Weaving operation reproduction information generation device, welding system, and weaving operation reproduction information generation method

Abstract

To provide a weaving operation reproduction information generation device, a welding system, and a weaving operation reproduction information generation method capable of highly accurately generating information for causing a welding torch to automatically reproduce a weaving operation under a prescribed condition.SOLUTION: An edge computer 40 serving as the weaving operation reproduction information generation device comprises: an operation information acquisition unit 411; and a reproduction information generation unit 412. The operation information acquisition unit 411 acquires information regarding an operation of a welding torch during execution of the weaving operation under a prescribed condition. The reproduction information generation unit 412 generates reproduction information for reproducing a weaving operation corresponding to the weaving operation executed under the prescribed condition on the basis of the information acquired by the operation information acquisition unit 411.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a weaving motion reproduction information generating device, a welding system, and a weaving motion reproduction information generating method. [Background technology]

[0002] At welding sites, welding work may be performed using a welding robot or a self-propelled welding carriage. When performing welding work using a welding robot or a self-propelled welding carriage, various parameters related to the operation of the work are set in advance. Patent Document 1 discloses a robot system that allows an operator to freely define a weaving pattern and change the welding conditions at any position of the weaving pattern. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2007-229734 A Summary of the Invention [Problem to be solved by the invention]

[0004] When automatically performing weaving using a welding robot or the like, it is necessary to set a large number of parameters related to weaving, which causes the problem that it takes a long time to generate a weaving path. For this reason, in practice, it is often the case that only one or two of the many parameters related to weaving are adjusted, which causes the problem that it is sometimes impossible to perform highly accurate adjustments.

[0005] Therefore, an object of the present disclosure is to provide a weaving motion reproduction information generating device, a welding system, and a weaving motion reproduction information generating method that are capable of generating information for causing a welding torch to automatically reproduce a weaving motion under specified conditions with high accuracy through simple operations. [Means for solving the problem]

[0006] A weaving motion playback information generating device according to one aspect of the present disclosure includes an operation information acquiring unit that acquires information regarding the operation of a welding torch when performing a weaving motion under specified conditions, and a playback information generating unit that generates playback information for reproducing a weaving motion corresponding to the weaving motion under the specified conditions based on the information acquired by the operation information acquiring unit.

[0007] The operation information acquisition unit may acquire, as information regarding the operation of the welding torch, control information from a welding control device that controls the welding torch, or measurement information from a sensor that measures the operating status of the welding torch.

[0008] The present invention may further include a playback information storage unit that stores the playback information generated by the playback information generation unit, wherein the operation information acquisition unit acquires position information of the welding torch in three-dimensional space at multiple different times as information regarding the operation of the welding torch, and the playback information generation unit generates the playback information including the acquired position information of the welding torch, and stores the playback information in the playback information storage unit.

[0009] The operation information acquisition unit may acquire position information of the welding torch in three-dimensional space at multiple different times as information regarding the operation of the welding torch, and acquire time information at which each piece of position information is measured, and the playback information generation unit may add time information corresponding to each piece of acquired position information to generate the playback information and store it in the playback information storage unit.

[0010] The reproduction information generating section may generate, as the reproduction information, parameters relating to a weaving motion based on the information acquired by the motion information acquiring section.

[0011] The playback information generation unit may generate the playback information using information of one cycle of amplitude extracted from information of a weaving motion including one or more cycles of amplitude acquired by the motion information acquisition unit, or information of one cycle of amplitude calculated from information of a weaving motion including two or more cycles of amplitude.

[0012] A welding system according to one aspect of the present disclosure includes a playback information generating device for any of the weaving actions described above, an action measuring device, and a welding control device, wherein the action measuring device has a mechanism that displaces in response to an amplitude action performed by a user, and an action measuring unit that measures the displacement of the mechanism and transmits the measured measurement information to the welding control device, and the welding control device has a switching unit that switches the weaving action to be performed by the welding torch between a manual weaving action to be performed based on the measurement information measured by the action measuring device and an automatic weaving action to be performed based on playback information generated by the playback information generating device, and an action information acquiring unit of the playback information generating device acquires information regarding the action of the welding torch when performing the manual weaving action, and the playback information generating unit generates playback information for reproducing a weaving action corresponding to the manual weaving action based on the information acquired by the action information acquiring unit.

