JP2555183Y2 - Control device for arc welding robot - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a welding robot that performs operations along a welding line, and more particularly to a control device for a welding robot that performs arc welding along a welding line.

[0002]

2. Description of the Related Art In a conventional robot, a unit between steps is defined as a unit of a trajectory of a working end. For example, as shown in FIG. 7, when a plurality of welding lines S1 and S2 are arc-welded using a robot body having a plurality of axes, a welding torch gripped at the working end thereof enters from an entry point P11.
The arc welding is performed to the end point P13 through the start point P12 of the welding line, and after the welding operation of the welding line S1 is completed, the operation moves to the retreat point P14, where the welding line S1 is temporarily retracted, and then the welding line S
Welding is performed from the start point P15 to the end point P16 of Step 2, and thereafter, the process proceeds to the retreat point P17. In the prior art, during the arc welding operation of the welding line S1, an arc break occurs at the position P18,
After the operation of the robot body is stopped, the operator operates the robot body by operating the key input means or the like, moves the welding torch to the retreat point PA, and then starts the welding line S2 where arc welding is to be performed. At point P15, the retreat point P
It is necessary to move the welding torch from A. For this purpose, the operator uses the key input means to start point P1 of welding line S2.
It is necessary to input 5 so that the welding torch follows the movement locus 1. For this purpose, the operator has to set each welding line S1,
S2, and the start and end points P12,
A list of P13, P15, and P16 is prepared in advance, and while the list is viewed, the welding torch at the evacuation point PA is moved to the start point P15 to perform the welding work of the welding line S2. It is necessary to key-input Step P15 which is a point by operating the key input means. Such an operation is troublesome and is likely to cause an operation error. If the operator makes an error in the input operation and inputs the end point P16 instead of the input of the start point P15,
The welding torch follows the trajectory 2 from the retreat point PA and ends at the end point P1.
Move to 6. Since the operator does not expect the welding torch to follow such a trajectory 2, if the trajectory 2
When there is an obstacle in the middle of the welding, there is a problem that the welding torch collides with the obstacle and causes breakage.

[0003]

SUMMARY OF THE INVENTION An object of the present invention is to provide a control device for a welding robot capable of selecting a welding line without error and performing a welding operation.

[0004]

SUMMARY OF THE INVENTION The present invention relates to an arc welding robot control apparatus for performing an operation by sequentially moving a welding torch along a plurality of welding lines extending from a start point to an end point. (A) a plurality of welding lines S11, S having numbers for individually identifying
12, (b) Start points P2, P of each welding line S11, S12
5. (c) End points P3, P of each welding line S11, S12
6, (d) start points P2, P5 and end points P3, P6
(E) information on the trajectory of the straight lines or arcs of the welding lines S11 and S12, and (f) information on the welding lines S11 and S1
The memory 33 for storing the left and right weaving amplitudes and weaving periods for the welding voltage, welding current and welding speed and the welding lines S11 and S12 of the welding torch, which are the welding conditions of 2, and the welding lines S11 and S12 are individually identified. Key input means 35 for inputting a number, and a front welding line selection key 3 for selecting a welding line having a number one before the number of the welding lines S11 and S12 to which the welding torch belongs.
6, a next welding line selection key 37 for selecting a welding line having only one next number to the welding lines S11 and S12 to which the welding torch belongs, and a step pointer 34 indicating the number of the welding line to which the welding torch belongs. And the number of the welding line input by the key input means 35 is set, the number is incremented by one by operating the previous welding line selection key 36, and the next welding line selection key 37 is operated by operating the next welding line selection key 37. A counter 39 for decrementing the number by 1 to set the number of the welding line, a welding operation execution key 38 for instructing to perform the welding operation on the welding lines S11 and S12,
The control means responds to the output of the step pointer 34 and the counter 39, and increments or decrements the content of the step pointer 34 so that the content of the step pointer 34 matches the count number of the counter 39. The position data and the posture data of the start points P2 and P5 of the welding line represented by the step pointer 34 are read, and in response to the output of the welding work execution key 38, the welding torch of the welding robot is moved to start the start points P2 and P5.
And a control means for performing a welding operation based on the information on the trajectory stored in the memory 33 and the welding conditions based on the posture data, and ending the welding operation at end points P3 and P6. This is a control device for the arc welding robot to perform. Further, according to the present invention, when the welding torch is at the welding position PB in the middle of the welding line S12 during the arc welding operation, the control means operates the front welding line selection key 36 to thereby control the welding line S12 during the welding operation. By operating the next welding line selection key 37 again from the starting point P15 of the welding line P15, the welding line S1 having the next number adjacent to the number of the welding line S12 during the welding operation is obtained.
3 is characterized in that welding work is performed from a start point P18.

