JPS603979A - Weaving pattern teaching method for welding robots - Google Patents

Abstract

PURPOSE:To teach exactly a weaving pattern to a welding robot in the stage of subjecting works to weaving welding with a robot by teaching an auxiliary point to the optional position of the works and assigning numerically the beginning point of weaving and the distance and angle regulating the weld line. CONSTITUTION:A prescribed triangle ABC is used as a reference pattern and a web 1 and a flange 2 to be welded are welded along the weld line Q1Q2, Q2Q3 by moving a welding torch with simple oscillation or triangular weaving. An auxiliary point is taught in accordance with the optional segment of the weld line in this case and the coordinates in the coordinate system of the robot space at each beginning point of the weaving motion in which the reference pattern is used as the weaving pattern for the segment are calculated from the reference pattern, the prescribed angle of inclination and relative position with said segment, the coordinates of the auxiliary point and the coordinate at the teaching point of the segment, then the weaving pattern is taught to the welding robot.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a welding robot of Chingbrei Panok, and particularly to a weaving pattern teaching method thereof.

In the arc welding opening of the teaching Bravanoku, (1) one pass is sufficient for a workpiece with a wide groove of a medium-thick plate; ↑;. Melting 2: f metal? ! (2) For target workpieces with gaps between thin plates, fill the gaps; (3) To eliminate variations in target workpieces. Therefore, the tip of the welding torch attached to the tip of the robot is shaken for the purpose of absorbing the variation to some extent when there is variation in the welding line, and (4) using it as a sensing means in arc sensing. A so-called weaving motion is widely used.

The weaving interlocking method of this robot includes the so-called hard weaving method, in which the welding torch is held by a special weaving device attached to the robot wrist, and the tip of the welding torch is moved by this weaving device, and the so-called hard weaving method, in which the welding torch is moved by the weaving device, is attached to the robot hand 11. There is a so-called soft weaving method in which the tip of the welding torch is moved in a weaving motion based on one stage of soft uniato as one axis of Iff Bonoto or a composite movement of each axis. The hard weaving method has TiJ high-speed weaving interlocking.
However, the disadvantage is that the welding torch cannot access the narrow welding line of the workpiece because the lifting device for QL installed on the robot Teura becomes an obstacle.
Furthermore, there are restrictions on the direction of weaving.

, m At i: ffit L-'C, C6-
5,7,,,Kae,1□,. 4. In order to perform weaving motion on the existing axis of 1 note, q1 does not require a separate weaving device, easy access to the welding line of the target workpiece, reducing the load weight of the robot 1!1, It has the advantage of increased durability and no restrictions on the weaving direction.

Conventionally, in this soft weaving method, it is necessary to teach the welding line as well as two or three weaving end points that define the size, direction, etc. of the weaving movement, which makes it difficult to It is necessary to teach the weaving end points for all of the required weld lines, and it takes a long time to teach the number of welding end points.Furthermore, if the amplitude of the weaving is small, weaving It is difficult to correctly teach the direction and amplitude of the Even if the welding torch is able to get inside, the operator cannot use the torch. I'L; ! ';1. i ”:': l”-
l IQ. L/f. m <, teaching individual J”JP, Wihinkunoho, the task of teaching humanity etc. is difficult (1
There was a time when I was able to master it.

As described above, the teaching work of the soft weaving method is not only a detailed and patient work, but also causes a decrease in work efficiency when there are a large number of weld lines to be weaved.

The present invention was proposed to address the above problems, and instead of teaching the weaving end point to the weld line with oil, it teaches one auxiliary point to any equipment on or near the workpiece. By simply specifying the numerical values for the distance 1 and angle that define the positional relationship between the weaving end point and the welding line, the coordinates of each weaving 311.1 point of the weaving pattern in the roboto space P1^ reference system are automatically determined. The second object of the present invention is to provide a weaving pattern teaching method for a welding robot.

In the present invention, 1 to 11 patterns of predetermined polygons are set in advance, and a subline segment of the taught welding line ( Q
．． , Qo++' ) corresponding to the auxiliary points (p, , ), and the reference pattern and the predetermined 4; and the relative position, the coordinates of the auxiliary point (Pn), and the line segment (Q
The coordinates for dividing the reference pattern into lines are calculated from the point P14 of point J: nQn+1).

