Control device, welding processing system, teaching point determination method, and teaching point determination program

Abstract

To provide a control device, a welding processing system, a teaching point determination method, and a teaching point determination program capable of preventing dangerous teaching points from being registered in a welding processing program.SOLUTION: A control device includes a control unit capable of registering teaching points of a welding robot which holds a welding torch capable of irradiating a workpiece with laser light into a welding processing program. The control unit is configured to be able to execute: a teaching point candidate reception process of receiving a candidate of a teaching point specified by a user; a plane intersection determination process of determining whether or not a placement surface on which the workpiece is placed and a trajectory of the laser light, when the laser light is radiated at the received teaching point candidate, intersect with each other; and a teaching point registration process of registering the teaching point candidate as the teaching point of the welding robot in the welding processing program when it is determined that the placement surface and the trajectory intersect with each other in the plane intersection determination process.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a control device, a welding processing system, a teaching point determination method, and a teaching point determination program. [Background technology]

[0002] Conventionally, there are laser robots controlled by a robot control device having software processing capabilities (Patent Document 1, etc.). The laser robot of Patent Document 1 is equipped with a laser tool that selectively emits a processing laser beam and an aiming laser beam. The laser robot of Patent Document 1 can perform processing such as cutting and welding on a workpiece using the processing laser beam. Furthermore, the laser robot of Patent Document 1 can use the aiming laser beam to teach data for a processing program.

[0003] Specifically, a coordinate system having an orientation related to the surface of the workpiece to be machined is first set prior to teaching. Then, the laser robot of Patent Document 1 can determine a teaching point for the laser robot while visually checking its correspondence with the actual irradiation point of the laser beam on the workpiece by jog-feeding the laser robot to align the irradiation point of the aiming laser beam with the desired machining point. This teaching point includes information about the position and orientation of the laser robot and the laser tool. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 8-211921 Summary of the Invention [Problem to be solved by the invention]

[0005] However, conventional laser robots, including the laser robot of Patent Document 1, allow the user to set any teaching point, which poses a problem in that teaching points that pose a risk of the laser beam hitting the user can be taught into the data for the processing program.

[0006] To solve the above problem, it is conceivable to set a teaching point for emitting the laser beam only when the laser tool and the workpiece are in contact or when the distance between the laser tool and the workpiece is very close. However, even with specifications imposing such conditions, if the workpiece is thin or has a structure with gaps, there is a risk that the laser beam will penetrate the workpiece and hit the user.

[0007] One aspect of the present invention is a control device, a welding system, a teaching point determination method, and a teaching point determination program that can prevent dangerous teaching points from being registered in a welding program. [Means for solving the problem]

[0008] A control device according to one embodiment of the present invention includes a control unit capable of registering teaching points of a welding robot holding a welding torch capable of irradiating a workpiece with laser light in a welding processing program, and the control unit is configured to execute a teaching point candidate acceptance process that accepts candidates for the teaching points specified by a user, a plane intersection determination process that determines whether a placement surface on which the workpiece is placed intersects with the trajectory of the laser light when the laser light is irradiated at the accepted teaching point candidate, and a teaching point registration process that registers the teaching point candidate in the welding processing program as the teaching point of the welding robot if it is determined in the plane intersection determination process that the placement surface intersects with the trajectory.

[0009] A welding processing system according to one embodiment of the present invention comprises a welding torch capable of irradiating a workpiece with laser light, a welding robot that holds the welding torch, and a control device including a control unit that can register teaching points of the welding robot in a welding processing program, wherein the control unit is configured to execute a teaching point candidate acceptance process that accepts teaching point candidates specified by a user, a plane intersection determination process that determines whether a placement surface on which the workpiece is placed intersects with the trajectory of the laser light when the laser light is irradiated at the accepted teaching point candidate, and a teaching point registration process that registers the teaching point candidate in the welding processing program as the teaching point of the welding robot if it is determined in the plane intersection determination process that the placement surface intersects with the trajectory.

[0010] A teaching point determination method according to one embodiment of the present invention includes a teaching point candidate acceptance process for accepting teaching point candidates for a welding robot holding a welding torch capable of irradiating laser light onto a workpiece specified by a user, a plane intersection determination process for determining whether a placement surface on which the workpiece is placed intersects with a trajectory of the laser light when the laser light is irradiated at the accepted teaching point candidate, and a teaching point registration process for registering the teaching point candidate in a welding processing program as the teaching point of the welding robot if it is determined in the plane intersection determination process that the placement surface intersects with the trajectory.

[0011] A teaching point determination program according to one embodiment of the present invention causes a control device to execute a teaching point candidate acceptance process that accepts teaching point candidates for a welding robot that holds a welding torch capable of irradiating laser light onto a workpiece specified by a user; a plane intersection determination process that determines whether a placement surface on which the workpiece is placed intersects with the trajectory of the laser light when the laser light is irradiated at the accepted teaching point candidate; and a teaching point registration process that, if it is determined in the plane intersection determination process that the placement surface intersects with the trajectory, registers the teaching point candidate in a welding processing program as the teaching point of the welding robot.

[0012] According to one embodiment of the control device, welding processing system, teaching point determination method, and teaching point determination program of the present invention, it is determined whether the trajectory of the laser light when irradiated with laser light at a teaching point candidate specified by the user will intersect with the mounting surface, thereby preventing teaching points whose trajectory does not intersect with the mounting surface, i.e., dangerous teaching points that may be directed toward the user by the laser light, from being registered in the welding processing program. [Effects of the Invention]

[0013] According to the control device, welding system, teaching point determination method, and teaching point determination program of one aspect of the present invention, it is possible to prevent dangerous teaching points from being registered in a welding program. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 is a block diagram showing the configuration of a welding processing system according to this embodiment. [Figure 2] FIG. 2 is a schematic diagram showing the welding robot and the mounting table of this embodiment. [Figure 3] FIG. 3 is a schematic diagram showing the welding torch of this embodiment. [Figure 4] FIG. 4 is a schematic diagram showing the mounting surface and the welding torch of this embodiment. [Figure 5a] FIG. 5a is a diagram of the XZ plane showing the trajectory of the laser beam when the laser beam is irradiated at the teaching point candidate A in this embodiment. [Figure 5b] FIG. 5b is a diagram of the XY plane showing the trajectory of the laser beam when the laser beam is irradiated at the teaching point candidate A in this embodiment. [Figure 6a] FIG. 6a is a diagram of the XZ plane showing the trajectory of the laser beam when the laser beam is irradiated at the teaching point candidate B in this embodiment. [Figure 6b] FIG. 6b is a diagram of the XY plane showing the trajectory of the laser beam when the laser beam is irradiated at the teaching point candidate B in this embodiment. [Figure 7a]FIG. 7a is a diagram of the XZ plane showing the trajectory of the laser beam when the laser beam is irradiated at the teaching point candidate C in this embodiment. [Figure 7b] FIG. 7b is a diagram of the XY plane showing the trajectory of the laser beam when the laser beam is irradiated at the teaching point candidate C in this embodiment. [Figure 8a] FIG. 8a is a diagram of the XZ plane showing the trajectory of the laser beam when the laser beam is irradiated at the teaching point candidate D in this embodiment. [Figure 8b] FIG. 8b is a diagram of the XY plane showing the trajectory of the laser beam when the laser beam is irradiated at the teaching point candidate D in this embodiment. [Figure 9] FIG. 9 is a diagram showing an example of the lateral region of this embodiment. [Figure 10] FIG. 10 is a diagram of the XZ plane showing the trajectory of the laser beam when the laser beam is irradiated at the teaching point candidate E in this embodiment. [Figure 11] FIG. 11 is a diagram of the XZ plane showing the trajectory of the laser beam when the laser beam is irradiated at the teaching point candidate F of this embodiment. [Figure 12a] FIG. 12a is a diagram of the XY plane showing a case where one end of the mounting table of this embodiment is in contact with a wall. [Figure 12b] FIG. 12b is a diagram of the XY plane showing the lateral region when one end of the mounting table of this embodiment is in contact with a wall. [Figure 13a] FIG. 13a is a diagram of the XZ plane showing the trajectory of the laser beam when the laser beam is irradiated at the teaching point candidate G of this embodiment. [Figure 13b] FIG. 13b is a diagram of the XY plane showing the trajectory of the laser beam when the laser beam is irradiated at the teaching point candidate G in this embodiment. [Figure 14a] FIG. 14a is a diagram of the XZ plane showing the trajectory of the laser beam when the laser beam is irradiated at the teaching point candidate H of this embodiment. [Figure 14b] FIG. 14b is a diagram of the XY plane showing the trajectory of the laser beam when the laser beam is irradiated at the teaching point candidate H of this embodiment. [Figure 15a]FIG. 15a is a diagram of the XY plane showing a case where the mounting table of this embodiment is in contact with an L-shaped wall. [Figure 15b] FIG. 15b is a diagram of the XY plane showing the side area when the mounting table of this embodiment is in contact with the L-shaped wall. [Figure 16a] FIG. 16a is a diagram of the XY plane showing a case where the mounting table of this embodiment is in contact with a U-shaped wall. [Figure 16b] FIG. 16b is a diagram of the XY plane showing the lateral region when the mounting table of this embodiment is in contact with the U-shaped wall. [Figure 17a] FIG. 17a is a diagram of the XY plane showing a case where the mounting table of this embodiment is separated from the wall. [Figure 17b] FIG. 17b is a diagram of the XY plane showing the lateral region when the mounting table of this embodiment is separated from the wall. [Figure 18a] FIG. 18a is a diagram of the XZ plane showing the trajectory of the laser beam when the laser beam is irradiated at the teaching point candidate I of this embodiment. [Figure 18b] FIG. 18b is a diagram of the XY plane showing the trajectory of the laser beam when the laser beam is irradiated at the teaching point candidate I of this embodiment. [Figure 19] FIG. 19 is a flowchart showing an example of a teaching point discrimination method according to this embodiment. [Figure 20] FIG. 20 is a diagram showing a program creation condition setting screen of this embodiment. [Figure 21] FIG. 21 is a diagram showing a modified example of the program creation condition setting screen of this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0015] The best mode for carrying out the present invention will be described below with reference to the drawings. Note that the following embodiments do not limit the inventions according to the claims, and not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0016] [Overall configuration of welding processing system] FIG. 1 is a block diagram showing the configuration of a welding processing system according to this embodiment. 1, welding system 1 includes a welding machine 10 including a welding torch 11 capable of irradiating a workpiece with a laser beam, a welding robot 30 holding welding torch 11, and a robot control device 40 functioning as a control device and capable of controlling welding robot 30. Welding system 1 also includes a welding machine control device 20 capable of controlling welding machine 10, and a welding program setting device 50. In this embodiment, welding machine control device 20 and welding program setting device 50, and robot control device 40 and welding program setting device 50 are configured to be able to communicate with each other via a communication network NW.

