Welding system, welding robot control program creation device, welding robot control program creation method, and welding robot control program creation program

Abstract

The welding system includes a welding robot provided with a welding torch and a device for creating a control program for the welding robot, wherein the device for creating the control program for the welding robot performs the following operations: obtaining position information of a welding start point and a welding end point of a welding operation on a workpiece, and posture information, by which the posture information can be used to specify the posture of the welding torch at a welding teaching point on a welding line connecting the welding start point and the welding end point relative to the welding line; and creating a control program for the welding robot based on the position information and the posture information, for realizing a welding operation between the welding start point and the welding end point, and the welding robot performs the welding operation based on the control program of the welding robot.

Description

Technical Field

[0001] The present disclosure relates to a welding system, a welding robot control program creation device, a welding robot control program creation method, and a welding robot control program creation program. Background Art

[0002] PTL 1 describes a teaching device for a spot welding robot. The teaching device includes a relative position input receiving unit for receiving input of relative position information, a weld point input receiving unit, an air-cut point determination unit, and an operation program generation unit. The relative position information includes distance information indicating how far a welding tip located at the front end of a welding gun provided in the spot welding robot is separated from a workpiece relative to the position of a weld point on the workpiece to be welded by the spot welding robot. The relative position information includes first movement information indicating how much the welding gun has moved relative to the workpiece toward the side where the weld point is located, and second information indicating how much the welding gun has moved relative to the workpiece toward the side where the weld point is not located. The weld point input receiving unit receives input of weld point information, including the position of the weld point on the workpiece and the welding sequence, for each of a plurality of weld points, as well as a welding operation for the weld point. The air-cut point determination unit determines an air-cut point of the welding gun for the welding operation input by the weld point input receiving unit based on the relative position information input by the relative position input receiving unit and the weld point information input by the weld point input receiving unit. The operation program generating unit generates an operation program for the spot welding robot based on the empty tangent point determined by the empty tangent point determining unit to perform a welding operation while maintaining a welding gun posture.

[0003] Citation List

[0004] Patent Literature

[0005] [PTL 1] JP2012-024867A Summary of the Invention

[0006] Technical issues

[0007] The present disclosure aims to provide a welding system, a welding robot control program creation device, a welding robot control program creation method, and a welding robot control program creation program that can perform welding along a welding line from a welding start point to a welding end point through easy-to-operate teaching.

[0008] Solution to the problem

[0009] The present disclosure provides a welding system including a welding robot equipped with a welding torch and a device for creating a welding robot control program. The device performs the following operations: acquiring positional information of a welding start point and a welding end point of welding to be performed on a workpiece, as well as posture information that specifies the posture of the welding torch relative to a welding line at a welding teaching point, the welding teaching point being on the welding line connecting the welding start point and the welding end point; and, based on the positional information and posture information, creating a welding robot control program for performing welding from the welding start point to the welding end point. The welding robot then performs welding on the workpiece based on the welding robot control program.

[0010] In addition, the present disclosure provides a welding robot control program creation device including a processing unit, wherein the processing unit performs the following operations: obtaining position information of a welding start point and a welding end point of welding performed on a workpiece, and posture information capable of specifying a posture of a welding torch included in a welding robot relative to a welding line at a welding teaching point, the welding teaching point being on a welding line connecting the welding start point and the welding end point; and creating a welding robot control program based on the position information and the posture information for performing welding from the welding start point to the welding end point.

[0011] In addition, the present disclosure provides a welding robot control program creation method performed by a welding robot control program creation device, the welding robot control program creation method including: obtaining position information of a welding start point and a welding end point of welding performed on a workpiece, and posture information capable of specifying a posture of a welding torch included in a welding robot relative to a welding line at a welding teaching point, the welding teaching point being on a welding line connecting the welding start point and the welding end point; and creating a welding robot control program based on the position information and the posture information for performing welding from the welding start point to the welding end point.

[0012] In addition, the present disclosure provides a creation program for a welding robot control program, which enables a welding robot control program creation device to perform the following operations: obtain position information of a welding start point and a welding end point of welding performed on a workpiece, and posture information capable of specifying the posture of a welding torch included in a welding robot relative to a welding line at a welding teaching point, the welding teaching point being on a welding line connecting the welding start point and the welding end point; and create a welding robot control program based on the position information and the posture information for performing welding from the welding start point to the welding end point.

[0013] Advantageous Effects of the Invention

[0014] According to the present disclosure, a welding system, a welding robot control program creation device, a welding robot control program creation method, and a program for creating a welding robot control program can be provided, which are capable of performing welding along a welding line from a welding start point to a welding end point through easy-to-operate teaching. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] [ Figure 1 ] Figure 1 is a conceptual diagram illustrating an example of a welding robot system.

[0016] [ Figure 2 ] Figure 2 is a conceptual diagram illustrating an example of a welding system.

[0017] [ Figure 3 ] Figure 3 is a conceptual diagram illustrating movement of a welding torch according to the present disclosure according to a welding robot control program created by a welding robot control program creating apparatus.

[0018] [ Figure 4 ] Figure 4 is a conceptual diagram showing the movement of the welding torch according to the welding robot control program when the welding line is bent.

[0019] [ Figure 5 ] Figure 5 is a conceptual diagram illustrating movement of a welding torch according to a welding robot control program when a welding line is bent.

[0020] [ Figure 6 ] Figure 6 is a conceptual diagram illustrating the movement of a welding torch according to a welding robot control program when an object is near a welding line.

[0021] [ Figure 7 ] Figure 7 is a conceptual diagram showing movement of a welding torch according to a control program of a welding robot when welding the inner side of a workpiece wall.

[0022] [ Figure 8 ] Figure 8 is an example of a display on the display unit corresponding to the first welding teaching point.

[0023] [ Figure 9 ] Figure 9 is an example of a display on the display unit corresponding to the second welding teaching point.

[0024] [ Figure 10 ] Figure 10 is an example of a display on the display unit corresponding to the third welding teaching point.

[0025] [ Figure 11 ] Figure 11 is an example of a display on the display unit corresponding to the fourth welding teaching point.

[0026] [ Figure 12 ] Figure 12 is an example of a display on the display unit corresponding to the fifth welding teaching point.

[0027] [ Figure 13 ] Figure 13 is an example of a display on the display unit corresponding to the sixth welding teaching point.

[0028] [ Figure 14 ] Figure 14 is an example of a display on the display unit corresponding to the seventh welding teaching point.

