JPH0910939A - Welding condition setting equipment for welding robot - Google Patents

Abstract

PURPOSE: To provide a welding condition setting device for a welding robot by which the deposition is optimized and the welding quality is improved by eliminating the occurrence of the overlap and the undercut due to fluctuation of the groove shape of a work by a simple system. CONSTITUTION: A control part 5 of a welding root 1 is provided with a groove data receiving means 6, a welding condition storing means 7, and a welding condition selecting means 8. The welding condition storing means 7 stores various welding conditions corresponding to various groove data. The groove data receiving means 6 betches the groove data through the positional detection by the electrical contact of a welding wire projecting from a welding torch 2 in the voltage applying condition with the work side. The welding condition selecting means 8 selects the welding condition corresponding to the groove data fetched by the groove data receiving means 6 from the welding condition storing means 7, and gives the command.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding condition setting device for a welding robot which automatically sets the welding conditions to the optimum welding conditions according to the groove when welding the groove of a work. It is a thing.

[0002]

2. Description of the Related Art Generally, due to a machining error of a work, a groove shape such as a groove width of a groove or a root gap is often different from a teaching content and an actual work. When welding is performed under the same welding conditions, there is a possibility that overlap and undercut may occur due to variations in the groove shapes of these works.

Therefore, in order to prevent these overlaps and undercuts, a method in which the groove width is previously measured by a visual sensor as disclosed in Japanese Patent Laid-Open No. 64-22468 and welding conditions are changed accordingly. In addition, variable width weaving welding and variable width arc sensor welding, which perform welding while automatically changing the welding width by sensing during welding, were used.

[0004]

However, according to the method using the above visual sensor, it is necessary to mount a camera around the welding torch, which causes the system to be complicated and causes a small turn of the welding torch due to interference of the camera. There was a problem of being hindered.

Further, according to the variable width weaving welding and the variable width arc sensor welding, there is a problem that it is difficult to optimize the welding amount because the welding hierarchy is predetermined.

In view of the above problems, the present invention aims to improve the welding quality by eliminating the overlap and the undercut caused by the variation of the groove shape of the work by a simple system. Another object of the present invention is to provide a welding condition setting device for a welding robot.

[0007]

A first technical means for achieving the above-mentioned object is a welding robot for executing welding of a groove on the basis of welding conditions instructed by the control part. , Welding condition storage means for storing various welding conditions corresponding to various groove data, and groove data by position detection by electrical contact detection between the welding wire and the work side of the voltage application state protruding from the welding torch. And a welding condition selecting unit for selecting a welding condition corresponding to the groove data taken in the groove data taking unit from the welding condition storing unit and instructing the welding condition. In point.

A second technical means for achieving the above object is a welding robot which executes welding of a groove on the basis of welding conditions instructed by a control unit, and a welding torch is provided to the control unit. A groove data capturing means for capturing groove data by position detection by detecting electrical contact between the welding wire in a projecting voltage application state and the work side, and groove data captured by the groove data capturing means. And a welding condition calculating means for calculating and instructing welding conditions based on the welding conditions.

Further, a third technical means for achieving the above-mentioned object is a groove for inputting groove data in a welding robot which executes welding of a groove based on welding conditions instructed by a controller. A welding condition storage means for storing various welding conditions respectively corresponding to various groove data, and a welding condition corresponding to the groove data input to the groove data input means are provided in the control unit. A welding condition selecting means for selecting and instructing from the welding condition storing means is provided.

Still further, a fourth technical means for achieving the above object is a welding robot that performs welding of a groove based on welding conditions instructed by a control unit, and inputs a groove data. It is provided with a tip data inputting means, and the control section is provided with a welding condition calculating means for calculating and instructing a welding condition based on the groove data inputted to the groove data inputting means.

[0011]

According to the first aspect of the invention, the amplitude, height, pitch, welding current corresponding to various groove data such as groove width, groove angle, root gap and groove height of the work to be welded,
Various optimum welding conditions such as welding voltage and welding speed are obtained from the test piece, and these pieces of information are stored in the welding condition storage means.

