JP5133185B2 - Arc welding robot - Google Patents

Description

  The present invention relates to an arc welding robot apparatus that changes welding conditions into a slope shape.

  2. Description of the Related Art Conventionally, there has been known an arc welding robot apparatus that performs slope control for gradually increasing or decreasing welding conditions between two points taught in advance (between a start point and an end point) at the start or end of welding (for example, Patent Document 1). reference). Slope control here refers to control for increasing or decreasing the welding condition in a slope shape from a value determined at the start point to a value determined at the end point.

  In Patent Document 1, a start point for starting slope control and an end point for ending slope control are taught on one weld line, and while the welding torch moves from the start point to the end point, the start point condition value and end point determined at the start point are used. An arc welding method is disclosed in which welding conditions (a welding current value, a welding voltage value, and a welding speed) are changed into a slope shape based on a predetermined end point condition value. Hereinafter, the prior art described in Patent Document 1 will be described.

  FIG. 5 is a configuration diagram of a conventional arc welding robot apparatus 51.

  The manipulator M automatically performs arc welding on the workpiece W, and includes an upper arm 53, a lower arm 54, a wrist portion 55, and a plurality of servo motors (not shown) for rotationally driving them. It is configured.

  The welding torch T is attached to the distal end portion of the upper arm 53 of the manipulator M, and guides the welding wire 57 having a diameter of about 1 mm wound around the wire reel 56 to the weld line taught by the workpiece W. is there. The welding power source WP supplies a welding voltage between the welding torch T and the workpiece W.

  The conduit cable 52 includes a coil liner (not shown) for guiding the welding wire 57 therein, and is connected to the welding torch T. Further, the conduit cable 52 supplies the welding torch T with the electric power from the welding power source WP and the shielding gas from the gas cylinder 58.

  The teach pendant TP is used to set the welding conditions (welding current value, welding voltage value, welding speed) and the like necessary for performing the operation of the manipulator M and arc welding as teaching data. A display unit 41 to be displayed, a keyboard 42 for inputting teaching data, and the like are provided. Using this teach pendant TP, the operator creates a work program in which the welding conditions are set together with the operation of the manipulator M.

  The robot controller RC is for causing the manipulator M to control the welding operation, and includes a main control unit, an operation control unit, a servo driver (all not shown), and the like. Then, based on a work program taught by the operator using the teach pendant TP, an operation control signal is output from the servo driver to each servo motor of the manipulator M, and a plurality of axes of the manipulator M are rotated. Since the robot controller RC recognizes the current position based on an output from an encoder (not shown) provided in the servo motor of the manipulator M, the robot controller RC can control the tip position of the welding torch T.

  Next, teaching data and operation when slope control is performed will be described.

  FIG. 6 is a diagram for explaining a state in which the welding condition is slope-controlled based on the teaching data. FIG. 4A shows an example in which a start point and an end point for performing slope control after starting welding are taught. In FIG. 2A, a welding line Ws of a workpiece W is a work line formed by a welding start position As and a welding end position Ae. A starting point Ss for starting slope control and an end point Se for ending slope control are taught on the weld line Ws. The starting point Ss and the welding start position As are the same position. Hereinafter, a section from the start point Ss to the end point Se is referred to as a slope section, and a section from the end point Se to the welding end position Ae is referred to as a steady welding section.

  FIG. 5B shows the welding condition Wc taught at the welding start position As. The welding condition Wc is a condition for welding the welding line Ws. As shown in FIG. 5B, a parameter (slope function) for determining whether or not to perform slope control is set to be effective, and for example, as an initial condition value at the start point of the slope section, for example, initial welding current A value of 150 A, an initial welding voltage value of 17 V, and an initial welding speed of 55 cm / min are each taught. Further, as the end point condition value at the end point of the slope section (that is, the welding condition in the steady welding section after the end of the slope section), the steady welding current value 240A, the steady welding voltage value 19V, and the steady welding speed 60 cm / min are taught. ing.

  And (c) shows the change of the welding current value in the slope section, (d) shows the change of the welding voltage value in the slope section, (e) shows the change of the welding speed, respectively. Yes. In other words, the welding current value, the welding voltage value, and the welding speed are gradually increased by performing slope control in the slope section based on the teaching data shown in FIGS. Slope control of the welding current value, the welding voltage value, and the welding speed is performed as follows.

