Control system for electrode tip shaping device

Abstract

To provide a fairing system of an electrode tip with a fairing device for a plurality of electrode tips which prevents a whole apparatus from being giantized and cost of the apparatus from increasing while keeping a simple apparatus constitution.SOLUTION: A fairing system of an electrode tip comprises: a robot arm which can removably and selectively attach a plurality of weld guns with a plurality kinds of electrode tips different from each other; a plurality of fairing devices which correspond to respective electrode tips; a robot controller which controls the robot arm to select any one of the plurality of fairing devices according to information receiving from the robot arm; and a switching box with at least a power feeding terminal into which electric power is inputted from an electric power unit in which electric power is supplied to the selected fairing device.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a control system for an electrode tip shaping device. [Background technology]

[0002] In resistance welding, welding is performed by a welding robot. For example, as disclosed in Patent Document 1, the robot is equipped with a welding gun to which a pair of electrode tips are attached, and the workpiece is clamped between the electrode tips, and welding is performed by passing a current through the electrode tips in this state. Since the electrode tips wear down due to pressure and heat during welding, the electrode tips are shaped by an electrode tip shaping device after welding. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 7-144284 Summary of the Invention [Problem to be solved by the invention]

[0004] Due to recent changes in the production environment, there is a demand for welding equipment that can handle variable-mix, variable-volume production, so a wide variety of welding guns are attached to welding robots by using a tool changer. Here, since the shape of the electrode tip attached to each welding gun is different, a different electrode tip shaping device is required for each electrode tip shape. However, since one control device is required for each electrode tip shaping device, not only does the equipment configuration become complicated, but the entire equipment becomes larger and the equipment costs increase, which are problems. [Means for solving the problem]

[0005] The present disclosure can be realized in the following forms.

[0006] (1) According to one embodiment of the present disclosure, there is provided an electrode tip shaping system, which includes a robot arm to which a plurality of welding guns having different types of electrode tips are selectively and detachably attached, a plurality of shaping machines corresponding to the respective electrode tips, a robot controller that controls the robot arm and selects one of the plurality of shaping machines in accordance with information received from the robot arm, and a switching box that has at least a power supply terminal for inputting power from a power supply device and supplies power to the selected shaping machine. According to this embodiment of the electrode tip shaping system, the robot controller selects one of the multiple shaping machines according to the control signal received from the robot arm, and the switching box supplies power to the selected shaping machine, so that the multiple shaping machines can be operated with one robot controller and one power supply device. Therefore, compared to a configuration in which one power supply device is required for each of the multiple shaping machines, not only can the equipment configuration be simplified, but also the size of the entire equipment and the increase in equipment costs can be suppressed. In addition, since the robot controller controls the robot arm and selects the shaping machine, not only can the equipment configuration be simplified compared to a configuration in which the control device for the robot arm and the control device for the shaping machine are different, but the size of the entire equipment and the increase in equipment costs can be suppressed. (2) In the electrode tip shaping system of the above-described embodiment, the information may include information on the type of the welding gun connected to the robot arm, and the robot controller may further have a gun information receiving unit that receives the information, and a switching control unit that uses the received information to select one of the multiple shaping machines. According to this form of electrode tip shaping system, the gun information receiving unit receives information including the type of welding gun connected to the robot arm, and the switching control unit uses the received information to select one of the multiple shaping machines, so that a shaping machine corresponding to a pair of electrode tips attached to the welding gun can be selected. (3) In the electrode tip shaping system of the above form, the shaping machine has a motor, an encoder that detects an encoder value indicating the rotational position of the motor, and an encoder value transmitting unit that transmits the encoder value detected by the encoder to the robot controller, and the robot controller further has an encoder value receiving unit that receives the encoder value sent from the encoder value transmitting unit, an encoder value memory unit that stores the encoder value received by the encoder value receiving unit in association with the shaping machine that transmitted the encoder value, and a motor control unit that controls the rotation of the motor, and the motor control unit may obtain from the encoder value memory unit the encoder value stored in association with the shaping machine selected by the switching control unit, and use the obtained encoder value to control the motor of the shaping machine selected by the switching control unit from the multiple shaping machines. According to this form of electrode tip shaping system, the motor control unit acquires the encoder value stored in association with the shaping machine from the encoder value memory unit, and uses the acquired encoder value to control the motor of the shaping machine selected by the switching control unit. This enables the motor to be controlled with greater precision compared to a configuration in which the encoder value is not stored in association with the shaping machine. In addition, since multiple shaping machines can be controlled by a single robot controller equipped with a motor control unit and an encoder memory unit, not only can the equipment configuration be simplified compared to a configuration requiring a control device for each shaping machine, but the size of the entire equipment and the increase in equipment costs can be suppressed. The present disclosure can be realized in various forms other than the electrode tip shaping system, for example, in the form of a shaping machine switching method, a computer program for implementing the shaping machine switching method, a non-transitory recording medium on which the computer program is recorded, etc. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a block diagram illustrating a schematic diagram of an electrode tip shaping system according to an embodiment of the present disclosure. [Diagram 2] 10 is a flowchart showing a procedure of a shaping machine switching process in the first embodiment. [Diagram 3] 11 is a table illustrating an example of encoder values ​​stored in an encoder value storage unit. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] A. First embodiment: A1. System Configuration: FIG. 1 is a block diagram showing a schematic diagram of an electrode tip shaping system 1 according to an embodiment of the present disclosure. The electrode tip shaping system 1 is used in resistance welding performed by a welding robot, and is a system for controlling a plurality of electrode tip shaping machines. The electrode tip shaping system 1 includes a welding robot 300, a robot controller 100, a first shaping machine 510, a second shaping machine 520, and a switching box 400. In the present disclosure, when the first shaping machine 510 and the second shaping machine 520 are not distinguished from each other, they are referred to as "shaping machines 500."

