WO2018225519A1 - Dispositif de réglage des conditions de soudage et procédé de réglage des conditions de soudage - Google Patents

Dispositif de réglage des conditions de soudage et procédé de réglage des conditions de soudage Download PDF

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Publication number
WO2018225519A1
WO2018225519A1 PCT/JP2018/019958 JP2018019958W WO2018225519A1 WO 2018225519 A1 WO2018225519 A1 WO 2018225519A1 JP 2018019958 W JP2018019958 W JP 2018019958W WO 2018225519 A1 WO2018225519 A1 WO 2018225519A1
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WO
WIPO (PCT)
Prior art keywords
welding
numerical value
input
symbol
operator
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Application number
PCT/JP2018/019958
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English (en)
Japanese (ja)
Inventor
佐藤　和隆
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株式会社アマダホールディングス
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Filing date
Publication date
Application filed by 株式会社アマダホールディングス filed Critical 株式会社アマダホールディングス
Publication of WO2018225519A1 publication Critical patent/WO2018225519A1/fr

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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
    • 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
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means

Definitions

  • 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.
  • 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.
  • 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.
  • 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. .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 7 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
  • 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.
  • FIG. 1 is a schematic diagram of a welding robot system having a welding condition setting device embodying the present invention.
  • 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.
  • 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.
  • control device 5 includes a central processing unit (CPU) 5a, a search unit 5b, a display 5c, and a dialog image generation unit 5d.
  • CPU central processing unit
  • search unit 5b search unit
  • display 5c display 5c
  • dialog image generation unit 5d dialog image generation unit
  • 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.
  • 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.
  • 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.
  • a key 7c and a numeric keypad 7d for inputting a welding value in the welding value input mode are included.
  • FIG. 4 is a flowchart of a welding condition setting method embodying the present invention.
  • step 101 of FIG. 4 the material and thickness of the workpiece W are input.
  • 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.
  • step 103 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.
  • 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.
  • 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.
  • FIG. 6 is an explanatory diagram of welding symbols displayed on the display unit 7 a of the teaching operation panel 7.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • step 113 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.
  • 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. .
  • 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.
  • 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.
  • 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.
  • 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.
  • step 117 the machining conditions set in step 109 and / or step 115 are registered.
  • 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
  • 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
  • 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.
  • FIG. 11A is a top view of the member W having a rectangular cross section
  • FIG. 11B is a front view
  • FIG. 11C is an enlarged view of a portion A in FIG. (A) is operation
  • (b) is operation
  • 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.
  • 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.
  • FIG. 13 is a flowchart of another embodiment of the welding condition setting method according to the present invention.
  • 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
  • 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.
  • step 201 of FIG. 13 the material and thickness of the workpiece W are input.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the numerical value of the groove angle C displayed on the groove angle input part Z3 is calculated
  • 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. .
  • step 213 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.
  • the operator input is set in advance using a predetermined key, and the operator inputs.
  • step 215 the machining conditions set in step 211 or 213 are registered.
  • the operator can easily input welding conditions.

Abstract

La présente invention concerne un dispositif de réglage des conditions de soudage pour le réglage de diverses conditions des opérations de soudage dans un système robotique de soudage. Le dispositif de réglage des conditions de soudage présente un dispositif de commande connecté au robot de soudage afin de commander l'entraînement du robot de soudage, et un panneau d'opération d'apprentissage affichant les informations provenant d'un opérateur et connecté au dispositif de commande afin d'entrer des instructions et similaires dans le dispositif de commande; des symboles de soudage formés à partir de motifs dessinés représentant les caractéristiques des types de soudage sont affichés sur le panneau d'opération d'apprentissage; et l'opérateur sélectionne et spécifie le type de soudage en utilisant les symboles de soudage.
PCT/JP2018/019958 2017-06-07 2018-05-24 Dispositif de réglage des conditions de soudage et procédé de réglage des conditions de soudage WO2018225519A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017-112506 2017-06-07
JP2017112506A JP2018202466A (ja) 2017-06-07 2017-06-07 溶接条件設定装置及び溶接条件設定方法

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06126453A (ja) * 1992-10-16 1994-05-10 Mitsubishi Heavy Ind Ltd 溶接条件自動選定方法
JP3093798B2 (ja) * 1995-09-19 2000-10-03 株式会社 安川電機 自動溶接条件設定装置
JP2003236665A (ja) * 2002-02-15 2003-08-26 National Institute Of Advanced Industrial & Technology 自動複式アーク溶接装置
JP2008522833A (ja) * 2004-12-15 2008-07-03 フロニウス・インテルナツィオナール・ゲゼルシャフト・ミット・ベシュレンクテル・ハフツング 溶接トーチに従ってレーザユニットを制御するレーザ・アーク複合溶接のための装置と方法
JP2015225214A (ja) * 2014-05-28 2015-12-14 旭エレクトロニクス株式会社 シミュレーションシステム

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06126453A (ja) * 1992-10-16 1994-05-10 Mitsubishi Heavy Ind Ltd 溶接条件自動選定方法
JP3093798B2 (ja) * 1995-09-19 2000-10-03 株式会社 安川電機 自動溶接条件設定装置
JP2003236665A (ja) * 2002-02-15 2003-08-26 National Institute Of Advanced Industrial & Technology 自動複式アーク溶接装置
JP2008522833A (ja) * 2004-12-15 2008-07-03 フロニウス・インテルナツィオナール・ゲゼルシャフト・ミット・ベシュレンクテル・ハフツング 溶接トーチに従ってレーザユニットを制御するレーザ・アーク複合溶接のための装置と方法
JP2015225214A (ja) * 2014-05-28 2015-12-14 旭エレクトロニクス株式会社 シミュレーションシステム

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