Welding system

Abstract

To provide a welding system that enables simultaneous operation of multiple welding robots.SOLUTION: The welding system comprises: a first welding robot that welds a first groove of a first steel material; a second welding robot that welds a second groove of a second steel material; and display control means. The first welding robot includes a first direction side camera and a first opposite side camera. The second welding robot includes a second direction side camera and a second opposite side camera. The display control means can cause a display unit to display: a first direction side image corresponding to first direction side image data output by the first direction side camera capturing the image of the first groove; a first opposite side image corresponding to first opposite side image data output by the first opposite side camera capturing the image of the first groove; a second direction side image corresponding to second direction side image data output by the second direction side camera capturing the image of the second groove; and a second opposite side image corresponding to second opposite side image data output by the second opposite side camera capturing the image of the second groove.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a welding system. [Background technology]

[0002] Steel pipe columns are used in high-rise buildings and other large buildings, formed by joining square steel pipes together by welding. A welding robot that can move around the steel pipes along a guide rail is used to join the square steel pipes. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7203942 Summary of the Invention [Problem to be solved by the invention]

[0004] In order to ensure the quality of welding by a welding robot, an operator may remotely control the welding robot and adjust the target position of the welding torch. In this case, since the operator adjusts the target position of the welding torch while looking at the welding point displayed on the display unit, it is difficult to operate multiple welding robots at the same time.

[0005] The present invention has been made in consideration of the above-mentioned circumstances, and has an object to provide a welding system capable of operating a plurality of welding robots simultaneously. [Means for solving the problem]

[0006] <1> A welding system according to one aspect of the present invention is a welding system including a first welding robot capable of welding a first groove of a first steel material while moving in a first direction, a second welding robot capable of welding a second groove of a second steel material different from the first steel material while moving in a second direction, and a display control means, wherein the first welding robot includes a first direction side camera provided on a side of the first welding robot in the first direction, and a first opposite side camera provided on a side of the first welding robot opposite to the first direction, and the second welding robot includes a second direction side camera provided on a side of the second welding robot in the second direction, and and a second opposite side camera provided on the side opposite to the second direction of the second welding robot, and the display control means is capable of displaying on a display unit a first direction side image corresponding to first direction side image data captured by the first direction side camera and outputted from the first opposite side camera, a first opposite side image corresponding to first opposite side image data captured by the first opposite side camera and outputted from the first opposite side camera, a second direction side image corresponding to second direction side image data captured by the second direction side camera and outputted from the second opposite side camera, and a second opposite side image corresponding to second opposite side image data captured by the second opposite side camera and outputted from the second opposite side camera.

[0007] Since the display unit can display a first direction side image, a first opposite side image, a second direction side image, and a second opposite side image, an operator can operate multiple welding robots simultaneously. Moreover, the steel materials welded by the first welding robot and the second welding robot are different. For example, when the first steel material welded by the first welding robot and the second steel material welded by the second welding robot are in different positions, it is extremely difficult to operate multiple welding robots simultaneously. Therefore, the above-mentioned operational effects are significantly achieved.

[0008] When the first direction side image and the first opposite side image are displayed on the display unit, the welding by the first welding robot can be confirmed from the front and rear of the first welding robot, improving the accuracy of the operation of the first welding robot by the operator. When the second direction side image and the second opposite side image are displayed on the display unit, the welding by the second welding robot can be confirmed from the front and rear of the second welding robot, improving the accuracy of the operation of the second welding robot by the operator. When the first direction side image and the second direction side image are displayed on the display unit, the operator can grasp the welding areas in front of the first welding robot and the second welding robot, i.e., the shape of the area to be welded and the boundary with the base material, for each of the welding by the first welding robot and the welding by the second welding robot, thereby improving the accuracy of the operator's operation of the first welding robot and the second welding robot.

[0009] <2> the above <1> In the welding system according to the above, the first welding robot can weld the first groove while moving in a direction opposite to the first direction, and the second welding robot can weld the second groove while moving in a direction opposite to the second direction, and the display control means may be configured to determine a display position on the display unit that is a display position of the first direction side image, a display position on the display unit that is a display position of the first opposite side image, a display position on the display unit that is a display position of the second direction side image, and a display position on the display unit that is a display position of the second opposite side image, depending on at least one of the direction in which the first welding robot moves and the direction in which the second welding robot moves.

[0010] The above configuration prevents the operator from mistakenly recognizing an image on the side in which the first welding robot and the second welding robot are moving as an image on the opposite side to the direction in which the first welding robot and the second welding robot are moving.

[0011] <3> the above <1> or <2> The welding system according to the above may further include a first construction jig position information acquisition means for acquiring first construction jig position information indicating the position of a first construction jig (a first construction jig) provided on the first steel material, and a second construction jig position information acquisition means for acquiring second construction jig position information indicating the position of a second construction jig (a second construction jig) provided on the second steel material, and the display control means may be configured to determine a display position on the display unit which is a display position of the first direction side image, a display position on the display unit which is a display position of the first opposite side image, a display position on the display unit which is a display position of the second direction side image, and a display position on the display unit which is a display position of the second opposite side image, depending on at least one of the first construction jig position information acquired by the first construction jig position information acquisition means and the second construction jig position information acquired by the second construction jig position information acquisition means.

[0012] With the above configuration, it is possible to prevent the operator's visibility from being reduced due to images in blind spots caused by construction jigs.

[0013] <4> the above <1> ~ <3> In a welding system relating to any one of the above, the system may further include a receiving means for receiving a first instruction, and the display control means may be configured to control the display unit so that, when the receiving means receives the first instruction, a display position on the display unit that includes the first direction side image and a display position on the display unit that includes the second direction side image are brought closer together.

[0014] With the above configuration, the visibility of the first direction side image and the second direction side image for the operator is improved, and the accuracy of the operation of the first welding robot and the second welding robot is improved.

[0015] <5> the above <4> In the welding system according to the present invention, the display control means may be configured to, when the receiving means receives the first instruction, control the display unit to switch the display position on the display unit of the first direction side image with the display position on the display unit of the first opposite side image, so that the display position of the first direction side image and the display position of the second direction side image are brought closer together.

[0016] With the above configuration, the display position of the first direction side image and the display position of the second direction side image can be brought closer together without causing the operator to feel uncomfortable, thereby improving the visibility of the first direction side image and the second direction side image for the operator.

[0017] <6> the above <1> ~ <3> In the welding system relating to any one of the above, the welding system may further include a receiving means for receiving a first instruction, and the display control means may be configured to not display the first opposite side image and the second opposite side image on the display unit when the receiving means receives the first instruction.

[0018] With the above configuration, the operator can easily grasp the first direction side image and the second direction side image, thereby improving the accuracy of the operation of the first welding robot and the second welding robot.

[0019] <7> the above <1> ~ <3> In the welding system relating to any one of the above, the welding system may further include a receiving means for receiving a first instruction, and the display control means may be configured to reduce the first opposite side image and the second opposite side image and display them on the display unit when the receiving means receives the first instruction.

[0020] With the above configuration, the operator can easily grasp the first direction side image and the second direction side image, thereby improving the accuracy of the operation of the first welding robot and the second welding robot. Effect of the Invention

[0021] According to the present invention, a welding system capable of simultaneously operating a plurality of welding robots can be provided. [Brief description of the drawings]

[0022] [Figure 1] 1 is a block diagram illustrating an overview of a welding system according to a first embodiment. [Diagram 2] 1 is an overall view showing a welding system according to a first embodiment. [Diagram 3] FIG. 2 is a system block diagram of (a) a first control device and (b) a second control device according to the first embodiment. [Figure 4] FIG. 2 is a system block diagram of (a) a first display device and (b) a second display device according to the first embodiment. [Diagram 5] FIG. 4 is a diagram showing an example of a screen displayed on a display unit according to the first embodiment. [Figure 6] FIG. 4 is a diagram showing an example of a screen displayed on a display unit according to the first embodiment. [Figure 7] FIG. 4 is a diagram showing an example of a screen displayed on a display unit according to the first embodiment. [Figure 8] FIG. 6 is a block diagram illustrating an overview of a welding system according to a second embodiment. [Figure 9] FIG. 11 is a diagram showing an example of a screen displayed on a display unit according to the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] [First embodiment] Hereinafter, a welding system 100 according to a first embodiment of the present invention will be described with reference to the drawings.