[0009] The welding robot 300 is a robot that performs welding under the control of the robot controller 100. The welding robot 300 includes a base 304, a robot arm 301, and a welding gun 302a. The robot arm 301 is supported by the base 304. The robot arm 301 is, for example, a multi-joint arm. A welding gun 302a is attached to the tip of the robot arm 301. A pair of electrode tips 303a is attached to the welding gun 302a. Resistance welding is performed by applying a voltage between the electrode tips 303a while clamping and applying pressure to an object to be welded with the pair of electrode tips 303a. In the present disclosure, the robot arm 301 is configured to be able to detachably and selectively attach various welding guns 302a. In addition, a pair of electrode tips 303a and 303b of different types are attached to the welding guns 302a and 302b, respectively. Therefore, resistance welding is performed while exchanging welding guns 302a, 302b using a tool changer depending on the shape of the workpiece, the required welding quality, etc. In this disclosure, a configuration in which two types of welding guns 302a, 302b are exchanged using a tool changer will be described. That is, in this disclosure, welding robot 300 performs welding while exchanging two types of welding guns 302a, 302b, to which different types of electrode tips 303a, 303b are attached, using a tool changer.

[0010] The welding robot 300 is connected to the robot controller 100 via a power line 201 and a robot signal line 202. The power line 201 supplies power from the robot controller 100 to the welding robot 300. The robot signal line 202 transmits control signals between the robot controller 100 and the welding robot 300.

[0011] The robot controller 100 controls each part of the electrode tip shaping system 1. The robot controller 100 is supplied with power from an external power source (not shown). The robot controller 100 includes a CPU 101, a memory 102, and an input / output interface unit (input / output I / F unit) 103. The CPU 101, the memory 102, and the input / output I / F unit 103 are all configured to be able to communicate with each other via an internal bus 104. The CPU 101 executes a control program stored in the memory 102 to function as a robot arm control unit 110, a welding control unit 120, a gun information receiving unit 130, a switching control unit 140, a motor control unit 150, and an encoder value receiving unit 160.

[0012] The robot arm control unit 110 controls the robot arm 301 of the welding robot 300. Through this control, the rotation of the joints of the robot arm 301 and the like are executed.

[0013] Welding control unit 120 controls the welding performed by welding robot 300. Specifically, welding control unit 120 controls the current flowing through pair of electrode tips 303, the time for which the current is passed through the workpieces, the pressure applied to the workpieces, and the like.

[0014] Gun information receiving unit 130 receives information about welding gun 302a attached to robot arm 301. The information about welding gun 302a is transmitted from robot arm 301 to gun information receiving unit 130 as a control signal. "Information about welding gun 302a" includes information such as the type of welding gun 302a and the type of electrode tip 303a attached to welding gun 302a. Such information is transmitted when welding gun 302a is replaced by a tool changer or when requested by gun information receiving unit 130.

[0015] The switching control unit 140 selects the shaping machine 500 to be operated, and controls the first switch 411, the second switch 412, the third switch 421, and the fourth switch 422 in the switching box 400. The switching control unit 140 will be described in detail later.

