Method and system for inspecting position of impact point

Abstract

To provide a spot position inspection method and a spot position inspection system that can suppress costs required for spot position inspection.SOLUTION: Provided is a spot position inspection method for inspecting an error of a spot position determined based on parameter values included in teach data, and a design spot position being a designed spot position, in a spot welding device for welding a workpiece at multiple parts. The spot position inspection method includes: a step of acquiring teach data; a step of calculating coordinates of a spot position from parameter values; a step of moving the calculated coordinates of a spot position so that a centroid of the calculated coordinates of a spot position and a centroid of coordinates of the design spot position are matched; and a step of inspecting an error of the spot position after movement and the design spot position.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a hitting point position inspection method and a hitting point position inspection system. [Background technology]

[0002] Patent Document 1 describes a welding point position inspection system for inspecting the positions of spot welds. The welding point inspection system described in Patent Document 1 photographs a welding spot actually applied to a workpiece with a camera, and inspects the welding point position based on the photographed image data. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2007-152371 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the welding point inspection system described in Patent Document 1, spot welding is actually performed on a workpiece, and the welding point position is inspected. In other words, it is necessary to use an actual workpiece for the welding point inspection, which has the problem of increasing inspection costs.

[0005] The present invention has been made to solve such problems, and aims to provide a hitting point position inspection method and a hitting point position inspection system that can reduce the costs required for inspecting the hitting point position. [Means for solving the problem]

[0006] The method for inspecting a hitting point position according to the present invention comprises the steps of: A spot welding method for inspecting an error between a welding point position determined based on a parameter value included in teach data and a designed welding point position, the method comprising the steps of: acquiring the teach data; calculating the coordinates of the impact point position from the parameter values; a step of moving the calculated coordinates of the impact point position so that the coordinates of the center of gravity of the calculated impact point position and the coordinates of the center of gravity of the design impact point position coincide with each other; and inspecting an error between the moved hitting position and the designed hitting position. This is a method for inspecting the impact point position.

[0007] According to this configuration, the welding point position can be inspected without actually performing spot welding, and therefore the cost required for inspecting the welding point position can be reduced.

[0008] The impact point position inspection method of the present invention may, in a step of inspecting the error between the impact point position after movement and the designed impact point position, inspect whether the impact point position after movement is over or under the designed impact point position. With this configuration, the accuracy of the hit position and the number of hits can be improved.

[0009] In the method for inspecting a hitting point position according to the present invention, in a step of inspecting an error between the hitting point position after movement and the designed hitting point position, a difference between a coordinate of the hitting point position after movement and a corresponding coordinate of the designed hitting point position is calculated, The method may further comprise the step of resetting the parameter value when the calculated difference exceeds a predetermined value. With this configuration, even if a hitting position is determined not to meet the standard by inspection, the position can be appropriately corrected.

[0010] The welding point position inspection system according to the present invention is a welding point position inspection system for inspecting an error between a welding point position determined based on a parameter value included in teach data and a designed welding point position, which is a designed welding point position, in spot welding in which a workpiece is welded at a plurality of points, and An acquisition unit that acquires the teach data; a position calculation unit that calculates coordinates of the impact point position from the parameter values; a position moving unit that moves the calculated coordinates of the impact point position so that the calculated coordinates of the center of gravity of the impact point position and the coordinates of the center of gravity of the design impact point position coincide with each other; and an error inspection unit that inspects an error between the moving hitting position and the design hitting position. This is a hitting point position inspection system.

[0011] The impact point position inspection system according to the present invention may further include a display unit that displays a design drawing of the workpiece and displays the impact point position after movement and the actual impact point position on the design drawing. With this configuration, the user can visually confirm the impact point locations that have been determined by inspection to not meet the standards, allowing the user to more accurately grasp the impact point locations that do not meet the standards. Effect of the Invention

[0012] The present invention can provide a hit point position inspection method and a hit point position inspection system that can reduce the costs required for inspecting the hit point position. [Brief description of the drawings]

[0013] [Figure 1] 1 is a block diagram for explaining the configuration of a hitting point position inspection system according to a first embodiment. [Diagram 2] 4 is a flowchart for explaining the operation of the hitting point position inspection system according to the first embodiment. [Diagram 3] FIG. 11 is a block diagram for explaining the configuration of a hitting point position inspection system according to a second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] (Preliminary review by the inventor) In a spot welding device according to a general technique, when welding a workpiece at a plurality of locations, the welding points are determined based on teach data, and the workpiece is welded.

