JP2005111485A - Robot system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a welding system, which a worker easily sets up by grasping predetermined welding conditions and an actual quantity of a welding state. <P>SOLUTION: Welding is conducted based on predetermined conditions in the welding system, which has a robot 1, a robot controlling device 4 controlling the robot 1, a pendant 6 into which operational information of the robot 1 is input, and an arc welding device to which the robot 1 is connected. The welding system is provided with a welding state detecting part 10 detecting the quantity of a welding state at the time of welding, a state comparing part 17 comparing an actual quantity of a welding state with a predetermined welding conditions, and a display part 19 displaying the comparison result from the state comparing part 17 on the pendant 6. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

The present invention relates to a welding system that performs welding by combining a robot and a welding power source.

A conventional welding system is shown in FIG. A welding torch 2 is attached to the robot 1, and welding current is supplied from the welding power source 3 to the welding torch 2 via the wire feeder 5. The robot controller 4 is connected to the welding power source 3 via the interface cable 5. Actual welding conditions such as a welding current value and a welding voltage value detected by the welding power source 3 are transmitted to the robot controller 4 via the interface cable 5. The robot control device 4 is connected to a teach pendant 6 through which an operator inputs operation information and the like of the robot 1.
A technique is disclosed in which an average value of actual welding conditions including at least a welding current during welding is displayed in an analog manner on a teach pendant (for example, Patent Document 1).
Japanese Patent No. 3106802 (page 2, right column, line 42 to page 3, left column, third line)

  The problem with the conventional robot control device described above is that although the current actual welding conditions can be confirmed, it is not possible to easily confirm whether the actual welding conditions are the set welding conditions. . For this reason, the operator cannot immediately determine whether or not the welding is normally performed, and the operator can easily determine the causes of multiple welding defects such as welding grounding and robot operation other than welding conditions. Could not figure out.

  The present invention is intended to solve the problems of such a conventional configuration. By simultaneously grasping the set welding conditions and the actual welding state amount, the operator can easily perform the welding system. It is an object of the present invention to provide a welding system that can be set up and adjusted.

A welding system according to claim 1 of the present invention includes a robot, a robot control device that controls the robot, a pendant that inputs operation information of the robot, and an arc welding device connected to the robot. In a welding system that performs welding based on the welding conditions, a welding state amount detection unit that detects a welding state amount at the time of welding, a state amount comparison unit that compares the welding state amount and the set welding conditions, And a display unit for displaying the comparison result of the state quantity comparison unit on the pendant.

The welding system according to claim 2 of the present invention is characterized in that the welding state quantity includes at least a welding current value or a welding voltage value.
The welding system according to claim 3 of the present invention is characterized in that the welding state quantity is a wire feed speed.

The welding system according to claim 4 of the present invention includes an abnormal value setting unit that sets an abnormal value for determining that the comparison result is abnormal, and an abnormal signal that outputs an abnormal signal according to a difference between the comparison result and the abnormal value. And an output unit.
The welding system according to claim 6 of the present invention displays an average value calculation unit for calculating an average value for each welding site based on the comparison result, and when the welding of the corresponding part line is performed. It is characterized by doing.

The welding system according to claim 6 of the present invention is characterized in that the comparison result displayed on the display unit is an analog display.

According to the welding system of Claims 1, 2, and 3, the comparison result of the set welding condition and the actual welding condition is displayed, and the operator can easily confirm whether or not the desired welding state is achieved. It is effective.
According to the welding system according to claims 4 and 5, the operator can grasp at a glance whether the current welding is in an abnormal state and how much deviation is present when compared with the previous welding. It has a remarkable effect of being able to do it.
According to the welding system of the sixth aspect, the worker can grasp the current welding state sensuously and has a remarkable effect of supporting the judgment of the quality of the welding work.

  Hereinafter, an embodiment of the present invention will be described with reference to FIGS.

FIG. 1 shows a system configuration diagram of the first embodiment. The robot 1 provided with the welding torch 2 at the hand is controlled by the robot control device 4. In addition, the welding power source 3 performs welding based on the welding command of the robot control device 4. At this time, the welding power source 3 issues a feeding speed command to the wire feeding device 7 attached on the arm of the robot 1 and feeds the welding wire to the welding torch 2. The pendant 6 is connected to the robot controller 4 via an interface cable 5. The pendant 6 includes a display unit 19 that displays operation keys, a robot program, a robot state, and the like as an input unit necessary for operating the robot 1. An emergency stop button is also provided to stop the robot immediately. In order to ensure the safety of the operator, deadman switches are provided on the left and right sides of the grip portion.
The welding power source 3 detects the actual welding state quantity by the welding state quantity detection unit 10. The welding state quantity detection unit 10 includes a welding current value detection unit 11 that detects a welding current value, a welding voltage detection unit 12, and a wire feed speed detection unit 13.

A present Example is demonstrated along the flow of an actual welding operation | work. The work during teaching will be described below. An operator installs the workpiece 100 on which the welding operation is performed on the mounting table 101. Then, the welding line which performs welding construction is taught. At this time, as shown in FIG. 2, the position of the welding line is programmed so as to be sandwiched by a welding start instruction ARCON and a welding end instruction ARCOF. Further, welding conditions AC and AV are added to the welding start command ARCON, where AC is a preset current value, and AV is a preset voltage value.
The movement commands of the robot 1 shown in FIG. 2 are those in which MOVJ is joint interpolation and MOVL is linear interpolation, and an operation command is given to perform each interpolation operation at a position up to the target point.
The robot program created in this way is stored in the program storage area 16.

