REPAIR WELDING DEVICE AND REPAIR WELDING METHOD

A repair welding device includes an acquisition unit configured to acquire an appearance inspection result including information about a position of a defective portion of a weld bead of a welded workpiece produced by a main welding that is executed by a welding robot, and a robot control unit configured to set a plurality of interpolation points on a virtual welding line of the main welding executed by the welding robot and instruct the welding robot to execute a repair welding on an interpolation point that is closest to the acquired position of the defective portion. The virtual welding line is simulated based on a main welding program for executing the main welding.

TECHNICAL FIELD

The present disclosure relates to a repair welding device and a repair welding method.

BACKGROUND ART

JP-A-2012-37487 discloses a shape inspection device that projects slit light onto a weld bead, images shape lines sequentially formed on the weld bead by scanning the weld bead with the slit light, and acquires a three-dimensional shape of the weld bead as point cloud data based on imaging data of the sequentially formed shape lines. The shape inspection device sets a cutting line different from the shape lines formed by scanning the weld bead with the slit light to the weld bead displayed based on the point cloud data in accordance with an input, and calculates a cross-sectional shape of the weld bead at the cutting line based on the point cloud data corresponding to the cutting line. The shape inspection device compares various feature amounts calculated according to the cross-sectional shape with allowable ranges of the various feature amounts registered in advance, and determines whether the feature amounts are good or poor.

SUMMARY OF INVENTION

The present disclosure provides a repair welding device and a repair welding method for more efficiently and automatically executing a repair welding on a defective portion of a welded workpiece produced by a main welding.

Aspect of non-limiting embodiments of the present disclosure relates to a repair welding device including an acquisition unit configured to acquire an appearance inspection result including information about a position of a defective portion of a weld bead of a welded workpiece produced by a main welding that is executed by a welding robot, and a robot control unit configured to set a plurality of interpolation points on a virtual welding line of the main welding executed by the welding robot, and instruct the welding robot to execute a repair welding on an interpolation point that is closest to the acquired position of the defective portion, the virtual welding line being simulated based on a main welding program for executing the main welding.

Aspect of non-limiting embodiments of the present disclosure relates to a repair welding method to be executed by a repair welding device. The repair welding method includes a process of acquiring an appearance inspection result including information about a position of a defective portion of a weld bead of a welded workpiece produced by a main welding that is executed by a welding robot, a process of setting a plurality of interpolation points on a virtual welding line of the main welding executed by the welding robot, the virtual welding line being simulated based on a main welding program for executing the main welding, and a process of instructing the welding robot to execute a repair welding on an interpolation point that is closest to the acquired position of the defective portion.

According to the present disclosure, a defective portion of a welded workpiece produced by a main welding can be more efficiently and automatically repaired and welded.

DESCRIPTION OF EMBODIMENTS

Background of Present Disclosure

The related art including JP-A-2012-37487 does not disclose a technique in which a welding robot or the like automatically executes a repair welding in order to correct (repair) a portion where a welding defect (that is, a defect) occurs based on an appearance inspection result of a workpiece (hereinafter, referred to as a “welded workpiece”) produced by a main welding. In order to automatically execute a repair welding by the welding robot, it is required to prepare in advance a program for the repair welding in which a portion where the repair welding is to be executed is specified in a similar manner to the main welding. In order to prevent interference between a tip end portion of the welding robot and the welded workpiece or a jig for fixing the welded workpiece while actually executing a repair welding on a welding defective portion, it is preferable to generate a repair welding program by partially changing a main welding program that is generated to produce the welded workpiece. In other words, an operation of the welding robot during the repair welding can be stabilized by skillfully using an operation trajectory of the welding robot during the main welding.

In an appearance inspection of the welded workpiece, information (for example, coordinates) related to a position of a welding defective portion (hereinafter, simply referred to as a “defective portion”) is detected by an inspection device such as a camera or a sensor that projects laser light, and the information is output as defective portion information. Therefore, in order to generate the repair welding program described above, it is required to specifically specify which welding section of the main welding program corresponds to the defective portion. However, for example, when a weld bead formed by the main welding is thick or when there is a slight error in positional accuracy of the defective portion output from the inspection device, the defective portion information detected by the inspection device may not necessarily be positioned on the operation trajectory of the welding robot defined in the main welding program. For this reason, when the welding robot automatically performs the repair welding, there is a problem in that the accuracy of the position to be repaired by the repair welding is reduced and the efficiency of the repair welding is not improved.

An example of a repair welding device and a repair welding method for more efficiently and automatically executing a repair welding on a defective portion of a welded workpiece produced by a main welding will be described in the following embodiments.

Hereinafter, embodiments specifically disclosing a repair welding device and a repair welding method according to the present disclosure will be described in detail with reference to the drawings as appropriate. Unnecessarily detailed description may be omitted. For example, detailed description of a well-known matter or repeated description of substantially the same configuration may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding of those skilled in the art. It should be noted that the accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the range of the claims.

First Embodiment

The repair welding device according to the first embodiment acquires an appearance inspection result including information about a defective portion of a weld bead of a welded workpiece produced by a main welding by a welding robot, and based on the appearance inspection result, the repair welding device instructs the welding robot to execute a repair welding on a corresponding portion that is located on an operation trajectory of the welding robot during the main welding and is closest to a position of the defective portion. Hereinafter, a workpiece to be welded by a main welding is defined as an “original workpiece”, a workpiece produced (manufactured) by the main welding is defined as a “welded workpiece”, and a workpiece of which a detected welding defective portion of the “welded workpiece” is repaired and welded is defined as a “repaired and welded workpiece”. A process of producing a welded workpiece by joining an original workpiece and another original workpiece by a welding robot or the like is defined as a “main welding”, and a process of correcting (repairing) a defective portion of the welded workpiece by a welding robot or the like is defined as a “repair welding”. The “welded workpiece” or the “repaired and welded workpiece” is not limited to a workpiece produced by the main welding executed once, and may be a composite workpiece produced the main welding executed two or more times.

FIG. 1is a schematic diagram showing a system configuration example of a welding system100. The welding system100includes a host device1connected to an external storage ST, an input interface UI1, a monitor MN1, a robot control device2, an inspection control device3, a main welding robot MC1a, and a repair welding robot MC1b. The main welding robot MC1aand the repair welding robot MC1bmay be configured as separate robots, or may be configured as the same welding robot MC1. In order to make the following description easy to understand, it is assumed that both a main welding and a repair welding are executed by the welding robot MC1. Although only one pair of the robot control device2and the main welding robot MC1a, the repair welding robot MC1bis shown inFIG. 1, a plurality of such pairs may be provided. The welding system100may further include an inspection device4.

The host device1serving as an example of a repair welding device integrally controls, via the robot control device2, the execution of a main welding (for example, start and completion of the main welding) executed by the welding robot MC1. For example, the host device1reads out welding related information input or set in advance by a user (for example, a welding operator or a system administrator. The same applies hereinafter.) from the external storage ST, generates a main welding execution command including contents of the welding related information by using the welding related information, and transmits the main welding execution command to the corresponding robot control device2. When the main welding executed by the welding robot MC1is completed, the host device1receives a main welding completion report indicating that the main welding executed by the welding robot MC1is completed from the robot control device2, updates a status of a corresponding welded workpiece to a status indicating that the main welding is completed, and records the status in the external storage ST. The main welding execution command described above is not limited to being generated by the host device1, and may be generated by, for example, an operation panel (for example, a programmable logic controller (PLC)) of equipment in a factory or the like where the main welding is executed, or an operation panel (for example, a teach pendant (TP)) of the robot control device2. The teach pendant (TP) is a device for operating the main welding robot MC1a, the repair welding robot MC1b, and the like that are connected to the robot control device2.