[0029] [ Figure 15 ] Figure 15 is an example of a display on the display unit corresponding to the eighth welding teaching point.

[0030] [ Figure 16 ] Figure 16 is an example of a display on the display unit corresponding to the ninth welding teaching point.

[0031] [ Figure 17 ] Figure 17 : is a comparison diagram showing the posture of the welding torch when teaching is performed and welding is performed along the welding line from the welding start point to the welding end point. DETAILED DESCRIPTION

[0032] (Background of the Disclosure)

[0033] A known robot device is equipped with a welding torch for performing welding on a workpiece. PTL 1 describes a teaching device and method for a spot welding robot. PTL 1 describes a technique for projecting real space onto a computer's virtual space, creating a virtual robot model in the virtual space that corresponds to the spot welding robot in real space, and using this virtual robot model to program the spot welding robot's operations.

[0034] The welding performed in PTL 1 is spot welding, which involves spot joining. The technique described in PTL 1 cannot perform welding along the weld line from the weld start point to the weld end point. Furthermore, in PTL 1, the operating unit used to input user instructions to the teaching device is an input device such as a keyboard or mouse. Using an input device such as a keyboard or mouse makes it difficult for the operator to input instructions that intuitively simulate the movement of the welding robot's welding torch.

[0035] Therefore, in the following embodiments, a welding system, a welding robot control program creation device, a welding robot control program creation method, and a creation program for a welding robot control program that can perform welding along a welding line from a welding start point to a welding end point through easy-to-operate teaching will be described in detail.

[0036] Hereinafter, an embodiment (hereinafter referred to as "the present embodiment") specifically discloses a welding system, a welding robot control program creation device, a welding robot control program creation method, and a creation program for a welding robot control program according to the present disclosure, which will be described in detail with appropriate reference to the accompanying drawings. However, unnecessary detailed descriptions may be omitted. For example, a detailed description of well-known matters or a repeated description of substantially the same configuration may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. The accompanying drawings and the following description are provided to enable those skilled in the art to thoroughly understand the present disclosure, and are not intended to limit the subject matter in the claims.

[0037] (Overview of Welding Robot System 100)

[0038] Figure 1 1 is a conceptual diagram illustrating an example of a welding robot system 100. The welding robot system 100 includes a welding robot 1, a welding torch 2 included in the welding robot 1, and a robot controller 3. The welding robot system 100 may further include a teaching pendant 4. The welding robot system 100 may further include an operation box 5.

[0039] The welding robot 1 is a robot that performs welding on a workpiece. The welding robot 1 may include an articulated robot arm 11. An end effector 12 is connected to the front end of the robot arm 11. The end effector 12 is typically a robot hand having one or more fingers, but may also be an end effector without fingers.

[0040] An image capturing unit such as a camera may be provided on the robot arm 11, near a connection portion between the robot arm 11 and the end effector 12, or the like. The three-dimensional movement of the robot arm 11 is controlled by the robot controller 3 connected to the robot arm 11. The movement of the robot arm 11 and the end effector 12 may be controlled based on images captured by the image capturing unit such as a camera.

[0041] For example, in welding such as arc welding, the welding torch 2 is used when welding is performed on a workpiece. The type of welding such as gas welding or laser welding and the type of welding torch corresponding to the welding type are not limited here.

[0042] The robot controller 3 is connected to the welding robot 1 and controls the behavior of the welding robot 1. The robot controller 3 can control the behavior of the welding robot 1 by an operator operating the teach pendant 4. The robot controller 3 can control the behavior of the welding robot 1 by an operator operating the operation box 5. The robot controller 3 can control the behavior of the welding robot 1 based on a control program of the welding robot 1 (i.e., a welding robot control program).

[0043] The teach pendant 4 is an input device that serves as a user interface. The operator uses this user interface to operate the teach pendant 4 to teach the welding robot 1. Any teach pendant known in the related art can be used as the teach pendant 4, and this is not limited to this embodiment. The operation box 5 is an input device used by the operator to control the robot controller 3, and includes switches, buttons, and the like. Similarly, any operation box known in the related art can be used as the operation box 5, and this is not limited to this embodiment.

[0044] (Overview of Welding System 300)

[0045] Figure 2 is a conceptual diagram illustrating an example of a welding system 300 .

[0046] The welding system 300 includes reference Figure 1 The welding robot system 100 and the welding robot control program creation system 200 are described. The welding robot control program creation system 200 includes a head mounted display HMD, a controller CTR, one or more base stations IR, and a welding robot control program creation device T.

[0047] The controller CTR is a device for motion control of mechanical equipment. In this embodiment, the controller CTR is used to Figure 1 Motion control of the welding torch 2 shown in .

[0048] The controller CTR has an external shape that can be held by the operator. According to the present embodiment, the operator holds the controller CTR regarded as the welding torch 2. The controller CTR may have a front end portion of the same shape as the welding torch 2, so that the operator can intuitively specify the welding teaching point passed by the welding torch 2 of the welding robot 1 while holding the controller CTR. The controller CTR includes an input unit such as a button, a switch and a joystick (not shown) serving as a user interface. The operator causes the controller CTR to store the welding teaching point by, for example, pressing the above-mentioned button in a state where the front end of the controller CTR corresponding to the front end of the welding torch 2 is actually in contact with the workpiece to be welded (not shown). In addition, the operator can turn on and off the posture fixing function to be described later via the user interface (e.g., a button) included in the controller CTR.

[0049] The controller CTR is connected to the head-mounted display HMD so that data can be input and output between the controller CTR and the head-mounted display HMD. Data communication between the controller CTR and the head-mounted display HMD can be performed wirelessly or via a wire.

[0050] The controller CTR can transmit the position information of the welding teaching points specified by the operator and the posture information (described later) to the welding robot control program creation device T via the head-mounted display HMD. The welding teaching points may include the welding start point and welding end point of the weld to be performed on the workpiece. When the head-mounted display HMD is not used, the controller CTR can directly transmit the position information of the welding teaching points and the posture information (described later) to the welding robot control program creation device T without using the head-mounted display HMD.

