JPH0437475A - Supporting device for offline teaching of arc welding robot - Google Patents

Abstract

PURPOSE:To allow the teaching to an arc welding robot which constitutes a part of the constituting elements of an automatic arc welding device by having a work shape information inputting means, welding condition determining means, robot motion information determining means, and memory means. CONSTITUTION:The supporting device for offline teaching of the arc welding robot has the work shape information inputting means 1 which inputs the work shape information alpha, the welding condition determining means 2 which determines the welding conditions beta in accordance with the inputted work shape information alpha, the robot motion information determining means 3 which determines the robot motion information gamma in accordance with the welding conditions beta, and the memory means 5 which stores the robot motion information gamma, the welding conditions beta and the work shape information alpha. The source information on the shape, etc., of welding members is, therefore, inputted and all of the information necessary for the execution of automatic arc welding including not only the mechanical moving conditions, etc., of the arc welding robot 7 but the electrical conditions for regulating the arc welding conditions, etc., as well are automatically determined and teaching the arc welding robot 7 is possible.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a robot offline teaching device for arc welding. In particular, the arc welding robot offline teaching device receives input of original information such as the shape of the welding member, and includes not only the mechanical movement conditions of the industrial robot but also the electrical conditions that define the arc welding conditions. , to automatically determine all the information necessary to perform automatic arc welding and teach it to an industrial robot (hereinafter referred to as an arc welding robot) that forms a part of the components of automatic arc welding equipment. Regarding improvements that make it possible.

[Conventional technology]

Industrial robots, which have the function of automatically performing mechanical movements such as moving and changing the posture of target objects, have been used in industry for a long time, and these days, these industrial robots are also used in arc welding equipment. It is used as a constituent unit.

By the way, it is essential for industrial robots to have a function to memorize the routes of mechanical movements that the industrial robot repeatedly executes. For this purpose, robot teaching devices have traditionally been used.

Historically, this robot teaching device used a manual teaching method in which mechanical movements to be performed by an industrial robot are stored in the storage means of the industrial robot while actually operating the industrial robot. Not only is the operation complicated, but it also takes a long time to teach, making it inconvenient.

Therefore, an offline robot teaching device that does not require the actual operation of an industrial robot has been developed. This off-line type robot teaching device is also put into practical use for arc welding robots.

A conventional off-line robot offline teaching device for arc welding includes, for example, means for inputting original information such as the shape of a workpiece, and a robot motion state display means for displaying the mechanical motion of the robot on a screen. (Japanese Unexamined Patent Application Publication No. 62-269205) that makes it possible to simulate the mechanical motion of a robot on a screen, a means for moving and storing a robot program from an industrial robot control device onto a magnetic tape, and A device having a program for mutually transferring magnetic tape and a personal computer (Japanese Unexamined Patent Publication No. 6)
No. 2-63305) and the like are known.

In short, the conventional arc welding robot offline teaching device is an improvement over industrial robots as a means of mechanically moving workpieces, and as shown in FIG.
Position/orientation information input means 1 for inputting the position/orientation of the workpiece, etc.
3, workpiece shape information input means 14, robot/workpiece relative position information input means 15, simulation means 16, image display means 17, and program creation means 18. This is a device that teaches an industrial robot the relative movement path with respect to a workpiece over time. Moreover, the simulation means 16 and the program creation means 18 in the arc welding robot offline teaching device according to the prior art are devices used to perform simulation or create programs, and these devices themselves was not the main decision-maker.

(Problem to be Solved by the Invention) However, when performing arc welding work, etc., welding conditions such as welding voltage, welding current, welding speed, etc. that are specified in response to the groove shape of the welding member, etc., and the multilayer welding Although it is necessary to determine many conditions such as the number of laminated layers in welding, these conditions cannot be determined simply without actually performing the welding. Therefore, it is well known that skill is required to perform arc welding, and even if the conventional arc welding robot offline teaching device is used, unless the person is an expert in arc welding technology, industrial robot It is difficult to perform arc welding using an automatic arc welding device driven by a This was insufficient to meet the demands for welding automation.

