Control device, welding system and program

Abstract

Provided is a control device, a welding system, and a program capable of improving welding quality compared to the past. The control device of the embodiment includes an input / output section, a measurement section, and a processing section. The input / output section outputs first information for instructing a start of welding to an arc welding machine and accepts input of second information indicating that an arc is generated by the arc welding machine. The measurement section measures a time from the output of the first information until the input of the second information. The processing section performs a prescribed process when the time or a statistical quantity of the time is equal to or less than a first threshold value.

Description

Technical Field

[0001] This invention relates to a control device, a welding system, and a program. Background Technology

[0002] When an arc welding machine starts welding while the welding wire is in contact with the workpiece (hereinafter referred to as "touch start"), poor start-up or tip deposition is easily caused, which is known to be a major cause of reduced weld quality. As a method to avoid this, a method is known to reverse the welding wire's movement at the end of the welding process before the weld point if a touch start is determined to be occurring (Patent Document 1). However, if this method is used, welding continues even when the desired tip-to-workpiece distance cannot be obtained, and it cannot be said that the reduction in weld quality is avoided.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent No. 4428073 Summary of the Invention

[0006] The problem the invention aims to solve

[0007] The goal is to develop a control device that can improve welding quality compared to previous methods.

[0008] Solution for solving the problem

[0009] The control device disclosed herein includes an input / output unit, a measurement unit, and a processing unit. The input / output unit outputs first information indicating the start of welding for an arc welding machine, and accepts second information indicating that an arc has been generated by the arc welding machine. The measurement unit measures the time from the output of the first information until the input of the second information. The processing unit performs prescribed processing if the time or a statistical measure of the time is below a first threshold.

[0010] The effects of the invention

[0011] The control device disclosed herein can improve welding quality compared to the past. Attached Figure Description

[0012] Figure 1 This is a block diagram illustrating an example of the main structural components of a welding system according to an embodiment and the main structural components included in the welding system.

[0013] Figure 2 It is shown by Figure 1A flowchart illustrating an example of the processing performed by the processor in the robot control device. Detailed Implementation

[0014] The welding system according to the embodiments will now be described using the accompanying drawings. Furthermore, the scale of each part in the drawings used in the following description of the embodiments may be appropriately changed. Additionally, structural details may be omitted from the drawings for illustrative purposes. Moreover, the same reference numerals denote the same elements in the drawings and this specification.

[0015] Figure 1 This is a block diagram illustrating an example of the structure of the main components of the welding system 1 according to the embodiment. The welding system 1 is a system that uses a robotic arm to perform arc welding. As an example, the welding system 1 includes a robot control device 100, a welding robot 200, an arc welding machine 300, and a teaching pendant 400.

[0016] The robot control device 100 is a device for controlling the welding robot 200. As an example, the robot control device 100 includes a processor 110, a ROM (read-only memory) 120, a RAM (random-access memory) 130, an auxiliary storage device 140, a communication interface 150, a control interface 160, and a welding interface 170. Furthermore, a bus 180 and the like connect these components.

[0017] The processor 110 is the central part of the computer that performs calculations and control processing required for the operation of the robot control device 100, and performs various calculations and processing. The processor 110 can be, for example, a CPU (central processing unit), MPU (microprocessor unit), SoC (system on a chip), DSP (digital signal processor), GPU (graphics processing unit), ASIC (application specific integrated circuit), PLD (programmable logic device), or FPGA (field-programmable gate array). Alternatively, the processor 110 can be a combination of multiple of these. Furthermore, the processor 110 can also be a combination of these components with hardware accelerators. The processor 110 controls each component to implement various functions of the robot control device 100 based on firmware, system software, and application software stored in the ROM 120 or auxiliary storage device 140. Furthermore, the processor 110 executes the processing described later based on this program. In addition, part or all of the program can be embedded in the circuitry of the processor 110.

[0018] ROM 120 and RAM 130 are the main storage devices of a computer centered on processor 110.

[0019] ROM 120 is a non-volatile memory specifically used for data retrieval. ROM 120 stores, for example, firmware from the aforementioned program. Additionally, ROM 120 also stores data used by the processor 110 during various processing operations.

[0020] RAM 130 is a memory used for data reading and writing. RAM 130 is used as a work area to store data temporarily used by the processor 110 during various processing operations. RAM 130 is typically volatile memory.

