Method and apparatus for manipulator welding apparatus with vision correction for workpiece sensing

• US 4,380,696 A
• Filed: 11/12/1980
• Issued: 04/19/1983
• Est. Priority Date: 11/12/1980
• Status: Expired due to Term

• Current Assignee: Unimation Incorporated Shelter Rock Lane Danbury CT 06810
• Original Assignee: Unimation, Inc. (Stäubli Holding AG)
• Inventors: Masaki, Ichiro
• Primary Examiner(s): Shaw, C. C.
• Application Number:
  US06/206,279
• Time in Patent Office: 888 Days
• Field of Search: 219/125.1, 219/124.34, 219/124.22, 358/101, 358/107, 414/1, 318/568
• US Class Current: 219/124.34
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: G05B 19/42 Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
• CPC Class Codes: G05B 2219/36043 Correction or modification of program
• CPC Class Codes: G05B 2219/36417 Programmed coarse position, fine position by alignment, follow line, path adaptive
• CPC Class Codes: G05B 2219/36503 Adapt program to real coordinates, software orientation
• CPC Class Codes: G05B 2219/37572 Camera, tv, vision
• CPC Class Codes: G05B 2219/45135 Welding

Abstract

Control apparatus for manipulator welding apparatus is provided that includes a vision correction system for workpiece sensing. During an initial teach mode, the manipulator is taught the desired welding path on a workpiece by the appropriate recording of data representing the welding path as an operator controls movement of the manipulator. In addition to the data representing the taught welding path, data representing a reference image or template is also recorded in the teach mode. The reference image or template data is provided by a vision system including a camera carried by the manipulator arm. As successive workpieces are presented to the manipulator for performing the desired welding path, in a repeat work cycle mode the manipulator is controlled to move in accordance with the recorded taught data in a first repeat pass wherein images of the welding seam region are detected at successive points. The vision system utilizing an image processor detects the deviation between the taught welding path and the actual welding path of the workpiece. The control apparatus in response to the deviation data provided by the image processor in the first repeat pass corrects the recorded taught data to provide corrected welding path data for the particular workpiece orientation and geometry encountered by the manipulator. During a second repeat pass of the repeat work cycle mode, welding of the actual workpiece seam is performed in accordance with the corrected welding path data obtained in the first repeat pass.

Claims

1. Control apparatus for manipulator welding apparatus, the manipulator apparatus having a manipulator arm controllable in one or more axes and arranged to perform a weld path on a workpiece at a workpiece station, the control apparatus comprising:

means for storing manipulator arm position data during an initial teach phase representing a desired taught weld path with respect to a reference workpiece at a predetermined location at the workpiece station;

means for projecting a predetermined light pattern on the workpiece at said workpiece station;

means for storing a reference image of said projected predetermined light pattern during said teach phase;

means for moving said manipulator arm along said taught weld path in accordance with said stored manipulator arm position data during a first repeat phase with respect to a second subsequent workpiece;

means for sensing said predetermined projected light pattern on said second subsequent workpiece as said manipulator arm moves along said taught weld path during said first repeat phase;

image processing means responsive to said sensing means for generating deviation data representing the deviation between the actual weld path of said second workpiece and said path described by said manipulator arm during said first repeat phase;

means responsive to said generated deviation data for generating corrected weld path data representing said actual weld path on said second workpiece; and

means responsive to said corrected weld path data for moving said manipulator arm and controlling said manipulator welding apparatus to weld said second workpiece along said actual weld path during a second repeat phase.

2. The control apparatus of claim 1 wherein said manipulator arm position data stored during said initial teach phase represents a plurality of points along said taught weld path.

3. The control apparatus of claim 2 wherein said sensing means is operative to sense an image of said predetermined light pattern at each of said plurality of taught points.

4. The control apparatus of claim 3 wherein said corrected weld path generating means in responsive to the actual position of said manipulator arm at each of said sensed image points.

5. The control apparatus of claim 3 wherein said corrected weld path generating means is responsive to said taught point data.

6. The control apparatus of claim 1 wherein said workpiece includes two or more general planar portions arranged in a predetermined workpiece configuration and defining said predetermined actual weld path.

7. The control apparatus of claim 6 wherein said projecting means projects a slit pattern image onto said workpiece.

8. The control apparatus of claim 7 wherein said projected slit pattern image when projected onto said workpiece across said actual weld path is transformed in accordance with the surface shape and position of said workpiece.

