Weld teaching support system, weld teaching support program generation device, weld teaching support program generation method, and weld teaching support program

Abstract

To provide a weld teaching support system determining necessity of a weaving weld and supporting weld teaching by a worker.SOLUTION: A weld teaching support system includes: a teaching tool operated by a worker and receiving a teaching operation for teaching an action of a welding torch; and a terminal device which can communicate with the teaching tool. The system acquires a weld point including a teaching position teaching a position of the welding torch performing welding by the worker's operation and a teaching attitude teaching an attitude of the welding torch, transmits them to the terminal device, and generates and outputs a notification to promote change in setting related to a welding action when it is determined that weaving is necessary for welding of a weld line including the weld point on the basis of the acquired teaching posture at a plurality of weld points.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present disclosure relates to a welding teaching support system, a welding teaching support program generating device, a welding teaching support program generating method, and a welding teaching support program. [Background technology]

[0002] Patent Document 1 discloses a weaving operation control method in which a controlled point of a welding robot is moved in a predetermined weaving pattern along an interpolation line in which two adjacent points among a plurality of taught points that are taught as welding target positions for welding are set as the interpolation start point and interpolation end point. The weaving operation control method sequentially obtains, at predetermined intervals on an interpolation line, interpolation point position vectors that represent the positions of interpolation points that are repeatedly calculated, and interpolation point information that indicates the number of the interpolation point from the interpolation start point; calculates a weaving pattern vector from the interpolation point position to the weaving position based on the predetermined weaving pattern and the interpolation point information; calculates a weaving position vector that represents the position to which the controlled point should move by combining the interpolation point position vector and the weaving pattern vector; and, if the interpolation point corresponds to the start of one weaving cycle based on an operation program for operating a welding robot and the interpolation point information, calculates a position difference vector that is the difference between the position represented by the weaving position vector and the actual position of the controlled point; and, for interpolation points after the interpolation point at which the position difference vector was calculated, gradually decreases the position difference vector based on the interpolation point information in order to make the position difference vector zero within the number of interpolations in one weaving cycle; and repeatedly performs the process of combining the weaving position vector and the position difference vector to calculate an operation command position for operating the welding robot. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-83019 Summary of the Invention [Problem to be solved by the invention]

[0004] The present disclosure aims to provide a welding teaching support system that determines whether weaving welding is necessary and supports welding teaching by a worker, a welding teaching support program generation device, a welding teaching support program generation method, and a welding teaching support program. [Means for solving the problem]

[0005] The present disclosure provides a welding teaching support system that includes a teaching tool that is operated by a worker and receives teaching operations that teach the operation of a welding torch equipped on a welding robot, and a terminal device that can communicate with the teaching tool, wherein the teaching tool acquires welding points that include teaching positions that teach the position of the welding torch where welding is performed and teaching postures that teach the posture of the welding torch through the teaching operations by the worker, and transmits these to the terminal device, and the terminal device generates and outputs a notification that prompts the user to change settings related to the welding operation based on the acquired teaching postures of the multiple welding points.

[0006] The present disclosure also provides a welding teaching assistance program generation device having at least one processor, wherein the welding teaching assistance program is executed by a teaching device having at least one processor and receiving instructions for operations to be performed by a welding torch provided in a welding robot, and generates the welding teaching assistance program to execute the following steps: acquiring welding points including teaching positions that teach the position of the welding torch where welding is to be performed and teaching postures that teach the posture of the welding torch by teaching operations using a teaching tool operated by a worker and that receives teaching operations that teach the operation of the welding torch; and generating and outputting a notification prompting a change of settings related to the welding operation based on the teaching postures of the acquired multiple welding points.

[0007] The present disclosure also provides a method for generating a welding teaching assistance program executed by an apparatus having at least one processor, wherein the welding teaching assistance program is executed by a teaching device having at least one processor and receiving instructions for the operation of a welding torch provided to a welding robot that performs welding, and generates the welding teaching assistance program by performing a teaching operation using a teaching tool operated by an operator and receiving a teaching operation for teaching the operation of the welding torch, to acquire welding points including a teaching position that teaches the position of the welding torch and a teaching posture that teaches the posture of the welding torch, and based on the acquired teaching postures of the multiple welding points, generating and outputting a notification prompting a change of settings related to the welding operation.

[0008] The present disclosure also provides a welding teaching assistance program that includes at least one processor and is executed by a teaching device that receives instructions for the operation of a welding torch provided in a welding robot that performs welding, the welding teaching assistance program executing the following steps: acquiring welding points that include a teaching position that teaches the position of the welding torch and a teaching posture that teaches the posture of the welding torch through teaching operations using a teaching tool that is operated by a worker and receives teaching operations that teach the operation of the welding torch; and generating and outputting a notification that prompts a change in settings related to the welding operation based on the teaching postures of the acquired multiple welding points. [Effects of the Invention]

[0009] According to the present disclosure, it is possible to determine whether weaving welding is necessary and to support welding instruction by an operator. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing an example of a welding teaching support system according to an embodiment. [Figure 2] A diagram showing an example of the internal configuration of an MR device [Figure 3] FIG. 1 is a diagram showing an example of another welding teaching support system according to an embodiment. [Figure 4] A diagram showing an example of welding point instruction (input) [Figure 5] 1 is a flowchart showing an example of an operation procedure of an MR device or a processing device according to an embodiment. [Figure 6] A diagram showing an example of teaching welding points in the weaving teaching mode. [Figure 7] A flowchart showing an example of an operation procedure of a modified example of step St14 of FIG. 5. DETAILED DESCRIPTION OF THE INVENTION

[0011] (Background to this disclosure) When teaching welding operations, when welding in a direction perpendicular to the direction of gravity, weaving is required at welding positions where gravity hinders lateral movement, such as when welding a ceiling surface, to make the weld bead uniform and stabilize the weld strength. However, when an unskilled worker teaches welding points, the worker has a problem in that it is difficult to determine whether weaving is necessary at the welding position being taught.