The purpose of the present invention is to eliminate the above-mentioned drawbacks, and to provide a system in which original information such as the shape of a welding member is inputted to specify not only the mechanical movement conditions of an arc welding robot but also the arc welding conditions. It is possible to automatically determine all the information necessary to perform automatic arc welding, including electrical conditions, etc., and teach it to the arc welding robot that is part of the components of automatic arc welding equipment. An object of the present invention is to provide a robot offline teaching support device for arc welding.

[Means to solve the problem]

The above object is an arc welding robot offline teaching support device (corresponding to claim [1]) having the following components:
achieved by.

Its components are: (a) a workpiece shape information input means (1) for inputting workpiece shape information; and (b) welding condition determination for determining welding conditions (β) based on the input workpiece shape information (α). Means (2); C. Robot motion information determining means (3) for determining robot motion information (γ) based on the welding conditions (β).
), and 2. The above robot motion information Cr) and welding conditions (β)
and a storage means (5) for storing workpiece shape information (α).

In the above means, there are the following embodiments.

In the first embodiment (corresponding to claim [2]), the workpiece shape information (α) includes the rough material shape (S), the groove angle (A), and the groove width (G). Including plate thickness (1).

In the second embodiment (corresponding to claim [3]), the welding condition (β) is the number of laminated layers (1) corresponding to the plate thickness (1).
N), welding voltage (V, ), welding current (In), and welding current (In) for each layer.
Bead height (h,)/Aim direction of welding torch (■ machining)
・Welding speed and rough material shape (S) ・Bevel angle (A) ・
The welding condition determining means (2) searches for information from the welding information storage means (2a) and determines the welding conditions (β) based on the information, including the groove width (G) and plate thickness (1). This is a welding condition search/calculation means (2b) for calculating.

In the third embodiment (corresponding to claim [4]), the robot motion information (y) includes robot operating position/appropriate welding speed (V@,), welding wire feeding speed command voltage information - Contains welding voltage command voltage information and is stored in a format readable by the offline teaching device, and the robot movement information determining means (3) is configured to store the robot work origin storage means, the workpiece fixing jig position storage means, and the welding This is a robot motion information instrument that performs calculations including coordinate transformation from conditions.

In this embodiment, the robot motion information determining means (3) is the robot motion information storage means (3a).
It can also be said that it is a robot motion information search means (3b) for searching the robot motion information from the robot motion information.

Furthermore, as another modification, the above-mentioned robot welding conditions (
δ) includes the robot work origin and the workpiece fixing jig position, and the robot welding condition determining means (4) retrieves the robot welding condition (δ) from the robot welding condition storage means (4a). Welding condition search means for robots (
4b) is also possible.

[Function] The present invention allows conditions such as the voltage, current, welding speed, relative positional relationship between the welding torch and the workpiece, and the number of laminated layers in multilayer welding to be used for arc welding, such as the shape of the rough material and the groove angle. - Utilizes natural laws that are determined in response to workpiece shape information such as groove width and plate thickness, and uses an electronic computer to perform processing such as summer reduction based on these natural laws. be.

Therefore, the robot offline teaching support device for arc welding according to the present invention includes (a) a welding information storage means (2a) for storing, for example, the relationship between a workpiece shape, etc. and welding conditions; a welding condition determining means (2) comprising a welding condition search/calculation means (2b) for searching for welding conditions and calculating welding conditions based on the information;
(b) For example, a robot motion information storage means (3b) that stores the relationship between the workpiece shape and robot motion, a robot motion information search means (3a) that retrieves robot motion information from this robot motion information storage means (3b), etc. robot motion information determining means (3), (c) robot welding condition storage means (4b) for storing the relationship between welding conditions and robot welding conditions; robot welding condition determining means (4) consisting of a robot welding condition searching means (4a) for searching for welding conditions for use in a robot, for example, a rough material shape (
Enter the workpiece shape information (α) including S), groove angle (A), groove width (G), plate thickness (1), etc. to calculate the necessary information for arc welding using an arc welding robot. All information can be created at once, and this information can be output to an arc welding robot so that arc welding can be performed instantly using the arc welding robot.

〔Example〕

DESCRIPTION OF THE PREFERRED EMBODIMENTS An arc welding robot offline teaching support device according to an embodiment of the present invention will be described below with reference to the drawings.