9. The control apparatus of claim 8 wherein said workpiece portions are arranged in an overlapping configuration.

10. The control apparatus of claim 8 wherein said workpiece portions are arranged so that said workpiece portions form one or more predetermined angles with respect to each other.

11. The control apparatus of claim 8 wherein said workpiece portions are arranged to present an actual weld path defined by the respective abutting edges of said workpiece portions.

12. The control apparatus of claim 1 further comprising program control means for storing weld condition parameters including weld speed.

13. The control apparatus of claim 1 wherein wherein said second repeat phase moving and welding means further comprises image processing means for generating deviation data representing the deviation between said desired weld path of the subsequent workpiece and said predetermined path of said first repeat phase.

14. A manipulator hand for a programmable manipulator having a manipulator arm movable in a plurality of controllable axes, the manipulator hand being carried at the end of said manipulator arm, said manipulator hand comprising means for carrying a weld gun, means for carrying a visual detection system, and means for selectively rotating either said weld gun or said visual detection system so as to be positioned in an operative orientation with respect to a reference point on said manipulator arm.

41. The manipulator hand of claim 14 wherein said weld gun defines a weld point.

42. The manipulator hand of claim 41 wherein said visual detection system includes image detection means and projection means for projecting a predetermined light pattern on a workpiece.

43. The manipulator hand of claim 42 wherein said image detection means in combination with said projection means defines an optical center point at the intersection of the respective optical axes of said projection means and said image detection means.

44. The manipulator hand of claim 43 wherein said weld point and said optical center point are approximately 180°

degrees apart with respect to said reference point on said manipulator arm.

45. The manipulator hand of claim 43 wherein said visual detection system carrying means and said weld gun carrying means comprises extending structures of said manipulator hand, said manipulator hand being rotatable with respect to said manipulator arm about a predetermined hand rotation axis.

46. The manipulator hand of claim 43 wherein said weld gun carrying means and said visual detection system carrying means are fixedly carried on a common portion of said manipulator hand, said selectively rotating means comprising means carried at the end of said manipulator arm for rotating said common portion of said manipulator hand about a predetermined hand rotation axis.

47. The manipulator hand of claim 14 further comprising a main body portion that is rotatable about a predetermined hand rotation axis, each of said visual detection carrying means and said weld gun carrying means comprising an arm extending from said main body portion.

15. Control apparatus for manipulator welding apparatus, the manipulator apparatus having a manipulator arm controllable in one or more axes and arranged to perform a weld path on a workpiece, the control apparatus comprising:

means for storing a predetermined projected image pattern of a first workpiece at a predetermined location;

means for moving said manipulator arm along a weld path on a second subsequent workpiece, defining a taught weld path;

means for sensing said predetermined projected image pattern along said taught weld path and defining the actual weld path of said second workpiece;

image processing means responsive to said sensing means for determining the deviation between said actual weld path and said taught weld path;

means responsive to said image processing means for calculating corrected weld path data representing said actual weld path on said second workpiece; and

means responsive to said corrected weld path data for welding said second workpiece along said actual weld path.

16. A method for operating manipulator welding apparatus having a manipulator arm controllable in one or more axes and arranged to perform a welding path with respect to a workpiece located at a workpiece station, the method comprising the steps of:

projecting a predetermined light pattern on said workpiece station;

storing a reference template image of said projected light pattern on a reference workpiece at a predetermined location at said workpiece station;

teaching a desired weld path representing manipulator arm position along said desired weld path on a workpiece;

sensing said projected light pattern on a workpiece as said manipulator arm is moved over said taught weld path, said projected light pattern on said workpiece defining the actual weld path on said workpiece;

calculating the deviation between said actual weld path and the path described by said manipulator arm during said sensing step in response to said sensing step;

calculating corrected weld path data representing said actual weld path of said workpiece in accordance with said calculated deviation; and

welding said actual weld path on said workpiece by controlling movement of said manipulator arm in accordance with said corrected weld path data.

17. The method of claim 16 wherein said sensing step, said deviation calculating step, said corrected weld path step, and said welding step are repeated for each successive workpiece presented to the manipulator work station.

18. The control apparatus of claim 16 wherein said second repeat phase moving and welding means further comprises means responsive to said deviation data and the position of said manipulator arm during the movement along said predetermined path during said first repeat phase for providing desired weld path data representing said desired weld path along the subsequent workpiece.

