JP5948521B1 - Welding system - Google Patents

Abstract

When a driving body that moves a welding torch according to a control signal is added to an existing welding apparatus, a welding system capable of supplying driving power and a control signal to the driving body without additionally providing an operation cable. Get. A welding system forms a pair with a driving body having a gripping portion for gripping a welding torch, a driving device for driving a tip portion of the welding torch, and a ground wire connected to a member to be welded. A welding power source that supplies welding power for generating arc discharge to the welding torch via a welding power line, a wire feeding device that feeds a welding wire to the tip of the welding torch, and a power line to the drive body A control device that controls the drive device by transmitting and receiving a control signal to and from the drive body via the power line, the wire feeding device, and the welding torch. A conduit cable for connecting and receiving the welding wire, the conduit cable configured to receive the power line and the welding power line while maintaining insulation from each other. And which is characterized in that. [Selection] Figure 2

Description

  The present disclosure relates to a welding system that includes a control mechanism for controlling a welding operation by a welding apparatus and that automates at least a portion of the welding operation.

  A conventional welding apparatus includes a welding power source, a wire feeding device, a hand adjustment box, a shield gas cylinder, and a welding torch. In the welding device, in order to supply welding power from the welding power source to the welding torch, a welding power line from the welding power source to the welding torch via the wire feeding device is provided, and the base material to be welded and the welding power source are provided. Are connected by a ground wire. Furthermore, in order to control the wire feeding operation from the welding power source, the welding power source and the wire feeding device are also connected by a wire feeding control cable. A remote controller that the welding operator holds and operates is connected to a welding power source or a wire feeding device by a remote control cable, and transmits a welding voltage and welding current to be set to the welding power source as welding parameters. The welding power source outputs voltage and current to the welding power line so that the set welding voltage and welding current are realized in the welding torch.

  The welding torch is used by a worker who performs welding. The welding power source can be switched on and off by the welding operator operating the switch of the welding torch. When the welding operator turns on the welding power source by operating the switch on the welding torch, an arc is generated between the welding wire protruding from the tip of the welding torch and the base material, and the tip of the welding wire is melted by the arc to form the base material. Transition to weld metal. The welding wire is fed at a speed corresponding to the welding speed by a wire feeding device.

  Patent Document 1 and Patent Document 2 below superimpose a communication signal transmitted from a wire feeding device to a welding power source on a welding power cable in order to reduce the number of cables connecting between devices in the above-described welding system. Thus, a technique for transmitting by PLC communication is disclosed. Specifically, in the welding systems described in Patent Literature 1 and Patent Literature 2, when the operator operates the remote controller to set the welding parameters in the welding power source, the welding power source is connected from the wire feeder connected to the remote controller and the cable. A communication signal indicating a welding parameter is superimposed on the welding power cable and transmitted. As a result, in the welding systems disclosed in Patent Document 1 and Patent Document 2, it is not necessary to provide a communication cable for transmitting welding parameters from the wire feeding device to the welding power source separately from the welding power cable. No need to bother moving and working when using the extra cable.

JP 2013-184184 A JP 2014-057260 A

  However, the welding systems described in Patent Document 1 and Patent Document 2 do not take into account the problems in automating the welding work, instead of the welding worker holding the welding torch in his hand. Specifically, a drive body for moving the welding torch in the welding work environment is provided, and a mechanism for automating the welding work by controlling the drive body in accordance with an external control signal is added to the welding apparatus in use. The problem is not considered.

  For example, when a driving body for moving a welding torch is provided in a work environment, a power line for supplying driving power for driving the driving body is newly required, but the welding power cable also serves as the power line. It is difficult. This is because when the current and voltage for driving the driving body are significantly different from the current and voltage for generating the welding arc, the driving body and the welding torch cannot use the same power source. Furthermore, when the drive body and the welding torch are connected to the same power source via the same welding power cable, the following problem also occurs. That is, if the impedance characteristics are different between the driving body and the welding torch, impedance matching is performed while maintaining the voltage and current supplied from the power source at appropriate levels in the respective internal circuits of the driving body and the welding torch. It is also difficult to take.

  Further, in the welding systems described in Patent Document 1 and Patent Document 2, when a communication signal is transmitted from the wire feeder connected to the remote control and the cable to the welding power source by PLC communication technology, the communication signal is transmitted to the welding power cable. To be transmitted in a superimposed manner. Furthermore, the welding systems described in Patent Document 1 and Patent Document 2 use the ground voltage as a common ground potential between the wire feeder and the welding power source when transmitting the communication signal superimposed on the welding power cable. ing. By the way, in a general welding work environment, there are many processing machines and electrical equipments that use a ground voltage as a common ground potential. Therefore, when the communication signal transmission by the above-described PLC communication is performed using the potential difference between the welding power cable and the ground voltage in the welding work environment, the following problem occurs. That is, electrical noise from other processing machines and electrical equipment sharing the ground potential electrically interferes with the communication signal being transmitted on the welding power cable and destabilizes the communication quality. May not be received correctly on the receiving side. Therefore, in order to stabilize the communication quality of the control signal between the control device and the drive body, the wiring for communicating the control signal between the control device and the drive body by PLC communication uses the ground voltage. However, it is necessary to use wiring provided separately from the welding power cable.

  From the above, it is considered that the driving body provided for moving the welding torch in the welding work environment can be realized as a welding robot or a welding work automation machine in the welding system. In that case, a dedicated power source according to the voltage level and current level to be supplied to the driving body described above is provided separately from the welding power source, and a cable for supplying driving power from the dedicated power source to the driving body is also a welding power cable. Must be provided separately. For the above reason, a cable different from the welding power cable should be used to transmit a control signal for controlling the driving body from the outside to the driving body. Therefore, an operation cable for connecting the dedicated power source and the driving body is provided, and a control signal for controlling the driving body from the outside is superimposed and transmitted to the driving power for driving the driving body via the operation cable. Such a connection form can be assumed.

  However, when the driving body is carried in and installed at a place where welding work is to be performed, it takes time to run an operation cable to be connected to the driving body, which deteriorates workability. In addition, the operation cable may get in the way when the driver is carried in and installed in a narrow place. Further, if the power source or the control device to be connected to the drive body via the operation cable is far from the drive body, the operation cable is not only longer, but also the cable weight is increased. Therefore, in that case, the operation of carrying in and carrying out the operation cable is also a heavy work. In addition, when the driving body is a type that travels during welding work and moves to a plurality of different welding locations, the driving body drags a heavy operation cable, and a load is applied to the driving body. Interferes with the operation. Further, when the operation cable is dragged, there is a risk that the covering material covering the surface of the operation cable is damaged and the operation cable is broken.

  Therefore, in some embodiments according to the present invention, when a driving body that moves a welding torch in accordance with a control signal is added to an existing welding apparatus in order to automate a welding operation, the operation cable is not additionally provided. An object of the present invention is to obtain a welding system capable of supplying drive power and a control signal to the drive body.

(1) A welding system according to some embodiments of the present invention includes a welding body, a driving body having a welding torch, a gripping part for gripping the welding torch, and a driving device for driving a tip part of the welding torch. ,
A welding power source that supplies welding power for generating arc discharge to the welding torch via a welding power line paired with a ground line connected to a member to be welded;
A wire feeding device for feeding a welding wire to the tip of the welding torch;
A control device that controls the drive device by supplying drive power to the drive body via a power line and transmitting / receiving a control signal to / from the drive body via the power line;
A conduit cable for connecting the wire feeding device and the welding torch and accommodating the welding wire;
The conduit cable is configured to accommodate the power line and the welding power line while maintaining insulation from each other.

  In the configuration of (1) above, when a welding work automation mechanism including a control device and a driving body is used in combination with a welding device including a welding torch, a wire feeding device, a conduit cable and a welding power source, The inter-device connection method is adopted. That is, in the configuration of (1) above, the power line for transmitting the driving power and the control signal between the control device and the driving body is not routed as a separate cable from the welding power line, but the power line and the welding power line. Both are housed in a conduit cable and bundled as a single cable. As a result, in the extension section of the conduit cable that connects the wire feeder and the welding torch, control is performed while supplying welding power to the welding torch without the need to provide an additional operation cable separately from the conduit cable. It becomes possible to transmit drive power and a control signal between the apparatus and the drive body.

  In particular, in the configuration of (1), the following technical advantages can be obtained if a welding work automation mechanism for moving a welding torch according to a control signal is added to an existing welding apparatus in order to automate the welding work. . That is, according to the configuration of the above (1), it is possible to supply drive power and control signals to the drive body without providing an additional operation cable other than the conduit cable in the extending section of the conduit cable. A welding system can be obtained.

(2) In an exemplary embodiment, in the configuration of (1), the power line is a lead wire that connects the welding power source to the welding torch via the wire feeding device. A line branched to the control device side in the vicinity of the power source, and further branched to the driver side in the vicinity of the welding torch;
Of the lead wire, a section from the wire feeding device to the welding torch is accommodated in the conduit cable while maintaining mutual insulation with the welding power line.
It is characterized by that.

According to the configuration of (2) above, it is possible to supply drive power to the drive body via the lead wire and to transmit / receive control signals between the control device and the drive body.
In particular, in a welding apparatus that does not have a welding work automation mechanism including a control device and a drive body, power is supplied from the welding power source to the welding torch in order to electrically switch the welding power source on and off on the welding torch side. Lead wires are provided. That is, the above-described lead wire is provided as an existing power line in a welding apparatus including a welding torch, a wire feeding device, a conduit cable, and a welding power source, and the welding apparatus is not combined with a control device and a driving body. Even in the case of use, it is necessary to provide the lead wire.

  Therefore, in the configuration of (2) above, a welding torch is connected from the welding power source via the wire feeder to form a power line for transmitting drive power and a control signal between the control device and the drive body. A part of the lead wire that connects to the power line also serves as a power line. Specifically, in the configuration (2), the lead wire connecting the welding power source to the welding torch via the wire feeding device is used in order to configure a power line that connects the control device and the driving body. A line is formed that is branched to the control device side in the vicinity of the welding power source and further branched to the driver side in the vicinity of the welding torch. Therefore, in the configuration of (2), the following technical advantages can be obtained if a welding work automation mechanism for moving the welding torch according to the control signal is added to an existing welding apparatus in order to automate the welding work. . That is, most of the power lines for transmitting drive power and control signals between the control device and the drive body when the welding work automation mechanism including the control device and the drive body is used in combination with the welding device. Can be integrated with the lead wire already installed in the welding apparatus.

  As a result, according to the configuration of the above (2), the following technical advantages can be obtained when a welding work automation mechanism for moving the welding torch according to the control signal is added to the existing welding apparatus in order to automate the welding work. . That is, according to the configuration of (2) above, in the section from the welding power source to the wire feeding device, the driving power is supplied to the driving body without providing an additional cable separately from the lead wire that is an existing power line. A welding system capable of supplying a control signal can be obtained. Therefore, according to the configuration of (2) above, not only in the conduit cable extension section, but also in the section from the welding power source to the wire feeder, no additional cable is provided separately from the existing wiring. A welding system capable of supplying drive power and control signals to the drive body can be obtained.

  As described above, according to the configuration (2), it is possible to supply drive power and control signals to the drive body without providing an additional cable separately from the existing wiring between the control device and the drive body. As a result, the following problems are solved. When carrying the drive body to the place where welding work is to be performed and installing it, an operation cable must be connected to the drive body separately from the conduit cable, and it takes time to run the operation cable. The problem of deteriorating workability can be solved. Further, when the drive body is carried in and installed in a narrow place, the problem that such an additional operation cable becomes an obstacle can be solved. In addition, when the power supply or device to be connected to the drive body via the operation cable is far away from the drive body, the operation cable becomes long and heavy so that the operation cable loading and unloading work is also a heavy work The problem of becoming can be solved. In addition, when the drive body is a type that travels during welding work and moves to a plurality of different welding locations, the problem that the load due to dragging heavy operation cables is applied to the drive body and obstructs the operation of the drive body is also solved. Is done. In addition, the problem that the operation cable is dragged while the driving body is running, the covering material covering the surface of the operation cable is damaged, and there is a risk that the operation cable is broken.

(3) In an exemplary embodiment, in the above configuration (1) or (2), the cross-sectional structure of the conduit cable is:
A central portion of the cross section where the welding wire is disposed;
A cross-sectional outer periphery on which a conductor layer surrounding the welding wire is disposed, and in the conduit cable,
The welding power line is composed of the conductor layer,
The power line is embedded in the conductor layer while maintaining an insulation state with the conductor layer.

  In a welding apparatus including a welding torch, a wire feeding device, a conduit cable, and a welding power source, a shielding gas such as carbon dioxide gas is sent from a gas cylinder to a wire feeding device via a gas hose. In the welding apparatus, the welding wire and the shield gas are fed to the welding torch through the inside of the conduit cable connecting the wire feeding device and the welding torch. At that time, a passage for feeding the welding wire and the shielding gas is provided inside the conduit cable connecting the wire feeding device and the welding torch.

  When the welding power source is turned on by operating the welding torch switch, an arc is generated between the welding wire protruding from the tip of the welding torch and the base metal, and the tip of the welding wire is melted by the arc and transferred to the base material. Become a metal. The welding wire is fed by a wire feeder through the conduit cable at a speed corresponding to the welding speed. When arc discharge occurs between the tip of the welding torch and the base metal, shield gas is supplied around the arc through the gas flow path in the conduit cable to prevent oxidation of the weld. Yes.

  As described above, in the conduit cable, it is necessary to secure a shield gas flow path and accommodate both the welding power line and the power line in an insulated state. In the conduit cable, the power line should be made of a conductor wire that is thinner than the welding power line. This is because, as described in (2) above, the power line also serves as a lead line for electrically switching the welding power source on and off on the welding torch, and at the same time, using a branch box etc. This is because it is inconvenient to handle with a thick conductor wire. Therefore, in the configuration of (3) above, by setting the cross-sectional structure of the conduit cable as described above, a shield gas flow path is secured in the conduit cable, and both the welding power line and the power line are connected. It becomes possible to accommodate it in a compact manner while being insulated from each other. In the configuration of (3), the cross-sectional structure of the conduit cable is as described above, so that the power line can be configured as a line thinner than the welding power line in the conduit cable.

(4) In an exemplary embodiment, in the configurations of (1) to (3), the control device superimposes the driving power and the control signal via the power line by PLC communication technology. It is comprised so that it may transmit.

