JP3106802B2 - Arc welding robot device - Google Patents
Arc welding robot deviceInfo
- Publication number
- JP3106802B2 JP3106802B2 JP05250468A JP25046893A JP3106802B2 JP 3106802 B2 JP3106802 B2 JP 3106802B2 JP 05250468 A JP05250468 A JP 05250468A JP 25046893 A JP25046893 A JP 25046893A JP 3106802 B2 JP3106802 B2 JP 3106802B2
- Authority
- JP
- Japan
- Prior art keywords
- welding
- robot
- display
- arc
- current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Arc Welding Control (AREA)
- Manipulator (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明はティーチングプレイバッ
クロボットとＣＯ2溶接やＴＩＧ溶接などのアーク溶接
機を組み合わせたアーク溶接ロボット装置にかかるもの
である。The present invention relates are those according to the arc welding robot system that combines an arc welding machine such as a teaching playback robot and CO 2 welding and TIG welding.
【０００２】[0002]
【従来の技術】近年ティーチングプレイバックロボット
のエンドエフェクターとしてアーク溶接トーチを取り付
けたアーク溶接ロボット装置が実用化され、溶接の自動
化に効果を発揮している。これらのアーク溶接ロボット
装置のインタフェイスとして、ロボットから溶接機へ溶
接電流電圧などの溶接条件と溶接開始停止信号が、溶接
機からロボットへ溶接電流が流れているか否かのＯＮ・
ＯＦＦ信号（溶接電流検出信号）と溶接終了時の溶着検
出信号とまれにアークセンサによる位置制御のための溶
接電流・溶接電圧信号が送受信されている。2. Description of the Related Art In recent years, an arc welding robot device equipped with an arc welding torch has been put to practical use as an end effector of a teaching playback robot, and has been effective in automating welding. As an interface of these arc welding robot devices, welding conditions such as welding current voltage from the robot to the welding machine and a welding start / stop signal are used to determine whether welding current is flowing from the welding machine to the robot.
An OFF signal (welding current detection signal), a welding detection signal at the end of welding, and, in rare cases, a welding current / welding voltage signal for position control by an arc sensor are transmitted and received.
【０００３】一方、ティーチングプレイバックロボット
のマンマシンインタフェイスはティーチペンダントのＬ
ＥＤなどの小型表示器と、制御装置のＣＲＴ大型表示器
の併用型から、近年は液晶などの中型表示器をティーチ
ペンダントに取り付けた集中型を採用し、教示作業中作
業者の教示場所と制御装置の往復移動を少なくし、より
使いやすくする傾向にある。On the other hand, a man-machine interface of a teaching playback robot is an L-type teaching pendant.
From the combined use of a small display such as an ED and a large CRT display as a control device, in recent years, a centralized type with a medium-sized display such as a liquid crystal attached to a teach pendant has been adopted to control the teaching location and location of workers during teaching work. There is a tendency that the reciprocating movement of the device is reduced to make it easier to use.
【０００４】[0004]
【発明が解決しようとする課題】しかしこのアーク溶接
ロボット装置では、ティーチペンダントを持ちロボット
近傍に立つ作業者は、ロボット動作をその場で確認及び
修正出来るが、溶接電流電圧はその場を離れ、溶接機の
所まで移動し、電流・電圧計を見なければならなかっ
た。この不便さのために電流・電圧計を溶接機からはず
し教示場所に取り付けることもあった。However, in this arc welding robot apparatus, an operator who has a teach pendant and stands near the robot can check and correct the robot operation on the spot, but the welding current and voltage leave the spot, I had to move to the welding machine and see the ammeter and voltmeter. Due to this inconvenience, the current / voltmeter was sometimes removed from the welding machine and attached to the teaching location.
