Remote operation method of remote operation type welding system and welding system

Abstract

A remote operation method of a welding system capable of manual operation of a welding robot acquires image data of an arbitrary position using one or a plurality of imaging devices, displays the image data using a display device, accepts an instruction of execution of a contact sensing function based on a welding torch of the welding robot from an operator via an operation terminal, and performs remote operation of the welding system. In the execution of the contact sensing function, the welding torch is moved on the basis of an instruction to the welding robot received via the operation terminal, and the position of the welding torch is adjusted on the basis of the position of the contact when the contact of the welding torch with the peripheral member is sensed by the contact sensing function.

Description

Technical Field

[0001] The present invention relates to a remote operation method of a remote operation type welding system and a welding system. Background Art

[0002] In the past, as a prerequisite for the multi-joint welding robot to automatically perform actions and operations, it was necessary to train the operator in advance to manually perform welding actions, sensing actions, and dry run actions for moving to different operating parts, and the positions, robot postures, and welding conditions involved in each action. In addition, when the welding robot is automatically operating, if welding stops due to an error, etc., the operator sometimes manually performs correction operations such as position adjustment.

[0003] Thus, when using a welding robot system (hereinafter, also referred to as a "welding system") equipped with a welding robot, an operator is sometimes required to manually operate the welding robot (hereinafter, also referred to as "manual operation"). On the other hand, depending on the welding environment, the operator may not be close to the robot. In such an environment, in scenes requiring manual operation such as training operation and correction operation during welding, there is a problem that various operations cannot be properly performed.

[0004] In order to solve the above problems, a technology such as Patent Document 1 is disclosed. Patent Document 1 discloses the following technology: when performing welding training operations, even in an environment where a person cannot approach one side of a welding robot or cannot be on site for a long time, such as an environment such as a nuclear reactor in a nuclear power plant, a multi-jointed welding robot can be used to perform training operations and welding construction through remote operation by an operator, thereby obtaining a sound welded portion.

[0005] Prior Art Literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Publication No. 2002-96169 Summary of the invention

[0008] -Problems to be solved by the invention-

[0009] As in Patent Document 1, by confirming the image data captured by the CCD (Charge Coupled Device) camera installed at the front end of the welding robot while performing remote operation, manual operation can be performed even in an environment where people cannot approach one side of the welding robot. However, in the welding environment, there is a limit to the number of visual sensors such as CCD cameras that can be installed, and sometimes blind spots are generated. For example, in order to perform higher quality welding, sometimes very fine operations such as manually positioning the target in mm units are performed at the groove of the workpiece (also referred to as the base material or the material to be welded). In Patent Document 1, there is only one visual sensor installed at the front end of the welding robot, which produces many blind spots, making it difficult to perform various operations appropriately. In addition, depending on the posture and configuration of the welding robot, it is sometimes difficult to visually identify the area you want to focus on from the image of the visual sensor, or it becomes a situation where the area you want to focus on cannot be obtained with sufficient clarity based on the performance of the visual sensor. In addition, if the operator makes a mistake in operation and the welding torch contacts the surrounding components, sometimes the welding robot is damaged, such as the welding torch is broken and the welding wire is bent.

[0010] Therefore, it is desired to provide a function for assisting the manual operation while preventing damage to the welding robot and the like when the welding robot installed remotely is manually operated.

[0011] An object of the present invention is to provide a remote operation method and a welding system of a remotely operated welding system, which allow an operator to appropriately perform various operations when manually operating a welding robot installed remotely.

[0012] -Methods for solving the problem-

[0013] In order to solve the above problems, the present invention has the following structure. That is, a remote operation method of a welding system can perform manual operation of a welding robot based on remote control,

[0014] The remote operation method of the welding system comprises:

[0015] An acquisition step, using one or more camera devices to acquire image data at any position;

[0016] A display step of displaying the image data using a display device;

[0017] an accepting step of accepting an instruction to execute a contact sensing function of a welding torch of the welding robot from an operator via an operation terminal; and

[0018] an operation step of moving the welding torch based on an instruction to the welding robot received via the operation terminal during execution of the contact sensing function,

[0019] In the operation process, when the contact between the welding torch and a peripheral member is sensed by the contact sensing function, the position of the welding torch is adjusted based on the position of the contact.

[0020] In addition, another embodiment of the present invention has the following structure. That is, a welding system includes:

[0021] A welding robot equipped with a welding torch;

[0022] one or more cameras;

[0023] display device; and

[0024] An operating terminal is used to remotely manually operate the welding robot.

[0025] The welding system has:

[0026] an acquisition unit, using the one or more camera devices to acquire image data at any position;

[0027] A display unit, using the display device to display the image data;

[0028] a receiving unit that receives an instruction to execute a contact sensing function of the welding torch from an operator via the operation terminal; and

[0029] an operating unit that moves the welding torch based on an instruction to the welding robot received via the operating terminal during execution of the contact sensing function,

[0030] When the contact between the welding torch and a peripheral member is sensed by the contact sensing function, the operating unit adjusts the position of the welding torch based on the position of the contact.

[0031] -Effects of the Invention-

[0032] According to the present invention, it is possible to provide an auxiliary function when manually operating a welding system remotely. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram showing an example of a system configuration according to an embodiment of the present invention.

[0034] Figure 2 This is a block diagram showing a configuration example of a robot control device according to an embodiment of the present invention.

[0035] Figure 3 This is a flowchart of a sensing process according to one embodiment of the present invention.

[0036] Figure 4A This is a conceptual diagram for explaining a series of processes of a welding torch during remote operation according to one embodiment of the present invention.

[0037] Figure 4B This is a conceptual diagram for explaining a series of processes of a welding torch during remote operation according to one embodiment of the present invention.

[0038] Figure 4C This is a conceptual diagram for explaining a series of processes of a welding torch during remote operation according to one embodiment of the present invention.

[0039] Figure 4D This is a conceptual diagram for explaining a series of processes of a welding torch during remote operation according to one embodiment of the present invention.

[0040] Figure 4E This is a conceptual diagram for explaining a series of processes of a welding torch during remote operation according to one embodiment of the present invention.

[0041] Figure 4F This is a conceptual diagram for explaining a series of processes of a welding torch during remote operation according to one embodiment of the present invention.

[0042] Figure 4G This is a conceptual diagram for explaining a series of processes of a welding torch during remote operation according to one embodiment of the present invention.

