Control unit and control method of robot used for arc welding

Abstract

A welding voltage value Vf and a welding current value IF are respectively monitored by a detector during execution of arc welding in accordance with a robot operation program, indexes are calculated which show how far the monitored values Vf and If are deviated from a command welding voltage value Vc and a command welding current value Ic specified in the operation program, and it is decided that there is a possibility of occurrence of a defective weld in arc welding under execution, when the calculated index exceeds a preset threshold value. Then, the data for arc-welding execution conditions and execution results are cumulatively stored in a defective weld history data area provided in a memory in accordance with the line number and the statement of the line in the operation program for each line constituting the program, and the cumulatively-stored data is displayed on a screen.

What is claimed is:  
     
       1. A robot control unit comprising: 
       (a) means for storing at least one program for specifying the contents of a welding operation in connection with a robot operation through a welding power supply for controlling a voltage and a current to be supplied to a welding torch supported by the robot;  
       (b) means for storing decision conditions related to a possibility of occurrence of a defective weld specified in connection with at least one of the voltage and current to be supplied to said welding torch;  
       (c) means for deciding whether or not there is a possibility of occurrence of said defective weld in accordance with said stored decision conditions by monitoring at least one of the voltage and current to be supplied to said welding torch during execution of welding with said welding torch;  
       (d) means for storing, as defective weld history data, the data for an operating state at a time of occurrence of said weld when said deciding means decides that the defective weld may occur, said defective weld history data including data representing a command value and real value of a welding voltage and a command value and real value of a welding current, data representing a date, and data for specifying a workpiece with a defective weld; and  
       (f)( e ) means for operating a display device to display the stored defective weld history data.  
     
     
       2. A robot control unit according to  claim 1 , further comprising means for generating a signal for notifying an operator that a defective weld may occur, when the decision indicative of occurrence of a weld defect is made based on the decision conditions stored in said decision conditions storing means (b). 
     
     
       3. A robot control method comprising: 
       
         storing at least one program for specifying the contents of a welding operation in connection with a robot operation through a welding power supply for controlling a voltage and a current to be supplied to a welding torch supported by the robot;  
       
       
         storing decision conditions related to a possibility of occurrence of a defective weld specified in connection with at least one of the voltage and current to be supplied to said welding torch;  
       
       
         deciding whether or not there is a possibility of occurrence of said defective weld in accordance with said stored decision conditions by monitoring at least one of the voltage and current to be supplied to said welding torch during execution of welding with said welding torch;  
       
       
         storing, as defective weld history data, the data for an operating state at a time of occurrence of said weld when said deciding means decides that the defective weld may occur, said defective weld history data including data representing a command value and real value of a welding voltage and a command value and real value of a welding current; and  
       
       
         operating a display device to display the stored defective weld history data. 
       
     
     
       4. A robot control method according to  claim 3 , further comprising generating a signal for notifying an operator that a defective weld may occur, when the decision indicative of occurrence of a weld defect is made based on the decision conditions stored in said decision conditions storing means ( b ).