The host device1integrally controls, via the inspection control device3, the execution of an appearance inspection (for example, start and completion of the appearance inspection) executed by the inspection device4. For example, when the host device1receives the main welding completion report from the robot control device2, the host device1generates an appearance inspection execution command for a welded workpiece produced by the welding robot MC1, and transmits the appearance inspection execution command to the inspection control device3. When the appearance inspection executed by the inspection device4is completed, the host device1receives an appearance inspection report indicating that the appearance inspection executed by the inspection device4is completed from the inspection control device3, updates the status of a corresponding welded workpiece to a status indicating that the appearance inspection is completed, and records the status in the external storage ST.

The host device1integrally controls, via the robot control device2, the execution of a repair welding (for example, start and completion of the repair welding) executed by the welding robot MC1. For example, when the host device1receives the appearance inspection report from the inspection control device3, the host device1generates a repair welding execution command for the welded workpiece produced by the welding robot MC1, and transmits the repair welding execution command to the robot control device2. When a repair welding executed by the welding robot MC1is completed, the host device1receives a repair welding completion report indicating that the repair welding executed by the welding robot MC1is completed from the robot control device2, updates the status of a corresponding welded workpiece to a status indicating that the repair welding is completed, and records the status in the external storage ST.

Here, the welding related information is information indicating contents of the main welding executed by the welding robot MC1. The welding related information is generated in advance for each process of the main welding and is registered in the external storage ST. The welding related information includes, for example, the number of original workpieces used in the main welding, workpiece information including an ID, a name, and a welded portion of an original workpiece used in the main welding, a scheduled execution date on which the main welding is executed, the number of welded workpieces to be produced, and various welding conditions during the main welding. The welding related information is not limited to data of items described above. Based on an execution command transmitted from the host device1, the robot control device2causes the welding robot MC1to execute a main welding using a plurality of original workpieces designated by the execution command. A type of the main welding is not limited in the present specification, and a process of joining a plurality of original workpieces will be described as an example in order to make the description easy to understand.

The host device1is connected to the monitor MN1, the input interface UI1, and the external storage ST so that the host device1can input data into and output data to the monitor MN1, the input interface UI1, and the external storage ST. The host device1is further connected to the robot control device2so that data can be communicated between the host device1and the robot control device2. The host device1may include a terminal device P1that includes the monitor MN1and the input interface UI1in an integrated manner, and may further include the external storage ST in an integrated manner. In this case, the terminal device P1is a personal computer (PC) that is used by a user before the main welding is executed. The terminal device P1is not limited to the PC described above, and may be a computer device having a communication function, such as a smartphone and a tablet terminal.

The monitor MN1may be configured with a display device such as a liquid crystal display (LED) or an organic electroluminescence (EL). The monitor MN1may display, for example, a screen including a notification indicating that a main welding is completed or a notification indicating that a repair welding is completed, and the notification is output from the host device1. Instead of the monitor MN1, a speaker (not shown) may be connected to the host device1, or the monitor MN1and a speaker (not shown) may be connected to the host device1. The host device1may output, via the speaker, a notification indicating that a main welding is completed or a sound indicating that a repair welding is completed.

The input interface UI1is a user interface that detects an input operation of a user and outputs the input operation to the host device1, and may be configured with, for example, a mouse, a keyboard, a touch panel, or the like. The input interface UI1receives, for example, an input operation when a user generates welding related information or an input operation when a main welding execution command is transmitted to the robot control device2.

The external storage ST is configured with, for example, a hard disk drive or a solid state drive. The external storage ST stores, for example, data of welding related information generated for each main welding, and workpiece information (see above description) of a welded workpiece produced by a main welding or a repaired and welded workpiece repaired by a repair welding.

The robot control device2serving as an example of a repair welding device is connected to the host device1so that data can be communicated between the robot control device2and the host device1, and the robot control device2is connected to the welding robot MC1so that data can be communicated between the robot control device2and the welding robot MC1. When the robot control device2receives the main welding execution command transmitted from the host device1, the robot control device2controls the corresponding welding robot MC1based on the main welding execution command to execute a main welding. When the robot control device2detects that the main welding is completed, the robot control device2generates a main welding completion report indicating that the main welding is completed, and notifies the host device1of the main welding completion report. Accordingly, the host device1can appropriately detect the completion of the main welding based on the report transmitted from the robot control device2. A method of detecting the completion of a main welding by the robot control device2may be, for example, a method of determining the completion of a main welding based on a signal indicating the completion of a main welding from a sensor (not shown) provided in a wire feeding device300, or may be a known method, and contents of the method of detecting the completion of a main welding is not limited.

When the robot control device2receives a repair welding execution command transmitted from the host device1, the robot control device2controls the corresponding welding robot MC1based on the repair welding execution command to execute a repair welding in accordance with a repair welding program generated by the inspection control device3. When the robot control device2detects that the repair welding is completed, the robot control device2generates a repair welding completion report indicating that the repair welding is completed, and notifies the host device1of the repair welding completion report. Accordingly, the host device1can appropriately detect the completion of the repair welding based on the report transmitted from the robot control device2. A method of detecting the completion of a repair welding by the robot control device2may be, for example, a method of determining the completion of a repair welding based on a signal indicating the completion of a repair welding from a sensor (not shown) provided in the wire feeding device300, or may be a known method, and contents of the method of detecting the completion of a repair welding is not limited.

The welding robot MC1serving as an example of a welding robot is connected to the robot control device2so that data can be communicated between the welding robot MC1and the robot control device2. The welding robot MC1executes a main welding or a repair welding according to a command from the host device1under the control of the corresponding robot control device2. As described above, the welding robot MC1may include the main welding robot MC1aprovided for a main welding and the repair welding robot MC1bprovided for a repair welding.

The inspection control device3serving as an example of a repair welding device is connected to the host device1, the robot control device2, and the inspection device4so that data can be communicated among the inspection control device3, the host device1, the robot control device2, and the inspection device4. When the inspection control device3receives an appearance inspection execution command transmitted from the host device1, the inspection control device3causes the inspection device4to execute an appearance inspection on a welded portion of a welded workpiece produced by the welding robot MC1(for example, inspects whether a weld bead formed by a main welding conforms to a shape of a predetermined master bead). For example, the inspection control device3controls the inspection device4to detect a shape of a weld bead formed in a welded portion based on welded portion information of a welded workpiece included in the appearance inspection execution command, and compares a shape of a predetermined weld master bead (not shown) for each main welding with a shape of an actually detected weld bead. The inspection control device3generates an appearance inspection report based on the comparison, and transmits the appearance inspection report to the host device1.

When the inspection control device3determines that an appearance inspection result of a welded workpiece is fail, the inspection control device3generates a repair welding program for correcting (repairing) a welding defective portion by using the appearance inspection result that indicates position information of a detection point indicating a place where a welding defective portion is detected and that is obtained from the inspection device4. The inspection control device3transmits the repair welding program and the appearance inspection result to the robot control device2in association with each other.