[0043] Figure 4H This is a conceptual diagram for explaining a series of processes of a welding torch during remote operation according to one embodiment of the present invention.

[0044] Fig. 4I This is a conceptual diagram for explaining a series of processes of a welding torch during remote operation according to one embodiment of the present invention.

[0045] Figure 4J This is a conceptual diagram for explaining a series of processes of a welding torch during remote operation according to one embodiment of the present invention.

[0046] Figure 4K This is a conceptual diagram for explaining a series of processes of a welding torch during remote operation according to one embodiment of the present invention.

[0047] Figure 4L This is a conceptual diagram for explaining a series of processes of a welding torch during remote operation according to one embodiment of the present invention.

[0048] Figure 5 This is a flowchart of a sensing process according to one embodiment of the present invention.

[0049] Figure 6This is a flowchart of the adjustment process of the training program involved in one embodiment of the present invention.

[0050] Fig. 7A This is a conceptual diagram for explaining the adjustment process of the training program involved in one embodiment of the present invention.

[0051] Figure 7B This is a conceptual diagram for explaining the adjustment process of the training program involved in one embodiment of the present invention.

[0052] Figure 7C This is a conceptual diagram for explaining the adjustment process of the training program involved in one embodiment of the present invention.

[0053] Figure 8 This is a flowchart of groove sensing processing according to one embodiment of the present invention.

[0054] Fig. 9A This is a conceptual diagram for explaining groove sensing processing when an error occurs according to one embodiment of the present invention.

[0055] Fig. 9B This is a conceptual diagram for explaining groove sensing processing when an error occurs according to one embodiment of the present invention.

[0056] Fig. 9C This is a conceptual diagram for explaining groove sensing processing when an error occurs according to one embodiment of the present invention. DETAILED DESCRIPTION

[0057] Hereinafter, the mode for implementing the present invention will be described with reference to the accompanying drawings and the like. In addition, the embodiment described below is an embodiment for describing the present invention and is not intended to limit the interpretation of the present invention. In addition, all structures described in each embodiment are not limited to the structures necessary to solve the problems of the present invention. In addition, in each of the accompanying drawings, the same structural elements are marked with the same reference numerals to indicate the corresponding relationship.

[0058] In addition, the remote operation method and remote operation type welding robot system involved in the present invention are not only useful in welding, but also in the additive manufacturing technology that makes use of GMAW, specifically, the metal stacking modeling technology (WAAM: Wire and Arc Additive Manufacturing). In addition, the term additive manufacturing is sometimes used in a broad sense as the term stacking modeling or rapid prototyping, but in the present invention, the term additive manufacturing is used uniformly. In the case where the method involved in the present invention is used in additive manufacturing technology, "welding" is renamed "deposition", "additive manufacturing" or "stacking modeling". For example, when it is processed as welding, it becomes "welding behavior", but when the present invention is used as additive manufacturing, it is renamed "deposition behavior", and when it is processed as welding, it becomes a "welding system", but when the present invention is used as additive manufacturing, it can be renamed as an "additive manufacturing system".

[0059] [Structure of welding system]

[0060] Figure 1 A configuration example of welding system 1 according to the present embodiment is shown. Figure 1 The welding system 1 shown is configured to include a welding robot 10, a robot control device 20, a power supply device 30, a visual sensor 40, a data processing device 50, and a training pendant 60. In addition, when the method involved in the present invention is applied to additive manufacturing, for example, the welding system 1 may be renamed as an additive manufacturing system, and the welding robot 10 may be renamed as an additive manufacturing robot. In this case, further structures may be included according to the applied system.

[0061] Figure 1 The welding robot 10 shown is composed of a 6-axis multi-joint robot, and a welding torch 11 for GMAW is installed at its front end. In addition, in GMAW, there are MIG (Metal Inert Gas) welding and MAG (Metal Active Gas) welding, for example. In this embodiment, MAG welding is used as an example for description. In addition, the welding robot 10 is not limited to a 6-axis multi-joint robot, for example, a small movable robot can also be used.

[0062] The welding wire 13 is supplied from the welding wire feeding device 12 to the welding torch 11. The welding wire 13 is fed from the front end of the welding torch 11 to the welding part. The power supply device 30 supplies power to the welding wire 13. With this power, an arc voltage is applied between the welding wire 13 and the workpiece W, and an arc is generated. The power supply device 30 is provided with a current sensor (not shown) for detecting the welding current flowing from the welding wire 13 during welding to the workpiece W, and a voltage sensor (not shown) for detecting the arc voltage between the welding wire 13 and the workpiece W.

[0063] The power supply device 30 has a processing unit and a storage unit (not shown). The processing unit is composed of, for example, a CPU (Central Processing Unit). In addition, the storage unit is composed of, for example, a volatile or non-volatile memory such as an HDD (Hard Disk Drive), a ROM (Read Only Memory), and a RAM (Random Access Memory). The processing unit controls the power applied to the welding wire 13 by executing a computer program for power supply control stored in the storage unit. The power supply device 30 is also connected to the welding wire feeding device 12, and the processing unit controls the feeding speed and feeding amount of the welding wire 13.

[0064] The composition and type of the welding wire 13 can be used separately according to the welding object. As the type of the welding wire 13, for example, a solid welding wire, a flux welding wire including a flux, etc. can be cited. In addition, as the material of the welding wire 13, for example, mild steel, stainless steel, aluminum, titanium, etc. can be cited, and copper or the like can be plated on the surface of the welding wire. Furthermore, the diameter of the welding wire 13 is not particularly limited. In the case of this embodiment, as an example, a welding wire with an upper limit of 1.6 mm and a lower limit of 0.8 mm can be used.

[0065] The visual sensor 40 is composed of, for example, a CCD (Charge Coupled Device) camera. The configuration position of the visual sensor 40 is not particularly limited, and the visual sensor 40 can be directly mounted on the welding robot 10. In addition, as a monitoring camera, it can also be fixed to a specific location in the surrounding area. When the visual sensor 40 is directly mounted on the welding robot 10, the visual sensor 40 moves so as to capture the periphery of the front end of the welding torch 11 together with the movement of the welding robot 10. The number of cameras constituting the visual sensor 40 may also be multiple. For example, the visual sensor 40 may be composed of multiple cameras with different functions and installation positions.

