Control device and welding system

Abstract

To perform welding of a pair of members requiring a plurality of times of partial welding by a welding robot without using complicated calculation.SOLUTION: A control device (2) that controls an operation of a welding robot (1) includes a processor (21) that is configured to acquire movement distance from a position at which first welding is performed when a carriage portion (12) moves to a position at which second welding that is next partial welding is performed after completion of the first welding that is previous partial welding, to calculate first position information indicating a position of a start point of the second welding when the carriage portion at the position at which the second welding is performed is set as a reference based on a position of an end point of the first welding and the movement distance, to acquire second position information indicating a position of an end point of the second welding when the carriage portion at the position at which the second welding is performed is set as a reference, and to generate a control signal for causing the welding robot to perform the second welding based on the first position information and the second position information.SELECTED DRAWING: Figure 5

Description

[Technical field]

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

[0002] Conventionally, an automatic welding method such as that described in Patent Document 1 is known. In this automatic welding method, a plurality of sensors are provided at intervals along a welding traveling rail on which a welding carriage carrying a welding torch travels, and the welding traveling rail is divided into a plurality of sections. Then, every time the welding carriage passes a sensor installation point, the trajectory data of the welding torch in that section is written in order into an independent memory corresponding to each divided section, and a storage operation is performed. When a reproducing operation is performed, the trajectory data in that section is read from a predetermined memory again every time the welding carriage passes a sensor installation point on the welding traveling rail. Then, the operation of reproducing the stored trajectory of the welding torch and performing welding is repeated the number of divided sections, and a weld line storage reproducing copying is performed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 3-106569 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the conventional automatic welding method described in Patent Document 1, when welding a long object that is much longer than the reach of the arm of the welding robot, there are problems as follows. When the start point of the weld line is A and the end point is X, the welding robot is first moved between the start point A and the intermediate point B, which is the reach length of its own arm, and the area between the start point A and the intermediate point B is partially welded. Then, the welding robot is moved between the intermediate point B and the next intermediate point C (or the end point X), and the area between the intermediate point B and the intermediate point C is partially welded. At this time, progress information is required to advance the cart to the center point between the intermediate point B and the intermediate point C. Conventionally, this progress information was calculated based on the passing information of the cart obtained from each sensor and the reach information of the arm. However, since the specifications of the welding robot and the rails are various, the intervals between the arrangement of the multiple sensors do not necessarily match the reach of the arm. For this reason, in the conventional automatic welding method, the calculation for obtaining the progress information was sometimes complicated.

[0005] One aspect of the present invention has been made in consideration of the above-mentioned problems, and aims to enable welding of a pair of components that requires multiple partial welding by a welding robot without using complex calculations. [Means for solving the problem]

[0006] In order to solve the above problem, a control device according to one embodiment of the present invention is a control device that controls the operation of a welding robot, the welding robot having an arm section on which a welding torch is provided, a cart section on which the arm section is mounted and which allows the arm section to move, and a regulating section that regulates the trajectory of the cart section, and welding a pair of members together by moving the cart section and performing multiple partial weldings, and the control device is equipped with a processor that executes the steps of: acquiring a travel distance from a position where the first welding was performed when the cart section moves to a position where the next partial welding is performed, after a first welding, which is a previous partial welding, is completed; calculating first position information indicating a position of a start point of the second welding when the cart section in a position where the second welding is performed is used as a reference, based on a position of an end point of the first welding and the travel distance; acquiring second position information indicating a position of an end point of the second welding when the cart section in a position where the second welding is performed is used as a reference; and generating a control signal for causing the welding robot to perform the second welding, based on the first position information and the second position information. Effect of the Invention

[0007] According to each aspect of the present invention, welding of a pair of members that requires multiple partial welding by a welding robot can be performed without using complex calculations. [Brief description of the drawings]