The inspection device4is connected to the robot control device2so that data can be communicated between the inspection device4and the robot control device2. Based on the appearance inspection execution command transmitted from the inspection control device3, the inspection device4determines (executes an appearance inspection) whether there is a welding defect in a welded portion based on the welded portion information included in the appearance inspection execution command, the shape data of the weld bead in the welded portion generated by the inspection device4(seeFIG. 2), and the shape data of the master bead described above. The inspection device4transmits information about a defective portion (for example, a detection point indicating a position of a portion where a welding defect is detected, and a type of a welding defect) that is determined to be a welding defective portion among welded portions to the inspection control device3as an appearance inspection report.

FIG. 2is a diagram showing an internal configuration example of the inspection control device3, the robot control device2, and the host device1according to the first embodiment. The monitor MN1and the input interface UI1are not shown inFIG. 2in order to make the description easy to understand.

The welding robot MC1executes various processes such as a main welding and a repair welding according to a command from the host device1under the control of the robot control device2. The welding robot MC1executes, for example, an arc welding in a process of a main welding or a repair welding. Alternatively, the welding robot MC1may execute a welding (for example, a laser welding or a gas welding) other than the arc welding. In this case, although not shown, a laser head, instead of a welding torch400, may be connected to a laser oscillator via an optical fiber. The welding robot MC1includes at least a manipulator200, the wire feeding device300, a welding wire301, and a welding torch400.

The manipulator200includes an articulated arm, and moves each arm based on a control signal from a robot control unit25(see following description) of the robot control device2. Accordingly, the manipulator200can change a positional relationship between the workpiece Wk and the welding torch400(for example, an angle of the welding torch400relative to the workpiece Wk) by a movement of the arm.

The wire feeding device300controls a feeding speed of the welding wire301based on a control signal (to be described later) from the robot control device2. The wire feeding device300may include a sensor (not shown) that can detect a remaining amount of the welding wire301. Based on an output of the sensor, the robot control device2can detect that a process of a main welding or a repair welding is completed.

The welding wire301is held by the welding torch400. When power is supplied from a power supply device500to the welding torch400, an arc is generated between a tip end of the welding wire301and the workpiece Wk, and an arc welding is executed. The illustration and description of a configuration and the like for supplying shielding gas to the welding torch400are omitted for the convenience of description.

The host device1generates an execution command of various processes of a main welding using a plurality of original workpieces or a repair welding in which a welding defective portion of a welded workpiece is corrected (repaired) by using welding related information input or set in advance by a user, and transmits the execution command to the robot control device2. The host device1includes at least a communication unit10, a processor11, and a memory12.

The communication unit10is connected to the robot control device2and the external storage ST so that data can be communicated among the communication unit10, the robot control device2, and the external storage ST. The communication unit10transmits an execution command of various processes of a main welding or a repair welding generated by the processor11to the robot control device2. The communication unit10receives a main welding completion report, an appearance inspection report, and a repair welding completion report that are transmitted from the robot control device2, and outputs the main welding completion report, the appearance inspection report, and the repair welding completion report to the processor11. A main welding or repair welding execution command may include, for example, a control signal for controlling the manipulator200, the wire feeding device300, and the power supply device500included in the welding robot MC1.

The processor11is configured with, for example, a central processing unit (CPU) or a field programmable gate array (FPGA), and executes various processings and controls in cooperation with the memory12. Specifically, the processor11implements functions of a cell control unit13by referring to a program stored in the memory12and executing the program.

The memory12includes, for example, a random access memory (RAM) serving as a work memory used when a processing of the processor11is executed, and a read only memory (ROM) that stores a program for defining a processing of the processor11. The RAM temporarily stores data generated or acquired by the processor11. A program that defines a processing of the processor11is written into the ROM. The memory12stores data of welding related information read from the external storage ST and data of workpiece information (see following description) that is related to a welded workpiece or a repaired and welded workpiece and is transmitted from the robot control device2.

Based on the welding related information stored in the external storage ST, the cell control unit13generates an execution command that is used for executing a main welding using a plurality of original workpieces or executing a repair welding on a welded workpiece and that is defined (in other words, set) in the welding related information. The cell control unit13may generate different execution commands for various processes of a main welding or a repair welding to be executed by the welding robot MC1. The main welding or repair welding execution command generated by the cell control unit13is transmitted to the corresponding robot control device2via the communication unit10.

The robot control device2controls a processing of the corresponding welding robot MC1(specifically, the manipulator200, the wire feeding device300, and the power supply device500) based on a main welding or repair welding execution command transmitted from the host device1. The robot control device2includes at least a communication unit20, a processor21, and a memory22.

The communication unit20is connected to the host device1, the inspection control device3, and the welding robot MC1so that data can be communicated among the communication unit20, the host device1, the inspection control device3, and the welding robot MC1. Although illustration is simplified inFIG. 2, data is transmitted and received between the robot control unit25and the manipulator200, between the robot control unit25and the wire feeding device300, and between a power supply control unit26and the power supply device500via the communication unit20. The communication unit20receives a main welding execution command or a repair welding execution command transmitted from the host device1. The communication unit20transmits workpiece information of a welded workpiece produced by a main welding or workpiece information of a repaired and welded workpiece produced by a repair welding to the host device1.

Here, the workpiece information not only includes an ID of a welded workpiece or a repaired and welded workpiece but also includes at least an ID of each of a plurality of original workpieces used in a main welding, a name, a welded portion, a welding condition at the time of executing a main welding, and a welding condition at the time of executing a repair welding. Further, the workpiece information may include information (for example, coordinates) indicating a position of a detection point indicating a defective portion of a welded workpiece. A welding condition or a repair welding condition includes, for example, a material and a thickness of an original workpiece, a material and a wire diameter of the welding wire301, a type of shielding gas, a flow rate of the shielding gas, a set average value of a welding current, a set average value of a welding voltage, a feeding speed and a feeding amount of the welding wire301, the number of times of welding, and welding time. In addition, the welding condition or the repair welding condition may include, for example, information indicating a type of a main welding or a repair welding (for example, a TIG welding, a MAG welding, or a pulse welding), and a moving speed and moving time of the manipulator200.

The processor21is configured with, for example, a CPU or an FPGA, and executes various processings and controls in cooperation with the memory22. Specifically, the processor21implements functions of a main welding program generation unit23, a calculation unit24, the robot control unit25, and the power supply control unit26by referring to a program stored in the memory22and executing the program.

The memory22includes, for example, a RAM serving as a work memory used when a processing of the processor21is executed, and a ROM that stores a program for defining a processing of the processor21. The RAM temporarily stores data generated or acquired by the processor21. A program that defines a processing of the processor21is written into the ROM. The memory22stores data of a main welding execution command or a repair welding execution command transmitted from the host device1, and data of workpiece information of a welded workpiece produced by a main welding or a repaired and welded workpiece produced by a repair welding. The memory22stores a main welding program to be executed by the welding robot MC1. The main welding program is a program that defines a specific procedure (process) of a main welding in which a plurality of original workpieces are joined using a welding condition of the main welding.

The main welding program generation unit23uses workpiece information (for example, an ID, a name, and a welded portion of an original workpiece) of each of a plurality of original workpieces included in a main welding execution command transmitted from the host device1via the communication unit20to generate a main welding program for a main welding to be executed by the welding robot MC1based on the main welding execution command. The main welding program may include various parameters such as a welding current, a welding voltage, an offset amount, a welding speed, and a posture of the welding torch400for controlling the power supply device500, the manipulator200, the wire feeding device300, the welding torch400, and the like during the execution of a main welding. The generated main welding program may be stored in the processor21or may be stored in the RAM of the memory22. The generated main welding program is transmitted to the repair welding program generation unit38in the inspection control device3via the communication unit20.

