Welding system

Abstract

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

Description

Technical Field

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

Background Art

[0002] In large buildings such as high-rise buildings, steel pipe columns formed by welding square steel pipes are used. For adding square steel pipes, a welding robot that can travel around the steel pipe along a guide rail is used.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In order to ensure the welding quality by a welding robot, an operator may remotely operate the welding robot and adjust the aiming position of the welding torch. In this case, since the operator adjusts the aiming position of the welding torch while looking at the welding location displayed on the display unit, it has been difficult to operate a plurality of welding robots simultaneously.

[0005] The present invention has been made in view of the above circumstances, and an object thereof is to provide a welding system capable of operating a plurality of welding robots simultaneously.

Means for Solving the Problems

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

[0007] The display unit can show a first-direction image, a first-opposite-side image, a second-direction image, and a second-opposite-side image, allowing an operator to control multiple welding robots simultaneously. Furthermore, the steel materials welded by the first welding robot and the second welding robot are different. For example, if the first steel material welded by the first welding robot and the second steel material welded by the second welding robot are located in different positions, it becomes extremely difficult to operate multiple welding robots simultaneously. Therefore, the aforementioned effects are significantly enhanced.

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

[0009] <2> the above <1> In the welding system relating to the present invention, the first welding robot can weld the first groove while moving it in a direction opposite to the first direction, the second welding robot can weld the second groove while moving it in a direction opposite to the second direction, and the display control means may adopt a configuration in which it determines the display position on the display unit, which is the display position of the image on the first direction side, the display position on the display unit, which is the display position of the image on the first opposite side, the display position on the display unit, which is the display position of the image on the second direction side, and the display position on the display unit, which is the display position of the image on the second opposite side, according to at least one of the direction in which the first welding robot moves and the direction in which the second welding robot moves.

[0010] The above configuration makes it possible to prevent the operator from mistakenly recognizing the image on the side in which the first and second welding robots are moving as the image on the opposite side of the direction in which the first and second welding robots are moving.

[0011] <3> the above <1> or <2> The welding system further comprises a first erection jig position information acquisition means for acquiring first erection jig position information indicating the position of a first erection jig provided on the first steel material, and a second erection jig position information acquisition means for acquiring second erection jig position information indicating the position of a second erection jig provided on the second steel material, and the display control means may adopt a configuration in which it determines the display position in the display unit which is the display position of the first direction side image, the display position in the display unit which is the display position of the first opposite side image, the display position in the display unit which is the display position of the second direction side image, and the display position in the display unit which is the display position of the second opposite side image, according to at least one of the first erection jig position information acquired by the first erection jig position information acquisition means and the second erection jig position information acquired by the second erection jig position information acquisition means.

[0012] The above configuration prevents a decrease in operator visibility due to blind spots caused by the construction jig.

[0013] <4> the above <1> ~ <3> A welding system relating to any one of the above may further include a receiving means for receiving a first instruction, and the display control means may adopt a configuration in which, when the receiving means receives the first instruction, the display unit controls the display unit so that the display position of the first direction side image on the display unit is brought closer to the display position of the second direction side image on the display unit.

[0014] The above configuration improves the visibility of the operator's first-direction and second-direction images, thereby improving the accuracy of operation of the first and second welding robots.

[0015] <5> the above <4> In the welding system relating to the present invention, the display control means may, when the receiving means receives the first instruction, swap the display position of the first direction-side image on the display unit with the display position of the first opposite-side image on the display unit, thereby controlling the display unit so that the display position of the first direction-side image and the display position of the second direction-side image are close together.

[0016] With the above configuration, the display positions of the first direction image and the second direction image can be brought close together without causing discomfort to the operator, thereby improving the operator's visibility of both the first and second direction images.

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

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

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

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

[0021] According to the present invention, it is possible to provide a welding system capable of operating a plurality of welding robots simultaneously.

Brief Description of the Drawings

[0022] [Figure 1] It is a block diagram for explaining the outline of the welding system according to the first embodiment. [Figure 2] It is an overall view showing the welding system according to the first embodiment. [Figure 3] It is a system block diagram of (a) the first control device and (b) the second control device according to the first embodiment. [Figure 4] It is a system block diagram of (a) the first display device and (b) the second display device according to the first embodiment. [Figure 5] It is a diagram showing an example of a screen displayed on the display unit according to the first embodiment. [Figure 6] It is a diagram showing an example of a screen displayed on the display unit according to the first embodiment. [Figure 7] It is a diagram showing an example of a screen displayed on the display unit according to the first embodiment. [Figure 8] It is a block diagram for explaining the outline of the welding system according to the second embodiment. [Figure 9] It is a diagram showing an example of a screen displayed on the display unit according to the second embodiment.

