Robot control device and plasma cutting method

Abstract

To provide a robot control device and a plasma cutting method which can shorten tact time, by a teaching program of appropriately moving a plasma cutting robot.SOLUTION: A robot control device 100 includes a program read-out part 121 for reading out a teaching program PG of operating a plasma cutting robot 20, a program interpretation part 122 for interpreting the read-out teaching program PG, and a program execution part 123 for executing the interpreted teaching program PG. The program interpretation part 122 sets an arc start height of a torch 21 in the plasma cutting robot 20 included in an arc start command (AS) for plasma cutting, using positional information on the plasma cutting robot 20 included in a moving command (MOVE) after the arc start command (AS) when interpreting the arc start command (AS) in the teaching program PG.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a robot control device and a plasma cutting method. [Background technology]

[0002] A plasma cutting robot that performs plasma cutting generally moves a torch along a cutting line that is set in advance by teaching, and cuts a workpiece to be cut. In plasma cutting, the torch is moved to the pierce height, an arc is formed between the torch and the workpiece to pierce the hole, and then the torch is moved to the cutting height to cut the workpiece. At this time, it is important to move the torch appropriately to the pierce height and the cutting height.

[0003] In the cutting operation control device of the cutting robot disclosed in Patent Document 1, data indicating the distance between the pierce height and the cutting height is set as the cutting processing conditions, and only the path to the cutting height is taught. Then, during playback, the robot moves to the cutting height along the path to the taught cutting height, and then moves vertically upward from there by the distance indicated in the data of the cutting processing conditions to move to the pierce height. Furthermore, during cutting, the robot moves vertically downward by the distance indicated in the data, and cutting is performed. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 7-88656 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the cutting operation control device of the cutting robot disclosed in Patent Document 1, only the path up to the cutting height is taught, so the robot must first move to the cutting height and then use that as a reference to move to the piercing height, resulting in a long takt time.

[0006] SUMMARY OF THE PRESENT EMBODIMENTS Accordingly, an object of the present invention is to provide a robot control device and a plasma cutting method that are capable of shortening takt time by using a teaching program for appropriately moving a plasma cutting robot. [Means for solving the problem]

[0007] A robot control device according to one embodiment of the present invention is a teaching playback type robot control device that controls the operation of a plasma cutting robot programmed by teaching, and is equipped with a program reading unit that reads out a teaching program for operating the plasma cutting robot, a program interpretation unit that interprets the read teaching program, and a program execution unit that executes the interpreted teaching program.When the program interpretation unit interprets a plasma cutting start command in the teaching program that includes an arc start condition for plasma cutting, it sets the arc start height of the torch in the plasma cutting robot, which is included in the arc start conditions in the plasma cutting start command, using position information taught in the movement command following the plasma cutting start command.

[0008] According to this aspect, the program interpretation unit interprets the teaching program read by the program reading unit, and when interpreting a plasma cutting start command including an arc start condition, sets the arc start height included in the arc start condition in the plasma cutting start command using position information taught in the movement command following the plasma cutting start command. Then, the program execution unit executes the teaching program interpreted by the program interpretation unit. This makes it possible to reduce the takt time by using the teaching program that appropriately moves the plasma cutting robot. In addition, since the arc start height included in the arc start condition in the plasma cutting start command is set using the position information taught in the movement command, a plasma cutting start command including a common arc start condition can be used as the teaching program to be generated.

[0009] In the above aspect, the arc start height may be the cutting height of a torch in a plasma cutting robot, or an ignition height that is higher than the cutting height.

[0010] According to this aspect, the cutting height or ignition height is set as the arc start height, and an appropriate height is set, so that the time it takes for the plasma cutting robot (torch) to move to the arc height is shortened, and the tact time can be shortened.

[0011] In the above aspect, a teaching device may be included that allows a user to select either a first mode in which the cutting height and the ignition height are the same, or a second mode in which the cutting height and the ignition height are different, and the teaching program may be generated so that the cutting height or the ignition height is set to the arc starting height based on the selected first mode or second mode.