[0021] Auxiliary storage device 140 is an auxiliary storage device for a computer with processor 110 as its central processing unit. Auxiliary storage device 140 may be, for example, EEPROM (electrically erasable programmable read-only memory), HDD (hard disk drive), or flash memory. Auxiliary storage device 140 stores, for example, system software and application software from the aforementioned programs. In addition, auxiliary storage device 140 stores data used by processor 110 during various processing operations, data generated by processor 110 processing, and various setting values.

[0022] In addition, the auxiliary storage device 140 stores the program (hereinafter referred to as the "robot program") used to operate the welding robot 200. The robot program determines the starting position of the arc welding and the operation of the drive unit 210, etc.

[0023] Additionally, the auxiliary storage device 140 stores settings related to the actions of the robot control device 100 (hereinafter referred to as "action settings"). Action settings include, for example, settings indicating whether to perform notification processing, settings indicating whether to perform correction processing, and settings indicating the values ​​of various thresholds and the distance D1. Notification processing, correction processing, various thresholds, and the distance D1 will be described later.

[0024] The communication interface 150 is used for communication between the robot control device 100 and the teaching device 400 and other devices. This communication can be wired or wireless.

[0025] Control interface 160 is used for communication between robot control device 100 and welding robot 200. This communication can be wired or wireless. Robot control device 100 controls welding robot 200 via control interface 160.

[0026] The welding interface 170 is used for communication between the robot control device 100 and the arc welding machine 300. This communication can be either wired or wireless. The robot control device 100 controls the arc welding machine 300 via the welding interface 170.

[0027] Bus 180 includes a control bus, an address bus, and a data bus, which transmit signals transmitted in various parts of the robot control device 100.

[0028] The welding robot 200 is a robot or similar device that performs arc welding on an object OB. The welding robot 200 uses, for example, a robotic arm to move at least one of the welding torch 230 and the object OB, thereby changing the relative position of the welding torch 230 and the object OB. Thus, the welding robot 200 performs welding at a desired position on the object OB. As an example, the welding robot 200 includes a drive unit 210, a wire feeder 220, and a welding torch 230. Furthermore, the welding robot 200 may also possess some or all of the functions of an arc welding machine 300.

[0029] The drive unit 210 is a part that is driven by a motor such as a servo motor. The drive unit 210 includes, for example, a robotic arm.

[0030] The wire feeder 220 feeds welding wire from the welding wire supply source to the welding torch 230. In addition, the wire feeder 220 controls the opening and closing of a solenoid valve, which is configured in the supply path for supplying auxiliary gas from the auxiliary gas supply source to the welding torch 230.

[0031] The welding torch 230 is a device with a front end for performing arc welding. The welding wire is fed into the barrel of the welding torch 230 by the wire feeder 220. The welding torch 230 supplies power from the arc welding machine 300 to the welding wire. Additionally, the welding torch 230 is equipped with a mechanism for, for example, ejecting shielding gas.

[0032] The arc welding machine 300 functions as a power source, supplying the electricity required for arc welding to the welding torch 230 and the like. Additionally, the arc welding machine 300 has the function of receiving signals used to detect the energization of the workpiece and notifying other devices. Furthermore, the arc welding machine 300 may also incorporate some of the functions of the welding robot 200.

[0033] The teaching pendant 400 is a device for creating robot programs. Robot program creation can be achieved through online teaching, offline teaching, direct teaching, or other programming methods. The teaching pendant 400 can be, for example, a teacher pendant capable of online teaching. The teaching pendant 400 can also be, for example, a PC (personal computer) or other device that executes offline teaching software. Furthermore, the robot control device 100 may also possess some or all of the functions of the teaching pendant 400. Additionally, the welding robot 200 may also possess some or all of the functions of the teaching pendant 400.

[0034] As an example, the teaching pendant 400 includes a processor 410, a ROM 420, a RAM 430, an auxiliary storage device 440, a communication interface 450, an input device 460, and a display device 470. Furthermore, a bus 480 and the like connect these components.

[0035] The processor 410 is the central part of the computer that performs calculations and control processing required for the operation of the teaching pendant 400, and performs various calculations and processing. The processor 410 may be, for example, a CPU, MPU, SoC, DSP, GPU, ASIC, PLD, or FPGA. Alternatively, the processor 410 may be a combination of multiple of these. Furthermore, the processor 410 may also be a combination of these components with hardware accelerators. The processor 410 controls each component based on firmware, system software, and application software stored in the ROM 420 or auxiliary storage device 440, etc., to realize the various functions of the teaching pendant 400. In addition, the processor 410 executes the processing described later based on this program. Furthermore, part or all of this program may be embedded within the circuitry of the processor 410.