[0024] [Welding system overview] First, an overview of welding system 100 will be described. As shown in Fig. 1, welding system 100 includes a first welding robot 1A, a second welding robot 1B, a first control device 3A, a second control device 3B, a first relay device 4A, a second relay device 4B, a first display device 5A, a second display device 5B, a first input unit 6A, and a second input unit 6B.

[0025] The first welding robot 1A is used to weld a first groove of a first steel material. The second welding robot 1B is used to weld a second groove of a second steel material different from the first steel material. That is, the welding system 100 can simultaneously operate the first welding robot 1A and the second welding robot 1B to simultaneously weld the first groove of the first steel material and the second groove of the second steel material. The first steel material and the second steel material are, for example, steel pipes. The first steel material and the second steel material may also be flat plates, H-shaped steel, etc.

[0026] In this embodiment, as shown in FIG. 2, a case where the first steel material is a first steel pipe 8A and the second steel material is a second steel pipe 8B will be described as an example. That is, in the following, a case where the first welding robot 1A is used to weld a groove formed between the ends of the first steel pipe 8A arranged in a vertical direction as a first groove of the first steel material, and the second welding robot 1B is used to weld a groove formed between the ends of the second steel pipe 8B arranged in a vertical direction as a second groove of the second steel material will be described as an example. In addition, in this embodiment, the first welding robot 1A and the second welding robot 1B have the same configuration. Therefore, in the following, the specific configurations of the first welding robot 1A and the second welding robot 1B will be described using the same drawing (FIG. 2).

[0027] The steel pipes 8A and 8B are square steel pipes having four arc-shaped corners and four straight sections connecting the corners. The steel pipes 8A and 8B extend vertically. In the initial state, the first steel pipe 8A is temporarily fixed by the first construction jig 9A. For example, four first construction jigs 9A are attached to the four straight sections, respectively. In the initial state, the second steel pipe 8B is temporarily fixed by the second construction jig 9B. For example, four second construction jigs 9B are attached to the four straight sections, respectively.

[0028] The welding system 100 has a first guide rail 2A arranged along the first steel pipe 8A. The first guide rail 2A is arranged in a ring shape in the circumferential direction of the first steel pipe 8A so as to surround the first steel pipe 8A. The first welding robot 1A is movable along the first guide rail 2A. The first welding robot 1A can weld the ends of the first steel pipe 8A together while moving in a first direction D1, which is the direction in which the first guide rail 2A extends. The first welding robot 1A can also weld the ends of the first steel pipe 8A together while moving in the direction opposite to the first direction D1.

[0029] The welding system 100 has a second guide rail 2B arranged along the second steel pipe 8B. The second guide rail 2B is arranged in a ring shape in the circumferential direction of the second steel pipe 8B so as to surround the second steel pipe 8B. The second welding robot 1B is movable along the second guide rail 2B. The second welding robot 1B can weld the ends of the second steel pipe 8B together while moving in a second direction D2, which is the direction in which the second guide rail 2B extends. In addition, the second welding robot 1B can weld the ends of the second steel pipe 8B together while moving in the direction opposite to the second direction D2.

[0030] Returning to FIG. 1, the first control device 3A controls the operation of the first welding robot 1A. The first control device 3A creates a first control signal for controlling the first welding robot 1A. The first relay device 4A relays the first control signal created by the first control device 3A. Specifically, the first control device 3A and the first relay device 4A are connected to each other via a cable so that they can communicate with each other. The first relay device 4A and the first welding robot 1A are connected to each other via a cable so that they can communicate with each other. The first control signal output by the first control device 3A is transmitted to the first welding robot 1A via the first relay device 4A.

[0031] First welding robot 1A includes first control unit 21A, a plurality of first motors 22A, first welding torch 13A, first direction side camera 15A, and first opposite side camera 16A.

[0032] First control unit 21A is communicatively connected to first control device 3A via first relay device 4A, and controls the operation of first welding robot 1A under the control of first control device 3A. That is, first control unit 21A controls the operation of first welding robot 1A based on a first control signal created by first control device 3A.

[0033] The first motors 22A are motors that drive the first welding robot 1A. The first motors 22A include servo motors that move the first welding robot 1A along the first guide rails 2A. Each of the first motors 22A is driven by being controlled by the first control unit 21A.

[0034] The first welding torch 13A is used to weld the ends of the first steel pipe 8A together. Welding by the first welding torch 13A is performed by, for example, arc welding. A welding wire (not shown) is disposed in the first welding torch 13A. The first welding robot 1A also includes a welding power source (not shown) that applies a voltage between the first steel pipe 8A and the first welding torch 13A, and a wire feeder (not shown) that supplies the welding wire to the first welding torch 13A. The welding power source and the wire feeder are connected to the first control device 3A via the first relay device 4A. The welding power source and the wire feeder may be connected to the first control device 3A without the first relay device 4A.

[0035] The first direction side camera 15A and the first opposite side camera 16A capture an image of the groove formed between the ends of the first steel pipe 8A. For example, the first direction side camera 15A and the first opposite side camera 16A capture an image of the welded portion of the first steel pipe 8A and the first construction jig 9A in a sensing process before welding. The first direction side camera 15A and the first opposite side camera 16A capture an image of the welding by the first welding robot 1A in a welding process. The image or video data captured by the first direction side camera 15A (hereinafter referred to as "first direction side image data") and the image or video data captured by the first opposite side camera 16A (hereinafter referred to as "first opposite side image data") are output to the first control device 3A via the first relay device 4A.

[0036] The first display device 5A is, for example, a tablet terminal. The first display device 5A is connected to the first relay device 4A by wireless communication according to a communication standard such as Wi-Fi (registered trademark). The first display device 5A may be communicably connected to the first relay device 4A by a cable. The first display device 5A has a first display unit 52A (see FIG. 5) on which various information related to welding by the first welding robot 1A is displayed. For example, the first direction side image data and the first opposite side image data are transmitted from the first control device 3A to the first display device 5A via the first relay device 4A, and the first display unit 52A can display a first direction side image G12 corresponding to the first direction side image data and a first opposite side image G13 corresponding to the first opposite side image data. Details of the first display device 5A will be described later.

[0037] The first input unit 6A is used by the operator to remotely operate the first welding robot 1A. The first input unit 6A accepts input of various information related to the operation of the first welding robot 1A from the operator. The operation of the first welding robot 1A using the first input unit 6A includes adjusting the target position of the first welding torch 13A. The first input unit 6A includes an input device such as a mouse, a keyboard, or a touch panel. The first display unit 52A can display a first robot operation image G11, which is an image showing the operator instructions that can be input to the first input unit 6A. The first input unit 6A may be built into the first display unit 5A. The first input unit 6A may be separate from the first display unit 5A.

[0038] The second control device 3B controls the operation of the second welding robot 1B. The second control device 3B creates a second control signal for controlling the second welding robot 1B. The second relay device 4B relays the second control signal created by the second control device 3B. Specifically, the second control device 3B and the second relay device 4B are connected to each other via a cable so that they can communicate with each other. The second relay device 4B and the second welding robot 1B are connected to each other via a cable so that they can communicate with each other. The second control signal output by the second control device 3B is transmitted to the second welding robot 1B via the second relay device 4B.

[0039] Second welding robot 1B includes second control unit 21B, a plurality of second motors 22B, second welding torch 13B, second direction side camera 15B, and second opposite side camera 16B.

[0040] Second control unit 21B is communicatively connected to second control device 3B via second relay device 4B, and controls the operation of second welding robot 1B under the control of second control device 3B. That is, second control unit 21B controls the operation of second welding robot 1B based on a second control signal created by second control device 3B.

[0041] The second motors 22B are motors that drive the second welding robot 1B. The second motors 22B include servo motors that move the second welding robot 1B along the second guide rails 2B. Each of the second motors 22B is driven by being controlled by the first control unit 21A.