[0013] The motion measurement unit of the motion measurement device may acquire the measurement information as information instructing the rotational motion or translational motion to be executed by the welding torch, and transmit the measurement information to the welding control device.

[0014] In a method for generating playback information for a weaving operation according to one aspect of the present disclosure, the above-mentioned playback information generating device acquires information regarding the operation of a welding torch that is performing a weaving operation under specified conditions, and generates playback information for causing the welding torch to reproduce the weaving operation under the specified conditions based on the acquired information. Effect of the Invention

[0015] According to the present disclosure, it is possible to provide a weaving motion playback information generating device, a welding system, and a weaving motion playback information generating method that are capable of generating information for causing a welding torch to automatically play back a weaving motion under specified conditions with high accuracy through simple operations. [Brief description of the drawings]

[0016] [Figure 1] 1 is a block diagram showing a configuration of a welding system according to an embodiment; [Figure 2A] FIG. 11 is a sequence diagram showing a process for generating playback information related to a weaving operation in a welding system according to an embodiment. [Figure 2B] FIG. 11 is a sequence diagram showing a process of causing a welding torch to perform an automatic weaving operation based on generated playback information, and a process of adjusting the content of the weaving operation, in a welding system according to an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, exemplary embodiments of a weaving motion playback information generating device that generates playback information for playing back a weaving motion in a welding operation, a weaving motion playback information generating method, and a welding system that automatically executes a weaving motion with a welding torch based on the generated playback information will be described with reference to the drawings. Weaving is a welding technique in which a torch is mainly oscillated in a left-right direction that is approximately perpendicular to the welding proceeding direction.

[0018] Parameters related to the weaving operation include A the width of the weaving performed by the amplitude movement caused by the translation or rotation of the welding torch, B the weaving speed, C the center position of the weaving reference, D the stopping time at the left and right toes, E the stopping time at the center of the weaving, F whether the welding speed is set to 0 during weaving, G whether the welding speed is set to 0 while the toe is stopped, etc.

[0019] In addition, parameters related to the weaving operation include H weaving parameters in the welding speed direction, such as width, speed, center position, toe stop time, and center stop time, I weaving parameters in the welding torch axial direction or perpendicular to the surface of the welded material, such as width, speed, center position, toe stop time, and center stop time, and J rotation angle around the welding torch axis. Parameter J is an effective parameter when a welding material feed mechanism or the like is attached to the welding torch.

[0020] Configuration of a welding system according to an embodiment 1 is a block diagram showing a configuration of a welding system 1 according to an embodiment. The welding system 1 includes a controller 10 as a motion measuring device, a manipulator 20 as a welding control device, a welding torch 30, and an edge computer 40 as a playback information generating device for a weaving motion.

[0021] The controller 10 includes an operation unit 11, a synchronization button 12, a changeover switch 13, and a first CPU 14.

[0022] The operation unit 11 is configured with a mechanism that displaces a predetermined amount in a predetermined direction in response to a displacement or force applied by the user, for example, a stick-type, dial-type, ball-type, button-type, or motion sensor-type mechanism.

[0023] The synchronization button 12 is an operation button for switching the welding torch 30 to execute a manual weaving operation, which is an operation synchronized with an amplitude operation performed by the user using the operation unit 11.

[0024] The changeover switch 13 is, for example, a toggle switch, and is an operation switch for switching the operation mode of the manipulator 20 among a reproduction mode, a generation mode, and a standard mode.

[0025] The playback mode is a mode in which the welding torch 30 automatically executes a weaving operation in accordance with predetermined playback information. Details of the playback information will be described later. Hereinafter, the weaving operation executed by the welding torch 30 in the playback mode will be referred to as an automatic weaving operation.

[0026] The generation mode is a mode for generating playback information used in the automatic weaving operation, whereas the standard mode is a mode that maintains a neutral state without executing either the automatic weaving operation or the generation of playback information.

[0027] The first CPU 14 (an example of a control unit or a processing unit) is a general-purpose computer equipped with an arithmetic unit, a memory, and an input / output unit. A computer program (a program for inputting a signal) for functioning as a part of the controller 10 is installed in the first CPU 14. By executing the computer program, the first CPU 14 functions as a plurality of information processing circuits (141, 142) equipped in the controller 10.

