JP2019063826A - Operation terminal for welding robot and welding robot system - Google Patents

Abstract

To provide an operation terminal for a welding robot that can set a welding condition while confirming a state of arc and the welding condition at the same time.SOLUTION: An operation terminal 10 for a welding robot 30 includes: a display part 13 having a display surface for displaying a welding condition 15 for the welding robot 30 and transmitting at least part of visible light entering on one side of the display surface on the other side of the display surface; input parts 12, 17 receiving input of the welding condition 15 for the welding robot 30; and a light shielding plate 14 positioned so as to overlap on the display part 13 and shielding part of welding light.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a welding robot operation terminal and a welding robot system.

  Conventionally, welding conditions of a welding robot may be set using an operation terminal of a welding robot called a teach pendant or the like. The operation terminal has a display unit for displaying welding conditions and an input unit for receiving input of welding conditions.

  The welding conditions may be set according to the state of the arc. However, since strong light (hereinafter, referred to as "welding light") is emitted along with the arc discharge, it is difficult to confirm the state of the arc with the naked eye. Therefore, the state of the arc may be confirmed through a light shielding plate provided on the welding surface. The light shielding plate is configured to block most of the welding light, and by using the light shielding plate, the shape and mode of the arc can be safely confirmed.

  Patent Document 1 describes a welding helmet provided with a welding surface that automatically switches the transmittance of a light shielding plate according to the presence or absence of welding light. Thereby, it is not necessary to repeat attachment and detachment of the welding surface at the time of welding and non-welding.

JP, 2009-507580, A

  When setting the welding conditions of the welding robot at the time of welding, for example, if the welding helmet described in Patent Document 1 is mounted, the view is blocked by the darkened light shielding plate, and the display of the arc is possible even if the state of the arc can be confirmed It is difficult to confirm the welding conditions. Therefore, in order to confirm welding conditions, attachment and detachment of a welding helmet must be repeated, and the confirmation operation of welding conditions becomes complicated. On the other hand, if the welding helmet is not attached, the welding conditions displayed on the operation terminal can be confirmed, but it becomes difficult to confirm the state of the arc.

  Therefore, the present invention provides an operation terminal of a welding robot that can set welding conditions while simultaneously confirming the state of the arc and the welding conditions.

  An operation terminal of a welding robot according to an aspect of the present invention has a display surface for displaying welding conditions of the welding robot, and transmits at least a part of visible light incident from one side of the display surface to the other side of the display surface A display unit, an input unit for receiving an input of welding conditions of the welding robot, and a light shielding plate positioned to overlap the display unit and blocking a part of the welding light.

  According to this aspect, the welding light is blocked by the light shielding plate provided in the operation terminal, so that the operator can confirm the state of the arc through the operation terminal. Further, the operation terminal is provided with a display unit for displaying the welding conditions and an input unit for receiving the input of the welding conditions. Therefore, the operator can set the welding conditions through the input unit while simultaneously confirming the state of the arc and the welding conditions.

  In the above aspect, the input unit may include a touch panel, and the display unit may be provided so as to be sandwiched between the light shielding plate and the touch panel.

  According to this aspect, since the welding condition can be input by directly touching the operation terminal, the operation of the operation terminal can be performed intuitively. Further, by providing a touch panel instead of the physical button, the space for installing the physical button can be reduced, and the operation terminal can be made compact.

  In the above aspect, the light shielding plate is configured to change the transmittance according to the presence or absence of welding light, and the transmittance is lower when welding light is incident than when welding light is not incident. It may be

  According to this aspect, the transmittance of the light shielding plate automatically changes in accordance with whether or not welding is performed, so that it is not necessary for the operator to adjust the transmittance of the light shielding plate, and the efficiency of the welding operation is improved.

  A welding robot system according to another aspect of the present invention includes a welding robot that performs welding, and a display surface that displays welding conditions of the welding robot, and displays at least a portion of visible light incident from one side of the display surface. An operation terminal of a welding robot having a display portion transmitting to the other side of the surface, an input portion receiving welding condition input of the welding robot, and a light shielding plate positioned so as to overlap the display portion and shielding a part of welding light; Prepare.

  According to this aspect, the welding light is blocked by the light shielding plate provided in the operation terminal, so that the operator can confirm the state of the arc through the operation terminal. Further, the operation terminal is provided with a display unit for displaying the welding conditions and an input unit for receiving the input of the welding conditions. Therefore, the operator can set the welding conditions through the input unit while simultaneously confirming the state of the arc and the welding conditions.

