JP2989693B2 - Control device for multi-layer 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 robot for performing multi-pass welding.

[0002]

2. Description of the Related Art Conventionally, in order to perform multi-layer welding by using a robot, a worker who has abundant knowledge of a robot and a robot language and knowledge of welding creates a program according to a workpiece to be welded. Multi-layer welding is performed on the work.

[0003]

In such prior art, since the program created by the robot language is complicated, only a person who is familiar with the robot and the robot language, and even the welding, can control the robot. Therefore, those who have little knowledge of robots, robot languages and welding cannot use a robot to perform multi-layer welding of various workpieces.

SUMMARY OF THE INVENTION An object of the present invention is to provide a control for a multi-layer welding robot capable of performing multi-layer welding on various works even if a person who has little knowledge of a robot, a robot language, welding, and the like. It is to provide a device.

[0005]

SUMMARY OF THE INVENTION The present invention is directed to a combination of conditions A1-Ai for determining the position .DELTA.Y, .DELTA.Z and attitude .DELTA..theta. Of a welding torch for the first pass of multi-pass welding and conditions for determining welding conditions. An input unit 10 for inputting any data, the welding condition of the first pass for each of the plurality of combinations A1 to Ai, and the position Δ of the welding torch after the second pass, together with the data input by the input unit 10
A memory 11 for storing Y, ΔZ, attitude Δθ, and welding conditions, and the stored contents of the memory 11 are read in response to the output of the input means 10, and a welding torch is attached to the working end based on the read contents. A controller for a multi-layer welding robot including a control means 9 for operating a robot body 7 having a plurality of axes, wherein conditions for determining the welding conditions are a kind of a groove, a plate thickness, and a thickness. The welding wire 35 is attached to the welding torch including the leg length, and the control means 9 reads the data input by the input means 10, thereby reading out the contents stored in the memory 11, The position .DELTA.Y, .DELTA.Z and posture .DELTA..theta. Of the welding torch for each pass and the data C1 as welding conditions are read, and the position and posture of the welding wire 35 are calculated. Is repeated by the total number of passes B1 on the basis of the contents stored in the memory to perform multi-layer development of the welding conditions. The positions ΔY and ΔZ of the welding torch of each pass are determined for each pass. A positional shift amount Δ in a plane perpendicular to the axis of the multi-layer weld bead 36 from the root 40 of the tip 35a of the welding wire 35 of FIG.
Y, ΔZ, the posture of the welding torch in each pass is a shift amount Δθ with respect to a predetermined target angle of the welding wire 35 in the plane, and the welding conditions are (1) welding current, (2) Welding voltage, (3) welding speed, (4) weaving amplitude and weaving frequency, and (5)
A control device for a multi-layer welding robot characterized by crater time, crater current and crater voltage.

[0006]

According to the present invention, first, the first pass of the multi-pass welding, that is, the position .DELTA.Y, .DELTA.Z and the posture .DELTA..theta. Of the welding torch for the first layer is inputted by the input means, and the welding condition, for example, the welding current is inputted. And data for determining conditions such as welding voltage and welding speed (including the type and shape of the groove of the work to be welded, the plate thickness or the leg length). For each of the plurality of combinations to be input, the total number of passes B1 and the welding condition data C1 for each pass are stored in the memory in advance. The control means 9 performs a multi-layer development operation in response to the output of the input means 10. That is, the control means 9 calculates the total number of passes B1, the welding conditions of the first pass, the positions ΔY, ΔZ and posture Δθ of the welding torch after the second pass, and the welding conditions after the second pass, and calculates the multi- Develop unfolding. The values obtained by performing the multi-layer development and calculation are stored in the memory 11. The welding conditions for each pass are welding current, welding voltage, welding speed, weaving condition, and crater condition, and the position Δ of the welding torch for each pass.
Y and ΔZ are positional shift amounts ΔY and ΔZ, and the posture Δθ of the welding torch is a shift amount Δθ. The memory 11 stores the position ΔY, ΔZ and posture Δθ of the welding torch for the first pass and the combinations A1 to Ai of the conditions for determining the welding conditions input by the input means 10 and controls The welding condition of the first pass for each of the combinations A1 to Ai obtained by performing the multi-layer development and calculation by the means 9 as well as the position ΔY, ΔZ, attitude Δθ and welding condition of the welding torch after the second pass are stored. Is done. The control means 9 reads the data input by the input means 10, reads out the contents stored in the memory 11, and reads the position ΔY, ΔZ and posture Δθ of the welding torch for each pass, and the welding. The data C1, which is a condition, is read out, the position and orientation of the welding wire 35 are calculated, and the contents of one pass are written out. This is repeated by the total number of passes B1 based on the stored contents of the memory to obtain a multi-layered welding condition. In other words, the contents of the memory 11 are read to control the operation of the robot body. Therefore, such input means 10
, The multi-pass welding can be easily performed, and even a person who has little knowledge of a robot, a robot language, and welding can perform the multi-pass welding.

