Welding condition management method, welding condition management program, and welding condition management system

Abstract

The welding condition management method is a welding condition management method performed by a terminal device, acquires a second teaching program created by correcting a first teaching program for causing a welding robot to perform welding, and welding history data relating to welding performed using the second teaching program, and performs welding condition management on the basis of the second teaching program and the welding history data. And welding conditions during welding are extracted and output.

Description

Technical Field

[0001] The present disclosure relates to a welding condition management method, a welding condition management program, and a welding condition management system. Background Art

[0002] Patent document 1 discloses an off-line teaching device, which has: a selection function; a first change function; a second change function; a welding line storage function for storing a plurality of welding lines, each of which has a plurality of coordinate positions in a welding path and welding conditions as information related to welding at each coordinate position, and is accompanied by welding line identification information; and a teaching program storage function for storing a teaching program, the teaching program having a plurality of commands including welding conditions and accompanied by welding line identification information. The off-line teaching device changes the contents of the welding conditions constituting the welding line selected by the selection function through the first change function, and changes the welding conditions of all commands in the teaching program having the same welding line identification information as the welding line identification information accompanied by the welding line selected by the selection function to the same contents as those changed by the first change function through the second change function.

[0003] Prior Art Literature

[0004] Patent Literature

[0005] Patent Document 1: International Publication No. 2016 / 136209 Summary of the invention

[0006] Problem that the invention aims to solve

[0007] The present disclosure provides a welding condition management method, a welding condition management program, and a welding condition management system for assisting efficient management of welding conditions.

[0008] Means used to solve problems

[0009] The present disclosure provides a welding condition management method, which is performed by a terminal device. In the welding condition management method, a second teaching program created by correcting a first teaching program for causing a welding robot to perform welding, and welding history data related to the welding performed using the second teaching program are obtained, and based on the second teaching program and the welding history data, the welding conditions during the welding are extracted and output.

[0010] In addition, the present disclosure provides a welding condition management program for enabling a terminal device to implement the following steps: a step of obtaining a second teaching program created by modifying a first teaching program for causing a welding robot to perform welding, and welding history data related to the welding performed using the second teaching program; and a step of extracting and outputting the welding conditions during the welding based on the second teaching program and the welding history data.

[0011] In addition, the present disclosure provides a welding condition management system, comprising: a terminal device; and a robot control device, which is capable of controlling a welding robot that produces a workpiece by welding, wherein the robot control device receives a change to a first teaching program for causing the welding robot to perform welding, and based on the change, creates a second teaching program that modifies the first teaching program, wherein the robot control device causes the welding robot to perform production of the workpiece based on the second teaching program, and sends the second teaching program and welding history data related to the welding performed using the second teaching program to the terminal device, wherein the terminal device extracts and outputs the welding conditions during the welding based on the second teaching program and the welding history data.

[0012] In addition, the present disclosure provides a welding condition management method, which is performed by a robot control device of a welding robot capable of controlling a welding robot that produces a workpiece by welding. In the welding condition management method, a second teaching program created by correcting a first teaching program for causing the welding robot to perform the welding, and welding history data related to the welding performed using the second teaching program are recorded, and based on the second teaching program and the welding history data, the welding conditions during the welding are extracted and output.

[0013] In addition, the present disclosure provides a welding condition management program for enabling a robot control device of a welding robot capable of controlling a welding robot that produces a workpiece by welding to implement the following steps: a step of recording a first teaching program for causing the welding robot to perform the welding; a step of recording a second teaching program created by modifying the first teaching program, and welding history data related to the welding performed using the second teaching program; and a step of extracting and outputting the welding conditions during the welding based on the second teaching program and the welding history data.

[0014] Effects of the Invention

[0015] According to the present disclosure, efficient management of welding conditions can be assisted. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram showing an example of a system configuration of a welding system according to the first embodiment.

[0017] Figure 2 This is a diagram showing an example of the internal structure of the robot control device, terminal device, and teaching pendant involved in the first embodiment.

[0018] Figure 3 This is a flowchart for explaining an example of the operation sequence of the welding system according to the first embodiment.

[0019] Figure 4 This is a diagram illustrating an example of a welding teaching program.

[0020] Figure 5 This is a diagram for explaining an example of a welding condition table in the first embodiment.

[0021] Figure 6 This is a diagram for explaining an example of setting the offset amount of the welding line.

[0022] Figure 7 This is a diagram for explaining an example of setting the offset amount of the welding line.

[0023] Figure 8 This is a diagram for explaining an example of adjusting the posture (angle) of a welding torch.

[0024] Fig. 9 This is a diagram for explaining an example of adjusting the posture (angle) of a welding torch.

[0025] Fig.10 This is a flowchart for explaining an example of the operation sequence of the welding system according to the modification of the first embodiment.

[0026] Fig.11 This is a diagram for explaining an example of a welding result management table in a modification of the first embodiment.

[0027] Fig.12 This is a schematic diagram showing an example of a system configuration of a welding system according to the second embodiment.

[0028] Fig.13 This is a diagram showing an example of the internal structure of a robot control device and a teaching pendant involved in the second embodiment.

[0029] Fig.14 This is a flowchart for explaining an example of the operation sequence of the robot control device according to the second embodiment.

[0030] Fig.15 This is a flowchart for explaining an example of the operation sequence of the robot control device involved in the modification of the second embodiment. DETAILED DESCRIPTION

[0031] (The process of realizing this disclosure)

[0032] In the past, at the welding site, from the perspective of welding reproducibility or welding quality management, the welding conditions of the product manufactured by welding were managed as a record of the welding results of the product. In the off-line teaching device shown in Patent Document 1, the coordinate position of the welding line and the welding conditions created by the operator are displayed on the display unit. The welding conditions may be different from the welding conditions used in the manufacture of the product as a qualified product. However, the welding conditions created using the off-line teaching device before welding are sometimes corrected by the on-site operator using the actual robot. In such a case, the welding conditions displayed on the display unit of the off-line teaching device may be different from the actual welding conditions used in the manufacture of the product.

[0033] In addition, after the operator collects and measures the information of the actual welding conditions (e.g., the measured value of the current or voltage, the actual angle of the welding torch, etc.) manually, the operator collects and creates the data of the welding conditions used in the manufacture of the product manually. The operator must create the welding results every time a new product (workpiece) is manufactured, which is very troublesome. In addition, the robot performing welding cannot manufacture other products until the information of the welding conditions required for the creation of the welding results is collected, and the operation rate is reduced.

[0034] Hereinafter, various embodiments of the welding condition management method, welding condition management program, and welding condition management system disclosed in the present disclosure will be described in detail with appropriate reference to the accompanying drawings. However, unnecessary detailed descriptions are sometimes omitted. For example, detailed descriptions of known matters and repeated descriptions of substantially the same structures are sometimes omitted. This is to avoid the following description from becoming unnecessarily lengthy and to make it easy for those skilled in the art to understand. In addition, the accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the scope of the patent claim.

[0035] Hereinafter, the object to be welded is defined as a "primary workpiece", and the object produced (manufactured) by the primary welding is defined as a "workpiece". The "workpiece" is not limited to a workpiece produced by one primary welding, but may be a composite workpiece produced by two or more primary weldings. In addition, the process of producing a workpiece by joining a primary workpiece with another primary workpiece by a welding robot is defined as "primary welding". In addition, in this specification, the type of primary welding is arbitrary, but in order to make the description easy to understand, the process of joining a plurality of primary workpieces to produce one workpiece is exemplified and described.

[0036] (Structure of welding system)

[0037] Figure 1This is a schematic diagram showing a system configuration example of a welding system 100 (an example of a welding condition management system) according to Embodiment 1. The welding system 100 includes a terminal device 1, an external storage device 1A, a robot control device 2, a welding robot MC1, a power supply device 3, and a teaching pendant TP. In addition, the external storage device 1A is not an essential structure and may be omitted.

[0038] The terminal device 1 is connected to the external storage device 1A, the robot control device 2 or the network NW so as to be able to communicate data and perform data transmission and reception. The terminal device 1 can accept operations from a user (e.g., a welding operator) and can be implemented, for example, through a PC (Personal Computer), a notebook PC or a tablet terminal.

[0039] The terminal device 1 creates or manages a teaching program (hereinafter referred to as “welding teaching program”) for actual welding performed by the welding robot MC1 .

[0040] In addition, after the process of formal welding performed by the welding robot MC1 is completed, the terminal device 1 obtains welding history data indicating the result of the formal welding sent from the robot control device 2. In addition, the result of formal welding mentioned here is a result corresponding to each welding condition, such as a measured value of current, a measured value of voltage, a measured value or a calculated value of welding speed, etc. In addition, the above-mentioned result of formal welding is an example and is not limited to this. It can also include measured values ​​related to welding pulses, etc. according to the welding method.

[0041] The terminal device 1 generates welding result management information that associates the result of actual welding with the welding conditions used in actual welding based on the welding history data. The terminal device 1 generates a welding condition table TB1 (an example of welding condition management data, see Figure 5 ), output (display) to monitor 14 (refer to Figure 2 ). In addition, the output (display) of the welding condition table TB1 to the monitor 14 is not essential and can be omitted.