【０００５】この電流・電圧計から作業者の溶接条件の
読み取り方について述べると次のようになる。ＴＩＧ溶
接のようにアーク現象が定常のものは電流値を容易に読
み取れる。しかし、ＣＯ2溶接の短絡溶接法をはじめ、
消耗電極溶接では短絡時の数１００アンペアとアーク時
の数１０アンペアの１００Ｈｚ程度の変化と、短絡状態
の違いによるアーク安定性など、諸条件による０．１か
ら１０Ｈｚ程度で変化する電流値が重畳し、定常値は存
在しない。従来の電流・電圧計は１００Ｈｚ程度の変化
には追従せず、機械的に平均化し、０．１から１０Ｈｚ
程度の変化は、作業者が時間加重平均処理を目視で行い
読み取っている。さらに作業者はこの０．１から１０Ｈ
ｚ程度で変動する電流の変化幅から溶接条件の良否も判
断している。The method of reading the welding conditions of the operator from the current / voltmeter will be described as follows. In the case where the arc phenomenon is steady like TIG welding, the current value can be easily read. However, including the short-circuit welding method of CO 2 welding,
In the consumable electrode welding, a current value that changes from about 0.1 to 10 Hz due to various conditions, such as a change of about 100 Hz between several hundred amps at the time of short circuit and several tens amps at the time of arc, and arc stability due to the difference of the short circuit state is superimposed. However, there is no steady-state value. The conventional current / voltmeter does not follow a change of about 100 Hz, but averages mechanically, and 0.1 to 10 Hz
The change in the degree is read by the operator by visually performing time-weighted averaging processing. In addition, the operator can use this 0.1 to 10H
Whether the welding conditions are good or not is also determined from the variation width of the current fluctuating about z.
【０００６】ロボットの普及にともない作業者負担がよ
り少なく使いやすいロボットが望まれている。本発明は
ティーチペンダントを持つ作業者がロボット近傍に立っ
たままでロボットの動作教示確認と共に溶接電流電圧な
どの実溶接条件をその場で見られるように工夫し、より
使いやすいアーク溶接ロボットシステムを提供しようと
するものである。実溶接条件とは、教示指令の溶接条件
ではなく、短絡状態の変化などの諸条件の変化により変
動している溶接電流電圧などのリアルタイムな条件をい
う。[0006] With the spread of robots, there is a demand for a robot that is less burdensome to an operator and easy to use. The present invention provides a more easy-to-use arc welding robot system in which a worker with a teach pendant is devised so that the actual welding conditions such as welding current and voltage can be viewed on the spot while checking the robot operation teaching while standing near the robot. What you want to do. The actual welding condition is not the welding condition of the teaching command, but a real-time condition such as a welding current voltage that fluctuates due to a change in various conditions such as a change in a short-circuit state.
【０００７】さらに溶接条件の０．１から１０Ｈｚ程度
の変化を作業者が目視で加重平均し読み取れ、またその
変化幅から溶接条件の良否判断を動作教示確認と共にそ
の場で出来るマンマシンインターフェイスを提供しよう
とするものである。Further, a man-machine interface is provided in which a worker can visually read a change in welding conditions of about 0.1 to 10 Hz by weighted averaging, and can judge whether welding conditions are good or not on the basis of operation change confirmation and on-the-spot confirmation based on the change width. What you want to do.
【０００８】[0008]
【課題を解決するための手段】上記の目的を達成するた
めに、本発明のアーク溶接ロボット装置は、ロボット本
体と、このロボットの作業者が持ち、前記ロボットの動
作情報を入力するティーチペンダントと、前記ロボット
本体に接続したアーク溶接機とを有し、溶接中の少なく
とも溶接電流を含む実溶接条件について０．１ないし１
０Ｈｚ毎に平均値を前記ティーチペンダントにアナログ
表示する表示器を設けたものである。To achieve the above object, according to the Invention The arc welding robot system of the present invention, the robot present
The body and the operator of this robot
Teach pendant for inputting work information, and the robot
With an arc welding machine connected to the main body,
0.1 to 1 for actual welding conditions including welding current
Analog value is averaged to the teach pendant every 0Hz
An indicator for displaying is provided.
