WO1989001839A1 - Method of automatic restoration of arc-welding robot in response to failure of arcing - Google Patents
Method of automatic restoration of arc-welding robot in response to failure of arcing Download PDFInfo
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- WO1989001839A1 WO1989001839A1 PCT/JP1988/000795 JP8800795W WO8901839A1 WO 1989001839 A1 WO1989001839 A1 WO 1989001839A1 JP 8800795 W JP8800795 W JP 8800795W WO 8901839 A1 WO8901839 A1 WO 8901839A1
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- arc
- welding
- torch
- arcing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/10—Other electric circuits therefor; Protective circuits; Remote controls
Definitions
- the present invention relates to an arc welding port, and more particularly, to an automatic recovery method when arc does not occur during arc start.
- arc welding In arc welding, a welding current is passed between a work as a base material and a wire as a welding rod, and an arc is generated between the work and the wire to perform welding.
- arcing may not occur due to slag or filings on the steel plate.
- the conventional arc welding port if an arc is not generated even when a voltage is applied between the work and the wire for a predetermined time, an alarm is issued and the operation is stopped. I was Therefore, every time such an alarm occurs, the worker cleans the work and the tip of the wire, removes the slug and dust, and performs a manual recovery operation such as operating the welding robot again. I needed it. In this way, if the recovery of the welding work requires manpower, the work efficiency of the welding robot that attempted to automate the welding cannot be increased, and arc start mistakes are the second key to improving the automation efficiency. I was.
- an object of the present invention is to provide an automatic recovery method for an arc welding port that automatically restarts the arc-start after eliminating the cause of the arc-start mistake and improves automation efficiency.
- the automatic recovery method for an arc start mistake in an arc welding pot according to the present invention is characterized in that when it is determined that an arc has not been generated at the time of the arc start, an operation is performed on the mouth port.
- the torch of the welding machine connected to the torch is moved in a predetermined direction, and it is determined whether or not an arc is generated while the torch moves a predetermined distance. If it is determined that an arc has occurred, the torch is returned to the arc start position and welding is started.
- the torch is moved when the arc is not generated at the time of the arc start, so that slag, dust and the like are attached to the wire tip as the torch moves. Slugs and debris adhering to the work surface can be removed by moving to a work position that is not present, or by sliding the tip of the wire on the work surface. As a result, arc generation becomes easier, and the probability of arc generation increases. Only when the arc does not occur even when the fixed distance is moved, the alarm is issued for the first time and the welding operation is interrupted.Therefore, the interruption of the operation due to arc start mistake is small. The efficiency of automation can be improved.
- FIG. 1 is a flowchart of a control program for implementing an automatic recovery method according to an embodiment of the present invention
- FIG. 2 is an arc welding robot to which the automatic recovery method according to the embodiment is applied.
- FIG. 2 is a schematic block diagram showing a main part of the embodiment.
- a control device ⁇ ⁇ of a welding robot for controlling a mouth pot body 2 and a welding machine 3 has a central processing unit (hereinafter referred to as a CPU) 10.
- the CPU 10 has a memory 11 composed of a ROM, a memory 12 composed of a RAM, a teaching operation panel 13, and a manual data input device (hereinafter referred to as a CRT display).
- ⁇ ⁇ ⁇ 4 and tape reader 15 are connected by bus 20, respectively, and I / O circuit 16 and axis control circuit 17 and welding machine interface 19 are connected by bus. ing.
- the memory 10 stores various control programs to be executed by the CPU 10.
- the memory 12 contains the teaching data input from the teaching operation panel 13, CRT / DI 4, tape reader 15 etc., and various parameters input from the CRT ZM DI 14 And the like, and the result and data of the operation performed by the CPU 10 are stored.
- the input / output circuit 16 is connected to various sensor actuators (both not shown) provided in the robot body 2, and the axis control circuit ⁇ 7 is a remote controller that drives each axis of the robot. Control ⁇ ⁇
- the above configuration is the same as the configuration of the conventional arc welding rod.
- the operator sets the moving distance of the torch at the time of arc start mistake through the GRTZMDI14, stores it in the memory 12, and then activates the welding lopot.