[0042] In addition, welding conditions include, for example, the material and thickness of the original workpiece, the material and wire diameter of the welding wire 301, the length of the welding wire, the set value of the welding current, the set value of the welding voltage, the feed speed and feed amount of the welding wire 301, the number of welding times, the welding time, the posture (angle) of the welding torch 400, the clamp position, or the clamp angle, etc. In addition to these, for example, information indicating the type of actual welding (such as TIG welding, MAG welding, pulse welding), the moving speed and moving time of the robot 200 or the welding torch 400 may also be included.

[0043] The teaching program for welding action is created based on at least one welding line and is a program for causing the welding robot MC1 to perform actual welding. The teaching program for welding action includes information on the position, distance or angle (posture) of the welding torch 400 for performing various actions (e.g., approaching, retreating, avoiding or welding, etc.) for actual welding of the workpiece Wk using the welding torch 400, and information on welding conditions, etc.

[0044] The external storage device 1A is implemented by, for example, SD (registered trademark), microSD (registered trademark), USB memory, etc. The external storage device 1A can be connected to the terminal device 1 or the robot control device 2 by the user to perform data transmission and reception, and can perform recording (writing) and reading of welding teaching programs, welding history data, or corrected welding teaching programs, etc.

[0045] The network NW connects the terminal device 1 and the robot control device 2 so that data can be transmitted and received by wireless communication or wired communication.

[0046] The teaching pendant TP is connected to the robot control device 2 so as to be able to transmit and receive data, and operates the welding robot MC1 connected to the robot control device 2. The teaching pendant TP receives correction operations such as the position or posture (angle) of the welding torch, the start position or end position of the actual welding (that is, the offset of the welding line), and the correction operation of the welding conditions based on the user's operation using the actual welding robot MC1 and the workpiece Wk, and sends them to the robot control device 2.

[0047] The robot controller 2 causes the welding robot MC1 to start execution of actual welding using the designated original workpiece, welding conditions, and welding teaching program.

[0048] After the actual welding is performed, the robot controller 2 generates welding history data and transmits the generated welding history data to the terminal device 1 or stores the generated welding history data in the external storage device 1A. The robot controller 2 records the generated welding history data in the memory 22 .

[0049] The welding robot MC1 is connected to the robot control device 2 so as to be able to communicate data therebetween. The welding robot MC1 performs actual welding under the control of the corresponding robot control device 2.

[0050] Next, refer to Figure 2 Next, an example of the internal structure of each device constituting welding system 100 will be described. Figure 2 This is a diagram showing an example of the internal configuration of the robot control device 2 , the terminal device 1 , and the teaching pendant TP according to the first embodiment.

[0051] The welding robot MC1 executes a main welding process based on a welding teaching program using the welding torch 400 under the control of the robot control device 2. In the main welding process, the welding robot MC1 performs, for example, arc welding.

[0052] In addition, the welding robot MC1 can also perform other welding methods other than arc welding (for example, laser welding, gas welding, etc.). In such a case, although the illustration is omitted, the laser head and the laser oscillator can be connected via an optical fiber instead of the welding torch 400. The welding robot MC1 is a structure including a manipulator 200, a welding wire feeding device 300, a welding wire 301, and a welding torch 400. In addition, the welding robot MC1 is not limited to Figure 2 It goes without saying that the structure of the welding robot MC1 shown has only to be configured so as to be able to perform actual welding using a welding method.

[0053] The robot 200 has a multi-joint arm, and each arm is movable based on a control signal from the robot control unit 24 of the robot control device 2. Thus, the robot 200 can change the positional relationship between the workpiece Wk and the welding torch 400 (for example, the position or posture (angle) of the welding torch 400 relative to the workpiece Wk) by driving each arm.

[0054] Wire feeding device 300 controls the feeding speed of welding wire 301 based on a control signal transmitted from robot control device 2 .

[0055] The welding wire 301 is held by the welding torch 400. When power is supplied from the power supply device 3 to the welding torch 400, an arc is generated between the tip of the welding wire 301 and the workpiece Wk, and arc welding is performed. In addition, for the sake of convenience, the structure for supplying shielding gas to the welding torch 400 is omitted from illustration and description.

[0056] The terminal device 1 creates a welding teaching program for performing formal welding on at least one welding line, or generates welding result management information and a welding condition table TB1 based on user operations. The terminal device 1 includes at least a communication unit 10, a processor 11, a memory 12, an input unit 13, and a monitor 14. In addition, the creation of the welding teaching program can be performed by the robot control device 2 or the teaching pendant TP.

[0057] The communication unit 10 is connected to the robot controller 2 or the external storage device 1A so as to be capable of data communication. The communication unit 10 transmits the welding teaching program created by the processor 11 to the robot controller 2 or the external storage device 1A.

[0058] The processor 11 is configured using, for example, a CPU (Central Processing Unit) or an FPGA (Field Programmable Gate Array), and performs various processes and controls in cooperation with the memory 12. Specifically, the processor 11 refers to a program stored in the memory 12 and executes the program, thereby realizing the functions of each unit.

[0059] The processor 11 virtually constructs equipment required for the welding robot MC1 to perform a formal welding process of the workpiece Wk, based on data of a 3D model of the workpiece Wk or a fixture, information of the workpiece Wk, information of the fixture, or data related to the equipment (for example, position information of the workpiece Wk or the fixture based on the welding robot MC1), etc. The processor 11 converts the data of the virtually constructed equipment into image data and displays it on the monitor 14.

[0060] The processor 11 creates or modifies the welding teaching program based on the position information of the welding line (for example, the data of the 3D model of the workpiece Wk or the fixture, the coordinate information of the start point and the end point of the welding line) and the welding action setting information. The processor 11 records the created or modified welding teaching program in the memory 12.

[0061] In addition, the processor 11 generates welding result management information and a welding condition table TB1 (see FIG. 1 ) of actual welding performed by the welding robot MC1 based on the welding teaching program 12A and the welding history data 12B recorded in the memory 12. Figure 5 ), so that the monitor 14 (refer to Figure 2 ) for output (display).

[0062] In addition, the processor 11 may generate welding result management information and welding condition table TB1 for each welding line or for each workpiece Wk. In addition, the processor 11 may generate one welding result management information and welding condition table TB1 that summarizes each of a plurality of welding lines or one welding result management information and welding condition table TB1 that summarizes any welding line specified by a user operation.

[0063] The memory 12 includes, for example, a RAM (Random Access Memory) as a working memory used when executing the processing of the processor 11, and a ROM (Read Only Memory) storing a program that specifies the processing of the processor 11. The RAM temporarily stores data generated or acquired by the processor 11. The ROM is written with a program that specifies the processing of the processor 11. In addition, the memory 12 records a welding teaching program 12A and welding history data 12B.

[0064] The welding teaching program 12A associates and records the welding teaching program used to perform formal welding on at least one welding line with the identification information of the welding teaching program (e.g., the name, ID, or identification number of the welding teaching program). The welding teaching program 12A may further associate and record the identification information of the welding line that is formally welded using the welding teaching program (e.g., the name, ID, or identification number of the welding line). In addition, the storage of the welding teaching program 12A is not essential and may be omitted.

[0065] Furthermore, the welding teaching program 12A recorded in the memory 12 includes a welding teaching program created using the terminal device 1, a welding teaching program generated by the teaching pendant TP and sent to the terminal device 1, and a welding teaching program corrected by the robot control device 2 and sent to the terminal device 1. In addition, the welding teaching program 12A may be managed (recorded) for each workpiece Wk.

[0066] The welding history data 12B associates and records the welding history data indicating the welding result of the actual welding performed by the welding robot MC1 with the identification information of the welding teaching program used in the execution of the actual welding (for example, the name, ID or identification number of the welding teaching program). In addition, the welding history data 12B may be managed (recorded) for each workpiece Wk. In addition, the storage of the welding history data 12B is not essential and may be omitted.

[0067] The input unit 13 is a user interface that receives user input operations, converts them into electrical signals, and outputs them to the processor 11, and is composed of, for example, a mouse, a keyboard, or a touch panel. The input unit 13 receives device information (such as the welding robot MC1, the fixture, or the 3D model of the workpiece Wk, etc.) used in creating the welding teaching program, position information of the welding line of the workpiece Wk, user operations related to editing or correcting the created welding teaching program, or user operations related to the generation of welding result management information and the welding condition table TB1.

[0068] The monitor 14 can be formed by using a display device such as an LCD (Liquid Crystal Display) or an organic EL (Electroluminescence). The monitor 14 displays an image of a virtual device (e.g., a virtual welding robot, a virtual workpiece, or a virtual fixture) output from the processor 11, or displays the motion trajectory of the welding torch 400 based on the welding teaching program. In addition, the monitor 14 displays an image of the motion trajectory of the welding torch 400 superimposed on the image of the virtual device.

[0069] The robot control device 2 controls the welding robot MC1 (eg, the manipulator 200 , the wire feeder 300 , or the power supply device 3 ), or corrects the welding teaching program, or records or transmits welding history data, etc. The robot control device 2 includes a communication unit 20 , a processor 21 , and a memory 22 .