[0012] According to this aspect, the teaching device allows the user to select the first mode or the second mode, and based on that, the cutting height or the ignition height is set as the arc start height. Since the appropriate arc start height is set according to the user's selection, the movement time of the plasma cutting robot (torch) to the arc start height is shortened, and the tact time can be shortened. In addition, the arc is ignited appropriately by starting the arc.

[0013] In the above aspect, the first mode may be selected when the cutting start position is on an end face of the cutting object, and the second mode may be selected when the cutting start position is on a plate of the cutting object.

[0014] According to this aspect, an appropriate arc start height is set based on whether the cutting start position of the cutting object is on an end face or on a plate, so that ignition is more appropriately achieved by starting the arc.

[0015] In the above aspect, the display device may further comprise a display means for displaying in the display area either the first mode or the second mode in a manner that allows the user to select either the first mode or the second mode.

[0016] According to this aspect, it is possible to allow the user to easily select an appropriate mode.

[0017] In the above aspect, the display means may display, in the display area, height information about the torch that moves in accordance with the first mode or the second mode selected by the user.

[0018] According to this aspect, the display means displays height information of the torch moving in accordance with the first mode or the second mode, so that the user can properly grasp the transition of the torch height.

[0019] A plasma cutting method according to one aspect of the present invention is a plasma cutting method executed by a teaching playback type robot control device that controls the operation of a plasma cutting robot programmed by teaching, and includes a program reading step of reading out a teaching program for operating the plasma cutting robot, a program interpretation step of interpreting the read teaching program, and a program execution step of executing the interpreted teaching program.In the program interpretation step, when a plasma cutting start command including an arc start condition for plasma cutting is interpreted in the teaching program, the arc start height of the torch in the plasma cutting robot, which is included in the arc start condition in the plasma cutting start command, is set using position information taught in the movement command following the plasma cutting start command.

[0020] According to this aspect, in the program interpretation step, the teaching program read in the program reading step is interpreted, and when a plasma cutting start command including an arc start condition is interpreted, the position information taught in the movement command following the plasma cutting start command is used to set the arc start height included in the arc start condition in the plasma cutting start command. Then, in the program execution step, the teaching program interpreted in the program interpretation step is executed. This makes it possible to reduce the tact time by using the teaching program that appropriately moves the plasma cutting robot. In addition, since the position information taught in the movement command is used to set the arc start height included in the arc start condition in the plasma cutting start command, the plasma cutting start command including the common arc start condition can be used as the teaching program to be generated. Effect of the Invention

[0021] According to the present invention, it is possible to provide a robot control device and a plasma cutting method that are capable of shortening takt time by using a teaching program for appropriately moving a plasma cutting robot. [Brief description of the drawings]

[0022] [Figure 1] FIG. 1 is a system schematic diagram showing a plasma cutting robot system 10 according to an embodiment of the present invention. [Diagram 2] 1 is a functional block diagram showing each function of a robot control device 100 according to an embodiment of the present invention. [Diagram 3] 2 is a diagram showing an example of a teaching program PG for operating the plasma cutting robot 20. FIG. [Figure 4] FIG. 13 is a diagram showing a screen appearance when the piercing type "end face" is selected when the piercing position is the end face of a workpiece. [Diagram 5] 13 is a diagram showing a transition in the height of the torch 21 when the teaching program PG is executed in a case where the cutting start position is on the end surface of the workpiece. FIG. [Figure 6] FIG. 13 is a diagram showing a screen appearance when the piercing type "on plate" is selected when the piercing position is on the plate of the workpiece. [Figure 7] 13 is a diagram showing a transition in the height of the torch 21 when the teaching program PG is executed in the case where the cutting start position is on the workpiece plate. FIG. [Figure 8] 13 is a diagram showing changes in the height of the torch 21 when the teaching program PG is executed in a case where the cutting start position is on the workpiece plate and the workpiece plate is thick. FIG. [Figure 9] 1 is a flowchart showing a process flow of a plasma cutting method M100 executed by a robot control device 100 according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] Hereinafter, an embodiment of the present invention will be specifically described with reference to the drawings. Note that the embodiment described below is merely a specific example for carrying out the present invention, and is not intended to limit the interpretation of the present invention. In addition, in order to facilitate understanding of the description, the same reference numerals are used as far as possible for the same components in each drawing, and duplicated descriptions may be omitted.