Modes for Carrying Out the Invention

[0023] 〔First Embodiment〕 Hereinafter, referring to the drawings, the welding system 100 according to the first embodiment of the present invention will be described.

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

[0025] The first welding robot 1A is used to weld the first groove of the first steel material. The second welding robot 1B is used to weld the second groove of the second steel material, which is different from the first steel material. In other words, the welding system 100 can simultaneously weld the first groove of the first steel material and the second groove of the second steel material by simultaneously operating the first welding robot 1A and the second welding robot 1B. The first and second steel materials are, for example, steel pipes. The first and second steel materials may also be flat plates, H-beams, etc.

[0026] In this embodiment, as shown in Figure 2, the first steel material is the first steel pipe 8A and the second steel material is the second steel pipe 8B. Specifically, the following description will be based on the example where the first welding robot 1A is used to weld a groove formed between the ends of the first steel pipes 8A arranged vertically, which serves as the first groove of the first steel material, and the second welding robot 1B is used to weld a groove formed between the ends of the second steel pipes 8B arranged vertically, which serves as the second groove of the second steel material. In this embodiment, the first welding robot 1A and the second welding robot 1B have similar configurations. Therefore, the specific configurations of the first welding robot 1A and the second welding robot 1B will be described below using the same drawing (Figure 2).

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

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

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

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

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

[0032] The first control unit 21A is connected to the first control device 3A via the first relay device 4A so as to be able to communicate, and controls the operation of the first welding robot 1A under the control of the first control device 3A. That is, the first control unit 21A controls the operation of the first welding robot 1A based on the first control signal generated by the first control device 3A.

[0033] The first motor 22A is a motor that drives the first welding robot 1A. The first motor 22A includes a servo motor that moves the first welding robot 1A along the first guide rail 2A. Each of the first motors 22A is driven by being controlled by the first control unit 21A.

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

[0035] The first direction camera 15A and the first opposite-side camera 16A capture images of the groove formed between the ends of the first steel pipe 8A. For example, the first direction camera 15A and the first opposite-side camera 16A capture images of the welding area of ​​the first steel pipe 8A and the first erection jig 9A during the sensing process before welding. In addition, the first direction camera 15A and the first opposite-side camera 16A capture images of the welding process performed by the first welding robot 1A during the welding process. The image or video data acquired by the first direction camera 15A (hereinafter referred to as "first direction image data") and the image or video data acquired by the first opposite-side camera 16A (hereinafter referred to as "first opposite-side image data") are output to the first control device 3A via the first relay device 4A.

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

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

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

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

[0040] The second control unit 21B is connected to the second control device 3B via the second relay device 4B in a communicative manner, and controls the operation of the second welding robot 1B under the control of the second control device 3B. In other words, the second control unit 21B controls the operation of the second welding robot 1B based on the second control signal generated by the second control device 3B.

[0041] The second motor 22B is a motor that drives the second welding robot 1B. The second motor 22B includes a servo motor that moves the second welding robot 1B along the second guide rail 2B. Each of the second motors 22B is driven by being controlled by the first control unit 21A.

[0042] The second welding torch 13B is used to weld the ends of the second steel pipe 8B together. Welding with the second welding torch 13B is performed, for example, by arc welding. A welding wire (not shown) is placed inside the second welding torch 13B. The second welding robot 1B is equipped with a welding power supply (not shown) that applies voltage between the second steel pipe 8B and the second welding torch 13B, and a wire feeding device (not shown) that supplies the welding wire to the second welding torch 13B. The welding power supply and wire feeding device are connected to the second control device 3B via a second relay device 4B. The welding power supply and wire feeding device may also be connected to the second control device 3B without going through the second relay device 4B.

