KR930004992B1 - Welding system for oddity detection - Google Patents

Abstract

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Description

Abnormal treatment method in welding system

1 is a flowchart for explaining an abnormal treatment method in a welding system according to a first embodiment of the present invention.

2 is a flowchart art for explaining the abnormality treatment method in the welding system according to the second embodiment of the present invention.

3 is a flowchart art for explaining an abnormality treatment method in the welding system according to the third embodiment of the present invention.

4 is a schematic diagram illustrating a welding system to which the method of the present invention is applied.

5 is a selection example of at least one kind of at least one kind of at least two kinds.

The present invention relates to an abnormality treatment method when an abnormality occurs in an arc welding robot during an automatic welding operation operation of a welding system in which a workpiece is welded by a memory-regenerated arc welding robot.

In the welding system that allows welding work by the memory-regenerated arc welding robot (hereinafter referred to as arc welding robot) on the workpiece, when the arc welding robot has an abnormality, no matter what is wrong, Irrespective of the cost, the arc welding robot is usually stopped immediately.

In addition, when welding a large workpiece, a welding system in which a plurality of arc welding robots are arranged to perform a series of welding operations by arranging a plurality of arc welding robots and assigning a welding operation to each other is used. In such a welding system, abnormal processing is performed so that all arc welding robots stop immediately when an abnormality occurs in the robot body of the arc welding robot or its positioner during the automatic welding operation.

However, in the conventional welding system, the abnormal treatment method was excellent in terms of securing safety and preventing damage to the arc welding robot itself, but the arc welding robot was to be stopped immediately. There is no problem in cost welding such as, but during welding, craters or cracks occur at the welding stop. Therefore, before resuming the automatic welding operation performed after removing the cause of the abnormality, repair the welding stop point by using a grinder, etc., or restart the automatic welding operation operation to finish the remaining welding, and then remove the seam of the welding bead. There was a need for grooming, and this took a lot of time.

Therefore, if you look at the abnormality that occurs in the arc welding robot, ① arc problem that the arc becomes unstable, ② nozzle error contacting the nozzle, ③ gas shortage of the shield gas, ④ wire lacking wire, ⑤ robot body There is a serious abnormality in relation to, and it is extremely inadequate to stop the robe and to do much of the above mentioned work in the event of any one of these various abnormalities.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object of the present invention is to provide an abnormal treatment method in a welding system in which an arc welding robot can resume a welding operation without a welding bead welding for a relatively light abnormality. do.

In order to achieve the above object, in the welding system of the first invention, the abnormality treatment method directly stops the arc welding robot in the first welding mode and the cost welding while stopping the arc welding robot in response to the occurrence of the abnormality. In the middle of the welding, the second abnormal mode in which the welding operation is performed to the welding end point previously taught and stops is set, and the first abnormal mode or the second abnormal mode is set depending on the type of the abnormal accident occurring in the arc welding robot. Any one of them is selected in advance.

According to the first invention, when an abnormality occurs in the arc welding robot during automatic welding, the first abnormal mode is selected and the robot is selected when the abnormal state is the first type of abnormal state (including a part of the medium and the hardness). Stop immediately. When the type of abnormality that occurs is the second type of abnormality (hardness not included in the first type of abnormality), the second abnormality mode is selected, and the robot stops immediately when the cost is received. When welding, the welding is stopped after the welding operation to the pre-taught welding end point of the welding line.

In addition, about the abnormality of another robot, any of a 1st type abnormality can be set to both medium abnormality and light abnormality.

The welding system to which the first invention is applied may be welded to a workpiece by a plurality of arc welding robots. The arc welding robot, which has an abnormality, stops immediately by selecting the first abnormal mode, while the other arc welding robot selects the second abnormal mode and stops immediately when it is in non-welding. Abnormal treatment can be made to stop after welding operation to the welding end point.

In addition, in the welding system of the second invention, the fault treatment method is a welding system for welding a workpiece by a plurality of arc welding robots, and a first abnormal mode and cost for immediately stopping other arc welding robots as an abnormality occurs. The plurality of memory / regeneration arc welding robots stop the second abnormal mode in which the other arc welding robot is stopped immediately while the other welding robot is being welded, and the second abnormal mode of stopping the welding after the welding to the pre-instructed end point of the welding line is completed. Is set in advance, and the arc welding robot in which an abnormality occurs is immediately stopped, and the remaining arc welding robot is selected either from the first abnormal mode or the second abnormal mode according to the above types. do.

