• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a method for positioning a welding head or welding torch (7) of a robot welding system over a workpiece (14), wherein a measuring signal in the form of microwaves is sent from a transmitter arranged on the welding head to the workpiece (14) for determining the position and the am Workpiece (14) reflected microwaves are received by at least one arranged at the welding head receiver, and the received microwaves for determining the position of an edge (26) on the workpiece (14) are evaluated by an evaluation module. To create a fault-insensitive and accurate position determination is provided that are sent in different positions on the welding head of at least one transmitter, the microwaves and the reflected microwaves of at least one arranged at the welding head receiver with an opposite the polarization plane of the transmitter at an angle polarization plane with a change the polarization are recorded and the position of the edge (26) is determined by the evaluation module, at least based on a phase change of the respective reflected at the different positions microwaves.
    公开号:AT511331A4
    申请号:T676/2011
    申请日:2011-05-12
    公开日:2012-11-15
    发明作者:
    申请人:Fronius Int Gmbh；
    IPC主号:
    专利说明:

    1
    The invention relates to a method for positioning a welding head of a robot welding system over a workpiece, wherein a measurement signal in the form of microwaves is sent to the workpiece by a transmitter arranged on the welding head for position determination and the microwaves reflected on the workpiece are received by at least one receiver arranged on the welding head , And the received microwaves for determining the position of an edge on the workpiece are evaluated by an evaluation module.
    The positioning of thermal joining and cutting equipment is critical to the quality of the joint or cutting process, with positioning under conditions such as smoke, splashes, high temperatures, high levels of UV radiation, electromagnetic fields, etc.
    For positioning corresponding sensors are required, with radar sensors are relatively insensitive to the aforementioned influences. For example, radar sensors are used to measure seam geometry and edge detection in welding processes by performing a continuous wave (CW) measurement to detect change in distance.
    The radar sensors radiate an antenna with an area of usually several centimeters in diameter.
    This has the consequence that the reflected wave, which is received by the antenna, corresponds to an overlay of the reflections occurring in the illuminated area. Thus, a superposition always takes place at the receiving antenna, so that the distance jumps in the radar signal are greatly reduced and the position determination becomes more difficult. Above all, the feeding of butt joints by means of distance measurement is impossible because the gap width in real applications falls far below the diameter of the irradiated component area and thus vanishes as a result of the averaging in noise.
    According to EP 1 C94 913 Bl, for example, a radar sensor with an antenna as transmitter and receiver for monitoring the second
    Weld seams described during a welding process. Since the radar sensor is arranged trailing, so no seam tracking can be realized. Also, the radar sensor is exposed by the arrangement over the hot weld a strong thermal stress. The exact measurement of the seam geometry also requires an extremely high signal bandwidth.
    In general, narrowband continuous wave (CW) radar systems are disadvantageous since, on the one hand, absolute distance information can not be obtained and, on the other hand, they must be strongly focused for good spatial resolution.
    The disadvantage here is that the susceptibility of the systems is increased against unwanted reflections by the use of narrow-band signals and the necessary focus implies the use of expensive and large antennas. The required relative movement requires an additional drive, which generates the pendulum motion of the sensor.
    With a narrowband CW radar signal. Thus, no absolute measurement is possible.
    If the geometry is measured by a pure distance measurement, i. a scanning operation, it is not possible to sufficiently focus the microwave radiation of the radar sensors. Therefore, due to the limited resolving power resulting from the maximum possible frequency and the resulting wavelength, the distance information is blurred and thus an inaccurate determination of the edge geometry or the edge position.
    The object of the invention is therefore to provide an above-mentioned method for seam tracking, which is insensitive to disturbance during a welding process. and has high accuracy. Disadvantages of the prior art should be reduced or avoided.
    The object of the invention is achieved by a method mentioned above, wherein the microwaves are sent in different positions on the welding head of 3 at least one transmitter and the reflected microwaves from at least one arranged at the welding head receiver with an opposite the polarization plane of the transmitter at an angle polarization plane are recorded with a change in the polarization, and the evaluation module determines the position of the edge at least on the basis of a phase change of the respective microwaves reflected at the different positions. By evaluating the polarization of the reflected microwaves, the edge of the workpiece, i. the transition between the conductive or reflective background to the insulating environment or air are distinguished, whereby a reliable detection of the edge of the workpiece is possible. The positioning or measuring method is particularly well suited to the separation of the edge of the workpiece from the electrically conductive background, since the polarization change is mainly caused by the edge. By arranging the transmitter and receiver at an angle to each other, the signal evaluation can be considerably simplified because the electrically conductive background can already be separated by the antenna arrangement of the desired measurement signal.