The calculation unit24executes various calculations. For example, the calculation unit24calculates parameters for controlling the welding robot MC1(specifically, the manipulator200, the wire feeding device300, and the power supply device500) controlled by the robot control unit25based on the main welding program generated by the main welding program generation unit23.

The robot control unit25generates a control signal for driving the welding robot MC1(specifically, the manipulator200, the wire feeding device300, and the power supply device500) based on the main welding program generated by the main welding program generation unit23. The robot control unit25transmits the generated control signal to the welding robot MC1.

The power supply control unit26drives the power supply device500based on the main welding program generated by the main welding program generation unit23and a calculation result of the calculation unit24.

The inspection control device3controls a processing of the appearance inspection on a welded workpiece produced by a main welding executed by the welding robot MC1or a repaired and welded workpiece based on the appearance inspection execution command transmitted from the host device1. The appearance inspection is, for example, to inspect whether a shape of a weld bead formed in a welded workpiece or a repaired and welded workpiece satisfies a predetermined welding standard or a strength standard of a welded portion, or satisfies a quality standard of the welded workpiece or the repaired and welded workpiece. In order to make the following description easy to understand, the inspection control device3executes an appearance inspection to inspect whether a weld bead formed in a workpiece Wk (for example, a welded workpiece or a repaired and welded workpiece) satisfies a predetermined welding standard (for example, the shape of the weld bead is the same as or similar to a shape of a predetermined master bead corresponding to the workpiece Wk) based on three dimension (3D) point cloud data indicating the shape of the weld bead acquired by the inspection device4. Hereinafter, a welded portion determined to be greatly different from the shape of the master bead (that is, not the same as or similar to the shape of the master bead) in the 3D point cloud data indicating a shape of a weld bead is defined as a “detection point”. Information indicating a position of the detection point (for example, 3D position coordinates) is detected by the inspection control device3. The inspection control device3includes at least a communication unit30, a processor31, a memory32, and an inspection result storage unit33.

The communication unit30is connected to the host device1, the robot control device2, and the inspection device4so that data can be communicated among the communication unit30, the host device1, the robot control device2, and the inspection device4. Although illustration is simplified inFIG. 2, data is transmitted and received between a shape detection control unit35and the inspection device4via the communication unit30. The communication unit30receives an appearance inspection execution command transmitted from the host device1. The communication unit30transmits a result of an appearance inspection (for example, whether there is a welding defective portion in a welded workpiece or a repaired and welded workpiece) executed by the inspection device4to the host device1.

The processor31is configured with, for example, a CPU or an FPGA, and executes various processings and controls in cooperation with the memory32. Specifically, the processor31implements functions of a determination threshold storage unit34, the shape detection control unit35, a data processing unit36, an inspection result determination unit37, and a repair welding program generation unit38by referring to a program stored in the memory32and executing the program.

The memory32includes, for example, a RAM serving as a work memory used when a processing of the processor31is executed, and a ROM that stores a program for defining a processing of the processor31. The RAM temporarily stores data generated or acquired by the processor31. A program that defines a processing of the processor31is written into the ROM. The memory32stores data of an appearance inspection execution command of a welded workpiece transmitted from the host device1, and data of workpiece information of a welded workpiece produced by a main welding or a repaired and welded workpiece produced by a repair welding. The memory32stores the main welding program and the calculation result transmitted from the robot control device2. The memory32also stores data of a repair welding program generated by the repair welding program generation unit38.

The repair welding program is a program that defines a specific procedure (process) of a repair welding for correcting (repairing) a welding defective portion in a welded workpiece by using a plurality of interpolation points set on a virtual welding line (that is, a virtual welding line welded by executing a main welding based on the main welding program) of a main welding acquired by a main welding simulation based on the main welding program and position information of a corresponding interpolation point (a response point) that is located on the virtual welding line and is closest to the detection point. The repair welding program is generated by the repair welding program generation unit38and is transmitted from the inspection control device3to the robot control device2.

The main welding simulation is a simulation executed by the repair welding program generation unit38and is used for acquiring a virtual welding line when the main welding is executed based on the main welding program. The virtual welding line acquired by the main welding simulation is acquired as a welding line drawn in a three-dimensional space. Accordingly, even when a welding line is a welding line having a shape that is difficult to be represented by an arc or a linear graphic element, the welding system100according to the first embodiment can easily generate the repair program by using the virtual welding line in the generation of a repair welding program for executing a repair welding on defective portion. Since the welding system100can execute a simulation including a control signal for driving the welding robot MC1(specifically, the manipulator200, the wire feeding device300, and the power supply device500) used in accordance with a program, the welding system100is highly versatile and useful. Further, the welding system100according to the first embodiment can also acquire the virtual welding line based on the generated main welding program in the main welding program for welding a welding line of a free curve in a main welding.

A plurality of interpolation points are set on the virtual welding line acquired by the main welding simulation executed by the repair welding program generation unit38, and each of the interpolation points is a point for determining a portion to be repaired and welded in a range having a predetermined length when a repair welding is executed on a detection point of a defective portion in the generation of the repair welding program. The interpolation points may be set at a predetermined interval on the virtual welding line, or may be set corresponding to positions of the welding robot MC1at predetermined time intervals when the virtual welding line is welded. The interpolation points are not limited to being set at a predetermined interval, and may be set based on a line type (a straight line, a curved line, or the like) of the virtual welding line, a curvature of the virtual welding line, or the like. For example, on a virtual welding line divided into a straight section and a curved section having a predetermined curvature, the interpolation points may be set at a smaller interval in the curved section than in the straight section, and may be set at a smaller interval in the curved section as the curvature increases. The interpolation points may be set by a user. Further, the interpolation points may be set at any interval, and, for example, the interpolation points may be set at different intervals in the same straight section. As a result, the welding system100according to the first embodiment can easily determine a repaired and welded portion including a response point closer to a detection point in the setting of a corresponding interpolation point (a response point) that is located on a virtual welding line and is closest to a detection point of a defective portion when a repair welding is performed on the detection point of the defective portion. Further, the welding system100according to the first embodiment can determine a repaired and welded portion including a response point closer to a detection point by changing an interval between interpolation points set corresponding to a line type.

The inspection result storage unit33is configured with, for example, a hard disk drive (HDD) or a solid state drive (SSD). The inspection result storage unit33stores data indicating an appearance inspection result of a welded portion of a workpiece Wk (for example, a welded workpiece or a repaired and welded workpiece) as an example of data generated or acquired by the processor31. The data indicating an appearance inspection result is generated by, for example, the inspection result determination unit37.

The determination threshold storage unit34is configured with, for example, a cache memory provided in the processor31, and stores a threshold (for example, a threshold set corresponding to a welded portion) used in a determination processing to be executed by the inspection result determination unit37corresponding to the welded portion. Examples of the threshold include an allowable range (threshold) related to a positional deviation of a welded portion, a threshold related to a height of a weld bead, and a threshold related to a width of a weld bead. The determination threshold storage unit34may store an allowable range that satisfies a minimum welding quality required by a customer or the like (for example, a minimum allowable value, a maximum allowable value, or the like related to a height of a weld bead) as the threshold during an appearance inspection after a repair welding. Further, the determination threshold storage unit34may store an upper limit of the number of times of appearance inspections for each welded portion. Accordingly, in a case where the number of times of appearance inspections exceeds a predetermined upper limit of the number of times when a defective portion is corrected by a repair welding, the inspection control device3determines that it is difficult or it is less likely to correct the defective portion by an automatic repair welding executed by the welding robot MC1, and can prevent a decrease in an operation rate of the welding system100.