  According to the configuration of (4), there is no need to separately provide wiring for supplying driving power from the control device to the driving body and wiring for transmitting a control signal between the control device and the driving body as two cables. These two wirings can be realized as a single power line.

(5) In an exemplary embodiment, in the configurations of (1) to (4) above, the current waveform of the current that flows on the welding power line to supply the welding power is a base current through which a base current flows. A period and a peak current period in which a peak current larger than the base current flows,
The control device is configured to transmit and receive the control signal to and from the driver only during the base current period.

  In a period in which the current level of the welding current flowing on the welding power line is equal to or close to the peak value, strong electric noise is generated as an electromagnetic interference wave from the welding power line. Therefore, if this electrical noise interferes with the power line housed in the conduit cable together with the welding power line, the waveform of the control signal transmitted and received on the power line is distorted, and the control signal is correctly transmitted on the receiving side. There may be cases where reception is not possible or not possible at all.

  Therefore, in the configuration of (5) above, control signals are transmitted and received between the control device and the driver only during a period in which a base current smaller than the peak current flows on the welding power line. Thereby, in the configuration of (5), it is possible to transmit and receive control signals between the control device and the driving body only when electromagnetic interference due to power noise generated from the welding power line is weak.

(6) In an exemplary embodiment, in the configurations of (1) to (5), the control signal is
A state feedback signal used to transmit the detection result of the current state in the driving device from the driving body to the control device;
A control command signal transmitted from the control device to the control unit, including a desired drive direction and a desired target control amount calculated by the control device based on at least the state feedback signal;
It is characterized by including.

  According to the configuration of (6) above, the control device transmits a control command signal to the drive body while observing the state of the drive device in the drive body via the state feedback signal received from the drive body. The target control amount to be instructed can be determined as a relative displacement amount based on the current state of the drive device. Therefore, the control device sequentially determines the appropriate control amount as the future target control amount according to the change of the state of the driving body while monitoring how the current state of the driving body changes. It will be possible to go. In addition, a user who remotely controls the movement of the driving body can also remotely operate the movement of the driving body while monitoring the current state of the driving body output from the control device onto a display screen or the like.

(7) In an exemplary embodiment, in the configuration of (6) above, the driving device of the driving body includes:
A PLC communication unit for transmitting and receiving the control signal to and from the control device;
A motor for driving the tip of the welding torch;
A driver that is provided corresponding to the motor, outputs a drive signal corresponding to a desired target control amount to the motor, and detects a state of the motor;
At least one control unit connected to the driver, extracting the desired target control amount from the control command signal, and outputting the desired target control amount to the driver;
With
A state feedback signal is used to transmit the state of the motor from the control unit to the control device when the control unit receives the state of the motor detected for the motor from the driver. And

  In the configuration of (7) above, the current state of the drive device to be transmitted from the drive body in the state feedback signal is detected by a driver provided corresponding to the motor in the drive device. In the configuration (7), the operation of driving the motor in accordance with the target control amount included in the control command signal received from the control device is executed by a driver provided corresponding to the motor. In the configuration (7), such a driver is provided not on the control device side but on the driving body side, thereby solving the following inconvenient problem.

  In order to control the drive body with high accuracy while maintaining good control response characteristics, the motor status is detected at a high sampling frequency, and an appropriate drive signal is sent to the motor at an appropriate timing without extra delay. It must be output. Therefore, if a driver that detects the motor status and outputs a drive signal to the motor is provided on the control device side, the motor status is detected at a high sampling frequency, and an appropriate drive signal is not delayed. It becomes difficult to output to the motor at an appropriate timing. This is because there is a communication delay between the drive body where the motor is provided and the control device, so that the motor status can be detected frequently and the drive signal can be sent to the motor at an appropriate timing without any extra delay. This is because it is difficult to output.

  As described above, according to the configuration of (7), since the driver is provided on the drive body side, the motor state is increased in order to control the drive body with high accuracy while maintaining good control response characteristics. By detecting the frequency, the drive signal can be output to the motor at an appropriate timing without extra delay. In addition, if a closed loop control system for controlling the rotation of the motor by servo control is configured to be completed between the driver and the motor, the motor is controlled across the section between the control device having a large communication delay and the driving body. There is no need to communicate control signals necessary for servo control at a high communication frequency.

(8) In an exemplary embodiment, in the configurations of (1) to (7), the control device further includes a wireless communication unit for performing wireless communication with a remote operation terminal,
The wireless communication unit returns a response confirmation signal to the remote operation terminal in response to reception of the user operation signal transmitted from the remote operation terminal, and transmits the user operation content included in the user operation signal to the driver. It is constituted so that it may reflect in remote control of.

  According to the configuration of (8) above, the remote operation terminal that is held and operated by the user who watches the welding operation at the welding site is configured to be able to communicate with the control device via a wireless signal. The current state of the drive device received from the drive body can be wirelessly transmitted from the control device to the remote operation terminal. As a result, the user who watches the welding operation at the welding location can monitor the current state of the drive device displayed on the screen of the remote control terminal held in his / her hand. Further, when a user operation signal is wirelessly transmitted to the control device that controls the drive body by the user operating the remote operation terminal by hand, the drive body is received via the control device. Remote control is performed according to the user operation signal. Therefore, the user who watches the movement of the driving body also operates the remote operation terminal while monitoring the current state of the driving body that is output to the display screen on the remote operation terminal via the control apparatus. It becomes possible to control the movement of the driving body via the remote control.

  As described above, the user can perform remote control operation of the drive body and monitor the state of the drive device using the remote operation terminal while watching the welding operation at the welding place. In addition, since the remote control terminal communicates with other devices only wirelessly, the remote control terminal is not connected to any cable or wiring, so the usability and operability of the remote control terminal are reduced by the cable or wiring. Never do. Moreover, by performing communication between the remote operation terminal and the control device by broadband wireless communication, it is possible to achieve a communication speed that exceeds the wired communication via the communication cable, and the remote operation is performed by the electric noise generated from the welding power line as described above. Communication between the terminal and the control device is less likely to be interfered.

(9) In an exemplary embodiment, in the configuration of (8), the driving device of the driving body further includes a driving body side wireless communication unit for performing wireless communication with the remote operation terminal,
The driver-side wireless communication unit is configured to return a response confirmation signal to the remote operation terminal in response to reception of a user operation signal transmitted from the remote operation terminal.

  In the configuration (9), the remote control terminal can not only perform wireless communication only with the control device, but also can directly perform wireless communication with the driver at the same time. Therefore, even if wireless communication between the remote operation terminal and the control device is interrupted for some reason, the remote operation terminal directly transmits a user operation signal to the driver based on the operation content input by the user. It becomes possible. Further, by performing communication between the control device or the driving body and the remote control terminal by broadband wireless communication, it is possible to achieve a communication speed that exceeds the wired communication via the communication cable, and the electric power generated from the welding power line as described above. Noise makes it difficult for communication between the remote control terminal and the control device to be interfered.

(10) In an exemplary embodiment, in the configuration of (9), the user operation signal received from the remote operation terminal via the wireless communication unit or the driver-side wireless communication unit receives the power line. Communicated between the control device and the drive device of the drive body by wired communication via
One of the control device and the drive device is
Determining whether the user operation signal received from the remote operation terminal via the wireless communication unit or the driver-side wireless communication unit matches the user operation signal that has been wired communication;
If it is determined that they do not match, a signal requesting re-operation by the user is wirelessly transmitted to the remote operation terminal via the wireless communication unit or the driver-side wireless communication unit.

  In the configuration of (10) above, when the control device and the driving body each receive a user operation signal from the remote operation terminal by wireless communication, the user operation signal received by one of the control device and the driving body with respect to the other Is communicated by wired communication on the power line. Subsequently, in the configuration of (10) above, the other of the control device and the drive unit compares the user operation signal communicated by wired communication on the power line with the user operation signal received by itself from the remote operation terminal. To do. As a result of the comparison, if the two user operation signals do not match, the other of the control device and the driving body wirelessly transmits a signal requesting re-operation to the remote operation terminal.

  As described above, according to the configuration of the above (10), when the control device and the drive body receive user operation signals from the remote operation terminal by wireless communication, the control device and the drive body are connected via wired communication on the power line. Thus, it is possible to mutually check the accuracy of signal contents received wirelessly from a remote control terminal. That is, when the control device and the driving body wirelessly receive the same user operation signal from the remote operation terminal, whether one of the control device and the driving body has received the user operation signal with incorrect contents. It can be inspected via wired communication on the power line. As a result, since the control device and the drive body communicate with the remote control terminal by the wired communication on the power line, the wireless communication auxiliary control signal is communicated, so that the reliability of the wireless communication can be improved.

(11) In an exemplary embodiment, in the configurations of (1) to (9), the wire feeding device further includes a wire feeding device side wireless communication unit for performing wireless communication with a remote operation terminal. Prepared,
The wire feeder side wireless communication unit relays a wireless signal transmitted / received to / from the remote control terminal to the control device by wired communication via the power line. .

  In the above configuration (11), in addition to providing a wireless communication unit for each of the control device and the driving body, a wireless communication unit is also provided on the wire feeding device interposed between the control device and the driving body. Yes. In addition, in the configuration of (11) above, the wireless communication unit provided on the wire feeding device transmits a wireless signal transmitted to and received from the remote operation terminal to the control device by wired communication via the power line. It is comprised so that it may relay to. Therefore, for example, even when the welding work place is surrounded by a steel plate structure and the control device is installed at a place away from it, the radio signal transmitted from the remote operation terminal at the welding work place is transmitted to the iron plate. The problem of being blocked and not reaching the control device is eliminated. This is because a signal wirelessly transmitted from a remote control terminal is once received by a wireless communication unit installed in a wire feeder installed in the same welding work place, and then transmitted by wire communication via a power line. This is because it is relayed from the feeding device to the control device.

(12) In an exemplary embodiment, in the configuration of (9) or (10), the remote control terminal can perform wireless communication with the driver-side wireless communication unit provided in each of two or more of the drivers. Configured,
The two or more driving bodies are respectively supplied with control signals and driving power from corresponding ones of the two or more control devices, respectively.
Each of the two or more drivers is
Receiving a control signal from a corresponding control device among the two or more control devices for remote control of the driver,
Reflecting the user operation content included in the user operation signal to the control signal received from the corresponding control device,
It is further configured as described above.

  According to the configuration of (12) above, when it is desired to simultaneously perform a welding operation on a plurality of different welding locations included in the same base material to be welded using a plurality of driving bodies, the following technical advantages are obtained. can get. That is, according to the configuration of (12) above, the user can remotely control a plurality of driving bodies at the same time while switching between the plurality of driving bodies using only one remote operation terminal. In addition, according to the configuration of (12) above, remote control for a plurality of driving bodies can be performed without having to separately route a control cable for transmitting and receiving control signals in addition to the welding power line and the power line for each of the plurality of driving bodies. Can be realized.

  As described above, according to some embodiments of the present invention, when a driving body that moves a welding torch according to a control signal is added to an existing welding apparatus in order to automate a welding operation, the operation cable is additionally added. A welding system capable of supplying drive power and control signals to the drive body can be obtained without providing the drive body.

It is a figure which shows the structure of the welding apparatus which can be used in at least 1 embodiment of this invention. It is a figure showing the whole welding system composition concerning some embodiments of the present invention. It is a figure which shows the structure of the welding work automation mechanism which concerns on some embodiment of this invention. It is a figure which shows the internal structure for every apparatus according to some embodiment of this invention. It is a figure which shows the whole structure of the welding system which concerns on a comparative example. It is a figure which shows the structure of the welding work automation mechanism which concerns on a comparative example. It is a figure which shows the internal structure for every apparatus in a comparative example. It is a figure which shows the track | orbit which connects between the starting point of a welding operation, and an end point. It is a figure which shows the temporal relationship between the welding current waveform which flows on a welding power line, and the transmission timing of a control signal. It is a figure which shows the whole structure of the welding system which concerns on another embodiment of this invention. It is a figure which shows the internal structure for every apparatus according to another embodiment of this invention. It is a figure which shows the internal structure for every apparatus according to another embodiment of this invention. FIG. 7 is a diagram showing a wireless communication sequence according to still another embodiment of the present invention. FIG. 7 is a diagram showing a wireless communication sequence according to still another embodiment of the present invention. It is a figure which shows the internal structure for every apparatus according to another embodiment of this invention. It is a figure which shows the whole structure of the welding system which concerns on another embodiment of this invention.

Hereinafter, some embodiments of the present invention will be described with reference to the accompanying drawings. However, the dimensions, materials, shapes, relative arrangements, etc. of the components described in the embodiments or shown in the drawings are not intended to limit the scope of the present invention, but are merely illustrative examples. Absent.
For example, an expression indicating that things such as “identical”, “equal”, and “homogeneous” are in an equal state not only represents an exactly equal state, but also has a tolerance or a difference that can provide the same function. It also represents the existing state. On the other hand, the expressions “comprising”, “comprising”, “comprising”, “including”, or “having” one constituent element are not exclusive expressions for excluding the existence of the other constituent elements.

  Hereinafter, first, an outline of a welding apparatus 400 that can be used to implement some embodiments according to the present invention will be described with reference to FIG. Subsequently, a welding system 100 configured by combining a welding work automation mechanism 500 for automating a welding work using the welding apparatus 400 shown in FIG. 1 with the welding apparatus 400 according to some embodiments of the present invention is illustrated. 2 to 4 will be described. Subsequently, by describing the configuration of the welding system 100 ′ shown in FIGS. 5 to 7 as a comparison with the configuration of the welding system 100 shown in FIGS. 2 to 4, some embodiments of the present invention will be described. The technical advantages of the welding system 100 will be described. Finally, another embodiment that can be additionally implemented to improve the welding system 100 according to the embodiment shown in FIGS. 2 to 4 will be described with reference to FIGS. 9 to 15.

  FIG. 1 shows a configuration of a welding apparatus 400 that can be used at a welding site to implement at least one embodiment of the present invention. The welding device 400 includes a welding torch 410, a conduit cable 420, a wire feeding device 430, a welding power source 440, a shield gas cylinder 450, and a hand adjustment box 460. The welding power source 440 supplies welding power for generating arc discharge to the welding torch 410 via a welding power line WP that is paired with a ground line 443 connected to a base material 470 that is a member to be welded. The wire feeding device 430 feeds the welding wire 431 to the tip of the welding torch. The welding apparatus 400 further includes a conduit cable that connects the wire feeding device 430 and the welding torch 410 and accommodates the welding wire 431. Hereinafter, the configuration of the welding apparatus 400 will be described in more detail with reference to FIG.