[0070] The communication unit 20 is connected to the welding robot MC1, the terminal device 1, the external storage device 1A, or the teaching pendant TP so as to be capable of data communication. Figure 2 Although the diagram is simplified, data is transmitted and received between robot control unit 24 and manipulator 200 , between robot control unit 24 and wire feeding device 300 , and between power supply control unit 25 and power supply device 3 via communication unit 20 .

[0071] The communication unit 20 receives the welding teaching program transmitted from the terminal device 1 and the external storage device 1A. The communication unit 20 outputs the welding teaching program to the processor 21. The communication unit 20 transmits the welding history data of the actual welding performed by the welding robot MC1 and the welding teaching program used in the execution of the actual welding to the terminal device 1. In addition, the welding history data of the actual welding and the welding teaching program can be transmitted via the external storage device 1A or via the network NW.

[0072] The processor 21 is constituted by, for example, a CPU or an FPGA, and performs various processes and controls in cooperation with the memory 22. Specifically, the processor 21 refers to a program stored in the memory 22 and executes the program, thereby realizing the functions of the calculation unit 23, the robot control unit 24, and the power supply control unit 25.

[0073] The memory 22 includes, for example, a RAM as a working memory used when executing the processing of the processor 21, and a ROM storing a program that specifies the processing of the processor 21. The RAM temporarily stores data generated or acquired by the processor 21. The ROM stores a program that specifies the processing of the processor 21.

[0074] The memory 22 stores data of execution instructions for actual welding, information of workpieces Wk produced by actual welding, information of jigs, position information of welding lines, etc. The memory 22 also stores a welding teaching program 22A and welding history data 22B.

[0075] Calculation unit 23 performs calculations of parameters for controlling welding robot MC1 (specifically, each of manipulator 200 , wire feeder 300 , and power supply device 3 ) controlled by robot control unit 24 , based on welding teaching program 22A.

[0076] The robot control unit 24 generates a control signal for driving the welding robot MC1 (specifically, each of the manipulator 200 , the wire feeder 300 , and the power supply device 3 ) based on the welding teaching program 22A. The robot control unit 24 transmits the generated control signal to the welding robot MC1 .

[0077] Power supply control unit 25 drives power supply device 3 based on the calculation result of welding teaching program 22A.

[0078] The teaching pendant TP teaches welding operations by actually driving the welding robot MC1 through user operations, thereby creating or modifying a welding teaching program. The teaching pendant TP includes a communication unit 30 , a processor 31 , a memory 32 , an input unit 33 , and a monitor 34 .

[0079] The communication unit 30 is connected to the robot controller 2 so as to be capable of data communication. The communication unit 30 transmits various information for driving the welding robot MC1 to the robot controller 2.

[0080] The processor 31 is configured using, for example, a CPU or an FPGA, and performs various processing and control in cooperation with the memory 32. Specifically, the processor 31 refers to the program stored in the memory 32 and executes the program, thereby realizing the functions of each unit. The processor 31 obtains a control instruction based on a user operation input from the input unit 33. The processor 31 creates or modifies a welding teaching program based on the obtained control instruction.

[0081] The memory 32 includes, for example, a RAM as a working memory used when executing the processing of the processor 31, and a ROM storing a program that specifies the processing of the processor 31. The RAM temporarily stores data generated or acquired by the processor 31. The ROM stores a program that specifies the processing of the processor 31.

[0082] The input unit 33 is a user interface that receives input operations from the user, converts the input operations into electrical signals, and outputs the electrical signals to the processor 31. The input unit 33 is configured using, for example, a mouse, a keyboard, or a touch panel. The input unit 33 receives user operations for creating or modifying welding teaching programs, and settings or changes related to various settings of the welding robot MC1 (settings related to the contents output to the welding history file, etc.).

[0083] Monitor 34 can be configured using a display device such as an LCD or an organic EL, for example. Monitor 34 displays an editing screen for creating or correcting a welding teaching program, setting or changing various settings of welding robot MC1, and the like.

[0084] Next, refer to Figure 3 An example of an operation sequence of welding system 100 according to Embodiment 1 will be described. Figure 3 This is a flowchart for explaining an example of the operation sequence of welding system 100 according to the first embodiment.

[0085] In addition, Figure 3 In order to make the description easier to understand, the welding teaching program created by the terminal device 1 is described as the welding teaching program "A", and the welding teaching program corrected based on the adjustment of the welding conditions or the position of the welding line is described as the welding teaching program "B", but it is not limited to this. For example, the creation of the welding teaching program "A" by the terminal device 1 is not necessary and can be omitted. In addition, the welding teaching program "B" may not be a program generated by correcting the welding teaching program "A", but may be a program generated by the welding robot MC1 and the teaching pendant TP.

[0086] The terminal device 1 creates a welding teaching program “A” for performing actual welding on at least one welding wire based on a user operation ( St11 ). The terminal device 1 transmits the created welding teaching program “A” to the robot controller 2 ( St12 ).

[0087] The robot control device 2 records the welding teaching program "A" sent from the terminal device 1 in the memory 22. The teaching pendant TP receives user operations such as adjustment (change) of welding conditions or adjustment of the position of the welding line. Based on the user operation, the teaching pendant TP creates a welding teaching program "B" (St13) obtained by correcting the welding teaching program "A" stored in the memory 22 of the robot control device 2. The robot control device 2 corrects the welding teaching program "A" and overwrites it with the welding teaching program "B".

[0088] Furthermore, the robot control device 2 may record the welding teaching program "B" separately without overwriting the welding teaching program "A". In addition, the processing of step St13 is not essential and may be omitted when there is no need to adjust (change) the welding conditions or adjust the position of the welding line.

[0089] The robot controller 2 drives the welding robot MC1 based on the welding teaching program “B” to perform actual welding (test welding) on ​​the workpiece Wk ( St14 ).

[0090] The user determines whether the result of the test welding performed in step St14 is acceptable (that is, "OK") (St15). When the user determines that the quality of the manufactured workpiece Wk is acceptable (St15, Yes), the user performs an input operation to request the teaching pendant TP to perform the actual welding based on the welding teaching program "B".

[0091] Based on the control command sent from the teaching pendant TP, the robot control device 2 drives the welding robot MC1 using the welding teaching program "B" to perform formal welding on the workpiece Wk (St16). The robot control device 2 obtains welding history data (for example, welding conditions, position information of welding line, position and posture (angle) information of the welding torch 400, or identification information of the welding teaching program, etc.) of the formal welding performed using the welding teaching program "B" and records it in the memory 22.

[0092] The robot control device 2 refers to the memory 22, extracts the welding history data of the formal welding performed using the welding teaching program "B" (St17), and sends it to the terminal device 1 (St18). In addition, the welding teaching program "B" and the welding history data can also be stored in the external storage device 1A, and transferred from the robot control device 2 to the terminal device 1 via the external storage device 1A. In addition, the processing of step St16 can also be omitted. In this case, the robot control device 2 extracts the welding history data of the formal welding performed in the processing of step St14.

[0093] The terminal device 1 records the welding teaching program "B" and the welding history data sent from the robot control device 2 in the memory 12, and generates welding result management information of the actual welding based on the welding history data (St19). The terminal device 1 generates a welding condition table TB1 based on the generated welding result management information (see Figure 5 ), and outputs to the monitor 14 (St20). In addition, the output process of the welding condition table TB1 can be omitted.

[0094] In addition, when the user determines that the result of the test welding performed in step St14 is that the quality of the manufactured workpiece Wk is not acceptable (that is, "OK") (St15, No), the user operates the teaching pendant TP to adjust (change) the welding conditions or adjust the position of the welding line, etc.

[0095] The teaching pendant TP refers to the welding teaching program "B" stored in the robot control device 2, and accepts user operations such as adjustment (change) of welding conditions or position adjustment of welding lines. Based on the user operation, the teaching pendant TP adjusts the welding conditions or position information of welding lines included in the welding teaching program "B" used in the test welding of step St14, and causes the robot control device 2 to correct the welding teaching program "B" (St21).

[0096] As described above, the welding system 100 according to the first embodiment can obtain welding history data (welding conditions) executed based on the revised welding teaching program even if the welding teaching program is modified based on changes in welding conditions using the teaching pendant TP or the like at the welding site after the welding teaching program is created using the terminal device 1 or the teaching pendant TP or the like. In addition, the welding system 100 extracts various data corresponding to various items included in the welding condition table TB1 for managing welding conditions (data related to the welding teaching program, data related to the workpiece Wk, data related to the welding line, or data related to the welding conditions, etc.) from the revised welding teaching program and the welding history data, respectively, and applies them to various items in the welding condition table TB1, thereby making it easier to generate the welding condition table TB1.

[0097] Thus, the welding system 100 can automatically generate a welding condition table TB1 for welding reproducibility or quality management, etc. Therefore, since the user can reduce the man-hours required for the creation of the welding condition table TB1, the stop time of various equipment (for example, the welding robot MC1 or the robot control device 2, etc.) that produces the workpiece Wk can be shortened, thereby improving the operating rate of various equipment.

[0098] Reference Figure 4 An example of a welding teaching procedure is described below. Figure 4 This is a diagram illustrating an example of a welding teaching program. Figure 4 The welding teaching program "REM Weld No. 039" shown is a welding teaching program for performing actual welding on a welding line to which the identification number "No. 039" is assigned.