[0051] (Posture information)

[0052] The posture information is capable of specifying the posture of the welding torch 2 included in the welding robot 1 relative to the welding line at a welding teaching point on the welding line connecting the welding start point and the welding end point (see Figure 3 (and subsequent figures). For example, controller posture information, which is information indicating the posture of controller CTR with its front end facing the welding teaching point, is an example of posture information. Controller posture information is set so that when controller CTR is regarded as welding torch 2 and used for teaching, robot controller 3 controls welding robot 1 so that the direction of the front end of controller CTR in three-dimensional space matches the direction of the front end of welding torch 2 in three-dimensional space. Therefore, welding robot control program creation device T can specify the posture of welding torch 2 relative to the welding line based on the controller posture information. Welding robot control program creation device T can obtain controller posture information indicating the posture of controller CTR facing the welding teaching point as posture information.

[0053] The operator can also specify welding teach points using the welding torch 2 itself rather than the controller CTR. In this case, for example, the robot controller 3 can obtain information indicating the posture of the welding torch 2, which changes based on operational input from the teach pendant 4 or the like. The welding robot control program creation device T can obtain information indicating the posture of the welding torch 2 from the robot controller 3 as posture information. The welding robot control program creation device T can also obtain the aforementioned position information from the robot controller 3.

[0054] The head-mounted display HMD can display VR images to a person wearing the head-mounted display HMD (hereinafter referred to as a wearer). The wearer may be a different person from the above-mentioned operator, or may be the same person. The head-mounted display HMD is connected to the welding robot control program creation device T so that data can be input and output between the head-mounted display HMD and the welding robot control program creation device T. For example, the head-mounted display HMD and the welding robot control program creation device T can be connected via a display cable, a USB cable, or the like. However, the mode of connection is not limited thereto, and the head-mounted display HMD and the welding robot control program creation device T can perform wireless communication with each other.

[0055] Here, according to the present embodiment, the head-mounted display HMD is used as a device for relaying data exchange between the controller CTR and the welding robot control program creation device T. However, the welding robot control program creation system 200 may directly perform data communication between the controller CTR and the welding robot control program creation device T without providing the head-mounted display HMD.

[0056] The base station IR is used by the welding robot control program creation device T to obtain the position information and posture information of the controller CTR. The welding robot control program creation system 200 according to this embodiment includes two base station IRs. The base station IRs can be connected to the welding robot control program creation device T so that data can be input and output between the base station IRs and the welding robot control program creation device T. The two base station IRs emit infrared rays toward the controller CTR. For example, the base station IR turns on the flash lamp, then emits an infrared laser from bottom to top, then turns on the flash lamp, and then emits an infrared laser from left to right. The base station IR repeatedly performs the above four processes. On the other hand, the controller CTR includes a light receiving unit (not shown). The controller CTR calculates the position information of the welding teaching point (the position information of the front end part of the controller CTR when the operator presses the button of the controller CTR) and the controller posture information based on the arrival time, angle information, etc. of the light received from the base station IR by the light receiving unit. Instead of the controller CTR, a head-mounted display HMD or the welding robot control program creation device T can calculate the position information of the welding teaching point and the controller posture information.

[0057] The method for acquiring the position information of the welding teaching point and the controller posture information is not limited to the above examples. For example, the base station IR has a structured light projection function and an infrared camera function. When the structured light projected onto the controller CTR is captured by the infrared camera and the captured image undergoes image processing, the welding robot control program creation device T can acquire the above position information and controller posture information. Alternatively, the welding robot control program creation device T may be equipped with multiple cameras rather than multiple base stations, using these cameras to capture images of the workpiece and the controller CTR, and calculating the above position information and controller posture information based on, for example, feature points included in the captured images. The welding robot control program creation device T may also acquire the above position information and controller posture information using methods other than these.

[0058] The welding robot control program creation device T is connected to the head-mounted display HMD, the base station IR, and the robot controller 3, allowing data to be input and output between the welding robot control program creation device T, the head-mounted display HMD, the base station IR, and the robot controller 3. When the head-mounted display HMD is not used, the welding robot control program creation device T can be connected to the controller CTR, allowing data to be input and output between the welding robot control program creation device T and the controller CTR. The welding robot control program creation device T can be connected to other devices via, for example, a LAN cable or other connection cable, or wirelessly. The welding robot control program creation device T can be, for example, a gaming PC, etc., but is not limited thereto.

[0059] The welding robot control program creation device T may include a processing unit 101, a storage unit 102, an input unit 103, and a display unit 104. The welding robot control program creation device T may include other components.

[0060] The processing unit 101 is configured using, for example, a central processing unit (CPU), a microprocessing unit (MPU), a digital signal processor (DSP), or a field programmable gate array (FPGA). The processing unit 101 performs a control process for controlling the overall operation of each unit of the welding robot control program creation device T, a process of inputting data or information into or outputting data or information from each unit of the welding robot control program creation device T, a process of calculating data, and a process of storing data or information.

[0061] The storage unit 102 may include a hard disk drive (HDD), a read-only memory (ROM), a random access memory (RAM), etc., and stores various programs (such as an operating system (OS) and application software) to be executed by the processing unit 101, as well as various data. The storage unit 102 may store a program for creating a control program for the welding robot 1 (hereinafter referred to as a welding robot control program creation program 1021). The welding robot control program creation program 1021 may be executed by the processing unit 101.

[0062] The input unit 103 may include a touch panel, keyboard, mouse, etc., and has a function as a human-machine interface with the operator and inputs the operator's operation. In other words, the input unit 103 is used for input or instructions in various processes executed by the processing unit 101.

[0063] The display unit 104 can be configured using a display device such as a liquid crystal display (LCD) or an organic electroluminescence (EL). The display unit 104 can display, for example, what kind of welding robot control program the processing unit 101 has created based on the welding robot control program creation program 1021, the position information of the welding teaching points, and the controller posture information.

[0064] (Storage of welding teaching points)

[0065] Figure 3 2 is a conceptual diagram showing the movement of the welding torch 2 according to the welding robot control program created by the welding robot control program creation device T according to the present disclosure. Figure 2 . The operator moves the controller CTR being held, and presses a button or the like when the front end of the controller CTR reaches the welding start point S and the welding end point E of the workpiece. Therefore, the welding start point S and the welding end point E are stored in the controller CTR as welding teaching points. Note that the welding teaching points to be stored are not limited to the welding start point S and the welding end point E. For example, any intermediate point M on the welding line L connecting the welding start point S and the welding end point E may be stored as a welding teaching point. In addition, the welding teaching point may be a point that is not on the welding line L connecting the welding start point S and the welding end point E, and may be, for example, a point that will be stored later based on Figures 8 to 16 The described empty tangent point, or the position of the front end of the welding torch 2 when the welding robot 1 is in the standby posture.