  In the welding apparatus 400, welding power is supplied from the welding power source 440 to the welding torch 410 via the wire feeding device 430. The welding torch 410 is used by a worker who performs welding. The welding power source 440 can be switched on and off by operating a torch switch 411 provided on the welding torch 410 by a welding operator. When the welding operator operates the torch switch 411 of the welding torch 410 to turn on the welding power source 440, an arc is generated between the welding wire protruding from the tip of the welding torch 410 and the base material 470, and the welding wire 431. The tip of the metal melts by the arc and moves to the base material 470 to become a weld metal. The welding wire 431 is held while being wound around the wire reel of the wire feeding device 430 and is fed toward the welding torch 410 at a speed corresponding to the welding speed by a feeding motor built in the wire feeding device 430. Be paid. The wire feeding device 430 and the welding torch 410 are connected by a flexible hose-like conduit cable 420 having a hollow portion. The welding wire 431 is fed by the wire feeding device 430 through the hollow portion in the conduit cable 420 to the distal end portion of the welding torch 410 at a speed corresponding to the welding speed.

  In the welding apparatus 400, welding power is supplied from the welding power source 440 to the welding torch 410 via the wire feeder 430 as follows. First, the welding power source 440 and the wire feeder 430 are connected by a welding power line 441. In addition, in the section from the welding power source 440 to the wire feeder 430, the welding power is transmitted by the welding power line 441 that constitutes the welding power line WP. In the section from the wire feeding device 430 to the welding torch 410, the welding power is transmitted via the welding power line WP ′ accommodated in the conduit cable 420 among the welding power lines WP. In addition, the base material 470 to be welded and the welding power source 440 are connected by a ground wire 443.

  Further, in the welding apparatus 400, when the welding operator operates the torch switch 411 provided on the welding torch 410, electric power for electrically driving the on / off switching operation of the welding power source 440 by the torch switch 411 is used. Supply as follows. First, the welding power source 440 and the wire feeder 430 are connected by a welding operation cable 442. In the section from the welding power source 440 to the wire feeder 430, the electric power for electrically driving the torch switch 411 is transmitted via the torch switch lead TL housed in the welding operation cable 442. Is done. At that time, the torch switch lead wire TL accommodated in the welding operation cable 442 is configured as a twisted pair cable (twisted pair cable). In the section between the wire feeder 430 and the welding torch 410, the electric power for electrically driving the torch switch 411 is via the torch switch lead TL housed in the conduit cable 420. Is transmitted. In addition, in the welding operation cable 442, the lead wire for the feeding motor for transmitting the driving power from the welding power source 440 to the feeding motor driven when the wire feeding device 430 feeds the welding wire is also described above. Bundled together with the torch switch lead TL.

  Further, a hand adjustment box 460 that is held and operated by a welding operator is used to manually adjust the volume of a welding voltage or welding current to be set in the welding power source 440 by manual operation. The hand adjustment box 460 is also used to manually adjust the volume of the wire feeding amount of the wire feeding device 430. Therefore, if the set values of the welding voltage, welding current, and wire feed amount are manually adjusted in the hand adjustment box 460 connected by the wire feeder 430 and the cable 461, the set values are It is transmitted to the apparatus 430 and the welding power source 440 and set. The welding power source 440 outputs voltage and current to the welding power line 441 so that the set welding voltage and welding current are realized in the welding torch 410. At this time, the set values of the welding current and welding voltage transmitted from the hand adjustment box 460 to the wire feeding device 430 via the cable 461 are the lead wires for the hand adjustment box (not shown) accommodated in the welding operation cable 442. To the welding power source 440 and set.

  Further, in the welding apparatus 400 shown in FIG. 1, a shielding gas such as carbon dioxide gas is sent from the shielding gas cylinder 450 to the wire feeding device 430 through the gas hose 451. In the welding apparatus 400, the welding wire 431 and the shielding gas are supplied to the welding torch 410 through the inside of the conduit cable 420 connecting the wire feeding apparatus 430 and the welding torch 410. At that time, a passage for feeding the welding wire 431 and a gas flow path for feeding the shielding gas are provided inside the conduit cable 420 connecting the wire feeding device 430 and the welding torch 410. When arc discharge occurs between the tip of the welding torch 410 and the base material 470, the shield gas is supplied to the periphery of the arc through the gas flow path in the conduit cable 420 to prevent oxidation of the weld. It is out. The wire feeder 430 is provided with a solenoid valve (not shown) for switching on / off the shield gas supply from the shield gas cylinder 450. A lead wire (not shown) for supplying electric power for driving the electromagnetic valve from the welding power source 440 is also accommodated in the welding operation cable 442.

  Next, a welding system 100 configured by combining a welding work automation mechanism 500 for automating a welding work using the welding apparatus 400 shown in FIG. 1 with the welding apparatus 400 according to some embodiments of the present invention is illustrated. 2 to 4 will be described. A welding system 100 shown in FIG. 2 includes a control device 550, a remote operation terminal 560, a driving body 570, and a power line 580 that constitute the welding work automation mechanism 500 shown in FIG. 3 in combination with the welding device 400 shown in FIG. Welding system. First, the configuration of the welding work automation mechanism 500 shown in FIG. 3 will be specifically described, and the overall configuration of the welding system 100 shown in FIG. 2 will be described based on the description.

  In FIG. 3, a power line 580 is connected between the control device 550 constituting the welding work automation mechanism 500 and the driving body 570. In one exemplary embodiment, the driver 570 may be an automated machine that moves the welding torch 410 to automatically perform the welding operation. The driving body 570 includes a grip 575 for gripping the welding torch 410 and a driving device 576 for driving the tip of the welding torch 410 according to remote control from the control device 550. Further, the driving body 570 includes a sliding contact portion 577 and a traveling rail 578 described later with reference to FIG. The control device 550 supplies drive power to the drive body 570 via the power line 580 and transmits / receives a control signal to / from the drive body 570 via the power line 580, thereby remotely controlling the movement of the drive device 576. Control. That is, driving power for moving the driving device 576 of the driving body 570 is supplied from the dedicated power source inside the control device 550 via the power line 580. At the same time, control signals transmitted and received between the control device 550 and the drive body 570 to remotely control the movement of the drive device 576 of the drive body 570 from the control device 550 are also transmitted via the power line 580. That is, a control signal transmitted / received between the control device 550 and the driving body 570 is transmitted via the power line 580 in a manner to be superimposed on the driving power supplied from the control device 550 to move the driving device 576. . In an exemplary embodiment, controller 550 and driver 570 are configured to use PLC communication technology to transmit the drive power and the control signal in a superimposed manner via power line 580. May be.

  A driving device 576 included in the driving body 570 has a grip 575 for gripping the welding torch 410 in the x-axis direction in the three-dimensional work coordinate space in order to drive the tip of the welding torch 410 according to remote control from the control device 550. , Translated along the three-axis direction including the y-axis direction and the z-axis direction. Specifically, in order to drive the tip of the welding torch 410, the driving device 576 moves the grip 575 that grips the welding torch 410 in the transverse direction (d1 in FIG. 3) and the elevation direction (see FIG. 3). 3 has a drive mechanism that translates along two directions d2). Further, the bottom surface portion of the driving device 576 includes a sliding contact portion 577 configured to be able to travel on the traveling rail 578 while being in sliding contact with the traveling rail 578 provided immediately below the driving device 576. Accordingly, the driving device 576 can translate the grip portion 575 that grips the welding torch 410 while traveling on the travel rail 578 along the travel direction (d4 in FIG. 3). Further, the driving device 576 rotates the grip portion 575 for gripping the welding torch 410 around the longitudinal center portion of the welding torch 410 in order to drive the tip portion of the welding torch 410 according to the remote control from the control device 550. Let me.

  As will be described later with reference to FIG. 4, the drive device 576 incorporates three motors in order to translate the grip portion 575 that grips the welding torch 410 along the three-axis directions described above. As will be described later with reference to FIG. 4, in order to rotate the grip 575 that grips the welding torch 410 around the longitudinal center of the welding torch 410 as a central axis, the driving device 576 includes one motor. Yes. Accordingly, the driving device 576 includes four motors for driving the grip portion 575 that grips the welding torch 410 in the four directions described above. That is, when it is desired to move the tip of the welding torch 410 in a desired driving direction by remotely controlling the driving device 576 from the control device 550, the motor corresponding to the desired driving direction from the control device 550 to the driving device 576. It is necessary to transmit a control signal that selectively drives only the control signal.

  On the other hand, the control device 550 and the remote operation terminal 560 constituting the welding work automation mechanism 500 are configured to communicate with each other by wireless communication. The remote operation terminal 560 wirelessly transmits a user operation signal to the control device 550 when the user watching the welding operation by the welding torch 410 at the welding operation place and holding it in his / her hand. Thus, the user can remotely control the drive device 576 via the control device 550 by operating the remote operation terminal 560 by hand. In addition, setting values and conditions set in the control device 550 for remotely controlling the driving body 570 from the control device 550 are further wirelessly transmitted from the control device 550 to the remote operation terminal 560. Thereby, the remote operation terminal 560 can make the user confirm these setting values and conditions set in the control device 550 by screen display. In addition, the current state of the drive device 576 received by the control device 550 from the drive body 570 via the power line 580 is further wirelessly transmitted from the control device 550 to the remote operation terminal 560, and the remote operation terminal 560 is The user can confirm the current operating status of 576 by a screen display.

  Next, the configuration of the welding system 100 configured by combining the control device 550, the remote operation terminal 560, the drive body 570, and the power line 580 constituting the welding work automation mechanism 500 shown in FIG. 3 with the welding device 400 shown in FIG. Will be described with reference to FIG. The welding torch 410 shown in FIG. 1 is attached to the drive body 570 by being gripped by the grip portion 575 of the drive body 570 shown in FIG. Subsequently, the control device 550 is installed in the vicinity of the welding power source 440 shown in FIG. Subsequently, the control device 550 and the drive body 570 are connected via a power line 580 in order to supply drive power to the drive body 570 from a dedicated power source inside the control device 550.

  In many cases, the control device 550 is installed at the same place as the welding power source 440, and the control device 550 and the welding power source 440 are installed, for example, near the wall of a factory. Moreover, the drive body 570 and the base material 470 to which the welding torch 410 is attached are installed at the same welding work place. In many cases, the user who watches the welding work performed by the drive body 570 monitors the welding work performed by the drive body 570 at the same welding work place, and uses the remote control terminal 560 held in his hand as necessary. Manually. Therefore, the distance between the driving body 570 and the remote control terminal 560 is a short distance of about 5 to 10 meters, whereas the distance between the driving body 570 and the control device 550 is about several tens of meters. Long distance.

  However, in the welding system 100 shown in FIG. 2, the power line 580 that connects the control device 550 and the driving body 570 is not provided as a new wiring cable separate from the various wirings shown in FIG. 1, but in FIG. 1. Some of the various wirings shown are used as the power lines 580. Specifically, the control device 550 and the drive body 570 are connected by branching a branch line from the existing wiring connecting the welding torch 410 and the welding power source 440 to the control device 550 side and the drive body 570 side in FIG. The power line 580 is realized. In the embodiment shown in FIG. 2, a wiring method for realizing the power line 580 that connects between the control device 550 and the driving body 570 by diverting a part of the various wirings shown in FIG. 1 is as follows. .

  That is, the power line 580 branches the torch switch lead wire TL connecting the welding power source 440 to the welding torch 410 via the wire feeder 430 to the control device 550 side in the vicinity of the welding power source 440. In the vicinity of the welding torch 410, it is wired as a line further branched to the drive body 570 side. At that time, as described above with reference to FIG. 1, the section from the wire feeder 430 to the welding torch 410 in the torch / switch / lead wire TL is insulated from the welding power line WP ′. It is accommodated in the conduit cable 420 while being kept. Hereinafter, this wiring method will be described more specifically with reference to FIG.

  As described above with reference to FIG. 1, in the section from the welding power source 440 to the wire feeding device 430, the electric power for driving the torch switch 411 is accommodated in the welding operation cable 442 shown in FIG. It is transmitted via the torch switch lead TL. In the section between the wire feeder 430 and the welding torch 410, the power for driving the torch switch 411 is transmitted via the torch switch lead TL housed in the conduit cable 420. . As described above, the electric power for driving the torch switch 411 is supplied from the welding power source 440 to the welding torch 410 via the torch switch lead wire TL.

  Therefore, first, the torch / switch / lead wire TL accommodated in the welding operation cable 442 is branched to the control device 550 side at a branch point located in the vicinity of the welding power source 440 to form a branch line 582. Then, the branched branch line 582 is connected to the control device 550. Referring to FIG. 2, in order to branch the branch line 582 from the torch / switch / lead wire TL accommodated in the welding operation cable 442 to the control device 550 side, the branch box is located at a branch point located in the vicinity of the welding power source 440. 448 is provided. Subsequently, the torch switch lead wire TL accommodated in the conduit cable 420 is branched at a branch point located in the vicinity of the welding torch 410 to be a branch line 581. After that, the branched branch line 581 is connected to the driver 570. Referring to FIG. 2, in order to branch the branch line 581 from the torch switch lead TL housed in the conduit cable 420 to the driver 570 side, a branch box is formed at a branch point located in the vicinity of the welding torch 410. 449 is provided.

  As a result, in the section from the branch box 448 located in the vicinity of the welding power source 440 to the wire feeder 430, the power line 580 constituted by the torch / switch / lead wire TL is accommodated in the welding operation cable 442. Will be. Further, in the section from the branch box 449 located near the welding torch 410 to the wire feeder 430, the power line 580 constituted by the torch / switch / lead wire TL is accommodated in the conduit cable 420. The Rukoto. As described above, the power for connecting the control device 550 and the drive body 570 by branching the branch line from the existing wiring connecting the welding torch 410 and the welding power source 440 in FIG. 1 to the control device 550 side and the drive body 570 side. Line 580 can be realized.

  In an exemplary embodiment, the cross-sectional structure of the conduit cable 420 that accommodates the torch switch lead wire TL and the welding power line WP ′ while being insulated from each other may be as follows. In accordance with this embodiment, an enlarged view of the cross-sectional structure of the conduit cable 420 is shown in the upper right of FIG. In this embodiment, the cross-sectional structure of the conduit cable 420 includes a cross-sectional central portion where the welding wire 431 is disposed, and a cross-sectional outer peripheral portion where the conductor layer 421 surrounding the welding wire 431 is disposed. In addition, in the conduit cable 420, the welding power line WP ′ is composed of the conductor layer 421. Further, the torch / switch / lead wire TL constituting the power line 580 is configured as two-core cables 423a and 423b embedded in the conductor layer 421 while maintaining an insulation state with the conductor layer 421. Further, in the cross-sectional structure of the conduit cable 420 shown in FIG. 2, a shield gas flow path 422 is secured between the conductor layer 421 surrounding the welding wire 431 and the welding wire 431.

