JP2023182146A - robot control device - Google Patents

Abstract

To provide a robot control device that can grasp welding construction-related factors affected by a shape of scales, while adjusting the finish of a bead.SOLUTION: A robot control device 100 is a robot control device that controls a welding robot 20, and includes: a parameter reception unit 110 that receives parameters regarding appearance of scales formed in welding using a welding method that generates a scale shape; and an output unit 130 that outputs welding construction-related factors that are influenced by parameters related to the appearance of scales that are estimated according to the received parameters.SELECTED DRAWING: Figure 4

Description

The present invention relates to a robot control device.

In recent years, many robots have become widespread in industry. The robots are used, for example, to assemble, weld, and transport electronic and mechanical parts, and to improve the efficiency and automation of factory production lines.

Welding robots are required to shorten welding time and takt time to improve the efficiency of production lines, while ensuring welding quality that takes into account bead finish in arc welding.

Generally, one way to finish this bead is to periodically control the amount of wire welded to give it a scale-like shape. When the shape of a welded part is exposed, such as in a bicycle frame, the shape of the scales is sometimes valued as an aesthetic value, and there is a desire to specify the shape of the scales to a desired shape.

In Patent Document 1, in order to meet this demand, it is possible to set welding conditions based on the scale shape.

Japanese Patent Application Publication No. 2009-119474

However, if we focus on the shape of the scales and increase the ripple, welding time will be extended, and if we increase the size of the scales, the amount of heat input to the base metal will increase, which will have a greater effect on things other than the shape of the scales. Moreover, it was inconvenient because the effects of this effect could not be known until the actual welding was performed.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a robot control device that can adjust the finish of a bead and grasp welding construction-related factors that are affected by the shape of scales.

A robot control device according to one aspect of the present invention is a robot control device that controls a welding robot, and includes a parameter reception unit that receives parameters related to the appearance of scales formed in welding using a welding method that generates a scale shape. , an output unit that outputs welding construction-related factors that are influenced by the parameters related to the appearance of the scales and that are estimated according to the received parameters.

According to this aspect, the parameter reception unit receives parameters related to the appearance of the scales, and the output unit outputs welding construction-related factors that are influenced by the parameters related to the appearance of the scales, which are estimated according to the accepted parameters. Therefore, the user can adjust the bead finish and understand the welding construction-related factors that are affected by parameters related to scale appearance, such as welding time and the effect on the weld base material. can.

In the above aspect, the welding construction-related factors may be welding time and the amount of heat input to the welding base material.

According to this aspect, the user can specifically grasp the welding time and the amount of heat input to the welding base material, which are factors related to welding work that are influenced by the parameters related to the appearance of the scales.

In the above aspect, the output unit may display parameters related to the appearance of scales and factors related to welding construction on the same screen.

According to this aspect, parameters related to the appearance of scales and factors related to welding are displayed on the same screen, making it easier for the user to visually understand them.

In the above aspect, the output unit may display scale images formed based on the accepted parameters on the same screen.

According to this aspect, the output unit displays an image of the scales formed based on the accepted parameters, making it easier for the user to visualize the finish of the bead.

In the above aspect, the output unit may display the welding construction conditions calculated based on the accepted parameters on the same screen.

According to this aspect, the output unit displays the welding construction conditions calculated based on the accepted parameters on the same screen, so it is easier for the user to understand the welding construction conditions related to the parameters related to the appearance of the scales. It can be easily understood.

In the above aspect, the welding construction-related factors may be changed in accordance with changes in parameters received by the parameter reception unit.

According to this aspect, since the welding construction-related factors are changed in accordance with the parameter changes, it is easier for the user to know which parameter should be changed to change which welding construction-related factor. It can be easily understood.

According to the present invention, it is possible to provide a robot control device that can grasp welding construction-related factors that are affected by the shape of scales while adjusting the finish of the bead.

1 is a system schematic diagram showing a welding robot system 10 according to an embodiment of the present invention. 1 is a functional block diagram showing each function of a robot control device 100 according to an embodiment of the present invention. FIG. This is a specific example showing welding construction conditions and effects corresponding to parameters related to the appearance of scales. It is a figure which shows an example of the parameter setting screen which sets the parameter regarding the appearance of a scale. It is a flowchart showing a parameter setting method M100 executed by the robot control device 100 according to an embodiment of the present invention. FIG. 7 is a diagram showing another specific example of a parameter setting screen for setting parameters regarding the appearance of scales.