[0016] The motor control unit 150 controls the motors 511, 521 included in the shaping machine 500. Specifically, the motor control unit 150 controls the rotation speed and the rotation direction of the motors 511, 521 included in the shaping machine 500 selected by the switching control unit 140.

[0017] The encoder value receiving unit 160 receives the encoder values ​​transmitted from the encoder value transmitting units 513, 523 included in the shaping machine 500, and stores them in the encoder value storage unit 170. The encoder value receiving unit 160 will be described in detail later.

[0018] The memory 102 stores the above-mentioned control program. The memory 102 also includes an encoder value storage unit 170. The encoder value storage unit 170 stores the encoder value received by the encoder value receiving unit 160 in association with the shaping machine 500 that transmitted the encoder value.

[0019] The input / output I / F unit 103 has a group of interfaces that connect to the welding robot 300 and the switching box 400. A robot signal line 202, a shaping machine signal line 204, a first relay coil line 210, and a second relay coil line 220 are connected to the input / output I / F unit 103. The robot signal line 202 transmits information between the robot controller 100 and the welding robot 300. The shaping machine signal line 204 transmits information between the robot controller 100 and the shaping machine 500. The first relay coil line 210 is a conductor that passes a current through a first relay coil 401, which will be described later. The second relay coil wire 220 is a conductor that passes a current through a second relay coil 402, which will be described later.

[0020] The shaping machine 500 shapes the pair of electrode tips 303. The pair of electrode tips 303 may be deformed or worn due to pressure and heat during welding. Since good welding cannot be performed with the deformed or worn electrode tips 303, the shaping machine 500 shapes the electrode tips 303 after welding is completed or as appropriate according to the wear state of the electrode tips 303. The shaping machine 500 has a shaping roller (not shown) corresponding to the shape of the electrode tips 303. Therefore, a shaping machine 500 corresponding to the number of types of electrode tips 303 used in welding is required. In the present disclosure, as described above, welding is performed while exchanging two types of welding guns 302a, 302b to which different electrode tips 303a, 303b are attached using a tool changer. Therefore, the shaping machine 500 requires a first shaping machine 510 and a second shaping machine 520 corresponding to each of the welding guns 302a, 302b. The shaping machine 500 includes motors 511 and 521, encoders 512 and 522, and encoder value transmission units 513 and 523. A first power line 211, which is a wiring for supplying power, is connected to the first shaping machine 510. A first signal line 212, which transmits a control signal between the first shaping machine 510 and the robot controller 100, is connected to the first shaping machine 510. A second power line 221, which is a wiring for supplying power, is connected to the second shaping machine 520. A second signal line 222, which transmits a control signal between the second shaping machine 520 and the robot controller 100, is connected to the second shaping machine 520.

[0021] The motors 511 and 521 rotate shaping rollers (not shown) and are controlled by the motor control unit 150 of the robot controller 100.

[0022] The encoders 512 and 522 detect the rotational position, rotational angle, rotational direction, etc. of the motors 511 and 521 as encoder values. The encoders 512 and 522 are, for example, absolute encoders. The encoder values ​​detected by the encoders 512 and 522 are transmitted to encoder value transmission units 513 and 523.

[0023] The encoder value transmitting units 513, 523 transmit the encoder values ​​to the encoder value receiving unit 160 of the robot controller 100. The transmitted encoder values ​​are stored in the encoder value storage unit 170 and are used by the motor control unit 150 to control the motors 511, 521. Details will be described later.

[0024] The switching box 400 switches the connection so as to connect the robot power line 203 and the shaping machine signal line 204 to any one of the shaping machines 500 in accordance with the control of the switching control unit 140. The switching box 400 includes a plurality of terminals tm, a first switch 411, a second switch 412, a third switch 421, a fourth switch 422, a first relay coil 401, and a second relay coil 402. The robot power line 203, the first power line 211, the second power line 221, the shaping machine signal line 204, the first signal line 212, the second signal line 222, the first relay coil wire 210, and the second relay coil wire 220 are connected to the plurality of terminals tm.

[0025] The first switch 411 switches the connection between the robot power line 203 and the first power line 211 between on and off. The robot power line 203 is a conductor that supplies power from the welding robot 300 to the shaping machine 500. That is, the terminal tm to which the robot power line 203 is connected is a power supply terminal that inputs power. In the present disclosure, power is supplied to the shaping machine 500 from the welding robot 300 via the switching box 400. That is, power supplied from an external power source is supplied to the shaping machine 500 via the robot controller 100, the welding robot 300, and the switching box 400 in this order. Here, the welding robot 300 can also be said to be a power supply device for the switching box 400 and the shaping machine 500. Therefore, the robot power line 203 and the first power line 211 are electrically connected by closing the first switch 411, so that power can be supplied from the welding robot 300 to the first shaping machine 510.