[0042] The second welding torch 13B is used to weld the ends of the second steel pipe 8B together. The welding by the second welding torch 13B is performed by, for example, arc welding. A welding wire (not shown) is disposed in the second welding torch 13B. The second welding robot 1B also includes a welding power source (not shown) that applies a voltage between the second steel pipe 8B and the second welding torch 13B, and a wire feeder (not shown) that supplies the welding wire to the second welding torch 13B. The welding power source and the wire feeder are connected to the second control device 3B via the second relay device 4B. The welding power source and the wire feeder may be connected to the second control device 3B without the second relay device 4B.

[0043] The second direction side camera 15B and the second opposite side camera 16B capture an image of the groove formed between the ends of the second steel pipe 8B. For example, the second direction side camera 15B and the second opposite side camera 16B capture an image of the welded portion of the second steel pipe 8B and the second construction jig 9B in a sensing process before welding. The second direction side camera 15B and the second opposite side camera 16B capture an image of the welding by the second welding robot 1B in the welding process. The image or video data captured by the second direction side camera 15B (hereinafter referred to as "second direction side image data") and the image or video data captured by the second opposite side camera 16B (hereinafter referred to as "second opposite side image data") are output to the second control device 3B via the second relay device 4B.

[0044] The second display device 5B is, for example, a tablet terminal. The second display device 5B is connected to the second relay device 4B by wireless communication according to a communication standard such as Wi-Fi (registered trademark). The second display device 5B may be communicatively connected to the second relay device 4B by a cable. The second display device 5B has a second display unit 52B (see FIG. 5) on which various information related to welding by the second welding robot 1B is displayed. For example, the second direction side image data and the second opposite side image data are transmitted from the second control device 3B to the second display device 5B via the second relay device 4B, and the second display unit 52B can display the second direction side image G22 corresponding to the second direction side image data and the second opposite side image G23 corresponding to the second opposite side image data. Details of the second display device 5B will be described later.

[0045] The second input unit 6B is used by the operator to remotely operate the second welding robot 1B. The second input unit 6B accepts input of various information related to the operation of the second welding robot 1B from the operator. The operation of the second welding robot 1B using the second input unit 6B includes adjusting the target position of the second welding torch 13B. The second input unit 6B is configured to include an input device such as a mouse, a keyboard, or a touch panel. The second display unit 52B can display a second robot operation image G21, which is an image showing the operator instructions that can be input to the second input unit 6B. The second input unit 6B may be built into the second display unit 5B. The second input unit 6B may be separate from the second display unit 5B.

[0046] [Welding robot configuration] Next, the configurations of the first welding robot 1A and the second welding robot 1B will be described with reference to FIG.

[0047] First welding robot 1A includes a first main body portion 11A, a first welding torch 13A, a first support portion 14A, a first direction side camera 15A, and a first opposite side camera 16A.

[0048] The first body 11A is a base of the first welding robot 1A. The first body 11A includes a first control unit 21A and a plurality of first motors 22A. The first body 11A is attached to the first guide rail 2A so as to be slidable on the first guide rail 2A. The first welding robot 1A moves in a first direction D1 as the first body 11A slides on the first guide rail 2A.

[0049] The first support 14A is provided between the first body 11A and the first welding torch 13A, and supports the first welding torch 13A. The first support 14A is movable in a first approach / separation direction relative to the first body 11A. The first approach / separation direction is a direction perpendicular to the vertical direction and the first direction D1. By moving the first support 14A in the first approach / separation direction relative to the first body 11A, the first welding torch 13A can be moved closer to and away from the first steel pipe 8A. The first support 14A also supports the first welding torch 13A rotatably around the B axis and the T axis. The B axis is an axis parallel to the first direction D1. The T axis is an axis parallel to the vertical direction.

[0050] The first direction side camera 15A and the first opposite side camera 16A are attached to the first support part 14A. The first direction side camera 15A and the first opposite side camera 16A are attached to the first support part 14A in a state that is not affected by the posture of the first welding torch 13A. The first direction side camera 15A and the first opposite side camera 16A are provided at a position that does not interfere with the first construction jig 9A even when the first welding robot 1A travels. The first direction side camera 15A and the first opposite side camera 16A can each be moved to any position in the vertical direction relative to the first welding robot 1A, and can be rotated to any angle around an axis along the vertical direction. This increases the degree of freedom of the shooting angle of the first direction side camera 15A and the first opposite side camera 16A.

[0051] The first direction side camera 15A and the first opposite side camera 16A are installed on both sides of the width direction of the first welding robot 1A. The width direction of the first welding robot 1A is a direction parallel to the first direction D1. Specifically, the first direction side camera 15A is provided on the first direction D1 side of the first welding robot 1A, and the first opposite side camera 16A is provided on the opposite side of the first welding robot 1A from the first direction D1. In this way, when the first welding robot 1A travels toward the first direction D1, the first direction side camera 15A can capture an image of the welding site in front of the first welding robot 1A, i.e., the site to be welded, and the first opposite side camera 16A can capture an image of the welding site behind the first welding robot 1A, i.e., the site that has already been welded. When the first welding robot 1A travels toward the opposite side of the first direction D1, the first opposite side camera 16A can capture an image of the welding area in front of the first welding robot 1A, i.e., the area that is about to be welded, and the first direction side camera 15A can capture an image of the welding area behind the first welding robot 1A, i.e., the area that has already been welded.

[0052] The second welding robot 1B includes a second main body portion 11B, a second welding torch 13B, a second support portion 14B, a second direction side camera 15B, and a second opposite side camera 16B.

[0053] The second body 11B is a base of the second welding robot 1B. The second body 11B includes a second control unit 21B and a plurality of second motors 22B. The second body 11B is attached to the second guide rail 2B so as to be slidable on the second guide rail 2B. The second welding robot 1B moves in the second direction D2 as the second body 11B slides on the second guide rail 2B.

[0054] The second support 14B is provided between the second body 11B and the second welding torch 13B, and supports the second welding torch 13B. The second support 14B is movable in a second approaching / separating direction relative to the second body 11B. The second approaching / separating direction is a direction perpendicular to the vertical direction and the second direction D2. By moving the second support 14B in the second approaching / separating direction relative to the second body 11B, the second welding torch 13B can be moved closer to and away from the second steel pipe 8B. In addition, the second support 14B supports the second welding torch 13B so as to be rotatable around the B axis and the T axis.

[0055] The second direction side camera 15B and the second opposite side camera 16B are attached to the second support part 14B. The second direction side camera 15B and the second opposite side camera 16B are attached to the second support part 14B in a state that is not affected by the posture of the second welding torch 13B. The second direction side camera 15B and the second opposite side camera 16B may move in conjunction with the Z axis. The second direction side camera 15B and the second opposite side camera 16B are provided at a position that does not interfere with the second construction jig 9B even when the second welding robot 1B travels. The second direction side camera 15B and the second opposite side camera 16B can each be moved to any position in the vertical direction relative to the second welding robot 1B, and can be rotated to any angle around an axis along the vertical direction. This increases the degree of freedom of the shooting angle of the second direction side camera 15B and the second opposite side camera 16B.

[0056] The second direction side camera 15B and the second opposite side camera 16B are installed on both sides of the width direction of the second welding robot 1B. The width direction of the second welding robot 1B is a direction parallel to the second direction D2. Specifically, the second direction side camera 15B is provided on the second direction D2 side of the second welding robot 1B, and the second opposite side camera 16B is provided on the opposite side of the second welding robot 1B from the second direction D2. In this way, when the second welding robot 1B travels in the second direction D2, the second direction side camera 15B can capture an image of the welding site in front of the second welding robot 1B, i.e., the site to be welded, and the second opposite side camera 16B can capture an image of the welding site behind the second welding robot 1B, i.e., the site that has already been welded. When the second welding robot 1B travels toward the opposite side of the second direction D2, the second opposite side camera 16B can capture an image of the welding area in front of the second welding robot 1B, i.e., the area that is about to be welded, and the second direction side camera 15B can capture an image of the welding area behind the second welding robot 1B, i.e., the area that has already been welded.

[0057] [Welding system control system] Next, a control system of welding system 100 will be described with reference to FIGS.

[0058] 3(a) is a diagram showing an example of a hardware configuration of the first control device 3A in this embodiment. The first control device 3A includes a processor such as a CPU (Central Processing Unit) and a memory connected by a bus, and executes a program. The first control device 3A functions as a device including a communication unit 31A, a control unit 32A, and a storage unit 33A by executing the program.