[0024] <One embodiment> [Plasma cutting robot system overview] 1 is a system schematic diagram showing a plasma cutting robot system 10 according to an embodiment of the present invention. As shown in FIG. 1, the plasma cutting robot system 10 includes a plasma cutting robot 20, a teach pendant 30, a plasma power supply device 40, and a robot control device 100.

[0025] The plasma cutting robot 20 is connected to the robot control device 100 via a cable, and performs plasma cutting based on operation commands from the robot control device 100. The plasma cutting robot 20 is equipped with a torch 21 at the tip of its arm, and performs plasma cutting by generating an arc between the tip of the torch 21 and the metal material (workpiece) to be cut.

[0026] Torch 21 is connected to plasma power supply unit 40 via a cable and receives a supply of voltage and current. In plasma cutting, when torch 21 is momentarily brought into contact with a metal material and electricity is passed through it, an arc discharge occurs between the tip of torch 21 and the metal material, and the heat of the generated arc melts the metal material, thereby performing plasma cutting.

[0027] The teach pendant 30 receives input from an operator performing a plasma cutting operation regarding teaching information related to plasma cutting for the plasma cutting robot 20. The operator uses the teach pendant 30 to input optimal teaching information related to plasma cutting while checking the state of the arc.

[0028] Here, the plasma cutting related teaching information refers to information related to plasma cutting performed by the plasma cutting robot 20, and includes teaching information for teaching the operation of the plasma cutting robot 20, plasma cutting conditions, etc. The teaching information for the plasma cutting robot 20 includes information related to the operation of the arm of the plasma cutting robot 20, information related to the position and posture of the plasma cutting robot 20, information related to the tip of the torch 21, etc. Furthermore, the plasma cutting conditions include the arc voltage applied to the torch 21, the arc current flowing through the torch 21, and the cutting speed indicating the moving speed of the torch 21 in the cutting direction during cutting, etc.

[0029] The robot control device 100 is a device that controls the plasma cutting robot 20. The robot control device 100 is connected to the teach pendant 30, and can acquire teaching information related to plasma cutting input to the teach pendant 30. The robot control device 100 controls the plasma cutting robot 20 and the plasma power supply device 40 based on the teaching information related to plasma cutting.

[0030] The plasma power supply device 40 is connected to the plasma cutting robot 20 via a cable, and supplies an arc voltage and an arc current to the torch 21 in the plasma cutting robot 20 based on commands from the robot control device 100 .

[0031] 1, the teach pendant 30 is connected to the robot control device 100 via a cable, but it may be connected wirelessly. That is, the teach pendant 30 and the robot control device 100 may be provided with a communication unit that performs wireless communication. By connecting the robot control device 100 and the teach pendant 30 wirelessly, the worker can input plasma cutting-related teaching information while moving freely without being bothered by the presence of a cable or being restricted in the range of movement by the length of the cable.

[0032] [Robot control device configuration] Fig. 2 is a functional block diagram showing each function of a robot control device 100 according to an embodiment of the present invention. As shown in Fig. 2, the robot control device 100 has a robot teaching means 110 and a plasma cutting means 120, and the teaching program PG generated by the robot teaching means 110 is executed by the plasma cutting means 120 to operate the plasma cutting robot 20 and perform plasma cutting. The robot control device 100 is a so-called teaching playback type robot control device that controls the operation of the plasma cutting robot 20 programmed by teaching.

[0033] The robot teaching means 110 generates a teaching program by teaching an operation to the plasma cutting robot 20. For example, an operator uses an operating device (teaching device) such as the teach pendant 30 to set plasma cutting conditions and to register teaching points while operating the plasma cutting robot 20, thereby generating the teaching program PG.

[0034] The plasma cutting means 120 operates the plasma cutting robot 20 in accordance with the teaching program PG. The plasma cutting means 120 includes a program reading unit 121, a program interpretation unit 122, and a program execution unit 123.

