Repair welding device and repair welding method
View Patent ↗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.
1 . A repair welding device comprising:
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,
wherein the position of the defective portion is free from overlap with the virtual welding line.
2 . The repair welding device according to claim 1 , further comprising:
a repair welding program generation unit that generates a repair welding program for executing the repair welding including a position of the interpolation point based on the appearance inspection result,
wherein the robot control unit causes the welding robot to execute the repair welding on the interpolation point in accordance with the repair welding program.
3 . The repair welding device according to claim 1 ,
wherein each of the plurality of interpolation points is set on the virtual welding line corresponding to a position of the welding robot at each predetermined time.
4 . The repair welding device according to claim 1 ,
wherein the plurality of interpolation points are respectively set on the virtual welding line at a predetermined interval.
5 . The repair welding device according to claim 1 ,
wherein in a case that the virtual welding line has one or more straight sections and one or more curved sections, an interval between the interpolation points in the curved section is set to be smaller than an interval between the interpolation points in the straight section.
6 . The repair welding device according to claim 1 ,
wherein in a case that the virtual welding line has two or more curved sections having different curvatures, an interval between the interpolation points in one of the curved sections having a large curvature is set to be smaller than an interval between the interpolation points in another of the curved sections having a small curvature.
7 . A repair welding method to be executed by a repair welding device, the repair welding method comprising:
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,
wherein the position of the defective portion is free from overlap with the virtual welding line.