JPS63203283A - Controller for welding robot - Google Patents

Abstract

PURPOSE:To set a welding parameter with high accuracy by outputting the welding parameter and a welding command to a timer contactor and a sequencer respectively by a controller to control the operating procedure of the timer contactor for the sequencer. CONSTITUTION:A working end 2 of a welding robot 1 is moved by a driving means 6 so that a welding gun 4 comes to the welding position. At this time, the controller 7 outputs the welding parameter to the timer contactor 9 via a line 11. Moreover, the welding command is brought out from the controller 7 to the sequencer 8 via a line 10. The sequencer 8 gives the concrete operating procedure of the welding to the timer contactor 9 in order of the time. The timer contactor 9 controls the time, an electric current, etc., for every operating procedure according to the welding parameter and actuates a pressurizing cylinder 3 and the welding gun 4. Accordingly, the time for setting the welding parameter, etc., is saved and the setting with the high accuracy is made possible.

Description

DETAILED DESCRIPTION OF THE INVENTION Technical Field The present invention relates to the control If! of a welding robot for performing a series of welding operations such as spot welding. ! Regarding.

BACKGROUND ART In a typical prior art, in order to perform a series of spot welding operations, a timer conductor controls an S welding gun and a sill that pressurizes the welding gun against the workpiece.
Welding parameters, such as welding time, welding current, preload time for the workpiece to be welded by the #e gun, pressurizing force, holding time, etc., are grouped into groups of about several mm and stored in advance in the timer conductor. The welding robot includes a working end on which a welding gun is provided and a means for moving this working end to a welding position, and a controller provided in the welding robot controls the several types of welding parameters mentioned above for each welding point. Instructs which of the sets to select for welding operation.

Problems to be Solved by the Invention In this prior art, it is necessary for the operator to select several sets of welding parameters in advance and store them in the controller of the welding robot.
Due to conditions such as material, it takes a lot of effort to set a set of welding parameters.

Further, with this prior art, it is impossible to finely and optimally set welding parameters, and therefore it is difficult to improve welding quality. Furthermore, in this prior art, it is necessary to preset a set of welding parameters as described above for each welding point, which requires even more effort.

An object of the present invention is to easily set welding parameters etc. with high precision, thereby improving welding quality and saving the work of setting welding parameters after each welding breath. An object of the present invention is to provide a control device for a welding robot as described above.

Means for Solving the Problems The present invention provides a welding gun for welding an object to be welded, a pressurizing means for pressurizing the welding gun against the object to be welded, and a timer conductor for controlling the operation of the welding gun and the pressurizing means. a working end that supports the welding gun and the pressurizing means or grips the object to be welded; a driving means that drives the working end; and a signal that controls the driving means and represents welding parameters and commands to be welded. and a sequencer that operates a timer conductor in response to the welding command, and the timer conductor causes the sequencer to perform welding according to the operating procedure according to the welding parameters from the controller. This is a control device for a welding robot.

In a preferred embodiment, the processing device outputs a signal representing the location of movement of the working end and - the order of movement of the working end, as well as signals representing conditions such as plate thickness, material, number of plates to be welded, etc. of the workpiece to be welded. The controller includes a process 11.
It is characterized by having a data processing capability with ffi and calculating welding parameters based on the conditions of the workpiece from the processing device.

In a preferred embodiment, the controller also includes a signal representing the location of movement of the working end and the order of movement of the working end;
Displays conditions such as plate thickness, material, number of plates to be welded, etc. of the workpiece, total W of the above conditions, and welding parameters that are the results.
It is characterized by comprising an input device.

Furthermore, in a preferred embodiment, the controller is characterized in that it includes a store area for temporarily storing data on the movement order of the working end and the welding result, and displays the data.

Operation According to the present invention, the controller outputs signals representing welding parameters and commands to weld.

The sequencer operates the timer conductor based on a signal from the controller representing a command to weld. As a result, the timer conductor receives signals such as pressure commands and welding commands from the sequencer, and receives signals representing specific welding parameters at each welding point from the controller. Pressure is applied to perform welding. The operating procedure of welding over time is controlled by applying a signal from the sequencer to the timer conductor, and the welding parameters for each operation are sent from the controller to the timer conductor as described above. In this way, welding parameters can be set with high accuracy in the controller, making it possible to make detailed settings and easily improving welding quality. However, the labor of the operator can be reduced by setting the welding parameters in such a controller through arithmetic processing or the like.

Example Figure I is a block diagram of one embodiment of the present invention.

A pressurizing sill 3 is attached to the working end 2 of the welding robot 1, and the welding gun 4 is pressed against the workpiece 5 to be pressurized by this pressurizing sill 3. In the welding robot 1, the working end 2 is moved to a desired position by a driving means 6 realized by an electric morph or the like! I! lI
be done. Arithmetic processor F! The functional controller 7 is realized by a microcomputer or the like, and the driving means 6
It also sends and receives signals to and from the sequencer 8 and timer conductor 9 via lines 10 and 11.

The timer conductor 9 controls and applies electric power from the power source 12 to the welding gun 4 to perform welding.

A display/input means 13 is connected to the controller 7,
Welding conditions of the controller 7, welding parameters as calculation results, welding conditions, past welding results, etc. are visually displayed, and input operations to the controller 7 are performed by the operator.

Such display/input means 13 can be realized by a combination of a cathode ray tube and a transparent key switch provided on the display surface of the cathode ray tube. A processing device i14, which is a host computer, is connected to the controller 7.