[0026] The second switch 412 switches on and off the connection between the shaper signal line 204 and the first signal line 212. Therefore, when the second switch 412 is closed, the shaper signal line 204 and the first signal line 212 are electrically connected, so that the transmission of a control signal between the robot controller 100 and the first shaper 510 becomes possible.

[0027] The first switch 411 and the second switch 412 are opened and closed by the first relay coil 401. Specifically, when a current flows through the first relay coil wire 210 under the control of the switching control unit 140, the movable contacts of the first switch 411 and the second switch 412 come into contact with fixed contacts, and the first switch 411 and the second switch 412 are closed. Note that in the present disclosure, the first relay coil 401 is a general relay coil.

[0028] The third switch 421 switches on and off the connection between the robot power line 203 and the second power line 221. Therefore, when the third switch 421 is closed, the robot power line 203 and the second power line 221 are electrically connected, so that power can be supplied from the welding robot 300 to the second shaping machine 520.

[0029] The fourth switch 422 switches on and off the connection between the shaper signal line 204 and the second signal line 222. Therefore, when the fourth switch 422 is closed, the shaper signal line 204 and the second signal line 222 are electrically connected, so that the transmission of a control signal between the robot controller 100 and the second shaper 520 becomes possible.

[0030] The third switch 421 and the fourth switch 422 are opened and closed by the second relay coil 402. Specifically, when a current flows through the second relay coil wire 220 under the control of the switching control unit 140, the movable contacts of the third switch 421 and the fourth switch 422 come into contact with the fixed contacts, and the third switch 421 and the fourth switch 422 are closed. Note that in the present disclosure, the second relay coil 402 is a general relay coil, similar to the first relay coil 401.

[0031] In the present disclosure, the switching control unit 140 passes a current through only one of the first relay coil 401 and the second relay coil 402. That is, either the first shaping machine 510 or the second shaping machine 520 is supplied with power and can transmit a control signal to the robot controller 100.

[0032] A2. Shaping machine switching process 2 is a flowchart showing the procedure of the shaping machine switching process in the first embodiment. The shaping machine switching process is a process for electrically connecting the shaping machine 500 corresponding to the pair of electrode tips 303 attached to the welding robot 300 to the robot controller 100 and operating it. The shaping machine switching process is executed before shaping the pair of electrode tips 303.

[0033] Gun information receiving unit 130 acquires information about welding gun 302a attached to welding robot 300 (step S105). As described above, in the present disclosure, a different pair of electrode tips 303a, 303b is attached to each of welding guns 302a, 302b, so "acquiring information about welding gun 302a" can also be said to be acquiring information about the type of the pair of electrode tips 303a attached.

[0034] The switching control unit 140 selects the shaping machine 500 corresponding to the pair of electrode tips 303 attached to the welding robot 300 and connects it to the robot controller 100 (step S110). The switching control unit 140 selects the shaping machine 500 corresponding to the pair of electrode tips 303a attached to the welding gun 302a using the information of the welding gun 302a acquired by the gun information receiving unit 130. The "shaping machine 500 corresponding to the pair of electrode tips 303" refers to a shaping machine 500 equipped with a shaping roller capable of shaping the pair of electrode tips 303. Next, the switching control unit 140 controls so that power is supplied to the selected shaping machine 500 and the selected shaping machine 500 and the robot controller 100 are electrically connected. In the following, for example, a case where the selected shaping machine 500 is the first shaping machine 510 shown in FIG. 1 will be described. When the switching control unit 140 selects the first shaping machine 510, it controls so that a current flows through the first relay coil wire 210. By this control, a current flows through the first relay coil 401, and the first switch 411 and the second switch 412 are closed. In this manner, power is supplied to the first shaping machine 510, and the first shaping machine 510 and the robot controller 100 are electrically connected to each other.