    Advantageously, at least one transmitter and receiver pair is arranged on the welding head or welding torch, a transmitter and a receiver being arranged at an angle of 90 "to the further: transmitter and receiver. By such orthogonal arrangement of linearly polarized antennas, i. At an angle of 90 ° between the transmitting antenna and the receiving antenna, only those portions of the reflected microwaves are recorded at which a polarization rotation took place.
    According to a further feature of the invention, transmitter and receiver are moved together linearly or radially around the welding head and sent and received at defined measuring positions a measurement signal. Due to the movement of the transmitter and receiver, a synthetic aperture transversely to be detected. Spanned edge of the workpiece. The measurements of spatially different positions can be used for determining the position of the edge by evaluating the phase curve 4 caused by the movement in the measured signal. Thereby, the position of the edge of the workpiece can be determined with high accuracy.
    In addition to the position, a direction of the edge of the workpiece can also be determined at least on the basis of an amplitude of the microwaves respectively reflected at the measuring positions. The polarization rotation caused by the edge of the workpiece is dependent on the polarization of the incident microwave. Thus, this information can be used to determine the orientation of the edge. The direction of the edge can be reliably detected only by a polarimetric evaluation.
    In addition to the position and direction of the edge of the workpiece, the width of the gap between the workpieces to be welded can also be determined. It is advantageous if the thickness of the workpiece is known for the determination of the gap. If the radar antenna with the same polarization of transmitter and receiver moves over the workpieces to be welded, can be closed due to the distance-dependent phase on the distance profile and therefore inferred with a known sheet thickness on the width of the gap between the workpieces.
    At least one transmitter and one receiver are advantageously arranged in the different measuring positions, the measuring signal being emitted by a transmitter and the reflected measuring signal being received and evaluated by at least one receiver at an angularly arranged measuring position.
    The transmitter in the individual measuring positions arranged around the welding head can be activated successively, with the reflected measuring signals always being picked up by at least one receiver and being passed on to the evaluation module for posi-zionsbest immunq.
    Ideally, for determining the position via an input and / or output device, the type of welding task, such as z. Butt joint for Ι seam, butt joint for V seam, overlap joint or T joint for fillet weld, set. This makes it possible, on the basis of the best match on the present parameter 5 (position, orientation, gap, etc.) infer. The knowledge of the geometry allows a calculation of the expected reflections depending on the position and orientation of the radar antennas and the position of the welding task.
    In accordance with the entered welding task, a stored model, which is executed in the form of a stored measurement signal or a stored form for calculating the model, can be called, which is compared by the evaluation module with the received measurement signals. By comparing the model with the measured measurement signals, it is thus possible to determine the optimum parameters which describe the situation in the best possible way.
    Advantageously, due to the power or intensity of the received measurement signal, a coarse positioning of the welding head to the workpiece is determined by the evaluation module.
    The object of the invention is also achieved by a method for model-supported positioning of a welding head of a robot welding system, wherein the evaluated measurement signal is transferred from the evaluation to a model calculation module, wherein the model calculation module, a stored model in which a plurality of parameters are defined is activated, which via a through an input and / or output device inputted seam geometry is selected, and by changing predefined parameters, the calculated model is matched to the evaluated measurement signal until a defined match is present.
    The present invention will be explained in more detail with reference to the accompanying schematic drawings. Show:
    Fig. 1 is a schematic representation of a welding apparatus;
    FIG. 2 schematically illustrates the antenna system according to the invention positioned on the welding head in front of a workpiece; FIG.
    3 shows the antenna system with a twist angle to the edge of the sixth
    Workpiece shown schematically;
    FIG. 4 schematically shows a second variant of the antenna system; FIG.