[0012] Therefore, in the following embodiments, a welding teaching support system, a welding teaching support program generation device, a welding teaching support program generation method, and a welding teaching support program will be described, which determine whether weaving welding is necessary and support welding teaching by a worker.

[0013] Hereinafter, with reference to the drawings as appropriate, detailed descriptions of embodiments specifically disclosing a welding teaching support system, a welding teaching support program generation device, a welding teaching support program generation method, and a welding teaching support program according to the present disclosure will be provided. However, more detailed descriptions than necessary may be omitted. For example, detailed descriptions of well-known matters and redundant descriptions of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. Note 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 subject matter recited in the claims.

[0014] <Welding Teaching Support System Overview> First, a welding teaching support system 100 according to an embodiment will be described with reference to Fig. 1. Fig. 1 is a diagram showing an example of welding teaching support system 100 according to an embodiment. Note that the configuration of welding teaching support system 100 shown in Fig. 1 is an example and is not limited to this.

[0015] Welding teaching support system 100 determines whether weaving welding is necessary for welding at a welding point based on the posture of the welding point that has been taught or already taught by an operator using an arbitrary method. If welding teaching support system 100 determines that weaving welding is necessary, it notifies the operator that weaving welding is necessary and accepts instruction for performing weaving welding.

[0016] The welding teaching support system 100 generates a welding teaching program for causing the welding robot RB to perform the welding operation based on teaching points taught by an operator who teaches the welding operation, and transmits the program to the robot controller COM.

[0017] In the following description, the welding posture will be described as an example of the direction in which the welding wire WW is fed from the welding torch TC toward the welding point on the workpiece Wk (i.e., the teaching point). However, the posture (angle) that is the subject of the determination of whether weaving welding is necessary is not limited to the direction in which the welding wire is fed (i.e., the twist angle of the welding torch TC), but may be an angle with the direction along the weld line as the rotation axis (i.e., the tilt angle), or an angle with the direction perpendicular to the direction along the weld line and along the surface of the workpiece Wk as the rotation axis (i.e., the forward / rearward advance angle).

[0018] In the following description, an example will be described in which the workpiece is an actual workpiece Wk that exists in the real world, but it may also be a virtual workpiece VWk constructed based on 3D model data or the like.

[0019] In the following explanation, an example will be described in which the teaching tool used to teach the welding points is an actual teaching tool TL that exists in the real world, but it may also be a welding torch TC equipped on an actual welding robot RB that exists in the real world, a virtual teaching tool VTL constructed based on 3D model data, or the worker's fingers.

[0020] Welding teaching support system 100 includes at least an MR device DV or a processing device P1. Welding teaching support system 100 shown in Fig. 1 includes a reference position acquisition marker Mk1 or a teaching tool TL, a workpiece Wk, an MR device DV, and a processing device P1.

[0021] The MR device DV is a so-called head-mounted display, and is connected to the processing device P1 so as to be able to communicate data with it. The MR device DV is worn on the head of the worker, and forms a virtual space in which images of virtual production equipment (for example, a virtual workpiece, a virtual welding robot VRB, a virtual welding torch VTC, or a virtual jig) are superimposed on a captured image of a real space corresponding to the worker's field of vision, and displays the virtual space on the display unit 13, thereby visualizing the virtual space for the worker.

[0022] The welding robot RB is an articulated robot with a welding torch TC attached to the tip of its wrist. Note that the number of joints (joints) provided in the welding robot RB is not limited to this. The welding robot RB is controlled by a robot controller COM to weld a workpiece Wk.

[0023] The welding robot RB has a welding torch TC and a wire feeder WW1, and is a robot that performs welding by feeding the welding wire WW from the welding torch TC to a welding point on the workpiece Wk using the wire feeder WW1. The welding robot RB is controlled by a robot controller (not shown) that is connected to a processing device P1 (described later) so as to be capable of data communication, and performs the taught welding operations.

[0024] The MR device DV determines whether or not a welding line (i.e., a welding location) including the taught welding point is a welding line that requires weaving welding, based on information including the position and posture of the taught welding point (hereinafter referred to as "teaching information"). If the MR device DV determines that a welding line (i.e., a welding location) including the taught welding point is a welding line that requires weaving welding, the MR device DV supports the teaching work performed by the worker.

[0025] The processing device P1 is connected between the MR device DV and the robot controller COM so that data can be communicated between them. The processing device P1 records each piece of taught teaching information (i.e., information on the position (three-dimensional) and posture (three-dimensional) of the teaching point). The processing device P1 also generates a welding teaching program based on the information on the position and posture of the teaching point. The processing device P1 transmits the welding teaching program to the robot controller COM for controlling and driving the real-world welding robot RB.

[0026] The robot controller COM is connected to the welding robot RB and the processing device P1 so as to be able to communicate data with each other. The robot controller COM controls the welding robot RB to perform a welding operation based on a welding teaching program transmitted from the processing device P1.

[0027] Next, an example of the internal configuration of the MR device DV and the processing device P1 will be described with reference to Fig. 2. Fig. 2 is a diagram showing an example of the internal configuration of the MR device DV and the processing device P1.

[0028] The MR device DV includes a communication unit 10, a processor 11, a memory 12, a display unit 13, a depth sensor 14, and a camera 15.

[0029] The communication unit 10 is connected to the teaching tool TL and the processing device P1 so as to be able to communicate wirelessly or via wires, and transmits and receives data. The communication unit 10 outputs various data transmitted from the teaching tool TL and the processing device P1 to the processor 11. The communication unit 10 transmits various data output from the processor 11 to the processing device P1. The wireless communication here refers to communication via a wireless local area network (LAN) such as Wi-Fi (registered trademark). When the processing device P1 is omitted from the welding teaching support system 100, the communication unit 10 is connected to the robot controller so as to be able to communicate data.