[0035] The motor control unit 150 acquires the encoder value from the encoder value storage unit 170 (step S115). Specifically, the motor control unit 150 acquires the encoder value stored in association with the first shaping machine 510 selected by the switching control unit 140 from the encoder value storage unit 170. FIG. 3 is a table showing an example of the encoder value stored in the encoder value storage unit 170. As shown in FIG. 3, the encoder value storage unit 170 stores the rotational positions of the motors 511 and 521 as encoder values ​​for each shaping machine 500. In the present disclosure, the "rotational position" refers to the rotational angle from the reference position of the motors 511 and 521 at the end of the previous shaping. The example of the encoder value in FIG. 3 indicates that the rotational position of the first shaping machine 510 at the end of the previous shaping is 90°, and the rotational position of the second shaping machine 520 at the end of the previous shaping is 270°.

[0036] 2, the first shaping machine 510 performs a shaping operation (step S120). Specifically, the motor control unit 150 uses the encoder value acquired in step S115 to control the motor 511 of the first shaping machine 510. The rotation of the motor 511 rotates a shaping roller (not shown), and the pair of electrode tips 303a is shaped.

[0037] The encoder value storage unit 170 stores the encoder value (step S125). When the shaping work in step S120 is completed, the encoder 512 detects the encoder value of the motor 511 at the time of completion of the shaping work and transmits it to the encoder value transmission unit 513. The encoder value transmission unit 513 transmits the encoder value transmitted from the encoder 512 to the encoder value receiving unit 160 of the robot controller 100. The encoder value receiving unit 160 links the received encoder value with the shaping machine 500 that transmitted the encoder value and transmits it to the encoder value storage unit 170. The encoder value storage unit 170 stores the transmitted encoder value with the shaping machine 500 linked to each other.

[0038] According to the electrode tip shaping system 1 of the first embodiment described above, the robot controller 100 selects one of the multiple shaping machines 500 in response to information received from the robot arm 301, and the switching box 400 supplies power to the selected shaping machine 500, so that the multiple shaping machines 500 can be operated with one robot controller 100 and one power supply device. Therefore, compared to a configuration in which a power supply device is required for each shaping machine 500, not only can the equipment configuration be simplified, but also the enlargement of the entire equipment and the increase in equipment costs can be suppressed.

[0039] Furthermore, since the robot controller 100 controls the robot arm 301 and selects the shaping machine 500, not only can the equipment configuration be simplified compared to a configuration in which the control device for the robot arm 301 and the control device for the shaping machine 500 are different, i.e., a configuration in which at least two control devices are required, but also the size of the entire equipment and the increase in equipment costs can be suppressed.

[0040] In addition, the gun information receiving unit 130 receives information including the type of welding gun 302a connected to the robot arm 301, and the switching control unit 140 uses the received information to select one of the multiple shaping machines 500, so that the shaping machine 500 corresponding to the pair of electrode tips 303 attached to the welding gun 302a can be selected.

[0041] In addition, the motor control unit 150 obtains the encoder value stored in association with the shaping machine 500 from the encoder value storage unit 170, and uses the obtained encoder value to control the motors 511, 521 of the shaping machine 500 selected by the switching control unit 140. This allows the motors 511, 521 to be controlled more accurately than a configuration in which the encoder value is not stored in association with the shaping machine 500. Specifically, when the encoder value is not stored in association with the shaping machine 500, the motors 511, 521 may be controlled while being misaligned with the rotational position to be controlled by the motor control unit 150. In the electrode tip shaping system 1 of the present disclosure, the motor control unit 150 controls the motors 511, 521 using the encoder value stored in association with the shaping machine 500, so that the rotational position controlled by the motor control unit 150 and the actual rotational position of the motors 511, 521 can be matched and controlled with high accuracy.

[0042] Furthermore, since multiple shaping machines 500 can be controlled by a single robot controller 100 equipped with a motor control unit 150 and an encoder value memory unit 170, not only can the equipment configuration be simplified compared to a configuration requiring a control device for each shaping machine 500, but the size of the entire equipment and the increase in equipment costs can be suppressed.

[0043] B. Other Embodiments (B1) In the first embodiment, the information that gun information receiving unit 130 receives from robot arm 301 includes information including the types of welding guns 302a, 302b connected to robot arm 301, but the present disclosure is not limited to this. In a configuration in which multiple welding guns 302a, 302b are used in a predetermined order, information indicating the current order may be received from robot arm 301 instead of information including the types of welding guns 302a, 302b. Even in such a configuration, it is possible to select a shaping machine 500 corresponding to welding guns 302a, 302b based on the information indicating the current order.

[0044] (B2) In the first embodiment, the motor control unit 150 controls the motors 511, 521 using the encoder values, but the present disclosure is not limited to this. The shaping machine 500 may be configured not to include the encoders 512, 522 and the encoder value transmission units 513, 523.

