JP2013156428A - Welding skill education support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a welding skill education support system for easily simulating welding environment, educating, correcting or coaching a welding work even in the case of self-study by one student.SOLUTION: A welding skill education support device has: operation means 2 for simulating a welding torch; a display 3 which simulates a base material; a speaker 4 which outputs a welding sound simulating a welding work; a controller 5 which displays an image of a bead according to a behavior of the operation means 2 when the operation means 2 is moved on the display 3 on the display 3, and outputs the welding sound according to the behavior of the operation means 2 from the speaker 4; a three-dimensional input/output device 6 which holds the operation means 2, inputs/outputs position information D on the tip part T of the operation means 2; and a storage device 7 which stores the position information D. The controller 5 operates the operation means 2, selects and outputs the image of the bead and a kind of the welding sound on the basis of the position information D to be output from the three-dimensional input/output device 6.

Description

  The present invention relates to a welding skill education support device, in particular, for simulating a welding environment using a haptic device, and for teaching, correcting, or teaching a welding skill to a student using visual, auditory, haptic, etc. The present invention relates to a welding skill education support device.

  Conventionally, welding skills are based on the basics of welding posture, torch angle, welding speed, wire protrusion amount, etc. by one teacher taking charge of multiple students and welding a test specimen for practice using a real welding torch. While visually confirming skills, he was teaching, correcting, or instructing through oral, demonstration, and work assistance. In this skill training, although the actual welding work can be experienced, it is difficult and inefficient to check and instruct everyone's welding work every time because a large number of students are simultaneously educated. In addition, since welding work is actually performed, facilities and equipment such as a welding torch, wire feeding device, welding work place, etc. are required, and the place where training is possible is limited. ) Also occurred. Therefore, methods for simulating and teaching a welding environment and a welding process have already been proposed (see, for example, Patent Document 1 and Patent Document 2).

  For example, Patent Document 1 discloses an apparatus for simulating a welding process. Such an apparatus includes a computer having an input device and an output device, a welding torch, a magnetic position monitoring device having at least one transmitter and a plurality of sensors, a holding device for a simulated workpiece, on the output device And a visualization device for generating a two-dimensional or three-dimensional image. The welding torch and the work piece are not real objects but virtual devices simulating shapes and the like, and the actual welding state (for example, welding beads, An image or video simulating a light arc is created and displayed to the user.

  Further, Patent Document 2 is a method for training a welder engaged in manual welding construction, and measures data regarding the behavior of the welder and the state of the welding training environment when a simulated welding training for manual welding construction is performed. Based on this measurement data, the welder's head position, head movement, hand position, hand movement, face orientation, amount of heat input and direction of heat input to the weld, and the melting state and welding of the simulated weld While extracting the feature amount such as the state, and determining the quality of the simulated welding state with reference to the data at the time of normal and failure occurrence obtained at the time of welding construction performed in the past and this extracted feature amount, A manual welding training method is described in which an image of a welded part is generated based on a feature amount, and information regarding the transition of the simulated welding state including the generated image and the determination result is recognizable to a welder during welding training. ing. Also in such a training method, the welding torch and the workpiece (test body) are not real ones but use virtual devices that simulate shapes and the like.

Special table 2011-526208 gazette Japanese Patent No. 4129342

  In the apparatuses described in Patent Document 1 and Patent Document 2 described above, in order to simulate the welding environment, a virtual device that simulates a welding torch or a test body (workpiece) is necessary, and the type of welding that is actually performed. A virtual device (especially, a test body) must be prepared. In addition, since a plurality of sensors and cameras are required to acquire position information such as a virtual welding torch and a student's posture, there is a problem that the apparatus becomes complicated and large.

  The present invention was devised in view of the above-described problems, can easily simulate the welding environment, and can weld, educate, correct, or instruct welding work even by one student's self-study. The purpose is to provide a skill education support device.

  According to the present invention, there is provided a welding skill education support device for supporting education of a welding operation in which a welding torch is brought close to a surface of a base material and melted while feeding a wire to weld the base material, According to the behavior of the operation means when moving the operation means on the display, the operation means for simulating, the display for simulating the base material, the speaker for outputting the welding sound simulating the welding work A control device for displaying a bead image on the display and outputting a welding sound according to the behavior of the operation means from the speaker, and holding the operation means and inputting / outputting position information of the tip of the operation means A three-dimensional input / output device and a storage device for storing the position information, and the control device operates the operating means to the three-dimensional input / output device. Selects and outputs the image and the type of the welding sound of the bead based on the position information output Ri, it is provided welders training support and wherein the.

  The storage device stores reference data that is position information of a tip portion of the operation unit that simulates an appropriate welding operation, and the control device stores the position information and the reference when the operation unit is operated. When the difference exceeds an allowable value by comparing with the data, the width of the bead or the color of the molten pool displayed on the display and the length or pitch of the welding sound output from the speaker are changed. It may be.

  Further, the control device compares the position information when the operation means is operated and the reference data, and if the difference exceeds an allowable value, the control device attaches the tip of the operation means to the three-dimensional input / output device. A signal may be output so as to match the reference data.