The shape detection control unit35controls an operation of the inspection device4based on the shape data (for example, 3D point cloud data) of a weld bead in a welded portion transmitted from the inspection device4and an appearance inspection execution command of a welded portion of a workpiece Wk (for example, a welded workpiece or a repaired and welded workpiece) transmitted from the host device1. When the inspection device4is positioned at a position where the inspection device4can image a welded portion (in other words, a three-dimensional shape of the welded portion can be detected), the shape detection control unit35causes the inspection device4to emit, for example, a laser beam to acquire shape data of a weld bead in the welded portion. When the shape detection control unit35receives the shape data of the weld bead acquired by the inspection device4, the shape detection control unit35transmits the shape data to the data processing unit36.

The data processing unit36converts the shape data of the weld bead in the welded portion transmitted from the shape detection control unit35into image data indicating a three-dimensional shape of the welded portion. The shape data is, for example, point cloud data of shape lines including a reflection trajectory of a laser beam emitted onto a surface of the weld bead. The data processing unit36executes a statistical processing on the input shape data, and generates image data related to the three-dimensional shape of the weld bead in the welded portion. In order to emphasize a position and a shape of the weld bead, the data processing unit36may execute an edge emphasis correction in which a peripheral edge portion of the weld bead is emphasized. The data processing unit36may count the number of times of appearance inspections for each welded portion or defective portion, and determine that it is difficult or it is less likely to correct the defective portion by an automatic repair welding when the number of times of appearance inspections exceeds the number of times stored in advance in the memory32and when a welding inspection result is not good. In this case, the inspection result determination unit37generates an alert screen including a position of the defective portion and a defect factor, and transmits the generated alert screen to the host device1via the communication unit30. The alert screen transmitted to the host device1is displayed on the monitor MN1.

The inspection result determination unit37uses the threshold stored in the determination threshold storage unit34to determine whether a welded portion satisfies a predetermined welding standard (for example, whether a shape of a weld bead formed by a main welding or a repair welding is the same as or is similar to a shape of a corresponding master bead) based on shape data that is related to a weld bead in a welded portion and is acquired by the shape detection control unit35. The inspection result determination unit37measures a position (seeFIGS. 5A and 5B) of a detection point (see the above description) of a welding defect, analyzes defect contents, and estimates a defect factor. In the determination described above, the inspection result determination unit37calculates an inspection score for each welded portion on a welding line formed on a weld bead based on shape data of the weld bead. The inspection result determination unit37serving as an example of an acquisition unit generates and acquires the measured position of the defective portion, the inspection score, and the estimated defect factor as an appearance inspection result (an appearance inspection report) for a welded portion, stores the generated appearance inspection result in the memory32, and transmits the appearance inspection result to the host device1via the communication unit30. The inspection result determination unit37may determine whether a repair welding can be executed by the welding robot MC1(in other words, whether it is better to execute a repair welding by the welding robot MC1or by hand) based on the inspection score described above, and may include a determination result in the appearance inspection result (the appearance inspection report) and output the appearance inspection result.

The repair welding program generation unit38has a function of simulating a virtual welding line of a main welding of a welding robot based on a main welding program transmitted from the robot control device2, and uses the virtual welding line of the main welding, a plurality of interpolation points set on the virtual welding line, an appearance inspection result of the workpiece Wk (for example, a welded workpiece or a repaired and welded workpiece) output from the inspection result determination unit37, and workpiece information of a welded workpiece or a repaired and welded workpiece (for example, information such as coordinates indicating a position of a detection point of a welding defect of a welded workpiece or a repaired and welded workpiece) to generate a repair welding program for a workpiece Wk (for example, a welded workpiece or a repaired and welded workpiece) to be executed by the welding robot MC1. The details of a procedure for creating the repair welding program will be described later with reference toFIGS. 5A and 5B. The repair welding program may include various parameters such as a welding current, a welding voltage, an offset amount, a welding speed, and a posture of the welding torch400for controlling the power supply device500, the manipulator200, the wire feeding device300, the welding torch400, and the like during the execution of a repair welding. The generated repair welding program may be stored in the processor31or in the RAM of the memory32.

The inspection device4is, for example, a three-dimensional shape sensor. The inspection device4includes a laser light source (not shown) that can scan a welded portion of a workpiece Wk (for example, a welded workpiece or a repaired and welded workpiece) based on welded portion position information transmitted from the inspection control device3, and a camera (not shown) that is disposed in a manner of capable of imaging an imaging region including a periphery of the welded portion and that images a reflection trajectory (that is, shape lines of the welded portion) of reflected laser light among laser light emitted onto the welded portion. The inspection device4transmits shape data (in other words, image data of a weld bead) of the welded portion based on laser light captured by the camera to the inspection control device3. The camera described above includes at least a lens (not shown) and an image sensor (not shown). The image sensor is, for example, a solid-state imaging element such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS), and converts an optical image formed on an imaging surface into an electric signal.

Next, an operation procedure of a main welding and a repair welding that are executed by the welding system100according to the first embodiment will be described with reference toFIG. 3.FIG. 3is a sequence diagram showing an example of an operation procedure of a main welding and a repair welding that are executed by the welding system100according to the first embodiment. In the description ofFIG. 3, an operation procedure executed among the host device1, the robot control device2, and the inspection control device3for each process of a main welding using a plurality of original workpieces and a repair welding executed based on a fact that an appearance inspection result of a welded workpiece is fail will be described as an example.

InFIG. 3, the host device1acquires workpiece information of an original workpiece (for example, an ID, a name, and a welded portion of an original workpiece) to be subjected to a main welding (St1), and generates a main welding execution command including the workpiece information of the original workpiece. The host device1transmits the main welding execution command including the workpiece information of the original workpiece to the robot control device2(St2).

When the robot control device2receives the main welding execution command transmitted from the host device1, the robot control device2uses workpiece information of a plurality of original workpieces included in the main welding execution command to generate a main welding program for a main welding to be executed by the welding robot MC1, and causes the welding robot MC1to execute the main welding in accordance with the main welding program (St3). When the robot control device2determines that the main welding executed by the welding robot MC1is completed using various known methods, the robot control device2generates a main welding completion notification indicating that the main welding is completed and transmits the notification to the host device1(St4), and transmits a main welding program used in producing a welded workpiece to the inspection control device3(St5). When the host device1receives the main welding completion notification, the host device1generates an appearance inspection execution command for a welded workpiece, and transmits the appearance inspection execution command to the inspection control device3(St6).

The inspection control device3causes the inspection device4to execute an appearance inspection on a welded workpiece based on the appearance inspection execution command transmitted in step St6(St7). The inspection control device3determines that a repair welding is necessary because there is a welding defective portion in the welded workpiece as a result of the appearance inspection in step St7(St8), executes a simulation based on the main welding program transmitted from the robot control device2, and acquires a virtual welding line of the main welding (St9). The inspection control device3sets interpolation points at a predetermined interval on the acquired virtual welding line of the main welding, and generates a repair welding program for executing a repair welding on a defective portion including a position of a corresponding interpolation point (a response point) that is located on the welding line and is closest to the detection point (St10). The inspection control device3generates an appearance inspection report including the determination result in step St8and the repair welding program, and transmits the appearance inspection report to the robot control device2(St11). The inspection control device3transmits the appearance inspection report generated in the same manner to the host device1(St12).