[0015] The teach data here refers to data including parameter values ​​necessary for the spot welding device to determine the welding position. The teach data is created when a user actually operates the welding device to adjust the welding point position, and the welding device stores the adjusted welding point position as a parameter value.

[0016] For example, if the spot welding device is a laser welding device, the user adjusts the position of the laser head so that the laser is irradiated to an appropriate spot position, and the laser device stores the adjusted position of the laser head as a parameter value.

[0017] The teach data may contain errors because it is created by the welding device based on the positions adjusted by a human. Examples of errors include excessive welding points where welding points are placed at positions that are not designed to be placed, missing welding points where welding points are not placed at positions that are designed to be placed, and positional deviations between the designed welding points and the actual welding points that do not meet regulations.

[0018] Errors in the dot position can lead to poor product quality. Therefore, when the teach data is created, the dot position must be inspected and the teach data must be appropriately corrected based on any errors in the dot position detected by the inspection.

[0019] In the conventional method of inspecting for welding point position errors, the workpiece was actually spot welded using the created teach data, and the welding points were inspected by a person by visually checking and measuring each point.

[0020] For example, when inspecting the positions of spot welds, such as in the welding of an automobile body, where several thousand spots need to be welded on one workpiece, there is an issue of increased personnel costs, as well as increased material costs due to the need to actually weld the workpiece.

[0021] In the inspection method described in Patent Document 1, image data of the welded workpiece is processed to inspect the welding point position, thereby reducing personnel costs. However, even in the inspection method described in Patent Document 1, the workpiece is actually welded, so material costs cannot be reduced at all.

[0022] (Overview of the embodiment) Therefore, the impact point position inspection method according to this embodiment acquires teach data, calculates the coordinates of the impact point position from parameter values ​​included in the teach data, moves the calculated coordinates of the impact point position so that the coordinates of the center of gravity of the calculated impact point position match the coordinates of the center of gravity of the designed impact point position, and inspects the error between the impact point position after the movement and the designed impact point position. With this configuration, the welding point position inspection method according to the present embodiment can inspect the welding point position without actually welding the workpiece, which reduces the cost required for inspecting the welding point position.

[0023] (First embodiment) <Configuration of the weld position inspection system> DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described below in detail with reference to the drawings. A welding point position inspection method according to the present invention is performed by a welding point position inspection system including a welding device and a welding point position inspection device. First, the configuration of the hit point position inspection system according to the present embodiment will be described in detail. Fig. 1 is a block diagram for explaining the configuration of the hit point position inspection system according to the first embodiment.

[0024] The welding point position inspection system 1 of this embodiment inspects the error between the welding point position determined based on the parameter values ​​included in the teach data and the designed welding point position, which is the designed welding point position, during spot welding, in which a workpiece is welded at multiple points.

[0025] The welding point position inspection system 1 according to this embodiment includes a welding device 100 and a welding point position inspection device 200. The welding point position inspection device 200 includes an acquisition unit 201, a storage unit 203, a position calculation unit 241, a position movement unit 242, and an error inspection unit 243.

[0026] The parameter values ​​included in the teach data are typically xyz coordinates with an arbitrary point as a reference point, but are not limited to this. For example, the parameter values ​​may be values ​​that specify the length and angle of the robot arm. Any value may be used as the parameter value as long as the welding device can read the parameter value and reproduce the welding point position.

[0027] The welding device 100 is a welding device that determines welding points based on parameter values ​​included in the teach data and performs spot welding on a workpiece at a plurality of points. The welding device 100 may weld the workpiece by, for example, laser welding, resistance welding, or arc welding. In other words, the welding device 100 may use any welding method as long as it can weld the workpiece.

[0028] The welding device 100 receives the welding point position adjusted by the user, converts the adjusted welding point position into a parameter value, creates and stores the teach data, and outputs the created teach data to the acquisition unit 201.

