WO2018225519A1

WO2018225519A1 - Welding conditions setting device and welding conditions setting method

Info

Publication number: WO2018225519A1
Application number: PCT/JP2018/019958
Authority: WO
Inventors: 佐藤　和隆
Original assignee: 株式会社アマダホールディングス
Priority date: 2017-06-07
Filing date: 2018-05-24
Publication date: 2018-12-13
Also published as: JP2018202466A

Abstract

Provided is a welding conditions setting device for setting various conditions for welding operations in a welding robot system, wherein: the welding conditions setting device has a control device connected to the welding robot so as to control drive of the welding robot, and a teaching operation panel displaying information to an operator and connected to the control device so as to input instructions and the like into the control device; welding symbols formed from drawn patterns representing the characteristics of types of welding are displayed on the teaching operation panel; and the operator selects and specifies the type of welding using the welding symbols.

Description

Welding condition setting device and welding condition setting method

The present invention relates to a welding condition setting device and a welding condition setting method for an operator to input welding conditions using a robot welding machine, and more particularly to a welding condition setting device that allows an operator to easily input welding conditions. And a welding condition setting method.

In general, the welding conditions for obtaining high welding quality depend on the experience of each operator who sets the conditions, and the setting is not always easy.

Therefore, a contrivance has been proposed in which setting of welding conditions for obtaining high welding quality can be easily performed regardless of the operator, and an example is described in Patent Document 1.

In the welding condition setting device described in Patent Document 1, the welding result and the welding condition are displayed on an image, and even a user with little welding knowledge can adjust the condition that satisfies the welding quality of the welding object. It is said to be effective.

Japanese Patent No. 3093798 JP 2001-347374 A JP 2005-349422 A

However, in the welding condition setting device described in Patent Document 1, although the welding result is displayed in the window portion, the contents of the window portion are not visually associated with the welding parameter to be set.

Therefore, for users with little welding knowledge, it took a long time to get used to the setting operation, and welding conditions could not be set easily.

The present invention has been made paying attention to the above-described circumstances, and an object of the present invention is to provide a welding condition setting device and a welding condition setting method that enable an operator to easily input welding conditions. It is.

The present invention is for solving the above-mentioned problems, and a feature of the present invention is a welding condition setting device for setting various conditions of welding operation in a welding robot system for welding a predetermined portion of a material by a welding robot. A control unit connected to the welding robot for controlling the driving of the welding robot; and information connected to the control unit for displaying information to an operator and inputting an instruction or the like to the control unit. A teaching operation means, displaying a welding symbol composed of a symbol expressing the characteristics of the welding type on the teaching operation means, and an operator selecting and specifying the welding type by the welding symbol. .

According to another feature of the present invention, when the welding symbol is selected, an image for inputting a welding numerical value for inputting a numerical value of a welding condition in welding by the selected welding symbol is displayed on the teaching operation unit. Is Rukoto.

Another feature of the present invention is that the welding numerical value input image includes an image portion indicating the characteristic of the input numerical value and an input numerical value inserting portion for inserting the input numerical value.

Another feature of the present invention is that when an input numerical value is inserted by an operator into the input numerical value insertion portion of the image for welding numerical value input, but the input numerical value is not inserted by the operator, the welding condition setting device includes: Furthermore, from the relationship between the material type and thickness input in advance, the type of welding and the numerical value of the welding condition, the numerical value of the welding condition in the welding with the selected welding symbol is input to the input numerical value insertion part. is there.

Another feature of the present invention is that a welding robot for welding a predetermined portion of the processed material, a control means connected to the welding robot for controlling the driving of the welding robot, and displaying information to an operator. And a welding condition setting method for setting various conditions of welding operation in a welding robot system having teaching operation means connected to the control device for inputting instructions and the like to the control device, the teaching operation A means for displaying a welding symbol composed of a symbol expressing characteristics of the type of welding on the means, and when a welding type is selected and designated by the welding symbol by an operator, the teaching operation means selects the selected And a step of displaying an image for inputting a welding numerical value for inputting a numerical value of a welding condition in welding by a welding symbol.

According to another feature of the present invention, the welding numerical value input image includes an image portion indicating the characteristic of the input numerical value and an input numerical value insertion portion for inserting the input numerical value, and the welding condition setting method is further input in advance. A step of inputting the numerical value of the welding condition in the welding with the selected welding symbol into the input numerical value insertion portion from the relationship between the type and thickness of the selected material, the type of welding and the numerical value of the welding condition. .