  Further, the control device may compare the position information when the operation means is operated with the reference data, measure the number of times that the difference exceeds an allowable value, and score it.

  The position information includes a tip coordinate of the operation unit, and the control unit calculates a separation distance between the display and the operation unit from the tip coordinate, and the separation distance simulates a wire protrusion amount. It is also possible to select and output the bead image and the type of welding sound. Furthermore, the control device may display a target point obtained by projecting the tip coordinates on the display.

  In addition, the control device is a scoring mode in which the evaluation is performed by comparing the recording mode in which the position information obtained by operating the operating means is stored in the storage device with the position information simulating an appropriate welding operation stored in the storage device. A self-study mode in which appropriate position information is input to the three-dimensional input / output device to provide a reaction force compared to position information simulating an appropriate welding operation stored in the storage device, and stored in the storage device Based on the simulation mode for reproducing the proper behavior of the operation means by inputting the positional information simulating the appropriate welding work performed to the three-dimensional input / output device, and the positional information stored in the storage device A playback mode for selecting and outputting a bead image and the type of welding sound may be selectable.

  The control device may change the color of the bead as time passes.

  And a work table having at least the operation means, the display, and the three-dimensional input / output device, and a support table for supporting the work table, wherein the work table can change an angle of the display. It may be arranged on the support base.

  According to the welding skill education support device according to the present invention described above, the position information of the operation means that simulates the welding torch is acquired and recorded by the three-dimensional input / output device, and the image and sound corresponding to the position information are output. By doing so, the welding environment can be simulated easily. In addition, it is possible to educate the welding work by utilizing visual and auditory senses even with one student's self-study by the image displayed on the display and the sound output from the speaker. In addition, by recording the position information, it is possible to reproduce the simulated welding work performed by the student at an arbitrary time later and easily reproduce images and sounds. The teacher is accompanied by the actual simulated work. Even without it, you can give guidance to each student individually after the fact.

  In addition to visual and auditory sensations, by comparing with reference data, attention is given by images and sounds, evaluation is performed by scoring, and reaction force is applied to the three-dimensional input / output device. Can be used to correct welding operations.

BRIEF DESCRIPTION OF THE DRAWINGS It is a whole block diagram which shows the welding skill education assistance apparatus which concerns on embodiment of this invention, (a) is a top view, (b) Front view, (c) has shown the front view after a deformation | transformation. It is a figure which shows the three-dimensional input / output device shown in FIG. 1, (a) is a whole block diagram, (b) has shown the front-end | tip part enlarged view of an operation means. It is a figure which shows the bead displayed on a display, (a) is a bead based on an appropriate value, (b) is a bead based on an undervalue, (c) is a bead based on an overvalue, (d) is a series of welding operations. An example of a bead simulating It is a flowchart of a recording mode. It is a flowchart of scoring mode. It is a flowchart of self-study mode. It is a flowchart of simulation mode.

  Hereinafter, embodiments of the present invention will be described with reference to FIGS. Here, FIG. 1 is an overall configuration diagram showing a welding skill education support device according to an embodiment of the present invention, (a) is a plan view, (b) a front view, (c) is a front view after deformation, Is shown. 2A and 2B are diagrams showing the three-dimensional input / output device shown in FIG. 1, in which FIG. 2A is an overall configuration diagram, and FIG. 2B is an enlarged view of the distal end portion of the operating means. FIG. 3 is a diagram showing beads displayed on the display, where (a) is a bead based on an appropriate value, (b) is a bead based on an undervalue, (c) is a bead based on an overvalue, and (d) is An example of a bead simulating a series of welding operations is shown.

  As shown in FIGS. 1 to 3, the welding skill education support device 1 according to the embodiment of the present invention welds the base material by melting it while feeding a wire with a welding torch approaching the surface of the base material. A welding skill education support apparatus for supporting education of welding work, an operation means 2 for simulating a welding torch, a display 3 for simulating a base material, a speaker 4 for outputting a welding sound simulating a welding work, and an operation A control device 5 for causing the display 3 to display a bead image corresponding to the behavior of the operating means 2 when the means 2 is moved on the display 3 and outputting a welding sound corresponding to the behavior of the operating means 2 from the speaker 4; The control device 5 includes a three-dimensional input / output device 6 that holds the operation means 2 and can input / output position information D of the tip T of the operation means 2 and a storage device 7 that stores the position information D. Is It is configured to select and output the type of bead images and welding sound based on the position information D output by the means 2 the three-dimensional input device 6 by operating the.

  As shown in FIGS. 1A to 1C, the welding skill education support apparatus 1 includes a work table 11 including at least an operation unit 2, a display 3, and a three-dimensional input / output device 6, and a work table 11. The work table 11 is arranged on the support table 12 so that the angle of the display 3 can be changed. As the display 3, for example, various types such as a liquid crystal display, a cathode ray tube, and an organic EL display can be used. Moreover, what is marketed can be used suitably for the speaker 4, It is not limited to the arrangement position of a figure, You may integrate with the display 3 and the inside of the support stand 12 may be sufficient as it. It may be arranged.