[0030] Processor 11 is configured using, for example, a central processing unit (hereinafter referred to as "CPU") or a field programmable gate array (hereinafter referred to as "FPGA"), and performs various processes and controls in cooperation with memory 12. Specifically, processor 11 references programs and data stored in memory 12 and executes the programs to realize functions such as determining whether weaving welding is necessary. When processing device P1 is omitted from welding teaching support system 100, processor 11 is configured to be able to realize functions similar to those of processor 21 of processing device P1.

[0031] Processor 11 calculates the relative positional relationship in three-dimensional space for each of the recognized or detected objects and production equipment based on the objects detected by depth sensor 14, the captured images captured by camera 15, and the 3D model data of various production equipment stored in memory 12. Specifically, processor 11 calculates the relative positional relationship in three-dimensional space for each of the coordinate system and position of workpiece Wk (virtual workpiece VWk), the coordinate system and position of welding robot RB (virtual welding robot VRB), etc. As a result, processor 11 can generate an image of a virtual space in which the virtual production equipment is superimposed on a captured image of the real world, and display the image on display unit 13. As a result, processor 11 can also generate teaching information to be taught to real-world welding robot RB that welds workpiece Wk.

[0032] The processor 11 recognizes the position and posture of the welding point taught by the tool (the worker's finger, teaching tool TL, virtual teaching tool VTL, etc.) that teaches the welding point based on the shape of the reference position acquisition marker Mk1 or marker Mk2 captured by the camera 15, or the posture of the worker's finger recognized by the depth sensor 14.

[0033] The memory 12 includes, for example, a random access memory (hereinafter referred to as "RAM") as a work memory used when executing each process of the processor 11, and a read only memory (hereinafter referred to as "ROM") that stores programs and data that define the operations of the processor 11. The RAM temporarily stores data or information generated or acquired by the processor 11. The ROM stores programs that define the operations of the processor 11.

[0034] Memory 12 stores a 3D model of at least a portion of the welding robot RB or welding torch TC that welds the workpiece Wk, a 3D model of various production equipment, information about the welding robot RB, information about the coordinate system of the welding robot RB, teaching information taught for each workpiece Wk, etc. Memory 12 also stores various data generated by processor 11 and displayed on display unit 13.

[0035] The display unit 13 is configured using, for example, a Liquid Crystal Display (LCD) or an organic electroluminescence (EL). The display unit 13 displays the real world itself, or a teaching image or a correction image of a virtual space in which virtual production equipment is superimposed on the real world. The display unit 13 realizes mixed reality by, for example, displaying an image of the virtual space (e.g., a teaching image) in which virtual production equipment generated by the processor 11 is superimposed on an image of the real world captured by the camera 15.

[0036] The depth sensor 14 is a sensor that measures the distance between the MR device DV and an object in the real world and recognizes the three-dimensional shape of the object in the real world (for example, a worker's fingers, a workpiece Wk, a welding robot RB, or a jig, etc.). The depth sensor 14 outputs the recognition result to the processor 11.

[0037] The camera 15 captures an image of an area (real world) corresponding to the field of view of the worker wearing the MR device DV. The camera 15 outputs the captured image to the processor 11.

[0038] <Outline of other welding teaching support systems> Next, another welding teaching support system 100A according to an embodiment will be described with reference to Fig. 3. Fig. 3 is a diagram showing an example of welding teaching support system 100A according to an embodiment. Note that welding teaching support system 100A shown in Fig. 3 is just an example and is not limited to this.

[0039] Welding teaching support system 100A determines whether weaving welding is necessary for welding a welding point by using processing device P1A. If welding teaching support system 100 determines that weaving welding is necessary, it notifies the worker that weaving welding is necessary and accepts instruction for performing weaving welding.

[0040] The welding teaching support system 100A generates a welding teaching program for causing the welding robot RB to perform a welding operation based on teaching points taught by an operator who teaches the welding operation, and transmits the generated program to the robot controller COM. The welding teaching support system 100A includes at least one base station BS, a teaching tool TL, an MR device DV, and a processing device P1A.

[0041] The base station BS is connected to the teaching tool TL and the processing device P1A so that data communication can be performed between them. The base station BS irradiates infrared light toward the teaching tool TL so that position information and attitude information of the teaching tool TL at the operating position of the teaching tool TL can be detected.

[0042] The teaching tool TL is connected to the MR device DV, the base station BS, and the processing device P1A so that data communication can be performed between them. The teaching tool TL has at least one operation button (not shown) that can accept an operation by a worker, and accepts a teaching operation (input operation) of a teaching point based on a pressing operation of the operation button (not shown). While viewing the screen displayed on the processing device P1A, the worker holds and operates the teaching tool TL as if it were a welding torch TC, thereby teaching a teaching point to an actual workpiece Wk.

[0043] The teaching tool TL also includes at least one light receiving unit (not shown) capable of receiving infrared light emitted from the base station BS. The teaching tool TL calculates position information of the tip of the teaching tool TL and attitude information of the teaching tool TL at the timing when the operation button is pressed, i.e., the teaching timing of the teaching point, based on information such as the arrival time or angle of the infrared light received by the light receiving unit (not shown). The teaching tool TL transmits the calculated position information of the tip of the teaching tool TL and attitude information of the teaching tool TL to the processing device P1A as information on the position of the welding point and the attitude of the welding torch TC that welds the welding point.

[0044] The calculation process of the position information of the tip of the teaching tool TL or the orientation information of the teaching tool TL may be executed by the MR device DV or the processing device P1A.

[0045] The MR device DV is connected to the teaching tool TL and the processing device P1A so that data can be communicated between them, and functions as a device for relaying the communicated data. Note that the MR device DV is not essential and may be omitted. In such a case, data communication is performed directly between the teaching tool TL and the processing device P1A. Note that the MR device DV does not need to be worn on the worker's head, but may be installed in any location that allows data communication between the teaching tool TL and the processing device P1A.