According to the second invention, the arc welding robot in which an abnormality occurs is immediately stopped, while for the remaining arc welding robot, when the abnormal state is the first type of abnormality, the first abnormal mode is selected and other lots are also immediately stopped. When the above kind is the second type of abnormal state, the second abnormal mode is selected and the non-welding robot among other robots is stopped immediately, and the robot under welding is stopped after welding operation to the pre-instructed welding end point of the welding line. .

EMBODIMENT OF THE INVENTION Hereinafter, the 1st-3rd Example of the abnormality treatment system in the welding system of this invention is demonstrated with reference to drawings.

First, the configuration of the welding system to which the method of the present invention is applied will be described with reference to FIG.

As shown in FIG. 4, this welding system has two arc welding robots, that is, a first arc welding robot 1 and a second arc welding robot 2, each of which is assigned a welding operation. The arc welding robots 1 and 2 perform a series of welding operations on the workpiece 3.

The arc welding robots 1 and 2 are configured in the same manner, and in FIG. 4, reference numeral 11 denotes a robot control device connected to the robots 1 and 2, respectively. Slider (robot moving device) 16 which mounts and moves the articulated robot body 12, welding power source 13, teaching box 14, abnormal state display device 15, and robot body 12 therein. And the positioner 17 for fixing and positioning the workpiece 3 are connected via a control cable or the like, and the robot controllers 11 and 11 of the robots 1 and 2 also control a pair or a plurality of pairs. It is connected by a cable.

Each robot controller 11 is composed of a central processing unit 11a having a CPU, a memory, and the like, a device controller 11b, and an input / output unit 11c. The machine control unit 11b drives the robot body 12, the slider 16, the servo motor of the positioner 17, and the like, so that the torch mounted on the robot body 12 and the workpiece 3 are relative to each other. Position control to control the output of the welding power source (13). The device control unit 11b is controlled in accordance with commands from the teaching box 14 or an unshown operation switch installed in the robot control unit 11 during teaching, and during automatic welding operation. Controlled by instructions from the central processing unit 11a. In addition, the device control unit 11b detects the occurrence of a predetermined abnormality of the contents related to the robot body 12, the slider 16, the welding power source 13, and the like, and outputs it to the central processing unit 11a. Has the ability to

11e, 11f, and 11d are parts related to the present invention, and 11e is a setter for distinguishing the first type and the second type or more of the mild abnormalities, and 11f determines whether the first type or the second or more serious among the mild abnormalities is any. The judging unit 11d is a memory for storing contents distinguishing the first type or more and the second type or more input from the setter 11e.

In addition, these configurations may use the teaching box used by the setter 11e for operation, the determiner 11f may be combined as a function of the central processing unit, or the memory 11d may be the central processing unit 11a. It may also be useful to have a portion of memory in it.

Furthermore, the selection can be carried out in the memory of the ROM type in the central processing unit 11a, which is made at the time of manufacture, and the setter 11e and the like can be omitted, which is advantageous in terms of cost. In addition, an abnormal signal input from the outside, for example, gas disconnection or DCP disconnection, may be selected depending on which terminal the power is distributed to.

The central processing unit 11a executes a predetermined program in which the teaching work contents are input, and thereby controls the machine control unit 11b and the like for automatic welding. In addition, each abnormal state processing method which concerns on this invention mentioned later is also performed according to the program input to this CPU 11a. In addition, in the central processing unit 11a, the occurrence of a predetermined abnormality is detected such that the CPU is not normally operated, and the abnormal state and the device control unit 11b occurring in the central processing unit 11a are detected. If the abnormality related to the robot body 12 or the slider 16 detected by the above) is a heavy abnormality in which the next automatic welding operation cannot be continued and an abnormality occurs other than this, the automatic welding after the predetermined work is processed. It is to be classified as an abnormality (hereinafter referred to as an abnormality) where the operation operation can be continued.

Herein, for example, the abnormality is a limit of movement of the slider 16 when the arc welding welding robot control program is not normally operated, when the axis of the robot main body 12 is overloaded, or during the automatic welding operation. When the limit switch is operated, the arc welding robot drive motor occurs in a state exceeding the specified value, etc. After this abnormality occurs, subsequent automatic welding operation operations cannot be continued, and after removing the cause, the automatic welding operation operation is eliminated. That's more than just teaching again.