[0017] [Welding machine configuration] FIG. 2 is a schematic diagram showing the welding robot and the mounting table of this embodiment. 1 and 2, welding machine 10 includes welding torch 11 having tip 11a capable of irradiating laser light toward welding portions of multiple workpieces, and oscillator 12 capable of emitting laser light based on welding processing conditions. In this embodiment, welding torch 11 and oscillator 12 are connected to each other via a cable (not shown). Therefore, the laser light emitted from oscillator 12 is supplied to welding torch 11 via the cable.

[0018] In this embodiment, welding torch 11 is a handheld torch that can be held by welding robot 30, and welding torch 11 includes, but is not limited to, an irradiation switch that can turn on / off laser light irradiation. Welding torch 11 can have a variety of arbitrary configurations. Note that, since known configurations can be used for welding torch 11 and oscillator 12, detailed description thereof will be omitted.

[0019] [Welding machine control device configuration] 1, welding machine control device 20 includes memory unit 21 (welding machine memory unit) that stores predetermined welding conditions, and welding machine control unit 22 that can control welding machine 10 based on commands received from welding program setting device 50. The predetermined welding conditions stored in memory unit 21 are standard welding conditions for welding. Welding machine control unit 22 is configured to be able to set the welding conditions based on commands received from welding program setting device 50.

[0020] Note that the welding machine control device 20 according to this embodiment may be arranged independently of the welding machine 10, or may be housed inside the housing (not shown) of the welding machine 10 together with the oscillator 12.

[0021] [Welding robot configuration] As shown in FIG. 1, the welding robot 30 includes a robotic hand 31 that holds the welding torch 11, and a multi-joint robotic arm 32 that can move the robotic hand 31 to a predetermined position.

[0022] In this embodiment, "holding" includes not only a configuration in which the robot hand 31 detachably grasps the welding torch 11 configured as a separate body, but also a configuration in which the welding torch 11 is detachably attached to the robot hand 31 via a jig or the like, or a configuration in which the welding torch 11 is fixed to the robot hand 31.

[0023] 2, welding robot 30 is placed near a mounting table SP (e.g., a surface plate) including a mounting surface S on which a workpiece is placed. After an orthogonal coordinate system, which will be described later, is set, welding robot 30 is preferably fixed to mounting table SP so that the coordinate data and the actual position of welding robot 30 do not deviate from each other. However, this is not limitative.

[0024] In this embodiment, the welding robot 30 is a collaborative robot. However, the welding robot 30 is not limited to this, and may be an industrial robot that is not capable of collaborative operation.

[0025] In this embodiment, the robot hand 31 is configured to hold the welding torch 11 and to be able to operate an irradiation switch of the welding torch 11. However, this is not limiting, and the robot hand 31 does not have to be able to operate the irradiation switch. If the robot hand 31 cannot operate the irradiation switch, the ON / OFF of the laser light irradiation of the welding torch 11 can be controlled by an electrical signal.

[0026] In this embodiment, the robot arm 32 is a multi-joint arm having six control axes. However, the robot arm 32 is not limited to this, and various known configurations can be arbitrarily adopted. Note that since known configurations can be adopted for the robot hand 31 and the robot arm 32, detailed explanations will be omitted.

[0027] FIG. 3 is a schematic diagram showing the welding torch of this embodiment. In the welding robot 30 having the above configuration, a Cartesian coordinate system is set to control the operation of the robot arm 32. The Cartesian coordinate system has an X-axis, a Y-axis, and a Z-axis that are orthogonal to one another. In this embodiment, as shown in FIG. 2, the Cartesian coordinate system is set such that the plane of the placement surface S is the XY plane and the Z-axis is oriented perpendicularly toward the space above the placement surface S (XY plane). However, the setting of the Cartesian coordinate system is not limited to this.

[0028] As shown in FIG. 3, the welding robot 30 has the tip 11a of the welding torch 11 held by the robot arm 32 set as the tool center point (TCP), and the tool coordinate system is set in a direction in which the trajectory L of the laser light coincides with the Zt axis.

[0029] The direction of the Zt axis may be positive or negative in the direction of emission of the laser light. Similar to a Cartesian coordinate system, the tool coordinate system has an Xt axis, a Yt axis, and a Zt axis that are orthogonal to each other. In this embodiment, the X axis, the Y axis, and the Z axis of the tool coordinate system are referred to as the Xt axis, the Yt axis, and the Z axis, respectively, for convenience in order to distinguish it from a Cartesian coordinate system, but this is not limiting.

[0030] [Robot control device configuration] The robot control device 40 is, for example, a numerical control device or an electronic computer such as a desktop personal computer, a laptop computer, a tablet terminal, etc. Specifically, as shown in FIG. 1, the robot control device 40 includes a memory unit 41 (robot memory unit) that stores operation information of the welding robot 30, and a control unit 44.

[0031] The storage unit 41 has a storage medium such as a hard disk drive (HDD) or a solid state drive (SSD), and stores various data in a readable and writable manner. The storage unit 41 is configured to store operation information taught to the welding robot 30 by various teaching operations (instruction operations) such as direct teaching. Specifically, the storage unit 41 is configured to store, as operation information, the movement process of the welding robot 30, the movement mode of the welding robot 30, the welding start position and welding end position in the movement process, and the welding mode for welding portions of multiple workpieces.

[0032] The "movement process" is information indicating the movement process of the robot hand 31 of the welding robot 30 from the movement start position to the movement end position. In this embodiment, the storage unit 41 is configured to store, as the movement process, the movement start position of the robot hand 31, one or more movement reference positions of the robot hand 31, and the movement end position (final movement reference position) of the robot hand 31. The "movement reference position" is information indicating a position that serves as an index for the movement of the robot hand 31. For example, if the storage unit 41 stores a first movement reference position and a second movement reference position as the movement reference positions, the robot hand 31 first moves from the movement start position toward the first movement reference position, then moves from the first movement reference position toward the second movement reference position, and ends its movement at the second movement reference position (movement end position).

[0033] The number of movement reference positions can be changed as appropriate depending on the shape of the workpiece to be welded.

[0034] The "movement mode" is information indicating how the robot hand 31 of the welding robot 30 moves. In this embodiment, the storage unit 41 is configured to store a linear movement mode and a curved movement mode as the movement mode.

[0035] The movement mode can be changed as appropriate depending on the shape of the workpiece to be welded.

[0036] The "welding start position" is a position among the movement reference positions at which welding by welding machine 10 starts. The number of welding start positions is changed as appropriate depending on the shape of the workpiece to be welded, etc. Therefore, memory unit 41 may store only the first welding start position as the welding start position, may store the first welding start position and the second welding start position, or may store other welding start positions (e.g., a third welding start position) in addition to the first welding start position and the second welding start position.

[0037] The "welding end position" is the position among the movement reference positions at which welding by welding machine 10 ends. This welding end position is stored in memory unit 41 only when the welding mode is a continuous irradiation mode, which will be described later, and is not stored in memory unit 41 when the welding mode is a spot irradiation (spot welding) mode, which will be described later.

[0038] The "welding mode" is information indicating how to weld the welding portions of multiple workpieces. In this embodiment, the memory unit 41 is configured to store, as the welding mode, a mode of continuous irradiation from the welding start position to the welding end position and a mode of spot irradiation at the welding start position.

[0039] The operation information of the welding robot 30 stored in the storage unit 41 is transmitted to the welding program setting device 50 and displayed on a program creation condition setting screen 51a (to be described later) of the welding program setting device 50.

[0040] 1, the storage unit 41 is configured to store a teaching point determination program 42. The teaching point determination program 42 causes the robot control device 40 to execute a teaching point candidate reception process for receiving a teaching point candidate for the welding robot 30 that holds the welding torch 11 capable of irradiating a laser beam on a workpiece specified by a user, a plane intersection determination process for determining whether or not a placement surface S on which the workpiece is placed intersects with a trajectory L of the laser beam when the laser beam is irradiated at the received teaching point candidate, and a teaching point registration process for registering the teaching point candidate in the welding processing program 43 as a teaching point for the welding robot 30 if it is determined in the plane intersection determination process that the placement surface S intersects with the trajectory L.

[0041] Furthermore, storage unit 41 is configured to store welding processing program 43 created by program creation unit 46. Furthermore, storage unit 41 stores programs necessary for controlling each part of welding processing program setting device 50.

[0042] Control unit 44 is configured by, for example, an integrated arithmetic processing device having a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit). Specifically, as shown in Fig. 1, control unit 44 includes area setting unit 45, program creation unit 46 capable of creating welding program 43 based on program creation conditions set by welding program setting device 50, and robot control unit 47 capable of controlling welding robot 30 based on welding program 43 created by program creation unit 46.

[0043] In this embodiment, the control unit 44 is configured to be able to register teaching points for the welding robot 30 in the welding processing program 43. The teaching points are registered in the welding processing program 43 as the movement reference position, movement end position, welding start position, or welding end position of the robot hand 31.

[0044] In this embodiment, the teaching point and the teaching point candidate include information about the position and posture of the welding torch 11 in the space above the placement surface S. Specifically, the teaching point and the teaching point candidate include the position and posture angle of the tip 11a of the welding torch 11, i.e., the tool center point. More specifically, as shown in FIG. 3, the teaching point and the teaching point candidate include the x-coordinate, y-coordinate, and z-coordinate (x t ,y t ,z t ) is included.

[0045] The teaching points and teaching point candidates are also determined based on the yaw angle, pitch angle, and roll angle (ψ t ,θ t ,φ t ) The yaw angle is the angle of rotation around the Xt axis. The pitch angle is the angle of rotation around the Yt axis. The roll angle is the angle of rotation around the Zt axis.

[0046] In this embodiment, the attitude angle is determined when the yaw angle, pitch angle, and roll angle are 0 degrees (ψ) in a state where the orientations of the X axis of the Cartesian coordinate system and the Zt axis of the tool coordinate system, the Y axis of the Cartesian coordinate system and the Yt axis of the tool coordinate system, and the Z axis of the Cartesian coordinate system and the Xt axis of the tool coordinate system are aligned. t =0,θ t =0,φ t = 0). However, the basis for the attitude angle is not limited to this.

[0047] The area setting unit 45 is configured to set an area of ​​the mounting surface S for the program creation unit 46 to determine teaching point candidates and a side area SA, which will be described later. Specifically, the area setting unit 45 receives a user's designation of the range of each area and sets each area. In this embodiment, the area setting unit 45 sets the area of ​​the mounting surface S on the XY coordinate plane so that it coincides with the range of the mounting surface S of the mounting table SP.