[0005]

According to the present invention, when performing arc welding of a welding line or the like, the operator operates the key input means 35, the previous welding line selection key 36 or the next welding line selection key 37 to operate the counter 3.
9 is set, and the welding work execution key 38 is set there.
By operating the controller, the control unit matches the content of the step pointer 34 indicating the number of the welding line to which the welding torch belongs to the number of the counter 39, and sets the start point P2 of the welding line indicated by the step pointer 34 to , P5, the welding operation is performed based on the information on the trajectory of the straight line or the arc stored in the memory 33 and the welding conditions, and the welding operation is completed at the end points P3, P6.

[0006]

FIG. 1 is a perspective view of a work 4 to be welded according to an embodiment of the present invention. In this work 4, the base materials 6 and 7 are arranged perpendicular to the base material 5 so as to be separated from each other.
Arc welding is performed along the first and second welding lines S12. Welding start points P2, P5 of each welding line S11, S12
And end points P3 and P6 are determined.
4, P7 are determined.

FIG. 2 is a front view of a robot main body 11 provided with a welding torch 10 for performing a welding operation on the welding lines S11 and S12. In this robot body 11, a first axis JT1 in which a moving body 13 is angularly displaced around an axis 14 on a base 12 is provided.
And the second axis J in which the arm 15 is angularly displaced about the axis 16.
T2, a third axis JT3 in which the moving body 17 is angularly displaced about the axis 18, a fourth axis JT4 in which the arm 19 is angularly displaced about the axis 20, and a moving body 21 is angularly displaced about the axis 22. It has a fifth axis JT5 and a sixth axis JT6 that angularly displaces a working end 23, which is the tip of the moving body 21, around an axis 24. The welding torch 10 is attached to the working end 23.

FIG. 3 shows the robot body 11 shown in FIG.
FIG. 2 is a block diagram showing an electrical configuration related to FIG. Processing circuit 26 realized by microcomputer or the like
Controls the drive sources 27-32 for each axis JT1-JT6. The processing circuit 26 includes a memory 33 and a step pointer 34 having a counting function. Further, key input means 35 is provided, and keys 36 and 37 are provided for selecting welding lines having numbers before and after the current welding line number, respectively. Welding execution key 38
Is operated, the welding operation of the welding lines S11 and S12 by the welding torch 10 can be performed.

FIG. 4 is a diagram showing the storage state of the memory 33. Evacuation point P, which is a teaching point and therefore a step
1, start point P2, end point P3, retreat point P4, start point P
5, welding lines S11 and S12 are stored corresponding to the end point P6, the retreat point P7, and the like, and information indicating the type thereof, that is, the retreat point, the welding start point, the welding end point, the intermediate point, and the like are stored. Furthermore, the point P1 which is each step
Position data and posture data in the robot coordinate system of P1 to P7 are stored, and each point P1 to P7 is stored as auxiliary data.
Information on whether the trajectory drawn by P7 is a straight line or an arc is stored, and the welding voltage, welding current, and welding condition data of the welding lines S11 and S12 between the points P2 to P3 and P5 to P6 are stored. The welding speed and weaving conditions are stored. The weaving conditions are left and right amplitudes and periods with respect to the welding lines S11 and S12 of the welding torch 10.

FIG. 5 is a flow chart for explaining the operation of the processing circuit 26. In step n1, the desired welding lines S11 and S12 are
Or the operation of the previous welding line selection key 36 and the next welding line selection key 37, etc., selects the number of the welding line, that is, the welding line having that number. Step pointer 3 provided in the processing circuit 26
4 reads the number of the welding line S11 where the welding torch 10 exists. For example, when the welding torch 10 starts welding from the start point P2 of the welding line S11 and the arc does not fly at the intermediate position PB just before the end point P3,
The processing circuit 26 determines that the welding current has become zero on the way, and stops the welding operation of the robot body 11. Even in such a case, the step pointer 34 indicates the welding line S11 to which the welding torch 10 is located at the point PB and to which the point PB belongs. In step n2, the contents of the step pointer 34 are read out, whereby the welding line where the welding torch 10 is located, for example, S11 can be detected.