  According to the present invention, it is possible to provide an operation terminal of a welding robot that can set welding conditions while simultaneously confirming the state of the arc and the welding conditions.

It is a figure showing an outline of a welding robot system concerning an embodiment of the present invention. It is a figure showing the control terminal of the welding robot concerning the embodiment of the present invention at the time of welding. It is a figure which shows the cross section of the display area of the operating terminal which concerns on embodiment of this invention. It is a figure which shows the operation terminal of the welding robot which concerns on embodiment of this invention at the time of non-welding. It is a flowchart of the process performed by the operating terminal of the welding robot which concerns on embodiment of this invention.

  Embodiments of the present invention will be described with reference to the accompanying drawings. In addition, what attached the same code | symbol in each figure has the same or same structure.

  FIG. 1 is a schematic view of a welding robot system 100 according to an embodiment of the present invention. Welding robot system 100 includes operation terminal 10 of welding robot 30, controller 20 and welding robot 30, and welding robot 30 includes welding torch 31.

  The welding robot 30 is a device that performs arc welding. The welding robot 30 is equipped with a welding torch 31 at the tip of the arm. The welding torch 31 includes a feed mechanism for feeding a welding wire. The arc welding is performed by feeding a welding wire by a feeding mechanism provided to the welding torch 31 and generating an arc between the welding material and a metal material to be welded. The arc welding may be performed by the operator creating a program specifying the operation of the welding robot 30 and executing the program by the welding robot 30. Here, the worker is a person who carries out the welding operation, and more specifically, is a person who sets the welding conditions of the welding robot 30 while checking the state of the arc.

  In welding by the welding robot 30, welding conditions of the welding robot 30 need to be set in advance. Here, the welding conditions are the conditions of welding performed by the welding robot 30, and the movement of the arm of the welding robot 30 and the voltage applied to the welding wire (not shown) provided in the welding torch 31 (hereinafter referred to as “welding voltage” And the value of the current flowing through the welding wire (hereinafter referred to as “welding current”). The operator sets the optimum welding conditions while checking the state of the arc. The welding robot 30 is connected to the controller 20 via a cable, and can obtain an operation command from the controller 20. Further, welding torch 31 is connected to welding power source 40 via a cable, and receives supply of welding voltage and welding current to the welding wire.

  In arc welding, when a welding wire is momentarily brought into contact with a welding object and energized, an arc discharge is generated between the welding wire and the metal material, and the heat of the generated arc causes the welding wire and the metal material to melt. , Welding is done.

  The welding power source 40 transmits power to the welding torch 31 via a cable. Also, the welding power source 40 internally includes a voltmeter and an ammeter. The voltmeter with which the welding power source 40 is equipped measures the value of the welding voltage, and the ammeter measures the value of the welding current. The measured welding voltage and welding current values are transmitted to the controller 20 via a cable.

  Operation terminal 10 of welding robot 30 receives an input of welding conditions of welding robot 30. The adjustment of the welding conditions is performed by the operator inputting welding conditions into the operation terminal 10 of the welding robot 30 while confirming the state of the arc. Although the operating terminal 10 of the welding robot 30 shown in FIG. 1 is connected to the controller 20 via a cable, it may be connected wirelessly. That is, the operation terminal 10 and the controller 20 may be provided with a communication unit that performs wireless communication. By wirelessly connecting the controller 20 and the operation terminal 10, the operator can move freely without being bothered by the presence of the cable or being restricted in the movement range by the length of the cable. Can be set.

  The controller 20 is a device that controls the welding robot 30. The controller 20 is connected to the operation terminal 10 of the welding robot 30 as described above, and can acquire the welding conditions input to the operation terminal 10. Moreover, the controller 20 is connected to the welding robot 30 via a cable, and can transmit the welding conditions acquired from the operation terminal 10 to the welding robot 30.

  The controller 20 transmits the actual measurement value acquired from the welding power source 40 to the operation terminal 10 of the welding robot 30. Here, the actual measurement value is a value actually measured regarding welding, and includes a measurement value of the welding voltage measured by a voltmeter provided in the welding power source 40, a measurement value of a welding current measured by an ammeter, etc. . Further, the operation terminal 10 displays the acquired actual measurement value on the screen. Therefore, the operator can confirm the actual measurement value with the operation terminal 10 of the welding robot 30.

  FIG. 2 is a view showing the operation terminal 10 of the welding robot 30 according to the embodiment of the present invention at the time of welding. The operation terminal 10 of the welding robot 30 includes a display area 11 and a physical button 17.