[0007] In order to input the position and posture of the welding device for the first pass, the teaching may be performed on-line or off-line by operating the robot main body. Included in the range.

[0008]

FIG. 1 is an overall block diagram of a robot for performing multi-pass welding according to one embodiment of the present invention. Reference 1
To 6 are axes JT1 to JT1 of the robot body 7 shown in FIG.
1 shows driving means 1 to 6 such as a motor for driving T6. The driving units 1 to 6 are controlled by a control unit 9 provided in a processing circuit 8 realized by a microcomputer or the like. The processing circuit 8 is provided with input means 10 such as key input means, etc., by which the position and orientation of the welding torch and the welding conditions for the first pass of the multi-pass arc welding are determined. You can enter the conditions for the decision. The memory 11 provided in the processing circuit 8 stores data for performing multi-pass welding in advance, and the input means 1
In response to the output from 0, the control means 9 reads the stored contents of the memory 11, operates the driving means 1 to 6 based on the read contents, and welds the welding torch 12 to the welding torch 12 via the driving circuit 13. Provide power suitable for the conditions.

As shown in FIG. 2, the robot body 7 has a first axis JT1, a second axis JT2, a third axis JT3, a fourth axis JT4, and a fifth axis JT provided on a base 14 provided at a fixed position.
The welding torch 12 is attached to the welding torch 12 via the fifth and sixth shafts JT6.
Is attached.

FIG. 3 is a diagram for explaining the principle of multi-layer welding. The YZ plane of the XYZ rectangular coordinate system is perpendicular to the axis of the multi-pass weld bead 36, and FIG. 3 shows a first pass 37, a second pass 38, and a third pass 39, and a horizontal fillet. 3 shows a welded joint. The amount of positional shift from the route 40 in the Y-axis direction is indicated by ΔY, the amount of positional shift in the Z-axis direction can be expressed by ΔZ, and the tip 35a of the welding wire 35 is previously set in the YZ plane. The position shift amount Δθ with respect to the determined target angle θ is also
It can be similarly expressed. Welding torch 12 for each pass
Are the above-mentioned ΔY and ΔZ, and the posture is the above-mentioned ΔY and ΔZ.
θ.

FIG. 4 is a sectional view showing a specific welding state of the horizontal fillet welding shown in FIG. In FIG. 4A, the tip 35a of the welding wire 35 of the welding torch 12 is
When input is made by teaching or inputting by operating a key of the input means 10 in close proximity to the route 40, the control means 9 of the processing circuit 8 causes the welding torch 1
The tip 35a of the second welding wire 35 is displaced in the Y-axis direction by the positional shift amount ΔY, the position in the Y-axis direction for the first pass 37 is set, and the first pass 37 is formed. The route 40 is formed by the plates 41 and 42.