[0029] The acquiring unit 201 acquires teach data from the welding device 100. The acquiring unit 201 outputs the acquired teach data to the position calculating unit 241. The position calculation unit 241 acquires the teach data from the acquisition unit 201. The position calculation unit 241 calculates the coordinates of the impact point position from the parameter values ​​included in the acquired teach data. The position calculation unit 241 outputs the calculated coordinates of the impact point position to the position movement unit 242. The coordinates referred to here may be coordinates with an arbitrary point as the reference point, and are typically xyz coordinates with the z axis in the vertical direction, but a different coordinate system such as polar coordinates may also be used. Hereinafter, in this embodiment, the coordinates of the impact point position will be expressed as xyz coordinates.

[0030] Here, the coordinates of the welding point position calculated by the position calculation unit 241 are the coordinates of the welding point position when a virtual welding device 100 that does not have any device error or other errors reads the parameter values ​​and performs welding. Since the actual welding device 100 has device errors and other errors, the coordinates of the welding point position when the actual welding device 100 performs welding using the parameter values ​​do not necessarily match the coordinates of the welding point position calculated by the position calculation unit 241.

[0031] The storage unit 203 stores a design hitting point position, which is a designed hitting point position. More specifically, the storage unit 203 stores coordinates of the design hitting point position. The storage unit 203 outputs the stored coordinates of the design hitting point position to the position moving unit 242.

[0032] The position moving unit 242 acquires the coordinates of the calculated impact point position from the position calculation unit 241, and acquires the coordinates of the design impact point position from the storage unit 203. The position moving unit 242 calculates the coordinates of the center of gravity of the calculated impact point position and the coordinates of the center of gravity of the design impact point position. However, the coordinates of the center of gravity of the calculated impact point position may be calculated by the position calculation unit 241. Also, the coordinates of the center of gravity of the design impact point position may be stored in the storage unit 203 in advance.

[0033] Here, the coordinates of the calculated center of gravity of the impact point are (X CG , Y CG , Z CG ), the following formula 1 holds: Here, n is the number of coordinates of the hit points calculated by the position calculation unit 241, (X C1 , Y C1 , Z C1 ), (X C2 , Y C2 , Z C2 ), ..., (XCn , Y Cn , Z Cn ) are the coordinates of the hit point position calculated by the position calculation unit 241, and k is a dummy variable.

[0034]

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[0035] In addition, the coordinates of the center of gravity of the design point position are (X PG , Y PG , Z PG ), the following formula 2 holds: Here, m is the number of coordinates of the design point position, (X P1 , Y P1 , Z P1 ), (X P2 , Y P2 , Z P2 ), ..., (X Pm , Y Pm , Z Pm ) are the coordinates of the design point position, and k is a dummy variable. Note that if there are no excess or omission points, m = n holds.

[0036]

number

[0037] The position moving unit 242 moves the coordinates of the calculated impact point position so that the coordinates of the center of gravity of the calculated impact point position and the coordinates of the center of gravity of the design impact point position match. That is, the coordinates of the impact point position after the movement are expressed as (X Rk , Y Rk , Z Rk ), the following formula 3 holds: Here, k is an integer from 1 to n.

[0038]

number

[0039] Here, it is assumed that the center of gravity of the welding point position actually welded by the welding device 100 and the center of gravity of the designed welding point position match to an extent that does not pose a problem in terms of quality control. In this case, the difference between the coordinates of the center of gravity of the calculated welding point position and the coordinates of the center of gravity of the designed welding point position corresponds to the difference between the coordinates of the center of gravity of the calculated welding point position and the coordinates of the center of gravity of the welding point position actually welded by the welding device 100. Therefore, by moving the coordinates of the calculated welding point position so that the coordinates of the center of gravity of the calculated welding point position coincide with the coordinates of the center of gravity of the designed welding point position, the coordinates of the welding point position that is actually welded by the actual welding device 100 can be reproduced.

[0040] The error checking unit 243 checks the error between the moved hitting position and the designed hitting position. More specifically, the error checking unit 243 obtains the coordinates of the moved hitting position and the designed hitting position from the position moving unit 242, and checks by comparing both.

[0041] The error checking unit 243 may first check whether or not there is an excess or deficiency in the position of the moving point relative to the designed position of the point. That is, the error checking unit 243 may check whether or not there is an excess or deficiency in the position of the moving point.

