JPWO2019171706A1 - Welding equipment and its control method - Google Patents

Abstract

Provided is a welding apparatus capable of realizing an input operation to the welding apparatus by a simple method and easily setting a weaving direction even when the workpiece is arranged at an inclination. The welding device includes a welding torch, a drive unit that drives the welding robot, a control unit that controls the position and operation of the drive unit, an approach point (A) of the welding torch, a welding start point (B), and a welding end point. A teaching data input unit for inputting data relating to (C) is provided, and the control unit is provided with a first vector from the welding start point (B) to the approach point (A) and from the welding start point (B). The weaving coordinate system is defined by finding the second vector leading to the welding end point (C) and the first vector and the third vector orthogonal to the second vector, and at the welding start point (B). The drive unit is controlled so as to move the arranged torch along the direction of the second vector while weaving along the direction of the third vector.

Description

(Cross-reference of related applications)
The present application claims priority based on Japanese patent application 2018-042134 filed on March 8, 2018, and all the contents disclosed therein are integrated into the present application for reference. To do.

(Technical field)
The present invention relates to a welding device and a control method thereof, and relates to a welding device and a control method thereof that reduce the burden on the operator regarding the weaving operation of the welding robot of the welding device.

So far, several industrial robot weaving devices have been proposed. For example, in Patent Document 1, when the three-dimensional shape of the work is complicated and the weaving direction changes frequently, even if the welding progress direction changes or the tool direction changes, the appropriate weaving direction is automatically set. A weaving device that can be calculated and weaved is disclosed.

More specifically, the weaving device of Patent Document 1 includes a weaving coordinate system calculating means, a traveling direction vector calculating means for calculating a traveling direction vector of a welding line, and a traveling direction vector of a welding line when the traveling direction vector changes. , The outer product vector calculation means for calculating the outer product vector, and when the traveling direction vector of the welding line changes, a new weaving coordinate system is created by rotating the weaving coordinate system before and after the change by the angle of the locus change amount around the outer product vector. It has a coordinate determining means for defining and a weaving means for performing weaving according to a calculated or determined weaving coordinate system.

That is, the weaving device of Patent Document 1 defines a new weaving coordinate system every time the traveling direction vector of the welding line changes, and weaves based on the new weaving coordinate system. In other words, the weaving device of Patent Document 1 must define an individual weaving coordinate system when weaving and welding workpieces having different traveling direction vectors of welding lines.

Patent Document 1 describes, for example, a method of teaching a plurality of amplitude points to a weaving device and creating a weaving coordinate system between a welding line and each amplitude point when defining a weaving coordinate system (amplitude). Point teaching type), while the degree of freedom in swing direction and weaving shape is high, the operator must teach multiple amplitude points, which complicates the input operation (teaching, teaching) to the weaving device and reduces work efficiency. ..

On the other hand, instead of inputting the amplitude point to the weaving device, a method of defining the weaving operation by setting a parameter determined based on the welding start point has also been proposed (parameter specification type). However, according to this method, although the input operation (teaching, teaching) to the weaving device is simplified, the amplitude point is not directly taught, so that the work is particularly inclined with respect to the horizontal plane. If so, it is not easy to set or adjust the weaving direction (tilt adjustment).

Japanese Unexamined Patent Publication No. 64-007107

Therefore, in the embodiment of the present invention, the input operation (teaching, teaching) to the welding apparatus is realized by a simple method, and the weaving direction is easily set even when the work is arranged at an inclination. It is an object of the present invention to provide a welding apparatus capable of the present invention and a method for controlling the welding apparatus.

A first aspect of the present invention relates to a welding device, in which the welding device controls a welding torch, a drive unit for driving a welding robot to which the welding torch is attached, and a position and operation of the drive unit. The control unit includes a unit, an approach point (A) of the welding torch, and a teaching data input unit for inputting data regarding a welding start point (B) and a welding end point (C). A first vector from the start point (B) to the approach point (A), a second vector from the welding start point (B) to the welding end point (C), the first vector, and the above. A third vector orthogonal to the second vector is obtained to define a weaving coordinate system, and the welding torch arranged at the welding start point (B) is placed along the direction of the third vector. The drive unit is controlled so as to move along the direction of the second vector while weaving.

A second aspect according to the present invention relates to a method for controlling a welding apparatus, in which the control method includes a step of setting an approach point (A) of a welding torch, a welding start point (B), and a welding end point (C). , A first vector from the welding start point (B) to the approach point (A), a second vector from the welding start point (B) to the welding end point (C), and the first vector. The step of defining the weaving coordinate system by obtaining the vector and the third vector orthogonal to the second vector, and the welding torch arranged at the welding start point (B) are obtained from the third vector. It includes a step of moving along the direction of the second vector while weaving along the direction.

The amplitude, pitch, and height of the weaving may be input by the user using the teaching data input unit.

