JPS63252673A - Method and device for editing welding program - Google Patents

Abstract

PURPOSE:To obtain the motion data of a robot in a short time by making the programming of the program and that relating to melting and welding deciding process in a program editing device. CONSTITUTION:A welding motion reference point is instructed by a teaching box 14 and the data relating to this welding motion reference point is transferred to a program editing device from a robot controller 18. The robot working data are taken by adding by editing the weaving program made in the program editing device in advance to the welding motion reference point data inside the program editing device 12. These robot working data are transferred to the robot controller 18 from the program editing device 12. Thus, the teaching time is drastically shortened with good working accuracy.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a method and apparatus for editing a welding program in an automatic arc welding machine using a consumable electrode, and more particularly to a welding program editing method for an automatic arc welding robot. When doing so, first, obtain the motion data as the robot motion teaching reference point data obtained by the teaching pendant,
Next, the motion teaching reference point data is transferred from the robot controller to the welding program editing device, and then the program data related to at least the weaving spot data set in advance by the welding program editing device is included in the motion teaching reference point data. This invention relates to a method and device for editing a welding program for an automatic arc welding robot, which makes it possible to edit and synthesize a welding program for an automatic arc welding robot, and then transfer robot operation data related to the edited program to a robot controller for use as an actual welding program. .

[Background of the Invention 1 Conventionally, in a teaching/playback type arc welding robot, an end effector of a robot manipulator is actually moved to a desired position by remote control from a teaching box, and this end effector, that is, a welding torch For example, in weaving spot welding, all the welding spot welding points, stopping points, moving speeds, etc. are stored in the memory in the robot controller as robot operation data.

This method has the advantage that the working accuracy during playback is extremely high because teaching is performed by actually moving the robot on the workpiece.

However, despite the existence of such advantages, the conventional teaching/playback method of teaching robot motions exposes various disadvantages as described below.

That is, (1) It is necessary to teach all operating points, so the number of teaching points is usually very large. Furthermore, even if the same movement pattern is to be repeated, the movement must be taught repeatedly using a teaching box.■
Highly accurate teaching is required to repeat the same movement pattern with high precision. ■ Individual differences in the teaching skills of teaching operators, that is, differences in knowledge and experience, manifest as differences in the robot's movement accuracy, and this When machining a workpiece using a robot, there will be differences in the finished state.■ In order to check whether the teaching results are appropriate, it is necessary to perform playback operations one by one. If it is confirmed that there are inappropriate areas, re-teaching will be required to correct the inappropriate areas.
Furthermore, it becomes necessary to perform playback on the re-teaching location.

For the above reasons, the conventional teaching playback method of teaching robot motion using only teaching takes a very long time as a whole to obtain the desired robot motion data, and requires precision in the teaching itself, making it extremely complicated. It has become a thing.

On the other hand, for the purpose of improving this method, the shape model data of the workpiece and the model data of the robot are input to an image processing device including a graphic display, and the robot's motion data is obtained while simulating the motion on the graphic display. There are also methods that do this.

However, in order to utilize the robot motion data obtained by this method, it is necessary to compare the position, dimensions, etc. of the actual workpiece and the design values (the shape model data mentioned above) before using the workpiece for actual processing. It must be adjusted so that there is no error between the values (values corresponding to for example,
These types of errors include processing errors that occur during press welding during automobile body processing, errors in the assembly accuracy of the robot itself, backlash of the robot, and other errors based on the positioning accuracy of the workpiece.

Therefore, in order to determine whether or not the robot motion data taught in the image processing device actually accurately matches the workpiece, it is necessary to carry out a playback operation for each I-step and check the robot motion data. In this case, all teaching points are usually inappropriate, and corrective teaching must be performed at this confirmation stage and all motion data must be corrected. Therefore, this method cannot avoid the drawback that it takes a lot of time.

[Objective of the Invention 1 The present invention has been made in order to overcome the above-mentioned disadvantages, and provides a standard for the operation of a robot with respect to a workpiece.
Normally, only a plurality of teaching reference points are taught as relative values between the workpiece and the robot by commands from the teaching box, and work on the workpiece based on the teaching reference points, for example, teaching weaving spot points, is performed using the CRT. Using the editing device according to the present invention, which is composed of a display device, a personal computer, etc., the data related to the weaving spot points created in advance by the editing device is edited with respect to the teaching reference point data, thereby improving work accuracy. An object of the present invention is to provide a method and device for editing a welding program for an arc welding robot, which allows for a good welding program and a significant reduction in teaching time.