The reference figure in FIG. 1 is a diagram corresponding to a complaint regarding an arc welding robot offline teaching support device according to an embodiment of the present invention.

In the figure, reference numeral 1 denotes a workpiece shape information manual means, which is used to input workpiece shape information α such as the rough material shape S, groove angle A, groove width G, plate thickness, etc.

Reference numeral 2 denotes welding condition determining means, which has a function of determining welding conditions β based on workpiece shape information α. Here,
The welding conditions β include the number N of laminated layers corresponding to the plate thickness, the voltage (2) of each layer, the current (2), the bead height, and the aiming direction Vw of the welding torch. Further, the welding condition determination means 2 can be configured with a welding condition search/calculation means 2b that searches for the welding condition β from the welding information storage means 2a that stores the welding condition β.

Reference numeral 3 denotes robot motion information determining means, which has a function of determining robot motion information γ based on workpiece shape information α. Here, the motion information γ of the robot includes the appropriate welding speed V07, welding wire feeding speed (Vf, ), etc. Further, the robot motion information determining means 3 stores the robot motion information T in the robot motion information storage means 3a.
The robot motion information retrieval means 3b can be configured to search for robot motion information from the robot motion information.

Reference numeral 4 denotes robot welding condition determining means, which has a function of determining robot welding conditions δ based on welding conditions β. Here, the robot welding conditions δ include the robot work origin, the workpiece fixing jig position, and the like. Further, the robot welding condition determination means 4 includes a robot welding condition retrieval means 4b that searches for the robot welding condition δ from the robot welding condition storage means 4a that stores the robot welding condition δ.
It can be configured with

Reference numeral 5 denotes a storage means, which has a function of storing robot welding conditions δ and robot movement information T.

Reference numeral 6 denotes an output means, which has a function of outputting robot welding conditions δ and robot motion information T to the arc welding robot 7.

Next, the operation of the above-mentioned arc welding robot offline teaching support device will be described in more detail with respect to an example of an arc welding machine operated by an arc welding robot.

In the drawing shown in FIG. 2, 7 is an arc welding robot, 8 supports a workpiece 9 (indicated by a broken line), and rotates and rotates it.
A moving positioner, arc welding robot 7
The welding torch is brought into contact with a desired position on the workpiece 9 through a coordinated operation with the positioner 8 and the positioner 8. 10 is a welding power source, 1] is a control device, and 12 is an electronic computer, which constitute control command generation means for an arc welding robot and an offline teaching support device for an arc welding robot according to the present invention.

The arc welding robot offline teaching support device according to the present invention is used to teach the arc welding robot 7 the mechanical movements that the arc welding robot 7 should perform. According to this information, the control device 1] issues a command to the welding power source 10, the arc welding robot 7, and the positioner 8, and based on this command, the welding power source IO, the arc welding robot 7, and the positioner 8 and the desired arc welding is automatically performed.

Here, the natural law on which the present invention relies, that is, the criteria for determining control elements in arc welding will be explained.

B. Criteria for determining the spatial coordinate values of the welding torch of the arc welding robot By performing coordinate transformation (translation/rotation) on the rough material shape of the workpiece 9 according to the relative positions of the arc welding robot 7 and the positioner 8. The following calculation formula is used for this determination.

However, x, , y, , z are the welding positions in the robot coordinate system, X, , Y, , Z, , θ8, θ7, θ are the relative positions between the robot and the positioner, and Xw, Yv , Z, are the coordinates of the raw material in the raw material coordinate system, and C(n, θ) is the rotation corresponding to θ degrees around the n-axis of the robot coordinate system.

Criteria for determining the rotation angle of the mouth and body thinner - 8
Generally, each side of the workpiece 9 is rotated by a specific angle.

C. Determination criteria for the vector indicating the aiming direction of the welding torch The aiming direction vector of the welding torch, which is input as the original information, is determined by coordinate transformation (rotation) based on the relative positions of the arc welding robot 7 and the positioner 8. . The following calculation formula is used for this calculation.

Vr −C(x, θx)C(y, θ, )
C(z.

θ,)■1 However, ■ is the aiming direction vector of the welding torch in the robot coordinate system (since the torch is not a single line, there are two types of vectors that represent the aim of the torch: the Y direction and the Z direction. ), C(n, θ) is the rotation corresponding to θ degrees around the n-axis of the robot coordinate system, and Vo is the aiming direction vector (Y direction and Z direction) in the rough material coordinate system. .