[0028] Alternatively, the signal input program may be stored in a computer-readable recording medium such as a HDD, SSD, USB memory, CD, or DVD. The computer-readable recording medium may be, for example, a non-transitory recording medium. The signal input program may also be distributed via a communication network.

[0029] In the following, an example will be shown in which the multiple information processing circuits (141, 142) provided in the controller 10 are realized by software. However, it is also possible to configure the information processing circuits (141, 142) by preparing dedicated hardware for executing the information processing described below. Also, the multiple information processing circuits (141, 142) may be configured by individual hardware.

[0030] The first CPU 14 has a motion measuring unit 141 and an operation information acquiring unit 142. When a user performs an amplitude motion using the operation unit 11, the motion measuring unit 141 measures the displacement of the operation unit 11 due to the amplitude motion as the amplitude motion content of the user. The motion measuring unit 141 acquires the amplitude motion content as information instructing the rotational motion about three axes, roll, pitch, and yaw, or the translational motion in three directions, forward, side, and vertical, to be performed by the welding torch 30.

[0031] The operation information acquisition unit 142 acquires measurement information by the motion measurement unit 141, operation information of the synchronization button 12, and operation information of the changeover switch 13. When the synchronization button 12 is operated, the operation information acquisition unit 142 transmits the measurement information by the motion measurement unit 141 to the manipulator 20, regardless of the operation status of the changeover switch 13.

[0032] Furthermore, when the operation information acquisition unit 142 recognizes that the synchronization button 12 has not been operated and the changeover switch 13 has been operated to the playback mode position, it generates a playback mode switching instruction and transmits it to the manipulator 20 .

[0033] Furthermore, when the operation information acquisition unit 142 recognizes that the synchronization button 12 has not been operated and the changeover switch 13 has been operated to the standard mode position, it generates a standard mode switching instruction and transmits it to the manipulator 20 .

[0034] Furthermore, when the operation information acquisition unit 142 recognizes that the changeover switch 13 has been operated to the generation mode position while the synchronization button 12 is being operated, it generates a generation mode switching instruction and transmits it to the manipulator 20 .

[0035] The manipulator 20 is connected to the controller 10 in a wired or wireless manner so as to be able to communicate with the controller 10, and has a stop button 21 and a second CPU 22. The stop button 21 is an operation button for instructing the welding torch 30 to stop operating.

[0036] The second CPU 22 (an example of a control unit or a processing unit) is a general-purpose computer equipped with an arithmetic unit, a memory, and an input / output unit. A computer program (torch control program) for functioning as a part of the manipulator 20 is installed in the second CPU 22. By executing the computer program, the second CPU 22 functions as a plurality of information processing circuits (221, 222, 223) equipped in the manipulator 20.

[0037] Alternatively, the torch control program may be stored in a computer-readable recording medium such as a HDD, SSD, USB memory, CD, or DVD. The computer-readable recording medium may be, for example, a non-transitory recording medium. The torch control program may also be distributed via a communication network.

[0038] In the following, an example will be shown in which the multiple information processing circuits (221, 222, 223) of the manipulator 20 are realized by software. However, it is also possible to configure the information processing circuits (221, 222, 223) by preparing dedicated hardware for executing each information process described below. Also, the multiple information processing circuits (221, 222, 223) may be configured by individual hardware.

[0039] The second CPU 22 has a playback information acquisition unit 221, a switching unit 222, and a torch control unit 223. The playback information acquisition unit 221 acquires playback information related to the weaving operation stored in the edge computer 40 as described later.

[0040] The switching unit 222 switches the weaving operation performed by the welding torch 30 between a manual weaving operation performed based on measurement information measured by the controller 10 and an automatic weaving operation performed based on playback information generated by the edge computer 40 in a playback mode.

[0041] Specifically, the switching unit 222 switches the operation mode based on information acquired from the controller 10, and switches the information to be sent to the torch control unit 223 according to the operation mode after switching. For example, when the switching unit 222 acquires measurement information by the operation measurement unit 141 from the controller 10, it sends the measurement information to the torch control unit 223 regardless of the operation mode.

[0042] Furthermore, when the switching unit 222 receives a playback mode switching instruction from the controller 10 , it switches to the playback mode, obtains playback information from the edge computer 40 via the playback information acquisition unit 221 , and sends it to the torch control unit 223 .

