JPS63264272A - System for controlling torch cleaning - Google Patents

Abstract

PURPOSE:To eliminate the need for a host program by comparing an integrated calculated value of an arc generating time with the set time when a torch is expected to be clogged to select a cleaning action program when the calculated time exceeds the set time. CONSTITUTION:A CPU 13 executes a control program and a timer 14 accumulates the arc generating time and the control program is stored in a ROM 15. A welding work program, the torch cleaning action program and the maintenance data which are taught in advance are stored in a babble memory 16 and a RAM 17 is used as a register of an execution program and various data and a counter. The expected time when the torch is to be clogged is inputted to a keyboard 18 and the input data and the inside data are displayed on a CRT 19 and a servo controller 20 controls a robot main body 1 made with the CPU 13. A welding machine control part 21 controls a welding machine 22 and a contact point input-output signal interface 23 handles input-output signals of a peripheral controller 24.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an automatic arc welding device equipped with a torch cleaning function, and particularly to a torch cleaning control system suitable for a welding robot.

[Conventional technology]

Arc welding torches may become contaminated during welding operations, and for this reason they are sometimes subjected to cleaning operations, so-called head cleaning.

Therefore, in conventional automatic arc welding equipment, for example, welding robots, a teach program for general welding and a teach program for torch cleaning are created, each is given a different name or number, and Store in. Then, the number of times the welding work program is executed is set in advance, and a work sequence is created in the upper level program in which the torch cleaning operation program is executed every time the welding work program is executed this number of times, and the process returns to the original welding work program.

[Problem that the invention seeks to solve]

In the conventional method described above, the arc generation time when the welding work program is executed is measured in advance, and the time when the torch is expected to become clogged is calculated backwards to execute a dangerous welding work program that requires the entire torch cleaning operation to be performed. I needed to calculate the number of times.

Furthermore, it was necessary to create a ninth high-level program for each workpiece to execute these operation sequences.

Therefore, every time the workpiece to be worked on changes, 1
It was necessary to measure and measure the arc output time for each work cycle, and to create or change the above program, and there was no consideration given to ease of use, and there were some cases where a higher-level user program was essential. .

The purpose of the present invention is to eliminate the need for a higher-level user program,
To provide a torch cleaning control system that automatically performs one torch cleaning operation at the required time by simply creating a welding work program even if the workpiece changes.

[Ninth way to solve the problem]

The above purpose is to set the selection switch from the welding work program to the torch cleaning operation program based on the cumulative measurement value of the execution time of the arc generation part of the welding work program and the time when the torch will become clogged. This is achieved by configuring the torch cleaning operation program to be selected when the measured value exceeds the set value by comparing the measured value with a certain time.

[For production]

The torch cleaning operation is executed according to the cumulative arc generation time of the welding operation, so there is no need for a host program that switches operations or work programs and counts the number of operations, and the torch cleaning operation is performed even if the contents of the welding operation program change. , torch cleaning can be performed automatically at appropriate times.

〔Example〕

Hereinafter, five torch cleaning control methods according to the present invention will be explained in detail with reference to one embodiment shown in the drawings.

In addition, in the example described below, when using a teaching-playback type robot and repeating the same welding operation by sequentially replacing the same type of workpiece, The monitoring timer is cleared to zero, and the timer operates only while an arc is occurring during execution of the program, and counts the cumulative arc occurrence time.

(2) When the program completes one cycle of execution, compare the cumulative time of the timer with the time preset in the register.

■ If the timer value is smaller than the register value, the welding work program is executed again from the beginning.

■ If it is larger, execute the torch cleaning operation program, and after completing the execution, clear the timer to zero, and execute the welding operation program again.

First, FIG. 2 shows a welding robot system to which an embodiment of the present invention is applied.
In this FIG. 2, the robot main body 1 and the positioner
3 are fixed on a common base B, and the positioner 3 has a swivel base 4 that can rotate and position 180 degrees around the swivel axis 2, and on the swivel base 4 there are two sets of work platforms 5,
5' are provided facing each other around the pivot shaft 2. Workpieces 6.6' having the same shape are set on each workbench 5.5'. Then, a torch 7 held at the wrist of the robot body 10 performs welding work on the workpiece 6, and a torch cleaning device 8 removes any jams in the torch 7. These operations are controlled by the control device shown in Figure 3. It is now controlled comprehensively by Note that 9 is a shielding plate designed to prevent interference between the workpieces 6 and 6' during work.

In Figure 3, the robot control system! 12 includes a CPU 13.12 that executes a control program. Timer 14 for accumulating arc occurrence time. ROM that stores the control program
15. Bubble memory 16° in which pre-taught welding work programs, torch cleaning operation programs and saved data are stored; AM17.
A keyboard 18° for inputting the expected time for the torch to be fired; a keyboard 18° for displaying input data and internal data; It consists of a welding machine control section 21 that controls the welding machine, and a contact input/output signal interface n that handles each input/output item of the peripheral control device.

FIG. 4 shows data to be stored in the bubble memory 16, that is, a program c taught in advance for welding the workpiece 6.
Hereinafter, this program will be referred to as the welding work program), and the next program taught in advance to perform the cleaning operation of the torch 7 (hereinafter, this program will be referred to as the torch cleaning operation program). , the welding work program is assigned a program number 1, and the torch cleaning operation program is assigned a program number 2, and the contents of each data are divided into 10° and 1
Represented by 1. The data is sent to Step Yamo, position data,
Contains speed data and arc output ON/OFF data. Regarding the speed and arc output, these are the conditions for moving to the next step after step A, and the trajectory will be toward the next step position.

