Welding processing program setting device, welding processing control device, and welding processing system

Abstract

The present invention relates to a welding process program setting device, a welding process control device, and a welding process system capable of changing welding process conditions during the execution of a welding process program. 【Solution means】A display unit capable of displaying a program creation condition setting screen for setting program creation conditions of a welding process program including operation information of a welding robot capable of holding a welding torch of a welding machine and welding process conditions of the welding machine is provided. The program creation condition setting screen is configured to be able to display operation information and to be able to set welding process conditions. The operation information includes a moving stroke of the welding robot and a welding start position in the moving stroke. The welding start position includes at least a first welding start position and a second welding start position. The program creation condition setting screen is configured to be able to set welding process conditions for each of the first welding start position and the second welding start position.

Description

Technical Field

[0001] The present invention relates to a welding process program setting device, a welding process control device, and a welding system.

Background Art

[0002] Conventionally, a welding apparatus including a welding robot, a welding torch integrally provided at the tip of the welding robot, and a welding machine including an oscillator that generates laser light, and a control device capable of controlling the welding robot based on a welding process program has been known (Patent Document 1 and the like). In conventional welding apparatuses including the welding apparatus described in Patent Document 1, the welding robot operates according to a welding process program, and the oscillator emits laser light based on the welding process conditions set in the welding machine. The laser light emitted from the oscillator is irradiated from the welding torch held by the welding robot toward the welding parts of a plurality of workpieces, thereby welding the plurality of workpieces.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in conventional welding apparatuses, the control device controls only the welding robot and does not control the welding machine. Therefore, there is a problem that the welding process conditions cannot be changed during the execution of the welding process program. For this reason, when the welding process conditions differ depending on the welding parts of a plurality of workpieces, a welding process program must be created for each welding process condition, and the welding process conditions in the welding machine must be changed each time before the execution of each welding process program. There is also a problem that the working efficiency of the operator is poor.

[0005] One aspect of the present invention relates to a welding program setting device, a welding control device, and a welding system capable of changing welding conditions during the execution of a welding program.

Means for Solving the Problems

[0006] A welding program setting device according to one aspect of the present invention includes a display unit capable of displaying a program creation condition setting screen for setting program creation conditions of a welding program including operation information of a welding robot capable of holding a welding torch of a welding machine and welding conditions of the welding machine. The program creation condition setting screen is configured to be able to display the operation information and to be able to set the welding conditions. The operation information includes a movement stroke of the welding robot and a welding start position in the movement stroke. The welding start position includes at least a first welding start position and a second welding start position. The program creation condition setting screen is configured to be able to set the welding conditions for each of the first welding start position and the second welding start position.

[0007] A welding control device according to one aspect of the present invention includes a welding control unit capable of controlling at least the welding machine based on the welding program created based on at least the program creation conditions set by the welding program setting device. The welding control unit is configured to be able to change the setting of the welding conditions in the welding machine according to the welding start position during the execution of the welding program.

[0008] A welding system according to an aspect of the present invention includes a program creation unit capable of creating the welding program based on at least the program creation conditions set by the welding program setting device, a welding machine including a welding torch, a welding robot capable of holding the welding torch, and a welding process control unit capable of controlling at least the welding machine based on the welding program created by the program creation unit. The welding process control unit is configured to be able to change the setting of the welding process conditions in the welding machine according to the welding start position during the execution of the welding program.

[0009] According to the welding program setting device, the welding process control device, and the welding system according to an aspect of the present invention, when setting the program creation conditions of the welding program, the welding process conditions can be set for each of the first welding start position and the second welding start position, so that the welding process conditions can be changed during the execution of the welding program.

Effects of the Invention

[0010] According to the welding program setting device, the welding process control device, and the welding system according to an aspect of the present invention, the welding process conditions can be changed during the execution of the welding program.

Brief Description of the Drawings

[0011]

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[0012] Hereinafter, preferred embodiments for carrying out the present invention will be described with reference to the drawings. Note that the following embodiments do not limit the invention according to each claim, and not all combinations of features described in the embodiments are essential for the solution means of the invention. Also, in this embodiment, the scales and dimensions of each component may be exaggerated, or some components may be omitted.

[0013] [Overall Configuration of Welding System] FIG. 1 is a block diagram showing the configuration of a welding system according to this embodiment.

[0014] The welding system according to this embodiment is, for example, a welding system capable of welding a plurality of workpieces. Specifically, as shown in FIG. 1, the welding system 1 includes a welding machine 10 including a welding torch 11, a welding machine control device 20 capable of controlling the welding machine 10, a welding robot 30 capable of holding the welding torch 11, a robot control device 40 capable of controlling the welding robot 30, and a welding process program setting device 50 capable of setting the program creation conditions of the welding process program. In this embodiment, the welding machine control device 20 and the welding process program setting device 50, and the robot control device 40 and the welding process program setting device 50 are configured to be able to communicate with each other via a communication network NW.

[0015] [Configuration of Welding Machine] As shown in FIG. 1, the welding machine 10 includes a welding torch 11 capable of irradiating a laser beam toward the welding portions of a plurality of workpieces, and an oscillator 12 capable of emitting a laser beam based on welding processing conditions. The welding torch 11 is a handy torch that can be gripped by a welding robot 30. In the present embodiment, the welding torch 11 and the oscillator 12 are connected to each other via a cable (not shown). Therefore, the laser beam emitted from the oscillator 12 is supplied to the welding torch 11 via the cable. Note that since known configurations can be adopted for the welding torch 11 and the oscillator 12, detailed descriptions thereof are omitted.