[0045] (B3) In the first embodiment, power is supplied to the switching box 400 from the welding robot 300 via the robot power line 203, but the present disclosure is not limited to this. Power may be supplied to the switching box 400 directly from an external power source or from the robot controller 100.

[0046] (B4) In the shaping machine switching process of the first embodiment, the acquisition of gun information (step S105) is performed in the shaping machine switching process, but the present disclosure is not limited to this. The acquisition of gun information may be performed prior to the shaping machine switching process. The acquisition of gun information may be performed, for example, when the welding guns 302a and 302b are replaced by the tool changer.

[0047] (B5) In the shaping machine switching process of the first embodiment, the connection between the pair of electrode tips 303 and the shaping machine 500 may be performed at any timing before step S120 in which the shaping work is performed.

[0048] (B6) In the shaping machine switching process of the first embodiment, when a new shaping machine 500 is used, the new shaping machine 500 and the robot controller 100 may be electrically connected prior to the shaping machine switching process, and the encoder value of the new shaping machine 500 may be obtained in advance and stored in the encoder value memory unit 170.

[0049] (B7) In the first embodiment, a configuration in which there are two shaping machines 500 has been described, but the present disclosure is not limited to this. The electrode tip shaping system 1 may be configured to include any number of shaping machines 500, such as three or more.

[0050] (B8) In the first embodiment, the encoder value transmission units 513 and 523 may transmit the encoder values ​​at any timing other than after the shaping work is completed.

[0051] The present disclosure is not limited to the above-mentioned embodiments, and can be realized in various configurations without departing from the spirit of the present disclosure. For example, the technical features in each embodiment corresponding to the technical features in each form described in the Summary of the Invention column can be appropriately replaced or combined in order to solve some or all of the above-mentioned problems or to achieve some or all of the above-mentioned effects. Furthermore, if a technical feature is not described as essential in this specification, it can be appropriately deleted. [Explanation of symbols]

[0052] 1...electrode tip shaping system, 100...robot controller, 101...CPU, 102...memory, 103...input / output I / F section, 104...internal bus, 110...robot arm control section, 120...welding control section, 130...gun information receiving section, 140...switching control section, 150...motor control section, 160...encoder value receiving section, 170...encoder value storage section, 201...power line, 202...robot signal line, 203...robot power line, 204...shaping machine signal line, 210...first relay coil line, 211...first power line, 212...first signal line, 220...second relay coil wire, 221...second power line, 222...second signal line, 300...welding robot, 301...robot arm, 302a, 302b...welding gun, 303a, 303b...electrode tip, 304...base, 400...switching box, 401...first relay coil, 402...second relay coil, 411...first switch, 412...second switch, 421...third switch, 422...fourth switch, 500...shaping machine, 510...first shaping machine, 511, 521...motor, 512, 522...encoder, 513, 523...encoder value transmission unit, 520...second shaping machine, tm...terminal

Claims

1. 1. An electrode tip shaping system, comprising: a robot arm to which a plurality of welding guns having different types of electrode tips are selectively attached in a detachable manner; a plurality of shapers corresponding to the electrode tips; A robot controller that controls the robot arm and selects one of the plurality of shaping machines in response to information received from the robot arm; A switching box having at least a power supply terminal for inputting power from a power supply device and supplying power to a selected one of the shaping machines; An electrode tip shaping system comprising:

2. 2. The electrode tip shaping system of claim 1, the information includes information including a type of the welding gun connected to the robot arm; The robot controller A gun information receiving unit that receives the information; A switching control unit that uses the received information to select one of the plurality of shaping machines. Electrode tip shaping system.

3. 3. The electrode tip shaping system of claim 2, comprising: The shaping machine includes: A motor; an encoder for detecting an encoder value indicating a rotational position of the motor; an encoder value transmitting unit that transmits the encoder value detected by the encoder to the robot controller; Each of them has The robot controller an encoder value receiving unit that receives the encoder value transmitted from the encoder value transmitting unit; an encoder value storage unit that stores the encoder value received by the encoder value receiving unit in association with the shaping machine that transmitted the encoder value; A motor control unit that controls the rotation of the motor; Further comprising: The motor control unit acquires the encoder value stored in association with the shaping machine selected by the switching control unit from the encoder value storage unit, and controls the motor of the shaping machine selected by the switching control unit from among the plurality of shaping machines using the acquired encoder value. Electrode tip shaping system.

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