[0046] The processing device P1A is connected to the base station BS, the teaching tool TL, the MR device DV, and the robot controller COM so that data can be communicated between them. The processing device P1A generates a welding teaching program for causing the welding robot RB to perform welding based on the position information and posture information of the welding point taught by the teaching tool TL. The processing device P1A includes a communication unit 20, a processor 21, a memory 22, an input unit 23, and a display unit 24.

[0047] The communication unit 20 is connected to the base station BS, teaching tool TL, MR device DVA, and robot controller COM so as to be able to communicate wirelessly or via wires, and transmits and receives data. The communication unit 20 outputs various data transmitted from the base station BS, teaching tool TL, MR device DVA, and robot controller COM to the processor 21. The communication unit 20 transmits various data output from the processor 21 to the corresponding device (base station BS, teaching tool TL, MR device DVA, or robot controller COM).

[0048] Processor 21 is configured using, for example, a CPU or FPGA, and performs various processes and controls in cooperation with memory 22. Specifically, processor 21 references the programs and data stored in memory 22 and executes the programs to realize various functions for generating a welding teaching program.

[0049] Memory 22 includes, for example, a RAM as a work memory used when executing each process of processor 21, and a ROM for storing programs and data that define each operation of processor 21. Data or information generated or acquired by processor 21 is temporarily stored in RAM. Programs that define the operation of processor 21 are written in ROM. Memory 22 stores a 3D model of welding robot RB, information about the coordinate system of the welding robot, information about welding robot RB, a 3D model of workpiece Wk, information about the coordinate system of workpiece Wk, or multiple pieces of teaching information for each workpiece Wk, etc.

[0050] The input unit 23 is a user interface that can accept input operations by an operator, and is realized by, for example, a keyboard, a mouse, a touch panel, etc. The operator who operates the input unit 23 does not have to be the same person as the operator who operates the teaching tool TL. The input unit 23 converts the content of the accepted input operation into an electrical signal and transmits it to the processor 21. When the input unit 23 is realized by a touch panel, the input unit 23 may be configured integrally with the display unit 24.

[0051] The display unit 24 displays the image output from the processor 21 .

[0052] The robot controller COM is connected to the welding robot RB, the teach pendant TP, and the processing device P1A so that data can be communicated with each other. The robot controller COM controls the welding robot RB to perform a welding operation based on a welding teaching program transmitted from the processing device P1A. The robot controller COM may read and transmit the welding operation program based on a control command from the teach pendant TP requesting the reading of the welding operation program. The robot controller COM may also obtain and record a modified or changed welding operation program from the teach pendant TP.

[0053] The teach pendant TP is connected to the robot controller COM so that data can be sent and received between the teach pendant TP and the robot controller COM. The teach pendant TP corrects or changes the welding teaching program recorded in the robot controller COM and sends it to the robot controller COM.

[0054] <Welding Teaching Support System Overview> Next, a method for determining whether weaving welding is necessary will be described with reference to Fig. 4. Fig. 4 is a diagram showing an example of teaching (inputting) a welding point. Note that Fig. 4 describes an example of teaching a welding point using a teaching tool TL.

[0055] The worker operates the teaching tool TL to teach the workpiece Wk (virtual workpiece VWk) a welding point WP1. The MR device DV or processing device P1A acquires the position indicated by the tip of the teaching tool TL at the time the worker presses a button (not shown) on the teaching tool TL as the position of the welding point WP1. The MR device DV or processing device P1A also acquires the posture of the marker Mk2 provided on the teaching tool TL at the time the worker presses a button (not shown) on the teaching tool TL as the posture of the welding robot RB (welding torch TC) welding the welding point WP1.

[0056] Based on the acquired posture of the welding point WP, the MR device DV or the processing device P1A determines whether the angle θ formed between the teaching portion TC1 of the teaching tool TL, which is likened to the torch portion of the welding torch TC, and the direction of gravity is equal to or greater than a threshold value (e.g., 90°). If the MR device DV or the processing device P1A determines that the angle θ is equal to or greater than a threshold value (e.g., 90°), it determines that weaving welding is necessary for welding the welding line including this welding point, generates a notification screen (not shown) notifying the user that weaving welding is necessary, and outputs (displays) it on the display units 13 and 24. After outputting the notification screen (not shown), the MR device DV or the processing device P1A also receives teaching processing required for weaving welding (e.g., teaching of a weaving width), and if teaching of the welding line is incomplete, it further receives teaching of the welding line.

[0057] As a result, even if the operator cannot determine whether weaving welding is necessary, the MR device DV or the processing device P1A can determine whether the welding line including the taught welding point is a welding line that requires weaving welding. Furthermore, if the MR device DV or the processing device P1A determines that weaving welding is necessary, it can support the teaching work by accepting teaching processing required for weaving welding.

[0058] In this disclosure, an example in which the threshold value is 90° will be described, but the present disclosure is not limited to this. For example, the MR device DV or the processing device P1A may be able to change the threshold value to an arbitrary value based on the type of weld line (e.g., straight line, arc, etc.) taught by the multiple welding points, the material of the workpiece Wk, the required welding quality, etc.

[0059] <Operation procedure of welding teaching support system> Next, an example of the operation procedure of welding teaching support systems 100, 100A will be described with reference to Fig. 5 and Fig. 6, respectively. Fig. 5 is a flowchart showing an example of the operation procedure of MR device DV or processing device P1A in the embodiment. Fig. 6 is a diagram showing an example of teaching a welding point in a weaving teaching mode.

[0060] The MR device DV or the processing device P1A receives an input operation of a welding point Pt11 for a workpiece Wk (virtual workpiece VWk) using an arbitrary teaching tool (St11). The MR device DV or the processing device P1A acquires and registers information on the teaching position and teaching posture of the input welding point Pt11 (St12).

[0061] The MR device DV or the processing device P1A determines whether or not the angle θ formed between the torch of the welding torch TC and the direction of gravity is larger than a threshold value based on the acquired taught posture of the welding point Pt11 (St13).