When the host device1receives the appearance inspection report in step St12, the host device1generates a repair welding execution command for a welded workpiece, and transmits the repair welding execution command to the robot control device2(St13). When the robot control device2receives the repair welding execution command transmitted from the host device1, the robot control device2causes the welding robot MC1to execute a repair welding in accordance with the repair welding program based on the repair welding program (received in step St12) for the welded workpiece designated by the repair welding execution command (St14). When the robot control device2determines that the repair welding executed by the welding robot MC1is completed using various known methods, the robot control device2transmits workpiece information of a repaired and welded workpiece (for example, an ID of a repaired and welded workpiece, workpiece information including respective IDs of a plurality of original workpieces used in a main welding (for example, an ID of an original workpiece, a name, a welded portion of an original workpiece, and welding conditions at the time of executing the main welding and the repair welding)) to the host device1(St15).

When the host device1receives the workpiece information including the ID of the repaired and welded workpiece transmitted from the robot control device2, the host device1sets a management ID suitable for a user business operator corresponding to the ID of the repaired and welded workpiece, and stores data indicating that welding for the repaired and welded workpiece corresponding to the management ID is completed in the external storage ST (St16).

Next, an operation outline example for specifying a position of an interpolation point (a response point) that is located on an operation trajectory (that is, a welding line) on which the welding robot MC1is operated during a main welding and is closest to a detection point by using the detection point (that is, a position indicating a welding defective portion) output from the inspection device4in the generation of the repair welding program will be described in detail with reference toFIGS. 4 and 5A.

Operation Outline Example

FIG. 4is a flowchart showing an example of a procedure for specifying a response point Ph1that is closest to a detection point P.FIG. 5Ais a diagram schematically showing an operation outline example related to the specification of the response point Ph1that is located on a virtual welding line WLN1and is closest to the detection point P. In the first embodiment, processings in the flowchart shown inFIG. 4are executed by the processor31(specifically, the repair welding program generation unit38) incorporated in the inspection control device3. In the operation outline example shown inFIGS. 5A and 5B, a welding line includes two straight portions and one arc (curved) portion, and, for example, an undercut (that is, a groove of a toe formed on a base material by a main welding) is generated as a welding defect.

In the operation outline example shown inFIG. 5A, the repair welding program generation unit38sets a plurality of interpolation points D1, D2, D3, D4, D5, D6, D7, D8, and D9at any interval on the virtual welding line WLN1acquired by executing a main welding simulation based on the main welding program transmitted from the robot control device2.

InFIG. 4, the repair welding program generation unit38acquires the main welding program transmitted from the robot control device2and the appearance inspection result generated by the inspection result determination unit37, and executes a main welding simulation (St8-1). The repair welding program generation unit38sets a plurality of interpolation points D1to D9at predetermined positions on the virtual welding line WLN1acquired in step St8-1(St8-2). The repair welding program specifies an interpolation point (that is, the response point Ph1) on the virtual welding line WLN1by specifying an interpolation point located a position closest to the detection point P among distances R1, R2, R3, R4, R5, R6, R7, R8, and R9between respective positions (coordinates) of the plurality of set interpolation points D1to D9and a position (coordinates) of the detection point P included in the appearance inspection result (St8-3). In the example shown inFIG. 5A, the interpolation point closest to the detection point P is the interpolation point D8located at the distance R8closest to the detection point P. The repair welding program generation unit38determines a range having a predetermined length including the response point Ph1(the interpolation point D8inFIG. 5A) specified in step St8-3as a portion to be repaired and welded, and generates a repair welding program in which the portion to be repaired and welded and various parameters (for example, welding conditions) used in a repair welding are defined (St9).

AlthoughFIG. 5Ashows an example in which the plurality of interpolation points D1to D9are set on one virtual welding line WLN1to be welded based on a welding program, it is needless to say that the repair welding program generation unit38may divide the virtual welding line WLN1into a straight section and a curved section and set a plurality of interpolation points in each of the divided sections.

An operation outline example of specifying a position of an interpolation point (a response point) on an operation trajectory (that is, a welding line) along which the welding robot MC1is operated during a main welding in a case where the virtual welding line has a plurality of arcs (curves) having different curvatures will be described in detail with reference toFIGS. 4 and 5B.FIG. 5Bis a diagram schematically showing an operation outline example related to the specification of a response point Ph2that is located on a virtual welding line WLN2and is closest to a detection point V.

In the operation outline example shown inFIG. 5B, a welding line includes two arc (curved) portions and one straight portion, and, for example, an undercut (that is, a groove of a toe formed on a base material by a main welding) is generated as a welding defect.

In the operation outline example shown inFIG. 5B, the repair welding program generation unit38divides the virtual welding line WLN2acquired by executing a main welding simulation into one straight section WLN22and a plurality of curved sections WLN21and WLN23having different curvatures based on the main welding program transmitted from the robot control device2, and sets a plurality of interpolation points D10, D11, D12, D13, D14, D15, and D16at any interval. Here, the repair welding program generation unit38compares the curvatures of the plurality of curved sections WLN21and WLN23on the virtual welding line WLN2having different curvatures, and determines that the curvature of the curved section WLN23is larger than the curvature of the curved section WLN21. The repair welding program generation unit38sets more interpolation points in the curved section WLN23having a larger curvature.

InFIG. 4, the repair welding program generation unit38acquires the main welding program transmitted from the robot control device2and the appearance inspection result generated by the inspection result determination unit37, and executes a main welding simulation (St8-1). The repair welding program generation unit38sets a plurality of interpolation points D10to D16at predetermined positions on the virtual welding line WLN2acquired in step St8-1(St8-2). The repair welding program specifies an interpolation point (that is, the response point Ph2) on the virtual welding line WLN2by specifying an interpolation point closest to the detection point V among distances R10, R11, R12, R13, R14, R15, and R16between respective positions (coordinates) of the plurality of set interpolation points D10to D16and a position (coordinates) of the detection point V included in the appearance inspection result (St8-3). In the example shown inFIG. 5B, the interpolation point closest to the detection point V is the interpolation point D10located at the distance R10closest to the detection point V. The repair welding program generation unit38determines a range having a predetermined length including the response point Ph2(the interpolation point D10inFIG. 5B) specified in step St8-3as a portion to be repaired and welded, and generates a repair welding program in which the portion to be repaired and welded and various parameters (for example, welding conditions) used in a repair welding are defined (St9).

As described above, in the welding system100according to the first embodiment, the repair welding device (for example, the inspection result determination unit37) acquires an appearance inspection result including position information of a defective portion (for example, the detection point P) of a weld bead of a welded workpiece produced by a main welding executed by the welding robot MC1, sets a plurality of interpolation points on a virtual welding line (for example, the virtual welding line WLN1) that is related to the main welding of the welding robot MC1and is obtained by a simulation based on a main welding program for executing the main welding, and instructs the welding robot MC1to execute a repair welding on an interpolation point closest to the position of the acquired defective portion.

