JPH1024372A - Device for teaching welding robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable operation data to be prepared through the data processing of algorithm which is easily adaptable to various works and which is comparatively simple. SOLUTION: The device is provided separately with a weld line data editing module 51 that changeably sets, on a selected weld line, auxiliary conditional data required for determining the operating data of a welding robot; and with a robot operation deciding module 52 that forms the operating data of the welding robot based on the auxiliary conditional data for example; enabling these modules 51, 52 to be arbitrarily executed by an operator.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding robot teaching device employing a teaching playback system.

[0002]

2. Description of the Related Art In a teaching playback type welding robot, operation data (operation locus, operation sequence, operation conditions, etc.) necessary for welding is previously taught, and the welding robot is operated based on the operation data. Thereby, welding to a desired portion is performed. Therefore, various methods have been conventionally implemented and proposed so that operation data can be accurately and simply taught to a welding robot.

That is, as a first teaching method, there is a method in which operating data is inputted by operating an actual machine or operating points of a welding robot are designated one by one while inputting operation data to a control device. There is. As a second teaching method, welding design information and a robot operation pattern are prepared in advance, and when work shape information is input, a welding line is extracted and a local pattern is determined. There is a method of teaching by selecting design conditions and robot operation patterns (Japanese Patent Laid-Open No. 6-214).
625).

[0004]

However, in the first teaching method in which the operating points of the welding robot are taught while being specified one by one as in the above-mentioned conventional technique, all the operating points need to be specified by the operator. Therefore, there is a problem that a long time is required for the teaching operation. Further, it is difficult to read the meaning contents of the steps indicating the teaching contents, and the steps are often related to each other. Therefore, when trying to correct the operation of the welding robot, for example, when changing the order or direction of welding, it takes time to grasp the steps to be corrected, which increases the burden on the operator. There is also.

Further, according to the second teaching method, if this method is applied to a complicated work, the operation patterns to be prepared become enormous and it is difficult to construct a practical system. There's a problem.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a welding robot teaching apparatus capable of creating operation data by relatively simple algorithm data processing which can be easily applied to various works. .

[0007]

In order to solve the above-mentioned problems, a first aspect of the present invention is a welding line registration unit for registering a welding line as a work object, and one of the registered welding lines. Welding line selecting means for selecting a line; auxiliary condition setting means for setting, on the selected welding line, auxiliary condition data necessary for calculating operation data of the welding robot so as to be changeable; Operation data generating means for generating operation data of the welding robot based on the operation data. Thereby, the auxiliary condition data can be set by a simple operation of registering each welding line in the work, and the set auxiliary condition data can be changed. It is not necessary to prepare in advance, and even for a work that does not have the same welding pattern or a work whose specifications are frequently changed, it is possible to easily set the work while checking the auxiliary condition data for each welding line. In addition, since the operator can specify operation data that requires complicated judgment, the operation data can be efficiently specified, and the operation data can be generated in a short time as a whole, and It is also a simplified algorithm.

According to a second aspect of the present invention, there is provided the welding robot teaching device according to the first aspect, wherein a welding line name setting means for setting name data to the welding line and a list of registered welding line name data are displayed. And a welding line list displaying means. Accordingly, the auxiliary condition data can be set and changed while checking the list display of the name data corresponding to the welding line, so that the setting of the auxiliary condition data can be performed more easily.

According to a third aspect of the present invention, there is provided the welding robot teaching device according to the first or second aspect, wherein when a welding line is selected, selected welding line position display means for immediately displaying position information of the welding line. It is characterized by having. Thus, the position information of the selected welding line is immediately displayed, so that the welding line can be easily confirmed, and as a result, the setting and changing of the auxiliary condition data can be performed more easily.

[0010] The invention of claim 4 is the invention of claim 1, 2 or 3.
The welding robot teaching device as described above, further comprising a welding line group designating means for designating several welding lines as one group. Thus, by designating a plurality of welding lines as one group, a set of data can be easily grasped, so that setting and changing of the auxiliary condition data can be performed more easily.

