and then continue the manual positioning operation with the welding head and the controller is adapted to issue a command on the second output upon detection of a current flow between the welding wire (9, 30) and the workpiece (14, 31) or a break in the test voltage which causes the return of the welding wire (9, 30) for interrupting the flow of current.
[18]
18. Welding system, comprising a welding device (1) and a welding robot (26) which are coupled to one another via lines, in particular a bus system, and a welding torch (7) fastened to the welding robot (26), in particular on the last axis of the welding robot. in which the welding torch (7) is guided along a predetermined path by the welding robot (26) and the welding process is carried out by the welding device (1), characterized in that before a welding process is carried out a manually controlled teaching A process in which a position is set and stored via a manually operated movement is performed comprising the following steps; Moving out a movably mounted welding wire (9, 30) from a welding head (29) to a predefinable length (I) and moving the welding head (29) to a position on a workpiece (14, 31) when the power supply to the welding head (29) is deactivated Starting a teaching process in the welding machine (1) after positioning at the position where a test voltage is applied between the welding wire (9, 30) and the workpiece (14, 31) and then the manual movement with the welding head (29) is carried out, wherein upon detection of a current flow between the welding wire (9, 30) and workpiece (14, 31) or at break of the test voltage of the welding wire (9, 30) is moved back to release the current flow and after loosening the welding wire (9, 30 ) is moved to the workpiece (14, 31) or to the predetermined length (I), and that the welding wire (9, 30) does not reach the length (I) repeated N2010 / 17400 25 15:36:36 10-01-2011 44/54 -6-to the workpiece (14, 31) and the workpiece (14, 31) back along the contour of the workpiece (14, 31) is moved.
[19]
19. A welding system according to claim 18, characterized in that a method according to any one of claims 1 to 16 and a controller according to claim 16 is used.
[20]
20. Welding system according to claim 19, characterized in that an automatic determination of the center position of a welding bead is carried out in which the welding robot (26) of the welding torch (7) is moved transversely to the welding bead.
[21]
21. Welding system according to claim 20, characterized in that the welding wire (9, 30) during the movement of the welding torch (7) transversely to the weld bead, in particular transversely to a Kehinaht, constantly on the workpiece (14, 31) is moved back and forth , and then an evaluation of the welding wire conveying is performed.
[22]
22. A method for automatically positioning a welding head (29) on a workpiece (14, 31), in which a preprogrammed position is approached, characterized in that after positioning a so-called wire-touch sensing process is started in the welding machine at a test voltage is applied between the welding wire (9, 30) and the workpiece (14, 31) and the welding wire (9, 30) is conveyed in the direction of the workpiece (14, 31) and upon detection of a current flow between the welding wire (9, 30) and workpiece (14, 31) of the welding wire (9, 30) is retracted to interrupt the Stromftusses, and that followed by a pre-programmed path is traversed, which preferably extends transversely to the planned weld axis, and that during stiffening of the welding head (29) of Welding wire (9, 30) repeatedly to the workpiece (14, 31) and from the workpiece (14, 31) is moved back, so the contour of the workpiece (14, 31) is scanned , And from the values of the conveyed wire lengths, a defined position, in particular a center position, is determined. 23. A method according to claim 22, characterized in that a method according to one or more of claims 1 to 16 and control according to claim 17, and the Schwetßanlage according to one or more of claims 1Θ to 21 used become. FRONIUS INTERNATIONAL GmbH

N2010 / 17400

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同族专利:

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公开号 | 公开日

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CN103282153B|2016-05-25|

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EP2663417A1|2013-11-20|

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EP2663417B1|2018-10-31|

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CN103282153A|2013-09-04|

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US9833857B2|2017-12-05|

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AT510886B1|2012-10-15|

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US20140014638A1|2014-01-16|

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ES2708938T3|2019-04-12|

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WO2012094689A1|2012-07-19|

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法律状态:

优先权:

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申请号 | 申请日 | 专利标题

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ATA27/2011A|AT510886B1|2011-01-10|2011-01-10|PROCESS FOR INTRODUCING / CHECKING A MOTION FLOW OF A WELDING ROBOT, A WELDING ROBOT AND A CONTROL THEREFOR|ATA27/2011A| AT510886B1|2011-01-10|2011-01-10|PROCESS FOR INTRODUCING / CHECKING A MOTION FLOW OF A WELDING ROBOT, A WELDING ROBOT AND A CONTROL THEREFOR|

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CN201280004512.4A| CN103282153B|2011-01-10|2012-01-10|Be used for method, welding robot and the control device for welding robot of the motion process of learning/check welding robot|

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EP12716178.4A| EP2663417B1|2011-01-10|2012-01-10|Method of teaching / checking a sequence of movement of a welding robot, welding robot and associated controller|

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ES12716178T| ES2708938T3|2011-01-10|2012-01-10|Procedure for learning / testing a sequence of movement of a welding robot, welding robot and associated control|

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PCT/AT2012/050004| WO2012094689A1|2011-01-10|2012-01-10|Method for teaching/testing a motion sequence of a welding robot, welding robot and control system for same|

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US13/978,734| US9833857B2|2011-01-10|2012-01-10|Method for teaching/testing a motion sequence of a welding robot, welding robot and control system for same|