[0099] The robot controller 2 moves the welding torch 400 to the welding start position P004 based on the teaching program “MOVEP P004 80.0% SL=d(6)” of the welding robot MC1 .

[0100] After moving to the welding start position P004, the robot control device 2 drives the welding robot MC1 based on the teaching programs "MOVECP005 0.60m / min SL=10 CL=0", "ARC-SET AMP=220 VOLT=17.3 S=0.60", and "ARC-ONArcStart1 PROCESS=1". The robot control device 2 sets the power supply device 3 to the command current 220A and the command voltage 17.3V, and causes the welding robot MC1 to weld while moving the welding torch 400 from the welding start position P004 toward the welding position P005 at a speed of 0.60m / min.

[0101] After completing welding to welding position P005 , robot controller 2 performs welding while moving welding torch 400 from welding position P005 toward welding position P006 at a speed of 0.60 m / min based on the teaching program “MOVEC P006 0.60 m / min”.

[0102] After moving welding torch 400 to welding position P006, robot controller 2 performs welding while moving welding torch 400 from welding position P006 toward welding position P007 at a speed of 0.60 m / min based on teaching programs "MOVEC P007 0.60 m / min SL=d(6) CL=0", "CRATER AMP=170 VOLT=15.2 T=0.20", and "ARC-OFF ArcEnd1 PROCESS=1".

[0103] After completing welding to welding position P007, robot control device 2 controls welding robot MC1 based on teaching programs “MOVEP P008 80.0% SL=d(6)” and “MOVEP P009 80.0% SL=d(6)” to retract welding torch 400 of welding robot MC1 to retract to retract position P008, thereby completing actual welding.

[0104] Next, refer to Figure 5 The welding condition table TB1 will be described. Figure 5 This is a diagram for explaining an example of the welding condition table TB1 in the first embodiment. Figure 5 The welding condition items included in the welding condition table TB1 shown are just examples, and the present invention is not limited thereto.

[0105] The welding condition table TB1 is generated by the processor 11 of the terminal device 1, and is output (displayed) on the monitor 14. In addition, the items of welding conditions included in the welding condition table TB1 can be arbitrarily set by user operation.

[0106] Figure 5 The welding condition table TB1 shown shows welding results and welding conditions of actual welding at each of four welding lines based on the welding teaching program "Prog0039".

[0107] The item "time" indicates the time information when the actual welding is performed. In addition, the item "time" may also record the date and time when the actual welding is performed.

[0108] The item "Program No." indicates identification information (name in this case) of the welding teaching program used in actual welding.

[0109] The item "position name" indicates identification information of a welding line. Here, as an example of identification information of a welding line, the name of a welding position set for each welding part is indicated.

[0110] The item “command current” indicates a current value set for the power supply device 3 among the welding conditions taught by the welding teaching program.

[0111] The item “command Lp” indicates a low current value of the pulse current set for the power supply device 3 among the welding conditions taught by the welding teaching program.

[0112] The item "command voltage" indicates a voltage value set for the power supply device 3 among the welding conditions taught by the welding teaching program.

[0113] The item “welding speed” is the moving speed (welding speed) of the welding torch 400 during actual welding taught by the welding teaching program.

[0114] The item "output current" is the actual value of the current output by the power supply device 3 during actual welding. The actual value of the current is measured by a meter (not shown) such as an ammeter connected between the power supply device 3 and the welding robot MC1. The meter outputs the measured value of the current to the robot control device 2.

[0115] The item "output voltage" is the actual value of the voltage of the power supply device 3 during actual welding. The actual value of the voltage is measured by a meter (not shown) such as a voltmeter connected between the power supply device 3 and the welding robot MC1. The meter outputs the measured voltage value to the robot control device 2.

[0116] In addition, the items included in the welding condition table TB1 in the present first embodiment can be set arbitrarily by the user, and can set any items related to welding-related information, information of the workpiece Wk, identification information of the welding teaching program, identification information of the welding line, or welding conditions, etc. In addition, when the welding condition table TB1 includes welding history data of each of a plurality of welding lines, the welding condition table TB1 may also include items related to the welding order of each welding line for actual welding.

[0117] Thus, welding system 100 can generate welding condition table TB1 including welding conditions desired by the user.

[0118] From the above, the terminal device 1 involved in embodiment 1 obtains the second welding teaching program (an example of the second teaching program) created by correcting the first welding teaching program (an example of the first teaching program) used to enable the welding robot MC1 to perform welding, and the welding history data related to the welding performed using the second welding teaching program, and extracts and outputs the welding conditions during welding based on the second welding teaching program and the welding history data.

[0119] Thus, the terminal device 1 according to the first embodiment can assist the management of welding conditions by the user by outputting welding result management information that extracts welding conditions during the actual welding (for example, the welding sequence of welding lines, the clamp angle, the current value or voltage value of the power supply device 3 taught by the welding teaching program, the actual measured value of the current or voltage of the power supply device 3 during the actual welding, or the posture (angle) of the welding torch 400, etc.). Therefore, the user does not need to collect the welding conditions during the actual welding required for the creation of the welding condition table TB1, and the welding condition table TB1 can be created efficiently. In addition, since the terminal device 1 can further shorten the operation stop time of the equipment (robot control device 2, power supply device 3 or welding robot MC1, etc.) accompanying the collection of welding conditions by the user, the operation rate of the equipment can be further improved.

[0120] In addition, the terminal device 1 according to the first embodiment generates and outputs a welding condition table TB1 (an example of welding condition management data) obtained by applying the extracted welding conditions during welding to a given format (specifically, the format of the welding condition table TB1). Thus, the terminal device 1 according to the first embodiment can assist the management of welding conditions by the user by generating and outputting the welding condition table TB1 in which each welding condition is aggregated so that each welding condition can be managed separately.

[0121] In addition, the terminal device 1 according to the first embodiment receives a designation operation related to the welding conditions during welding that are to be extracted, and extracts the welding conditions during welding based on the designated welding conditions. Thus, the terminal device 1 according to the first embodiment can extract the welding conditions designated by the user from the second welding teaching program and the welding history data, respectively. Therefore, the user can designate the welding conditions respectively extracted from the second welding teaching program and the welding history data as the welding conditions desired by the user or the welding conditions requested from the delivery destination of the workpiece Wk, and can assist in the management of the welding conditions.

[0122] As described above, the welding system 100 (an example of a welding condition management system) according to the first embodiment includes a terminal device 1 and a robot control device 2 capable of controlling a welding robot MC1 that produces a workpiece Wk by welding. The robot control device 2 receives a change to a first welding teaching program (an example of a first teaching program) for causing the welding robot MC1 to perform welding, creates a second welding teaching program (an example of a second teaching program) that modifies the first welding teaching program based on the change, causes the welding robot MC1 to perform production of the workpiece Wk based on the second welding teaching program, and transmits the second welding teaching program and welding history data related to welding performed using the second welding teaching program to the terminal device 1. The terminal device 1 extracts and outputs welding conditions during welding based on the second welding teaching program and the welding history data.

[0123] Thus, the welding system 100 according to the first embodiment can assist the management of the welding conditions by the user by outputting the welding result management information including the welding conditions during the actual welding (for example, the welding sequence of the welding line, the clamp angle, the current value or voltage value of the power supply device 3 taught by the welding teaching program, the actual measured value of the current or voltage of the power supply device 3 during the actual welding, or the posture (angle) of the welding torch 400, etc.) collected by the robot control device 2 to the terminal device 1. Therefore, since the welding system 100 can further shorten the operation stop time of the equipment (robot control device 2, power supply device 3 or welding robot MC1, etc.) accompanying the collection of welding conditions by the user, the operation rate of the equipment can be further improved.

[0124] (Variation of Embodiment 1)

[0125] The welding system 100 according to the first embodiment shows an example in which the welding conditions, the position of the welding line, etc. are adjusted using the teaching pendant TP according to the judgment of the user based on the technical knowledge of the actual welding. Figure 3, step St13 or step St21), when the welding teaching program is corrected, welding result management information including information such as the adjusted welding conditions or the position of the welding line and welding condition table TB1 are generated. The welding system 100 (an example of a welding condition management system) involved in the modified example of the first embodiment describes the following example: when not only the welding conditions or the position of the welding line are adjusted, but also the position adjustment (adjustment of the offset) of the welding torch 400 relative to the position of the welding line, the posture (angle) adjustment of the welding torch 400, etc., welding result management information including information such as the adjusted welding conditions or the position of the welding line and welding condition table TB2 (an example of welding condition management data, refer to Fig.11 ).

[0126] In the modification of the first embodiment, the welding conditions or the position of the weld line are not necessarily adjusted, and only the position adjustment (adjustment of the offset amount) of the welding torch 400 relative to the weld line or the posture (angle) adjustment of the welding torch 400 may be performed.

[0127] In the following description of welding system 100 according to a modified example of Embodiment 1, the same components as those of welding system 100 according to Embodiment 1 are denoted by the same reference numerals, and description thereof is omitted.

[0128] First, refer to Figure 6 as well as Figure 7 The following describes the position adjustment of the welding line (adjustment of the offset). Figure 6 This is a diagram for explaining an example of setting the offset amount of the welding line WLM11. Figure 7 This is a diagram for explaining an example of setting the offset amount of the welding line WLM11.