[0048] Specifically, as shown in FIG. 2, the area setting unit 45 sets the first corner C1 of the rectangular placement surface S as the origin (0,0,Zs), and the coordinates of the remaining three corners as C2 (Xs,0,Zs), C3 (0,Ys,Zs), and C4 (Xs,Ys,Zs), respectively, and sets the range of the X coordinate in the XY coordinate plane where 0≦x≦Xs and the Y coordinate where 0≦y≦Ys as the area of ​​the placement surface S.

[0049] Note that the specific coordinates for setting the area are set by the user specifying numerical values ​​according to the shape and area of ​​the placement surface S, and therefore the position of the origin and the coordinates of each corner are merely examples and are not limited to these. In addition, in this embodiment, the area of ​​the placement surface S is set to the same area as the range of the placement surface S, but this is not limited thereto, and a partial range of the placement surface S may be set as the area of ​​the placement surface S.

[0050] FIG. 9 is a diagram showing an example of the lateral region of this embodiment. 9, the region setting unit 45 is configured to be able to execute a side region setting process for setting the range of a virtual side region SA extending at least toward the space above the placement surface S. The region setting unit 45 is configured to be able to set one or more side regions SA, and in the example shown in FIG. 9, four regions are set: a first side region SA along an edge connecting corners C1 and C2 of the placement surface S, a second side region SA along an edge connecting corners C1 and C3 of the placement surface S, a third side region SA along an edge connecting corners C3 and C4 of the placement surface S, and a fourth side region SA along an edge connecting corners C2 and C4 of the placement surface S. The range of each of the first to fourth side regions SA is set to be rectangular.

[0051] The side area SA has a predetermined height. The height of the side area SA is set to a finite height at which the laser light will not hit the user, such as 2 m or 3 m. The predetermined height can be set to any finite height at which the laser light will not hit the user, such as the height of a partition installed around the mounting table SP and the welding robot 30, the height of the ceiling of the partition, or the height of a building in which the welding processing system 1 is used.

[0052] The side regions SA have a predetermined width. The width of the side regions SA is set to an arbitrary finite width. When the side regions SA are set along the edge of the placement surface S, the width of the side regions SA is set to a length at least equal to or greater than the width of the placement surface S. For example, the width of the side regions SA is set to match the width of the placement surface S. Specifically, in the example shown in FIG. 9, the width of the first side region SA is set to the width W1 of the edge connecting corners C1 and C2 of the placement surface S, and the width of the second side region SA is set to the width W2 of the edge connecting corners C1 and C3. The width of the third side region SA is set to the width W3 of the edge connecting corners C3 and C4, and the width of the fourth side region SA is set to the width W4 of the edge connecting corners C2 and C4.

[0053] The range of the side region SA having a predetermined height and a predetermined width is set in the coordinates of the orthogonal coordinate system. For example, when the predetermined height is h and its z - coordinate is Zh (where Zs < Zh), the coordinates of each vertex of the first side region SA are (Xa, Ya, Za), (Xa + W1, Ya, Za), (Xa, Ya, Za + h), (Xa + W1, Ya, Za + h). As described above, since the first side region SA is set along the end connecting the corner C1 and the corner C2 of the placement surface S, the coordinates of each vertex can be rewritten as (0, 0, Zs), (Xs, 0, Zs), (0, 0, Zh), (Xs, 0, Zh).

[0054] Also, the coordinates of each vertex of the second side region SA are (Xb, Yb, Zb), (Xb, Yb + W2, Zb), (Xb, Yb, Zb + h), (Xb, Yb + W2, Zb + h), and since the second side region SA is set along the end connecting the corner C1 and the corner C3 of the placement surface S, the coordinates of each vertex can be rewritten as (0, 0, Zs), (0, Ys, Zs), (0, 0, Zh), (0, Ys, Zh).

[0055] Furthermore, the coordinates of each vertex of the third side region SA are (Xc, Yc, Zc), (Xc + W3, Yc, Zc), (Xc, Yc, Zc + h), (Xc + W3, Yc, Zc + h) (where Ya < Yc). As described above, since the third side region SA is set along the end connecting the corner C3 and the corner C4 of the placement surface S, the coordinates of each vertex can be rewritten as (0, Ys, Zs), (Xs, Ys, Zs), (0, Ys, Zh), (Xs, Ys, Zh).

[0056] Similarly, the coordinates of each vertex of the fourth side region SA are (Xd, Yd, Zd), (Xd, Yd + W4, Zd), (Xd, Yd, Zd + h), (Xd, Yd + W4, Zd + h) (where Xb < Xd), and since the fourth side region SA is set along the end connecting the corner C2 and the corner C4 of the placement surface S, the coordinates of each vertex can be rewritten as (Xs, 0, Zs), (Xs, Ys, Zs), (Xs, 0, Zh), (Xs, Ys, Zh).

[0057] Fig. 12a is a diagram of the XY plane showing a case where one end of the mounting table of this embodiment is in contact with a wall, and Fig. 12b is a diagram of the XY plane showing a lateral region when one end of the mounting table of this embodiment is in contact with a wall. As shown in FIG. 9, the side area SA is preferably set around the entire circumference of the mounting surface S, but is not limited thereto. If there is a direction in which the risk of the laser beam hitting the user is low, such as when the mounting table SP is in contact with a wall surface that is safe for laser beam irradiation, the side area SA need not be set in that direction. For example, as shown in FIG. 12a, if one end of the mounting table SP (mounting surface S) (in this embodiment, the end connecting corners C2 and C4 of the mounting surface S) is in contact with a wall 80 that is thick enough to block laser beams, the side area SA may be set along three ends of the mounting table SP (mounting surface S) excluding the end that is in contact with the wall 80, as shown in FIG. 12b. In other words, the first to third side areas SA may be set, and the fourth side area SA along the end connecting corners C2 and C4 that is in contact with the wall 80 need not be set.

[0058] Fig. 15a is a diagram of the XY plane showing the case where the mounting table of this embodiment is in contact with an L-shaped wall, and Fig. 15b is a diagram of the XY plane showing the side region when the mounting table of this embodiment is in contact with an L-shaped wall. 15a, when the ends of the mounting table SP (in this embodiment, the end connecting corners C1 and C2 of the mounting surface S and the end connecting corners C2 and C4 of the mounting surface S) are in contact with the L-shaped wall 80, side areas SA may be set along the two ends of the mounting table SP excluding the end that is in contact with the wall 80, as shown in FIG. 15b. That is, two sides, the second side area SA and the third side area SA, may be set, and the first side area SA and the fourth side area SA along the end that is in contact with the wall 80 may not be set.

[0059] Fig. 16a is a diagram of the XY plane showing the case where the mounting table of this embodiment is in contact with the U-shaped wall, and Fig. 16b is a diagram of the XY plane showing the side region when the mounting table of this embodiment is in contact with the U-shaped wall. Similarly, as shown in Figure 16a, when the ends of the mounting table SP (in this embodiment, the end connecting corners C1 and C2 of the mounting surface S, the end connecting corners C2 and C4 of the mounting surface S, and the end connecting corners C3 and C4 of the mounting surface S) are in contact with the U-shaped wall 80, a side area SA may be set along one end of the mounting table SP that is not in contact with the wall 80 (in this embodiment, the end connecting corners C1 and C3 of the mounting surface S), as shown in Figure 16b. In other words, it is possible to set only the second side area SA, and not to set the first side area SA, the third side area SA, and the fourth side area SA along the end that is in contact with the wall 80.

[0060] FIG. 17a is a diagram of the XY plane showing a case where the mounting table of this embodiment is separated from the wall. Furthermore, even if the mounting table SP and the wall 80 are far apart, if there is only a small gap between the mounting table SP and the wall 80 that prevents a user from entering, or if an intrusion prevention fence 90 is installed between the mounting table SP and the wall 80 to prevent a user from entering, as shown in Figure 17a, it is not necessary to set the lateral area SA in a direction where there is a low risk of the laser light hitting the user.

[0061] The intrusion prevention fence 90 is not limited to a fence, and may be, for example, a chain pole, a rope, a belt pole, a partition, a screen, or the like, as long as it restricts user entry. In the example shown in FIG. 17a, a user cannot enter between the mounting table SP and the wall 80, so there is little risk of the laser light hitting the user when the laser light is irradiated toward the wall 80. Therefore, it is not necessary to set a side area SA along the end of the mounting table SP facing the wall 80 (in this embodiment, the end connecting the corners C2 and C4 of the mounting surface S). In other words, it is not necessary to set a fourth side area SA along the end connecting the corners C2 and C4 facing the wall 80.

[0062] FIG. 17b is a diagram of the XY plane showing the lateral region when the mounting table of this embodiment is separated from the wall. On the other hand, if a laser beam is irradiated toward the intrusion prevention fence 90, there is a risk that the laser beam will hit the user when the user stands near the intrusion prevention fence 90. Therefore, it is necessary to set the side areas SA so that the laser beam cannot be irradiated toward the intrusion prevention fence 90. The width of the side areas SA is set to match the width of the area of ​​the mounting surface S in the example shown in FIG. 9, but it can be set to any width. Therefore, when the mounting table SP and the wall 80 are separated from each other, the widths of the first side area SA and the third side area SA are set so as to extend from the corners C2 and C4 to the wall 80, respectively, as shown in FIG. 17b.

[0063] In this embodiment, the planar shape of the mounting surface S of the mounting table SP is rectangular, so that up to four side areas SA can be set, but this is not limited to this. For example, the planar shape of the mounting surface S may be quadrangular, triangular, pentagonal, hexagonal, circular, etc., other than a rectangle, and any number of side areas SA can be set according to the planar shape of the mounting surface S. Furthermore, when the planar shape of the mounting surface S is circular, the side areas SA may be set as peripheral surfaces or in a dome shape. Furthermore, the side areas SA do not have to be rectangular. Furthermore, the side areas SA do not have to be set along the edges of the mounting surface S.

[0064] Program creation unit 46 is configured to create welding program 43 based on program creation conditions acquired from welding program setting device 50. Specifically, program creation unit 46 is configured to create welding program 43 based on operation information of welding robot 30 and welding conditions of welder 10 included in the program creation conditions. In addition, the program creation conditions include teaching point candidates for welding robot 30.

[0065] Program creation unit 46 is configured to be able to register teaching points for welding robot 30 in welding processing program 43. Program creation unit 46 is also configured to be able to execute a teaching point candidate receiving process that receives teaching point candidates designated by the user. The user may specify teaching point candidates by directly teaching welding robot 30, or may specify teaching point candidates on program creation condition setting screen 51a by operating welding processing program setting device 50. When specifying teaching point candidates, the user selects which position of the teaching point candidate they want to register in welding processing program 43 as a teaching point from among a movement reference position, a movement end position, a welding start position, and a welding end position.