[0043] The second direction camera 15B and the second opposite-side camera 16B capture images of the groove formed between the ends of the second steel pipe 8B. For example, the second direction camera 15B and the second opposite-side camera 16B capture images of the welding area of ​​the second steel pipe 8B and the second erection jig 9B during the sensing process before welding. In addition, the second direction camera 15B and the second opposite-side camera 16B capture images of the welding process performed by the second welding robot 1B during the welding process. The image or video data acquired by the second direction camera 15B (hereinafter referred to as "second direction image data") and the image or video data acquired by the second opposite-side camera 16B (hereinafter referred to as "second opposite-side image data") are output to the second control device 3B via the second relay device 4B.

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

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

[0046] [Configuration of the welding robot] Next, the configurations of the first welding robot 1A and the second welding robot 1B will be described with reference to Figure 2.

[0047] The first welding robot 1A comprises a first main body 11A, a first welding torch 13A, a first support unit 14A, a first direction-side camera 15A, and a first opposite-side camera 16A.

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

[0049] The first support portion 14A is provided between the first main body portion 11A and the first welding torch 13A, and supports the first welding torch 13A. The first support portion 14A is movable relative to the first main body portion 11A in a first proximity / isolation direction. The first proximity / isolation direction is a direction perpendicular to the vertical direction and the first direction D1. By moving the first support portion 14A relative to the first main body portion 11A in the first proximity / isolation direction, the first welding torch 13A can be moved closer to or further away from the first steel pipe 8A. The first support portion 14A also supports the first welding torch 13A so that it can rotate around the B axis and the T axis. The B axis is an axis parallel to the first direction D1. The T axis is an axis parallel to the vertical direction.

[0050] The first direction camera 15A and the first opposite-side camera 16A are mounted on the first support unit 14A. The first direction camera 15A and the first opposite-side camera 16A are mounted on the first support unit 14A in a manner that is not affected by the orientation of the first welding torch 13A. The first direction camera 15A and the first opposite-side camera 16A are positioned so as not to interfere with the first erection jig 9A when the first welding robot 1A is traveling. The first direction camera 15A and the first opposite-side camera 16A are each movable to any position in the vertical direction relative to the first welding robot 1A and are rotatable at any angle around an axis along the vertical direction. This increases the degree of freedom of the shooting angle of the first direction camera 15A and the first opposite-side camera 16A.

[0051] The first direction camera 15A and the first opposite-side camera 16A are installed on both sides of the first welding robot 1A in the width direction. The width direction of the first welding robot 1A is the direction parallel to the first direction D1. Specifically, the first direction camera 15A is provided on the side of the first welding robot 1A facing the first direction D1, and the first opposite-side camera 16A is provided on the side of the first welding robot 1A opposite to the first direction D1. As a result, when the first welding robot 1A is moving toward the first direction D1, the first direction camera 15A can image the welding area in front of the first welding robot 1A, i.e., the area to be welded, and the first opposite-side camera 16A can image the welding area behind the first welding robot 1A, i.e., the welded area. When the first welding robot 1A travels toward the opposite side of the first direction D1, the first opposite-side camera 16A can image the welding area in front of the first welding robot 1A, i.e., the area to be welded, and the first-direction side camera 15A can image the welding area behind the first welding robot 1A, i.e., the welded area.

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

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

[0054] The second support portion 14B is provided between the second main body portion 11B and the second welding torch 13B, and supports the second welding torch 13B. The second support portion 14B is movable relative to the second main body portion 11B in a second proximity / isolation direction. The second proximity / isolation direction is a direction perpendicular to the vertical direction and the second direction D2. By moving the second support portion 14B relative to the second main body portion 11B in the second proximity / isolation direction, the second welding torch 13B can be moved closer to or further away from the second steel pipe 8B. The second support portion 14B also supports the second welding torch 13B so that it can rotate around the B axis and around the T axis.

[0055] The second direction camera 15B and the second opposite-side camera 16B are attached to the second support unit 14B. The second direction camera 15B and the second opposite-side camera 16B are attached to the second support unit 14B in a manner that is not affected by the posture of the second welding torch 13B. The second direction camera 15B and the second opposite-side camera 16B may move in conjunction with the Z-axis. The second direction camera 15B and the second opposite-side camera 16B are positioned so as not to interfere with the second erection jig 9B when the second welding robot 1B is traveling. The second direction camera 15B and the second opposite-side camera 16B are each movable to any position vertically relative to the second welding robot 1B and can rotate at any angle around an axis along the vertical direction. This increases the degree of freedom of the shooting angle of the second direction camera 15B and the second opposite-side camera 16B.