[0008] [Figure 1] 1 is a configuration diagram showing an example of a welding system according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a block diagram showing the electrical configuration of a control device provided in the system. [Diagram 3] 11 is a diagram illustrating an example of a method for calculating first position information. FIG. [Figure 4] 11A and 11B are diagrams illustrating another example of a method for calculating the first position information. [Diagram 5] 1 is a flowchart showing the flow of a welding operation using the system. [Figure 6] FIG. 1 is a configuration diagram showing an example of a welding system according to a second embodiment of the present invention. [Figure 7] 1 is a flowchart showing the flow of a welding operation using the system. [Figure 8] FIG. 13 is a configuration diagram showing another example of the system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

[0010] <Embodiment 1: Welding system for linear welding> The welding system 100 according to this embodiment is for performing linear welding. That is, the welding system 100 according to this embodiment is used to weld together the ends of rectangular members W1 and W2, for example, as shown in FIG. 1. It is sufficient that at least one of the pair of members W1 and W2 to be welded by the welding system 100 according to this embodiment has a linear end. That is, the welding system 100 according to this embodiment can also be used when welding a linear end of one member W2 to a flat portion of the other member W1 having a contour of any shape.

[0011] [Welding system configuration] 1, welding system 100 includes welding robot 1 and control device 2. Welding system 100 according to the present embodiment further includes input device 3. Note that while FIG. 1 illustrates welding system 100 in which welding robot 1 and control device 2 are separate, welding system 100 may include control device 2 built into welding robot 1.

[0012] [Welding robot] The welding robot 1 has an arm unit 11, a cart unit 12, and a regulating unit 13. The welding robot 1 according to this embodiment further includes a camera 14 and a distance measuring unit 15.

[0013] (Arm section) The arm unit 11 (manipulator) is a conventionally known multi-joint arm having a plurality of rotation axes. A welding torch 11a is provided at the tip of the arm unit 11.

[0014] (Carriage section) The cart unit 12 mounts the arm unit 11 and allows the arm unit 11 to move. The cart unit 12 according to this embodiment includes a support base 12a and multiple wheels 12b. The support base 12a supports the arm unit 11 from below. The multiple wheels 12b are journaled on the support base 12a. The support base 12a and the arm unit 11 move as the multiple wheels 12b rotate. The cart unit 12 may not include wheels 12b and may slide, for example, on a smooth surface or a rail.

[0015] (Regulations Department) The regulating portion 13 regulates the track of the cart portion 12 to be linear. The regulating portion 13 according to this embodiment is a linear rail with which the wheels 12b of the cart portion 12 engage. The rail is configured to be freely connectable and disassembleable. The direction of movement of the cart portion 12 does not necessarily have to be parallel to the weld line to be formed. The regulating portion 13 may not be a rail, but may be a wall or groove extending in the direction of welding so as to contact the cart portion 12. The regulating portion 13 may be provided on a wall or ceiling instead of a floor (and accordingly the cart portion 12 may also engage with the wall or ceiling).

[0016] (camera) Camera 14 captures an image of the tip of welding torch 11a while welding is being performed, and generates image data of the tip. Camera 14 according to this embodiment generates video (moving image) data of the tip while welding is being performed. The generated image data is transmitted to control device 2 in real time. Note that welding robot 1 does not necessarily have to include camera 14.

[0017] (Distance measurement section) The distance measuring unit 15 measures the travel distance of the cart unit 12. The distance measuring unit 15 according to this embodiment is an encoder provided on the cart unit 12. Therefore, compared to the conventional case where a plurality of sensors are provided on a rail and the travel distance is measured based on the passage information of the welding robot, the travel distance can be obtained with a cheaper configuration. Note that the distance measuring unit 15 may be a distance measuring sensor using light, electromagnetic waves, sound waves, etc. instead of an encoder. The distance measuring sensor can measure the travel distance from outside the welding robot 1. Therefore, in this case, the welding robot 1 does not need to be provided with the distance measuring unit 15.