[0066] FIG. 4 is a schematic diagram showing the mounting surface and the welding torch of this embodiment. 4, the program creation unit 46 is configured to be able to execute a plane intersection determination process for determining whether a placement surface S on which a workpiece is placed intersects with a trajectory L of a laser beam when the laser beam is irradiated at the received teaching point candidate. Specifically, the program creation unit 46 draws an imaginary line of the trajectory L of the laser beam from the tip 11a of the welding torch 11 at the received teaching point candidate along the Zt axis of the tool coordinate system, and determines whether the imaginary line intersects with the placement surface S (whether there is an intersection point within the area of ​​the placement surface S). More specifically, the program creation unit 46 determines whether there is a coordinate (0≦x≦Xs, 0≦y≦Ys, Zs) within the area of ​​the placement surface S on the imaginary line (on the Zt axis).

[0067] Fig. 5a is a diagram of an XZ plane showing the trajectory of a laser beam when the laser beam is irradiated at teaching point candidate A of this embodiment. Fig. 5b is a diagram of an XY plane showing the trajectory of a laser beam when the laser beam is irradiated at teaching point candidate A of this embodiment. A case will be described where the teaching point candidate designated by the user is, for example, teaching point candidate A as shown in FIG. 5a. The position and posture angle of the tip 11a of the welding torch 11 at teaching point candidate A are as follows: (x A ,y A ,z A ,ψ A ,θA ,φ A ) The x-coordinate, y-coordinate and z-coordinate of the tip 11a at the teaching point candidate A are 0≦x A ≦Xs,0≦y A ≦Ys,Zs≦z A Therefore, the tip 11a of the teaching point candidate A is located within the area of ​​the placement surface S.

[0068] The attitude angle of the tip 11a at the teaching point candidate A is ψ A =0,θ A <0,φ A = 0, the direction of the laser beam in the XZ plane is downward, and the direction of the laser beam in the planar view of the XY plane is parallel to the X axis. When the laser beam is irradiated at such teaching point candidate A, the trajectory L of the laser beam is A It intersects with the placement surface S at (0≦X1≦Xs, 0≦Y1≦Ys, Zs). In other words, since there are coordinates within the area of ​​the placement surface S on the virtual line (on the Zt axis), the program creation unit 46 determines that the placement surface S intersects with the trajectory L of the laser light when the laser light is irradiated at the teaching point candidate A.

[0069] Fig. 6a is a diagram of an XZ plane showing the trajectory of a laser beam when the laser beam is irradiated at teaching point candidate B of this embodiment. Fig. 6b is a diagram of an XY plane showing the trajectory of a laser beam when the laser beam is irradiated at teaching point candidate B of this embodiment. Next, a case will be described in which the teaching point candidate designated by the user is teaching point candidate B as shown in FIG. 6a. The position and posture angle of the tip 11a of the welding torch 11 at teaching point candidate B are as follows, as shown in FIG. 6a: B ,y B ,z B ,ψ B ,θ B ,φ B ) The x-coordinate, y-coordinate and z-coordinate of the tip 11a at the teaching point candidate B are 0≦x B ≦Xs,0≦y B ≦Ys,Zs≦z BTherefore, the tip 11a of the teaching point candidate B is located within the area of ​​the placement surface S, similar to the teaching point candidate A.

[0070] The y coordinate of the tip 11a of the teaching point candidate B is the same as that of the teaching point candidate A (y B =y A ), but the x coordinate is closer to the end connecting point C2 and point C4 on the placement surface S than teaching point candidate A (x A <x B ) In addition, the attitude angle of the tip 11a at the teaching point candidate B is the same as the attitude angle at the teaching point candidate A (ψ B =ψ A ,θ B =θ A ,φ B =φ A ), the irradiation direction of the laser light in the XZ plane is downward, and the irradiation direction in the XY plane in plan view is parallel to the X axis.

[0071] The trajectory L of the laser light when irradiated at such teaching point candidate B intersects with the XY plane outside the area of ​​the mounting surface S, and does not have an intersection point within the area of ​​the mounting surface S. In other words, since there are no coordinates within the area of ​​the mounting surface S on the virtual line (on the Zt axis), the program creation unit 46 determines that the mounting surface S and the trajectory L of the laser light when irradiated at the teaching point candidate B do not intersect.

[0072] Fig. 7a is a diagram of an XZ plane showing the trajectory of a laser beam when the laser beam is irradiated at a teaching point candidate C of this embodiment. Fig. 7b is a diagram of an XY plane showing the trajectory of a laser beam when the laser beam is irradiated at a teaching point candidate C of this embodiment. A case will be described where the teaching point candidate designated by the user is teaching point candidate C as shown in FIG. 7a. The position and posture angle of the tip 11a of the welding torch 11 at teaching point candidate C are as follows, as shown in FIG. 7a: C ,y C ,z C ,ψ C ,θ C ,φ CThe x-coordinate, y-coordinate, and z-coordinate of the tip 11a of the teaching point candidate C are the same as the x-coordinate, y-coordinate, and z-coordinate of the tip 11a of the teaching point candidate A (x C =x A ,y C =y A ,z C =z A 7b, the tip 11a at the teaching point candidate C is located within the area of ​​the placement surface S.

[0073] The attitude angle of the tip 11a at the teaching point candidate C is ψ C =ψ A ,θ A <θ C <0,φ C =φ A The irradiation direction of the laser beam in the XZ plane is downward, but is directed upward relative to teaching point candidate A. The trajectory L of the laser beam when irradiated with laser beam at such teaching point candidate C intersects with the XY plane outside the area of ​​the mounting surface S, and does not have an intersection point within the area of ​​the mounting surface S. In other words, since there are no coordinates on the virtual line (on the Zt axis) within the area of ​​the mounting surface S, the program creation unit 46 determines that the mounting surface S and the trajectory L of the laser beam when irradiated with laser beam at teaching point candidate C do not intersect.

[0074] When it is determined that the placement surface S and the trajectory L intersect, the program creation unit 46 is configured to be able to execute a teaching point registration process for registering the teaching point candidate in the welding processing program 43 as a teaching point for the welding robot 30. Furthermore, when it is determined that the placement surface S and the trajectory L do not intersect, the program creation unit 46 is configured to execute a side intersection determination process, which will be described later.

[0075] In the above example, if the teaching point candidate specified by the user is teaching point candidate A, the program creation unit 46 determines that the placement surface S and the trajectory L intersect and executes the teaching point registration process, and if the teaching point candidate specified by the user is teaching point candidate B or teaching point candidate C, the program creation unit 46 determines that the placement surface S and the trajectory L do not intersect and executes the lateral intersection determination process.

[0076] Furthermore, program creation unit 46 is configured to be able to execute an in-area determination process for determining whether or not the position of tip 11a of welding torch 11, which emits laser light, at the teaching point candidate is located within placement surface S in a plan view. Specifically, program creation unit 46 determines whether or not the position of tip 11a in the XY plane is within the placement surface S. In this embodiment, program creation unit 46 determines whether or not the x-coordinate and y-coordinate of tip 11a at the teaching point candidate are within the range of 0≦x t ≦Xs,0≦y t If Ys≦Ys, it is determined that the position of the tip 11a at the teaching point candidate is located within the placement surface S.

[0077] The program creation unit 46 is configured to execute the above-described plane crossing determination process when it is determined that the position of the tip 11a of the teaching point candidate is located within the placing surface S. Furthermore, the program creation unit 46 is configured to execute a danger avoidance process without executing the plane crossing determination process when it is determined that the position of the tip 11a of the teaching point candidate is not located within the placing surface S. Specifically, the program creation unit 46 is configured to be able to execute a non-registration process that does not register the teaching point candidate in the welding processing program 43, or a warning display process that displays a warning to the user.

[0078] In the warning display process, program creation unit 46 may display a warning to the user by registering teaching point candidates in welding processing program 43 in an unusual manner, or may display a warning on display unit 51. Methods of registering teaching point candidates in welding processing program 43 in an unusual manner include, for example, displaying code related to the teaching point candidates in a color different from other code, including a warning message written in the code of welding processing program 43, or registering code related to the teaching point candidates in welding processing program 43 as inexecutable code.

[0079] For example, if the teaching point candidate designated by the user is teaching point candidate A, the coordinates of the tip 11a on the XY plane are within the area of ​​the placing surface S, as described above. Therefore, the program creation unit 46 determines that the position of the tip 11a at teaching point candidate A is located within the area of ​​the placing surface S, and executes the plane intersection determination process. Similarly, if the teaching point candidates designated by the user are teaching point candidate B and teaching point candidate C, the coordinates of the tip 11a on the XY plane are within the area of ​​the placing surface S, so the program creation unit 46 determines that the positions of the tip 11a at teaching point candidate B and teaching point candidate C are located within the area of ​​the placing surface S, and executes the plane intersection determination process.

[0080] FIG. 8a is a diagram of the XZ plane showing the trajectory of the laser beam when the laser beam is irradiated at the teaching point candidate D in this embodiment. Next, a case will be described in which the teaching point candidate designated by the user is teaching point candidate D as shown in FIG. 8a. The position and posture angle of the tip 11a of the welding torch 11 at teaching point candidate D are as follows, as shown in FIG. 8a: D ,y D ,z D ,ψ D ,θ D ,φ D The attitude angle of the tip 11a at the teaching point candidate D is the same as the attitude angle of the tip 11a at the teaching point candidate A (ψ D =ψ A ,θ D =θ A ,φ D =φ A ), the trajectory L of the laser beam when irradiating the teaching point candidate D is the intersection point P D It intersects with the placement surface S at (0≦X2≦Xs, 0≦Y2≦Ys, Zs). In other words, the coordinates within the area of ​​the placement surface S are on the virtual line (on the Zt axis).

[0081] FIG. 8b is a diagram of the XY plane showing the trajectory of the laser beam when the laser beam is irradiated at the teaching point candidate D in this embodiment. In addition, the y coordinate and z coordinate of the tip 11a of the teaching point candidate D are the same as those of the teaching point candidate A (y D =y A ,zD =z A However, the x coordinate of the tip 11a at the teaching point candidate D is x D <0, the program creating unit 46 determines that the tip 11a at the teaching point candidate D is not located within the area of ​​the placement surface S.

[0082] When a laser beam is emitted from a teaching point candidate such as teaching point candidate D, the trajectory L of the laser beam intersects with the mounting surface S, but because there is a gap between the tip end 11a and the mounting table SP where a user can stand, there is a risk that the laser beam will hit the user if the user stands in the gap. For this reason, it is preferable that such teaching point candidates cannot be registered in the welding processing program 43. In this embodiment, the program creation unit 46 is configured to execute a non-registration process or a warning display process after the in-area determination process so that such teaching point candidates are not erroneously registered in the welding processing program 43 as teaching points.

[0083] The program creation unit 46 is configured to execute non-registration processing or warning display processing without executing level crossing determination processing after determining that the position of the tip 11a at the teaching point candidate D is not located within the placement surface S.

