JP2000000660A - Welding method of industrial robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To increase the safety in automating the welding work using a welding burner by providing the welding burner on an arm of a industrial robot, providing a temperature sensor on a nozzle at a tip part of the welding burner, feeding a welding gas through a gas solenoid valve and detecting the temperature of the welding burner to monitor the ignition set level and the flame failure set level. SOLUTION: During the ignition of a welding burner, the temperature of the welding burner is detected by a temperature sensor after the elapse of a specified time, and when the output of the temperature sensor is lower than the ignition level, a gas solenoid valve is closed, an industrial robot is stopped. When the output of the temperature sensor is smaller than the flame failure set level when the detection of the flame failure is started, the gas solenoid valve is closed, and the industrial robot is stopped. A glass feeding device 3 and a welding burner body 4 are mounted on a tip of a wrist of a robot body arm 1, and a bracket and a temperature sensor heat sensing part are mounted on the tip of the nozzle of the welding burner body 4.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding device for an industrial robot for welding using a welding burner.

[0002]

2. Description of the Related Art Conventionally, when a welding burner is held in a robot body of an industrial robot and welding is performed while melting a welding material on an object to be welded, an operation of igniting the welding burner at the start of work is always required. At this time, it is an important factor in safety that the robot controller recognizes whether the welding burner has ignited reliably and shifts to the next work operation. For that purpose, a temperature sensor is installed near the pilot burner. After the pilot burner is ignited using the pilot burner as the welding burner, the robot body is moved to the temperature sensor in order to confirm the ignition of the welding burner, and the heat-sensitive portion of the temperature sensor is heated by the welding burner fire. Thus, when the temperature becomes equal to or higher than a predetermined set value set in the temperature sensor amplifier, a signal is output from the temperature sensor amplifier to the robot controller. Upon receiving this signal, the robot controller determines that the welding burner has ignited normally and proceeds to the next work operation.If the ignition of the welding burner is incomplete, the robot controller will operate the robot body. It is possible to stop before the hour. In addition, when the operation of the robot body is stopped, the solenoid valve for controlling the supply of gas to the welding burner is shut off, and an abnormal signal is output to the outside, so that gas outflow at the time of ignition failure can be prevented. Becomes

[0003]

In the above-described conventional method, it is possible to detect outflow of gas at the time of poor ignition, but it is possible to temporarily prevent the gas from flowing out during the operation of the robot body. If a misfire occurs due to, for example, a broken hose, the temperature sensor is installed away from the robot body, so that it is impossible to detect the misfire state during the operation of the robot. In addition, since detection is performed by a temperature sensor installed at a predetermined location, the robot body must be moved to the location where the temperature sensor is installed after the ignition operation on the welding burner held by the robot body, and the heat-sensitive part of the temperature sensor Since it is necessary to wait until the temperature rises, it is difficult to reduce the working time.

Therefore, an object of the present invention is to attach a heat-sensitive portion of a temperature sensor to the tip of a nozzle of a welding burner held by a robot body, thereby detecting ignition to the welding burner and during welding while the robot is operating. To enable misfire detection.

Further, by installing the temperature sensor amplifier on the robot arm, the distance between the temperature sensor amplifier and the temperature sensor amplifier can be shortened, and disconnection of the temperature sensor heat sensor due to complicated operation of the robot arm can be prevented. It is intended to realize a more reliable safety device that can be prevented.

[0006]

In order to achieve the above object, according to the present invention, a welding burner is provided on at least one arm of an industrial robot, and a nozzle at a tip portion of the welding burner is provided. This is an industrial robot welding device equipped with a temperature sensor.

According to a second aspect of the present invention, the nozzle at the tip of the welding burner is provided with a bracket made of a material having a higher thermal conductivity than the nozzle, and the heat-sensitive portion of the temperature sensor is brought into contact with the bracket. It is a welding device of the described industrial robot.

According to a third aspect of the present invention, there is provided an industrial robot welding apparatus according to the first or second aspect, wherein a temperature sensor amplifier for inputting a signal from a temperature sensor and outputting the signal to a control device of the industrial robot is provided on the arm. Device.