If the specified rectangle (△ABC) is used as the basic pattern, set a point (S,,) on the line segment (QnQ, +, ) and set the auxiliary point (P,) and point (Sn). The connecting reference line (Dinguhou-) makes a predetermined angle with the line segment (Q,,Q,, +1), and the point (S,,) that is located at a constant vector angle is a triangle (△A B C) o) The vertices (A') corresponding to the ici point (A) are congruent with the triangle (△ABC), and the predetermined 1LI'l net for the line segment (Q, Q, , , l).・
Pentagon with one angle and relative position (△A'B'C')
In the robot space coordinate system of each vertex (AI, B/, c'), calculate the coordinates (I lose) r1,
Let A'B'C') be a constant vector hX, and the moved square (ΔA''B''C'') be a quimping pattern corresponding to the line segment ('Q,,Q,,,1).

If the 1.1 line (K1) (corresponding to other segments (Q, Q, +1) of the weld line that has been reduced) has already been obtained, this reference line (■ [) The line segment (Q,, Ql, 4
This can be used as a reference line corresponding to I), and there is no need to newly teach auxiliary points.

If the reference pattern is a polygon other than a triangle, the triangle (△A'B'C') corresponding to the triangle (△ABC) that constitutes a part of the base thread pattern of this preset polygon.
Calculate the coordinates of each vertex (A', B', C') in the robot space coordinate system, and convert the In point (A, B, C) of the triangle (△ABC) to the triangle (△A/B/C/ ). The vertex of (
A'.

The coordinates in the robot space coordinate system of other vertices before the r'+iJ polygons when located at B' and C' are calculated.

The present invention will be described below with reference to drawings of embodiments.

In this embodiment, a predetermined triangle ΔABC(
Line segment AB = L, , line segment he, -= x, 2, l
B A Cβ) is set to a predetermined pattern, and the web 1 and the flange 2 are welded while performing simple harmonic motion or triangular loop motion along the welding line and the welding line as shown in FIG. 1 (2). In this case, first, we convert the point (So) into a triangle △A'
After aligning the triangle △A'B'C' with point 8' of J'1 of B'C', move the triangle △A//BL/c'' by a part of the vector 111'' to the welding line. 2. This is a weaving pattern for 4-3. Q is the welding starting point. Point QI of these welding lines - Nailka, Tonka,
, Q2. Q3 is taught and the robot's Cartesian coordinate system 0-x
The coordinate values in yz are (X, .

Yl, zl), (x2.y2.z, ), (X3.Y3
．． z3).

Point P1 is an auxiliary point taught to Web 1 in order to define the weaving end, 45, and the coordinate values in the robot's coordinate system 0-XYZ are 03,
y,',z1'). Points A', B', and C' are the weaving end points to be calculated, and the weaving end point A'
is the intersection of the perpendicular line drawn from the auxiliary point P1 to the welding line Q'+Q2 and the welding line drawing, and the weaving end point B' is also the perpendicular line W -1
- specified distance from the weaving end point A', (=
= line segment). Quieping end point A'
Let the coordinate values of x; , Y;

Let it be zA.

First, the orthogonal 1 seat (coloring system) of the robot at this weaving end point B'
'B is calculated.

Point 918 points Q2 (7) Each coordinate value (X1 + Y) + z
+ ), from (X2 +Y2 +22), line segment Q +
The direction surplus dl, +3, i, j of Q2 is the point Q1
and each coordinate value of the auxiliary point Pl (X+, Y+, 'Z+), (X
1', YI', 21') to the direction cosine 7 of the line segment Q+P+
', +1 in/ are respectively given. From these two direction cosines b, i, j and l', I11', +1', the cosine value of /P+Q+Q2 can be calculated and the sine value can be calculated from the theorem of trigonometric functions. That is, the direction cosine of the lij line Qil, ljl, 11 is the direction cosine, +, j.

A function of 1', m', n' is expressed as: Therefore, the coordinate values of the weaving end point B' are as follows.

Next, the coordinate values XJ, Y, and Z of the weaving end point C' are calculated. Here, the angle between the line segment and Xσ is β, which is the same as the angle made by line segment ■ of triangle △ABC, and the angle between i:I, line fin C, and line segment ad is α, and the welding line The angle j between q16) and the median r is ζ (which is 90 according to the above definition)
'). Direction remainder it'a of line segment a/cl.

1), C is the direction remainder 1Jih, i, J, l, m, n
, angle α.

β can be expressed as this function. Therefore, weaving l'
11. Seat frame Ilj'f at point i C' Xc + Yc +
Zc ha and hey). Here, L2 is the distance p111 of the line segment A/cl taken to the triangle to be equal to the specified line ABC or one penalty.

End point A' (XA, YA, zA)
The coordinate values of the quimping end points B' and C' with the point B' and C'
) is calculated.