[0084] The in-area determination process can also be executed after the plane crossing determination process. When the in-area determination process is executed after the plane crossing determination process, the program creation unit 46 is configured to register the teaching point candidate in the welding processing program 43 as a teaching point for the welding robot 30 when it determines in the plane crossing determination process that the placement surface S intersects with the trajectory L and determines in the in-area determination process that the position of the tip 11a of the teaching point candidate is located within the placement surface S.

[0085] Next, the registration of an exceptional teaching point according to this embodiment will be described. Instead of irradiating the laser beam downward toward the mounting surface S as in the above-described teaching point candidate A, a case can be considered in which the tip 11a is positioned within the mounting surface S and the laser beam is irradiated upward toward the space above the mounting surface S. For example, there are teaching point candidates that irradiate the laser beam in an irradiation direction such that the laser beam strikes the ceiling surface, and there are teaching point candidates that have a posture angle that results in an irradiation direction that does not intersect with the mounting surface S and the trajectory L, but does not pose a risk of hitting the user. It is inconvenient for the user if teaching point candidates with such posture angles cannot be registered as teaching points in the welding processing program 43. Therefore, it is preferable that even teaching point candidates that do not intersect with the mounting surface S and the trajectory L can be registered as exceptions in the welding processing program 43.

[0086] Therefore, the program creation unit 46 according to this embodiment is configured to register exceptional teaching point candidates that satisfy predetermined safety conditions, among teaching point candidates where the placement surface S and the trajectory L do not intersect, in the welding processing program 43. In this embodiment, the program creation unit 46 is configured to be able to execute a side intersection determination process that determines whether the trajectory L intersects with the side area SA, and an exceptional teaching point registration process that determines the teaching point candidate as an exceptional teaching point candidate and registers it in the welding processing program 43 when it is determined in the plane intersection determination process that the placement surface S and the trajectory L do not intersect and in the side intersection determination process that the trajectory L and the side area SA do not intersect.

[0087] In the side intersection determination process, the program creation unit 46 draws an imaginary line of the trajectory L of the laser light on the Zt axis of the tool coordinate system from the tip 11a of the welding torch 11 at the received teaching point candidate, and determines whether the imaginary line intersects with the side area SA (whether there is an intersection point within the side area SA). More specifically, the program creation unit 46 determines whether there are coordinates within the side area SA on the imaginary line (on the Zt axis). For example, when determining whether the trajectory L intersects with the first side area SA, the program creation unit 46 draws an imaginary line of the trajectory L of the laser light on the Zt axis of the tool coordinate system from the tip 11a of the welding torch 11 at the received teaching point candidate, and determines whether there is an intersection point within the side area SA. t ≦Xs,0,Zs <z t≦Zh).

[0088] When multiple lateral areas SA are set, in the lateral intersection determination process, the program creation unit 46 determines whether or not the trajectory L intersects with each lateral area SA, but in the explanation of the example below, the determination of whether or not the trajectory L intersects with some of the lateral areas SA will be explained.

[0089] FIG. 10 is a diagram of the XZ plane showing the trajectory of the laser beam when the laser beam is irradiated at the teaching point candidate E in this embodiment. A case will be described in which the teaching point candidate designated by the user is, for example, teaching point candidate E as shown in FIG. 10. Note that the description will be made assuming that first to fourth side areas SA are set as shown in FIG. 9. The position and posture angle of the tip 11a of the welding torch 11 at the teaching point candidate E are expressed as (x E ,y E ,z E ,ψ E ,θ E ,φ E The x-coordinate, y-coordinate and z-coordinate of the tip 11a at the teaching point candidate E are 0≦x E ≦Xs,0≦y E ≦Ys,Zs≦z E The tip 11a of the teaching point candidate E is located within the area of ​​the placement surface S.

[0090] The attitude angle of the tip 11a at the teaching point candidate E is ψ E =0,0<θ E ,φ E = 0, and the irradiation direction of the laser light in the XZ plane is upward. In addition, the irradiation direction of the laser light is oriented in the direction in which the fourth side area SA is set. Since the trajectory L of the laser light when the laser light is irradiated at such teaching point candidate E does not intersect with the placement surface S, in the plane intersection determination process, the program creation unit 46 determines that the placement surface S and the trajectory L of the laser light when the laser light is irradiated at teaching point candidate E do not intersect.

[0091] Next, the program creation unit 46 determines whether or not the trajectory L of the laser beam when the laser beam is irradiated at the teaching point candidate E intersects with the fourth lateral area SA. As shown in FIG. 10, the trajectory L of the laser beam when the laser beam is irradiated at the teaching point candidate E passes through the space above the fourth lateral area SA, which is set at a predetermined height, and does not intersect with the fourth lateral area SA. Therefore, the program creation unit 46 determines that the trajectory L does not intersect with the fourth lateral area SA. Similarly, the program creation unit 46 determines that the trajectory L does not intersect with the first to third lateral areas SA.

[0092] In the planar intersection determination process, it is determined that the placement surface S does not intersect with the trajectory L of the laser light when the laser light is irradiated at the teaching point candidate E, and in the lateral intersection determination process, it is determined that the trajectory L of the laser light when the laser light is irradiated at the teaching point candidate E does not intersect with the lateral area SA. Therefore, the program creation unit 46 determines that the teaching point candidate E is an exceptional teaching point candidate and registers it in the welding processing program 43.

[0093] On the other hand, the program creation unit 46 is configured to be able to execute a risk avoidance process when a teaching point candidate determined not to intersect the placement surface S with the trajectory L does not satisfy the safety condition, i.e., when it is determined in the side intersection determination process that the trajectory L intersects with the side area SA. Specifically, when it is determined in the side intersection determination process that the trajectory L intersects with the side area SA, the program creation unit 46 is configured to be able to execute a non-registration process that does not register the teaching point candidate in the welding processing program 43, or a warning display process that displays a warning to the user.

[0094] In addition, the program creation unit 46 is configured to have multiple lateral areas SA set, and if it is determined in the lateral intersection determination process that the trajectory L intersects with one of the lateral areas SA, it is capable of executing a non-registration process that does not register the teaching point candidate in the welding processing program 43, or a warning display process that displays a warning to the user.

[0095] FIG. 11 is a diagram of the XZ plane showing the trajectory of the laser beam when the laser beam is irradiated at the teaching point candidate F of this embodiment. A case will be described in which the teaching point candidate designated by the user is, for example, a teaching point candidate F as shown in FIG. 11. Note that the description will be made assuming that first to fourth side areas SA are set as shown in FIG. 9. The position and posture angle of the tip 11a of the welding torch 11 at the teaching point candidate F are expressed as follows, as shown in FIG. 11: F ,y F ,z F ,ψ F ,θ F ,φ F The x-coordinate, y-coordinate, and z-coordinate of the tip 11a of the teaching point candidate F are the same as the x-coordinate, y-coordinate, and z-coordinate of the tip 11a of the teaching point candidate E (x F =x E ,y F =y E ,z F =z E ) Therefore, the tip 11a of the teaching point candidate F is located within the area of ​​the placement surface S.

[0096] The attitude angle of the tip 11a at the teaching point candidate F is ψ F =ψ E ,0<θ F <θ E ,φ F =φ E The irradiation direction of the laser light in the XZ plane is upward, but is directed downward compared to teaching point candidate E. The irradiation direction of the laser light is also directed in the direction in which the fourth lateral area SA is set, similar to teaching point candidate E. Since the trajectory L of the laser light when irradiating the laser light at such teaching point candidate F does not intersect with the placement surface S, in the plane intersection determination process, the program creation unit 46 determines that the trajectory L of the laser light when irradiating the laser light at teaching point candidate F does not intersect with the placement surface S.

[0097] Next, the program creation unit 46 determines whether or not the trajectory L of the laser beam when the laser beam is irradiated at the teaching point candidate F intersects each side region SA. The program creation unit 46 determines that the trajectory L of the laser beam when the laser beam is irradiated at the teaching point candidate F does not intersect the first to third side regions SA. On the other hand, as shown in FIG. 11, the trajectory L of the laser beam when the laser beam is irradiated at the teaching point candidate F intersects the fourth side region SA set at a predetermined height at the intersection point P F (Xs, 0≦Y3≦Ys, Zs<Z3≦Zh). That is, since there are coordinates within the region of the fourth side region SA on the virtual line (on the Zt axis), the program creation unit 46 determines that the trajectory L intersects the fourth side region SA. Therefore, the teaching point candidate F determined not to intersect the placement surface S does not satisfy the safety condition.

[0098] In the plane intersection determination process, it is determined that the placement surface S and the trajectory L of the laser beam when the laser beam is irradiated at the teaching point candidate F do not intersect, and in the side intersection determination process, it is determined that the trajectory L of the laser beam when the laser beam is irradiated at the teaching point candidate F intersects the side region SA. Therefore, the program creation unit 46 executes a non-registration process of not registering the teaching point candidate F in the welding process program 43 or a warning display process of displaying a warning to the user.

[0099] FIG. 13a is a diagram of the X-Z plane showing the trajectory of the laser beam when the laser beam is irradiated at the teaching point candidate G of the present embodiment. Next, as shown in FIG. 12a, one end of the mounting table SP is in contact with the wall 80, and as shown in FIG. 12b, the determination of the program creation unit 46 when the fourth side region SA along the end connecting the corner C2 and the corner C4 in contact with the wall 80 is not set will be described. When the teaching point candidate designated by the user is, for example, the teaching point candidate G as shown in FIG. 13a, the position and the posture angle of the tip 11a of the welding torch 11 in the teaching point candidate G are, as shown in FIG. 13a, (x G , y G , z G , ψ G , θ G , φ G ).

[0100] FIG. 13b is a diagram of the XY plane showing the trajectory of the laser beam when the laser beam is irradiated at the teaching point candidate G in this embodiment. The x-coordinate, y-coordinate and z-coordinate of the tip 11a at the teaching point candidate G are, as shown in FIGS. 13a and 13b, 0≦x G ≦Xs,0≦y G ≦Ys,Zs≦z G Therefore, the tip 11a at the teaching point candidate G is located within the area of ​​the placement surface S. In addition, the attitude angle of the tip 11a at the teaching point candidate G is ψ G =0,θ G <0,φ G = 0, the irradiation direction of the laser light in the XZ plane is downward, and the irradiation direction in the planar view of the XY plane is parallel to the X axis.

[0101] When a laser beam is irradiated at such a teaching point candidate G, the irradiation direction of the laser beam is directed toward the wall 80 as shown in Fig. 13a, and the trajectory L of the laser beam intersects with the wall 80, but intersects with the XY plane outside the area of ​​the mounting surface S, and therefore does not have an intersection point within the area of ​​the mounting surface S. Therefore, in the plane intersection determination process, the program creation unit 46 determines that the mounting surface S and the trajectory L of the laser beam when the laser beam is irradiated at the teaching point candidate G do not intersect.