  At that time, a potential difference is formed between the two-core cables 423a and 423b embedded in the conductor layer 421. The control signal transmitted and received between the control device 550 and the drive body 570 is based on the potential difference. It propagates on the power line 580 accommodated in the conduit cable 420. Therefore, it is not necessary to use the ground voltage as the ground potential to be shared between the control device 550 and the driver 570 in order to transmit the control signal on the power line 580. As a result, there is no possibility that electrical noise from other processing machines and electrical equipment sharing the ground voltage will interfere electrically with the control signal propagating on the power line 580.

  According to this embodiment, by adopting the structure described above with reference to FIG. 2 as the cross-sectional structure of the conduit cable 420, the following technical advantages are obtained. In the conduit cable 420, it is necessary to secure the shield gas flow path 422 and accommodate both the welding power line WP 'and the power line 580 while being insulated from each other. Further, in the conduit cable 420, the power line 580 should be formed of a conductor wire thinner than the welding power line WP '. This is because the power line 580 doubles as a torch switch lead TL for electrically switching the welding power source on and off on the welding torch 410 and at the same time uses a branch box 449 to provide a torch switch lead. This is because it is necessary to branch the TL in the middle, so that it is inconvenient to handle it with a thick conductor wire. Therefore, in this embodiment, the cross-sectional structure of the conduit cable 420 is as shown in FIG. 2, so that a shield gas flow path 422 is secured in the conduit cable 420, and the welding power line WP ′ and the power line are secured. Both of the 580 can be accommodated in a compact manner while being insulated from each other. In this embodiment, the cross-sectional structure of the conduit cable is as described above, so that the power line 580 can be configured as a line thinner than the welding power line WP ′ in the conduit cable.

  Next, the internal configuration of the control device 550, the remote operation terminal 560, and the drive body 570 will be described with reference to FIG. 4, and the flow of control operations executed by the welding work automation mechanism 500 shown in FIGS. Also explained. Referring to FIG. 4, the control device 550 includes a display unit 551, an input unit 552, a calculation unit 553, a power supply 554, a wireless communication unit 555, a control unit 556, a PLC communication unit 557, and an antenna 558. And an external power cable 559.

  The display unit 551 displays items of information to be input using the input unit 552 on the screen and displays the calculation result calculated by the calculation unit 553 on the screen. The input unit 552 is an information input device for setting a control condition that needs to be set as a condition for defining a control operation mode when the movement of the drive device 576 included in the drive body 570 is remotely controlled from the control device 550. Used as. In addition, the input unit 552 sets setting parameters (such as control parameters) that need to be set in order to execute the control calculation in the calculation unit 553 when the movement of the driving device 576 is remotely controlled from the control device 550. Used as an information input device. The input unit 552 is used as an information input device for inputting a trajectory data identifier. Here, the track data identifier is a search ID for searching for and calling operation track data defining a series of operations of the driving device 576 from the start to the end of the welding operation from the memory of the calculation unit 553. .

  The calculation unit 553 is a calculation device that executes a control calculation for remotely controlling the movement of the driving device 576 from the control device 550 based on the control model of the driving body 570. The control calculation executed by the calculation unit 553 to control the movement of the driving device 576 is executed based on the user operation signal received wirelessly from the remote operation terminal 560 and the set value or control condition input from the input unit 552. Is done. As a result, the control calculation executed by the calculation unit 553 outputs a target control amount to be instructed to the driving device 576, a driving direction, and the like as a control calculation result. Further, the calculation unit 553 includes a dedicated memory (not shown), and the above-described motion trajectory data can be searched in the memory using the trajectory data identifier as a search ID. A simple database. The power source 554 receives operating power necessary for operating the entire control device 550 from an external power source via the external power cable 559, and supplies the operating power to other components constituting the control device 550. To do.

  The wireless communication unit 555 is a communication interface for communicating with the remote operation terminal 560 by wireless communication using the antenna 558. A signal received by the wireless communication unit 555 from the remote operation terminal 560 by wireless communication using the antenna 558 is output to the control unit 556. A transmission signal received from the control unit 556 by the wireless communication unit 555 with the remote operation terminal 560 as a destination is wirelessly transmitted from the wireless communication unit 555 to the remote operation terminal 560. The PLC communication unit 557 transmits the control signal received from the control unit 556 to the drive unit 570 by PLC communication in order to transmit and receive control signals between the control unit 556 and the drive unit 570, and the PLC communication from the drive unit 570 The control signal received by is output to the control unit 556.

  Each time the control unit 556 receives a user operation signal from the remote operation terminal 560 via the wireless communication unit 555, the control unit 556 demodulates the user operation signal to extract the operation performed by the user on the remote operation terminal 560. Then, the data is output to the calculation unit 553. Further, every time the calculation unit 553 outputs information destined for the remote operation terminal 560 as a calculation result to the control unit 556, the control unit 556 encodes the information into a signal for wireless transmission, and sends the information to the remote operation terminal 560. To the wireless communication unit 555 for wireless transmission.

  Further, every time the calculation unit 553 outputs the control calculation result destined for the drive body 570 to the control unit 556, the control unit 556 encodes the control calculation result into a control signal for PLC communication, and the PLC communication unit 557. Output to. In addition, the PLC communication unit 557 transmits the control signal received from the control unit 556 toward the driver 570 by PLC communication via the power line 580. In addition, the PLC communication unit 557 receives a control signal from the driving body 570 by PLC communication via the power line 580 and outputs the control signal to the control unit 556. Each time the control unit 556 receives a control signal from the PLC communication unit 557, the control unit 556 demodulates the control signal, thereby extracting the information content transmitted from the driver 570 to the control device 550, and calculating the information content. To 553.

  The remote operation terminal 560 includes a display unit 561, an operation unit 562, a control unit 563, a wireless communication unit 564, and a battery 565. The wireless communication unit 564 is a communication interface for the remote operation terminal 560 to transmit and receive signals to and from the control device 550 by wireless communication. The display unit 561 displays the operation contents performed by the user on the remote operation terminal 560 on the screen. The display unit 561 displays information received from the control device 550 via the wireless communication unit 564 on the screen. For example, when the control device 550 receives the current state of the drive device 576 from the drive body 570 and the control device 550 wirelessly transmits the state to the remote operation terminal 560, the display unit 561 receives the drive received from the control device 550. The current state of the device 576 is displayed on the screen. Further, when the control device 550 wirelessly transmits the setting value or condition set in the control device 550 via the input unit 552 to the remote operation terminal 560, the display unit 561 displays the setting value or the condition received from the control device 550. Display the condition on the screen.

  The operation unit 562 includes operation buttons, key buttons, and the like. By using the operation buttons, the user can input an operation command for operating the drive device 576 of the drive unit 570 by remote control. Is provided. The control unit 563 converts the user operation command input by the user through the input operation using the operation unit 562 into a user operation signal that can be wirelessly transmitted, and wirelessly transmits the user operation signal to the control device 550. The wireless communication unit 564 is instructed. In addition, the control unit 563 decodes a signal wirelessly received from the control device 550 via the wireless communication unit 564 into information that can be displayed on the screen, and outputs the information to the display unit 561. The battery 565 is a storage battery that supplies operating power necessary for operating the remote operation terminal 560, and supplies the operation power to other components in the remote operation terminal 560.

  The driving body 570 includes a gripping portion 575 for gripping the welding torch 410 and a driving device 576 for driving the distal end portion of the welding torch 410 according to a control signal from the control device 550. A control signal transmitted and received between the driving body 570 and the control apparatus 550 for remotely controlling the driving body 570 from the control apparatus 550 includes a state feedback signal and a control command signal, which will be described later. The state feedback signal is a control signal used to transmit the detection result of the current state in the driving device 576 from the driving body 570 to the control device 550. The control command signal is a control signal that is transmitted from the control device 550 to the drive body 570 and includes a desired drive direction and a desired target control amount calculated by the control device 550 based on at least the state feedback signal.

  The drive device 576 of the drive body 570 includes a control unit 571 and a PLC communication unit 572 that transmits and receives the control signal described above to and from the control device 550 by PLC communication via the power line 580. Drive device 576 further includes motors 574A to 574D for driving the tip of welding torch 410, and drivers 573A to 573D provided corresponding to each of motors 574A to 574D. The control unit 571 is connected to the drivers 573A to 573D.

  As described above with reference to FIG. 3, the driving device 576 moves the grip 575 that grips the welding torch 410 in the transverse direction (d1 in FIG. 3), the ascending / descending direction (d2 in FIG. 3), and the traveling direction. (D4 in FIG. 3) is translated along the three axial directions. Further, the driving device 576 rotates the grip portion 575 that grips the welding torch 410 around the central portion in the longitudinal direction of the welding torch 410 as a central axis. For this purpose, the motors 574A to 574C included in the driving device 576 have three axial directions including a transverse direction (d1 in FIG. 3), an ascending / descending direction (d2 in FIG. 3) and a traveling direction (d4 in FIG. 3) shown in FIG. It functions as a drive motor for translating the grip 575 along the axis. Further, the motor 574D provided in the drive device 576 functions as a drive motor for rotating the grip portion 575 with the central portion in the longitudinal direction of the welding torch 410 as the central axis. Accordingly, when it is desired to move the tip of the welding torch 410 in a desired driving direction by remotely controlling the driving device 576, the control device 550 sends the driving device 576 only to the driver corresponding to the desired driving direction. It is necessary to selectively output the control signal. Thereby, only the motor corresponding to the desired drive direction is selectively driven according to the control signal transmitted from the control device 550 to the drive body 570.

  The PLC communication unit 572 that has received the control command signal from the control device 550 outputs the control command signal to the control unit 571. Subsequently, when receiving a control command signal from the control device 550, the control unit 571 extracts a desired target control amount for each motor from the control command signal, and outputs the desired target control amount to the drivers 573A to 573D. Configured as follows. The drivers 573A to 573D receive a desired target control amount for each motor from the control unit 571, and output a drive signal corresponding to the desired target control amount to the motors 574A to 574D. The drivers 573A to 573D detect the states of the motors 574A to 574D and output them to the control unit 571. Subsequently, the control unit 571 instructs the PLC communication unit 572 to transmit the states of the motors 574A to 574D to the control device 550 via the power line.

  In the exemplary embodiment, the state feedback signal described above is transmitted from the control unit 571 each time the control unit 571 receives the motor state detected for the motors 574A to 574D from the drivers 573A to 573D. It may be used to transmit to the controller 550. Further, in this embodiment, the motor state described above includes, for example, a value representing the rotation amount after the motor starts operating as a phase angle, an elapsed time after the motor starts operating, and the like. Results detected for each of 574D are included. The motor state described above may further include a current rotation speed and a rotation phase code for each motor (a code indicating whether the motor rotates in the positive or negative rotation phase direction).

  Further, in an exemplary embodiment, the target control amount commanded to each of the motors 574A to 574D includes the rotational phase amount, rotational speed, and rotational phase code for each motor (either positive or negative rotational phase). May be included). Furthermore, in an exemplary embodiment, the motors 574A-574D may be pulse motors or stepping motors. In this case, the rotational phase amount for each motor corresponds to the number of pulses of the drive signal output from the drivers 573A to 573D to the motors 574A to 574D. In this embodiment, the rotation speed for each motor corresponds to the pulse frequency of the drive signal output from the drivers 573A to 573D to the motors 574A to 574D. This corresponds to the current direction of the drive signal output to 574A to 574D.

  As described above, each of the drivers 573A to 573D repeatedly executes the following two operations simultaneously and in a constant repetition period, whereby each of the drivers 573A to 573D causes each of the motors 574A to 574D to This constitutes a closed loop control system for executing servo control. The first operation is a state in which detection values such as the current rotational phase amounts and rotational speeds of the motors 574A to 574D are detected from each motor as a current state as a feedback signal necessary for performing rotation control for each motor. This is a detection operation. The second operation compares the current rotational phase amount and rotational speed detected from the motors 574A to 574D with the target control amount for each motor, and commands the motors 574A to 574D based on the comparison result. This is a command value output operation for outputting a command value such as a power rotation phase amount and a rotation speed to each motor.

  Next, the flow of operation of the welding system 100 having the above-described configuration will be described. The operation flow of the welding system 100 can be broadly divided into two stages, a trajectory learning stage and a trajectory tracking control stage. In the track learning stage, the welding system 100 executes a process of learning the track that the tip of the welding torch 410 should follow from the start to the end of the welding operation. Specifically, in the trajectory learning stage, the control device 550 learns the trajectory that the tip of the welding torch 410 moved by the drive device 576 should follow from the start to the end of the welding operation, and further, the calculation unit 553 Control data representing the learned trajectory is stored in the memory. In the track tracking control stage, the control device 550 of the welding system 100 moves by following the track learned by the tip of the welding torch 410 by remotely controlling the drive device 576 according to the track learned in the track learning stage. The welding torch 410 is moved as follows.

  In the trajectory learning stage, a user who watches the welding work by the drive body 570 at the welding work place operates the remote control terminal 560 by hand, and controls the drive device 576 via the control device 550 by remote control (manual remote control). ) At the same time, the control device 550 calculates the trajectory of the tip of the welding torch 410 that is moved by the remote control, and generates control data for generating a series of control command signals for reproducing the calculated trajectory. Are calculated in time series in accordance with the progress of the trajectory and stored in the memory of the calculation unit 553. Here, the control data calculated as described above to reproduce the calculated trajectory is called motion trajectory data, and each of the motion trajectory data is associated with a unique trajectory data identifier. Each of the motion trajectory data is stored in a database configured in the memory of the calculation unit 553 so that the trajectory data identifier can be searched as a search ID.

  Hereinafter, the flow of operations executed in the welding system 100 in the orbit learning stage will be described in more detail with reference to FIG. In the following description, the work coordinate position where the tip of the welding torch 410 should be positioned at the start of the welding work is defined as a welding start point indicated by a point A in FIG. Further, the work coordinate position where the tip of the welding torch 410 should be positioned at the end of the welding operation is defined as a welding end point indicated by a point B in FIG. First, the user turns on the power of the control device 550, the remote operation terminal 560, and the driving body 570 after the welding device 400 is activated.