Embodiments of the present invention will be specifically described below with reference to the drawings. In addition, the embodiment described below is merely a specific example for implementing the present invention, and is not intended to be interpreted in a limited manner. Furthermore, in order to facilitate understanding of the explanation, the same components in each drawing may be given the same reference numerals as much as possible, and redundant explanation may be omitted.

<One embodiment>
[Overview of welding robot system]
FIG. 1 is a system schematic diagram showing a welding robot system 10 according to an embodiment of the present invention. In FIG. 1, a welding robot system 10 includes a welding robot 20, a teach pendant 30, a robot control device 100, and a power source 40.

Welding robot 20 is connected to robot control device 100 via a cable, and performs arc welding based on operation commands from robot control device 100. The welding robot 20 is equipped with a welding torch 21 at the tip of the arm, and feeds a welding wire from the tip of the welding torch 21 to create an arc between it and the welding base material (workpiece of metal material) that is the welding target. Arc welding is performed by generating

The welding torch 21 is connected to a power source 40 via a cable, and receives welding voltage and welding current to the welding wire. In arc welding, when a welding wire is momentarily brought into contact with a metal material and energized, an arc discharge occurs between the welding wire and the metal material, and the heat of the generated arc melts the welding wire and the metal material. Welding is performed by this.

The teach pendant 30 receives input from a worker who performs welding work regarding welding-related teaching information for the welding robot 20. The operator inputs optimal welding-related teaching information using the teach pendant 30 while checking the state of the arc.

Here, the welding-related teaching information is information regarding welding performed by the welding robot 20, and includes teaching information for teaching the operation of the welding robot 20 and welding construction conditions.

The teaching information of the welding robot 20 includes information regarding the movement of the arm of the welding robot 20, information regarding the position and posture of the welding robot 20, information regarding the protrusion length of the welding wire fed from the tip of the welding torch 21, etc. It will be done.

In addition, the welding conditions include the welding voltage applied to the welding wire, the value of the welding current flowing through the welding wire, the welding speed representing the moving speed of the welding torch 21 in the welding line direction during welding, and the stopping time. included.

The robot control device 100 is a device that controls the welding robot 20. The robot control device 100 is connected to the teach pendant 30 and can acquire welding-related teaching information input to the teach pendant 30. Robot control device 100 controls welding robot 20 and power source 40 based on the welding-related teaching information.

The power source 40 is connected to the welding robot 20 via a cable, and supplies welding voltage and welding current to the welding torch 21 in the welding robot 20 based on commands from the robot control device 100.

Note that in FIG. 1, the teach pendant 30 is connected to the robot control device 100 via a cable, but the teach pendant 30 may be connected wirelessly. That is, the teach pendant 30 and the robot control device 100 may include a communication unit that performs wireless communication. By wirelessly connecting the robot control device 100 and the teach pendant 30, the operator can move freely without being bothered by the presence of a cable or having a range of movement restricted by the length of the cable. You can input welding-related teaching information while doing so.

Furthermore, the welding robot system 10 according to the present embodiment uses a stitch pulse welding method, and the robot control device 100 stops the welding torch 21 at a predetermined position to generate an arc according to the welding conditions described above. By this, the welding base metal is melted, and then the arc is stopped and the welding torch 21 is moved to the next point. By repeating these processes from the welding start position to the welding end position, the welding position in the welding base material is welded.

At this time, welding conditions include welding current value, welding voltage value, welding speed, stopping time, arc generation time, arc stopping time, pitch interval, and cooling time. It affects the appearance of scales, which are welding marks formed by arc generation, and the amount of heat input to the welding base metal. In other words, the finish of the bead and the influence on the weld base metal depend on the settings of these parameters included in the welding conditions.

[Configuration of robot control device]
FIG. 2 is a functional block diagram showing each function of the robot control device 100 according to an embodiment of the present invention. In FIG. 2, the robot control device 100 includes a parameter reception section 110, an estimation section 120, an output section 130, and a control section 140.

Note that, as shown in FIG. 1, the robot control device 100 is connected to a welding robot 20, a teach pendant 30, and a power source 40, and has many functions for performing various controls and processing. Is going. Here, the robot control device 100 mainly relates to the function of accepting parameter settings from the user and displaying various data, but it also has other configurations and functions.