[0035] The program reading unit 121 reads out a teaching program PG for operating the plasma cutting robot 20, and the program interpretation unit 122 interprets the teaching program PG read out by the program reading unit 121. The teaching program PG mainly includes an arc start command (AS), a move command (MOVE), and an arc end command (AE).

[0036] Fig. 3 is a diagram showing an example of a teaching program PG for operating the plasma cutting robot 20. As shown in Fig. 3, the teaching program PG includes an arc start command (AS), a movement command (MOVE), and an arc end command (AE). Note that here, the movement command (MOVE) is written as a linear movement command (LIN).

[0037] Specifically, the arc start command (AS) includes a process of moving the torch 21 to a position where the arc starts (arc start height), turning the arc ON (igniting), and performing piercing (penetrating the pierced hole). The command may also include the moving speed of the torch 21, the arc voltage and / or the arc current, and the time required to pierce the pierced hole (pierce delay), which are appropriately set according to the material and thickness of the workpiece, and are taught by the robot teaching means 110. The position where the torch 21 starts the arc (arc start height) is set based on the cutting height, and the details of which will be described later.

[0038] The move command (MOVE) includes a process of moving the torch 21 in a substantially horizontal direction above the workpiece while an arc is being generated in order to cut the workpiece. Here, the move command (MOVE) is described as a plurality of linear move commands (LIN), but is not limited thereto, and may be, for example, a circular arc move command (CIR) or a combination thereof. In addition, the move command may include a position to which the torch 21 is moved, a height position (cutting height) of the torch 21 from the workpiece, a moving speed of the torch 21, an arc voltage and / or an arc current, which are appropriately set according to the material and thickness of the workpiece, and are taught by the robot teaching means 110.

[0039] Here, the cutting height is appropriately set according to the material and thickness of the workpiece, and is taught by the robot teaching means 110, and the above-mentioned arc start height is set based on the cutting height in the move command (MOVE). For example, in the arc start command (AS), the cutting height in the move command (MOVE) is referenced, and a predetermined height is added to the cutting height to set it as the arc start height. Note that the predetermined height added to the cutting height may be set in advance according to the material and thickness of the workpiece.

[0040] The arc end command (AE) includes a process for ending an arc.

[0041] In this way, the teaching program PG interpreted by the program interpretation unit 122 is executed by the program execution unit 123. In particular, in an arc start command (AS), the program interpretation unit 122 sets the arc start height included in the arc start command (AS) based on the cutting height included in the move command (MOVE) following the arc start command (AS).

[0042] Since the arc start height included in the arc start command (AS) is set based on the cutting height included in the move command (MOVE) in the teaching program PG, by generating a move command (MOVE) that includes the cutting height, the teaching program PG can be generated as a common arc start command (AS) without changing the arc start command (AS).

[0043] Furthermore, it is preferable that the arc start height be set to an appropriate height based on the cutting start position, i.e., the pierce position, in addition to the material and thickness of the workpiece. Specifically, it is set to a different height when the cutting start position (pierce position) is on the end face of the workpiece and when it is on the plate of the workpiece.

[0044] [Torch height setting] Fig. 4 is a diagram showing a screen in which the piercing type "end face" is selected when the piercing position is the end face of a workpiece. As shown in Fig. 4, on the screen operated by the user, out of the piercing types "on plate" and "end face," "end face" is selected by a radio button (display means).

[0045] For example, when an operator uses an operating device (teaching device) such as the teach pendant 30 to set plasma cutting conditions or to register teaching points while operating the plasma cutting robot 20, the display means causes the teaching device to display a screen such as that shown in Fig. 4. Then, when the cutting start position of the workpiece to be cut is the end face of the workpiece, the operator may select the pierce type "end face".

[0046] When the cutting start position is the end surface of the workpiece, the position where the arc of torch 21 starts (arc start height) may be the same as the cutting height, that is, the arc is turned ON (ignited) at the cutting height (first mode).