  Subsequently, the user uses the input unit 552 provided in the control device 550 to input information that needs to be set in the control device 550. The information input to the control device 550 via the input unit 552 needs to be set as a condition that defines the control operation mode when the movement of the drive device 576 included in the drive body 570 is remotely controlled from the control device 550. Some control conditions are included. The information input to the control device 550 via the input unit 552 needs to be set in order to execute the control calculation in the calculation unit 553 when the movement of the drive device 576 is remotely controlled from the control device 550. Some setting parameters (control parameters, etc.) are included.

  Subsequently, the user uses the remote control terminal 560 to perform manual remote control for controlling the positioning of the driving device 576 so that the tip of the welding torch 410 described below is at the welding start point (point A in FIG. 8). Start. This manual remote control is performed by the user operating the operation unit 562 of the remote operation terminal 560 by hand and remotely controlling the drive device 576 of the drive unit 570 so that the tip of the welding torch 410 comes to the welding start point. Is done. Specifically, the user selects at least one of motors 574A to 574D in drive device 576 according to the drive direction in which welding torch 410 is desired to move, and manually operates operation unit 562 of remote operation terminal 560. Then, a user operation content for moving the selected motor is input. The content of the user operation is converted into a user operation signal that can be transmitted as a wireless signal by the control unit 563 and wirelessly transmitted to the control device 550 via the wireless communication unit 564. The user operation signal received via the wireless communication unit 555 in the control device 550 is demodulated by the control unit 556, and the user operation content extracted from the demodulation result is output to the calculation unit 553.

  Subsequently, the calculation unit 553 generates a control command value for remotely controlling the drive device 576 based on the user operation content received from the control unit 556 and the control model of the drive body 570 as a calculation result. At that time, the calculation unit 553 executes a calculation for generating a control command value in accordance with a set value or control condition set via the input unit 552. At that time, in order to selectively drive only the motor corresponding to the driving direction in which the tip of the welding torch 410 is moved among the motors 574A to 574D, the control command value includes the identification information of the motor to be driven and the motor Each target control amount is included. The control model described above may include a three-dimensional geometric model that represents the shape, size, and structure of the driving device 576. Further, the control model described above may include mechanism configuration information that describes the direction in which the drive device 576 can perform a translation operation and the type of translation mechanism. Further, the control model described above includes mechanism configuration information that describes the type of the rotation mechanism that rotates the grip portion 575 that grips the welding torch 410 and the direction of the central axis when the rotation operation that rotates the grip portion 575 is performed. Also good. Furthermore, the control model described above may include a physical characteristic description model in which control response characteristics and dynamic characteristics of the driver 570 remotely controlled from the control device 550 are described by a transfer function, a state prediction filter, and the like.

  The control command value output from the calculation unit 553 to the control unit 556 as a calculation result is encoded into a control command signal by the control unit 556 and passed to the PLC communication unit 557. The PLC communication unit 557 transmits a control command signal passed from the control unit 556 to the PLC communication unit 572 in the drive unit 570 by PLC communication via the power line 580. The control command signal received by the PLC communication unit 572 in the driving body 570 and passed to the control unit 571 is converted by the control unit 571 into a target control amount for each motor. Subsequently, in order to selectively drive the motor corresponding to the driving direction for moving the tip of the welding torch 410, the control unit 571 selectively selects the driver corresponding to the driving direction among the drivers 573A to 573D. Outputs the target control amount.

  When each motor is driven in accordance with the target control amount, the front end of the welding torch 410 is moved by each motor corresponding to the drive direction, and the front end of the welding torch 410 is located at the work coordinate position where the welding torch 410 should be located. The positioning operation is performed so that the tip of the welding torch 410 comes. Subsequently, when the user manually operates the operation unit 562 of the remote operation terminal 560 to remotely control the drive device 576 of the drive body 570, the distal end portion of the welding torch 410 reaches a welding end point indicated by a point B in FIG. Positioning control is also executed such that. That is, the above-described series of control operations for controlling the positioning of the drive device 576 so that the tip of the welding torch 410 is at a desired position as described above is performed at the welding end point indicated by the point B in FIG. Positioning work is also performed such that the tip of 410 comes.

  As described above, positioning control is performed so that the tip of the welding torch 410 comes to the two work coordinate positions (point A and point B shown in FIG. 8) that should be located at the start time and end time of the welding work. . After the positioning control is completed, a control command value for positioning the tip of the welding torch 410 at the two work coordinate positions (point A and point B shown in FIG. 8) in the memory of the calculation unit 553. Is remembered. Subsequently, the calculation unit 553 moves the tip of the welding torch 410 along a trajectory (see a broken line 80 shown in FIG. 8) connecting two work coordinate positions that should be positioned at the start time and the end time of the welding work. A series of control command values for performing control is calculated. Here, the operation track data corresponds to control data calculated by the calculation unit 553 to remotely control the drive device 576 from the control device 550 so that the tip of the welding torch 410 moves while following the above-described track. To do. At that time, the calculation unit 553 interpolates between the two control command values generated to position the tip of the welding torch 410 at the points A and B in FIG. 8 as start values and end values, respectively. To calculate a series of control command values constituting the motion trajectory data. Further, the calculation unit 553 associates each of the motion trajectory data with a unique trajectory data identifier. Subsequently, the operation unit 553 stores the operation trajectory data in a database configured in the memory of the operation unit 553 so that each of the operation trajectory data can be searched using the trajectory data identifier as a search ID.

  While the above-described positioning control is performed on the two work coordinate positions where the tip of the welding torch 410 should be positioned at the start time and the end time of the welding work, the following operation is further executed in the welding system 100. . This operation is performed in the welding system 100 in order to feed back the time-series transition of the state of the drive device 576 to the control device 550 and the remote operation terminal 560 while the drive device 576 is driven according to the positioning control described above. It is the operation performed in First, in the driving body 570, the state of each motor detected for the motor being driven is output from the corresponding driver to the control unit 571. Subsequently, the control unit 571 generates a state feedback signal by encoding the state of each motor into a signal format capable of PLC communication, and passes it to the PLC communication unit 572. The PLC communication unit 572 transmits the state feedback signal passed from the control unit 571 to the PLC communication unit 557 in the control device 550 by PLC communication via the power line 580. Subsequently, in the control device 550, the state feedback signal passed from the PLC communication unit 557 to the control unit 556 is demodulated by the control unit 556, thereby being converted into a state for each motor in the driving body 570, and being calculated. Is output to the unit 553. The calculation unit 553 generates information to be wirelessly transmitted to the remote operation terminal 560 based on the state of each motor output from the control unit 556, and this information indicates the current operating status of the drive device 576. Contains information that can be used by the user to visually confirm. At that time, the calculation unit 553 executes a calculation for generating the information according to the set value and control conditions set via the input unit 552.

  The information output from the calculation unit 553 to the control unit 556 is encoded into a signal format that can be wirelessly transmitted by the control unit 556 and wirelessly transmitted to the remote operation terminal 560 via the wireless communication unit 555. The information received by the wireless communication unit 564 in the remote operation terminal 560 and demodulated by the control unit 563 is passed to the display unit 561, which converts the information into image information that can be displayed on the screen and displays the screen. indicate. Thereby, the user who operates the remote operation terminal 560 can check the current operation status of the drive device 576 by the screen display on the remote operation terminal 560.

  Next, details of the flow of operations executed in the welding system 100 in the track following control stage will be described as follows. Prior to the start of the trajectory tracking control phase, the trajectory learning phase must be executed in advance. Thereby, at least one motion trajectory data is stored in the database configured in the memory of the calculation unit 553, and each motion trajectory data can be searched using the trajectory data identifier as a search ID.

  First, the user turns on the power of the control device 550, the remote operation terminal 560, and the driving body 570 after the welding device 400 is activated. Subsequently, the user uses the input unit 552 provided in the control device 550 to input the trajectory data identifier as a search ID to the control device 550, and performs a desired operation from the database configured in the memory of the calculation unit 553. Search for orbital data. The retrieved motion trajectory data is set in the control device 550 as trajectory data used for the control computation of the computation unit 553. Subsequently, the user instructs to start the welding work operation of the driving body 570 based on the operation trajectory data described above by operating the operation start button of the remote operation terminal 560 held in the hand. Then, a user operation signal instructing that the welding operation should be started from the remote operation terminal 560 is wirelessly transmitted to the control device 550. Subsequently, the control unit 556 that has received the user operation signal via the wireless communication unit 555 in the control device 550 controls the calculation unit 553 to remotely control the drive device 576 based on the motion trajectory data. Instruct the start of execution.

  In parallel with the calculation unit 553 executing the control calculation in accordance with an instruction from the control unit 556, the control unit 556 repeatedly receives the state feedback signal from the drive body 570 at a constant period, and the motor in the drive device 576 The current state of each motor related to each of 574A to 574D is output to calculation unit 553. By receiving the current state of each motor in the drive unit 576 from the control unit 556, the calculation unit 553 can know the current rotation phase amount and rotation speed for each of the motors 574A to 574D in the drive unit 570. it can. In addition, the calculation unit 553 performs the following control calculation in order to perform remote control for moving the tip of the welding torch 410 along the track described by the motion track data selected by the user. First, the calculation unit 553 compares the control target value corresponding to the series of control target points arranged on the above-described trajectory with the rotation phase amount and the rotation speed represented by the state for each motor received from the control unit 556. Subsequently, the calculation unit 553 uses a control command value that causes the difference between the above-described control target value and the rotational phase amount or rotational speed represented by the state of each motor to be zero in the control model of the drive unit 570. Calculate based on. Finally, the calculation unit 553 outputs the control command value calculated as described above to the control unit 556.

  The control command value output from the calculation unit 553 to the control unit 556 as a calculation result is encoded into a control command signal by the control unit 556 and passed to the PLC communication unit 557. The PLC communication unit 557 transmits a control command signal passed from the control unit 556 to the PLC communication unit 572 in the drive unit 570 by PLC communication via the power line 580. The control command signal received by the PLC communication unit 572 in the driving body 570 and passed to the control unit 571 is converted by the control unit 571 into a target control amount for each motor. Subsequently, in order to selectively drive the motor corresponding to the driving direction for moving the tip of the welding torch 410, the control unit 571 selectively selects the driver corresponding to the driving direction among the drivers 573A to 573D. Outputs the target control amount.

  When each motor is driven according to the target control amount, the state of each motor detected for the motor being driven is output to the control unit 571 from the corresponding driver. Subsequently, the control unit 571 generates a state feedback signal by encoding the state of each motor into a signal format capable of PLC communication, and passes it to the PLC communication unit 572. The PLC communication unit 572 transmits the state feedback signal passed from the control unit 571 to the PLC communication unit 557 in the control device 550 by PLC communication via the power line 580. Subsequently, in the control device 550, the state feedback signal passed from the PLC communication unit 557 to the control unit 556 is demodulated by the control unit 556, thereby being converted into a state for each motor in the driving body 570, and being calculated. Is output to the unit 553. The calculation unit 553 generates information to be wirelessly transmitted to the remote operation terminal 560 based on the state of each motor output from the control unit 556, and this information indicates the current operating status of the drive device 576. Contains information that can be used by the user to visually confirm. At that time, the calculation unit 553 executes a calculation for generating the information according to the set value and control conditions set via the input unit 552.

  The information output from the calculation unit 553 to the control unit 556 is encoded into a signal format that can be wirelessly transmitted by the control unit 556 and wirelessly transmitted to the remote operation terminal 560 via the wireless communication unit 555. The information received by the wireless communication unit 564 in the remote operation terminal 560 and demodulated by the control unit 563 is passed to the display unit 561, which converts the information into image information that can be displayed on the screen and displays the screen. indicate.

  Next, the configuration of the welding system 100 ′ shown in FIGS. 5 to 7 will be described as a proportionality to be compared with the configuration of the welding system 100 shown in FIGS. 2 to 4. In addition, based on the result of comparing the welding system 100 ′ shown in FIGS. 5 to 7 with the configuration of the welding system 100 shown in FIGS. 2 to 4, the welding system 100 according to some embodiments of the present invention has. The technical advantages will be described.

  The overall configuration of the welding system 100 'is shown in FIG. A welding system 100 ′ shown in FIG. 5 is a welding system in which the welding work automation mechanism 500 ′ shown in FIGS. 6 and 7 is combined with the welding apparatus 400 shown in FIG. 1. Therefore, in the configuration of the welding system 100 shown in FIGS. 2 to 4, the configuration of the portion corresponding to the welding apparatus 400 is completely the same in the welding system 100 ′ shown in FIGS. To do. Also, the welding work automation mechanism 500 ′ shown in FIGS. 6 and 7 will be described focusing on components that are different from the welding work automation mechanism 500 shown in FIGS. 3 and 4. 6 and 7 will be described below. Next, how the welding operation automation mechanism 500 ′ is combined with the welding apparatus 400 shown in FIG. Whether the illustrated welding system 100 ′ is configured will be described.

  Referring to FIG. 6, the welding work automation mechanism 500 ′ includes a control device 510, a remote operation terminal 520, and a driving body 530. Similar to the drive body 570 shown in FIG. 3, the drive body 530 includes a grip portion 531 that grips the welding torch 410, and a drive device 532 that drives the tip of the welding torch 410 according to remote control from the control device 510. The sliding contact portion 533 and the traveling rail 534 are provided. Similarly to the drive device 576 shown in FIG. 3, the drive device 532 has a grip portion 531 that grips the welding torch 410 along the three-axis direction including the transverse direction d1, the elevating direction d2, and the traveling direction d4 shown in FIG. Can be translated. Similarly to the drive device 576 shown in FIG. 3, the drive device 532 can rotate the grip portion 531 in the rotational direction indicated by d <b> 3 in FIG. 6 with the longitudinal center portion of the welding torch 410 as the central axis.

  Unlike the welding work automation mechanism 500 shown in FIG. 3, the control device 510 and the remote operation terminal 520 are connected not by wireless communication but by an operation cable 541. Further, unlike the welding work automation mechanism 500 shown in FIG. 3, the remote operation terminal 520 and the driving body 530 are connected by an operation cable 542. Therefore, unlike the welding work automation mechanism 500 shown in FIG. 3, the controller 510 and the drive body 530 are not directly connected via a power line such as the power line 580 shown in FIG. The cable is wired with a cable via the remote operation terminal 520.

