JP7352897B2 - Identifier management method, robot control device and overall control device - Google Patents

Description

The present disclosure relates to an identifier management method, a robot control device, and an overall control device.

Patent Document 1 discloses a production management device that manages production performance information of a production line in which a plurality of manufacturing machines are arranged. The production control device detects which manufacturing machine the workpiece supplied to the production line is located in, and when it detects that the workpiece is located in any manufacturing machine, it generates a unique identifier for the workpiece and identifies the location of the workpiece. The generated identifier and production performance information when processing the workpiece corresponding to the identifier are received from the manufacturing machine and recorded. In addition, each time a workpiece is sequentially moved to each of a plurality of manufacturing machines, the production control device records the multiple identifiers generated for the workpiece in association with the identifiers of the products completed by the workpiece. do.

JP2017-102548A

The present disclosure provides an identifier management method, a robot control device, and an overall control device that support more efficient management of identifiers of workpieces that are manufactured or whose defective parts are corrected in various welding processes such as regular welding or repair welding. .

The present disclosure is an identifier management method executed by a welding system, which acquires information on an identifier of a source workpiece, and identifies a welding location by the welding system of a workpiece to be welded manufactured by main welding using the source workpiece. If an inspection report is received indicating that the inspection has failed, and an inspection report is received indicating that the repair welding of the defective part of the workpiece, which is performed based on the inspection report, has passed, the repair The identifier of the workpiece to be repaired that has been welded is set as the same identifier as the identifier of the workpiece to be welded, and the result of inspection of repair welding of the defective part of the workpiece to be welded based on the inspection report is An identifier management method is provided, in which, when an inspection report indicating a failure is received, an identifier of the workpiece to be repaired is set as an identifier that is at least partially different from an identifier of the workpiece to be welded.

The present disclosure also provides a robot control device constituting a welding system, which includes a memory that retains information on an identifier of a source work, and a processor that controls a welding robot so as to be able to perform main welding using the source work. a communication unit that communicates with a general control device that controls the welding system, and the processor is configured to detect that the welding part of the welded workpiece manufactured by the main welding has failed the inspection by the welding system. In the case where an inspection report is received and a welding part of a workpiece to be repaired manufactured by repair welding of a defective part of the workpiece to be welded is to be inspected based on the inspection report, the result of the inspection is not acceptable. If an inspection report to that effect is received, the identifier is set to be the same as the identifier of the workpiece to be repaired where the repair welding was performed , and if an inspection report is received to the effect that the result of the inspection is rejected, the above A robot control device is provided that sets an identifier of a workpiece to be repaired to be welded as a different identifier from the identifier of the workpiece to be welded .

The present disclosure also provides a robot control device that configures a welding system, which holds information on an identifier of a source workpiece, controls a welding robot to perform main welding using the source workpiece, and controls the welding system. a first robot control unit that communicates with a supervising overall control device, and retains an inspection report indicating that the inspection of the welded part of the welded workpiece manufactured by the main welding by the welding system has failed; a second robot control unit that controls a repair welding robot to perform repair welding using the workpiece to be welded and communicates with the overall control device, the second robot control unit configured to perform the inspection. In the case of inspecting the welded parts of the workpiece to be repaired manufactured by repair welding of the defective parts of the workpiece to be welded based on the report , if an inspection report indicating that the result of the said inspection is passed is received; , the identifier of the workpiece to be repaired where the repair welding was performed is set as the same identifier as the identifier of the workpiece to be welded, and when an inspection report indicating that the result of the inspection is failed is received, the said workpiece A robot control device is provided that sets an identifier of a repair welding workpiece as an identifier different from an identifier of the workpiece to be welded .

In addition, the present disclosure provides an overall control device that configures a welding system, and includes a memory that holds information on an identifier of a source work, and a robot control device that controls execution of main welding using the source work. a communication unit that communicates; and a processor that controls a welding robot to perform main welding using the original workpiece; In the case of conducting an inspection, if an inspection report indicating that the result of the inspection is passed is received, the identifier of the workpiece to be repaired where the repair welding was performed shall be set as the same identifier as the identifier of the workpiece to be welded. The present invention provides a general control device that sets an identifier of the work to be repaired to be welded as a different identifier from an identifier of the work to be welded when an inspection report indicating that the result of the inspection is failed is received . .

According to the present disclosure, it is possible to support more efficient management of identifiers of workpieces that are manufactured or whose defective parts are corrected in various welding processes such as main welding or repair welding.

Schematic diagram showing an example of the system configuration of a welding system A diagram showing an example of the internal configuration of an inspection control device, a robot control device, and a host device according to Embodiment 1. An explanatory diagram showing an example of an overview of operations during welding using a workpiece with ID “A” and a workpiece with ID “B” A diagram showing an example of a correspondence table between the ID of the selected workpiece to be welded and the management ID Sequence diagram showing a first operation procedure example of ID management in the welding system according to the first embodiment Sequence diagram showing a modification of the first operation procedure of ID management in the welding system according to Embodiment 1 Sequence diagram showing a second operation procedure example of ID management in the welding system according to Embodiment 1 Sequence diagram showing a modification of the second operation procedure of ID management in the welding system according to Embodiment 1 Sequence diagram showing a second operation procedure example of ID management in the welding system according to Embodiment 1 A diagram showing an example of the internal configuration of a robot control device and a host device according to Embodiment 2. Sequence diagram showing a first operation procedure example of ID management in the welding system according to Embodiment 2 Sequence diagram showing a modification of the first operation procedure of ID management in the welding system according to Embodiment 2 Sequence diagram showing a second operation procedure example of ID management in the welding system according to Embodiment 2 Sequence diagram showing a modification of the second operation procedure of ID management in the welding system according to Embodiment 2 Sequence diagram showing a second operation procedure example of ID management in the welding system according to Embodiment 2 Schematic diagram showing a modification of the system configuration of the welding system shown in Figure 1

(Circumstances leading to this disclosure)
According to Patent Document 1, the production control device can manage traceability data for each individual workpiece. However, in the configuration of Patent Document 1, a new identifier is assigned each time the same workpiece is placed in a plurality of different manufacturing machines. In other words, each time a workpiece is placed in another manufacturing machine one after another on a production line, that one workpiece will have a plurality of different identifiers. Particularly in welding, if the appearance inspection of the welded workpiece manufactured in the welding process (hereinafter sometimes referred to as "main welding") fails, repair welding is performed to correct the defective part of the weld. It may happen. In other words, not all of the workpieces to be welded manufactured through the welding process are repair-welded. Therefore, if a new ID is assigned each time the product is manufactured as in Patent Document 1, the work to be welded manufactured by the welding process and the work to be repaired to be welded whose defective parts have been corrected by repair welding are both the same work. However, different identifiers are assigned, which complicates the relationship between the identifiers and complicates the overall management of the work. For this reason, there was a possibility that the system administrator's work efficiency would deteriorate.

Therefore, in the following embodiments, an identifier management method, a robot control device, and An example of the overall control device will be explained.

DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments specifically disclosing an identifier management method, a robot control device, and an overall control device according to the present disclosure will be described in detail with reference to the drawings as appropriate. However, more detailed explanation than necessary may be omitted. For example, detailed explanations of well-known matters or redundant explanations of substantially the same configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. The accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter recited in the claims.

(Embodiment 1)
The welding system according to the first embodiment acquires information on the identifiers of each of a plurality of original workpieces, and prevents the welding system from inspecting a welded part of a workpiece to be welded manufactured by main welding using a plurality of original workpieces. Upon receiving the inspection report indicating that the work has passed, and in response to the completion report of repair welding of the defective part of the workpiece to be welded based on the inspection report, the identifier of the workpiece to be repaired on which repair welding was performed is transferred to the workpiece to be welded. Set the same identifier without changing it from the previous identifier. Hereinafter, the workpiece used for the actual welding is the "original workpiece", the workpiece generated (manufactured) by the actual welding is the "workpiece to be welded", and welding defects detected by visual inspection of the "workpiece to be welded" are referred to as the "source workpiece". A workpiece to be repair-welded is defined as a "workpiece to be repaired". Note that the "workpiece to be welded" or the "workpiece to be repaired and welded" is not limited to a workpiece manufactured by one main welding process, but may be a composite workpiece manufactured by two or more main welding processes.

(Welding system configuration)
FIG. 1 is a schematic diagram showing an example of a system configuration of a welding system 100. The welding system 100 includes a host device 1 connected to an external storage ST, an input interface UI1, and a monitor MN1, a robot control device 2, a main welding robot MC1a, and a repair welding robot MC1b. The main welding robot MC1a and the repair welding robot MC1b may be configured as separate robots, respectively, or may be configured as the same welding robot MC1. To make the following description easier to understand, the first embodiment will be described assuming that the welding robot MC1 executes both the main welding process and the repair welding process. Although FIG. 1 shows only one pair of one robot control device 2, main welding robot MC1a, and repair welding robot MC1b, a plurality of such pairs may be provided. Moreover, the welding system 100 may be configured to further include an inspection control device 3 and an inspection device 4.

The host device 1, which is an example of a general control device, centrally controls execution (for example, start and completion of main welding) of main welding (so-called welding process) performed by the welding robot MC1 via the robot control device 2. . For example, the host device 1 reads welding-related information input or set in advance by a user (for example, a welding operator or system administrator; the same applies hereinafter) from the external storage ST, and based on the welding-related information, the welding-related information is A main welding execution command including some contents is generated and sent to the corresponding robot control device 2. When the main welding by the welding robot MC1 is completed, the host device 1 receives a main welding completion report from the robot control device 2 indicating that the main welding by the welding robot MC1 has been completed, and sends a notification indicating that the corresponding main welding has been completed. The status is updated and recorded in the external storage ST. Note that the above-mentioned actual welding execution command is not limited to being generated by the host device 1, and may be generated, for example, by an operation panel of equipment in a factory or the like where actual welding is performed (for example, a programmable logic controller (PLC)), or a robot control device. 2a, 2b, . . . may be generated by the operation panel (for example, TP: Teach Pendant). Note that the teach pendant (TP) is a device for operating the welding robots MC1a, MC1b, . . . connected to the robot control devices 2a, 2b, .