FIG. 5 is a diagram showing a store state of the memory 11 provided in the processing circuit 8. The first of multi-pass welding
The position and orientation of the welding torch 12 for the path 37, and thus the tip 35a of the welding wire 35, and the combination of conditions for determining the welding conditions are denoted by reference numerals A1, A.
2, A3,..., Ai, and the total number B1 of multipass welding and the data C1 for each pass are stored corresponding to these combinations. Data C1 for each path
Among them, the welding conditions are (1) welding current, (2) welding voltage, (3) welding speed, (4) weaving conditions, that is, weaving amplitude and weaving frequency, (5)
Crater conditions: crater time, crater current and crater voltage. The position ΔY of the welding torch 12,
ΔZ is Y perpendicular to the axis of the multi-layer weld bead 36 from the root 40 of the tip 35a of the welding wire 35 for each pass.
These are the positional shift amounts ΔY and ΔZ from the front end 35a in the first pass in the Z plane. The posture Δθ of the welding torch 12 is a shift amount Δθ of the welding wire 35 with respect to a predetermined target angle in the YZ plane. The welding conditions described above, which are the total number of passes B1 and the data C1 for each pass, and the positions ΔY, ΔZ and posture Δθ of the welding torch
Is provided for each of the plurality of combinations A1 to Ai. The conditions for determining the welding conditions described above include the type and shape of the groove, the plate thickness and the leg length, and such data is input by the input means 10. In another embodiment, the input means 10 is configured to automatically detect a portion to be welded by, for example, optically detecting the portion to be welded by a television camera or the like. In still another embodiment, the conditions for determining the welding conditions include, in addition, the type of the workpiece, the type of the welding wire 35, and the type of gas at the time of gas merged welding. Is entered.

FIG. 6 is a flow chart for explaining the operation of the processing circuit 8 shown in FIG. In performing multi-layer welding in step a1,
In step a2, one of the combinations A1 to Ai is input. That is, the position ΔY, ΔZ and posture Δθ of the first pass 37, which is the first layer, and the type, groove thickness, and leg length of the groove, which are the conditions for determining the welding conditions, are input. As a result, the control means 9 becomes the input means 10
Is stored in the memory 11, the stored contents are read out, and based on the read out contents, the step a is performed.
3, the total number of paths B1, the first path 37 and the second path
The calculation of the multilayer development of the welding conditions after the pass 38 and the positions ΔY, ΔZ and the posture Δθ of the welding torch after the second pass are performed. In this way, the control means 9 reads the data input by the input means 10, reads out the contents stored in the memory 11, and reads the positions ΔY, ΔZ and posture Δθ of the welding torch for each pass, and The data C1, which is the welding condition, is read, and the welding wire 3 is read.
5 is calculated, and the contents of one pass are written out. Based on the contents stored in the memory, the total number of passes B is calculated.
By repeating only one, the multi-layer development of the welding conditions is performed.

FIG. 7 is a flow chart for explaining the operation of multi-layer development in step a3 shown in FIG. The process proceeds from step b1 to step b2. In this step b2, the data of step a2 in FIG. 6 input by the input means 10 is read. In the next step b3, it is determined whether or not the operations in steps b4 to b6 have been repeated by the total number of paths B1 based on the contents stored in the memory 11, and if not, the contents stored in the memory 11 are read out in step b4. And data C for each pass
1 is read, and then in step b5, the position and orientation of the welding wire 35 are calculated, and thus in step b6,
One pass, ie, one of the steps b4 and b
Write down the contents of 5. Thereafter, the process returns from step b6 to step b3.

As described above, using the stored contents of the memory 11, the position and the attitude of the welding wire 35 for the first pass 37 of the multi-pass welding and the conditions for determining the welding conditions are input to the input means 10. , The control means 9 can automatically develop the program into a multi-pass multi-layer program. The contents stored in the memory 11 are as follows:
It is possible for the user to change the settings, and thus, it is possible to finely set the store contents according to the work, and it is possible to perform the welding operation under the optimum welding conditions for each work. Furthermore, the input by the operation of the input means 10 can be operated even by a person who has little knowledge about the robot and the robot language and about the welding, and thus the multi-layer welding can be reliably performed. Can be achieved.

In one proposed technique, a robot language is created off-line by interactively setting welding conditions, that is, a groove shape type, a leg length, a plate thickness, and the like by a personal computer or the like, and transferred to the robot body. Although there is a configuration that performs multi-layer welding, such a configuration requires hardware separate from the robot controller, such as a personal computer, so that the configuration becomes large and expensive. There's a problem. In the above-described embodiment, such a problem can be solved as described above.