The controller 77 stores teaching data.
1i area, and this store area includes (a) the output of counters that warn of step 7 tube conditions, cable ms check, internal leak check, and cable replacement, and (b) the type of welding gun 4 to be used. and the data of the welding gun 4, (C) the workpiece 5 in each welding cycle 1
(d) Welding parameters at each welding point, (e) Past welding results at each welding point, etc. are stored. Welding parameters include welding time, welding current, preload time, pressing force, holding time, etc.

Welding results include load power factor, secondary current, firing angle, margin factor, conduction angle, etc. By operating the display/input means 13, the contents of the store area can be displayed, and the store contents can be set and modified.

By such a controller 7, (a) welding gun 4
Based on the type of the welding gun 4, various information of the welding gun 4 is read out based on the gun table stored in advance, and (1,
) From the given data such as the shape and material of the workpiece,
Automatically calculate and set optimal welding parameters for a given welding point or even a set of welding points.
e) During welding operation, each welding point transfers the set welding parameters to the timer conductor 9 via the line 11, and also transfers the welding result status to the timer conductor 9.
Wi functions such as (a) storing the information in the 711 area, and (d) displaying an alarm signal on the display/input means 13 when an abnormality occurs, are received from achieved.

During the welding operation, the working end 2 of the welding robot 1 is moved by the drive means 6 so that the welding gun 4 is in the position to be welded. At this time, the controller gives the **parameter to the timer conductor 9 via the line 11, and also derives a welding command from the controller 7 to the sequencer 8 via the 2-in-10. Sequencer 8
Now, the specific operation procedure for welding is given to the timer conductor 9 in time sequence. The specific operation procedure for this welding is, for example, a command to preload and pressurize the welding gun 4 to the workpiece 5 to be welded, and operations such as welding in the pressurized state. The timer conductor 9 is connected to the controller 7
The pressurizing shilling 3 and welding gun 4 are operated by controlling the time, current, etc. for each operation procedure according to the welding parameters given by. When the welding at each welding point is completed, the sequencer 8 gives a signal to the controller through the 2-in-10 indicating that the welding has been completed, and this is displayed on the display/input means 13. The controller 7 then drives the working end 2 by means of the drive means 6 in order to carry out the welding operation at the next welding point.

Such operations are repeated.

A processing device 14 connected to the controller 7 sends a signal representing the moving position of the working end 2, that is, the position of each weld, α, and the moving order of the working end 2, as well as the conditions of the workpiece 5, that is, the plate thickness. , a signal representing the material, the number of objects 5 to be welded, etc. is derived. controller 7
calculates welding parameters based on such conditions of the workpiece 5 from the processing device 14. The conditions of the workpiece 5 given to the controller 7 from the processing device W114 are displayed on the display/input means 13, and calculation instructions and corrections thereof can be achieved on the display/input means 13.

As another embodiment of the present invention, the processing device ji14 may not be provided, and in this case, the conditions of the workpiece to be welded, the moving location of the work Q2, and the work The operator may input the moving order of end 2, and the above-mentioned process @@1
This ends with configuring the device to achieve the functions of No. 4.

In yet another embodiment of the invention, the pressurizing sill 3 is provided in a fixed position, so that the workpiece 5 can be gripped by the working end 2 and welding can be carried out at a desired welding point on the working end 2. Alternatively, the working end 2 and therefore the workpiece 5 may be moved by the driving means 6. Instead of the pressurizing sill 3, the welding gun 4 may be pressurized by another structure.

Effects As described above, according to the present invention, the controller 7 outputs welding parameters and a welding command, gives a welding puff make to the timer conductor 9, and gives a welding command to the sequencer 8. 81
Since the operating procedure of the timer conductor 9 is controlled in this way, it is possible to significantly reduce the labor required for setting welding parameters, etc. by the operator, and it is also possible to set welding parameters with high precision. Welding quality can be improved by feeding back data on welding results.

[Brief explanation of the drawing]

The drawing is a block diagram of one embodiment of the present invention. DESCRIPTION OF SYMBOLS 1... Welding robot, 2... Working end, 3... Pressurizing sill, 4... Welding gun, 5... Welded object, 6
. . . Drive means, 7. Controller, 8. Sequencer, 9. Timer conductor, 13. Display/input means, 14. Processing device.

Claims (4)

[Claims] (1) A welding gun for welding an object to be welded, a pressurizing means for pressurizing the welding gun to the object to be welded, a timer conductor for controlling the operation of the welding gun and the pressurizing means, and a welding gun and the pressurizing means. a working end for supporting the workpiece or grasping the workpiece to be welded; a driving means for driving the working end; a controller for controlling the driving means and outputting a signal representing welding parameters and commands to be welded; A control device for a welding robot, comprising: a sequencer that operates a timer conductor in response to a command, the timer conductor causing welding to be performed according to an operation procedure by the sequencer in accordance with welding parameters from the controller. (2) A processing device that outputs a signal representing the location of movement of the working end and the order of movement of the working end, as well as a signal representing conditions such as the plate thickness, material, and number of plates to be welded of the workpiece, The welding robot according to claim 1, wherein the controller has a data input/output function with a processing device and calculates welding parameters based on the conditions of the workpiece from the processing device. Control device. (3) The controller receives signals representing the movement location of the working end and the movement order of the working end, conditions such as the thickness and material of the workpiece, the number of plates to be welded, and the calculation results of the above conditions. The control device for a welding robot according to claim 1, further comprising a device for displaying and inputting certain welding parameters. (4) Control of the welding robot according to claim 3, wherein the controller includes a storage area for temporarily storing data on the movement order of the working end and the welding result, and displays the data. Device.