JP4958630B2 - Arc welding welding method and welding robot control device - Google Patents

Description

  The present invention relates to a welding method for arc welding and a control device for a welding robot.

  Conventionally, a welding method is known in which welding is performed while changing welding conditions in synchronization with a weaving operation of a manipulator. In particular, a welding method that changes welding conditions in synchronization with weaving during MIG welding is called a synchro MIG welding method, and a welding method that changes welding conditions in sync with weaving during TIG welding is called a synchro TIG welding method. It is.

In these methods, the welding conditions are changed based on the amplitude end of the weaving.
This is shown in FIG. FIG. 7A shows a case where weaving is performed in a triangular waveform, where “right” indicates the right side of the weaving with respect to the traveling direction of the welding torch, and “left” indicates the weaving with respect to the traveling direction of the welding torch. Point to the left side.

  FIG. 7B shows a case where the synchronization timing of the welding current (or welding voltage) is performed in two-pulse synchronization, and the left and right amplitude ends of the weaving are set to welding condition 2 (welding condition with a high welding current). The switching timing is set, and the center of the amplitude is the switching timing to welding condition 1 (welding condition with low welding current).

  FIG. 7C shows a case where the synchronization timing of the welding current (or welding voltage) is performed in synchronization with one pulse, and the “left” amplitude end of the weaving is changed from welding condition 1 to welding condition 2 (the welding current is Switching timing to high welding conditions).

  When butt welding of workpieces W1 and W2 having different plate thicknesses as shown in FIG. 3 is performed using this method, the synchronization timing of welding conditions 1 and 2 is delayed from the amplitude end of the weaving. It is necessary to do like 6.

  That is, the parameters for this purpose are prepared in the welding conditions as “adjustment time”. 6A corresponds to FIG. 7A. FIG. 6B shows a case where the synchronization timing of the welding current (or welding voltage) is performed in one-pulse synchronization, and the time point delayed by the adjustment time from the “left” amplitude end is changed from welding condition 1 to welding condition 2 ( Switching timing to the welding condition where the welding current is high).

  Incidentally, the weaving teaching parameter relates to the operation of the manipulator. On the other hand, conditions such as welding current are parameters relating to welding, that is, a welding machine. For this reason, each parameter is taught by a separate command in the work program.

In the prior art of Patent Document 1, no mention is made as to how to teach the parameter. However, in the conventional welding robot, when adjustment is made to delay the change timing of the welding condition from the amplitude end of the weaving, the timing is changed. The operator entered the delay time in real time.
JP-A-8-10947

  However, this adjustment method has the following problems. First, it is necessary for the operator to manually calculate the weaving period from the weaving frequency, and to calculate the real time by adding the weaving stop time.

  Next, when the weaving conditions such as the weaving frequency, the weaving amplitude, and the weaving stop time are changed, the adjustment time must be calculated again, and the adjustment times of all the welding commands in the weaving section must be corrected. In addition, there may be a difference between the set weaving frequency and the actual weaving frequency, and the welding conditions may not be changed at a desired timing as the theoretical value, and it may be necessary to adjust the actual condition.

  An object of the present invention is to perform adjustment for delaying the change timing of welding conditions from the amplitude end of the weaving, and it is not necessary for the operator to input the adjustment time in real time as the delay time. It is an object to provide a welding method for arc welding and a control device for a welding robot that can be shortened.

  In addition, the object of the present invention is to eliminate the need for changing the adjustment time during welding conditions even when the weaving conditions are changed. It is to provide a control device.

  In order to solve the above-mentioned problem, the invention according to claim 1 is an arc welding welding method in which welding condition change is synchronized with a weaving operation of a welding torch, and the adjustment time of the welding condition change during a welding command The gist of the welding method of arc welding is that the information is stored in a storage means at a ratio to the weaving cycle, and the welding condition is changed based on the stored adjustment time information.

  According to a second aspect of the present invention, in the arc welding welding method in which the welding condition change is synchronized with the weaving operation of the welding torch, the designation means for specifying the adjustment time information of the welding condition change in the welding command as a ratio to the weaving cycle. The welding time change adjustment time information in the welding command designated by the designation means is stored in the storage means, and the control means changes the welding condition change based on the stored adjustment time information. The gist of the welding method is arc welding characterized in that

  According to a third aspect of the present invention, there is provided a robot controller for performing arc welding by synchronizing a welding condition change with a weaving operation of a welding torch, and storing adjustment time information of the welding condition change in a welding command as a ratio to a weaving cycle. The gist of the present invention is a control device for a welding robot, comprising: a storage unit that performs the control and a welding unit that changes the welding condition based on the stored adjustment time information.

