JP3378738B2 - Welding robot teaching device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding robot teaching device adopting a teaching playback system.

[0002]

2. Description of the Related Art In a teaching playback type welding robot, operation data (operation locus, work order, work conditions, etc.) necessary for welding are taught in advance, and the welding robot is operated based on this operation data. By doing so, welding to a desired portion is performed. Therefore, various methods have been conventionally implemented and proposed so that the operation data can be taught accurately and easily to the welding robot.

That is, as a first teaching method, a teaching method is performed by operating an actual machine to input operation data or inputting operation data to a control device and designating operation points of a welding robot one by one. There is. As a second teaching method, welding design information and robot operation patterns are prepared in advance, and when the work shape information is input, the welding line is extracted and the local pattern is determined, and the welding suitable for it is performed. There is a method of teaching by selecting a design condition and a robot operation pattern (Japanese Patent Laid-Open No. 6-214).
625).

[0004]

However, in the first teaching method of teaching while specifying the operating points of the welding robot one by one as in the above-mentioned conventional technique, all the operating points need to be specified by the operator. Therefore, there is a problem that the teaching work easily takes a long time. In addition, it is difficult to read the meaning of the steps indicating the teaching contents, and the steps are often related to each other. Therefore, when trying to modify the operation of the welding robot, for example, when changing the welding sequence or direction, it takes time to understand the steps to be modified, and the operator's burden becomes heavy. There is also.

Further, in the second teaching method, if this method is applied to a complicated work, the operation pattern to be prepared becomes enormous and it is difficult to construct a practical system. There's a problem.

Therefore, the present invention is intended to provide a welding robot teaching device capable of creating motion data by data processing of a relatively simple algorithm which can be easily applied to various works. .

[0007]

In order to solve the above-mentioned problems, the invention of claim 1 is a welding line registration means for registering each welding line in a work as a work target, and the welding line registration means for registering the welding line. A welding line name setting means for setting name data to the welding line, a welding line list display means for displaying a list of the welding line name data registered by the welding line name setting means, and the welding line registration means. Welding line selection means for selecting one welding line from the registered welding lines and auxiliary condition data necessary to calculate the operation data of the welding robot can be changed for the selected welding line The auxiliary condition setting means and the operation data generating means for generating the operation data of the welding robot based on the auxiliary condition data and the like are provided.
This makes it possible to set auxiliary condition data by a simple operation of registering each welding line in the work, and it is also possible to change the set auxiliary condition data. It is not necessary to prepare in advance, and even for a work that does not have the same welding pattern or a work whose specifications are frequently changed, it is possible to easily set it while checking the auxiliary condition data for each welding line. Further, since the auxiliary condition data can be set and changed while checking the list display of the name data corresponding to the welding line, the auxiliary condition data can be set more easily. Also, since the operator can specify the motion data that requires complicated judgment,
The operation data can be efficiently specified, the operation data can be generated in a short time as a whole, and the algorithm can be simplified.

The invention of claim 2 is the welding robot teaching device according to claim 1, wherein when a welding line is selected,
The present invention is characterized by including selective welding line position display means for immediately displaying the position information of the welding line. As a result, the position information of the selected welding line is immediately displayed, so that the welding line can be easily confirmed, and as a result, the auxiliary condition data can be set and changed more easily.

A third aspect of the present invention is the welding robot teaching apparatus according to the first or second aspect, which is provided with a welding line group designating unit that collectively designates several welding lines as one group. I am trying. This allows
By designating a plurality of welding lines as one group, it is possible to easily grasp the grouping of data, and thus it is possible to more easily set and change the auxiliary condition data.

A fourth aspect of the present invention is the welding robot teaching apparatus according to the first aspect, wherein the welding line list display means is
The feature is that a list is displayed in order of welding schedule. As a result, the welding line and the auxiliary condition data displayed in the order of the scheduled welding can be confirmed, so that the auxiliary condition data can be changed more easily.