When welding the groove portion of the work, firstly, the groove data is taken in by the groove data taking means. Based on the groove data captured by this groove data capturing means, the welding condition selecting means selects the corresponding optimum welding condition from the various welding conditions stored in the welding condition storing means. Then, the selected welding condition is instructed, and the welding robot executes welding of the groove based on the instructed welding condition.

Here, since the optimum welding conditions according to the groove shape of the work are automatically selected and the welding is executed,
It is possible to effectively prevent the occurrence of overlap and undercut due to variations in the groove shape of the work, optimize the amount of welding in the groove portion, and improve the welding quality.

Further, when the groove data is taken in, a welding wire is used as a sensor, and the system is simple.

Further, according to the second aspect of the invention, the welding condition calculating means calculates the welding condition by using various groove data such as groove width, groove angle, root gap, groove height of the work as parameters. Is built in.

When welding the groove portion of the work, the groove data is first captured by the groove data capturing means. Based on the groove data taken in by the groove data taking-in means, the welding condition calculating means calculates and issues the corresponding optimum welding condition. Then, the welding robot executes welding of the groove based on the instructed welding condition.

Here, since the optimum welding conditions according to the groove shape of the work are automatically calculated and the welding is executed,
It is possible to effectively prevent the occurrence of overlap and undercut due to variations in the groove shape of the work, optimize the amount of welding in the groove portion, and improve the welding quality.

Further, when the groove data is taken in, the welding wire is used as a sensor, and the system is simple.

Further, according to the third aspect of the invention, the amplitude, height, pitch and welding current corresponding to various groove data such as groove width, groove angle, root gap, groove height of the workpiece to be welded, respectively. Various optimum welding conditions such as welding voltage, welding speed, etc. are obtained from the test piece, and these pieces of information are stored in the welding condition storage means.

When welding the groove portion of the work, the groove data of the work is input by the groove data input means. Based on the groove data input by this groove data input means, the welding condition selection means selects the corresponding optimum welding condition from the various welding conditions stored in the welding condition storage means. Then, the selected welding condition is instructed, and the welding robot executes welding of the groove based on the instructed welding condition.

Here, since the optimum welding conditions corresponding to the groove shape of the work are automatically selected and welding is executed,
It is possible to effectively prevent the occurrence of overlap and undercut due to variations in the groove shape of the work, optimize the amount of welding in the groove portion, and improve the welding quality.

Further, since the groove data is directly input, the system is simple.

Furthermore, according to the fourth aspect of the invention, the welding condition calculating means calculates the welding condition by using various groove data such as groove width, groove angle, root gap, groove height of the work as parameters. The algorithm is built in.

When welding the groove portion of the work, the groove data of the work is input by the groove data input means. Based on the groove data input by the groove data inputting means, the welding condition calculating means calculates and issues a corresponding optimum welding condition. Then, the welding robot executes welding of the groove based on the instructed welding condition.

Here, since the optimum welding conditions according to the groove shape of the work are automatically calculated and the welding is executed,
It is possible to effectively prevent the occurrence of overlap and undercut due to variations in the groove shape of the work, optimize the amount of welding in the groove portion, and improve the welding quality.

Further, since the groove data is directly input, the system is simple.

[0027]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic view of a welding robot 1 for performing arc welding according to the present invention, in which a welding torch 2 has three-dimensional coordinates. It is a playback robot whose movement can be controlled above. Then, the welding torch 2 is controlled so as to move along the welding line during playback in accordance with the content of the teaching. The welding robot 1 also has a weaving function of weaving the welding torch 2.

The welding torch 2 is provided with a welding wire 3 which is a filler material and also serves as a welding electrode, and is arranged so as to be inserted through the welding torch 2 so that it is sequentially fed from a wire reel (not shown). .

Further, a sensing power source and a welding power source are switchably connected to the welding wire 3 to detect electrical contact (short-circuit current) with the work side in a voltage applied state of the sensing power source. Thus, the position information is detected by the position detecting means, and it has a function as a so-called touch sensor.