  As shown in FIG. 1A, the work table 11 is a substantially flat part arranged on the upper portion of the support base 12, and is fitted so that the screen of the display 3 is exposed on the surface. A speaker 4 and a handle 13 are disposed in the vicinity of the display 3. In the work table 11, a three-dimensional input / output device 6 is disposed on the upper portion of the display 3. With this arrangement, the operation means 2 can be moved in the left-right direction of the display 3.

  The work table 11 is connected to the support base 12 by a hinge (not shown), for example, and can be held in a horizontal state as shown in FIG. 1 (b), as shown in FIG. 1 (c). The display 3 can be erected so that the left-right direction is substantially vertical. Moreover, although not shown in figure, the work table 11 may be connected to the support stand 12 so that rotation is possible so that the up-down direction of the display 3 may become a substantially vertical direction. In the horizontal state shown in FIG. 1B, a downward welding operation can be simulated, and in the vertical state shown in FIG. 1C, a vertical or lateral welding operation can be simulated.

  As shown in FIG. 1B, the support base 12 is a substantially box-shaped component, and is configured such that the control device 5 and the storage device 7 can be arranged inside. Moreover, the wheel 14 is arrange | positioned at the lower surface of the support stand 12, and it is comprised so that a movement on a floor surface is possible. In addition, the control device 5 and the storage device 7 are arranged in another place away from the support base 12, and signals of the display 3 and the three-dimensional input / output device 6 can be transmitted and received using a wired or wireless communication device. You may comprise as follows.

  The operation means 2 is connected to the tip of the three-dimensional input / output device 6 as shown in FIG. 2A, and has a function as a so-called stylus or attachment. The operation means 2 has, for example, a shape that simulates a welding torch, and includes a handle portion 21 and a torch head 22. The torch head 22 is configured to be rotatable relative to the handle portion 21 and is configured to be able to move the handle portion 21 relative to the torch head 22 connected to the three-dimensional input / output device 6. ing.

  The three-dimensional input / output device 6 is, for example, a tactile sensation device or a haptic device, and is a tool that can artificially express by replacing tactile sensation information such as tactile sensation or haptic sense when a human touches an object with data. . For example, as shown in FIG. 2A, the three-dimensional input / output device 6 includes an X axis, a Y axis, a Z axis, a rotation angle θx around the X axis, a rotation angle θy around the Y axis, and a rotation around the Z axis. It has 6 degrees of freedom that can be expressed by the parameter of the rotation angle θz.

  For example, as shown in the figure, the three-dimensional input / output device 6 includes a base 61 constituting a pedestal, a sphere 62 rotatably connected on the base 61, and a sphere 62 connected to be rotatable in the vertical direction. The first arm 63, the second arm 64 connected to be rotatable relative to the first arm 63, and the tip arm 65 connected to be rotatable in the circumferential direction relative to the second arm 64. And having. The tip arm 65 is connected to the torch head 22 of the operating means 2 so as to be rotatable. In the three-dimensional input / output device 6, the joint 61 of the base 61 and the sphere 62, the joint J2 of the sphere 62 and the first arm 63, the joint J3 of the first arm 63 and the second arm 64, the second arm 64 and the tip arm 65. The joint J4, the tip arm 65 and the joint J5 of the torch head 22, and the joint J6 of the torch head 22 and the handle portion 21 ensure six degrees of freedom.

  The tip T of the torch head 22 constitutes the tip of the operating means 2, and the coordinates (X, Y, Z, θx, θy, θz) of the tip T constitute position information D. The coordinates of the tip T are the coordinates of the center point P1 of the joint J3 with respect to the origin O and the vector V1, the coordinates of the center point P2 of the joint J4 with respect to the center point P1, the vector V2, and the center point. The coordinates and vector V3 of the center point P3 of the joint J5 with respect to P2 and the coordinates and vector V4 of the distal end portion T with respect to the center point P3 can be obtained in order. Further, the angle (torch angle) of the torch head 22 can also be calculated by calculating the vector V4 of the tip T. The data of this vector V4 also constitutes position information D.

  The three-dimensional input / output device 6 can not only output the coordinates of the tip T and the data of the vector V4 (position information D) to the control device 5, but conversely, the coordinates or torch of the tip T from the control device 5. When the angle data is input, the tip end portion T can be forcibly moved to a position suitable for the position information D. Depending on the type of the three-dimensional input / output device 6, some data cannot be input for the torch angle. However, in the present embodiment, at least the coordinates of the tip T can be input from the outside.

  Since the welding torch melts while welding the wire and welds the base material, the wire protrusion is an important parameter in the welding operation. Therefore, as shown in FIG. 2B, in this embodiment, the separation distance g between the tip T of the torch head 22 and the display 3 is processed as simulating the wire protrusion amount. That is, the position information D includes the coordinates (tip coordinates) of the tip portion T of the operation means 2, and the control device 5 calculates the separation distance g between the display 3 and the operation means 2 from the tip coordinates, and the separation distance g is Predetermined processing (bead image and welding sound output) is performed assuming that the wire protrusion amount is simulated.

