JP2018126753A - Arc welding method and arc welding apparatus - Google Patents

Abstract

An arc welding method and an arc welding apparatus that facilitate teaching correction. A preparation position in which a welding torch 3 faces a misalignment checking jig 7 in a welding posture (a tilting posture in which a reference axis BL of a torch main body 31 is tilted at a tilt angle θ1 with respect to a Z axis in an XZ plane). Moved to. Next, the electrode P extended from the torch main body 31 of the welding torch 3 by a predetermined length is provided in the X-axis direction groove 54 (passage path) of the first block 50 and the second block 60 in the Y-axis direction. It is moved along the groove 64 (passage path). The Y-axis direction groove 64 is inclined at the same inclination angle θ2 as the inclination angle θ1 with respect to the Z axis in the XZ plane. A displacement in the Y-axis direction is confirmed based on whether the electrode P can be inserted into the X-axis direction groove 54, and an X-axis direction or Z-axis is determined based on whether the electrode P can be inserted into the Y-axis direction groove 64. Directional misalignment is confirmed. [Selection] Figure 6

Description

  The present invention relates to an arc welding method and an arc welding apparatus.

After moving the welding torch at the tip of the robot arm of the arc welding robot to the welding part of the workpiece and performing arc welding, the welding wire (electrode) of the welding torch is moved to a predetermined part of the misalignment confirmation jig, and the welding wire There has been proposed an arc welding method for determining whether or not is moved to a predetermined part of a misalignment confirmation jig (see, for example, Patent Document 1).
In Patent Document 1, when a welding wire extending vertically downward from a welding torch in an upright position is inserted into a vertical insertion hole of a misalignment confirmation jig, a proximity sensor detects the welding wire in the insertion hole. Is determined to be normal. On the other hand, in the misalignment confirmation jig, if the welding wire is bent by interference with the peripheral edge of the entrance of the insertion hole, the welding wire is not inserted into the insertion hole, so the proximity sensor does not detect the welding wire, Determined.

JP 2007-167945 A

By the way, the welding posture of the welding torch when the welding operation is performed is usually performed in an inclined posture in which the reference axis of the torch body of the welding torch is inclined with respect to the vertical direction. Also, the posture during teaching corresponds to the welding posture (tilted posture).
In Patent Document 1, since the misalignment of the welding wire (electrode) is detected when the welding torch is not standing in a welding posture, the detection result is used when teaching correction is performed in the welding posture after confirming the misalignment. hard. For this reason, teaching correction is difficult to perform.

  An object of the present invention is to provide an arc welding method and an arc welding apparatus in which teaching correction is easy.

  The invention of claim 1 is the teaching back type arc welding method in which the position and orientation of the welding torch (3) attached to the tip of the robot arm (27) is controlled, and the tip of the torch body (31) of the welding torch. A misregistration confirmation jig for confirming the misalignment of the tip (Pa) of the electrode (P) extended with a predetermined extension length (L1) in the direction of the reference axis (BL) of the torch body from (31a) 7) At the preparation position facing 7), the reference axis is a predetermined inclination angle (θ1) with respect to the Z axis in the XZ plane with the three orthogonal axes in the absolute coordinates as the X axis, the Y axis, and the Z axis. A preparation position moving step (step S2) for moving the welding position inclined in step S2; and a passing path provided in the misalignment check jig for the electrode of the welding torch in the welding position moved to the preparation position (step S2). 4, 64) and a displacement confirmation step (steps S3 to S12) for confirming the displacement of the tip of the electrode based on whether the electrode can pass through the passage route or not. An arc welding method is provided.

  As in claim 2, in the first aspect of the present invention, in the misalignment confirmation step, the welding torch is moved in the X-axis direction, and the electrode is provided in the first block (50) of the misalignment confirmation jig. Whether or not it can be inserted into the X-axis direction groove (X) as the passage path, which is formed between a pair of wall surfaces (54a, 54b) parallel to the XZ plane and extends in the X-axis direction. Based on the Y-axis direction displacement confirmation step (steps S3 to S7) in which the displacement of the tip of the electrode in the Y-axis direction is confirmed, the welding torch is moved in the Y-axis direction, and the displacement is performed. A Y-axis direction groove (64) as the passing path provided in the second block (60) of the confirmation jig, and the same tilt angle (θ2) as the predetermined tilt angle with respect to the Z axis in the XZ plane ) With a pair of parallel wall surfaces ( 4a, 64b), and whether or not the tip of the electrode is misaligned in the X-axis direction and the Z-axis direction is confirmed based on whether or not it can be inserted into a Y-axis direction groove (64) extending in the Y-axis direction. X-axis direction / Z-axis direction displacement confirmation step (steps S8 to S12), and the Y-axis direction displacement confirmation step is performed before or after the X-axis direction / Z-axis direction displacement confirmation step. It may be performed on either side.