In order to make each weaving end point B', C' actually move around the welding start point Q1, instead of the coordinate value X;, YX, z;, the coordinate value of welding start point Q, x, '+ Y, , z.
, by substituting them into equations (2) and (4) to find the coordinate values of points B' and C', X≦,y,;,zA;

Weaving end points A', B at relative positions to the welding line
', C' are defined, the weaving end point A' is always at the welding line Q I Q2, -1 knee, so Xs = y;
=, z,; = o From equations (2) and (4), the coordinate values of weaving end points B' and C' are X≦, YA, zA, X
All you have to do is look at yg, z,;

Next, a method for making sure that the welding wire melt 4 always passes through rl at the center of gravity of the diagonal ΔAJn/c/ connecting the quimping end points N, B7, and cl will be described. First, move the weaving end point A' seven times along the welding line, find the coordinates of the center of gravity of the pentagon △A'B'C', and then calculate the coordinates of each weaving end point AL, by the coordinates of the center of gravity. B/,
, cr by translating the weaving end point A'.

It is determined by checking the I'Jfi target values of B' and C'. That is, in equations (2) and (4), x = size = z; = o
Then, X Otsu Y Otsu Z Chang The coordinate value (XA, Y; l z,
) is the center point of the triangle △A'B'C' that connects the weaving end points A', B', and C'. .Coordinate values of weaving end points B' and C'C';l' exit, Ta x
;, G, z; can be determined by substituting them into equations (2) and (4). If we change the right-hand side of equation (5) from ISJ '3' to '2' and perform the same process Jlj11, we will get The coordinate values of each quimping end point A'', B', and C' can be calculated.

By the way, the back distance of the parameters used in equations (1) to (5): +j11. L), L2, angles α and β are values that can be easily grasped by pasting the actual welding groove line, and can be manually input using the Giesu Inochi hemorrhoid on the operation panel.

Although the angle α is normally used at 90°, the feature of the present invention is that any angle can be specified for special cases. In addition, the part planes IL, , L2, and the angle β are turns to the reference = '-jCJ shape to the vertices A and B of ABC.
, C is a characteristic determined by C, but according to the triangle theorem, we can calculate the distance, L2, and angle β by specifying only the lengths of three sides or by specifying one side and two angles. , which are merely variations of the present invention).

Next, in FIG. 1, it is assumed that the weaving movement in the welding line inspection is completed and a point Q2 is reached. As shown in Figure 4'J1, if the next welding line is not on the extension line of the welding line, conventionally, each weaving end point p, I is newly set at point Q2.
, B/, and cL were retaught. However, in the present invention, when the direction cosines i, m, and n of the line segment can be considered to be almost the same as when looking at the weld line,
For example, it is characterized in that there is no need to teach the auxiliary points to QUEB 1. One example of this application is the case where the flange 2 is made of a single iron plate and the angles + and + that form the web 1 are welded to it. This is one of the examples. Like this, welding line drawing.

Regarding the above conditions! iW; When adding, the direction cosine of the perpendicular τ to the welding line, l, In, 1
1 is also applied to welding line Q2Q3, and the coordinates of point Q2 are 111t.
X2 , Y21 Z2 wo'c respectively X, , Y
, , 7. ,,coordinate value X3 of point Q3. Y3. z3 each x2. y2. Replace z2 with equation (2) ~ (
5), each weaving end point A',
The coordinates of n/ and c/ can be given by))1. This means that the direction of the line segmentation of triangles △A and BC with respect to welding line Ql'Q-2 is the direction of the line segment plane with respect to welding line η, and the direction of the line segment mark that is soluble in welding line. Point Q
This is equivalent to rotating the direction by the angle formed by the welding line vine 2 and Q2Qs with the line segment 2 as an axis. At that time, welding distances corresponding to 5 prefectures, L2 and angle α1. There is no problem even if the value of β differs from those values corresponding to the weld line capacity. Welding line -1 The direction co-chords of the perpendicular side W inclined to stone 2, e, m, +1, are welding line fusible,
If it cannot be equivalent to that of , then it is sufficient to follow the method of Tonosho's method of calculating the end points A', B', and C' of each weaving cut in the alternating layers of the weld line.

:A': 2 lxl +1) indicates the base 1 pattern of the rectangle ABCD, which is numerically entered manually or taught at another position 4, this base t111 pattern ABCD,
Weaving pattern A'B'C'D on the second seam 1 (2)
As shown in ``I'', if we are to realize the actual welding process using a female 1, we can teach each weaving end point A', B', C', D' once. Alternatively, if you enter the numerical values of each weaving end point A', B', C', and D' once and memorize them, you can use them repeatedly for any welding line. The work of teaching weaving end points can be significantly reduced.