  The display area 11 is an area where information confirmed when the operator sets the welding condition 15 of the welding robot 30 is displayed. The display area 11 displays the welding conditions 15 and the actual measurement value 16 and transmits part of the incident welding light 18. A touch panel 12 is provided at the lower right of the display area 11. The configuration of the display area 11 will be described in detail later with reference to FIG.

  The welding conditions 15 are conditions of welding performed by the welding robot 30 as described above. The welding conditions 15 include the movement of the arm of the welding robot 30, the value of the welding voltage, the value of the welding current, and the like. The welding condition 15 shown in FIG. 2 is an example of the welding condition, and includes a welding current value, a welding voltage value, and a welding process performed by the welding robot 30. From the welding conditions 15 shown in the figure, it is understood that the welding robot 30 is set to perform the welding process of "STEP 5" with the welding current of "200 A" and the welding voltage of "18.0 V".

  The welding conditions 15 displayed on the operation terminal 10 may not necessarily include the value of the welding current, the value of the welding voltage, and the welding process, or may include only a part of these, or may include other conditions. Good. The welding conditions 15 may not necessarily be output in characters, and may be output in any form as long as the operator can confirm the contents of the welding conditions 15, such as display by a graph.

  The actual value 16 is a value obtained by actually measuring the welding performed by the welding robot 30 as described above. For example, the measured values 16 include measured values of welding current and welding voltage. The measured value 16 shown in FIG. 2 is an example of the measured value. From actual values 16 shown in the figure, it can be understood that welding is performed at a welding current of "200 A" and a welding voltage of "17.9 V".

  The welding light 18 is light generated along with the arc discharge. The welding light 18 may include visible light, ultraviolet light and infrared light. Above all, it is difficult to visually recognize the welding light 18 with the naked eye because direct viewing of the strong visible light and ultraviolet light contained in the welding light 18 should be avoided. Therefore, the operator checks the state of the arc while blocking a part of the welding light 18 through the display area 11.

  The touch panel 12 is an input unit that receives an input of the welding conditions 15 of the welding robot 30. The welding condition 15 is input on the touch panel 12 by the operator touching the touch panel 12 with a fingertip or a pen. More specifically, one or more icons or the like that can be visually recognized by the operator can be displayed on the portion of the touch panel 12 in the display area 11. Further, the touch panel 12 can detect the position touched by the fingertip of the worker, and can specify the icon selected by the worker among the displayed plurality of icons. The touch panel 12 can transmit the information of the icon specified by the worker to the control unit, the controller 20, and the like included in the operation terminal 10. In addition, although the touch panel 12 of this example is provided in the lower right of the display area 11, the position in which the touch panel 12 is provided is not limited, and may be provided so that the display area 11 whole may be covered.

  According to the operation terminal 10 of the welding robot 30 according to the present embodiment, the operator can directly touch the operation terminal 10 to input the welding conditions 15. Therefore, the operator can intuitively operate the operation terminal 10 Can. Moreover, since an icon etc. can be displayed on the operating terminal 10 and welding conditions 15 can be input by easy operation which directly touches an icon etc., the erroneous operation of the operating terminal 10 can be prevented. Further, by providing the touch panel 12 instead of the physical button 17, the space for installing the physical button 17 can be reduced, and the operation terminal 10 can be made compact.

  The physical button 17 is an input unit that receives an input of the welding condition 15 of the welding robot 30. The operator inputs welding conditions 15 with the physical button 17 by pressing the physical button 17. Although the shape of the physical button 17 shown in FIG. 2 is a square in top view, the shape of the physical button 17 is arbitrary. For example, the shape of the physical button 17 may be rectangular or circular in top view. Also, the number of physical buttons 17 is optional.

  In addition, the input part with which the operation terminal 10 of the welding robot 30 is equipped is not restricted to the touch panel 12 and the physical button 17 which are shown in FIG. For example, the operation terminal 10 can be provided with an arbitrary input unit such as a lever or a dial as an input unit.

  FIG. 3 is a cross-sectional view of the display area 11 of the operation terminal 10 according to the embodiment of the present invention, and is a cross-sectional view taken along line III-III shown in FIG. The configuration of the display area 11 will be described with reference to FIG. The display area 11 is configured such that the touch panel 12, the display unit 13, and the light shielding plate 14 overlap with each other. When the operation terminal 10 is used, the touch panel 12 is located on the worker side, the light shielding plate 14 is located on the welding robot 30 side, and the display unit 13 is positioned so as to be sandwiched between the touch panel 12 and the light shielding plate 14. The touch panel 12, the display unit 13, and the light shielding plate 14 may not necessarily be disposed so as to overlap the whole.