  According to a third aspect of the present invention, there is provided a teaching back type arc welding apparatus (1) in which a position and orientation of a welding torch (3) attached to a tip of a robot arm (27) is controlled. Position misalignment confirmation for confirming the position misalignment of the tip (Pa) of the electrode (P) extended with a predetermined extension length (L1) from the tip (31a) of the torch body in the direction of the reference axis (BL) of the torch body A jig (7) comprising a misregistration confirmation jig provided with a passage path (54, 64) through which the electrode passes, wherein the misregistration confirmation jig has three axes orthogonal to each other in absolute coordinates as an X axis. As the Y-axis and the Z-axis, the X-axis direction groove (54) is formed between the pair of wall surfaces (54a, 54b) parallel to the XZ plane and extends in the X-axis direction. The first bro formed as And a pair of wall surfaces (64a) inclined at an inclination angle (θ2) equal to an inclination angle (θ1) with respect to the Z axis of the reference axis in the welding position of the welding torch with respect to the Z axis in the XZ plane. 64b), the Y-axis direction groove (64) as the passing path extending in the Y-axis direction includes a second block (60) formed as a through-groove in the Y-axis direction. Provide (1).

  As in claim 4, in claim 3, whether or not the electrode can be inserted into the X-axis direction groove and the Y-axis direction groove is determined by contacting the electrode and the corresponding block of the misalignment checking jig. You may provide the contact sensor (4) detected based on the presence or absence of.

  In the arc welding method according to the first aspect of the present invention, the welding torch in the welding posture is moved to the preparation position facing the misalignment confirmation jig. Next, the electrode of the welding torch in the welding position is moved along the passage path provided in the position deviation confirmation jig, and the position deviation of the tip of the electrode is confirmed based on whether or not the electrode can pass the passage path. To do. Since the positional deviation of the tip of the electrode is confirmed in the welding posture, the teaching correction performed in the welding posture of the welding torch is easily performed based on the confirmed positional deviation after the positional deviation is confirmed.

  In the invention of claim 2, in the Y-axis direction displacement confirmation step, based on whether or not the electrode can be inserted into the X-axis direction groove of the first block, the displacement of the tip of the electrode in the Y-axis direction is confirmed, In the X-axis / Z-axis misalignment confirmation step, the misalignment of the tip of the electrode in the X-axis and Z-axis directions is confirmed based on whether the electrode can be inserted into the Y-axis groove of the second block. The Since the positional deviation in the Y-axis direction and the positional deviation in the X-axis direction and the Z-axis direction are individually confirmed with respect to the tip of the electrode, it is easy to perform subsequent teaching correction.

  In the arc welding apparatus according to the third aspect of the present invention, it is possible to confirm the displacement of the tip of the electrode in the Y-axis direction based on whether or not the electrode can be inserted into the X-axis direction groove of the first block. Further, based on whether or not the electrode can be inserted into the Y-axis direction groove of the second block, it is possible to confirm the positional deviation of the tip of the electrode in the X-axis direction and the Z-axis direction. Since the positional deviation in the Y-axis direction and the positional deviation in the X-axis direction and the Z-axis direction are individually confirmed with respect to the tip of the electrode, it is easy to perform subsequent teaching correction.

  According to the invention of claim 4, whether or not the electrode can be inserted into the X-axis direction groove and the Y-axis direction groove is determined based on whether or not the contact sensor is in contact with each block of the misalignment checking jig. To detect. In general, a contact sensor such as a shock sensor provided in the robot arm can also be used.