A fifth aspect of the present invention is the welding robot teaching apparatus according to the fourth aspect, characterized by further comprising welding schedule changing means for changing the welding lines listed in the welding schedule order to a desired order. There is. As a result, the welding lines listed in the scheduled welding order can be changed to a desired order, so that welding can be immediately performed in the optimum order even when the workpiece specifications are changed.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to FIGS. As shown in FIG. 2, the welding robot teaching device according to the present embodiment has an information processing device 1 such as a personal computer. The information processing device 1 is used for inputting and instructing data, a processing device main body 2 having a built-in auxiliary storage device such as a magnetic disk device and a central processing unit, a CRT (cathode-ray tube) 3 for displaying data and the like on a screen. It has a keyboard 4 and a mouse 5 and is connected to the printer 7 via a printer cable.

Further, the processing device main body 2 is provided with an operating system 8 as shown in FIG. The operating system 8 has various applications 9 such as a CAD application program and the data processing application program shown in FIG. C
The AD application program enables the shape of the work 23 to be designed while being displayed three-dimensionally on the screen of the CRT 3.

On the other hand, the data processing application program (hereinafter referred to as the data processing program) is
As shown in FIG. 4, a work screen 24 displaying a three-dimensional image of the work 23 and a data screen 25 displaying work shape data and welding design data are displayed in one screen.
Link the data contents between these screens 24 and 25,
Various processing operations are executed according to the display position of the mouse pointer 34.

The welding design data includes the name data of the welding line 23a, the welding line data indicating the starting point and the ending point of the welding line 23a, the robot data indicating the operation specification of the welding robot 22, and the work indicating the shape of the work 23. Shape data,
There are auxiliary condition data and the like for the welding line 23a. As the auxiliary condition data, there are welding conditions required for welding work, and data relating to devices other than welding conditions used as "adjustment allowance" such as robot operating range, singularity avoidance, interference avoidance, The data related to the apparatus other than the welding conditions include, for example, the robot in charge, the slider axis value (robot traveling carriage position), which is the robot operation condition, the positioner axis value, the attitude mode designation flag, the rotation angle around the welding torch, and the like. Here, the attitude mode designation flag is
6-axis PUMA for the position and orientation (6 dimensions) of the end effector
This is a flag indicating which of a plurality of postures is to be adopted when the robot is realized by a robot type. In addition, the rotation angle around the welding torch is a parameter corresponding to one degree of freedom of the posture in which the torch tilt angle and the advancing / retreating angle that are required in welding work are realized and still remain, and this value should be adjusted. This makes it possible to prevent the movement range from being exceeded, avoid singular points, avoid interference without affecting welding.

On the data screen 25 displayed by executing the above-mentioned data processing program, a file button 36, an edit button 37, and an automatic generation button 38 for executing the processing operation described later are arranged in parallel at the upper part. There is.
Below the buttons 36 to 38, a name display field 39 is displayed.
Are arranged, and the name display field 39 indicates that each welding line 23a
.. for individually displaying the names and the like, and a scroll part 39b for scrolling the individual display parts 39a .. A display switching button 40 and a content display column 41 are arranged below the name display column 39, and the content display column 41 includes the display switching button 40.
The welding conditions and error contents are displayed so that they can be switched.

The processing operations executed by the data processing program are "welding line registration processing", "welding line selection processing", "auxiliary data setting processing", "welding line deletion processing", and "welding line deletion processing". Manual welding line rearrangement process ”,“ Automatic welding line rearrangement process ”,“ Motion data generation process ”,“ Motion data test process ”,“ Display switching process ”,“ Motion data save process ”, It is composed of various processes such as "work status storage processing" and "work status reading processing".

Here, the "welding line registration process" is registered with welding line registration means for registering the welding line 23a as a work target and welding line name setting means for setting name data on the welding line 23a. Welding line list display means for displaying a list of name data of the welding lines 23a, and some welding lines 23a
And a welding line group designating unit for designating as a group. The "welding line selection process" is a welding line selecting means for selecting one welding line 23a from the registered welding lines 23a, and the welding line 23.
It constitutes a selected welding line position display means for immediately displaying the position information of this welding line 23a when a is selected. In the "auxiliary data setting process", auxiliary condition setting means for changing the auxiliary condition data necessary for calculating the operation data of the welding robot 22 to the selected welding line 23a is configured. There is. The "motion data generation process" is performed by the welding robot 2 based on auxiliary condition data and the like.
The operation data generating means for generating the operation data No. 2 is configured.