19. A method for operating manipulator apparatus having a manipulator arm controllable in one or more axes and arranged to perform a welding path with respect to a workpiece located at a workpiece station, the method comprising the steps of:

projecting a predetermined light pattern on the workpiece station;

storing a reference image resulting from said projected light pattern on a reference workpiece at a predetermined location at the workpiece station;

sensing the light pattern on a subsequent workpiece at the workpiece station resulting from said projected predetermined light pattern as said manipulator arm is moved over a predetermined path;

calculating desired weld path data representing the desired weld path of the subsequent workpiece in accordance with said stored reference image and said sensed light pattern of said sensing step; and

welding the desired weld path on the subsequent work piece by controlling movement of said manipulator arm in accordance with said desired weld path data of said calculating step.

38. The method of claim 19 wherein said sensing step, said calculating step, and said welding step are repeated for each successive workpiece presented to the manipulator work station.

20. Control apparatus for manipulator welding apparatus having a manipulator arm controllable in one or more axes and arranged to perform a weld path on a workpiece at a workpiece station, the control apparatus comprising:

means for projecting a predetermined light pattern on the workpiece at the workpiece station;

means for storing reference image data representing the light pattern on a reference workpiece resulting from said projected predetermined light pattern;

means for moving said manipulator arm during a first repeat phase along a predetermined path with respect to a subsequent workpiece and for sensing the light pattern on the subsequent workpiece resulting from said predetermined projected light pattern; and

means jointly responsive to said sensing means and said reference image data for moving said manipulator arm and for controlling said manipulator welding apparatus to weld the subsequent workpiece along a desired weld path during a second repeat phase.

21. The control apparatus of claim 20 further comprising program control means for repeating said first and second repeat phases from each successive workpiece presented at the work station.

22. The control apparatus of claim 21 wherein said stored reference image is acquired by said sensing means at one or more predetermined points along said taught weld path.

23. The control apparatus of claim 20 wherein said projecting means is arranged to project said predetermined light pattern at a predetermined angle with respect to the reference plane of said work station.

24. The control apparatus of claim 20 wherein said first repeat phase moving and sensing means comprises image detection means carried by said manipulator arm.

25. The control apparatus of claim 24 wherein said manipulator arm comprises a manipulator hand carried at one end of said manipulator arm, said manipulator hand comprising a weld gun and carrying said image detection means.

26. The control apparatus of claim 25 wherein said manipulator hand comprises means for selectively and alternately presenting either said image detection means or said weld gun to said workpiece.

27. The control apparatus of claim 24 wherein said weld gun defines a weld point, and said image detection means in combination with said projection means defines an optical center point at the intersection of the respective optical axes of said projection means and said image detection means.

28. The control apparatus of claim 27 wherein said manipulator hand comprises means for moving said weld gun and said image detection means with said weld point and said optical center point being coincident.

29. The control apparatus of claim 24 wherein said manipulator hand carries said projecting means.

30. The control apparatus of claim 20 wherein said manipulator arm comprises manipulator hand receiving means, said control apparatus further comprising first manipulator hand means adapted to interfit with said hand receiving means and carrying a weld gun and second manipulator hand means adapted to interfit with said hand receiving means, said sensing means comprising image detection means carried by said first repeat phase moving and second manipulator hand means.

31. The control apparatus of claim 30 wherein said second hand means further carries said projecting means with the optical axes of said image detection means and said projecting means defining an optical center point.

32. The control apparatus of claim 31 wherein said projecting means is arranged with an optical axis forming a predetermined angle with respect to the reference plane of the workpiece.

33. The control apparatus of claim 20 further comprising program control means for operating said first repeat phase moving and sensing means in said first repeat phase at a speed that is at least an order of magnitude higher than said speed of said manipulator arm during said second repeat welding movement.

34. The control apparatus of claim 20 further comprising means for storing manipulator arm position data during an initial teach phase representing a desired taught weld path with respect to a reference workpiece at a predetermined location at the workpiece station.

35. The control apparatus of claim 34 wherein said first repeat phase moving and sensing means is responsive to said stored manipulator arm position data.

36. The control apparatus of claim 35 wherein said second repeat phase moving and welding means is responsive to said stored manipulator arm position data and wherein said first repeat phase moving and sensing means is operative to sense the resulting light pattern at each stored manipulator arm position.

37. The control apparatus of claim 34 wherein said reference image storing means is operative to store reference image data at one or more predetermined points along said taught weld path.

39. The control apparatus of claim 20 wherein said first repeat phase moving and sensing means is operative to sense the light pattern resulting from said projected predetermined light pattern at a predetermined number of points along said predetermined path.

40. The control apparatus of claim 20 wherein said second repeat phase moving and welding means is responsive to the position of said manipulator arm at each point at which the light pattern is sensed.