As a result, the repair welding device can automatically and more efficiently repair and weld a defective portion of a welded workpiece produced by a main welding. Even when the welding line to be subject to a main welding according to the main welding simulation has a complicated shape such as a free curved line, the repair welding device can automatically acquire the virtual welding line WLN1by a main welding simulation based on the main welding program, and thus a time required to determine a response point closest to a detection point at which the defective portion is detected can be shortened. Therefore, the repair welding device can automatically and more efficiently repair and weld a defective portion of a welded workpiece produced by a main welding.

The repair welding device generates a repair welding program for executing a repair welding including the position of the interpolation point based on the appearance inspection result, and causes the welding robot to repair and weld the interpolation point according to the generated repair welding program. As a result, the repair welding device can specify an interpolation point that is located on the virtual welding line WLN1and is closest to the detection point P (that is, on an operation trajectory along which the welding robot MC1is operated during a main welding) among a plurality of interpolation points set on the virtual welding line WLN1, and can automatically and more efficiently execute a repair welding via the welding robot MC1in a manner of including the position of the interpolation point.

The repair welding device sets the plurality of interpolation points on the virtual welding line WLN1corresponding to a position of the welding robot at each predetermined time. As a result, the repair welding device can more efficiently generate a repair welding program for repairing a welded portion in a predetermined range including a position (coordinates) corresponding to a position (coordinates) of the welding robot MC1at a predetermined time on an operation trajectory along which the welding robot MC1is operated during a main welding.

When a virtual welding line includes a straight section and a curved section, the repair welding device sets an interval between a plurality of interpolation points in the curved section to be smaller than an interval between a plurality of interpolation points in the straight section. As a result, the repair welding device can easily set a plurality of interpolation points on the virtual welding line WLN1corresponding to the straight section and the curved section, can specify an interpolation point that is located on the virtual welding line WLN1and is closest to the detection point P (that is, on the operation trajectory along which the welding robot MC1is operated during a main welding) among the interpolation points, and can automatically and more efficiently execute a repair welding via the welding robot MC1in a manner of including the position of the interpolation point.

When the virtual welding line WLN1has one or more straight sections and one or more curved sections, the repair welding device sets an interval between a plurality of interpolation points in the curved section to be smaller than an interval between a plurality of interpolation points in the straight section. As a result, the repair welding device can reduce a variation in a position of a response point that is close to a detection point on the virtual welding line WLN1, and can set an interpolation point capable of specifying a more accurate response point.

When the virtual welding line has two or more curved sections having different curvatures, the repair welding device sets an interval between a plurality of interpolation points in a curved section having a large curvature to be smaller than an interval between a plurality of interpolation points in a curved section having a small curvature. As a result, the repair welding device can reduce a variation in a position of a response point that is close to a detection point in a section having a larger curvature (for example, the curved section WLN23inFIG. 5B) on the virtual welding line WLN2, and can set an interpolation point capable of specifying a more accurate response point.

Second Embodiment

In the first embodiment, the repair welding program is generated by the inspection control device3. In the second embodiment, an example in which the repair welding program is executed by a robot control device2awill be described.

FIG. 6is a diagram showing an internal configuration example of the inspection control device3, the robot control device2a, and the host device1according to the second embodiment. In the description ofFIG. 6, the same components as those shown inFIG. 2are denoted by the same reference numerals, description thereof will be simplified or omitted, and different contents will be described. The configuration of a welding system100aaccording to the second embodiment is the same as the configuration of the welding system100according to the first embodiment (seeFIG. 1).

The robot control device2aserving as an example of a repair welding device controls a processing of the corresponding welding robot MC1(specifically, the manipulator200, the wire feeding device300, and the power supply device500) based on a main welding execution command or a repair welding execution command transmitted from the host device1. The robot control device2aincludes at least the communication unit20, a processor21a, and the memory22.

The processor21ais configured with, for example, a CPU or an FPGA, and executes various processings and controls in cooperation with the memory22. Specifically, the processor21aimplements functions of a main welding or repair welding program generation unit23a, the calculation unit24, the robot control unit25, and the power supply control unit26by referring to a program stored in the memory22and executing the program.

The main welding or repair welding program generation unit23auses workpiece information (for example, an ID, a name, and a welded portion of an original workpiece) of each of a plurality of original workpieces included in a main welding execution command transmitted from the host device1via the communication unit20to generate a main welding program for a main welding to be executed by the welding robot MC1based on the main welding execution command. When it is determined that a repair welding is necessary as a result of the appearance inspection of the workpiece Wk (for example, a welded workpiece or a repaired and welded workpiece) executed by the inspection result determination unit37, the main welding or repair welding program generation unit23aexecutes a main welding simulation based on the generated main welding program and acquires a virtual welding line. The main welding or repair welding program generation unit23agenerates a repair welding program for a workpiece Wk (for example, a welded workpiece or a repaired and welded workpiece) that includes an interpolation point closest to a detection point of a defective portion in a welded portion and that is to be executed by the welding robot MC1, by using the virtual welding line acquired by the main welding simulation, the appearance inspection result of the workpiece Wk (for example, a welded workpiece or a repaired and welded workpiece) output from the inspection result determination unit37, and workpiece information of a welded workpiece or a repaired and welded workpiece (for example, information such as coordinates indicating a position of a detection point of a welding defect of a welded workpiece or a repaired and welded workpiece). Details of a procedure for creating the repair welding program are the same as those described in the first embodiment with reference toFIGS. 4 and 5A, and thus description thereof will be omitted. The generated main welding program and repair welding program may be stored in the processor21aor may be stored in the RAM of the memory22.

Next, an operation procedure of a main welding and a repair welding that are executed by the welding system100aaccording to the second embodiment will be described with reference toFIG. 7.FIG. 7is a sequence diagram showing an operation procedure example of a main welding and a repair welding that are executed by the welding system100aaccording to the second embodiment. In the description ofFIG. 7, an operation procedure executed among the host device1, the robot control device2a, and the inspection control device3for each process of a main welding using a plurality of original workpieces and a repair welding executed based on a fact that an appearance inspection result of a welded workpiece is fail will be described as an example. In the description ofFIG. 7, the same step numbers are given to the same processes as those inFIG. 3, description thereof will be simplified or omitted, and different contents will be described.

InFIG. 7, when the robot control device2adetermines that the main welding executed by the welding robot MC1is completed using various known methods, the robot control device2agenerates a main welding completion notification indicating that the main welding is completed and transmits the notification to the host device1(St4). When the host device1receives the main welding completion notification, the host device1generates an appearance inspection execution command for a welded workpiece, and transmits the appearance inspection execution command to the inspection control device3(St6).

The inspection control device3causes the inspection device4to execute an appearance inspection on a welded workpiece based on the appearance inspection execution command transmitted in step St6(St7). The inspection control device3determines that a repair welding is necessary because there is a welding defective portion in the welded workpiece as a result of the appearance inspection in step St7(St8). The inspection control device3generates an appearance inspection report including the determination result in step St8, and transmits the appearance inspection report to the robot control device2a(St11A). The inspection control device3transmits the appearance inspection report generated in the same manner to the host device1(St12).

The robot control device2aexecutes the main welding simulation based on the appearance inspection report transmitted from the inspection control device3and the main welding program generated in step St3, and acquires a virtual welding line of the main welding (St9A). The inspection control device3sets interpolation points at a predetermined interval on the acquired virtual welding line of the main welding, and generates a repair welding program for executing a repair welding on a defective portion including a position of a corresponding interpolation point (a response point) that is located on the welding line and is closest to a detection point (St10A).