Each of the above processing operations will be specifically described below.
The "welding line registration process" is performed in the state where the desired welding line 23a in the work 23 is designated by the mouse pointer 34.
It is designed to be executed by clicking the mouse 5 in FIG. Then, in this process, the name data of the designated welding line 23a can be input, and when the name data is input, this name data is welded in the memory together with the welding line data indicating the start point and the end point of the welding line 23a. It is stored in the line list and the name display field 3 of the data screen 25 is displayed.
9 is displayed. At this time, in the name display field 39, the name data of the welding line 23a is displayed in the welding order, and the "block number" is inserted and displayed for each welding line group consisting of the continuous welding lines 23a. It is supposed to be done.

The "welding line selection process" is executed by designating the individual display portion 39a in the name display field 39 with the mouse pointer 34 or the welding line 23a of the work screen 24 with the mouse pointer 34. It is supposed to be done. Then, this process is performed by the designated individual display unit 39.
a is highlighted (highlighted) and the individual display section 39a is displayed.
The outline of the auxiliary condition data corresponding to is displayed in the content display field 41, and the corresponding welding line 23a is highlighted in a specific color.

The "auxiliary data setting process" is executed by re-designating the highlighted individual display portion 39a and welding line 23a with the mouse pointer 34. Then, this process, as shown in FIG.
The screen display of the data screen 25 shows detailed auxiliary condition data (welding portion shape, corresponding to the individual display portion 39a and the welding line 23a).
Target member, torch angle, pattern data such as broken line processing,
(Parameter data, etc.), and these auxiliary condition data are set, confirmed, and corrected.

Further, in the "welding line deletion process", the "welding line manual rearrangement process", and the "welding line automatic rearrangement process", as shown in FIG. It is designed to be executed selectively after being specified by. Then, each of these processes includes the deletion of the welding line 23a and the welding line 2 displayed in the name display field 39.
The rearrangement of the operator 3a by the operator and the automatic rearrangement of the welding line 23a displayed in the name display field 39 are performed.

The "motion data generation process" is executed by designating the automatic generation button 38 with the mouse pointer 34. Then, this processing is to generate operation data based on a series of work shape data and welding design data registered on the work screen 24 and the data screen 25. still,
When an error occurs during the generation of motion data, an error mark is displayed on the corresponding individual display section 39a, and the error mark is displayed when the next "motion data generation process" is executed. In addition, the operation data is generated only for the block including the individual display portion 39a in which the error mark is displayed.

The "operation data test process" is executed by designating a function button (not shown) with the mouse pointer 34, and confirms the operation by simulating the operation data.
An error that cannot be found when the operation data is generated is detected, and an error mark is displayed on the corresponding individual display section 39a. The "motion data saving process" is executed by designating the file button 36 with the mouse pointer 34, and saves the generated motion data in a file. The "work status saving process" and the "work status reading process" are executed by designating a function button (not shown) with the mouse pointer 34. Data can be stored in a file and read from a file.

As shown in FIG. 3, the processing apparatus main body 2 having various applications 9 as described above has a font driver 10 for managing fonts and a C for managing CRT 3 as shown in FIG.
An RT driver 11, a keyboard driver 12 that manages the keyboard 4, a mouse driver 13 that manages the mouse 5, and a printer driver 14 that manages the printer 7.
One or a plurality of applications 9 can be simultaneously executed in cooperation with. And
These drivers 10-14 and application 9
The processing device main body 2 having a group includes an interface (I /
F) It is connected to the I / F 17 of the robot control panel 16 via the unit 15, and both I / Fs 15 and 17 convert various data such as operation data into a signal form suitable for communication and transmit / receive it. It has become.

The above-mentioned robot control panel 16 has an I / F 17
It has a control calculation unit 19 connected to be accessible to. A data storage unit 18, a motor drive unit 20, and a position detection unit 21 are connected to the control calculation unit 19 in an accessible manner. The data storage unit 18 includes the processing device main body 2
Data area 18a capable of storing motion data from
Also, various data areas such as a position data area 18b capable of storing position data indicating the posture of the welding robot 22 are formed. The motor drive unit 20 is a welding robot 22.
Connected to the drive motor of each axis of
The drive motor is rotated in the forward direction and the reverse direction at a rotation angle according to the command from. Position detector 21
Is designed to detect the rotation angle of the drive motor for each axis of the welding robot 22 so that the position data of the welding robot 22 can be obtained by the control calculation unit 19.