According to the present invention, the welding gas is supplied to the welding burner via a gas solenoid valve.
The welding device for an industrial robot according to any one of the above.

According to a fifth aspect of the present invention, a welding burner is provided on at least one arm of an industrial robot, a temperature sensor is provided on a nozzle at a tip portion of the welding burner, and the welding burner is provided via a gas solenoid valve. If the output of the temperature sensor is lower than the set ignition level when the welding burner is ignited, or if the output of the temperature sensor is lower than the set misfire level when misfire detection is started, use an industrial robot that supplies welding gas to the welding burner. This is a method for welding an industrial robot that closes an electromagnetic valve and stops the industrial robot.

According to a sixth aspect of the present invention, there is provided the method for welding an industrial robot according to the fifth aspect, wherein the misfire detection is started before the welding operation, and the misfire detection is terminated after the welding operation.

According to a seventh aspect of the present invention, when an ignition abnormality or a misfire abnormality is detected, the gas solenoid valve is closed,
7. The method for welding an industrial robot according to claim 5, wherein an ignition abnormality or a misfire abnormality is displayed after stopping the industrial robot.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS According to the present invention, a welding device in an automatic welding apparatus detects the temperature of a heat-sensitive portion of a temperature sensor attached to a tip of a nozzle of a welding burner attached to the tip of a wrist of a robot body. A malfunction of the ignition which occurs at the start of the work and a misfire state which occurs during the welding work are detected, and the work of the robot body is stopped. Furthermore, by shutting off the gas solenoid valve at the same time as the operation of the robot body is stopped, the danger of gas leakage is prevented beforehand, and an abnormal signal is output to the outside, thereby ensuring safety during unmanned operation. .

Further, by mounting the temperature sensor amplifier on the arm of the robot main body, the robot main body performs a complicated operation to reduce a bending or bending load on the sensor cable connecting the temperature sensor heat sensitive portion and the temperature sensor amplifier. It can be reduced, and as a result, a more reliable safety device can be constructed.

(Embodiments) Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a schematic view of an apparatus according to an embodiment of the present invention, and FIG. 2 is a detailed view of a main part. At the tip of the wrist of the robot body 1, a glass feeding device 3 and a welding burner body 4 are provided.
Is attached. At the tip of the nozzle 4a attached to the welding burner main body 4, a bracket 4b and a temperature sensor heat sensitive part 4c are attached, and the temperature sensor heat sensitive part 4c
Is connected to a temperature sensor amplifier 1b mounted on the robot arm 1a of the robot body 1 by a sensor cable 4d. The temperature sensor amplifier 1b is connected to the robot controller 2 using a signal cable 1c.
The robot body 1 is connected to a robot control device 2. The welding gas is supplied to the welding burner 4 from the collecting pipe 12 via the gas control device 7 and the gas solenoid valve 8 using the gas pipe 9. The pilot burner 13 is connected to the gas control device 7. The glass material 5 to be welded is fixed to a work table 15 using a fixing jig 14.

The temperature sensor is mounted by mounting the temperature sensor thermosensitive part 4c in a bracket 4b fixed to the nozzle 4a of the welding burner main body 4, and connecting the gas pipe 9a to the temperature sensor amplifier 1c installed on the robot main body arm 1a. Are connected using a sensor cable 4d attached along the line.

The operation of the glass welding safety device constructed as described above will be described below. FIG. 3 is a flowchart of welding burner abnormality detection in one embodiment of the present invention. FIG. 4 is an explanatory diagram of the temperature sensor setting in one embodiment of the present invention.