[Means for Achieving the Object] In order to achieve the above object, the present invention provides a method for editing a welding program for an automatic arc welding robot operated by a robot controller, in which a welding operation reference point is taught by a teaching box. a first step, a second step of transferring data related to the welding operation reference point from the robot controller to a program editing device, and creating the welding operation reference point data in advance in the program editing device in the program editing device. The present invention is characterized in that it includes a third step of editing and adding a weaving program to be used as robot motion data, and a fourth step of transmitting the robot motion data from the program editing device to the robot controller.

Furthermore, the present invention is a welding program editing device for an automatic arc welding robot operated by a robot controller, which substantially connects the robot controller and the program editing device, and stores data related to welding operation reference points taught by a teaching box. and data related to a weaving program created in a program editing device are edited and synthesized to be used as actual motion data of the robot.

[Embodiment 1] Next, preferred embodiments of the welding program editing method according to the present invention in relation to an apparatus for implementing the method will be described in detail with reference to the accompanying drawings.

FIG. 1 is a schematic configuration diagram of an apparatus for carrying out the present invention, in which reference numeral 10 indicates the schematic configuration of a robot program creation system according to the present invention. The robot program creation system 10 basically includes a program editing device 12, an operation panel 16 attached to a teaching box 14, a robot controller 18, and a robot 20 that actually performs work such as welding workpieces.
It consists of.

Here, as can be understood from the functional block diagram shown in FIG. 2, the program editing device 12 includes a color display 22 consisting of display means such as a color CRT, an arithmetic device 24, and a memory for storing graphic information, etc. The pointing device 30 includes means such as a floppy disk drive (FDD) 26, a mouse 28 as an pointing means, and a moving table 29 for the mouse 28.

Next, the program editing device 12 is connected to one terminal of a repeater 32 built into the operation panel 16 via a connection cable 31 using optical fiber, and the other terminal of the repeater 32 is connected to an optical fiber. The robot controller 18 is connected through a connection cable 34 using fiber.

In this case, the teaching box 14 is connected to the robot controller 18 via a connection cable 36. The robot controller 18 is connected to the robot 20 via a connection cable 40, and an end effector, such as a welding torch 42, is attached to the tip of the arm of the robot 20 to perform a desired work.
is attached, and the welding torch 42 performs processing such as welding on the workpiece. Drive control of the robot 20 and welding torch 42 is performed by the robot controller 18.

The device for implementing the welding program editing method according to this embodiment is basically configured as described above, and its operation and effects will be explained in detail below using MIG spot welding as an example. do.

First, as a first step, a switching key (not shown) on the operation panel I6 is set to a so-called stand-alone mode in which the robot 20 is operated and taught by the teaching box 14 via the robot controller 18. In this case, the tip of the welding torch 42 is connected to the workpiece 46 shown in FIG.
A and 46b are initially set perpendicular to the welding surface 46a. Then, the tip 42a of the core wire of the welding torch 42 is positioned at desired MIG spot points a0 and b6 shown in FIG.
, co and do. Therefore, welding start command (F
OOlo). These welding start teaching reference points a0, b. , C0 and do are taught by actually operating the robot 20 using the teaching box 14. The job related to teaching the position of the welding start teaching reference point described above is referred to as a parent job.

Next, the teaching reference points ao, bo, co and do
In order to insert child jobs such as jobs related to weaving spot patterns, welding judgment processing jobs, fusing processing jobs, etc. to the parent jobs related to the above using the program editing device 12 according to the present invention, Switch the mode switching key to the program editing device 12 side. This program creation mode by the program editing device 12 is referred to as slave mode.

In this slave mode, the program editing device 12
In response to this command, the parent job related to the teaching reference point data is stored in the storage means (FDD) 26 of the program editing device 12 from the robot controller 18 via the relay 32.

Next, a procedure for editing and inserting the weaving spot pattern and welding determination processing step of the child job into the parent job will be described. Note that the program editing device 12 according to the present invention is capable of creating a weaving pattern or a weaving spot pattern, and before explaining the process of editing and inserting a child job into the parent job, the process of creating a weaving spot pattern will be explained as an example. do.