Further, the host device 1 centrally controls the execution of the visual inspection (for example, the start and completion of repair welding) performed by the inspection device 4 via the inspection control device 3. For example, upon receiving the main welding completion report from the robot control device 2, the host device 1 generates an execution command for visual inspection of the workpiece to be welded manufactured by the welding robot MC1, and sends it to the inspection control device 3. When the visual inspection by the inspection device 4 is completed, the host device 1 receives an inspection completion report (an example of an inspection report) from the inspection control device 3 indicating that the visual inspection by the inspection device 4 has been completed, and performs the corresponding visual inspection. The status is updated to indicate that the process has been completed and recorded in the external storage ST.

The host device 1 also performs repair welding (so-called repair of welding points determined to be defective by visual inspection among welding points that have been actually welded) performed by the welding robot MC1 via the robot control device 2. (for example, the start and completion of repair welding). For example, upon receiving the inspection completion report from the inspection control device 3, the host device 1 generates an execution command for repair welding of the work to be welded manufactured by the welding robot MC1 and sends it to the robot control device 2. When the repair welding by the welding robot MC1 is completed, the host device 1 receives a repair welding completion report from the robot control device 2 indicating that the repair welding by the welding robot MC1 has been completed, and receives a report indicating that the corresponding repair welding has been completed. The status is updated and recorded in the external storage ST.

Here, the welding-related information is information indicating the content of the main welding performed by the welding robot MC1, and is created in advance for each main welding process and registered in the external storage ST. Welding-related information includes, for example, the number of original workpieces required for the welding process, the identifier (hereinafter abbreviated as "ID") of the original workpieces used in the welding process, workpiece information including the name and welding location of the original workpieces, and the number of original workpieces required for the welding process. It includes the scheduled date of execution, the number of workpieces to be welded to be manufactured, and various welding conditions during the welding process. Note that the welding related information does not need to be limited to the data of the above-mentioned items. Based on the execution command sent from the host device 1, the robot control device 2 causes the welding robot MC1 to perform main welding using a plurality of original workpieces specified by the execution command. Note that the above-mentioned welding related information is not limited to being managed by the host device 1 with reference to the external storage ST, but may be managed by the robot control device 2, for example. In this case, since the robot control device 2 can grasp the completion of the main welding, the actual execution date may be managed instead of the scheduled execution date on which the welding process is scheduled to be executed among the welding-related information. Note that in this specification, although the type of welding process does not matter, in order to make the explanation easier to understand, the process of joining each of a plurality of original workpieces will be described as an example (see FIG. 3).

The host device 1 is connected to each of the monitor MN1, input interface UI1, and external storage ST so as to be able to input and output data, and furthermore, to be able to communicate data with the robot control device 2. connected so that The host device 1 may be a terminal device P1 that integrally includes a monitor MN1 and an input interface UI1, and may further include an external storage ST. In this case, the terminal device P1 is a PC (Personal Computer) used by the user prior to execution of the main welding. Note that the terminal device P1 is not limited to the above-mentioned PC, but may be a computer device having a communication function, such as a smartphone or a tablet terminal.

The host device 1 acquires the above-mentioned welding-related information from the external storage ST, generates an execution command for actual welding using a plurality of original workpieces based on the welding-related information, and sends this execution command to the corresponding robot control. Send to device 2. When the host device 1 receives the ID of the workpiece to be welded (for example, a secondary workpiece) sent from the corresponding robot control device 2 after the main welding by the welding robot MC1 is completed, the host device 1 uses the ID as the identifier (ID) of the workpiece to be welded. At the same time, welding process logic data (see FIG. 3) corresponding to the workpiece to be welded is generated and stored in the external storage ST in association with the ID of the workpiece to be welded. As a result, the host device 1 can appropriately and easily manage the IDs of workpieces to be welded that have been generated (manufactured) by main welding by various welding robots MC1 or repaired workpieces that have been corrected by repair welding. Note that details of the operation of the host device 1 will be described later with reference to the drawings. Note that the host device 1 may display the welding process logic data including the ID of the work to be welded or the work to be repaired to be welded on the monitor MN1.

The monitor MN1 may be configured using a display device such as an LCD (Liquid Crystal Display) or an organic EL (Electroluminescence). The monitor MN1 may display a screen showing welding process logic data outputted from the host device 1, for example, and including the ID of the workpiece to be welded or the workpiece to be repaired. Further, a speaker (not shown) may be connected to the host device 1 instead of or together with the monitor MN1, and the host device 1 may output the contents of the welding process logic data by voice through the speaker. good.

The input interface UI1 is a user interface that detects a user's input operation and outputs it to the host device 1, and may be configured using, for example, a mouse, a keyboard, a touch panel, or the like. The input interface UI1 accepts, for example, an input operation when a user creates welding-related information, or an input operation when a user sends an execution command for actual welding to the robot control device 2.

The external storage ST is configured using, for example, a hard disk drive or a solid state drive. The external storage ST stores, for example, welding-related information data created for each actual weld, welding process logic data (Fig. 3 reference).

The robot control device 2 is connected to the host device 1 so as to be able to communicate data, and is also connected to the welding robot MC1 so that it can communicate data. Upon receiving the actual welding execution command sent from the host device 1, the robot control device 2 controls the corresponding welding robot MC1 to perform the actual welding based on the execution command. When the robot control device 2 detects the completion of the main welding, it generates a main welding completion report indicating that the main welding has been completed and sends it to the host device 1. Thereby, the host device 1 can appropriately detect the completion of main welding based on the robot control device 2. Note that the method for detecting the completion of main welding by the robot control device 2 may be, for example, a method of determining based on a signal indicating completion of main welding from a sensor (not shown) included in the wire feeding device 300, or a method known in the art. The method for detecting the completion of main welding does not need to be limited.

Further, upon receiving a repair welding execution command sent from the host device 1, the robot control device 2 controls the corresponding welding robot MC1 to perform repair welding based on the execution command. When the robot control device 2 detects the completion of repair welding, it generates a repair welding completion report indicating that the repair welding has been completed and sends it to the host device 1. Thereby, the host device 1 can appropriately detect the completion of repair welding based on the robot control device 2. Note that the method for detecting the completion of repair welding by the robot control device 2 may be, for example, a method of determining based on a signal indicating completion of repair welding from a sensor (not shown) included in the wire feeding device 300, or a method known in the art. The content of the method for detecting completion of repair welding does not need to be limited.

Welding robot MC1, which is an example of a welding robot, is connected to robot control device 2 so as to be able to communicate data. The welding robot MC1 executes main welding or repair welding instructed by the host device 1 under the control of the corresponding robot control device 2.

The inspection control device 3 is connected to each of the host device 1, robot control device 2, and inspection device 4 so as to be able to communicate data. When the inspection control device 3 receives the visual inspection execution command sent from the host device 1, the inspection control device 3 performs a visual inspection of the welding location of the workpiece to be welded manufactured by the welding robot MC1 (for example, whether the welding process in the main welding process is normal or not). The inspection device 4 causes the inspection device 4 to execute the inspection (inspection as to whether the For example, the inspection control device 3 controls the inspection device 4 to detect the shape of a weld bead formed at the welding location based on the welding location information of the workpiece to be welded included in the execution command for the visual inspection, and performs the actual welding. In each case, the shapes of a predetermined welding master bead (not shown) and the actually detected welding bead are compared. The inspection control device 3 generates a visual inspection report based on the above-described comparison, and sends the visual inspection report to the host device 1. In addition, when the inspection control device 3 generates a visual inspection report indicating that the visual inspection of the workpiece to be welded has failed, it generates a repair welding program to repair or otherwise correct the defective welding part. This program and the visual inspection report are associated with each other and sent to the robot control device 2.

The inspection device 4 is connected to the inspection control device 3 so as to be able to communicate data. Although not shown in FIG. 1, when the inspection device 4 is attached to the welding robot MC1 (see FIG. 2), the inspection device 4 responds to the drive of the manipulator 200 under the control of the robot control device 2. Thus, the mounting table on which the workpiece Wk is mounted can be operated to perform three-dimensional scanning. The inspection device 4 detects the external appearance sent from the robot control device 2 to the inspection control device 3 in order to inspect the presence or absence of welding defects on the workpiece Wk in accordance with the drive of the manipulator 200 based on the control of the robot control device 2. Based on the inspection execution command, the weld bead shape data of the welding location of the welding location information included in the execution command is acquired and sent to the inspection control device 3. The inspection control device 3 determines whether there is a welding defect at the welding location based on the shape data obtained from the inspection device 4 and the shape data of the master bead described above (visual inspection). The inspection control device 3 sends defective location information (for example, which may include defective sections, location information of the defective sections, and defect factors) that are determined to be welding defects among the welding locations to the robot control device 2 as a visual inspection report. . In addition, when it is determined that repair welding can be performed by the welding robot MC1 on the defective part, the inspection control device 3 also sends information such as the type of correction in repair welding and the correction parameters for performing repair welding to the appearance inspection report. The data is sent to the robot control device 2 as

FIG. 2 is a diagram showing an example of the internal configuration of the inspection control device 3, robot control device 2, and host device 1 according to the first embodiment. In order to make the explanation easier to understand, illustration of the monitor MN1 and the input interface UI1 is omitted in FIG.

The welding robot MC1 executes various processes such as main welding and repair welding instructed by the host device 1, for example, under the control of the robot control device 2. Welding robot MC1 performs, for example, arc welding in the main welding or repair welding process. However, the welding robot MC1 may perform welding other than arc welding (for example, laser welding, gas welding), etc. In this case, although not shown, a laser head may be connected to a laser oscillator via an optical fiber instead of the welding torch 400. The welding robot MC1 includes at least a manipulator 200, a wire feeding device 300, a welding wire 301, and a welding torch 400.

The manipulator 200 includes multi-jointed arms, and moves each arm based on control signals from the robot control unit 25 (see below) of the robot control device 2. Thereby, the manipulator 200 can change the positional relationship between the workpiece Wk and the welding torch 400 (for example, the angle of the welding torch 400 with respect to the workpiece Wk) by moving the arm.