    Fig. 5 schematically shows a third variant of the antenna system;
    6 shows an evaluation of the amplitude of the reflected waves of the antenna system; and
    7 shows an evaluation of the phase of the reflected waves of the antenna system.
    Fig. 1 shows a welding apparatus 1 for a wide variety of processes such as e.g. MIG / MAG welding or TIG / TIG welding or electrode welding method, double wire / tandem welding method, plasma or soldering method, etc. The welding apparatus 1 comprises a power source 2 with a power unit 3 arranged therein, a control device 4 and others not The control device 4 is connected for example to a control valve which in a supply line for a gas 5, in particular a protective gas, such as, for example CCL, helium or argon and the like. , is arranged between a gas storage 6 and a welding torch 7 and a burner. In addition, via the control device 4, a wire feed device 8, which is customary for MIG / MAG welding, are controlled, wherein via a supply line, a filler material or a welding wire 9 from a supply drum 10 or a wire reel in the region of Welding torch 7 is supplied. Of course, the wire feeder 8 in the welding machine 1, in particular in the housing 11 of the power source 2, integrated and not, as shown in Fig. 1, be positioned as an additional device on a carriage 12. 'Further, the wire feed unit 8 can also be placed directly on the welding machine 2, in which the Genäuse 11 of the power source 2 is formed at the top for receiving the wire feed unit 8. In this case, the carriage 12 can also be omitted. 7
    The wire feed unit 8 can also supply the welding wire 9 outside the welding torch 7 to the processing station, wherein a non-consumable electrode is preferably arranged in the welding torch 7, as is usual in TIG / TIG welding.
    The current for establishing an arc 13 between the electrode or the welding wire 9 and a workpiece 14 is supplied via a welding line (not shown) from the power part 3 of the power source 2, the welding torch 7, in particular the electrode or the welding wire 9. The workpiece 14 to be welded is connected via a further welding line for the further potential, in particular the ground cable, to the power source 2, so that a circuit can be constructed via the arc 13.
    For cooling the welding torch 7, this can be connected via a cooling device 15 with the interposition of any components, such as a flow switch, with a liquid container, in particular a water tank 16 with a level indicator 17. 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 current source 2, furthermore has an input and / or output device 18, via which a wide variety of scanning parameters, operating modes or welding programs of the welding device 1 can be set or called up and displayed. The set via the input and / or output device 18 welding parameters, operating modes or welding programs are forwarded to the control device 4 and then the individual Komoonenten aes Schwerßgerätes 1 are controlled or corresponding setpoints for dj.e control or control specified. In this case, it is also possible that, when a corresponding welding torch 7 is used, adjusting operations can also be carried out via the welding torch 7, with the welding torch 7 being equipped with a welding torch input and / or output device 19 for this purpose. 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 Schwerßprozesses, the welding torch 7 usually has a start switch (not dargesuellt), so that the arc 13 can be ignited by pressing the start switch. In order to be protected against the high heat radiation from the arc 13, 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 apparatus 1, the hose assembly 21 being fastened 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 the data transmission, etc., from the welding device 1 to the right. Welding torch 7 is arranged, whereas the ground cable is preferably connected to the power source 2 extra.
    In principle, it should be mentioned that, for the different welding methods or welding devices 1, such as TIG devices or MIG / MAG devices or plasma devices, it is not necessary to use or use all of the previously named components. 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. It can therefore be said that the welding device 1 is at least 'formed by the power source 2, the wire feeder 8 and the cooling device 15, which also in a common. Housing 11 may be arranged. Furthermore, it is possible that even more parts or components, such as a Schieifschutz 23 arn wire feeder 8 or an Optior.sträger 24 on a holding device 25 for the gas storage 6, etc., can be arranged or used.
    Erfindur.gsgemäß is now from the synopsis of Fig. 2 to / 9 provided. That in different positions on the welding head or welding torch 7 of at least one transmitter, a measurement signal is emitted and the reflected measurement signal is received by at least one arranged on the welding torch 7 receiver , The polarization plane of the receiver is placed at an angle to the plane of polarization of the transmitter. Finally, an evaluation module makes an evaluation for determining a position and an orientation of an edge 26 on the workpiece 14, along which the welding process is carried out. This allows the welding robot information about the course of imminent, to be welded geometry -also the seam tracking - are provided. Likewise, sudden corrections of the welding robot are avoided.