It is the schematic of the arc welding apparatus with which the arc welding method of one Embodiment of this invention is applied. It is a block diagram which shows the electric constitution of an arc welding apparatus. It is a schematic perspective view of the welding torch of the robot arm tip. It is a schematic perspective view of a position check jig and a welding torch in a preparation position. It is a flowchart which shows the arc welding method based on control of a control apparatus. (A) And (b) is a perspective view of a position shift check jig and a welding torch which sequentially show a position shift check process. (A) shows the state in which the welding wire (electrode) is inserted into the X-axis direction groove in the Y-axis direction displacement confirmation step, and (b) shows the X-axis direction / Z-axis direction displacement confirmation step. A state in which the welding wire (electrode) is inserted into the Y-axis direction groove is shown. It is a perspective view of a position shift check jig and a welding torch, and shows a case where it is determined as abnormal. (A) And (b) In the modification of this invention, it is a schematic sectional drawing of the 1st block and 2nd block which show the operation | movement which confirms the abnormality of the extension amount of an electrode.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments embodying the present invention will be described below with reference to the drawings.
FIG. 1 is a schematic view of an arc welding apparatus 1 to which an arc welding method according to an embodiment of the present invention is applied. FIG. 2 is a schematic diagram showing an electrical configuration of the arc welding apparatus 1. As shown in FIG. 1, the arc welding apparatus 1 is configured as, for example, a 6-axis independent joint type arc welding robot.

  As shown in FIGS. 1 and 2, the arc welding apparatus 1 includes a manipulator 2, a welding torch 3, a contact sensor 4, a wire feeding device 5, a power supply device 6, and a misalignment confirmation jig 7. And a control device 8, a teaching pendant 9, and an abnormality notification unit 10. The control device 8 controls operations of the manipulator 2, the wire feeding device 5, the power supply device 6, and the abnormality notification unit 10. The control device 8 also serves as a teaching device (teaching device).

The manipulator 2 includes a base 21, a plurality of robot arms 22 to 27, and motors M1 to M6 (see FIG. 2) that drive the robot arms 22 to 27, respectively.
As shown in FIG. 1, the robot arm 22 is supported on the base 21 so as to be rotatable about an axis J1. The robot arm 23 is attached to the robot arm 22 so as to be rotatable around an axis J2 orthogonal to the axis J1. The robot arm 24 is attached to the upper end of the robot arm 23 so as to be rotatable around an axis J3 parallel to the axis J2.

  The robot arm 25 is attached to the tip of the robot arm 24 so as to be rotatable about an axis J4 extending in the longitudinal direction of the robot arm 24. The robot arm 26 is attached to the tip of the robot arm 25 so as to be rotatable about an axis J5 orthogonal to the axis J4. The robot arm 27 is attached to the tip of the robot arm 26 so as to be rotatable around an axis J6 orthogonal to the axis J5.

The motors M1 to M6 include rotary encoders R1 to R6 (see FIG. 2), respectively, and can detect a joint angle between the robot arms 22 to 27. The joint angles between the robot arms 22 to 27 are the rotation angles of the axes J1 to J6, respectively.
The welding torch 3 is attached to the tip of the robot arm 27 at the tip of the manipulator 2 via the contact sensor 4. The welding torch 3 performs arc welding on a workpiece (not shown) that is an object to be welded. As the contact sensor 4, for example, an acceleration sensor that detects an impact when the electrode P comes into contact with an object is used.

  The motors (not shown) provided in the robot arms 22 to 27 of the manipulator 2 are rotationally driven by a drive signal from the control device 8 when executing a work program created by teaching using the teaching pendant 9. . By rotating the motors M1 to M6, the robot arms 22 to 27 of the manipulator 2 are displaced, and as a result, the welding torch 3 can be moved up and down, front and rear, and left and right.

  Further, when a command signal is input to the control device 8 by a jog operation by the teaching pendant 9, a drive signal from the control device 8 based on the command signal is input to the manipulator 2, and each robot arm 22 of the manipulator 2. ~ 27 is rotated. Thereby, the position and orientation of the tip of the welding torch 3 can be controlled. For example, the abnormality notification unit 10 may turn on an abnormality notification lamp, or may display an abnormality display message on a monitor screen.