  For example, as shown in FIG. 2B, if the separation distance g satisfies the condition of 15 mm ≦ g <20 mm, the appropriate range is 10 mm ≦ g <15 mm, the underrange, 0 mm ≦ g < A range of 10 mm can be recognized as a contact range, a range of 20 mm ≦ g <25 mm as an excessive range, and a range of 25 mm ≦ g as an error range. Note that the numerical value of the separation distance g is appropriately set according to conditions such as the welding method (fillet welding, butt welding, etc.), the type of the base material and the wire material, and the like.

  When the separation distance g is within an appropriate range, the control device 5 displays a bead image B as shown in FIG. The bead width Br is set to a numerical value (for example, about 7 mm) simulating a case where appropriate welding is performed, and the molten pool C is displayed in an appropriate color (color or color tone), for example, white. A target point A obtained by projecting the tip T is displayed at a substantially central portion of the molten pool C. In other words, the control device 5 is configured to display the target point A obtained by projecting the tip coordinates on the display 3 on the display 3. By displaying this target point A on the display 3, even if the wire does not actually protrude from the operation means 2, it is possible to easily grasp which side the tip of the wire is located. A state close to welding can be simulated.

  When the separation distance g is in the underrange, the control device 5 displays a bead image B as shown in FIG. The bead width Bn may be displayed narrower than the appropriate bead width Br, and the bead width Bn may be displayed narrower as the numerical value of the separation distance g becomes smaller. Further, the molten pool C is displayed by a prominent color such as red in order to indicate that the separation distance g is not within the appropriate range.

  When the separation distance g is in the excessive range, the control device 5 causes the display 3 to display a bead image B as shown in FIG. The bead width Bw may be displayed wider than the appropriate bead width Br, and the bead width Bw may be displayed wider as the numerical value of the separation distance g increases. Further, the molten pool C is displayed by a prominent color such as red in order to indicate that the separation distance g is not within the appropriate range.

  For example, when the separation distance g changes during the operation of the operation means 2 from the appropriate range → the under range → the over range, the bead image B is appropriate in the proper range as shown in FIG. Continuously on the display 3 so that it has a bead width Br, a bead width Bn that is narrower than the appropriate bead width Br in the underrange, and a bead width Bw that is wider than the proper bead width Br in the overrange. Is displayed. Further, the control device 5 may change the color of the bead image B as time elapses. For example, it is set so that the bead changes from light gray to dark gray as the bead moves away from the molten pool C. By such processing, a state close to actual welding can be simulated.

  The control device 5 is, for example, a computer (personal computer) including a CPU (Central Processing Unit), a memory such as a RAM or a ROM, a hard disk, and the like. The storage device 7 may be an HDD (hard disk drive) built in the control device 5 or an externally attached HDD.

  The control device 5 performs a scoring mode in which the evaluation is performed by comparing the recording mode in which the position information D obtained by operating the operating means 2 is stored in the storage device 7 with the position information Db simulating an appropriate welding operation stored in the storage device 7. A self-study mode in which appropriate position information Db is input to the three-dimensional input / output device 6 to provide a reaction force compared to position information Db simulating an appropriate welding operation stored in the storage device 7, and the storage device 7 In the simulation mode for reproducing the proper behavior of the operation means 2 by inputting the position information Db simulating the proper welding operation stored in the three-dimensional input / output device 6 and the position information D stored in the storage device 7. And a playback mode for selecting and outputting the bead image B and the type of welding sound based on the program.

  4 is a flowchart of the recording mode, FIG. 5 is a flowchart of the scoring mode, FIG. 6 is a flowchart of the self-study mode, and FIG. 7 is a flowchart of the simulation mode. . Hereinafter, each flowchart will be described.

  The recording mode shown in FIG. 4 includes a mode selection step (Step 1) for selecting a recording mode, a recording start step (Step 2) for starting to store the positional information D of the distal end portion T of the operating means 2, and the positional information to be recorded. A data calculation step (Step 3) for calculating recording data (tip coordinates, torch angle, wire protrusion amount) constituting D, and a wire protrusion amount determination step (Step 4) for determining whether or not there is a wire protrusion amount; A drawing process (Step 5) for simulating the welding state based on the wire protrusion amount, a temporal drawing process (Step 6) for changing the color of the bead image B over time, and whether or not the set recording time has elapsed. A time determination step (Step 7) for determining whether or not an error display step (Step 7) for displaying an error when a predetermined condition is satisfied or stopping the depiction of the bead image B A) has calculation end process to end the calculation of the recording data and (Step9), recording step of storing the recording data in the storage device 7 and (Step10), mode end step to end the recording mode (Step11), the.