    Antennas 28 are preferably used for transmitting the waves, which serve both as a transmitter and as a receiver and thus represent a transmitter / receiver unit. For example, linearly polarized antennas 28 can be used. Since a receiver is arranged at an angle to the transmitter, at least two transmitter / receiver units for an antenna system 27 at the welding head or welding torch 7 are required accordingly. Hereinafter, a transmitter / receiver unit is referred to as antenna 28. Thus, from a receiver, the reflected wave on the workpiece 14 can be received, the polarization of which differs from that of the transmitted wave. This change in the polarization of the wave is caused by the edge 26 on the workpiece 14, which is a transition from an electrical conductor (workpiece) to an electrical non-conductor (e.g., air). Due to the transmitted wave, an electric field is generated, which impinges on the electrically conductive workpiece 14, whereby a corresponding current density on the workpiece 14 occurs. The direction of the induced current depends on the polarization plane of the transmitted wave and on the distribution of the specific conductivity of the material of the workpiece 14. Thus, the edge 26 of the workpiece, as a transition between the electrical conductor and the dielectric dielectric, influences the direction of the current density. Consequently, the polarization of the reflected wave depends on a twist angle 31 between the edge 26 of the workpiece
    Piece 14 and the polarization plane of the transmitted wave from < Fig. 2).
    If the transmitted wave is transmitted with a parallel to the edge 26 of the workpiece polarization plane, ie a twist angle 31 of 0 °, then the reflected wave undergoes no polarization change. If the transmitted wave has a polarization plane with a twist angle 31 greater or smaller than 0D, the incident field strength and the propagation of the induced current density in the vicinity of the edge 26 are different, since at the location of the edge 26 the induced current density essentially only along the edge 26 can spread. Thus, in the region of the edge 26, the direction of the incident electric field strength differs from that of the current density. This directional influence is dependent on the angle of rotation 31 between the edge 26 and the plane of polarization of the transmitted wave. Thus, there is a change in the polarization of the reflected wave when the course of the edge 26 differs from the polarization of the transmitted wave and the angle of rotation 31 is not 90 °. The twist angle 3131 is defined by the orientation of the antenna, which emits the wave and whose polarization predetermines, to the edge 26 of the workpiece 14. For this purpose, the antenna system 27 can be moved along a guide rail 29 fastened to the welding torch 7, which predetermines the direction of movement 30. These movements of the antenna system 27 can be linear ° of the radial or ejner circular orbit around the welding torch 7, so irr. Essentially transversely to the edge 26, take place.
    In order for the receiver to receive only the reflected polarized wave and not the polarized waves of the Senate, the plane of polarization of the receiving antenna will become substantially orthogonal, i. arranged at an angle of 90 ° 2 for the polarization plane of the transmitter {transmitter antenna) kzw. aligned. However, the reflected waves with the polarization ° Os transmitter are present. receive the transmitter antenna.
    The waves transmitted by the first antenna 28 are therefore reflected by the piece 14 and received by the first antenna 28 ur.d the sides of the antenna 28, the receiver of the second antenna 28 receives that portion of the shaft with changed polarization and the receiver the first antenna 28 receives that wave component with unchanged polarization. Accordingly, this is also applied in the opposite way, so that the first antenna 28 receives the polarization-reflected wave of the transmitter signal of the second antenna 28 and the second receives that wave component with the same polarization.
    Thus, therefore, the waves reflected on the workpiece 14 are received separately in waves with changed and unchanged polarization.
    With the antenna system 27 according to this embodiment, which is formed from at least two mutually orthogonal antennas 28, position, orientation and geometry data (such as 2.B. the air gap between the parts of the workpiece 14) of the edge 26 and thus the course of welding metallic edge 26 can be easily determined. For an accurate determination of the position and orientation of the edge 26, the antenna system 27 can also be moved around the weld head 7, thereby changing the twist angle 31 between the antenna system 27 and the edge 26, and correspondingly " crosstalk " the reflected waves comes between the receivers. This " crosstalk " rcsu_Ltiert from the described. Splitting the reflected waves. In this case, the angle to that antenna 28, which receives the reflected wave with changed polarization, remains unchanged and is substantially 90 °. On the basis of an evaluation of the respective wave components received in the receivers, which at least partly consists of the " crosstalk " Subsequently, the orientation and position of the edge 26 can be shown in " crosstalk " be determined.