  The touch panel 12 is an input unit that receives an input of welding conditions of the welding robot 30 as described above. The touch panel 12 transmits at least a part of visible light incident from one side of the touch panel 12 to the other side of the touch panel 12.

  The display unit 13 displays the welding conditions of the welding robot 30. The display unit 13 has a display surface, and displays the welding conditions of the welding robot 30 on the display surface. Information other than the welding conditions 15 such as the actual measurement value 16 may be displayed on the display surface. The display surface has a size that occupies a part or the entire area of the display area 11. The display unit 13 may have a frame area at the outer edge of the display unit 13 and may incorporate a display control circuit or the like in the frame area.

  The display unit 13 may be a liquid crystal display or an organic EL display including a transparent substrate and a transparent electrode. The display unit 13 is configured to transmit at least a part of visible light incident from one side of the display surface to the other side of the display surface. Specifically, at least a portion of the visible light incident from the welding robot 30 side is configured to be transmitted to the worker side. The display unit 13 may be configured to transmit visible light on the display surface, and the frame region may not necessarily be configured to transmit visible light.

  The light shielding plate 14 blocks a part of the welding light 18 generated by the welding. The light shielding plate 14 is formed of any member capable of shielding the welding light 18 such as liquid crystal, a polarizer and the like. Further, the light shielding plate 14 is configured such that the transmittance changes in accordance with the presence or absence of the welding light 18, and the transmittance is higher when the welding light 18 is incident than when the welding light 18 is not incident. If configured to be low. In the light shielding plate 14 according to the present embodiment, the transmittance decreases to an extent that shields part of the welding light 18 at the time of welding, and the transmittance increases to such an extent that the welding robot 30 can be seen through the light shielding plate 14 at the non-welding.

  Control of the transmittance of the light shielding plate 14 may be performed by the controller 20, and control is performed so as to lower the transmittance of the light shielding plate 14 and block part of the welding light 18 when welding is started by the welding robot 30. May be done. In addition, the controller 20 may increase the transmittance of the light shielding plate 14 when welding by the welding robot 30 is finished, and may control to transmit visible light. A light receiving sensor may be provided on the operation terminal 10, and the transmittance of the light shielding plate 14 may be controlled according to the amount of light received by the light receiving sensor. The transmittance of the light shielding plate 14 at the time of non-welding does not have to be high to such an extent that the welding robot 30 can be visually recognized through the light shielding plate 14. The transmittance may be low as much as at the time of welding. In addition, the light shielding plate 14 may have a configuration in which the transmittance does not change, and may be almost always shielding incident light.

  As described above, the touch panel 12 and the display unit 13 are made of transparent members, and the light transmitted through the light shielding plate 14 is not blocked by the touch panel 12 and the display unit 13. You can check the status of

  FIG. 4 is a view showing the operation terminal 10 of the welding robot 30 according to the embodiment of the present invention at the time of non-welding. FIG. 4 shows how the welding robot 30 can be viewed through the display area 11 of the operation terminal 10. The operation terminal 10 shown in FIG. 4 is the same as the operation terminal 10 shown in FIG. 2 and includes a display area 11 and a physical button 17. Further, a touch panel 12 is provided in the display area 11.

  The display area 11 transmits most of the incident visible light when not welded. This is because the light shielding plate 14 constituting the display area 11 does not perform light shielding. In addition, the touch panel 12 and the display unit 13 are made of a transparent member that transmits visible light, and do not block visible light that has passed through the light shielding plate 14. Moreover, since what is shown in FIG. 4 is the operating terminal 10 at the time of non-welding, only the welding condition 15 is displayed on the display area 11, and the actual value 16 is not displayed.

  As described above, when the welding is not performed, the light shielding plate 14 does not perform light shielding, and the touch panel 12 and the display unit 13 are transparent, so that the operator can look beyond the display region 11.

  The display area 11 may be configured to be capable of switching the presence or absence of light shielding by the light shielding plate 14 at the time of non-welding. As a result, if it is difficult for a character or the like displayed in the display area 11 to be visually recognized, light shielding can be performed by the light shielding plate 14 so that the character or the like can be easily recognized visually with the display area 11 as black.

  FIG. 5 is a flowchart of processing executed by the operation terminal 10 of the welding robot 30 according to the embodiment of the present invention. The processing of the operation terminal 10 of the welding robot 30 determines whether or not welding is started, and if it is determined that welding is started, light shielding is started by the light shielding plate 14, and the welding condition 15 is input. This is a process of adjusting the welding conditions 15 of the welding robot 30.

