Weld bead shaping apparatus and weld bead shaping method

摘要

A weld bead shaping apparatus including: a gouging torch for gouging an object to be shaped; a shape sensor for measuring a shape of the object; a slider apparatus and an articulated robot for driving the gouging torch and shape sensor; an image processing apparatus; and a robot controlling apparatus. The image processing apparatus includes: a shape data extracting unit extracting shape data of the object, from a measurement result obtained by the shape sensor; and a weld reinforcement shape extracting/removal depth calculating unit calculating a weld reinforcement shape of the weld bead from a difference between the shape data and a preset designated shape of the object, and calculating a removal depth by which gouging is performed, based on the weld reinforcement shape. The robot controlling apparatus controls the slider apparatus, the articulated robot, and the gouging torch based on the weld reinforcement shape and the removal depth.

主权项

1. A weld bead shaping apparatus comprising:
a shape data extracting unit that extracts shape data of an object to be shaped on which a weld bead existing on the object is formed, from a measurement result obtained by a shape sensor that measures a shape of the object to be shaped; a weld reinforcement shape extracting/removal depth calculating unit that calculates a weld reinforcement shape of the weld bead from a difference between the shape data and a preset designated shape of the object to be shaped, and calculates a removal depth by which gouging is performed using a gouging torch, on a basis of the weld reinforcement shape; a target position/torch posture calculating unit that calculates a target position and a posture of the gouging torch on a basis of the weld reinforcement shape and the removal depth; a gouging condition calculating unit that calculates a gouging condition on the basis of the weld reinforcement shape and the removal depth; a driving apparatus that drives the gouging torch and the object to be shaped and a controlling apparatus that controls the gouging torch, on a basis of: the target position and the posture of the gouging torch that are calculated by the target position/torch posture calculating unit; and the gouging condition calculated by the gouging condition calculating unit; a pass sequence selecting unit that compares the shape data with the designated shape, and divides a track of the gouging in a case where there is a portion in which reinforcement of the weld bead is insufficient for the designated shape; an inflection point/intersection point extracting unit that extracts, as an intersection point, a point at which the shape data and the designated shape intersect with each other, and extracts, as an inflection point, an apex of a valley portion of the weld bead on the shape data that is excessively reinforced with reference to the designated shape, wherein in a case where a number of the intersection points is more than two, the pass sequence selecting unit calculates a distance between adjacent ones of the intersection points, in a case where the distance is more than a predetermined value, the pass sequence selecting unit divides the track of the gouging, and in a case where the distance is equal to or less than the predetermined value, the pass sequence selecting unit does not divide the track of the gouging.