[0102] Furthermore, since a fourth lateral area SA is not set along the edge connecting corner C2 and corner C4, which are in contact with wall 80, in the lateral intersection determination process, the program creation unit 46 determines whether the trajectory L of the laser light when irradiated at teaching point candidate G intersects with the first to third lateral areas SA.

[0103] When laser light is irradiated at teaching point candidate G, the trajectory L of the laser light does not intersect with any of the set first to third side areas SA, as shown in Figure 13b, so the program creation unit 46 determines that the trajectory L does not intersect with the side area SA, determines teaching point candidate G as an exceptional teaching point candidate, and registers it in the welding processing program 43.

[0104] Fig. 14a is a diagram of an XZ plane showing the trajectory of a laser beam when the laser beam is irradiated at a teaching point candidate H of this embodiment. Fig. 14b is a diagram of an XY plane showing the trajectory of a laser beam when the laser beam is irradiated at a teaching point candidate H of this embodiment. Next, a case will be described in which the teaching point candidate designated by the user is teaching point candidate H as shown in Fig. 14a. The position and posture angle of the tip 11a of the welding torch 11 at teaching point candidate H are as follows, as shown in Fig. 14a: H ,y H ,z H ,ψ H ,θ H ,φ H ) The x-coordinate, y-coordinate and z-coordinate of the tip 11a at the teaching point candidate H are 0≦x H ≦Xs,0≦y H ≦Ys,Zs≦z H Therefore, the tip 11a at the teaching point candidate H is located within the area of ​​the placement surface S.

[0105] The attitude angle of the tip 11a at the teaching point candidate H is 0<ψ H ,θ H <0,φ H =0, the irradiation direction of the laser light in the XZ plane is downward, and the irradiation direction in the XY plane in plan view is directed toward one end of the wall 80 (the end on the corner C4 side of the placement surface S).

[0106] When a laser beam is irradiated at such teaching point candidate H, the irradiation direction of the laser beam is directed toward the wall 80 as shown in Fig. 14a, and the trajectory L of the laser beam intersects with the wall 80, but does not intersect with the XY plane outside the area of ​​the mounting surface S, and therefore does not have an intersection point within the area of ​​the mounting surface S. Therefore, in the plane intersection determination process, the program creation unit 46 determines that the mounting surface S and the trajectory L of the laser beam when the laser beam is irradiated at the teaching point candidate H do not intersect.

[0107] Next, the program creation unit 46 determines whether or not the laser beam trajectory L when the laser beam is irradiated at the teaching point candidate H intersects with the third side region SA. As shown in FIG. 14b, the laser beam trajectory L when the laser beam is irradiated at the teaching point candidate H intersects with the third side region SA at the intersection point P H (0 ≦ X4 ≦ Xs, Ys, Zs < Z4 ≦ Zh). That is, since there are coordinates within the region of the third side region SA on the virtual line (on the Zt axis), the program creation unit 46 determines that the trajectory L and the third side region SA intersect. Therefore, the teaching point candidate H determined not to intersect with the placement surface S does not satisfy the safety condition.

[0108] In the plane intersection determination process, it is determined that the placement surface S and the laser beam trajectory L when the laser beam is irradiated at the teaching point candidate H do not intersect, and in the side intersection determination process, it is determined that the laser beam trajectory L when the laser beam is irradiated at the teaching point candidate H and the side region SA intersect. Therefore, the program creation unit 46 executes a non-registration process of not registering the teaching point candidate H in the welding processing program 43 or a warning display process of displaying a warning to the user.

[0109] Next, as shown in FIG. 17a, when the mounting table SP is separated from the wall 80 and an intrusion prevention fence 90 is provided so that a user cannot enter between the mounting table SP and the wall 80, as shown in FIG. 17b, the determination of the program creation unit 46 when the fourth side region SA is not set along one end portion (the end portion connecting the corner C2 and the corner C4 of the placement surface S) facing the wall 80 will be described.

[0110] FIG. 18a is a view of the X-Z plane showing the laser beam trajectory when the laser beam is irradiated at the teaching point candidate I of the present embodiment. When the teaching point candidate designated by the user is, for example, the teaching point candidate I as shown in FIG. 18a, the position and the posture angles of the tip 11a of the welding torch 11 at the teaching point candidate I are, as shown in FIG. 18a, (x I , y I , z I , ψ I , θ I , φ I ).

[0111] FIG. 18b is a view of the X-Y plane showing the trajectory of the laser beam when the laser beam is irradiated at the teaching point candidate I of the present embodiment. The x-coordinate, y-coordinate, and z-coordinate of the tip 11a at the teaching point candidate I are 0 ≦ x, as shown in FIGS. 18a and 18b. I ≦ Xs, 0 ≦ y I ≦ Ys, Zs ≦ z I Therefore, the tip 11a at the teaching point candidate I is located within the region of the mounting surface S. Further, the attitude angles of the tip 11a at the teaching point candidate I are 0 < ψ I , θ I <0, φ I = 0, the irradiation direction of the laser beam in the X-Z plane is downward, and the irradiation direction in the plan view of the X-Y plane faces one end of the wall 80 (the end on the corner C4 side of the mounting surface S).

[0112] When the laser beam is irradiated at such a teaching point candidate I, the irradiation direction of the laser beam faces the direction of the wall 80 as shown in FIG. 18a, and the trajectory L of the laser beam intersects the wall 80, but intersects the X-Y plane outside the region of the mounting surface S, so it does not have an intersection point within the region of the mounting surface S. Therefore, in the plane intersection determination process, the program creation unit 46 determines that the mounting surface S and the trajectory L of the laser beam when irradiated at the teaching point candidate I do not intersect.

[0113] Next, the program creation unit 46 determines whether or not the trajectory L of the laser beam when irradiated at the teaching point candidate I intersects the third lateral region SA. The trajectory L of the laser beam when irradiated at the teaching point candidate I is, as shown in FIG. 18b, in the region of the third lateral region SA, and the intersection point P of the region whose width extends from the corner C4 toward the wall 80 side I (Xs < X5, Ys, Zs < Z5 ≦ Zh) intersects. That is, since there are coordinates within the region of the third lateral region SA on the virtual line (on the Zt axis), the program creation unit 46 determines that the trajectory L and the third lateral region SA intersect. Therefore, the teaching point candidate I determined that the mounting surface S and the trajectory L do not intersect does not satisfy the safety condition.

[0114] In the planar intersection determination process, it is determined that the placement surface S does not intersect with the trajectory L of the laser light when the laser light is irradiated at the teaching point candidate I, and in the lateral intersection determination process, it is determined that the trajectory L of the laser light when the laser light is irradiated at the teaching point candidate I intersects with the lateral area SA. Therefore, the program creation unit 46 executes a non-registration process that does not register the teaching point candidate I in the welding processing program 43, or a warning display process that displays a warning to the user.

[0115] It should be noted that the program creation unit 46 does not have to be able to execute the side intersection determination process. In the case where the side intersection determination process cannot be executed, the program creation unit 46 is preferably configured to be able to immediately execute the danger avoidance process when it is determined that the placement surface S and the trajectory L do not intersect.

[0116] The robot control unit 47 is configured to control the welding robot 30 based on the welding processing program 43 stored in the storage unit 41 .

[0117] The robot control device 40 according to this embodiment may be disposed independently of the welding robot 30, or may be formed integrally with the welding robot 30 or integrally therewith.

[0118] [Configuration of welding processing program setting device] The welding processing program setting device 50 is, for example, an electronic computer such as a desktop personal computer, a notebook computer, or a tablet terminal. In this embodiment, the welding processing program setting device 50 is a tablet terminal that can be held and carried by a user. Specifically, as shown in FIG. 1 , the welding processing program setting device 50 includes a display unit 51 and a storage unit 52. The welding processing program setting device 50 is also configured to be able to set program creation conditions for the welding processing program 43.

[0119] The display unit 51 is a display capable of displaying various types of information. In this embodiment, the display unit 51 is a touch screen capable of displaying various types of information and accepting input operations by the user. In other words, the display unit 51 also functions as an operation unit that accepts input operations by the user.

[0120] In this embodiment, the display unit 51 and the operation unit are described as being configured as an integrated unit, but this is not limited to this. For example, the operation unit may be configured as an input device such as a keyboard, mouse, touchpad, or joystick, and may be configured independently of the display unit 51.

[0121] FIG. 20 is a diagram showing a program creation condition setting screen of this embodiment. In addition, as shown in FIG. 20, the display unit 51 is configured to be able to display a program creation condition setting screen 51a for setting program creation conditions for the welding processing program 43, which includes operation information of the welding robot 30 holding the welding torch 11 of the welding machine 10 and the welding processing conditions of the welding machine 10.

[0122] Program creation condition setting screen 51a is configured to be able to display operation information of welding robot 30 acquired from robot control device 40. In the present embodiment, program creation condition setting screen 51a is configured to be able to display a welding processing process list L1 that shows the operation information of welding robot 30 acquired from robot control device 40 as welding processing processes. This configuration has the advantage that the user can easily visually recognize the operation information of welding robot 30.

[0123] 1, welding program setting device 50 includes welding control unit 53 capable of controlling at least welding machine 10 based on welding program 43. That is, welding program setting device 50 according to this embodiment also functions as a welding control device capable of controlling at least welding machine 10 based on welding program 43.

[0124] In the present embodiment, the welding program setting device 50 is described as functioning as a welding control device, but the present invention is not limited to this, and the welding program setting device 50 and the welding control device may be configured as independent devices. That is, the welding system 1 may include a welding program setting device 50 that can set program creation conditions for the welding program 43, and a welding control device that includes a welding control unit 53 that can control at least the welder 10 based on the welding program 43 created based on the program creation conditions set by the welding program setting device 50.

[0125] Welding control unit 53 is configured to control welding machine 10 based on welding program 43 created by program creation unit 46 of control unit 44 of robot control device 40. Specifically, welding control unit 53 is configured to be able to change the settings of welding conditions in welding machine 10 in accordance with the welding start position while welding program 43 is being executed.

[0126] The storage unit 52 has a storage medium such as an HDD or SSD, and stores various data in a readable and writable manner. The storage unit 52 stores a plurality of welding conditions. The storage unit 52 also stores programs required to control each part of the welding program setting device 50.

[0127] [Method for determining teaching points according to this embodiment] Next, a teaching point determination method of the robot control device 40 according to this embodiment will be described. The teaching point determination method of the robot control device 40 according to this embodiment is generally performed by the robot control device 40 through the following steps: a teaching point candidate receiving step of receiving a teaching point candidate for the welding robot 30 that holds the welding torch 11 capable of irradiating a laser beam onto a workpiece specified by a user; a plane intersection determination step of determining whether a placement surface S on which the workpiece is placed intersects with a trajectory L of the laser beam when the laser beam is irradiated at the received teaching point candidate; and a teaching point registration step of registering the teaching point candidate in the welding processing program 43 as a teaching point for the welding robot 30 if it is determined in the plane intersection determination step that the placement surface S intersects with the trajectory L.