[0129] For example, Figure 6 as well as Figure 7 As shown, when performing lap welding along the overlapping portion of the original workpieces Wk11 and Wk12 (the position of the welding line WLM11), the position of the welding line WLM11 taught by the welding teaching program is sometimes offset so that the original workpieces are not burned through during actual welding. Such position adjustment of the welding line is performed by user operation using the teaching pendant TP or the like.

[0130] The following describes the procedure for setting the offset amount.

[0131] Figure 6The welding torch 400A shown shows a state where the welding line WLM11 is arranged at a position where the main welding can be performed based on the welding teaching program for performing the main welding on the welding line WLM11 of the original workpieces Wk11 and Wk12.

[0132] The teaching pendant TP receives a user operation to shift the position of the welding line by a distance D1 in a direction away from the overlapping portion of the original workpiece Wk11 and the original workpiece Wk12 (the position of the welding line WLM11). The setting of the offset amount mentioned here can also be achieved by correcting the position of at least one teaching point between the start position (coordinates) and the end position (coordinates) of the welding line of the actual welding to a position moved by a distance D1.

[0133] Based on the user operation, the teaching pendant TP corrects the welding teaching program stored in the memory 22 of the robot control device 2 to a welding teaching program in which the position of the welding line WLM11 is adjusted to the position of the welding line WLM12 offset by the distance D1. In addition, the robot control device 2 establishes a correspondence between the welding teaching program before correction and the welding teaching program after correction and records them.

[0134] As described above, welding system 100 according to the modification of Embodiment 1 can perform the setting operation of the offset amount related to the position of the welding line and the correction of the welding teaching program based on the setting operation of the offset amount.

[0135] Next, refer to Figure 8 as well as Fig. 9 Next, the posture (angle) adjustment of the welding torch 400 will be described. Figure 8 This is a diagram for explaining an example of adjusting the posture (angle) of the welding torch 400 . Fig. 9 This is a diagram for explaining an example of adjusting the posture (angle) of the welding torch 400 .

[0136] For example, Figure 8 as well as Fig. 9 As shown, when performing various actions for actual welding (e.g., approaching, retreating, avoiding, or welding, etc.), in order to avoid contact and interference between the welding torch 400 and each of the original workpieces Wk21, Wk22 or a fixture (not shown) that fixes each of the original workpieces Wk21, Wk22, or to adjust the amount of penetration, the posture (angle) of the welding torch 400 is sometimes adjusted. Such posture (angle) adjustment of the welding torch 400 is performed by user operation using a teaching pendant TP or the like.

[0137] Hereinafter, a procedure for adjusting the posture (angle) of the welding torch 400 will be described.

[0138] The teaching pendant TP receives user operations to adjust the posture (angle) of the welding torch 400 during actual welding of the welding line WLM21 from the Z axis to an angle θ on the ZX plane and from the Y axis to an angle Φ on the ZY plane.

[0139] Based on the user operation, the teaching pendant TP is modified to a welding teaching program that adjusts the posture (angle) of the welding torch 400 during actual welding on the welding line WLM21 to an angle θ from the Z axis on the ZX plane and to an angle Φ from the Y axis on the ZY plane.

[0140] The robot control device 2 records the corrected welding teaching program and the pre-corrected welding teaching program in the memory 22 .

[0141] As described above, the welding system 100 involved in the modified example of embodiment 1 is capable of performing adjustments of the posture (angle) of the welding torch 400 in various actions (for example, approaching, retreating, avoiding or welding, etc.), and correcting the welding teaching program based on the posture (angle) adjustment of the welding torch 400.

[0142] Next, refer to Fig.10 A welding system 100 according to a modified example of the first embodiment will be described. Fig.10 This is a flowchart for explaining an example of the operation sequence of welding system 100 according to the modification of the first embodiment.

[0143] In addition, Fig.10 In order to make the description easier to understand, the welding teaching program created by the terminal device 1 is described as the welding teaching program "A", the welding teaching program in which the position of the welding line is corrected is described as the welding teaching program "B", and the welding teaching program in which the position adjustment (adjustment of the offset) of the welding torch 400 relative to the welding line, the posture (angle) adjustment of the welding torch 400, etc. are corrected is described as the welding teaching program "C", but it is not limited to this. For example, the creation of the welding teaching program "A" by the terminal device 1 is not necessary and can be omitted. In addition, the welding teaching program "B" may not be a program generated by correcting the welding teaching program "A", but may be a program generated by the welding robot MC1 and the teaching pendant TP.

[0144] The terminal device 1 creates a welding teaching program “A” for performing actual welding on at least one welding wire based on a user operation ( St11 ). The terminal device 1 transmits the created welding teaching program “A” to the robot controller 2 ( St12 ).

[0145] The robot control device 2 records the welding teaching program "A" sent from the terminal device 1 in the memory 22. The teaching pendant TP receives user operations such as position adjustment of the welding line. Based on the user operation, the teaching pendant TP creates a welding teaching program "B" (St13A) obtained by correcting the welding teaching program "A" stored in the memory 22 of the robot control device 2. The robot control device 2 corrects the welding teaching program "A" and overwrites it with the welding teaching program "B".

[0146] Furthermore, the robot control device 2 may not overwrite the welding teaching program "B" with the welding teaching program "A" but may record them separately. In addition, the processing of step St13A is not essential and may be omitted when there is no need to adjust (change) the welding conditions or adjust the position of the welding line.

[0147] The teaching pendant TP receives user operations such as adjustment (change) of welding conditions, position adjustment of the welding torch 400 relative to the welding line (adjustment of the offset), and posture (angle) adjustment of the welding torch 400. Based on the user operations, the teaching pendant TP creates a welding teaching program "C" (St13B) obtained by further correcting the welding teaching program "B" stored in the memory 22 of the robot control device 2. The robot control device 2 records the welding teaching program "B" and the welding teaching program "C" recorded in the memory 22, respectively.

[0148] The robot controller 2 drives the welding robot MC1 based on the welding teaching program “C” to perform actual welding (test welding) on ​​the workpiece Wk ( St14A).

[0149] The user determines whether the result of the test welding performed in step St14A is acceptable ( St15 ). If the user determines that the quality of the manufactured workpiece Wk is acceptable ( St15 , Yes), the user performs an input operation to request the teaching pendant TP to perform the actual welding based on the welding teaching program “C”.

[0150] The robot control device 2 drives the welding robot MC1 to perform formal welding on the workpiece Wk using the welding teaching program "C" based on the control command sent from the teaching pendant TP (St16A). The robot control device 2 obtains welding history data (for example, welding conditions, position information of welding line, position or posture (angle) information of the welding torch 400, or identification information of the welding teaching program, etc.) of the formal welding performed using the welding teaching program "C", and records it in the memory 22.

[0151] The robot control device 2 refers to the memory 22, extracts the welding history data of the formal welding performed using the welding teaching program "C" (St17A), and sends it to the terminal device 1 (St18A). In addition, the welding teaching programs "B" and "C" and the welding history data can also be stored in the external storage device 1A, and handed over from the robot control device 2 to the terminal device 1 via the external storage device 1A. In addition, the processing of step St16A can also be omitted. In this case, the robot control device 2 extracts the welding history data of the formal welding performed in the processing of step St14A.

[0152] The terminal device 1 records the welding teaching programs "B" and "C" and the welding history data sent from the robot control device 2 in the memory 12. The terminal device 1 extracts various data corresponding to each item included in the welding condition table TB2 based on the welding history data. In addition, the various data extracted here are, for example, the welding sequence of the welding line, the actual measured value of the current or voltage of the power supply device 3, or the speed (welding speed) of the welding torch 400.

[0153] In addition, the terminal device 1 compares the position information or posture (angle) of the welding line included in the welding teaching program "B" and the position information or posture (angle) of the welding line included in the welding teaching program "C", and calculates the offset amount or posture (angle) adjustment amount of the welding position of the welding torch 400 corresponding to each item included in the welding condition table TB2.

[0154] The terminal device 1 associates the extracted various data, the calculated offset amount of the welding position of the welding torch 400 or the posture (angle) adjustment amount, and other data with the welding teaching program, and generates welding result management information ( St19A).

[0155] The terminal device 1 applies various data included in the generated welding result management information and data such as the offset amount or posture (angle) adjustment amount of the welding position of the welding torch 400 to each item included in the welding condition table TB2, and generates the welding condition table TB2 (refer to Fig.11 ) and output (St20A).

[0156] In addition, when the user determines that the result of the test welding performed in step St14A is that the quality of the manufactured workpiece Wk is not up to standard (that is, "OK") (St15, No), the user operates the terminal device 1 or the teaching pendant TP to adjust (change) the welding conditions or adjust the position of the welding line, etc.

[0157] The teaching pendant TP refers to the welding teaching program "C" stored in the robot control device 2, and accepts user operations such as adjustment (change) of welding conditions or position adjustment of welding lines. Based on the user operation, the teaching pendant TP adjusts the welding conditions or position information of welding lines included in the welding teaching program "C" used in the test welding of step St14A, and causes the robot control device 2 to correct the welding teaching program "C" (St21A).