[0018] [Input device] The input device 3 (programming pendant) is used to manually operate the welding robot 1 when teaching the welding robot 1 an operation. The input device 3 has an operation unit (not shown) that can be operated by a user. The operation unit is composed of buttons and bars. The input device 3 transmits a signal corresponding to the operation performed on the operation unit to the control device 2. The control device 2 then causes the arm unit 11 of the welding robot 1 to perform an operation corresponding to the operation. The input device 3 also transmits a signal corresponding to the registration operation performed on the operation unit to the control device 2. The control device 2 then acquires position information (spatial coordinates) of the tip of the welding torch 11a of the welding robot 1 at that time. This allows the welding robot 1 to be taught an operation (such as the start point and end point of welding).

[0019] [Control device] The control device 2 is for controlling the welding robot 1. As shown in Fig. 2, the control device 2 includes a processor 21. The control device 2 according to this embodiment further includes an input / output interface 22, a primary memory 23, and a secondary memory 24.

[0020] (Input / Output Interface) The input / output interface 22 connects the welding robot 1 , the input device 3 , and the processor 21 .

[0021] (Memory) The primary memory 23 stores a control program. The secondary memory 24 temporarily stores position information acquired by the processor 21 from the welding robot 1. The secondary memory 24 also temporarily stores the movement distance of the carriage 12 of the welding robot 1 acquired by the processor 21 from the welding robot 1.

[0022] (Processor) The processor 21 controls the operation of the welding robot 1. The processor 21 according to the present embodiment executes a first welding step and a next welding step in accordance with a control program stored in the primary memory 23. The processor 21 executes the next welding step multiple times according to the lengths of the members W1 and W2.

[0023] First Welding Step The processor 21 according to this embodiment executes a first welding step before executing a next welding step (obtaining a travel distance) described below. The first welding step is a step for causing the welding robot 1 to perform a first partial welding (first welding). The first welding step includes a start position acquisition step, a first end position acquisition step, and a first robot control step. Note that the first welding may be performed manually by the user via the input device 3. In that case, the processor 21 does not need to execute the first welding step.

[0024] Start position acquisition step In the initial start position acquisition step, the processor 21 acquires first start position information (fourth position information). The first start position information is information indicating the position of the start point of the first welding when the carriage unit 12, which is located at the position where the first welding is performed, is used as a reference. Specifically, the first start position information is the spatial coordinates (x, y, z) of the start point (in a coordinate system based on the welding robot) with the center of the carriage unit 12 as the origin.

[0025] First end position acquisition step After acquiring the first start position information, the processor 21 executes a first end position acquisition step. In the first end position acquisition step, the processor 21 acquires first end position information (fifth position information). The first end position information is information indicating the position of the end point of the first welding when the carriage section 12 located at the position where the first welding is performed is used as a reference. Specifically, the first end position information is the spatial coordinates (x, y, z) of the end point with the center of the carriage section 12 as the origin. Note that the processor 21 may acquire the first end position information before the first start position information.

[0026] First robot control step After acquiring the first start position information and the first end position information, the processor 21 executes a first robot control step. In the first robot control step, the processor 21 causes the welding robot 1 to perform a first welding based on the first start position information and the first end position information. The welding system 100 according to the present embodiment is for welding in a straight line. For this reason, the processor 21 generates a control signal for causing the welding robot 1 to weld the members W1 and W2 in a straight line passing through the start point and the end point.

[0027] In the following description, the term "first welding" is not limited to the first partial welding, but includes partial welding performed in a relatively previous time.

[0028] Next welding step After the first welding is completed, the processor 21 executes a next welding step. The next welding step is a step for making the welding robot 1 perform the second or subsequent partial welding. The next welding step includes a moving distance acquisition step, a start position calculation step, a second end position acquisition step, and a second robot control step.

[0029] · Travel distance acquisition step In the initial movement distance acquisition step, the processor 21 acquires the movement distance from the position where the first welding was performed to the time when the carriage section 12 has moved to the position where the second welding is performed.