[0043] Furthermore, when the switching unit 222 receives a standard mode switching instruction from the controller 10, it switches to the standard mode and does not send any information to the torch control unit 223.

[0044] In addition, when the switching unit 222 receives a generation mode switching instruction from the controller 10, it switches to the generation mode, generates a control information transmission instruction to instruct the edge computer 40 to transmit control information, and sends it to the torch control unit 223.

[0045] Torch control unit 223 controls welding torch 30 based on information acquired via switching unit 222. Specifically, when torch control unit 223 acquires measurement information by operation measurement unit 141 via switching unit 222, torch control unit 223 causes welding torch 30 to perform a manual weaving operation based on the acquired information.

[0046] Furthermore, when the torch control unit 223 acquires playback information from the edge computer 40 via the switching unit 222, it causes the welding torch 30 to perform an automatic weaving operation based on the acquired information.

[0047] In addition, when the torch control unit 223 receives a control information transmission instruction from the controller 10 while the welding torch 30 is performing a manual weaving operation, the torch control unit 223 transmits the control information of the welding torch 30 performing the manual weaving operation to the edge computer 40.

[0048] The welding torch 30 performs a welding operation including weaving under the control of the manipulator 20 .

[0049] The edge computer 40 has a third CPU 41 and a playback information storage unit 42. The third CPU 41 (an example of a control unit or a processing unit) is a general-purpose computer equipped with an arithmetic unit, a memory, and an input / output unit. A computer program (a playback information generating program) for functioning as a part of the edge computer 40 is installed in the third CPU 41. By executing the computer program, the third CPU 41 functions as a plurality of information processing circuits (411, 412) equipped in the edge computer 40.

[0050] In addition, the playback information generating program can be stored in a computer-readable recording medium such as a HDD, an SSD, a USB memory, a CD, or a DVD. The computer-readable recording medium is, for example, a non-transitory recording medium. The playback information generating program can also be distributed via a communication network.

[0051] In the following, an example will be shown in which the multiple information processing circuits (411, 412) provided in the edge computer 40 are realized by software. However, it is also possible to configure the information processing circuits (411, 412) by preparing dedicated hardware for executing each information process described below. Also, the multiple information processing circuits (411, 412) may be configured by individual hardware.

[0052] The third CPU 41 has an operation information acquisition unit 411 and a playback information generation unit 412. The operation information acquisition unit 411 acquires control information of the welding torch 30 transmitted from the torch control unit 223 of the manipulator 20 when the welding torch 30 is performing a weaving operation under a predetermined condition, for example, a manual weaving operation. Here, the predetermined condition is, for example, a predetermined weaving width, a speed, a center position of a weaving reference, a stop time at the left and right ends, a stop time at the center of the weaving, etc. The playback information generation unit 412 generates playback information for playing back a weaving operation corresponding to the manual weaving operation being performed, based on the control information acquired by the operation information acquisition unit 411. The playback information storage unit 42 stores the playback information generated by the playback information generation unit 412.

[0053] Operation of the Welding System According to an Embodiment FIG. 2A is a sequence diagram showing a process for generating playback information related to a weaving operation in welding system 1 according to this embodiment.

[0054] First, when the user operates the changeover switch 13 to the standard mode position without operating the synchronization button 12, the operation information acquisition unit 142 generates a standard mode switching instruction and transmits it to the manipulator 20 (S1). In the manipulator 20, the switching unit 222 acquires the standard mode switching instruction transmitted from the controller 10 and sets the operation mode to the standard mode (S2).

[0055] When the switching unit 222 sets the operation mode to the standard mode, the switching unit 222 does not cause the torch control unit 223 to execute either the manual weaving operation or the automatic weaving operation for the welding torch 30.

[0056] When the user performs an action of oscillating the operation unit 11 while operating the synchronization button 12, the action measurement unit 141 measures the displacement content of a predetermined location in the operation unit 11 as the amplitude action content. The displacement content of the operation unit 11 is, for example, the displacement direction, the displacement speed, and the displacement amount. The displacement content of the operation unit 11 measured by the action measurement unit 141 is information for instructing the welding torch 30 to perform rotational motion about three axes, namely, roll, pitch, and yaw, or translational motion in three directions, namely, forward, side, and vertical. The user continues to operate the synchronization button 12 while the subsequent generation process of the playback information is being executed.