The control unit 5 for controlling the welding robot 1 is C
It has a PU, a memory, etc., and is provided with a groove data capturing means 6, a welding condition storing means 7, and a welding condition selecting means 8.

The groove data acquisition means 6 uses the position information obtained by using the function of the touch sensor by the welding wire 3 to calculate the groove width, groove angle, route gap of the groove portion of the workpiece to be welded, It is configured to capture various groove data such as groove height.

The welding condition storage means 7 has an amplitude, a height, a pitch corresponding to various groove data such as a groove width, a groove angle, a root gap, and a groove height of a work to be welded.
Obtain various optimum welding conditions such as welding current, welding voltage, welding speed, number of welding passes, position shift amount for each welding pass, etc. with test pieces, and obtain information on these obtained optimum welding conditions.
Various groove data and various welding conditions are stored in a state of being associated with each other.

The welding condition selecting means 8 selects a corresponding optimum welding condition from the various welding conditions stored in the welding condition storing means on the basis of the groove data captured by the groove data capturing means 6. Then, the selected welding condition is commanded.

The welding robot 1 is shown in FIGS.
Etc., the data input means 11 for inputting various kinds of the groove 12 of the workpiece 10 to be welded is provided.
For example, FIG. 2 shows a downward fillet, FIG. 3 shows a rectangular groove, and FIG. 4 shows a horizontal fillet.

The embodiment of the present invention is configured as described above. For example, the case where the groove 12 of the workpiece 10 to be welded shown in FIGS. 5 to 7 is a downward fillet will be described.

In this case, only the groove width P may be different, and other groove data such as the groove angle, the root gap, and the groove height are constant, and there is no possibility of change under a predetermined condition. The groove 12 is welded.

Then, as shown in FIG. 5, the optimum welding condition bank number corresponding to the groove width P is stored in the welding condition table of the downward fillet of the welding condition storage means 7 under the predetermined condition. Each bank number stores various welding conditions such as the number of welding passes and the position shift amount, amplitude, height, pitch, welding current, and welding speed corresponding to each welding pass.

Then, the data input means 11 is used for the groove 1
After inputting the two types, the welding wire 3 of the welding robot 1
By means of the touch sensor, the groove data acquisition means 6
The groove data of the workpiece 10 to be welded is taken in (step S1).

The welding condition selecting means 8 judges whether the groove width P of the fetched groove data is larger or smaller than 20 mm (step S2). Bank 01 is selected and a command corresponding to the welding condition is issued (step S3).

Further, in step S2, the groove width P is 2
If it is larger than 0 mm, the process proceeds to step S4, where 22
Whether it is larger or smaller than mm is judged, and if smaller, the welding condition bank 99 is selected from the welding condition storage means 7 and a command corresponding to the welding condition is issued (step S5).

Further, if the groove width P is larger than 22 mm in step S4, the process proceeds to step S6 and 2
It is judged whether it is larger or smaller than 4 mm, and if smaller than 4 mm, the welding condition bank 03 is selected from the welding condition storage means 7 and a command corresponding to the welding condition is issued (step S7).

The same determination is made thereafter, and step S14
Is determined whether the groove width P is larger or smaller than 32 mm,
If it is small, the welding condition bank 2 from the welding condition storage means 7
1 is selected and a command corresponding to the welding condition is issued (step S15).

If there is a command from the welding condition selection means 8 according to the welding condition (steps S3, 5, 7, 9,
11, 13, 15), the workpiece 10 according to the welding conditions.
The welding of the groove 12 is executed (step S16).

Further, in step S14, the groove width P
Is larger than 32 mm, it is determined that welding is impossible, and the welding operation for the work 10 by the welding robot 1 is stopped as an error (step S17).

Here, the groove width P of the groove 12 of the work 10
Since the optimum welding conditions according to the above are automatically selected and welding is performed, it is possible to effectively prevent the occurrence of overlap and undercut due to variations in the shape of the groove 12 of the work 10, and also to obtain a desired welding hierarchy. It can be set and the amount of welding can be optimized. Therefore, there is an advantage that the welding quality is improved. Further, since the welding wire 3 is used as a touch sensor when the groove data is taken in, there is an advantage that the system becomes simple.