  The mode selection step (Step 1) is a step of selecting a recording mode from the program operation screen displayed on the screen of the display 3. The selection of the mode may be a touch sensor type that directly touches the screen with a finger or the like, or an input method using input means such as a mouse or a pointing device. In addition, when simulating a downward welding before selecting the mode, the work table 11 is left in a horizontal state, and when simulating a vertical or lateral welding, the work table 11 is changed to a vertical state. It may be.

  The recording start step (Step 2) is a step of signaling the start of recording data calculation. At the start of recording, the user may press the start button by himself / herself, or may automatically start recording after a predetermined time has elapsed since the mode selection. In the recording start process (Step 2), the student takes the operation means 2 of the three-dimensional input / output device 6 and brings the torch head 22 to the simulation start position of welding.

  In the data calculation step (Step 3), as the position information D of the operation means 2, the coordinates of the tip T (tip coordinates), the angle of the torch head 22 (torch angle), and the separation distance g (wire protrusion amount) are calculated. As described above, the tip coordinates and the torch angle can be obtained from the behavior of the three-dimensional input / output device 6, and the wire protrusion amount can be obtained from the separation distance g.

  In the wire protrusion amount determination step (Step 4), whether the wire protrusion amount (separation distance g) is within an appropriate range (Step 41), whether it is within an excessive range (Step 42), whether it is within an excessive range (Step 43), or contact. It has the process of determining whether it is in the range (Step44). When the wire protrusion amount is within the appropriate range, the process shifts to a normal depiction of the bead (Step 51), and when the wire protrusion amount is within the excessive range, the process shifts to an excessive depiction of the bead (Step 52). In this case, the process shifts to an under depiction of the bead (Step 53), and when it is within the contact range, the process proceeds to the contact depiction of the bead (Step 54). When the wire protrusion amount does not belong to any range, the process proceeds to an error display step (Step 8).

  The drawing step (Step 5) includes the above-described normal drawing of the bead (Step 51), over-description of the bead (Step 52), under-description of the bead (Step 53), and contact drawing of the bead (Step 54). In normal depiction (Step 51), for example, the bead width is displayed at an appropriate value (bead width Br), the weld pool C is displayed in white, and the welding sound is output as a normal sound. In the excessive depiction (Step 52), for example, the bead width is displayed as an excessive value (bead width Bw), the weld pool C is displayed in red, and the welding sound is abnormal sound (longer than normal sound or higher than normal sound). Sound etc.) is output. In the underdescription (Step 53), for example, the bead width is displayed as an undervalue (bead width Bn), the weld pool C is displayed in red, and the welding sound is abnormal (lower than normal sound or lower than normal sound). Sound etc.) is output. In the contact depiction (Step 54), for example, the bead width is displayed as a minimum value (minimum value of the bead width Bn), the weld pool is displayed in yellow, and an abnormal sound (contact sound) is output as the welding sound. In addition, about normal sound, abnormal sound, and contact sound, what recorded actual welding sound may be used, and the sound which simulated actual welding sound may be used.

  The temporal depiction step (Step 6) is a step of changing the color of the bead according to the passage of time, as in actual welding. For example, the bead image B is displayed so as to change from the color (white, red, or yellow) of the molten pool C to light gray and gradually change to dark gray over time. The change from light gray to dark gray may be a continuous change so as to be displayed in gradation, or may be limited to several steps.

  The time determination step (Step 7) is a step of determining whether or not a preset recording time has been reached. The recording time may be the same time (for example, about 2 to 3 minutes), or may be selected from preset recording times (for example, 1 minute, 2 minutes, 3 minutes, 5 minutes, etc.). Alternatively, it may be possible to input an arbitrary time by yourself.

  The error display step (Step 8) is a step showing a case where the wire protrusion amount determination step (Step 4) does not belong to any of the categories, that is, a case where preparation for simulating a welding operation is not completed or a device is out of order. It is. If the error display process (Step 8) is applicable, the process proceeds to, for example, the calculation end process (Step 9) in order to end the recording mode.

  The calculation end step (Step 9) is a step of ending the recording data calculation process after a predetermined recording time has elapsed. Since the output of the tip coordinates of the operation means 2 is completed by this process, the tip coordinates associated with the operation are not input to the control device 5 even if the operation means 2 is thereafter returned to the storage position. . If the predetermined recording time has not elapsed, the process returns to the data calculation step (Step 3), and Steps 3 to 6 are repeated.

  The recording step (Step 10) is a step of storing the recording data (tip coordinates, torch angle, wire protrusion amount) calculated in the data calculation step (Step 3) in the storage device 7. Data recording is performed, for example, every 0.05 seconds. Therefore, also in the data calculation step (Step 3), the recording data (tip coordinates, torch angle, wire protrusion amount) is calculated at least every 0.05 seconds.

  The mode ending step (Step 11) is a step of returning to the initial state after the recording data is stored. In the recording mode described above, the storage device 7 stores reference data (for example, an appropriate range of the wire protrusion amount (separation distance g)) that is the position information Db of the distal end portion T of the operation means 2 that simulates an appropriate welding operation. The control device 5 compares the position information D when the operation means 2 is operated with the reference data, and the difference exceeds an allowable value (for example, an excessive wire protrusion amount (separation distance g)). The width of the bead image B displayed on the display 3 or the color of the molten pool C and the length or pitch of the welding sound output from the speaker 4 to the range, underrange, contact range, etc. Yes.