[0016] [Configuration of Welding Machine Control Device] As shown in FIG. 1, the welding machine control device 20 includes a storage unit 21 (welding machine storage unit) that stores predetermined welding processing conditions, and a welding machine control unit 22 that can control the welding machine 10 based on a command acquired from a welding processing program setting device 50. The predetermined welding processing conditions stored in the storage unit 21 are standard welding processing conditions in welding. Note that the processing that can be executed by the welding machine control unit 22 (the configuration of the welding machine control unit 22) will be described later.

[0017] Note that the welding machine control device 20 according to the present embodiment may be arranged independently of the welding machine 10, or may be stored inside the housing (not shown) of the welding machine 10 together with the oscillator 12.

[0018] [Configuration of Welding Robot] As shown in FIG. 1, the welding robot 30 includes a robot hand 31 capable of holding the welding torch 11, and an articulated robot arm 32 capable of moving the robot hand 31 to a predetermined position. The robot hand 31 is configured to detachably grip the welding torch 11 configured as a separate body. Note that since known configurations can be adopted for the robot hand 31 and the robot arm 32, detailed descriptions thereof are omitted.

[0019] [Configuration of Robot Control Device] As shown in FIG. 1, the robot control device 40 includes a storage unit 41 (robot storage unit) that stores operation information of the welding robot 30, a program creation unit 42 that can create a welding process program based on program creation conditions set by the welding process program setting device 50, and a robot control unit 43 that can control the welding robot 30 based on the welding process program created by the program creation unit 42.

[0020] The storage unit 41 is configured to store operation information taught to the welding robot 30 by teaching (for example, direct teaching). Specifically, the storage unit 41 is configured to store, as operation information, the movement stroke of the welding robot 30, the movement mode of the welding robot 30, the welding start position and the welding end position in the movement stroke, and the welding mode for the welding parts of a plurality of workpieces.

[0021] The "movement stroke" is information indicating the movement process from the movement start position to the movement end position of the robot hand 31 of the welding robot 30. In the present embodiment, the storage unit 41 is configured to store, as the movement stroke, the movement start position of the robot hand 31, one or more movement reference positions of the robot hand 31, and the movement end position (the last movement reference position) of the robot hand 31. Note that the "movement reference position" is information indicating a position that serves as an index for the movement of the robot hand 31. For example, when the storage unit 41 stores the first movement reference position and the second movement reference position as the movement reference positions, the robot hand 31 first moves from the movement start position toward the first movement reference position, and then moves from the first movement reference position toward the second movement reference position, and the movement ends at the second movement reference position (movement end position).

[0022] Note that the number of movement reference positions is appropriately changed according to the shape of the workpiece to be welded, etc. In the present embodiment, as an example, the case where the storage unit 41 stores from the first movement reference position to the sixth movement reference position will be described.

[0023] The "movement mode" is information indicating how the robot hand 31 of the welding robot 30 moves. In the present embodiment, the storage unit 41 is configured to store a linear movement mode and a curved movement mode as movement modes.

[0024] Note that the movement mode is appropriately changed according to the shape of the workpiece to be welded and the like. In the present embodiment, as an example, the movement mode from the second movement reference position via the third movement reference position to the fourth movement reference position until reaching the fourth movement reference position is a curved movement mode, and the case where other movement modes are linear movement modes will be described.

[0025] The "welding start position" is a position within the movement reference positions where welding by the welding machine 10 is started. In the present embodiment, the storage unit 41 is configured to be able to store at least the first welding start position and the second welding start position as the welding start positions.

[0026] Note that the number of welding start positions is appropriately changed according to the shape of the workpiece to be welded and the like. Therefore, the storage unit 41 may store only the first welding start position as the welding start position, or may store other welding start positions (for example, the third welding start position, etc.) in addition to the first welding start position and the second welding start position. In the present embodiment, as an example, the case where the storage unit 41 stores the first welding start position and the second welding start position will be described. Specifically, the case where the first welding start position is the second movement reference position and the second welding start position is the fourth movement reference position will be described.

[0027] The "welding end position" is a position within the movement reference positions where welding by the welding machine 10 is ended. This welding end position is stored in the storage unit 41 only when the welding mode is the continuous irradiation mode described later, and is not stored in the storage unit 41 when the welding mode is the spot irradiation (spot welding) mode described later. In the present embodiment, as an example, the case where the welding end position is the fifth movement reference position will be described.

[0028] The "welding mode" is information indicating how to weld the welded parts of a plurality of workpieces. In the present embodiment, the storage unit 41 is configured to store, as the welding mode, the mode of continuous irradiation from the welding start position to the welding end position and the mode of spot irradiation at the welding start position. In the present embodiment, as an example, a case where the welding mode at the first welding start position is the mode of spot irradiation and the welding mode at the second welding start position is the mode of continuous irradiation will be described.

[0029] The operation information of the welding robot 30 stored in the storage unit 41 is transmitted to the welding process program setting device 50 and displayed on a program creation condition setting screen 51a (to be described later) of the welding process program setting device 50.

[0030] In addition, the storage unit 41 is configured to store the welding process program created by the program creation unit 42 and a welding process condition list L2 (to be described later) acquired from the welding process program setting device 50. Specifically, the storage unit 41 is configured to store the welding process program and the welding process condition list L2 created when the program creation conditions for the welding process program are set in the welding process program setting device 50 in association with each other. By storing the welding process program and the welding process condition list L2 in association with each other in the storage unit 41, there is an advantage that welding can be performed again based on the past welding process program and welding process conditions.