The wire feeding device 300 controls the feeding speed of the welding wire 301 based on a control signal (see below) from the robot control device 2. Note that the wire feeding device 300 may include a sensor (not shown) that can detect the remaining amount of the welding wire 301. The robot control device 2 can detect that the main welding or repair welding process is completed based on the output of this sensor.

Welding wire 301 is held by welding torch 400. When power is supplied from the power supply device 500 to the welding torch 400, an arc is generated between the tip of the welding wire 301 and the workpiece Wk, and arc welding is performed. Note that illustration and description of the configuration for supplying shielding gas to welding torch 400 will be omitted for convenience of explanation.

The host device 1 performs main welding using each of a plurality of original workpieces or repair welding in which defective welding points on workpieces to be welded are repaired or otherwise corrected using welding-related information input or set in advance by the user. Execution commands for various processes are generated and sent to the robot control device 2. The host device 1 has a configuration that includes at least a communication section 10, a processor 11, and a memory 12.

The communication unit 10 is connected to each of the robot control device 2 and external storage ST to enable data communication. The communication unit 10 sends execution commands (see above) for various processes of main welding or repair welding, which are generated by the processor 11, to the robot control device 2. The communication unit 10 receives the ID of the workpiece to be welded or the workpiece to be repaired sent from the robot control device 2 and outputs it to the processor 11 . Note that the actual welding or repair welding execution command may include, for example, control signals for controlling each of the manipulator 200, wire feeding device 300, and power supply device 500 included in the welding robot MC1.

The processor 11 is configured using, for example, a CPU (Central Processing Unit) or an FPGA (Field Programmable Gate Array), and performs various processing and control in cooperation with the memory 12. Specifically, the processor 11 functionally implements the cell control unit 13, ID setting management unit 14, and logical data generation unit 15 by referring to a program held in the memory 12 and executing the program. .

The memory 12 includes, for example, a RAM (Random Access Memory) as a work memory used when executing the processing of the processor 11, and a ROM (Read Only Memory) that stores a program that defines the processing of the processor 11. Data generated or acquired by the processor 11 is temporarily stored in the RAM. A program that defines the processing of the processor 11 is written in the ROM. The memory 12 also stores welding-related information read from the external storage ST, and secondary work information (see below) sent from the robot control device 2 including the ID of the work to be welded or the weld work to be repaired. , and store welding process logic data (see FIG. 3) of the secondary workpiece generated by the processor 11, respectively.

Based on the welding-related information stored in the external storage ST, the cell control unit 13 performs actual welding using a plurality of source workpieces specified (in other words, set) in the welding-related information or performs welding on the workpiece to be welded. Generates an execution command to execute repair welding. Furthermore, the cell control unit 13 performs an appearance inspection regarding the drive of the welding robot MC1 during an appearance inspection of the workpiece Wk (for example, a workpiece to be welded) after main welding, based on the welding-related information stored in the external storage ST. Create a program for Note that this visual inspection program may be created in advance and stored in the external storage ST, and in this case, the cell control unit 13 simply reads and acquires the visual inspection program from the external storage ST. The cell control unit 13 may generate different execution commands for each process of main welding or repair welding performed by the welding robot MC1. The execution command for main welding or repair welding, or the visual inspection program generated by the cell control section 13 is sent to the corresponding robot control device 2 via the communication section 10.

The ID setting management unit 14 sets the ID of the workpiece to be welded or the workpiece to be repaired sent from the robot control device 2 as the ID of the workpiece to be welded generated by main welding using each of a plurality of original workpieces. and save it in the memory 12. Note that the ID setting management unit 14 may associate the ID of the workpiece to be welded with welding process logic data (see below) and store them in the external storage ST.

The logical data generation unit 15 uses the secondary work information including the ID of the workpiece to be welded or the workpiece to be repaired sent from the robot control device 2, and uses the ID of the secondary workpiece and the information used for main welding or repair welding. Welding process logic data indicating the relationship with each ID of a plurality of original workpieces is generated (see FIG. 3). Details of the ID and welding process logic data will be described later with reference to FIG. 3. Note that the logical data generation unit 15 may associate the ID of the workpiece to be welded or the workpiece to be repaired with the welding process logical data and store the welding process logical data in the external storage ST.

The robot control device 2 controls the corresponding welding robot MC1 (specifically, the manipulator 200, wire feeding device 300, and power supply device 500) based on the execution command for main welding or repair welding sent from the host device 1. Control processing. The robot control device 2 has a configuration that includes at least a communication section 20, a processor 21, and a memory 22.

The communication unit 20 is connected to the host device 1, the inspection control device 3, and the welding robot MC1 so as to be able to communicate data. Although the illustration is simplified in FIG. 2, there are many connections between the robot control section 25 and the manipulator 200, between the robot control section 25 and the wire feeding device 300, and between the power supply control section 26 and the power supply device 500. During this period, data is transmitted and received via the communication unit 20, respectively. The communication unit 20 receives an execution command for main welding or repair welding sent from the host device 1 . The communication unit 20 sends secondary work information including the ID of the work to be welded generated by main welding or the work to be repaired to be welded generated by repair welding to the host device 1 .

Here, the secondary work information includes not only the ID of the workpiece to be welded but also the IDs of multiple original workpieces used for main welding (for example, the ID, name, and welding location of the original workpiece) of the original workpiece. , includes at least the welding conditions when performing main welding. Furthermore, the secondary work information includes not only the ID of the workpiece to be welded described above, IDs of multiple original workpieces used in the main welding, welding conditions when performing the main welding, but also the workpiece to be repaired. ID, ID of the workpiece to be welded used for repair welding, defective location of the workpiece to be welded, and repair welding conditions when performing repair welding. The welding conditions or repair welding conditions include, for example, the material and thickness of the original workpiece, the material and wire diameter of the welding wire 301, the type of shielding gas, the flow rate of the shielding gas, the set average value of the welding current, the set average value of the welding voltage, These include the feeding speed and feeding amount of the welding wire 301, the number of times of welding, and the welding time. In addition to these, information indicating the type of main welding or repair welding (for example, TIG welding, MAG welding, pulse welding), the moving speed and moving time of the manipulator 200 may be included.

The processor 21 is configured using, for example, a CPU or an FPGA, and performs various processing and control in cooperation with the memory 22. Specifically, the processor 21 refers to the program held in the memory 22 and executes the program, thereby controlling the program generation section 23, the calculation section 24, the robot control section 25, the power supply control section 26, and the ID determination section. 27 functionally.

The memory 22 includes, for example, a RAM as a work memory used when executing the processing of the processor 21, and a ROM that stores a program that defines the processing of the processor 21. Data generated or acquired by the processor 21 is temporarily stored in the RAM. A program that defines the processing of the processor 21 is written in the ROM. The memory 22 also contains secondary data including data of execution commands for main welding or repair welding sent from the host device 1, IDs of workpieces to be welded generated by main welding, or workpieces to be repaired generated by repair welding. Workpiece information data and secondary workpiece welding process logic data (see FIG. 3) generated by the processor 21 are respectively stored. The memory 22 also stores a program for main welding or repair welding executed by the welding robot MC1. The main welding program is a program that defines specific procedures (processes) for main welding, such as joining a plurality of original workpieces using the welding conditions for main welding. The repair welding program is a program that defines specific procedures (processes) for repair welding in which defective welding points on a workpiece to be welded are repaired or otherwise corrected using welding conditions for repair welding. These programs may be created in the inspection control device 3 and sent to the robot control device 2, created in the robot control device 2, or created by the host device 1 and sent in advance to the robot control device. It may be stored in the device 2.

Based on the actual welding execution command sent from the host device 1 via the communication unit 20, the program generation unit 23 generates work information (for example, ID, name, and original welding information) for each of the plurality of original works included in the execution command. A program for main welding to be executed by the welding robot MC1 is generated using the welding location of the workpiece). In addition, based on the repair welding execution command sent from the host device 1 via the communication unit 20, the program generation unit 23 generates secondary work information (for example, ID, workpiece A repair welding program to be executed by the welding robot MC1 is generated using the repair welding range including the defective parts. The program includes welding current, welding voltage, offset amount, welding speed, welding torch for controlling power supply device 500, manipulator 200, wire feeder 300, welding torch 400, etc. during main welding or repair welding. Various parameters such as 400 postures may be included. Note that the generated program may be stored in the processor 21 or in the RAM in the memory 22.

The calculation unit 24 performs various calculations. For example, based on the main welding or repair welding program generated by the program generation unit 23, the calculation unit 24 controls the welding robot MC1 (specifically, the manipulator 200, the wire feeder 300 and power supply device 500).

The robot control unit 25 controls the welding robot MC1 (specifically, each of the manipulator 200, wire feeding device 300, and power supply device 500) based on the main welding or repair welding program generated by the program generation unit 23. drive. Also, based on the external appearance inspection program sent from the host device 1, the robot control unit 25 controls the welding robot during the external appearance inspection so that the operating range of the welding robot MC1 specified in the welding program is covered. The manipulator 200 of MC1 is driven. Thereby, the inspection device 4 (see FIG. 2) attached to the welding robot MC1 can move along with the operation of the welding robot MC1, and can perform an external inspection of welding defects on the weld bead of the workpiece Wk.

The power supply control unit 26 drives the power supply device 500 based on the main welding or repair welding program generated by the program generation unit 23 and the calculation result of the calculation unit 24.