    Due to the notorious movement of the antenna system 27 in a direction of movement 30 over the workpieces 14, the measuring system 27 occupies various measuring positions around the welding torch 7 or welding head. At Giesen measuring positions the re-flexicnsverhaxten of the value 14 at different frequencies to improve the robustness of the measuring method is recorded and stored. In this case, a shaft is sent out at each measuring position whose polarization changes in accordance with the angle of rotation 31 of the measuring positions. Thus, the split and polarization of the reflected wave also change, increasing the intensity of " crosstalk " varied.
    The intensity of the reflected wave with changed polarization is much lower than that of the transmitted wave. For this reason, it is advantageous to align the receiver antenna orthogonal to the transmit antenna, so that it is guaranteed that no portion of the high-intensity transmitted wave can cross-talk with original polarization. As a result, the amplifier stages in the evaluation module can also be tuned to the low intensity.
    The measuring positions are advantageously arranged substantially on a semicircle lying symmetrically to the edge 26, so that the measuring positions lie on a quarter circle to the left and right of the edge 26. Thus, from the stored reflection behavior of the different measuring positions, that measuring position can be determined by the evaluation module, which corresponds to the position and orientation of the edge 26. Of course, an interpolation can be carried out between the measuring positions, for example, and the position and orientation of the edge 26 can be deduced from the interpolated measuring position.
    The antenna system 27 can perform the measurements at different measuring positions by various constructions. In addition, the antenna system 27 can also be rotated so that the number of measurements is increased.
    Thus, in a first variant, the antenna system 27 can form a structural unit in which two antennas 28, which are preferably offset by 90 °, are arranged, as already described. In this case, the entire assembly is moved around the welding torch 7 or several units are arranged around the welding torch 7 or the arc component or the welding head, whereby the angle of rotation 31 is changed and the maximum of the " crosstalk " can be determined. 13
    In a second variant according to FIG. 4, the antenna system 27 is formed from a plurality of antennas 28, wherein each antenna 28 can be used as a transmitter / receiver unit. Here, the antennas 28 are arranged at a defined distance or angle to each other around the welding torch 7. Essentially, each antenna 28 is associated with a corresponding, offset by 90 ° antenna 28. In the example, seven antennas 28 are arranged offset on a semicircle by 30 ° to each other. In this case, two corresponding antennas 28 are always activated simultaneously. A movement of the antennas 28 is also recommended, but not mandatory. To realize the required measuring positions, any number of antennas 28 can be used in such an arrangement.
    The reflected wave can also be received with modified polarization in a third variant such that the angle of rotation 31 of the antenna 28 is electrically changed at a measuring position. The reflected waves are received both in the polarization of the transmitted wave and in the changed polarization of the reflected wave. For this purpose, the receiver of the antenna 28 has two outputs, so that the reflected waves with different polarization can be evaluated. According to FIG. 5, this is shown with a broken-line antenna 28, which does not exist physically, since the reversal of the polarization is realized electrically. For this iwird example, a circular waveguide is used as the antenna 28. The antenna 28 is moved around the welding torch 7 in such a way that a rotation of the antenna 28 about its own axis and a movement transverse to the edge 26 or a rotation about the welding torch 7 takes place.
    The antennas 28 generate electromagnetic waves which, depending on the frequency and antenna shape, irradiate a region on the workpiece 14 which is much larger than the necessary resolution or accuracy of the Kahtverfoigungssystems. For example, at a frequency of 77 GHz, a minimum possible diameter for the area results with 98% of the radiation energy of about 1.5 cm. Due to the process, however, a resolution in the sub-millimeter range (for example: 0.1 mm) is required, which is achieved by evaluating the change in the polarization and measuring at several spatial positions. The required focus on a few wavelengths can be achieved by the appropriate adjustment of frequency and diameter. If the transmitted wave impinges on a flat surface of the workpiece 14 and not on the edge 26, the same polarization results for the reflected wave as for the transmitted wave.