  The invention of claim 4 comprises the specifying means for specifying the adjustment time information of the welding condition change in the welding command as a ratio to the weaving cycle in claim 3, and the storage means is specified by the specifying means. The adjustment time information is stored.

  According to a fifth aspect of the present invention, in the third or fourth aspect, the control means performs a weaving operation of a welding control means for outputting welding conditions and the adjustment time information, a manipulator having the welding torch, and an amplitude of the weaving. Motion control means for outputting weaving information and synchronization timing arrival notification when the welding torch reaches the end, inputting the welding condition and adjustment time information, and the weaving information and synchronization timing arrival notification, and adjusting time And a welding machine control means for calculating a delay time from the amplitude end based on the information and the weaving information, and changing the welding condition based on the welding condition after the delay time has elapsed.

  The invention according to claim 6 is the manipulator having the welding torch according to claim 3 or 4, wherein the control means inputs a welding control means for outputting welding conditions and the adjustment time information, and inputs the adjustment time information. Motion control means for outputting a synchronization timing arrival notification when the adjustment time has elapsed from the amplitude end of the weaving based on the adjustment time information, the welding conditions, and the synchronization timing arrival notification. And a welding machine control means for changing a welding condition based on the welding condition when the synchronization timing arrival notification is input.

  As described above in detail, according to the arc welding welding method of claims 1 and 2, when adjustment is performed to delay the change timing of the welding conditions from the amplitude end of the weaving, the operator can use the timing as a delay time. There is no need to input in time, and the time for inputting the adjustment time can be shortened. Further, according to the welding method of arc welding according to claim 1, even if the weaving conditions are changed, it is not necessary to change the adjustment time in the welding conditions, so that it is possible to prevent welding construction errors due to correction leakage. Play.

  According to the control apparatus for a welding robot of claims 3 to 6, when adjustment for delaying the change timing of the welding condition from the amplitude end of the weaving is performed, there is no need for the operator to input the timing as a delay time in real time. There is an effect that the time for inputting the adjustment time can be shortened. Further, according to the robot control apparatus of claims 3 to 6, even when the weaving conditions are changed, the adjustment time during the welding conditions need not be changed. There is an effect that can be prevented.

Hereinafter, a first embodiment in which a robot control apparatus according to the present invention is embodied in a robot system capable of performing synchronized MIG welding will be described with reference to FIGS.
FIG. 1 shows an outline of a welding robot system. The welding robot system includes a six-axis welding robot manipulator (hereinafter simply referred to as “manipulator”) 10 having a welding torch 11, a robot controller 20 that controls the manipulator 10, a welding machine 30 that supplies power to the welding torch 11, and the like. ing.

  The control device 20 includes a system control unit 21 including a CPU, a work program storage unit 22 that stores a robot work program, a welding condition storage unit 23, a motion control unit 24 that controls the manipulator 10, a welding control unit 25, and a welding machine 30. A welding power source interface 26 is provided for communication (see FIG. 2). The work program storage unit 22 and the welding condition storage unit 23 are configured by a readable / writable storage device such as a hard disk.

The welding condition storage unit 23 corresponds to a storage unit. The motion control unit 24 corresponds to a motion control unit. The welding control unit 25 corresponds to welding control means.
Teaching data such as welding conditions is input via the teach pendant 40, and the system control unit 21 stores the input teaching data in the welding condition storage unit 23. As shown in FIG. 1, the teach pendant 40 includes a display 41 and input means 42 such as keys and push buttons. The teach pendant 40 corresponds to a designation unit.

Here, the welding condition change during the weaving operation will be described.
The welding condition change regarding the welding machine 30 during the weaving operation includes, for example, a change between a peak current at which the welding current becomes high and a base current at which the welding current becomes low. In addition to the welding current, actual welding condition changes include changes in basic parameters such as welding voltage and arc characteristics, and pulse control parameters such as peak current output time and peak current rise time. Although the change of these parameters is performed in synchronization with the change of the welding current, in the present embodiment, for the sake of convenience of explanation, the change of the welding condition related to the welding current will be mainly described.

  The peak current and the base current are stored in the welding condition storage unit 23 by inputting numerical values by key input of the teach pendant 40. In FIGS. 3, 6, and 7, the welding condition performed at the base current is hereinafter referred to as welding condition 1, and the welding condition performed at the peak current is hereinafter referred to as welding condition 2.

  In this embodiment, the teach pendant 40 can input adjustment time information from the amplitude end of the weaving. This adjustment time is a time for delaying the synchronization timing of the welding condition 2 from the amplitude end of the weaving.