[0057] The operation information acquisition unit 142 acquires the amplitude operation details measured by the operation measurement unit 141 during the operation of the synchronization button 12, and transmits it to the manipulator 20 (S3). In the manipulator 20, the switching unit 222 acquires the measurement information by the operation measurement unit 141 transmitted from the controller 10. Upon acquiring the measurement information by the operation measurement unit 141, the switching unit 222 sends it to the torch control unit 223.

[0058] When the torch control unit 223 acquires the measurement information by the operation measurement unit 141 via the switching unit 222, the torch control unit 223 controls the welding torch 30 to perform the manual weaving operation based on the acquired measurement information (S4).

[0059] Specifically, the torch control unit 223 operates the welding torch 30 so as to follow the displacement of the operation unit 11 measured by the motion measurement unit 141. By controlling the welding torch 30 in this manner, the torch control unit 223 can cause the welding torch 30 to perform manual weaving in synchronization with the amplitude motion performed by the user.

[0060] During the execution of the manual weaving operation for welding torch 30, the user manually adjusts the displacement direction, displacement speed, displacement amount, etc. of operation unit 11 due to the amplitude operation as appropriate while checking the operating status of welding torch 30. In other words, the user displaces operation unit 11 so as to cause welding torch 30 to execute a weaving operation in a predetermined direction under predetermined conditions, for example, at a predetermined width and speed. When the user determines that the welding torch 30 is executing the desired weaving operation, he or she operates changeover switch 13 to the generation mode position while continuing the amplitude operation.

[0061] When the operation information acquisition unit 142 detects that the changeover switch 13 has been operated to the generation mode position, it generates a generation mode switching instruction and transmits it to the manipulator 20 (S5). In the manipulator 20, the switching unit 222 acquires the generation mode switching instruction transmitted from the controller 10 and switches the operation mode to the generation mode.

[0062] When the switching unit 222 switches the operation mode to the generation mode, it generates a control information transmission instruction for instructing to transmit the control information to the edge computer 40, and sends it to the torch control unit 223. When the torch control unit 223 acquires the control information transmission instruction, it starts transmitting the control information of the welding torch 30 during the manual weaving operation to the edge computer 40 (S6). In the edge computer 40, the operation information acquisition unit 411 acquires the control information of the welding torch 30 sequentially transmitted from the manipulator 20. The operation information acquisition unit 411 sequentially acquires the position information of the welding torch 30 in the three-dimensional space together with the measured time information from the control information of the welding torch 30. This position information of the welding torch 30 is, for example, position information of the tip of the welding torch 30. Specifically, the position information of the welding torch 30 is coordinates in the three-dimensional space.

[0063] After the user operates the changeover switch 13 to the generation mode position, when the weaving operation of the welding torch 30 is performed for a predetermined period, the user returns the changeover switch 13 to the standard mode position, ends the operation of the synchronization button 12, and ends the operation of vibrating the operation unit 11.

[0064] When the operation information acquisition unit 142 detects that the changeover switch 13 has been operated to the standard mode position, it generates a standard mode switching instruction and transmits it to the manipulator 20 (S7). Furthermore, when the operation information acquisition unit 142 detects that the user has finished operating the synchronization button 12 and has finished the action of vibrating the operation unit 11, it terminates the transmission of measurement information by the action measurement unit 141 to the manipulator 20. In the manipulator 20, the switching unit 222 acquires the standard mode switching instruction transmitted from the controller 10 and switches the operation mode to the standard mode.

[0065] When the switching unit 222 switches the operation mode to the generation mode, it generates a transmission end instruction to instruct to end transmission of control information to edge computer 40, and sends it to torch control unit 223. When torch control unit 223 acquires the transmission end instruction, it ends transmission of the control information of welding torch 30 to edge computer 40. In addition, since measurement information by operation measurement unit 141 is no longer being acquired, torch control unit 223 stops the manual weaving operation by welding torch 30 (S8).

[0066] The playback information generating unit 412 of the edge computer 40 generates playback information for playing back a weaving motion corresponding to the manual weaving motion, based on the information acquired by the motion information acquiring unit 411.