  A welding wire W unwound from a wire reel (not shown) as a wire supply source is inserted into the conduit pipe 11. The wire feeding device 5 is attached to the robot arm 24 of the manipulator 2 and feeds the welding wire W to the welding torch 3 through the conduit pipe 11. The tip of the welding wire W supplied to the welding torch 3 constitutes the electrode P in the welding torch 3. The power supply device 6 supplies power for generating an arc to the welding wire W via a feed roller (not shown) in the wire feed device 5.

  In the present embodiment, description will be given in accordance with a consumable arc welding apparatus in which the electrode P constituted by the tip of the welding wire W to be fed is melted and consumed, but the present invention is an electrode such as TIG welding. It can be applied to a non-consumable arc welding apparatus that does not wear out. In TIG welding, an electrode made of tungsten is provided separately from the welding wire, and the electrode does not melt itself only by generating an arc.

  FIG. 3 is a schematic perspective view of the welding torch 3. As shown in FIG. 3, the welding torch 3 is attached to the distal end portion of the robot arm 27 via the contact sensor 4. The welding torch 3 includes a torch body 31 and an electrode P. The electrode P extends from the tip 31a of the torch body 31 in the direction of the reference axis BL of the torch body 31 with a predetermined extension length L1. The contact sensor 4 is, for example, a shock sensor.

FIG. 4 is a schematic perspective view of the misalignment check jig 7 and the welding torch 3 at a preparation position facing the misalignment check jig 7.
The welding torch 3 in the preparation position has the same posture as the welding posture at the time of welding, that is, the three orthogonal axes in absolute coordinates are the X axis, the Y axis, and the Z axis, and the reference axis BL is in the XZ plane with respect to the Z axis. The tilt posture is tilted at a predetermined tilt angle θ1.

As shown in FIG. 4, the misregistration confirmation jig 7 includes a plate-like base 40, a first block 50, and a second block 60. The first block 50 and the second block 60 are fixed to the upper surface 40 a of the base 40.
The first block 50 is a rectangular parallelepiped block whose longitudinal direction is the X-axis direction. The first block 50 has a first surface 51 and a second surface 52 parallel to the YZ plane, and a third surface 53 (corresponding to the upper surface) parallel to the XY plane.

  The first block 50 extends in the X-axis direction and forms an X-axis direction groove 54 as a passage path through which the electrode P passes. The X-axis direction groove 54 is a through groove that penetrates the first surface 51 and the second surface 52 in the X-axis direction. The X-axis direction groove 54 is formed between a pair of wall surfaces 54a and 54b parallel to the XZ plane. The pair of wall surfaces 54 a and 54 b correspond to the inner wall surface of the X-axis direction groove 54. The bottom of the X-axis direction groove 54 is constituted by the upper surface 40 a of the base 40.

The first surface 51 is a detection surface for detecting a positional deviation in the Y-axis direction by contacting the tip Pa when the tip Pa of the electrode P is displaced beyond the allowable range in the Y-axis direction. It is composed. The second surface 52 is a surface opposite to the first surface 51.
The second block 60 is a rectangular parallelepiped block whose longitudinal direction is the Y-axis direction. The second block 60 has a first surface 61 and a second surface 62 parallel to the XZ plane, and a third surface 63 (corresponding to the upper surface) parallel to the XY plane. The first surface 61 of the second block 60 and the second surface 52 of the first block 50 are arranged orthogonally.

  The second block 60 extends in the Y-axis direction and forms a Y-axis direction groove 64 as a passage path through which the electrode P passes. The Y-axis direction groove 64 is a through groove that penetrates the first surface 61 and the second surface 62 in the Y-axis direction. The Y-axis direction groove 64 is a pair of wall surfaces inclined at an inclination angle θ2 equal to an inclination angle θ1 at which the reference axis BL in the welding posture of the welding torch 3 is inclined with respect to the Z axis with respect to the Z axis in the XZ plane. It is formed between 64a and 64b. The pair of wall surfaces 64a and 64b (corresponding to the inner wall surface of the Y-axis direction groove 64) are parallel to each other. The bottom of the Y-axis direction groove 64 is constituted by the upper surface 40 a of the base 40.