[0036] ROM 420 and RAM 430 are the main storage devices of a computer with processor 410 as the central hub.

[0037] ROM 420 is a non-volatile memory specifically used for data retrieval. ROM 420 stores, for example, firmware from the aforementioned program. Additionally, ROM 420 also stores data used by the processor 410 during various processing operations.

[0038] RAM 430 is a memory used for data reading and writing. RAM 430 is used as a work area to store data temporarily used by the processor 410 during various processing operations. RAM 430 is typically volatile memory.

[0039] Auxiliary storage device 440 is an auxiliary storage device for a computer with processor 410 as its central processing unit. Auxiliary storage device 440 may be, for example, EEPROM, HDD, or flash memory. Auxiliary storage device 440 stores, for example, system software and application software from the aforementioned programs. In addition, auxiliary storage device 440 stores data used by processor 410 during various processing operations, data generated by processor 410 processing, and various setting values.

[0040] The communication interface 450 is used for communication between the teaching pendant 400 and the robot control device 100, etc. This communication can be either wired or wireless.

[0041] Input device 460 accepts operations performed by the operator of teaching device 400. Input device 460 may be, for example, a keyboard, keypad, touchpad, mouse, or controller. Alternatively, input device 460 may also be a device for voice input.

[0042] Display device 470 displays a screen for notifying the operator of teaching device 400 of various information. Display device 470 is, for example, a liquid crystal display (LCD) or an organic EL (electro-luminescence) display. Alternatively, a touch panel can be used as both input device 460 and display device 470. That is, the display panel of a touch panel can be used as display device 470, and the touchpad of a touch panel can be used as input device 460.

[0043] Bus 480 includes a control bus, an address bus, and a data bus, which transmit signals to be transmitted in various parts of the teaching pendant 400.

[0044] Below, based on Figure 2 The operation of the welding system 1 according to the embodiment will be explained below. Furthermore, the processing described below is just one example; various processing methods that can achieve the same result can be appropriately utilized. Figure 2 This is a flowchart illustrating an example of processing performed by the processor 110 of the robot control device 100. The processor 110 executes based on a program, for example, stored in ROM 120 or auxiliary storage device 140. Figure 2 The processor 110, for example, begins processing upon activation of the robot control unit 100. Figure 2 The processing shown.

[0045] In step ST11, processor 110 determines whether the operation setting has been changed. For example, if there is an input indicating a change in the operation setting, processor 110 determines that the operation setting has been changed. This input is based on, for example, an operation input performed by an operator of the teaching pendant 400. This input is, for example, input via communication interface 150. If processor 110 does not determine that the operation setting has been changed, it determines "No" in step ST11, and the process proceeds to step ST12.

[0046] In step ST12, processor 110 determines whether a new robot program needs to be added. For example, if there is input indicating the addition of a robot program, processor 110 determines that a robot program needs to be added. This input is based on, for example, an operation input made by the operator of the teaching pendant 400. This input is, for example, input via communication interface 150. If processor 110 does not determine that a robot program needs to be added, it determines "No" in step ST12, and the process proceeds to step ST13.

[0047] In step ST13, processor 110 determines whether to start soldering. For example, if there is an input indicating that soldering should begin, processor 110 determines that soldering should begin. This input is based on, for example, an operation input made by an operator of teaching device 400. This input is, for example, input via communication interface 150. If processor 110 does not determine that soldering should begin, it determines "no" in step ST13, and the process proceeds to step ST14.

[0048] In step ST14, processor 110 determines whether to modify the stored robot program. For example, if there is input indicating a modification to the robot program, processor 110 determines that the robot program needs to be modified. This input is based on, for example, an operation input performed by the operator of the teaching pendant 400. This input is, for example, input via communication interface 150. If processor 110 does not determine that the robot program needs to be modified, it determines "no" in step ST14, and processing returns to step ST11. In this way, processor 110 enters a standby state that repeats steps ST11 to ST14 until it determines that settings need to be changed, a robot program needs to be added, welding needs to be started, or a stored robot program needs to be modified.