8 to 10 show an embodiment of the second invention. The same components as those of the embodiment of the first invention are designated by the same reference numerals and the description thereof will be omitted.

In the welding robot 1 of this embodiment, the controller 5 is provided with the welding condition calculation means 15. The welding condition calculation means 15 includes a groove width, a groove angle,
Using various groove data such as route gap and groove height as parameters, the number of welding passes, the amount of position shift for each welding pass,
A calculation algorithm that calculates the optimum welding conditions such as amplitude, height, pitch, welding current, welding voltage, welding speed, etc. is incorporated, and it is optimal based on the groove data captured by the groove data capturing means 6. It is configured so that various welding conditions are automatically calculated and calculated, and a command is given.

That is, the data input means 11 causes the groove 12
When the groove data of the groove 12 portion of the workpiece 10 to be welded is fetched by the groove data fetching means 6 (step S21), based on the groove data fetched by the welding condition calculating means 15. The optimum welding conditions are calculated and the calculated welding conditions are commanded (step S22).

Then, the welding robot 1 welds the groove 12 based on the instructed welding conditions (step S).
23).

Since the optimum welding conditions according to the shape of the groove 12 of the work 10 are automatically calculated and welding is performed here, overlap or undercut due to variations in the shape of the groove 12 of the work 10 is performed. The generation can be effectively prevented, the welding hierarchy can be set as desired, and the amount of welding can be optimized. Therefore, there is an advantage that the welding quality is improved.
Further, since the welding wire 3 is used as a touch sensor when the groove data is taken in, there is an advantage that the system becomes simple.

For example, as shown in FIG. 11, an example of a calculation algorithm in the case where welding is performed on the portion of the rectangular groove 12 in the form of extra heap will be described.

In this case, the welding current and welding voltage for each welding pass are preset by the data input means 11 in accordance with the diameter of the welding wire 3 to be used. Further, in FIG. 11, S1 is the cross-sectional area of the filling layer, S2 is the cross-sectional area of the finishing layer, and the sum of these is the welding cross-sectional area S. At this time, the height H of the cross-sectional area S2 of the finishing layer and the plate upper surface length W are substantially determined by the plate thickness D to be welded, and the height H and the plate upper surface length W corresponding to the plate thickness D are input in advance. It is set.

Then, the groove 1 is formed by the data input means 11.
Two types are input, and the groove data capturing means 6 uses the touch sensor function of the welding wire 3 to perform sensing to points A1 to A12 as shown in FIG. 12 and as shown in FIG. The points A21 to A24 are sensed, and the points A2, A6 obtained by the sensing are
The groove width P, the plate thickness D, and the groove data of the root gap G are obtained from the position information of A7, A9, A11, and A12, and the groove data is obtained from the position information of the points A22 and A24 and the position information. , Groove data of the height d of the inclined portion is obtained and fetched (step S21).

Next, based on the groove data taken in,
Optimal welding conditions are calculated by the welding condition calculation means 15 (step S22).

In this welding condition calculation, as shown in FIG. 14, the filling layer cross-sectional area S1 and the finishing layer cross-sectional area S2 are first obtained (step S22a).

That is, the groove width P = G + d · tan θ, and the filling layer cross-sectional area S1 and the finishing layer cross-sectional area S2 are expressed by the following equations.

Filled layer cross-sectional area S1 = G · D + 1/2 · d ² · tan θ Finished layer cross-sectional area S2 = H / 2 (G + d · tan θ +
W) Then, the filling layer cross-sectional area S1 and the finishing layer cross-sectional area S2 are calculated by substituting the groove data into these arithmetic expressions.

Next, in step S22b, a multi-layer laminated pattern is obtained. In this case, at the packed bed position, an integer rounded-up value of the value obtained by dividing the packed bed cross-sectional area S1 by the ideal cross-sectional area per pass (for example, 45 mm ² ) is obtained by an arithmetic expression, and this value is calculated as the welding pass at the packed bed position. As shown in FIG. 15, the stacking pattern for each pass is sequentially obtained according to the number of welding passes. At this time, when the width L exceeds a predetermined value (for example, 20 mm), the number of passes per layer is divided into two passes and three passes in sequence.