【０００９】[0009]
【００１０】[0010]
【作用】このようにティーチペンダントに実溶接条件を
表示することでティーチペンダントを持つ作業者は、ロ
ボット本体の動作教示確認に引き続き、溶接教示確認を
行い、その場で実溶接条件を知り、必要時、溶接教示内
容の修正を行い、ただちに実溶接条件を確認できる。[Function] By displaying the actual welding conditions on the teach pendant in this way, the worker holding the teach pendant checks the welding teaching following the operation teaching of the robot main body, and knows the actual welding conditions on the spot. At this time, the contents of the welding teaching can be corrected and the actual welding conditions can be immediately confirmed.
【００１１】ＣＯ2溶接のように実溶接条件が定常で無
い場合、例えば０．５秒毎にその平均値をデジタル表示
すると前述の０．１ないし１０Ｈｚの変動のため例えば
デジタル値で「１２０Ａ」、「２１０Ａ」、「１６０
Ａ」と次々と異なる値を表示、容易に平均値を知ること
ができない。より長い時間平均をとると変化幅が無くな
り溶接安定性を知ることが出来なくなる。これを「メー
タの針」や「棒グラフ」のアナログ表示にすることによ
って作業者は従来の溶接機のメータと同様に目視で加重
平均値と変化幅を知ることができる。When the actual welding conditions are not steady like CO 2 welding, for example, when the average value is digitally displayed every 0.5 seconds, for example, the digital value is “120 A” due to the above-mentioned 0.1 to 10 Hz fluctuation. , “210A”, “160”
"A" is displayed one after another, and the average value cannot be easily known. If the average is taken for a longer time, the width of change is lost, and it becomes impossible to know the welding stability. This "Mae
In particular to an analog display of the data of the needle "and" bar graph "
Thus, the operator can visually recognize the weighted average value and the change width similarly to the meter of the conventional welding machine.
【００１２】[0012]
【実施例】本発明の一実施例について図面を用いて説明
する。An embodiment of the present invention will be described with reference to the drawings.
【００１３】図１はアーク溶接ロボット装置の説明図
で、ロボット本体１には溶接トーチ２が取り付けられ、
溶接電流は溶接機の溶接電源３ａからワイヤ送給装置３
ｂをへて溶接トーチ２に供給される。ロボット制御装置
４はインタフェイスケーブル５を介して溶接電源３ａと
接続されている。溶接電源３ａで検出された溶接電流電
圧などの実溶接条件はインタフェイスケーブル５を介し
てロボット制御装置４に伝えられる。ロボット制御装置
４には作業者がロボット本体１の動作情報等を入力する
ティーチペンダント６が接続されている。FIG. 1 is an explanatory view of an arc welding robot apparatus, in which a welding torch 2 is attached to a robot body 1.
The welding current is supplied from the welding power source 3a of the welding machine to the wire feeder 3
b to the welding torch 2. The robot controller 4 is connected to the welding power source 3a via the interface cable 5. Actual welding conditions such as welding current and voltage detected by the welding power source 3a are transmitted to the robot controller 4 via the interface cable 5. A teach pendant 6 to which an operator inputs operation information and the like of the robot body 1 is connected to the robot control device 4.
【００１４】このティーチペンダント６の表示器６ａの
表示例を図２、３、４に示す。ロボット制御装置４から
ロボット本体１の位置などの動作状態信号と実溶接条件
信号がティーチペンダント６へ伝えられる。図２は空送
中のロボットの動作状態を表す表示器６ａの表示例で、
これは従来のロボットと同じである。ここでは現在、ロ
ボット本体１の実行しているプログラムのステップ数
と、ロボット位置のＸＹＺ座標と速度を表示している。Display examples of the display 6a of the teach pendant 6 are shown in FIGS. An operation state signal such as the position of the robot body 1 and an actual welding condition signal are transmitted from the robot controller 4 to the teach pendant 6. FIG. 2 is a display example of the display 6a showing the operation state of the robot during the empty transport.