[0066] In the present embodiment, a structure using a fixed visual sensor 40 installed in an environment using a welding robot 10 is described as an example. In the case where the visual sensor 40 is fixed outside the welding robot 10, it is preferable to use a camera having at least a PTZ function as the visual sensor 40, which can control panning, tilting, zooming, etc. together with the movement of the welding robot 10. In addition to obtaining an image of the front end of the welding torch 11 as its operating position accompanying the movement of the welding robot 10, the visual sensor 40 may also be a structure that obtains an arbitrary image by, for example, indicating the designation of panning, tilting, zooming, etc. and shooting settings in order for an operator using the data processing device 50 to confirm the target range. Specifically, it is preferable to obtain image data including at least one of the surroundings of the welding torch 11 of the welding robot or the surroundings of the welding line. As shooting settings, for example, frame rate, number of pixels of the image, resolution, shutter speed, etc. can be cited.

[0067] The data processing device 50 is composed of, for example, a CPU, ROM, RAM, hard disk device, input / output interface, communication interface, image output interface, display unit (hereinafter also referred to as display), etc. (not shown). The data processing device 50 can be composed of, for example, an information processing device such as a PC (Personal Computer). The data processing device 50 can display the dynamic image data captured in real time at an arbitrary frame rate on the display through the cooperation of the above-mentioned various structural parts at least through the visual sensor 40. In addition, when the visual sensor 40 is a fixed monitoring camera as in the present embodiment, the data processing device 50 can also include a visual sensor control unit. Furthermore, an image processing unit capable of changing brightness, contrast, etc. can be provided for the displayed dynamic image data, and a storage unit for recording and saving dynamic images can also be provided. In addition, a series of processes from image input to real-time image display on the display unit can also be performed by software installed on the data processing device 50.

[0068] Each part constituting the welding system 1 is connected to each other in a communicative manner by various wired / wireless communication methods. The communication method here is not limited to one, and a plurality of communication methods may be combined to connect.

[0069] [Structure of the robot control device]

[0070] Figure 2The following is a configuration example of a robot control device 20 for controlling the actions of the welding robot 10. The robot control device 20 is configured to include a CPU 201 for controlling the entire device, a memory 202 for storing data, an operation panel 203 including a plurality of switches, a robot connection unit 204, and a communication unit 205. The memory 202 is configured to include a volatile or non-volatile storage device such as a ROM, a RAM, or a HDD. The memory 202 stores a control program 202A for controlling the welding robot 10. The CPU 201 controls various actions of the welding robot 10 by executing the control program 202A.

[0071] The input of instructions to the robot control device 20 can use the operation panel 203 and the training pendant 60, and mainly uses the training pendant 60. The training pendant 60 is connected to the main body of the robot control device 20 via the communication unit 205. The operator can use the training pendant 60 to input the training program. The robot control device 20 controls the welding robot 10 according to the training program input from the training pendant 60. In addition, the training program can also be automatically created based on CAD (Computer-Aided Design) information, etc., using a computer not shown in the figure. The action content defined by the training program is not particularly limited and may vary according to the specifications of the welding robot 10 and the welding method.

[0072] In addition, the training pendant 60 can manually operate the welding robot 10 via the robot control device 20. In the present embodiment, a welding robot using a training playback method is applied. In this method, an operator manually operates the welding robot 10 to perform training operations such as setting training points on the movement line and welding line of the welding robot 10 and storing the positions, or storing the coordinate information of the posture of the welding robot 10, or inputting welding conditions. In this way, a training program used to automatically operate the welding robot 10 is created. In addition, when the welding robot 10 stops due to an error such as in the middle of welding during automatic operation, the operator can also use the training pendant 60 to manually operate the welding robot 10 and perform correction operations such as changing the target position.

[0073] A driving circuit of the welding robot 10 is connected to the robot connection part 204 . The CPU 201 outputs a control signal based on the control program 202A to a driving circuit (not shown) included in the welding robot 10 via the robot connection part 204 .

[0074] The communication unit 205 is configured to include a communication module for wired or wireless communication. The communication unit 205 is used to communicate data and signals with the power supply device 30, the data processing device 50, the training pendant 60, etc. The communication method and specification used in the communication unit 205 are not particularly limited, and a plurality of methods may be combined or different for each connected device. For example, the current value of the welding current detected by the current sensor not shown and the voltage value of the arc voltage detected by the voltage sensor not shown are provided from the power supply device 30 to the CPU 201 via the communication unit 205.

[0075] The robot control device 20 controls the moving speed and the protruding direction of the welding torch 11 by controlling each axis of the welding robot 10. In addition, when performing a swinging action, the robot control device 20 also controls the swinging action of the welding robot 10 according to the set period, amplitude, and welding speed. The swinging action refers to the alternating swinging of the welding torch 11 in the direction of travel of welding, that is, the direction intersecting the welding direction. The robot control device 20 performs welding line profiling control together with the swinging action. The so-called welding line profiling control refers to the action of controlling the left and right positions relative to the travel direction of the welding torch 11 so that a weld bead is formed along the welding line. In addition, the robot control device 20 controls the feeding speed of the welding wire 13 by controlling the welding wire feeding device 12 via the power supply device 30.

[0076] [Remote operation method]

[0077] In this embodiment, the operator of the welding system 1 controls the welding robot 10 located remotely using the training pendant 60 and the data processing device 50 for training. In this case, the welding robot 10 and the visual sensor 40 are located far away from the operator and the data processing device 50, that is, remotely, and the operator visually recognizes the image of the workpiece W set around the welding robot 10 captured by the visual sensor 40 through the display unit of the data processing device 50. Then, by confirming the image of the workpiece W, the operator understands the positional relationship between the welding robot 10, especially the welding torch 11, and the workpiece W, while performing various operations.

[0078] At this time, the operator uses the image obtained by the visual sensor 40 to indirectly visually recognize the workpiece W and the welding robot 10, so as mentioned above, blind spots in the image are generated, or a situation where it is difficult to clearly visually recognize the object occurs. In particular, in the case of fillet welding, it is difficult to clearly visually recognize, and it is difficult for the operator to grasp the welding position in three dimensions. In addition, in the case of groove welding, in addition to being difficult to clearly visually recognize, there is also a situation where a blind spot is generated. Furthermore, the contact condition between the front end of the welding robot 10 and the workpiece W requires fine control, but in the case of difficult visual recognition, a contact load greater than necessary will not be applied to the front end of the welding torch 11 to hinder fine adjustment of the position. As a result, in order to avoid contact with the welding torch 11, a distance greater than necessary is generated between the workpiece W and the welding torch 11, and proper training of the position of the welding torch 11 cannot be performed.