[0062] When the MR device DV or the processing device P1A determines in step St13 that the angle θ is greater than the threshold value (St13, YES), it determines that weaving welding is necessary. The MR device DV or the processing device P1A generates a notification that weaving welding is necessary, outputs (notifies) it to the display unit 13, 24, and starts a weaving teaching mode to accept teaching processing for weaving welding (St14).

[0063] After starting the weaving teaching mode, the MR device DV or the processing device P1A starts accepting teaching processing to determine the weaving width W1, which is the length perpendicular to the welding direction (i.e., the direction from welding point Pt11 to welding point Pt14) in weaving welding.

[0064] The MR device DV or processing device P1A receives the input of the first amplitude point Pt12 and registers the teaching position of the input first amplitude point Pt12 as a welding point (St15). The MR device DV or processing device P1A also receives the input of the second amplitude point Pt13 and registers the teaching position of the input second amplitude point Pt13 as a welding point (St16). Here, based on the registration of the input first amplitude point Pt12 and second amplitude point Pt13, the MR device DV or processing device P1A determines a weaving width W1, which is the distance between the first amplitude point Pt12 and the second amplitude point Pt13 and is the length in the direction perpendicular to the welding direction (i.e., the direction from the welding point Pt11 toward the welding point Pt14).

[0065] On the other hand, when the MR device DV or the processing device P1A determines in step St13 that the angle θ is not greater than the threshold value (St13, NO), the operation procedure shown in FIG. 5 ends.

[0066] If the teaching of the welding end point has not been completed and the teaching of the welding line WL1 has not been completed, the MR device DV or the processing device P1A accepts the input operation of the welding point Pt14 (St17). The MR device DV or the processing device P1A acquires and registers the input information on the teaching position and teaching posture of the welding point Pt14 (St17).

[0067] Furthermore, when the welding end point is taught by the start point of a teaching line that is continuous with the taught welding line WL1 including the welding point input in step St11, the processing of step St17 is not essential and may be omitted.

[0068] As described above, welding teaching support systems 100 and 100A according to the embodiments can determine whether a welding line including a taught welding point is a welding line that requires weaving welding, even when the worker cannot determine whether weaving welding is necessary. Furthermore, if MR device DV or processing device P1A determines that weaving welding is necessary, it can support the teaching work by accepting teaching processing required for weaving welding.

[0069] Next, referring to FIG. 7, the operational procedure of a modified example of step St14 in FIG. 5 in the welding teaching support system 100, 100A according to the embodiment will be described. FIG. 7 is a flowchart showing an example of the operational procedure of a modified example of step St14 in FIG. 5. The series of processes in FIG. 7 are mainly executed by the MR device DV or the processing device P1A. In this modified example, the MR device DV or the processing device P1A determines that weaving welding is necessary in step St14 in FIG. 5 and, in connection with this determination, notifies various recommended welding conditions depending on the thickness of the workpiece Wk. The series of processes in FIG. 7 may be executed after step St14 in FIG. 5 or after step St16 in FIG. 5. In addition, processes in FIG. 7 whose branch boxes are framed with dashed lines instead of solid lines are optional and may be omitted or executed.

[0070] 7, the MR device DV or the processing device P1A notifies a message prompting various settings for weaving welding (St21). The destination of this message is, for example, the display unit 13 of the MR device DV or the display unit 24 of the processing device P1A, but it may also be another destination device not shown, and the same applies to the destination of notification described in the following processing.

[0071] The MR device DV or processing device P1A determines whether the plate thickness of the workpieces Wk, VWk, which are plate materials to be welded (i.e., the thickness of the plate material), is greater than a predefined plate thickness threshold 1 (St22). This plate thickness threshold 1 indicates a normal thickness when performing arc welding. That is, in step St22, it is confirmed whether the workpieces Wk, VWk have a normal thickness. If the MR device DV or processing device P1A determines that the plate thickness of the workpieces Wk, VWk is greater than the plate thickness threshold 1 (St22, YES), it determines whether the height of the welding start point, which is the start position of the weld line defined for welding performed by the welding torch TC, is higher than the height of the welding end point, which is the end position of the weld line, based on the registered content of step St12 (St23). If it is determined that the height of the welding start point is lower than the height of the welding end point (for example, the welding direction is from bottom to top in wall welding) (St23, NO), the processing of the MR device DV or processing device P1A proceeds to step St25.

[0072] On the other hand, if the MR device DV or processing device P1A determines that the height of the welding start point is higher than the height of the welding end point (St23, YES), it issues a message encouraging a change in the welding direction of the weaving welding with the welding torch TC (for example, the welding direction in wall welding will be from bottom to top) (St24). As a result, by issuing a notification recommending that the welding direction of the welding with the welding torch TC be from bottom to top, the MR device DV or processing device P1A can support the molten metal with the arc and effectively prevent drooping of the molten metal.

[0073] The MR device DV or the processing device P1A determines whether the angle θ between the teaching posture of the teaching tool TL toward the welding point and the direction of gravity is less than a welding angle threshold 2 (an example of a second predetermined angle) that is greater than a predetermined angle (e.g., 90°) based on the registered contents of step St12 (St25). If it is determined that the angle θ is greater than the welding angle threshold 2 (St25, NO), the processing of the MR device DV or the processing device P1A proceeds to step St27.

[0074] On the other hand, when the MR device DV or the processing device P1A determines that the angle θ is smaller than the welding angle threshold value 2 (St25, YES), when the welding torch TC performs weaving welding, Then, the MR device DV or the processing device P1A notifies the user of the angle θ of the welding torch TC to change the angle θ to a sweepback angle (i.e., the tip of the welding torch is downwards) or, if the angle θ is vertical, to a sweepback angle (i.e., the tip of the welding torch is upwards), thereby supporting the molten metal with the arc and preventing the molten metal from drooping.