[0030] Start position calculation step After acquiring the movement distance, the processor 21 executes a start position calculation step. In the start position calculation step, the processor 21 calculates second start position information (first position information) based on the position of the end point of the first welding and the movement distance. The second start position information is information indicating the position of the start point of the second welding when the carriage section 12, which is in a position where the second welding is performed, is used as a reference. Specifically, the second start position information is the spatial coordinates (x, y, z) of the end point with the center of the carriage section 12 as the origin. Note that the start point of the second welding is the end point of the first welding.

[0031] Incidentally, the orientation of the welding robot 1 does not need to be perpendicular to the moving direction of the cart unit 12. That is, as shown in FIG. 3, the coordinate axes of the coordinate system based on the welding robot 1 may intersect with a straight line extending in the moving direction of the cart. For this reason, in the start position calculation step according to this embodiment, the processor 21 acquires angle information. The angle information is information indicating the angle between the coordinate axes of the coordinate system based on the welding robot and a straight line extending in the moving direction of the cart unit. Then, the processor 21 calculates second start position information based on the moving distance and the angle information. Specifically, using the spatial coordinates (x1, y1, z1) of point α (end point of first welding) when position A where the welding robot 1 performed the first welding is used as a reference, and a value θ obtained by subtracting 90° from the angle indicated by the angle information, x2, y2, and z2 of the spatial coordinates (x2, y2, z2) of point α when position B where the second welding is performed (position moved by a movement distance d from position A in the movement direction of the cart unit 12) is used as a reference, are calculated using the following formulas (1) to (3), respectively. At this time, it is assumed that the movement path of the cart unit 12 is sufficiently horizontal. x2 = x1 + d * sinθ (1) y2 = y1 + d * cosθ (2) z2 = z1 (3)

[0032] The above-mentioned calculation method of the second start position information does not depend on the shapes and extension directions of the members W1 and W2. Therefore, the above-mentioned calculation method can also be used to calculate the second start position information when performing arc-shaped welding, for example, as shown in FIG.

[0033] Second end position acquisition step After calculating the second start position information, the processor 21 executes a second end position acquisition step. In the second end position acquisition step, the processor 21 acquires second end position information (second position information). The second end position information is information indicating the position of the end point of the second welding when the carriage section 12 located at the position where the second welding is performed is used as a reference. Specifically, the second end position information is the spatial coordinates (x, y, z) of the end point with the center of the carriage section 12 as the origin. Note that the processor 21 may acquire the second end position information before calculating the second start position information.

[0034] Second robot control step After acquiring the second end position information, the processor 21 executes a second robot control step. In the second robot control step, the processor 21 causes the welding robot 1 to perform a second welding based on the second start position information and the second end position information. The processor 21 according to the present embodiment generates a control signal for causing the welding robot 1 to weld the members W1 and W2 in a straight line passing through the start point and the end point.

[0035] While the welding robot 1 is performing the first welding and the second welding, the processor 21 according to this embodiment determines whether or not welding distortion has occurred based on image data acquired from the camera 14 of the welding robot 1. Here, when it is determined that welding distortion has occurred, the processor 21 corrects the position of the welding torch 11a.

[0036] [Welding work flow using a welding system] A welding operation using the welding system 100 configured as described above includes, for example, a first teaching step S1, a second teaching step S2, a first welding step S3, a movement step S4, a third teaching step S5, and a second welding step S6, as shown in FIG. 5.

[0037] (First teaching step) In the initial first teaching step S1, the user first places the welding robot 1 at a position where the first partial welding will be performed. Then, the user operates the input device 3 to position the tip of the welding torch 11a of the welding robot 1 at the start point of the first partial welding. Then, the user operates the input device 3 to register, causing the control device 2 to acquire first start position information (fourth position information). This teaches the control device 2 the start point of the first partial welding.