After the main welding using a plurality of original workpieces is completed, the ID determination unit 27 determines which ID of each of the plurality of original workpieces is to be adopted as the ID of the workpiece to be welded according to a predetermined rule. Or select and decide at random. In other words, when the IDs of a plurality of original workpieces are "A" and "B" (see FIG. 3), the ID determining unit 27 selects "A" or "A" as the ID of the workpiece to be welded (for example, a secondary workpiece). "B" is selected according to a predetermined rule or randomly. In addition, after the visual inspection of the workpiece to be welded has been determined to have failed (see below) and the welding robot MC1 has repaired the defective part of the welding, the ID determination unit 27 also determines that the welding part to be welded to be welded has been repaired by repair welding. It is determined whether the ID of the workpiece should be the same as the ID of the workpiece to be welded or a different ID. Details of the "predetermined rule" will be described later. Here, "random" means that the probability of selecting ID "A" and the probability of selecting ID "B" may be equal (for example, 50% each) or may not be equal. It means good. The fact that the probabilities are not equal indicates that, for example, some ID may be selected biasedly or preferentially compared to other IDs.

Here, ID will be explained. In this specification, an ID is configured by, for example, a combination of multiple types of character codes. The types include, for example, alphabets and numbers, but are not limited to these. "ABC001XYZ999" is exemplified as the ID of the original work. Here, to make the explanation easier to understand, the ID is shown as a 12-digit character code consisting of "3 digits of the alphabet", "3 digits of the number", "3 digits of the alphabet", and "3 digits of the number". It is not necessary to be limited to these configuration examples. Among the 12-digit character code, for example, the first 3 alphabetical digits indicate the code of your company or business partner (e.g. supplier or shipping destination), and the other 3-digit numbers, 3-digit alphanumeric characters, and numeric 3 digits" may indicate a serial number.

The predetermined rule is, for example, a rule that a strong ID is selected preferentially based on the strength of the ID. As rules for determining the strength of an ID (that is, whether the ID is strong or weak), the following two strength rules are defined in the first embodiment.

In the first strength rule, the ID determination unit 27 divides the ID of the original work into alphabets and numbers, and compares the strength of each part in each division. In the second strength rule, the ID determining unit 27 determines that in a division of one alphabet or number, the alphabet is stronger as it comes first in order, and the larger the number is, the stronger it is.

"ABC001XYZ999" and "ABD002XYW998" are exemplified as the IDs of the original works to be compared. For example, the ID determining unit 27 sets the ID "ABC001XYZ999" to "ABC", "001", "XYZ", and "999", and similarly sets the ID "ABD002XYW998" to "ABD", "002", " Separate them with “XYW” and “998”.

The ID determination unit 27 compares the IDs for each part of the ID in order from the most significant digit, and for example, "ABC" is stronger than "ABD", "001" is weaker than "002", "XYZ" ” is determined to be weaker than “XYW”, and “999” is determined to be weaker than “998”. Further, the ID determining unit 27 gives priority to the ID with the stronger upper digit division and determines that the ID as a whole is stronger. This is because, for example, the "alphabet" used in the upper digits of the ID often defines the type of the original work. Therefore, the ID determination unit 27 determines that the ID "ABC001XYZ999" is stronger than the ID "ABD002XYW998". Note that the above-mentioned strength rule is just an example, and it goes without saying that the ID is not limited to the above-mentioned example, and any rule that determines the strength of the ID may be provided.

The inspection control device 3 controls the process of visual inspection of the workpiece to be welded manufactured by the main welding by the welding robot MC1, based on the visual inspection execution command sent from the host device 1. The appearance inspection is, for example, an inspection to determine whether the shape of a weld bead formed on a workpiece to be welded satisfies a predetermined welding standard, a strength standard for a welded part, or a quality standard for a workpiece to be welded. To simplify the following explanation, the inspection control device 3 determines whether the welding point of the workpiece Wk (for example, the workpiece to be welded) is a predetermined welding point based on the welding bead shape data for each welding point acquired by the inspection device 4. Perform a visual inspection to determine whether welding standards are met. Hereinafter, a welding location that is determined not to satisfy a predetermined welding standard among the welding locations that have been subjected to main welding or repair welding will be defined as a "defective location." The test control device 3 includes at least a communication section 30, a processor 31, a memory 32, and a test result storage section 33.

The communication unit 30 is connected to the host device 1, the robot control device 2, and the inspection device 4 so as to be able to communicate data. Although the illustration is simplified in FIG. 2, data is transmitted and received between the shape detection control section 34 and the inspection device 4 via the communication section 30, respectively. The communication unit 30 receives a visual inspection execution command sent from the host device 1 . The communication unit 30 sends the results of the visual inspection using the inspection device 4 (that is, the presence or absence of welding defects in the work to be welded) to the host device 1 .

The processor 31 is configured using, for example, a CPU or an FPGA, and performs various types of processing and control in cooperation with the memory 32. Specifically, the processor 31 refers to the program held in the memory 32 and executes the program, thereby controlling the shape detection control section 34, the data processing section 35, the repair program generation section 36, and the inspection result determination section 37. Functionally realized.

The memory 32 includes, for example, a RAM as a work memory used when executing the processing of the processor 31, and a ROM that stores a program that defines the processing of the processor 31. Data generated or acquired by the processor 31 is temporarily stored in the RAM. A program that defines the processing of the processor 31 is written in the ROM. The memory 32 also includes data for execution commands for visual inspection of workpieces to be welded sent from the host device 1, IDs of workpieces to be welded generated by main welding, or repaired workpieces generated by repair welding. The next work information data is stored respectively. The memory 32 also stores a repair welding program generated by the repair program generation section 36. The repair welding program is a program that defines specific procedures (processes) for repair welding in which defective welding points on a workpiece to be welded are repaired or otherwise corrected using welding conditions for repair welding. This program is sent from the inspection control device 3 to the robot control device 2.

The memory 32 also stores threshold values (for example, respective threshold values set depending on the welding location) used in the determination process by the inspection result determination unit 37 according to the welding location. The respective threshold values are, for example, a tolerance range (threshold value) regarding the positional deviation of the welding location, a threshold value regarding the height of the weld bead, and a threshold value regarding the width of the weld bead. The memory 32 stores tolerance ranges (for example, minimum tolerance values, maximum tolerance values, etc. regarding the height of the weld bead) that satisfy the minimum welding quality required by customers, etc., as each threshold value during the visual inspection after repair welding. You can remember it.

Furthermore, the memory 32 may store an upper limit value of the number of visual inspections for each welding location. As a result, the inspection control device 3 determines that it is difficult or impossible for the welding robot MC1 to correct the defective part by automatic repair welding if the predetermined upper limit is exceeded when repairing the defective part by repair welding. , a decrease in the operating rate of the welding system 100 can be suppressed.

The test result storage unit 33 is configured using, for example, a hard disk (HDD) or a solid state drive (SSD). The inspection result storage unit 33 stores, as an example of data generated or acquired by the processor 31, data indicating the results of an external appearance inspection of a welding location on a workpiece Wk (for example, a workpiece to be welded). Data indicating this visual inspection result is generated, for example, by the inspection result determination section 37.

The shape detection control unit 34 allows the robot control device 2 to inspect the appearance of the welding area during the appearance inspection based on an execution command for the appearance inspection of the welding location of the workpiece Wk (for example, the workpiece to be welded) sent from the host device 1 or the robot control device 2. While operating the welding robot MC1 to which the inspection device 4 is attached based on the inspection program, the shape data of the weld bead at the welding location sent from the inspection device 4 is acquired. When the inspection device 4 is located at a position where the welding location can be imaged (in other words, the three-dimensional shape of the welding location can be detected), the shape detection control unit 34 detects that the inspection device 4 is located at a position where the welding location can be imaged (in other words, the three-dimensional shape of the welding location can be detected) in accordance with the driving of the manipulator 200 by the robot control device 2 described above. For example, a laser beam is irradiated from the inspection device 4 to obtain shape data of a weld bead at a welding location. Upon receiving the shape data acquired by the inspection device 4, the shape detection control section 34 passes this shape data to the data processing section 35.

The data processing unit 35 converts the shape data of the weld bead at the welding location from the shape detection control unit 34 into image data indicating the three-dimensional shape of the welding location. The shape data is, for example, point group data of shape lines consisting of a reflection locus of a laser beam irradiated onto the surface of the weld bead. The data processing unit 35 performs statistical processing on the input shape data and generates image data regarding the three-dimensional shape of the weld bead at the welding location. Note that the data processing unit 35 may perform edge emphasis correction that emphasizes the peripheral portion of the weld bead in order to emphasize the position and shape of the weld bead. Note that the data processing unit 35 counts the number of visual inspections for each welding location or defective location, and if the welding inspection result does not become good even after the number of visual inspections exceeds the number of times stored in advance in the memory 32, automatic repair welding is performed. It is judged that it is difficult or impossible to correct the defective part. In this case, the inspection result determination unit 37 generates an alert screen that includes the location of the defective part and the cause of the failure, and sends the generated alert screen to the host device 1 via the communication unit 30. The alert screen sent to the host device 1 is displayed on the monitor MN1.

The repair program generation unit 36 includes the appearance inspection result of the workpiece Wk (for example, the workpiece to be welded) by the inspection result determination unit 37 and the secondary workpiece information of the workpiece to be welded (for example, ID, range of repair welding including defective parts of the workpiece to be welded). ) is used to generate a program for repair welding to a defective part of a workpiece Wk (for example, a workpiece to be welded) to be executed by the welding robot MC1. The program includes welding current, welding voltage, offset amount, welding speed, and orientation of welding torch 400 to control power supply 500, manipulator 200, wire feeder 300, welding torch 400, etc. during repair welding. It may include various parameters such as. Note that the generated program may be stored in the processor 31 or in the RAM in the memory 32.

The inspection result determination section 37 uses the threshold value stored in the memory 32 to determine whether or not the welding point satisfies a predetermined welding standard based on the shape data of the weld bead at the welding point acquired by the shape detection control section 34. Make a judgment. The inspection result determination unit 37 measures the position of the defective part (for example, the starting position and end position of the defective part, the position of a hole in the weld bead, the position of an undercut, etc.), analyzes the details of the defect, and determines the cause of the defect. Estimate. In the above-described determination, the inspection result determination unit 37 calculates an inspection score for each weld location based on the shape data of the weld bead at the weld location on the weld line. The inspection result determination unit 37 generates each of the measured position of the defective part, the inspection score, and the estimated defective cause as a visual inspection result (visual inspection report) for the welded part, and stores the generated visual inspection result in the memory 32. , and sends it to the host device 1 via the communication unit 30. In addition, the inspection result determination unit 37 determines whether repair welding by the welding robot MC1 is possible (in other words, whether repair welding by the welding robot MC1 is preferable or manual repair welding is possible) based on the above-mentioned inspection score. The judgment result may be included in the visual inspection result (visual inspection report) and output.