In addition to the above-mentioned various data areas being formed in the data storage unit 18, various control programs such as an operation control routine are stored, and the control calculation unit 19 executes the operation control routine. When executed, the welding robot 22 is operated via the motor drive unit 20 based on the operation data and the position data of the data storage unit 18. Then, in the vicinity of the welding robot 22 operated in this way, as shown in FIG. 7, the wire container 3 that supplies the welding wire 31 to the welding robot 22.
0 and a welding power source 33 that supplies electric power for welding to the welding wire 31 are arranged.
Is configured to weld the work piece 23 while projecting the welding wire 31 from the tip of the welding torch 32.

The operation of the welding robot teaching device having the above configuration will be described. First, as shown in FIG.
By executing the CAD application program of the information processing device 1, the workpiece 2 to be welded
3 is designed on the screen of the CRT 3, and the work shape data of the work 23 obtained by this design is stored in a predetermined file in the auxiliary storage device. The work 23 may be designed in another information processing device. In this case, the work shape data is transferred to the auxiliary storage device of the information processing device 1 by being transferred by a recording disk or data communication. Will be stored. When there are a plurality of types of works 23, all these types of work shape data may be stored in a file in advance.

Next, by executing the data processing program shown in FIG. 6, the work screen 24 and the data screen 25 are displayed on the CRT 3 as shown in FIG. On the work screen 24, the outer shape of the work 23 is displayed by expanding the work shape data of the file designated by the operator in three dimensions. On the other hand, in the data screen 25, if a file of welding design data corresponding to the displayed work 23 exists, the welding design data of this file is displayed, and if the file does not exist, a blank column is displayed (S1). ).

Thereafter, it is determined whether or not the mouse 5 in FIG. 2 has been clicked. If the mouse 5 is clicked, the processing operation corresponding to the display position of the mouse pointer 34 at the time of clicking is executed.

For example, if a file of welding design data does not exist and a blank field is displayed, the operator moves the mouse pointer 34 to a desired welding line 23a in the work 23 and clicks the "welding" button. Line registration processing "is executed. As a result, the mouse pointer 34
The name data of the welding line 23a designated by is entered, and when the name data is input, this name data and the initially set auxiliary condition data are stored in the welding line list and the data screen 25 Is displayed on the screen (S2). Then, each time the welding line 23a is designated and the name data is input in this way, the name data is displayed in the welding order and the "block number" is displayed for each welding line group including the continuous welding lines 23a. Will be inserted and displayed.

Next, when confirming whether or not the welding condition of each welding line 23a is properly set, the individual display portion 39a in the name display column 39 of the name data is designated by the mouse pointer 34, or the like. , Welding line 23a of work screen 24
Is designated by the mouse pointer 34. As a result, the "welding line selection process" is executed, and the specified individual display unit 3
9a is highlighted (highlighted) and the designated welding line 23a is highlighted in a specific color. Then, the outline of the auxiliary condition data corresponding to the designated individual display portion 39a and the welding line 23a is displayed in the content display field 41, so that the setting state of the welding condition in each welding line 23a can be grasped. (S3).

After that, as a result of checking the outline of the auxiliary condition data, when the more detailed auxiliary condition data is confirmed, the highlighted individual display portion 39a and the welding line 23a are designated again by the mouse pointer 34. . As a result, the "auxiliary data setting process" is executed, and as shown in FIG.
The data screen 25 includes detailed auxiliary condition data (welding portion shape, target member, corresponding to the individual display portion 39a and the welding line 23a,
The screen display is switched to the pattern data such as torch angle and polygonal line processing, parameter data, etc., and setting, confirmation and correction of these auxiliary condition data are enabled (S
4). As shown in FIG. 2, the screen 24
25 and the screens 24 and 25 after switching may be overlapped and displayed in a window.