  Next, a welding system configured by combining the control device 510, the remote operation terminal 520, the driving body 530, and the operation cables 541 and 542 constituting the welding work automation mechanism 500 ′ shown in FIG. 6 with the welding device 400 shown in FIG. The configuration of 100 ′ will be described with reference to FIG. The welding torch 410 shown in FIG. 1 is attached to the drive body 530 by being gripped by the grip portion 531 of the drive body 530 shown in FIG. Subsequently, the control device 510 is installed in the vicinity of the welding power source 440 shown in FIG. Subsequently, the control device 510 and the remote operation terminal 520 are connected by the operation cable 541, and the remote operation terminal 520 and the drive unit 530 are connected by the operation cable 542. As a result, the control device 510 and the drive unit 530 are wired with a cable via the remote operation terminal 520, and the operation cable 541, the remote operation terminal 520, and the operation cable 542 are connected from the dedicated power source inside the control device 510. The driving power is supplied to the driving body 530 via the via.

  Further, the torch / switch / lead wire TL accommodated in the welding operation cable 442 is branched to the control device 510 side at a branch point located in the vicinity of the welding power source 440 to form a branch line 444. Then, the branched branch line 444 is connected to the control device 510. Referring to FIG. 5, in order to branch the branch line 444 from the torch switch lead wire TL accommodated in the welding operation cable 442 to the control device 510 side, a branch box is formed at a branch point located in the vicinity of the welding power source 440. 448 is provided. However, in the welding system 100 ′ shown in FIG. 5, the torch switch lead wire TL that connects the control device 510 to the welding torch 410 via the branch line 444 simply electrically drives the torch switch 411. Used only for. Therefore, in the welding system 100 ′ shown in FIG. 5, the torch switch lead wire TL connected to the control device 510 via the branch line 444 is transmitted between the control device 510 and the driving body 530. It is not used to transmit power. Similarly, in the welding system 100 ′ shown in FIG. 5, a portion of the torch switch lead TL connected to the controller 510 is housed in the conduit cable 420, but is simply on the welding torch 410. It is used only to electrically drive the torch switch 411.

  In many cases, the control device 510 is installed at the same place as the welding power source 440, and the control device 510 and the welding power source 440 are installed, for example, near the wall of a factory. Moreover, the drive body 530 and the base material 470 to which the welding torch 410 is attached are installed at the same welding work place. In many cases, the user who watches the welding work performed by the drive body 530 monitors the welding work performed by the drive body 530 at the same welding work place, and uses the remote control terminal 520 held in his hand as necessary. Manually. Therefore, the length of the operation cable 542 connecting the drive body 530 and the remote operation terminal 520 is about 5 to 10 meters. On the other hand, the length of the operation cable 541 connecting the remote operation terminal 520 and the control device 510 is about 50 to 100 meters.

  Similar to the welding system 100 shown in FIGS. 2 to 4, in the welding system 100 ′ shown in FIG. 5, the above-described trajectory learning is performed by cooperation between the control device 510, the remote operation terminal 520, and the driving body 530. Control operations similar to those in the stage and the trajectory tracking control stage may be executed. However, as shown in FIGS. 5 and 6, in the welding system 100 ′, the control device 510 and the remote operation terminal 520 are connected not by wireless communication but by an operation cable 541. Therefore, in the welding system 100 ′, it is necessary to wire a new cable in addition to the existing wiring originally provided in the welding apparatus 400 shown in FIG. 1 and manage the cable.

  Further, as will be described later with reference to FIG. 7, in the welding system 100 ′, each driver for driving each motor in the drive body 530 is built in the remote operation terminal 520. Further, each motor on the drive body 530 side and each driver on the remote operation terminal 520 side are connected via an operation cable 542. Therefore, communication for transmitting a drive signal corresponding to the target control amount from each driver to each motor and feeding back the current state detected for each motor from each motor to each driver is also performed on the remote operation terminal 520 side and the drive unit 530 side. Through the operation cable 542. In other words, the closed loop control system for performing servo control of each motor by transmitting a drive signal from each driver to each motor and repeating the loop for returning the detected state value of each motor to each driver is a remote operation. It is executed via the operation cable 542 across the terminal 520 side and the driving body 530 side.

  Next, referring to FIG. 7, the control device 510 includes a display unit 511, an input unit 512, a calculation unit 513, and a power source 514. Functions and roles of the display unit 511, the input unit 512, and the power source 514 are the same as the functions and roles of the display unit 551, the input unit 552, and the power source 554 included in the control device 550 illustrated in FIG. The function and operation of the calculation unit 513 will be described later in view of the relationship between the remote operation terminal 520 and the driving body 530. The remote operation terminal 520 includes a display unit 521, an operation unit 522, and drivers 523A to 523D. The functions and roles of the display unit 521 and the input unit 522 are the same as the functions and roles of the display unit 561 and the input unit 562 included in the remote operation terminal 560 illustrated in FIG. The drivers 523A to 523D have the same functions and roles as the drivers 573A to 573D included in the driving device 576 in the driving body 570 in FIG.

  The driving device 532 included in the driving body 530 is configured to include only the motors 536A to 536D for driving the grip portion 531 that grips the welding torch 410 along the driving directions d1 to d4 described above. There is no configuration corresponding to the driver. In addition, drivers 523A to 523D included in remote operation terminal 520 and motors 536A to 536D included in drive device 532 are connected via operation cable 542 which is a dedicated cable.

  Hereinafter, the configuration and operation of the calculation unit 513 serving as the core of the automatic control function of the welding operation in the control device 510 will be described based on the relationship between the remote operation terminal 520 and the driving body 530. Unlike the calculation unit 553 included in the control device 550 illustrated in FIG. 4, the calculation unit 513 is directly connected to the drivers 523A to 523D in the remote operation terminal 520 via the operation cable 541 that is a dedicated cable. To explain this from another viewpoint, the drivers 523A to 523D corresponding to the drivers 573A to 573D included in the driving device 576 in the driving body 570 in FIG. 4 are not in the driving body 530 but in the remote operation terminal 520. The driver 530 does not have a configuration corresponding to a driver.

  In addition, similar to welding system 100 shown in FIGS. 2 to 4, calculation unit 513 calculates a control command signal for remotely controlling driver 530. The control command signal is output from the calculation unit 513 to the drivers 523A to 523D in the remote operation terminal 520 via the operation cable 541. At that time, therefore, among the motors 536A to 536D in the drive body 530, only the motor corresponding to the drive direction in which the tip of the welding torch 410 is moved needs to be selectively driven. Therefore, the calculation unit 513 selectively outputs the target control amount included in the control command signal only to the driver corresponding to the motor to be driven. Note that the driving direction in which the tip of welding torch 410 is moved or the motor corresponding to the driving direction may be selected by the user manually operating operation unit 522 of remote operation terminal 520. According to the control command signal, the drivers 523A to 523D output drive signals to the motors 536A to 536D in the drive body 530, so that the drive body 530 performs an operation according to the control command signal. For example, the driving body 530 performs a positioning operation such that the front end portion of the welding torch 410 comes to the start position and the end position of the welding operation or an operation of moving the front end portion of the welding torch 410 so as to follow the trajectory represented by the operation trajectory data. You may make it perform. That is, in the welding system 100 ′ shown in FIG. 5, the control operation similar to that in the trajectory learning stage and the trajectory tracking control stage described above is performed by cooperation between the control device 510, the remote operation terminal 520, and the driving body 530. May be executed.

  In addition, each of the drivers 523A to 523D repeatedly executes the following two operations simultaneously in a constant repetition period, whereby each of the drivers 523A to 523D causes each of the motors 536A to 536D in the driver 530 to be A closed loop control system for executing servo control is configured. The first operation is a state in which detection values such as the current rotational phase amounts and rotational speeds of the motors 574A to 574D are detected from each motor as a current state as a feedback signal necessary for performing rotation control for each motor. This is a detection operation. The second operation compares the current rotational phase amount and rotational speed detected from the motors 574A to 574D with the target control amount for each motor, and commands the motors 574A to 574D based on the comparison result. This is a command value output operation for outputting a command value such as a power rotation phase amount and a rotation speed to each motor. At this time, the current state of the motors 574A to 574D is transmitted from the motors 536A to 536D to the drivers 523A to 523D via the operation cable 542. Also, command values such as the rotational phase amount and the rotational speed to be commanded to the motors 574A to 574D are via the operation cable 542. It is transmitted from the drivers 523A to 523D to the motors 536A to 536D.

  When comparing the welding system 100 ′ of FIGS. 5-7 described above with the welding system 100 of FIGS. 2-4, the welding system 100 shown in FIGS. 2-4 in accordance with some embodiments of the present invention is: It can be seen that it has the following technical advantages.

  In the configuration of the welding system 100 shown in FIGS. 2 to 4, the current state of the drive device 576 to be transmitted from the drive body 570 in the state feedback signal is provided corresponding to the motor 574 in the drive device 576. Detected by the driver 573. In the configuration of welding system 100 shown in FIGS. 2 to 4, an operation for driving motor 574 according to the target control amount included in the control command signal received from control device 550 is provided corresponding to motor 574. It is executed by the driver 573. In the above configuration, such a driver 573 is provided not on the control device 550 side but on the drive body 570 side, whereby the following inconvenient problem is solved.

  In order to control the drive body with high accuracy while maintaining good control response characteristics, the motor status is detected at a high sampling frequency, and an appropriate drive signal is sent to the motor at an appropriate timing without extra delay. It must be output. Therefore, as in the welding system 100 ′ shown in FIGS. 5 to 7, when the driver 523 that detects the state of the motor 536 and outputs a drive signal to the motor 536 is provided on the remote operation terminal 520 side, It becomes difficult to detect the state of the motor 536 at a high sampling frequency and output an appropriate drive signal to the motor 536 at an appropriate timing without extra delay. This is because there is a communication delay between the driving body 530 provided with the motor 536 and the remote operation terminal 520 via the operation cable 542, so that the state of the motor 536 is detected at a high frequency or the drive signal is detected. This is because it is difficult to output to the motor 536 at an appropriate timing without extra delay.

  As described above, according to the configuration of the welding system 100 shown in FIGS. 2 to 4, the following advantages can be obtained by providing the drivers 574 </ b> A to 574 </ b> D on the driver 570 side. That is, in order to control the drive body 570 with high accuracy while maintaining good control response characteristics, the state of the motors 574A to 574D is detected at a high frequency, and the drive signal is sent to the motor at an appropriate timing without extra delay. Can be output. Further, if a closed loop control system for performing rotation control of the motors 574A to 574D by servo control is configured to be completed between the driver 573 and the motor 574, a communication delay connecting the control device 550 and the drive body 570 is achieved. It is no longer necessary to communicate a control signal necessary for servo control of the motor 574 at a high communication frequency across a large cable section.

  In addition, according to the configuration of welding system 100 shown in FIGS. 2 to 4, control device 550 further includes a wireless communication unit 555 for performing wireless communication with a remote operation terminal. The wireless communication unit 555 returns a response confirmation signal to the remote operation terminal 560 in response to reception of the user operation signal transmitted from the remote operation terminal 560. In addition, when the wireless communication unit 555 receives the user operation signal from the remote operation terminal 560, the calculation unit 553 reflects the user operation content included in the user operation signal in the control command signal described above. Subsequently, the control command signal is transmitted toward the driving device 576 for remote control of the driving body 570. In addition, the user can perform remote control operation of the drive body 570 and monitor the state of the drive device 576 using the remote operation terminal 560 while watching the welding operation at the welding place. Further, since the remote operation terminal 560 communicates only with other devices wirelessly, the remote operation terminal 560 is not connected to any cable or wiring. Therefore, the usability and operation of the remote operation terminal 560 are not limited by the cable or wiring. There is no decline in sex.

  In addition, unlike the welding system 100 ′ shown in FIGS. 5 to 7, the remote operation terminal 560 is not connected to the drive body 570 by a cable, so that the user holding the remote operation terminal 560 from the drive body 570 It can be located at any location separated by an arbitrary distance. Further, unlike the welding system 100 ′ shown in FIGS. 5 to 7, the remote operation terminal 560 is not connected to the driving body 570 by a cable, and therefore, an extra additional wiring cable other than the existing wiring cable shown in FIG. Do not need. Further, by performing communication between the remote operation terminal 560 and the control device 550 by broadband wireless communication, it is possible to achieve a communication speed that exceeds the wired communication via the communication cable, and due to the electric noise generated as described above from the welding power line. Communication between the remote control terminal 560 and the control device 550 is less likely to be interfered.

  2 to 4, the control device 550 and the driving body 570 are compared with the welding device 400 including the welding torch 410, the wire feeding device 430, the conduit cable 420, and the welding power source 440. When the welding work automation mechanism 500 including the above is used in combination, the following inter-device connection method is adopted. That is, in the configuration of welding system 100 shown in FIGS. 2 to 4, power line 580 for transmitting drive power and control signal between control device 550 and drive body 570 is a separate cable from welding power line WP. Instead of being routed, both the power line 580 and the welding power line WP are accommodated in the conduit cable 420 and bundled as a single cable. Thereby, in the extending section of the conduit cable 420 that connects the wire feeding device 430 and the welding torch 410, welding power is supplied to the welding torch 410 without the need to provide an additional operation cable separately from the conduit cable 420. While supplying, it becomes possible to transmit drive power and a control signal between the control device 550 and the drive body 570.

  On the other hand, in the welding system 100 ′ shown in FIGS. 5 to 7, the control device 510 and the remote operation terminal 520 are connected by the operation cable 541, and the remote operation terminal 520 and the drive unit 530 are connected. The operation cable 542 is used for connection. As a result, the control device 510 and the drive unit 530 are wired with a cable via the remote operation terminal 520, and the operation cable 541, the remote operation terminal 520, and the operation cable 542 are connected from the dedicated power source inside the control device 510. The driving power is supplied to the driving body 530 via the via. Therefore, in the welding system 100 ′ shown in FIGS. 5 to 7, if the additional operation cables 541 and 542 are not provided in addition to the conduit cable 420, the welding power is supplied to the welding torch 410 and the control device 510. The drive power and the control signal cannot be transmitted to the drive body 530.

  As a result, according to the configuration of the welding system 100 shown in FIGS. 2 to 4, when the welding work automation mechanism 500 that moves the welding torch 410 according to the control signal is added to the existing welding apparatus 400 in order to automate the welding work. There are the following technical advantages. That is, according to the configuration of the welding system 100 shown in FIGS. 2 to 4, the drive power 570 and the drive body 570 are not provided in the extending section of the conduit cable 420 without providing an additional operation cable other than the conduit cable 420. A welding system capable of supplying a control signal can be obtained.