The inspection device 4 is, for example, a three-dimensional shape sensor, and is attached to the tip of the welding robot MC1, and is capable of acquiring a plurality of point cloud data that can specify the shape of the welding location on the workpiece Wk (for example, the workpiece to be welded). Based on this point group data, shape data of the welding location (in other words, image data of the weld bead) is generated and sent to the inspection control device 3. Note that when the inspection device 4 is not attached to the tip of the welding robot MC1 and is placed separately from the welding robot MC1, the inspection device 4 performs the following operations based on the position information of the welding location sent from the inspection control device 3: A laser light source (not shown) configured to be able to scan a welding location on a workpiece Wk (for example, a workpiece to be welded), and a laser that is arranged to be able to image an imaging area including the periphery of the welding location and irradiated to the welding location. It may be configured with a camera (not shown) that captures an image of the reflection locus of the reflected laser light (that is, the shape line of the welding location). In this case, the inspection device 4 sends shape data of the welding location (in other words, image data of the weld bead) to the inspection control device 3 based on the laser beam imaged by the camera. Note that the camera described above includes at least a lens (not shown) and an image sensor (not shown). The image sensor is a solid-state imaging device such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semi-conductor), and converts an optical image formed on an imaging surface into an electrical signal.

FIG. 3 is an explanatory diagram showing an example of an overview of operations during welding using a workpiece with ID "A" and a workpiece with ID "B". In the example of FIG. 3, a round-shaped original workpiece W1 having ID "A" and a square-shaped original workpiece W2 having ID "B" are joined in the main welding to produce a workpiece to be welded W3, and A process in which a defective part of a workpiece to be welded W3 is repair-welded is illustrated. As described above, the IDs "A" and "B" are made up of, for example, 12 digits of alphabets and numbers, but in order to make the explanation of FIG. 3 easier to understand, they are generically expressed as one alphabetic character.

In FIG. 3, the ID determining unit 27 determines that ID "A" is stronger than ID "B", for example, and uses the stronger ID "A" as is (that is, without changing it) as the ID of the workpiece to be welded W3. Adopt, choose and decide. Note that, as described above, the ID determination unit 27 may randomly select and determine one of the ID "A" and the ID "B" (see above). Further, if the appearance inspection of the workpiece to be welded W3 has failed (for example, the inspection score calculated by the inspection control device 3 is less than a predetermined value because there is a defective part of welding), the workpiece to be welded W3 will be repair welded.

Here, in welding, there is a unique situation that not all workpieces to be welded are necessarily repair-welded, so if the ID of the workpiece to be welded W3 and the ID of the repaired workpiece W4 are different, it is essentially Although they are the same workpiece (welded finished product), the identifiers are different, which disrupts the consistency of workpiece IDs and complicates overall management. Therefore, in the welding system 100 according to the first embodiment, for example, when the appearance inspection of the workpiece to be welded W3 fails and a defective welding part is repair-welded, the robot control device 2 controls the It is decided to use the ID of the welding workpiece as it is without changing it from the ID of the workpiece to be welded. As a result, irrespective of the presence or absence of repair welding, the consistency of the IDs indicating that they are the same workpiece is maintained between the workpiece to be welded W3 and the workpiece to be repaired and welded W4, and the relationship between the IDs of the workpieces is maintained. Properly maintained.

Further, in the welding system 100 according to the first embodiment, the host device 1 is configured to perform the main welding or repair welding to produce a finished workpiece (that is, the workpiece to be welded W3 or the workpiece to be repaired to be welded W4). After that, welding that logically shows the correlation with the original workpiece W1 with ID "A", the original workpiece W2 with ID "B", the workpiece to be welded with ID "A" W3, or the workpiece to be repaired W4 with ID "A" Generate process logic data LG1. Furthermore, the host device 1 sets the ID "A" of the workpiece to be welded W3 or the ID "A" of the workpiece to be repaired W4, and the ID "A" when this ID "A" is actually managed by the user company (see below). A record TB1 that associates the management ID (for example, "XA") to be used with the welding process logical data LG1 is generated and stored in the external storage ST (see FIG. 3). Further, the host device 1 may display a display screen on the monitor MN1 that shows the relationship between the ID "A" of the workpiece to be welded W3 or the ID "A" of the workpiece to be repaired to be welded W4 and the welding process logic data LG1. . Thereby, the user can intuitively grasp the details of the actual welding or repair welding process that led to the production of the workpiece to be welded W3 or the workpiece to be repaired and welded W4.

Welding process logical data LG1 is data having a logical structure in which ID "A" is located at a higher level and ID "B" is located at a lower level than ID "A". In other words, the welding process logic data LG1 determines which original workpiece is used for actual welding or repair welding, based on the ID "A" of the workpiece to be welded W3 or the ID "A" of the workpiece to be repaired W4. This indicates whether the welding workpiece W3 or the repaired welding workpiece W4 has been manufactured. Furthermore, the welding process logic data LG1 indicates the strength relationship between the IDs of the plurality of original workpieces used for main welding, and the chronological order in which each welding process was performed when there are multiple welding processes. show. As a result, even after the main welding or repair welding is completed, the user can perform each original workpiece used to manufacture the workpiece to be welded W3 or the workpiece to be repaired to be welded W4 without losing the information of the original workpiece W2 with a weak ID. You can comprehensively grasp the data related to

Although not shown in FIG. 3, three original works, the original work with ID "A", the original work with ID "B", and the original work with ID "C" (not shown), are joined, etc. and ID "A" is the strongest, the host device 1 stores the welding process logical data such that, for example, ID "A" is located at the top and ID "B" and ID "C" are the ID "A". Data having a logical structure located at a lower level may be generated.

FIG. 4 is a diagram showing an example of a correspondence table between selected IDs and management IDs. This correspondence table XTB1 is configured to include one or more records TB1 shown in FIG. 3. A business operator (hereinafter referred to as a "user business operator") that performs various processes of main welding or repair welding actually receives the ID of the workpiece to be welded manufactured by main welding or the workpiece to be repaired that has been modified by repair welding. In order to achieve efficient management, the selected ID may be replaced with a management ID in a format suitable for management at the user provider. Therefore, in order for the user company to efficiently manage the ID of the work to be welded W3 or the work to be repaired to be welded W4, for example, the host device 1 sets a management ID to replace the selected ID by the user's operation. At the same time, a correspondence table XTB1 defining the relationship between the selected ID and the corresponding management ID is generated and stored in the external storage ST. Note that the correspondence table XTB1 may be stored in the memory 12 of the host device 1.

For example, the correspondence table XTB1 shown in FIG. 1001,” “RX85-1002,” and “RX90-0001.” "RX85-1001", "RX85-1002", "RX90-0001", etc. have the same "RX" before the hyphen in their IDs, so they are the same business partner, and "RX85" and "RX90" Since the branch numbers (the numbers after the hyphen in the ID) are different, each workpiece is a different workpiece to be welded or a workpiece to be repaired.

(Operation of welding system)
Next, an operation procedure for ID management by welding system 100 according to the first embodiment will be described with reference to FIGS. 5A, 5B, 6A, 6B, and 7. FIG. 5A is a sequence diagram showing a first operation procedure example of ID management in welding system 100 according to the first embodiment. FIG. 5B is a sequence diagram showing a modification of the first operation procedure for ID management in welding system 100 according to the first embodiment. In the explanation of FIGS. 5A to 7, the main welding process using the original workpieces W1 and W2 shown in FIG. The operation procedure performed between the device 1, the robot control device 2, and the inspection control device 3 will be described by way of example.

In FIG. 5A, the host device 1 acquires work information (for example, ID, name, and welding location of the original workpieces) including the IDs of the original workpieces W1 and W2 that are the targets of main welding (St1), and , W2, and generates an execution command for the actual welding including the work information of W2. The host device 1 sends a main welding execution command including the work information of the original work W1 and the work information of the original work W2 to the robot control device 2 (St2). Note that the robot control device 2 may execute the processes of step St1 and step St2, without involving the host device 1. In this case, either the same data as the data stored in the external storage ST is stored in the memory 22 of the robot control device 2, or the robot control device 2 is connected to the external storage ST so as to be able to acquire data. It is preferable that

When the robot control device 2 receives the actual welding execution command sent from the host device 1, the robot control device 2 uses the work information of each of the plurality of original workpieces W1 and W2 included in the execution command to cause the welding robot MC1 to perform the actual welding. A program for actual welding is generated, and the welding robot MC1 is caused to execute actual welding according to the program (St3). When the robot control device 2 determines the completion of main welding by the welding robot MC1 using various known methods, the robot control device 2 determines which ID of the original workpieces W1 and W2 is to be adopted as the ID of the workpiece to be welded W3. , W2 according to a predetermined rule (see above) based on the strength of the ID (St4). For example, assume that the ID "AAA001" of the original work W1 is selected. The robot control device 2 generates a main welding completion notification indicating that the main welding has been completed and sends it to the host device 1 (St5). Upon receiving this notification of completion of main welding, host device 1 generates an execution command for visual inspection of workpiece to be welded W3 and sends it to inspection control device 3 (St6). As shown in FIG. 5B, upon receiving the main welding completion notification, the host device 1 generates an execution command for a visual inspection program including a program for visual inspection of the workpiece to be welded W3, and sends it to the robot control device 2. Good (St5.5). In this case, as shown in FIG. 5B, the robot control device 2 generates an execution command for the visual inspection of the workpiece to be welded W3 and sends it to the inspection control device 3 (St6), and also The visual inspection program received from 1 is executed to move the inspection device 4 attached to the welding robot MC1.