According to a fifth aspect of the present invention, there is provided the welding robot teaching device according to the second aspect, wherein the welding line list display means comprises:
It is characterized in that a list is displayed in the order of the welding schedule. This makes it possible to check the welding lines and the auxiliary condition data listed in the order of the welding schedules, so that the auxiliary condition data can be changed more easily.

According to a sixth aspect of the present invention, there is provided the welding robot teaching device according to the fifth aspect, further comprising welding schedule changing means for changing the welding lines listed in the order of the welding schedule to a desired order. I have. This makes it possible to change the welding lines listed in the welding order in a desired order, so that even if the specifications of the work are changed, welding can be immediately performed in the optimum order.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. The welding robot teaching device according to the present embodiment includes an information processing device 1 such as a personal computer, as shown in FIG. The information processing device 1 includes a processing device main body 2 having a built-in auxiliary storage device such as a magnetic disk device and a central processing unit, a CRT (cathode-ray tube) 3 for displaying data and the like on a screen, and used for data input and instruction. And a mouse 5 connected to the printer 7 via a printer cable.

The processing apparatus main body 2 includes an operating system 8 as shown in FIG. The operating system 8 has a group of various applications 9 such as a CAD application program and a data processing application program in FIG. C
The AD application program enables the design of the work 23 while displaying the shape of the work 23 three-dimensionally on the screen of the CRT 3.

On the other hand, a data processing application program (hereinafter referred to as a data processing program)
As shown in FIG. 4, a work screen 24 displaying a three-dimensional image of the work 23 and a data screen 25 displaying work shape data and welding design data are displayed in one screen.
Link the data contents between these screens 24 and 25,
Various processing operations are executed according to the display position of the mouse pointer 34.

The welding design data includes name data of the welding line 23a, welding line data indicating a starting point and an ending point of the welding line 23a, robot data indicating operation specifications of the welding robot 22, and a work indicating the shape of the work 23. Shape data,
There are auxiliary condition data and the like for the welding line 23a. As the auxiliary condition data, there are welding conditions required for welding work and data related to devices other than welding conditions used as `` adjustment allowance '' such as robot operation range, singularity avoidance, interference avoidance, etc. The data relating to the apparatus other than the welding conditions include, for example, a robot in charge and robot operation conditions such as a slider axis value (robot traveling carriage position), a positioner axis value, a posture mode designation flag, and a rotation angle around the welding torch. Here, the posture mode designation flag is
6-axis PUMA for the position and orientation (6 dimensions) of the end effector
In the case of realizing with a mobile robot, this is a flag indicating which posture to adopt from among a plurality of postures. In addition, the rotation angle around the welding torch is a parameter corresponding to one degree of freedom of the remaining posture after realizing the required torch inclination angle and forward / backward angle in welding work, and adjusting this value. This makes it possible to prevent the operation range from being exceeded, to avoid singularities, to avoid interference, etc. without affecting welding.

On the data screen 25 displayed by executing the above-described data processing program, a file button 36, an edit button 37, and an automatic generation button 38 for executing a processing operation described later are arranged in parallel at the upper part. I have.
Below these buttons 36 to 38, a name display field 39 is provided.
Are arranged, and the name display column 39 indicates each welding line 23a.
And the like, and a scroll portion 39b for vertically scrolling the individual display portions 39a. A display switching button 40 and a content display column 41 are arranged below the name display column 39, and the content display column 41 has a display switching button 40
Thus, the welding condition and the error content are displayed so as to be switchable.

The processing operations executed by the data processing program include “welding line registration processing”, “welding line selection processing”, “auxiliary data setting processing”, “welding line deletion processing”, and “welding line deletion processing”. Welding line manual rearrangement processing, automatic welding line rearrangement processing, operation data generation processing, operation data test processing, display switching processing, operation data storage processing, Work status storage process "and" work status read process ".

Here, the "welding line registration process" is registered with welding line registration means for registering the welding line 23a as a work target and welding line name setting means for setting name data for the welding line 23a. Welding line list display means for displaying a list of name data of the welding lines 23a;
As a group. The “welding line selection process” includes a welding line selecting unit that selects one welding line 23a from the registered welding lines 23a,
When "a" is selected, it constitutes a selected welding line position display means for immediately displaying the position information of the welding line 23a. The "auxiliary data setting process" constitutes auxiliary condition setting means for setting, in the selected welding line 23a, auxiliary condition data necessary for calculating the operation data of the welding robot 22 so as to be changeable. I have. The “operation data generation processing” is based on the auxiliary condition data and the like.
2 constitutes the operation data generating means for generating the operation data.