[0059] The control unit 32A controls the operation of various functional units included in the first control device 3A. The control unit 32A controls the operation of the first welding robot 1A, for example. The control unit 32A creates a first control signal for controlling the first welding robot 1A. Other functions of the control unit 32A will be described later.

[0060] The communication unit 31A includes a communication interface for connecting the first control device 3A to an external device. The communication unit 31A communicates with the external device via wired or wireless communication. The external device is, for example, the first relay device 4A. For example, the communication unit 31A acquires the first direction side image data and the first opposite side image data by communicating with the first direction side camera 15A and the first opposite side camera 16A via the first relay device 4A. The communication unit 31A acquires information on the position of the first welding robot 1A (hereinafter referred to as first welding robot position information) from the first welding robot 1A via the first relay device 4A. The first welding robot position information is, for example, a target value for controlling a servo motor (first motor 22A) related to the movement of the first welding robot 1A. The communication unit 31A acquires various information on the operation of the first welding robot 1A (hereinafter referred to as first welding robot operation information) input to the first input unit 6A via the first relay device 4A. The communication unit 31A transmits the first control signal generated by the control unit 32A to the first welding robot 1A via the first relay device 4A.

[0061] The storage unit 33A is configured using a computer-readable storage medium device such as a magnetic hard disk device or a semiconductor storage device. The storage unit 33A stores various information related to the welding system 100 including the first control device 3A itself. For example, the storage unit 33A stores information input via the communication unit 31A. For example, the storage unit 33A stores first direction side image data and first opposite side image data. The storage unit 33A stores first welding robot position information. The storage unit 33A stores first welding robot operation information. The storage unit 33A stores various information generated by the execution of processing by the control unit 32A.

[0062] Control unit 32A includes a data acquisition unit 321A, a welding execution control unit 322A, a first construction jig position information acquisition unit 323A, a first welding robot position information acquisition unit 324A, a first welding robot movement direction determination unit 325A, and a first display data generation unit 326A.

[0063] The data acquisition unit 321A acquires the first direction side image data and the first opposite side image data stored in the memory unit 33A. The data acquisition unit 321A acquires the first welding robot position information stored in the memory unit 33A. The data acquisition unit 321A acquires the first welding robot operation information stored in the memory unit 33A.

[0064] The welding execution control unit 322A controls the operation of the first welding robot 1A based on the first welding robot operation information to cause the first welding robot 1A to perform welding. Under the control of the welding execution control unit 322A, the first welding robot 1A welds the first steel pipe 8A while moving on the first guide rail 2A.

[0065] The first construction jig position information acquisition unit 323A acquires first construction jig position information, which is information related to the position of the first construction jig 9A. For example, a marker may be attached to the first construction jig 9A, and the first welding robot 1A may be moved along the first guide rail 2A in the sensing process before welding, while the first direction side camera 15A and the first opposite side camera 16A capture images of the markers attached to the first construction jig 9A to acquire the first construction jig position information. Instead of attaching a marker to the first construction jig 9A, the first construction jig position information may be acquired by acquiring distance information from the image capture results acquired by the first direction side camera 15A and the first opposite side camera 16A, utilizing the fact that the distances from the first direction side camera 15A and the first opposite side camera 16A are different between the first steel pipe 8A and the first construction jig 9A. The operator may manually register the position of the first construction jig 9A via the first input unit 6A, and the registered position input by the operator may be acquired as the first construction jig position information.

[0066] First welding robot position information acquisition unit 324A acquires the first welding robot position information via storage unit 33A and data acquisition unit 321A.

[0067] First welding robot movement direction determination unit 325A acquires first welding robot movement direction information, which is information about the movement direction of first welding robot 1A, based on the first welding robot position information acquired by first welding robot position information acquisition unit 324A. Specifically, first welding robot movement direction determination unit 325A determines, based on the first welding robot position information, whether first welding robot 1A is moving in first direction D1 or in the direction opposite to first direction D1.

[0068] The first display data generating unit 326A acquires the first direction side image data and the first opposite side image data via the storage unit 33A and the data acquiring unit 321A. The first direction side image data and the first opposite side image data are transmitted to the first display device 5A via the first relay device 4A. The first display data generating unit 326A may transmit the first direction side image data and the first opposite side image data to the first display device 5A after performing image correction on the first direction side image data and the first opposite side image data. The first display data generating unit 326A generates first robot operation image data corresponding to the first robot operation image G11 displayed on the first display unit 52A. The first robot operation image data is transmitted to the first display device 5A via the first relay device 4A.

[0069] 3(b) is a diagram showing an example of a hardware configuration of the second control device 3B in this embodiment. The second control device 3B includes a processor such as a CPU (Central Processing Unit) and a memory connected by a bus, and executes a program. The second control device 3B functions as a device including a communication unit 31B, a control unit 32B, and a storage unit 33B by executing the program. The functions and configurations of the communication unit 31B, the control unit 32B, and the storage unit 33B of the second control device 3B are similar to those of the communication unit 31A, the control unit 32A, and the storage unit 33A of the first control device 3A, and therefore will not be described or will be simplified below.

[0070] Control unit 32B controls the operation of various functional units included in second control device 3B. Control unit 32B controls the operation of second welding robot 1B, for example. Control unit 32B creates a second control signal for controlling second welding robot 1B. Other functions of control unit 32B will be described later.

[0071] The communication unit 31B includes a communication interface for connecting the second control device 3B to an external device. The external device is, for example, the second relay device 4B. For example, the communication unit 31B acquires the second direction side image data and the second opposite side image data, information on the position of the second welding robot 1B (hereinafter, referred to as second welding robot position information), and various information on the operation of the second welding robot 1B input to the second input unit 6B (hereinafter, referred to as second welding robot operation information) via the second relay device 4B. The communication unit 31B transmits the second control signal created by the control unit 32B to the second welding robot 1B via the second relay device 4B.

[0072] The storage unit 33B is configured using a computer-readable storage medium device such as a magnetic hard disk device or a semiconductor storage device. The storage unit 33B stores various information related to the welding system 100 including the second control device 3B itself. For example, the storage unit 33B stores information input via the communication unit 31B. The storage unit 33B stores various information generated by the execution of processing by the control unit 32B.

[0073] Control unit 32B includes a data acquisition unit 321B, a welding execution control unit 322B, a second construction jig position information acquisition unit 323B, a second welding robot position information acquisition unit 324B, a second welding robot movement direction determination unit 325B, and a second display data generation unit 326B.

[0074] Data acquisition unit 321B acquires the second direction side image data and the second opposite side image data, the second welding robot position information, and the second welding robot operation information stored in storage unit 33B.

[0075] The welding execution control unit 322B controls the operation of the second welding robot 1B based on the second welding robot operation information to cause the second welding robot 1B to perform welding.

[0076] The second construction jig position information acquisition unit 323B acquires second construction jig position information, which is information relating to the position of the second construction jig 9B.

[0077] Second welding robot position information acquisition unit 324B acquires second welding robot position information via storage unit 33B and data acquisition unit 321B.

[0078] Second welding robot movement direction determination unit 325B acquires second welding robot movement direction information, which is information regarding the movement direction of second welding robot 1B, based on the second welding robot position information acquired by second welding robot position information acquisition unit 324B.

[0079] The second display data generation unit 326B acquires the second direction side image data and the second opposite side image data via the storage unit 33B and the data acquisition unit 321B. The second display data generation unit 326B generates second robot operation image data corresponding to the second robot operation image G21 to be displayed on the second display unit 52B.

[0080] 4(a) is a diagram showing an example of a hardware configuration of the first display device 5A in this embodiment. The first display device 5A includes a processor such as a CPU (Central Processing Unit) and a memory connected by a bus, and executes a program. By executing the program, the first display device 5A functions as a device including a communication unit 51A, a first display unit 52A, a first reception unit 53A, and a first display control unit 54A.

[0081] The communication unit 51A includes a communication interface for connecting the first display device 5A to an external device. The communication unit 51A communicates with the external device via wired or wireless communication. The external device is, for example, the first relay device 4A. For example, the communication unit 51A acquires the first direction side image data and the first opposite side image data from the first control device 3A via the first relay device 4A. The communication unit 51A acquires the first robot operation image data from the first control device 3A via the first relay device 4A. The communication unit 51A acquires the first construction jig position information from the first control device 3A via the first relay device 4A. The communication unit 51A acquires the first welding robot movement direction information from the first control device 3A via the first relay device 4A.