[0049] If the processor 110 determines that the settings have been changed while in the standby state of steps ST11 to ST14, it determines "yes" in step ST11 and proceeds to step ST15.

[0050] In step ST15, processor 110 changes the action settings based on input indicating changes to the action settings. This input is based, for example, on an operation input performed by an operator of teaching device 400. This input is, for example, input via communication interface 150. For example, to change the action settings, processor 110 rewrites the action settings stored in auxiliary storage device 140. After processing in step ST15, processing returns to step ST11.

[0051] If the processor 110 determines that a new robot program has been added while in the standby state of steps ST11 to ST14, it determines "yes" in step ST12 and the process proceeds to step ST16.

[0052] In step ST16, processor 110 stores the robot program created using the teach pendant 400 through various programming methods in auxiliary storage device 140. Furthermore, processor 110 stores the robot program in association with a program ID. The program ID (identifier) ​​is unique identification information for each robot program. After processing in step ST16, processing returns to step ST11.

[0053] If the processor 110 determines that soldering has started while in the standby state of steps ST11 to ST14, it determines "yes" in step ST13 and the process proceeds to step ST17.

[0054] In step ST17, processor 110 begins executing any robot program stored in auxiliary storage device 140. This robot program will be referred to here as the "execution program." Processor 110 controls welding robot 200 and arc welding machine 300 based on the execution program. Furthermore, processor 110 determines which robot program to execute based on input, for example, for selecting the robot program to execute. This input is based on, for example, an operational input performed by the operator of teaching device 400. This input is, for example, input via communication interface 150.

[0055] In step ST18, the processor 110 moves the welding torch 230 to the start position of arc welding based on the execution program.

[0056] In step ST19, the processor 110 outputs a welding start command from the welding interface 170, indicating the commencement of welding. The output welding start command is input to the arc welding machine 300. The arc welding machine 300 responds to the input of the welding start command by outputting an arc. An arc is generated between the welding torch 230 and the workpiece OB. If an arc is generated, the arc welding machine 300 outputs a notification indicating that an arc has been generated. This notification is input from the arc welding machine 300 to the welding interface 170 of the robot control device 100. Furthermore, the processor 110 stores the time T1 at which the welding start command was output in RAM 130, etc., to know the elapsed time since the output of the welding start command.

[0057] Furthermore, a welding start command is an example of first information indicating the start of welding. Additionally, a notification is an example of second information indicating that an arc has been generated by the arc welding machine 300. Therefore, the welding interface 170 is an example of an input / output unit. Furthermore, the processor 110 that controls the welding interface 170 is an example of an input / output control unit.

[0058] Furthermore, the arc welding machine 300 generates an electric arc in response to receiving a welding start command input, thus functioning as a generation unit. Additionally, when an electric arc is generated, the arc welding machine 300 outputs a notification indicating that an arc has been generated, thus functioning as an output unit.

[0059] In step ST20, processor 110 measures the time ΔT from the output of the welding start command until the input of the notification. Processor 110 stores, for example, the time T2 when the notification is input to welding interface 170 in RAM 130. Then, processor 110 calculates the time ΔT by subtracting time T1 from time T2.

[0060] Time ΔT is an example of the time from the output of the welding start command until the input of the notification is generated. Therefore, the processor 110 functions as a measurement unit for measuring this time by performing the processing in step ST20.

[0061] In step ST21, the processor 110 associates the measurement result of time ΔT with the program ID (hereinafter referred to as "execution ID") of the executed program in the auxiliary storage device 140.

[0062] In step ST22, the processor 110 determines whether to perform notification processing. Notification processing is used to notify the operator of the teaching pendant 400 of the possibility of contact start-up, etc. For example, if the time ΔT associated with the execution ID stored in the auxiliary storage device meets a specified condition (hereinafter referred to as the "warning condition") and the action is set to perform notification processing, the processor 110 determines to perform notification processing. Examples of warning conditions are shown below (A1) to (A7).

[0063] (A1) The number of times ΔT that are associated with the execution ID and are below the threshold TH11 is above the threshold TH12. In addition, the value of the threshold TH12 can also be 1.

[0064] (A2) is the ratio of the number of time ΔT below the threshold TH11 to the number of time ΔT associated with the execution ID, which is above the threshold TH13.

[0065] (A3) The average time ΔT associated with the execution ID is below the threshold TH14.

[0066] (A4) The median value of the time ΔT associated with the execution ID is below the threshold TH15.