  The calculation of the welding current value and the welding voltage value in the slope section is obtained by a predetermined function using the movement distance from the starting point Ss as a variable. Specifically, while the welding torch T moves between the start point Ss and the end point Se, the difference obtained by subtracting the start point condition value at the start point Ss from the end point condition value at the end point Se to the start point condition value at the start point Ss is referred to as the start point. The robot controller RC performs an operation of adding and adding an integral multiple of the value obtained by dividing the movement command between the end points by the interpolation number for each interpolation cycle of the integral multiple, and outputting the welding power source WP for each interpolation cycle. The current value and welding voltage value are changed to a slope.

  Moreover, the calculation of the welding speed in a slope area is performed as follows. While the welding speed at the start point Ss is an initial value of the current speed, while the welding torch T moves between the start point Ss and the end point Se, (1) each distance of the robot from the current position to the end point Se and the current speed for each interpolation cycle The movement command amount to be output to the axis is obtained, the total number of interpolations is obtained, the movement command amount to each axis is outputted for each interpolation cycle, the robot is driven, and (2) the end point Se is welded every set number of interpolations. A value obtained by multiplying the difference obtained by subtracting the current speed from the speed by the total number of interpolations and the set number of interpolations is added to the current speed, and the current speed is updated. (3) (1), By repeatedly executing the step (2), the stepwise welding speed at the end point Se is calculated from the welding speed at the start point Ss by the robot controller RC, and the calculation result is output to the servo motor of the manipulator M at every interpolation period. , Melt It has changed the speed on a slope shape.

  As described above, in the prior art, the slope control of the welding current value and the welding voltage value and the slope control of the welding speed are started simultaneously from the start point Ss and are simultaneously ended at the end point Se.

Japanese Patent Laid-Open No. 10-6005

  Depending on the combination of the welding current value, welding voltage value, and welding speed in the slope section, a taper (spreading) weld bead may be formed due to insufficient heat input to the workpiece for a while immediately after the start of welding. There is. In addition, immediately after the start of welding, heat is excessively applied to the workpiece and the weld bead is constricted, and a welding defect generally referred to as undercut may occur.

  In general, in order to solve the above-described tapered bead, undercut, etc., it is necessary to optimize the combination of the welding current value, the welding voltage value and the welding speed in the slope section through trial and error. Since it is difficult to optimize, it is conceivable to adjust the timing of slope control. For example, in the case of a tapered bead, after starting the slope control by increasing the welding current value and the welding voltage value, the slope control of the welding current value and the welding voltage value is finished, and the welding current value and the welding voltage value are kept constant. In some cases, the problem can be solved by ending the slope control of the welding speed for a while and then ending. In the case of undercut, the slope control is started with the welding current value and the welding voltage value increased and the welding speed lowered, and then the slope control of the welding current value and the welding voltage value is terminated and welding is performed. In some cases, the current value and the welding voltage value are kept constant, and the slope control of the welding speed is continued for a while and then terminated.

  That is, in the above-described conventional technology, the slope control of the welding current value and the welding voltage value and the slope control of the welding speed are started at the same time and ended at the same time, and each slope control is performed independently. Therefore, there was a problem that the intended welding result could not be obtained.

  Accordingly, the present invention provides an arc welding robot apparatus capable of individually setting a slope section for performing slope control of the welding current value and the welding voltage value and a slope section for performing slope control of the welding speed. The purpose is to do.

In order to achieve the above object, the first invention provides:
While the welding torch moves on the weld line between the predetermined start point and end point, the welding current value, welding voltage value and welding speed are changed from the start point condition value determined at the start point to the end point determined at the end point. In the arc welding robot device that changes the slope to the condition value,
The start point of the first section for changing the welding current value and the welding voltage value is the same as the start point of the second section for changing the welding speed, and the end point of the first section and the second section Setting means for setting the end point of to a different position;
Welding condition control means for changing the welding current value and the welding voltage value in a slope form from the start condition value to the end condition value in the first section;
Welding speed control means for changing the welding speed in a slope shape from the start point condition value to the end point condition value in the second section;
An arc welding robot apparatus comprising:

  In a second aspect of the invention, the start point is a welding start position, and the end point is a position on the weld line specified by a separation distance from the welding start position in the welding progress direction. The arc welding robot apparatus according to the above.