[0042] Furthermore, when a corresponding post-movement hitting position exists for the designed hitting position, the error checking unit 243 may calculate the difference between the coordinates of the post-movement hitting position and the coordinates of the corresponding designed hitting position. Then, based on the difference between the coordinates of the post-movement hitting position and the coordinates of the corresponding designed hitting position, the error checking unit 243 may calculate the distance between the post-movement hitting position and the corresponding designed hitting position.

[0043] Here, the difference between the coordinates of the moved IPM position and the coordinates of the corresponding design IPM position is (X Ek , Y Ek , Z Ek ) and the distance between the moved impact point position and the corresponding designed impact point position is expressed as E, then the following Equations 4 and 5 hold.

[0044]

number

number

[0045] The error checking unit 243 may notify the user of a warning when detecting an excess of or an omission of a hitting point, or both. The error checking unit 243 may also notify the user of a warning when there is a hitting point position whose distance E between the moving hitting point position and the corresponding designed hitting point position exceeds a predetermined value.

[0046] <Operation of the impact point position inspection system> Next, the operation of the hit point inspection system, that is, the hit point inspection method according to the present embodiment will be described in detail. Fig. 2 is a flowchart for explaining the operation of the hit point inspection system according to the first embodiment.

[0047] First, the acquisition unit 201 acquires teach data (step ST1). More specifically, the acquisition unit 201 acquires, from the welding device 100, the teach data including parameter values ​​necessary for the welding device 100 to determine the position of a spot welding point.

[0048] Next, the position calculation unit 241 calculates the coordinates of the impact point position based on the parameter values ​​(step ST2). More specifically, the position calculation unit 241 calculates the coordinates of the impact point position based on the parameter values ​​included in the teach data acquired by the acquisition unit 201. In step ST2, the coordinates of the welding point position when welding is performed by a virtual welding device 100 that does not have an apparatus error are obtained.

[0049] Next, the position moving unit 242 moves the coordinates of the calculated impact point position so that the coordinates of the center of gravity of the calculated impact point position match the coordinates of the center of gravity of the designed impact point position (step ST3). In step ST3, the coordinates of the welding point position when welding is performed by the actual welding apparatus 100 in which an apparatus error exists are approximately obtained.

[0050] Finally, the error inspection unit 243 inspects the error between the coordinates of the moved hitting point position and the coordinates of the designed hitting point position (step ST4). More specifically, the error inspection unit 243 compares the coordinates of the moved hitting point position with the coordinates of the designed hitting point position to inspect for excess hitting points, missing hitting points, and positional deviation.

[0051] With the configuration described above, the welding point position inspection system 1 can inspect the welding point position in spot welding. As described above, the welding point position inspection system 1 calculates the welding point position based on the teach data and inspects the welding point position, so there is no need to perform spot welding for inspection. As a result, the welding point position inspection system 1 can reduce the cost required for inspecting the welding point position.

[0052] Second embodiment <Configuration of the weld position inspection system> A second embodiment of the present invention will be described in detail below with reference to the drawings. The hitting point position inspection system according to the second embodiment is a specific example of the hitting point position inspection system according to the first embodiment.

[0053] 3 is a block diagram for explaining the configuration of a welding point position inspection system according to the second embodiment. The welding point position inspection system 1 according to the second embodiment includes a welding device 100 and a welding point position inspection device 200. In the welding point position inspection system 1, the welding point position inspection device 200 acquires the teach data output by the welding device 100, and the welding point position inspection device 200 inspects the welding point position.

[0054] The welding device 100 is a device that determines welding points based on parameter values ​​included in the teach data and performs spot welding on a workpiece at a plurality of points. The welding device 100 can also create teach data. When creating the teach data, the welding device 100 adjusts the welding point position by the user, converts the adjusted welding point position into a parameter value, creates the teach data, and stores it. The welding device 100 outputs the created teach data to the welding point position inspection device 200. The welding device 100 includes a welding execution unit 101, an output unit 102, a storage unit 103, and a control unit 104.

[0055] Welding execution unit 101 performs welding at a predetermined welding point position based on the control of control unit 104. For example, if welding device 100 is a laser welding device, welding execution unit 101 includes a laser head that irradiates a laser onto a workpiece and a mechanism for adjusting the position of the laser head. Also, for example, if welding device 100 is a resistance welding device, welding execution unit 101 includes electrodes that clamp the workpiece and a mechanism for adjusting the position of the electrodes. When creating the teach data, the welding execution unit 101 receives a welding point position adjusted by the user, and outputs information on the welding point position to the control unit 104.