  The registration of the reference data may be performed by directly inputting numerical values into the database of the control device 5, or by using the recording mode to acquire the reference data from the simulated welding work of an experienced worker or teacher. May be. In the above description, only the wire protrusion amount (separation distance g) is used as the reference data. However, the reference data is also input for the torch angle, and the difference is compared with the simulated position information D of the operating means 2. When the value exceeds the allowable value, a warning sound may be generated or the color of the bead image B may be changed (for example, blue, green, etc.).

  According to the welding skill education support device 1 according to the present embodiment described above, the position information D of the operating means 2 that simulates the welding torch is acquired and recorded by the three-dimensional input / output device 6, and in accordance with the position information D. By outputting images and sounds, the welding environment can be easily simulated. Moreover, even if it is a student's self-study by the image displayed on the display 3, and the audio | voice output from the speaker 4, education of welding work can be performed using vision and hearing.

  In addition, by recording the position information D, it is possible to reproduce the simulated welding work performed by the student at an arbitrary time later and easily reproduce the images and sounds. The teacher is accompanied during the actual simulated work. Even if not, you can give guidance to each student individually after the fact. Furthermore, by comparing with the reference data, the student can be alerted with images and sounds, and his / her welding work can be confirmed by himself / herself.

  In addition, according to the welding skill education support device 1 according to the present embodiment, not only beginners but also mid-level and experienced workers can easily grasp their own wrinkles by using this device. Yes, you can correct the wrinkles.

  The scoring mode shown in FIG. 5 includes a mode selection step (Step 1) for selecting a scoring mode, a condition setting step (Step 12) for setting a welding condition, and storage of position information D of the distal end portion T of the operating means 2. A recording start process (Step 2) to start, a data calculation process (Step 3) to calculate recording data (tip coordinates, torch angle, wire protrusion amount, welding speed) constituting the positional information D to be recorded, and whether the welding trajectory is appropriate Orbit determination step (Step 13) for determining whether or not, an angle determination step (Step 14) for determining whether or not the torch angle is appropriate, and a wire protrusion amount determination step (Step 4) for determining how much the wire protrusion amount exists. A depiction step (Step 5) for simulating the welding state based on the wire protrusion amount, and a chronological depiction step for changing the color of the bead image B as time elapses (Step 5). step 6), a speed determination step (Step 15) for determining whether or not the welding speed is appropriate, a time determination step (Step 7) for determining whether or not the set recording time has elapsed, and a predetermined condition is satisfied. An error display step (Step 8) for displaying an error or stopping the rendering of the bead image B, a calculation end step (Step 9) for ending the calculation of the recording data, and a recording step (Step 10) for storing the recording data in the storage device 7 And a mode end step (Step 11) for ending the recording mode. Here, since the steps 1 to 11 are substantially the same as the above-described recording mode, detailed description thereof is omitted.

  The condition setting step (Step 12) is a step in which welding conditions such as a welding posture, a welding method, and a traveling direction are set and stored in the storage device 7. For example, the welding posture is set to any one of downward, upright, sideways, and the like. For example, the welding method is set to any one of fillet welding, butt welding, and the like, and it may be possible to select a straight method or a weaving method. The direction of travel is forward (when the welding torch is tilted to the right, when welding is to the left), backward (when the welding torch is tilted to the right, when welding is to the right), upward (welding It is set to any one of a case where welding is performed in the upward direction when the torch is inclined downward, and a case of downward movement (when welding is performed in the downward direction when the welding torch is inclined downward).

  The track determination step (Step 13) is a step of determining whether or not the welding track is straight from the coordinates (tip coordinates) of the tip T of the operation means 2. For example, calculate how many percent of a certain tip coordinate is deviated from the first tip coordinate or the previous tip coordinate with respect to the direction of travel. Count as a deduction target as not being done. At this time, the distribution of deduction points may be changed according to the amount of deviation (%), the length of time of deviation, and the like.

  The angle determination step (Step 14) is a step of determining whether or not the torch angle is appropriate from the vector V4 at the distal end portion T of the operation means 2. As the torch angle, for example, in addition to the forward angle, the reverse angle, the upward angle, the downward angle, etc., an inclination angle that is inclined toward the near side or the far side can be used as a determination material. For example, when the torch angle is deviated by 10% or more with respect to the appropriate torch angle, it is counted that the welding work is not properly performed and the points are deducted. At this time, the distribution of deduction points may be changed according to the amount of deviation (%), the length of time of deviation, and the like.

  The speed determination step (Step 15) is a step of determining whether or not the welding speed is appropriate from the coordinates (tip coordinates) of the tip T of the operation means 2. Since the tip coordinates of the operating means 2 are acquired, for example, at intervals of 0.05 seconds, the welding speed can be easily calculated by calculating the amount of movement of the tip coordinates. For example, when the welding speed is deviated by 10% or more from an appropriate value, it is counted as a point to be deducted assuming that the welding operation is not properly performed. At this time, the distribution of deduction points may be changed according to the amount of deviation (%), the length of time of deviation, and the like.