- the CPU 10 outputs an arc start command to the welding machine 3 via the welding machine interface 19 and starts the timer (step S). 1).
- the welding machine 3 receives the arc start command, applies a voltage between the work and the wire (both not shown), tries to flow the welding current, and controls the arc generation signal when the welding current flows. Send to device 1.
- the CPU # 0 monitors whether or not the arc generation signal has been transmitted from the welding machine 3 via the welding machine interface # 9 until the above timer T has timed out. (Steps S 2 and S 3), if the arc generation signal is sent before the timer T times up, the teaching data stored in the memory 12, that is, the teaching program The welding operation is started according to.
- CPU 10 is a step If it is determined in S2 and S3 that the arc generation signal has not been transmitted before the time-up of the timer T, the axis control circuit 17 and the servo control are executed in accordance with the teaching program.
- the servo motor of each axis of the rod 2 is driven via the circuit 18 to move the torch 3a of the welding machine 3 in a predetermined direction (step S4).
- This torch movement may be performed along the welding line taught by the teaching program, or the torch at the time of arc start mixing specified separately by the program. (In the conventional welding robot, if the timer T is timed up in step S3, an alarm is issued immediately and the welding work is performed.) Was stopped).
- the tip position of the wire held by the torch with respect to the work moves to a position where slag or dust is not attached, or However, the wire slides on the work surface to remove slag and dust from the work surface, and in many cases, arcing occurs.
- the CPU 10 determines whether or not an arc generation signal has been sent from the welding machine 3 (step S5), and moves the torch. It is determined whether or not the motor has moved a predetermined distance (step S6), and an arc generation signal is sent from the welding machine 3 before the torch .3a has moved the predetermined distance.
- the torch 3a is returned to the arc start position (step S7), and the mouth port body 2 is driven according to the taught program to start the welding work (step S7). S7).
- the CPU 10 outputs an alarm signal and displays the alarm signal on the CRT screen of the CRT / MDI 4. Display an alarm and stop driving of the robot body 2 to stop the welding work.
- the torch does not move during arc welding, so in this case, one point of damage must be taught on the program, and within a predetermined time at the time of arc start. If arcing does not occur (see steps S2 and S3), move the torch to the point of the dummy, and if arcing occurs during this time, return to the spot point and perform welding. On the other hand, if the arc does not occur during the movement of the torch, an alarm is issued only when the torch reaches the dummy point, and the welding operation may be stopped.
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Abstract
An automatic restoration method is offered in which the cause of a failure of arcing is automatically removed to resume the starting operation so that an arc-welding robot system may be automated more efficiently. If no arcing occurs, the torch of a welding machine is moved by the robot body (S1 to S4). When an arc is formed before the torch moves by a predetermined distance, the torch is restored to the arc start position (S5 to S7) and the welding is started.
Description
明 細 書 Specification
アー ク溶接用 ロボ ッ 卜 におけるアー クスタ ー 卜 ミ ス時の自動復旧方法 Automatic recovery method in case of arc start mistake in robot for arc welding
技 術 分 野 Technical field
本発明は、 アー ク溶接用 口ポッ ト に関 し、 と く に 、 ァ ー クスタ ー 卜時に アー クが発生 しなかっ た ときの自動復 旧方法に関するものである。 The present invention relates to an arc welding port, and more particularly, to an automatic recovery method when arc does not occur during arc start.