In this case, from the coordinate values of the triangular points A, B, and C of the reference pattern ABCD, the length Ll of the line segment ■, the length L2 of the line segment Q, and the angle β between these two line segments and Kσ can be easily calculated. 39 can be issued. By specifying the angle α formed by the line segment bean and the weld line fusible in these 1;'11 output values and teaching the auxiliary point P1, Equations (1) to (5) allow For double-sided ABCD, look at each of the welding lines at points A, B, and C (
It can be moved to two opposing weaving end points A', B', and C'. However, the transfer of one point J' to the weaving end point D' is slightly different because the triangle ΔABC and the pentagon ΔACD do not necessarily form the same piece. In this case, for quadrilateral ABCD, the angle between the line segment line and the line segment plane is β, and the angle between the line segment and the line segment plane is β, and the angle between the line segment and the line segment is π1. angle. , line 6□l i3h +) p, c a) ga) angle γ6, and the length of the line segment as L2, these are 4jt
Calculate 1 from each coordinate value of vertices A, B, C, and D of I-type ABCD.
．． 1. ;The monkey depends on whether you roll 1 or not. Then, the direction cosine of the already expanded plot distribution 'A IJ 1m, (1 and the direction cosine a, b, c of the line segment a/cJ are the direction cosine, 1.
By subtracting 3) and (4) into the equation as j, and replacing the resulting x, ;, y;, and z with Xt, Y, and Zt, respectively, Z The coordinate value of the weaving end point D' is X and Y11. ZA to 1;
can be released. For the weaving end points E', FL, ... of the weaving pattern which is a polygon of pentagon or more (, mef, l pattern), weaving is performed by repeating the above process for the weaving end point D'. Weld the end points E', F', ... 1)〉 Line page, weaving end point E/
, F/, . . . can be moved to tN.

Hereinafter, I will explain the method for calculating the weaving end points of the present invention.
Having explained this, next we will explain the actual weaving motion quantity (Figure 1).
Case 2) will be explained. Now, the weaving interlock starts from point A' and goes to point C', from point C' to point B',
Further, the triangular pill l moves from point B' to 1Qi and A',
- Assume a ping pattern. Each line segment A'c'.

Therefore, the required intercostal space for B'r1 motion is T6゜+T(B
Specify +TBA. In general, starting point 5 (xs, y, ,
zs] to the arrival point E (right, Y), zo), then the starting point s (xs, Ys, Z,
) The coordinate values xw, yw, zW of the current point W of the Quie-Big link after 11) time t has elapsed since departure from ) are as follows. For line segment A'C', x8-x:, ys
=y/, z8=zA', X, , -Xc', Y, =Yc'
, z, , ==zc′, and when −T, xw= x,
= xc', YW'= Yv= Yc', zw-21,
, -: Zt. When the current point W of the weaving movement reaches the weaving end point E, the distance t between 1l and 1l becomes (''l
The coordinate values of the starting point S between the quimping end points are (Xs, Y, , Zs), and the ending point E is
Assign the coordinate values of (x,, y, Z2) to T and the required IRJ distance between the quipping end points to T. The deviation is the interlocking of weaving end points C' to B' cocoon and weaving end points B' to A'. Formula (6)%
If the movement component of the welding line in the two directions at time t' after leaving the welding start point Q1 of the torch tip moving at the formula % or -) is XP + ``P r ZP, and the specified movement speed is V, then , is.

Therefore, the coordinate values Xo, Yo, and Zo in the orthogonal coordinate system 0-xyz, which indicate the movement of the actual current point G of the tip of the welding torch attached to the robot axis, are the coordinate values Xw, Yw, and Zw of the weaving motion, and the welding line. ■Coordinate value along 2 X1・
, Y, , 7, and fj are respectively synthesized.

Here, a method for processing the start and end of the quipping motion will be described. When the welding line 2 passes through the center of gravity or the midpoint of the line segment of the triangle ΔA'B'C' that connects the weaving end points N, ■, and C, the welding movement must be started from the welding start point Ql to the weaving end point. , for example, to point A'. Originally Quie
Since B/ and C/ at each end point of the ping are defined by the coordinate values of the relative position with respect to welding line Kanagawa 2, X3=Ys=43=
Q, xE-"xA', YI+, -YA', ZH=
Equations (6) to (8) are executed with =:zA' and T==Tt. Here, T1 is a reasonable time to move between line segments 0.

On the other hand, the movement along the welding line 2 progresses, and the moving component of the welding torch 5 tip in the welding line rigid direction 1, yp, Z
When P is located at X 21 Y 2122, the coordinate values Xw, Yw, and Zw of the current point XW of weaving motion are X
W=YW=ZW=0 is not necessarily the case. In this case, a weaving movement from the current point W (Xw, Yw+Zw) to the point Q2 (X2.Y2.Z2) must be added. In this case, each coordinate value Xw of the current point W at the moment of arrival at point Q2.