[0017]

As described above, according to the present invention, the position .DELTA.Y, .DELTA.Z and posture .DELTA..theta. Of the welding torch for the first pass of the multi-pass welding and the conditions for determining the welding conditions by operating the input means. (That is, including the type and shape of the groove of the work to be welded, the plate thickness and the leg length). The control means 9 performs a multi-layer development operation in response to the output of the input means 10. That is, the control means 9 determines the total number of paths B1
, The welding conditions for each pass, and the positions ΔY, ΔZ, and posture Δθ of the welding torch after the second pass are calculated and given to the memory 11 for storage. Thus, each combination A
1 to Ai, the total number of paths B1 and the data C for each path
1 is stored. Data C1 for each pass includes welding current, welding voltage, welding speed, weaving condition, and crater condition as welding conditions, and positional shift amounts ΔY, ΔZ and shift amounts Δθ, which are the position and orientation of the welding torch. The operation of the robot body 7 can be controlled by reading the stored contents of the memory 11 based on the input result by the input means 10, so that multi-layer welding can be easily performed. Therefore, even a person who has little knowledge of the robot, the robot language and the welding can easily perform the multi-layer welding.

[Brief description of the drawings]

FIG. 1 is an overall block diagram of an embodiment of the present invention.

FIG. 2 is a side view of the robot body 7;

FIG. 3 is a simplified sectional view of a multi-layer welding robot.

FIG. 4 is a sectional view showing a horizontal fillet welded joint.

FIG. 5 is a diagram showing a store state of a memory 11;

FIG. 6 is a flowchart for explaining the operation of the processing circuit 8;

7 is a flowchart showing the operation of step a3 in FIG. 6 in the processing circuit 8 in further detail.

[Explanation of symbols]

 1-6 Driving means 7 Robot body 8 Processing circuit 9 Control means 10 Input means 11 Memory 12 Welding torch 13 Driving means 35 Welding wire 37 First pass 38 Second pass 39 Third pass

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Sumie Matsuura 1-1, Kawasaki-cho, Akashi-shi, Hyogo Kawasaki Heavy Industries, Ltd. Akashi Plant (56) References JP-A-62-244577 (JP, A) JP-A-6-1773077 (JP, A) JP-A-63-180373 (JP, A) JP-A-61-88977 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) B23K 9 / 127 B23K 9/095

Claims (1)

(57) [Claims] 1. An input for inputting any one of data of a position combination ΔY, ΔZ and posture Δθ of a welding torch for a first pass of multi-pass welding and a combination of conditions A1 to Ai for determining welding conditions. Means 10, together with the data input by the input means 10,
A first pass welding condition for each of the plurality of combinations A1 to Ai;
And the positions ΔY, ΔZ of the welding torch after the second pass,
A memory 11 for storing the attitude Δθ and the welding conditions; and a plurality of memories 11 reading the stored contents of the memory 11 in response to the output of the input means 10 and attaching a welding torch to the working end based on the read contents. Axis robot body 7
A control device for a multi-layer welding robot including a control means 9 for operating the welding torch, wherein the conditions for determining the welding conditions include the type and shape of a groove, a plate thickness and a leg length. The welding wire 35 is attached, and the control means 9 reads the data input by the input means 10, thereby reading out the contents stored in the memory 11 and reading the welding torch position ΔY, ΔZ and posture Δθ, and data C1 as welding conditions are read out, and the position and posture of the welding wire 35 are calculated.
The contents of the passes are written out, and this is repeated by the total number of passes B1 based on the stored contents of the memory to perform the multi-layer development of the welding conditions. The positions ΔY and ΔZ of the welding torch of each pass are The position shift amounts ΔY, ΔZ in a plane perpendicular to the axis of the multilayer weld bead 36 from the root 40 of the tip 35a of the welding wire 35 for each pass, and the posture of the welding torch in each pass is Shift amount Δθ of welding wire 35 relative to a predetermined aim angle in the plane
The welding conditions are (1) welding current, (2) welding voltage,
A control device for a multi-layer welding robot characterized by (3) welding speed, (4) weaving amplitude and weaving frequency, and (5) crater time, crater current and crater voltage.