[0067] (A5) The minimum value of the time ΔT associated with the execution ID is below the threshold TH16.

[0068] (A6) The maximum value of the time ΔT associated with the execution ID is below the threshold TH17.

[0069] (A7) The latest time ΔT in the time ΔT that is associated with the execution ID is below the threshold TH18.

[0070] Warning conditions can also be conditions formed by combining conditions (A1) to (A7). In addition, warning conditions can also be conditions that use statistics other than the mean, median, minimum, and maximum.

[0071] Furthermore, the processor 110 can also sequentially extract a predetermined number of time ΔTs associated with the execution ID, starting from the latest time ΔT, to determine whether the warning condition is met. If the number of time ΔTs associated with the execution ID is less than the predetermined number, the processor 110 may, for example, use all the time ΔTs associated with the execution ID to determine whether the warning condition is met. Alternatively, the processor 110 may extract only the time ΔTs measured within a predetermined period from the current time to determine whether the warning condition is met. Additionally, the processor 110 may remove deviation values ​​before determining whether the warning condition is met. As a method for removing deviation values, the processor 110 may employ, for example, a known method. Furthermore, the processor 110 may only determine whether the warning condition is met if the number of time ΔTs associated with the execution ID is a threshold TH19 or higher.

[0072] Furthermore, threshold TH11 and thresholds TH14 through TH18 are examples of the first threshold. Additionally, thresholds TH12 and TH13 are examples of the second threshold.

[0073] If the processor 110 determines that it needs to perform notification processing, it will determine "yes" in step ST22 and proceed to step ST23.

[0074] In step ST23, processor 110 performs notification processing. As notification processing, processor 110, for example, instructs teaching device 400 to display a warning screen on display device 470.

[0075] The processor 410 of the teaching pendant 400 generates an image corresponding to the warning screen in response to the instruction. The processor 410 then instructs the display device 470 to display the generated image. The display device 470 accepts the display instruction and displays the warning screen.

[0076] The warning screen includes images indicating, for example, that a contact start may have occurred, that a contact start is likely to occur, or that a contact start is imminent. Text is also a type of image. Additionally, the warning screen includes images urging corrections to the taught position, such as prompting the welding torch 230 to move away from the object being welded OB. Furthermore, the warning screen includes an image indicating the execution ID to identify which robot program is being processed.

[0077] Additionally, as a notification process, the processor 110 can also cause the speaker or other means provided with the teaching device 400 to output sound containing the same content as that included in the warning screen. Furthermore, the processor 110 can also use other methods to notify the same content as that included in the warning screen.

[0078] Furthermore, alarm processing is an example of a prescribed process. Therefore, by performing steps ST22 and ST23, the processor 110 functions as an example of a processing unit that performs prescribed processing when the time is below a first threshold.

[0079] After the processing in step ST23, the process proceeds to step ST24. Alternatively, if the processor 110 determines that it will not perform the notification processing, it will determine "no" in step ST22 and proceed to step ST24.

[0080] In step ST24, the processor 110 controls the welding robot 200 based on the execution program to perform arc welding on the object to be welded.

[0081] In step ST25, the processor 110 determines whether to perform correction processing. Correction processing is the process of correcting the teach position of the executable program to prevent contact startup from occurring. For example, if the time ΔT associated with the execution ID is stored in the auxiliary storage device meets a predetermined condition (hereinafter referred to as the "correction condition") and the action is set to perform correction processing, the processor 110 determines to perform correction processing. Examples of correction conditions are shown below (B1) to (B7).

[0082] (B1) The number of times ΔT that are associated with the execution ID and are below the threshold TH21 is above the threshold TH22. In addition, the value of the threshold TH22 can also be 1.

[0083] (B2) is the ratio of the number of time ΔT below the threshold TH21 to the number of time ΔT associated with the execution ID, which is above the threshold TH23.

[0084] (B3) The average time ΔT associated with the execution ID is below the threshold TH24.

[0085] (B4) The median value of the time ΔT associated with the execution ID is below the threshold TH25.

[0086] (B5) The minimum value of the time ΔT associated with the execution ID is below the threshold TH26.

[0087] (B6) The maximum value of the time ΔT associated with the execution ID is below the threshold TH27.

[0088] (B7) The latest time ΔT in the time ΔT that is associated with the execution ID is below the threshold TH28.