[0038] (Second teaching step) After the start point of the first partial welding has been taught, the process proceeds to a second teaching step S2. In the second teaching step S2, the user operates the input device 3 to position the tip of the welding torch 11a of the welding robot 1 at the end point of the first partial welding. Then, the user operates the input device 3 to register, causing the control device 2 to acquire first end position information (fifth position information). This teaches the control device 2 the end point of the first partial welding. Note that the end point may be taught before the start point is taught.

[0039] (First welding step) After the end point of the first partial welding is taught, the process proceeds to a first welding step S3. In the first welding step S3, the user performs a predetermined start operation on the control device 2. Then, the control device 2 causes the welding robot 1 to perform the first partial welding based on the first start position information and the first end position information.

[0040] (Movement Step) If the first partial welding is finished but the necessary welding is not yet completed, the process proceeds to a movement step S4. In the movement step S4, the user moves the welding robot 1 to a position where the second partial welding is to be performed. At this time, the welding robot 1 measures the movement distance and transmits it to the control device 2. The control device 2 then acquires the measured movement distance and calculates second start position information (first position information) based on the position of the end point of the first welding and the movement distance. Therefore, the user does not need to teach the start point of the second and subsequent partial welding.

[0041] (Third teaching step) After moving the welding robot 1, the process proceeds to a third teaching step S5. In the third teaching step S5, the user performs an operation on the input device 3 to position the tip of the welding torch 11a of the welding robot 1 at the end point of the second partial welding. Then, the user performs a registration operation on the input device 3 to cause the control device 2 to acquire second end position information (second position information). This teaches the control device 2 the end point of the second partial welding.

[0042] (Second welding step) After the end point of the second partial welding has been taught, the process proceeds to a second welding step S6. In the second welding step S6, the user performs a predetermined start operation on the control device 2. Then, the control device 2 causes the welding robot 1 to perform the second partial welding based on the second start position information and the second end position information.

[0043] After the partial welding is finished, if the necessary welding is not completed (step S7: NO), the movement step S4, the third teaching step S5, and the second welding step S6 are performed again (for the third or subsequent partial welding). In this manner, the welding robot 1 of the welding system 100 linearly welds the pair of members W1, W2 together by moving the carriage part 12 and performing partial welding multiple times (by alternately repeating the movement of the carriage part 12 and partial welding if partial welding is not completed in two times).

[0044] [Effects of welding system (control device)] The control device 2 described above calculates first position information (information indicating the position of the start point of the second welding when the carriage part 12, which is at the position where the second welding is performed, is used as a reference) based on the position of the end point of the first welding and the movement distance from the position where the welding robot 1 performed the first welding. Therefore, there is no need to perform complex calculations that take into account the arrangement intervals of the sensors, or to teach the start point of the second welding before starting the second welding. Therefore, according to the control device 2 and the welding system 100 including the same, welding of a pair of members that requires multiple partial welding by a welding robot can be performed without using complex calculations.

[0045] <Embodiment 2: Arc-shaped welding system> Other embodiments of the present invention will be described below. For ease of explanation, the same reference numerals are given to members having the same functions as those described in the above embodiment, and the description thereof will not be repeated.

[0046] The welding system 100A according to this embodiment is for performing arc-shaped welding. That is, the welding system 100A according to this embodiment is used to weld an end of a member W1 having an arc-shaped contour to an end of a member W2 curved to correspond to the arc, for example, as shown in Fig. 6. The welding system 100 according to this embodiment can also be used when welding an end of a member W2 curved in an arc to a flat portion of one member W1 having a contour of any shape.

[0047] [Welding system configuration] 2, the welding system 100A includes a control device 2A in addition to the welding robot 1 similar to that of the first embodiment. The welding system 100A according to this embodiment further includes an input device 3. The regulating unit 13 of the welding robot 1 may regulate the trajectory of the carriage 12 so that it follows a predetermined path. In other words, the regulating unit 13 may curve the carriage 12 of the welding robot 1 in accordance with the arc-shaped ends or curvature of the members W1 and W2.