[0075] The MR device DV or the processing device P1A determines whether the weaving welding method by the welding torch TC is pulse welding or not (St27) based on the registered contents of step St12. If it is determined that the weaving welding method is not pulse welding (St27, NO), the processing of the MR device DV or the processing device P1A proceeds to step St29.

[0076] On the other hand, if the MR device DV or processing device P1A determines that the weaving welding method is pulse welding (St27, YES), it notifies a message urging the welding torch TC to change from pulse welding to short-circuit welding (St28). As a result, the MR device DV or processing device P1A can support stable bead formation by notifying the user that short-circuit welding is recommended, even though pulse welding increases the arc length and makes bead formation unstable.

[0077] Based on the registered contents of step St12, the MR device DV or processing device P1A determines whether the welding current and welding speed when the welding torch TC performs weaving welding on the workpieces Wk, VWk are equivalent to the welding current and welding speed for flat welding performed on the same workpieces Wk, VWk (St29). "Equivalent" does not only mean "identical" but also means within a predetermined percentage (for example, within a ±10% range) of the same value, and the same applies below. If the welding current and welding speed are not equivalent to those for flat welding (St29, NO), the processing of the MR device DV or processing device P1A ends.

[0078] On the other hand, if the welding current and welding speed are equivalent to those for flat welding (St29, YES), the MR device DV or processing device P1A issues a message urging the welding torch TC to reduce the set values ​​of the welding current and welding speed when performing weaving welding (St30). By issuing a notification recommending a reduction in the welding current and welding speed, the MR device DV or processing device P1A can thereby reduce the heat input due to arc generation and effectively prevent molten metal from dripping. After step St30, the processing of the MR device DV or processing device P1A ends.

[0079] Furthermore, when the MR device DV or processing device P1A determines that the plate thickness (i.e., the thickness of the plate material) of the workpieces Wk, VWk, which are the plate materials to be welded, is less than plate thickness threshold 1 (St22, NO), it determines whether the plate thickness is greater than a predefined plate thickness threshold 2 (St31). This plate thickness threshold 2 indicates a plate material thickness that is not as thick as usual when performing arc welding, but is not too thin. In other words, in step St31, it is confirmed whether the workpieces Wk, VWk are not as thick as usual, but are thin plates. When it is determined that the plate thickness is greater than the predefined plate thickness threshold 2 (St31, YES), the processing of the MR device DV or processing device P1A ends.

[0080] On the other hand, if the MR device DV or processing device P1A determines that the plate thickness is less than the predefined plate thickness threshold 2 (St31, NO), it determines whether the height of the welding start point, which is the start position of the weld line defined for the welding torch TC, is higher than the height of the welding end point, which is the end position of the weld line, based on the registered contents of step St12 (St32).If it determines that the height of the welding start point is higher than the height of the welding end point (St32, YES), the processing of the MR device DV or processing device P1A ends.

[0081] On the other hand, if the MR device DV or processing device P1A determines that the height of the welding start point is lower than the height of the welding end point (St32, NO), it determines, based on the registered contents of step St12, whether the welding current and welding speed when the welding torch TC performs weaving welding on the workpieces Wk, VWk are equivalent to the welding current and welding speed for flat welding performed on the same workpieces Wk, VWk (St33). If the welding current and welding speed are not equivalent to those for flat welding (St33, NO), the processing of the MR device DV or processing device P1A ends.

[0082] On the other hand, if the welding current and welding speed are equivalent to those for flat welding (St33, YES), the MR device DV or processing device P1A issues a message urging the welding torch TC to increase the set values ​​of the welding current and welding speed when performing weaving welding (St34).By doing so, the MR device DV or processing device P1A issues a notification recommending changing the welding direction of weaving welding by the welding torch TC from top to bottom and increasing the welding current and welding speed, which can contribute to shortening the takt time because welding can be completed before the molten metal drips, taking into account that thin plate materials do not require a large heat input due to arc generation.

[0083] (Addendum) The above description of each embodiment discloses the following techniques.

[0084] (Technology 1) a teaching tool TL that is operated by an operator and receives a teaching operation for teaching the operation of a welding torch TC provided in the welding robot RB; A welding teaching support system 100, 100A including a terminal device (MR device DV or processing device P1A) capable of communicating with the teaching tool TL, The teaching tool TL is By the teaching operation by the operator, a welding point including a teaching position that teaches the position of the welding torch TC to perform welding and a teaching posture that teaches the posture of the welding torch TC is acquired, and transmitted to the terminal device (MR device DV or processing device P1A); The terminal device (MR device DV or processing device P1A) When it is determined that weaving is necessary for welding the welding line WL1 including the welding point based on the acquired teaching postures of the plurality of welding points, a notification prompting the setting of the weaving is generated and output. Welding teaching support system 100, 100A. As a result, welding teaching support system 100, 100A can determine whether a weld line including a taught welding point is a weld line that requires weaving welding, even if the worker cannot determine whether weaving welding is necessary. Furthermore, when welding teaching support system 100, 100A determines that weaving welding is necessary, it generates and outputs a notification that weaving welding is necessary, thereby supporting the teaching work by the worker and recommending that weaving can reduce the heat input density during welding, thereby effectively preventing drooping of molten metal.

[0085] (Technology 2) The terminal device (MR device DV or processing device P1A) generating and outputting the notification when it is determined that the angle θ formed by the teaching attitude of the welding point and the gravity direction of the teaching tool TL is larger than a predetermined angle (e.g., 90°); The welding teaching support system 100, 100A described in (Technology 1). This allows welding teaching support system 100, 100A to determine whether or not the welding line including the taught welding point is a welding line that requires weaving welding.

[0086] (Technology 3) The terminal device When the height of a welding start point, which is a start position of the welding, is higher than the height of a welding end point, which is an end position of the welding, a message is sent to prompt a change in the welding direction of the welding torch. The welding teaching support system 100, 100A described in (Technology 1). As a result, the welding teaching support system 100, 100A can support the molten metal with the arc and effectively prevent the molten metal from dripping by notifying the user to recommend that the welding direction of the welding torch be from bottom to top.

