Welding robot system

Abstract

To provide a welding robot capable of improving workability when performing arc welding while being directly operated.SOLUTION: A welding robot system comprising a welding torch unit, a switch unit for allowing a robot to be in an operable state according to an external force, a button unit for generating an arc, an operation mode setting unit for setting an operation mode, and a welding control unit, wherein the switch unit and the button unit are provided on a torch mount, when the operation mode is set to a direct operation mode in which the operator directly applies an external force to the robot by hand and the robot is moved and operated in accordance with the external force, and welding can be performed, the welding control unit generates an arc when both the switch portion and the button portion are continuously pressed, and changes the operation of the robot depending on which of the switch portion and the button portion is pressed first.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Patent Document 1 listed below discloses a technology called direct teaching, in which a collaborative robot designed for collaborative work with humans is taught by a lead-through operation (direct manipulation) in which an operator manually applies an external force to a manipulator, which then detects the external force and operates the manipulator. This direct teaching makes it easier to teach a movement than using a teach pendant. In Patent Document 1, teaching is performed directly by operating a handle attached to the robot's wrist via an adapter. It is also common to provide a switch on this handle to turn direct manipulation on / off, record positions for teaching, or perform preset movements. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-199174 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, in the case of an arc welding robot, it is possible to perform arc welding while directly operating the robot by setting a mode, etc. When performing arc welding while directly operating the robot, sometimes one spot is welded without moving the robot, such as in tack welding, and sometimes the actual welding is performed while moving the robot. Therefore, for example, if the robot moves during tack welding, there is a possibility that an unnecessary spot will be welded, which can cause workability to deteriorate.

[0005] SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a welding robot system that can improve workability when performing arc welding while directly operating the system. [Means for solving the problem]

[0006] A welding robot system according to one aspect of the present invention comprises a welding torch unit attached to the tip of a robot arm of a collaborative robot; a switch unit that, while pressed, enables the robot to operate in response to an external force; a button unit that, while pressed, generates an arc from the welding torch unit; an operation mode setting unit that sets an operation mode for operating the robot; and a welding control unit that controls welding. The switch unit and the button unit are provided on either the robot arm or a member attached to the robot arm and that is attached in a position different from the welding torch unit. When the operation mode is set to a direct operation mode in which an operator applies an external force directly to the robot with his or her hands and moves and operates the robot in response to the external force, and the welding control unit is in a state in which welding can be performed, the welding control unit generates an arc when both the switch unit and the button unit are continuously pressed, and causes the robot to operate differently depending on which of the switch unit and the button unit is pressed first.

[0007] According to this aspect, when the operation mode is set to the direct operation mode and welding is possible, an arc is generated when both the switch unit that enables the robot to operate in response to an external force and the button unit that generates an arc are pressed, and the operation of the robot can be made to differ depending on whether the switch unit or the button unit is pressed first.

[0008] Therefore, when performing arc welding in the direct operation mode, the worker can perform the arc welding after recognizing how the robot will operate.

[0009] In the above aspect, when the button portion is pressed first and then the switch portion is pressed, the welding control unit may generate an arc while keeping the robot fixed, or when the switch portion is pressed first and then the button portion is pressed, the welding control unit may generate an arc while allowing the robot to move in response to an external force.

[0010] According to this aspect, if the button portion is pressed first, an arc can be generated while the robot remains fixed, whereas if the switch portion is pressed first, an arc can be generated while the robot is in a state where it can move in response to an external force.

[0011] In the above aspect, the welding device may further include a welding mode switching unit that switches the welding mode between an on state and an off state, which indicates that welding is possible, and the welding mode switching unit may switch the welding mode to the on state when the button unit is pressed and held down while the operation mode is set to the direct operation mode and the switch unit is released.

[0012] According to this aspect, the conditions for switching the welding mode to the ON state can be limited to specific conditions, so that the worker can be made aware that the welding mode has been switched to the ON state.

[0013] In the above aspect, the device may further include a notification unit that notifies the user that welding is possible when the welding mode is switched to the on state.

[0014] According to this aspect, the operator can visually or audibly recognize that the welding mode has been switched to the on state through the notification.

[0015] In the above aspect, the robot may further include a torch mount disposed between the tip of the robot arm and the welding torch portion, and the switch portion and the button portion may be provided on the torch mount.