As a result of the above confirmation, when the name display field 39 is changed, as shown in FIG.
7 is designated by the mouse pointer 34, and "welding line deletion processing", "welding line manual rearrangement processing", and "welding line automatic rearrangement processing" are executed. As a result, the welding line 2
3a is deleted (S5) or the operator rearranges the welding line 23a displayed in the name display field 39 (S5).
6), automatic rearrangement (S7) of the welding line 23a displayed in the name display field 39 is performed by the operator's selection.

When the welding design data (name data, auxiliary condition data, etc.) is input and corrected while the shape of the work 23 is confirmed on the work screen 24 as described above, subsequently, the automatic generation button 38 is operated by the mouse. "Operation data generation process" specified by the pointer 34
Is executed. As a result, operation data is generated based on the series of work shape data and welding design data registered on the data screen 25. Then, when an error occurs during the generation of the operation data, an error mark is displayed on the corresponding individual display section 39a (S8). Thereafter, based on the error mark, the welding design data is corrected by the processing operations of S3 to S7 described above, and then S8 is performed again.
By performing the "motion data generation process" of, the motion data is generated only for the block including the individual display portion 39a in which the error mark is displayed.

When the operation data having no error mark is generated in this way, the "operation data test process" is executed, and the operation is confirmed by simulation of the operation data. As a result, an error that cannot be found when the operation data is generated is detected, and an error mark is displayed on the individual display unit 39a where the error occurred (S9).
Then, based on the error mark, the above S3 to
After the welding design data is corrected by the processing operation of S7,
The "motion data generation process" in S8 and the "motion data test process" in S9 are executed again. still,
When the error mark is displayed in S8 and S9 described above, the display switching button 40 is designated by the mouse pointer 34 so that the "display switching process" is executed so that the optimum correction can be made to the error content. Content display column 4
It is also possible to switch the display content of 1 from the outline of the auxiliary condition data to the error content (S10).

After that, when the operation data having no error mark is created, the file button 36 is moved to the mouse pointer 3
The operation data saving process specified in 4 is executed,
The operation data is stored in the file (S11). Also,
If you want to interrupt the work while inputting auxiliary condition data,
The "work status storage process" is executed, and the work shape data and welding design data in the middle of input are stored in a file (S12). After that, when the work is restarted, the “work status reading process” is executed, the work shape data and the welding design data which are being input are read from the file, and displayed on the work screen 24 and the data screen 25. (S13).

When the operation data is created by each processing operation as described above, the operation data is transmitted from the processing apparatus main body 2 to the robot control panel 16 as shown in FIG.
Then, after the operation data is stored in the operation data area 18a of the data storage unit 18, the control calculation unit 19 operates the welding robot 22 via the motor drive unit 20 based on the operation data and the position data of the welding robot 22. By doing so, the workpiece 23 is welded.

As described above, the welding robot teaching device of this embodiment, as shown in FIG. 1, has the selected welding line 23a.
A welding line data editing module 51 (auxiliary condition setting means) for changing the auxiliary condition data necessary for calculating the operation data of the welding robot 22, and auxiliary condition data, work shape data, robot data, and welding line. A robot motion determination module 52 (motion data generation means) for generating motion data of the welding robot 22 based on data and the like is configured by software so that these modules 51, 52 can be arbitrarily executed by an operator. Has become.

As a result, each welding line 23 in the work 23
Auxiliary condition data can be set by a simple operation of registering a, and the set auxiliary condition data can be changed, so that a work or a specification that does not have the same welding pattern is frequently changed. It is possible to easily set the workpiece while checking the auxiliary condition data in units of the welding line 23a.

[0041]

According to the invention of claim 1, welding line registration means for registering each welding line in a work as a work target, and welding line for setting name data to the welding line registered by the welding line registration means. One welding from the name setting means, the welding line list displaying means for displaying a list of the welding line name data registered by the welding line name setting means, and the welding line registered by the welding line registration means Welding line selecting means for selecting a line, auxiliary condition setting means for changing the auxiliary condition data necessary for calculating the operation data of the welding robot for the selected welding line, the auxiliary condition data, etc. And a motion data generating means for generating motion data of the welding robot based on the above.
This makes it possible to set auxiliary condition data by a simple operation of registering each welding line in the work, and it is also possible to change the set auxiliary condition data. It is not necessary to prepare in advance, and even for a work that does not have the same welding pattern or a work whose specifications are frequently changed, it is possible to easily set it while checking the auxiliary condition data for each welding line. Further, since the auxiliary condition data can be set and changed while checking the list display of the name data corresponding to the welding line, the auxiliary condition data can be set more easily. Also, since the operator can specify the motion data that requires complicated judgment,
The effect that the operation data can be efficiently specified, the operation data can be generated in a short time as a whole, and the algorithm can be simplified.