The above processing operations will be described in detail.
The “welding line registration process” is performed in a state where a desired welding line 23 a in the work 23 is designated by the mouse pointer 34.
This is executed by clicking the mouse 5 in FIG. Then, in this process, the name data of the designated welding line 23a can be input, and when the name data is input, this name data is stored in the memory along with the welding line data indicating the starting point and the ending point of the welding line 23a. Stored in the line list and the name display column 3 of the data screen 25
9 is displayed. At this time, in the name display column 39, the name data of the welding lines 23a are displayed in the order of welding, and a "block number" is inserted and displayed for each welding line group consisting of the continuous welding lines 23a. It is supposed to be.

The "welding line selection process" is executed by designating the individual display section 39a in the name display section 39 with the mouse pointer 34 or designating the welding line 23a on the work screen 24 with the mouse pointer 34. It is supposed to be. Then, this processing is performed in the designated individual display section 39.
a is highlighted (highlighted), and the individual display section 39a
Is displayed in the content display column 41, and the corresponding welding line 23a is highlighted in a specific color.

The "auxiliary data setting process" is executed by re-designating the highlighted individual display section 39a and the welding line 23a with the mouse pointer 34. Then, this processing is performed as shown in FIG.
The screen display of the data screen 25 is displayed on the individual display section 39a and the detailed auxiliary condition data (weld section shape,
Pattern data of target member, torch angle, broken line processing, etc.
(Parameter data, etc.) to set, check, and correct these auxiliary condition data.

As shown in FIG. 4, the "delete welding line", "manually sort welding line", and "automatically sort welding line" are performed by, for example, setting the edit button 37 to the mouse pointer 34 as shown in FIG. After being specified in, it is selectively executed. Then, each of these processes is performed by deleting the welding line 23a and performing the welding line 2 displayed in the name display column 39.
The rearrangement by the operator 3a and the automatic rearrangement of the welding lines 23a displayed in the name display column 39 are performed.

The "operation data generation process" is executed when the automatic generation button 38 is designated by the mouse pointer 34. In this process, operation data is generated based on a series of work shape data and welding design data registered on the work screen 24 and the data screen 25. still,
If an error occurs during the generation of the operation data, an error mark is displayed on the corresponding individual display section 39a, and the error mark is displayed when the next “operation data generation process” is executed. Then, the operation data is generated only for the block including the individual display section 39a on which the error mark is displayed.

The "test processing of operation data" is executed by designating a function button (not shown) with the mouse pointer 34, and confirming the operation by simulating the operation data.
An error that cannot be found when the operation data is generated is detected, and an error mark is displayed on the corresponding individual display unit 39a. The "storing operation data" is executed when the file button 36 is designated by the mouse pointer 34, and the generated operation data is stored in a file. The "save process of work status" and "read process of work status" are executed by designating a function button (not shown) with the mouse pointer 34. Data is stored in a file or read from a file.

As shown in FIG. 3, the processing apparatus main body 2 having the various applications 9 includes a font driver 10 for managing the font and a C for managing the CRT 3 as shown in FIG.
RT driver 11, keyboard driver 12 for managing keyboard 4, mouse driver 13 for managing mouse 5, printer driver 14 for managing printer 7
One or a plurality of applications 9 can be executed simultaneously in cooperation with. And
These drivers 10 to 14 and application 9
The processing apparatus main body 2 having a group is provided with an interface (I /
F) It is connected to the I / F 17 of the robot control panel 16 via the unit 15, and both I / Fs 15 and 17 convert various data such as operation data into a signal form suitable for communication and transmit / receive them. It has become.