[0056] The second direction camera 15B and the second opposite-side camera 16B are installed on both sides of the second welding robot 1B in the width direction. The width direction of the second welding robot 1B is the direction parallel to the second direction D2. Specifically, the second direction camera 15B is installed on the side of the second welding robot 1B in the second direction D2, and the second opposite-side camera 16B is installed on the side of the second welding robot 1B opposite to the second direction D2. As a result, when the second welding robot 1B is moving toward the second direction D2, the second direction camera 15B can image the welding area in front of the second welding robot 1B, i.e., the area to be welded, and the second opposite-side camera 16B can image the welding area behind the second welding robot 1B, i.e., the welded area. When the second welding robot 1B is traveling in the opposite direction of the second direction D2, the second opposite-side camera 16B can capture an image of the welding area in front of the second welding robot 1B, i.e., the area to be welded, and the second-direction side camera 15B can capture an image of the welding area behind the second welding robot 1B, i.e., the welded area.

[0057] [Control system for welding systems] Next, the control system of the welding system 100 will be described with reference to Figures 3 and 4.

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

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

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

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

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

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

[0064] The welding execution control unit 322A controls the movement of the first welding robot 1A based on the operation information of the first welding robot, causing the first welding robot 1A to perform welding. Under the control of the welding execution control unit 322A, the first welding robot 1A moves along the first guide rail 2A and performs welding of the first steel pipe 8A.

[0065] The first erection jig position information acquisition unit 323A acquires first erection jig position information, which is information regarding the position of the first erection jig 9A. For example, a marker may be attached to the first erection jig 9A, and in the sensing process before welding, the first welding robot 1A may be moved along the first guide rail 2A while the marker attached to the first erection jig 9A is imaged by the first direction camera 15A and the first opposite camera 16A to acquire the first erection jig position information. Alternatively, without attaching a marker to the first erection jig 9A, the first erection jig position information may be acquired by taking advantage of the fact that the distance from the first direction camera 15A and the first opposite camera 16A is different for the first steel pipe 8A and the first erection jig 9A, and acquiring distance information from the image captured by the first direction camera 15A and the first opposite camera 16A. The operator may manually register the position of the first erection jig 9A via the first input unit 6A, and acquire the registered position entered by the operator as the first erection jig position information.

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

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

[0068] The first display data generation unit 326A acquires first direction-side image data and first opposite-side image data via the storage unit 33A and the data acquisition unit 321A. The first direction-side image data and first opposite-side image data are transmitted to the first display device 5A via the first relay device 4A. The first display data generation unit 326A may perform image correction on the first direction-side image data and first opposite-side image data before transmitting them to the first display device 5A. The first display data generation unit 326A generates first robot operation image data corresponding to the first robot operation image G11 displayed on the first display unit 52A. The first robot operation image data is transmitted to the first display device 5A via the first relay device 4A.

[0069] Figure 3(b) shows an example of the hardware configuration of the second control device 3B in this embodiment. The second control device 3B includes a processor such as a CPU (Central Processing Unit) and memory connected by a bus, and executes a program. The second control device 3B functions as a device comprising a communication unit 31B, a control unit 32B, and a storage unit 33B through program execution. The functions and configurations of the communication unit 31B, control unit 32B, and storage unit 33B of the second control device 3B are the same as those of the communication unit 31A, control unit 32A, and storage unit 33A of the first control device 3A, so the description will be omitted or simplified below.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0086] Figure 4(b) shows an example of the hardware configuration of the second display device 5B in this embodiment. The second display device 5B includes a processor such as a CPU (Central Processing Unit) connected by a bus and memory, and executes a program. The second display device 5B functions as a device comprising a communication unit 51B, a second display unit 52B, a second reception unit 53B, and a second display control unit 54B through the execution of the program. The functions and configurations of the communication unit 51B, second display unit 52B, second reception unit 53B, and second display control unit 54B of the second display device 5B are the same as those of the communication unit 51A, first display unit 52A, first reception unit 53A, and first display control unit 54A of the first display device 5A, so the description will be omitted or simplified below.

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

[0088] The second display unit 52B is a display device such as an LCD (Liquid Crystal Display). Various information related to welding by the second welding robot 1B is displayed on the second display unit 52B under the control of the second display control unit 54B.

