JPH01184507A - Welding robot controller - Google Patents

Abstract

PURPOSE:To surely and accurately collect a corrective record by storing working information before and after correction transiently at the time of correcting taught working information, and outputting to and recording on a recorder, etc. CONSTITUTION:To the controller of a welding robot, an operating panel 3 in which a CRT2 is provided on a main body 1, and a teaching box 4 to input a various kinds of working information are connected. Also, in the said main body 1, a main CPU5, a ROM6, a RAM7, and plural servo drivers 8 are provided, and they are connected to an interface 10 via a bus line 9. At this time, a teaching correction key is provided on the operating panel 3, and command keys for addition, erasure, and correction, etc., for a corrective operation are provided. Furthermore, a calendar timer 11 is connected to the bus line 9. Thereby, in case of generating decentering at the time of forming welding beat on work, a various kinds of data for corrective work are stored in a memory device transiently, and they are outputted by a printer, etc.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a control device for a welding robot that welds a workpiece by operating a welding torch based on processing information taught in advance, and particularly relates to a control device for a welding robot that welds a workpiece by operating a welding torch based on processing information taught in advance. This invention relates to a control device for a welding robot that can automatically collect samples.

[Conventional technology]

When various processing information is taught to the control device of a welding robot and welding such as arc welding is performed on a workpiece, the robot supports and moves the torch to form a weld bead on the workpiece. Misalignment with respect to the correct welding line, or so-called misalignment, may occur. The causes of this misalignment include variations in the welding line of individual workpieces, workpiece assembly errors when welding a composite product of two or more workpieces, variations in workpiece setting accuracy within the workpiece positioning jig, There are many possible causes, including variations in the arc point position of the welding wire, variations in the repeatability of the robot manipulator itself, and position shifts due to electromechanical phase shifts in the robot itself.

In order to correct this misalignment, teaching correction work is performed to change the machining information taught to the robot, but it is not easy to understand the true cause of this misalignment and take fundamental countermeasures.

The other option requires immediate action.

It is common practice to take advantage of the characteristics of robots to temporarily deal with the problem through teaching correction work.

To prevent such misalignment from occurring.

In principle, it captures the details of the correction work, such as when and how the part of the work was corrected.

Perform transient analysis of this work to analyze trends.

It is necessary to investigate the true cause of misalignment. However, in the past, all data such as why the teaching correction work was performed and what kind of corrections were performed were only collected by the teaching operator's entries on a sheet.

In addition, as described in Japanese Patent Application Laid-open No. 57-62869, the control device for this type of welding robot has a function key for specifying welding conditions on the teaching device, and a number for inputting the welding conditions in real numbers. A proposal for shortening teaching time and reducing teaching errors by providing a key and a position data input section, and also published in Japanese Patent Application Laid-Open No. 57-146473.
As described in the publication, a proposal was made to correct the fluctuation of the preheating point due to robot torch teaching by performing an analysis process of the appropriate preheating point, and furthermore, Japanese Patent Application Laid-Open No. 1982-
As described in Publication No. 182709, programs for other types can be easily created by simply copying the taught machining information, updating the machining information for other types using the copied information, and correcting the differences. Proposals designed to complete the process are known.

[Problem that the invention seeks to solve]

However, as mentioned above, according to the conventional method of collecting data on teaching correction work by having the maintenance worker filling out a sheet, the maintenance worker is busy and often forgets to fill out the sheet. There was a problem that even if rules were established for entry, there were many cases where they were not followed. For this reason, it was not possible to accurately grasp even the number of teaching corrections, and it was not possible to grasp the true cause of misalignment and establish measures to prevent misalignment.

In addition, the proposals in the three publications mentioned above did not take into consideration the grasping of teaching correction work data to prevent center deviation of the robot torch. The present invention was made in view of the above circumstances.

The purpose is to provide a welding robot control device that can accurately and automatically store and output teaching correction data, easily analyze the cause of welding misalignment, and efficiently devise countermeasures. shall be.

[Means for solving problems]

In order to achieve the above object, the present invention provides a control device for a welding robot that operates a welding torch based on pre-taught processing information to weld a workpiece. means for temporarily storing the year, month, day, hour and minute of the teaching correction, the work to be corrected, and machining information before and after the correction, and for outputting these temporarily stored contents to the outside. It is equipped with means.

[Effect]

According to the above configuration, when the robot torch is operated to form a weld bead on the workpiece, various data for teaching correction work to be performed when a misalignment occurs in which the position of the weld bead deviates from the position of the actual weld line is temporarily stored. By outputting the temporarily stored data to a printer, floppy disk drive, etc., it is possible to automatically and accurately record the data.

〔Example〕

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a control device for a welding robot according to the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram showing a control section of a control device according to an embodiment of the present invention. Connected to the control device main body 1 are an operation panel 3 equipped with a CRT 2 and a teaching box 4 for inputting various processing information.

In addition, the main CPU 5, ROM 6. R
AM7, multiple servo drivers 8 are provided,
Each is connected to an interface 10 via a path line 9, and this configuration is widely used in known control devices.

In this embodiment, a "teaching correction" key (not shown) is provided on the operation panel 3, and a "teaching correction" key (not shown) is provided on the operation panel 3 and the teaching box 4.
There are command keys for adding, deleting, and modifying. Furthermore, the pass line 9 has a calendar timer 1.
1 is connected to the interface 1o, and an information output device 12 such as a printer or a floppy disk drive is connected to the interface 1o.