This is the same as a conventional robot. Here, the number of steps of the program currently being executed by the robot body 1 and the XYZ coordinates and the speed of the robot position are displayed.
【００１５】図３は溶接中、自動あるいは手動により図
２の表示を切り替え、実溶接条件を表す表示にしたもの
である。表示器６ａは現在のステップ数と溶接電流・溶
接電圧と速度を表示している。溶接電流電圧はデジタル
表示でリアルタイムで実溶接条件を表示している。FIG. 3 is a view in which the display of FIG. 2 is switched automatically or manually during welding to show the actual welding conditions. The display 6a displays the current number of steps, welding current, welding voltage and speed. The welding current and voltage are digitally displayed and the actual welding conditions are displayed in real time.
【００１６】図４は溶接電流と溶接電圧を棒グラフで表
示した表示器６ａで、溶接中リアルタイムに図の矢印方
向に棒の高さが変動する。FIG. 4 shows a display 6a in which the welding current and the welding voltage are displayed in a bar graph. The height of the bar fluctuates in the direction of the arrow in the figure in real time during welding.
【００１７】図５は本発明の実施例であるロボット装置
を示しており、例で、溶接電源３ａの他に検出器７を備
えている。信号はロボット制御装置４に伝えても良いが
ここでは実溶接条件を直接ティーチペンダント６につた
えている。FIG. 5 shows a robot apparatus according to an embodiment of the present invention, which is provided with a detector 7 in addition to the welding power source 3a. The signal may be transmitted to the robot controller 4, but here, the actual welding conditions are directly transmitted to the teach pendant 6.
【００１８】他の表示例として液晶のドット表示で従来
メータを表現してもよい。針の表示はリアルタイムに変
動し、溶接区間が終わったあとはこの部分にＸＹＺ座標
など他の表示も出来る。動作状態の表示器と溶接条件専
用表示器の２種類の表示器をティーチペンダントに取り
付けても良いが表示器の兼用化によりティーチペンダン
トをより小型化できる。As another display example, a conventional meter may be represented by liquid crystal dot display. The display of the needle fluctuates in real time, and other displays such as XYZ coordinates can be displayed in this portion after the welding section is over. Two types of indicators, an operating status indicator and a welding condition indicator, may be attached to the teach pendant, but the teaching pendant can be made smaller by using the indicator as a dual purpose indicator.
【００１９】[0019]
【発明の効果】以上の説明より明らかなように、本発明
によるアーク溶接ロボット装置によると、作業者はロボ
ット動作確認と同時に、その場でティーチペンダントに
より溶接条件の確認ができ、従来のように溶接条件確認
のため、溶接機へ行き来する必要が無くなり作業負担が
軽減する。また実溶接条件表示にアナログ表示を採用す
ることで、０．１ないし１０Ｈｚ毎の平均値を用いたと
きにも目視による加重平均値の推定ができ、適切に変動
する値から溶接安定性も的確に推定することができ実用
効果は非常に大なるものがある。As is apparent from the above description, according to the arc welding robot apparatus according to the present invention, the operator can confirm the robot operation and simultaneously confirm the welding conditions with the teach pendant on the spot. There is no need to go back and forth to the welding machine to check the welding conditions, reducing the work load. Also, by adopting the analog display for the actual welding condition display, the average value for every 0.1 to 10 Hz was used.
Kinimo can estimate the weighted average visual appropriately change
The welding stability can be accurately estimated from the calculated values, and the practical effect is very large.
【図１】本発明の一実施例であるアーク溶接ロボット装
置の構成図FIG. 1 is a configuration diagram of an arc welding robot apparatus according to one embodiment of the present invention.
【図２】同ティーチペンダントの表示器の説明図FIG. 2 is an explanatory diagram of a display of the teach pendant.
【図３】同表示器の実溶接条件をデジタル表示した状態
の説明図FIG. 3 is an explanatory diagram of a state in which actual welding conditions of the display are digitally displayed.