The input operation (teaching, teaching) to the welding apparatus can be realized by a simple method, and the weaving direction can be easily set even when the workpiece is arranged at an inclination.

It is a block diagram which shows the schematic structure of the welding apparatus which concerns on embodiment of this invention. Horizontal fillet welding (fillet welding) in which welding is performed along the welding line while weaving around the welding line (X-axis) where the first plate (standing plate) and the second plate (lower plate) are butted. It is a schematic perspective view which shows the control method of. It is a side view at the time of cutting in the vertical cross section of FIG. It is a flowchart which shows the welding control method which concerns on embodiment of this invention. It is a side view similar to FIG. 3 when the second plate is inclined by the inclination angle θ with respect to the horizontal direction. It is a schematic perspective view which shows the groove welding along the welding line using the welding control method which concerns on this Embodiment.

An embodiment of the welding apparatus according to the present invention will be described below with reference to the accompanying drawings. In the description of the embodiments, directional terms (eg, "X, Y, Z", etc.) are used as appropriate for ease of understanding, but these terms are for illustration purposes only. Does not limit.

FIG. 1 is a block diagram showing a schematic configuration of a welding apparatus 1 according to an embodiment of the present invention. The welding device 1 includes a welding torch 10, a welding robot drive unit 12 that drives a welding robot to which the welding torch 10 is attached, a control unit 20 that servo-controls the position and operation of the welding robot drive unit 12, and a user welding. A teaching data input unit (also referred to as a teaching data interface) 22 that sets the weaving coordinate system of the torch 10 and a welding power supply 24 that is connected to the control unit 20 and supplies power to the welding torch 10 to generate a discharge arc. To be equipped.

FIG. 2 shows a horizontal corner where welding is performed along the welding line while weaving around the welding line (X-axis) in which the first plate (standing plate) 32 and the second plate (lower plate) 34 are butted against each other. It is a schematic perspective view which shows the control method of fillet welding (also called fillet welding). Further, FIG. 3 is a cross-sectional view of FIG. 2 when cut in a cross section perpendicular to the X direction. Further, FIG. 4 is a flowchart showing a welding control method according to the embodiment of the present invention.

In step ST01 of the flowchart of FIG. 4, as shown in FIG. 3, the position where the welding torch 10 is arranged close to the workpiece 30 by using the teaching data input unit 22, that is, the approach point (A) is set by the user. Set. The setting or teaching of the approach point (A) is performed by any welding apparatus other than the present invention, and is not particularly limited to the present invention. Further, using the teaching data input unit 22, the welding start point (B) at which welding is started by arc discharge and the welding end point (C) at which welding is finished are set or input by the user.

In step ST02, the control unit 20 has a first vector from the welding start point (B) to the approach point (A) (hereinafter referred to as “BA vector” for convenience) and a welding end point from the welding start point (B). A second vector leading to (C) (hereinafter referred to as "BC vector" for convenience) is defined. That is, the control unit 20 according to the present embodiment defines the Z-axis in the direction along the BA vector and the X-axis in the direction along the BC vector.

Next, in step ST03, the control unit 20 obtains a third vector (hereinafter referred to as “W vector” for convenience) in the direction orthogonal to the BA vector and the BC vector, and defines the Y axis in the direction along the third vector. To do. The W vector is obtained by the outer product of the BA vector (Z-axis direction) and the BC vector (X-axis direction) (W vector = BA vector × BC vector). In this way, the control unit 20 defines the XYZ weaving Cartesian coordinate system regardless of the arrangement relationship between the first plate 32 and the second plate 34.

In the XYZ weaving Cartesian coordinate system of the present embodiment, the W vector (Y-axis direction) defines the weaving deflection direction. In step ST04, using the teaching data input unit 22, parameters such as the weaving swing width (amplitude) D and the weaving cycle distance, that is, the peak distance (pitch) P are set by the user or as shown in FIG. Entered.

In step ST05, when welding the workpiece, the control unit 20 causes the welding torch 10 to weave in a direction parallel to the W vector (Y-axis direction) with an amplitude D, and pitch P along the BC vector (X direction). Welding is performed by moving with.

In step ST04, in addition to the weaving amplitude D and pitch P, although not shown in detail, the user uses the teaching data input unit 22 to perform the first plate 32 and the second plate 34 from the welding start point (B). The height in the Z-axis direction up to the welding line (X-axis) in which the above-mentioned is butted may be set. Further, the welding torch 10 of FIG. 2 is illustrated so as to weave a serrated locus on an XY plane, but the present invention is not limited to this, and the U-shaped, sinusoidal, or spiral locus is not limited thereto. The user may set using the teaching data input unit 22 in step ST04 so as to weave above.

Further, in the above description, the welding torch 10 is weaved in a direction parallel to the W vector (Y-axis direction) (FIG. 3), but an arc or a parabola that is convex toward the welding line in the YZ plane. In step ST04, the user may set using the teaching data input unit 22 so as to weave on a trajectory such as.