Next, the operation of this embodiment will be explained with reference to the flowchart shown in FIG.

First, in step 13, the "teaching correction" key is pressed to start teaching correction. The main CPU checks what the mode command is on the operation panel 3, and when it detects that the mode is the "teaching correction" mode in step 14, it moves to a subroutine. Then, in step 15, the called part number is read out.

Next, in step 16, all processing information previously assigned to this part number is read out, and in step 1
7, this processing information is stored in RAM 7 as shown in FIG.
Store it in temporary door A in the area.

Next, in steps 18, 19, and 20, it is checked whether commands for "modification,""addition," and "deletion" have been input from the operation panel 3 or the teaching box 4, respectively. If these commands have been input even at - degrees, a change flag is set in step 21 and the changes are stored.

Next, in step 22, it is checked whether the mode is play, that is, whether a command to resume production has been given. When the play mode selection is confirmed, it is checked in step 23 whether or not the change flag is set. If the change flag is set, the processing information has already been rewritten at this stage.

Next, in step 24, all the changed processing information is read out, and in step 25, this processing information is temporarily stored in the storage area B of the RAM 7, as shown in FIG. Then, in step 26, the processing information stored in the temporary door A is compared with the changed processing information stored in the temporary door B, and the changed portion is extracted by calculation.

Next, only the changed part extracted in step 27 is stored in the temporary storage area C of the RAM 7 shown in FIG. " 1 Furthermore, in step 28, the data for the year, month, date, and hour are read from the calendar timer 11, and in step 29, the data from the calendar timer 11 is combined with the processing information change section stored in the temporary door 'C, and is exported to the outside." It is output and recorded, for example, by a printer.

When this recording is completed, in step 30, the information stored in temporary areas A, B, and C of the RAM 7 is erased, and the storage flag is reset. All operations are then completed in step 31.

Note that if the "teaching correction" mode is not set in step 14, the process moves to step 31 and this operation is not performed. Also, if the play mode is not set in step 22.

Return to steps 18, 19 and 20 again. Furthermore, if the change flag is not set in step 23, the process moves to step 30 and the storage flag is reset.

In FIG. 4, which shows an example of the output recorded by the printer, the time when the teaching correction was made can be seen by the year, month, day, hour, and minute. Also, the type of work to be corrected can be determined by the job fish. Furthermore, 5TEP Nα indicates in particular which welding part of the workpiece the teaching correction has occurred. As mentioned above, the controlled position is the arc generation point position of the welding torch, and Figure 1 shows the amount of change in the three-dimensional x, y, and z coordinates of the robot coordinates before and after the change, and shows the relationship between the robot manipulator and the workpiece. Since the relative position is known, x, y when the work side shifts
The amount of deviation of the workpiece can be determined by the amount of change in each direction.

In addition, the torch angle indicates the projection angle of the vector of the torch axis onto the x-y plane, Y-Z plane, and Z-X plane in the above robot coordinate system.In the example shown in this figure, the torch angle has not been changed at all. Show that.

The speed is the welding speed or air cutting speed at the welding site. The welding conditions are welding voltage V.

In this example, which is an example where welding current i is output from the robot control device to the welding power source, the torch angle, speed, and welding conditions are not changed at all.

According to the output example shown in FIG. 4 above, the necessary data for searching for teaching correction factors is almost covered.

According to this embodiment, the data of the teaching correction work performed to correct the misalignment of the bead that occurs when welding by moving the torch by the welding robot is stored in the RAM in the control device main body 1. Since the correction amount is output and recorded, the teaching correction can be recorded reliably, accurately, and automatically.

As a result, it is now possible to easily perform a statistical analysis of the true cause of bead misalignment, which makes it possible to efficiently establish measures to prevent misalignment, and at the same time improve teaching work. The number of man-hours recorded by staff members can be reduced.

〔Effect of the invention〕

As described above, according to the present invention, when modifying the machining information taught to the control device of the welding robot, the machining information before and after the teaching modification is temporarily stored and output to a recording device etc. for recording. As a result, records of teaching corrections can be collected reliably, accurately, and automatically.

It is now possible to easily perform statistical analysis of the true cause of weld bead misalignment, and it is now possible to efficiently establish measures to prevent misalignment, while at the same time improving worker records. The number of man-hours required can be reduced.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the configuration of one embodiment of a control device for a welding robot according to the present invention, FIG. 2 is a flow chart showing the operation of this embodiment, and FIG. 3 is stored in the RAM shown in FIG. 1. FIG. 4, which is a diagram showing the state of area allocation of processing information, is a table showing an example of outputting processing information according to this embodiment. 1... Control device main body. 7...RAM (storage means), 12...information output device (output means).

Claims (1)

[Claims] (1) In a control device for a welding robot that operates a welding torch and welds a workpiece based on previously taught processing information, means for confirming that the taught processing information has been corrected when the taught processing information is corrected; , comprising means for temporarily storing the year, month, day, hour, and minute of the teaching correction, the work to be corrected, and machining information before and after correction, and means for outputting these temporarily stored contents to the outside. Welding robot control device.