[0066] The welding robot control program creation device T acquires position information of the welding start point S and the welding end point E, and posture information indicating the posture of the controller CTR when the front end of the controller CTR is located at the positions of the welding start point S and the welding end point E from the controller CTR.

[0067] Based on the acquired position and posture information, processing unit 101 creates a welding robot control program for welding the workpiece from the welding start point S to the welding end point E. Processing unit 101 transmits the created welding robot control program to robot controller 3. Robot controller 3 executes the received welding robot control program to move welding robot 1. Welding robot 1 welds the workpiece using welding torch 2 based on the welding teaching points (welding start point S, welding end point E, etc.) set by the operator.

[0068] Figure 17 1 is a comparison diagram showing the posture of the welding torch 2 in a case where teaching is performed and welding is performed along the welding line L from the welding start point S to the welding end point E. Figure 3 The examples shown in accordance with the present disclosure are Figure 17 The illustrated examples differ in the posture of the welding torch 2 relative to the welding line L.

[0069] When the operator holds the controller CTR and manually specifies the welding start point S, welding end point E, etc. as welding teaching points, it is difficult to keep the posture of the welding torch 2 relative to the welding line L constant. Figure 17 In the case of the illustrated example, the posture of the welding torch 2 relative to the welding line L at the middle portion of the welding line L (e.g., the middle point M) is a posture interpolated between the posture of the welding torch 2 relative to the welding line L at the welding start point S and the posture of the welding torch 2 relative to the welding line L at the welding end point E. More specifically, the posture of the welding torch 2 is changed so that the opposite side of the front end of the welding torch 2 gradually descends toward the welding line L from the welding start point S to the welding end point E.

[0070] On the other hand, if the welding torch 2 can perform welding so that the posture of the welding torch 2 relative to the welding line L is constant from the welding start point S to the welding end point E, the quality of welding is preferably stable. Figure 3 As shown, the welding robot control program creation device T according to the present disclosure creates a control program for a welding robot for performing welding along a welding line L from a welding start point S toward a welding end point E while maintaining the posture of the welding torch 2 relative to the welding line L at the welding start point S.

[0071] In addition, as will be described later Figure 7 In the example shown in , there is a case where the posture of the welding torch 2 relative to the welding line L cannot be kept constant throughout. In this case, for each of the plurality of portions constituting the welding line L, the posture of the welding torch 2 may be kept constant.

[0072] (Switch of the posture fix function)

[0073] The welding robot control program creation program 1021 may include two control modes: a first control mode is a posture fixed mode in which the posture fixed function is enabled; and a second control mode is a posture non-fixed mode in which the posture fixed function is disabled.

[0074] In the case of the posture fixed mode, the posture of the welding torch 2 included in the welding robot 1 operated according to the created welding robot control program does not follow the posture change of the controller CTR and maintains a constant posture. For example, the welding torch 2 moves while the angle of the welding torch 2 relative to the welding line L at the welding starting point S remains relatively unchanged (see Figure 3 The welding robot control program creation device T creates a welding robot control program for performing welding along the welding line L in a posture fixed portion in which the posture of the welding torch 2 of the welding line L is fixed until an end point of the posture fixed portion while maintaining the posture of the welding torch 2 relative to the welding line L at the starting point of the posture fixed portion.

[0075] In the case of the posture non-fixed mode, the posture of the welding torch 2 included in the welding robot 1 operated according to the created welding robot control program changes following the posture change of the controller CTR. For example, the welding torch 2 moves while the angle of the welding torch 2 relative to the welding line L at the welding starting point S changes (see Figure 6 and Figure 7 The welding robot control program creation device T creates a welding robot control program for performing welding along the welding line in a posture non-fixed portion of the welding line L where the posture of the welding torch 2 is not fixed, so that the posture of the welding torch 2 relative to the welding line L follows the posture of the welding torch 2 specified based on the posture information.

[0076] Mode switching between the fixed posture mode and the non-fixed posture mode can be performed using a user interface such as a button included in the controller CTR (see the above description). Alternatively, the mode switching operation can be performed through the line of sight of the operator wearing the head-mounted display HMD. The mode switching operation can be performed using a mouse, keyboard, etc. included in the input unit 103 of the welding robot control program creation device T.

[0077] like Figure 3 As shown, a welding robot 1 provided with a welding torch 2 performs welding along a welding line L corresponding to a workpiece from a welding start point S to a welding end point E according to the movement of the front end portion of a controller CTR held by an operator when creating a welding robot control program. In the case of the posture fixed mode, even when the posture of the controller CTR held by the operator changes due to camera shake or the like, the posture change is not reflected in the posture of the welding torch 2, and the welding torch 2 performs welding along the welding line L from the welding start point S to the welding end point E while maintaining a predetermined posture relative to the welding line L.

[0078] (Posture fixed part)

[0079] As described above, there may be cases where the welding torch 2 cannot maintain a constant posture relative to the welding line L from the beginning to the end. Therefore, the posture of the welding torch 2 may be fixed in the portion of the welding line L where the posture of the welding torch 2 is fixed. When the posture-fixed portion of the welding line L where the posture of the welding torch 2 is fixed extends from the welding start point S to the welding end point E, the welding robot control program creation device T creates a welding robot control program for performing welding along the welding line L until the end point of the posture-fixed portion (i.e., the welding end point E) while maintaining the posture of the welding torch constant relative to the welding line L at the start point of the posture-fixed portion (i.e., the welding start point S).

[0080] The starting point of the posture fixed portion may not be the welding starting point S. For example, the starting point of the posture fixed portion may be a point between the welding starting point S and the welding end point E (see Figure 7). Similarly, the end point of the fixed posture portion may not be the welding end point E. For example, the end point of the fixed posture portion may be a point between the welding start point S and the welding end point E (see Figure 7 ). The starting point of the posture-fixed portion is closer to the welding starting point S than the end point of the posture-fixed portion.

[0081] Figure 4 2 is a conceptual diagram showing the movement of the welding torch 2 according to the welding robot control program when the welding line L is bent. Figure 5 is a conceptual diagram showing the movement of the welding torch 2 according to the welding robot control program when the welding line L is bent.

[0082] To set multiple welding teaching points on welding line L, the operator operates controller CTR to teach welding robot 1. Specifically, the operator brings the front end of controller CTR, corresponding to the front end of welding torch 2, into contact with the workpiece to be welded, and causes controller CTR to store three points: welding start point S, intermediate point M, and welding end point E, as welding teaching points. A user interface such as buttons included in controller CTR (described above) is used to store welding teaching points.