Similarly, at the finishing layer position, an integer rounded-up value of the value obtained by dividing the finishing layer cross-sectional area S2 by the ideal cross-sectional area per pass is obtained by an arithmetic expression, and this value is calculated as the number of welding passes at the finishing layer position. Then, the number of passes is determined according to the width, and the laminated pattern is obtained.

Next, in step S22c, the input welding current, welding voltage, etc. are fetched according to each welding pass, and the welding conditions such as the amplitude, welding speed, and Nerai position of each welding pass are obtained. To be

Then, the process proceeds to step S22d, and the obtained welding conditions are expanded into teaching information and commanded.

Next, the welding robot 1 executes welding of the groove 12 based on the instructed welding condition (step S2).
3) The desired welding is performed.

The groove width, groove angle, root gap,
In the groove data such as the groove height, if there is information that is always constant or hardly fluctuates depending on the type of the workpiece 10 to be welded, those groove data may be input in advance and the groove data that may fluctuate. It is also possible to adopt a method in which only the groove data capturing means 6 detects and captures each workpiece 10 to be welded and performs welding. Alternatively, a method may be adopted in which the factors that fluctuate are narrowed down to one type, and only those factors are detected and captured by the groove data capture means 6 for each workpiece 10 to be welded. In these cases, the welding condition calculation means 15
The calculation processing time can be shortened.

FIGS. 16 to 18 show an embodiment of the third invention. The same components as those of the embodiment of the first invention are designated by the same reference numerals and the description thereof will be omitted.

In the welding robot 1 of this embodiment, the control unit 5 includes the welding condition storage means 7 and the welding condition selection means 8.
Is provided, the type of groove 12, the groove width, the groove angle,
A groove data input means 17 including a remote controller and an external switch for manually inputting groove data such as route gap and groove height is provided.

Therefore, when the groove data of the work 10 to be welded, which is obtained by measurement at the time of tacking or the like, is input by the groove data input means 17 (step S31), the welding condition selection means 8 causes the welding condition to be met. From the various welding conditions stored in the storage means 7, the corresponding optimum welding condition is selected and instructed (step S32). Then, the welding robot 1 executes welding based on the instructed welding condition (step S33).

Since the optimum welding conditions corresponding to the shape of the groove 12 of the work 10 are automatically selected and welding is performed, the overlap and the undercut due to the variation of the shape of the groove 12 of the work 10 are eliminated. The generation can be effectively prevented, the welding hierarchy can be set as desired, the amount of welding can be optimized, and the welding quality is improved. In addition, it is a method of directly inputting the groove data, and the system is simple.
Narrow groove 12 as shown in FIG.
However, there is an advantage that it can be handled well.

FIGS. 19 and 20 show an embodiment of the fourth invention, in which the same components as those of the second and third inventions are designated by the same reference numerals and the description thereof is omitted.

In the welding robot 1 of this embodiment, the control unit 5 is provided with the welding condition calculation means 15 and the groove data input means 17 for external input.

Therefore, when the groove data of the workpiece 10 to be welded is input by the groove data input means 17 (step S41), the welding condition calculation means 15 determines the optimum welding conditions based on the input groove data. It is calculated and given an instruction (step S42). Then, the welding robot 1 executes welding based on the instructed welding condition (step S43).

Since the optimum welding conditions according to the shape of the groove 12 of the work 10 are automatically calculated and welding is performed here, the overlap and the undercut due to the variation of the shape of the groove 12 of the work 10 are eliminated. The generation can be effectively prevented, the welding hierarchy can be set as desired, the amount of welding can be optimized, and the welding quality is improved. In addition, since the groove data is directly input, the system is simple, and there is an advantage that even a narrow groove 12 in which the sensor cannot enter is favorably dealt with.

[0072]

As described above, according to the welding condition setting device in the welding robot according to the first invention and the second invention, the optimum welding condition according to the groove shape of the work is automatically selected or calculated. Since the welding can be performed by the welding, it is possible to effectively prevent the overlap and the undercut due to the variation of the groove shape of the work, and it is possible to optimize the welding amount and improve the welding quality. Further, when the groove data is taken in, the welding wire is used as a sensor, and there is an advantage that the system is simple.