[0031] The program creation unit 42 is configured to create a welding process program based on the program creation conditions acquired from the welding process program setting device 50. Specifically, the program creation unit 42 is configured to create a welding process program based on the operation information of the welding robot 30 and the welding process conditions of the welding machine 10 included in the program creation conditions.

[0032] The robot control unit 43 is configured to control the welding robot 30 based on the welding program stored in the storage unit 41. The processes executable by the robot control unit 43 (the configuration of the robot control unit 43) will be described later.

[0033] Note that the robot control device 40 according to the present embodiment may be arranged independently of the welding robot 30, or may be integrated or integrally formed with the welding robot 30.

[0034] [Configuration of Welding Program Setting Device] The welding program setting device 50 is, for example, a personal computer, a tablet terminal, or the like. In the present embodiment, the welding program setting device 50 is a tablet terminal that can be held and carried by an operator. Specifically, as shown in FIG. 1, the welding program setting device 50 includes a display unit 51 capable of displaying a program creation condition setting screen 51a for setting program creation conditions of a welding program including operation information of the welding robot 30 capable of holding the welding torch 11 of the welding machine 10 and welding processing conditions of the welding machine 10, and a storage unit 52 (welding processing storage unit) for storing a plurality of welding processing conditions.

[0035] Also, as shown in FIG. 1, the welding program setting device 50 includes a welding processing control unit 53 capable of controlling at least the welding machine 10 based on the welding program. That is, the welding program setting device 50 according to the present embodiment also functions as a welding processing control device capable of controlling at least the welding machine 10 based on the welding program.

[0036] In the present embodiment, the welding process program setting device 50 has been described as functioning as a welding process control device. However, the present invention is not limited to this, and the welding process program setting device 50 and the welding process control device may be configured as independent devices. That is, the welding process system 1 may include a welding process program setting device 50 capable of setting program creation conditions for a welding process program, and a welding process control device including a welding process control unit 53 capable of controlling at least the welding machine 10 based on the welding process program created based on the program creation conditions set by the welding process program setting device 50.

[0037] The display unit 51 is a display capable of displaying various types of information. In the present embodiment, the display unit 51 is a touch panel capable of displaying various types of information and receiving an input operation by an operator. That is, the display unit 51 also functions as an operation unit for receiving an input operation by an operator. In the present embodiment, the display unit 51 and the operation unit have been described as being integrally configured. However, the present invention is not limited to this, and for example, the operation unit may be configured by a keyboard, a mouse, or the like and may be configured independently of the display unit 51.

[0038] FIG. 2 is a diagram showing a program creation condition setting screen. FIG. 3 is a diagram showing a welding process condition list screen. FIG. 4 is a diagram showing a welding process start screen.

[0039] As shown in FIGS. 2 to 4, the display unit 51 is configured to be able to display a program creation condition setting screen 51a for setting welding process program creation conditions, a welding process condition list screen 51b capable of creating and editing a welding process condition list L2, and a welding process start screen 51c for starting a welding process.

[0040] Below the program creation condition setting screen 51a, the welding process condition list screen 51b, and the welding process start screen 51c, there are icons for "Program Creation Condition Setting" corresponding to the program creation condition setting screen 51a, an icon for "Welding Process Condition List" corresponding to the welding process condition list screen 51b, and an icon for "Welding Process Start" corresponding to the welding process start screen 51c. And the display unit 51 is configured to display a screen corresponding to the icon selected by the operator from these icons of "Program Creation Condition Setting", "Welding Process Condition List", and "Welding Process Start". For example, when the operator selects the icon for "Program Creation Condition Setting", the display unit 51 is configured to display the program creation condition setting screen 51a.

[0041] Note that in this specification, an "icon" is a figure or emoji indicating predetermined information.

[0042] As shown in FIG. 2, the program creation condition setting screen 51a is configured to be able to display the operation information of the welding robot 30 acquired from the robot control device 40. In this embodiment, the program creation condition setting screen 51a is configured to be able to display a welding process list L1 showing the operation information of the welding robot 30 acquired from the robot control device 40 as a welding process. By having such a configuration, there is an advantage that it is easy for the operator to visually recognize the operation information of the welding robot 30.

[0043] As shown in FIG. 2, the welding process list L1 includes an item of "P". Here, "P" in the welding process list L1 indicates the movement reference position of the welding robot 30 included in the operation information of the welding robot 30 acquired from the robot controller 40. In the present embodiment, since the operation information of the welding robot 30 acquired from the robot controller 40 includes the first to sixth movement reference positions as the movement reference positions of the welding robot 30, items of "P1" to "P6" are displayed on the program creation condition setting screen 51a. Thus, the number of items of "P" displayed on the program creation condition setting screen 51a corresponds to the number of movement reference positions of the welding robot 30 included in the operation information of the welding robot 30 acquired from the robot controller 40.

[0044] Each item of "P" in the welding process list L1 is configured to display the movement mode of the welding robot 30 included in the operation information of the welding robot 30 acquired from the robot controller 40. Specifically, the program creation condition setting screen 51a is configured to display the straight-line movement mode as an icon of "Line" and the curved-line movement mode as an icon of "Circle" among the movement modes of the welding robot 30 included in the operation information of the welding robot 30 acquired from the robot controller 40.