[0083] As a result, information about the welding teaching point (position information, controller posture information, control information for the fixed posture mode or the non-fixed posture mode, etc.) is transmitted to the welding robot control program creation device T. The information about the welding teaching point can be transmitted when the information is stored in the controller CTR. In addition, the information about the welding teaching point can be transmitted when the information accumulates to a certain level in the controller CTR, or it can be transmitted periodically at predetermined time intervals.

[0084] When there are welding teaching points other than the welding start point S and the welding end point E on the welding line L, the creation program 1021 of the welding robot control program may include two or more determination modes of the welding line L. The first determination mode of the welding line L is a determination mode in which the welding line L is determined so as to connect the two welding teaching points by a straight line. When the creation program 1021 of the welding robot control program determines the welding line L according to the first determination mode by using the three points of the welding start point S, the middle point M, and the welding end point E as the welding teaching points, as shown in FIG. Figure 4 As shown, a bent welding line L formed by a line segment L1 from a welding start point S to a middle point M and a line segment L2 from the middle point M to a welding end point E is determined.

[0085] In the case of the posture fixed mode, the welding torch 2 included in the welding robot 1 operated according to the welding robot control program performs welding while maintaining a predetermined posture with respect to the welding line L. Figure 4In the case of the illustrated example, the welding torch 2 performs welding along the welding line L while maintaining a predetermined angle with respect to a line segment L1 included in the welding line L, the line segment L1 extending from the welding start point S to the intermediate point M. When the leading end of the welding torch 2 reaches the intermediate point M, the welding torch 2 changes its direction and performs welding along the welding line L while maintaining a predetermined angle with respect to a line segment L2 included in the welding line L, the line segment L2 extending from the intermediate point M to the welding end point E.

[0086] The second determination mode of the welding line L is a determination mode in which the welding line L is determined so that three or more welding teaching points are smoothly connected by a curve. When the creation program 1021 of the welding robot control program determines the welding line L using the three points of the welding start point S, the middle point M, and the welding end point E as the welding teaching points according to the second determination mode, as shown in FIG. Figure 5 As shown in FIG, a curved welding line L smoothly connecting the welding start point S, the middle point M, and the welding end point E is determined.

[0087] The welding robot control program creation program 1021 may pre-set a setting value indicating a determination mode of the welding line L as an initial value. In addition, the determination mode of the welding line L may be changed by any one of the controller CTR, the head mounted display HMD, and the input unit 103 of the welding robot control program creation device T.

[0088] In the case of the posture fixed mode, the welding torch 2 included in the welding robot 1 operated according to the welding robot control program performs welding while maintaining a predetermined posture with respect to the welding line L. Figure 5 In the case of the illustrated example, the welding torch 2 performs welding along the welding line L from the welding start point S to the welding end point E while gradually changing the angle in space so as to maintain the angle relative to the welding line L.

[0089] Figure 6 2 is a conceptual diagram showing the movement of the welding torch 2 according to the welding robot control program when the object OBJ is near the welding line L.

[0090] When welding a workpiece, an object OBJ, such as a jig, may be present near the weld line L. In the fixed-posture mode, the welding torch 2 moves to the weld end point E while maintaining the posture at the weld start point S. Consequently, there is a possibility that the welding torch 2 may collide with the object OBJ. In this case, the welding robot control program creation device T uses the non-fixed-posture mode to create a welding robot control program in which the welding torch 2 moves while changing its posture to avoid the object OBJ.

[0091] In order to make the welding torch 2 perform welding along the welding line L while avoiding the object OBJ, the operator performs the following operations on the controller CTR, for example.

[0092] When the tip of the controller CTR, which is considered to be the welding torch 2, reaches the position of the welding starting point S of the workpiece to be welded, the operator causes the controller CTR to store the welding starting point S as the welding teaching point while the control mode is set to the fixed posture mode. Switching the control mode and storing the welding teaching point can be performed using a user interface such as a button included in the controller CTR.

[0093] The operator moves controller CTR. When the tip of controller CTR, which represents welding torch 2, moves to point M1 near object OBJ on welding line L, the operator switches the control mode from fixed-posture mode to non-fixed-posture mode. In this case, point M1 can be stored in controller CTR as a welding teaching point.

[0094] The operator tilts the controller CTR to a predetermined angle. Here, as described above, in the case of the posture non-fixed mode, the posture of the welding torch 2 included in the welding robot 1 operated according to the welding robot control program changes following the posture change of the controller CTR. Figure 6 As shown, during welding, the welding torch 2 is in a state where its angle relative to the welding line L is changed (near point M1). Since the posture of the welding torch 2 is changed, there is no possibility that the welding torch 2 will collide with the object OBJ.

[0095] The operator operates the controller CTR again to switch the control mode to the fixed posture mode. Then, the operator moves the controller CTR so that the front end of the controller CTR, which is considered to be the welding torch 2, reaches a point M2 near the object OBJ on the welding line L. In the case of the fixed posture mode, since the welding robot control program is created so that the welding torch 2 moves in a state where the posture of the welding torch 2 is fixed, Figure 6 As shown, the posture of the welding torch 2 relative to the welding line L remains constant from near point M1 to near point M2. Since the front end of the welding torch 2 moves from point M1 to point M2 while changing the posture of the welding torch 2, the welding torch 2 does not collide with the object OBJ.

[0096] The operator switches the control mode from the fixed posture mode to the non-fixed posture mode. In this case, point M2 can be stored in the controller CTR as a welding teaching point. The operator tilts the controller CTR to a predetermined angle. In the non-fixed posture mode, since the posture of the welding torch 2 follows the posture of the controller CTR, the operator can return the posture of the welding torch 2 during welding to substantially the original posture ( Figure 6 The operator operates the controller CTR again to switch the control mode to the posture fixed mode.

[0097] When the mode is switched to the fixed posture mode, the operator moves the controller CTR. When the tip of the controller CTR, which is considered as the welding torch 2, reaches the welding end point E of the welding line L, the welding end point E is stored in the controller CTR as a welding teaching point.

[0098] For example, when the operator performs the above-mentioned operation on the controller CTR, the processing unit 101 of the welding robot control program production device T that obtains the above-mentioned position information and posture information from the controller CTR creates a welding robot control program based on the acquired information and sends the created welding robot control program to the robot controller 3. Figure 6 As shown, the robot controller 3 controls the welding robot 1 according to the created welding robot control program so that the welding torch 2 moves while changing its posture so as to avoid the object OBJ.