[0056] The output unit 102 acquires the teach data from the storage unit 103 and outputs it to an acquisition unit 201 of the hitting point position inspection device 200 . For example, the output unit 102 may convert the teach data into a wireless signal and transmit the teach data to the acquisition unit 201 by wireless communication. Also, for example, the output unit 102 may write the teach data to a non-transitory computer-readable medium. Then, the non-transitory computer-readable medium to which the teach data is written may be read by the acquisition unit 201. That is, the output unit 102 may output the teach data to the acquisition unit 201 via the non-transitory computer-readable medium.

[0057] The storage unit 103 records one or more programs including a group of instructions for causing the control unit 104 to execute processing for controlling the welding device 100. The storage unit 103 also records teach data created by the control unit 104. When the welding device 100 outputs teach data to the welding point position inspection device 200 , the storage unit 103 outputs the teach data to the output unit 102 .

[0058] Control unit 104 reads out software for controlling welding device 100, i.e., a computer program, from storage unit 103, executes the software, and controls welding device 100. Control unit 104 may be, for example, a micro processing unit (MPU) or a central processing unit (CPU). Control unit 104 may include multiple processors.

[0059] When welding device 100 welds a workpiece, control unit 104 controls welding execution unit 101 based on the teach data stored in memory unit 103 to weld the workpiece. When welding device 100 creates teach data, control unit 104 acquires position information of the welding point position adjusted by the user from welding execution unit 101. Then, control unit 104 converts the position information into parameter values, creates teach data including the parameter values, and stores the teach data in storage unit 103.

[0060] The welding point position inspection device 200 acquires teach data from the welding device 100 and inspects the welding point position. The welding point position inspection device 200 may be configured as, for example, a computer device. The welding point position inspection device 200 includes an acquisition unit 201, a display unit 202, a storage unit 203, and a calculation unit 204.

[0061] The acquiring unit 201 acquires the teach data from the welding apparatus 100. The acquiring unit 201 may be, for example, a receiver that receives the teach data from the output unit 102 by wireless communication. The acquiring unit 201 may also be a reading device that reads a non-transitory computer-readable medium in which the output unit 102 has written the teach data. The acquisition unit 201 outputs the acquired teach data to the calculation unit 204 .

[0062] The display unit 202 acquires the inspection result of the hitting point position from the calculation unit 204, and displays the inspection result to the user. For example, if the hitting point position inspection device 200 is a computer device, the display unit 202 may be a display of the computer device.

[0063] The display unit 202 may also display a design drawing of the workpiece. The design drawing may then display the impact point positions output by the calculation unit 204 based on the teach data together with the designed impact point positions. With this configuration, the user can visually confirm the impact point positions that are determined not to meet the standards by the inspection, and the user can more accurately grasp the impact point positions that do not meet the standards. However, the impact point position output based on the teach data here includes an impact point position corresponding to the impact point position output by the position movement unit 242 in the first embodiment, that is, an impact point position corresponding to the impact point position after movement.

[0064] The storage unit 203 records one or more programs including a group of instructions for executing a process of outputting the coordinates of the hitting point position based on the teach data to the calculation unit 204 and comparing and inspecting the coordinates of the hitting point position with the coordinates of the designed hitting point position. The storage unit 203 also stores the coordinates of the designed hitting point position. In addition, when the display unit 202 displays a design drawing of the workpiece, the storage unit 203 may further store the design drawing of the workpiece.

[0065] The calculation unit 204 reads out and executes software, i.e., a computer program, from the storage unit 203, outputs a hitting point position based on the teach data, and performs a process of comparing and inspecting the hitting point position with a designed hitting point position. The calculation unit 204 may be, for example, an MPU or a CPU. The calculation unit 204 may also include multiple processors. The calculation unit 204 includes a position calculation unit 241 , a position movement unit 242 , and an error inspection unit 243 .

[0066] The position calculation unit 241 acquires the teach data from the acquisition unit 201, and calculates the coordinates of the impact point position from the parameter values ​​included in the acquired teach data. The position calculation unit 241 outputs the calculated coordinates of the impact point position to the position movement unit 242.