The parameter receiving unit 110 receives parameters related to the appearance of scales formed during welding. Here, scales are welding marks formed by one arc occurrence, and the appearance of the scales, including the sharpness of ripples, is formed depending on this one arc occurrence and the subsequent cooling time. Ru. As described above, by repeating arc generation and cooling time, scale-like beads are formed in welding.

For example, the parameters related to the appearance of scales include at least one of scale size, spacing, height, and ripple clarity, and the user sets these parameters.

The estimating unit 120 estimates factors related to welding work that have an influence on the parameters received by the parameter receiving unit 110. Here, the welding time and the amount of heat input to the welding base material will be exemplified as factors related to the welding process. For example, in order to form the appearance of scales desired by the user, there are necessary welding conditions such as welding current and cooling time, which also affect the amount of heat input to the welding base material and the welding time. give.

FIG. 3 is a specific example showing welding construction conditions and effects corresponding to parameters regarding the appearance of scales. As shown in Figure 3, there are necessary or appropriate welding conditions depending on the scale size, spacing, height, and ripple clarity, and accordingly, the amount of heat input to the welding base material and the welding time It can be seen that there is an impact on (takt time).

For example, if you try to increase the size of the scales or increase the height of the scales, it is necessary to set a large welding current/welding voltage, and accordingly, the amount of heat input to the welding base material increases. If an attempt is made to widen the spacing between the scales, the pitch spacing will be set wide, and as a result, the number of arc occurrences will decrease, so the welding time will become shorter, and as a result, the takt time will become shorter. Furthermore, in order to clearly form ripples, it is necessary to set a long cooling time, and as a result, although the amount of heat input to the welding base material is reduced, the welding time and takt time become longer.

Note that the welding construction conditions and effects that correspond to parameters related to the appearance of scales are not limited to the factors shown here, but include, for example, the moving speed and stopping time of the robot, and the type of metal material of the welding base material. , surrounding environment, and other welding construction conditions.

The welding construction conditions that can be set based on the parameters related to the appearance of the scales and the effects thereof may be stored in advance in a storage unit such as a memory (not shown) in a database format or as a mathematical formula. The estimating unit 120 may estimate the welding time and the amount of heat input to the welding base material according to the parameters accepted by the parameter accepting unit 110 by referring to the database format or formula stored in the storage unit. .

Specifically, the estimating unit 120 estimates the welding time by taking into account the time required for arc generation and stop to the moving speed of the robot during welding and non-welding, or calculates the welding time actually measured in advance. Based on this, the welding time is estimated after taking into account other conditions.

In addition, a mathematical formula for estimating the amount of heat input to the welding base material based on a model of the amount of heat input according to the thermal conductivity of the welding base material and the thermal energy depending on the welding current and time, etc., is stored in advance in the memory, and the formula can be estimated. The unit 120 may estimate the amount of heat input to the welding base material from the parameters received by the parameter receiving unit 110 using the formula.

Note that the amount of heat input to the welding base material corresponding to the welding time and welding current is stored in advance as a database in the storage unit, and the estimating unit 120 calculates the welding time and welding current from the parameters accepted by the parameter receiving unit 110. The amount of heat input to the welding base material can be estimated using the database.

Further, the estimating section 120 may estimate the welding time and the amount of heat input to the welding base material according to the parameters accepted by the parameter accepting section 110 based on a model obtained by machine learning or the like.

The output unit 130 outputs the welding time and the amount of heat input to the welding base material estimated according to the parameters accepted by the parameter accepting unit 110. For example, the output unit 130 outputs the welding time and the amount of heat input to the welding base material estimated by the estimation unit 120, so that the user who has set parameters regarding the appearance of scales can perform the welding time estimated according to the parameters. It is possible to grasp the time and welding base material.

Note that the output unit 130 may include a display unit that is integrally included in the robot control device 100. For example, the output unit 130 may be directly or indirectly connected to the robot control device 100 using a wired or wireless connection. A configuration may also be adopted in which the display device is connected and includes a separate display device such as a liquid crystal display. Details of the screen displayed by the output unit 130 will be described later.

The control unit 140 controls the processing executed by each unit of the robot control device 100, and controls the welding robot 20 and the power source 40 based on welding-related teaching information stored in a storage unit such as a memory.