2. Criteria for determining the speed of movement, etc. of the welding torch of the robot Since the operating speed of the robot is equal to the welding speed, it is determined by determining the appropriate welding speed shown below. The following formula is used to determine the appropriate welding speed.

however, ■,. is the appropriate welding speed, ■ is the welding wire feeding speed in each layer, n is each layer of lamination number N, d is the wire diameter, h3 is the bead height of the Nth layer, A is the bevel angle; G1 is the groove width of each layer.

The following calculation formula is used for the groove width.

G1]-G (1+tan AXΣha-1) However, Σ
h-1 is the sum of bead heights from the first layer to the (n-1)th layer.

E. Criteria for determining the information necessary for transmitting and receiving signals between the arc welding power source 10, the arc sensor control device, etc. The welding current command and welding voltage command are based on the thickness t of the workpiece, the number of laminated layers N and welding current 1 in each layer n.・
After determining the voltage and bead height, this welding current 1
．．・Determine based on the voltage ■.

Since the present invention is a microcomputer application technology, a flowchart for realizing the functions of each functional element forming the constituent elements of the above claim correspondence diagram will be described below.

A. Creation of welding condition database A welding condition database forming the welding information storage means 2a is created in advance.

Refer to Figure 3. Create a welding condition database that stores the calendar number, current, voltage, bead height, torch aiming direction, wire diameter d, arc sensor data, robot data, etc. according to the plate thickness. (.

B. Creation of workpiece fixing jig position data file A workpiece fixing jig position data file forming the robot motion information storage means 3a is created in advance.

Refer to FIG. 4. A workpiece fixing jig position data file is created that stores the relative positions of the robot and the workpiece (jig).

C1 Creation of welding condition output database (welding information including wire diameter) A welding condition output database forming the robot welding condition storage means 4a is created in advance.

Refer to FIG. 5 A welding condition output database is created in which welding speeds and the like corresponding to welding currents included in the welding condition database are stored.

D. Operation of robot offline teaching support device for arc welding The operation of the robot offline teaching support device for arc welding according to the embodiment of the present invention will be described with reference to flowcharts.

Refer to Fig. 6-1 a, input the rough material shape S, groove angle A, groove width G, and plate thickness t.

Using b and plate thickness t as keywords, welding conditions such as voltage, current, and bead height are searched and read out from the welding condition database.

If C2 multi-layer welding is required, d6 current to specify the first layer! , as a keyword, search for and read out the wire feeding speed ■1 etc. of the n-th layer.

e, the groove width G of the n-th layer is calculated.

f, calculate the appropriate welding speed vo7 for the n-th layer.

Refer to Figure 6-2 g. Create a data file containing the voltage, current, bead height, groove width, appropriate speed, arc sensor data, robot data, etc. of the nth layer.

h, the second layer, the third layer, and so on until the data file for the gold layer is completed. Steps d-g are successively repeated.

i. Load welding work data.

j, workpiece fixing jig position data (X,,Y,,Z,,G
8. Read θa, θ,).

k, the welding position (X, , Yw, Z
Load w).

Refer to Figure 6-3 1. Calculate the robot position using the formula %), and use the formula Vr"'g (V
Calculate the torch aim vector using

m. Create arc sensor data and robot data as functions.

n. Create funk silane that realizes the voltage and current used for welding each layer.

O. MDI in which not only the mechanical movements of the robot but also all the information necessary to perform the welding work are stored over time.
Create a program.

〔Effect of the invention〕

As explained above, the arc welding robot offline teaching support device according to the present invention includes a workpiece shape information input means for inputting workpiece shape information (rough material shape, groove angle, groove width, plate thickness, etc.); Welding condition determining means (welding Determine robot motion information (appropriate welding speed, welding wire feeding speed, etc.) based on the welding condition search/calculation means that searches for welding conditions from the information storage means) and the input workpiece shape information. Robot motion information determination means (robot motion information retrieval means for retrieving robot motion information from robot motion information storage means) and robot welding conditions (robot work origin, workpiece fixing jig position, etc.) based on the above-mentioned welding conditions. A robot welding condition determining means to be determined (a robot welding condition search means for searching a robot welding condition from a robot welding condition storage means), a robot welding condition and robot motion information are output to the arc welding robot. Since it has an output means for inputting original information such as the shape of the welding part, it can output not only the mechanical movement conditions of the arc welding robot but also the electrical conditions that define the arc welding conditions. An offline arc welding robot that makes it possible to automatically determine and teach all the information necessary to perform automatic arc welding, including the A teaching support device can be provided.

