JPH07100649A - Arc welding robot equipment - Google Patents

Abstract

(57) [Summary] [Purpose] The purpose is to be able to confirm the welding conditions on-the-spot during robot motion teaching confirmation, and also to visually estimate the welding stability from the weighted average reading and fluctuation range. And [Configuration] Welding current and welding voltage during welding are displayed in real time on the teach pendant, and this display is displayed in analog rather than digital form. [Effect] All operations can be confirmed with the teach pendant, which reduces the work load.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an arc welding robot apparatus in which a teaching playback robot and an arc welding machine such as CO ₂ welding or TIG welding are combined.

[0002]

2. Description of the Related Art In recent years, an arc welding robot apparatus equipped with an arc welding torch has been put into practical use as an end effector of a teaching playback robot, and has been effective in automation of welding. As an interface of these arc welding robot devices, welding conditions such as welding current voltage and welding start / stop signal from the robot to the welding machine are turned ON / OFF to indicate whether the 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 rarely a welding current / welding voltage signal for position control by an arc sensor are transmitted and received.

On the other hand, the man-machine interface of the teaching playback robot is the teach pendant L.
From a combination type of a small display such as ED and a large CRT display of a control device to a centralized type in which a medium size display such as a liquid crystal is attached to a teach pendant in recent years, a teaching place and control of a worker during teaching work are adopted. There is a tendency to reduce the reciprocating movement of the device and make it easier to use.

[0004]

However, in this arc welding robot apparatus, an operator holding a teach pendant and standing near the robot can confirm and correct the robot operation on the spot, but the welding current voltage leaves the spot, I had to travel to the welder and look at the ammeter / voltmeter. Due to this inconvenience, sometimes the ammeter / voltmeter was removed from the welding machine and installed at the teaching location.

The method of reading the welding conditions by the operator from the current / voltmeter will be described below. If 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 consumable electrode welding, a current value that changes from 0.1 to 10 Hz depending on various conditions, such as a change of several hundred amperes during short circuit and several tens of amperage during arc and about 100 Hz, and arc stability due to the difference in short circuit state, is superimposed. However, there is no steady value. Conventional ammeters and voltmeters do not follow changes of about 100 Hz, but mechanically average them to 0.1 to 10 Hz.
The degree of change is read by the operator visually performing time-weighted average processing. Furthermore, the worker is 0.1 to 10H
The quality of the welding conditions is also judged from the width of change in the current that fluctuates with about z.

With the spread of robots, there is a demand for robots that are less burdensome for workers and are easy to use. The present invention provides an arc welding robot system that is easier to use by devising a worker having a teach pendant while standing in the vicinity of the robot to confirm the operation teaching of the robot and see the actual welding conditions such as welding current voltage on the spot. Is what you are trying to do. The actual welding condition is not a teaching command welding condition but a real-time condition such as a welding current voltage that is fluctuating due to changes in various conditions such as a change in a short circuit state.

Further, a man-machine interface is provided in which a worker can visually read a weighted average of changes in welding conditions of about 0.1 to 10 Hz and, on the spot, can judge whether the welding conditions are good or bad from the change width along with confirming the operation instruction. Is what you are trying to do.

[0008]

In order to achieve the above object, the arc welding robot apparatus of the present invention is provided with display means for displaying actual welding conditions on a teach pendant for inputting operation information of the robot body. Is.

The display means is an analog display.

[0010]

By displaying the actual welding conditions on the teach pendant in this way, the operator holding the teach pendant confirms the operation teaching of the robot body and then confirms the welding teaching. At this time, the welding teaching contents can be corrected and the actual welding conditions can be immediately confirmed.

When the actual welding condition is not steady like CO ₂ welding, if the average value is digitally displayed every 0.5 seconds, for example, the above-mentioned fluctuation of 0.1 to 10 Hz causes, for example, a digital value of “120 A”. , "210A", "160
Different values are displayed one after another, and the average value cannot be easily known. If a longer time average is taken, the variation range disappears and it becomes impossible to know the welding stability. If this is displayed as an analog display of a "meta needle" or a "bar graph", the operator can visually recognize the weighted average value and the change width as in the case of the meter of the conventional welding machine.

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to the drawings.

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
It is supplied to the welding torch 2 through b. The robot controller 4 is connected to the welding power source 3a via an interface cable 5. The actual welding conditions such as the welding current voltage detected by the welding power source 3a are transmitted to the robot controller 4 via the interface cable 5. A teach pendant 6 is connected to the robot controller 4 so that an operator can input operation information of the robot body 1.

Display examples of the display 6a of the teach pendant 6 are shown in FIGS. From the robot controller 4, an operation state signal such as the position of the robot body 1 and an actual welding condition signal are transmitted to the teach pendant 6. FIG. 2 is a display example of the display unit 6a showing the operation state of the robot during idling.
This is the same as a conventional robot. Here, the number of steps of the program currently executed by the robot body 1, the XYZ coordinates of the robot position, and the speed are displayed.

FIG. 3 is a view showing the actual welding conditions by switching the display of FIG. 2 automatically or manually during welding. The display 6a displays the current step number, welding current / welding voltage, and speed. The welding current and voltage are displayed digitally and the actual welding conditions are displayed in real time.

FIG. 4 shows an indicator 6a displaying a welding current and a welding voltage in a bar graph, and the height of the bar fluctuates in real time during welding in the direction of the arrow in the figure.

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. Although the signal may be transmitted to the robot controller 4, the actual welding conditions are directly given to the teach pendant 6 here.

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 after the welding section is finished, other display such as XYZ coordinates can be displayed at this portion. 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 dual indicator.

[0019]

As is apparent from the above description, according to the arc welding robot apparatus of the present invention, the operator can confirm the robot operation and at the same time confirm the welding conditions on the spot by the teach pendant. There is no need to go back and forth to the welding machine to check the welding conditions, and the work load is reduced. Also, by adopting an analog display for the actual welding condition display, the weighted average value can be visually estimated, and the welding stability can also be estimated from the variation value, which has a great practical effect.

[Brief description of drawings]

FIG. 1 is a configuration diagram of an arc welding robot apparatus that is an embodiment of the present invention.

FIG. 2 is an explanatory diagram of a display device of the teach pendant.

FIG. 3 is an explanatory view of a state in which actual welding conditions of the display are digitally displayed.

FIG. 4 is an explanatory view of a state in which the actual welding conditions of the display are displayed in analog form.

FIG. 5 is a configuration diagram of an arc welding robot apparatus which is another embodiment of the present invention.

[Explanation of symbols]

 1 Robot body 4 Robot controller 3a Welding power source 6 Teach pendant 6a Display

Claims (2)

[Claims] 1. A robot main body, a teach pendant for inputting operation information of the robot main body, and an arc welder connected to the robot main body, and actual welding including at least a welding current during welding to the teach pendant. An arc welding robot equipped with a display for displaying conditions. 2. The arc welding robot apparatus according to claim 1, wherein at least one actual welding condition during welding is analogically displayed on the teach pendant.