[0089] The correction condition can also be a combination of conditions (B1) to (B7). Additionally, the correction condition can use statistics other than the mean, median, minimum, and maximum. Furthermore, the warning condition and the correction condition can be the same.

[0090] Furthermore, the processor 110 can also sequentially extract a predetermined number of time ΔTs associated with the execution ID, starting from the latest time ΔT, to determine whether the correction condition is met. If the number of time ΔTs associated with the execution ID is less than the predetermined number, the processor 110 may use, for example, all time ΔTs associated with the execution ID to determine whether the correction condition is met. Alternatively, the processor 110 may extract only the time ΔTs measured within a predetermined period from the current time to determine whether the correction condition is met. Additionally, the processor 110 may remove deviation values ​​before determining whether the correction condition is met. As a method for removing deviation values, the processor 110 may employ, for example, a known method. Furthermore, the processor 110 may determine whether the correction condition is met only if the number of time ΔTs associated with the execution ID is a threshold TH29 or higher.

[0091] Furthermore, threshold TH21 and thresholds TH24 through TH28 are examples of the first threshold. Additionally, thresholds TH22 and TH23 are examples of the second threshold.

[0092] If the processor 110 determines that it will not perform the correction process, it will determine "No" in step ST25 and the process will return to step ST11. Conversely, if the processor 110 determines that it will perform the correction process, it will determine "Yes" in step ST25 and the process will proceed to step ST26.

[0093] In step ST26, processor 110 performs a correction process. For example, processor 110 rewrites the execution program stored in auxiliary storage device 140 to make the start position of arc welding in the correction program move away from the object to be welded OB by a specified distance D1.

[0094] Furthermore, the correction process is an example of a predetermined process. Therefore, by performing the processes of steps ST25 and ST26, the processor 110 functions as an example of a processing unit that performs predetermined processes when the time is below a first threshold.

[0095] In step ST27, processor 110 performs a reset process targeting the executor. That is, processor 110 ensures that the time ΔT associated with the execution ID is not used in the determination of warning and correction conditions. For example, processor 110 deletes all time ΔT associated with the execution ID. After the processing in step ST27, the process returns to step ST11.

[0096] Operators of the teaching pendant 400, for example, view warning screens to receive notifications based on notification processing and correct the robot program. To correct the robot program, operators may, for example, use the input device 460 to input instructions for changing the robot program. This input is, for example, input to the robot control device 100 via the communication interface 150.

[0097] If the processor 110 determines that the robot program needs to be changed while in the standby state of steps ST11 to ST14, it will determine "yes" in step ST14 and proceed to step ST28.

[0098] In step ST28, the processor 110 modifies the robot program based on input indicating changes to the robot program. This input is based, for example, on an operation input performed by an operator of the teaching pendant 400. This input is, for example, input via the communication interface 150. Furthermore, the robot program modified here is not limited to the robot program to which notification processing is intended.

[0099] In step ST29, processor 110 determines whether the starting position of the arc welding has changed for the robot program modified in step ST28. If the starting position has not changed, processor 110 determines "no" in step ST29, and the process returns to step ST11. Conversely, if the starting position has changed, processor 110 determines "yes" in step ST29, and the process proceeds to step ST30.

[0100] In step ST30, processor 110 performs a reset process targeting the robot program modified in step ST28. Specifically, processor 110 ensures that the time ΔT stored in association with the program ID of the robot program is not used in the determination of warning and correction conditions. For example, processor 110 deletes all time ΔT associated with the program ID. After the processing in step ST30, the process returns to step ST11.

[0101] According to the welding system 1 of the embodiment, when the time ΔT from the output of the welding start command to the generation of the notification input, or when the statistic of the time ΔT is below a predetermined threshold, the robot control device 100 performs predetermined processing such as warning processing or correction processing. As a result, the robot control device 100 prevents contact-based start-up and improves welding quality compared to the past.

[0102] Furthermore, according to the welding system 1 of the embodiment, the robot control device 100 performs the prescribed process when the number of times ΔT below a predetermined threshold is greater than a predetermined number. Therefore, the welding system 1 of the embodiment can prevent the prescribed process from being performed using only a single measurement result of time ΔT when the time ΔT deviates from its value.