When the tip surface Pa of the electrode P is displaced beyond the allowable range in the X-axis direction or the Z-axis direction, the first surface 61 comes into contact with the tip Pa and is displaced in the X-axis direction or the Z-axis direction. The detection surface for detecting is constituted. The second surface 62 is a surface opposite to the first surface 61.
FIG. 5 is a flowchart showing an arc welding method based on the control of the control device 8. First, in step S1, a welding process is executed based on previously taught welding sequence data.

  Next, in step S2, as shown in FIG. 4, the misalignment confirmation cure is performed while the welding torch 3 is kept in the welding posture (inclination posture in which the reference axis BL is inclined at the inclination angle θ1 with respect to the Z axis in the XZ plane). The tool 7 is moved from the first surface 51 side of the first block 50 to a preparation position facing the X-axis direction groove 54. In the welding torch 3 at the preparation position, when the electrode P is in a normal position and orientation, the X-axis direction groove 54 is positioned in front of the electrode P in the X-axis direction.

  Next, in steps S3 to S7, a Y-axis direction displacement confirmation step is executed. First, in step S3, the welding torch 3 is moved from the preparation position in the X-axis direction while maintaining the welding posture, and in step S5, it is determined that the movement of a predetermined distance in the X-axis direction is completed (YES in step S5). In step S4, it is monitored whether or not the contact sensor 4 detects contact.

  Specifically, during the movement of the electrode P in the X-axis direction, the electrode P collides with the first surface 51 of the first block 50 of the misalignment checking jig 7 without being inserted into the X-axis direction groove 54. If this is the case (YES in step S4), it is determined that there is an abnormality in the position Pa in the Y-axis direction that exceeds the allowable range at the tip Pa of the electrode P (step S7). In step S7, abnormality processing is executed. Specifically, the abnormality notification unit 10 notifies the abnormality that the Y-axis direction positional deviation has occurred, and the movement of the welding torch 3 is stopped.

  On the other hand, if contact is not detected in step S4 (NO in step S4), the electrode P is inserted into the X-axis direction groove 54 as shown in FIG. 6A, and in step S5, If it is determined that the movement of the predetermined distance in the Y-axis direction has been completed (YES in step S5), it is determined in step S6 that the displacement in the Y-axis direction is normal, and the process proceeds to step S8.

  Next, in step S8 to step S12, an X-axis direction / Z-axis direction displacement confirmation step is executed. First, in step S8, the welding torch 3 is moved by a predetermined distance in the Y-axis direction from the position where the movement of the predetermined distance in the X-axis direction is completed in the welding posture. In step S10, the predetermined distance in the Y-axis direction is moved. In step S9, it is monitored whether or not the contact sensor 4 detects contact until it is determined that the movement has been completed (YES in step S10).

  Specifically, during the movement of the electrode P in the Y-axis direction, the electrode P collides with the first surface 61 of the second block 60 of the misalignment check jig 7 without being inserted into the Y-axis direction groove 64. In this case (in the case of YES in step S9), it is determined that the tip end Pa of the electrode P has an abnormality in which the positional deviation in the X-axis direction or the Z-axis direction exceeding the allowable range occurs (step S12). In step S12, an abnormality process is executed. Specifically, the abnormality notifying unit 10 notifies the abnormality that the X-axis direction displacement or the Z-axis direction displacement has occurred, and the movement of the welding torch 3 is stopped.

  On the other hand, when the contact is not detected in step S9 and the electrode P is inserted into the Y-axis direction groove 64 as shown in FIG. 6B, and the end of movement is determined in step S10 (step S10). In the case of YES in S10), in step S11, it is determined that no X-axis direction positional deviation and Z-axis direction positional deviation have occurred, and the process returns to step S1 to execute the welding sequence of the next cycle. .

  In the arc welding method according to the present embodiment, the welding torch 3 in the welding posture (inclined posture) is moved to a preparation position facing the misalignment confirmation jig 7. Next, the electrode P of the welding torch 3 in the welding position is moved along the passage paths (the X-axis direction groove 54 and the Y-axis direction groove 64) provided in the misalignment confirmation jig 7, and the electrode P moves along the passage path. The positional deviation of the electrode P is confirmed based on whether or not it can pass. Since the positional deviation of the tip Pa of the electrode P is confirmed in the welding posture, the teaching correction performed in the welding posture of the welding torch 3 is easily performed based on the confirmed positional deviation after the positional deviation is confirmed.