[0087] (Technology 4) The terminal device If the angle is less than a second predetermined angle that is greater than the predetermined angle, a message is displayed to prompt the user to change the angle when the welding torch is used for welding. The welding teaching support system 100, 100A described in (Technology 2). As a result, welding teaching support system 100, 100A can support the molten metal with the arc and prevent the molten metal from dripping by notifying the operator to change the welding torch angle to a sweepback angle (i.e., the tip of the welding torch is downwards) or, if vertical, to a forward angle (i.e., the tip of the welding torch is upwards).

[0088] (Technology 5) The terminal device If the welding method using the welding torch is pulse welding, notify a message prompting the user to change the welding method using the welding torch from pulse welding to short-circuit welding. The welding teaching support system 100, 100A described in (Technology 1). As a result, welding teaching support system 100, 100A can support stable bead formation by notifying the user to recommend short-circuit welding, even though pulse welding increases the arc length and results in unstable bead formation.

[0089] (Technology 6) The terminal device If the welding current and welding speed when the welding torch welds the workpiece are equivalent to the welding current and welding speed for downward welding performed on the same workpiece, a message is sent to prompt the user to reduce the welding current and welding speed when the welding torch welds the workpiece. The welding teaching support system 100, 100A described in (Technology 1). As a result, welding teaching support system 100, 100A can recommend reducing the welding current and welding speed, thereby reducing the heat input due to arc generation and effectively preventing drooping of molten metal.

[0090] (Technology 7) The terminal device When the thickness of the workpiece to be welded by the welding torch is less than a predetermined value and the welding current and welding speed when the welding torch welds the workpiece are equivalent to the welding current and welding speed for downward welding performed on the same workpiece, a message is issued to prompt both a change in the welding direction of the welding torch and an increase in the welding current and welding speed when the welding torch welds the workpiece. The welding teaching support system 100, 100A described in (Technology 1). As a result, the welding teaching support system 100, 100A notifies the user to change the welding direction of the welding torch from top to bottom and to recommend increasing the welding current and welding speed, which allows the welding to be completed before the molten metal drips, taking into account that thin plate materials do not require a large heat input due to arc generation, thereby contributing to shortening the takt time.

[0091] (Technology 8) The terminal device (MR device DV or processing device P1A) After outputting the notification, a request is made to teach a weaving width W1 in the direction perpendicular to the welding direction of the weaving. The teaching tool TL is By the teaching operation by the operator, amplitude points (first amplitude point Pt12, second amplitude point Pt13) for teaching the weaving width W1 are acquired and transmitted to the terminal device (MR device DV or processing device P1A), The terminal device (MR device DV or processing device P1A) A welding teaching program for welding the weld line WL1 including the weld point by weaving is generated based on the acquired amplitude points (first amplitude point Pt12, second amplitude point Pt13). The welding teaching support system 100, 100A according to (Technology 1) or (Technology 2). As a result, when welding teaching support system 100, 100A determines that weaving welding is necessary, it can support the teaching work by accepting teaching processing necessary for weaving welding.

[0092] (Technology 9) A welding teaching support program generation device (processing device P1, P1A) having at least one processor 21, The welding teaching assistance program is executed by a teaching device (MR device DV or processing device P1A) that includes at least one processor 11, 21 and receives a teaching instruction for an operation to be performed by a welding torch TC included in a welding robot RB, A step of acquiring a welding point including a teaching position that teaches the position of the welding torch TC that performs welding and a teaching posture that teaches the posture of the welding torch TC by a teaching operation using a teaching tool TL that is operated by an operator and receives a teaching operation that teaches the movement of the welding torch TC that performs welding; and when it is determined that weaving is necessary for welding of the weld line WL1 including the welding point based on the acquired teaching postures of the plurality of welding points, generating and outputting a notification prompting the user to set the weaving. A welding teaching support program generation device (processing devices P1, P1A). As a result, even if the worker is unable to determine whether weaving welding is necessary, the processing devices P1 and P1A can assist the worker in his teaching work by generating a program that can generate and output a notification that weaving welding is necessary if it determines that the welding line including the taught welding point is a welding line that requires weaving welding.

[0093] (Technology 10) A method for generating a welding teaching support program performed by a device (processing device P1, P1A) having at least one processor 21, The welding teaching assistance program is executed by a teaching device (MR device DV or processing device P1A) that includes at least one processor 11, 21 and receives a teaching instruction for the operation of a welding torch TC included in the welding robot RB, A step of acquiring a welding point including a teaching position that teaches the position of the welding torch TC and a teaching posture that teaches the posture of the welding torch TC by a teaching operation using a teaching tool TL that is operated by an operator and receives a teaching operation that teaches the operation of the welding torch TC to perform welding; and when it is determined that weaving is necessary for welding the weld line WL1 including the welding point based on the acquired teaching postures of the plurality of welding points, generating and outputting a notification prompting the setting of the weaving. A method for generating a welding teaching support program. As a result, even if the worker is unable to determine whether weaving welding is necessary, the processing devices P1 and P1A can assist the worker in his teaching work by generating a program that can generate and output a notification that weaving welding is necessary if it determines that the welding line including the taught welding point is a welding line that requires weaving welding.

[0094] (Technology 11) A welding teaching support program that includes at least one processor 11, 21 and is executed by a teaching device (MR device DV or processing device P1A) that receives teaching of the operation of a welding torch TC included in a welding robot RB, A step of acquiring a welding point including a teaching position that teaches the position of the welding torch TC and a teaching posture that teaches the posture of the welding torch TC by a teaching operation using a teaching tool TL that is operated by an operator and receives a teaching operation that teaches the operation of the welding torch TC to perform welding; and when it is determined that weaving is necessary for welding the weld line WL1 including the weld point based on the acquired taught postures of the plurality of weld points, generating and outputting a notification that the weaving is necessary. Welding teaching support program. As a result, when the welding teaching support program is executed by the MR device DV or the processing device P1A, even if the worker is unable to determine whether weaving welding is necessary, if it is determined that the welding line including the taught welding point is a welding line that requires weaving welding, a program can be generated that can generate and output a notification urging the worker to set up weaving, thereby supporting the worker's teaching work.