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

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

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

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

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

[0094] Region Q12 displays either the first direction-side image G12 or the first opposite-side image G13. Region Q13 displays the other of the first direction-side image G12 or the first opposite-side image G13. In the illustrated example, region Q12 displays the first direction-side image G12, and region Q13 displays the first opposite-side image G13.

[0095] The first display operation image G14 is displayed in area Q14. As described above, the first display operation image G14 is an image for operating the display in the first display unit 52A, and is an image that shows the operator instructions that can be input to the first reception unit 53A. In the illustrated example, the first display operation image G14 includes a repositioning icon IC11 that indicates a repositioning instruction (first instruction) to swap the display position of the first direction side image G12 and the display position of the first opposite side image G13, a delete icon IC12 that indicates a delete instruction (first instruction) to not display the first opposite side image G13 on the first display unit 52A, and a shrink icon IC13 that indicates a shrink instruction (first instruction) to shrink the first opposite side image G13 and display it on the first display unit 52A.

[0096] When the operator operates the repositioning icon IC11, the first reception unit 53A receives the repositioning instruction, and the first display control unit 54A swaps the display position of the first direction side image G12 with the display position of the first opposite side image G13. When the operator operates the delete icon IC12, the first reception unit 53A receives the delete instruction, and as shown in Figure 6, the first display control unit 54A does not display the first opposite side image G13 on the first display unit 52A, but displays only the first direction side image G12 on the first display unit 52A. At this time, the first display control unit 54A may enlarge the first direction side image G12 and display it on the first display unit 52A. When the operator operates the reduction icon IC13, the first reception unit 53A receives the reduction instruction, and as shown in Figure 7, the first display control unit 54A reduces the size of the first opposite side image G13 and displays it on the first display unit 52A. At this time, the first display control unit 54A may enlarge the first direction side image G12 and display it on the first display unit 52A, or it may display the first direction side image G12 on the first display unit 52A without changing its size.

[0097] On the other hand, the first display control unit 54A does not change the display position of the first robot operation image G11 in the first display unit 52A, even if the first receiving unit 53A receives the above instruction. This suppresses operational errors caused by changes in the display position of the first robot operation image G11. However, if changing the display position of the first direction side image G12 and / or the first opposite side image G13 would interfere with the confirmation of the first robot operation image G11 or the hand operating the first robot operation image G11, the first display control unit 54A may change the display position of the first robot operation image G11 in the first display unit 52A. For example, the display position of the first robot operation image G11 may be changed from the right edge to the left edge.

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

[0099] Furthermore, the first display control unit 54A may determine the display position of the first direction side image G12 and the display position of the first opposite side image G13 in the first display unit 52A based on the position information of the first erection jig. That is, for example, when the first welding robot 1A is moving in the first direction D1, the first direction side camera 15A is capturing an image of the welding area in front of the first welding robot 1A, that is, the area to be welded, so the operator often mainly checks the first direction side image G12. However, depending on the position of the first erection jig 9A, the first direction side image G12 may be an image of a blind spot (i.e., an image in which the welding area is hidden by the first erection jig 9A). In this case, the first display control unit 54A swaps the display position of the first direction side image G12 and the display position of the first opposite side image G13. Alternatively, the first display control unit 54A does not have to display the first direction-side image G12 on the first display unit 52A, and may display the first direction-side image G12 on the first display unit 52A after reducing its size. This prevents a decrease in operator visibility, as the first opposite-side image G13 can be viewed when the first direction-side image G12 is in a blind spot. The first display control unit 54A may return to the original display when the first direction-side image G12 is no longer in a blind spot.

[0100] The second robot operation image G21 is displayed in area Q21. As described above, the second robot operation image G21 is an image for operating the second welding robot 1B, and is an image that shows the operator instructions that can be input to the second input unit 6B. The details of the second robot operation image G21 are the same as those of the first robot operation image G11, so they are omitted here. When the operator performs an operation on the second robot operation image G21, the second input unit 6B receives the input of an instruction corresponding to that operation.

[0101] Region Q22 displays either the second direction-side image G22 or the second opposite-side image G23. Region Q23 displays the other of the second direction-side image G22 or the second opposite-side image G23. In the illustrated example, region Q22 displays the second direction-side image G22, and region Q23 displays the second opposite-side image G23.