  Also, in the configuration of the welding system 100 shown in FIGS. 2 to 4, a welding power source 440 is used to configure a power line 580 for transmitting drive power and a control signal between the control device 550 and the drive body 570. A part of the torch / switch / lead wire TL connecting the welding torch 410 via the wire feeder 430 also serves as the power line 580. Specifically, in the configuration of the welding system 100 shown in FIGS. 2 to 4, the welding power source 440 passes through the wire feeding device 430 in order to configure the power line 580 that connects the control device 550 and the drive body 570. The torch switch lead wire TL connecting up to the welding torch 410 is branched to the control device 550 side in the vicinity of the welding power source 440 and further branched to the driving body 570 side in the vicinity of the welding torch 410 doing. Therefore, when the welding work automation mechanism 500 including the control device 550 and the drive body 570 is used in combination with the welding device 400, the drive power and the control signal are transmitted between the control device 550 and the drive body 570. Most of the power line 580 can be integrated with the torch / switch / lead wire TL already installed in the welding apparatus 400 of FIG.

  As a result, according to the configuration of the welding system 100 shown in FIGS. 2 to 4, when the welding work automation mechanism 500 that moves the welding torch 410 according to the control signal is added to the existing welding apparatus 400 in order to automate the welding work. The following technical advantages are obtained. That is, according to the above configuration, in the section from the welding power source 440 to the wire feeding device 430, the driver 570 is not provided with an additional cable separately from the existing torch switch lead wire TL. A welding system capable of supplying drive power and control signals can be obtained. Therefore, according to the above configuration, not only in the extending section of the conduit cable 420 but also in the section from the welding power source 440 to the wire feeder 430, without providing an additional cable separately from the existing wiring, A welding system capable of supplying drive power and control signals to the drive body 570 can be obtained.

  As described above, according to the configuration of the welding system 100 shown in FIG. 2, the drive power and the control signal are supplied to the drive body 570 without providing an additional cable in addition to the existing wiring between the control device 550 and the drive body 570. The following problems are solved by being able to supply. When the driving body 570 is carried in and installed at a place where welding work is to be performed, an operation cable must be further connected to the driving body 570 separately from the conduit cable 420, and it takes time to run the operation cable. This can solve the problem that workability is deteriorated. Moreover, when the drive body 570 is carried in and installed in a narrow place, such a problem that such an additional operation cable becomes an obstacle can be solved.

  In addition, when the power source or the device to be connected to the driving body 570 via the operation cable is far away from the driving body 570, the operation cable becomes long and heavy, so that the operation cable is carried in and out. The problem of work can also be solved. In addition, when the driving body 570 is of a type that travels during welding work and moves to a plurality of different welding locations, a load caused by dragging a heavy operation cable is applied to the driving body 570, thereby hindering the operation of the driving body 570. The point is also solved. In addition, the problem that the operation cable is dragged while the driving body is running, the covering material covering the surface of the operation cable is damaged, and there is a risk that the operation cable is broken.

  In an exemplary embodiment, in the configuration of the welding system 100 illustrated in FIGS. 2 to 4, the current waveform of the current that is passed on the welding power line WP to supply the welding power includes a base current period in which the base current flows. A peak current period in which a peak current larger than the base current flows may be included. For example, as shown in FIG. 9B, the current waveform of the welding current that flows on the welding power line WP may be a rectangular pulse waveform in which a pulse-on state and a pulse-off state appear alternately. In FIG. 9B, the duration (pulse width) of the pulse-on state is Tp, and the duration (pulse width) of the pulse-off state is Tb. In FIG. 9B, the welding current Ip that flows on the welding power line WP in the pulse-on state corresponds to the above-described peak current, and the welding current that flows on the welding power line WP in the pulse-off state. The current Ib corresponds to the above-described base current. In addition, in this embodiment, the control device 550 transmits and receives control signals to and from the driver 570 only during the base current period corresponding to the pulse duration Ib shown in FIG. 9B. It may be configured. The reason why the timing for transmitting and receiving the control signal should be as described above is as follows.

  In a period in which the current level of the welding current flowing on the welding power line WP is equal to or close to the peak value Ip, strong electric noise is generated as an electromagnetic interference wave from the welding power line WP. Therefore, when this electrical noise interferes with the power line 580 accommodated in the conduit cable 420 together with the welding power line WP, the waveform of the control signal transmitted / received on the power line 580 is distorted, and the receiving side In some cases, the control signal cannot be received correctly or cannot be received at all.

  Therefore, in this embodiment, control signals are transmitted and received between the control device 550 and the drive body 570 only during a period in which the base current Ib smaller than the peak current Ip flows on the welding power line WP. . Thereby, in this embodiment, it becomes possible to perform transmission / reception of a control signal between the control apparatus 550 and the drive body 570 only when the electromagnetic interference by the power noise generated from the welding power line WP is weak.

  Further, another problem that may occur when performing a welding operation using the welding system is that if the communication path connecting the remote control terminal 560 and the control device 550 is only wireless, communication is performed by a shielding object or jamming radio waves. May be blocked. For example, when a hull such as a ship is welded as a large structure, wireless communication may be blocked by a bulkhead in the hull. In such a case, it is necessary to frequently move the installation positions of the welding power source 440 and the control device 550 to ensure the prospect of the wireless remote operation terminal 560. In addition, in a space where radio waves such as iron plates have good reflectivity, radio signals may not be received normally even in a communication environment with good visibility due to multiple reflections.

  Therefore, in an exemplary embodiment, in the configuration of the welding system 100 illustrated in FIGS. 2 to 4, the wire feeding device 430 performs wire communication with the remote operation terminal 560 as illustrated in FIG. 10. A wireless communication unit 480 on the feeding device side may be further provided. In this embodiment, the wireless communication unit 480 on the wire feeding device side relays a wireless signal transmitted / received to / from the remote operation terminal 560 to the control device 550 by wired communication via the power line 580. It is possible.

  That is, as shown in FIG. 10, in this embodiment, in addition to the wireless communication unit 555 provided in the control device 550, the wire feeder 430 interposed between the control device 550 and the driving body 570 is provided. The wireless communication unit 480 is also provided. In addition, in the configuration shown in FIG. 10, the wireless communication unit 480 provided on the wire feeding device 430 transmits a wireless signal transmitted to and received from the remote operation terminal 560 via wired communication via the power line 580. Is configured to relay to the control device 550. Therefore, for example, even when the welding work place is surrounded by the steel plate structure 90 and the control device 550 is installed at a place away from the structure, the wireless signal transmitted from the remote operation terminal 560 at the welding work place. Is obstructed by the steel plate structure 90 and does not reach the control device 550. This is because the signal wirelessly transmitted from the remote operation terminal 560 is temporarily received by the wireless communication unit 480 installed in the wire feeder 430 installed in the same welding work place, and then wired via the power line 580. This is because the communication is relayed from the wire feeding device 430 to the control device 550 by communication.

  FIG. 11 shows an internal configuration of each apparatus constituting the welding system 100 shown in FIG. 11, the internal configurations of the control device 550, the remote operation terminal 560, and the drive device 576 are the same as those shown in FIG. A wireless communication unit 480 illustrated in FIG. 11 is a wire communication device-side wireless communication unit 480 provided on a wire supply device 430 interposed between the control device 550 and the driving body 570. The wireless communication unit 480 performs wireless communication between the PLC communication unit 482 for communicating with the control device 550 and the driving body 570 by the PLC communication via the power line 580, the control unit 483, and the remote operation terminal 560. And a wireless communication unit 484. The control unit 483 is a circuit that mutually converts a signal format between a wireless signal transmitted / received to / from the remote operation terminal 560 and a PLC communication signal transmitted / received to / from the control device 550. Further, PLC communication unit 482 for communicating with control device 550 and drive body 570 by PLC communication is connected to power line 580 by branch line 446. Here, the branch line 446 is a line branched from the power line 580 to the wireless communication unit 480 by a branch box 447 provided on the power line 580 in the vicinity of the wire feeding device 430.

  In the exemplary embodiment, in the configuration of the welding system 100 illustrated in FIGS. 2 to 4, the driving device 576 of the driving body 570 includes a driving body side for performing wireless communication with the remote operation terminal 560 as illustrated in FIG. 12. A wireless communication unit 579 may be further provided. In addition, the driver-side wireless communication unit 579 may be configured to return a response confirmation signal to the remote operation terminal 560 in response to reception of the user operation signal transmitted from the remote operation terminal 560. Therefore, in this embodiment shown in FIG. 12, the remote control terminal 560 can not only perform wireless communication only with the control device 550, but can also directly wirelessly communicate with the driver 570 at the same time. . Therefore, even if the wireless communication between the remote operation terminal 560 and the control device 550 is interrupted for some reason, the remote operation terminal 560 directly transmits the user operation signal to the driver 570 based on the operation content input by the user. Wireless transmission is possible. Further, by performing communication between the control device 550 or the driving body 570 and the remote operation terminal 560 by broadband wireless communication, a communication speed exceeding the wired communication via the communication cable can be achieved, and the welding power line WP can be used as described above. Due to the electrical noise generated in the communication, communication between the remote control terminal 560 and the control device 550 is not easily interfered.

  In an exemplary embodiment, in the configuration of the welding system 100 illustrated in FIG. 12, the user operation signal received from the remote operation terminal 560 via the wireless communication unit 555 or the driver-side wireless communication unit 579 is the power line 580. Communication may be performed between the control device 550 and the drive device 576 of the drive body 570 by wired communication via the. In this embodiment shown in FIG. 12, either one of the control device 550 and the drive device 576 receives the user operation signal received from the remote operation terminal 560 via the wireless communication unit 555 or the drive unit side wireless communication unit 579. You may make it determine whether it corresponds with the user operation signal by which wired communication was carried out. If the result of the determination is that they do not match, a signal requesting re-operation by the user is wirelessly transmitted to the remote operation terminal 560 via the wireless communication unit 555 or the driver-side wireless communication unit 579. You may do it.

  Hereinafter, a communication control procedure executed between the remote operation terminal 560, the control device 550, and the driving body 570 according to this embodiment will be described with reference to FIGS. First, the remote operation terminal 560 wirelessly transmits a user operation signal L1 having the same content to the control device 550 and the driver 570 via the wireless communication unit 564. Subsequently, after receiving the user operation signal L1 via the wireless communication unit 555, the control device 550 returns a confirmation response signal C1 wirelessly to the remote operation terminal 560. In addition, after receiving the user operation signal L1 via the driver-side wireless communication unit 579, the driver 570 returns a confirmation response signal K1 wirelessly to the remote operation terminal 560. Subsequently, the remote operation terminal 560 that has received the confirmation response signal C1 from the control device 550 sends a notification signal L2 for notifying the control device 550 that the wireless transmission of the user operation signal L1 has been successful, to the control device 550. Wireless transmission. Further, the remote operation terminal 560 that has received the confirmation response signal K1 from the driver 570 wirelessly sends a notification signal L3 to the driver 570 to notify the driver 570 that the wireless transmission of the user operation signal L1 has been successful. Send.

  By the way, when the user operation signal L1 is wirelessly transmitted from the remote operation terminal 560 to the control device 550 and the driving body 570, at least one of the control device 550 and the driving body 570 causes a reception error due to the influence of electrical noise or an obstacle. The user operation signal L1 may be received with incorrect contents. Therefore, in this embodiment, the contents of the user operation signal L1 received wirelessly from the remote operation terminal 560 by the control device 550 and the driving body 570 are transmitted between the control device 550 and the driving body 570 as follows. Communication is performed by wired communication via the power line 580. Thereby, the correctness of the content of the user operation signal L1 received wirelessly from the remote operation terminal 560 by each of the control device 550 and the drive body 570 can be mutually checked between the control device 550 and the drive body 570. It becomes.

  Specifically, the content of the user operation signal L1 wirelessly received by the control device 550 from the remote operation terminal 560 is transmitted via a power line 580 that connects the control device 550 and the driving body 570 (PLC communication). ) From the control device 550 to the driving body 570 (C2 in FIG. 13). Similarly, the content of the user operation signal L1 wirelessly received by the driving body 570 from the remote operation terminal 560 is obtained by wired communication (PLC communication) via the power line 580 connecting the driving body 570 and the control device 550. Then, the signal is transmitted from the driver 570 to the control device 550 (K2 in FIG. 13).

  Subsequently, the control device 550 that has received the content of the user operation signal L1 from the driver 570 by wired communication (PLC communication) via the power line 580 receives the content of the user operation signal L1 received from the driver 570 by wired communication. The contents of the user operation signal L1 received wirelessly from the remote operation terminal 560 are compared. As a result of the comparison, if the content of the user operation signal L1 received from the driver 570 via wired communication matches the content of the user operation signal L1 received wirelessly from the remote operation terminal 560, the controller 550 drives In order to notify the body 570 of the coincidence, the signal C3 is transmitted to the drive body 570 by wired communication (PLC communication) via the power line 580. The driver 570 that has received the signal C3 on the power line 580 recognizes that the content of the user operation signal L1 is correct, and reflects the content of the user operation signal L1 in the control signal output to the driver 573.

  On the other hand, as a result of the above comparison in control device 550, if the content of user operation signal L1 received from driver 570 by wire communication matches the content of user operation signal L1 received wirelessly from remote operation terminal 560, The communication procedure shown in FIG. 14 is executed. In FIG. 14, the communication procedure from the wireless transmission of the user operation signal L1 to the wired communication C2 and K2 between the control device 550 and the driving body 570 is the same as the communication procedure shown in FIG. Description is omitted. In FIG. 14, if the content of the user operation signal L1 received from the driver 570 by wire communication matches the content of the user operation signal L1 received wirelessly from the remote operation terminal 560 as a result of the comparison described above, driving is performed. The body 570 wirelessly transmits a re-operation instruction signal K3 for requesting re-operation by the user to the remote operation terminal 560 via the driver-side wireless communication unit 579. In that case, the control device 550 also wirelessly transmits a re-operation instruction signal C3 for requesting re-operation by the user to the remote operation terminal 560 via the wireless communication unit 555.

  As described above, in this embodiment, when the control device 550 and the driving body 570 each receive a user operation signal from the remote operation terminal 560 by wireless communication, one of the control device 550 and the driving body 570 is in relation to the other. The received user operation signal is communicated by wired communication on the power line 580. Subsequently, in this embodiment, the other of the control device 550 and the driving body 570 is configured such that the user operation signal communicated by wired communication on the power line 580 and the user operation signal received by itself from the remote operation terminal 570 wirelessly. Compare If the two user operation signals do not match as a result of the comparison, the other of the control device 550 and the drive unit 570 wirelessly transmits a signal requesting re-operation by the user to the remote operation terminal 560. .