[0128] First, the user operates the welding processing program setting device 50 to input the range of a virtual side area SA extending toward the space above the placement surface S (S1 in FIG. 19: side area input step). Specifically, the user specifies the range (height and width) of each side area SA by inputting the spatial coordinates of one or more side areas SA. Thereafter, the area setting unit 45 of the control unit 44 of the robot control device 40 sets the range of the input side area SA (S10 in FIG. 19: side area setting step).

[0129] Next, the user directly teaches welding robot 30 or operates welding program setting device 50 to specify candidates for teaching points of welding robot 30 that holds welding torch 11 (S2 in FIG. 19: teaching point candidate specification step). Program creation unit 46 of control unit 44 of robot control device 40 receives the teaching point candidates specified by the user (S11 in FIG. 19: teaching point candidate reception step).

[0130] After receiving the teaching point candidate, the program creation unit 46 of the control unit 44 of the robot control device 40 judges the teaching point candidate. Specifically, the program creation unit 46 first judges whether the position of the tip 11a of the welding torch 11 that emits the laser light at the teaching point candidate is located within the placement surface S on which the workpiece is placed in a plan view (S12 in FIG. 19: in-area judgment step). In this embodiment, the program creation unit 46 judges whether the XY plane coordinates of the tip 11a set as the tool center point are located within the area of ​​the XY plane coordinates of the placement surface S.

[0131] When it is determined that the position of the tip 11a of the teaching point candidate is located within the placement surface S (YES in S12 of FIG. 19), the program creation unit 46 determines whether or not the placement surface S intersects with the trajectory L of the laser beam when the laser beam is irradiated at the teaching point candidate (S13: plane intersection determination step of FIG. 19). In the present embodiment, the program creation unit 46 draws an imaginary line of the trajectory L of the laser beam from the tip 11a of the welding torch 11 at the teaching point candidate along the z-axis of the tool coordinate system, and determines whether or not the imaginary line intersects with coordinates within an area of ​​the XY plane coordinates of the placement surface S. On the other hand, when it is determined in the in-area determination step that the position of the tip 11a of the teaching point candidate is not located within the placement surface S (NO in S12 of FIG. 19), the program creation unit 46 executes a non-registration process of not registering the teaching point candidate in the welding processing program 43, or a warning display process of displaying a warning to the user (S15 of FIG. 19).

[0132] If it is determined that the placement surface S and the trajectory L intersect (YES in S13 of FIG. 19), the program creation unit 46 registers the teaching point candidate in the welding processing program 43 as a teaching point for the welding robot 30 (S14 of FIG. 19: teaching point registration step).

[0133] On the other hand, if it is determined in the plane intersection determination step that the placement surface S and the trajectory L do not intersect (NO in S13 in FIG. 19), the program creation unit 46 determines whether or not the trajectory L of the laser beam when the laser beam is irradiated at the teaching point candidate intersects with the side area SA set in the side area setting step (S16 in FIG. 19: side intersection determination step). In this embodiment, the program creation unit 46 draws an imaginary line of the trajectory L of the laser beam from the tip 11a of the welding torch 11 at the teaching point candidate along the z-axis of the tool coordinate system, and determines whether or not the imaginary line intersects with spatial coordinates within the range of the side area SA.

[0134] When it is determined that the trajectory L and the side area SA do not intersect (NO in S16 in FIG. 19), the program creation unit 46 determines the teaching point candidate as an exceptional teaching point candidate and registers it in the welding processing program 43 (S17 in FIG. 19: exceptional teaching point registration step). On the other hand, when it is determined that the trajectory L and the side area SA intersect (YES in S16 in FIG. 19), the program creation unit 46 executes a non-registration process that does not register the teaching point candidate in the welding processing program 43, or a warning display process that displays a warning to the user (S15 in FIG. 19).

[0135] Through the above steps, a series of teaching point determination methods are executed by the robot control device 40 according to this embodiment. When repeatedly determining a plurality of teaching point candidates, the side area input step and the side area setting step only need to be executed once at the beginning, and therefore the teaching point candidate designation step and subsequent steps are repeatedly executed.

[0136] [Advantages of the control device, welding processing system, teaching point determination method, and teaching point determination program according to the present embodiment] As described above, the control device according to this embodiment (in this embodiment, robot control device 40) includes control unit 44 that can register, in welding processing program 43, teaching points of welding robot 30 that holds welding torch 11 that can irradiate a workpiece with laser light, and control unit 44 is configured to execute a teaching point candidate reception process that receives teaching point candidates designated by a user, a plane intersection determination process that determines whether or not placement surface S on which the workpiece is placed intersects with trajectory L of the laser light when laser light is irradiated at the received teaching point candidate, and a teaching point registration process that registers the teaching point candidate in welding processing program 43 as a teaching point of welding robot 30 if it is determined in the plane intersection determination process that placement surface S intersects with trajectory L. Furthermore, in the control device according to this embodiment (robot control device 40), the teaching points and teaching point candidates include information about the position and posture of welding torch 11 in the space above placement surface S.

[0137] The control device (robot control device 40) of this embodiment has such a configuration, and therefore determines whether the trajectory L of the laser light when irradiated with laser light at a teaching point candidate specified by the user will intersect with the mounting surface S, thereby having the advantage of being able to prevent teaching points where the trajectory L does not intersect with the mounting surface S, i.e., dangerous teaching points at which the laser light may be directed toward the user, from being registered in the welding processing program 43.

[0138] Furthermore, in the control device (robot control device 40) according to this embodiment, the control unit 44 is configured to be able to execute a non-registration process of not registering the teaching point candidate in the welding processing program 43 or a warning display process of displaying a warning to the user when it is determined that the placement surface S and the trajectory L do not intersect. Such a configuration has the advantage of more reliably preventing a dangerous teaching point from being registered in the welding processing program 43. Specifically, when the non-registration process is executed, a teaching point where the trajectory L does not intersect with the placement surface S, i.e., a dangerous teaching point that may point the laser beam irradiation direction toward the user, is not automatically registered in the welding processing program 43, which has the advantage of more reliably preventing a dangerous teaching point from being registered in the welding processing program 43. Furthermore, when the warning display process is executed, the user can recognize that the specified teaching point candidate is a dangerous teaching point, which has the advantage of more reliably preventing a dangerous teaching point from being registered in the welding processing program 43.

[0139] Furthermore, in the control device (robot control device 40) according to this embodiment, control unit 44 is configured to be able to execute an in-area determination process for determining whether the position of tip 11a of welding torch 11, which emits laser light, at a teaching point candidate is located within placing surface S in a plan view. With this configuration, even if the teaching point candidate is a teaching point candidate where placing surface S and trajectory L intersect, it is possible to distinguish teaching point candidates where the user may stand between welding torch 11 and placing surface S (teaching point candidates where the user may stand on the irradiation line of the laser light), which has the advantage of being able to prevent such dangerous teaching points from being registered in welding processing program 43.

[0140] Furthermore, in the control device (robot control device 40) according to this embodiment, the control unit 44 is configured to execute a plane crossing determination process when it is determined that the position of the tip 11a of the teaching point candidate is located within the placement surface S. With this configuration, the plane crossing determination process is executed only for teaching point candidates other than the teaching point candidate where the user may stand between the welding torch 11 and the placement surface S. This eliminates the need to execute the plane crossing determination process for all teaching point candidates, which has the further advantage of shortening the time required for the determination flow of the teaching point candidates.

[0141] Furthermore, in the control device (robot control device 40) according to this embodiment, the control unit 44 is configured to register exceptional teaching point candidates that satisfy predetermined safety conditions, among teaching point candidates where the placement surface S and the trajectory L do not intersect, in the welding processing program 43. With this configuration, even teaching point candidates where the placement surface S and the trajectory L do not intersect can be exceptionally registered in the welding processing program 43 if there is no risk of laser light hitting the user, which has the further advantage of preventing dangerous teaching points from being registered in the welding processing program 43 while increasing the number of teaching point candidates that can be registered.

[0142] Furthermore, in the control device (robot control device 40) according to this embodiment, the control unit 44 is configured to be able to execute a side area setting process that sets the range of a virtual side area SA extending toward at least the space above the placement surface S, a side intersection determination process that determines whether the trajectory L intersects with the side area SA, and an exceptional teaching point registration process that determines a teaching point candidate as an exceptional teaching point candidate and registers it in the welding processing program 43 when the plane intersection determination process determines that the placement surface S and the trajectory L do not intersect and the side intersection determination process determines that the trajectory L do not intersect with the side area SA, and the side area SA has a predetermined height. With this configuration, even if a teaching point candidate has a laser beam irradiation direction nearly parallel to the placement surface S or a teaching point candidate has a laser beam irradiation direction directed toward the space above the placement surface S, if the teaching point candidate does not pose a risk of the laser beam hitting the user, it can be exceptionally registered in the welding processing program 43, which has a further advantage of being able to increase the number of teaching point candidates that can be registered while ensuring safety.

[0143] Furthermore, in the control device (robot control device 40) according to this embodiment, the side area SA is set over the entire circumference of the mounting surface S. With this configuration, regardless of the direction in which the laser light irradiation direction at the teaching point candidate faces in the circumferential direction of the mounting surface S, it is possible to determine whether or not the teaching point candidate is dangerous by the side intersection determination process, which has the further advantage that dangerous teaching points can be prevented from being registered in the welding processing program 43 and there is a low risk of the user being hit by the laser light no matter where the user stands around the mounting surface S.

[0144] Furthermore, in the control device (robot control device 40) according to this embodiment, the control unit 44 is configured to be able to execute a non-registration process of not registering the teaching point candidate in the welding processing program 43 or a warning display process of displaying a warning to the user when a teaching point candidate determined to have no intersection between the placement surface S and the trajectory L does not satisfy a safety condition. This configuration has the advantage of more reliably preventing dangerous teaching points from being registered in the welding processing program 43. Specifically, when the non-registration process is executed, a teaching point whose trajectory L does not intersect with the placement surface S, i.e., a dangerous teaching point that may point the laser beam irradiation direction toward the user, is not automatically registered in the welding processing program 43, which has the advantage of more reliably preventing dangerous teaching points from being registered in the welding processing program 43. Furthermore, when the warning display process is executed, the user can recognize that the designated teaching point candidate is a dangerous teaching point, which has the advantage of more reliably preventing dangerous teaching points from being registered in the welding processing program 43.