[0102] The second display operation image G24 is displayed in area Q24. As described above, the second display operation image G24 is an image for operating the display in the second display unit 52B, and is an image that shows the operator instructions that can be input to the second reception unit 53B. In the illustrated example, the second display operation image G24 includes a repositioning icon IC21 that indicates a repositioning instruction (first instruction) to swap the display position of the second direction side image G22 and the display position of the second opposite side image G23, a delete icon IC22 that indicates a delete instruction (first instruction) to not display the second opposite side image G23 on the second display unit 52B, and a shrink icon IC23 that indicates a shrink instruction (first instruction) to shrink the second opposite side image G23 and display it on the second display unit 52B.

[0103] When the operator operates the repositioning icon IC21, the second reception unit 53B receives the repositioning instruction, and the second display control unit 54B swaps the display position of the second direction-side image G22 with the display position of the second opposite-side image G23. When the operator operates the delete icon IC22, the second reception unit 53B receives the delete instruction, and as shown in Figure 6, the second display control unit 54B does not display the second opposite side image G23 on the second display unit 52B, but displays only the second direction side image G22 on the second display unit 52B. At this time, the second display control unit 54B may enlarge the second direction side image G22 and display it on the second display unit 52B. When the operator operates the reduction icon IC23, the second reception unit 53B receives the reduction instruction, and as shown in Figure 7, the second display control unit 54B reduces the second opposite side image G23 and displays it on the second display unit 52B. At this time, the second display control unit 54B may enlarge the second direction side image G22 and display it on the second display unit 52B, or it may display the second direction side image G22 on the second display unit 52B without changing its size.

[0104] On the other hand, the second display control unit 54B does not change the display position of the second robot operation image G21 in the second display unit 52B, even if the second reception unit 53B receives the above instruction. This suppresses operational errors caused by changes in the display position of the second robot operation image G21. However, if changing the display position of the second direction side image G22 and / or the second opposite side image G23 would interfere with the confirmation of the second robot operation image G21 or the hand operating the second robot operation image G21, the second display control unit 54B may change the display position of the second robot operation image G21 in the second display unit 52B.

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

[0106] Furthermore, the second display control unit 54B may determine the display position of the second direction-side image G22 and the display position of the second opposite-side image G23 in the second display unit 52B based on the position information of the second erection jig. For example, similar to the first display control unit 54A, if the position of the second erection jig 9B causes the second direction-side image G22 to be a blind spot image (i.e., an image in which the welding area is hidden by the second erection jig 9B), the second display control unit 54B may swap the display position of the second direction-side image G22 and the display position of the second opposite-side image G23. Alternatively, the second direction-side image G22 may not be displayed in the second display unit 52B, or it may be reduced in size and displayed in the second display unit 52B. This allows the operator to check the second opposite-side image G23 when the second direction-side image G22 is a blind spot image, thus preventing a decrease in operator visibility. The second display control unit 54B may return to the original display when the second direction side image G22 is no longer in a blind spot.

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

[0108] Since the display unit D can display the first direction side image G12, the first opposite side image G13, the second direction side image G22, and the second opposite side image G23, the operator can simultaneously operate multiple welding robots 1A and 1B. Furthermore, the steel materials welded by the first welding robot and the second welding robot are different. For example, if the first steel material welded by the first welding robot and the second steel material welded by the second welding robot are located in different positions, it becomes extremely difficult to operate multiple welding robots simultaneously. Therefore, the aforementioned effects are significantly enhanced.

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

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

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

[0112] Furthermore, the welding system 100 includes a first receiving unit 53A and a second receiving unit 53B (receiving means) that receive a first instruction. When the first receiving unit 53A and the second receiving unit 53B receive a first instruction, the first display control unit 54A and the second display control unit 54B do not display the first opposite side image G13 and the second opposite side image G23 on the display unit D. When the first welding robot 1A is moving in the first direction D1, the operator often primarily checks the image G12 on the first direction side, and when the second welding robot 1B is moving in the second direction D2, the operator often primarily checks the image G22 on the second direction side. By not displaying the first opposite-side image G13 and the second opposite-side image G23 on the display unit D when the first receiving unit 53A and the second receiving unit 53B receive the first instruction, it becomes easier for the operator to grasp the image G12 on the first direction side and the image G22 on the second direction side, thereby improving the accuracy of operation of the first welding robot 1A and the second welding robot 1B (accuracy of the target position of the first welding torch 13A and the second welding torch 13B).