    At an edge 26 of the workpiece 14, however, the polarization of the reflected wave is changed with respect to the transmitted wave. This change in polarization results from the angle of rotation 31 between the edge 26 and the polarization plane and can be detected by the angular arrangement of transmitter and receiver. Accordingly, of that antenna 28 of the receiver which is disposed at an angle to the antenna 28 of the transmitter, only reflected waves whose polarization has been rotated are received.
    During the evaluation, the different reflection behavior recorded at the different measuring positions is combined and from this the position and orientation of the edge 26 and geometric data, such as gap width, are determined. For example, the measuring position can be changed every 2 ms. The forward movement of the welding torch 7 has only a small effect on the measurements.
    The amplitude and phase course of the reflected waves are considered as a function of the position and polarization plane.
    Depending on the division of the current directions at the different measuring positions, the waves are each reflected with different amplitude and phase. Consequently, from the evaluation of the amplitude and the phase of the reflected waves, the position (phase) and direction (amplitude) can be determined.
    As a result of the movements of the antenna system 27 with the aid of the movement direction 3C, the emission region 33 (illuminated region) is displaced, as a result of which the position of the edge 26 in the irradiated region, ie the illuminated region, is shifted relative to the edge 26. Accordingly, the intensity of the received waves also changes in dependence on the twisting angle 31 to the edge 26. With the change in the angle of rotation 31, the distribution of the wave propagation and thus the amplitude of the reflected wave changes. According to the antenna system 27 transmitter and receiver of two different antennas 28 are offset by 90 ° to each other. Thus, if the antenna system 27 is moved substantially in a semicircle, the angle of rotation 31 can be between -90 ° and + 90 °.
    When the edge 26 of the workpiece 14 is on the 0 ° line of the semicircle, an antenna 28 is also located at the 0 ° position and the second antenna 28 is at the -90 ° and + 90 ° positions, respectively. In this case, the polarization of the waves is not substantially changed, since due to the aligned alignment of transmitter and edge 26 no change in the polarization occurs. In this case, the angle of rotation 31 is 0 °.
    If, on the other hand, each antenna 28 is aligned with an angle of rotation 31 of 45 ° to the edge 26, ie an antenna 28 with 45 ° and the second antenna 28 with -45 °, the change in the polarization causes a maximum of the amplitude of the reflected time, as in the amplitude diagram 6 dargesteilt according to FIG.
    Thus, in the polarimetric evaluation, due to the different amplitudes of the reflected waves, the direction of the edge 26 can be uniquely determined. In this case, the evaluation module determines the direction at least from the measurement positions with the maximum amplitude, for example by using the measurement position in the middle of these two measurement positions as a measure of the direction. Of course, the course of the amplitude between the measuring positions can also be interpolated, so that a position on the interpolated course can also be used as a measure of the direction.
    By contrast, the position of the edge 26, as already mentioned and can be seen from FIG. 7, is determined on the basis of the phase curve of the reflected wave. Accordingly, the phase of the reflected wave is detected and stored at that measuring position. Thus, the phase change between the measurement positions can be evaluated. A change of the phase occurs at the edge 26, since 16 changes due to the different measuring positions of the distance and thus the reflected wave is received delayed in time. However, this change does not take place abruptly, but in a curve, since the wave is reflected with different delays depending on the surface of the illuminated area of the individual measuring positions, ie the phase changes with the position of the edge 26 in the illuminated area. The phase of the reflected wave is minimal when the edge 26 is in the central area of the illuminated area.
    From the stored phase values, the minimum can be determined in the polarimetric evaluation and from this the position of the edge 26 can be determined by assigning the minimum determined by the evaluation module to a measuring position. Of course, instead of or in addition to the polarimetric evaluation, a monostatic evaluation can also be used.
    In order to accelerate the evaluation and / or to achieve the change in the polarization faster, the antenna system 27 is preferably rotated by 45 ° with respect to the edge 26 - in particular according to FIG. 2 - arranged. This can avoid that the reflected wave undergoes no polarization change. Likewise, for determining the position via an input and / or output device 19 of the welding device 1, the type of Schweißaufgäbe (eg butt joint for I-seam, butt joint for V-seam, lap joint or T-joint for fillet weld) can be set. As a result, a faster evaluation can be achieved because the reflected waves can be assigned faster and easier based on the expected reflected waves.