[0079] Therefore, in the present embodiment, during remote operation, the contact between the welding robot 10 and the workpiece W is appropriately detected, thereby improving the convenience of the operator's training operation.

[0080] Figure 3 This is a flowchart showing a flow when the operator understands the position on the workpiece W involved in welding during remote operation. At this time, the robot control device 20 executes processing while receiving various operations from the training pendant 60 performed by the operator.

[0081] In S301, the operator grasps the current position of the given part of the current welding robot 10 from the image displayed by the data processing device 50. The given part here is explained by taking the front end part of the welding torch 11 as an example. In addition, the front end part of the welding torch 11 mentioned here refers to the front end position of the welding wire 13 that has been fed through the welding torch 11 to a predetermined protruding length. First, the robot control device 20 applies the sensing power (hereinafter also referred to as "sensing voltage") to the welding torch 11 or the welding wire 13. Then, the robot control device 20 moves the welding torch 11 in a given direction and contacts the workpiece W. The given direction here is based on the operator's instruction to the training pendant 60. The workpiece W contacts the welding wire 13 at the front end of the welding torch 11, and the action of the welding robot 10 stops, thereby determining its positional relationship based on the position of the welding wire 13.

[0082] In S302, the operator retreats the welding torch 11 so as to keep it away from the workpiece W. The retreat distance and direction here can be based on the operator's instructions. Here, the remote operation performed by the operator in a state where the sensing voltage is not applied is set as the "first remote operation", and the remote operation performed by the operator in a state where the sensing voltage is applied is set as the "second remote operation". In addition, the moving speed of the "first remote operation" is recorded as the "first moving speed", and the moving speed of the "second remote operation" is recorded as the "second moving speed". Therefore, the process of S301 is performed with the "second remote operation" based on the operator's instructions, and the process of S302 is performed with the "first remote operation" based on the operator's instructions.

[0083] Different speed levels are preset for the settings of the "first moving speed" and the "second moving speed". In the present embodiment, the "first moving speed" can select any speed level from the four pre-set speed levels of "high", "medium", "medium-low", and "low". In addition, the "second moving speed" can select any speed from the pre-set "maximum speed" to "minimum speed" with a numerical value of 100~1. "High" of the "first moving speed" is equivalent to 100 of the "second moving speed", and "low" is equivalent to 3. In addition, as long as the setting of the "second moving speed" is not changed, it becomes the same speed as the "low" of the "first moving speed", that is, 3. In addition, the second moving speed is preferably set to be slower than the first moving speed, and at least the second moving speed is set to a speed that can stop at approximately the same time as the change in the voltage generated when the welding torch 11 contacts the workpiece W. When the change in voltage is sensed, the robot control device 20 automatically switches to the "first remote operation".

[0084] In S303 , the operator operates the welding robot 10 via the training pendant 60 based on the arbitrary target position and the current position grasped in S301 so that the tip of the welding torch 11 approaches the arbitrary target position by the first remote operation.

[0085] In S304, the operator operates the training pendant 60 to stop the front end of the welding torch 11 at a fixed distance from the target position. Here, the operator stops the first remote operation. In addition, the fixed distance here can be arbitrarily determined by the operator.

[0086] In S305 , the operator switches to the second remote operation using the training pendant 60 , and moves the tip of the welding torch 11 so as to contact the workpiece W.

[0087] In S306 , the robot control device 20 stops the operation in a state where the tip of the welding torch 11 is in contact with the workpiece W. At this time, the operator confirms that the welding torch 11 is in contact with the workpiece W and stops.

[0088] In S307, the operator determines whether the contact position of the front end of the welding torch 11 is within a given range from the target position. The given range here is a range of allowable error and can be arbitrarily determined by the operator. In the case where the operator does not contact within the given range (S307: No), the operator's processing returns to S302 and repeats the processing. In the case of contacting a position within the given range (S307: Yes), this processing flow ends.

[0089] Next, an operation example of the welding torch 11 in remote operation to which the above-described sensing process and the like are applied will be described. Figure 4A to Figure 4L This is a diagram for explaining the flow of a series of operations of the welding torch 11 executed according to instructions from the training pendant 60 by the operator during remote operation according to the present embodiment. Figure 4A to Figure 4L The positional relationship between the workpiece W and the welding torch 11 is shown in correspondence with the positional relationship between the workpiece W and the welding torch 11 when viewed along the z-axis and the positional relationship between the workpiece W and the welding torch 11 when viewed along the x-axis. Figure 3 The process shown in the flowchart uses Figure 4A to Figure 4L Here, Figure 4A As shown, the description will be made using an example of a workpiece W in which two members are arranged to be orthogonal to each other.

[0090] Figure 4B express Figure 3 The state example before the processing of S301 is started. First, Figure 4C As shown, in order to understand the current position of the welding torch 11, the operator instructs the robot control device 20 via the training pendant 60 to make the welding torch 11 contact the workpiece W through the second remote operation. This corresponds to Figure 3 Here, an example in which the welding torch 11 is moved along the y-axis direction is shown, but a structure in which the welding torch 11 is moved along other axes is also possible.

[0091] Next, if Figure 4D As shown, after the front end of the welding torch 11 contacts the workpiece W, the sensing voltage is released and the operation is switched to the first remote control. After that, the operator withdraws the welding torch 11 from the workpiece W. This corresponds to Figure 3 The retreat direction here indicates the same as in Figure 4C An example of a direction opposite to the direction of approaching the workpiece W.

[0092] Next, if Figure 4E As shown, the operator moves the welding torch 11 toward the target position by maintaining the first remote operation unchanged via the training pendant 60. This corresponds to Figure 3 The S303 process.

[0093] Next, if Figure 4FAs shown, after moving the welding torch 11 a given distance, the operator switches to the second remote operation via the training pendant 60 and moves the front end of the welding torch 11 to contact the workpiece W. This corresponds to Figure 3 At this point in time, the contact position between the workpiece W and the welding torch 11 is not included in the given range from the target position (in Figure 3 The process is further repeated if the result is equivalent to "No" in S307.

[0094] Figure 4G This corresponds to the repeated step S302. Figure 4H This corresponds to the repeated step S303. Fig. 4I This corresponds to the repeated step S306. At this time, it is determined that the coordinates of the x-axis and y-axis of the three axes, the x-axis, the y-axis, and the z-axis, are consistent with the target position. On the other hand, the z-axis direction is considered not to be within the given range (within Figure 3 The process is further repeated if the result is equivalent to "No" in S307.