In step n3, it is determined whether or not the welding line having the next number is selected. In step n5, it is determined whether or not the welding line having the previous number is selected, and the welding line having the next number is selected. At step n4, the welding line number which is the count value of the counter 39 of the processing circuit is incremented by +1. When the welding line having the previous number is selected, the content of the counter 39 is decremented by 1 at step n6. . If the weld line having the next or previous number is not the selected one, step n
In step 7, the number of the welding line input by the key input means 35 is set in the counter 39.

At step n8, steps n4, n6
It is determined whether or not the welding line number set in n7 and stored in the counter 39 is larger than the current welding line number stored in the step pointer 34. At step n9, the number of the step pointer 34 is incremented by one, and at step n10, the stored contents relating to the welding line to which the step belongs are read from the memory 33. In step n11, it is determined whether or not the welding line number read in step n10 matches the set welding line number, and if not, step n9.
Return to

If the number of the welding line further obtained in steps n4, n6 and n7 is not larger than the current welding line where the welding torch 10 is present, that is, if it is smaller than the current welding line, the process proceeds to step n12 and the step pointer 34 is decremented by one, and step n13
Then, the number of the welding line to which the decremented step belongs is read from the memory 33 in the same manner as in step n10 described above. In Step n14, the aforementioned Step n11
Similarly to the above, it is determined whether or not the welding line number read in step n13 matches the set welding line number obtained in steps n4, n6, and n7, and if not, the process returns to step n12. If it is determined in step n14 that they match, in step n15, the set welding line is read from the memory 33 in step P2 or P5, which is the first teaching point. After step n16, the user can operate the welding execution key 38 to perform arc welding from steps P2 and P5, which are the welding start points of the welding lines S11 and S12 set in this way. The welding conditions of this arc welding are stored in the memory 33.
Stored as described in connection with FIG. FIG.
In step n11, when it is determined that the welding line matches the set welding line, the same operation as in step n15 is performed, and in the next step n16, the arc welding operation is performed as described above.

FIG. 6 shows such welding lines S11 and S12.
It is a figure for explaining not only welding work of welding lines S13 and S14 in addition to it. When the welding torch 10 is present at, for example, the current point PB of the welding line S12, when the previous welding line selection key 36 is operated, the welding torch 10 is set to be welded from the welding start point P15. By operating the next welding line selection key 37, as indicated by reference numeral 40, welding from the welding start point P18 of the welding line S13 can be performed. Key input means 35
, The welding torch 10 is moved to the welding start point P21 of the welding line S14 and the arc welding is performed from the welding start point P21.

[0015]

According to the present invention, key input means 35,
By using the previous welding line selection key 36 and the next welding line selection key 37, the contents of the step pointer 34 indicating the number of the welding line to which the welding torch belongs are matched with the number of the welding line set by the counter 39, and the welding operation is performed. By operating the execution key 38, the contents of the memory 33 corresponding to the welding line having the number indicated by the step pointer 34 can be called to perform the work. Therefore, it is not necessary to prepare a list taught corresponding to the teaching points and the welding lines to which the teaching points belong as described in connection with the above-mentioned prior art. In order to select a line, it is not necessary to find and input the corresponding first teaching point, which improves operability and eliminates erroneous input.Therefore, erroneous input may cause the welding torch to collide with an obstacle. There is no risk of damage.

Further, according to the present invention, when setting the count value number of the counter 39, not only can the key input means 35 directly input the number, but also the operation using the front welding line selection key 36. , The welding line having only one previous number can be selected, and each time the next welding line selection key 37 is operated, only one next welding line can be selected. This achieves an excellent effect that the setting operation of the desired welding line number on the counter 39 can be easily performed. This is important, in particular, in that it is easy to input the welding line without error when moving the welding torch of the robot.

Further, according to the present invention, the welding lines S11, S
The start points P2 and P5, the end points P3 and P6, the position data, the posture data, the information about the trajectory, and the work conditions are stored in correspondence with the numbers No. 12 and the welding robot is stored based on the stored contents of the memory 33. Since the welding torch can be made to perform the work, there is also an effect that the contents of the welding work can be easily specified.

Therefore, according to the present invention, the memory 33 stores the identification numbers of a plurality of welding lines, the start point, the end point, position data and posture data in the robot coordinate system, information on the trajectory of a straight line or an arc, and welding conditions. The welding torch of the arc welding robot is stored by selecting the identification number of the welding line using the key input means 35, the previous welding line selection key 36 and the next welding line selection key 37. Arc welding can be performed automatically at the starting point of the welding line. In addition, in order to enable the selection of the identification number of the welding line without error, not only the key input means 35 but also the previous welding line selecting key 36 and the next welding line selecting key 37 are provided. Make it possible to do without errors.