  In the scoring mode described above, the control device 5 is configured to compare the position information D when the operation means 2 is operated with the reference data, measure the number of times that the difference exceeds the allowable value, and score the result. For registration of the reference data, numerical values may be input to the database of the control device 5, or the reference data is simulated by a veteran worker or teacher in a predetermined recording mode without reference data being registered. Data may be acquired. Further, in the mode end step (Step 11), the deduction points described above may be added to display the final evaluation score on the display 3.

  Therefore, according to the welding skill education support device 1 having the above-described scoring mode, it is possible to easily score the student's simulated welding work by comparing with the reference data, and objectively evaluate by scoring. And can encourage students to set goals and motivate them.

  The self-study mode shown in FIG. 6 is different in the above-described trajectory determination step (Step 13), angle determination step (Step 14), and speed determination step (Step 15). The process (Step 13 ′), the angle determination process (Step 14 ′), and the speed determination process (Step 15 ′) are displayed.

  The track determination step (Step 13 ′) is a step of determining whether or not the welding track is straight from the coordinates (tip coordinates) of the tip T of the operation means 2. For example, calculate how many percent of a certain tip coordinate is deviated from the first tip coordinate or the previous tip coordinate with respect to the direction of travel. The trajectory is corrected as if it was not done. Specifically, the control device 5 calculates the tip coordinates that match the appropriate welding trajectory, and inputs the numerical values to the three-dimensional input / output device 6 to forcibly position the tip portion T of the operating means 2. Move. Therefore, a reaction force is applied to the student who is performing the simulated welding work through the three-dimensional input / output device 6, and the welding work is directly corrected.

  The angle determination step (Step 14 ′) is a step of determining whether or not the torch angle is appropriate from the vector V4 at the distal end portion T of the operation means 2. For example, when the torch angle is deviated by 10% or more with respect to the appropriate torch angle, the angle is corrected assuming that the welding operation is not properly performed. Specifically, the control device 5 calculates a torch angle that matches an appropriate torch angle, and inputs the numerical value to the three-dimensional input / output device 6 to forcibly set the angle of the distal end portion T of the operation means 2. Change it. Therefore, a reaction force is applied to the student who is performing the simulated welding work through the three-dimensional input / output device 6, and the welding work is directly corrected.

  In addition, when a numerical value cannot be input from the control device 5 with respect to the torch angle, the angle correction may be changed to a caution recommendation. With regard to the caution recommendation for the torch angle, for example, the display 3 may indicate that the torch angle is not an appropriate value with a color or a character, or a sound for announcing from the speaker 4 that the torch angle is not an appropriate value. You may make it output, and you may make it give a big reaction force and a vibration to the three-dimensional input / output device 6 by inputting a numerical value into another joint.

  The speed determination step (Step 15 ′) is a step of determining whether or not the welding speed is appropriate from the coordinates (tip coordinates) of the tip portion T of the operation means 2. For example, when the welding speed is deviated by 10% or more from an appropriate value, the speed is corrected assuming that the welding operation is not properly performed. Specifically, the control device 5 calculates the tip coordinates that match the appropriate welding speed, and inputs the numerical values to the three-dimensional input / output device 6 to forcibly position the tip portion T of the operating means 2. Move. Therefore, a reaction force is applied to the student who is performing the simulated welding work through the three-dimensional input / output device 6, and the welding work is directly corrected.

  In the self-study mode described above, the control device 5 compares the position information D when the operation means 2 is operated with the reference data, and if the difference exceeds an allowable value, the control device 5 sends the operation means 2 to the three-dimensional input / output device 6. A signal is output so that the tip T matches the reference data.

  Therefore, according to the welding skill education support apparatus 1 having the self-study mode described above, the deviation from the appropriate value can be easily grasped by comparing with the reference data, and the three-dimensional input / output apparatus 6 is counteracted. By applying force, the sense of force can be utilized to correct the welding operation. In other words, if appropriate reference data is prepared, it is possible to study by one student without a teacher and receive welding training at any time, which is excellent in convenience and efficiency.

  The simulation mode shown in FIG. 7 includes a mode selection step (Step 1) for selecting a simulation mode, a condition setting step (Step 12) for setting welding conditions, and a simulation start step for starting simulation (demonstration) of welding work ( Step 16), a data reproduction step (Step 17) for reproducing recorded data (tip coordinates, torch angle, wire protrusion amount, welding speed), an angle determination step (Step 14 ') for determining whether or not the torch angle is appropriate, time A temporal depiction step (Step 6) for changing the color of the bead image B according to the progress, a time determination step (Step 7 ') for determining whether or not the set simulation time has passed, and a mode end step for ending the simulation mode (Step 11).