When the host device1receives the appearance inspection report in step St12, the host device1generates a repair welding execution command for a welded workpiece, and transmits the repair welding execution command to the robot control device2a(St13). When the robot control device2areceives the repair welding execution command transmitted from the host device1, the robot control device2acauses the welding robot MC1to execute a repair welding in accordance with the repair welding program based on the repair welding program for the welded workpiece designated by the repair welding execution command (St14A). Processings after step St15are the same as those inFIG. 3, and thus description thereof will be omitted.

As described above, in the welding system100aaccording to the second embodiment, the robot control device2agenerates a repair welding program for executing a repair welding on an interpolation point (a response point) that is located on the virtual welding line WLN1and is closest to the position of the detection point P among a plurality of interpolation points, based on the appearance inspection result. The repair welding device (for example, the robot control device2a) causes the welding robot MC1to repair and weld the interpolation point in accordance with the generated repair welding program. As a result, the repair welding device can specify the position of the interpolation point that is located on an operation trajectory of the welding robot MC1during a main welding and is closest to the detection point P acquired in the appearance inspection, and can automatically and more efficiently execute a repair welding via the welding robot MC1in a manner of including the position of the interpolation point.

Third Embodiment

In the second embodiment, the repair welding program is generated by the robot control device2a. In the third embodiment, an example in which the repair welding program is executed by a host device1awill be described.

FIG. 8is a diagram showing an internal configuration example of the inspection control device3, the robot control device2, and the host device1aaccording to the third embodiment. In the description ofFIG. 8, the same components as those shown inFIG. 2are denoted by the same reference numerals, description thereof will be simplified or omitted, and different contents will be described. The configuration of a welding system100baccording to the third embodiment is the same as the configuration of the welding system100according to the first embodiment (seeFIG. 1).

The host device1aserving as an example of a repair welding device integrally controls, via the robot control device2, the execution of a repair welding (for example, start and completion of the repair welding) executed by the welding robot MC1. For example, when the host device1areceives the appearance inspection report from the inspection control device3, the host device1agenerates a repair welding program, generates a repair welding execution command for a welded workpiece produced by the welding robot MC1, and transmits the repair welding program to the robot control device2. The host device1aincludes at least the communication unit10, a processor11a, and the memory12.

The processor11ais configured with, for example, a CPU or an FPGA, and executes various processings and controls in cooperation with the memory12. Specifically, the processor11aimplements functions of the cell control unit13and the repair welding program generation unit14by referring to a program stored in the memory12and executing the program.

When it is determined that a repair welding is necessary as a result of the appearance inspection of the workpiece Wk (for example, a welded workpiece or a repaired and welded workpiece) transmitted from the inspection control device3, the repair welding program generation unit14executes a main welding simulation based on the main welding program transmitted from the robot control device2and acquires a virtual welding line. The repair welding program generation unit14generates a repair welding program for a workpiece Wk (for example, a welded workpiece or a repaired and welded workpiece) to be executed by the welding robot MC1by using the acquired virtual welding line, the appearance inspection result of the workpiece Wk (for example, a welded workpiece or a repaired and welded workpiece) transmitted from the inspection control device3, and workpiece information of a welded workpiece or a repaired and welded workpiece (for example, information such as coordinates indicating a position of a detection point of a welding defect of a welded workpiece or a repaired and welded workpiece). Details of a procedure for creating the repair welding program are the same as those described in the first embodiment with reference toFIGS. 4 and 5A, and thus description thereof will be omitted. The generated repair welding program may be stored in the processor11aor in the RAM of the memory12.

Next, an operation procedure of a main welding and a repair welding that are executed by the welding system100baccording to the third embodiment will be described with reference toFIG. 9.FIG. 9is a sequence diagram showing an operation procedure example of a main welding and a repair welding that are executed by the welding system100baccording to the third embodiment. In the description ofFIG. 9, an operation procedure executed among the host device1a, the robot control device2, and the inspection control device3for each process of a main welding using a plurality of original workpieces and a repair welding executed based on a fact that an appearance inspection result of a welded workpiece is fail will be described as an example. In the description ofFIG. 9, the same step numbers are given to the same processes as those inFIG. 3, description thereof will be simplified or omitted, and different contents will be described.

InFIG. 9, when the robot control device2determines that the main welding executed by the welding robot MC1is completed using various known methods, the robot control device2generates a main welding completion notification indicating that the main welding is completed and transmits the notification to the host device1a(St4), and transmits a main welding program used in producing a welded workpiece to the host device1a(St5B). When the host device1areceives the main welding completion notification, the host device1agenerates an appearance inspection execution command for a welded workpiece, and transmits the appearance inspection execution command to the inspection control device3(St6).

The inspection control device3causes the inspection device4to execute an appearance inspection on a welded workpiece based on the appearance inspection execution command transmitted in step St6(St7). The inspection control device3determines that a repair welding is necessary because there is a welding defective portion in the welded workpiece as a result of the appearance inspection in step St7(St8). The inspection control device3generates an appearance inspection report including the determination result in step St8, and transmits the appearance inspection report to the robot control device2(St11B). The inspection control device3transmits the appearance inspection report generated in the same manner to the host device1a(St12).

The host device1aexecutes the main welding simulation based on the appearance inspection report transmitted from the inspection control device3and the main welding program transmitted from the robot control device2, and acquires a virtual welding line of the main welding (St9B). The inspection control device3sets interpolation points at a predetermined interval on the acquired virtual welding line of the main welding, and generates a repair welding program for executing a repair welding on a defective portion including a position of a corresponding interpolation point (a response point) that is located on the welding line and is closest to a detection point (St10B).

When the host device1areceives the appearance inspection report in step St12, the host device1agenerates a repair welding execution command for a welded workpiece, and transmits a repair welding program and the generated repair welding execution command to the robot control device2(St13B). When the robot control device2receives the repair welding program and the repair welding execution command transmitted from the host device1a, the robot control device2acauses the welding robot MC1to execute a repair welding in accordance with the repair welding program based on the repair welding program for the welded workpiece designated by the repair welding execution command (St14B). Processings after step St15are the same as those inFIG. 3, and thus description thereof will be omitted.

As described above, in the welding system100baccording to the third embodiment, the host device1agenerates a repair welding program for executing a repair welding on an interpolation point (a response point) that is located on the virtual welding line WLN1and is closest to the position of the detection point P among a plurality of interpolation points, based on the appearance inspection result. The repair welding device (for example, the host device1a) causes the welding robot MC1to repair and weld the interpolation point (a response point) in accordance with the generated repair welding program. As a result, the repair welding device can specify the position of the interpolation point that is located on an operation trajectory of the welding robot MC1during a main welding and is closest to the detection point P acquired in the appearance inspection, and can automatically and more efficiently execute a repair welding via the welding robot MC1in a manner of including the position of the interpolation point.

Although various embodiments are described above with reference to the drawings, it is needless to say that the present disclosure is not limited to such examples. It will be apparent to those skilled in the art that various alterations, modifications, substitutions, additions, deletions, and equivalents can be conceived within the scope of the claims, and it should be understood that such changes also belong to the technical scope of the present disclosure. Components in various embodiments described above may be combined freely in a range without deviating from the spirit of the invention.

The present disclosure is useful as a repair welding device and a repair welding method for automatically and more efficiently executing a repair welding on a defective portion of a welded workpiece produced by a main welding.