[0067] As an example, a description will be given of playback information generated by playback information generating unit 412 when operation information acquiring unit 411 acquires control information for one or more cycles of weaving operation including the toe stop times at both left and right ends of the amplitude in the manual weaving operation of welding torch 30. One cycle refers to the period during the weaving operation of welding torch 30 from a predetermined position to the end of the weaving operation of welding torch 30 passing through each of the left and right ends of the amplitude once and then returning to this predetermined position again.

[0068] In this case, the playback information generating unit 412 extracts one cycle of amplitude from the acquired control information of the weaving motion of one or more cycles, including the stop times of the weaving ends at both left and right ends of the amplitude in the weaving motion of the welding torch 30 and information on the movement motion between both ends. The playback information generating unit 412 generates information on a weaving loop that repeats the extracted information as playback information. The playback information generating unit 412 can generate playback information of the weaving loop with a small processing load by using the control information for one cycle of amplitude extracted from the control information of the weaving motion of one or more cycles.

[0069] As another example, the playback information generated by the playback information generating unit 412 when the operation information acquiring unit 411 acquires control information for two or more cycles of weaving operation including the toe stop times at both the left and right ends of the amplitude in the weaving operation of the welding torch 30 will be described.

[0070] In this case, the playback information generating unit 412 calculates the average value of the end stop times at both left and right ends and information on the average trajectory for one cycle of amplitude related to the movement between the two ends from the acquired control information of the weaving motion of two or more cycles. The playback information generating unit 412 generates information on the weaving motion for one cycle of amplitude by adding up the calculated information, and generates information on a weaving loop that repeats the generated motion information as playback information. By using the control information for one cycle of amplitude calculated from the control information of the weaving motion of two or more cycles, the playback information generating unit 412 can generate playback information that matches the user's intentions with high accuracy.

[0071] The playback information generation unit 412 acquires position information of the welding torch 30 in three-dimensional space for each of a plurality of different times, for example, for each predetermined time, from the acquired control information of the weaving operation, and adds time information corresponding to each piece of position information to be included in the playback information.

[0072] In this manner, by generating playback information including time information based on the control information of the welding torch 30, it is possible to generate highly accurate playback information corresponding to the manual weaving operation performed immediately before.

[0073] The playback information generating section 412 stores the generated playback information in the playback information storage section 42. By storing the generated playback information, this playback information can be used in the automatic weaving operation to be executed subsequently.

[0074] FIG. 2B is a sequence diagram showing a process of causing welding torch 30 to perform an automatic weaving operation based on the generated playback information, and a process of adjusting the content of the weaving operation, in welding system 1 according to this embodiment.

[0075] When the user operates the changeover switch 13 to the playback mode position, the operation information acquisition unit 142 generates a playback mode switching instruction for the changeover switch 13 and transmits it to the manipulator 20 (S10). In the manipulator 20, the switching unit 222 acquires the playback mode switching instruction transmitted from the controller 10 and switches the operation mode to the playback mode.

[0076] When the switching unit 222 switches the operation mode to the playback mode, it acquires playback information from the playback information storage unit 42 of the edge computer 40 via the playback information acquisition unit 221 and sends the acquired playback information to the torch control unit 223.

[0077] When the torch control unit 223 acquires the playback information via the switching unit 222, it causes the welding torch 30 to execute the automatic weaving operation based on the acquired playback information (S11). When the user wishes to urgently stop the weaving operation while the automatic weaving operation is being performed, the user operates the stop button 21. When the stop button 21 is operated, the torch control unit 223 stops the automatic weaving operation.

[0078] When the user determines that it is necessary to adjust the weaving operation state during execution of the automatic weaving operation, the user performs the operation of oscillating the operation unit 11 while again operating the synchronization button 12. When the operation information acquisition unit 142 acquires measurement information regarding the oscillating operation measured by the operation measurement unit 141 during the operation of the synchronization button 12, the operation information acquisition unit 142 transmits the acquired measurement information to the manipulator 20 (S12).

[0079] In the manipulator 20, the switching unit 222 acquires the measurement information by the operation measurement unit 141 transmitted from the controller 10. When the switching unit 222 acquires the measurement information by the operation measurement unit 141, it sends the acquired measurement information to the torch control unit 223 regardless of the operation mode.