In addition, light abnormality (relatively light abnormality) is caused when the welding wire and the work piece 3 melt, or when there is a lack of shield gas, or when there is a lack of wire. It is more than possible to continue the next automatic welding operation by removing.

In each of the embodiments of the present invention, the abnormality that the robot must be stopped on the spot as part of the above abnormality and the minor abnormality is defined as the first type of abnormality, and included in the first type of abnormality. Unusual abnormality is defined as the second kind of abnormality. Naturally, all abnormalities are defined as abnormalities of the first kind.

In addition, the middle or higher of another robot sets in advance any one of a 1st type or a 2nd type. More specifically, there is a large number of detection errors, such as when a wire shortage is detected by the technique disclosed in Japanese Patent Application Laid-Open No. 59-149861, and when a wire shortage occurs, the wire is not completely lost, but remains to some extent, and welding is continued for a while. When the abnormality in the state which can be done or the lack of the shielded gas of the welding is detected by the original pressure rather than the flow rate, and the abnormality that the welding can be continued for a while after the detection of the gas shortage, or when the other robot abnormality occurs Etc., the second kind of abnormality, and the user's judgment can be set to the second kind of abnormality similar to this, for example, when a serious abnormality of another robot occurs.

Further, the setting of the first kind or second kind of light abnormality is inputted by the setting device 11e or the like and stored in the memory 11d at the user's discretion, and when the light abnormality is the first kind. The second seed factor is exchanged between the central processing unit 11a and the determiner 11e to make a decision. As described above, in 11e, 11d, and 11f, various combinations, usefulness, and omissions can be considered, but in this case, a substantial part plays the same role.

Next, a first embodiment of the abnormality treatment method of the present invention performed in the welding system configured as described above will be described based on FIG. Here, the abnormal treatment method performed by the first arc welding robot 1 will be described, but the abnormal treatment is also performed on the second arc welding robot 2 entirely in the same manner.

When the teaching operation is completed and the automatic welding operation operation in which a series of welding operations are performed on the workpiece 3 by two arc welding robots 1 and 2 assigned to each welding operation, the first arc welding robot 1 It is always judged whether or not any abnormality has occurred in itself) (step A1).

If it is detected in the step A1 that the first arc welding robot 1 itself has generated a serious abnormality or light abnormality, it is judged whether or not the first one or more kinds of abnormalities are present (step A2). When the first type is abnormal, the operation stop command is output from the central processing unit 11a to the machine control unit 11b and the like, and the automatic welding operation operation of the first arc welding robot 1 is immediately stopped (first Selection of abnormal mode: Step A3). At this time, it is indicated on the abnormal state mark image 15 that the first arc welding robot 1 is stopped in an abnormal state.

On the other hand, when the abnormality which arose in the 1st arc welding robot 1 was a 2nd type or more, it is judged whether the 1st arc welding robot 1 is currently welding (step A4). At this time, when the 1st arc welding robot 1 is non-welding, ie, air cut operation | movement, the automatic welding operation operation | movement of this 1st arc welding robot 1 is stopped immediately (step A4). On the other hand, during welding, the first arc welding robot 1 is stopped after the welding operation is performed to the point where the welding previously taught in the welding line currently being welded is finished (step A5). However, also in this case, the abnormal state display device 15 indicates that the first arc welding robot 1 has stopped abnormally.

Therefore, according to the first embodiment, when a relatively light abnormality (second type or more) occurs, it is stopped immediately if it is in a cost welding, and when it is being welded, it is stopped after performing a welding operation to a previously taught welding end point of the welding line. The abnormal mode of is selected. This allows the welding operation to be resumed without the need for welding bead joints in the second or more types, and eliminates the trouble of reworking the bead joint parts for all the abnormalities as in the prior art, and improves productivity. You can increase it.

In this embodiment, the central processing units 11a and 11a connected to each of the robots 1 and 2 may exchange abnormal conditions with each other to treat the abnormal conditions of other robots as their own abnormal conditions. Even during welding, it may be distinguished from the case where it stops immediately (first type or more) and the relatively light abnormality (second type or more) which continues until the end of welding.

4 shows a case where two peripheral equipments or robots are provided, but it goes without saying that the same applies to the robot of a single body in the manner of the first embodiment of the present invention.