[0095] Figure 4J This corresponds to the further repetition of the step S302. Figure 4K This corresponds to the further repeated step S303. Here, since the positions of the x-axis and the y-axis can be adjusted, the operator moves the welding torch 11 along the unadjusted direction, i.e., the z-axis direction in this example, close to the target position via the training pendant 60. At this time, the operator switches to the second remote control in advance and moves the welding torch 11 to the unadjusted direction.

[0096] Then, if Figure 4L As shown, when the tip of the welding torch 11 is in a state where it can come into contact with the vicinity of the target position, the remote adjustment operation by the operator is completed.

[0097] When the visual sensor 40 is configured to capture the workpiece W from the direction near the welding line, for example Figure 4C status, Figure 4F In the state, it is assumed that the position of the welding torch 11 overlaps with the target position in the image of the visual sensor 40, and it is difficult for the operator to visually recognize the target position. In addition, depending on the performance of the visual sensor 40, such as resolution, it is sometimes impossible to clearly capture the target position in the workpiece W. In such a case, it is also assumed that it is difficult for the operator to visually recognize the target position. As a result, it may be difficult for the operator to specify an appropriate target position when creating a training program. Therefore, when determining the position on the workpiece W, by causing the welding system 1 to perform the above-mentioned control, an auxiliary function for creating a more accurate training program can be provided.

[0098] Figure 560. This is a flowchart showing the flow of processing performed by the robot control device 20 when the operator of the welding system 1 starts the "second remote operation" using the training pendant 60. In other words, this flowchart is executed by the robot control device 20 when the operator of the welding system 1 performs an operation for detecting contact between the workpiece W and the front end of the welding torch 11 using the training pendant 60. Therefore, this flowchart can be respectively Figure 3 The process is performed in steps S301, S305, S306, etc. shown in the figure.

[0099] In addition, as described above, during remote operation, the image around the welding torch 11 is acquired by the visual sensor 40 and appropriately displayed on the display unit of the data processing device 50 so that the operator can visually recognize it. In addition, the imaging setting of the visual sensor 40 can be arbitrarily adjusted by the operator, for example.

[0100] In S501, when the operator starts the "second remote operation" using the training pendant 60, the robot control device 20 applies a sensing voltage for detecting contact at the front end of the welding torch 11 based on the instruction from the training pendant 60. In this embodiment, regarding the second remote operation, a touch sensor method is used to apply a voltage between the workpiece W and the welding wire 13 at the front end of the welding torch 11, and the phenomenon of voltage drop generated when the welding wire 13 contacts the workpiece W is used. In this way, the workpiece position, groove, and position are detected. In addition, the contact sensing function is not limited to this, and a pressure sensor that senses contact with the pressure generated when the welding torch contacts the base material, a voltage detection sensor that senses contact with the load voltage applied to the motor generated when the welding torch contacts the base material, etc. can also be used. In addition, if the operator starts the contact sensing function on the training pendant 60, the sensing voltage can also be continuously applied between the welding wire and at least one of the nozzles constituting the welding torch and the workpiece before the contact sensing function is terminated or the welding torch contacts the base material once.

[0101] In S502 , the robot controller 20 sets the moving speed of the welding torch 11 , that is, the speed of the second remote operation, to the second moving speed.

[0102] In S503, the robot control device 20 displays the second remote operation, that is, the sensing operation, through the display unit (not shown) provided by the training pendant 60. The display method here is not particularly limited, and for example, the color of the icon displayed on the display unit may be changed or a message may be displayed.

[0103] In S504, the robot control device 20 displays the fact that the sensing operation is performed at a low speed, that is, the second moving speed, through a display unit (not shown) provided in the training pendant 60. The display method here is not particularly limited, and for example, an icon display may be associated with the icon displayed in S503.

[0104] In S505, the robot control device 20 determines whether the sensing voltage applied to the welding torch 11 has become OFF. In other words, it is determined whether the welding torch 11 is in contact with the workpiece W at the time when the sensing action is started. If they are in contact, the sensing voltage becomes OFF at that time. If the sensing voltage becomes OFF (S505: YES), the robot control device 20 stops applying the sensing voltage, and the processing of the robot control device 20 enters S513. On the other hand, if the sensing voltage is ON (S505: NO), the processing of the robot control device 20 enters S506.

[0105] In S506 , the robot control device 20 starts moving the welding torch 11 in response to receiving the remote operation from the operator via the training pendant 60 .

[0106] In S507, the robot control device 20 determines whether a sensing release instruction is received from the operator via the training pendant 60 during the sensing operation. The sensing release instruction may be provided, for example, by separating any button provided on the training pendant 60. If the sensing release instruction is received (S507: Yes), the processing of the robot control device 20 proceeds to S511. On the other hand, if the sensing release instruction is not received (S507: No), the sensing operation is continued, and the processing of the robot control device 20 proceeds to S508.

[0107] In S508, the robot control device 20 determines whether the sensing voltage applied to the welding torch 11 has become OFF. In other words, it is determined whether the welding torch 11 is in contact with the workpiece W. If they are in contact, the sensing voltage becomes OFF at that point in time. If the sensing voltage is OFF (S508: YES), the processing of the robot control device 20 proceeds to S509. On the other hand, if the sensing voltage is ON (S508: NO), the sensing action is continued, and the processing of the robot control device 20 returns to S507.

[0108] In S509, the robot controller 20 determines whether the welding wire 13 at the tip of the welding torch 11 is in contact with the workpiece W. In the present embodiment, the signal terminal for detecting the decrease in the sense voltage is different depending on the contact position, so as to determine whether the welding wire 13 at the tip of the welding torch 11 is in contact with the workpiece W or a portion other than the welding wire 13 is in contact with the workpiece W. When the welding wire 13 is in contact with the workpiece W (S509: Yes), the processing of the robot controller 20 proceeds to S512. On the other hand, when the welding wire 13 is not in contact with the workpiece W (S509: No), the processing of the robot controller 20 proceeds to S510 to issue a warning, because an unexpected position on the welding torch 11 is in contact with the workpiece W. In addition, in the present embodiment, it is assumed that the state in which the sense voltage is turned off and the welding wire 13 is in contact with the workpiece W is a state in which the nozzle portion constituting the welding torch 11 is in contact with the workpiece W. Even when the nozzle portion is in contact, the sense voltage is reduced, and the contact can be detected, which can be used as a means to prevent damage to the welding torch, for example.