[Parameter setting screen]
FIG. 4 is a diagram showing an example of a parameter setting screen for setting parameters regarding the appearance of scales. As shown in Figure 4, parameters related to scale appearance, such as scale size, spacing, height, and ripple clarity, are displayed using slide bars, and each can be adjusted by user operation. . Further, as estimation results based on these parameters, the welding time and the amount of heat input to the welding base metal are also displayed on the same screen using slide bars.

For example, by operating the slide bar, the user can simply increase or decrease the size of the scales, and follow this change to lengthen or shorten the welding time, or Understand when the amount of heat input to the welding base metal increases or decreases. Rather than specifically indicating the size of the scales numerically and the welding time and heat input to the welding base metal, the user can determine the welding time and heat input to the welding base metal by using parameters related to the appearance of the scales. You can intuitively understand how it affects the amount of heat.

Similarly, if you adjust the spacing and height of the scales and the clarity of the ripples by operating the slide bar, the welding time and welding mass displayed using the slide bar will be adjusted accordingly. The amount of heat input to the material also changes.

In this way, by adjusting the parameters related to scale appearance using the slide bar, the user can understand the finish of the bead, welding time, and the effect on the welding base material, and adjust the parameters with these balances in mind. Can be set.

[Parameter setting method]
Next, a parameter setting method for accepting parameters regarding the appearance of scales, displaying estimation results based on the parameters, and setting the parameters will be specifically explained in detail.

FIG. 5 is a flowchart showing a parameter setting method M100 executed by the robot control device 100 according to an embodiment of the present invention. As shown in FIG. 5, the parameter setting method M100 includes steps S110 to S140, and each step is executed by a processor included in the robot control device 100.

In step S110, parameters regarding the appearance of scales are accepted by the parameter accepting unit 110 (parameter accepting step). As a specific example, as shown in FIG. 4, the parameter reception unit 110 receives information regarding scale size, spacing, height, and ripple clarity by the user operating a slide bar. If at least one of the parameters is accepted, the process advances to step S120 (Yes in step S110). On the other hand, if parameters are not accepted, parameter acceptance continues (No in step S110).

In step S120, the estimation unit 120 estimates the welding time and the amount of heat input to the welding base material according to the parameters accepted in step S110 (estimation step). As a specific example, the estimating unit 120 selects information stored in a memory or the like in advance, for example, as shown in FIG. The welding time and the amount of heat input to the welding base metal are estimated by taking into account the relationship shown in the figure.

In step S130, the output unit 130 displays the welding time and the amount of heat input to the welding base material estimated in step S120. As a specific example, the output unit 130 displays the welding time and the amount of heat input to the welding base material using a slide bar, as shown in FIG.

In step S140, the robot control device 100 determines whether setting of parameters regarding the appearance of scales is completed (completion determination step). As a specific example, the robot control device 100 arranges, for example, a setting complete button on the parameter setting screen shown in FIG. 4, and when the user presses the setting complete button, the parameter setting is completed. It may be determined that (Yes in step S140). Furthermore, since the parameters related to the appearance of the scales have been set, necessary or appropriate welding conditions may also be set according to the parameters.

On the other hand, if the user does not press the setting completion button and the user operates the slide bar for parameters related to scale appearance again, the process returns to step S110 and continues accepting parameters (step S140). No).

As described above, according to the robot control device 100 and the welding parameter setting method M100 according to the embodiment of the present invention, the parameter receiving unit 110 receives parameters related to the appearance of scales, and the output unit 130 Since the estimated welding time and heat input to the weld base metal are displayed according to the parameters determined, the user can adjust the bead finish and also check the welding construction-related factors that are affected by the parameters related to the appearance of the scales. (Welding time and influence on welding base material) can be understood. Additionally, as shown in Figure 4, it is possible to understand the welding time and the amount of heat input to the welding base metal while adjusting parameters related to the appearance of scales, so the time spent adjusting the welding conditions can be reduced. The process can be shortened, and even unskilled workers can intuitively adjust the welding conditions.

Note that in this embodiment, an example of the parameter setting screen is shown in FIG. A screen suitable for the user may be used.

FIG. 6 is a diagram showing another specific example of a parameter setting screen for setting parameters regarding the appearance of scales. As shown in FIG. 6, the image of the scales and each item in the welding construction conditions are displayed on the same screen.