[0080] When the torch control unit 223 acquires measurement information by the operation measurement unit 141 via the switching unit 222, it stops the automatic weaving operation and switches the welding torch 30 to perform a manual weaving operation based on the acquired measurement information (S13).

[0081] Thereafter, the processes of steps S14 to S18 executed by the controller 10, the manipulator 20, and the edge computer 40 are similar to the processes of steps S5 to S9 described above, and therefore detailed explanations will be omitted. By executing the processes of steps S14 to S18, playback information corresponding to a new weaving operation manually adjusted by the user is generated and stored.

[0082] When the reproduction information is generated and stored in step S18, the processes of steps S10 to S18 are repeated as appropriate until the work by the weaving motion to be processed is completed.

[0083] According to the above embodiment, it is possible to generate playback information with high accuracy by simple operations for causing the welding torch to automatically perform a weaving operation under the user's desired conditions. Also, when the welding torch is performing an automatic weaving operation using the generated playback information, if the user determines that it is necessary to adjust the weaving operation state, it is possible to perform the adjustment with high accuracy by simple operations and generate new playback information.

[0084] In the above-described embodiment, the manipulator 20 of the welding system 1 has a switching unit 222 that switches the weaving operation to be performed by the welding torch 30 between a manual weaving operation performed based on the measurement information measured by the controller 10 and an automatic weaving operation performed based on the playback information generated by the edge computer 40. In addition, the operation information acquisition unit 411 of the edge computer 40 acquires information on the operation of the welding torch 30 when the manual weaving operation is being performed, and the playback information generation unit 412 generates playback information for playing back a weaving operation corresponding to the manual weaving operation based on the information acquired by the operation information acquisition unit 411. By configuring the welding system 1 in this way, playback information of the weaving operation corresponding to the amplitude operation intuitively performed by the user can be generated with a simple operation, and the welding torch 30 can be automatically caused to perform the weaving operation according to the generated playback information.

[0085] Furthermore, the motion measurement unit 141 of the controller 10 of the welding system 1 acquires measurement information on the amplitude motion performed by the user as information instructing the rotational motion or translational motion to be performed by the welding torch 30, and transmits the information to the manipulator 20. By performing processing in this manner by the motion measurement unit 141, it is possible to accurately acquire instruction information for causing the welding torch 30 to perform a weaving motion corresponding to the amplitude motion intuitively performed by the user, and provide the instruction information to the manipulator 20.

[0086] In the above-described embodiment, the operation unit 11 of the controller 10 may be configured using an acceleration sensor that detects the direction and angle of tilt when the controller 10 is tilted. In this case, the motion measurement unit 141 measures the contents of the rotational motion of the controller 10 about three axes, namely roll, pitch, and yaw, or the translational motion in three directions, namely forward, lateral, and vertical, in a three-dimensional space at a predetermined time interval measured by the acceleration sensor as the displacement contents of the operation unit 11. In addition, the operation unit 11 that detects the direction and angle of tilt of the controller 10 may be configured using an encoder, a geomagnetic sensor, or a gyro sensor.

[0087] In the above-described embodiment, the playback information generating unit 412 of the edge computer 40 may calculate the weaving width, speed, center position of the weaving reference, stopping times at the left and right ends, stopping time at the center of the weaving, etc. based on the position information of the welding torch 30 at different times and the time information at which this position information is measured, and generate various parameters related to weaving including these. By generating various parameters as playback information in this way, it may be possible to reduce the processing load when the manipulator 20 causes the welding torch 30 to perform an automatic weaving operation using the playback information.

[0088] In the above-described embodiment, a motion measurement sensor (not shown) for measuring the motion status of the welding torch 30 may be installed, and the motion information acquisition unit 411 of the edge computer 40 may acquire measurement information of the motion measurement sensor instead of the control information of the torch control unit 223. In this case, the motion information measurement sensor sequentially acquires position information of the welding torch 30 due to the rotational or translational motion of the welding torch 30 and corresponding time information, and transmits it to the edge computer 40. The playback information generation unit 412 of the edge computer 40 generates playback information based on the information acquired by the motion information acquisition unit 411, and stores it in the playback information storage unit 42. With this configuration, playback information according to the actual movement of the welding torch 30 during the manual weaving operation can be generated.