[0109] In S510, the robot control device 20 displays a warning message on the display unit of the training pendant 60. The content of the warning message is not particularly limited, and for example, it may be content notifying that the workpiece W is in contact with something other than the tip of the welding torch 11.

[0110] In S511 , the robot controller 20 turns off the sensing voltage.

[0111] In S512 , the robot controller 20 stops the operation by remote control.

[0112] In S513, the robot control device 20 displays a message indicating that the sensing operation is not in progress through a display unit (not shown) provided in the training pendant 60. This display can be performed by restoring the display performed in S503.

[0113] In S514, the robot control device 20 sets the moving speed of the welding torch 11 to "low" which is the first moving speed. Then, this processing flow ends.

[0114] As described above, whenever there is an instruction to start the "second remote operation" from the operator via the training pendant 60, Figure 5 The processing flow shown in is executed from the beginning to the end. Figure 3 Execute in each process shown.

[0115] As described above, according to the present embodiment, it is possible to prevent damage to the welding robot when manually operating the welding robot installed remotely, and provide a function for assisting the manual operation.

[0116] [Modification 1]

[0117] A modified example is described in which the auxiliary functions involved in the remote operation shown in the above embodiment are applied when adjusting and updating the content of a manually generated training program. Here, a training point specified by a training program is used as an example for description as a target position on the workpiece W. The welding robot 10 and the visual sensor 40 are arranged at a position away from the operator and the data processing device 50, that is, remotely, and the operator visually recognizes the image of the workpiece W set around the welding robot 10 captured by the visual sensor 40 through the display unit of the data processing device 50. Then, while confirming the image of the workpiece W, the training pendant 60 is operated to adjust the parameters of the training program.

[0118] For example, a training program that has been generated is commonly used in various welding systems. In this case, mechanical errors of each welding system, deviations in the installation position of the workpiece, etc. may occur, so it is necessary to adjust the parameters of the training program in this environment. In this case, by using the auxiliary function involved in the above-mentioned embodiment, it is possible to easily adjust the parameters based on remote operation.

[0119] Figure 6 A flowchart related to the adjustment process of the position parameters of the training program in this example is shown. Here, an example of detecting the position of the groove of the workpiece W and adjusting the training position is described.

[0120] In S601, the robot control device 20 acquires the training program. The acquisition here may be performed by reading a training program that has been generated from a location designated by the operator. Alternatively, the training program may be acquired by directly inputting the training program by the operator.

[0121] In S602 , the robot control device 20 moves the welding torch 11 to the first training point of the welding section specified in the training program generated in S601 .

[0122] In S603, the operator switches the mode via the training pendant 60. The mode here is equivalent to a processing-specific mode applied when adjusting or updating the content of the training program generated manually. At this time, the robot control device 20 can notify the operator of the mode switching via the display unit of the training pendant 60.

[0123] In S604, the robot control device 20 receives an execution operation of sensing the groove position (hereinafter referred to as groove sensing) via the training pendant 60. The robot control device 20 starts groove sensing based on the received operation. In this process, based on the operator's instructions via the training pendant 60, the sensing action based on the groove shape is automatically performed. In addition, the sensing action based on the groove shape can also be performed by the operator. While sensing the contact with the periphery of the groove, the robot control device 20 attempts to move the front end of the welding torch 11 toward the center position of the groove. The movement of the groove to the center position here can also be based on a predetermined movement pattern, so that the welding torch 11 is moved, and automatically controlled according to the contact condition to approach the center position.

[0124] In S605, the operator determines whether the groove sensing is successful. The success of the groove sensing here means that the front end of the welding torch 11 is located in the center of the groove of the training point currently concerned. In addition, the front end of the welding torch 11 mentioned here refers to the front end position of the welding wire that has been fed by the welding torch 11 to a predetermined protruding length. In the case of successful groove sensing (S605: Yes), the operator's processing enters S606. On the other hand, in the case where the groove sensing action is not successful, that is, in the case where the operator determines that it is not the center position of the groove of the training point of concern, or even if a series of groove sensing actions based on the groove shape are continued until the end, the front end of the robot cannot be aligned with the center position of the groove (S605: No), the operator's processing enters S608.

[0125] In S606, the operator updates the target center position of the groove to the training position via the training pendant 60. Then, the operator proceeds to S607.

[0126] In S607, the operator determines whether there are unprocessed training points in the section to be welded in the training program generated in S601. If there are unprocessed training points (S607: Yes), the process proceeds to S610. If there are no unprocessed training points (S607: No), the process ends. At this time, the mode switched in S603 may be automatically returned to the mode, or the mode may be maintained until the operator's instruction is received.

[0127] In S608, the operator retracts the tip of the welding torch 11 from the vicinity of the groove by the first remote control via the training pendant 60. Then, the operator's processing proceeds to S609.

[0128] In S609, the operator moves the front end of the welding torch 11 close to the groove through the first remote control. The movement here can be based on the instruction of the operator through the training pendant 60, or can be set according to the position and shape of the groove detected so far. Then, the operator's processing returns to S604, and the sensing action of the groove of the current training point of interest is repeated.

[0129] In S610 , the operator retracts the tip of the welding torch 11 by a first remote operation via the training pendant 60 .

[0130] In S611, the operator moves the tip of the welding torch 11 to the vicinity of the next unprocessed training point by the first remote control via the training pendant 60. Then, the operator's processing returns to S604 and is repeated.

[0131] according to Figure 6 The process shown in the flowchart uses Figure 7A to Figure 7C Here, Fig. 7A As shown, the description will be made using an example of a workpiece W in which a groove is provided between two members and a backing plate is arranged on the back side of the groove.

[0132] exist Fig. 7A In the example of , in the training program, the start point P1 and the end point P5 are set for a certain welding section, and three training points P2 to P4 are specified in between. The training points P2 to P4 have different values ​​from the welding points P2' to P4' to be actually welded. Therefore, in the training program, it is required to set the values ​​of the training points P2 to P4 to be the same or substantially the same as the welding points P2' to P4'. In addition, the welding points P2' to P4' are equivalent to the center position of the groove.

[0133] First, if Figure 7B As shown, the welding robot 10 focuses on the training point P2 as the initial training point. This corresponds to Figure 6 Then, the operator performs the process according to the process up to S606, as shown in FIG. Figure 7C As shown, when the center of the groove can be determined at the position of welding point P2', an instruction to update the parameters of the training program, especially the position parameters, is given to update the training program. The training program is updated by performing the same operation on training points P3 and P4.