Further, according to the present invention, even when the welding operation is stopped when it is determined that the welding current becomes zero during the arc welding operation, the welding operation during the arc welding operation can be performed. Since the number of the line can be known by the step pointer 34, it is possible to return to the starting point P15 of the welding line during the arc welding operation to which the welding position PB belongs by the previous welding line selection key 36 and to perform the welding operation again. Or next welding line selection key 3
It is also possible to operate 7 to carry out a welding operation from the start point P18 of the welding line having the next number adjacent to the number of the welding line under welding operation. Thus, the arc welding operation can be performed smoothly.

[Brief description of the drawings]

FIG. 1 is a perspective view of a target work 4 to be welded according to an embodiment of the present invention.

FIG. 2 shows a welding torch 10 for performing arc welding with a working end 23;
FIG. 5 is a front view of the robot body 11 showing a state where the robot body is gripped.

FIG. 3 is a block diagram showing an electrical configuration for controlling the robot main body 11 shown in FIG.

FIG. 4 is a diagram showing contents stored in a memory 33 shown in FIG. 3;

FIG. 5 is a flowchart for explaining an operation of the processing circuit 26 shown in FIG. 3;

FIG. 6 is a diagram for explaining a welding operation.

FIG. 7 is a view showing a state at the time of arc welding for explaining the prior art.

[Explanation of symbols]

 4 Target Work 5, 6, 7 Base Material 10 Welding Torch 11 Robot Main Body 23 Working End 26 Processing Circuit 27-32 Drive Source 33 Memory 34 Step Pointer 35 Key Input Means 36 Previous Weld Line Selection Key 37 Next Weld Line Selection Key 38 Weld Execution key

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Keiichi Nishimoto 1-1, Kawasaki-cho, Akashi-shi, Hyogo Kawasaki Heavy Industries, Ltd. Akashi Plant (56) References JP-A-60-123905 (JP, A) 60-157607 (JP, A) JP-A-61-127006 (JP, A)

Claims (2)

(57) [Scope of request for utility model registration] 1. A control device for an arc welding robot for performing an operation by sequentially moving a welding torch along a plurality of welding lines extending from a start point to an end point. A) a plurality of welding lines S11, S12 having numbers for individual identification; (b) starting points P2, P5 of each welding line S11, S12; (c) ending points P3, P6 of each welding line S11, S12. , (D) each starting point P
2, P5 and end data P3, P6, position data and posture data in the robot coordinate system, (e) welding line S1
1, information about the trajectory of the straight line or the arc of S12, and (f) the welding conditions of the welding lines S11 and S12, ie, the welding voltage, welding current and welding speed, and the left and right weaving amplitudes and welding torch welding lines S11 and S12. A memory 33 for storing a weaving cycle; a key input means 35 for inputting a number for individually identifying each of the welding lines S11 and S12; and a number one before the number of the welding lines S11 and S12 to which the welding torch belongs. A welding line selection key 36 for selecting a welding line having the following number, a welding line selection key 37 for selecting a welding line having only one number next to the number of the welding lines S11 and S12 to which the welding torch belongs, and welding. Step pointer 34 indicating the number of the welding line to which the torch belongs, and the number of the welding line input by key input means 35 are set. When the previous welding line selection key 36 is operated, the number is incremented by one, and when the next welding line selection key 37 is operated, the number is decremented by one and the welding line number is set. 39, a welding work execution key 38 for instructing to perform a welding work on the welding lines S11 and S12, and a control means which responds to the output of the step pointer 34 and the counter 39, and the contents of the step pointer 34 The contents of the step pointer 34 are incremented or decremented so as to coincide with the counted value number, and the position data and the posture data of the start points P2 and P5 of the welding line represented by the step pointer 34 are read from the memory 33, and the welding work execution key 38, the welding torch of the welding robot is moved and its starting points P2, P
And a control means for performing a welding operation based on the information on the trajectory stored in the memory 33 and the welding conditions based on the posture data, and ending the welding operation at end points P3 and P6. Arc welding robot control device. 2. The control means, when the welding torch is at a welding position PB in the middle of the welding line S12 during the arc welding operation,
By operating the previous welding line selection key 36, the welding operation from the start point P15 of the welding line S12 during the welding operation is performed again, and by operating the next welding line selection key 37, the welding operation during the welding operation is performed. The control device for an arc welding robot according to claim 1, wherein a welding operation is performed from a start point P18 of a welding line S13 having a next number adjacent to the number of the welding line S12.