JP2008264845A5 - - Google Patents

Claims (9)

A robot having a plurality of drive shafts and mounting a welding torch at the tip;
A welding power source connected to the welding torch and outputting a welding current to the welding torch;
A sensor that is mounted in the vicinity of the welding torch and detects a position of a welding line of a workpiece and a gap length of the welding line in advance of the welding torch;
A sensor control device connected to the sensor and controlling the sensor;
A robot controller connected to the robot to control the drive axis of the robot and connected to the welding power source and the sensor controller to input / output information;
In the robot system that corrects the position of the welding torch based on the position of the welding line detected by the sensor and performs the welding operation while changing the welding conditions according to the gap length,
The robot control device, a welding condition table that records the correspondence between the gap length and the welding conditions that change stepwise according to the gap length,
A condition relaxation parameter for setting a delay amount of the change of the welding condition accompanying the change of the gap length;
A condition relaxation calculation unit that outputs the change of the welding condition in the vicinity of the gap length corresponding to the change point of the welding condition in the welding condition table by delaying by an amount set by the condition relaxation parameter. Robot system to do.   The robot system according to claim 1, wherein the condition relaxation parameter is specified by an absolute amount or a change ratio of the gap length. The condition relaxing calculation section according to claim 1 or 2 robotic system, wherein the delaying of a change in the welding condition in accordance with the restructured parameter when the gap length decreases. The robot system according to any one of claims 1 to 3, wherein the condition relaxation calculation unit delays the change of the welding conditions according to the condition relaxation parameter when the gap length increases. A robot having a plurality of drive shafts and mounting a welding torch at the tip;
A welding power source connected to the welding torch and outputting a welding current to the welding torch;
A sensor that is mounted in the vicinity of the welding torch and detects a position of a welding line of a workpiece and a gap length of the welding line in advance of the welding torch;
A sensor control device connected to the sensor and controlling the sensor;
A robot controller connected to the robot to control the drive axis of the robot and connected to the welding power source and the sensor controller to input / output information;
In the robot system that corrects the position of the welding torch based on the position of the welding line detected by the sensor and performs the welding operation while changing the welding conditions according to the gap length,
The robot control device, a welding condition table that records the correspondence between the gap length and the welding conditions that change stepwise according to the gap length,
The gap length detected by the sensor is compared with the gap length corresponding to the change point of the welding condition set in the welding condition table,
Read two welding conditions before and after the gap length detected by the sensor,
Conditional interpolation calculation for performing an operation for interpolating the two welding conditions from the ratio of the difference between the gap length corresponding to the two welding conditions and the gap length detected by the sensor, and outputting the welding conditions obtained by the calculation A robot system comprising a portion.   The robot system according to claim 1, wherein the welding condition is a welding speed.   6. The robot system according to claim 1, wherein the welding condition is a weaving frequency.   The robot system according to claim 1, wherein the welding condition is a weaving amplitude. The robot system according to claim 1, wherein the gap length is a magnitude of a deviation that occurs in a parallel direction or a vertical direction with respect to the workpiece surface.