[0134] As described above, according to this example, operation assistance can be performed when adjusting parameters of the training program. As a result, welding with higher accuracy can be achieved.

[0135] [Modification 2]

[0136] A modification example will be described in which the auxiliary function related to the remote control shown in the above-mentioned embodiment is used to adjust the tip position of the welding torch 11 when an error occurs during welding.

[0137] For example, when some errors occur during welding, it is necessary to remotely move the welding torch 11 to a position where welding can be restarted. In this case, in order to prevent the welding torch 11 from contacting or being arranged at an inappropriate position with the workpiece, the position of the welding torch 11 can be easily adjusted by using the sensing process involved in the above-mentioned embodiment.

[0138] Figure 8 The flowchart of the adjustment process of the position of the welding torch 11 during welding in this example is shown. Here, an example of detecting the position of the groove of the workpiece W and positioning the welding torch 11 at the center of the groove is given for explanation. Figure 8 Before the start of the processing flow, welding was performed, and some error occurred during the welding process and stopped. In this case, this processing flow is started.

[0139] In S801, the robot control device 20 moves the front end of the welding torch 11 so as to retreat from the workpiece. The front end of the welding torch 11 referred to here refers to the front end position of the welding wire that has been fed through the welding torch 11 and has a predetermined protruding length. The moving direction here can be predetermined or set according to the content of the previous welding and the shape of the workpiece.

[0140] In S802 , the operator moves the tip of the welding torch 11 close to the groove through the first remote control via the training pendant 60 .

[0141] In S803, the robot control device 20 switches the mode based on the operator's instruction via the training pendant 60. The mode here is equivalent to the mode when performing the sensing action based on the above-mentioned remote operation. At this time, the operator can be notified of the mode switching via the display unit of the training pendant 60.

[0142] In S804, the operator senses in the groove through the second remote control via the training pendant 60. The operator attempts to move the front end of the welding torch 11 to the center of the groove while sensing the contact with the periphery of the groove. The movement of the groove to the center here can also be based on a predetermined movement pattern, so that the welding torch 11 is moved and automatically controlled according to the contact status so as to approach the center.

[0143] In S805, the operator determines whether the groove sensing action is successful. The success of the groove sensing action here means that the operator determines that the tip of the welding torch 11 is located at the center of the groove. If the groove sensing action is successful (S805: Yes), the operator proceeds to S806. On the other hand, if the groove sensing action is not successful (S805: No), the operator proceeds to S807.

[0144] In S806, the operator instructs the robot control device 20 to restart welding based on the determined position. Furthermore, the robot control device 20 switches the mode switched in S803 to the mode for welding.

[0145] In S807, the operator retracts the tip of the welding torch 11 from the vicinity of the groove by the first remote control via the training pendant 60. Then, the operator's processing proceeds to S808.

[0146] In S808, the operator moves the front end of the welding torch 11 close to the groove through the first remote control. The movement here can be based on the instruction of the operator through the training pendant 60, or can be set according to the position and shape of the groove detected so far. Then, the operator's processing returns to S804, and the sensing action of the groove of the current training point of interest is repeated.

[0147] use Figures 9A to 9C right Figure 8 The process of the flowchart shown in FIG. Figure 8 As shown in A, description will be given using an example of a workpiece W in which a groove is provided between two members and a backing plate is arranged on the back side of the groove.

[0148] exist Fig. 9A In the example of FIG. 1 , a start point P1 and an end point P4 are set for a certain welding section in the training program, and two welding points P2 and P3 are specified therebetween. The welding robot 10 performs welding in the section from welding points P2 to P3 based on the training program.

[0149] Moreover, if Fig. 9B As shown, suppose that in the middle of welding, an error occurs due to the contact between the welding torch 11 and the workpiece W, and the welding stops. Figure 8 Then, as Figure 8 The processing result is Fig. 9C The welding torch 11 is arranged in the center of the groove as shown, and welding is started again.

[0150] As described above, according to this example, even when welding is interrupted by an error, by adjusting the position of the welding torch 11 using the assist function related to the remote operation described above, the welding operation by the operator can be appropriately assisted.

[0151] <Other embodiments>

[0152] In the above-mentioned embodiment, when the sensing operation is performed, the welding torch 11 itself is moved to sense the contact with the workpiece W, and the positional relationship thereof is determined. The present invention is not limited to this structure, and for example, the positional relationship between the welding torch 11 and the workpiece W may be determined by adjusting the feed speed of the welding wire 13 protruding from the welding torch 11 and sensing the contact between the fed welding wire 13 and the workpiece W. This structure can be used, for example, when it is known that the workpiece W is located in the protruding direction of the welding wire 13.

[0153] In addition, in the above-mentioned embodiment, an example is shown in which the robot control device 20 controls the welding torch 11 based on the remote operation performed by the operator via the training pendant 60. Here, in each process included in the above-mentioned processing flow, the subject of the processing is not necessarily limited to the above-mentioned structure. For example, in the above-mentioned, it is also possible to have a structure in which a part of the action shown as a part of the action based on each instruction of the operator is automatically performed on the welding system 1 side.

[0154] In the present invention, a program or application for implementing the functions of one or more of the above-mentioned embodiments may be supplied to a system or device using a network or storage medium, and one or more processors in a computer of the system or device may read out and execute the program to implement the functions.

[0155] Alternatively, the circuit may be realized by a circuit that realizes one or more functions. Examples of the circuit that realizes one or more functions include ASIC (Application Specific Integrated Circuit) and FPGA (Field Programmable Gate Array).

[0156] As described above, the following matters are disclosed in this specification.

[0157] (1) A remote operation method of a welding system, capable of performing manual operation of a welding robot based on remote control,

[0158] The remote operation method of the welding system comprises:

[0159] An acquisition step, using one or more camera devices to acquire image data at any position;

[0160] A display step of displaying the image data using a display device;

[0161] an accepting step of accepting an instruction to execute a contact sensing function of a welding torch of the welding robot from an operator via an operation terminal; and

[0162] an operation step of moving the welding torch based on an instruction to the welding robot received via the operation terminal during execution of the contact sensing function,

[0163] In the operation process, when the contact between the welding torch and a peripheral member is sensed by the contact sensing function, the position of the welding torch is adjusted based on the position of the contact.

