JPH0255802B2 - - Google Patents

Description

[Detailed Description of the Invention] This invention is a so-called robot that memorizes arbitrary points and automatically moves the robot from this point to point.
PTP teaching In a control device for a CP control playback type arc welding robot, implement welding conditions that will not cause welding defects on the target workpiece when the robot is stopped at any position during automatic welding in playback operation mode. The present invention relates to a control device configured as described above.

Figure 1 shows the overall configuration of a conventional arc welding robot, including the control device. In the figure, 1 is the control device, 2 is the robot body, 3 is the welding power source, and 4
5 is a welding torch, 5 is a workpiece to be welded, 8a is a welding start button, and 8b is a welding stop button.

The conventional device is constructed as described above, and for example, when the stop button 8b is pressed during welding, the robot stops operating and the welding torch 4 stops running. At the same time, the control device 1 instructs the welding power source 3 to cut off all welding conditions (voltage, current, wire supply speed, etc.).

In this conventional device, the welding condition command is interrupted as described above during arc welding, so welding defects such as holes (craters) may occur in the target workpiece 5 or the welding torch 4 may There was a drawback that the target workpiece 5 became defective due to welding, and restarting welding was meaningless.

This invention was made in order to eliminate the drawbacks of the conventional arc welding robot control device as described above. It is an object of the present invention to provide a control device for an arc welding robot that can prevent defects such as the following.

An embodiment of the present invention will be described below with reference to the drawings. In Fig. 2, 1 is a control device, 2 is a robot body, 3 is a welding power source, 4 is a welding torch, 5 is a workpiece to be welded, 6 is a welding wire supply device, 7 is a teaching box, and 7a is its The direction indicator button 7b is a record button. The control device 1 described above is composed of the following. 10 is its central processing unit (hereinafter referred to as CPU), 11 is a control program storage unit, 12 is a taught position data storage unit (hereinafter referred to as position data memory), and 13 is a welding execution condition data storage unit (hereinafter referred to as condition data memory). ), 14 is an input/output section, 15 is a welding execution condition setting switch (hereinafter referred to as a condition setting switch), 16 is a display section, 17 is a positioning control section, 18 is a drive section, and 19 is a welding power source control section. 8a is a welding start button, 8b is a welding stop button, and 1a is a common bus for transmitting and receiving signals between the CPU and 11 to 19.

In FIG. 3, 21 to 25 are content memories of the position data memory 12, and 30 to 39 are condition data 13.
This figure specifically shows the content memory of .

In the above configuration, position teaching is normally performed as follows.

By pressing the direction specifying button 7a of the teach box 7, the welding torch 4 is moved to an arbitrary position near the target workpiece 5 and stopped, and then by pressing the record button 7b, the coordinates of that point are stored in the position data memory 12 sequentially from 21 to 21. Record it like 25. 21～
24 coordinates as points P1, P2, and P2 in Fig. 4, respectively.
Make it correspond to P3 and P4. These P1 to P4 indicate points near the target workpiece 5.

Subsequently, by pressing the condition setting switch 15, the point P1 is defined as the welding start point, and a start command is stored in the 36th part of the storage unit 30 of the point P1 of the condition data memory. Also, from point P1 to point P in the 40 part
As the welding conditions up to 2, input voltage, current, speed, etc. from the condition setting switch and store them. This condition setting operation is performed sequentially at point P2, point P3, and point P4.
Then, set the conditions at any point where you want to change them, and store them in sections 31, 32, and 33. If you want point P4 to be the welding end point, the conditions at the end of welding,
A welding end timer is set, a welding end command is set, and a series of condition settings from the start of welding to the end of welding are completed.

When executing the data set in this way in the automatic welding mode, the storage sections 37 and 3 attached to the welding start command 36 in the condition data memory 13
8, 39, each condition, for example voltage, 50V at point P1, 45V at point P2, 40V at point P3, point P
Among the 20V of 4, the condition closest to the welding end command,
In other words, 20V at point P4 and a current of 10A in the same way.
and welding end timer.

If the conditions set in this way are used as the crater conditions at the end of welding, pressing the welding stop button at any point during welding to implement these crater conditions will prevent welding defects like in the conventional example. can.

As described above, according to the present invention, by storing the crater conditions in the storage section attached to all welding start commands, even if welding is interrupted at any point during welding, no welding defects will occur. This is effective in preventing defects in expensive target workpieces.

[Brief explanation of drawings]

FIG. 1 is a diagram showing the configuration of a conventional arc welding robot system, FIG. 2 is a configuration diagram showing a control device for an arc welding robot according to an embodiment of the present invention, and FIG. 3 is an extracted view of the storage unit. 4 are diagrams for explaining the movement of the robot. In the figure, 1 is the control device, 2 is the robot body,
3 is a welding power source, 4 is a welding torch, 5 is a target workpiece, 12 is a position data storage section, and 13 is a welding execution condition data storage section.

Claims (1)

[Claims] 1 In an arc welding robot control device that memorizes arbitrary points and automatically moves the arc welding robot from these points to the points, an input section for inputting welding conditions, etc. corresponding to each of the above points, this input section A storage section in which welding conditions inputted from the welding section are stored, a welding interruption input section, and when an interruption signal is input from this welding interruption input section, the welding conditions for crater formation at the end of welding stored in the storage section are stored in this section. A control device for an arc welding robot, comprising a central processing section that outputs a command to output a command to form a crater under the welding conditions for crater formation before the end of welding.