The robot control panel 16 includes an I / F 17
Has a control operation unit 19 connected to and accessible from the control unit. A data storage unit 18, a motor drive unit 20, and a position detection unit 21 are connected to the control operation unit 19 in an accessible manner. The data storage unit 18 stores the processing device body 2
Operation data area 18a capable of storing operation data from
Also, various data areas such as a position data area 18b capable of storing position data indicating the attitude of the welding robot 22 are formed. The motor drive unit 20 includes a welding robot 22
Are connected to the drive motors of the respective axes.
The drive motor is rotated in a forward direction and a reverse direction at a rotation angle in accordance with a command from the controller. Position detector 21
Is configured to detect the rotation angle of the drive motor of each axis of the welding robot 22 so that the position calculation data of the welding robot 22 can be obtained by the control calculation unit 19.

The data storage section 18 stores the above-described various data areas and various control programs such as an operation control routine. The control operation section 19 executes the operation control routine. When executed, the welding robot 22 is operated via the motor drive unit 20 based on the operation data and the position data of the data storage unit 18. As shown in FIG. 7, around the welding robot 22 operated in this manner, the wire container 3 for supplying the welding wire 31 to the welding robot 22 is provided.
0, and a welding power source 33 for supplying welding power to the welding wire 31.
Is designed to perform welding on the work 23 while projecting the welding wire 31 from the tip of the welding torch 32.

The operation of the welding robot teaching device having the above configuration will be described. First, as shown in FIG.
When the CAD application program of the information processing apparatus 1 is executed, the work 2 to be welded is
3 is designed on the screen of the CRT 3, and the work shape data of the work 23 obtained by the design is stored in a predetermined file in the auxiliary storage device. The design of the work 23 may be performed in another information processing device. In this case, the work shape data is transferred to the auxiliary storage device of the information processing device 1 by being transferred by a recording disk or data communication. Will be stored. If there are a plurality of types of works 23, all of these types of work shape data may be stored in a file in advance.

Next, by executing the data processing program of FIG. 6, a work screen 24 and a data screen 25 are displayed on the CRT 3 as shown in FIG. On the work screen 24, the outer shape of the work 23 is displayed by expanding the work shape data of the file designated by the operator into three dimensions. On the other hand, on the data screen 25, if a file of welding design data corresponding to the displayed work 23 exists, the welding design data of this file is displayed, and if there is no file, a blank is displayed (S1). ).

Thereafter, it is determined whether or not the mouse 5 in FIG. 2 has been clicked. If so, a processing operation corresponding to the display position of the mouse pointer 34 at the time of the click is executed.

For example, if there is no welding design data file and a blank is displayed, the operator moves the mouse pointer 34 to a desired welding line 23 a in the work 23 and clicks on it to display “welding”. Line registration processing ”is executed. Thereby, the mouse pointer 34
When the name data is input, the name data and the initially set auxiliary condition data are stored in the welding line list, and the data screen 25 is displayed. Is displayed (S2). Each time the name data is input by designating each welding line 23a in this manner, each name data is displayed in welding order, and the "block number" is displayed for each welding line group consisting of the continuous welding lines 23a. Will be inserted and displayed.

Next, in order to confirm whether or not the welding conditions of each welding line 23a are properly set, the individual display section 39a in the name display section 39 of the name data is designated by the mouse pointer 34 or the like. , Welding line 23a on work screen 24
Is designated by the mouse pointer 34. As a result, the “welding line selection process” is executed, and the designated individual display unit 3
9a is highlighted (highlighted), and the designated welding line 23a is highlighted in a specific color. Then, the outline of the auxiliary condition data corresponding to the designated individual display portion 39a and the welding line 23a is displayed in the content display column 41, so that it is possible to grasp the setting state of the welding condition for each welding line 23a. Is performed (S3).

Thereafter, as a result of checking the outline of the auxiliary condition data, if the more detailed auxiliary condition data is to be checked, the highlighted individual display section 39a and the welding line 23a are designated again by the mouse pointer 34. . As a result, “auxiliary data setting processing” is executed, and as shown in FIG.
The data screen 25 displays detailed auxiliary condition data (weld part shape, target member,
The display is switched to a screen display of torch angle, pattern data of the broken line processing, parameter data, etc.), and setting, confirmation, and correction of these auxiliary condition data are enabled (S
4). In addition, as shown in FIG.
25 and the screens 24 and 25 after switching may be displayed in a window in an overlapping manner.