  Here, in the present embodiment, on the display 41 of the teach pendant 40, “1/8 cycle”, “1/4 cycle”, “3/8 cycle”, which are ratios when the weaving cycle is “1 cycle”. ”And“ ½ period ”, the adjustment time information is displayed in the form of 1 / n (n is an arbitrary integer). Then, the adjustment time information is selected from among them by key input, and a ratio to the selected weaving cycle (hereinafter referred to as adjustment time calculation ratio) can be input as adjustment time information.

  The welding machine 30 includes a control device interface 31 that communicates with the control device 20, a RAM 32 that stores welding conditions and the like, and a welding condition control unit 33 that controls a power amplifier 34. The power amplifier 34 is controlled by the welding condition control unit 33 to supply a welding current between the welding torch 11 and the workpieces W1, W2.

In the present embodiment, the motion control unit 24, the welding control unit 25, and the welding condition control unit 33 correspond to control means.
Next, the operation of the welding robot system of the present embodiment will be described with reference to FIG.

  In the following description, for the sake of convenience, it is assumed that one-pulse synchronization is selected in advance. One-pulse synchronization refers to synchronization with only one end of the weaving end point (that is, the amplitude end), but in this embodiment, this synchronization is synchronized with a delay time.

  When the control device 20 reproduces the weaving command / welding command, the welding control unit 25 determines the ratio of the welding condition control unit 33 of the welding machine 30 to the weaving cycle when the welding torch 11 reaches the taught welding start position. The adjustment time calculation ratio and the welding condition 2 relating to the welding current are notified. The welding condition control unit 33 of the welding machine 30 temporarily stores the adjustment time calculation ratio and the welding condition 2 as the notified adjustment time information in the RAM 32.

  Next, when the manipulator 10 reaches the amplitude end of the weaving, the motion control unit 24 performs a weaving information notification and a synchronization timing arrival notification to the welding condition control unit 33. Here, the weaving information is the weaving cycle in which the trajectory is planned by the work program stored in the welding condition storage unit 23 and the taught data stored in the work program storage unit 22, and the actual frequency of the weaving and the weaving The stop time is reflected and stored in the welding condition storage unit 23. The weaving stop time is a time during which weaving is stopped when the weaving amplitude end is reached, and is, for example, an arbitrary number of seconds including 0 seconds. When the weaving stop time is 0 second, when the weaving has a triangular waveform, the amplitude end has a triangular shape as shown in FIG. 6, and when the weaving stop time is other than 0 seconds, the amplitude end has a trapezoidal shape.

  When receiving the weaving information notification and the synchronization timing arrival notification, the welding condition control unit 33 of the welding machine 30 calculates the welding condition change delay time based on the adjustment time calculation ratio (adjustment time information) and the weaving cycle. And it waits until delay time after receiving the synchronous timing arrival notification from the motion control part 24, and when delay time passes, it will change to welding condition 2. That is, the welding condition control unit 33 controls the power amplifier 34 in accordance with the welding condition 2 and outputs the peak current with the welding current being high. Since the control of the power amplifier 34 in this welding condition 2 is performed in synchronization with one pulse, it is changed to the welding condition 1 (that is, the base current) at the time when a half cycle of the pulse has passed, and thereafter, these are similarly changed. The process is repeated (see FIG. 6).

The welding robot system configured as described above has the following characteristics.
(1) In the arc welding welding method of the present embodiment, adjustment time information for changing welding conditions in a welding command is stored in the welding condition storage unit 23 (storage means) at a ratio (adjustment time calculation ratio) to the weaving cycle. The motion control unit 24, the welding control unit 25, and the welding condition control unit 33 (control means) change the welding conditions based on the stored adjustment time calculation ratio. As a result, when adjusting to change the welding condition change timing from the amplitude end of the weaving, it is not necessary for the operator to input the timing as a delay time in real time. A welding method for welding can be provided.

  In addition, when changing the weaving conditions such as the weaving frequency, the weaving amplitude, and the weaving stop time, it is necessary to change the adjustment time each time in the past. Since it does not need to be changed, it is possible to prevent welding construction errors caused by correction omissions.

  (2) In the present embodiment, adjustment time information for changing welding conditions in the welding command is input by the teach pendant 40 (designating means) that designates the ratio to the weaving cycle (adjustment time calculation ratio), and the designated welding command. The adjustment time information of the inside welding condition change is stored in the welding condition storage unit 23 (storage means). As a result, since it is simply specified by the ratio to the weaving period (adjustment time calculation ratio), the input of the ratio to the weaving period (adjustment time calculation ratio) can be simplified.