It is the schematic of the welding robot system which has the welding condition setting apparatus which implemented this invention. It is a block diagram for demonstrating the structure of the control apparatus 5 shown in FIG. It is explanatory drawing of the teaching operation panel 7 shown in FIG. It is a flowchart of the welding condition setting method which implemented this invention. It is explanatory drawing of the display part 7a of the teaching operation panel 7 in which the welding symbol 11 which shows the kind of welding is displayed. It is explanatory drawing of the welding symbol displayed on the display part 7a of the teaching operation panel 7. FIG. It is explanatory drawing of V-shaped groove welding. It is explanatory drawing of the image for welding numerical value display displayed when the welding symbol 11b of V-shaped groove | channel is selected. It is explanatory drawing which shows the numerical value input into the image for welding numerical display, and the state of welding. It is a table which shows the relationship between the kind of board | plate material in V-shaped groove welding, the board thickness, the kind of welding, the numerical value of welding depth A, the numerical value of route space | interval B, the numerical value of groove angle C, etc. It is explanatory drawing of joint welding in the state into which the numerical value was input into the image for welding numerical value display shown in FIG. FIG. 6 is an operation explanatory diagram of joint welding by the welding robot 3. It is a flowchart of other embodiment of the welding condition setting method by this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a schematic diagram of a welding robot system having a welding condition setting device embodying the present invention.

As shown in FIG. 1, the welding robot system 1 includes a welding robot 3, a control device 5 connected to the welding robot 3 for controlling the driving of the welding robot 3, and displays information to the operator. The operator has a teaching operation panel 7 connected to the control device 5 for inputting instructions and the like to the control device 5, and the control device 5 is connected to a database 9 in which various welding process data are stored. Has been.

The welding robot 3 is for welding a predetermined portion of a processed material or the like. For example, a vertical articulated arm portion 3a having six degrees of freedom and a welding torch attached to the tip of the arm portion 3a. 3b, and the welding torch 3b has a replaceable nozzle 3b1 that emits laser light.

The control device 5 and the teaching operation panel 7 constitute a welding condition setting device for setting various conditions for welding.

The control device 5 is configured by a computer, for example, and controls the driving of the welding robot 3 in accordance with a machining program.

FIG. 2 is a block diagram for explaining the configuration of the control device 5 shown in FIG.

As shown in FIG. 2, the control device 5 includes a central processing unit (CPU) 5a, a search unit 5b, a display 5c, and a dialog image generation unit 5d.

The control device 5 is adapted to create a machining program using welding-related information from the database 9 based on the input of machining conditions by the operator, and the operator inputs the machining conditions and the like. The teaching operation panel 7 is used.

In this embodiment, the machining program is created in the control device 5, but a CAM composed of a computer may be connected to the control device 5, and the machining program may be created with the CAM. .

FIG. 3 is an explanatory diagram of the teaching operation panel 7 shown in FIG.

As shown in FIG. 3, the teaching operation panel 7 is for the operator to control the operation of the welding robot 3 and has various operation keys and a display unit 7a. Is a mode key switch 7b for switching to a welding symbol input mode and a welding numerical value input mode, which will be described later, and a decision for specifying a welding symbol in the welding symbol input mode and for specifying a welding numerical value in the welding numerical value input mode. A key 7c and a numeric keypad 7d for inputting a welding value in the welding value input mode are included.

Next, a welding condition setting method embodying the present invention will be described with reference to FIG.

FIG. 4 is a flowchart of a welding condition setting method embodying the present invention.

First, in step 101 of FIG. 4, the material and thickness of the workpiece W are input.

That is, the operator inputs the material and thickness of the workpiece to be welded to the setting introduction screen, which is a screen for guiding and guiding the operator to select and input the material and thickness.

Next, when the mode key switch 7b is pressed in step 103 to enter the welding symbol input mode, the CPU 5a of the control device 5 displays the welding symbol 11 indicating the type of welding on the display unit 7a of the teaching operation panel 7. In step 105, the operator selects a welding symbol, inputs a desired welding symbol, and presses the enter key 7c to determine the selected welding symbol.

That is, first, as shown in FIG. 5, a welding symbol 11 indicating the type of welding is displayed on the display unit 7 a of the teaching operation panel 7, and the operator performs welding from among the welding symbols 11 for setting conditions. Select a symbol.

FIG. 5 is an explanatory diagram of the display unit 7a of the teaching operation panel 7 on which a welding symbol 11 indicating the type of welding is displayed.

In the case of the embodiment shown in FIG. 5, three types of

welding symbols

11 a, 11 b, and 11 c are always scroll-displayed on the display unit 7 a of the teaching operation panel 7. By pressing the

scroll buttons

13a and 13b, the

welding symbols

11a, 11b and 11c are scrolled, and other types of welding symbols are displayed.