[0099] Figure 7 2 is a conceptual diagram showing the movement of the welding torch 2 according to the welding robot control program when welding the inner side of the wall of the workpiece Wk. Figure 7 As shown, the workpiece Wk to be welded according to the present embodiment has a shape in which three walls form a U shape.

[0100] When welding the inside of the wall of the workpiece Wk, welding is performed while changing the direction of the welding torch 2 along the wall of the workpiece Wk so that the welding torch 2 does not collide with the wall. In this case, the posture of the welding torch 2 relative to the weld line L cannot be maintained constant. Therefore, the welding torch 2 can only maintain a constant posture in the middle portion along the weld line L. To teach the welding robot 1 such a welding operation, the operator can operate the controller CTR as follows, for example.

[0101] With the control mode set to the non-fixed posture mode, the operator brings the tip of the controller CTR, which is considered the welding torch 2, into contact with the welding starting point S of the workpiece Wk. According to this embodiment, the welding starting point S is located where two walls forming the workpiece Wk contact each other.

[0102] While the front end of the controller CTR is in contact with the position of the welding start point S of the workpiece Wk, the operator presses a button of the controller CTR, for example, to cause the controller CTR to store the welding start point S as a welding teaching point.

[0103] Next, the operator brings the front end of the controller CTR into contact with a point (not shown) on the welding line L slightly away from the welding start point S of the workpiece Wk, and switches the control mode from the non-fixed posture mode to the fixed posture mode. When the control mode is switched, the point on the welding line L where the front end of the controller CTR contacts can be stored in the controller CTR as a welding teaching point. Thereafter, until the next welding teaching point, the posture of the welding torch 2 relative to the welding line L is maintained at a constant posture (for example, Figure 7 The posture at the midpoint M shown).

[0104] According to this embodiment, the welding end point E is located at a position where the two walls forming the workpiece Wk contact each other, similar to the welding starting point S. The operator operates the controller CTR again near the welding end point E to switch the control mode from the fixed posture mode to the non-fixed posture mode. When the control mode is switched, the point on the welding line L that the front end of the controller CTR contacts can be stored in the controller CTR as a welding teaching point.

[0105] The operator brings the tip of the controller CTR into contact with the position of the welding end point E. Then, the operator causes the controller CTR to store the welding end point E as a welding teaching point by, for example, pressing a button of the controller CTR.

[0106] When the operator operates controller CTR, for example, as described above, welding torch 2 moves as follows according to the created welding robot control program. Near the welding start point S and the welding end point E of weld line L, the posture of welding torch 2 follows the posture of controller CTR. Throughout the rest of weld line L, the posture of welding torch 2 remains fixed. Therefore, welding torch 2 can perform welding along weld line L without colliding with the inner wall of workpiece Wk.

[0107] Figures 8 to 16 1 and 2 are examples of displays by the display unit 104 corresponding to the first to ninth welding teaching points, respectively.

[0108] When the processing unit 101 of the welding robot control program creation device T executes the welding robot control program creation program 1021, Figures 8 to 16 The display examples shown in FIG. 1 correspond to images to be displayed on the display unit 104. However, these images may be displayed on a screen included in a head-mounted display HMD or other device, etc. The operator operates the controller CTR to perform teaching on the welding robot 1 while observing the images displayed on the display unit 104, etc.

[0109] According to the present embodiment, the window W displayed on the display unit 104 is divided into three panes of the first pane P1, the second pane P2, and the third pane P3. However, the pane division of the window W is only an example, and other display methods may be adopted.

[0110] The first pane P1 displays a virtual model of a welding robot 1 equipped with a welding torch 2. The first pane P1 also displays the operating path of the welding torch 2 included in the welding robot 1. The x-axis, y-axis, and z-axis shown in the figure are orthogonal coordinate axes. In this example, the direction of the welding torch 2 is the x-axis.

[0111] On the second pane P2, information related to the welding teaching points on the operation path of the welding torch 2 is displayed. As the information related to the welding teaching points, for example, the following information can be displayed. · Type of move command used to move torch 2 (MOVEL, MOVEP, etc.) · Identifier of welding teaching point (P001, etc.) · The moving speed of welding torch 2.

[0112] On the third pane P3, values ​​of various control parameters selected as welding teaching points to be displayed on the second pane P2 are displayed. The control parameters to be displayed are, for example, as follows. · Welding (On: Perform welding; Off: Do not perform welding) · Welding torch 2 movement speed (automatic: movement speed automatically set by the program; value specification: movement speed based on a value) · Fixing of the welding torch posture (On: the posture is fixed mode; Off: the posture is not fixed mode; Auto: automatically set to On or Off).

[0113] Figure 8 The tip of welding torch 2 is shown pointing to the first welding teaching point. The first welding teaching point corresponds to the position of the tip of welding torch 2 when welding robot 1 is in the standby position. The standby position of welding robot 1 is the position of welding robot 1 in its initial position when welding robot 1 starts welding.

[0114] Figure 9 The state in which the front end of the welding torch 2 is directed to the second welding teaching point is shown. Figure 10 The front end of the welding torch 2 is shown pointing to the third welding teaching point. The second welding teaching point and the third welding teaching point are air cutting points. Air cutting means that the welding torch 2 moves without welding the workpiece.

[0115] Figure 11 The front end of the welding torch 2 is pointed to the fourth welding teaching point. The fourth welding teaching point is the welding starting point. Figures 3 to 7 corresponds to the welding start point S shown in . Since welding is performed from the welding start point to the welding end point, the control parameter values ​​displayed in the third pane P3 are On for welding and Fixed On for the welding torch posture. Additionally, a white circle is displayed to the left of the information related to the fourth welding teaching point selected and displayed (highlighted) in the second pane P2. According to this embodiment, a white circle indicates that welding is performed after the welding teaching point, and a black circle indicates that welding is not performed after the welding teaching point.

[0116] Figure 12 The front end of the welding torch 2 is pointed to the fifth welding teaching point. The fifth welding teaching point is the welding end point. Figures 3 to 7Since the welding torch 2 that has performed welding to the welding end point has performed an air cut (the welding torch 2 is idling), the values ​​of the control parameters to be displayed on the third pane P3 are Off for welding and Fixed Auto (which can be On or Off) for the welding torch posture.