Next, a second embodiment of the abnormality treatment method of the present invention performed in the welding system shown in FIG. 4 will be described with reference to FIG. Here, although the abnormal state processing method performed by a 1st arc welding robot is demonstrated, the abnormal process is similarly performed also to the 2nd arc welding robot 2. In addition, in the second embodiment and the third embodiment described below, the central processing units 11a and 11a connected to the robots 1 and 2 transmit and receive each other's abnormalities so that the abnormalities of other robots can be changed. The case of processing as above will be described. When the automatic welding operation operation for the two arc welding robots 1 and 2 is started as in the first embodiment, it is always determined whether or not any abnormality has occurred in the first arc welding robot 1 itself (step B1). When no magnetic abnormality is occurring, it is determined whether a middle abnormal or light abnormal occurrence signal has been input from the central processing unit 11a of the second arc welding robot 2, which is another robot (step B2). .

First, the case where an abnormal state occurs in the 1st arc welding robot 1 itself is demonstrated. In other words, when it is detected in step B1 that a serious abnormality or light abnormality has occurred in the robot 1 itself, the central processing device 11a is transmitted from the central processing device 11a to the central processing device 11a of the second arc welding robot 2. The abnormal welding signal is output (step B3) and the operation control command is outputted from the central processing unit 11a to the machine control unit 11b to immediately stop the automatic welding operation of the first arc welding robot 1. (Selection of the first abnormal mode: step B4).

On the other hand, when an abnormality occurs in the second arc welding robot 2, which is another robot, a serious abnormality or light abnormality occurrence signal outputted from the central processing unit 11a of the robot 2 is inputted and the first It is determined whether the arc welding robot 1 is currently being welded (step B5). At this time, if the first arc welding robot 1 is in a cost welding state, the automatic welding operation operation of the first arc welding robot 1 is immediately stopped (step B4). The second abnormal mode of stopping the welding operation of the first arc welding robot 1 to the welding end point taught in advance is stopped (step B6).

Also in this second embodiment, the abnormal state display device 15 displays that the first arc welding robot 1 has stopped abnormally.

Moreover, although the abnormal process performed by the 1st arc welding robot 1 was demonstrated as mentioned above, the same abnormal process is also performed by the 2nd arc welding robot 2. As shown in FIG.

Therefore, according to the second embodiment, when an abnormality occurs in the first arc welding robot 1 as one of the arc welding robots 1 and 2 during the automatic welding operation, the first arc welding robot 1 is configured to be the first. The second arc welding robot 2 is immediately stopped when it is in non-welding by the selection of the second abnormal mode, and when the welding is in progress, the welding end point previously taught of the welding line is stopped. It stops after performing welding operation. As a result, in the second arc welding robot 2 in which no abnormality has occurred, the welding operation can be resumed without the need for welding bead joints, and the trouble of reworking the bead joint part as in the prior art is necessary. Can increase productivity. In addition, in the central processing unit 11a as understood in the above-described second embodiment, even if the abnormality is treated in an abnormal state without the necessity of distinguishing between abnormality and mild abnormality (first type or more / second type or more), good.

Next, a third embodiment of the abnormality treatment method of the present invention performed in the welding system shown in FIG. 4 will be described based on FIG.

Here, the abnormal processing method performed by the 2nd arc welding robot 2 is demonstrated first, but the same abnormal processing is performed entirely with respect to the 1st arc welding robot 1, too. When the automatic welding operation operation by the two arc welding robots 1 and 2 is started as in the first embodiment, has the second arc welding robot 2 itself been caused by at least one kind or more than two kinds of abnormalities? (Steps C1 and C2), if the magnetic abnormality does not occur, the first type or the second type of abnormality from the central processing unit 11a of the first arc welding robot 1 which is another robot. It is determined whether or not a state generation signal has been input (steps C3 and C4).

First, the case where an abnormal state occurs in the 2nd arc welding robot 2 itself is demonstrated. That is, when it is detected in step C1 that the first type or more has occurred in the robot 2 itself, the first type or more occurrence signal from the central processing unit 11a to the central processing unit 11a of the first arc welding robot 1 is detected. (Step C5), the operation regular command is output from the central processing unit 11a to the machine control unit 11b, and the automatic welding operation operation of the second arc welding robot 2 is immediately stopped. Selection of abnormal mode of step 1: Step C6).

Further, even when it is detected in step C2 that the second type or more has occurred in the robot 2 itself, the second type or more is sent from the central processing unit 11a to the central processing unit 11a of the first arc welding robot 1. The generation signal is output (step C7) and the automatic welding operation operation of the second arc welding robot 2 is immediately stopped (selection of the first abnormal mode: C8). As a result, the second arc welding robot 2 is placed in the pause state.