[0067] The position moving unit 242 acquires the coordinates of the calculated impact point position from the position calculation unit 241, and acquires the coordinates of the design impact point position from the storage unit 103. The position moving unit 242 calculates the coordinates of the center of gravity of the calculated impact point position and the coordinates of the center of gravity of the design impact point position, and moves the coordinates of the calculated impact point position so that they match. The position moving unit 242 outputs the coordinates of the moved hitting point position and the coordinates of the designed hitting point position to the error checking unit 243.

[0068] The error inspection unit 243 obtains the coordinates of the moved hitting point position and the designed hitting point position from the position movement unit 242, and compares and inspects the two. More specifically, it inspects whether or not there is an excess or deficiency in the moved hitting point position with respect to the designed hitting point position, and for a hit point position after the movement that has a corresponding designed hitting point position, it calculates the difference in coordinates with the corresponding designed hitting point position. The error inspection unit 243 outputs the inspection result of the impact point position to the display unit 202.

[0069] The error inspection unit 243 according to the first and second embodiments may inspect the error of the welding point position, and then correct the teach data based on the inspection result. Then, the corrected teach data may be output to the welding device 100. This configuration can eliminate the need for the user to correct the teach data, and can improve the accuracy of the teach data.

[0070] With the configuration described above, the welding point position inspection system 1 can inspect the welding point position in spot welding. Since the welding point position inspection system 1 calculates the welding point position based on the teach data and inspects the welding point position, it is not necessary to perform spot welding for the inspection, and therefore the cost required for the inspection can be reduced.

[0071] (Other embodiments) The hit point position inspection method according to the first and second embodiments is performed by a hit point position inspection device, but the hit point position inspection method according to the present invention may be performed by a welding device. In this case, the designed welding point position is stored in the memory unit of the welding equipment, and the control unit of the welding equipment executes the processing of the position calculation unit 241, the position movement unit 242, and the error inspection unit 243 according to the first and second embodiments.

[0072] While the present invention has been described above with reference to the above-described embodiment, the present invention is not limited to the configuration of the above-described embodiment, and naturally includes various modifications, alterations, and combinations that may be made by a person skilled in the art within the scope of the invention as defined in the claims of the present application. [Explanation of symbols]

[0073] 1. Impact position inspection system 100 Welding equipment 101 Welding Execution Department 102 Output section 103 Storage section 104 Control section 200 Dot position inspection device 201 Acquisition Department 202 Display section 203 Storage section 204 Arithmetic section 241 Position calculation section 242 Position movement part 243 Error Checking Unit

Claims

1. A spot welding method for inspecting an error between a welding point position determined based on a parameter value included in teach data and a designed welding point position, the method comprising the steps of: acquiring the teach data; calculating the coordinates of the impact point position from the parameter values; a step of moving the calculated coordinates of the impact point position so that the coordinates of the center of gravity of the calculated impact point position and the coordinates of the center of gravity of the design impact point position coincide with each other; and inspecting an error between the moved hitting position and the designed hitting position. Impact point location inspection method.

2. In the step of checking an error between the moved hitting position and the designed hitting position, Inspecting whether or not there is an excess or deficiency in the position of the moving point relative to the design position of the point; The method for inspecting a hitting point position according to claim 1.

3. In the step of checking an error between the moved hitting position and the designed hitting position, Calculating the difference between the coordinates of the impact point position after the movement and the coordinates of the corresponding design impact point position; The method for inspecting a hitting point position according to claim 1 or 2.

4. A spot welding position inspection system for inspecting an error between a welding position determined based on a parameter value included in teach data and a designed welding position, which is a designed welding position, in spot welding in which a workpiece is welded at a plurality of points, comprising: An acquisition unit that acquires the teach data; a position calculation unit that calculates coordinates of the impact point position from the parameter values; a position moving unit that moves the calculated coordinates of the impact point position so that the calculated coordinates of the center of gravity of the impact point position and the coordinates of the center of gravity of the design impact point position coincide with each other; and an error inspection unit that inspects an error between the moving hitting position and the design hitting position. Impact point position inspection system.

5. Displaying a design drawing of the workpiece; A display unit is further provided that displays the impact point position after the movement and the impact point position on the design drawing together. The hitting point position inspection system according to claim 4.

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