[0103] Furthermore, according to the welding system 1 of the embodiment, the robot control device 100 can use, for example, an average value, an intermediate value, a minimum value, or a maximum value as a statistical measure of time ΔT. Therefore, the robot control device 100 of the embodiment has the potential to perform a prescribed process even when contact-based initiation is likely to occur.

[0104] Furthermore, according to the welding system 1 of the embodiment, the robot control device 100 performs a warning as a prescribed procedure. Therefore, the robot control device 100 can prompt the operator or others to correct the program to suppress the occurrence of contact-based startup.

[0105] Furthermore, according to the welding system 1 of the embodiment, the robot control device 100 modifies the robot program to move the welding start position away from the specified location as a pre-defined procedure. Therefore, the robot control device 100 can reduce the possibility of contact-based start-up.

[0106] Furthermore, according to the welding system 1 of the embodiment, the robot control device 100 performs a reset process when the starting position is changed. Therefore, the robot control device 100 does not use the time ΔT data before the starting position change in warning and correction conditions.

[0107] The above-described embodiments can also be modified as follows.

[0108] Alternatively, even if the starting position remains unchanged, if the robot program is modified, the processor 110 will also be reset.

[0109] The welding robot 200 can also use welding fillers other than welding wire.

[0110] The arc welding machine in this embodiment may also be without a robotic arm.

[0111] Processor 110 or processor 410 can also implement part or all of the processing implemented by the program in the above embodiments through the hardware structure of the circuit.

[0112] The program for implementing the implementation method is transferred, for example, in a state where it is stored on the device. However, the device can also be transferred in a state where the program is not stored. Then, the program can be transferred separately and written to the device. In this case, the transfer of the program can be achieved, for example, by recording it on a removable storage medium or by downloading it via a network such as the Internet or a LAN (local area network).

[0113] The embodiments of this disclosure have been described above, but these embodiments are shown by way of example and are not intended to limit the scope of the invention. Embodiments of the invention can be implemented in various ways without departing from the spirit of the invention.

[0114] Explanation of reference numerals in the attached figures

[0115] 1: Welding system; 100: Robot control device; 110, 410: Processor; 120, 420: ROM; 130, 430: RAM; 140, 440: Auxiliary storage device; 150, 450: Communication interface; 160: Control interface; 170: Welding interface; 180, 480: Bus; 200: Welding robot; 210: Drive unit; 220: Wire feeder; 230: Welding torch; 300: Arc welding machine; 400: Teaching device; 460: Input device; 470: Display device; OB: Welding object.

Claims

1. A control device comprising: The input / output unit outputs first information for the arc welding machine to indicate the start of welding, and accepts second information as input, which indicates that the arc welding machine outputs in response to the received instruction, resulting in the generation of an electric arc. The measurement unit measures the time from the output of the first information to the input of the second information. as well as The processing unit performs prescribed processing when the number or proportion of times that are below a first threshold among the times obtained from multiple measurements is above a second threshold.

2. A control device comprising: The input / output unit outputs first information for the arc welding machine to indicate the start of welding, and accepts second information as input, which indicates that the arc welding machine outputs in response to the received instruction, resulting in the generation of an electric arc. The measurement unit measures the time from the output of the first information to the input of the second information. as well as The processing unit performs prescribed processing when the average, median, minimum, or maximum value of the time is below a first threshold.

3. A control device comprising: The input / output unit outputs first information for the arc welding machine to indicate the start of welding, and accepts second information as input, which indicates that the arc welding machine outputs in response to the received instruction, resulting in the generation of an electric arc. The measurement unit measures the time from the output of the first information to the input of the second information. as well as The processing unit performs prescribed processing when the time or the statistic of the time is below a first threshold. The processing unit provides a notification indicating that the procedure for determining the start position of the welding has been modified, as part of the prescribed processing.

4. A control device comprising: The input / output unit outputs first information for the arc welding machine to indicate the start of welding, and accepts second information as input, which indicates that the arc welding machine outputs in response to the received instruction, resulting in the generation of an electric arc. The measurement unit measures the time from the output of the first information to the input of the second information. as well as The processing unit performs prescribed processing when the time or the statistic of the time is below a first threshold. The processing unit modifies the procedure for determining the starting position of the weld to move the starting position away from the object being welded, as specified in the prescribed process.