  (3) The welding robot system according to the present embodiment includes a welding condition storage unit 23 (storage means) that stores adjustment time information for changing welding conditions in a welding command as a ratio (adjustment time calculation ratio) to a weaving cycle, and storage. Control means for changing the welding condition with the adjusted time information. As a result, when adjusting to delay the welding condition change timing from the amplitude end of the weaving, it is not necessary for the operator to input the timing as a delay time in real time, so welding that can shorten the time for inputting the adjustment time A robot system can be provided.

  In the present embodiment, when changing the weaving conditions such as the weaving frequency, the weaving amplitude, and the weaving stop time, it is conventionally necessary to change the adjustment time each time. However, in this embodiment, the weaving conditions are changed. However, since it is not necessary to change the adjustment time, it is possible to provide a welding robot system that can prevent a welding construction error due to correction omission.

  (4) Further, the welding robot system of the present embodiment includes a teach pendant 40 (designating means) that designates the adjustment time information of the welding condition change in the welding command as a ratio (adjustment time calculation ratio) to the weaving cycle, The welding condition storage unit 23 (storage means) stores adjustment time information designated by the teach pendant 40 (designation means).

  As a result, according to the welding robot system of the present embodiment, since it is simply specified by the ratio to the weaving period (adjustment time calculation ratio), it is possible to simplify the input of the ratio to the weaving period (adjustment time calculation ratio). Can provide a welding robot system that can

  (5) Further, the welding robot system according to the present embodiment performs the weaving operation of the welding control unit 25 that outputs the welding condition 2 and the adjustment time information, the manipulator 10, and the welding torch 11 reaches the amplitude end of the weaving. A motion control unit 24 that outputs the weaving information and the synchronization timing arrival notification is provided. In addition, the welding robot system inputs welding conditions, adjustment time information, weaving information, and synchronization timing arrival notification, calculates a delay time from the amplitude end based on the adjustment time information and the weaving information, and delay time After elapses, a welding condition control unit 33 that changes the welding conditions based on the welding conditions is provided. As a result, it is possible to provide a welding robot system that can easily realize the effect (4).

(Second Embodiment)
Next, a second embodiment will be described with reference to FIG. Since the hardware configuration of the welding robot system of the second embodiment is the same as that of the first embodiment, the same components as those of the first embodiment are denoted by the same reference numerals and detailed description thereof is omitted. Also in the second embodiment, the motion control unit 24, the welding control unit 25, and the welding condition control unit 33 correspond to control means.

The welding robot system according to the second embodiment operates as follows.
In the following description, for the sake of convenience, it is assumed that one-pulse synchronization is selected in advance as in the first embodiment.

  When the control device 20 reproduces the weaving command / welding command, the welding control unit 25, when the welding torch 11 reaches the welding start position taught, sends an adjustment time calculation ratio, which is a ratio to the weaving cycle, to the motion control unit 24. It notifies as adjustment time information, and notifies the welding condition control part 33 of the welding machine 30 of the welding condition 2 regarding welding current. The welding condition control unit 33 of the welding machine 30 temporarily stores the notified welding condition 2 in the RAM 32.

  Next, when the manipulator 10 (welding torch 11) has passed a period corresponding to the adjustment time calculation ratio from the amplitude end of the weaving, the motion control unit 24 notifies the welding condition control unit 33 of arrival of synchronization timing. At this time, the actual frequency of weaving and the weaving stop time are reflected in the period corresponding to the adjustment time calculation ratio.

When receiving the synchronization timing arrival notification, the welding condition control unit 33 of the welding machine 30 immediately changes to the welding condition 2 unlike the first embodiment.
That is, the welding condition control unit 33 controls the power amplifier 34 in accordance with the welding condition 2 and outputs the peak current with the welding current being high. Since the control of the power amplifier 34 in this welding condition 2 is performed in synchronization with one pulse, it is changed to the welding condition 1 (that is, the base current) at the time when a half cycle of the pulse has passed, and thereafter, these are similarly changed. The process is repeated (see FIG. 6).

Now, according to 2nd Embodiment, while combining the effect of (1)-(4) of 1st Embodiment, there exist the following characteristics.
(1) The welding robot system of the present embodiment inputs a welding control unit 25 that outputs welding conditions 2 and adjustment time information, and adjustment time information, and causes the manipulator 10 having the welding torch 11 to perform a weaving operation, thereby welding the torch 11. Is provided with a motion control unit 24 that outputs a synchronization timing arrival notification when adjustment time information has elapsed from the amplitude end of the weaving. In addition, the welding robot system includes a welding condition control unit 33 that inputs the welding condition 2 and the synchronization timing arrival notification and changes the welding condition based on the welding condition 2 when the synchronization timing arrival notification is input.