[0095] Although various embodiments have been described above with reference to the accompanying drawings, the present disclosure is not limited to such examples. It is clear that those skilled in the art can conceive of various modifications, alterations, substitutions, additions, deletions, and equivalents within the scope of the claims, and it is understood that these also fall within the technical scope of the present disclosure. Furthermore, the components of the various embodiments described above may be combined in any manner without departing from the spirit of the invention. [Industrial Applicability]

[0096] INDUSTRIAL APPLICABILITY The present disclosure is useful as a welding teaching support system, a welding teaching support program generating device, a welding teaching support program generating method, and a welding teaching support program that determine whether weaving welding is necessary and support welding teaching by a worker. [Explanation of symbols]

[0097] 10,10 Communications Department 11,21 processor 12,22 memory 13,24 Display section 14 Depth Sensor 15 Camera 23 Input section 100,100A Welding Teaching Support System COM robot controller DV, DVA MR device Mk1 Reference position acquisition marker Mk2 Marker P1, P1A processing equipment Pt11, Pt14, WP, WP1 welding points Pt12 1st amplitude point Pt13 2nd amplitude point RB welding robot TC welding torch TL Teaching Tool W1 Weaving width Wk Work WL,WL1 welding line

Claims

1. a teaching tool that is operated by a worker and receives a teaching operation for teaching the operation of a welding torch provided in the welding robot; A welding teaching support system including a terminal device capable of communicating with the teaching tool, The teaching tool includes: By a teaching operation by the operator, a welding point including a teaching position that teaches the position of the welding torch for welding and a teaching posture that teaches the posture of the welding torch is acquired, and transmitted to the terminal device; The terminal device generating and outputting a notification prompting a change of settings related to the welding operation based on the acquired teaching postures of the plurality of welding points; Welding teaching support system.

2. The terminal device generating and outputting the notification regarding the welding of the weaving when it is determined that the angle formed by the teaching attitude of the welding point and the gravity direction of the teaching tool is larger than a predetermined angle and that weaving is required for welding the welding line including the welding point; The welding teaching support system according to claim 1 .

3. The terminal device When the height of a welding start point, which is a start position of the welding, is higher than the height of a welding end point, which is an end position of the welding, a message is sent to prompt a change in the welding direction of the welding torch. The welding teaching support system according to claim 1 .

4. The terminal device If the angle is less than a second predetermined angle that is greater than the predetermined angle, a message is displayed to prompt the user to change the angle when the welding torch is used for welding. The welding teaching support system according to claim 2 .

5. The terminal device If the welding method using the welding torch is pulse welding, notify a message prompting the user to change the welding method using the welding torch from pulse welding to short-circuit welding. The welding teaching support system according to claim 1 .

6. The terminal device If the welding current and welding speed when the welding torch welds the workpiece are equivalent to the welding current and welding speed for downward welding performed on the same workpiece, a message is sent to prompt the user to reduce the welding current and welding speed when the welding torch welds the workpiece. The welding teaching support system according to claim 1 .

7. The terminal device When the thickness of the workpiece to be welded by the welding torch is less than a predetermined value and the welding current and welding speed when the welding torch welds the workpiece are equivalent to the welding current and welding speed for downward welding performed on the same workpiece, a message is issued to prompt both a change in the welding direction of the welding torch and an increase in the welding current and welding speed when the welding torch welds the workpiece. The welding teaching support system according to claim 1 .

8. The terminal device After outputting the notification, a request is made to teach a weaving width in a direction perpendicular to the welding direction of the weld in the weaving; The teaching tool includes: An amplitude point for teaching the weaving width is acquired by the weaving through a teaching operation by the operator, and transmitted to the terminal device; The terminal device generating a welding teaching program for welding the weld line including the weld point based on the acquired amplitude points; The welding teaching support system according to claim 2 .

9. A welding teaching support program generation device including at least one processor, the welding teaching assistance program is executed by a teaching device that includes at least one processor and that receives teaching of an operation to be performed by a welding torch included in a welding robot; a step of acquiring a welding point including a teaching position that teaches the position of the welding torch that performs welding and a teaching posture that teaches the posture of the welding torch by a teaching operation using a teaching tool that is operated by an operator and receives a teaching operation that teaches the movement of the welding torch that performs welding; generating and outputting a notification that prompts a change in settings related to a welding operation based on the acquired teaching postures of the plurality of welding points; A welding teaching support program generation device.

10. A method for generating a welding teaching support program performed by an apparatus having at least one processor, comprising: the welding teaching assistance program is executed by a teaching device that includes at least one processor and that receives teaching of a welding torch operation provided in a welding robot; acquiring a welding point including a teaching position that teaches the position of the welding torch and a teaching posture that teaches the posture of the welding torch by a teaching operation using a teaching tool that is operated by an operator and receives a teaching operation that teaches the operation of the welding torch to perform welding; generating and outputting a notification to prompt a user to change settings related to a welding operation based on the acquired teaching postures of the plurality of welding points; A method for generating a welding teaching support program.

11. A welding teaching assistance program executed by a teaching device that includes at least one processor and that receives teaching of a welding torch operation provided in a welding robot, acquiring a welding point including a teaching position that teaches the position of the welding torch and a teaching posture that teaches the posture of the welding torch by a teaching operation using a teaching tool that is operated by an operator and receives a teaching operation that teaches the operation of the welding torch to perform welding; generating and outputting a notification that prompts the user to change settings related to the welding operation based on the acquired teaching postures of the plurality of welding points; Welding teaching support program.

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