While the inspection device 4 is being moved by the robot control device 2 to be able to scan the welding location of the workpiece to be welded W3, the inspection control device 3 inspects the workpiece to be welded based on the visual inspection execution command sent in step St6. The inspection device 4 is caused to perform a visual inspection targeting W3 (St7). As a result of the visual inspection in step St7, the inspection control device 3 determines that repair welding is necessary because the workpiece to be welded W3 has a welding defect (St8), and generates a program for repair welding. . The inspection control device 3 generates a visual inspection report including the determination result in step St8 and a repair welding program, and sends it to the robot control device 2 (St9). In addition, the inspection control device 3 generates a visual inspection report including the determination result in step St8 and sends it to the host device 1 (St10).

Upon receiving the visual inspection report in step St10, the host device 1 generates an execution command for repair welding on the workpiece to be welded W3, and sends it to the robot control device 2 (St11). When the robot control device 2 receives the repair welding execution command sent from the host device 1, the robot control device 2 performs repair welding according to the repair welding program targeted at the workpiece W3 specified by the execution command. The welding robot MC1 is caused to perform repair welding (St12). When the robot control device 2 determines the completion of repair welding by the welding robot MC1 using various known methods, the robot control device 2 determines to use the ID of the workpiece to be welded W3 as it is without changing it as the ID of the workpiece to be welded to be repaired W4 (St13 ). For example, it is assumed that the ID "AAA001" of the workpiece to be repaired W4 is selected.

After the repair welding is completed, the robot control device 2 generates secondary work information (for example, ID "AAA001" of the workpiece to be welded to be repaired W4) including the ID (for example, ID "AAA001") of the workpiece to be welded W3 determined in step St13. ", work information including the ID of each of the multiple original workpieces W1 and W2 used for main welding (for example, the ID of the original workpiece, name, welding location of the original workpiece), welding information at the time of each execution of main welding and repair welding condition)) is sent to the host device 1 (St14).

Upon receiving the secondary work information including the ID of the workpiece to be repaired W4 sent from the robot control device 2, the host device 1 converts the ID “AAA001” selected by the robot control device 2 into the ID of the workpiece to be repaired W4. It is set as "AAA001" and welding process logic data (see FIG. 3) regarding the repaired welding workpiece W4 is generated (St15). The host device 1 sets a management ID corresponding to the ID "AAA001" of the welding workpiece W4 to be repaired, and also associates this management ID with the welding process logic data regarding the welding workpiece W4 to be repaired and saves it in the external storage ST. (St16).

6A and 7 are sequence diagrams showing a second operation procedure example of ID management in welding system 100 according to the first embodiment. FIG. 6B is a sequence diagram showing a modification of the second operation procedure for ID management in the welding system according to the first embodiment. In the second operation procedure or a modification thereof, in addition to the first operation procedure, a visual inspection of the welding workpiece to be repaired W4 is further performed, and depending on whether the visual inspection is successful or not, it is determined whether or not the ID of the welding workpiece to be repaired has been changed. be judged. In the description of FIG. 6A or 6B, the same step numbers are assigned to the same processes as those shown in FIG. 5A or 5B to simplify or omit the description, and different contents will be described.

In FIG. 6A or 6B, after step St12, the robot control device 2 generates a repair welding completion notification indicating that the repair welding in step St12 has been completed, and sends it to the host device 1 (St21). Upon receiving this repair welding completion notification, the host device 1 generates an execution command for visual inspection of the repaired welding workpiece W4 and sends it to the inspection control device 3 (St22). As shown in FIG. 6B, upon receiving the repair welding completion notification, the host device 1 generates an execution command for a visual inspection program including a program for visual inspection of the welded workpiece W4 to be repaired, and sends the command to the robot control device 2. You may send it (St21.5). In this case, as shown in FIG. 6B, the robot control device 2 generates an execution command for the visual inspection of the welded workpiece W4 to be repaired and sends it to the inspection control device 3 (St22), and also The visual inspection program received from the device 1 is executed to move the inspection device 4 attached to the welding robot MC1.

While the inspection device 4 is being moved by the robot control device 2 to be able to scan the welding location of the welded workpiece W4 to be repaired, the inspection control device 3 detects the welded portion to be repaired based on the external inspection execution command sent in step St22. The inspection device 4 is caused to perform a visual inspection on the welding workpiece W4 (St23). If the visual inspection in step St23 is successful (St24, YES), the inspection control device 3 sends a visual inspection report that is the result of the visual inspection in step St23 (for example, the visual inspection of the repair welding of the workpiece to be repaired W4). A report indicating that the robot passed the test is generated and sent to the robot control device 2 (St25). Based on the visual inspection report from the inspection control device 3, the robot control device 2 determines to use the ID of the workpiece to be welded W3 as it is without changing it as the ID of the workpiece to be welded to be repaired W4 (St13). For example, it is assumed that the ID "AAA001" of the workpiece to be repaired W4 is selected.

On the other hand, if the visual inspection in step St23 fails (St24, NO), the inspection control device 3 sends a visual inspection report that is the result of the visual inspection in step St23 (for example, the repair welding of the workpiece W4 to be repaired). A report indicating that the appearance inspection has failed is generated and sent to the robot control device 2 (St26). Based on the visual inspection report from the inspection control device 3, the robot control device 2 determines to adopt a different ID as the ID of the workpiece to be repaired W4, which is different from the ID of the workpiece to be welded W3 (St27). For example, assume that the ID "AAA001f" of the workpiece to be repaired W4 is selected to indicate that repair welding was performed but the visual inspection failed.

After step St13 or step St27, the robot control device 2 generates secondary work information (for example, Work information including ID "AAA001" or ID "AAA001f" of workpiece to be repaired W4, ID of each of multiple original workpieces W1 and W2 used for main welding (for example, ID of original workpiece, name, welding of original workpiece) location), welding conditions at the time of each execution of main welding and repair welding)) are sent to the host device 1 (St14). Since the processing after step St14 is the same as that in FIG. 5A, the explanation will be omitted.

As described above, in the welding system 100 according to the first embodiment, the robot control device 2 acquires information on the ID of the original workpiece (for example, one original workpiece or each of the plurality of original workpieces W1 and W2), and Appearance inspection of welding points by welding system 100 (for example, inspection control device 3 and inspection device 4) of workpiece to be welded W3 manufactured by main welding using (for example, one source work W1, W2) Receive an inspection report stating that the item has failed. As described above, the workpiece to be welded W3 may be produced by main welding using one original workpiece W1 or one original workpiece W2, and the same applies to the following description. The robot control device 2 performs repair welding in response to a completion report (for example, repair welding completion notification) of a defective welding part of the workpiece to be welded W3, which is performed based on the visual inspection report of the workpiece to be welded W3. The identifier of the workpiece to be repaired W4 to be repaired is set to the same identifier as that of the workpiece to be welded W3 without being changed.

As a result, in the welding system 100 according to the first embodiment, the robot control device 2 can efficiently and easily manage IDs of workpieces that are manufactured or defective parts are corrected in various welding processes such as main welding or repair welding. can support. In other words, in the welding system 100, regardless of whether repair welding is performed or not, the IDs of the work to be welded W3 and the work to be repaired to be welded W4, which are essentially the same work, are consistent (that is, the same ID is set). ) is maintained, and the relationship between the IDs of the workpieces subjected to main welding or repair welding is maintained appropriately.

Furthermore, in the welding system 100, the robot control device 2 selects one of the IDs of the workpiece to be welded W3 from among the IDs of the plurality of original workpieces in response to the actual welding completion report (for example, actual welding completion notification). and set. Thereby, it is possible to support efficient and simple management of IDs of workpieces (in other words, workpieces to be welded) manufactured in a welding process in which a plurality of original workpieces are joined. In other words, unlike the conventional patent document 1, a new ID is not set every time one workpiece is placed in a different manufacturing machine (in other words, the actual welding robot), and the ID of the manufactured workpiece is Since the ID is randomly selected from among the IDs of a plurality of original workpieces used in the welding process, the ID does not increase unnecessarily, and the management of the ID by the user is simplified.

Furthermore, in the welding system 100, the robot control device 2 receives a repair inspection report indicating that the inspection of the repair welding location of the welding workpiece W4 to be repaired by the welding system 100 (for example, the welding robot MC1) has passed. The robot control device 2 sets the ID of the workpiece to be repaired W4 to be the same as the ID of the workpiece to be welded W3 without changing it from the ID of the workpiece to be welded W3 in response to the repair inspection report described above. As a result, it is now possible to correct welding defects through repair welding, making it possible to set the same ID between the workpiece to be welded W3 and the workpiece to be repaired and welded W4, which are essentially considered to be the same workpiece. Therefore, ID management can be avoided from becoming complicated, and deterioration of the system administrator's work efficiency can be suppressed.

Further, in the welding system 100, the robot control device 2 receives a repair inspection report indicating that the inspection of the repair welding location of the welding workpiece W4 to be repaired by the welding system 100 (for example, the welding robot MC1) has failed. The robot control device 2 changes the ID of the workpiece to be welded to be repaired W4 from the ID of the workpiece to be welded W3 to set another ID in response to the repair inspection report described above. As a result, the same ID is no longer set between the workpiece to be welded W3 and the workpiece to be repaired to be welded W4, which can no longer be regarded as the same workpiece because it has become impossible to correct the defective welding point by repair welding. Separate IDs are set for each work so that they can be regarded as separate works, and it is possible to avoid a situation where the work is mistakenly recognized as the same work, and it is possible to suppress deterioration of the system administrator's work efficiency.

Further, the ID is composed of alphabets and numbers. In view of the fact that IDs are often composed of a combination of alphabets and numbers, for example, when determining the ID of the workpiece to be welded W3, it is possible to simplify the comparison of the strength of the ID. Management of the ID of W3 or the welding work W4 to be repaired can be simplified and made more general.

The welding system 100 also maintains a management table (for example, a correspondence table XTB1) in which the ID of the selected workpiece to be welded W3 or the workpiece to be repaired to be repaired W4 is associated with a management identifier managed by the user. As a result, the welding system 100 allows the user business to set a management ID suitable for the character code (for example, alphabet) unique to the user business or business partner (for example, shipping destination), so that the user business can easily manage the practical management of the user business. IDs of workpieces to be welded can be appropriately managed according to the actual situation.