As a result of the above confirmation, when the name display section 39 is changed, as shown in FIG.
7 is designated by the mouse pointer 34, and "deletion processing of welding lines", "manual rearrangement processing of welding lines", and "automatic rearranging processing of welding lines" are executed. Thereby, welding line 2
3a is deleted (S5), or the welding lines 23a displayed in the name display section 39 are rearranged by the operator (S5).
6) Automatic sorting (S7) of the welding lines 23a displayed in the name display section 39 is performed by the operator's selection.

When the welding design data (name data, auxiliary condition data, etc.) is input and corrected while the shape of the work 23 is confirmed on the work screen 24 as described above, the automatic generation button 38 is then pressed with the mouse. “Operation data generation processing” specified by the pointer 34
Is executed. Thus, operation data is generated based on a series of workpiece shape data and welding design data registered on the data screen 25. If an error occurs during the generation of the operation data, an error mark is displayed on the corresponding individual display section 39a (S8). Thereafter, based on the error mark, after the welding design data is corrected by the processing operations of S3 to S7 described above, the process returns to S8.
Is executed, the operation data is generated only for the block including the individual display section 39a on which the error mark is displayed.

When the operation data having no error mark is generated in this way, "operation data test processing" is executed, and the operation is confirmed by simulation of the operation data. As a result, an error that cannot be found when generating the operation data is detected, and an error mark is displayed on the individual display unit 39a where the error has occurred (S9).
Then, based on the error mark, the above S3 to S3
After the welding design data is corrected by the processing operation of S7,
The "operation data generation process" of S8 and the "operation data test process" of S9 are executed again. still,
When the error mark is displayed in S8 and S9 described above, the display switch button 40 is designated with the mouse pointer 34 to execute the “display switch processing” so that the error can be optimally corrected. Content display field 4
The display content of No. 1 can be switched from the outline of the auxiliary condition data to the error content (S10).

Thereafter, when the operation data without the error mark is created, the file button 36 is
"Operation data saving process" is executed as specified in step 4,
The operation data is stored in a file (S11). Also,
If you want to interrupt the work while entering the auxiliary condition data,
The “work status saving process” is executed, and the workpiece shape data and welding design data being input are stored in a file (S12). Thereafter, when the work is resumed, the “work status reading process” is executed, and the workpiece shape data and welding design data being input are read from the file and displayed on the work screen 24 and the data screen 25. (S13).

When the operation data is created by the respective processing operations as described above, the operation data is transmitted from the processing apparatus main body 2 to the robot control panel 16 as shown in FIG.
After the operation data is stored in the operation data area 18a of the data storage unit 18, the control operation unit 19 operates the welding robot 22 via the motor drive unit 20 based on the operation data and the position data of the welding robot 22. By doing so, welding to the work 23 is performed.

As described above, the welding robot teaching device according to the present embodiment, as shown in FIG.
Line data editing module 51 (auxiliary condition setting means) for setting the auxiliary condition data necessary for calculating the operation data of the welding robot 22 to be changeable, and auxiliary condition data, work shape data, robot data, welding line A robot operation determination module 52 (operation data generation means) for generating operation data of the welding robot 22 based on data and the like is configured in software, and these modules 51 and 52 are arbitrarily executed by an operator. Has become.

Thus, each welding line 23 in the work 23 is
Since the auxiliary condition data can be set by a simple operation of registering a and the set auxiliary condition data can be changed, a work or a specification that does not have the same welding pattern is frequently changed. For the work, it is possible to easily set the work while checking the auxiliary condition data for each welding line 23a.

[0042]

According to the first aspect of the present invention, there is provided a welding line registration unit for registering a welding line as a work object, a welding line selecting unit for selecting one welding line from the registered welding lines,
Auxiliary condition setting means for setting the auxiliary condition data necessary for calculating the operation data of the welding robot so as to be changeable for the selected welding line, and the operation data of the welding robot based on the auxiliary condition data and the like. And operation data generating means for generating the operation data. Thereby, the auxiliary condition data can be set by a simple operation of registering each welding line in the work, and the set auxiliary condition data can be changed. It is not necessary to prepare in advance, and even for a work that does not have the same welding pattern or a work whose specifications are frequently changed, it is possible to easily set the work while checking the auxiliary condition data for each welding line. In addition, since the operator can specify operation data that requires complicated judgment, the operation data can be efficiently specified, and the operation data can be generated in a short time as a whole, and This has the effect of simplifying the algorithm.