Here, the welding symbols displayed on the display unit 7a of the teaching operation panel 7 will be described.

FIG. 6 is an explanatory diagram of welding symbols displayed on the display unit 7 a of the teaching operation panel 7.

As shown in FIG. 6, in this embodiment,

welding symbols

11a, 11b, and 11c corresponding to the type of welding such as an I-shaped groove, a V-shaped groove, and a ledge-shaped groove are assigned. By selecting the welding symbol in accordance with the type of welding to be performed, it is possible to easily set the welding condition for the welding symbol.

In this embodiment, as shown in FIG. 5, the

welding symbols

11a, 11b, and 11c for the I-shaped groove, the V-shaped groove, and the L-shaped groove are displayed.

This welding symbol consists of a pattern that expresses the characteristics of the welding type so that the operator can intuitively determine the type of welding. Hereinafter, the welding symbol 11b of the V-shaped groove will be described as an example.

This V-shaped groove defines the type of arc welding weld joint and has a V-shaped groove.

FIG. 7 is an explanatory diagram of V-shaped groove welding.

As shown in FIG. 7, this V-shaped groove welding is a welding in which a V-shaped welding is performed only at a welding angle A at a groove angle C, and a root surface D is route-welded at a route interval B.

Thus, as shown in FIG. 5, the V-shaped groove welding symbol 11b is a symbol representing the V-shaped groove welding as described above, so that the operator can intuitively determine it. It has become.

When the operator inputs a desired welding symbol in step 105 and the mode key switch 7b is pressed to enter the welding numerical value input mode, in step 107, the CPU 5a of the controller 5 causes the display unit 7a of the teaching operation panel 7 to be displayed. The image for welding numerical value input is displayed on the screen.

That is, as shown in FIG. 8, a welding numerical value display image for inputting a numerical value of a welding condition in welding with the selected welding symbol is displayed on the display unit 7a of the teaching operation panel 7.

FIG. 8 is an explanatory diagram of a welding numerical value display image displayed when the V-shaped groove welding symbol 11b is selected.

As shown in FIG. 8, this V-shaped groove welding numerical value input image X is composed of an image portion Y indicating the characteristics of the input numerical value on the left side and an input numerical value inserting portion Z for inserting the input numerical value.

The image portion Y shows the characteristics of the V-shaped groove welding and the welding numerical value. The horizontal straight line Y1, the arrow line Y2 extending obliquely downward from the left end of the horizontal straight line Y1, and the horizontal straight line Y1. Below the inverted V-shaped portion Y3, the inverted V-shaped portion Y3 extending downward at the center, the welding depth Y4 indicating the welding depth A provided between the arrow line Y2 and the inverted V-shaped portion Y3, and It comprises a route interval portion Y5 indicating the route interval B provided on the side and a groove angle portion Y6 indicating the groove angle C.

The input numerical value insertion unit Z includes a welding depth input unit Z1 for displaying a numerical value of the welding depth A, a route interval input unit Z2 for inputting a numerical value of the route interval B, and a numerical value of the groove angle C. It consists of a groove angle input part Z3 for inputting.

In this embodiment, the numerical value of the welding depth A in the welding depth input portion Z1 is displayed in advance as a numerical value obtained from the material and plate thickness of the workpiece W input in step 101 above.

Next, in step 109, numerical values displayed on the route interval input portion Z2 and the groove angle input portion Z3 of the welding numerical value display image are manually input by the operator, and in step 111, numerical input is determined. The

That is, the operator manually inputs a welding numerical value using the numeric keypad 7d of the teaching operation panel 7, and presses the determination key 7c of the teaching operation panel 7 to determine numerical input.

Next, in step 113, the CPU 5a of the control device 5 determines whether all the numerical values displayed on the route interval input unit Z2 and the groove angle input unit Z3 have been input by the operator.

That is, the operator may not know the welding numerical value to be input, and in such a case, the numerical key input is determined by pressing the enter key 7c with the unknown numerical value blank.

When it is determined in step 113 that the numerical values displayed on the route interval input unit Z2 and the groove angle input unit Z3 are not all input by the operator, the CPU 5a of the control device 5 performs welding in step 115. The numerical value of the route interval B displayed on the route interval input portion Z2 of the numerical display image and the numerical value of the groove angle C displayed on the groove angle input portion Z3 are automatically input, and the input numerical value is It is determined.

That is, for example, in the database 9, as shown in FIG. 10, the type of plate material, the plate thickness, the type of welding, the numerical value of the welding depth A, the numerical value of the route interval B, the numerical value of the groove angle C, etc. A table indicating the relationship is stored. The CPU 5a of the control device 5 refers to the table as shown in FIG. 10 and displays the numerical value of the route interval B displayed on the route interval input portion Z2 of the welding numerical value display image and the groove angle input portion Z3. The numerical value of the groove angle C to be obtained is obtained and displayed.

