Method and apparatus for manipulator welding apparatus with improved weld path definition

• US 4,568,816 A
• Filed: 04/19/1983
• Issued: 02/04/1986
• Est. Priority Date: 04/19/1983
• Status: Expired due to Fees

• Current Assignee: Unimation, Inc. (Stäubli Holding AG)
• Original Assignee: Unimation, Inc. (Stäubli Holding AG)
• Inventors: Casler, Richard J. Jr.
• Primary Examiner(s): Shaw, Clifford C.
• Application Number:
  US06/486,405
• Time in Patent Office: 1,022 Days
• Field of Search: 219/124.34, 219/124.22, 219/125.11, 219/125.1, 901/42, 901/47, 901/3, 901/5, 358/101
• US Class Current: 219/124.34
• CPC Class Codes: G05B 19/4083 Adapting programme, configuration
• CPC Class Codes: G05B 2219/36503 Adapt program to real coordinates, software orientation
• CPC Class Codes: G05B 2219/45083 Manipulators, robot
• 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 and data is recorded representing the welding path relative to a frame of reference defined by the workpiece. In addition to the data representing the taught welding path and the frame of reference, data representing one or more reference images or templates are also recorded in the teach mode. As successive workpieces are presented to the manipulator for performing the desired welding path, the control apparatus in a repeat work cycle mode is first controlled to measure and define the new location and orientation of the frame of reference in accordance with the workpiece. The new frame of reference data is utilized to modify the path data. In a preferred arrangement, a first repeat pass is performed by controlling the manipulator to move over the weld path in accordance with modified weld path data as determined from the new frame of reference data. The vision system utilizing an image processor detects the deviation between the first repeat pass 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 modifies the first repeat pass weld path data to provide corrected welding path data for the welding of the actual workpiece during a second repeat pass with the weld being initiated at a predetermined point relative to the frame of reference.

Claims

1. Control apparatus for manipulator welding apparatus having a manipulator arm controllable in one or more axes and arranged to perform a predetermined weld program on a workpiece at a workpiece station, the weld program being of the type that includes predetermined weld points or weld paths defined by a plurality of points, the control apparatus comprising:

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

means for storing reference data representing the weld program and a coordinate reference frame defined by the workpiece in accordance with said projected energy pattern from which coordinate reference frame the weld program can be defined with respect to a workpiece at a predetermined reference position at the work station;

means for sensing said coordinate reference frame with respect to a subsequent workpiece in accordance with said projected energy pattern and for determining modified coordinate reference frame data; and

means responsive to said modified coordinate reference frame data for moving said manipulator arm to perform the motion of the weld program.

2. The control apparatus of claim 1 wherein said arm moving means comprises means for determining modified weld program data in accordance with said modified coordinate reference frame data to account for any changes in position and orientation of said subsequent workpiece with respect to said reference position.

3. The control apparatus of claim 2 wherein said modified weld program data defines weld program positions, said modified weld program positions being defined by modifying said stored reference image data by the change in orientation and position between said sensed coordinate frame of said subsequent workpiece and said coordinate reference frame defined by a workpiece at said reference position.

4. The control apparatus of claim 2 wherein said arm moving means further comprises means responsive to said modified weld program data and said projected energy pattern for moving said arm over said weld program motions and for providing weld program correction data representing the difference between the position of the actual weld program presented by said subsequent workpiece and the position resulting from moving said arm in accordance with said modified weld program data.

5. The control apparatus of claim 4 further comprising means responsive to said weld program correction data for providing corrected weld program data, said arm moving means being responsive to said corrected weld program data for moving said arm to perform the weld program on said subsequent workpiece.

6. The control apparatus of claim 4 wherein said correction data providing means comprises image processor means for sensing said projected energy patterns at each of a predetermined plurality of sense points defined by said weld program and for generating the deviation between each of said sense points and said actual weld path defined by said subsequent workpiece.

7. The control apparatus of claim 1 wherein said stored reference image data representing the weld program includes weld program point position data, said weld program point position data defining weld program points with respect to said coordinate reference frame.

8. The control apparatus of claim 7 wherein said weld program points are defined as a relative position with respect to said coordinate reference frame.

9. The control apparatus of claim 7 wherein said weld program point position data includes start and end positions defining the start and end of a desired weld path.

10. The control apparatus of claim 1 wherein said coordinate reference frame is defined by two intersecting lines at an edge of the workpiece.

11. The control apparatus of claim 10 wherein said coordinate reference frame is defined by two points on each of said two intersecting lines.

12. The control appratus of claim 10 wherein said coordinate reference frame is defined by two points on one of said two intersecting lines, a third point on said second intersecting line, and the included angle defined between said two intersecting lines.

13. The control apparatus of claim 1 wherein said corner coordinate frame is defined by the geometry of the workpiece.

14. The control apparatus of claim 1 wherein said projecting means comprises a projector that projects a predetermined slit light pattern.

15. The control apparatus of claim 14 wherein said sensing means comprises video image acquisition means responsive to said projected slit pattern.

16. A method for controlling manipulator apparatus to perform a predetermined work cycle relative to a workpiece defined relative to the position and orientation of the workpiece comprising the steps of:

projecting a predetermined energy pattern on a reference workpiece at a workpiece station;

defining the predetermined work cycle relative to a frame of reference defined by said reference workpiece;

storing reference image data representing the predetermined work cycle and said frame of reference defined by said reference workpiece;

sensing a subsequent workpiece in accordance with the projected energy pattern to determined the frame of reference thereof corresponding to said frame of reference defined by said reference workpiece;

determining the change in orientation and position between said frame of reference of said sensed subsequent workpiece and said frame of reference defined by said reference workpiece;

modifying said stored reference image data in accordance with said determined change in orientation and position of said frame of reference; and

moving said manipulator arm with respect to said subsequent workpiece in accordance with said modified data.