Next, the operation of this embodiment will be explained using a flowchart.

First, Figures 5 and 6 show the processing flow related to operations input by the operator, which must be input before operating the robot. This is a process flow in which the expected time that will occur, that is, the time interval at which torch cleaning must be performed, is stored in advance in the bubble memory 16 of the control device 12. In process 5, the time is input from the keyboard 18, and in process 2
6, the data is saved in the bubble memory 16 via the CPU 13.

FIG. 6 is an input processing flow for storing the number of executions of the static work program when the robot operates in the bubble memory 16. In the process n, the number of times is input from the keyboard 18, and at the processing end, the number of times the static work program is executed is stored in the bubble memory 16. Bubble memory 1
6.

Next, FIG. 1 shows an example of a processing flow that is mainly executed by the robot control unit [12] when the robot starts operating in order to perform welding work. Then, as shown in FIG. 1(a), processes 4 and I are performed first.

31 initialization is performed. In process 4, the cumulative arc occurrence time 1c at the time of completion of the operation immediately before the current operation is
It is called from the address to of the bubble memory 16 and initialized in the timer 14. In process I, the number of executions nw of the welding work program inputted in FIG.
Temporarily place data n in M17. In process 31, a counter that counts the number of executions is cleared.

In processes 32 to 34, the welding work program is called from the bubble memory 16, placed in the memory 17), and the first step of the program is set.

In this example, as shown in FIG. 4, a program number 2 is assigned to the welding work program.

Processing Begins processing of okara driving operation.

In the processing step, all data of the corresponding step is called, and in the processing step 36, the arc output part of the data is set to ON or OFF.
If it is ON, the next step position pn+
Since the arc is generated until time t, the timer 14 in step 37 is activated to start counting up, and the process moves to FIG. 1(b), where the operation in step 39 is executed during the process.

On the other hand, if the arc output data is OF''F in process 36, processes 39 and 39 are executed while the timer 14 is stopped.

When the next step position Pn+1 is reached, processes 40 and 41 are executed, the count-up of the timer 14 is stopped, and the four-gram execution step is updated by one.
If the step is not the final step, the process returns to process 2 and continues the driving operation.

On the other hand, if it occurs rarely in the final step, it means that one cycle of welding work has been completed, and a determination is made in process 43. That is, the arc output cumulative time 1c, which is the contents of the timer 14, and the torch cleaning interval 1. If tC≧t, it means that the estimated time for clogging of the torch and the cumulative time for sound arc generation are exceeded, so execute the torch cleaning operation program in Process 45. . When the execution is completed, the timer 14 is cleared to zero in step 46, and the process moves to step 47 in FIG. 1(C).

However, 1c<1. If so, processes 44 to 46 are skipped and the process moves to process 47 and subsequent steps to determine whether or not to repeat the welding work program without performing the torch cleaning operation.

In process 47, the welding work program execution number counter t
-1 update, and it is determined in process 48 whether or not the number of executions nc is at risk of reaching a predetermined number of times n$.

If the number of times nc has not reached ns, a signal to start the positioner 3 to process the next workpiece is output via the contact input/output signal interface, which is received by the peripheral control device, and the positioner 3 The swivel table 4t is rotated to position the next work 6'. The processing blade waits for the positioning completion signal, and upon reception of the photon signal, processing 3
Return to step 2 and repeat the welding work program.

On the other hand, when the number of times nc has reached ns, the operation is stopped and intermediate data of the cumulative arc occurrence time, that is, the contents of the timer 14, is saved at address t0 in the bubble memory 16. This is for processing 4 when the computer is started up next time, and is the 9th step to enable continuous time counting the next time the computer is started up.

According to this embodiment, in the welding work by the robot,
There is an effect that the torch cleaning operation can be performed reliably without being affected by the number of repetitions of one cycle of welding work and the number of processing workpieces.

〔Effect of the invention〕

According to the present invention, there is no need for a higher-level program that is difficult for the user to understand and requires a lot of time to create.Finally, even if the type of workpiece to be worked changes, the next welding work can be performed accordingly. This has the effect that preparation for one task is simple and easy, as only the program needs to be changed.

[Brief explanation of drawings]

FIGS. 1(a), (b), and (C) are flowcharts explaining the operation of one embodiment of the torch cleaning control method according to the present invention, and FIG. 2 is a welding robot system to which one embodiment of the present invention is applied. 3 is a block diagram showing one embodiment of the control device, FIG. 4 is an explanatory diagram showing one embodiment of control data, and FIGS. 5 and 6 are diagrams showing time input and execution number input. It is a flowchart explaining each process. 1...Robot body, 2...Positioner rotation axis, 3...Positioner 14...
...Swivel base, 5...Workbench, 6...Workpiece, 7...Torch, 8...Torch cleaning device, 9...・Shielding plate, 10...
. . . Welding work program, 11 . . . Torch cleaning operation program, 12 . . . Robot control device. Figure 1 (c) 47~50--Ichisho Kuri Step 0 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6

Claims (1)

[Scope of Claims] 1. An automatic welding device equipped with a playback control function of a welding torch movement path and selectively performing an arc welding operation and a welding torch cleaning operation,
A timekeeping means for accumulating the welding operation time by the welding torch and a time registration means capable of arbitrarily setting a predetermined time are provided, and the accumulated value by the timekeeping means reaches the time set in the time registration means or more. A torch cleaning control system characterized in that the welding torch cleaning operation is performed when the welding torch is cleaned. 2. The torch cleaning control method according to claim 1, wherein the automatic welding device is comprised of a teaching/playback type welding robot.