JPS5829576A - Controller for arc welding robot - Google Patents

Abstract

PURPOSE:To facilitate the connection of input and output apparatus and to shorten a teaching time by so constituting a titled controller that the conditions for controlling the operation starting of programs and the numbers of the input and output apparatus can be taught. CONSTITUTION:When the position information and welding conditions of respective programs P1-P4 are taught, the numbers of the external input and output apparatus in an apparatus control part 54 for operation of the respective programs are taught from keyboard switches 36. More specifically, the program P1 is started when the number 12 of the external input and output apparatus is on and the P2, P3, P4 are started when the numbers 8, 4, 16 of said apparatus are on. In this state, automatic welding is executed cooperatively with an external jig 34, and if the cooperative operation of the P3, P4 with the jig 34 is poor, the numbers 4, 16 are held intact and an another external jig is connected in an other vacant place. If a desired state is obtained, the teaching for the cooperative operation with the jig 34 by the sequence among the programs is completed.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a control device for an arc welding port, and particularly to one incorporating a teaching playback method.

In recent years, arc welding robots have come into widespread use in order to automate arc welding of thin steel plates and the like. This Yuzu welding mouth yl? l dot, FTP (point-to-point) teaching, cp (continuous path)
A control device based on a control playback method, a so-called teaching playback method, is generally used. In this playback method, points are memorized (teaching points), and it takes four days to move from the memorized points to the points. Automatically operate the cut. FIG. 1 shows an example of the system configuration of this type of arc welding robot, and FIG. 2 shows a conventional example of its control device.

First, in FIG. 1, a control device 10 includes a control panel 12 and a teaching station 14. As shown in FIG. Is the control device 10 an operating key? - A switch 36 and a CRT display 38 constitute a so-called man-machine interface. Various welding conditions stored in the storage section of the control panel 12 are appropriately applied to the welding power source 16, robot body 18, and external jig 34 via cables. One pole of the welding power source 16 is connected to a wire feeder 22 via a knocker cable 20. Welding wire 24 is guided by conduit cable 28 and led to torch 26 , and the other pole of welding power source 16 is connected to workpiece (object to be welded, hereinafter referred to as workpiece) 32 via cable 30 . As a result, arc welding is performed between the torch 26 and the workpiece 32.
It is held between.

Welding flow 11, M contact voltage, shielding gas, etc. are controlled to be supplied to the welding part based on commands from the control panel 12.
This is done via the flt source 16. And torch 26
The posture and movement of Ron J? is controlled based on commands from the control panel 12. This is done by the cutter body 18. Also, work 3
2 is attached to an external jig 34, and for long workpieces that extend beyond the operating range of the robot body 18, the external jig 34 is actually 9 times wider. The operation of the jig 34 is also sequence-controlled based on commands from %i, +2.

41J configuration 2 of the control panel 12, as shown in FIG. and a common bus 48 for data transmission. Intervention: In the 1-data recording section 44, the position and posture information of the 1--chi that has been taught is stored in correspondence with the step number.

In the welding work data storage section 46, the conditions and data of the various welding operations taught by V are associated with the step=tt number and stored in the HI3 memory. . 1, an input/output control section 50, a display buffer 52, a device control section 54, etc. are provided. Input/output system aJ section 50 is teaching yj? Tsu 14 and key yl? The display buffer 52, which controls the input/output signals of the negative switch 36, temporarily stores the signal +J sent to the display device fKt3n. Now, suppose there is only one display device.

If a total of 512 characters (16 characters vertically and 32 characters horizontally) are allocated to 38 screens, display buffer 5
The second storage section 16' requires 512 bytes. Iso);:
÷The control unit 54 controls equipment such as the welding power source 16, the Ron 2 kit main body 18, and the external jig 34.

The conventional device configured as above 1 has two jhb
('t: %-do) has a teaching mode and an automatic welding mode (Zoreibug operation). In the teaching mode, after specifying all program numbers, move the robot body 18 with the teaching box 14 to perform the desired welding. After determining the torch tip position and the 1.--ji posture, the position information is sequentially stored in the position data storage section 44 of the control panel 12.

For this information, a step number is added each time the position or posture changes, and the step number corresponds to S, teaching, J? India. When the welding process is completed, the display device 38 is turned on using the key switch 36.The various input welding work conditions are recorded in the teaching flint of the data storage unit 46 along with the step number.1.
(J is sent to the display buffer 52 at the same time,
It is temporarily memorized and taught on the display device i'538.
They are displayed in the order of 1. After the teaching of the position tel and the teaching of the welding work have been completed, call the TFJj: and screen to check and correct whether the stored program is correct on both sides. That's it (
and correct it using the gear board switch 3NC. After performing so-called debugging, the robot is run once at low speed to make a final check to see if there are any errors in teaching. When the teaching is finished, switch to 1 welding mode and operate the robot automatically by pressing the start switch (not shown).

During automatic welding operation, ]・-chi 26 is the teaching zj
? Operates automatically under taught welding working conditions. The 0PU 40 processes and executes conditions and data in the order displayed on the display device 38 in the order in which they are taught. 1, welding work conditions and data corresponding to the teaching point at which the torch 26 is currently operating are sequentially displayed on the screen of the display device 38.

By the way, when performing welding work that corresponds to two or more workpieces, create programs corresponding to one workpiece as shown above, and select the program corresponding to the workpieces by teaching yJ. ? Rather than being determined by the index 14 or the key date switch 36, it is uniquely determined by the external input/output device number in the device control section 54. Therefore, when the workpieces of each fil are successively welded by the robot, the program number, that is, the external input/output device number, is associated with the workpiece classification in advance in the external control A34, and the lower 1? After making one or more determinations for each workpiece, the program executes the program corresponding to the workpiece.