In this case, first, a basic pattern for setting a weaving spot pattern shown in FIG. 4 is displayed on the color display 22 of the program editing device 12. Here, the arrow cursor 50 is moved by operating the mouse 28 whose outline shape is shown in FIG. 5, and all operations of the program editing device 12 according to the present invention are performed by the mouse 28. By moving the mouse 28 on the moving table 29 in the directions of arrows U, L, R, and D in the figure, the fourth
The arrow cursors 50 shown in the figure move in each direction in synchronization. In this case, the operating status displayed on the right side of the color display 22, namely, welding start (WELDING ON) when moving while flying an arc, welding stop (WELDING 0FF) when running idle, and ending pattern creation END TEA
CI) menu can be selected by pressing the right button RB of the mouse 28, while in order to select its operating state within the concentric pattern on the left side, move the arrow cursor 50 to the desired point and press the left button LB. Just press it. Concentric circles R1 on the color display 22 shown in FIG.
, R2) R3 and R4 are concentric circles related to the reference radius of the weaving spot swing pattern. in this way,
The weaving spot pattern can be set using the mouse 28 and arrow cursor 50.

By performing the above operations, the FDD 26, which is the storage means,
FIG. 6 shows an example of processing data related to weaving spots stored in FIG.

FIG. 6 is an example of a weaving spot pattern in Migs Bono day contact, in which each of FIG. 6 a to C represents one weaving spot pattern, and between the minute circles in each figure, for example, For a, it is ■, te■, D
The area between E shows the actual welding location while the arc is flying. In FIG. 6a, a section AB from point A to point B indicated by a dotted line is an idle running period. Further, the symbol A attached to each weaving spot pattern indicates the welding start reference point of each weaving spot pattern.

Therefore, next, the teaching reference points aO, bo, Co and d obtained by the teaching box 14 are determined.

Among the parent job related to the coordinate values of and the child job of the weaving spot pattern data created in the above step, the optimal one is selected based on the position and thickness of the workpiece, and the teaching reference point a6, bo % is selected. CO and d.

and the coordinate values (standard machining data) to the welding start point of the weaving spot pattern selected by the J-J. In this case, if there is no appropriate weaving spot pattern data, use the mouse 28 on the spot.
Create a desired weaving spot pattern using
All you have to do is match it. The above is the explanation regarding the method of creating a weaving spot pattern and editing a child job to a parent job.

Next, a program insertion method for the welding point welding judgment process will be described. An example of a program in this case, that is, a child job, is shown in FIG.

The program shown in FIG. 7 is a program in which welding judgment and fusing processing steps are inserted for the example of the weaving spot corresponding to FIG. The figure, hardness, and country correspond to the first numbers 1, 2, 3, and 4 of points B, C, D, and E in Figure 6a and program steps ■, ■, ■, and [phase] in Figure 7, respectively. handle.

In the program shown in FIG.
, C, D, and H are operation commands for generating arcs. Program steps ■ and ■ are not executed in the first process of welding, and an arc is generated only in the welding process of program step ■. If welding occurs in program step (2), a welding indicator lamp (not shown) lights up and at the same time, the index jumps from program step (2) to program step (2). Then, in order to melt and cut the welded core wire, the job jumps to job 220 in program step (3), and the core wire is melted and cut. The contents of this job 220 are shown in FIG. This job 220 has an instruction structure that does not end until the welded core wire is fused and cut. That is, when a job jumps from program step (2) of a child job of a pattern operation, an arc is generated in program step (2) based on the specifications of program step (2) in which welding conditions are defined in order to melt and cut the welded core wire. At this time, the welding indicator lamp (not shown) is turned off. When an arc is generated in program step [phase] to confirm welding of the core wire and workpiece, if welding occurs again, the welding lamp will be lit and the program will index jump to program step ■ again at program step ■. An arc is generated to melt and cut the re-welded core wire. That is, an arc is generated again in program step O, and at this time, the welding indicator lamp is turned off. With this instruction configuration, the process will not proceed to the next step until the arc is normally generated. Then, as welding progresses through welding points B, C, D, and E, arc generation stops at program step (2). At this time, if welding occurs, the job jumps to the welding release job 220 at program step @, the welded core wire is fused, and the process returns to program step @ to end the child job. Note that the fusing conditions in the program step [phase] in which fusing conditions related to fusing are defined can be further set to desired conditions in a child job.

Therefore, the welding process determination program shown in FIGS. 7C is inserted into the robot motion data including the teaching reference points aD, bo, co, and do created using the teaching box 14 to obtain robot motion data. In this case, the edited program data is converted from the coordinate variables of the program editing device 12 to robot coordinate variables that actually operate the welding robot, and is stored in the memory of the robot controller 18 as robot operation data by the repeater 32. be memorized via

Thereafter, a switch key (not shown) on the operation panel 16 is switched from slave mode to standalone mode.

The robot teaching data including the teaching reference point obtained in this way is created based on the teaching reference point precisely defined for the actual workpiece, so it is easy to obtain very accurate data as a whole. I hope you understand.