[0089] In the above embodiment, the playback information generating unit 412 of the edge computer acquires position information of the welding torch 30 at a plurality of different times from the acquired control information of the weaving operation, and adds time information at which each piece of position information is measured and included in the playback information. However, this is not limited to this, and for example, when a condition related to time, such as the weaving speed, is fixed, only the position information of the welding torch 30 at a plurality of different times may be included in the playback information without adding time information.

[0090] Although some embodiments have been described, the embodiments can be modified or modified based on the above disclosure. All components of the above embodiments and all features described in the claims may be individually extracted and combined as long as they are not mutually inconsistent. [Explanation of symbols]

[0091] 1 Welding system 10 Controller 11 Control section 12 Sync button 13. Changeover switch 14 1st CPU 20 Manipulator 21 Stop button 22 2nd CPU 30 Welding Torch 40 Edge Computers 41 3rd CPU 42 Playback information storage section 141 Motion Measurement Unit 142 Operation information acquisition unit 221 Playback information acquisition section 222 Switching section 223 Torch control unit 411 Operation information acquisition unit 412 Playback information generation section

Claims

1. an operation information acquisition unit that acquires information regarding the operation of a welding torch when a weaving operation under predetermined conditions is being performed; and a playback information generating unit that generates playback information for playing back a weaving operation corresponding to the weaving operation under the specified conditions based on the information acquired by the operation information acquiring unit.

2. The weaving motion reproduction information generating device of claim 1, wherein the operation information acquisition unit acquires control information from a welding control device that controls the welding torch, or measurement information from a sensor that measures the operating status of the welding torch, as information regarding the operation of the welding torch.

3. a playback information storage unit that stores the playback information generated by the playback information generation unit, the operation information acquisition unit acquires position information of the welding torch in a three-dimensional space at different times as information regarding the operation of the welding torch; The reproduction information generating device for a weaving operation according to claim 1 , wherein the reproduction information generating unit generates the reproduction information including the acquired position information of the welding torch, and stores the reproduction information in the reproduction information storage unit.

4. The operation information acquisition unit acquires, as information regarding the operation of the welding torch, position information of the welding torch in a three-dimensional space at different times, and acquires time information at which each of the position information is measured; The reproduction information generating device for a weaving operation according to claim 3 , wherein the reproduction information generating section generates the reproduction information by adding time information corresponding to each piece of acquired position information, and stores the reproduction information in the reproduction information storage section.

5. The weaving motion reproduction information generating device according to claim 1 , wherein the reproduction information generating section generates, as the reproduction information, parameters relating to a weaving motion based on the information acquired by the motion information acquiring section.

6. The playback information generating device for weaving motion according to claim 1, wherein the playback information generating unit generates the playback information using information of one cycle of amplitude extracted from information of the weaving motion including one or more cycles of amplitude acquired by the motion information acquiring unit, or information of one cycle of amplitude calculated from information of the weaving motion including two or more cycles of amplitude.

7. A weaving motion reproduction information generating device according to any one of claims 1 to 6, a motion measuring device, and a welding control device, The motion measurement device includes: A mechanism that displaces in response to an amplitude motion performed by a user; and an operation measuring unit that measures the displacement of the mechanism and transmits the measured measurement information to the welding control device, The welding control device includes: a switching unit that switches the weaving operation to be performed by the welding torch between a manual weaving operation to be performed based on measurement information measured by the operation measurement device and an automatic weaving operation to be performed based on playback information generated by the playback information generation device, an operation information acquisition unit of the reproduction information generating device acquires information regarding an operation of the welding torch when the manual weaving operation is being performed; The reproduction information generating unit generates reproduction information for reproducing a weaving motion corresponding to the manual weaving motion based on the information acquired by the motion information acquiring unit.

8. The welding system according to claim 7 , wherein the motion measurement unit of the motion measurement device acquires the measurement information as information instructing a rotational motion or a translational motion to be executed by the welding torch, and transmits the measurement information to the welding control device.

9. According to the reproduction information generating device of any one of claims 1 to 6, Obtaining information regarding the operation of a welding torch while performing a weaving operation under predetermined conditions; A weaving motion reproduction information generating method for generating reproduction information for causing a welding torch to reproduce a weaving motion according to the predetermined conditions based on the acquired information.

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