As a result, it is possible to provide a welding robot system capable of easily realizing the same (4) as in the first embodiment.
In addition, you may change embodiment of this invention as follows.

  In each of the above embodiments, the adjustment time information of the welding condition change in the welding command is set to 1 / n period as a ratio to the weaving period (adjustment time calculation ratio). Candidates may be displayed in the form of “%” on the display 41 and selectively input by the input means 42 of the teach pendant 40, or numbers may be input.

In each of the above embodiments, the present invention has been embodied in a sync robot system for synchro MIG welding, but it is needless to say that the present invention can be implemented in synchro TIG.
In each of the above embodiments, the 6-axis welding robot manipulator is 6-axis, but is not limited to 6-axis, and the arc sensor of the present invention can be applied to manipulators other than 6-axis. .

In each of the embodiments described above, the weaving waveform is a triangular waveform, but the weaving waveform is not limited and may have other shapes.
In each of the above embodiments, the description has been made with one pulse period. However, synchronization in weaving may be performed with two pulse periods or plural pulse periods.

BRIEF DESCRIPTION OF THE DRAWINGS The schematic block diagram of the welding robot system of 1st Embodiment which actualized this invention. The electric block diagram of a welding robot system. The flowchart of the program which an arc sensor and a robot control apparatus run similarly. The flowchart which the welding control part of 1st Embodiment, a motion control part, and a welding machine perform. The flowchart which the welding control part of 2nd Embodiment, a motion control part, and a welding machine perform. (A) is explanatory drawing of a weaving period, (b) is a time chart when the welding conditions 1 and the welding conditions 2 of a welding current (welding voltage) are performed by 1 pulse synchronization. (A) is explanatory drawing of a weaving period, (b) is a time chart when welding conditions 1 and 2 of welding current (welding voltage) are performed in two-pulse synchronization, (c) is welding current (welding) Voltage) is a time chart when welding conditions 1 and 2 are performed in synchronization with one pulse.

Explanation of symbols

10 ... Manipulator, 11 ... Welding torch, 23 ... RAM (storage means),
24 ... motion control unit (motion control means),
25 ... Welding control unit (welding control means),
33 ... Welding condition control unit (welding machine control means),
40 ... Teach pendant (designating means).

Claims (6)

In the arc welding welding method in which the welding condition change is synchronized with the weaving operation of the welding torch,
Arc welding welding method characterized in that adjustment time information of the welding condition change in a welding command is stored in a storage means at a ratio to a weaving cycle, and the welding condition is changed based on the stored adjustment time information . In the arc welding welding method in which the welding condition change is synchronized with the weaving operation of the welding torch,
Enter the adjustment time information of the welding condition change in the welding instruction by the designation means that specifies the ratio to the weaving cycle,
The adjustment time information of the welding condition change in the welding command designated by the designation means is stored in a storage means,
An arc welding welding method, wherein the control means changes the welding conditions based on the stored adjustment time information. In a robot controller that performs arc welding by synchronizing the welding condition change with the weaving operation of the welding torch,
Storage means for storing the adjustment time information of the welding condition change in the welding command as a ratio to the weaving cycle;
A control apparatus for a welding robot, comprising control means for changing the welding condition based on the stored adjustment time information. A specifying means for specifying the adjustment time information of the welding condition change in the welding command as a ratio to the weaving cycle,
The welding robot control device according to claim 3, wherein the storage unit stores adjustment time information designated by the designation unit. The control means includes
Welding control means for outputting welding conditions and the adjustment time information;
A motion control means for weaving the manipulator having the welding torch and outputting a weaving information and a synchronization timing arrival notification when the welding torch reaches the amplitude end of the weaving;
While inputting the welding condition and adjustment time information, and the weaving information and synchronization timing arrival notification, calculating the delay time from the amplitude end based on the adjustment time information and the weaving information, after the delay time has passed, The welding robot control device according to claim 3 or 4, further comprising a welding machine control means for changing a welding condition based on the welding condition. The control means includes
Welding control means for outputting welding conditions and the adjustment time information;
A motion that inputs the adjustment time information, causes the manipulator having the welding torch to perform a weaving operation, and outputs a synchronization timing arrival notification when the adjustment time elapses based on the adjustment time information from the amplitude end of the weaving torch. Control means;
4. A welding machine control means for inputting the welding condition and a synchronization timing arrival notification and changing a welding condition based on the welding condition when the synchronization timing arrival notification is input. Or the control apparatus of the welding robot of Claim 4.

Images