[0048] [Control device] The control device 2A according to this embodiment differs in the contents of the control program stored in the primary memory 23A.

[0049] (Processor) The processor 21 according to the present embodiment executes a first welding step and a next welding step in accordance with a control program stored in the primary memory 23A. The processor 21 executes the next welding step multiple times according to the lengths of the members W1 and W2.

[0050] First Welding Step The initial welding step according to this embodiment includes a first intermediate position acquiring step and a first robot control step in addition to the start position acquiring step and the first end position acquiring step similar to those in the first embodiment.

[0051] First intermediate position acquisition step After acquiring the first start position information, the processor 21 executes a first intermediate position acquisition step. In the first intermediate position acquisition step, the processor 21 acquires first intermediate position information. The first intermediate position information is information indicating the position of the intermediate point of the first welding when the carriage section 12, which is in a position where the first welding is performed, is used as a reference. Specifically, the first intermediate position information is the spatial coordinates (x, y, z) of the intermediate point with the center of the carriage section 12 as the origin.

[0052] First robot control step In the first robot control step according to this embodiment, the processor 21 causes the welding robot 1 to perform a first weld based on the first start position information, the first intermediate position information, and the first end position information. The welding system 100 according to this embodiment is for welding in an arc shape. For this reason, the processor 21 generates a control signal for causing the welding robot 1 to weld the members W1 and W2 in an arc shape that passes through the start point, the intermediate point, and the end point.

[0053] Next welding step The next welding step according to this embodiment includes a second intermediate position acquisition step and a second robot control step in addition to the travel distance acquisition step, start position calculation step, and second end position acquisition step similar to those in the first embodiment.

[0054] Second intermediate position acquisition step After calculating the second start position information, the processor 21 executes a second intermediate position acquisition step. In the second intermediate position acquisition step, the processor 21 acquires second intermediate position information (third position information). The second intermediate position information is information indicating the position of the intermediate point of the second welding when the cart section 12, which is in a position where the second welding is performed, is used as a reference. Specifically, the second intermediate position information is the spatial coordinates (x, y, z) of the intermediate point with the center of the cart section 12 as the origin.

[0055] Second robot control step In the second robot control step according to the present embodiment, the processor 21 causes the welding robot 1 to perform a second welding based on the second start position information, the second intermediate position information, and the second end position information. The processor 21 according to the present embodiment generates a control signal for the welding robot 1 to weld the members W1 and W2 in an arc shape passing through the start point, the intermediate point, and the end point.

[0056] [Welding work flow using a welding system] A welding operation using the welding system 100A configured as described above includes, for example, as shown in FIG. 7, a fourth teaching step S8, a first welding step S3A, a fifth teaching step S9, and a second welding step S6A in addition to the first teaching step S1, second teaching step S2, movement step S4, and third teaching step S5 similar to those of embodiment 1.

[0057] (Fourth teaching step) After the start point of the first partial welding has been taught, the process proceeds to a fourth teaching step S8. In the fourth teaching step S8, the user operates the input device 3 to position the tip of the welding torch 11a of the welding robot 1 at the midpoint of the first partial welding. Then, the user operates the input device 3 to register the information, causing the control device 2A to acquire first midpoint position information. This teaches the control device 2A the midpoint of the first partial welding.

[0058] (First welding step) In the first welding step S3A according to the present embodiment, the user performs a predetermined start operation on the control device 2A, which then causes the welding robot 1 to perform the first partial welding based on the first start position information, the first intermediate position information, and the first end position information.

[0059] (Fifth teaching step) After moving the welding robot 1, the process proceeds to a fifth teaching step S9. In the fifth teaching step S9, the user operates the input device 3 to position the tip of the welding torch 11a of the welding robot 1 at the midpoint of the second partial welding. Then, the user operates the input device 3 to register the information, causing the control device 2A to acquire second midpoint information (third position information). This teaches the control device 2A the midpoint of the second partial welding. By teaching this midpoint, the radius and convex direction of the arc drawn by the weld line change. Note that, as shown in FIG. 8, if the radius and convex direction of the arc drawn by the weld line when performing the second partial welding are equal to the radius and convex direction of the weld line formed in the first partial welding, this fifth teaching step S9 can be omitted.