[0045] In the present embodiment, since the operation information of the welding robot 30 acquired from the robot controller 40 includes information that the movement mode from the second movement reference position through the third movement reference position to the fourth movement reference position is a curved-line movement mode and other movement modes are straight-line movement modes, icons of "Line" are displayed in the items of "P1", "P2", "P5", and "P6", an icon of "Circle1" is displayed in the item of "P3", and an icon of "Circle2" is displayed in the item of "P4".

[0046] In each "P" item of the welding process list L1, the welding start position, the welding end position, and the welding mode included in the operation information of the welding robot 30 acquired from the robot control device 40 are configured to be displayed. Specifically, the program creation condition setting screen 51a is configured to display the welding start position included in the operation information of the welding robot 30 acquired from the robot control device 40 as an "on" icon or a "spot" icon, and display the welding end position as an "off" icon. Further, the program creation condition setting screen 51a is configured to display the continuous irradiation mode as an "on" icon and the spot irradiation mode as a "spot" icon among the welding modes included in the operation information of the welding robot 30 acquired from the robot control device 40.

[0047] In this embodiment, since the operation information of the welding robot 30 acquired from the robot control device 40 includes information that the first welding start position is the second movement reference position and the welding mode at the first welding start position is the spot irradiation mode, a "spot" icon is displayed in the item of "P2". Also, in this embodiment, since the operation information of the welding robot 30 acquired from the robot control device 40 includes information that the second welding start position is the fourth movement reference position, the welding end position is the fifth movement reference position, and the welding mode at the second welding start position is the continuous irradiation mode, an "on" icon is displayed in the item of "P4" and an "off" icon is displayed in the item of "P5".

[0048] The program creation condition setting screen 51a is configured to be able to set detailed conditions regarding the welding process for each piece of operation information ("movement mode", "welding start position", "welding end position", and "welding mode") of the welding robot 30 set in each "P" item of the welding process list L1. Specifically, the program creation condition setting screen 51a is configured to be able to set detailed conditions regarding the welding process for each icon ("Line", "Circle1", "Circle2", "spot", "on", or "off") displayed in the welding process list L1.

[0049] FIG. 5 is a diagram showing a linear movement condition setting screen displayed when the "Line" icon is selected. FIG. 6 is a diagram showing a spot irradiation condition setting screen displayed when the "spot" icon is selected. FIG. 7 is a diagram showing a welding end condition setting screen displayed when the "off" icon is selected.

[0050] As shown in FIGS. 5 to 7, the program creation condition setting screen 51a is configured to be able to display a detailed condition setting screen 60 capable of setting detailed conditions related to welding when the icon displayed in the welding process list L1 is operated by an operator. Further, the program creation condition setting screen 51a is configured to be able to display different detailed condition setting screens 60 according to the icon selected by the operator.

[0051] Here, when the "Line" icon is selected by the operator, the program creation condition setting screen 51a displays a linear movement condition setting screen 60a (see FIG. 5), and when the "Circle1" or "Circle2" icon is selected by the operator, a curve movement condition setting screen (not shown) is displayed. Further, when the "spot" icon is selected by the operator, the program creation condition setting screen 51a displays a spot irradiation condition setting screen 60b (see FIG. 6), and when the "on" icon is selected by the operator, a continuous irradiation condition setting screen (not shown) is displayed. Furthermore, when the "off" icon is selected by the operator, the program creation condition setting screen 51a displays a welding end condition setting screen 60c (see FIG. 7).

[0052] In this embodiment, as an example, the conditions that can be set on the linear movement condition setting screen 60a, the spot irradiation condition setting screen 60b, and the welding end condition setting screen 60c will be described.

[0053] As shown in FIG. 5, on the linear movement condition setting screen 60a, the movement speed of the welding robot 30 and the conditions of the pressing force during processing are configured to be settable. As shown in FIG. 6, on the spot irradiation condition setting screen 60b, the touch stop speed, the trigger 2 OFF condition, the preflow time, and the movement amount condition at the time of filler cutting, and the welding processing conditions for performing welding processing by the welding machine 10 are configured to be settable. As shown in FIG. 7, on the welding end condition setting screen 60c, the trigger 2 OFF condition, the afterflow time, and the movement amount condition at the time of filler cutting are configured to be settable.

[0054] Thus, on the program creation condition setting screen 51a according to this embodiment, for each piece of operation information of the welding robot 30 set in each "P" item of the welding process list L1, detailed conditions regarding welding processing can be set, so there is an advantage of high convenience.

[0055] Regarding the condition items displayed on the linear movement condition setting screen 60a, the curved movement condition setting screen, the spot irradiation condition setting screen 60b, the continuous irradiation condition setting screen, and the welding end condition setting screen 60c, the operator can set any item.

[0056] Also, the welding processing conditions can be set only on the spot irradiation condition setting screen 60b or the continuous irradiation condition setting screen. In other words, the operator can set the welding processing conditions only when the "spot" icon or the "on" icon is selected.

[0057] Thus, on the program creation condition setting screen 51a according to this embodiment, the operation information of the welding robot 30 is configured to be displayable, and the welding processing conditions of the welding machine 10 can be configured to be settable via the spot irradiation condition setting screen 60b or the continuous irradiation condition setting screen. Specifically, on the program creation condition setting screen 51a, the welding processing conditions can be configured to be settable for each welding start position (in this embodiment, the first welding start position and the second welding start position). Therefore, the operator can set different welding processing conditions for each welding start position.