First, using the teach pendant 16 of the robot controller 2, a portion of the glass material 5 that requires welding is taught as an operation path of the welding burner 4 attached to the robot body 1. Next, automatic operation is started by the taught program to operate the robot body 1. The robot body 1 holding the welding burner 4 moves to the position of the pilot burner 13 and turns on the gas solenoid valve 8 of the welding burner 4. After a waiting time of several seconds until the temperature sensor heat-sensing unit 4c is sufficiently heated and rises to the ignition set temperature, the signal from the temperature sensor amplifier 1b is monitored by the robot controller 2 and the temperature of the temperature sensor heat-sensing unit 4c is ignited. If it is higher than the set level, it is determined that the ignition of the welding burner 4 has been detected, and the operation proceeds to the next operation. After the ignition of the welding burner 4 is detected, when the temperature sensor heat-sensitive unit 4c falls below the misfire determination temperature, a misfire detection processing program is executed. Next, the operation of the welding operation taught in advance is executed, and a misfire during the operation is monitored. If there is no misfire, a misfire detection end instruction is output, the gas solenoid valve of the welding burner is shut off, and the automatic operation ends normally. If a misfire occurs during the welding operation, the temperature of the temperature sensor during the execution of the misfire detection processing program becomes lower than the misfire set level. Is stopped, the abnormal lamp is lit, and the automatic operation ends. That is, as shown in FIG. 4, by monitoring two or more set levels of the ignition detection level and the misfire detection level set in the temperature sensor, the time from ignition to ignition detection and the time from misfire to misfire detection are respectively determined. Since they can be set separately, it is possible to construct a welding device capable of detecting as quickly as possible within a range where malfunction does not occur.

Although the above-described example has been described for a glass welding welding apparatus, the same welding apparatus can be applied to fusing and brazing operations using a welding burner.

[0021]

As described above, according to the present invention, the use of a temperature sensor in a method using a welding burner in a manner similar to that of the present invention makes it possible to achieve two levels of the ignition detection level and the misfire detection level set in the temperature sensor. By monitoring the setting level of more than one kind, the time from ignition to ignition detection and the time from misfire detection can be set separately, so that it is possible to realize a welding device that can detect as fast as possible within the range that does not malfunction .

Further, by attaching the sensor to the welding burner, it is possible to secure safety in a welding device that works while holding and moving the welding burner like an industrial robot.

By using a welding device in an industrial robot having the above-described effects, it is possible to enhance the safety of automating a welding operation using a welding burner.

[Brief description of the drawings]

FIG. 1 is a schematic diagram of a welding device using an industrial robot according to an embodiment of the present invention.

FIG. 2 is a detailed view of a temperature sensor mounting according to the embodiment of the present invention.

FIG. 3 is a flowchart of welding burner abnormality detection in one embodiment of the present invention.

FIG. 4 is an explanatory diagram of a temperature sensor setting according to an embodiment of the present invention.

[Explanation of symbols]

 1a Robot body arm 1b Temperature sensor amplifier 1c Signal cable 2 Robot controller 4 Welding burner body 4a Nozzle 4b Bracket 4c Temperature sensor heat-sensitive part 4d Sensor cable 5 Glass material (welded part) 8 Gas solenoid valve

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[Procedure amendment]

[Submission date] June 4, 1999 (1999.6.4)

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Name of invention

[Correction method] Change

[Correction contents]

[Title of the Invention] Industrial robot welding method

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] Claims

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[Correction contents]

[Claims]

[Procedure amendment 3]

[Document name to be amended] Statement

[Correction target item name] 0001

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[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding method for an industrial robot for welding using a welding burner.

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0004

[Correction method] Change

[Correction contents]

Accordingly, an object of the present invention is to detect the ignition of the welding burner even during the operation of the robot by attaching a heat-sensitive portion of a temperature sensor to the tip of the nozzle of the welding burner held by the robot body and performing processing. And to enable misfire detection during welding.

[Procedure amendment 5]

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[Correction target item name] 0005

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[Procedure amendment 6]

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[Procedure amendment 8]

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[Procedure amendment 9]

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[0010]

[MEANS FOR SOLVING THE PROBLEMS] To achieve the above object
According to a fifth aspect of the present invention, a welding burner is provided on at least one arm of an industrial robot, a temperature sensor is provided on a nozzle at a tip portion of the welding burner, and the welding burner is provided via a gas solenoid valve. using an industrial robot for supplying welding gases, at the time of ignition of the welding burner, predetermined
Temperature sensor detects welding burner temperature after a lapse of time
When the output of the temperature sensor is lower than the ignition set level , the gas solenoid valve is closed and the industrial robot is stopped.
Sealed so, a welding method of an industrial robot to stop the industrial robot with closing the gas solenoid valve when the output of the temperature sensor at the misfire detection start is less than the misfire set level.