背 景 技 術 Background technology
ア ー ク溶接は、 母材と してのワ ー ク と溶接棒 と しての ワ イ ヤ間に溶接電流を流 し 、 ワ ー ク と ワイ ヤ間に アー ク を発生させて溶接を行うものであるが、 溶接開始時、 ヮ — ク に付着 したスラグやづミ等に よ り アー ク が発生 しな い場合がある。 このような場合、 従来のアー ク溶接用 口 ポ ッ ト においては、 ワ ー ク と ワイ ヤ間に電圧を所定時間 印加 してもアー クを発生 しない とき 、 アラームを出 し作 業を停止 していた。 そのため、 このよ う なアラームが発 生する毎に作業員はワ ー クやワイ ヤ先端を清掃 し 、 スラ グゃゴミ を取り除き、 再び溶接ロボ ッ 卜 を作動させるよ うな人手に よる復旧作業を必要と していた。 このよう に 溶接作業の復旧に人手を要するようでは、 溶接の自動化 を図 っ た溶接ロポッ 卜の作業効率は上げられず、 アーク スタ ー 卜 ミスが自動化効率向上の Ί つのネ ッ ク にな っ て いた。 In arc welding, a welding current is passed between a work as a base material and a wire as a welding rod, and an arc is generated between the work and the wire to perform welding. However, at the start of welding, arcing may not occur due to slag or filings on the steel plate. In such a case, in the conventional arc welding port, if an arc is not generated even when a voltage is applied between the work and the wire for a predetermined time, an alarm is issued and the operation is stopped. I was Therefore, every time such an alarm occurs, the worker cleans the work and the tip of the wire, removes the slug and dust, and performs a manual recovery operation such as operating the welding robot again. I needed it. In this way, if the recovery of the welding work requires manpower, the work efficiency of the welding robot that attempted to automate the welding cannot be increased, and arc start mistakes are the second key to improving the automation efficiency. I was.
発 明 の 開 示 本発明の目的は、 ア ー クスタ ー 卜時に アー クが発生 し
ないとき、 アークスタ ー 卜 ミスの原因排除の処理を自動 的に行っ た後にアー クスタ ー 卜を再開させ、 自動化効率 を向上させる、 アーク溶接用口ポッ ト における自動復旧 方法を提供することにある。 DISCLOSURE OF THE INVENTION The purpose of the present invention is to When there is no arc-start mistake, an object of the present invention is to provide an automatic recovery method for an arc welding port that automatically restarts the arc-start after eliminating the cause of the arc-start mistake and improves automation efficiency.
上述の目的を達成するため、 本発明の、 アーク溶接用 ロポッ 卜 におけるアー クスタ ー 卜ミス時の自動復旧方法 は、 アークスタ ー 卜時にアークが発生 しなかっ たと判別 したとき、 口ポッ ト に作動的に連結された溶接機の 卜一 チを所定方向に移動させ、 該 ト ーチが所定距離移動する 間に アークが発生 したか否かを判別する。 この判別に よ り アークが発生 したと判別すると、 ト ーチをアーク スタ 一卜位置に復帰させて溶接を開始する。 In order to achieve the above object, the automatic recovery method for an arc start mistake in an arc welding pot according to the present invention is characterized in that when it is determined that an arc has not been generated at the time of the arc start, an operation is performed on the mouth port. The torch of the welding machine connected to the torch is moved in a predetermined direction, and it is determined whether or not an arc is generated while the torch moves a predetermined distance. If it is determined that an arc has occurred, the torch is returned to the arc start position and welding is started.
好ま し く は、 上記判別によ りアークが発生 しなかっ た と判別する と、 アラームを出 し、 また、 溶接作業を停止 する。 Preferably, if it is determined that no arc is generated by the above determination, an alarm is issued and the welding operation is stopped.
このよう に、 本発明は、 アークスタ ー 卜時にアークが 発生 しない とき、 卜 ーチを移動させるよ う に したから、 卜ーチの移動に伴っ てワイ ヤ先端がスラグゃゴミ等が付 着していないワーク位置に移動し、 あるいはワ ーク面上 を摺動するワイ ヤの先端により ワーク表面に付着したス ラグやゴミを排除可能となる。 この結果、 アー ク発生が 容易となり 、 アー ク発生の確率は高くなる。 そ して 、 所 定距離 卜 —チを移動させてもアークが発生しない場合に 限っ て、 始めてアラー ムを出し、 溶接作業を中断するよ う に したから、 アークスタ ー 卜 ミスによる作業中断は少
な く な り 、 自動化の効率を上げるこ とができる。 As described above, according to the present invention, the torch is moved when the arc is not generated at the time of the arc start, so that slag, dust and the like are attached to the wire tip as the torch moves. Slugs and debris adhering to the work surface can be removed by moving to a work position that is not present, or by sliding the tip of the wire on the work surface. As a result, arc generation becomes easier, and the probability of arc generation increases. Only when the arc does not occur even when the fixed distance is moved, the alarm is issued for the first time and the welding operation is interrupted.Therefore, the interruption of the operation due to arc start mistake is small. The efficiency of automation can be improved.