According to a second aspect of the present invention, there is provided the welding robot teaching device according to the first aspect, wherein a welding line name setting means for setting name data for the welding line and a list of registered welding line name data are displayed. And a welding line list display means. This makes it possible to set and change the auxiliary condition data while checking the list display of the name data corresponding to the welding line, so that it is possible to set the auxiliary condition data more easily.

According to a third aspect of the present invention, there is provided the welding robot teaching device according to the first or second aspect, wherein when a welding line is selected, the selected welding line position display means for immediately displaying position information of the welding line. It is a configuration provided with. Thereby, since the position information of the selected welding line is immediately displayed, it is easy to confirm the welding line, and as a result, there is an effect that the setting and changing of the auxiliary condition data can be more easily performed.

The invention of claim 4 is the invention of claim 1, 2 or 3.
The welding robot teaching apparatus according to any one of the preceding claims, further comprising a welding line group designating means for designating several welding lines as one group. By specifying a plurality of welding lines as one group,
Because you can easily see the data set,
There is an effect that setting and changing of the auxiliary condition data can be performed more easily.

According to a fifth aspect of the present invention, there is provided the welding robot teaching device according to the second aspect, wherein the welding line list display means comprises:
This is a configuration in which a list is displayed in welding order. Thereby, since the welding lines and the auxiliary condition data displayed in a list in the order of the welding schedule can be confirmed, it is possible to change the auxiliary condition data more easily.

According to a sixth aspect of the present invention, there is provided the welding robot teaching device according to the fifth aspect, further comprising a welding schedule changing means for changing the welding lines listed in the order of the welding schedule to a desired order. This makes it possible to change the welding lines listed in the order of the welding schedule to a desired order, so that even if the specifications of the workpiece differ from the schedule, welding can be immediately performed in the optimal order. It works.

[Brief description of the drawings]

FIG. 1 is a block diagram of a welding robot teaching device.

FIG. 2 is a perspective view of an information processing apparatus.

FIG. 3 is a block diagram of an information processing device and a robot control panel.

FIG. 4 is an explanatory diagram showing states of a work screen and a data screen.

FIG. 5 is an explanatory diagram showing states of a work screen and a data screen.

FIG. 6 is a flowchart of a data processing program.

FIG. 7 is a perspective view around a welding robot.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Information processing apparatus 2 Processing apparatus main body 3 CRT 4 Keyboard 5 Mouse 7 Printer 8 Operating system 9 Application 16 Robot control panel 18 Data storage unit 19 Control calculation unit 20 Motor drive unit 21 Position detection unit 22 Welding robot 23 Work 23a Weld line 24 Work screen 25 Data screen 34 Mouse pointer 39 Name display field 41 Contents display field 51 Welding line data editing module 52 Robot operation determination module

Claims (6)

[Claims] A welding line registration unit for registering a welding line as a work object; a welding line selecting unit for selecting one welding line from the registered welding lines; Auxiliary condition setting means for setting auxiliary condition data necessary for calculating operation data of the robot so as to be changeable; and operation data generating means for generating operation data of the welding robot based on the auxiliary condition data and the like. A welding robot teaching device, comprising: 2. A welding line name setting means for setting name data to a welding line, and welding line list displaying means for displaying a list of registered welding line name data. The teaching device for a welding robot according to the above. 3. The welding robot teaching device according to claim 1, further comprising a selected welding line position display means for immediately displaying position information of the welding line when the welding line is selected. 4. The welding robot teaching device according to claim 1, further comprising welding line group designation means. 5. The welding robot teaching device according to claim 2, wherein the welding line list display means displays a list in a welding order. 6. The welding robot teaching device according to claim 5, further comprising welding schedule changing means for changing a welding line displayed in a list in a welding order in a desired order.