JPS63171270A - Welding robot controller - Google Patents

Abstract

PURPOSE:To simplify the judgement of a welding quality by providing an abnormal welding data table recording the contents of the cause and place for generating the abnormal welding data in time series. CONSTITUTION:A factor code, generation time, program number, point number, generation place, etc., are stored in the abnormal welding data table 6 provided on a robot controller. For instance a code 0 means the stoppage during welding, code 1 a wire deposition, code 2 an arc cut, code 3 a torch contact, code 4 cooling water cut, etc. These factor codes and the contents can be set optionally by performing an addition, elimination, change, etc., by the user. Not only the generation factor of an abnormal welding can be seen in time series but also the program number (work name), point number, etc., at the abnormality generation time can simply be seen as necessary and the judgement in the welding quality thus becomes easy.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to welding robots, and particularly to a welding robot control device suitable for preventing deterioration in welding quality due to automatic recovery processing when welding abnormalities occur.

[Conventional technology]

With conventional welding robots, the robot stops when a welding abnormality occurs such as wire welding or arc breakage, and the operator marks the relevant location on the workpiece and instructs the robot to continue the work. In addition, recently, there are welding robots that have been added with an automatic recovery processing function for welding abnormalities in order to improve the operation rate.When a welding abnormality occurs, the robot automatically performs recovery processing to prevent a decrease in the operation rate and to count the number of times welding abnormalities have occurred. ing.

[Problem that the invention seeks to solve]

The above-mentioned conventional technology focuses on preventing a decrease in the operating rate through automatic recovery processing for welding abnormalities, and does not give much consideration to preventing the welding quality from deteriorating due to automatic recovery processing when welding abnormalities occur.

SUMMARY OF THE INVENTION An object of the present invention is to provide a welding robot control device that is capable of chronologically compiling and storing the details of welding abnormalities that have occurred, thereby simplifying automatic/manual determination of welding quality in subsequent processes.

[Means for solving problems]

The above purpose is to control a welding robot that has a function to detect welding abnormalities such as wire welding and arc breakage, as well as to collect and record data on welding abnormalities during work. We prepare a welding abnormality data table that records the data occurrence factors and occurrence locations in chronological order, and each time a welding abnormality occurs, the desired data is captured and stored sequentially, and the contents are output on request. This is achieved by a welding robot control device designed to do this.

[Effect]

In the control device of the welding robot mentioned above, if a welding abnormality occurs during work, the robot stops and the welding machine sends the cause of the occurrence, such as wire welding or arc breakage. Desired contents such as the program (work) number, step number, occurrence position coordinates, and time of occurrence of the work being executed are stored in the above-mentioned welding abnormality data table in chronological order according to the size of the data table. By displaying the output accordingly, it can be used to judge welding quality in subsequent processes. In addition, 1
When welding abnormalities occur, the address pointer in the welding abnormality data table increases by one to indicate the next address, but if welding abnormalities occur frequently, there may be some kind of problem with the robot program or the workpiece. Therefore, if the size of the welding abnormality data table is limited to storing, for example, 100 pieces of data, and the address pointer increases from 0 to 99 one by one and becomes 0, it will be an appropriate size and practical. .

〔Example〕

An embodiment of the present invention will be described below with reference to FIGS. 1 to 5.

First, FIG. 2 is a system configuration diagram of a standard welding robot showing an embodiment of the welding robot control device according to the present invention. In FIG. 2, 1 is a robot control device, 2 is a teach pendant, 3 is a welding machine, 4 is an output device, 5 is a visual device, and 10 is a robot. A teach pendant 2, a robot 10, and a welding machine 3 are necessarily installed in the robot control device 1 shown in FIG. 2, but the output device 4 and the visual device 5 are configured to be connected as appropriate depending on the function. The eight devices 4 correspond to a TV monitor, a printer, or a host computer connected to a serial line.

In the configuration shown in Fig. 2, the robot 10 is guided to a predetermined position by the teach pendant 2 connected to the robot controller EI, and after a series of operation data is taught along with various conditions such as welding information, actual playback begins. When the actual welding operation by the welding machine 3 is started, welding abnormalities may occur due to several defective factors such as a defect in the teaching content or a defective workpiece. There are several factors that cause welding abnormalities during actual welding work, such as wire welding, arc breakage, and cooling water outage. Perform the necessary processing.

Conventionally, the robot 10 generally stops and notifies the operator of the occurrence of a welding abnormality and leaves it to the operator to resolve the problem, but with this method, the operator must intervene each time a welding abnormality occurs. This is quite troublesome from the point of view of automation, and for this reason, welding robots equipped with an automatic recovery function in the event of a welding abnormality have recently been adopted. A welding robot with this type of automatic return function automatically releases wire welding and automatically returns by trying arc breakage, etc., and can continue work without operator intervention, minimizing reductions in operating rate. However, because it automatically returns to normal, there are problems in terms of quality judgment, such as making it difficult to clearly identify welding abnormalities. Therefore, according to the present invention, the welding abnormality data table is stored in the robot controller 1.
A new setting is made in this field, and necessary contents are stored there each time a welding abnormality occurs.