図 面 の 簡 単 な 説 明 Brief explanation of drawings
第 1 図は本発明の一実施例による自動復旧方法を実施 するための制御プログラムのフ ロ ーチヤ一 卜 、 第 2図は 同実施例に よる自動復旧方法が適用されるアー ク溶接用 ロボッ 卜の要部を示す概略プロ ッ ク図である。 FIG. 1 is a flowchart of a control program for implementing an automatic recovery method according to an embodiment of the present invention, and FIG. 2 is an arc welding robot to which the automatic recovery method according to the embodiment is applied. FIG. 2 is a schematic block diagram showing a main part of the embodiment.
発明を実施するための最良の形態 第 2図において 、 口ポッ ト本体 2および溶接機 3を制 御するための溶接ロボッ 卜 の制御装置 Ί は中央処理装置 ( 以下、 C P Uという 〉 1 0を有し 、 該 C P U 1 0に は R OMで構成されるメ モ リ 1 1 , R A Mで構成されるメ モ リ 1 2 , 教示操作盤 1 3 , C R T表示装置付手動デー タ 入力装置 （以下 、 C R T /M D I という ） Ί 4および テープリ ーダ 1 5がバス 20で夫々接続され、 さ ら に入 出力回路 1 6， 軸制御回路 1 7および溶接機イ ンタ — フ ェ イ ス 1 9がバス接続されている。 BEST MODE FOR CARRYING OUT THE INVENTION In FIG. 2, a control device 溶 接 of a welding robot for controlling a mouth pot body 2 and a welding machine 3 has a central processing unit (hereinafter referred to as a CPU) 10. The CPU 10 has a memory 11 composed of a ROM, a memory 12 composed of a RAM, a teaching operation panel 13, and a manual data input device (hereinafter referred to as a CRT display).と い う 4 and tape reader 15 are connected by bus 20, respectively, and I / O circuit 16 and axis control circuit 17 and welding machine interface 19 are connected by bus. ing.
メ モ リ 1 Ί には C P U 1 0が実行すべき各種制御プロ グラムが格納されている。 メ モ リ 1 2に は、 教示操作盤 1 3 , C R T/ D I 4 , テープ リ ーダ 1 5等から夫 々入力された教示デー タ及び C R T ZM D I 1 4から入 力された各種パラメ ー タ等のデータ が格納され、 ま た 、 C P U 1 0が行 っ た演算の結果やデー タが格納される。 入出力回路 1 6は ロボッ 卜本体 2に設け られた各種セン サゃァクチユ エイ タ （ 共に図示略） に接続され、 軸制御 回路 Ί 7は ロ ポ ッ 卜 の各軸を駆動するサ 一ポモ ー タ を制
ー ー The memory 10 stores various control programs to be executed by the CPU 10. The memory 12 contains the teaching data input from the teaching operation panel 13, CRT / DI 4, tape reader 15 etc., and various parameters input from the CRT ZM DI 14 And the like, and the result and data of the operation performed by the CPU 10 are stored. The input / output circuit 16 is connected to various sensor actuators (both not shown) provided in the robot body 2, and the axis control circuit Ί7 is a remote controller that drives each axis of the robot. Control ー ー
御するサ ーポ回路 Ί 8に接続されている。 また、 溶接機 イ ンターフ ェ イス Ί 9には溶接機 3が接続されている。 以上の構成は従来のアーク溶接用 ロポッ 卜の構成と同じ である。 It is connected to the control circuit # 8. Further, the welding machine 3 is connected to the welding machine interface # 9. The above configuration is the same as the configuration of the conventional arc welding rod.
以下、 第 1 図を参照して、 溶接口ポッ トのアークスタ ― 卜 ミス時の自動復旧動作を説明する。 Hereinafter, the automatic recovery operation in the event of an arc stuck mistake at the welding port will be described with reference to FIG.