[0158] As described above, the welding system 100 according to the modification of the first embodiment can obtain welding history data (welding conditions) executed based on the revised welding teaching program even if the welding teaching program is modified based on changes in welding conditions using the teaching pendant TP or the like at the welding site after the welding teaching program is created using the terminal device 1 or the teaching pendant TP or the like. In addition, the welding system 100 extracts various data corresponding to various items included in the welding condition table TB2 for managing welding conditions (data related to the welding teaching program, data related to the workpiece Wk, data related to the welding line, or data related to the welding conditions, etc.) from the revised welding teaching program and the welding history data, respectively, and applies them to various items in the welding condition table TB2, thereby making it easier to generate the welding condition table TB2.

[0159] Thus, the welding system 100 can automatically generate a welding condition table TB2 for welding reproducibility or welding quality management, etc. Therefore, since the user can reduce the man-hours required for the creation of the welding condition table TB2, the stop time of various devices (for example, the welding robot MC1 or the robot control device 2, etc.) that generate the workpiece Wk can be shortened, thereby improving the operating rate of various devices.

[0160] Next, refer to Fig.11 Next, the welding condition table TB2 will be described. Fig.11 This is a diagram for explaining an example of the welding condition table TB2 in the first embodiment. Fig.11 The welding condition items included in the welding condition table TB2 shown are just examples, and the present invention is not limited thereto.

[0161] The welding condition table TB2 is generated by the processor 11 of the terminal device 1, and is output (displayed) on the monitor 14. In addition, the items of welding conditions included in the welding condition table TB2 can be arbitrarily set by user operation.

[0162] Fig.11The welding condition table TB2 shown shows the welding results and welding conditions of each of the four welding lines based on the welding teaching program "Prog0039". The welding condition table TB2 includes three items representing information related to the actual welding and eight items related to the welding conditions. In the following description of the welding condition table TB2, the welding condition table TB1 (see Figure 5 ) For the same items, the description is omitted.

[0163] The item "offset amount" is an offset amount set for the welding torch 400 in actual welding.

[0164] The item “posture” is an actually measured value of the posture (angles θ, Φ) of the welding torch 400 during actual welding.

[0165] In addition, the items included in the welding condition table TB2 in the modification of the present embodiment 1 can be set arbitrarily by the user, and can set any items related to welding-related information, information of the workpiece Wk, identification information of the welding teaching program, identification information of the welding line, or welding conditions, etc. In addition, when the welding condition table TB2 includes welding history data of each of a plurality of welding lines, the welding condition table TB2 may also include items related to the welding order of each welding line in actual welding.

[0166] Thus, welding system 100 can generate welding condition table TB2 including welding conditions desired by the user.

[0167] From the above, the terminal device 1 involved in the modified example of implementation mode 1 obtains the first welding teaching program for causing the welding robot MC1 to perform welding, the second welding teaching program created by correcting the first welding teaching program, and the welding history data related to the welding performed using the second welding teaching program, and extracts and outputs the welding conditions during welding based on the first welding teaching program, the second welding teaching program and the welding history data.

[0168] In addition, the first welding teaching procedure mentioned here can be Fig.10 The welding teaching program "A" created by the terminal device 1 shown may also be a welding teaching program "B" created by the teaching pendant TP and the robot controller 2. In addition, the second welding teaching program may be a welding teaching program created by modifying the welding teaching program created by the terminal device 1, or the teaching pendant TP and the robot controller 2.

[0169] Thus, the terminal device 1 according to the modification of the first embodiment outputs welding result management information including not only welding conditions during actual welding (e.g., welding order of welding lines, clamp angle, current value or voltage value of the power supply device 3 taught by the welding teaching program, actual measured value of current or voltage of the power supply device 3 during actual welding, or posture (angle) of the welding torch 400, etc.), but also welding conditions different from the original welding conditions or various settings added or corrected to the original welding conditions (e.g., offset amount set in the position information of actual welding as welding conditions during welding, offset amount set in the welding position of the welding torch 400, adjustment amount of posture (angle) of the welding torch 400, etc.), thereby assisting the management of welding conditions by the user. Therefore, the user does not need to collect welding conditions during actual welding required for the creation of the welding condition table TB2, and the welding condition table TB2 can be created efficiently. In addition, since the terminal device 1 can further shorten the operation stop time of the equipment (robot control device 2, power supply device 3 or welding robot MC1, etc.) accompanying the collection of welding conditions by the user, the operation rate of the equipment can be further improved.

[0170] In addition, the terminal device 1 according to the modification of the first embodiment generates and outputs welding condition management data obtained by applying the extracted welding conditions during welding to a given format (specifically, the format of the welding condition table TB2). Thus, the terminal device 1 according to the modification of the first embodiment can assist the management of the welding conditions by the user by generating and outputting the welding condition table TB2 in which each welding condition is summarized so that each welding condition can be managed separately.

[0171] In addition, the terminal device 1 according to the modification of the first embodiment calculates the posture of the welding torch 400 of the welding robot MC1 during welding based on the comparison between the first welding teaching program and the second welding teaching program, and outputs the welding conditions during welding including the calculated posture of the welding torch 400. Thus, the terminal device 1 according to the modification of the first embodiment can assist the management of the welding conditions by the user by outputting welding result management information including welding conditions different from the original welding conditions or various settings added or corrected to the original welding conditions (for example, the offset set in the position information of the formal welding as the welding conditions during welding, the offset set in the welding position of the welding torch 400, the adjustment amount of the posture (angle) of the welding torch 400, etc.).

[0172] In addition, the terminal device 1 according to the modification of the first embodiment calculates the offset of the welding line during welding based on the comparison between the first welding teaching program and the second welding teaching program, and outputs the welding conditions during welding including the calculated offset of the welding line. Thus, the terminal device 1 according to the modification of the first embodiment can assist the management of the welding conditions by the user by outputting welding result management information including welding conditions different from the original welding conditions or various settings added or corrected to the original welding conditions (for example, the offset set in the position information of the formal welding as the welding conditions during welding, the offset set in the welding position of the welding torch 400, the adjustment amount of the posture (angle) of the welding torch 400, etc.).

[0173] In addition, the terminal device 1 according to the modification of the first embodiment receives a designation operation related to the welding conditions during welding to be extracted, and extracts the welding conditions during welding based on the designated welding conditions. Thus, the terminal device 1 according to the modification of the first embodiment can extract the welding conditions designated by the user from the second welding teaching program and the welding history data, respectively. Therefore, the user can designate the welding conditions respectively extracted from the second welding teaching program and the welding history data as the welding conditions desired by the user or the welding conditions requested from the delivery destination of the workpiece Wk, and can assist in the management of the welding conditions.

[0174] A welding system 100 (an example of a welding condition management system) according to a modification of the first embodiment includes a terminal device 1 and a robot control device 2 capable of controlling a welding robot MC1 that produces a workpiece Wk by welding. The robot control device 2 receives a change to a first welding teaching program for causing the welding robot MC1 to perform welding, creates a second welding teaching program that modifies the first welding teaching program based on the change, causes the welding robot MC1 to perform production of the workpiece based on the second welding teaching program, and transmits the first welding teaching program, the second welding teaching program, and welding history data related to welding performed using the second welding teaching program to the terminal device 1. The terminal device 1 extracts and outputs welding conditions during welding based on the first welding teaching program, the second welding teaching program, and the welding history data.

[0175] Thus, the welding system 100 according to the modification of the first embodiment can assist the management of the welding conditions by the user by outputting the welding result management information including the welding conditions during the actual welding (for example, the welding sequence of the welding line, the clamp angle, the current value or voltage value of the power supply device 3 taught by the welding teaching program, the actual measured value of the current or voltage of the power supply device 3 during the actual welding, or the posture (angle) of the welding torch 400, etc.) collected by the robot control device 2 to the terminal device 1. Therefore, since the welding system 100 can further shorten the operation stop time of the equipment (robot control device 2, power supply device 3 or welding robot MC1, etc.) accompanying the collection of welding conditions by the user, the operation rate of the equipment can be further improved.

[0176] (Implementation method 2)

[0177] The welding system 100 according to the first embodiment and the modification of the first embodiment is a configuration including the terminal device 1, and an example of extracting and outputting welding conditions during welding using the terminal device 1 is described. The welding system 100A according to the second embodiment is a configuration not including the terminal device 1, and an example of extracting and outputting welding conditions during welding using the robot control device 2A is described.

[0178] The welding system 100A according to the second embodiment has the same configuration as the welding system 100 according to the first embodiment and the modification of the first embodiment. Therefore, in the following description, the same configuration as that of the welding system 100 according to the first embodiment and the modification of the first embodiment is denoted by the same reference numerals, and the description thereof is omitted.

[0179] (Structure of welding system)

[0180] Fig.12 1 is a schematic diagram showing a system configuration example of welding system 100A according to Embodiment 2. Welding system 100A includes external storage device 1A, robot control device 2A, welding robot MC1, power supply device 3, and teaching pendant TP. External storage device 1A is not an essential configuration and may be omitted.