[0058] The spot irradiation condition setting screen 60b and the continuous irradiation condition setting screen are each configured to be able to select a predetermined welding processing condition from a plurality of welding processing conditions stored in the storage unit 52. In the present embodiment, the spot irradiation condition setting screen 60b and the continuous irradiation condition setting screen are each configured to be able to select a predetermined welding processing condition from a welding processing condition list L2, which will be described later, stored in the storage unit 52. Specifically, the spot irradiation condition setting screen 60b and the continuous irradiation condition setting screen are each configured to be able to display a pull-down menu for selecting the processing condition number of the welding processing condition list L2 stored in the storage unit 52, and are configured to be able to select a desired welding processing condition from the pull-down menu. For example, when the processing condition number "1" is selected from the pull-down menu, the welding processing condition of the processing condition number "1" in the welding processing condition list L2 stored in the storage unit 52 is set.

[0059] Thus, on the program creation condition setting screen 51a according to the present embodiment, a predetermined welding processing condition can be selected from a plurality of welding processing conditions stored in the storage unit 52 via the spot irradiation condition setting screen 60b or the continuous irradiation condition setting screen. Specifically, the program creation condition setting screen 51a is configured to be able to select a predetermined welding processing condition from the welding processing condition list L2 stored in the storage unit 52 via the spot irradiation condition setting screen 60b or the continuous irradiation condition setting screen.

[0060] The program creation conditions set on the program creation condition setting screen 51a are transmitted to the robot control device 40 together with the welding processing condition list L2 created when setting the program creation conditions. Then, as described above, the program creation unit 42 of the robot control device 40 creates a welding processing program based on the program creation conditions acquired from the welding processing program setting device 50, and the storage unit 41 of the robot control device 40 stores the welding processing program and the welding processing condition list L2 in association with each other.

[0061] As shown in FIG. 3, the welding processing condition list screen 51b is configured to be able to display the welding processing condition list L2. The welding processing condition list L2 includes items such as a processing condition number, a laser power, a wobbling frequency, a wobbling width, a slope up, and a slope down. In the present embodiment, the information set for each item of the laser power, the wobbling frequency, the wobbling width, the slope up, and the slope down becomes the welding processing condition. Note that the items of the welding processing condition list L2 are not limited to these, and an operator can set arbitrary items.

[0062] In addition, the welding processing condition list screen 51b is configured to be able to set each item in the welding processing condition list L2 by executing at least one of the following modes (1) to (4). (1) A mode in which an operator inputs information to each item of the welding processing condition list L2. (2) A mode in which an operator operates the "acquire" button displayed on the welding processing condition list screen 51b to acquire the welding processing conditions stored in the storage unit 21 from the welding machine control device 20, and information is set to each item of the welding processing condition list L2. (3) A mode in which in each of the pull-down menus for the material of the workpiece and the plate thickness of the workpiece displayed on the welding processing condition list screen 51b, when a predetermined material and plate thickness are selected by the operator, information suitable for the selected material and plate thickness is set for each item in the welding processing condition list L2. (4) A mode in which an operator operates a button with any number (1 to 9 in FIG. 3) of the processing condition numbers displayed on the welding processing condition list screen 51b to acquire the condition name list of the welding processing conditions stored in the storage unit 21 from the welding machine control device 20. Thereafter, when a desired condition name is selected from the condition name list by the operator, information is set for each item (that is, the item of the laser power, etc.) of the welding processing condition at the processing condition number operated by the operator.

[0063] In addition, the welding process condition list screen 51b is configured to be able to create a welding process condition list L2 for each welding process program. Therefore, the welding process condition list screen 51b is configured to be able to create different welding process condition lists L2 for each welding process program.

[0064] As shown in FIG. 4, the welding start screen 51c is configured to be able to display at least the welding process list L1 set on the program creation condition setting screen 51a and a "START" button for starting the welding process. When the "START" button displayed on the welding start screen 51c is operated, a welding start notification is sent from the welding process program setting device 50 to the robot control device 40, and the robot control unit 43 of the robot control device 40 executes processing based on the welding process program.

[0065] The storage unit 52 is configured to store a plurality of welding process conditions. In the present embodiment, the storage unit 52 is configured to store the welding process condition list L2 created and edited by the welding process condition list screen 51b. Note that the storage unit 52 may store the welding process condition list L2 only until the welding process condition list L2 is transmitted to the robot control device 40, or may store the welding process condition list L2 even after the welding process condition list L2 is transmitted to the robot control device 40.

[0066] The welding process control unit 53 is configured to control the welding machine 10 based on the welding process program created by the program creation unit 42 of the robot control device 40. Specifically, the welding process control unit 53 is configured to be able to change the setting of the welding process conditions in the welding machine 10 according to the welding start position during the execution of the welding process program.

[0067] Note that even when the welding process program includes other welding start positions (for example, a third welding start position, etc.) in addition to the first welding start position and the second welding start position, the welding process control unit 53 can execute the same control.