まず、 オペ レータ は、 G R TZM D I 1 4を介 してァ ー クスタ ー 卜 ミス発生時の トーチ移動距離を設定 しメモ リ 1 2に記億させ、 次いで溶接ロポッ 卜を稼動させる。 口ポッ 卜稼動開始時に、 C P U 1 0は溶接機イ ンタ 一フ ェ イス 1 9を介 して溶接機 3にアークスター 卜指令を出 力する と共にタ イ マ Τをスタ ー 卜させる （ ステップ S 1)。 溶接機 3はアークスタ ー 卜指令を受けて、 ワ ーク とワイ ャ （共に図示略 ） 間に電圧を印加 し、 溶接電流を流そう と し、 溶接電流が流れれば、 アーク発生信号を制御装置 1 に送信する。 この間-、 C P U Ί 0は溶接機イ ンタ ー フ ェ イス Ί 9を介 して溶接機 3よ り アーク発生信号が送信 されてきたか否かを、 上記タ イマ Tがタ イ ムアッ プする まで監視し （ステツ S 2， S 3 ) 、 タイマ Tがタイム ア ッ プする前にアーク発生信号が送られて くれば、 メ モ リ 1 2内に格納されている教示データ 、 即ち、 教示プ口 グラムに従っ て溶接作業を開始させる。 First, the operator sets the moving distance of the torch at the time of arc start mistake through the GRTZMDI14, stores it in the memory 12, and then activates the welding lopot. At the start of the mouth pot operation, the CPU 10 outputs an arc start command to the welding machine 3 via the welding machine interface 19 and starts the timer (step S). 1). The welding machine 3 receives the arc start command, applies a voltage between the work and the wire (both not shown), tries to flow the welding current, and controls the arc generation signal when the welding current flows. Send to device 1. During this time, the CPU # 0 monitors whether or not the arc generation signal has been transmitted from the welding machine 3 via the welding machine interface # 9 until the above timer T has timed out. (Steps S 2 and S 3), if the arc generation signal is sent before the timer T times up, the teaching data stored in the memory 12, that is, the teaching program The welding operation is started according to.
しかし、 ワ ーク にスラグやゴミが付着 している等の理 由でワーク とワイヤ間が電気的に絶縁状態になっ ている 場合にはアークが発生 しない。 C P U 1 0は、 ステップ
S 2及び S 3 において タ イマ Tのタ イ ムア ッ プ時までに ア ー ク発生信号が送出されなか っ た と判断する と 、 教示 プログラムに従 っ て 、 軸制御回路 1 7 およびサ ーポ回路 1 8 を介 して ロポッ 卜 2 の各軸のサーポモータ を駆動 し 、 溶接機 3 の 卜 ーチ 3 a を所定方向に移動させる （ ステ ツ プ S 4 ) 。 この ト ーチ移動は教示プログラムに よ っ て教 示された溶接線に沿っ て行 っ ても良く 、 又は、 プロ グラ ムで別途指定 しておいた アー クスタ ー 卜 ミ ス時の 卜 ーチ 移動方向に行 っ てもよい （ なお 、 従来の溶接 ロボ ッ 卜 に おいては、 ステ ッ プ S 3 でタ イ マ Tがタ イ ムア ッ プする と 、 直ち にアラームを出 し溶接作業を停止させ て いた ） 。 However, no arc is generated when the work and the wire are electrically insulated due to slag or dust adhering to the work. CPU 10 is a step If it is determined in S2 and S3 that the arc generation signal has not been transmitted before the time-up of the timer T, the axis control circuit 17 and the servo control are executed in accordance with the teaching program. The servo motor of each axis of the rod 2 is driven via the circuit 18 to move the torch 3a of the welding machine 3 in a predetermined direction (step S4). This torch movement may be performed along the welding line taught by the teaching program, or the torch at the time of arc start mixing specified separately by the program. (In the conventional welding robot, if the timer T is timed up in step S3, an alarm is issued immediately and the welding work is performed.) Was stopped).