[0181] The robot controller 2A is communicatively connected to the teaching pendant TP, and creates or modifies the welding teaching program based on the control command sent from the teaching pendant TP. In addition, the robot controller 2A causes the welding robot MC1 to start the actual welding using the specified original workpiece, welding conditions, and welding teaching program.

[0182] After the actual welding is performed, the robot controller 2A generates welding history data and stores it in the memory 22C or the external storage device 1A.

[0183] The robot control device 2A generates welding result management information that associates the actual welding result with the welding conditions used in the actual welding based on the welding history data. The robot control device 2A generates a welding condition table TB1 (an example of welding condition management data, see Figure 5 ), and output (displayed) in the external storage device 1A or an external terminal (not shown).

[0184] Next, refer to Fig.13 Next, an example of the internal structure of each device constituting welding system 100A will be described. Fig.13 This is a diagram showing an example of the internal configuration of a robot control device 2A and a teaching pendant TP according to the second embodiment.

[0185] The robot controller 2A controls the welding robot MC1 (eg, the manipulator 200 , the wire feeder 300 , or the power supply 3 ), corrects a welding teaching program, or records or transmits welding history data, etc. The robot controller 2A includes a communication unit 20A, a processor 21A, and a memory 22C.

[0186] The communication unit 20A is connected to the welding robot MC1, the external storage device 1A, or the teaching pendant TP so as to be capable of data communication. Fig.13 Although the illustration is simplified, data is transmitted and received between robot control unit 24 and manipulator 200 , between robot control unit 24 and wire feeding device 300 , and between power supply control unit 25 and power supply device 3 via communication unit 20A.

[0187] The communication unit 20A receives the welding teaching program sent from the external storage device 1A, or receives the control command from the teaching pendant TP. The communication unit 20A outputs the received welding teaching program and control command to the processor 21A. In addition, the communication unit 20A sends the welding teaching program, welding history data, or welding condition table TB1 created by the processor 21A to the external storage device 1A.

[0188] The processor 21A is constituted by, for example, a CPU or FPGA, and performs various processes and controls in cooperation with the memory 22C. Specifically, the processor 21A refers to a program stored in the memory 22C and executes the program, thereby realizing the functions of the calculation unit 23, the robot control unit 24, and the power supply control unit 25.

[0189] The processor 21A creates or modifies a welding teaching program based on the position information of the welding line taught by the teaching pendant TP (for example, the coordinate information of the start point and the end point of the welding line) and the welding operation setting information. The processor 21A stores the created or modified welding teaching program in the memory 22C.

[0190] In addition, the processor 21A generates welding result management information and a welding condition table TB1 (see FIG. 1 ) of actual welding performed by the welding robot MC1 based on the welding teaching program 22D and the welding history data 22E recorded in the memory 22C. Figure 5 ), output (displayed) to the external storage device 1A, etc.

[0191] The memory 22C includes, for example, a RAM as a working memory used when executing the processing of the processor 21A, and a ROM storing a program that specifies the processing of the processor 21A. The RAM temporarily stores data generated or acquired by the processor 21A. The ROM stores a program that specifies the processing of the processor 21A.

[0192] The memory 22C stores data of execution instructions for actual welding, information of workpieces Wk produced by actual welding, information of jigs, position information of welding lines, etc. The memory 22C also stores a welding teaching program 22D and welding history data 22E.

[0193] Next, refer to Fig.14 An example of an operation sequence of welding system 100A according to the second embodiment will be described. Fig.14 This is a flowchart for explaining an example of the operation sequence of welding system 100A according to the second embodiment.

[0194] In addition, Fig.14 In the present invention, for ease of understanding, the welding teaching program before correction is described as welding teaching program "D", and the welding teaching program "D" corrected based on adjustments such as welding conditions or the position of the welding line is described as welding teaching program "E", but it is not limited to this.

[0195] The robot control device 2A creates a welding teaching program “D” ( St31 ) for performing actual welding on at least one welding line based on various teachings using the teaching pendant TP, and stores the program in the memory 22C.

[0196] The teaching pendant TP receives user operations such as adjustment (change) of welding conditions or position adjustment of welding lines. Based on the user operations, the teaching pendant TP creates a welding teaching program "E" (St32) obtained by modifying the welding teaching program "D" stored in the memory 22C of the robot control device 2A, overwrites the welding teaching program "E" with the welding teaching program "D", and records it in the memory 22C. In addition, the robot control device 2A may record the welding teaching program "D" and the welding teaching program "E" separately in the memory 22C.

[0197] The robot controller 2A drives the welding robot MC1 based on the welding teaching program “E” to perform actual welding (test welding) on ​​the workpiece Wk ( St33 ).

[0198] The user determines whether the result of the test welding performed in step St33 is acceptable (that is, "OK") (St34). When the user determines that the quality of the manufactured workpiece Wk is acceptable (St34, Yes), the user performs an input operation to request the teaching pendant TP to perform the actual welding based on the welding teaching program "E".

[0199] On the other hand, when the user determines that the result of the test welding performed in step St33 is that the quality of the manufactured workpiece Wk is not up to standard (that is, "OK") (St34, No), the user operates the teaching pendant TP to adjust (change) the welding conditions or adjust the position of the welding line, etc. (St35).

[0200] The robot controller 2A drives the welding robot MC1 to perform formal welding on the workpiece Wk using the welding teaching program "E" based on the control command sent from the teaching pendant TP (St36). The robot controller 2A obtains welding history data (e.g., welding conditions, position information of welding lines, position or posture (angle) information of the welding torch 400, or identification information of the welding teaching program, etc.) of the formal welding performed using the welding teaching program "E", and records it in the memory 22C.

[0201] The robot controller 2A refers to the memory 22C, extracts the welding history data of the actual welding performed using the welding teaching program "E" (St37), and records it in the memory 22C. In addition, the processing of step St36 may also be omitted. In this case, the robot controller 2A extracts the welding history data of the actual welding performed in the processing of step St33.

[0202] The robot controller 2A generates welding result management information of actual welding based on the welding teaching program “E” and the welding history data (St38). The robot controller 2A generates a welding condition table TB1 (see Figure 5 ), output to the external storage device 1A, etc. (St39). In addition, the output process of the welding condition table TB1 can also be omitted. In addition, the robot control device 2A can also output the welding result management information to the external storage device 1A.

[0203] As described above, the robot control device 2A in the second embodiment can obtain welding history data (welding conditions) executed based on the revised welding teaching program even if the welding teaching program is modified based on changes in welding conditions using the teaching pendant TP or the like at the welding site after the welding teaching program is created. In addition, the robot control device 2A extracts welding condition table TB1 (see FIG. 1 ) for managing welding conditions from the revised welding teaching program and welding history data. Figure 5 ) corresponding to various items included in the welding condition table TB1 (data related to the welding teaching program, data related to the workpiece Wk, data related to the welding line, or data related to the welding conditions, etc.) are applied to various items of the welding condition table TB1, thereby making it possible to further easily generate the welding condition table TB1.

[0204] Thus, the robot controller 2A can automatically generate the welding condition table TB1 for use in welding reproducibility, welding quality management, and the like.

[0205] As described above, the robot control device 2A involved in embodiment 2 is capable of controlling the welding robot MC1 that produces the workpiece Wk by welding, recording the second welding teaching program (an example of the second teaching program) created by correcting the first welding teaching program (an example of the first teaching program) used to enable the welding robot MC1 to perform welding, and the welding history data related to the welding performed using the second welding teaching program, and based on the second welding teaching program and the welding history data, extracting and outputting the welding conditions during welding.

[0206] Thus, the robot control device 2A according to the second embodiment can assist the management of welding conditions by the user by outputting welding result management information that extracts welding conditions during the actual welding (for example, the welding sequence of welding lines, the clamp angle, the current value or voltage value of the power supply device 3 taught by the welding teaching program, the actual measured value of the current or voltage of the power supply device 3 during the actual welding, or the posture (angle) of the welding torch 400, etc.). Therefore, the user does not need to collect the welding conditions during the actual welding required for the creation of the welding condition table TB1, and the welding condition table TB1 can be created efficiently. In addition, since the terminal device 1 can further shorten the operation stop time of the equipment (robot control device 2, power supply device 3 or welding robot MC1, etc.) accompanying the collection of welding conditions by the user, the operation rate of the equipment can be further improved.

[0207] (Variation of Embodiment 2)

[0208] The welding system 100A according to the second embodiment shows an example in which the welding conditions, the position of the welding line, etc. are adjusted using the teaching pendant TP according to the user's judgment based on the technical knowledge of actual welding ( Fig.14 , step St32 or step St35), thereby correcting the welding teaching program, in which case, welding result management information including information such as the adjusted welding conditions or the position of the welding line and the welding condition table TB1 are generated. The welding system 100A involved in the modified example of the second embodiment describes the following example: in addition to adjusting the welding conditions or the position of the welding line, the position of the welding torch 400 relative to the welding line is also adjusted (adjustment of the offset, see Figure 6 )、Adjust the posture (angle) of the welding torch 400 (refer to Figure 7 ) etc., generates welding result management information including information such as the adjusted welding conditions or the position of the welding line and a welding condition table TB2 (an example of welding condition management data, see Fig.11 ).