  The operation terminal 10 displays the welding conditions 15 of the welding robot 30 on the display unit 13 (S10). Thereafter, it is determined whether welding has been started (S11). Here, the determination as to whether or not welding has been started may be made based on whether the light receiving sensor for detecting the welding light 18 is provided at the operation terminal 10 of the welding robot 30 and the light receiving sensor detects the welding light 18. Good. Further, the determination as to whether or not welding has been started may be made by the operation terminal 10 of the welding robot 30 receiving information on the start of welding from the controller 20.

  When it is determined that welding is not started (S11: NO), the welding condition 15 is continuously displayed on the display unit 13 (S10), and it is judged again whether welding is started (S11).

  When it is determined that welding is started (S11: YES), light shielding by the light shielding plate 14 is started (S12). Thereafter, the measured value 16 regarding welding is acquired from the controller 20 and displayed on the display unit 13 (S13).

  Next, it is determined whether the input unit has received an input of the welding condition 15 (S14). When the input unit receives the input of the welding condition 15 (S14: YES), the welding condition 15 of the welding robot 30 is adjusted according to the content of the input welding condition 15 (S15). After adjusting the welding conditions 15, it is determined whether the welding by the welding robot 30 is completed (S16). Here, the determination as to whether or not the welding is completed may be performed by providing a light receiving sensor on the operation terminal 10 and detecting the welding light 18 as in the determination of the welding start, or the welding from the controller 20 is completed. This may be done by receiving the information of

  When it is determined that the input unit of the operation terminal 10 does not receive the input of the welding condition 15 (S14: NO), it is determined whether the welding is completed without performing the adjustment of the welding condition 15 (S15). It is performed (S16).

  If it is determined that the welding by the welding robot 30 is not completed (S16: NO), it is determined again whether the input unit has received the input of the welding condition 15 (S14).

  On the other hand, when it is determined that the welding by the welding robot 30 is completed (S16: YES), the light shielding by the light shielding plate 14 is ended (S17). By the above, the process by the operation terminal 10 of the welding robot 30 is complete | finished.

  According to the operation terminal 10 of the welding robot 30 and the welding robot system 100 according to the present embodiment, the welding light 18 is blocked by the light shielding plate 14 provided in the operation terminal 10, so the operator confirms the state of the arc through the operation terminal 10 can do. Further, the operation terminal 10 is provided with a display unit 13 for displaying the welding condition 15 and an input unit for receiving an input of the welding condition 15. Therefore, the operator can set the welding conditions 15 through the input unit while simultaneously confirming the state of the arc and the welding conditions 15.

  According to the operation terminal 10 of the welding robot 30 according to the present embodiment, the transmittance of the light shielding plate 14 is automatically changed depending on whether it is welding or not, so the operator adjusts the transmittance of the light shielding plate 14 There is no need to improve the efficiency of the welding operation.

  The embodiments described above are for the purpose of facilitating the understanding of the present invention, and are not for the purpose of limiting the present invention. The elements included in the embodiment and the arrangement, the material, the conditions, the shape, the size, and the like of the elements are not limited to those illustrated, and can be changed as appropriate. In addition, configurations shown in different embodiments can be partially substituted or combined with each other.

  DESCRIPTION OF SYMBOLS 10 ... Operation terminal, 11 ... Display area, 12 ... Touch panel, 13 ... Display part, 14 ... Light shielding plate, 15 ... Welding condition, 16 ... Actual value, 17 ... Physical button, 18 ... Welding light, 20 ... Controller, 30 ... Welding robot, 31 ... welding torch, 40 ... welding power supply, 100 ... welding robot system

Claims (4)

A display unit having a display surface for displaying welding conditions of the welding robot, and transmitting at least a part of visible light incident from one side of the display surface to the other side of the display surface;
An input unit that receives an input of welding conditions of the welding robot;
A light shielding plate positioned so as to overlap the display unit and blocking a part of the welding light;
Operation terminal of welding robot provided with The input unit includes a touch panel,
The display unit is provided so as to be sandwiched between the light shielding plate and the touch panel.
The operation terminal of the welding robot according to claim 1. The light shielding plate is configured to change the transmittance according to the presence or absence of the incidence of welding light,
The transmittance is lower when welding light is incident than when welding light is not incident.
The operation terminal of the welding robot according to claim 1 or 2. A welding robot that performs welding,
A display unit having a display surface for displaying welding conditions of the welding robot, and transmitting at least a part of visible light incident from one side of the display surface to the other side of the display surface; welding conditions of the welding robot An operation terminal of a welding robot having an input unit receiving an input and a light shielding plate positioned to overlap the display unit and blocking a part of the welding light;
Welding robot system provided with

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