[0047] Fig. 5 is a diagram showing the transition of the height of the torch 21 when the teaching program PG is executed in the case where the cutting start position is the end face of the workpiece. As shown in Fig. 5, the height of the torch 21 becomes the cutting height at the arc start command (AS), the arc is turned ON, and the pierce hole is pierced by the pierce delay. Thereafter, while the height of the torch 21 is maintained at the cutting height, the torch 21 is moved at the move command (MOVE) to cut the workpiece, and the arc end command (AE) is executed.

[0048] The teaching program PG may be generated such that, when the piercing type "end face" is selected, the cutting height included in the move command (MOVE) is set to the arc start height included in the arc start command (AS).

[0049] Fig. 6 is a diagram showing a screen in which the piercing type "on plate" is selected when the piercing position is on the plate of the workpiece. As shown in Fig. 6, on the screen operated by the user, out of the piercing types "on plate" and "end face", "on plate" is selected by a radio button (display means).

[0050] For example, when an operator uses an operating device (teaching device) such as the teach pendant 30 to set plasma cutting conditions or to register teaching points while operating the plasma cutting robot 20, the display means causes the teaching device to display a screen such as that shown in Fig. 6. Then, when the cutting start position of the workpiece to be cut is on the workpiece plate, the operator may select the pierce type "on plate".

[0051] When the cutting start position is on the workpiece plate, the position where the arc of torch 21 starts (arc start height) may be set to a height different from the cutting height, i.e., the arc is turned ON (ignited) at an ignition height higher than the cutting height (second mode).

[0052] Fig. 7 is a diagram showing the transition of the height of the torch 21 when the teaching program PG is executed in the case where the cutting start position is on the workpiece plate. As shown in Fig. 7, the height of the torch 21 becomes the ignition height, which is higher than the cutting height, at the arc start command (AS), the arc is turned on, and the pierce hole is pierced by the pierce delay. After that, the height of the torch 21 becomes the cutting height, and while maintaining the cutting height, the torch 21 is moved at the move command (MOVE) to cut the workpiece, and the arc end command (AE) is executed.

[0053] As the teaching program PG, when the pierce type "on plate" is selected, it is preferable to generate a program that sets the ignition height, which is the arc start height included in the arc start command (AS) plus a predetermined height to the cutting height included in the move command (MOVE).

[0054] As described above, in the teaching program PG, the arc start height included in the arc start command (AS) differs depending on whether the cutting start position is the end face of the workpiece (Figs. 4 and 5) or the cut start position is on the plate of the workpiece (Figs. 6 and 7), but in either case it is set based on the cut height included in the move command (MOVE) following the arc start command (AS). It can be seen that by selecting the pierce type "end face" or "on plate", an appropriate arc start height is set in the common arc start command (AS).

[0055] Furthermore, when the starting position for cutting the workpiece is on the workpiece plate, if the workpiece plate thickness is large (for example, 40 mm or more), the height of the torch 21 may be set to different heights for the ignition height when the arc is turned ON (ignition) and the pierce height during the pierce delay thereafter until the pierce hole is pierced.

[0056] Fig. 8 is a diagram showing the transition of the height of the torch 21 when the teaching program PG is executed in the case where the cutting start position is on the workpiece plate and the workpiece plate thickness is large. As shown in Fig. 8, the height of the torch 21 becomes the ignition height, which is higher than the cutting height, at the arc start command (AS), the arc is turned on, the piercing height is further higher than the ignition height, and the piercing hole is pierced by the piercing delay. After that, the height of the torch 21 becomes the cutting height, and while maintaining the cutting height, the torch 21 is moved at the move command (MOVE) to cut the workpiece, and the arc end command (AE) is executed.

[0057] The teaching program PG may be generated so that, when the pierce type "on plate" is selected, the ignition height is set to the arc start height included in the arc start command (AS) plus a predetermined height to the cutting height included in the move command (MOVE), and the pierce height is set to the further predetermined height added according to the plate thickness of the workpiece.

[0058] The piercing height is recorded in advance as an appropriate height depending on the thickness of the workpiece, and may be set, for example, by an operator using an operating device (teaching device) such as the teach pendant 30 to input the thickness of the workpiece to be cut on a screen such as that shown in Figures 4 and 6.