  Further, in the Y-axis direction displacement confirmation process (steps S3 to S7), the Y-axis direction of the tip Pa of the electrode P is determined based on whether or not the electrode P can be inserted into the X-axis direction groove 54 of the first block 50. In the X-axis direction / Z-axis direction displacement confirmation step (steps S8 to S12), based on whether or not the electrode P can be inserted into the Y-axis direction groove 64 of the second block 60, A positional shift of the tip Pa of the electrode P in the X-axis direction and the Z-axis direction is confirmed. Since the positional deviation in the Y-axis direction and the positional deviation in the X-axis direction and the Z-axis direction are individually confirmed with respect to the tip Pa of the electrode P, it is easy to perform subsequent teaching correction.

  Further, in the arc welding apparatus 1, it is possible to confirm the positional deviation in the Y-axis direction of the tip Pa of the electrode P based on whether or not the electrode P can be inserted into the X-axis direction groove 54 of the first block 50. Further, based on whether or not the electrode P can be inserted into the Y-axis direction groove 64 of the second block 60, it is possible to confirm the positional deviation of the tip Pa of the electrode P in the X-axis direction and the Z-axis direction. Since the positional deviation in the Y-axis direction and the positional deviation in the X-axis direction and the Z-axis direction are individually confirmed with respect to the tip Pa of the electrode P, it is easy to perform subsequent teaching correction.

Further, in the arc welding apparatus 1, the contact sensor 4 determines whether the electrode P can be inserted into the X-axis direction groove 54 and the Y-axis direction groove 64, respectively. , 60 is detected based on the presence or absence of contact. Usually, it becomes possible to share with a contact sensor such as a shock sensor provided in the robot arm, and the structure can be simplified.
The present invention is not limited to the above-described embodiment. For example, the preparation position moving process (step S2) and the misalignment confirmation process (steps S3 to S12) are performed in one welding cycle (step S1). ) May be performed before the start of the welding process or in the middle of the welding process (step S1).

In the positional deviation confirmation process (steps S3 to S12), the X-axis direction / Z-axis direction positional deviation confirmation process (steps S8 to S12) is performed first, and after the X-axis direction / Z-axis direction positional deviation confirmation process. Thus, the Y-axis direction displacement confirmation process (steps S3 to S7) may be performed.
Further, the extension length L1 of the electrode P from the tip 31a of the torch body 31 (see FIG. 3) is allowed in either the Y-axis direction displacement confirmation step or the X-axis / Z-axis direction displacement confirmation step. It may be detected whether it is within the range. Specifically, when determining whether the extension length L1 is acceptable or not in the Y-axis direction displacement confirmation step, as shown in FIG. 8A, a wall surface 54a in the X-axis direction groove 54 of the first block 50 is used. Alternatively, on the wall surface 54b, a first accommodation hole 71 and a second accommodation hole 72 that are opened at two different positions in the Z-axis direction are provided, and a first proximity sensor 81 made of, for example, an optical sensor is disposed in the first accommodation hole 71. For example, a second proximity sensor 82 made of an optical sensor may be disposed in the two accommodation holes 72.

  Further, in the X-axis direction / Z-axis direction displacement confirmation step, when determining whether the extension length L1 is acceptable or not, as shown in FIG. 8B, the wall surface in the Y-axis direction groove 64 of the second block 60 64a or wall surface 64b is provided with a first accommodation hole 71 and a second accommodation hole 72 that are opened at two positions spaced apart in the inclination direction of the Y-axis direction groove 64, and a first proximity made of, for example, an optical sensor is provided in the first accommodation hole 71. The sensor 81 may be disposed, and the second proximity sensor 82 made of, for example, an optical sensor may be disposed in the second accommodation hole 72. The optical sensor includes a light emitting unit that emits light (for example, infrared light) toward the electrode P side, and a light receiving unit that receives reflected light from the electrode P.

  In the case of FIGS. 8A and 8B, when only the first proximity sensor 81 is in the detection state for detecting the electrode P, the extension length L1 of the electrode P is within the allowable range and is normal. Determined. Further, when both the first proximity sensor 81 and the second proximity sensor 82 are in the non-detection state, it is determined that the extension length L1 of the electrode P is shorter than the allowable range. Moreover, when both the 1st proximity sensor 81 and the 2nd proximity sensor 82 will be in a detection state, it determines with the extension length L1 of the electrode P being longer than an allowable range.

