WELDING CONTROL DEVICE, WELDING ROBOT SYSTEM, AND WELDING CONTROL METHOD

• Main Authors: TANAKA AKIHIDE, SUGIE KAZUTOSHI, ZHANG XUDONG, OKIZAKI NAOYA, PARK SEUNGHWAN, MORIHIRA NAOKI, TAKAHASHI ISAMU
• Format: Patent
• Language: English; Japanese
• Published: 26.07.2021
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; CLADDING OR PLATING BY SOLDERING OR WELDING; CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; HAND TOOLS; MACHINE TOOLS; MANIPULATORS; METAL-WORKING NOT OTHERWISE PROVIDED FOR; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PERFORMING OPERATIONS; PHYSICS; PORTABLE POWER-DRIVEN TOOLS; REGULATING; SOLDERING OR UNSOLDERING; TRANSPORTING; WELDING; WORKING BY LASER BEAM

To realize welding robot teaching that reflects the tacit knowledge through motion of a worker.SOLUTION: A master unit 20 comprises: a welding database 25 for storing specified operation data corresponding to objects to be welded; a state sensor 21 for measuring, as welding state data, a state of welding that is performed by a robot 23 in a real environment 22 according to the specified operation data; a simulation environment 12 for simulating the actual environment 22 and notifying a worker of the welding state data; and an operation control part 24 which receives, from the simulation environment, an input of worker's operation data indicating welding operation performed by the worker, operates the robot 23 in the actual environment 22 using the worker's operation data instead of the specified operation data, and records the input worker's operation data in the welding database 25 as new specified operation data.SELECTED DRAWING: Figure 1 【課題】作業者の暗認知動作を反映した溶接ロボットティーチングを実現すること。【解決手段】マスタ部２０は、溶接対象物に対応づけた規定動作データが格納される溶接ＤＢ２５と、規定動作データに従って実環境２２で溶接を実行するロボット２３による溶接の状況を、溶接状態データとして計測する状態センサ２１と、実環境２２を模して、溶接状態データを作業者に通知する模擬環境１２と、模擬環境から作業者による溶接の動作を示す作業者動作データの入力を受け、規定動作データの代わりに作業者動作データを用いて実環境２２のロボット２３を操作させるとともに、入力された作業者動作データを新たな規定動作データとして溶接ＤＢ２５に記録する動作制御部２４と、を有する。【選択図】 図１