[0117] Figure 13 The state in which the front end of the welding torch 2 is directed to the sixth welding teaching point is shown. Figure 14 The state in which the front end of the welding torch 2 is directed to the seventh welding teaching point is shown. The sixth welding teaching point and the seventh welding teaching point are hollow tangent points.

[0118] Figure 15 The state in which the front end of the welding torch 2 is directed to the eighth welding teaching point is shown. The eighth welding teaching point corresponds to the position of the front end of the welding torch 2 when the welding robot 1 is in the standby position. The standby position of the welding robot 1 is the position of the welding robot 1 when the welding robot 1 is at the end position after welding is completed. In this example, the starting position of the welding robot 1 (see Figure 8 ) and end position (see Figure 15 ) are the same, and the first welding teaching point and the eighth welding teaching point are the same. However, the positions of the first welding teaching point and the eighth welding teaching point may be different from each other.

[0119] Figure 16 The figure shows a state where the front end of the welding torch 2 is directed to the ninth welding teaching point. The ninth welding teaching point is an additional intermediate point set between the fourth welding teaching point (welding start point S) and the fifth welding teaching point (welding end point E) in order to allow the welding torch 2 to avoid objects such as fixtures. Figure 6 The points M1 and M2 shown correspond to each other. Figure 11 and Figure 16 , the angle of the welding torch 2 relative to the welding line at the ninth welding teaching point is different from the angle of the welding torch 2 relative to the welding line at the fourth welding teaching point. Figure 16 The values ​​of the control parameters to be displayed on the third pane P2 are On for welding and Off for fixing the torch posture.

[0120] (Revise)

[0121] exist Figure 2 In the figure, the robot controller 3, the welding robot control program creation device T, and the controller CTR are separate devices. However, these devices can be integrated into a single device. For example, the robot controller 3 can be integrated with the welding robot control program creation device T. Alternatively, the controller CTR can be integrated with the welding robot control program creation device T.

[0122] The welding robot control program creation device T can obtain position information and posture information without using the controller CTR. Figure 1 and Figure 2 The teaching pendant 4 or operation box 5 is shown instead of the controller CTR.

[0123] Alternatively, an object other than the controller CTR may be used as an object simulating the welding torch 2, which object can be held by the operator. For example, a physical model (model) simulating the shape of the welding torch 2 may be used instead of the controller CTR. The welding robot control program creation device T acquires positional information and posture information of the physical model based on the image captured by the camera, and uses this information as positional information for the welding start point S and welding end point E, as well as posture information capable of specifying the posture of the welding torch 2 relative to the welding line L.

[0124] As described above, welding system 300 includes a welding robot 1 equipped with a welding torch 2 and a welding robot control program creation device T. The welding robot control program creation device T acquires positional information regarding the welding start point S and the welding end point E of welding to be performed on a workpiece Wk, as well as posture information that specifies the posture of the welding torch 2 relative to the welding line L at a welding teaching point, which is located on the welding line L connecting the welding start point S and the welding end point E. Based on this positional information and posture information, the welding robot control program creation device T creates a welding robot control program for performing welding from the welding start point S to the welding end point E. Based on this welding robot control program, welding robot 1 performs welding on workpiece Wk. As a result, welding robot 1 can perform welding along the welding line L from the welding start point S to the welding end point E using easy-to-use teaching.

[0125] The welding robot control program creation device T includes a processing unit 101. This processing unit 101 acquires positional information of the welding start point S and the welding end point E of welding performed on a workpiece Wk, as well as posture information capable of specifying the posture of the welding torch 2 included in the welding robot 1 relative to the welding line L at a welding teaching point on the welding line connecting the welding start point S and the welding end point E. Based on the positional information and posture information, the processing unit 101 creates a welding robot control program for performing welding from the welding start point S to the welding end point E. As a result, the welding robot 1 can perform welding along the welding line L from the welding start point S to the welding end point E through easy-to-use teaching.

[0126] In the welding robot control program creation method performed by welding robot control program creation device T, welding robot control program creation device T obtains positional information of the welding start point S and the welding end point E of welding to be performed on a workpiece Wk, as well as posture information capable of specifying the posture of welding torch 2 included in welding robot 1 relative to welding line L at a welding teaching point on welding line L connecting welding start point S and welding end point E. Based on the positional information and posture information, welding robot control program creation device T creates a welding robot control program for performing welding from welding start point S to welding end point E. As a result, welding robot 1 can perform welding along welding line L from welding start point S to welding end point E through easy-to-operate teaching.

[0127] The welding robot control program creation program causes the welding robot control program creation device T to obtain positional information of the welding start point S and the welding end point E of welding to be performed on a workpiece Wk, as well as posture information capable of specifying the posture of the welding torch 2 included in the welding robot 1 relative to the welding line L at a welding teaching point on the welding line L connecting the welding start point S and the welding end point E. The welding robot control program creation program causes the welding robot control program creation device T to create a welding robot control program for performing welding from the welding start point S to the welding end point E based on the positional information and the posture information. As a result, the welding robot 1 can perform welding along the welding line L from the welding start point S to the welding end point E through easy-to-operate teaching.

[0128] Welding system 300 also includes a controller CTR that can be held by an operator. The welding robot control program creation device T acquires controller posture information as posture information. This information indicates the posture of controller CTR facing the welding teaching point. As a result, the operator can easily teach the operation of welding torch 2 by using the posture of controller CTR.

[0129] The controller CTR may be integrated with the welding robot control program creation device T. As a result, the controller operated by the user may create a welding robot control program.

[0130] The controller CTR has a front end portion having the same shape as that of the welding torch 2. As a result, the operator can intuitively designate a welding teaching point that the welding torch 2 of the welding robot 1 passes while holding the controller CTR.

[0131] The welding teaching points on the welding line L include at least one intermediate point M. As a result, during actual welding, the operator can flexibly designate welding operations by three-dimensionally moving the welding torch 2 through the welding robot 1 .

[0132] The welding robot control program creation device T creates a control program for the welding robot 1 for performing welding along the welding line L in a posture fixing section in which the posture of the welding torch 2 is fixed in the welding line L, until the end point of the posture fixing section, while maintaining the posture of the welding torch 2 at the start point of the posture fixing section relative to the welding line L. As a result, even when the postures of the controller and the welding torch are changed during teaching, the welding robot 1 can perform welding while maintaining a constant posture of the welding torch relative to the welding line, and the quality of welding is stable.