  A third aspect of the invention is the arc welding robot apparatus according to the second aspect, wherein the end point is a position specified by a moving time of the welding torch instead of the separation distance.

The fourth invention is:
While the welding torch moves on the weld line between the predetermined start point and end point, the welding current value, welding voltage value and welding speed are changed from the start point condition value determined at the start point to the end point determined at the end point. In the arc welding robot device that changes the slope to the condition value,
The end point of the first section for changing the welding current value and the welding voltage value is the same as the end point of the second section for changing the welding speed, and the start point of the first section and the second section A setting means for setting the start point of to a different position;
Welding condition control means for changing the welding current value and the welding voltage value in a slope form from the start condition value to the end condition value in the first section;
Welding speed control means for changing the welding speed in a slope shape from the starting point condition value to 0 in the second section;
An arc welding robot apparatus comprising:

  In a fifth aspect of the present invention, the end point is a welding end position, and the start point is a position on the weld line specified by a separation distance from the welding end position in a direction opposite to the welding progress direction. An arc welding robot apparatus according to a fourth invention.

  A sixth invention is the arc welding robot apparatus according to the fifth invention, wherein the end point is a position specified by a moving time of the welding torch instead of the separation distance.

  According to the first aspect of the present invention, the condition slope section which is the first section for performing the slope control of the welding current value and the welding voltage value at the start of welding or when the welding condition is changed, and the slope control of the welding speed are performed. The speed slope section, which is the second section, can be set individually. As a result, the timing of the condition slope and the speed slope can be shifted, so that the welding execution result as intended by the operator can be obtained.

  According to the second invention, the start point of the slope section is set as the welding start position, and the end point of the slope section is set by the separation distance from the welding start position, so that the robot is set when setting the end point of the slope section. There is no need to move it manually. That is, in addition to the effect produced by the first invention, the teaching man-hour can be reduced.

  According to the third invention, the end point of the slope section can be specified by the moving time of the welding torch instead of being specified by the separation distance from the welding start position or the welding condition change position. Can provide a flexible teaching method according to the user's needs.

  According to the fourth invention, even at the end of welding, the condition slope section which is the first section for performing the slope control of the welding current value and the welding voltage value, and the second for performing the slope control of the welding speed. The speed slope section, which is the section, can be set individually. As a result, the timing of the condition slope and the speed slope can be shifted, so that the welding execution result as intended by the operator can be obtained.

  According to the fifth aspect of the invention, when slope control is performed from before the welding end position at the end of welding, the end point of the slope section is set as the welding end position, and the starting point of the slope section is changed from the welding end position to the direction opposite to the welding progress direction. Since the setting is made according to the separation distance, it is not necessary to manually move the robot when setting the start point of the slope section. That is, in addition to the effect produced by the fourth invention, the teaching man-hour can be reduced.

  According to the sixth invention, when slope control is performed near the welding end position at the end of welding, the start point of the slope section can be specified by the moving time of the welding torch instead of specifying the distance from the welding end position. By doing so, in addition to the effects of the fifth invention, a flexible teaching method according to user needs can be provided.

[Embodiment 1]
DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described based on examples with reference to the drawings.

  FIG. 1 is a block diagram of an arc welding robot apparatus 1 showing an embodiment of the present invention. In the figure, the difference from FIG. 5 shown as the prior art is the robot controller RC and the teach pendant TP. Hereinafter, the robot controller RC and the teach pendant TP will be described. The other parts are the same as those shown in FIG.

  Each part of the robot controller RC will be described. The CPU 6 is a central processing unit, the RAM 5 is a temporary calculation area, and the hard disk 4 is a non-volatile memory for storing position data as the teaching data Td, welding conditions, and the like.