7″・′”'l 'c n + ;tl−x′・Y′・
Z′ & T 6, u X°=87・7゛1=YW,
Zs=Zw,
This operation can be realized when the assignment is shifted to .

Also, the weaving motion is at the quimping end point B'.

In the case of a simple harmonic motion that reciprocates between C', it moves from point Ql to, for example, weaving end point B', and then moves from each weaving end point B' to weaving end point σ, and from weaving end point σ to weaving end point B'. , which is included in the above explanation. Similarly, the weaving motion can be applied to polygons A'B'C'D'
...This also applies when moving upward, from point A' to point B'
→ Point C' → Point D' → . . . The movement of point D' → point C' → point B' → point A' is repeated. In addition, when moving on such a polygon NB'C'D'..., weaving end points A', B', c forming the polygon
', D'..., for example, the movement to point B' and the point B'
Selection of weaving end points such as excluding motion from , and specification of movement order such as moving from point N to point D' and then moving to point C' instead of always moving from point A' to point C', etc. It goes without saying that this is possible.

Although equation (7) is a definition equation related to linear interpolation, since each end point of weaving is calculated using relative coordinate values with respect to the welding line, it may also be an equation for circular interpolation. It can be applied regardless of the operation.

When actually driving the robot, in a Cartesian coordinate robot, point Q1. Since the coordinate data of Q2, Q8, and P+ are stored as orthogonal coordinate values, the current point G at the tip of the welding torch
The coordinate values Xo, Yo.

Z(3) can be used as an axis drive command, but for articulated, cylindrical coordinate, polar coordinate, etc. robots, coordinate transformation between each drive axis and the orthogonal coordinate must be performed first to obtain the orthogonal coordinate value. In addition, the combined coordinate value Xo of the current point G at the tip of the welding torch is calculated inversely.

Yo and Zo must be converted back to each of the three basic driving axes except for the robot wrist. As an example, FIG. 3 shows a model of a five-axis articulated robot. The pivot axis, lower arm axis (length), and upper arm axis (length l) are controlled by rotation angles ψ, θ, and ψ, respectively, and the wrist swing axis and twist axis are controlled by rotation angles γ and τ. FIG. 4 shows the appearance of the wrist area of this articulated robot and the attached tools. Since the point G located at a distance A from the rotation center Q of the wrist swing axis and a distance δ from the rotation center axis of the twist axis in Fig. 3 is the control point to be taught, its coordinates on the orthogonal coordinate axis 0- x y z The value is .

Here, the current values γG, τG of the rotation angle γ, τ of the wrist swing axis
It is. Here, the wrist swing axis has a rotation angle γl at the welding start point Q+ within the time required for the welding line reciprocating 2 to advance.

Starting from rl and moving proportionally, at point Q2 the rotation angle r2
．． It is assumed that r2 is reached. D! is the distance between 4 welding points and 2
It is 1. The momentary current point G of the tip of the welding torch (XI
)+YO+ZO+γO+to), for example, on a multi-joint axis is determined by the following equation, which is an inverse transformation of the already established equation (9), where ψG, θG, ψG, γG, and τG become robot drive commands.

FIG. 5 is a block diagram of one embodiment of a welding robot implementing the method of the present invention. In the teaching box 20, points Qx, Q2. Qa teaches the coordinate values of the auxiliary point P1.

On the operation panel 30, set the distance L1. Input data such as L2, angles α and β, and moving speed V. These taught and input points Q+, Q2, Q3. The position data of the auxiliary point PI, the distance L 1 + L 2 , the angles α, β, and the moving speed V are stored in the teaching data storage device 40 . The overall control block 10 receives the operator's operations on the operation panel 3o and centralizes the overall control as a playback mode. The trajectory controller 5o is a circuit for realizing the weaving pattern teaching method of the present invention. Reference numerals 70 to 74 are shaft drive control units provided for each axis.

FIG. 6 is a block diagram showing details of the trajectory controller 50. First, the teaching point data stored in the teaching data storage device 40 is set in the coordinate converter 51, and is converted into orthogonal coordinates according to equation (9). Coordinate-converted teaching point data x1. y, ,z, ,γ1. τ1 is connected to shoes 1 to circuit 52, X21Y2, z2 jγ2. τ2 is the control signal S output from the control signal generator 60 to the latch circuit 53;
5, respectively. The distances Ll, L2, angles α, β are sent to the weaving position generator 55, and the required time of movement TAOI TO)l +TIA + T+, "2
is outputted from the teaching data storage device 40 to the weaving generator 56, and the moving speed V is set to the current progress value generator 57, respectively. The weaving position generator 55 generates the coordinate values X, , Y, , Z, , γ1 . τI, X2°Y2.
Z2. γ2. The coordinate values of each weaving end point A', B', and C' are calculated from τ2, XI, y, and IZI.