[Brief explanation of drawings]

FIG. 1 is a diagram illustrating complaints regarding an arc welding robot offline teaching support device according to an embodiment of the present invention. FIG. 2 is a schematic configuration diagram of an arc welding machine constituting an arc welding robot in which an arc welding robot offline teaching support device according to an embodiment of the present invention is used. FIG. 3 is a flowchart of a welding condition database creation process according to an embodiment of the present invention. FIG. 4 is a flowchart of a process for creating a work fixing jig position data file according to an embodiment of the present invention. FIG. 5 is a flowchart of a welding condition output database process according to an embodiment of the present invention. 6-1, 6-2, and 6-3 are flowcharts of the arc welding robot offline teaching support device according to the embodiment of the present invention. FIG. 7 is an overall configuration diagram of a conventional arc welding robot offline teaching support device. l ・ ・ 2 ・ ・ 2a ・ 2 b ・ 3 ・ ・ 3a ・ 3 b ・ 4 ・ ・ 4 a ・ 4 b ・ 5 ・ ・ 6 ・ ・ 7 ・ ・ 8 ・ ・ 9 ・ ・ 10 ・ 1 work ・12. Workpiece shape information input means, welding condition determination means, welding information storage means, welding condition search/calculation means, robot motion information determination means, robot motion information storage means, robot motion information retrieval means, for robots Welding condition determination means, - Welding condition storage means for robots, - Welding condition search means for robots, storage means, output means, robot for arc welding, Narwak, Bojishi town, power supply for arc welding, control device, electronic computer, 13/14・ 15 ・ 16 ・ 17 ・ 18 ・ ・Position/posture information input means of a robot offline teaching support device for arc welding according to the prior art, ・Workpiece shape information input means of a robot offline teaching support device for arc welding according to the prior art,・Robot/workpiece relative position information input means of a robot offline teaching support device for arc welding according to the prior art; ・Similar run means of a robot offline teaching support device for arc welding according to the conventional technology; ・A robot/workpiece relative position information input device of a robot offline teaching support device for arc welding according to the conventional technology; An image display means for a robot offline teaching support device; and a program creation means for a robot offline teaching support device for arc welding according to the prior art.

Claims (1)

[Claims] [1] Workpiece shape information input means (1) for inputting workpiece shape information, and welding condition determination for determining welding conditions (β) based on the inputted workpiece shape information (α). Based on means (2) and the welding conditions (β), robot motion information (
γ), and a storage means (5) for storing the robot motion information (γ), the welding conditions (β), and the workpiece shape information (α). Features: Robot offline teaching support device for arc welding. [2] A claim characterized in that the workpiece shape information (α) includes a rough material shape (S), a groove angle (A), a groove width (G), and a plate thickness (t). [1] The arc welding robot offline teaching support device described in [1]. [3] The welding conditions (β) are the number of laminated layers (N) corresponding to the plate thickness (t), the welding voltage (V_n) and welding current (
I_n), bead height (h_n), welding torch aiming direction (V_w), welding speed, rough material shape (S), groove angle (A), groove width (G), plate thickness (t). and the welding condition determining means (2) is a welding condition retrieval/calculation means (2b) for retrieving information from the welding information storage means (2a) and calculating the welding conditions (β) based on the information. The arc welding robot offline teaching support device according to claim 1, characterized in that: [4] The robot motion information (γ) includes the robot's operating position, appropriate welding speed (V_o_n), welding wire feed speed command voltage information, and welding voltage command voltage information, and is in a form readable by an offline teaching device. The robot motion information determining means (3) is a robot motion information calculation means that performs calculations including coordinate transformation from the robot work origin storage means, the work fixing jig position storage means, and the welding conditions. The arc welding robot offline teaching support device according to claim [1].