【図４】同表示器の実溶接条件をアナログ表示した状態
の説明図FIG. 4 is an explanatory view showing a state in which actual welding conditions of the display are displayed in an analog manner.
【図５】本発明の他の実施例であるアーク溶接ロボット
装置の構成図FIG. 5 is a configuration diagram of an arc welding robot apparatus according to another embodiment of the present invention.
１ ロボット本体 ４ ロボット制御装置 ３ａ 溶接電源 ６ ティーチペンダント ６ａ 表示器 DESCRIPTION OF SYMBOLS 1 Robot main body 4 Robot control device 3a Welding power supply 6 Teach pendant 6a Display
───────────────────────────────────────────────────── フロントページの続き (56)参考文献 特開 平１−154206（ＪＰ，Ａ) 特開 昭58−53374（ＪＰ，Ａ) 特開 昭59−185577（ＪＰ，Ａ) 特開 平４−359302（ＪＰ，Ａ) 特開 昭59−21473（ＪＰ，Ａ) 特開 昭61−27181（ＪＰ，Ａ) 実開 昭60−28971（ＪＰ，Ｕ) 実開 昭60−170812（ＪＰ，Ｕ) 実開 昭61−89907（ＪＰ，Ｕ) (58)調査した分野(Int.Cl.7，ＤＢ名) B23K 9/127 B23K 9/10 B23K 9/32 B25J 9/22 B25J 19/00 ──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-1-154206 (JP, A) JP-A-58-53374 (JP, A) JP-A-59-185577 (JP, A) JP-A-4- 359302 (JP, A) JP-A-59-21473 (JP, A) JP-A-61-27181 (JP, A) JP-A-60-28971 (JP, U) JP-A-60-170812 (JP, U) Shokai 61-89907 (JP, U) (58) Fields investigated (Int. Cl. 7 , DB name) B23K 9/127 B23K 9/10 B23K 9/32 B25J 9/22 B25J 19/00
Claims (1)
持ち、前記ロボットの動作情報を入力するティーチペン
ダントと、前記ロボット本体に接続したアーク溶接機と
を有し、溶接中の少なくとも溶接電流を含む実溶接条件
について０．１ないし１０Ｈｚ毎に平均値を前記ティー
チペンダントにアナログ表示する表示器を設けたアーク
溶接ロボット装置。And 1. A robot body has an operator of the robot, the teach pendant for inputting operation information of the robot, and a arc welder connected to the robot body, at least the welding current during welding Including actual welding conditions
The average value of the tee every 0.1 to 10 Hz.
Arc welding robot device equipped with a display for analog display on the chip pendant .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP05250468A JP3106802B2 (en) | 1993-10-06 | 1993-10-06 | Arc welding robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP05250468A JP3106802B2 (en) | 1993-10-06 | 1993-10-06 | Arc welding robot device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH07100649A JPH07100649A (en) | 1995-04-18 |
| JP3106802B2 true JP3106802B2 (en) | 2000-11-06 |
Family
ID=17208323
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP05250468A Expired - Fee Related JP3106802B2 (en) | 1993-10-06 | 1993-10-06 | Arc welding robot device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3106802B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005144543A (en) * | 2003-11-20 | 2005-06-09 | Yaskawa Electric Corp | Welding system |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6560513B2 (en) * | 1999-11-19 | 2003-05-06 | Fanuc Robotics North America | Robotic system with teach pendant |
| JP2003290923A (en) | 2002-04-02 | 2003-10-14 | Yaskawa Electric Corp | Arc welding equipment |
| JP4916650B2 (en) * | 2004-07-12 | 2012-04-18 | パナソニック株式会社 | Arc welding robot |
| JP4643619B2 (en) * | 2007-07-19 | 2011-03-02 | ファナック株式会社 | Robot controller |
-
1993
- 1993-10-06 JP JP05250468A patent/JP3106802B2/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005144543A (en) * | 2003-11-20 | 2005-06-09 | Yaskawa Electric Corp | Welding system |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH07100649A (en) | 1995-04-18 |
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