FIG. 1 is a block diagram showing details of the weaving position generator 55. The direction cosine generator 101 generates the coordinate value X+
, Y+, Z+ and X2, Y2, Zl+, the distance D between the direction cosine h+'+J of the weld line alternating 2 and the weld line α is calculated.

Similarly, the one-way cosine generator 102 generates coordinate values X+, Y+
, Z+ and X1', Yl', z+' to line segment 4 lower 1
The direction cosine of /, m'.

Calculate n'. The first direction generator 103 is the direction cosine h+L calculated by the direction cosine generators 101 and 102 respectively]
+A! ', m', n' and calculate the direction cosine of the perpendicular AP, 7. Calculate m and n. The weaving end point n′ calculator 104 is the first direction generator 103
From the direction cosine 1, m, n of the perpendicular roof 1 calculated in
, L+, n*L+ The coordinate values XB r Y+i', Z+i' of the weaving end point B' are calculated.

The second direction generator 105 includes direction cosine generators 101 and 10.
The direction cosine (h, i, j) calculated in step 2, (1
1', m', n'), A-L, , m-L+, n-Lt calculated by the first direction generator 103, and the input angles α and β. Calculate the direction cosine %a, b, c'% of 1 in minutes R. Weaving end point C'
The arithmetic unit 106 calculates Equation 1 from the direction cosine '% a, b, c\ calculated by the second direction generator 105 and the input distance L2.
4) 107 is the output of the weaving end point B' operator 104, Xll'tYI1', ZI1' and the weaving end point C.
'The output MZ of the arithmetic unit 106 (from equation (5))
The coordinate values of the weaving end point A' when the welding iQt passes through the center of gravity of A'B'C' are (XX, YA').

ZA') is calculated. The overall control block 10 performs this calculation, i.e., controls the denominator of equation (5) to the control signal generator 60 of the trajectory controller 50. selection control signal SI
Therefore, the output Xl of the weaving end point B' calculator 104
l'IY+i'+Zn', the output Xd of the weaving end point C' operator 106;

A set of data consisting of Y'rrZ(r% and - C zero,
Weaving 9. +, i point I n, Ij Output of the calculator 107 XA', Yffi, Z, 6', Output XI]+
Y1. l+Zu', the output XA' of the weaving end point N calculator 107;

YA' + Z A' plus weaving η'^1 point C
′ to the output XIr + Y of the arithmetic unit 106.
Input and output data of any one of a set of data consisting of.

FIG. 8 shows details of the weaving generator 56 of FIG.
This is a single diagram. The multiplexer 201 calculates the required time TACI between each end point A;13:C' of weaving.
Any one of TcI3 r TBA + Tl + T2 is selected and output by the selection control signal S2 output from the control signal generator 60 under the instruction of the overall control -ia mix 1.

The multiplexer 202 is the starting point Xs of the weaving movement.
, Ys, Zs and the end point XEp YI(r Z n are selected and output by the selection control signal Sa output from the control signal generator 60 under the instruction of the overall control block 10. Now, the weaving motion Assuming that we go from point Q to the weaving end point, multiplexer 201
, 202 are the designated time T211 and the starting point X5-, respectively.
o, ys=o, Zs=O1 end point Xp, = XA
', YI>=y, '+Z F, =ZX signals are selected and output. Weaving current value generator 2
03 is the signal t indicating the time lapse 2 from the start point from the control signal generator 60, the specified time T1 output from the multiplexers 201 and 202, and the coordinate values of the end point xs j ys+ Z S + XE+
Equation (6) is executed based on YP,,ZE, and the weaving motion 0IJUE(uI, w+YwpZ□Yayu1.Oh.

. 11;\,lid□I7yai, -i□ When No. 1 t reaches the specified time T, the comparator 204 outputs the signal S4 to the control section signal generator i, ::, and the control signal generator 60
uses this signal S4 to initialize the signal t, and the multiplexers 201 and 202 use the selection control signal S2+83 to set the specified time T=T, starting point xs = XA + ”
S-YA'pZs=Za', end point XH=Xa,
Select ZE = zg.