    Due to the combined translatory ur.d rotational movement of the antennas 28 to the welding torch 7 (Fig. 2), the edge 26 of the workpiece 14 is irradiated at a measuring position of different polarization directions rr.it the transmitted wave and detects the reflected waves. For this purpose, the angle of rotation 31 at a Meßpositlor. changed by the antenna 28 is rotated. This additional antenna movement correspondingly increases the accuracy of the measurements per measuring position and the result of the evaluation module.
    Due to the evaluation of the position and direction of the edge 26 of the workpiece, a correction of the position of the welding torch 7 or welding head can optionally be carried out. Constructively, a center of the antenna system 27 is arranged in alignment with a central axis of the welding torch 7, so that for correct positioning of the welding torch 7 and the associated measuring position must be in alignment. In this case, a distance is determined by the difference between the angle between the measuring position and the center to the angle of rotation 31, by which the position of the welding torch 7 must be changed. On the basis of this evaluated position and direction of the welding robot can be positioned exactly at the edge 26, wherein based on the determined direction, the deviations are kept to a minimum until the next measurement cycle in the welding direction 32.
    Thus, for example, unwanted gaps between the workpieces to be welded 14 detected and the parameters of the welding process can be adjusted accordingly, an exact height information is required. This can be calculated according to the invention with a mathematical model which simulates the measured or delivered by the evaluation module result by varying the parameters, so that the geometry of the gap can be determined. The basis for this is a previously selected seam geometry, so that a simulation result stored for it is already similar to the evaluated result. By appropriate variation of the parameters, the results are adjusted. For example, the model can also combine several measurements with each other and, for example, the gap width can be determined.
    In the model, the polarization rotation effects of the waves are detected by local current densities along the edge 26 of the workpiece 14, thus allowing for iris-model-based detection of the edge 26.
    Furthermore, according to the invention it is possible to teach the system to complex geometries. In the process, the parameters decisive for the welding process (for example edge position, gap width, etc.) are varied and measured. The antenna system 28 is thus moved over the geometry and detects the reflections as measured data. If the geometry is changed, the reflections are also changed. The obtained measurement data can be stored as a so-called reflection pattern in a memory.
    During operation, the current measured data can be compared with the reflection patterns from the memory and the current parameters can be deduced. However, due to the additional expense for such a learning process and due to the high memory requirement, the teach-in process makes sense only in the case of complex geometries in which mathematical modeling would be too time-consuming.
    The fact that any antenna 28 used as a transmitter can also be used as a receiver is used to allow coarse positioning at the joint on the workpiece 14. For this purpose, the radiation power of the transmitted wave and the radiation power of the received wave is monitored and compared. From the knowledge of the radiant power received on the transmitting antenna, the received radiant power at the receiving antenna can be properly scaled and evaluation errors avoided. Of course, the radiation power can be monitored even with separate transmitting and receiving antennas.
    The antenna system 27 can also be used for balancing the so-called TCP (Tool Center Point) of the welding system. In this case, for example, after a Verschleteiiwechsel the welding head 7 of the TCP of the welding system adjusted by a calibration of the welding robot on known geometries of the workpieces 14 (such as lap joint, T-joint, fillet weld, etc.) performed with different workpiece densities and gap widths and corresponding measurements for Position, direction and geometry are recorded with the antenna system 27. Based on these measurements, the TCP can be set.
    权利要求:
    Claims (12)
    [1]
    1. A method for positioning a welding head of a robot welding system on a workpiece (14), wherein for measuring a measurement signal in the form of microwaves from a arranged on the welding head transmitter to the workpiece (14) is sent and on the workpiece (14) reflected Microwaves are received by at least one arranged at the welding head receiver, and the received microwaves for determining the position of an edge (26) on the workpiece (14) are evaluated by an evaluation module, characterized in that the microwaves are sent in different positions on the welding head of at least one transmitter and the reflected microwaves are received by at least one receiver arranged at the welding head with a polarization plane arranged at an angle relative to the polarization plane of the transmitter with a change in the polarization, and the evaluation module determines the position of the edge (26) est is determined based on a phase change of the respective microwaves reflected at the different positions.