[0059] 4 and 6, the display means may be configured to display specific values ​​such as the cutting height, ignition height, and pierce height that are set according to the operator's selection (e.g., pierce type) or input (e.g., workpiece thickness) so that the operator can confirm them. Furthermore, the displayed items are not limited to these, and for example, the pierce speed, ignition delay, and travel delay may be displayed.

[0060] [Plasma cutting method] Next, a method for plasma cutting a workpiece to be cut by operating the plasma cutting robot according to a teaching program will be specifically described in detail.

[0061] 9 is a flowchart showing a process flow of a plasma cutting method M100 executed by a robot control device 100 according to one embodiment of the present invention. As shown in FIG 9, the plasma cutting method M100 includes steps S110 to S180, and each step is executed by a processor included in the robot control device 100.

[0062] In step S110, the robot control device 100 reads out a teaching program for operating the plasma cutting robot 20 (program reading step). As a specific example, the program reading unit 121 reads out a teaching program PG that has been taught and generated by the robot teaching means 110.

[0063] In step S120, the robot control device 100 interprets the teaching program (program interpretation step). As a specific example, the program interpretation unit 122 interprets the teaching program PG read out in step S110, for example, for each command included in the teaching program PG.

[0064] In step S130, the robot control device 100 judges whether the command is an arc start command (program interpretation step). As a specific example, the program interpretation unit 122 interprets each command included in the teaching program PG, and if the command is an arc start command, the program proceeds to processing of step S140 ("Yes" in step S130), and if the command is not an arc start command, the program proceeds to processing of step S180 ("No" in step S130).

[0065] In step S140, the robot control device 100 refers to the movement command after the arc start command (program interpretation step). As a specific example, the program interpretation unit 122 acquires the cutting height included in the movement command after the arc start command.

[0066] In step S150, the robot control device 100 judges the mode selected by the user (program interpretation step). As a specific example, the program interpretation unit 122 interprets what mode the operator selected using an operating device (teaching device) such as the teach pendant 30 when the robot teaching means 110 taught the operation of the plasma cutting robot 20. For example, in the screen shown in Fig. 4, if "end face (first mode)" is selected as the workpiece cutting start position (pierce position), the process proceeds to step S160, and if "on plate (second mode)" is selected as the workpiece cutting start position (pierce position), the process proceeds to step S170.

[0067] In step S160, the robot control device 100 sets the cutting height to the arc start height (program interpretation step). As a specific example, the program interpretation unit 122 sets the cutting height acquired in step S140 as the arc start height included in the arc start command.

[0068] In step S170, the robot control device 100 sets the ignition height to the arc start height (program interpretation step). As a specific example, the program interpretation unit 122 sets the ignition height obtained by adding a predetermined height to the cutting height acquired in step S140 as the arc start height included in the arc start command.

[0069] In step S180, the robot control device 100 executes the teaching program (program execution step). As a specific example, the program execution unit 123 executes the teaching program PG interpreted in steps S120 to S170. As a result, the robot control device 100 operates the plasma cutting robot 20 in accordance with the teaching program PG, thereby performing plasma cutting of the workpiece to be cut.

[0070] As described above, according to the robot control device 100 and the plasma cutting method M100 according to an embodiment of the present invention, the program reading unit 121 reads out the teaching program PG generated by teaching by the robot teaching means 110, and the program interpretation unit 122 interprets the teaching program PG. When interpreting the arc start command (AS) included in the teaching program PG, the program interpretation unit 122 uses the cutting height included in the movement command (MOVE) after the arc start command (AS) to set an appropriate height as the arc start height included in the arc start command (AS) according to the mode selected by the operator using the teaching device. This makes it possible to reduce the tact time by the teaching program PG that appropriately moves the plasma cutting robot 20. In addition, since the cutting height included in the movement command (MOVE) is used to set the arc start height included in the arc start command (AS), a common arc start command (AS) can be used as the teaching program PG to be generated.