:1i111i1'll signal generator 60 generates selection control signal S2. Starting point xslyslZS, end point XE r YB r
Switch ZI bows one after another. The latch circuit 205 is the welding line Q
It is provided to store the current value xw l yw I Z- of the weaving motion at the moment when the progress of IQ2 is completed and set it at point Q2.

The progressing current value generator 57 in FIG.
A signal indicating the elapsed time Σt since leaving the welding start point is received from , and the input specified speed V, direction cosine h, i, j calculated by the weaving position generator 55, and coordinate values latched by the latch circuit 52 are received. Expression C force is executed from X1°YI and ZI to calculate the coordinate value Xp+'1ppZr of the movement component of the torch tip in the welding line Q plane direction. When the calculated coordinate values XI' p YI' + Z P are respectively XP=X2 and Yp-Y2+ZI≧z2, that is, when the torch tip reaches the point Q2, a signal To is output to the control section signal generator 60. The control unit signal generator 60 thereby controls the latch circuit 20 of the weaving position generator 56.
Current value of weaving motion when 5 to 70 Xvj, Y
W+Zvj is stored and sequence control is performed so that the current point G moves toward the point Q2. Although the progressing current value generator 57 is for linear interpolation in this embodiment, it may be for circular interpolation. The coordinate value xw j yw l ZW which is the output of the weaving generator 56 and the coordinate value XP + YP (ZP) which is the output of the progressing current value generator 57 are added by an adder, and the coordinate values xo, YG, which are the added values, z
o is input to the inverse coordinate transformer 59. On the other hand, the wrist current value generator 58 generates each wrist coordinate value γ at the point Q++Q2.
1. τl and γ2°T2, weaving position generator 5
5 and the input velocity V to calculate the current values γG and ′τG of the wrist swing axis, and output these to the inverse coordinate converter 59. The inverse coordinate converter 59 executes these input values r (Equation 01 from 3fo and the coordinate value xolyGjzO) to obtain the current values ψ0. of each drive axis ψ, θ, ψ. Calculate θG and ψG.

Now, in Fig. 1, when the motion n= for the weld line is complete, if the direction cosines IJ, m, and n are valid for the subsequent weld line [phase], point Q2 is reached. At this moment, the cosine of this direction is 1! , m, and n (not shown), this becomes the direction cosine for the weld line ring. Then, the latch circuit 52 receives the coordinate value X2. of point Q2 as 1.14 target value X+, YI, ZI. Y2.
Z2.

The latch circuit 53 receives the coordinate value X2. Y2. Point Q3 as Z2
By latching and shifting the coordinate values Xq, Ys, and Z3, the coordinate values of each weaving end point A', B', and C' with respect to the bath tangent line can be calculated.

For each weaving end point (Fig. 2 (1)) that is taught at an arbitrary position by the numerical input coordinate value or at an arbitrary position, β and distance L are
I + L 2 is calculated by using two direction cosine generators and some arithmetic units. It can be easily inferred that by substituting these calculated values into the weaving position generator 55, the weaving end points A, B', C' and C in FIG. 2(2) can be realized. Similarly, distance L2−likelihood angle β−/
BAD, α-/CAD, γ-ZBAC, etc. can also be calculated. Weave these values into the weaving position generator 5
Enter 5. Output 1 of direction cosine generator 101].

'+J is changed to the stored direction cosine a, b, c of the line segment using a changeover switch (not shown), and the second direction generator 105
input. The second direction generator 105 generates the direction cosines 11, m, n of the line segment Aγ and the direction cosines a, m, n of the line segment WC'.
I) Calculate the thin object direction cosines a, b, and c of line segments such as
l) + YI) + ZI) are XO' and YO, respectively
', ZO'.

Note that the various arithmetic units used in the trajectory controller 50, such as an adder/subtractor, a multiplier/divider, a trigonometric function unit, and an inverse trigonometric function generator, are versatile. FIG. 9 shows a circuit diagram of direction cosine generators 401 and 102 as an embodiment of these 61 multipliers. 301, 302, and 303 are multipliers, 304 is a square rooter, 305, 306, and 307 are dividers, 308°, 309, and 310 are subtracters, and 311, 312 are adders.

As explained in FIG. 6, each axis drive current value τ0. calculated by the inverse coordinate converter 59. γG, θG, ψ(1+ψG are stored in the ramp circuit 61 for each signal Δt generated by the limiting signal generator 60, and are stored in the ramp circuit 61 as the previous value and r, , i, ka 1 o 3, 6.3
．． Wow. A1□, 941 axis drive command. The signal Δt, along with the signals t and Σt, are counted by three counters in the control signal generator 60 based on the reference Li.