  The simulation start step (Step 16) is a step of signaling the start of reproduction of recorded data. When starting the simulated reproduction, the user may press the start button by himself or may automatically start the simulated reproduction after a predetermined time has elapsed since the mode selection. In the simulation start step (Step 16), the operation means 2 of the three-dimensional input / output device 6 is automatically moved to a predetermined position by data input from the control device 5. Note that the student may move the operation means to the simulation start position.

  The data reproduction step (Step 17) is a step of automatically reproducing the operation means 2 based on the reference data recorded in the storage device 7 in advance. The registration of the reference data may be performed by directly inputting numerical values into the database of the control device 5, or by using the recording mode to acquire the reference data from the simulated welding work of an experienced worker or teacher. May be.

  If the three-dimensional input / output device 6 can reproduce the torch angle, the angle determination step (Step 14 ′) may be omitted. When the three-dimensional input / output device 6 cannot reproduce the torch angle, a data calculation process for calculating only the torch angle is inserted, and, in the same way as the self-study mode, the angle correction or Attention may be advised.

  According to the simulation mode described above, if reference data simulating an appropriate welding operation is prepared in advance, the welding trajectory, torch angle, welding speed, and the like can be easily reproduced by the three-dimensional input / output device 6. The student can experience proper welding work simply by holding the operation means 2.

  Further, since there are individual differences depending on the three-dimensional input / output device 6, it is necessary to adjust the origin before implementing each mode described above or when the welding skill education support device 1 is introduced. The origin adjustment is performed, for example, by displaying a predetermined origin adjustment point on the display 3 and aligning or bringing the origin adjustment point into contact with the front end T of the operating means 2. The origin adjustment may be performed using a plurality of origin adjustment points.

  The present invention is not limited to the above-described embodiment, and the three-dimensional input / output device 6 is not limited to the illustrated configuration, is not limited to plane welding, and can also simulate pipe welding, and does not depart from the spirit of the present invention. Of course, various changes can be made within the range.

DESCRIPTION OF SYMBOLS 1 Welding skill education support apparatus 2 Operation means 3 Display 4 Speaker 5 Control apparatus 6 Three-dimensional input / output apparatus 7 Memory | storage device

Claims (9)

A welding skill education support device that supports education of a welding operation in which a welding torch is brought close to the surface of a base material and melted while feeding the wire to weld the base material,
Operating means for simulating the welding torch;
A display that simulates the base material;
A speaker that outputs a welding sound simulating the welding operation;
A control device for causing the display to display a bead image corresponding to the behavior of the operation means when the operation means is moved on the display, and outputting a welding sound corresponding to the behavior of the operation means from the speaker; ,
A three-dimensional input / output device capable of holding the operating means and inputting / outputting position information of the tip of the operating means;
A storage device for storing the position information,
The control device selects and outputs the bead image and the welding sound type based on the position information output from the three-dimensional input / output device by operating the operation means.
Welding skill education support device characterized by that.   The storage device stores reference data that is position information of a tip portion of the operation unit that simulates an appropriate welding operation, and the control device stores the position information and the reference when the operation unit is operated. When the difference exceeds an allowable value by comparing with data, the width of the bead or the color of the molten pool displayed on the display and the length or pitch of the welding sound output from the speaker are changed. The welding skill education support apparatus according to claim 1.   The control device compares the position information when the operation means is operated with the reference data, and if the difference exceeds an allowable value, the control device places the tip of the operation means in the three-dimensional input / output device. The welding skill education support apparatus according to claim 2, wherein a signal is output so as to match the data.   The said control apparatus compares the said positional information when the said operation means is operated, and the said reference data, measures the frequency | count that the difference exceeded allowable value, and marks it, The score is characterized by the above-mentioned. Welding skill education support device.   The position information includes a tip coordinate of the operation means, and the control means calculates a separation distance between the display and the operation means from the tip coordinates, and the separation distance simulates a wire protrusion amount. The welding skill education support apparatus according to claim 1, wherein the bead image and the type of the welding sound are selected and output.   6. The welding skill education support device according to claim 5, wherein the control device displays a target point obtained by projecting the tip coordinates on the display on the display.   The control device is a recording mode for storing the position information for operating the operation means in the storage device, and a scoring mode for evaluating by comparing with the position information simulating an appropriate welding operation stored in the storage device, A self-study mode in which appropriate position information is input to the three-dimensional input / output device to give a reaction force compared with position information simulating an appropriate welding operation stored in the storage device, and stored in the storage device Based on the position information stored in the storage device, a simulation mode for reproducing the appropriate behavior of the operation means by inputting position information simulating an appropriate welding operation to the three-dimensional input / output device. The welding skill education support device according to claim 1, further comprising: a playback mode in which an image and a type of the welding sound are selected and output.   The welding skill education support device according to claim 1, wherein the control device changes a color of the bead as time passes.   A work table including at least the operation means, the display, and the three-dimensional input / output device; and a support base that supports the work table, wherein the work table is capable of changing an angle of the display. The welding skill education support device according to claim 1, wherein the welding skill education support device is arranged on a support base.