[0082] The first display unit 52A is, for example, a display device such as an LCD (Liquid Crystal Display). Various information related to welding by the first welding robot 1A is displayed on the first display unit 52A under the control of the first display control unit 54A. For example, the first display unit 52A can display a first direction side image G12 corresponding to the first direction side image data, a first opposite side image G13 corresponding to the first opposite side image data, and a first robot operation image G11 corresponding to the first robot operation image data.

[0083] The first reception unit 53A receives input of instructions (first instructions) related to the display of the first display unit 52A from the operator. The first reception unit 53A includes an input device such as a mouse, a keyboard, or a touch panel. A common input device may be used for the first input unit 6A and the first reception unit 53A. The first display unit 52A can display a first display operation image G14 that is an image showing the operator instructions that can be input to the first reception unit 53A.

[0084] The first display control unit 54A performs processing for displaying the first direction side image G12, the first opposite side image G13, the first robot operation image G11, and the first display operation image G14 on the first display unit 52A. For example, the first display control unit 54A determines which of the first direction side image G12, the first opposite side image G13, the first robot operation image G11, and the first display operation image G14 is to be displayed on the first display unit 52A. The first display control unit 54A determines the display position of the first direction side image G12 on the first display unit 52A, the display position of the first opposite side image on the first display unit 52A, the display position of the first robot operation image on the first display unit 52A, and the display position of the first display operation image G14 on the first display unit 52A. The display position of the image on the first display unit 52A includes the arrangement of the image on the first display unit 52A and the display size of the image.

[0085] For example, the first display control unit 54A performs the above process based on an instruction received by the first receiving unit 53A. The first display control unit 54A performs the above process based on first construction jig position information transmitted from the first control device 3A. The first display control unit 54A performs the above process based on first welding robot movement direction information transmitted from the first control device 3A. Details of the process will be described later.

[0086] FIG. 4(b) is a diagram showing an example of the hardware configuration of the second display device 5B in this embodiment. The second display device 5B includes a processor such as a CPU (Central Processing Unit) and a memory connected by a bus, and executes a program. The second display device 5B functions as a device including a communication unit 51B, a second display unit 52B, a second reception unit 53B, and a second display control unit 54B by executing the program. The functions and configurations of the communication unit 51B, the second display unit 52B, the second reception unit 53B, and the second display control unit 54B of the second display device 5B are similar to the functions and configurations of the communication unit 51A, the first display unit 52A, the first reception unit 53A, and the first display control unit 54A of the first display device 5A, and therefore will not be described or will be simplified below.

[0087] The communication unit 51B includes a communication interface for connecting the second display device 5B to an external device. The external device is, for example, the second relay device 4B. For example, the communication unit 51B acquires the second direction side image data and the second opposite side image data, the second robot operation image data, the second construction jig position information, and the second welding robot movement direction information from the second control device 3B via the second relay device 4B.

[0088] Second display unit 52B is, for example, a display device such as an LCD (Liquid Crystal Display), etc. Second display unit 52B displays various information related to welding by second welding robot 1B under the control of second display control unit 54B.

[0089] The second reception unit 53B receives input of instructions (first instructions) related to the display of the second display unit 52B from the operator. The second reception unit 53B includes an input device such as a mouse, a keyboard, or a touch panel. A common input device may be used for the second input unit 6B and the second reception unit 53B. The second display unit 52B can display a second display operation image G24 that is an image showing the operator instructions that can be input to the second reception unit 53B.

[0090] The second display control unit 54B performs processing for displaying the second direction side image G22, the second opposite side image G23, the second robot operation image G21, and the second display operation image G24 on the second display unit 52B. For example, the second display control unit 54B determines which of the second direction side image G22, the second opposite side image G23, the second robot operation image G21, and the second display operation image G24 is to be displayed on the second display unit 52B. The second display control unit 54B determines the display position of the second direction side image G22 on the second display unit 52B, the display position of the second opposite side image G23 on the second display unit 52B, the display position of the second robot operation image G21 on the second display unit 52B, and the display position of the second display operation image G24 on the second display unit 52B. The display position of the image on the second display unit 52B includes the arrangement of the image on the second display unit 52B and the display size of the image.

[0091] For example, the second display control unit 54B performs the above process based on an instruction received by the second receiving unit 53B. The second display control unit 54B performs the above process based on second construction jig position information transmitted from the second control device 3B. The second display control unit 54B performs the above process based on second welding robot movement direction information transmitted from the second control device 3B. Details of the process will be described later.

[0092] FIG. 5 shows an example of a screen displayed on the first display unit 52A and the second display unit 52B. The first display unit 52A and the second display unit 52B correspond to the display unit D of the present invention. The first display unit 5A may be disposed beside or above the second display unit 5B in order to position the first display unit 52A and the second display unit 52B as shown in FIG. 5. In FIG. 5, a screen H101 is shown as an example of a screen that the first display control unit 54A causes to be displayed on the first display unit 52A, and a screen H102 is shown as an example of a screen that the second display control unit 54B causes to be displayed on the second display unit 52B. In the example of FIG. 5, the screen H101 has areas Q11 to Q14, and the screen H102 has areas Q21 to Q24.

[0093] In the region Q11, the first robot operation image G11 is displayed. As described above, the first robot operation image G11 is an image for operating the first welding robot 1A, and is an image showing the operator instructions that can be input to the first input unit 6A. In the illustrated example, the first robot operation image G11 includes an image showing an instruction to change the position of the first welding torch 13A along the B axis, an image showing an instruction to change the position of the first welding torch 13A along the T axis, an image showing an instruction to change the position of the first welding robot 1A along the X axis, an image showing an instruction to change the position of the first welding robot 1A along the Y axis, and an image showing an instruction to change the position of the first welding robot 1A along the Z axis. Note that the X axis, the Y axis, and the Z axis may be any axis as long as they are predetermined axes, and for example, the X axis may be an axis parallel to the first direction D1, the Y axis may be an axis parallel to the vertical direction, and the Z axis may be an axis parallel to the approach / separation direction. When the operator performs an operation on the first robot operation image G11, the first input unit 6A receives input of an instruction corresponding to the operation.

[0094] In the region Q12, one of the first direction side image G12 and the first opposite side image G13 is displayed. In the region Q13, the other of the first direction side image G12 and the first opposite side image G13 is displayed. In the illustrated example, the first direction side image G12 is displayed in the region Q12, and the first opposite side image G13 is displayed in the region Q13.

[0095] The first display operation image G14 is displayed in the region Q14. As described above, the first display operation image G14 is an image for operating the display on the first display unit 52A, and is an image showing the operator an instruction that can be input to the first reception unit 53A. In the illustrated example, the first display operation image G14 includes a rearrangement icon IC11 indicating a rearrangement instruction (first instruction) for rearranging the display position of the first direction side image G12 and the display position of the first opposite side image G13, a delete icon IC12 indicating a delete instruction (first instruction) for not displaying the first opposite side image G13 on the first display unit 52A, and a reduce icon IC13 indicating a reduce instruction (first instruction) for reducing the first opposite side image G13 and displaying it on the first display unit 52A.

[0096] When the operator operates the position swap icon IC11, the first reception unit 53A receives a position swap instruction, and the first display control unit 54A swaps the display position of the first direction side image G12 and the display position of the first opposite side image G13. When the operator operates the delete icon IC12, the first reception unit 53A receives the delete instruction, and the first display control unit 54A displays only the first direction side image G12 on the first display unit 52A without displaying the first opposite side image G13 on the first display unit 52A, as shown in Fig. 6. At this time, the first display control unit 54A may enlarge the first direction side image G12 and display it on the first display unit 52A. When the operator operates the reduction icon IC13, the first reception unit 53A receives the reduction instruction, and the first display control unit 54A reduces the first opposite side image G13 and displays it on the first display unit 52A, as shown in Fig. 7. At this time, the first display control unit 54A may enlarge the first direction side image G12 and display it on the first display unit 52A, or may display the first direction side image G12 on the first display unit 52A without changing the size of the image.