(Embodiment 2)
In the first embodiment, the setting of the ID of the workpiece to be welded W3 or the workpiece to be repaired and welded W4 is determined by the robot control device 2. In the second embodiment, an example will be described in which this determination is made by the host device 1.

(Welding system configuration)
FIG. 8 is a diagram showing an example of the internal configuration of the robot control device 2a and the host device 1a according to the second embodiment. In the description of FIG. 8, the same reference numerals are given to the same components as those in FIG. 2 to simplify or omit the description, and different contents will be described. Further, the configuration of welding system 100a according to Embodiment 2 is the same as that of welding system 100 according to Embodiment 1 (see FIG. 1). The host device 1a has a configuration that includes at least a communication section 10, a processor 11a, and a memory 12.

The processor 11a is configured using, for example, a CPU or an FPGA, and performs various processes and controls in cooperation with the memory 12. Specifically, the processor 11a refers to a program held in the memory 12 and executes the program to control the cell control unit 13, ID setting management unit 14, logical data generation unit 15, and ID determination unit 16. Realize functionally. In other words, in the second embodiment, the ID determining unit 27 included in the processor 21 of the robot control device 2 according to the first embodiment is included in the processor 11a of the host device 1a.

After the welding robot MC1 completes main welding using a plurality of original workpieces, the ID determination unit 16 uses data sent from the robot control device 2a to determine which ID of each of the plurality of original workpieces. It is determined whether to be adopted as the ID of the work to be welded according to a predetermined rule or by selecting at random. In other words, when the IDs of a plurality of original workpieces are "A" and "B" (see FIG. 3), the ID determining unit 16 selects "A" or "A" as the ID of the workpiece to be welded (for example, a secondary workpiece). "B" is selected according to a predetermined rule or randomly. Further, after the visual inspection of the welded workpiece is determined to have failed and the welding robot MC1 performs repair welding on the defective welding part, the ID determination unit 16 determines the ID of the welded workpiece that has been corrected by the repair welding. , it is determined whether to use the same ID as the ID of the workpiece to be welded or a different ID.

(Operation of welding system)
Next, the operation procedure of ID management by the welding system 100a according to the second embodiment will be described with reference to FIGS. 9A, 9B, 10A, 10B, and 11. FIG. 9A is a sequence diagram showing an example of an operation procedure for ID management in welding system 100 according to the second embodiment. FIG. 9B is a sequence diagram showing a modification of the first operation procedure for ID management in the welding system 100a according to the second embodiment. In the explanation of FIGS. 9A to 11, the main welding process using the original workpieces W1 and W2 shown in FIG. The operation procedure performed between the device 1a, the robot control device 2a, and the inspection control device 3 will be described by way of example. Furthermore, in the description of FIG. 9A or 9B, the same step numbers are assigned to the same processes as those of FIG. 5A or 5B to simplify or omit the description, and different contents will be described.

In FIG. 9A, similarly to FIG. 5A, the robot control device 2 may execute the processes of step St1 and step St2 without involving the host device 1. In this case, either the same data as the data stored in the external storage ST is stored in the memory 22 of the robot control device 2, or the robot control device 2 is connected to the external storage ST so as to be able to acquire data. It is preferable that

The robot control device 2a sends the main welding completion notification and secondary work information (for example, work information including the ID of each of the plurality of original workpieces W1 and W2 used in the main welding (for example, the ID of the original workpiece, the name, the original workpiece A request for determining the ID of the welded workpiece W3 is sent to the host device 1 (St31). When the host device 1a receives the main welding completion notification and the ID determination request of the workpiece to be welded W3 sent from the robot control device 2a in step St31, the host device 1a uses the secondary workpiece information to determine the ID of the workpiece to be welded W3. The ID of the workpiece to be welded W3 is adopted as is without being changed and determined (St32). For example, assume that the ID "AAA001" of the workpiece to be welded W3 is determined. Note that, as shown in FIG. 9B, similarly to FIG. 5B, when the host device 1a receives the main welding completion notification, it generates an execution command for a visual inspection program including a visual inspection program for the workpiece to be welded W3. It may be sent to the robot control device 2a (St5.5). In this case, as shown in FIG. 9B, the robot control device 2a generates an execution command for the visual inspection of the workpiece to be welded W3 and sends it to the inspection control device 3 (St6), and at the same time, upon starting the visual inspection, the robot control device 2a The visual inspection program received from 1 is executed to move the inspection device 4 attached to the welding robot MC1.

After the repair welding is completed, the robot control device 2a sends secondary workpiece information (for example, used for main welding) including the repair welding completion notification and the ID (for example, ID "AAA001") of the workpiece to be welded W3 determined in step St32. The work information including the ID of each of the multiple original workpieces W1 and W2 (for example, ID of the original workpiece, name, welding location of the original workpiece, welding conditions at the time of each execution of main welding and repair welding)) It is sent to device 1 (St33). Upon receiving the repair welding completion notification, the host device 1a determines to use the ID of the workpiece to be welded W3 as it is without changing it as the ID of the workpiece to be welded to be repaired W4 (St34). For example, it is assumed that the ID "AAA001" of the workpiece to be repaired W4 is selected. Since the processing after step St34 is the same as steps St15 and St16 in FIG. 5A, the explanation will be omitted.

10A and 11 are sequence diagrams showing a second operation procedure example of ID management in welding system 100a according to the second embodiment. FIG. 10B is a sequence diagram showing a modification of the second operation procedure for ID management in the welding system according to the second embodiment. In the second operation procedure or a modification thereof, in addition to the first operation procedure, a visual inspection of the welding workpiece to be repaired W4 is further performed, and depending on whether the visual inspection is successful or not, it is determined whether or not the ID of the welding workpiece to be repaired has been changed. be judged. In addition, in the explanation of FIG. 10A, FIG. 10B, or FIG. 11, the same step number will be assigned to the same process as the process shown in FIG. 6A or FIG. 7, and the explanation will be simplified or omitted, and different contents will be explained. .

In FIG. 10A or 10B, the robot control device 2a sends a main welding completion notification and secondary work information (for example, work information including the ID of each of the plurality of original workpieces W1 and W2 used in the main welding (for example, the original workpiece ID, name, welding location of the original workpiece), welding conditions at the time of execution of the welding process)) and a request for determining the ID of the workpiece to be welded W3 are sent to the host device 1 (St31). When the host device 1a receives the main welding completion notification and the ID determination request of the workpiece to be welded W3 sent from the robot control device 2a in step St31, the host device 1a uses the secondary workpiece information to determine the ID of the workpiece to be welded W3. Which ID of the original works W1 and W2 is to be adopted is determined by a predetermined rule (for example, the strength of the ID) or by random selection (St32). For example, assume that the ID "AAA001" of the original work W1 is selected.

After step St12, the robot control device 2a generates a repair welding completion notification indicating that the repair welding in step St12 has been completed, and sends it to the host device 1a (St21). Upon receiving this repair welding completion notification, the host device 1a generates an execution command for visual inspection of the welded workpiece W4 to be repaired and sends it to the inspection control device 3 (St22). As shown in FIG. 10B, upon receiving the repair welding completion notification, the host device 1a generates an execution command for a visual inspection program including a program for visual inspection of the repaired welding workpiece W4, and sends it to the robot control device 2a. You may send it (St21.5). In this case, as shown in FIG. 10B, the robot control device 2a generates an execution command for the visual inspection of the welded workpiece W4 to be repaired and sends it to the inspection control device 3 (St22). The visual inspection program received from the device 1 is executed to move the inspection device 4 attached to the welding robot MC1.

While the inspection device 4 is being moved by the robot control device 2a so as to be able to scan the welding location of the welded workpiece W4 to be repaired, the inspection control device 3 detects the welded part to be repaired based on the external inspection execution command sent in step St22. The inspection device 4 is caused to perform a visual inspection on the welding workpiece W4 (St23). If the visual inspection in step St23 is successful (St24, YES), the inspection control device 3 sends a visual inspection report that is the result of the visual inspection in step St23 (for example, the visual inspection of the repair welding of the workpiece to be repaired W4). A report indicating that the robot passed the test is generated and sent to the robot control device 2a (St25). Based on the visual inspection report from the inspection control device 3, the robot control device 2a sends a repair welding completion notification and secondary work information (for example, including the IDs of the plurality of original workpieces W1 and W2 used for main welding). Workpiece information (for example, ID of the original workpiece, name, welding location of the original workpiece, welding conditions when performing main welding and repair welding)) and a request to determine the ID of the workpiece to be repaired W4 to be repaired are sent to the host device 1 ( St35). When the host device 1a receives the repair welding completion notification and the ID determination request of the repaired welding workpiece W4 sent from the robot control device 2a in step St35, the host device 1a uses the secondary workpiece information to determine the ID of the repaired welding workpiece W4. The ID is determined by using the ID of the workpiece to be welded W3 as is without changing it (St36). For example, assume that the ID "AAA001" of the workpiece to be welded W3 is determined.

On the other hand, if the visual inspection in step St23 fails (St24, NO), the inspection control device 3 sends a visual inspection report that is the result of the visual inspection in step St23 (for example, the repair welding of the workpiece W4 to be repaired). A report indicating that the appearance inspection has failed is generated and sent to the robot control device 2a (St26). Based on the visual inspection report from the inspection control device 3, the robot control device 2a sends a repair welding completion notification and secondary work information (for example, including the IDs of the plurality of original workpieces W1 and W2 used for main welding). Workpiece information (for example, ID of the original workpiece, name, welding location of the original workpiece, welding conditions when performing main welding and repair welding)) and a request to determine the ID of the workpiece to be repaired W4 to be repaired are sent to the host device 1 ( St37). When the host device 1a receives the repair welding completion notification and the ID determination request of the repaired welding workpiece W4 sent from the robot control device 2a in step St35, the host device 1a uses the secondary workpiece information to determine the ID of the repaired welding workpiece W4. It is decided to change the ID of the workpiece to be welded W3 and adopt a different ID as the ID (St38). For example, assume that the ID "AAA001f" of the workpiece to be repaired W4 is selected to indicate that repair welding was performed but the visual inspection failed. Since the processing after step St36 or step St38 is the same as that in FIG. 7, the explanation will be omitted.