[0068] [Processes Executable by the Welding Machine Control Unit, Robot Control Unit, and Welding Process Control Unit] The welding machine control unit 22, robot control unit 43, and welding process control unit 53 are configured to be able to execute the following processes (1) to (8). (1) The welding process control unit 53 instructs the welding machine control unit 22 to change the setting of the welding process conditions in the welding machine 10 to the welding process conditions corresponding to the first welding start position. (2) Based on the instruction obtained from the welding process control unit 53, the welding machine control unit 22 changes the setting of the welding process conditions in the welding machine 10 to the welding process conditions corresponding to the first welding start position. (3) The robot control unit 43 operates the welding robot 30 from the first welding start position and temporarily stops the operation of the welding robot 30 at the second welding start position. (4) The robot control unit 43 sends an operation temporary stop notification indicating that the operation of the welding robot 30 has been temporarily stopped to the welding process control unit 53. (5) After receiving the operation temporary stop notification from the robot control unit 43, the welding process control unit 53 instructs the welding machine control unit 22 to change the setting of the welding process conditions in the welding machine 10 to the welding process conditions corresponding to the second welding start position. (6) Based on the instruction obtained from the welding process control unit 53, the welding machine control unit 22 changes the setting of the welding process conditions in the welding machine 10 to the welding process conditions corresponding to the second welding start position. (7) The welding process control unit 53 sends a condition change notification indicating that the setting of the welding process conditions in the welding machine 10 has been changed to the robot control unit 43. (8) After the robot control unit 43 receives the condition change notification from the welding process control unit 53, it resumes the operation of the welding robot 30.

[0069] Thereby, while changing the welding process conditions during the execution of the welding process program, a plurality of workpieces can be welded.

[0070] [Welding Process Method] FIG. 8 is a flowchart showing an example of the welding process. Next, with reference to FIG. 8, a welding method using the welding system 1 according to the present embodiment will be described. In the following, the case of performing welding based on the welding process list L1 shown in FIG. 4 will be described, and the case where the welding conditions are different between the first welding start position and the second welding start position will be described.

[0071] When the "START" button displayed on the welding start screen 51c is operated by the operator, the welding program setting device 50 transmits a welding start notification to the robot control device 40 (S1).

[0072] When the robot control device 40 acquires the welding start notification from the welding program setting device 50, the robot control unit 43 operates the welding robot 30 from the movement start position based on the welding program stored in the storage unit 41, and temporarily stops the operation of the welding robot 30 at the first welding start position (S2). Specifically, the robot control unit 43 causes the welding robot 30 to execute the following operations (1) to (3). (1) An operation of linearly moving from the movement start position toward the first movement reference position. (2) An operation of linearly moving from the first movement reference position toward the second movement reference position. (3) An operation of temporarily stopping at the first movement reference position (the first welding start position).

[0073] After temporarily stopping the operation of the welding robot 30, the robot control unit 43 transmits an operation temporary stop notification indicating that the operation of the welding robot 30 has been temporarily stopped to the welding process control unit 53 (S3).

[0074] The welding process control unit 53 that has acquired the operation temporary stop notification from the robot control unit 43 instructs the welding machine control unit 22 to change the setting of the welding process conditions in the oscillator 12 to the welding process conditions corresponding to the first welding start position (S4).

[0075] The welding machine control unit 22 that has acquired a command from the welding process control unit 53 changes the setting of the welding process conditions in the oscillator 12 to the welding process conditions corresponding to the first welding start position based on the command acquired from the welding process control unit 53 (S5), and transmits a change completion notification indicating that the change of the welding process conditions has been completed to the welding process control unit 53 (S6).

[0076] The welding process control unit 53 that has acquired the change completion notification from the welding machine control unit 22 transmits a condition change notification indicating that the setting of the welding process conditions in the welding machine 10 has been changed to the robot control unit 43 (S7). The robot control unit 43 that has acquired the condition change notification from the welding process control unit 53 resumes the operation of the welding robot 30 based on the welding process program and temporarily stops the operation of the welding robot 30 at the second welding start position (S8). Specifically, the robot control unit 43 causes the welding robot 30 to execute the following operations (1) to (3). (1) An operation of performing spot irradiation at the second movement reference position (the first welding start position). (2) An operation of performing curvilinear movement until reaching the fourth movement reference position via the third movement reference position from the second movement reference position. (3) An operation of temporarily stopping at the fourth movement reference position (the second welding start position).

[0077] After temporarily stopping the operation of the welding robot 30, the robot control unit 43 transmits an operation temporary stop notification indicating that the operation of the welding robot 30 has been temporarily stopped to the welding process control unit 53 (S9).

[0078] The welding process control unit 53 that has acquired the operation temporary stop notification from the robot control unit 43 commands the welding machine control unit 22 to change the setting of the welding process conditions in the oscillator 12 to the welding process conditions corresponding to the second welding start position (S10).

[0079] The welding machine control unit 22 that has acquired a command from the welding process control unit 53 changes the setting of the welding process conditions in the oscillator 12 to the welding process conditions corresponding to the second welding start position based on the command acquired from the welding process control unit 53 (S11), and transmits a change completion notification indicating that the change of the welding process conditions has been completed to the welding process control unit 53 (S12).

[0080] The welding process control unit 53 that has acquired the change completion notification from the welding machine control unit 22 transmits a condition change notification indicating that the setting of the welding process conditions in the welding machine 10 has been changed to the robot control unit 43 (S13). The robot control unit 43 that has acquired the condition change notification from the welding process control unit 53 resumes the operation of the welding robot 30 based on the welding process program (S14). Specifically, the robot control unit 43 causes the welding robot 30 to execute the following operations (1) and (2). (1) An operation of linearly moving from the fourth movement reference position to the fifth movement reference position and performing continuous irradiation from the fourth movement reference position (the second welding start position) to the fifth movement reference position (the welding end position). (2) An operation of linearly moving from the fifth movement reference position to the sixth movement reference position (the movement end position) and ending the welding process.

[0081] Through the above steps, while changing the welding process conditions during the execution of the welding process program, a plurality of workpieces can be welded. After that, when the welding process is completed, the robot control unit 43 transmits a welding process end notification indicating that the welding process has been completed to the welding process control unit 53 (S15).