[0097] On the other hand, the first display control unit 54A does not change the display position of the first robot operation image G11 on the first display unit 52A even if the first reception unit 53A receives the instruction. This can suppress operation errors caused by a change in the display position of the first robot operation image G11. Note that, if changing the display position of the first direction side image G12 and / or the first opposite side image G13 causes the first robot operation image G11 or the hand operating the first robot operation image G11 to be an obstacle to checking the first direction side image G12 and / or the first opposite side image G13, the first display control unit 54A may change the display position of the first robot operation image G11 on the first display unit 52A. For example, the display position of the first robot operation image G11 may be changed from the right end to the left end.

[0098] Furthermore, first display control unit 54A may determine the display position of first direction side image G12 on first display unit 52A and the display position of first opposite side image G13 on first display unit 52A based on the first welding robot movement direction information. For example, when first welding robot movement direction determination unit 325A determines that first welding robot 1A is moving in first direction D1, first display control unit 54A displays first direction side image G12 in area Q12 and displays first opposite side image G13 in area Q13. When the direction in which first welding robot 1A moves is reversed and first welding robot movement direction determination unit 325A determines that first welding robot 1A is moving in the opposite direction to first direction D1, first display control unit 54A swaps the display position of first direction side image G12 and the display position of first opposite side image G13 to display first opposite side image G13 in area Q12 and display first direction side image G12 in area Q13. This makes it easier for the operator to grasp the image on the welding proceeding direction side even if first welding robot 1A moves in the reversed direction.

[0099] The first display control unit 54A may also determine the display position of the first direction side image G12 on the first display unit 52A and the display position of the first opposite side image G13 on the first display unit 52A based on the first construction jig position information. That is, for example, when the first welding robot 1A is moving in the first direction D1, the first direction side camera 15A captures an image of a welding site in front of the first welding robot 1A, that is, a site to be welded, so that the operator often mainly checks the first direction side image G12, but depending on the position of the first construction jig 9A, the first direction side image G12 may be an image of a blind spot (i.e., an image in which the welding site is hidden by the first construction jig 9A). In this case, the first display control unit 54A switches the display position of the first direction side image G12 with the display position of the first opposite side image G13. Alternatively, the first display control unit 54A may not display the first direction side image G12 on the first display unit 52A, and may reduce the first direction side image G12 and display it on the first display unit 52A. This allows the operator to check the first opposite side image G13 when the first direction side image G12 is an image of a blind spot, thereby preventing a decrease in visibility for the operator. The first display control unit 54A may return to the original display when the first direction side image G12 is no longer in a blind spot.

[0100] The second robot operation image G21 is displayed in the area Q21. As described above, the second robot operation image G21 is an image for operating the second welding robot 1B, and is an image showing the operator instructions that can be input to the second input unit 6B. Details of the second robot operation image G21 are similar to those of the first robot operation image G11, and therefore will not be described here. When the operator operates the second robot operation image G21, the second input unit 6B accepts input of instructions corresponding to the operation.

[0101] In the region Q22, one of the second direction side image G22 and the second opposite side image G23 is displayed. In the region Q23, the other of the second direction side image G22 and the second opposite side image G23 is displayed. In the illustrated example, the second direction side image G22 is displayed in the region Q22, and the second opposite side image G23 is displayed in the region Q23.

[0102] The second display operation image G24 is displayed in the region Q24. As described above, the second display operation image G24 is an image for operating the display on the second display unit 52B, and is an image showing the operator an instruction that can be input to the second reception unit 53B. In the illustrated example, the second display operation image G24 includes a rearrangement icon IC21 indicating a rearrangement instruction (first instruction) for rearranging the display position of the second direction side image G22 and the display position of the second opposite side image G23, a delete icon IC22 indicating a delete instruction (first instruction) for not displaying the second opposite side image G23 on the second display unit 52B, and a reduce icon IC23 indicating a reduce instruction (first instruction) for reducing the second opposite side image G23 and displaying it on the second display unit 52B.

[0103] When the operator operates the position swap icon IC21, the second reception unit 53B receives a position swap instruction, and the second display control unit 54B swaps the display position of the second direction side image G22 with the display position of the second opposite side image G23. When the operator operates the delete icon IC22, the second reception unit 53B receives the delete instruction, and the second display control unit 54B displays only the second direction side image G22 on the second display unit 52B without displaying the second opposite side image G23 on the second display unit 52B, as shown in Fig. 6. At this time, the second display control unit 54B may enlarge the second direction side image G22 and display it on the second display unit 52B. When the operator operates the reduction icon IC23, the second reception unit 53B receives the reduction instruction, and the second display control unit 54B reduces the second opposite side image G23 and displays it on the second display unit 52B, as shown in Fig. 7. At this time, the second display control unit 54B may enlarge the second direction side image G22 and display it on the second display unit 52B, or may display the second direction side image G22 on the second display unit 52B without changing the size.

[0104] On the other hand, the second display control unit 54B does not change the display position of the second robot operation image G21 on the second display unit 52B even if the second receiving unit 53B receives the above instruction. This makes it possible to suppress operation errors caused by a change in the display position of the second robot operation image G21. Note that, if changing the display position of the second direction side image G22 and / or the second opposite side image G23 causes the second robot operation image G21 or the hand operating the second robot operation image G21 to be an obstacle to checking the second direction side image G22 and / or the second opposite side image G23, the second display control unit 54B may change the display position of the second robot operation image G21 on the second display unit 52B.

[0105] Furthermore, the second display control unit 54B may determine the display position of the second direction side image G22 on the second display unit 52B and the display position of the second opposite side image G23 on the second display unit 52B based on the second welding robot movement direction information. For example, similar to the first display control unit 54A, the second display control unit 54B switches the display position of the second direction side image G22 and the display position of the second opposite side image G23 when the direction in which the second welding robot 1B moves is reversed. This makes it easier for the operator to grasp the image on the welding proceeding direction side even if the second welding robot 1B moves in a reversed manner.

[0106] The second display control unit 54B may determine the display position of the second direction side image G22 on the second display unit 52B and the display position of the second opposite side image G23 on the second display unit 52B based on the second construction jig position information. For example, similar to the first display control unit 54A, when the second direction side image G22 becomes an image of a blind spot due to the position of the second construction jig 9B (i.e., an image in which the welding part is hidden by the second construction jig 9B), the second display control unit 54B may switch the display position of the second direction side image G22 and the display position of the second opposite side image G23, and may not display the second direction side image G22 on the second display unit 52B, and may reduce the second direction side image G22 and display it on the second display unit 52B. This allows the operator to check the second opposite side image G23 when the second direction side image G22 becomes an image of a blind spot, thereby preventing a decrease in visibility for the operator. The second display control unit 54B may restore the original display when the second direction side image G22 is no longer in the blind spot.

[0107] The welding system 100 according to the present embodiment includes a first welding robot 1A capable of welding a first groove of a first steel pipe 8A (first steel material) while moving in a first direction D1, a second welding robot 1B capable of welding a second groove of a second steel pipe 8B (second steel material) different from the first steel pipe 8A while moving in a second direction D2, and a first display control unit 54A and a second display control unit 54B (display control means). The first welding robot 1A includes a first direction side camera 15A provided on the first direction D1 side of the first welding robot 1A, and a first opposite side camera 16A provided on the opposite side of the first direction D1 of the first welding robot 1A. The second welding robot 1B includes a second direction side camera 15B provided on the second direction D2 side of the second welding robot 1B, and a second opposite side camera 16B provided on the opposite side of the second direction D2 of the second welding robot 1B. The first display control unit 54A and the second display control unit 54B can display on the display unit D a first direction side image G12 corresponding to the first direction side image data captured by the first direction side camera 15A and outputted from the first groove, a first opposite side image G13 corresponding to the first opposite side image data captured by the first opposite side camera 16A and outputted from the first groove, a second direction side image G22 corresponding to the second direction side image data captured by the second direction side camera 15B and outputted from the second groove, and a second opposite side image G23 corresponding to the second opposite side image data captured by the second opposite side camera 16B and outputted from the second groove.

[0108] Since the display unit D can display a first direction side image G12, a first opposite side image G13, a second direction side image G22, and a second opposite side image G23, an operator can operate multiple welding robots 1A, 1B simultaneously. Moreover, the steel materials welded by the first welding robot and the second welding robot are different. For example, when the first steel material welded by the first welding robot and the second steel material welded by the second welding robot are in different positions, it is extremely difficult to operate multiple welding robots simultaneously. Therefore, the above-mentioned operational effects are significantly achieved.