  In addition, the present invention can be variously modified within the scope of the claims.

  DESCRIPTION OF SYMBOLS 1 ... Arc welding apparatus, 3 ... Welding torch, 7 ... Misalignment confirmation jig, 8 ... Control apparatus, 9 ... Teaching pendant, 10 ... Abnormality notification part, 21 ... Base, 22-27 ... Robot arm, 31 ... Torch main body , 31a ... tip, 40 ... base, 50 ... first block, 51 ... first surface, 54 ... X-axis direction groove, 54a, 54b ... wall surface, 60 ... second block, 61 ... first surface, 64 ... Y axis Direction groove, 64a, 64b ... Wall surface, BL ... Reference axis, L1 ... Extension length, P ... Electrode, Pa ... Tip, W ... Welding wire, [theta] 1, [theta] 2 ... Inclination angle

Claims (4)

In the teaching back type arc welding method in which the position and orientation of the welding torch attached to the tip of the robot arm is controlled,
In a preparation position facing a misalignment confirmation jig for confirming misalignment of the tip of the electrode extended with a predetermined extension length in the direction of the reference axis of the torch body from the front end of the torch body of the welding torch, A preparation position moving step of moving a welding torch in a welding posture in which the reference axis is inclined at a predetermined inclination angle with respect to the Z axis in the XZ plane with the three orthogonal axes in the absolute coordinates as the X axis, the Y axis, and the Z axis When,
Based on whether the electrode can pass through the passage path by moving the electrode of the welding torch in the welding posture moved to the preparation position along a passage path provided in the misalignment confirmation jig. And a misalignment confirmation step of confirming misalignment of the tip of the electrode. The positional deviation confirmation step includes
The welding torch is moved in the X-axis direction, and the electrode is an X-axis direction groove as the passing path provided in the first block of the misalignment check jig, and is a pair of wall surfaces parallel to the XZ plane A Y-axis direction displacement confirmation step in which a displacement in the Y-axis direction of the tip of the electrode is confirmed based on whether or not it can be inserted into an X-axis direction groove formed between and extending in the X-axis direction;
The welding torch is moved in the Y-axis direction, and is a Y-axis direction groove as the passing path provided in the second block of the misalignment check jig, and is the predetermined axis with respect to the Z axis in the XZ plane. X-axis direction of the tip of the electrode based on whether or not it can be inserted into a Y-axis direction groove formed between a pair of parallel wall surfaces inclined at the same inclination angle and extending in the Y-axis direction, and Including an X-axis direction / Z-axis direction displacement confirmation step in which a displacement in the Z-axis direction is confirmed,
The arc welding method according to claim 1, wherein the Y-axis direction displacement confirmation step is performed either before or after the X-axis direction / Z-axis direction displacement confirmation step. In a teaching back type arc welding apparatus in which the position and orientation of a welding torch attached to the tip of a robot arm is controlled,
A misalignment confirmation jig for confirming misalignment of the tip of an electrode extended with a predetermined extension length from the tip of the torch body of the welding torch in the direction of the reference axis of the torch body, and passing through the electrode A misalignment confirmation jig provided with a passing path to be
The misregistration confirmation jig is formed between a pair of wall surfaces parallel to the XZ plane and extends in the X-axis direction with the three orthogonal axes in absolute coordinates as the X-axis, Y-axis, and Z-axis. The groove is inclined at an inclination angle equal to the inclination angle with respect to the Z axis of the reference axis in the welding position of the welding torch with respect to the Z axis in the XZ plane and the first block formed as a through groove in the X axis direction. An arc welding apparatus, comprising: a second block formed between the pair of wall surfaces and extending in the Y-axis direction as a passing path, the Y-axis direction groove being formed as a through-groove in the Y-axis direction.   A contact sensor is provided for detecting whether or not the electrode can be inserted into the X-axis direction groove and the Y-axis direction groove, respectively, based on the presence or absence of contact between the electrode and the corresponding block of the misalignment check jig. The arc welding apparatus according to claim 3.

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