5. A welding system, comprising a control device and an arc welding machine, wherein, The control device includes: The input / output unit outputs first information for the arc welding machine to indicate the start of welding, and accepts second information as input, which indicates that the arc welding machine outputs in response to the received instruction, resulting in the generation of an electric arc. The measurement unit measures the time from the output of the first information to the input of the second information. as well as The processing unit performs prescribed processing when the number or proportion of times measured multiple times that are below a first threshold is above a second threshold. The arc welding machine includes: The generating unit receives the first information as input and generates an electric arc; and The output unit outputs the second information when an electric arc is generated by the generating unit.

6. A welding system, comprising a control device and an arc welding machine, wherein, The control device includes: The input / output unit outputs first information for the arc welding machine to indicate the start of welding, and accepts second information as input, which indicates that the arc welding machine outputs in response to the received instruction, resulting in the generation of an electric arc. The measurement unit measures the time from the output of the first information to the input of the second information. as well as The processing unit performs prescribed processing when the average, median, minimum, or maximum value over the specified time is below a first threshold. The arc welding machine includes: The generating unit receives the first information as input and generates an electric arc; and The output unit outputs the second information when an electric arc is generated by the generating unit.

7. A welding system, comprising a control device and an arc welding machine, wherein The control device includes: The input / output unit outputs first information for the arc welding machine to indicate the start of welding, and accepts second information as input, which indicates that the arc welding machine outputs in response to the received instruction, resulting in the generation of an electric arc. The measurement unit measures the time from the output of the first information to the input of the second information. as well as The processing unit performs prescribed processing when the time or the statistic of the time is below a first threshold. The processing unit provides a notification indicating a correction to the procedure used to determine the start position of the weld, as part of the prescribed processing. The arc welding machine includes: The generating unit receives the first information as input and generates an electric arc; and The output unit outputs the second information when an electric arc is generated by the generating unit.

8. A welding system, comprising a control device and an arc welding machine, wherein The control device includes: The input / output unit outputs first information for the arc welding machine to indicate the start of welding, and accepts second information as input, which indicates that the arc welding machine outputs in response to the received instruction, resulting in the generation of an electric arc. The measurement unit measures the time from the output of the first information to the input of the second information. as well as The processing unit performs prescribed processing when the time or the statistic of the time is below a first threshold. Specifically, the processing unit modifies the procedure for determining the start position of the weld to move the start position away from the object being welded, as part of the prescribed processing. The arc welding machine includes: The generating unit receives the first information as input and generates an electric arc; and The output unit outputs the second information when an electric arc is generated by the generating unit.

9. A computer-readable medium storing a program that causes a processor in a control device having an input / output unit to function as: An input / output control unit controls an input / output unit to output first information for an arc welding machine to indicate the start of welding, and to receive second information indicating that the arc welding machine generates an arc as a result of outputting in response to the received instruction. The measurement unit measures the time from the output of the first information to the input of the second information. as well as The processing unit performs prescribed processing when the number or proportion of times that are below a first threshold among the times obtained from multiple measurements is above a second threshold.

10. A computer-readable medium storing a program that causes a processor of a control device having an input / output unit to function as: An input / output control unit controls an input / output unit to output first information for an arc welding machine to indicate the start of welding, and to receive second information indicating that the arc welding machine generates an arc as a result of outputting in response to the received instruction. The measurement unit measures the time from the output of the first information to the input of the second information. as well as The processing unit performs prescribed processing when the average, median, minimum, or maximum value of the time is below a first threshold.

11. A computer-readable medium storing a program that causes a processor of a control device having an input / output unit to function as: An input / output control unit controls an input / output unit to output first information for an arc welding machine to indicate the start of welding, and to receive second information indicating that the arc welding machine generates an arc as a result of outputting in response to the received instruction. The measurement unit measures the time from the output of the first information to the input of the second information. as well as The processing unit performs prescribed processing when the time or the statistic of the time is below a first threshold. The processing unit provides a notification indicating that the procedure for determining the start position of the welding has been modified, as part of the prescribed processing.

12. A computer-readable medium storing a program that causes a processor of a control device having input / output units to function as: An input / output control unit controls an input / output unit to output first information for an arc welding machine to indicate the start of welding, and to receive second information indicating that the arc welding machine generates an arc as a result of outputting in response to the received instruction. The measurement unit measures the time from the output of the first information to the input of the second information. as well as The processing unit performs prescribed processing when the time or the statistic of the time is below a first threshold. The processing unit modifies the procedure for determining the starting position of the welding so that the starting position is moved away from the object being welded, as a prescribed process.

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