[0109] When first direction side image G12 and first opposite side image G13 are displayed on display unit D, the welding by first welding robot 1A can be confirmed from the front and rear of first welding robot 1A, improving the accuracy of the operation of first welding robot 1A (the accuracy of the aim position of first welding torch 13A). When second direction side image G22 and second opposite side image G23 are displayed on display unit D, the welding by second welding robot 1B can be confirmed from the front and rear of second welding robot 1B, improving the accuracy of the operation of second welding robot 1B (the accuracy of the aim position of second welding torch 13B). When the first direction side image G12 and the second direction side image G22 are displayed on the display unit D, the operator can grasp the welding area in front of the first welding robot 1A and the second welding robot 1B, i.e., the shape of the area to be welded and the boundary with the base material, for each of the welding by the first welding robot 1A and the welding by the second welding robot 1B, thereby improving the accuracy of operation of the first welding robot 1A and the second welding robot 1B (the accuracy of the aiming positions of the first welding torch 13A and the second welding torch 13B).

[0110] Furthermore, the first welding robot 1A can weld the first groove while moving in the direction opposite to the first direction D1, and the second welding robot 1B can weld the second groove while moving in the direction opposite to the second direction D2. The first display control unit 54A and the second display control unit 54B determine the display position on the display unit D which is the display position of the first direction side image G12, the display position on the display unit D which is the display position of the first opposite side image G13, the display position on the display unit D which is the display position of the second direction side image G22, and the display position on the display unit D which is the display position of the second opposite side image G23, according to at least one of the direction in which the first welding robot 1A moves and the direction in which the second welding robot 1B moves. This prevents the operator from mistaking the image of the direction in which the first welding robot 1A and the second welding robot 1B are moving for the image of the opposite direction from the direction in which the first welding robot 1A and the second welding robot 1B are moving.

[0111] In addition, the welding system 100 further includes a first construction jig position information acquisition unit 323A (first construction jig position information acquisition means) that acquires first construction jig position information indicating the position of the first construction jig 9A provided on the first steel pipe 8A, and a second construction jig position information acquisition unit 323B (second construction jig position information acquisition means) that acquires second construction jig position information indicating the position of the second construction jig 9B provided on the second steel pipe 8B. The first display control unit 54A and the second display control unit 54B determine the display position on the display unit D which is the display position of the first direction side image G12, the display position on the display unit D which is the display position of the first opposite side image G13, the display position on the display unit D which is the display position of the second direction side image G22, and the display position on the display unit D which is the display position of the second opposite side image G23, depending on at least one of the first construction jig position information acquired by the first construction jig position information acquisition unit 323A and the second construction jig position information acquired by the second construction jig position information acquisition unit 323B. For example, the display unit D can display the image of the first direction side image G12 and the first opposite side image G13 that is not in a blind spot according to the position of the first construction jig 9A, and the image of the second direction side image G22 and the second opposite side image G23 that is not in a blind spot according to the position of the second construction jig 9B. Alternatively, for example, the display unit D can display the image of the first direction side image G12 and the first opposite side image G13 that is in a blind spot according to the position of the first construction jig 9A in a reduced size, and the image of the second direction side image G22 and the second opposite side image G23 that is in a blind spot according to the position of the second construction jig 9B in a reduced size. This can prevent the operator's visibility from being reduced by the images that are in the blind spots due to the construction jigs 9A and 9B.

[0112] The welding system 100 further includes a first reception unit 53A and a second reception unit 53B (reception means) that receive a first instruction. When the first reception unit 53A and the second reception unit 53B receive the first instruction, the first display control unit 54A and the second display control unit 54B do not display the first opposite side image G13 and the second opposite side image G23 on the display unit D. When the first welding robot 1A moves in the first direction D1, the operator often mainly checks the first direction side image G12, and when the second welding robot 1B moves in the second direction D2, the operator often mainly checks the second direction side image G22. When the first reception unit 53A and the second reception unit 53B receive the first instruction, the first opposite side image G13 and the second opposite side image G23 are not displayed on the display unit D, so that the operator can easily grasp the first direction side image G12 and the second direction side image G22, thereby improving the accuracy of the operation of the first welding robot 1A and the second welding robot 1B (the accuracy of the target positions of the first welding torch 13A and the second welding torch 13B).

[0113] The welding system 100 further includes a first reception unit 53A and a second reception unit 53B (reception means) that receive a first instruction. When the first reception unit 53A and the second reception unit 53B receive the first instruction, the first display control unit 54A and the second display control unit 54B reduce the first opposite side image G13 and the second opposite side image G23 and display them on the display unit D. When the first reception unit 53A and the second reception unit 53B receive the first instruction, the first opposite side image G13 and the second opposite side image G23 are reduced and displayed on the display unit D, making it easier for the operator to grasp the first direction side image G12 and the second direction side image G22, thereby improving the accuracy of operation of the first welding robot 1A and the second welding robot 1B (the accuracy of the aiming positions of the first welding torch 13A and the second welding torch 13B).

[0114] Second Embodiment Next, a welding system 100 according to a second embodiment of the present invention will be described. In this embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted, and only the differences will be described.

[0115] 8, the welding system 100 according to the present embodiment includes a single display device 5C instead of the first display device 5A and the second display device 5B. The display device 5C is, for example, a tablet terminal. The display device 5C is connected to the first relay device 4A and the second relay device 4B by wireless communication according to a communication standard such as Wi-Fi (registered trademark).

[0116] As shown in FIG. 9, the display device 5C has a display section D. The display section D has a first display section 52A on which various information related to welding by the first welding robot 1A is displayed, and a second display section 52B on which various information related to welding by the second welding robot 1B is displayed. That is, both various information related to welding by the first welding robot 1A and various information related to welding by the second welding robot 1B are displayed on the display section D of the single display device 5C. In the illustrated example, the first display section 52A (i.e., the first direction side image G12 and the first opposite side image G13) is arranged in the upper section of the display section D, and the second display section 52B (i.e., the second direction side image G22 and the second opposite side image G23) is arranged in the lower section of the display section D. Since the operator can check the first direction side image G12, the first opposite side image G13, the second direction side image G22, and the second opposite side image G23 using the single display device 5C, visibility is improved.

[0117] The first direction side image G12, the first opposite side image G13, the second direction side image G22, and the second opposite side image G23 may be arranged in a row on the display unit D. In this case, the operator can check the first direction side image G12, the first opposite side image G13, the second direction side image G22, and the second opposite side image G23 without moving his / her line of sight up and down, improving visibility.

[0118] The present invention is not limited to the above-described embodiment described with reference to the drawings, and various modifications are possible within the technical scope of the present invention.

[0119] For example, in the above embodiment, the welding system 100 has two welding robots 1A and 1B. However, the welding system 100 may have three or more welding robots. In this case, the display unit D may display only images of the traveling direction of the three or more welding robots.

[0120] At least one of the first display operation image G14 and the second display operation image G24 may include an approach icon indicating an approach instruction (first instruction) for bringing the display position of the first direction side image G12 and the display position of the second direction side image G22 closer to each other. For example, it is assumed that the first direction side image G12 is displayed in the area Q12, the first opposite side image G13 is displayed in the area Q13, the second direction side image G22 is displayed in the area Q22, and the second opposite side image G23 is displayed in the area Q23. In this state, when the operator operates the approach icon, the first reception unit 53A receives the approach instruction, and the first display control unit 54A exchanges the display position of the first direction side image G12 and the display position of the first opposite side image G13. That is, the first display control unit 54A displays the first direction side image G12 in the area Q13, and displays the first opposite side image G13 in the area Q12. This brings the display position of the first direction side image G12 and the display position of the second direction side image G22 closer to each other.

[0121] In other words, when the first receiving unit 53A or the second receiving unit 53B receives the first instruction, the first display control unit 54A and the second display control unit 54B may control the display unit D to bring the display position on the display unit D that is the display position of the first direction side image G12 and the display position on the display unit D that is the display position of the second direction side image G22 closer together. This improves the operator's visibility of the first direction side image G12 and the second direction side image G22, and improves the operation accuracy of the first welding robot 1A and the second welding robot 1B (the accuracy of the aiming positions of the first welding torch 13A and the second welding torch 13B).