    [2]
    2. The method according to claim 1, characterized in that at least one transmitter and receiver pair is disposed on the welding head, wherein a transmitter and a receiver is arranged at an angle of 90 ° to the other transmitter and receiver.
    [3]
    3. The method of claim 1 or 2, characterized in that the transmitter and receiver are moved together linearly or radially around the welding head and at defined measuring positions a measurement signal is sent and received.
    [4]
    4. The method according to any one of claims 1 to 3, characterized in that in addition to the position also a direction of the edge (26) is determined at least on the basis of an amplitude of each reflected at the measuring positions microwaves.
    [5]
    5. The method according to any one of claims 1 to 4, characterized in that in addition the width of a gap between the workpieces to be welded (14) is determined. 20
    [6]
    6. The method according to claim 5, characterized in that the thickness of the workpiece (14} is entered.
    [7]
    7. The method according to any one of claims 1 to 6, characterized in that in the different measuring positions at least one transmitter and a receiver is angeoränet, wherein the measurement signal is emitted by a transmitter and the reflected measurement signal from at least one receiver at an angularly arranged measuring position received and evaluated.
    [8]
    8. The method according to any one of claims 1 to 7, characterized in that the transmitter is sequentially activated in the individual arranged around the welding head measuring positions, wherein the reflected measurement signals are always picked up by at least one receiver and passed to the evaluation module for position determination.
    [9]
    9. The method according to any one of claims 1 to 8, characterized in that for the position determination via an input and / or output device (18), the type of welding task, such as z.3. Butt joint for I-seam, butt joint for V-seam, overlap joint or T-joint for fillet weld.
    [10]
    10. The method according to claim 9, characterized in that according to the input welding task a deposited model, which is executed in the form of a stored measurement signal or a stored form for calculating the model, is called, which is compared by the evaluation module with the received measurement signals.
    [11]
    11. The method according to any one of claims 1 to 10, characterized in that due to the power of the received measurement signal, a coarse positioning of the welding head to the workpiece (14} is determined by the evaluation module.
    [12]
    12. Verranren to mode_j. supported positioning of a welding head of a Robcterschweißanlage over a workpiece (± 4), wherein for determining a measurement signal in the form of 21 microwaves from a arranged at the welding head transmitter to the workpiece (14) is sent and the workpiece (14) reflected microwaves of at least a receiver arranged at the welding head, and the received microwaves for position determination at an edge (26) on the workpiece (14) are evaluated by an evaluation module, characterized in that the evaluated measurement signal is transferred from the evaluation module to a model calculation module, wherein the model calculation module uses stored model in which a plurality of parameters are defined, which is selected via a input and / or output device (18) entered seam geometry, and by changing predefined parameters, the calculated model is matched to the evaluated measurement signal until a defined match exists.
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    同族专利:
    公开号 | 公开日
    US9327362B2|2016-05-03|
    JP2014510638A|2014-05-01|
    AT511331B1|2012-11-15|
    CN103501951B|2015-06-10|
    CN103501951A|2014-01-08|
    EP2637817A1|2013-09-18|
    US20130204434A1|2013-08-08|
    WO2012151597A1|2012-11-15|
    EP2637817B1|2015-07-15|
    JP5863832B2|2016-02-17|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA676/2011A|AT511331B1|2011-05-12|2011-05-12|METHOD FOR POSITIONING A WELDING HEAD|ATA676/2011A| AT511331B1|2011-05-12|2011-05-12|METHOD FOR POSITIONING A WELDING HEAD|
    PCT/AT2012/000133| WO2012151597A1|2011-05-12|2012-05-11|Method for positioning a welding head by means of microwaves|
    CN201280003807.XA| CN103501951B|2011-05-12|2012-05-11|Method for positioning a welding head by means of microwaves|
    EP12724066.1A| EP2637817B1|2011-05-12|2012-05-11|Method for positioning a welding head by means of microwaves|
    JP2013554745A| JP5863832B2|2011-05-12|2012-05-11|Microwave welding head positioning method|
    US13/879,888| US9327362B2|2011-05-12|2012-05-11|Method for positioning a welding head by means of microwaves|
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