[0082] In addition, in the welding process system 1 according to the present embodiment, the display unit 51 is configured to be able to display a welding process program list (not shown) indicating all the welding process programs stored in the storage unit 41 of the robot control device 40. By the operator selecting a desired welding process program from the welding process program list, the past welding process program is displayed on the program creation condition setting screen 51a, and the past welding process program can be edited and re-executed.

[0083] [Advantages of the Welding Program Setting Device According to this Embodiment] As described above, the welding program setting device 50 according to this embodiment includes a display unit 51 capable of displaying a program creation condition setting screen 51a for setting program creation conditions of a welding program including operation information of a welding robot 30 capable of holding a welding torch 11 of a welding machine 10 and welding processing conditions of the welding machine 10. The program creation condition setting screen 51a is configured to be capable of displaying operation information and is configured to be capable of setting welding processing conditions. The operation information includes a movement stroke of the welding robot 30 and a welding start position in the movement stroke. The welding start position includes at least a first welding start position and a second welding start position. The program creation condition setting screen 51a is configured to be capable of setting welding processing conditions for each of the first welding start position and the second welding start position.

[0084] According to the welding program setting device 50 having such a configuration, when setting the program creation conditions of the welding program, since the welding processing conditions can be set for each of the first welding start position and the second welding start position, there is an advantage that the welding processing conditions can be changed during the execution of the welding program. Also, different from the conventional welding device, since it is not necessary to change the setting of the welding processing conditions in the welding machine 10 each time before the execution of each welding program, there is an advantage that the working efficiency of the operator is improved. Further, different from the welding device described in Patent Document 1, since the welding torch 11 and the welding robot 30 are configured separately, it is possible to change between robot welding using the welding robot 30 and manual welding without using the welding robot 30 according to the workpiece, welding mode, etc., and there is an advantage of high versatility.

[0085] Also, the welding program setting device 50 according to this embodiment further includes a storage unit 52 that stores a plurality of welding processing conditions. The program creation condition setting screen 51a is configured to be capable of selecting a predetermined welding processing condition from the plurality of welding processing conditions stored in the storage unit 52. According to the welding program setting device 50 having such a configuration, there is an advantage that the setting of the welding processing conditions is easy.

[0086] Furthermore, in the welding process program setting device 50 according to the present embodiment, the display unit 51 is configured to be able to display a welding process condition list screen 51b capable of creating a welding process condition list L2. The welding process condition list screen 51b is configured to be able to create a welding process condition list L2 for each welding process program. The storage unit 52 is configured to be able to store the welding process condition list L2 created by the welding process condition list screen 51b. The program creation condition setting screen 51a is configured to be able to select a predetermined welding process condition from the welding process condition list L2 stored in the storage unit 52.

[0087] By the way, in a conventional welding device, after a welding process program is executed, the welding process program and the corresponding welding process conditions are stored in association with each other. Therefore, it is possible to perform welding again based on past welding process programs and welding process conditions. However, in a conventional welding device, one welding process condition list is created by a welding machine or a control device, and when executing a welding process program, a predetermined welding process condition is selected from the welding process condition list to set the welding process conditions for the welding process program. Therefore, for example, when the content of the welding process condition list stored in the welding machine or the control device is changed, the content of the welding process conditions stored in association with the welding process programs executed in the past may also be changed, which may cause problems in performing welding again based on past welding process programs and welding process conditions. In this regard, in the welding process program setting device 50 according to the present embodiment, since the welding process condition list screen 51b creates a welding process condition list L2 for each welding process program, the content of one welding process condition list L2 can be changed without changing the content of other welding process condition lists L2, and there is an advantage that welding can be performed again based on past welding process programs and welding process conditions.

[0088] In addition, the welding process program setting device 50 according to the present embodiment includes a welding process control unit 53 that can control at least the welding machine 10 based on the welding process program. The welding process control unit 53 is configured to be able to change the setting of the welding process conditions in the welding machine 10 according to the welding start position during the execution of the welding process program. According to the welding process program setting device 50 having such a configuration, there is an advantage that the welding process conditions can be changed during the execution of the welding process program. Also, different from the conventional welding device, there is an advantage that the work efficiency of the operator is improved because it is not necessary to change the setting of the welding process conditions in the welding machine 10 each time before the execution of each welding process program.

[0089] [Modification Example] The welding process program setting device, welding process control device, and welding process system according to the present invention are not limited to the above-described embodiments, and various modifications can be made without departing from the technical idea of the present invention.

[0090] For example, in the above-described embodiment, the spot irradiation condition setting screen 60b and the continuous irradiation condition setting screen are described as being configured to be able to select a predetermined welding process condition from a plurality of welding process conditions stored in the storage unit 52, but the present invention is not limited thereto. For example, in each of the spot irradiation condition setting screen 60b and the continuous irradiation condition setting screen, a mode similar to the setting mode of each item in the welding process condition list L2 of the welding process condition list screen 51b may be executed. Also, in the program creation condition setting screen 51a, a mode similar to the setting mode of the welding process conditions in the spot irradiation condition setting screen 60b and the continuous irradiation condition setting screen, and the setting mode of each item in the welding process condition list L2 of the welding process condition list screen 51b may be executed.