The invention of claim 2 is the welding robot teaching device according to claim 1, wherein when a welding line is selected,
This is a configuration including a selective welding line position display means for immediately displaying the position information of the welding line. As a result, the position information of the selected welding line is immediately displayed, so that the welding line can be easily confirmed, and as a result, it is possible to more easily set and change the auxiliary condition data.

A third aspect of the present invention is the welding robot teaching apparatus according to the first or second aspect, which is provided with a welding line group designating unit that collectively designates several welding lines as one group. . Thus, by designating a plurality of welding lines as one group, it is possible to easily grasp the grouping of data, and thus it is possible to more easily set and change the auxiliary condition data.

The invention of claim 4 is the welding robot teaching device according to claim 1, wherein the welding line list display means is
This is a configuration for displaying a list in the order of welding schedule. This makes it possible to confirm the welding lines and the auxiliary condition data that are displayed in a list in the order of the welding schedule, and thus it is possible to more easily change the auxiliary condition data.

According to a fifth aspect of the present invention, there is provided a welding robot teaching device according to the fourth aspect, which comprises a welding schedule changing means for changing the welding lines listed in the welding schedule order to a desired order. As a result, the welding lines listed in the scheduled welding sequence can be changed to the desired sequence, so even if the specifications of the work differ from the schedule, welding can be performed immediately in the optimal sequence. Produce an effect.

[Brief description of drawings]

FIG. 1 is a block diagram of a welding robot teaching device.

FIG. 2 is a perspective view of an information processing device.

FIG. 3 is a block diagram of an information processing device and a robot control panel.

FIG. 4 is an explanatory diagram showing states of a work screen and a data screen.

FIG. 5 is an explanatory diagram showing a state of a work screen and a data screen.

FIG. 6 is a flowchart of a data processing program.

FIG. 7 is a perspective view around a welding robot.

[Explanation of symbols]

1 Information processing equipment 2 Processing device body 3 CRT 4 keyboard 5 mice 7 printer 8 operating system 9 applications 16 Robot control panel 18 data storage 19 Control calculation unit 20 motor drive 21 Position detector 22 Welding robot 23 Work 23a Welding line 24 Work screen 25 data screen 34 Mouse pointer 39 Name display column 41 Content display column 51 Welding line data editing module 52 Robot motion determination module

Continuation of front page (56) Reference JP-A-4-242401 (JP, A) JP-A-62-274307 (JP, A) JP-A-63-273907 (JP, A) JP-A-1-231104 (JP , A) JP-A-5-324049 (JP, A) International Publication 97/11416 (WO, A1) International Publication 93/9654 (WO, A1) (58) Fields investigated (Int.Cl. ⁷ , DB name) B23K 9/127 G05B 19/4093 G05B 19/42

Claims (5)

(57) [Claims] 1. A welding line registration means for registering each welding line in a work as a work target, a welding line name setting means for setting name data to the welding line registered by said welding line registration means, and said welding Welding line list display means for displaying a list of welding line name data registered by the line name setting means, and welding line selection for selecting one welding line from the welding lines registered by the welding line registration means. Means, auxiliary condition setting means for changing the auxiliary condition data necessary for calculating the operation data of the welding robot to the selected welding line, and the welding robot based on the auxiliary condition data and the like. And a motion data generation means for generating the motion data of the welding robot teaching device. 2. The welding robot teaching apparatus according to claim 1, further comprising a selected welding line position display means for immediately displaying position information of the welding line when the welding line is selected. 3. The welding robot teaching device according to claim 1, further comprising welding line group designating means. 4. The welding robot teaching device according to claim 1, wherein the welding line list display means displays a list in a welding scheduled order. 5. The welding robot teaching apparatus according to claim 4, further comprising welding schedule changing means for changing the welding lines listed in the welding schedule in a desired order.