The advantages of the welding control method according to the present embodiment will be described below with reference to FIG. The first plate 32 and the second plate 34 to be welded are not necessarily arranged in the vertical direction and the horizontal direction. For example, as shown in FIG. 5, the second plate 34 is arranged in the horizontal direction. It may be tilted by the tilt angle θ. In such a case, in the conventional welding control method, it is necessary to calculate or set the inclination angle θ as a parameter. When one member to be machined includes many portions having different inclination angles θ, it is necessary to set a large number of reference points in order to obtain the inclination angle θ, which increases the burden on the operator's setting input (teaching).

However, according to the welding control method according to the present embodiment, as described above, the first plate can be obtained by simply inputting the approach point (A), the welding start point (B), and the welding end point (C). The XYZ weaving Cartesian coordinate system is defined regardless of the arrangement relationship between the 32 and the second plate 34 (regardless of the inclination angle θ of the second plate 34 with respect to the horizontal direction), and the first plate 32 and the second plate 34 Since the plate 34 can be welded, the work load on the operator can be significantly reduced.

Although not shown, when the first plate 32 is tilted with respect to the second plate 34, the XYZ weaving Cartesian coordinate system is similarly defined to define the first plate 32 and the second plate 34. Since it is possible to weld, it is possible to save the trouble of inputting the setting of the operator.

FIG. 6 is a schematic perspective view showing groove welding (also referred to as groove welding) along a welding line using the welding control method according to the present embodiment. In step ST01, the approach point (A), the welding start point (B), and the welding end point (C) are set or input by the user using the teaching data input unit 22.

In step ST02, the control unit 20 obtains the BA vector and the BC vector, and defines the Z axis in the direction along the BA vector and the X axis in the direction along the BC vector.

In step ST03, the W vector orthogonal to the BA vector and the BC vector is obtained, and the Y axis is defined in the direction along the W vector. In this way, the control unit 20 defines the XYZ weaving Cartesian coordinate system regardless of the arrangement relationship of the workpiece.

In step ST04, parameters such as the weaving amplitude D and the pitch P are set by the user using the teaching data input unit 22.

In step ST05, when welding the workpiece, the control unit 20 causes the welding torch 10 to weave in a direction parallel to the W vector (Y-axis direction) with an amplitude D and a pitch P, and follows the BC vector (X direction). Welding is performed by moving the torch.

In FIG. 6, the welding torch 10 is shown to weave a serrated locus on the XY plane, but may be set to weave on a U-shaped, sinusoidal, or spiral locus. Good. Further, the welding torch 10 is weaved in a direction parallel to the W vector (Y-axis direction), but weaving is performed on a trajectory such as an arc or a parabola that is convex toward the welding line in the YZ plane. May be set to.

As described above, according to the welding control method according to the present embodiment, even when the member to be welded is inclined by the inclination angle θ with respect to the horizontal direction, the approach point (A), By simply inputting the welding start point (B) and welding end point (C), the XYZ weaving Cartesian coordinate system can be defined regardless of the arrangement of the members to be processed, so that the operator's workload is substantially reduced. Can be reduced to.

The present invention can be used for a welding device in which the weaving direction can be easily set and a control method thereof.

1 ... Welding device 10 ... Welding torch 12 ... Welding robot drive unit 20 ... Control unit 22 ... Teaching data input unit 24 ... Welding power supply 30 ... Work piece 32 ... First plate 34 ... Second plate

Claims (4)

Welding torch and
A drive unit that drives the welding robot to which the welding torch is attached,
A control unit that controls the position and operation of the drive unit,
A teaching data input unit for inputting data regarding an approach point (A) of the welding torch, a welding start point (B), and a welding end point (C) is provided.
The control unit includes a first vector from the welding start point (B) to the approach point (A), a second vector from the welding start point (B) to the welding end point (C), and the like. The weaving coordinate system is defined by obtaining the first vector and the third vector orthogonal to the second vector, and the welding torch arranged at the welding start point (B) is obtained from the third vector. A welding device that controls the drive unit so as to move along the direction of the second vector while weaving along the direction of the vector. The welding apparatus according to claim 1, wherein the weaving amplitude and pitch are input using the teaching data input unit. The process of setting the approach point (A) of the welding torch, the welding start point (B), and the welding end point (C), and
A first vector from the welding start point (B) to the approach point (A), a second vector from the welding start point (B) to the welding end point (C), and the first vector. And the step of defining the weaving coordinate system by obtaining a third vector orthogonal to the second vector, and
A welding apparatus including a step of moving the welding torch arranged at the welding start point (B) along the direction of the second vector while weaving along the direction of the third vector. Control method. The method for controlling a welding apparatus according to claim 3, further comprising a step of setting the amplitude and pitch of the weaving.

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