  The main control unit 3 is a control center of the robot controller RC, and includes a teaching processing unit 20, a display processing unit 21, and an interpretation execution unit 22. The teaching processing unit 20 stores the teaching data Td input from the teach pendant TP in the hard disk 4. The display processing unit 21 displays the teaching data Td, various messages, and the like on the teach pendant TP as necessary. The interpretation execution unit 22 interprets the teaching data Td and outputs various control signals to the welding condition control unit 13 and the operation control unit 11.

  The welding condition control unit 13 drives the welding power source WP by outputting a welding current control signal and a welding voltage control signal to the welding power source WP at a predetermined cycle.

  The operation control unit 11 outputs a position command signal for moving the manipulator M based on the teaching data Td to the drive command unit 12. The drive command unit 12 outputs a servo control signal for controlling the rotation of each servo motor of the manipulator M based on the position command signal, drives each axis of the manipulator M, and moves the control point of the welding torch T.

  The teach pendant TP is for setting the welding conditions (welding current value, welding voltage value, welding speed) and the like necessary for performing the operation of the manipulator M and arc welding as teaching data. Is a starting point of a first section (hereinafter referred to as a conditional slope section) for changing the welding current value and welding voltage value and a starting point of a second section (hereinafter referred to as a speed slope section) for changing the welding speed. This is equivalent to setting means for setting the end point of the conditional slope section and the end point of the speed slope section to different positions.

  Further, the above-described welding condition control unit 13 changes the welding current value and the welding voltage value in a slope shape from the condition set value at the start point to the condition set value at the end point when the condition slope section is set. It corresponds to. The operation control unit 11 described above corresponds to a welding speed control unit that changes the welding speed in a slope shape from the welding speed set value at the start point to the welding speed set value at the end point when the speed slope section is set.

  Next, teaching data and operation when slope control is performed will be described.

  FIG. 2 is a diagram for explaining a state in which the welding conditions are slope-controlled at the start of welding based on the teaching data.

  FIG. 5A shows a state in which a start point and an end point for performing slope control after the start of welding are set. In FIG. 2A, a welding line Ws of a workpiece W is a work line formed by a welding start position As and a welding end position Ae. The start point Ss is a position where slope control is started, and is the same position as the welding start position As. Moreover, the end point which complete | finishes slope control can be set to two types by the method mentioned later. That is, it is possible to set an end point Swe for ending the condition slope for changing the welding current value and the welding voltage value to a slope shape, and an end point Sse for ending the speed slope for changing the welding speed to the slope shape.

  FIG. 5B shows the welding condition Wc1 set at the welding start position As. The welding condition Wc1 is a condition for welding the welding line Ws. As shown in FIG. 5B, a parameter (condition slope) for determining whether or not to perform slope control of the welding current value and the welding voltage value is set effectively. A parameter (condition slope distance) for determining the position of the end point Swe is set to 30 mm. In this case, the end point Swe is automatically determined at a position on the weld line Ws that is separated from the welding start position As (start point Ss) by 30 mm in the welding progress direction. Further, an initial welding current value 150A and an initial welding voltage value 17V are set as the starting point condition values at the starting point of the condition slope section. Further, a steady welding current value 240A and a steady welding voltage value 19V are set as end point condition values at the end point of the conditional slope section (that is, welding conditions in the steady welding section after the conditional slope section ends).

  In FIG. 5B, a parameter (speed slope) for determining whether or not to perform slope control of the welding speed is set to be effective. A parameter (speed slope distance) for determining the position of the end point Sse is set to 15 mm. In this case, the end point Sse is automatically determined at a position on the weld line Ws that is 15 mm away from the welding start position As (start point Ss) in the welding progress direction. Further, an initial welding speed of 55 cm / min is set as a starting point condition value in the speed slope section. Further, a steady welding speed of 60 cm / min is set as the end point condition value at the end point of the speed slope section (that is, the welding speed in the steady welding section after the end of the speed slope section).

  (C) to (e) in FIG. 5 show the state when conditional slope control and velocity slope control are performed based on the teaching data shown in (a) and (b) of FIG. FIG. 4C shows the change in the welding current value in the condition slope section, FIG. 4D shows the change in the welding voltage value in the condition slope section, and FIG. 5E shows the welding speed in the speed slope section. Each change is shown. As clearly shown in FIGS. 3C to 3E, the condition slope and the velocity slope can be ended at different timings at the start of welding.