[0145] [Variations] Although the preferred embodiments of the present invention have been described above, the technical scope of the present invention is not limited to the scope described in the above-described embodiments. Various modifications and improvements can be made to the above-described embodiments.

[0146] For example, in the above-described embodiment, the teaching points and teaching point candidates have been described as including information about the position and posture of the welding torch 11 in the space above the mounting surface S, but are not limited to this. The teaching points and teaching point candidates may not include information about the position and posture of the welding torch 11 in the space above the mounting surface S, but may include information about the position and posture of the welding robot 30, specifically, information about the position and posture of the robot hand 31 or robot arm 32 of the welding robot 30.

[0147] FIG. 21 is a diagram showing a modified example of the program creation condition setting screen of this embodiment. In the above-described embodiment, the control unit 44 is described as being configured to be able to execute a non-registration process of not registering the teaching point candidate in the welding processing program 43 or a warning display process of displaying a warning to the user when it is determined that the placement surface S and the trajectory L do not intersect. However, this is not limiting. The control unit 44 does not have to be able to execute the non-registration process or the warning display process. For example, the determination result of the plane intersection determination process may simply be displayed on the program creation condition setting screen 51a of the display unit 51. The display of the determination result may simply display in text whether or not there is an intersection, or may display the determination result as a 2D or 3D simulation image as shown in FIG. 21.

[0148] In the above-described embodiment, the control unit 44 is described as being configured to be able to execute the in-area determination process for determining whether the position of the tip 11a of the welding torch 11 that emits the laser light at the teaching point candidate is located within the placement surface S in a plan view, but the present invention is not limited to this. The control unit 44 does not necessarily have to be able to execute the in-area determination process.

[0149] In the above-described embodiment, the control unit 44 has been described as being configured to execute the plane crossing determination process when it is determined that the position of the tip 11a of the teaching point candidate is located within the placement surface S. However, this is not limited to this. The control unit 44 may execute the plane crossing determination process for all teaching point candidates regardless of the result of the intra-area determination process, or may execute the intra-area determination process for all teaching point candidates or for teaching point candidates for which it is determined that the placement surface S and the trajectory L do not intersect after executing the plane crossing determination process.

[0150] In the above-described embodiment, the control unit 44 is described as being configured to register exceptional teaching point candidates that satisfy predetermined safety conditions among teaching point candidates where the placement surface S and the trajectory L do not intersect in the welding processing program 43, but this is not limiting. The control unit 44 does not have to register exceptional teaching point candidates in the welding processing program 43.

[0151] In the above-described embodiment, the control unit 44 is configured to execute a side area setting process that sets the range of a virtual side area SA extending toward at least the space above the placement surface S, a side intersection determination process that determines whether the trajectory L intersects with the side area SA, and an exceptional teaching point registration process that determines a teaching point candidate as an exceptional teaching point candidate and registers the exceptional teaching point candidate in the welding processing program 43 if the plane intersection determination process determines that the placement surface S and the trajectory L do not intersect and the side intersection determination process determines that the trajectory L and the side area SA do not intersect. While the description has been given assuming that the side area SA has a predetermined height, this is not limiting. The control unit 44 does not necessarily have to execute the exceptional teaching point registration process. Alternatively, the determination result of the side area setting process may simply be displayed on the program creation condition setting screen 51a or the like of the display unit 51. Furthermore, the user may check the determination result and manually register the exceptional teaching point candidate in the welding processing program 43.

[0152] In the above-described embodiment, the side area SA is described as being set around the entire periphery of the placement surface S, but this is not limiting. The side area SA does not have to be set around the entire periphery of the placement surface S. As described above, the side area SA can be set in various arbitrary ways.

[0153] In the above-described embodiment, the control unit 44 is described as being configured to be able to execute a non-registration process of not registering a teaching point candidate in the welding processing program 43 or a warning display process of displaying a warning to the user when the teaching point candidate determined not to intersect with the placement surface S and the trajectory L does not satisfy the safety condition, but is not limited to this. The control unit 44 does not have to be able to execute the non-registration process or the warning display process.

[0154] In the above-described embodiment, robot control device 40 has been described as including program creation unit 46 capable of creating welding program 43 based on program creation conditions set by welding program setting device 50, but this is not limited thereto. Robot control device 40 may not include program creation unit 46, and welding program setting device 50 may include program creation unit 46. In the above-described embodiment, robot control device 40 has been described as including region setting unit 45, but this is not limited thereto, and welding program setting device 50 may include region setting unit 45. Furthermore, welding system 1 may include a teaching reflection unit capable of registering teaching points and determining teaching point candidates, separate from program creation unit 46 capable of creating welding program 43.

[0155] In the above-described embodiment, welding system 1 is described as including robot control device 40 that functions as a control device, and robot control device 40 is described as including control unit 44 that can register teaching points of welding robot 30 that holds welding torch 11 that can irradiate a workpiece with laser light in welding program 43. However, the present invention is not limited to this. Welding system 1 may also function as a control device that includes a control unit that can register teaching points in welding program 43 using welding program setting device 50.

[0156] In the above-described embodiment, the program creation unit 46 has been described as executing the plane crossing determination process for all teaching point candidates or for teaching point candidates for which the position of the tip 11a of the teaching point candidate has been determined to be located within the placement surface S in the in-area determination process, but this is not limited to this. The program creation unit 46 may execute the plane crossing determination process only for teaching point candidates that the user wants to register in the welding processing program 43 as teaching points for the welding start position and the welding end position. Similarly, the program creation unit 46 may execute the in-area determination process or the side crossing determination process only for teaching point candidates that the user wants to register in the welding processing program 43 as teaching points for the welding start position and the welding end position. In other words, the program creation unit 46 only needs to be configured to be able to execute each determination process for at least teaching point candidates related to laser light irradiation.

[0157] In the above-described embodiment, the side area SA is described on the assumption that it extends only toward the space above the placing surface S, but this is not limited to this. The side area SA may extend toward the back surface of the placing table SP in addition to the direction toward the space above the placing surface S. Furthermore, the side area SA may be set outside the area of ​​the placing surface S. In other words, the side area SA does not have to be in contact with the edge of the placing surface S. [Explanation of symbols]

[0158] 1 Welding processing system 10. Welding machine 11 Welding torch 11a Tip 12 Oscillators 20 Welding machine control device 21 Memory section 22 Welding machine control unit 30 Welding robot 31 Robot Hand 32 Robot Arm 40 Robot control device 41 Storage section 42 Teaching point determination program 43 Welding Processing Program 44 Control Unit 45 Area setting section 46 Program Creation Department 47 Robot control unit 50 Welding processing program setting device 51 Display section 51a Program creation condition setting screen 52 Storage section 53 Welding processing control section 80 Wall 90 Intrusion prevention fence L locus L1 Welding process list NW communication network S Placement surface SA lateral area SP mounting stand

Claims

1. a control unit capable of registering teaching points of a welding robot holding a welding torch capable of irradiating a workpiece with a laser beam in a welding processing program; The control unit a teaching point candidate receiving process for receiving the teaching point candidate designated by a user; a plane intersection determination process for determining whether or not a placement surface on which the workpiece is placed intersects with a trajectory of the laser light when the laser light is irradiated at the received teaching point candidate; a teaching point registration process for registering the teaching point candidate in the welding processing program as the teaching point of the welding robot when it is determined in the plane intersection determination process that the placement surface and the trajectory intersect; is configured to run Control device.

2. The teaching point and the teaching point candidate include information about the position and posture of the welding torch in the space above the placement surface. The control device according to claim 1 .

3. The control unit is configured to be able to execute a non-registration process of not registering the teaching point candidate in the welding processing program or a warning display process of displaying a warning to the user when it is determined that the placement surface and the trajectory do not intersect. The control device according to claim 2 .

4. The control unit is configured to be able to execute an in-area determination process for determining whether the position of the tip end of the welding torch that emits the laser light at the teaching point candidate is located within the placement surface in a plan view. The control device according to claim 3 .

5. The control unit is configured to execute the level crossing determination process when it is determined that the position of the tip end of the teaching point candidate is located within the placement surface. The control device according to claim 4.

6. The control unit is configured to register exceptional teaching point candidates that satisfy a predetermined safety condition among the teaching point candidates where the placement surface and the trajectory do not intersect in the welding processing program. The control device according to claim 1 or 2.

7. The control unit a side area setting process for setting a range of a virtual side area extending toward at least an upper space above the placement surface; a side intersection determination process for determining whether the trajectory intersects with the side region; an exceptional teaching point registration process for determining the teaching point candidate as the exceptional teaching point candidate and registering it in the welding processing program when it is determined in the plane intersection determination process that the placement surface and the trajectory do not intersect and when it is determined in the side intersection determination process that the trajectory and the side area do not intersect; It is configured to be able to execute The side regions have a predetermined height. The control device according to claim 6.

8. The side area is set over the entire periphery of the placement surface. The control device according to claim 7.

9. The control unit is configured to be able to execute a non-registration process of not registering the teaching point candidate in the welding processing program or a warning display process of displaying a warning to the user when the teaching point candidate, which is determined not to intersect with the placement surface and the trajectory, does not satisfy the safety condition. The control device according to claim 7.

10. a welding torch capable of irradiating a workpiece with a laser beam; a welding robot that holds the welding torch; a control device including a control unit capable of registering teaching points of the welding robot in a welding processing program; Equipped with The control unit a teaching point candidate receiving process for receiving the teaching point candidate designated by a user; a plane intersection determination process for determining whether or not a placement surface on which the workpiece is placed intersects with a trajectory of the laser light when the laser light is irradiated at the received teaching point candidate; a teaching point registration process for registering the teaching point candidate in the welding processing program as the teaching point of the welding robot when it is determined in the plane intersection determination process that the placement surface and the trajectory intersect; is configured to run Welding processing system.

11. a teaching point candidate receiving step of receiving a teaching point candidate for a welding robot holding a welding torch capable of irradiating a laser beam onto a workpiece designated by a user; a plane intersection determination step of determining whether or not a placement surface on which the workpiece is placed intersects with a trajectory of the laser light when the laser light is irradiated at the received teaching point candidate; a teaching point registration step of registering the teaching point candidate in a welding processing program as the teaching point of the welding robot when it is determined in the plane intersection determination step that the placement surface and the trajectory intersect; The control device executes Method for determining teaching points.

12. a teaching point candidate receiving process for receiving candidates for teaching points of a welding robot holding a welding torch capable of irradiating a laser beam onto a workpiece designated by a user; a plane intersection determination process for determining whether or not a placement surface on which the workpiece is placed intersects with a trajectory of the laser light when the laser light is irradiated at the received teaching point candidate; a teaching point registration process for registering the teaching point candidate in a welding processing program as the teaching point of the welding robot when it is determined in the plane intersection determination process that the placement surface and the trajectory intersect; The control device executes Teaching point determination program.

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