On the other hand, when the first arc welding robot 1, which is another robot, is the first type or more, the first kind of abnormality generation signal from the central processing unit 11a of the robot 1 is generated by the robot 2. Is input to the second arc welding robot 2 and immediately stops the automatic welding operation operation (selection of the first abnormal mode: step C6). On the other hand, when the second arc abnormality occurs in the first arc welding robot 1, the second abnormality occurrence signal from the central processing unit 11a of the robot 1 is input to the robot 2, and It is determined whether the arc welding robot 2 of 2 is currently being welded (step C9). At this time, if the second arc welding robot 2 is in a non-welding state, the automatic welding operation operation of the second arc welding robot 2 is immediately stopped (step C8). The second abnormal mode is selected by stopping the second arc welding robot 2 to the welding end point previously taught and then stopping the operation (step C10).

Also in this third embodiment, it is displayed on the abnormal state display device 15 that the second arc welding robot 2 is stopped by the first type or the second phase or more.

Therefore, according to the third embodiment, when an abnormality occurs in the arc welding robot 1 or 2 during the automatic welding operation, for example, in the arc welding robot 1, the first arc welding robot 1 is the first arc. The second arc welding robot 2 is immediately stopped by the selection of the first abnormal mode when the robot 1 is the first type or more, and the robot 1 ) Is the second type or more, it stops immediately when it is non-welding by selection of a second abnormal mode, and when it is welding, it stops after performing a welding operation to the welding end point previously taught by the said welding line.

As a result, in the second arc welding robot 2 in which no abnormality has occurred, the welding operation can be resumed without the need for welding bead joint work, and there is no need to rework the conventional bead joint parts. Productivity can be increased. In addition, when the abnormal condition generated in the first arc welding robot 1 is one or more types, the second arc welding robot 2 in which the abnormal condition does not occur is immediately stopped whether it is being welded or non-welded. When a state occurs, an accident such as damage due to an unexpected interference between the first arc welding robot 1 and the second arc welding robot 2 can be reliably prevented.

As described above, the embodiment of the present invention has been described. When the safety measure is opened during the automatic welding operation, or when the emergency stop push button provided on the robot controller 11 or the positioner 17 is pressed, it is necessary to say. The arc welding robots 1 and 2 are to be stopped immediately. In addition, although each embodiment of the present invention has been described as a welding system having two arc welding robots, the method according to the present invention can naturally be applied to a welding system having three or more arc welding robots.

Claims (3)

An abnormality treatment method when an abnormality occurs in the arc welding robot during an automatic welding operation operation of a welding system in which a welding operation is performed by a memory regenerated arc welding robot on a workpiece. The first abnormal mode to stop and the second welding mode to stop the arc welding robot immediately during the cost welding, and the second abnormal mode to stop after performing the welding operation to the pre-instructed welding end point of the welding line during the welding are set, And any one of the first abnormal mode and the second abnormal mode is selected according to the type of abnormality generated in the arc welding robot. In a welding system in which a welding operation is performed by a plurality of memory / regeneration arc welding robots on a workpiece, when an arc occurs in any one of the plurality of memory / regeneration arc welding robots during the automatic welding operation operation. The arc welding robot which has abnormality is stopped immediately, and other arc welding robots are immediately stopped when they are non-welding, and during welding, the arc welding robot is stopped after performing the welding operation to the pre-instructed welding end point of the welding line. Abnormal treatment method in welding system. In a welding system in which a welding operation is performed on a workpiece by a plurality of storage and regeneration arc welding robots, an abnormality has occurred in any one of the plurality of storage and regeneration arc welding robots during the automatic welding operation operation. The arc welding robot which abnormally occurred at the time is stopped immediately, and the above abnormality indicates a state in which the arc welding robot control program is not normally executed, or the arc welding robot drive motor exceeds the specified value, and the like. If it is necessary to re-teach the teaching for automatic welding operation, and if it is a predetermined or more abnormality, stop the arc welding robot other than that, and the above abnormality is other than the above-mentioned abnormality, and remove the cause of the abnormality. Do not repeat the teaching work If the welding welding operation can be resumed and it is more than the predetermined diameter, the arc welding robot other than the above is stopped immediately when the welding is in progress, and during the welding, the welding operation is performed to the welding end point taught in advance of the welding line. Abnormal processing method in welding system characterized by stopping.

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