FIG. 1 is a side view of the table configuration of the welding abnormality data table provided in the robot control bag W1 of FIG. 2. In FIG. 1, 6 is a welding abnormality data table.

FIG. 1 shows the contents stored for one welding abnormality in the welding abnormality data table 6, which includes the cause code, occurrence time, program (work) number, point (step) number, and occurrence position ( There are several types of factors for these welding abnormalities, such as coordinates), and the various factors are stored as codes in the welding abnormality data table 6 inside the robot control device 1. For example, code O is a stop during welding, code 1 is wire welding, code 2 is arc breakage, code 3 is torch contact, code 4 is cooling water out, and code 5 is gas pressure. code 6 is a broken wire, code 7 is something else, etc. Note that these factor codes and their contents are configured so that the user can add, delete, or change them as desired.

Figure 3 is the welding abnormality data table 6 of Figure 1 (Figure 2).
3 is a flowchart of storage processing. In Figure 3,
Process 100 processes the cause code, process 101 processes the occurrence time, process 102 stores the program (work) number, and process 103 stores the point (step).
Store the number.

The occurrence position (coordinates) is stored in process 104, and it is determined in process 105 whether the address pointer AP is the maximum (AP=99). If not, the address pointer AP is updated in process 106. If so, process 107
The address pointer AP is initialized (AP=O).

The information stored in the welding abnormality data table 6 in FIG. 2 (FIG. 3) can be selected depending on the system configuration of the welding robot and the scale of the welding abnormality data table 6. At the beginning of each storage process in the figure, a flag is determined to determine whether or not the storage process is to be performed, and these flags can be set freely by the system designer or the user. Furthermore, the larger the size of the welding abnormality data table 6, the better. A high frequency of welding abnormalities implies that there is a problem with the teaching content of the robot 10, the welding machine 3, or the workpiece. , it is preferable to set the appropriate size. In this embodiment, a chain-shaped data table 6 is formed by preparing 100 pieces of welding abnormality information and initializing only the address pointer when the address pointer AP reaches the maximum.
The structure is such that the latest 100 welding abnormalities can be stored at any time. Note that the size of this table 6 can also be arbitrarily set by the user as long as memory permits.

4 and 5 are explanatory views showing display examples in which the contents of the welding abnormality data table 6 of FIG. 1 are displayed in the output bag [4 of FIG. 2, respectively. Figure 4 shows the contents of welding abnormality data in chronological order for all data, and the displayed contents are the code number, its cause, time, program number (work name), point number, and coordinate values of x, y, and z. etc.

Note that if there is a designation that display is not required, the display content is omitted. Figure 5 is an example of welding abnormality data edited and displayed by cause of occurrence.The displayed contents are code numbers, program numbers (workpiece names), and points for each cause, such as wire welding, arc breakage, and torch contact. This may be a number, etc. As shown in the section of wire welding in the display example of FIG. 5, when an abnormality occurs at the same point on the same workpiece, the teaching data or the display data can be used to easily determine whether there is a problem with the workpiece or the like.

In addition, the welding abnormality occurrence position I! of the display contents in Fig. 4! (coordinate)X
, Y, Z, etc. are output bags! i! 4 shows the workpiece shape on the terminal via the communication line, and also displays the welding abnormality occurrence location I! (
It can also be used as information such as illustrating coordinates).

It is also obvious that if the robot control device 1 has a function of displaying the shape of the workpiece and the operating position of the robot 10, the position where the welding abnormality has occurred can be easily illustrated accordingly. Furthermore, this data on the welding abnormality occurrence position can be used in subsequent processes such as automatic judgment of welding quality using the visual device 5.
It can be effectively used as location information for that purpose.

〔Effect of the invention〕

According to the present invention, not only can the causes of welding abnormalities be seen in chronological order, but also the program number (work name) and point number at the time of abnormality can be easily seen, if necessary, making it possible to judge welding quality. In addition to being easy to use, since the welding abnormality position (coordinates) can be stored, it can be used to graphically display the location where the welding occurred and to automate quality judgment using a visual device, which is expected to have great effects.

FIG. 1 is an explanatory diagram of a welding abnormality data table showing an embodiment of a control device for a welding robot according to the present invention, FIG. 2 is a system configuration diagram of the welding robot, and FIG. 3 is a diagram similar to that shown in FIG.
The processing flowchart in FIG. 2), and FIGS. 4 and 5 are explanatory diagrams of display examples of FIG. 1 (FIG. 2), respectively.

DESCRIPTION OF SYMBOLS 1... Robot control device, 2... Teaching pendant, 3... Welding machine, 4... Output device, 5...
Visual device, 6... Welding abnormality data table, 10...
·robot.

Figure A Second, $3.00

Claims (1)

[Claims] 1. In a welding robot control device that controls a welding robot that has means for detecting welding abnormalities such as wire welding and arc breakage, and also has a means for aggregating and recording welding abnormality data during work, the above-mentioned welding abnormality data A control device for a welding robot, characterized in that a welding abnormality data table is provided to record contents such as causes and locations of occurrence in chronological order, and the recorded contents are outputted upon request.