[0016] According to this aspect, when performing arc welding while directly operating the torch, the worker is required to perform two operations: continuously pressing both the switch portion and the button provided on the torch mount, thereby increasing safety during arc welding. [Effects of the Invention]

[0017] According to the present invention, it is possible to provide a welding robot system that can improve workability when performing arc welding while directly operating the robot. [Brief explanation of the drawings]

[0018] [Figure 1] FIG. 1 is a diagram illustrating a configuration of a welding robot system according to an embodiment. [Figure 2] FIG. 2 is an enlarged view of a torch mount that constitutes the welding robot of FIG. 1. [Figure 3] FIG. 2 is an enlarged view of a torch mount that constitutes the welding robot of FIG. 1. [Figure 4] FIG. 2 is a block diagram illustrating functions included in a control unit. DETAILED DESCRIPTION OF THE INVENTION

[0019] A preferred embodiment of the present invention will be described with reference to the accompanying drawings. In each drawing, components with the same reference numerals have the same or similar configurations. Furthermore, since the drawings are schematic, the dimensions and proportions of each component may differ from those of the actual components.

[0020] FIG. 1 is a diagram illustrating the configuration of a welding robot system according to an embodiment. The welding robot system includes, for example, a welding robot 1 and a robot control device 2. The welding robot 1 and the robot control device 2 can be connected via a network, for example, including a wired or wireless network such as a communication cable. The welding robot system may also include a teaching pendant. The teaching pendant is an operation terminal that can be connected to the robot control device 2 and that allows an operator to teach the welding robot 1 how to operate.

[0021] The robot control device 2 is a control unit that controls the operation of the welding robot 1, and includes, for example, a control unit 21, a storage unit 22, a communication unit 23, and a welding power supply unit 24.

[0022] Control unit 21 is a processor that controls welding robot 1 and welding power supply unit 24 by executing programs such as a welding program stored in memory unit 22. Communication unit 23 controls communication with each device connected via a network.

[0023] Welding power supply 24 supplies welding current, welding voltage, and the like to welding robot 1 in accordance with predetermined welding conditions, for example, to generate an arc between the tip of the welding wire and the workpiece. The welding conditions include data items such as welding conditions, welding start position, welding end position, welding distance, welding torch posture, and the like. Welding conditions include data items such as welding current, welding voltage, welding speed, wire feed speed, and workpiece thickness. Welding power supply 24 may be provided separately from robot control device 2.

[0024] Welding robot 1 is a manipulator (robot) that performs arc welding on a workpiece to be welded in accordance with welding conditions set in robot control device 2. Welding robot 1 has an articulated arm (robot arm) 11 mounted on a base member fixed to, for example, a factory floor, a welding torch 12 that is one of the tools attached to the tip of articulated arm 11, and a torch mount (member) 13 that is positioned between the tip of articulated arm 11 and welding torch 12.

[0025] Welding robot 1 is also a collaborative robot designed to work in collaboration with humans, and is capable of operating in response to external forces. Therefore, a worker can directly apply external forces to welding robot 1 with their hands and move and operate welding robot 1 in response to those external forces. In addition, by switching modes, it is possible to teach the robot's movements (direct teaching) during direct operation, and to perform arc welding during direct operation.

[0026] As shown in FIGS. 2 and 3, the torch mount 13 has, for example, three buttons 13a, 13b, and 13c and one switch portion 13d.

[0027] Switch 13d is a so-called enable switch. When switch 13d is continuously pressed to maintain the ON state, the servo power supply is turned ON, and welding robot 1 is in a state where it can operate in response to an external force. On the other hand, when switch 13d is released to set it to the OFF state, the servo power supply is turned OFF, and operation of welding robot 1 is stopped. After operation is stopped, welding robot 1 is in a state where it cannot operate in response to an external force.

[0028] The operator can assign desired functions to the three buttons 13a, 13b, and 13c. The functions that can be assigned to the three buttons 13a, 13b, and 13c include, for example, the following functions (1) to (4). These will be explained in order below.

[0029] (1) Welding operation functions: These functions include, for example, (1-1) an arc-on function, (1-2) an inching function, and (1-3) a retract function, each of which will be described in turn below.

[0030] (1-1) The arc-on function is a function for performing arc welding for tack welding or the like. In this embodiment, for example, the arc-on function is assigned to the button 13c (button portion) of the three buttons 13a, 13b, and 13c, but is not limited to this. The arc-on function may be assigned to any desired button (button portion) of the three buttons 13a, 13b, and 13c.

[0031] The arc-on function is assigned to the button 13c when the switch portion 13d is released and the button 13c is pressed and held down. This arc-on function can be assigned to and executed by the button 13c when the operation mode described later is set to the direct operation mode.

[0032] If you assign the arc-on function to button 13c, pressing and holding both button 13c and switch 13d will generate an arc. The robot's movements will differ depending on whether you press button 13c or switch 13d first. These will be explained in order below.

[0033] (a) If you press button 13c first: If the button 13c is pressed first and then the switch 13d is pressed, an arc is generated while the robot remains stationary. This is a useful function when performing tack welding before main welding.