Next, an example of the motion locus of the welding torch 12 of the robot based on the robot motion data obtained as described above will be shown.

FIG. 8 shows a preferred example thereof, with reference symbols ao and bo.
, co, and do are teaching reference points, and solid arrows between reference symbols al, a2, . In the example shown in this figure, the teaching box 14
The reference points taught by are 4 points (a, to aO), the operation points (micro circles) edited by the editing device are 19 points, and the welding and cutting processing points (a+, aa,
bo, Co, ao) exist at 5 points. Also,
Reference numerals 60 to 67 indicate the trajectory of movement of the welding torch 42, which suggests that the welding torch 42 travels in the direction of the dotted arrow.

Welding work on the workpiece based on the robot operation data stored in the robot controller 18 is performed by operating an execution key (not shown) on the operation panel 16.

[Effects of the Invention] As explained above, according to the method of the present invention, a teaching box can be used to create a program related to a weaving spot pattern, which requires skill in the teaching work and is extremely busy, and a program related to welding and cutting judgment processing. This allows the program to be created on a program editing device without being taught by a computer. In fact, the program editing device can be used to edit and synthesize a small number of teaching standards 1-point data obtained from the teaching work, the weaving spot program and the welding judgment processing program obtained from the program editing device, and as a result, compared to the conventional technology, robot motion data can be obtained in a significantly shorter time. Furthermore, by operating the editing device at the work site, the operator can easily select the optimal weaving pattern while actually checking the thickness, shape, material, etc. of the workpiece. On top of that,
Even if the work should be changed or abolished, the robot motion can be easily corrected by processing using the display of the editing device, and therefore, the overall teaching time can be significantly reduced.

Although the present invention has been described above with reference to preferred embodiments, the present invention is not limited to these embodiments.
Of course, various improvements and changes in design are possible without departing from the gist of the present invention.

[Brief explanation of drawings]

Fig. 1 is a schematic block diagram of an apparatus for carrying out the method of the present invention, Fig. 2 is a schematic block diagram of the IP1 block diagram of the apparatus for carrying out the method of the present invention, and Fig. 3 is a diagram of the acquisition of teaching reference points according to the method of the present invention. FIG. 4 is a display diagram for creating a weaving spot pattern according to the method of the present invention. FIG. 5 is a schematic diagram of a mouse related to the operation of the apparatus for carrying out the method of the present invention. The figure is an explanatory diagram showing an example of a weaving spot obtained by the apparatus for carrying out the method of the present invention, Figure 7 is a program for welding judgment processing related to weaving spots, and Figure 8 is the apparatus for carrying out the method of the present invention. FIG. 2 is a schematic diagram showing an operation locus of a welding torch for explaining the action related to the above. 10... Robot program creation system ■2...
・Program editing device 14...Teaching box 16...Operation panel 18...Robot controller 20...Robot 22...Color display 24...Arithmetic unit 26...FDD 28...Mouse 30 ... Indication device 31 ... Connection cable 32 ... Repeater 34.36.40 ... Connection cable 42 ... Welding torch 46a, 46b ... Workpiece FIG, 6 F '00 l164 '00 ' OO '00 '00 0I10 J l 6 / 220 / l (i 4OI ■ l09 - - ■■
+(10/l ■■
FOO/ l 6
■■ 80010.5 l
17)■FOIlo
@■ JIO/1/164 0■
Snake 01 [phase] -
■ −■ Job 220 [Phase] ■ @ ■

Claims (4)

[Claims] (1) A method for editing a welding program for an automatic arc welding robot operated by a robot controller, the method comprising:
A first step of teaching a welding operation reference point using a teaching box, a second step of transmitting data related to the welding operation reference point from the robot controller to a program editing device, and a second step of transmitting the welding operation reference point in the program editing device. A third step of editing and adding a weaving program previously created in the program editing device to the point data to create robot motion data, and a fourth step of transferring the robot motion data from the program editing device to the robot controller. A method for editing a welding program, the method comprising: (2) A method for editing a welding program according to claim 1, wherein the weaving program is a weaving spot program. (3) A welding program editing device for an automatic arc welding robot operated by a robot controller,
The robot controller and the program editing device are virtually connected, and the data related to the welding operation reference point taught by the teaching box and the data related to the weaving program created in the program editing device are edited and synthesized, so that the robot's actual A welding program editing device characterized in that it is configured to be used as operation data. (4) A welding program editing device according to claim 3, wherein the weaving program is a weaving spot program.