  In this embodiment, both the welding current and the welding current are slope-controlled in the conditional slope section, but either one may be the target of slope control. In addition, the end point Sse is set as the separation distance from the welding start position As. Instead, the moving time of the welding torch T is set, and the position calculated based on this moving time is set as the end point. Sse may be used.

  As described above, the condition slope section for performing the slope control of the welding current and the welding voltage and the speed slope section for performing the slope control of the welding speed can be individually set. As a result, the start timing of the conditional slope and the velocity slope can be shifted, so that the welding execution result as intended by the operator can be obtained.

  Also, since the start point of the slope section is set as the welding start position and the end point of the slope section is set according to the separation distance from the welding start position, it is necessary to manually move the robot when setting the end point of the slope section. There is no. That is, in addition to the effects described above, the teaching man-hour can be reduced.

  In addition to specifying the end point of the slope section by the moving time of the welding torch instead of specifying the separation distance from the welding start position, in addition to the above effects, a flexible teaching method according to user needs Can be provided.

[Embodiment 2]
Next, a second embodiment of the present invention will be described. In the first embodiment, the slope control is performed at the start of welding, but in the second embodiment, the slope control is performed when the welding condition is changed.

  FIG. 3 is a diagram for explaining a state in which the welding condition is slope-controlled when the welding condition is changed based on the teaching data.

  FIG. 5A shows a state in which a start point and an end point for performing slope control are set when the welding conditions are changed. In FIG. 6A, a welding line Ws of a workpiece W is a work line formed by a welding start position As and a welding end position Ae, and a welding condition change position As2 is taught in the middle thereof. The start point Ss is a position where slope control is started when the welding condition is changed, and is the same position as the welding condition change position As2. In addition, two types of end points for ending the slope control can be set as in the first embodiment. That is, it is possible to set an end point Swe for ending the condition slope for changing the welding current value and the welding voltage value to a slope shape, and an end point Sse for ending the speed slope for changing the welding speed to the slope shape.

  FIG. 5B shows the welding condition Wc2 set at the welding condition change position As2. The welding condition Wc2 is a condition for welding the section after the welding condition change position As2 in the welding line Ws. As shown in FIG. 5B, a parameter (condition slope) for determining whether or not to perform slope control of the welding current value and the welding voltage value is set effectively. Further, a parameter (condition slope distance) for determining the position of the end point Swe is set to 20 mm. In this case, the end point Swe is automatically determined at a position on the weld line Ws that is 20 mm away from the welding condition change position As2 (start point Ss) in the welding progress direction.

  When performing conditional slope when changing welding conditions, the current value is used as it is as the starting condition value (initial welding current value and initial welding voltage value) in the conditional slope section. The current value is a steady welding current value and a steady welding voltage value set at the welding start position As. That is, when the welding condition is changed, the current welding current value and the welding voltage value are changed in a slope shape to the steady welding current value and the steady welding voltage value set at the welding condition changing position As2. As an end point condition value at the end point of the condition slope section, a steady welding current value 250A and a steady welding voltage value 24V are set.

  In FIG. 5B, a parameter (speed slope) for determining whether or not to perform slope control of the welding speed is set to be effective. Further, a parameter (speed slope distance) for determining the position of the end point Sse is set to 25 mm. In this case, the end point Sse is automatically determined at a position on the weld line Ws that is separated from the welding condition change position As2 (start point Ss) by 25 mm in the welding progress direction. When speed slope is performed when changing welding conditions, the current value is used as it is as the starting point condition value (initial welding speed) in the speed slope section. The current value is a steady welding speed set at the welding start position As. That is, when the welding condition is changed, the current welding speed is changed in a slope shape to the steady welding speed set at the welding condition changing position As2. The steady welding speed is set to 65 cm / min.

  (C) to (e) in FIG. 5 show the state when conditional slope control and velocity slope control are performed based on the teaching contents shown in FIGS. FIG. 4C shows the change in the welding current value in the condition slope section, FIG. 4D shows the change in the welding voltage value in the condition slope section, and FIG. 5E shows the welding speed in the speed slope section. Each change is shown. As can be clearly seen from FIGS. 3C to 3E, the condition slope and the speed slope can be ended at different timings even when the welding conditions are changed.