[0164] According to this configuration, when manually operating a welding robot installed remotely, an operator can appropriately perform various operations.

[0165] (2) The remote operation method of a welding system according to (1), wherein:

[0166] and an updating process for receiving an instruction to update parameters of a training program used in the welding system.

[0167] In the updating step, an instruction to update the position parameter specified by the training program is received based on the position of the contact sensed by the contact sensing function.

[0168] According to this configuration, the position of the welding robot can be adjusted with high accuracy even by remote control, and the parameters of the training program can be adjusted to appropriate positions.

[0169] (3) The remote operation method of a welding system according to (1) or (2), wherein:

[0170] In the operation process, during execution of the contact sensing function, at least one of a moving speed of the welding torch or a feeding speed of a welding wire from the welding torch is set to a predetermined first speed.

[0171] According to this configuration, during remote operation, the contact with the workpiece can be detected using the feed speed of the welding torch or the welding wire.

[0172] (4) The remote operation method of a welding system according to (3), wherein:

[0173] The first speed is slower than a second speed when the contact sensing function is not performed.

[0174] According to this configuration, during the execution of the contact sensing function, by slowing down the speed involved in sensing, even when contact occurs, control can be stopped immediately, thereby enabling more detailed control.

[0175] (5) The remote operation method of a welding system according to any one of (1) to (4), wherein:

[0176] The contact sensing function performs sensing based on a change in voltage, load, or motor load generated upon contact.

[0177] According to this configuration, it is possible to sense contact by applying a contact sensing function based on various principles such as a change in voltage, load, or motor load.

[0178] (6) The remote operation method of a welding system according to any one of (1) to (5), wherein:

[0179] While the contact sensing function is being executed, the operator is notified of the execution via the operation terminal or the display device.

[0180] According to this configuration, the operator can easily understand that the contact sensing function is being executed, and the convenience of operation can be improved.

[0181] (7) The remote operation method of a welding system according to any one of (1) to (6), wherein:

[0182] The one or more imaging devices change imaging positions as the welding torch moves.

[0183] According to this configuration, the imaging position is changed as the welding torch moves, so that the operability of the remote operation by the operator can be improved.

[0184] (8) A welding system comprising:

[0185] A welding robot equipped with a welding torch;

[0186] one or more cameras;

[0187] display device; and

[0188] An operating terminal is used to remotely manually operate the welding robot.

[0189] The welding system has:

[0190] an acquisition unit, using the one or more camera devices to acquire image data at any position;

[0191] A display unit, using the display device to display the image data;

[0192] a receiving unit that receives an instruction to execute a contact sensing function of the welding torch from an operator via the operation terminal; and

[0193] an operating unit that moves the welding torch based on an instruction to the welding robot received via the operating terminal during execution of the contact sensing function,

[0194] When the contact between the welding torch and a peripheral member is sensed by the contact sensing function, the operating unit adjusts the position of the welding torch based on the position of the contact.

[0195] According to this configuration, when manually operating a welding robot installed remotely, an operator can appropriately perform various operations.

[0196] Various embodiments have been described above, but the present invention is certainly not limited to this example. It should be understood by those skilled in the art that various variations or modifications can be thought of within the scope described in the claims, and they certainly also belong to the technical scope of the present invention. In addition, the various structural elements in the above-mentioned embodiments may also be arbitrarily combined within the scope of the gist of the invention.

[0197] In addition, this application is based on the Japanese patent application (Japanese Patent Application No. 2022-099056) filed on June 20, 2022, and the contents are incorporated herein by reference.

[0198] -Description of Reference Numerals-

[0199] 1. Welding system

[0200] 10. Welding Robot

[0201] 11 Welding torch

[0202] 12 Wire feeding device

[0203] 13 Welding wire

[0204] 20 Robot control device

[0205] 201 CPU

[0206] 202 Memory

[0207] 202A Control Procedure

[0208] 203 Operation panel

[0209] 204 Robot connection part

[0210] 205 Ministry of Communications

[0211] 30 Power supply unit

[0212] 40 Vision Sensor

[0213] 50 Data processing device

[0214] 60 Training accessories

[0215] W workpiece.

Claims

1. A remote operation method of a welding system, capable of performing manual operation of a welding robot based on remote control, The remote operation method of the welding system comprises: An acquisition step, using one or more camera devices to acquire image data at any position; A display step of displaying the image data using a display device; an accepting step of accepting an instruction to execute a contact sensing function of a welding torch of the welding robot from an operator via an operation terminal; as well as an operation step of moving the welding torch based on an instruction to the welding robot received via the operation terminal during execution of the contact sensing function, In the operation process, when the contact between the welding torch and a peripheral member is sensed by the contact sensing function, the position of the welding torch is adjusted based on the position of the contact.

2. The remote operation method of a welding system according to claim 1, wherein: The method further comprises: an updating step of receiving an instruction to update parameters of a training program used in the welding system; In the updating step, an instruction to update the position parameter specified by the training program is received based on the position of the contact sensed by the contact sensing function.

3. The remote operation method of a welding system according to claim 1 or 2, wherein: In the operation process, during execution of the contact sensing function, at least one of a moving speed of the welding torch or a feeding speed of a welding wire from the welding torch is set to a predetermined first speed.

4. The remote operation method of the welding system according to claim 3, wherein: The first speed is slower than a second speed when the contact sensing function is not performed.

5. The remote operation method of a welding system according to claim 1 or 2, wherein: The contact sensing function senses based on a change in voltage, load, or motor load generated upon contact.

6. The remote operation method of a welding system according to claim 1 or 2, wherein: While the contact sensing function is being executed, the operator is notified of the execution via the operation terminal or the display device.

7. The remote operation method of a welding system according to claim 1 or 2, wherein: The one or more imaging devices change imaging positions as the welding torch moves.

8. A welding system comprising: A welding robot equipped with a welding torch; one or more cameras; display device; and An operating terminal is used to remotely manually operate the welding robot. The welding system has: an acquisition unit, using the one or more camera devices to acquire image data at any position; A display unit, using the display device to display the image data; a receiving unit that receives an instruction to execute a contact sensing function of the welding torch from an operator via the operation terminal; as well as an operating unit that moves the welding torch based on an instruction to the welding robot received via the operating terminal during execution of the contact sensing function, When the contact between the welding torch and a peripheral member is sensed by the contact sensing function, the operating unit adjusts the position of the welding torch based on the position of the contact.

Images