[0034] (b) When the switch portion 13d is pressed first: If switch 13d is pressed first and then button 13c is pressed, an arc is generated while the robot is in a state where it can move in response to an external force. This is useful for tack welding, but is even more useful when performing simple welding.

[0035] The time for which the button is pressed to distinguish between a long press and a short press (to be described later) may be changed by the operator as appropriate.

[0036] (1-2) The inching function is a function that performs inching to feed the welding wire a small amount. If this function is assigned to a button, inching will be performed while the assigned button is pressed.

[0037] (1-3) The retract function is a function that reverses the feeding direction of the welding wire and returns it. If this function is assigned to a button, the retract will be performed while the assigned button is pressed.

[0038] (2) Functions related to robot movement: This function includes, for example, (2-1) a function to switch the robot's movement, (2-2) a function to switch the robot's speed, and (2-3) a function to operate the robot. Each function will be explained below in turn.

[0039] (2-1) The function of switching the robot's movement mode is a function of switching the robot's movement mode when the robot is directly operated manually. In this embodiment, a case where this function is fixedly assigned to button 13b will be described. Each time button 13b to which this function is assigned is briefly pressed, the movement mode is switched sequentially between, for example, translation mode, rotation mode, and free mode.

[0040] The translation mode is a mode in which only the position of the welding torch is moved without changing the orientation of the welding torch. The rotation mode is a mode in which only the orientation of the welding torch is changed without changing the position of the tip of the welding torch. The free mode is a mode in which all axes of the robot can be moved freely.

[0041] (2-2) The function for switching the robot speed is a function for switching the robot speed when the robot is directly operated manually. If this function is assigned to a button, each time the assigned button is pressed briefly, the speed switches between two set speeds, for example, "Speed ​​1" and "Speed ​​2." Note that the number of speeds to be switched is not limited to two, and there may be three or more.

[0042] (2-3) The function of operating the robot is a function of operating the robot by a predetermined distance (for example, 1 mm, 2 mm, etc.) in a predetermined direction (for example, the tool direction in the tool coordinate system, etc.).

[0043] (3) Function to record teaching positions: This function includes, for example, (3-1) Function A for recording a teaching position, (3-2) Function B for recording a teaching position, and (3-3) Function C for recording a teaching position. Function A for recording a teaching position, Function B for recording a teaching position, and Function C for recording a teaching position are functions that record the current position of the robot as a teaching position when the robot is being directly operated manually. The difference between each function is the command that is automatically inserted after recording the teaching position. Each function will be explained in turn below.

[0044] (3-1) By assigning function A to a button and briefly pressing the button, the robot's position at that time is recorded as the teaching position. With this function, no command is inserted after recording the position.

[0045] (3-2) If Function B for recording the teaching position is assigned to a button and the button is pressed briefly, the robot position at that time is recorded as the teaching position, followed by a welding start command. On the other hand, if the assigned button is pressed for a long time, the robot position at that time is recorded as the teaching position, followed by a welding end command.

[0046] (3-3) If function C for recording the teaching position is assigned to a button and the button is pressed briefly, the robot position at that time is recorded as the teaching position, followed by the welding start command and the weaving start command, in that order. On the other hand, if the assigned button is pressed and held, the robot position at that time is recorded as the teaching position, followed by the weaving end command and the welding end command, in that order.

[0047] (4) Ability to change the pattern of functions assigned to each button: This function allows a plurality of patterns of functions to be assigned to the three buttons 13a, 13b, and 13c to be registered in advance, and the functions of the buttons can be changed collectively by selecting one of the patterns.

[0048] In this embodiment, this function is fixedly assigned to the button 13b. When the button 13b to which this function is assigned is pressed and held down, one of the patterns can be selected.

[0049] For example, as "Pattern 1," it is possible to register a pattern in which "Function A of recording a teaching position" is assigned to button 13a, "Function of switching the robot's movement mode" is assigned as a fixed function to button 13b, and "Function B of recording a teaching position" is assigned to button 13c. Also, as "Pattern 2," it is possible to register a pattern in which "Retract function" is assigned to button 13a, "Function of switching the robot's movement mode" is assigned as a fixed function to button 13b, and "Inching function" is assigned to button 13c.

[0050] The functions of control unit 21 will be described with reference to Fig. 4. Control unit 21 includes, for example, an operation mode setting unit 211, a welding mode switching unit 212, a welding control unit 213, and a notification unit 214. Each unit will be described below.