FIG. 10 is a block diagram of 1!1ilI1/1 drive shaft control. The axis drive command of the trajectory controller 50 (FIG. 5) is a command pulse for each axis, which is uniformly outputted by the command circuit 401 with Δ within a time period. The difference between each axis command pulse and the pulse from the pulse generator PG is calculated by the deviation counter 402.
The signal is output from the D/A converter 403 and subjected to D/A conversion. The motor M is connected to the deviation counter 4 by the servo amplifier 404.
02 is rotated in the direction where the output becomes zero, but the point Q2
When the number of pulses up to I has been delivered to the command circuit 402 and the subsequent command pulses are short, the output of the deviation counter 402 becomes zero and the motor M stops.

The above operations are performed simultaneously for each unit.

The present invention teaches only one auxiliary point at any position on the workpiece or its vicinity, and all that is required is to numerically specify the angle, distance, etc. that indicate the positional relationship between the weaving pattern and the welding line. Point robot 1 - It automatically calculates the coordinates in the spatial coordinate system, and there is no need to teach the weaving end point for each weld line as in the past, making the teaching work of the soft quipping method extremely efficient. . In addition, it is not necessary to teach auxiliary points for each welding line, and the quieping end point can be continued, and once a weaving pattern has been set, it can be registered and applied to any welding line. It can be reproduced. Furthermore, the present invention overcomes the conventional location restriction of being able to teach each weaving end point only in the vicinity of the weld line, and the difficulty of accurately teaching the weaving amplitude and direction, thereby significantly improving workability. .

[Brief explanation of the drawing]

Fig. 1 is a diagram for explaining the principle of the present invention when weaving is performed using triangle ΔABC as a reference pattern, Fig. 2 is an explanatory diagram of the present invention when weaving is performed using rectangle ABCD as a base thread pattern, and Fig. 3 The figure is a perspective view of five articulated robots to which the present invention is applied;
Figure 4 is a flat block diagram showing the welding torch, wrist swing axis, and twist axis, and Figure 6 is the trajectory controller 5.
0 block diagram, FIG. 7 shows the weaving position generator 55
The block diagram of FIG. 8 is a diagram of the weaving generator 56. 51...Coordinate converter 52.53, 54.61...Latch circuit 55.
......Weaving position generator 56...
... Weaving generator 57 ... Progress current value generator 58 ... Wrist current value generator 59 ... ... Inverse coordinate converter 60 ...・Control signal generator

Claims (1)

[Scope of Claims] 1. In the teaching Zorei Banoku welding robot that teaches welding lines using the PTP method, a polygonal base pasting pattern with a +S i constant is set in advance, and a workpiece that is cured is -1- Or teach an auxiliary point (p, , ) at a desired position in the vicinity thereof, corresponding to the line segment of the taught welding line (I, 1-layer product); , if, I pattern and the Noah 1! if, j pattern line segment (Q, ,
The predetermined oblique angle and relative position with respect to Q,, +1), the coordinates of the auxiliary point (P,,), and the line segment (QnQ, +1)
From the coordinates of the teaching point of A f-ping pattern teaching method for a welding robot, characterized by Point (s,,
) and connect the auxiliary point (Po) and point (S, ) with the reference line (
P shoulder lice) forms a predetermined angle with the line segment (Q, , Ql++1), and a point displaced by a certain vector amount from the point (S, , ) corresponds to Jrt point (A) of the triangle (△ABC). Each of the triangles (△A'I3'C') whose apex (A') is congruent with the triangle (△ABC) and has a predetermined inclination angle and relative position with respect to the line segment (Q, , Qn++) jJ′J
Robot at point (A7, n/, c/)? 1! Interval 1! Calculate the mark 1 no 1 on the Il mark thread, and move this triangle (△A/B/c/) by a certain vector amount to create a triangle (△ALIB//c") as a line segment (Q,,Q,, +1
) A weaving pattern teaching method for a welding robot according to claim 1, wherein the weaving pattern corresponds to the following. 6. Set the reference line (p, s,) corresponding to the other line segment (Q, Q, +I) of the taught welding line to the line segment (QoQn, )-J
The line segment (Q, ,
Weaving pattern teaching in a welding robot according to claim 2, in which the base dμ line corresponding to Ql, +, ); j':. Method. 4. Preset polygon, J, 1. , each j1' point (A',
Calculate the coordinates of B', C') in the robot space coordinate thread, and connect the vertices (A, B, C) of the triangle (△ABC) to the vertices (A', B', C') of the triangle (△A'B'C'). , C'), the coordinates of the other point of the polygon in the robot space coordinate system)
A method for teaching weaving patterns in a welding robot according to claim 2.