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

[0114] [Second Embodiment] Next, a welding system 100 according to a second embodiment of the present invention will be described. In this embodiment, the same reference numerals are used for parts that are the same as those in the first embodiment, and their descriptions are omitted; only the differences will be described.

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

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

[0117] Furthermore, in the display unit D, the first direction image G12, the first opposite side image G13, the second direction image G22, and the second opposite side image G23 may be arranged in a single row. In this case, the operator can view the first direction image G12, the first opposite side image G13, the second direction image G22, and the second opposite side image G23 without moving their gaze up and down, improving visibility.

[0118] It should be noted that the present invention is not limited to the embodiments described above with reference to the drawings, and various modifications are conceivable within its technical scope.

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

[0120] Furthermore, at least one of the first display operation image G14 and the second display operation image G24 may include a proximity icon indicating a proximity instruction (first instruction) to bring the display position of the first direction-side image G12 closer to the display position of the second direction-side image G22. For example, suppose the first direction-side image G12 is displayed in region Q12, the first opposite-side image G13 is displayed in region Q13, the second direction-side image G22 is displayed in region Q22, and the second opposite-side image G23 is displayed in region Q23. In this state, when the operator operates the proximity icon, the first reception unit 53A receives the proximity instruction, and the first display control unit 54A swaps the display position of the first direction-side image G12 and the display position of the first opposite-side image G13. That is, the first display control unit 54A displays the first direction-side image G12 in region Q13 and the first opposite-side image G13 in region Q12. This brings the display position of the first direction image G12 and the display position of the second direction image G22 closer together.

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

[0122] Furthermore, when the first receiving unit 53A or the second receiving unit 53B receives the first instruction, the first display control unit 54A and the second display control unit 54B may control the display unit D by swapping the display position of the first direction-side image G12 and the display position of the first opposite-side image G13 in the display unit D, so that the display position of the first direction-side image G12 and the display position of the second direction-side image G22 are close together. This allows the display positions of the first direction image G12 and the second direction image G22 to be brought closer together without causing discomfort to the operator, thereby improving the operator's visibility of both the first direction image G12 and the second direction image G22.

[0123] Furthermore, if the first display operation image G14 does not include the rearrangement icon IC11, delete icon IC12, shrink icon IC13, etc., and the operator performs an operation on the first direction side image G12, the first reception unit 53A may receive the above-mentioned rearrangement instruction, delete instruction, or shrink instruction. An operation on the first direction side image G12 is, for example, an operation to tap or click the first direction side image G12. Both operations on the rearrangement icon IC11, delete icon IC12, shrink icon IC13, etc., and operations on the first direction side image G12 may be used. Similarly, if the second display operation image G24 does not include the rearrangement icon IC21, delete icon IC22, shrink icon IC23, etc., and the operator performs an operation on the second direction-side image G22, the second reception unit 53B may receive the above-mentioned rearrangement instruction, delete instruction, or shrink instruction. An operation on the second direction-side image G22 is, for example, a tap or click operation on the second direction-side image G22. Both operations on the rearrangement icon IC21, delete icon IC22, shrink icon IC23, etc., and operations on the second direction-side image G22 may be used. In this way, by receiving input instructions regarding the display of the first display unit 52A and the second display unit 52B through operations on the first direction image G12 and the second direction image G22, the operator can easily grasp the first direction image G12 and the second direction image G22 through intuitive operation.

[0124] Furthermore, when the operator performs an operation on the first opposite-view image G13, the first control device 3A may reverse the direction of movement of the first welding robot 1A. An operation on the first opposite-view image G13 is, for example, a tap or click operation on the first opposite-view image G13. Similarly, when the operator performs an operation on the second opposite image G23, the second control device 3B may reverse the direction of movement of the second welding robot 1B. An operation on the second opposite image G23 is, for example, a tap or click operation on the second opposite image G23.

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

[0126] In other words, when the reception units 53A and 53B receive the second instruction, the display control units 54A and 54B may control the display unit D so that the display position of the first direction side image G12 and the display position of the second direction side image G22 return to their respective positions before the reception units 53A and 53B received the first instruction. This allows the operator to easily switch (or revert to) the image they want to check if it changes. For example, the display control units 54A and 54B may, after a predetermined time has elapsed since the reception units 53A and 53B received the first instruction, restore the display position of the first direction-side image G12 and the display position of the second direction-side image G22 to their respective positions before the reception units 53A and 53B received the first instruction.