FIG. 10 is a table showing the relationship between the plate material type, plate thickness, and welding type in V-shaped groove welding, the numerical value of the welding depth A, the numerical value of the route interval B, the numerical value of the groove angle C, and the like. .

Here, for example, when both the numerical values displayed in the route interval input part Z2 and the groove angle input part Z3 are not input by the operator in step 109, the CPU 5a of the control device 5 in step 115 Both the numerical value of the route interval B displayed in the route interval input portion Z2 of the welding numerical value display image and the numerical value of the groove angle C displayed in the groove angle input portion Z3 are automatically input. The determined numerical value is determined.

Further, for example, in step 109, when the numerical value displayed on the route interval input unit Z2 is input by the operator and the numerical value displayed on the groove angle input unit Z3 is not input by the operator, In step 115, the CPU 5a of the control device 5 automatically inputs the numerical value of the groove angle C displayed on the groove angle input unit Z3, and the input numerical value is determined.

Further, for example, when the numerical value displayed on the groove angle input unit Z3 is input by the operator in step 109 and the route interval input unit Z2 is not input by the operator, the control is performed in step 115. The CPU 5a of the apparatus 5 automatically inputs the numerical value of the route interval B displayed in the route interval input part Z2 of the welding numerical value display image, and determines the input numerical value.

Also, for example, in the above-described step 109, when both the numerical values displayed on the route interval input part Z2 and the groove angle input part Z3 are input by the operator, the input numerical values are determined.

In step 117, the machining conditions set in step 109 and / or step 115 are registered.

Here, referring to FIG. 9 to FIG. 12, the numerical value of the welding depth A is actually 5, the numerical value of the root interval B is 0, the numerical value of the groove angle C is 70, and the welding numerical value display image. The welding operation when a numerical value is input to will be described.

FIG. 9 is an explanatory diagram showing the numerical values input to the welding numerical value display image and the welding state, and FIG. 11 is a joint welding in a state where numerical values are input to the welding numerical value display image shown in FIG. FIG. 12 is an explanatory view of the joint welding operation by the welding robot 3.

As shown on the right side of FIG. 9, when the numerical value of the welding depth A is 5, 5 is the numerical value of the route interval B, 70 is the numerical value of the groove angle C, and the numerical value is input to the welding numerical value display image. When this welding is a joint welding of a member W having a rectangular cross section, a welding operation as shown in FIGS. 11 and 12 is performed.

11A is a top view of the member W having a rectangular cross section, FIG. 11B is a front view, and FIG. 11C is an enlarged view of a portion A in FIG. (A) is operation | movement explanatory drawing which shows the start state of the welding process of the member W of rectangular cross section, (b) is operation | movement explanatory drawing which shows the completion | finish state of the welding process of the member W of rectangular cross section.

In this case, the CPU 5a of the control device 5 refers to the table of FIG. 10 to the numerical value of the route interval B displayed on the route interval input unit Z2 of the welding numerical value display image and the groove angle input unit Z3. The numerical value of the groove angle C to be displayed is input.

According to this embodiment, the operator can easily input the welding conditions because the welding conditions can be specified using the welding symbols that can intuitively determine the type of welding. become able to.

Next, another embodiment of the welding condition setting method according to the present invention will be described with reference to FIG.

FIG. 13 is a flowchart of another embodiment of the welding condition setting method according to the present invention.

In the embodiment shown in FIG. 4, the numerical values displayed on the route interval input unit Z2 and the groove angle input unit Z3 are input by an operator, and when there is no input by the operator, the numerical values not input are automatically However, in another embodiment shown in FIG. 13, whether the numerical value input by the operator or the automatic numerical value input is selected in advance, and a numerical value is input by the selected numerical value input method. Like to do.

First, in step 201 of FIG. 13, the material and thickness of the workpiece W are input.

Next, in step 203, when the mode key switch 7b is pressed to enter the welding symbol input mode, the CPU 5a of the control device 5 displays the welding symbol 11 indicating the type of welding on the display unit 7a of the teaching operation panel 7. In step 205, the operator selects a welding symbol, inputs a desired welding symbol, and presses the enter key 7c to determine the selected welding symbol.

When the operator inputs a desired welding symbol in step 205 and the mode key switch 7b is pressed to enter the welding numerical value input mode, in step 207, the CPU 5a of the control device 5 causes the display unit 7a of the teaching operation panel 7 to be displayed. The image for welding numerical value input is displayed on the screen.