  The case where the above program is executed will be described below. This execution includes a playback operation and a confirmation operation in the teaching mode. The program is read from the program storage area 16. Thereafter, the welding conditions set by the ARCON command are output to the state quantity comparison unit 17. Welding is performed, and a welding current value, a welding voltage value, and a wire feed speed are detected by the welding state quantity detection unit 10, respectively. In addition, the welding phenomenon is that the welding is not stable for a certain time from the start of the arc, and therefore, after a predetermined time has elapsed after the start of the arc, the welding state quantity of the state detection unit 10 is acquired. The welding state quantity detection unit 10 outputs the welding state quantity to the welding communication processing unit 14. The welding communication processing unit 14 transmits the welding state quantity to the robot communication unit 15 via the welding communication cable 8 connected to the robot control device 4.

The robot communication unit 15 that has received the welding state quantity outputs the welding state quantity to the state quantity comparison unit 17. The state quantity comparison unit 17 obtains the difference between the set welding condition and the welding state quantity, and outputs the difference to the pendant processing unit 18. The pendant processing unit 18 displays the output of the state quantity comparison unit 17 on the display unit 19 of the pendant 6 as shown in FIG.
Moreover, although the example of the welding current value was displayed in FIG. 3, the same display can be performed also with the welding voltage value and the wire feed speed.

A second embodiment of the present invention will be described with reference to FIG. The difference from the first embodiment is in the robot controller 4. Different parts will be described below.
When the difference from the set welding condition exceeds a predetermined range, an abnormal value to be abnormal is set in the abnormal value setting unit 20. The abnormal value setting unit 20 can be set as a parameter of the robot control device 4 or a command for each welding site.

The abnormal signal output unit 21 compares the comparison result of the state quantity comparison unit 17 with the abnormal value set by the abnormal value setting unit 20, and outputs an abnormal signal when the comparison result is larger than the abnormal value. In this case, the abnormality signal is displayed on the display unit 19 of the pendant 6 via the pendant processing unit 18.
As the display method of the display unit 19, an upper limit value and a lower limit value are set in the abnormal value setting unit 20, and when the area exceeds the upper limit value, it is red, green is within the range, and black is black in the area below the lower limit value. By displaying, the operator can grasp the state at a glance.
Further, the abnormality signal output unit 21 can be output to an input / output contact that is normally provided in the robot control device 4 to notify an external indicator light or a host control device.

A third embodiment of the present invention will be described with reference to FIG. FIG. 5 is a configuration diagram of the robot control device 4 of the present embodiment. The average value calculation unit 22 averages the comparison results of the state quantity comparison unit 17. This average value is stored in a storage area in which a certain area is secured.
This storage method is managed for each welding site. The welding part is determined by the welding conditions and the part of the workpiece. That is, even if it is one welding line, what is set to have different welding conditions from the middle of the welding line is recognized as a different welding part. Further, even under the same welding conditions, positions where workpiece parts are different, that is, robot teaching positions are managed as different welding parts.

FIG. 6 shows an example of the screen of the display unit 19 when the output of the current state quantity comparison unit 17 is 5 A when the output of the previous state quantity comparison unit 17 is 7 A (welding current value). .
By displaying in this way, it is possible to grasp the temporal progress of the previous time and the current time.
In each of the embodiments described above, the welding state amount detection unit 10 has been described as being incorporated in the welding power source 3, but may be incorporated in the robot control device 4. In addition, the result of the state quantity comparison unit 17 may be displayed on the display unit 19 as digital / numerical values instead of analog.

  It is useful for welding systems that perform welding by combining a robot and a welding power source.

System configuration diagram of Embodiment 1 of the present invention Example of display unit of the present invention Display unit of Embodiment 1 of the present invention System configuration diagram of embodiment 2 of the present invention Configuration diagram of a robot control apparatus according to a third embodiment of the present invention. Display unit of embodiment 3 of the present invention Prior art diagram

Explanation of symbols

1: Robot
2: Welding torch
3: Welding power source
4: Robot controller
6: Pendant
7: Wire feeder
10: Welding state quantity detector
11: Welding current detector
12: Welding voltage detector
13: Wire feed speed detector
17: State quantity comparison unit
19: Display section

Claims (6)

A welding system comprising a robot, a robot control device for controlling the robot, a pendant for inputting operation information of the robot, and an arc welding device connected to the robot, and performing welding based on set welding conditions In
A welding state quantity detection unit for detecting a welding state quantity at the time of welding;
A state quantity comparison unit for comparing the welding state quantity and the set welding condition;
A welding system comprising: a display unit that displays a comparison result of the state quantity comparison unit on the pendant.   The welding system according to claim 1, wherein the welding state quantity includes at least a welding current value or a welding voltage value.   The welding system according to claim 1, wherein the welding state quantity is a wire feeding speed. An abnormal value setting unit for setting an abnormal value for determining that the comparison result is abnormal;
The welding system according to claim 1, further comprising: an abnormal signal output unit that outputs an abnormal signal according to a difference between the comparison result and the abnormal value. An average value calculating unit for calculating an average value for each welding site based on the comparison result;
5. The welding system according to claim 1, wherein the average value is displayed when welding the corresponding part line.   6. The welding system according to claim 1, wherein the comparison result displayed on the display unit is an analog display.

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