[0060] (Second welding step) Returning to the description of Fig. 7, in the second welding step S6A according to this embodiment, the user performs a predetermined start operation on the control device 2A. Then, the control device 2A causes the welding robot 1 to perform a second partial welding based on the second start position information, the second intermediate position information, and the second end position information.

[0061] After the partial welding is finished, if the necessary welding is not completed (step S7: NO), the movement step S4, the fifth teaching step S9, the third teaching step S5, and the second welding step S6A are performed again (for the third or subsequent partial welding). In this manner, the welding robot 1 of the welding system 100 welds the pair of members W1, W2 together in an arc shape by moving the carriage part 12 and performing partial welding multiple times (by alternately repeating the movement of the carriage part 12 and partial welding if partial welding is not completed in two times).

[0062] [Effects of welding system (control device)] According to the control device 2A and the welding system 100A equipped with the same described above, welding of a pair of members that requires multiple partial welding by a welding robot can be performed without using complex calculations, as with the control device 2 and welding system 100 according to embodiment 1.

[0063] <Modification> The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. In other words, embodiments obtained by appropriately combining the technical means disclosed in the different embodiments are also included in the technical scope of the present invention.

[0064] For example, some or all of the functions of the processor 21 can be realized by a logic circuit. For example, an integrated circuit in which a logic circuit that functions as each of the control blocks is formed is also included in the scope of the present invention. In addition, the functions of each of the control blocks can be realized by, for example, a quantum computer.

[0065] 〔summary〕 A control device according to a first aspect of the present invention is a control device that controls the operation of a welding robot, the welding robot having an arm section having a welding torch, a cart section that mounts the arm section and enables the arm section to move, and a regulating section that regulates the trajectory of the cart section, and welding a pair of members together by moving the cart section and performing multiple partial weldings. The control device is configured to include a processor that executes the following steps: acquiring a travel distance from a position where the first welding was performed when the cart section moves to a position where the next partial welding is performed, after a first welding, which is a previous partial welding, is completed; calculating first position information indicating the position of the start point of the second welding based on the position of the end point of the first welding and the travel distance, when the cart section is positioned to perform the second welding; acquiring second position information indicating the position of the end point of the second welding based on the cart section that is positioned to perform the second welding; and generating a control signal for causing the welding robot to perform the second welding based on the first position information and the second position information.

[0066] A control device according to aspect 2 of the present invention may be configured in the above aspect 1 such that, in the step of generating the control signal, the processor generates a control signal for causing the welding robot to weld the pair of members in a straight line passing through the start point and the end point.

[0067] The control device according to aspect 3 of the present invention may be configured in the above aspect 1, wherein the processor further executes a step of acquiring third position information indicating the position of a midpoint of the second weld when the cart portion which is in a position to perform the second weld is used as a reference, and in the step of generating a control signal, a control signal is generated to cause the welding robot to weld the pair of members in an arc shape passing through the start point, the midpoint and the end point.

[0068] A control device according to aspect 4 of the present invention may be configured in any one of aspects 1 to 3 above, wherein the regulating unit regulates the trajectory of the cart unit to a linear shape, and the processor acquires angle information indicating an angle between a coordinate axis of a coordinate system based on the welding robot and a straight line extending in the movement direction of the cart unit, and calculates the first position information based on the movement distance and the angle information.

[0069] The control device according to aspect 5 of the present invention may be configured such that, in any of aspects 1 to 4 above, before acquiring the travel distance, the processor acquires fourth position information indicating the position of the start point of the first welding when reference is made to the cart section which is in a position to perform the first welding, which is the initial partial welding, and acquires fifth position information indicating the position of the end point of the first welding when reference is made to the cart section which is in a position to perform the first welding, and causes the welding robot to perform the first welding based on the fourth position information and the fifth position information.