  In this embodiment, both the welding current and the welding current are slope-controlled in the conditional slope section, but either one may be the target of slope control. Further, although the end point Sse is set as a separation distance, the moving time of the welding torch T may be set instead, and the position calculated based on this moving time may be set as the end point Sse.

  As described above, even when the welding conditions are changed, the condition slope section for performing the slope control of the welding current value and the welding voltage value and the speed slope section for performing the slope control of the welding speed are individually set. To be able to. As a result, the end timing of the condition slope and the speed slope can be shifted, so that the welding result as intended by the operator can be obtained.

  In addition, the start point of the slope section is set as the welding condition change position, and the end point of the slope section is set according to the separation distance from the welding condition change position, so that the robot is moved manually when setting the end point of the slope section. There is no need to let them. That is, in addition to the above effects, the teaching man-hour can be reduced.

  In addition to specifying the end point of the slope section with the welding torch movement time instead of specifying the separation distance from the welding condition change position, in addition to the above effects, flexible teaching according to user needs A method can be provided.

[Embodiment 3]
Next, a third embodiment of the present invention will be described. In the first embodiment, the slope control is performed at the start of welding, and in the second embodiment, the slope control is performed when the welding condition is changed. In the third embodiment, the slope control is performed at the end of welding.

  FIG. 4 is a diagram for explaining how the welding conditions are slope-controlled at the end of welding based on the teaching data.

  FIG. 5A shows a state in which a start point and an end point for performing slope control are set from before the welding end position. In FIG. 2A, a welding line Ws of a workpiece W is a work line formed by a welding start position As and a welding end position Ae. The end point Se is a position where the slope control is ended, and is the same position as the welding end position Ae. Two types of starting points for starting slope control can be set. That is, it is possible to set the start point Sws for starting the slope control of the welding current value and the welding voltage value and the start point Sss for starting the slope control of the welding speed.

  FIG. 2B shows the welding end condition We set at the welding end position Ae. The welding end condition We is a condition for performing crater processing at the welding end position Ae (end point Se). As shown in FIG. 5B, a parameter (condition slope) for determining whether or not to perform slope control of the welding current value and the welding voltage value is set effectively. Further, a parameter (conditional slope distance) for determining the position of the start point Sws is set to 15 mm. In this case, the end point Swe is automatically determined at a position on the weld line Ws that is separated from the welding end position Ae (end point Se) by 15 mm in the direction opposite to the welding progress direction.

  When performing conditional slope at the end of welding, the current value is used as it is as the starting condition value (initial welding current value and initial welding voltage value) in the conditional slope section. The current value is a steady welding current value and a steady welding voltage value set at the welding start position As. That is, at the end of welding, the current welding current value and welding voltage value are changed in a slope shape to the crater current value and crater voltage value set at the welding end position Ae. 140A and 16V are set as the crater current value and the crater voltage value, respectively.

  In FIG. 5B, a parameter (speed slope) for determining whether or not to perform slope control of the welding speed is set to be effective. Further, a parameter (speed slope distance) for determining the position of the start point Sss is set to 30 mm. In this case, the start point Sss is automatically determined at a position on the weld line Ws that is separated from the welding end position Ae (end point Se) by 30 mm in the direction opposite to the welding progress direction. When performing speed slope at the end of welding, the current value is used as it is as the starting point condition value (initial welding speed) in the speed slope section. The current value is a steady welding speed set at the welding start position As. That is, at the end of welding, the current welding speed is changed to a slope shape from 0 and stopped at the welding end position Ae (end point Se).

  (C) to (e) in FIG. 5 show the state when conditional slope control and velocity slope control are performed based on the teaching contents shown in FIGS. FIG. 4C shows the change in the welding current value in the condition slope section, FIG. 4D shows the change in the welding voltage value in the condition slope section, and FIG. 5E shows the welding speed in the speed slope section. Each change is shown. As can be clearly seen in FIGS. 3C to 3E, the condition slope and the speed slope can be started at different timings at the end of welding.

  In this embodiment, both the welding current and the welding current are slope-controlled in the conditional slope section, but either one may be the target of slope control. In addition, the starting point Sss is set as the separation distance from the welding end position Ae. However, instead of setting the starting point Sss as the separation distance, the movement time of the welding torch T is set and calculated based on this movement time. The position may be the start point Sss.