The image of the scales is formed by an image generation unit (not shown) of the robot control device 100 based on parameters related to the appearance of the scales, and for example, when a slide bar of the parameter is operated by the user. generated accordingly. This makes it easier for the user to imagine the finish of the bead.

Note that here, the size of the scales, the height of the scales, and the spacing between the scales are displayed as images of scales, but the scales are not limited to this. For example, one or two of these may be displayed. It may be displayed using a 3D image or the like, or may be displayed using any other format as long as it is easy for the user to understand.

Each item in the welding construction conditions is a necessary or appropriate set value calculated according to parameters related to the appearance of scales. For example, if the size of the scales is increased or the height of the scales is increased, necessary or appropriate values of welding current/welding voltage will be calculated and displayed accordingly.

In addition, if any of the parameters related to the scale appearance (scale size, spacing, height, and ripple clarity) are changed by the user, the welding construction conditions will be changed (updated) accordingly. The items and estimation results may be displayed in an emphasized manner, for example, by highlighting them. Thereby, the user can easily understand which parameter among the parameters related to the appearance of the scales affects which item of the welding execution conditions and the estimated result.

Note that each item in the welding construction conditions may be directly set (changed) by the user. In this case, parameters related to the appearance of scales are calculated according to the settings (changes), and the slide bar of the parameter is It would be good if there was a display or an image of the scales.

In addition, in FIGS. 4 and 6, the welding time and the amount of heat input to the welded parts are displayed using a slide bar, but the display is not limited to this, and a percentage display or other image display may be used. Other display methods may be used as long as relative values (differences depending on parameter changes) can be recognized. Specifically, arrows are displayed to indicate whether the amount of heat input to the welding component is increasing or decreasing from the estimated value of the previous set value, and how much larger the amount of heat input to the welding component is compared to the predetermined value. It is expressed as a percentage, such as how small it is.

Furthermore, although the welding time and the amount of heat input to the welding base metal have been explained here as examples of welding construction-related factors that are influenced by parameters related to the appearance of scales, the present invention is not limited to these. For example, other factors such as the amount of penetration into the weld base metal may be used.

In addition, in FIGS. 4 and 6, a slide bar is used to set (adjust) parameters related to the appearance of the scales, but the invention is not limited to this. For example, flick input using a touch panel, direct input of numerical values, etc. Other user interfaces may be used, such as , and button formats.

In addition, the parameters set on the parameter setting screen shown in FIGS. 4 and 6 and the setting values of each item in the welding construction conditions can be saved as a settings file, and by loading the settings file separately, It may also be possible to apply it as welding-related teaching information.

Although this embodiment has been described as a stitch pulse welding method, it is not limited to this, and any welding method that uses a welding method that generates a scale shape may be used, for example, by periodically switching the arc. The present invention can also be applied to other intermittent welding methods.

The embodiments described above are intended to facilitate understanding of the present invention, and are not intended to be interpreted as limiting the present invention. Each element included in the embodiment, as well as its arrangement, material, conditions, shape, size, etc., are not limited to those illustrated, and can be changed as appropriate. Further, it is possible to partially replace or combine the structures shown in different embodiments.

DESCRIPTION OF SYMBOLS 10... Welding robot system, 20... Welding robot, 21... Welding torch, 30... Teach pendant, 40... Power source, 100... Robot control device, 110... Parameter reception part, 120... Estimation part, 130... Output part, 140... Control Part, M100...Parameter setting method, S110 to S140...Each step of parameter setting method M100

Claims (6)

A robot control device that controls a welding robot,
a parameter reception unit that receives parameters related to the appearance of scales formed in welding using a welding method that generates scale shapes;
an output unit that outputs welding construction-related factors that are influenced by parameters related to the appearance of the scales and are estimated according to the accepted parameters;
A robot control device comprising: The construction-related factors of the welding are the welding time and the amount of heat input to the welding base material,
The robot control device according to claim 1. The output unit displays parameters related to the appearance of the scales and factors related to the welding construction on the same screen.
The robot control device according to claim 1. The output unit displays an image of scales formed based on the accepted parameters on the same screen.
The robot control device according to claim 3. The output unit displays the welding construction conditions calculated based on the accepted parameters on the same screen.
The robot control device according to claim 3. changing the welding construction-related factors in accordance with changes in parameters accepted by the parameter receiving unit;
The robot control device according to claim 1.

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