[0091] In the above-described embodiment, the program creation condition setting screen 51a has been described as being configured to be able to set detailed conditions related to welding for each operation information of the welding robot 30 set in each "P" item of the welding process list L1. However, the present invention is not limited to this. For example, the program creation condition setting screen 51a may be configured to be able to set detailed conditions related to welding for each "P" item of the welding process list L1. For example, the program creation condition setting screen 51a may be configured to display the detailed condition setting screen 60 when the "P" item of the welding process list L1 is operated by an operator. Further, in the detailed condition setting screen 60, detailed condition setting may be configured to be possible according to the operation information of the welding robot 30 set in the "P" item operated by the operator.

[0092] Furthermore, in the above-described embodiment, the welding process control unit 53 has been described as controlling only the welding machine 10. However, the present invention is not limited to this, and the welding process control unit 53 may control the welding machine 10 and the welding robot 30. That is, in the above-described embodiment, the welding machine 10 has been described as being controlled by the welding process control unit 53 via the welding machine control unit 22, and the welding robot 30 has been described as being controlled by the robot control unit 43. However, the welding robot 30 may be controlled by the welding process control unit 53 via the robot control unit 43.

[0093] In the above-described embodiment, the robot control device 40 has been described as having the program creation unit 42. However, the present invention is not limited to this, and the welding process program setting device 50 may have the program creation unit 42. That is, a welding process program may be created in the welding process program setting device 50.

[0094] It is clear from the description of the claims that such modifications as described above are included in the scope of the present invention.

Explanation of Reference Numerals

[0095] 1: Welding process system 10: Welding machine 11: Welding torch 12: Oscillator 20: Welding machine control device 21: Memory unit 22: Welding machine control section 30: Welding robot 31: Robot hand 32: Robot arm 40: Robot control device 41: Memory unit 42: Program creation section 43: Robot control section 50: Welding process program setting device 51: Display section 51a: Program creation condition setting screen 51b: Welding process condition list screen 51c: Welding process start screen 52: Memory unit 53: Welding process control section 60: Detailed condition setting screen 60a: Linear movement condition setting screen 60b: Spot irradiation condition setting screen 60c: Welding end condition setting screen L1: Welding process step list L2: Welding process condition list NW: Communication network

Claims

1. A display unit capable of displaying a program creation condition setting screen for setting program creation conditions of a welding process program including operation information of a welding robot capable of holding a welding torch of a welding machine and welding process conditions of the welding machine comprising: The program creation condition setting screen is configured to be able to display the operation information taught to the welding robot by teaching, and is configured to be able to set the welding process conditions, The operation information includes a moving stroke of the welding robot, a welding start position in the moving stroke, and a welding mode at the welding start position, The welding mode includes a mode of spot irradiation at the welding start position and a mode of continuous irradiation from the welding start position to the welding end position, The welding start position includes at least a first welding start position and a second welding start position, The program creation condition setting screen is configured to be able to set the welding process conditions for each of the first welding start position and the second welding start position, and is configured to be able to display a condition setting screen according to the welding mode A welding process program setting device.

2. Further comprising a storage unit for storing a plurality of the welding process conditions, The program creation condition setting screen is configured to be able to select a predetermined welding process condition from the plurality of welding process conditions stored in the storage unit The welding process program setting device according to claim 1.

3. The display unit is configured to be able to display a welding process condition list screen capable of creating a welding process condition list, The welding process condition list screen is configured to be able to create a welding process condition list for each of the welding process programs, The storage unit is configured to be able to store the welding process condition list created by the welding process condition list screen, The program creation condition setting screen is configured to be able to select a predetermined welding process condition from the welding process condition list stored in the storage unit The welding process program setting device according to claim 2.

4. Comprising a welding process control unit capable of controlling at least the welding machine based on the welding process program created based on the program creation conditions set by the welding process program setting device according to any one of claims 1 to 3 The welding process control unit is configured to be able to change the setting of the welding process conditions in the welding machine according to the welding start position during the execution of the welding process program. Welding process control device. **Claim 5** A program creation unit capable of creating the welding process program based on the program creation conditions set by the welding process program setting device according to any one of claims 1 to 3, A welding machine including a welding torch, A welding robot capable of holding the welding torch, A welding process control unit capable of controlling at least the welding machine based on the welding process program created by the program creation unit and comprising The welding process control unit is configured to be able to change the setting of the welding process conditions in the welding machine according to the welding start position during the execution of the welding process program. Welding process system. **Claim 6** A welding machine control unit capable of controlling the welding machine, A robot control unit capable of controlling the welding robot based on the welding process program and further comprising The welding process control unit instructs the welding machine control unit to change the setting of the welding process conditions in the welding machine to the welding process conditions corresponding to the first welding start position, The welding machine control unit changes the setting of the welding process conditions in the welding machine to the welding process conditions corresponding to the first welding start position based on the command obtained from the welding process control unit, The robot control unit operates the welding robot from the first welding start position and temporarily stops the operation of the welding robot at the second welding start position, The robot control unit transmits an operation temporary stop notice indicating that the operation of the welding robot has been temporarily stopped to the welding process control unit, After receiving the operation temporary stop notice from the robot control unit, the welding process control unit instructs the welding machine control unit to change the setting of the welding process conditions in the welding machine to the welding process conditions corresponding to the second welding start position, The welding machine control unit changes the setting of the welding process conditions in the welding machine to the welding process conditions corresponding to the second welding start position based on the command obtained from the welding process control unit, The welding process control unit transmits a condition change notice indicating that the setting of the welding process conditions in the welding machine has been changed to the robot control unit. After receiving the condition change notification from the welding process control unit, the robot control unit resumes the operation of the welding robot. The welding process system according to claim 5.

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