[0071] In this embodiment, an example has been shown in which specific values ​​such as the cutting height, ignition height, and piercing height, which are set according to the selection or input by the operator, are displayed on the screens shown in Figures 4 and 6, but the present invention is not limited to this. For example, a diagram showing the transition of the height of the torch 21 as shown in Figures 5, 7, and 8 may be displayed together with the screens shown in Figures 4 and 6, or as a separate screen. This allows the operator to visually and intuitively grasp the transition of the height of the torch 21 according to the selection (e.g., piercing type) or input (e.g., plate thickness of the workpiece) by the operator.

[0072] In addition, in the present embodiment, an example has been described in which the arc start height is set to the cutting height when the cutting start position is the end face of the workpiece, an ignition height higher than the cutting height when the cutting start position is on the plate of the workpiece, and a pierce height higher than the ignition height when the plate thickness of the workpiece is large, but the present invention is not limited to these. For example, appropriate ignition height and pierce height may be set according to various conditions including the type and size of the workpiece, the cutting start position, and the type and performance of the plasma cutting robot 20.

[0073] In this embodiment, the teaching program PG is mainly composed of an arc start command (AS), a move command (MOVE), and an arc end command (AE), but the configuration of the teaching program PG is not limited to these. For example, the teaching program may be composed of a plasma cutting start command including an arc start condition for plasma cutting, or may be composed of a plasma cutting start command including an arc start command (AS). These may be one command or multiple commands (arc start command + plasma cutting command = plasma cutting start command).

[0074] The above-described embodiments are intended to facilitate understanding of the present invention, and are not intended to limit the present invention. The elements of the embodiments, as well as their arrangements, materials, conditions, shapes, sizes, etc., are not limited to those shown as examples and can be changed as appropriate. In addition, configurations shown in different embodiments can be partially substituted or combined with each other. [Explanation of symbols]

[0075] 10...plasma cutting robot system, 20...plasma cutting robot, 21...torch, 30...teach pendant, 40...plasma power supply device, 100...robot control device, 110...robot teaching means, 120...plasma cutting means, 121...program reading section, 122...program interpretation section, 123...program execution section, M100...plasma cutting method, S110 to S180...each step in plasma cutting method M100

Claims

1. A teaching playback type robot control device that controls the operation of a plasma cutting robot programmed by teaching, a program reading unit that reads out a teaching program for operating the plasma cutting robot; a program interpretation unit that interprets the read teaching program; a program execution unit that executes the interpreted teaching program, When the program interpretation unit interprets a plasma cutting start command including an arc start condition for plasma cutting in the teaching program, the program interpretation unit sets an arc start height of a torch in the plasma cutting robot, which is included in the arc start condition in the plasma cutting start command, using position information taught in a movement command following the plasma cutting start command. Robot control device.

2. The arc start height is the cutting height of a torch in the plasma cutting robot or an ignition height higher than the cutting height. The robot control device according to claim 1 .

3. a teaching device that allows a user to select either a first mode in which the cutting height and the ignition height are the same or a second mode in which the cutting height and the ignition height are different; The teaching program is generated so that the cutting height or the ignition height is set to the arc start height based on the selected first mode or second mode. The robot control device according to claim 2 .

4. The first mode is selected when a cutting start position is an end surface of a cutting object, The second mode is selected when the cutting start position is on a plate of the cutting object. The robot control device according to claim 3.

5. a display means for displaying in a display area one of the first mode and the second mode in a manner selectable by a user; The robot control device according to claim 3.

6. The display means displays, in the display area, height information of the torch that moves in accordance with the first mode or the second mode selected by the user. The robot control device according to claim 5.

7. A plasma cutting method executed by a teaching playback type robot control device that controls the operation of a plasma cutting robot programmed by teaching, comprising: a program reading step of reading a teaching program for operating the plasma cutting robot; a program interpretation step of interpreting the read teaching program; A program execution step of executing the interpreted teaching program, In the program interpretation step, when a plasma cutting start command including an arc start condition for plasma cutting is interpreted in the teaching program, an arc start height of a torch in the plasma cutting robot, which is included in the arc start condition in the plasma cutting start command, is set using position information taught in a movement command following the plasma cutting start command. Plasma cutting methods.

Images