[0127] Furthermore, all or part of the functions of the welding system 100 may be implemented using hardware such as ASICs (Application Specific Integrated Circuits), PLDs (Programmable Logic Devices), or FPGAs (Field Programmable Gate Arrays). The program may be recorded on a computer-readable recording medium. Computer-readable recording media include, for example, portable media such as flexible disks, magneto-optical disks, ROMs, and CD-ROMs, as well as storage devices such as hard disks built into computer systems. The program may also be transmitted via a telecommunications line.

[0128] Furthermore, without departing from the spirit of the present invention, the components in the above embodiments may be replaced with well-known components as appropriate, and the above-described modifications may be combined as appropriate. [Explanation of Symbols]

[0129] 1A First welding robot 15B Second Direction Camera 16B Second opposite camera 1B Second welding robot 15A First Direction Camera 16A First opposite-side camera 3A First control device 3B 2nd control device 323A First erection jig position information acquisition unit (first erection jig position information acquisition means) 323B Second erection jig position information acquisition unit (second erection jig position information acquisition means) 4A First relay unit 4B Second relay unit 5A 1st display device 52A 1st display section (display section) 53A First Reception Area (Reception Method) 54A First display control unit (display control means) 5B 2nd display device 52B 2nd display section (display section) 53B Second Reception Area (Reception Method) 54B Second display control unit (display control means) 8A 1st steel pipe 8B 2nd steel pipe 9A First erection jig 9B Second erection jig 100 welding systems D Display section D1 1st direction D2 2nd direction G11 First Robot Operation Image G12 First Direction Side Image G13 First opposite side image G14 1st display operation image G21 Second Robot Operation Image G22 Second Direction Side Image G23 Image from the opposite side (second side) G24 Second Display Operation Image

Claims

1. A first welding robot capable of welding a first groove of a first steel material while moving it in a first direction, A second welding robot capable of welding a second groove of a second steel material, which is different from the first steel material, while moving it in a second direction, Display control means, A welding system comprising, The first welding robot is A first-direction side camera provided on the first direction side of the first welding robot, A first opposite-side camera is provided on the side of the first welding robot opposite to the first direction, Includes, The aforementioned second welding robot, A second-direction side camera provided on the second direction side of the second welding robot, A second opposite-side camera is provided on the side of the second welding robot that is opposite to the second direction, Includes, The display control means can display on the display unit a first direction image corresponding to the first direction image data output by the first direction camera when it images the first groove, a first opposite side image corresponding to the first opposite side image data output by the first opposite side camera when it images the first groove, a second direction image corresponding to the second direction image data output by the second direction camera when it images the second groove, and a second opposite side image corresponding to the second opposite side image data output by the second opposite side camera when it images the second groove. The first welding robot can weld the first groove while moving it in a direction opposite to the first direction. The second welding robot can weld the second groove while moving it in a direction opposite to the second direction. The display control means determines, according to at least one of the directions in which the first welding robot moves and the direction in which the second welding robot moves, the display position on the display unit where the image on the first direction is displayed, the display position on the display unit where the image on the first opposite side is displayed, the display position on the display unit where the image on the second direction is displayed, and the display position on the display unit where the image on the second opposite side is displayed. A welding system characterized by the following features.

2. A means of receiving the first instruction, Furthermore, When the receiving means receives the first instruction, the display control means controls the display unit to bring the display position of the first direction-side image and the display position of the second direction-side image in the display unit closer together. The welding system according to feature 1.

3. When the receiving means receives the first instruction, the display control means controls the display unit so that the display position of the first direction-side image and the display position of the second direction-side image are close together by swapping the display positions of the first direction-side image and the display positions of the first opposite-side image in the display unit. The welding system according to claim 2, characterized in that it is as described above.

4. A means of receiving the first instruction, Furthermore, When the receiving means receives the first instruction, the display control means does not display the first opposite-side image and the second opposite-side image on the display unit. The welding system according to feature 1.

5. A means of receiving the first instruction, Furthermore, When the receiving means receives the first instruction, the display control means reduces the size of the first opposite-side image and the second opposite-side image and displays them on the display unit. The welding system according to feature 1.

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