In this embodiment, as the numerical value of the welding depth A in the welding depth input portion Z1, the numerical value obtained from the material and plate thickness of the workpiece W input in step 201 is displayed in advance.

Here, numerical values displayed on the route interval input portion Z2 and the groove angle input portion Z3 of the welding numerical value display image may be automatically input or may be input by the operator.

That is, in step 209, the CPU 5a of the control device 5 automatically inputs the numerical values displayed on the root interval input portion Z2 and the groove angle input portion Z3 of the welding numerical value display image or by the operator. Judgment is made.

Whether the numerical value of the route interval B displayed in the route interval input portion Z2 of the welding numerical value display image and the numerical value of the groove angle C displayed in the groove angle input portion Z3 is automatically input. person for either type, but whether either advance the operator has to be selected by pressing a predetermined key, may be selected in other ways.

When a numerical value is automatically input in the above step 209, in step 211, the CPU 5a of the control device 5 sets the numerical value of the route interval B displayed on the route interval input portion Z2 of the welding numerical value display image and the groove angle. The numerical value of the groove angle C displayed on the input unit Z3 is automatically input, and the input key is determined by pressing the enter key 7c.

That is, for example, in the database 9, as shown in FIG. 10, the type of plate material, the plate thickness, the type of welding, the numerical value of the welding depth A, the numerical value of the route interval B, the numerical value of the groove angle C, etc. A table indicating the relationship is stored, and the CPU 5a of the control device 5 refers to the table as shown in FIG. 10 and the numerical value of the route interval B displayed in the route interval input part Z2 of the welding numerical value display image. And the numerical value of the groove angle C displayed on the groove angle input part Z3 is calculated | required and displayed.

When a numerical value is manually input in the above step 209, in step 213, the numerical value of the root interval B displayed on the root interval input portion Z2 of the welding numerical value display image and the groove angle by the operator's numeric keypad 7d operation. The numerical value of the groove angle C displayed on the input unit Z3 is input, and the input numerical value is determined by pressing the enter key 7c.

That is, when numerical input by the operator is necessary, the operator input is set in advance using a predetermined key, and the operator inputs.

In step 215, the machining conditions set in step 211 or 213 are registered.

The present invention is not limited to the embodiment of the invention described above, and can be implemented in other modes by making appropriate modifications.

According to the present invention, the operator can easily input welding conditions.

Claims

A welding condition setting device for setting various conditions of a welding operation in a welding robot system for welding a predetermined portion of a material by a welding robot,
Control means connected to the welding robot for controlling the driving of the welding robot, and teaching operation means connected to the control means for displaying information to the operator and inputting instructions and the like to the control means And
A welding condition setting device, wherein a welding symbol composed of a symbol expressing characteristics of a welding type is displayed on the teaching operation means, and an operator selects and designates a welding type by the welding symbol.
The welding operation input image for inputting a numerical value of a welding condition in welding by the selected welding symbol is displayed on the teaching operation means when the welding symbol is selected. The welding condition setting device according to 1.
The welding condition setting device according to claim 1, wherein the welding numerical value input image includes an image portion showing characteristics of the input numerical value and an input numerical value insertion portion for inserting the input numerical value.
An input numerical value is inserted by an operator into the input numerical value insertion portion of the image for welding numerical value input, but when the input numerical value is not inserted by the operator, the welding condition setting device further includes a material previously input. 4. The numerical value of the welding condition in the welding with the selected welding symbol is input to the input numerical value insertion portion from the relationship between the type, thickness, type of welding, and numerical value of the welding condition. Welding condition setting device.
A welding robot for welding a predetermined portion of the processed material, a control means connected to the welding robot for controlling the driving of the welding robot, information to the operator, and instructions to the controller A welding condition setting method for setting various conditions of a welding operation in a welding robot system having teaching operation means connected to the control device for inputting
A step of displaying a welding symbol consisting of a pattern expressing characteristics of the type of welding on the teaching operation means;
When a welding type is selected and specified by the welding symbol by an operator, an image for inputting a welding value for inputting a numerical value of a welding condition in welding by the selected welding symbol is displayed on the teaching operation means. And a welding condition setting method characterized by comprising:
The welding numerical value input image is composed of an image portion showing the characteristics of the input numerical value, and an input numerical value inserting portion for inserting the input numerical value,
In the welding condition setting method, the numerical value of the welding condition in the welding with the selected welding symbol is further calculated from the relationship between the material type and thickness input in advance and the welding type and the numerical value of the welding condition. 6. The welding condition setting method according to claim 5, further comprising a step of inputting to the insertion portion.