  Therefore, according to this embodiment, when the control device and the driving body respectively receive user operation signals from the remote operation terminal by wireless communication, the control device and the driving body are connected to each other via the wired communication on the power line. The accuracy of signal contents received wirelessly from each other can be mutually checked. That is, when the control device and the driving body wirelessly receive the same user operation signal from the remote operation terminal, whether one of the control device and the driving body has received the user operation signal with incorrect contents. It can be inspected via wired communication on the power line. As a result, since the control device and the drive body communicate with the remote control terminal by the wired communication on the power line, the wireless communication auxiliary control signal is communicated, so that the reliability of the wireless communication can be improved.

  As shown in FIG. 15, in the configuration of the welding system 100 according to the embodiment referring to FIGS. 12 to 14, the wire feeding device is similar to the embodiment described above with reference to FIGS. 10 and 11. As shown in FIG. 10, 430 may further include a wireless communication unit 480 on the wire feeding device side for performing wireless communication with the remote operation terminal 560. Similarly to the embodiment shown in FIGS. 10 and 11, also in the embodiment shown in FIG. 15, the wireless communication unit 480 on the wire feeder side transmits a wireless signal transmitted to and received from the remote operation terminal 560 to the power source. It is possible to relay to the control device 550 by wired communication via the line 580.

  That is, in this embodiment, in addition to providing the control device 550 and the drive body 570 with the wireless communication unit 555 and the drive body side wireless communication unit 579, respectively, wire feeding interposed between the control device 550 and the drive body 570 is performed. A wireless communication unit 480 is also provided on the device 430. In addition, in the configuration shown in FIG. 15, the wireless communication unit 480 provided on the wire feeding device 430 transmits a wireless signal transmitted / received to / from the remote operation terminal 560 via wired communication via the power line 580. Is configured to relay to the control device 550. Therefore, for example, even when the welding work place is surrounded by the steel plate structure 90 and the control device 550 is installed at a place away from the structure, the wireless signal transmitted from the remote operation terminal 560 at the welding work place. Is obstructed by the steel plate structure 90 and does not reach the control device 550. This is because the signal wirelessly transmitted from the remote operation terminal 560 is temporarily received by the wireless communication unit 480 installed in the wire feeder 430 installed in the same welding work place, and then wired via the power line 580. This is because the communication is relayed from the wire feeding device 430 to the control device 550 by communication.

  Further, in the welding system 100 ″ shown in FIG. 16, the remote operation terminal 560 includes a driving body side wireless communication unit (for example, a driving body side wireless communication unit 579 shown in FIG. 12) provided in each of the two or more driving bodies 570A to 570C. In addition, in the welding system 100 ″ shown in FIG. 16, the two or more drive bodies 570A to 570C are connected to the corresponding ones of the two or more control devices 550A to 550C. A control signal and driving power may be supplied. In that case, each of the two or more driving bodies 570A to 570C may be configured to receive a control signal from the control device 550 (550A to 550C) for remote control of the driving body 570 (570A to 570C). good. In addition, when the user operation signal transmitted from the remote operation terminal 560 is received, the two or more drivers 570A to 570C transmit the user operation content included in the user operation signal from the two or more control devices 550A to 550C. Each may be configured to reflect the received control signal.

  More specifically, the welding system 100 ″ shown in FIG. 16 is configured as follows. First, the user uses the remote operation terminal 560 to perform a plurality of driving bodies 570A to 570C via wireless communication. In this case, the remote operation terminal 560 operated by the user is configured to be able to wirelessly communicate with a plurality of driving bodies 570A to 570C. The system configuration and wiring connection form of the welding systems 110 to 130 and the apparatus configuration and wiring connection form of the welding system 100 shown in Fig. 2 are substantially the same except for the points described above, that is, the driving body 570A includes a welding torch 410A, The welding system 110 is configured together with the wire feeding device 430A, the control device 550A, and the welding power source 440A. 2 is substantially the same as the configuration of the welding system 100 shown in Fig. 2. The drive body 570B, together with the welding torch 410B, the wire feeding device 430B, the control device 550B, and the welding power source 440B, constitutes the welding system 120 and is welded. The configuration of the system 120 is almost the same as the configuration of the welding system 100 shown in Fig. 2. The drive body 570C includes the welding torch 410C, the wire feeding device 430C, the control device 550C, and the welding power source 440C, and the welding system 130. The configuration of the welding system 130 is substantially the same as the configuration of the welding system 100 shown in FIG.

  Similarly to the embodiment described above with reference to FIGS. 2 to 4, the plurality of driving bodies 570 </ b> A to 570 </ b> C are remotely controlled based on a user operation command input to the remote operation terminal 560 by the user. For this purpose, the plurality of driving bodies 570A to 570C include a driving body side wireless communication unit (see the driving body side wireless communication unit 579 in FIG. 12) for receiving the user operation command from the remote operation terminal 560 as a wireless signal. The user operation command may include a driving direction desired by the user and a desired target control amount along the desired driving direction for each of the driving bodies 570A to 570C. Further, the user operation command may include a command for on / off switching control of the welding torch 410 (410A to 410C) for each of the driving bodies 570A to 570C. In that case, the command may be transmitted to the welding power source 440 via the torch switch lead TL that connects each of the driving bodies 570A to 570C and the welding power source 440, respectively. Note that which of the plurality of driving bodies 570A to 570C is selected as a destination when the user operation command is wirelessly transmitted from the remote operation terminal 560 depends on which of the driving bodies 570A to 570C is selected by the user with respect to the remote operation terminal 560. It is specified by inputting an identification number or identification information for identifying one. That is, the user designates which of the driving bodies 570A to 570C the driving body to be controlled by the remote control terminal 560 by the identification number input to the remote operation terminal 560, and thereafter, the remote operation terminal 560 is designated. It becomes a terminal for remote control the driving body.

  Similarly to the embodiment described above with reference to FIGS. 2 to 4, in order to control the plurality of driving bodies 570 </ b> A to 570 </ b> C based on the control model stored in the control device 550, the plurality of driving bodies 570 </ b> A. A closed loop control system is configured between each of ˜570C and the control device 550. A closed loop control system configured between each of the plurality of driving bodies 570A to 570C and each of the control devices 550A to 550C is a control signal between each of the driving bodies 570A to 570C and each of the control devices 550A to 550C. It is realized by transmitting and receiving. Here, the control signal includes a state feedback signal transmitted from each of the driving bodies 570A to 570C to each of the control devices 550A to 550C. The state feedback signal includes a compensation control amount that represents a difference between the current state of the driving devices 576A to 576C and the target control amount received from the remote operation terminal 560 as the user operation command for a desired driving direction. . Here, the current state in the driving devices 576A to 576C represents the result of detecting the posture or position of each of the driving bodies 576A to 576C in the desired driving direction. Further, the control signal includes a control command signal transmitted from the control device 550 (each of 550A to 550C) to the driving body 570 (each of 570A to 570C). The control command signal includes a control command value calculated by the control device 550 by applying the compensation control amount included in the state feedback signal to the control model of the control device 550, and is transmitted from the control device 550 to the driver 570. Control signal. As described above, the above-described closed loop control system is realized by transmitting and receiving a control signal between the driver 570 and the control device 550.

  As described above, according to the welding system 100 ″ shown in FIG. 16, it is desired to simultaneously perform a welding operation on a plurality of different welding locations included in the same base material to be welded using the plurality of driving bodies 570A to 570C. In this case, the following technical advantages are obtained: That is, according to the welding system 100 "shown in Fig. 16, the user uses only one remote control terminal 560 to move between the plurality of driving bodies 570A to 570C. A plurality of driving bodies 570A to 570C can be remotely controlled simultaneously while switching. In addition, similarly to the welding system 100 shown in FIG. 2, a plurality of driving bodies 570 </ b> A to 570 </ b> C can be driven without having to separately route a control cable for transmitting and receiving control signals in addition to the welding power line WP and the power line 580. Remote control of the bodies 570A to 570C can be realized.

80 Broken line 90 Iron plate structure 100, 100 ', 100 "Welding system 400 Welding device 410 (410A, 410B, 410C) Welding torch 411 Torch switch 420 Conduit cable 421 Conductor layer 423a, 423b Two-core cable 430 Wire feeding Device 431 Welding wire 440 Welding power source 441 Welding power line 442 Welding operation cable 443 Grounding wire 448, 449 Branch box 450 Shield gas cylinder 451 Gas hose 460 Hand adjustment box 470 Base material 480 Wireless communication unit 500 on wire feeder side Welding work automation Mechanism 510 Control device 550 (550A, 550B, 550C) Control device 511, 521, 551, 561 Display unit 512, 522, 552, 562 Input unit 513, 553 Calculation unit 514, 554 Power supply 52 , 560 Remote operation terminal 522, 562 Operation unit 523 (523A to 523D) Driver 536 (536A to 536D) Motor 573 (573A to 573D) Driver 574 (574A to 574D) Motor 530 Driver 570 (570A, 570B, 570C) Drive Body 531, 575 Gripping part 532, 576 Drive unit 533, 577 Sliding contact part 534, 578 Running rail 541, 542 Operation cable 555 Wireless communication part 556, 563, 571 Control part 557, 572 PLC communication part 558 Antenna 559 External power cable 565 Battery 579 Drive unit side wireless communication unit 580 Power line 581, 582 Branch line TL Torch / Switch / Lead wire WP Welding power lines d1 to d4 Driving direction d1 Traverse direction d2 Elevating direction d4 Traveling direction

Claims (13)

Welding torch,
A driving body having a gripping part for gripping the welding torch, and a driving device for driving a tip part of the welding torch;
A welding power source that supplies welding power for generating arc discharge to the welding torch via a welding power line paired with a ground line connected to a member to be welded;
A wire feeding device for feeding a welding wire to the tip of the welding torch;
A control device that controls the drive device by supplying drive power to the drive body via a power line and transmitting / receiving a control signal to / from the drive body via the power line;
A conduit cable for connecting the wire feeding device and the welding torch and accommodating the welding wire;
The conduit system is configured to accommodate the power line and the welding power line while maintaining insulation from each other. The power line is a line obtained by further branching a lead wire extending in the conduit cable from the control device via the wire feeding device to the driver side in the vicinity of the welding torch,
Of the lead wire, a section from the wire feeding device to the welding torch is accommodated in the conduit cable while maintaining mutual insulation with the welding power line.
The welding system according to claim 1, wherein: The power line branches a lead wire connecting from the welding power source to the welding torch via the wire feeding device to the control device side in the vicinity of the welding power source, and in the vicinity of the welding torch. A line further branched to the driver side,
Of the lead wire, a section from the wire feeding device to the welding torch is accommodated in the conduit cable while maintaining mutual insulation with the welding power line.
The welding system according to claim 1, wherein: The conduit cable cross-sectional structure is:
A central portion of the cross section where the welding wire is disposed;
A cross-sectional outer periphery on which a conductor layer surrounding the welding wire is disposed, and in the conduit cable,
The welding power line is composed of the conductor layer,
The power line is embedded in the conductor layer while maintaining an insulating state with the conductor layer.
The welding system according to any one of claims 1 to 3, wherein the welding system is characterized. The control device is configured to transmit the driving power and the control signal in a superimposed manner via the power line by PLC communication technology.
The welding system according to any one of claims 1 to 4, wherein the welding system is characterized. The current waveform of the current that flows on the welding power line to supply the welding power includes a base current period in which a base current flows and a peak current period in which a peak current larger than the base current flows,
The control device is configured to transmit and receive the control signal to and from the driver only during the base current period;
The welding system according to any one of claims 1 to 5, wherein: The control signal is
A state feedback signal used to transmit the detection result of the current state in the driving device from the driving body to the control device;
A control command signal transmitted from the control device to the control unit, including a desired drive direction and a desired target control amount calculated by the control device based on at least the state feedback signal;
The welding system according to any one of claims 1 to 6, further comprising: The driving device of the driving body is:
A PLC communication unit for transmitting and receiving the control signal to and from the control device;
A motor for driving the tip of the welding torch;
A driver that is provided corresponding to the motor, outputs a drive signal corresponding to a desired target control amount to the motor, and detects a state of the motor;
At least one control unit connected to the driver, extracting the desired target control amount from the control command signal, and outputting the desired target control amount to the driver;
With
The state feedback signal is used to transmit the state of the motor from the control unit to the control device when the control unit receives the state of the motor detected for the motor from the driver.
The welding system according to claim 7. The control device further includes a wireless communication unit for performing wireless communication with a remote operation terminal,
The wireless communication unit returns a response confirmation signal to the remote operation terminal in response to reception of the user operation signal transmitted from the remote operation terminal, and transmits the user operation content included in the user operation signal to the driver. Configured to reflect on the remote control of the
The welding system according to any one of claims 1 to 8, characterized in that: The driving device of the driving body further includes a driving body side wireless communication unit for performing wireless communication with the remote operation terminal,
The driver wireless communication unit is configured to return a response confirmation signal to the remote operation terminal in response to reception of a user operation signal transmitted from the remote operation terminal.
The welding system according to claim 9. The user operation signal received from the remote operation terminal via the wireless communication unit or the driving body side wireless communication unit is transmitted between the control device and the driving device of the driving body by wired communication via the power line. Communicated between
One of the control device and the drive device is
Determining whether the user operation signal received from the remote operation terminal via the wireless communication unit or the driver-side wireless communication unit matches the user operation signal that has been wired communication;
If it is determined that they do not match, wirelessly transmit a signal requesting re-operation by the user to the remote operation terminal via the wireless communication unit or the driver-side wireless communication unit,
The welding system according to claim 10. The wire feeding device further includes a wire feeding device side wireless communication unit for performing wireless communication with a remote operation terminal,
The wire feeder side wireless communication unit relays a wireless signal transmitted / received to / from the remote operation terminal to the control device by wired communication via the power line,
The welding system according to any one of claims 1 to 11, wherein: The remote operation terminal is configured to be able to wirelessly communicate with the driver-side wireless communication unit provided in each of the two or more drivers.
The two or more driving bodies are respectively supplied with control signals and driving power from corresponding ones of the two or more control devices, respectively.
Each of the two or more drivers is
Receiving a control signal from a corresponding control device among the two or more control devices for remote control of the driver,
Reflecting the user operation content included in the user operation signal to the control signal received from the corresponding control device,
The welding system according to claim 10 or 11, further configured as described above.

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