このよ う に 卜 一チ 3 a が移動する と、 ト ーチに よ り保 持されたワ イ ヤのワ ー ク に対する先端位置がスラグやゴ ミ が付着 していない位置に移動 し、 あるいは、 ワ イ ヤが ワ ー ク面上を摺動 して ワ ー ク面か らスラグやゴミ を排除 し 、 多く の場合、 ァ一 .クが発生するこ と となる。 そこで 、 ト ーチ 3 a が移動開始 した後、 C P U 1 0 は溶接機 3 よ り アー ク発生信号が送られてきたか否かを判断する と共 に （ ステッ プ S 5 ) 、 ト ーチ移動が設定された所定距離 だけ移動 したか否かを判断 し （ ステッ プ S 6 ) 、 卜 ーチ . 3 a が所定距離だけ移動する前にアー ク発生信号が溶接 機 3 よ り送られて く れば 卜 ーチ 3 a をアー クスタ ー 卜位 置に戻 し （ ステ ッ プ S 7 ) 、 教示されたプログラムに従 つ 口ポッ ト本体 2 を駆動 し 、 溶接作業を開始する （ ス テツ プ S 7 ) 。
一方、 ト ーチを所定距離移動させても、 アー ク発生信 号が溶接機 3 よ り送られてこなければ、 C P U 1 0 はァ ラーム信号を出力 し、 C R T / M D I 4 の C R T画面 上に アラーム表示を行う と共に ロポッ 卜本体 2 の駆動を 停止し、 溶接作業を停止させる。 When the torch 3a moves in this manner, the tip position of the wire held by the torch with respect to the work moves to a position where slag or dust is not attached, or However, the wire slides on the work surface to remove slag and dust from the work surface, and in many cases, arcing occurs. Then, after the torch 3a starts moving, the CPU 10 determines whether or not an arc generation signal has been sent from the welding machine 3 (step S5), and moves the torch. It is determined whether or not the motor has moved a predetermined distance (step S6), and an arc generation signal is sent from the welding machine 3 before the torch .3a has moved the predetermined distance. Then, the torch 3a is returned to the arc start position (step S7), and the mouth port body 2 is driven according to the taught program to start the welding work (step S7). S7). On the other hand, even if the torch is moved a predetermined distance, if the arc generation signal is not sent from the welding machine 3, the CPU 10 outputs an alarm signal and displays the alarm signal on the CRT screen of the CRT / MDI 4. Display an alarm and stop driving of the robot body 2 to stop the welding work.
なお、 アーク ♦ スポッ ト溶接においては、 アー ク溶接 中において、 卜ーチの移動がないので、 この場合はダミ 一の点をプログラム上に教示しておき、 アークスタ ー 卜 時の所定時間内にァーケが発生 しなければ （ ステ ッ プ S 2 , S 3参照） 、 該ダミ ーの点まで 卜 ーチを移動させ、 この間にア ークが発生すればスポッ 卜点に戻っ て溶接を 行う 。 一方、 卜ーチ移動中に アークが発生 しない場合に は、 ダミ ー点まで ト ーチが達した時に始めてアラー ムを 出 し、 溶接作業を停止させるよう にすればよい。
In addition, in arc spot welding, the torch does not move during arc welding, so in this case, one point of damage must be taught on the program, and within a predetermined time at the time of arc start. If arcing does not occur (see steps S2 and S3), move the torch to the point of the dummy, and if arcing occurs during this time, return to the spot point and perform welding. On the other hand, if the arc does not occur during the movement of the torch, an alarm is issued only when the torch reaches the dummy point, and the welding operation may be stopped.