As described above, in the welding system 100a according to the second embodiment, the host device 1a configures the welding system 100a, and provides information on the ID of the source work (for example, one source work or each of a plurality of source works W1 and W2). is held in the memory 12 and communicated in the communication unit 10 with the robot control device 2a that controls execution of main welding using the original workpiece (for example, one original workpiece or a plurality of original workpieces W1 and W2). The host device 1a performs a welding process based on an inspection report indicating that the welding part of the welded workpiece W3 manufactured by main welding has passed the inspection by the welding system 100a (for example, the inspection control device 3 and the inspection device 4). In response to acquisition of the completion report of repair welding of the defective part of the workpiece W3 via the communication unit 10, the ID of the workpiece to be repaired W4 on which repair welding has been performed is changed from the identifier of the workpiece to be welded W3 to the same ID. An identifier is set in processor 11a.

As a result, in the welding system 100a according to the second embodiment, the host device 1a can efficiently and easily manage IDs of workpieces that are manufactured or whose defective parts are corrected in various welding processes such as main welding or repair welding. I can support you. In other words, in the welding system 100a, regardless of whether repair welding is performed or not, the IDs of the workpiece to be welded W3 and the workpiece to be repaired and welded W4, which are essentially the same workpiece, are consistent (that is, the same ID is set). ) is maintained, and the relationship between the IDs of the workpieces subjected to main welding or repair welding is maintained appropriately.

(Modified example)
In the first embodiment, the welding robot MC1 performs both main welding and repair welding. In a modification of the first embodiment (hereinafter simply referred to as a "modification"), the welding robot MC1 includes a main welding robot MC1a and a repair welding robot MC1b, the main welding robot MC1a performs main welding, and the repair welding robot MC1a performs main welding. An example in which MC1b performs repair welding will be described.

FIG. 12 is a schematic diagram showing a modification of the system configuration of the welding system 100 shown in FIG. 1. In the description of the configuration of the welding system 100b according to the modification shown in FIG. 12, the same components as those in the description of FIG.

The welding system 100b includes a host device 1 connected to each of an external storage ST, an input interface UI1, and a monitor MN1, a robot control device 2, a main welding robot MC1a, and a repair welding robot MC1b. The robot control device 2 includes a main welding robot control device 2b (an example of a first robot control section) provided corresponding to the main welding robot MC1a, and a repair welding robot control device provided corresponding to the repair welding robot MC1b. 2c (an example of the first robot control section). The internal configurations of the main welding robot control device 2b and the repair welding robot control device 2c are the same as, for example, the internal configuration of the robot control device 2 shown in FIG. 2, and therefore the description thereof will be omitted.

In the welding system 100b according to the modified example, the operation procedure regarding setting the IDs of the workpiece to be welded W3 and the workpiece to be repaired to be welded W4 is the same as that in the first embodiment, and therefore a description thereof will be omitted.

As described above, in the welding system 100b according to the modified example, the robot control device 2 constitutes the welding system 100b, and includes the main welding robot control device 2b as the first robot control section and the repair welding robot as the second robot control section. It has a control device 2c. This welding robot control device 2b retains information on the ID of the original workpiece (for example, one original workpiece or each of a plurality of original workpieces W1 and W2), and The main welding robot MC1a is controlled so as to be able to perform the main welding using the welding system 100b (W1, W2), and communicates with the host device 1 that controls the welding system 100b. The repair welding robot control device 2c retains the inspection result that the welding location of the workpiece to be welded W3 manufactured by the main welding by the welding system 100b has failed, and performs repair welding using the workpiece to be welded W3. The repair welding robot MC1b is executable controlled and communicated with the host device 1. The repair welding robot control device 2c responds to a report of completion of repair welding of a defective part of the workpiece to be welded W3 based on the visual inspection report (specifically, a report that the visual inspection has passed). The ID of the workpiece to be repaired W4 on which repair welding has been performed is set to the same identifier as that of the workpiece to be welded W3 without changing it.

As a result, in the welding system 100b according to the modification, the robot control device 2 includes the main welding robot control device 2b that can control the main welding robot MC1a and the repair welding robot control device 2c that can control the repair welding robot MC1b. Even if the workpiece is manufactured or defective parts are corrected in various welding processes such as main welding or repair welding, it is possible to support efficient and simple management of the ID of the workpiece. In other words, in the welding system 100b, regardless of whether or not repair welding is performed, the IDs of the workpiece to be welded W3 and the workpiece to be repaired and welded W4, which are essentially the same workpiece, are consistent (that is, the same ID is set). ) is maintained, and the relationship between the IDs of the workpieces subjected to main welding or repair welding is maintained appropriately.

Although various embodiments have been described above with reference to the drawings, it goes without saying that the present disclosure is not limited to such examples. It is clear that those skilled in the art can come up with various changes, modifications, substitutions, additions, deletions, and equivalents within the scope of the claims, and It is understood that it naturally falls within the technical scope of the present disclosure. Further, each of the constituent elements in the various embodiments described above may be arbitrarily combined without departing from the spirit of the invention.

The present disclosure is useful as an identifier management method, robot control device, and overall control device that support efficient and simple management of identifiers of workpieces that are manufactured or defective parts are corrected in various welding processes such as regular welding or repair welding. It is.

1, 1a Host device 2, 2a Robot control device 2b Main welding robot control device 2c Repair welding robot control device 10, 20, 30 Communication section 11, 11a, 21, 31 Processor 12, 22, 32 Memory 13 Cell control section 14 ID Setting management section 15 Logical data generation section 16, 27 ID determination section 23 Program generation section 24 Arithmetic section 25 Robot control section 26 Power supply control section 33 Inspection result storage section 34 Shape detection control section 35 Data processing section 36 Repair program generation section 37 Inspection Result determination parts 100, 100a, 100b Welding system 200 Manipulator 300 Wire feeding device 301 Welding wire 400 Welding torch 500 Power supply device MC1 Welding robot MC1a Main welding robot MC1b Repair welding robot ST External storage

Claims (10)

An identifier management method performed by a welding system, the method comprising:
Get the identifier information of the original work,
Receive an inspection report indicating that the inspection of the welded area by the welding system of the workpiece to be welded manufactured by main welding using the source workpiece has failed;
When an inspection report is received indicating that the inspection result of the repair welding of the defective part of the workpiece to be welded is passed based on the inspection report, the identifier of the workpiece to be repaired on which the repair welding was performed, Set as the same identifier as the identifier of the work to be welded,
When an inspection report is received indicating that the inspection result of the repair welding of the defective part of the workpiece to be welded is failed based on the inspection report, the identifier of the workpiece to be repaired is set as an identifier that is at least partially different from the identifier;
Identifier management method. The main welding is performed using a plurality of original workpieces,
The identifier management method according to claim 1. In response to the completion report of the main welding, selecting and setting an identifier of the workpiece to be welded from among the identifiers of each of the plurality of original workpieces;
The identifier management method according to claim 2. The identifier is composed of alphabets and numbers,
The identifier management method according to claim 1. further maintaining a management table in which the identifier of the selected work to be welded or the work to be repaired to be repaired is associated with a management identifier managed by a user;
The identifier management method according to claim 1. generating welding process logic data indicating a mutual relationship between the identifier of the original work and the identifier of the work to be welded or the work to be repaired;
The identifier management method according to claim 1. the welding process logic data;
outputting the relationship between the welding process logical data and a record that associates the management ID used by the user;
The identifier management method according to claim 6. A robot control device constituting a welding system,
a memory that retains information on the identifier of the original work;
a processor that controls a welding robot to perform main welding using the original work;
a communication unit that communicates with a general control device that controls the welding system;
The processor includes:
Receiving an inspection report indicating that the inspection of the welded part of the welded workpiece manufactured by the main welding by the welding system has failed,
When inspecting a welded part of a workpiece to be repaired manufactured by repair welding of a defective part of the workpiece to be welded based on the inspection report,
When receiving an inspection report indicating that the inspection result is a pass, setting the identifier of the workpiece to be repaired where the repair welding was performed as the same identifier as the identifier of the workpiece to be welded,
When receiving an inspection report indicating that the inspection result is a failure, setting the identifier of the work to be repaired to be welded as a different identifier from the identifier of the work to be welded;
Robot control device. A robot control device constituting a welding system,
a first robot control unit that holds information on an identifier of the original workpiece, controls a welding robot to perform main welding using the original workpiece, and communicates with a general control device that controls the welding system;
Controlling a repair welding robot to maintain an inspection report indicating that the inspection of the welded part of the workpiece to be welded manufactured by the actual welding by the welding system has failed, and to execute repair welding using the workpiece to be welded. and a second robot control unit that communicates with the overall control device,
The second robot control unit includes:
When inspecting a welded part of a workpiece to be repaired manufactured by repair welding of a defective part of the workpiece to be welded based on the inspection report,
When receiving an inspection report indicating that the inspection result is a pass, setting the identifier of the workpiece to be repaired where the repair welding was performed as the same identifier as the identifier of the workpiece to be welded,
When receiving an inspection report indicating that the inspection result is a failure, setting the identifier of the work to be repaired to be welded as a different identifier from the identifier of the work to be welded;
Robot control device. A general control device that constitutes a welding system,
a memory that retains information on the identifier of the original work;
a communication unit that communicates with a robot control device that controls execution of main welding using the original work;
a processor that controls a welding robot to perform main welding using the original work,
When the processor inspects the welding location of the welded workpiece manufactured by the main welding by the welding system,
When receiving an inspection report indicating that the inspection result is a pass, setting the identifier of the workpiece to be repaired where the repair welding was performed as the same identifier as the identifier of the workpiece to be welded ,
When receiving an inspection report indicating that the inspection result is a failure, setting the identifier of the work to be repaired to be welded as a different identifier from the identifier of the work to be welded ;
General control device.

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