  As described above, the condition slope section for performing the slope control of the welding current and / or the welding voltage and the speed slope section for performing the slope control of the welding speed can be individually set even at the end of the welding. I can do it. As a result, the start timing of the conditional slope and the velocity slope can be shifted, so that the welding execution result as intended by the operator can be obtained.

  In addition, when performing slope control from before the welding end position at the end of welding, the end point of the slope section is set as the welding end position, and the start point of the slope section is set by the separation distance from the welding end position. There is no need to manually move the robot when setting the start point. That is, in addition to the above effects, the teaching man-hour can be reduced.

  In addition to specifying the start point of the slope section by the moving time of the welding torch instead of specifying it by the separation distance from the welding end position, in addition to the above effects, a flexible teaching method according to user needs Can be provided.

1 is a block diagram of an arc welding robot apparatus showing an embodiment of the present invention. It is a figure for demonstrating a mode that the welding conditions are slope-controlled at the time of a welding start based on teaching data. It is a figure for demonstrating a mode that a welding condition is slope-controlled at the time of a welding condition change based on teaching data. It is a figure for demonstrating a mode that welding conditions are slope-controlled at the time of completion | finish of welding based on teaching data. It is a figure for demonstrating the conventional slope control. It is a block diagram of the conventional arc welding robot apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Arc welding robot apparatus 3 Main control part 4 Hard disk 11 Operation control part 12 Drive command part 13 Welding condition control part 20 Teaching process part 21 Display process part 22 Interpretation execution part 41 Display part 42 Keyboard 51 Arc welding robot apparatus 52 Conduit cable 53 Upper arm 54 Lower arm 55 Wrist part 56 Wire reel 57 Welding wire 58 Gas cylinder As Welding start position As2 Welding condition change position M Manipulator RC Robot controller Se End point Ss Start point Sse End point Sss Start point Swe End point Sws Start point T Welding torch Td Teaching data TP Teach pendant W Workpiece Wc Welding condition Wc1 Welding condition Wc2 Welding condition We Welding end condition WP Welding power supply Ws Welding line

Claims (6)

While the welding torch moves on the weld line between the predetermined start point and end point, the welding current value, welding voltage value and welding speed are changed from the start point condition value determined at the start point to the end point determined at the end point. In the arc welding robot device that changes the slope to the condition value,
The start point of the first section for changing the welding current value and the welding voltage value is the same as the start point of the second section for changing the welding speed, and the end point of the first section and the second section Setting means for setting the end point of to a different position;
Welding condition control means for changing the welding current value and the welding voltage value in a slope form from the start condition value to the end condition value in the first section;
Welding speed control means for changing the welding speed in a slope shape from the start point condition value to the end point condition value in the second section;
An arc welding robot apparatus comprising:   The arc welding robot apparatus according to claim 1, wherein the start point is a welding start position, and the end point is a position on the weld line specified by a separation distance from the welding start position in a welding progress direction.   The arc welding robot apparatus according to claim 2, wherein the end point is a position specified by a moving time of the welding torch instead of the separation distance. While the welding torch moves on the weld line between the predetermined start point and end point, the welding current value, welding voltage value and welding speed are changed from the start point condition value determined at the start point to the end point determined at the end point. In the arc welding robot device that changes the slope to the condition value,
The end point of the first section for changing the welding current value and the welding voltage value is the same as the end point of the second section for changing the welding speed, and the start point of the first section and the second section A setting means for setting the start point of to a different position;
Welding condition control means for changing the welding current value and the welding voltage value in a slope form from the start condition value to the end condition value in the first section;
Welding speed control means for changing the welding speed in a slope shape from the starting point condition value to 0 in the second section;
An arc welding robot apparatus comprising:   5. The arc according to claim 4, wherein the end point is a welding end position, and the start point is a position on the weld line specified by a separation distance from the welding end position in a direction opposite to the welding progress direction. Welding robot device.   6. The arc welding robot apparatus according to claim 5, wherein the end point is a position specified by a moving time of the welding torch instead of the separation distance.

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