Claims
請 求 の 範 囲 The scope of the claims
卜 ー チを有する溶接機に作動的に連結さ れた ァー ク溶接用 口ポ ッ ト において、 （ a )ア ー クス タ ー 卜時 に アー クが発生 したか否かを判別する工程と 、 （ b ) アー クが発生 しなかっ た と判別 した とき前記 ト ーチ を所定方向に移動させる工程と、 （ c )前記 ト ーチが 所定距離移動する囿にアー クが発生 したか否かを判 別する工程と 、 （ d )前記工程 （ c )において アー クが 発生 した と判別 した とき前記 卜 ーチをア ー ク スタ ー 卜位置に復帰させて溶接を開始する工程とを備えた こ とを特徴 とする、 アー ク溶接用 ロボ ッ 卜 における アー クスタ ー 卜 ミス時の自動復旧方法。 In an arc welding port operatively connected to a welding machine having a torch, (a) a step of determining whether or not arcing has occurred during arc-starting; (B) moving the torch in a predetermined direction when it is determined that arcing has not occurred; and (c) determining whether arcing has occurred in the zoto where the torch moves a predetermined distance. (D) when the arc is determined to have occurred in the step (c), the torch is returned to the arc start position to start welding. An automatic recovery method for an arc start mistake in an arc welding robot characterized by this feature.
前記工程 （ c )にお.いてアー クが発生 しなか っ た と 判別 した ときアラームを出す請求の範囲第 1 項記載 のア ー ク溶接用 ロ ポッ 卜 におけるア ー ク スタ ー ト ミ ス時の自動復旧方.法。 2. An arc start miss in an arc welding lopot according to claim 1, wherein an alarm is issued when it is determined in step (c) that no arc has occurred. Automatic recovery method.
前記工程 （ c )においてアー ク が発生 しなか っ た と J別 した とき溶接作業を停止する請求の範囲第 2 項 記載のアーク溶接用 ロポッ 卜 におけるアー ク スタ ー 卜 ミ ス時の自動復旧方法。 3. The method according to claim 2, wherein the welding operation is stopped when the arc is not generated in the step (c), and the arc welding is stopped in the arc welding lopot according to claim 2. .
前記工程 （ a )において所定時間内に アー ク が発生 したか否かを判別する請求の範囲第 1 項， 第 2 項記 載ま たは第 3項記載のア ー ク溶接用 ロボ ッ 卜 におけ るアー クスタ ー 卜 ミ ス時の自動復旧方法。
4. The arc welding robot according to claim 1, wherein it is determined whether or not an arc has occurred within a predetermined time in the step (a). Automatic recovery method in case of arc miss.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62215463A JPH0815659B2 (en) | 1987-08-31 | 1987-08-31 | Arc start mistake automatic recovery method in arc welding robot |
| JP62/215463 | 1987-08-31 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO1989001839A1 true WO1989001839A1 (en) | 1989-03-09 |
Family
ID=16672790
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/JP1988/000795 WO1989001839A1 (en) | 1987-08-31 | 1988-08-10 | Method of automatic restoration of arc-welding robot in response to failure of arcing |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JPH0815659B2 (en) |
| WO (1) | WO1989001839A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103495818A (en) * | 2013-09-11 | 2014-01-08 | 广西玉柴重工有限公司 | Mistake proofing method for welding robot system |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4605493B2 (en) * | 2004-03-04 | 2011-01-05 | 株式会社安川電機 | Welding system control method and welding system |
| JP4702694B2 (en) * | 2004-03-29 | 2011-06-15 | 株式会社安川電機 | Welding system control method and welding system |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5954470A (en) * | 1982-09-22 | 1984-03-29 | Mitsubishi Heavy Ind Ltd | Starting method of welding |
| JPS61140373A (en) * | 1984-12-14 | 1986-06-27 | Hitachi Ltd | Arc starting control device of welding robot |
-
1987
- 1987-08-31 JP JP62215463A patent/JPH0815659B2/en not_active Expired - Fee Related
-
1988
- 1988-08-10 WO PCT/JP1988/000795 patent/WO1989001839A1/en unknown
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5954470A (en) * | 1982-09-22 | 1984-03-29 | Mitsubishi Heavy Ind Ltd | Starting method of welding |
| JPS61140373A (en) * | 1984-12-14 | 1986-06-27 | Hitachi Ltd | Arc starting control device of welding robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103495818A (en) * | 2013-09-11 | 2014-01-08 | 广西玉柴重工有限公司 | Mistake proofing method for welding robot system |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6462273A (en) | 1989-03-08 |
| JPH0815659B2 (en) | 1996-02-21 |
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