[0051] The operation mode setting unit 211 sets an operation mode for operating the robot. The operation modes include, for example, a direct operation mode and a non-direct operation mode. The direct operation mode is a mode in which an operator directly applies an external force to the robot with their hands and moves the robot in response to that external force to directly operate it. The non-direct operation mode is a mode in which the robot is moved by means other than direct operation, for example, by a program.

[0052] Welding mode switching unit 212 switches the welding mode between an ON state and an OFF state. The welding mode is flag information that indicates whether welding can be performed. When the welding mode is ON, welding can be performed, and when the welding mode is OFF, welding cannot be performed.

[0053] When the operation mode is set to the direct operation mode, welding mode switching unit 212 switches the welding mode to the ON state when button unit 13c is pressed and held down while switch unit 13d is released.

[0054] Welding control unit 213 controls the operation of the robot related to arc welding. An example of how welding control unit 213 controls the operation of the robot will be described below.

[0055] When the operation mode is set to the direct operation mode and the welding mode is on, if button 13c is pressed first and then switch unit 13d is pressed, welding control unit 213 generates an arc while keeping the robot fixed.

[0056] On the other hand, when the operation mode is set to the direct operation mode and the welding mode is on, if switch unit 13d is pressed first and then button 13c is pressed, welding control unit 213 generates an arc in a state in which the robot can move in response to an external force.

[0057] When the welding mode is switched to the ON state, the notification unit 214 notifies that welding is possible. The notification can be realized, for example, by outputting light, sound, text, etc. Specifically, the notification unit 214 may make the button 13c blink at high speed, may output a beep from the welding robot 1 or the teaching pendant, or may display a message to that effect on the teaching pendant.

[0058] As described above, according to the welding robot system of the embodiment, when the operation mode is set to the direct operation mode and the welding mode is on, an arc is generated when both the switch unit 13d, which puts the robot into a state where it can operate in response to an external force, and the button unit 13c, which generates an arc, are pressed, and the operation of the robot can be varied depending on whether the switch unit or the button unit is pressed first.

[0059] Specifically, when button 13c is pressed first and then switch 13d is pressed, an arc is generated while the robot remains fixed, whereas when switch 13d is pressed first and then button 13c is pressed, an arc is generated while the robot is able to move in response to an external force.

[0060] Therefore, when performing arc welding in direct operation mode, the worker can perform arc welding after recognizing whether to weld with the robot fixed or in a movable state.

[0061] Therefore, the welding robot system according to the embodiment can improve the workability when performing arc welding while directly operating the robot.

[0062] It should be noted that the present invention is not limited to the above-described embodiment, and can be embodied in various other forms without departing from the spirit of the present invention. Therefore, the above-described embodiment is merely illustrative in all respects and should not be interpreted as being limiting. [Explanation of symbols]

[0063] 1...welding robot, 2...robot control device, 11...articulated arm, 12...welding torch unit, 13...torch mount, 13a...button, 13b...button, 13c...button, 13d...switch unit, 21...control unit, 22...storage unit, 23...communication unit, 24...welding power source unit, 211...operation mode setting unit, 212...welding mode switching unit, 213...welding control unit, 214...alarm unit

Claims

1. a welding torch attached to the tip of the robot arm of the collaborative robot; a switch unit that enables the robot to operate in response to an external force while being pressed; a button portion that generates an arc from the welding torch portion while being pressed; an operation mode setting unit that sets an operation mode for operating the robot; a welding control unit that controls welding; Equipped with the switch unit and the button unit are provided on either the robot arm or a member attached to the robot arm at a position different from that of the welding torch unit, When the operation mode is set to a direct operation mode in which an operator applies an external force directly to the robot with his or her hands and moves and operates the robot in response to the external force, and when welding is possible, the welding control unit generates an arc when both the switch unit and the button unit are continuously pressed, and causes the robot to operate differently depending on which of the switch unit and the button unit is pressed first. Welding robot system.

2. When the button portion is pressed first and then the switch portion is pressed, the welding control portion generates an arc while keeping the robot fixed, whereas when the switch portion is pressed first and then the button portion is pressed, the welding control portion generates an arc while allowing the robot to move in response to an external force. The welding robot system according to claim 1 .

3. A welding mode switching unit is further provided to switch a welding mode, which indicates that the welding is possible, between an on state and an off state, the welding mode switching unit switches the welding mode to an on state when the button unit is pressed and held down while the operation mode is set to the direct operation mode and the switch unit is released. The welding robot system according to claim 1 .

4. The welding apparatus further includes a notification unit that notifies the user that the welding is possible when the welding mode is switched to an on state. The welding robot system according to claim 3.

5. a torch mount disposed between the tip of the robot arm and the welding torch; The switch unit and the button unit are provided on the torch mount. The welding robot system according to claim 1 .

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