[0122] In addition, when the first reception unit 53A or the second reception unit 53B receives the first instruction, the first display control unit 54A and the second display control unit 54B may control the display unit D to bring the display position of the first direction side image G12 and the display position of the first opposite side image G13 closer together by swapping the display position on the display unit D of the first direction side image G12 and the display position on the display unit D of the first opposite side image G13. This allows the display position of the first direction side image G12 and the display position of the second direction side image G22 to be brought closer together without causing the operator to feel uncomfortable, improving the operator's visibility of the first direction side image G12 and the second direction side image G22.

[0123] In addition, when the first display operation image G14 does not include the rearrangement icon IC11, the delete icon IC12, the reduce icon IC13, etc., and the operator performs an operation on the first direction side image G12, the first reception unit 53A may receive the above-mentioned rearrangement instruction, delete instruction, or reduce instruction. The operation on the first direction side image G12 is, for example, an operation of tapping or clicking on the first direction side image G12. Both the operation on the rearrangement icon IC11, the delete icon IC12, the reduce icon IC13, etc., and the operation on the first direction side image G12 may be used. Similarly, when the second display operation image G24 does not include the rearrangement icon IC21, the delete icon IC22, the reduce icon IC23, etc., and the operator performs an operation on the second direction side image G22, the second reception unit 53B may receive the above-mentioned rearrangement instruction, delete instruction, or reduce instruction. The operation on the second direction side image G22 is, for example, an operation of tapping or clicking on the second direction side image G22. Both the operation on the rearrangement icon IC21, the delete icon IC22, the reduce icon IC23, etc., and the operation on the second direction side image G22 may be used. In this way, by accepting input of instructions regarding the display of the first display unit 52A and the second display unit 52B through operations on the first direction side image G12 and the second direction side image G22, the operator can easily understand the first direction side image G12 and the second direction side image G22 through intuitive operations.

[0124] Furthermore, when the operator performs an operation on the first opposite-side image G13, the first control device 3A may perform a process of reversing the moving direction of the first welding robot 1A. The operation on the first opposite-side image G13 is, for example, an operation of tapping or clicking on the first opposite-side image G13. Similarly, when the operator performs an operation on the second opposite-side image G23, the second control device 3B may perform a process of reversing the moving direction of the second welding robot 1B. The operation on the second opposite-side image G23 is, for example, an operation of tapping or clicking on the second opposite-side image G23.

[0125] The first display operation image G14 may include a return icon indicating a return instruction (second instruction). The return instruction is an instruction to return the display position of the first direction side image G12 and the display position of the first opposite side image G13 to their respective positions before the first reception unit 53A receives a rearrangement instruction, a deletion instruction, or a reduction instruction. Similarly, the second display operation image G24 may include a return icon indicating a return instruction (second instruction). The return instruction is an instruction to return the display position of the second direction side image G22 and the display position of the second opposite side image G23 to the respective positions before the second reception unit 53B receives a rearrangement instruction, a deletion instruction, or a reduction instruction.

[0126] That is, the receiving units 53A, 53B receive the second instruction, and the display control units 54A, 54B may control the display unit D, when the receiving units 53A, 53B receive the second instruction, so that the display position of the first direction side image G12 and the display position of the second direction side image G22 return to their respective positions before the receiving units 53A, 53B received the first instruction. This allows the operator to easily switch (return) the image when the image he or she wants to confirm changes. For example, after a predetermined time has elapsed since the receiving units 53A, 53B received the first instruction, the display control units 54A, 54B may return the display position of the first direction side image G12 and the display position of the second direction side image G22 to their respective positions before the receiving units 53A, 53B received the first instruction.

[0127] In addition, all or part of the functions of welding system 100 may be realized using hardware such as an application specific integrated circuit (ASIC), a programmable logic device (PLD), or a field programmable gate array (FPGA). The program may be recorded on a computer-readable recording medium. Examples of computer-readable recording media include portable media such as flexible disks, magneto-optical disks, ROMs, and CD-ROMs, and storage devices such as hard disks built into computer systems. The program may be transmitted via an electric communication line.

[0128] In addition, within the scope of the invention, the components in the above-described embodiments may be replaced with well-known components, and the above-described modified examples may be combined as appropriate. [Explanation of symbols]

[0129] 1A No. 1 welding robot 15B Second direction camera 16B 2nd opposite camera 1B No. 2 welding robot 15A First direction camera 16A 1st Opposite Side Camera 3A First control device 3B 2nd control device 323A first construction jig position information acquisition unit (first construction jig position information acquisition means) 323B second construction jig position information acquisition unit (second construction jig position information acquisition means) 4A First relay device 4B Second relay device 5A 1st display device 52A 1st display section (display section) 53A First reception section (reception means) 54A First display control unit (display control means) 5B 2nd display device 52B 2nd display section (display section) 53B Second reception section (reception means) 54B Second display control unit (display control means) 8A 1st steel pipe 8B 2nd steel pipe 9A First construction jig 9B Second construction jig 100 Welding System D Display section D1 1st direction D2 2nd direction G11 1st robot operation image G12 1st direction side image G13 1st opposite side image G14 1st display operation image G21 2nd robot operation image G22 2nd direction side image G23 2nd opposite side image G24 2nd display operation image

Claims

1. a first welding robot capable of welding a first groove of a first steel material while moving in a first direction; A second welding robot capable of welding a second groove of a second steel material different from the first steel material while moving in a second direction; A display control means; A welding system comprising: The first welding robot a first direction camera provided on the first welding robot's side in the first direction; a first opposite camera provided on a side of the first welding robot opposite to the first direction; Including, The second welding robot is a second direction camera provided on the second welding robot's side in the second direction; a second opposite camera provided on a side of the second welding robot opposite to the second direction; Including, The display control means can display on the display unit a first direction side image that corresponds to first direction side image data output by the first direction side camera after capturing an image of the first groove and is an image of the first groove during welding, a first opposite side image that corresponds to first opposite side image data output by the first opposite side camera after capturing an image of the first groove and is an image of the first groove during welding, a second direction side image that corresponds to second direction side image data output by the second direction side camera after capturing an image of the second groove and is an image of the second groove during welding, and a second opposite side image that corresponds to second opposite side image data output by the second opposite side camera after capturing an image of the second groove and is an image of the second groove during welding, At least one of the first direction side image, the first opposite side image, the second direction side image, and the second opposite side image is an image of a part to be welded. A welding system comprising:

2. a first construction jig position information acquisition means for acquiring first construction jig position information indicating the position of a first construction jig provided on the first steel material; a second construction jig position information acquisition means for acquiring second construction jig position information indicating the position of a second construction jig provided on the second steel material; Further provided with The display control means automatically determines a display position on the display unit that is a display position of the first direction side image, a display position on the display unit that is a display position of the first opposite side image, a display position on the display unit that is a display position of the second direction side image, and a display position on the display unit that is a display position of the second opposite side image, in accordance with at least one of first construction jig position information acquired by the first construction jig position information acquisition means and second construction jig position information acquired by the second construction jig position information acquisition means. The welding system of claim 1 .

3. Acceptance means for accepting a first instruction; Further provided with When the receiving means receives the first instruction, the display control means controls the display unit to bring a display position on the display unit that is a display position of the first direction side image and a display position on the display unit that is a display position of the second direction side image closer to each other.

3. The welding system according to claim 1 or 2.

4. When the receiving means receives the first instruction, the display control means controls the display unit to switch the display position of the first direction side image on the display unit with the display position of the first opposite side image on the display unit, so that the display position of the first direction side image and the display position of the second direction side image approach each other. The welding system of claim 3 .

5. Acceptance means for accepting a first instruction; Further provided with When the receiving means receives the first instruction, the display control means does not cause the first opposite side image and the second opposite side image to be displayed on the display unit.

3. The welding system according to claim 1 or 2.

6. Acceptance means for accepting a first instruction; Further provided with When the receiving means receives the first instruction, the display control means reduces the first opposite side image and the second opposite side image and displays them on the display unit.

3. The welding system according to claim 1 or 2.

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