Further, according to the welding condition setting device in the welding robot according to the third invention and the fourth invention, the optimum welding condition according to the groove shape of the work is automatically selected or calculated and the welding can be executed. Therefore, it is possible to effectively prevent the occurrence of overlap and undercut due to the variation of the groove shape of the work, and it is possible to optimize the welding amount and improve the welding quality. In addition, since the groove data is directly input, the system is simple and there is an advantage that even a narrow groove where a sensor cannot enter is favorably dealt with.

[Brief description of the drawings]

FIG. 1 is a block diagram of a welding robot according to an embodiment of the first invention.

FIG. 2 is an explanatory diagram showing an example of a groove of a work.

FIG. 3 is an explanatory view showing an example of a groove of a work.

FIG. 4 is an explanatory view showing an example of a groove of a work.

FIG. 5 is a diagram of a welding condition table showing a relationship between a groove width and welding conditions.

FIG. 6 is an explanatory diagram of sensing of a groove portion of a work.

FIG. 7 is a flowchart showing a process in the embodiment of the first invention.

FIG. 8 is a block diagram of a welding robot according to an embodiment of the second invention.

FIG. 9 is an explanatory diagram of sensing of a groove portion of a work.

FIG. 10 is a flowchart showing a process in the embodiment of the second invention.

FIG. 11 is an explanatory view showing an example of groove welding according to an example of the second invention.

FIG. 12 is an explanatory diagram showing the same sensing example.

FIG. 13 is an explanatory diagram showing the same sensing example.

FIG. 14 is a flowchart showing processing of the same welding condition calculation.

FIG. 15 is an explanatory diagram of the same laminated pattern.

FIG. 16 is a block diagram of a welding robot according to an embodiment of the third invention.

FIG. 17 is an explanatory diagram showing an example of a groove portion of a work.

FIG. 18 is a flowchart showing a process in the embodiment of the third invention.

FIG. 19 is a block diagram of a welding robot according to an embodiment of the fourth invention.

FIG. 20 is a flowchart showing a process in the embodiment of the fourth invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Welding robot 2 Welding torch 3 Welding wire 5 Control part 6 Groove data importing means 7 Welding condition storing means 8 Welding condition selecting means 10 Workpiece 11 Data inputting means 12 Groove 15 Welding condition calculating means 17 Groove data inputting means

Claims (4)

[Claims] 1. A welding robot that performs welding of a groove based on welding conditions instructed by a control unit, wherein the control unit stores various welding conditions corresponding to various groove data. And a groove data capturing means for capturing groove data by position detection by detecting electrical contact between the welding wire protruding from the welding torch and the work side and the work side, and the groove data capturing means. A welding condition setting device in a welding robot, comprising: welding condition selecting means for selecting and instructing welding conditions corresponding to the groove data from the welding condition storing means. 2. A welding robot that performs welding of a groove based on welding conditions instructed by a control unit, wherein the control unit electrically connects a welding wire with a voltage applied from a welding torch and a work side. Groove data capturing means for capturing groove data by position detection by various contact detections, and welding condition calculating means for calculating and instructing welding conditions based on the groove data captured by the groove data capturing means A welding condition setting device for a welding robot provided with. 3. A welding robot for welding a groove on the basis of welding conditions instructed by a control unit, comprising groove data input means for inputting groove data, and the control unit having various groove data. Welding condition storing means for storing various welding conditions respectively corresponding to, and welding condition selecting means for selecting and instructing welding conditions corresponding to the groove data input to the groove data inputting means from the welding condition storing means. A welding condition setting device for a welding robot, which is provided with. 4. A welding robot that performs welding of a groove based on welding conditions instructed by a control unit, comprises groove data input means for inputting groove data, and the control unit inputs groove data. A welding condition setting device in a welding robot, comprising: welding condition calculation means for calculating and instructing welding conditions based on groove data input to the means.