[0070] A welding system according to a sixth aspect of the present invention may be configured as in any one of the first to fifth aspects, further comprising the control device and the welding robot.

[0071] A welding system according to a seventh aspect of the present invention may be configured in the above sixth aspect, wherein the welding robot includes an encoder that measures the movement distance.

[0072] A welding system according to aspect 8 of the present invention may be configured as in aspect 6 or 7 above, wherein the regulating portion is a rail with which the wheels of the cart portion engage, and the rail is configured to be freely connectable and disassembleable.

[0073] A welding system according to a ninth aspect of the present invention may be configured in any one of the sixth to eighth aspects above, wherein the welding robot is equipped with a camera that photographs the tip of the welding torch while welding is being performed and generates image data of the tip, and the processor corrects the position of the welding torch based on the image data. [Explanation of symbols]

[0074] 100, 100A: welding system, 1: welding robot, 11: arm section, 11a: welding torch, 12: cart section, 12a: support stand, 12b: wheels, 13: regulating section, 14: camera, 15: distance measuring section, 2, 2A: control device, 21: processor, 22: input / output interface, 23: primary memory, 24: secondary memory, 3: input device, W1, W2: member

Claims

1. A control device for controlling an operation of a welding robot, The welding robot has an arm unit provided with a welding torch, a carriage unit on which the arm unit is mounted and which enables the arm unit to move, and a regulating unit that regulates a trajectory of the carriage unit, and welds a pair of members together by moving the carriage unit and performing partial welding multiple times, The control device includes: acquiring a moving distance from a position where the first welding was performed when the carriage part moves to a position where a second welding, which is a next partial welding, is performed after a first welding, which is a previous partial welding, is completed; calculating first position information indicating a position of a start point of the second welding based on a position of an end point of the first welding and the moving distance, with the carriage part at a position where the second welding is performed as a reference; acquiring second position information indicating a position of an end point of the second welding relative to the carriage portion at a position where the second welding is performed; generating a control signal for causing the welding robot to perform the second welding based on the first position information and the second position information. A control device comprising:

2. In the step of generating a control signal, the processor generates a control signal for causing the welding robot to weld the pair of members in a straight line passing through the start point and the end point. The control device according to claim 1 .

3. The processor, acquiring third position information indicating a position of a midpoint of the second welding relative to the carriage portion at a position where the second welding is performed; In the step of generating a control signal, a control signal is generated to cause the welding robot to weld the pair of members in an arc shape passing through the start point, the intermediate point, and the end point. The control device according to claim 1 .

4. The regulating portion regulates the track of the carriage portion to be linear, the processor acquires angle information indicating an angle between a coordinate axis of a coordinate system based on the welding robot and a straight line extending in a moving direction of the carriage unit; Calculating the first position information based on the movement distance and the angle information. The control device according to claim 1 .

5. Before acquiring the movement distance, the processor acquire fourth position information indicating a position of a start point of the first welding relative to the carriage part that is in a position to perform a first welding, which is an initial partial welding; acquiring fifth position information indicating a position of an end point of the first welding relative to the carriage portion that is in a position to perform the first welding; causing the welding robot to perform the first welding based on the fourth position information and the fifth position information; The control device according to claim 1 .

6. The control device according to claim 1 ; The welding robot; Equipped with A welding system comprising:

7. The welding robot includes an encoder for measuring the moving distance. The welding system of claim 6 .

8. the regulating portion is a rail with which a wheel of the carriage portion engages, The rails are configured to be freely connectable and disassembleable. The welding system of claim 6 .

9. the welding robot includes a camera that captures an image of a tip of the welding torch during welding and generates image data of the tip; The processor corrects the position of the welding torch based on the image data. The welding system of claim 6.

Images