Since the conventional control device is configured as described above, it is possible to select a workpiece or program from the outside in response to various types of workpieces by connecting a connector at the external jig 34. It was attached. Therefore, if the cooperative operation between the workpiece and the external jig 34 is to be changed, it is necessary to change the connector connection described above. For this reason, when working with complex shapes or long objects, lower 1? In the case where the operating range of the IO pot is expanded by moving not only the pot but also the workpiece, the teaching time required is long.

This invention has been made in view of the above-mentioned conventional problems, and its purpose is to be able to teach the correspondence between workpiece selection, that is, program selection, and external input/output device numbers in the device control section, and to teach the contents of the program. By displaying the
Another object of the present invention is to provide a control device for an arc welding spout, which allows easy changes in cooperative operation with an external jig.

In order to achieve the above object, the present invention memorizes appropriate points and changes from one memorized point to another in four days. In the arc welding robot control device, which automatically operates the points and simultaneously displays various welding conditions corresponding to that point on the control display, the program operation including the above points corresponding to the workpiece The present invention is characterized in that the condition for controlling the start can be taught as an inter-program sequence using any number of input/output signals within the range of the number of input/output signals that can be sent and received by the control device. .

Hereinafter, preferred embodiments of the present invention will be described based on the drawings. In the following description, descriptions of parts common to the conventional apparatus described above will be omitted, and the characteristic features thereof will be mainly described.

FIG. 3 shows an embodiment of the control device according to the present invention. 2, the difference from the conventional example shown in FIG. 2 is that the display buffer 52 is further provided with a control data buffer 5
8 and a sequence data buffer 60, and further provided with a display device control section 56. After identifying the display data to be sent to the display device 38, the display device control section 56 classifies the display data into control data and sequence data and stores them in each control data buffer 58 and sequence data buffer 60. The control data buffer 58 stores program numbers, step numbers, abnormality displays, and welding conditions. The sequence data buffer 6o stores an external input/output (common benefit number) provided in an external jig 34 for starting a program corresponding to each work whose key is taught by the single hand switch 36. Figures 4 and 5 respectively show examples of screens on which these data are displayed.In the embodiment described above, the lljb operation sequence and display between the 4f and U works, that is, the four types of programs, are as follows. It is as follows.

First, consider the case where the position information and welding conditions of each program P1 to P4 have been taught.

Therefore, the device control unit 54 in which each 790g is operated.
Teach the external input/output device number from the keyboard switch 36. In the display example in Figure 4, program 1 (
PI) is activated when external mountaineering equipment notification number 12 is on, and the following P2. P3 and P4 indicate that activation is required when external input/output device numbers 8, 4, and 16 are on, respectively. As a result of performing automatic welding in coordination with the external jig 34 in this state, if the coordination with the external jig 34 of P3 and P4 is poor and it becomes necessary to cooperate with another external jig, the currently connected external People equipment number 4゜1
Leave 6 as is, and connect another external jig to the other empty space. In the example shown in FIG. 5, P3 is connected to No. 6, p4 is connected to No. 24, and key 71? -Do switch 3
Press G to reteach as shown in Figure 5. Therefore, if a desired state is obtained as a result of automatic welding being operated in cooperation with the external jig 34, then the teaching of the cooperative operation in the external jig 34 by the inter-program sequence is completed.

In the above embodiment, the program is indicated by P and the baby external input/output device number is indicated by (), but for example, the program is indicated by P.
Of course, it may be displayed in RGM, program, work, WK, etc. Further, the parentheses of the external input/output device number may be displayed as (, or .), etc. FIG. 6 shows another example of such a display.

As described above, according to the present invention, the conditions for controlling the start of program operation can be set as an inter-program sequence by any input/output (RI number) within the range of the number of input/output signals that can be exchanged by the control device. By being configured so that teaching can be done by number, a large number of external jigs can be connected to the device control section.
In addition, external jigs can be selected freely and their contents can be easily confirmed, thereby reducing the search time.

[Brief explanation of the drawing]

Figure 1 shows the system configuration with an arc welding port.
Figure 2 is a block diagram showing an example of a conventional control device; Figure 3 is a block diagram showing an example of a conventional control device;
The figure is a block diagram showing one embodiment of the control device according to the present invention, FIG. 4 is a diagram showing an example of the display screen in one embodiment of the present invention, FIGS. 5 and 6, h=@ are respectively according to the invention It is a figure which shows an example of the display screen by other Example. Identical members in each figure are given the same reference numerals, and 1o is a control device;
12 is a control panel, 14 is a teaching box, 16 is a welding power source, 18 is a robot body, 32 is a workpiece, 34 is an external jig, 3G is a keyboard switch, 38 is a display device,
50 is an input/output control unit, 52 is a display buffer, 5
4 is a device control section, 56 is a display device control section, 58 is a control data buffer, 60 is a sequence data buffer, and 62 is a sequence data storage section. Agent Patent attorney Shin Kuzuno - (1 other person)

Claims (1)

[Claims] 0) Appropriate points are memorized, and the mouth cutter is automatically operated from the memorized points to the points, and the control display section shows the following:
In an arc welding robot control device that simultaneously displays each S welding condition corresponding to that point, the conditions for controlling the start of the operation of a program including the above points corresponding to the workpiece are set as an inter-program sequence, and the above control is performed. 1. A control device for an arc welding gutter, characterized in that it is configured to be able to teach using any number of input/output signals within the range of the number of input/output signals that can be sent and received by the device. +21 7i♀Permissible RiV A control device for an arc welding robot, characterized in that the device is configured such that a taught sequence between gramograms can be displayed as teaching data, in the device according to the range (1) of the requirements.