[0209] In the modification of the second embodiment, the welding conditions or the position of the weld line are not necessarily adjusted, and only the position adjustment (adjustment of the offset amount) of the welding torch 400 relative to the weld line or the posture (angle) adjustment of the welding torch 400 may be performed.

[0210] In the following description of a welding system 100A according to a modification of the second embodiment, since the configuration is the same as that of welding system 100A according to the second embodiment, the same reference numerals are used and the description thereof is omitted.

[0211] Next, refer to Fig.15 A welding system 100A according to a modification of the second embodiment will be described. Fig.15 This is a flowchart for explaining an example of the operation sequence of welding system 100A according to the modification of the second embodiment.

[0212] In addition, Fig.15 In order to make the description easier to understand, the welding teaching program before correction or the corrected welding teaching program corrected based on the adjustment of the welding conditions or the position of the welding line is described as a welding teaching program "D", and the welding teaching program "D" corrected by the position adjustment of the welding torch 400 relative to the welding line (adjustment of the offset amount), the posture (angle) adjustment of the welding torch 400, etc. is described as a welding teaching program "F", but it is not limited to this.

[0213] The robot control device 2A creates a welding teaching program “D” ( St31 ) for performing actual welding on at least one welding line based on various teachings using the teaching pendant TP, and stores the program in the memory 22C.

[0214] The teaching pendant TP receives user operations such as adjustment (change) of welding conditions or adjustment of the position of the welding line. Based on the user operations, the teaching pendant TP creates a welding teaching program "F" (St32A) obtained by modifying the welding teaching program "D" stored in the memory 22C of the robot control device 2A, associates the welding teaching program "D" with the welding teaching program "F", and records them in the memory 22C.

[0215] The robot controller 2A drives the welding robot MC1 based on the welding teaching program “F” to perform actual welding (test welding) on ​​the workpiece Wk ( St33A).

[0216] The user determines whether the result of the test welding performed in step St33A is acceptable (that is, "OK") (St34). When the user determines that the quality of the manufactured workpiece Wk is acceptable (St34, Yes), the user performs an input operation to request the teaching pendant TP to perform the formal welding based on the welding teaching program "F".

[0217] On the other hand, when the user determines that the result of the test welding performed in step St33A is that the quality of the manufactured workpiece Wk is not up to standard (that is, "OK") (St34, No), the user operates the teaching pendant TP to adjust (change) the welding conditions or adjust the position of the welding line, etc. (St35A).

[0218] The robot control device 2A drives the welding robot MC1 to perform formal welding on the workpiece Wk using the welding teaching program "F" based on the control command sent from the teaching pendant TP (St36A). The robot control device 2A obtains welding history data (for example, welding conditions or position information of the welding line, position or posture (angle) information of the welding torch 400, or identification information of the welding teaching program, etc.) of the formal welding performed using the welding teaching program "F" and records it in the memory 22C.

[0219] The robot controller 2A refers to the memory 22C, extracts the welding history data of the actual welding performed using the welding teaching program "F" (St37), and records it in the memory 22C. In addition, the processing of step St36A may also be omitted. In this case, the robot controller 2A extracts the welding history data of the actual welding performed in the processing of step St33A.

[0220] The robot controller 2A generates welding result management information (St38A) of actual welding based on the welding teaching program "F" and the welding history data. The robot controller 2A generates a welding condition table TB2 (see Fig.11 ), output to the external storage device 1A, etc. (St39A). In addition, the output processing of the welding condition table TB2 can be omitted. In addition, the robot control device 2A can also output the welding result management information to the external storage device 1A.

[0221] As described above, the robot control device 2A in the second embodiment can obtain welding history data (welding conditions) executed based on the revised welding teaching program even if the welding teaching program is modified based on changes in welding conditions using the teaching pendant TP or the like at the welding site after the welding teaching program is created. In addition, the robot control device 2A extracts the welding condition table TB2 (see the table TB2 for managing welding conditions) from the revised welding teaching program and the welding history data. Figure 5 ) is applied to various items in the welding condition table TB1, thereby making it easier to generate the welding condition table TB2.

[0222] Thus, the robot controller 2A can automatically generate the welding condition table TB2 for use in welding reproducibility and quality management.

[0223] As described above, the robot control device 2A involved in the modified example of embodiment 2 is capable of controlling the welding robot MC1 that produces the workpiece Wk by welding, recording the first welding teaching program (an example of the first teaching program) for causing the welding robot MC1 to perform welding, the second welding teaching program (an example of the second teaching program) created by correcting the first welding teaching program, and the welding history data related to the welding performed using the second welding teaching program, and based on the first welding teaching program, the second welding teaching program and the welding history data, extracts and outputs the welding conditions during welding.

[0224] Thus, the robot control device 2A according to the modification of the second embodiment can assist the management of the welding conditions by the user by outputting the welding result management information which extracts the welding conditions during the actual welding (for example, the welding sequence of the welding line, the clamp angle, the current value or voltage value of the power supply device 3 taught by the welding teaching program, the actual measured value of the current or voltage of the power supply device 3 during the actual welding, or the posture (angle) of the welding torch 400, etc.). Therefore, the user does not need to collect the welding conditions during the actual welding required for the creation of the welding condition table TB2, and the welding condition table TB2 can be created efficiently. In addition, since the terminal device 1 can further shorten the operation stop time of the equipment (robot control device 2, power supply device 3 or welding robot MC1, etc.) accompanying the collection of the welding conditions by the user, the operation rate of the equipment can be further improved.

[0225] Above, various embodiments are described with reference to the accompanying drawings, but it is self-evident that the present disclosure is not limited to the examples involved. If it is a person skilled in the art, it is obvious that various changes, corrections, substitutions, additions, deletions, and equivalents can be thought of within the scope of the scope of the patent claim, and it is understood that they certainly also belong to the technical scope of the present disclosure. In addition, within the scope of not departing from the gist of the invention, the various structural elements in the above-mentioned various embodiments can also be arbitrarily combined.

[0226] In addition, the present application is based on the Japanese patent application (Japanese Patent Application No. 2022-162399) filed on October 7, 2022, the contents of which are incorporated herein by reference.

[0227] Industrial Applicability

[0228] The present disclosure is useful as a welding condition management method, a welding condition management program, and a welding condition management system that assist efficient management of welding conditions.

[0229] Explanation of symbols

[0230] 1 Terminal device

[0231] 1A External storage device

[0232] 2.2A Robot control device

[0233] 3 Power supply unit

[0234] 10, 20, 20A, 30 Communications Department

[0235] 11, 21, 21A, 31 processors

[0236] 12, 22, 22C, 32 Memory

[0237] 12A, 22A, 22D welding teaching program

[0238] 12B, 22B, 22E welding history data

[0239] 13.33 Input section

[0240] 14, 34 Monitor

[0241] 100, 100A welding system

[0242] 200 Robot

[0243] 300 Wire feeding device

[0244] 301 welding wire

[0245] 400, 400A, 400B welding torch

[0246] MC1 welding robot

[0247] NW Network

[0248] TB1, TB2 welding conditions table

[0249] TP Teaching Pendant

[0250] Wk artifact.

Claims

1. A welding condition management method, performed by a terminal device, In the welding condition management method, acquiring a second teaching program created by modifying a first teaching program for causing a welding robot to perform welding, and welding history data related to the welding performed using the second teaching program, Based on the second teaching program and the welding history data, welding conditions during the welding are extracted and output.

2. The welding condition management method according to claim 1, wherein: The terminal device generates and outputs welding condition management data in which the extracted welding conditions during welding are applied to a given format.

3. The welding condition management method according to claim 1, wherein: The terminal device receives a designation operation regarding welding conditions during the welding to be extracted, and extracts the welding conditions during the welding based on the designated welding conditions.

4. A welding condition management program for enabling a terminal device to implement the following steps: Recording the steps of a first teaching program for causing a welding robot to perform welding; a step of acquiring a second teaching program created by correcting the first teaching program and welding history data related to the welding performed using the second teaching program; and A step of extracting and outputting welding conditions during the welding based on the second teaching program and the welding history data.

5. A welding condition management system, comprising: terminal devices; and A robot control device capable of controlling a welding robot that produces a workpiece by welding, The robot control device receives a change to a first teaching program for causing the welding robot to perform welding, and creates a second teaching program that corrects the first teaching program based on the change. The robot control device causes the welding robot to produce the workpiece based on the second teaching program, and transmits welding history data related to the welding performed using the second teaching program to the terminal device. The terminal device extracts and outputs welding conditions during the welding based on the second teaching program and the welding history data.

6. A welding condition management method, performed by a robot control device capable of controlling a welding robot that produces a workpiece by welding, In the welding condition management method, recording a second teaching program created by modifying a first teaching program for causing the welding robot to perform the welding, and welding history data related to the welding performed using the second teaching program, Based on the second teaching program and the welding history data, welding conditions during the welding are extracted and output.

7. A welding condition management program for causing a robot control device capable of controlling a welding robot for producing a workpiece by welding to implement the following steps: The step of recording a first teaching program for causing the welding robot to perform the welding; a step of recording a second teaching program created by correcting the first teaching program and welding history data related to the welding performed using the second teaching program; and A step of extracting and outputting welding conditions during the welding based on the second teaching program and the welding history data.

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