[0133] A welding robot control program creation device T creates a control program for a welding robot for performing welding along a welding line L in a posture non-fixed portion where the posture of welding torch 2 is not fixed, so that the posture of welding torch 2 relative to welding line L follows the posture of welding torch 2 specified based on posture information. As a result, welding robot control program creation device T allows an operator to flexibly teach movement of the welding torch even in the posture non-fixed portion where the posture of the welding torch cannot be made constant.

[0134] While the welding system, welding robot control program creation device, welding robot control program creation method, and welding robot control program creation program according to the present disclosure have been described above with reference to the accompanying drawings, it goes without saying that the present disclosure is not limited to such examples. It will be apparent to those skilled in the art that various changes, modifications, substitutions, additions, deletions, and equivalents may be envisioned within the scope of the claims, and it should be understood that such changes also fall within the technical scope of the present disclosure. The components of the above-described embodiments may be freely combined without departing from the spirit of the present invention.

[0135] This application is based on the Japanese patent application (Japanese Patent Application No. 2020-101188) filed on June 10, 2020, the contents of which are incorporated herein by reference.

[0136] Industrial Applicability

[0137] The present disclosure is useful as a welding system, a welding robot control program creation device, a welding robot control program creation method, and a welding robot control program creation program for performing welding along a welding line from a welding start point to a welding end point through easy-to-operate teaching.

[0138] Reference Signs List

[0139] 1: Welding robot

[0140] 2: Welding torch

[0141] 3: Robot controller

[0142] 4: Teaching pendant

[0143] 5: Operation box

[0144] 11: Robotic Arm

[0145] 12: End effector

[0146] 100: Welding robot system

[0147] 101: Processing Unit

[0148] 102: Storage unit

[0149] 1021: Creation procedure of welding robot control program

[0150] 103: Input unit

[0151] 104: Display unit

[0152] 200: Welding robot control program creation system

[0153] 300: Welding system

[0154] CTR: Controller

[0155] HMD: Head-mounted display

[0156] IR: Base Station

[0157] L: welding line

[0158] M: midpoint

[0159] OBJ: Object

[0160] P1: First pane

[0161] P2: Second pane

[0162] P3: Third pane

[0163] S: welding starting point

[0164] E: welding end point

[0165] T: Welding robot control program creation equipment

[0166] W: Window

[0167] Wk: workpiece.

Claims

1. A welding system comprising: A welding robot provided with a welding torch; Equipment for creating control programs for welding robots; as well as a controller capable of being held by an operator, Wherein, the welding robot control program creation device is configured to: acquiring position information of a welding start point and a welding end point on a workpiece and posture information capable of specifying a posture of the welding torch relative to a welding line at a welding teaching point, the welding teaching point being on the welding line connecting the welding start point and the welding end point, and creating a welding robot control program based on the position information and the posture information for performing welding from the welding start point to the welding end point, wherein the welding robot is configured to perform welding on the workpiece based on the welding robot control program, and In which, the welding robot control program creation device is configured to: create a control program for the welding robot, which is used to perform welding along the welding line in a posture fixed portion in which the posture of the welding torch is fixed in the welding line until the end point of the posture fixed portion, while maintaining the posture of the welding torch relative to the welding line at the starting point of the posture fixed portion, wherein the posture of the welding torch does not follow the posture change of the controller.

2. The welding system according to claim 1, wherein: The welding robot control program creation device is configured to acquire controller posture information as the posture information, the controller posture information being information indicating a posture of the controller toward the welding teaching point.

3. The welding system according to claim 2, wherein: The controller is integrated with the welding robot control program creating device.

4. The welding system according to claim 2 or 3, wherein: The controller has a front end portion having the same shape as that of the welding torch.

5. The welding system according to any one of claims 1 to 4, wherein: The welding teaching points on the welding line include at least one intermediate point.

6. The welding system according to claim 1, wherein: The welding robot control program creation device is configured to: create a control program for the welding robot for performing welding along the welding line in a non-fixed portion of the welding line where the posture of the welding torch is not fixed, so that the posture of the welding torch relative to the welding line follows the posture of the welding torch specified based on the posture information.

7. A device for creating a control program for a welding robot, comprising: processing unit, wherein The processing unit is configured to: acquiring position information of a welding start point and a welding end point on a workpiece and posture information capable of specifying a posture of a welding torch included in a welding robot relative to a welding line at a welding teaching point on the welding line connecting the welding start point and the welding end point, and creating a welding robot control program based on the position information and the posture information for performing welding from the welding start point to the welding end point, In which, the processing unit is further configured to: create a control program for the welding robot, for performing welding along the welding line in a posture fixed portion in which the posture of the welding torch is fixed in the welding line until the end point of the posture fixed portion, while maintaining the posture of the welding torch relative to the welding line at the starting point of the posture fixed portion, wherein the posture of the welding torch does not follow the posture change of a controller that can be held by an operator.

8. A method for creating a welding robot control program by a welding robot control program creation device, the method comprising: acquiring position information of a welding start point and a welding end point on a workpiece and posture information capable of specifying a posture of a welding torch included in a welding robot relative to a welding line at a welding teaching point on the welding line connecting the welding start point and the welding end point, and creating a control program for the welding robot based on the position information and the posture information, for performing welding from the welding start point to the welding end point, Among them, creating a control program for the welding robot includes: creating a control program for the welding robot, which is used to perform welding along the welding line in a posture fixed portion in which the posture of the welding torch is fixed in the welding line until the end point of the posture fixed portion, while maintaining the posture of the welding torch relative to the welding line at the starting point of the posture fixed portion, wherein the posture of the welding torch does not follow the posture change of a controller that can be held by an operator.

9. A computer program product comprising a creation program for a welding robot control program, wherein the creation program enables a welding robot control program creation device to: acquiring position information of a welding start point and a welding end point on a workpiece and posture information capable of specifying a posture of a welding torch included in a welding robot relative to a welding line at a welding teaching point on the welding line connecting the welding start point and the welding end point, and creating a control program for the welding robot based on the position information and the posture information, for performing welding from the welding start point to the welding end point, in, The creation program also causes the welding robot control program creation device to: create a control program for the welding robot, for performing welding along the welding line in a posture fixed portion in which the posture of the welding torch is fixed in the welding line until the end point of the posture fixed portion, while maintaining the posture of the welding torch relative to the welding line at the starting point of the posture fixed portion, wherein the posture of the welding torch does not follow the posture change of a controller that can be held by an operator.

Images