[Procedure amendment 11]

[Document name to be amended] Statement

[Correction target item name] 0011

[Correction method] Change

[Correction contents]

According to a second aspect of the present invention, there is provided the welding method for an industrial robot according to the fifth aspect, wherein the misfire detection is started before the welding operation and the misfire detection is ended after the welding operation.

[Procedure amendment 12]

[Document name to be amended] Statement

[Correction target item name] 0012

[Correction method] Change

[Correction contents]

According to the third aspect of the present invention, when an ignition abnormality or a misfire abnormality is detected, the gas solenoid valve is closed,
7. The method for welding an industrial robot according to claim 5, wherein an ignition abnormality or a misfire abnormality is displayed after stopping the industrial robot.

[Procedure amendment 13]

[Document name to be amended] Statement

[Correction target item name] 0013

[Correction method] Change

[Correction contents]

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS According to the present invention, a temperature state of a heat-sensitive part of a temperature sensor attached to a nozzle tip of a welding burner attached to the tip of a wrist of a robot body is detected by the above method , and an ignition set in the temperature sensor is detected. Detection level and loss
To monitor two or more set levels of fire detection level
Time from ignition to ignition detection and time to misfire detection
Can be set separately, so that it does not malfunction
Welding equipment that can detect as fast as possible
Wear.

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[0016] Figure 1 describes an embodiment of an embodiment of the present invention
That in schematic diagram of the apparatus, FIG. 2 is a detailed view of a main part. The glass feeding device 3 and the welding burner main body 4 are attached to the tip of the wrist of the robot main body 1. A bracket 4 is attached to the tip of the nozzle 4a attached to the welding burner body 4.
b and a temperature sensor thermosensitive part 4c are attached. The temperature sensor thermosensitive part 4c is connected to a temperature sensor amplifier 1b attached to the robot arm 1a of the robot body 1 by a sensor cable 4d. Temperature sensor amplifier 1
b is connected to the robot controller 2 using the signal cable 1c. The robot body 1 is connected to a robot control device 2. The welding gas is supplied to the welding burner 4 from the collective pipe 12 via the gas control device 7 and the gas solenoid valve 8 using the gas pipe 9. The pilot burner 13 is connected to the gas control device 7. The glass material 5 to be welded is fixed to a work table 15 using a fixing jig 14.

[Procedure amendment 16]

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[Correction contents]

Schematic diagram of a welding device according to the industrial robot to use for an embodiment of the present invention; FIG

Claims (7)

[Claims] 1. An industrial robot welding apparatus comprising: a welding burner provided on at least one arm of an industrial robot; and a temperature sensor provided on a nozzle at a tip portion of the welding burner. 2. The welding of an industrial robot according to claim 1, wherein a bracket made of a material having a higher thermal conductivity than the nozzle is provided at a nozzle at a tip portion of the welding burner, and a heat-sensitive portion of a temperature sensor is brought into contact with the bracket. apparatus. 3. The welding device for an industrial robot according to claim 1, wherein a temperature sensor amplifier for receiving a signal from the temperature sensor and outputting the signal to a control device of the industrial robot is provided on the arm. 4. The welding device for an industrial robot according to claim 1, wherein the welding gas is supplied to the welding burner via a gas solenoid valve. 5. An industrial system in which a welding burner is provided on at least one arm of an industrial robot, a temperature sensor is provided on a nozzle at a tip portion of the welding burner, and a welding gas is supplied to the welding burner via a gas solenoid valve. If the output of the temperature sensor is smaller than the set ignition level when the welding burner is ignited, or if the output of the temperature sensor is smaller than the set misfire level at the start of misfire detection, the gas solenoid valve is closed and an industrial robot is used. Industrial robot welding method that stops the robot. 6. The method for welding an industrial robot according to claim 5, wherein the misfire detection is started before the welding operation, and the misfire detection is ended after the welding operation. 7. The industrial robot according to claim 5, wherein when the ignition abnormality or the misfire abnormality is detected, the ignition solenoid or the misfire abnormality is displayed after closing the gas solenoid valve and stopping the industrial robot. Welding method.