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

Abstract

A control device, a welding processing system, a teaching point determination method, and a teaching point determination program that can prevent dangerous teaching points from being registered in a welding processing program. 【Solution means】A control unit capable of registering a teaching point of a welding robot that holds a welding torch capable of irradiating a workpiece with a laser beam in a welding processing program. The control unit includes a teaching point candidate reception process for receiving a candidate for the teaching point designated by a user, a placement surface on which the workpiece is placed, and a plane intersection determination process for determining whether or not the trajectory of the laser beam intersects when the laser beam is irradiated with the received teaching point candidate. In the plane intersection determination process, when it is determined that the placement surface and the trajectory intersect, a teaching point registration process for registering the teaching point candidate as the teaching point of the welding robot in the welding processing program is configured to be executable.

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 Art

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

[0003] Specifically, first, a coordinate system having a posture related to the workpiece surface to be processed is set prior to teaching. Then, the laser robot of Patent Document 1 can determine the teaching point of the laser robot while visually recognizing the correspondence with the actual laser beam irradiation point on the workpiece by matching the irradiation point of the laser beam for aiming with the desired processing point by the jog feed operation of the laser robot. This teaching point includes information regarding the position and posture of the laser robot and the laser tool.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the conventional laser robot including the laser robot of Patent Document 1, since the user can define an arbitrary teaching point, there is a problem that a teaching point where there is a risk of the user being hit by the laser beam can also be taught in the data for the machining program.

[0006] In order to solve the above problem, it is also conceivable to be able to define a teaching point at which the laser beam is emitted only when the laser tool is in contact with the workpiece or when the distance between the laser tool and the workpiece is the closest distance. However, even with such a specification, when the workpiece is a thin plate or has a structure with a gap, the laser beam may penetrate the workpiece and there is a risk of hitting the user.

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

Means for Solving the Problems

[0008] A control device according to one aspect of the present invention includes a control unit capable of registering a teaching point of a welding robot that holds a welding torch capable of irradiating a workpiece with laser light in a welding processing program. The control unit includes a teaching point candidate reception process for receiving a candidate for the teaching point specified by the user, a placement surface on which the workpiece is placed, and a plane intersection determination process for determining whether or not the trajectory of the laser light intersects when the laser light is irradiated with the received teaching point candidate. When it is determined in the plane intersection determination process that the placement surface and the trajectory intersect, the control unit is configured to be able to execute a teaching point registration process of registering the teaching point candidate as the teaching point of the welding robot in the welding processing program.

[0009] A welding system according to an aspect of the present invention includes a welding torch capable of irradiating a workpiece with a laser beam, a welding robot holding the welding torch, and a control device including a control unit capable of registering a teaching point of the welding robot in a welding program. The control unit is configured to execute a teaching point candidate reception process for receiving a candidate for the teaching point designated by a user, a plane intersection determination process for determining whether or not the laser beam trajectory intersects with a placement surface on which the workpiece is placed when the laser beam is irradiated at the received teaching point candidate, and a teaching point registration process for registering the teaching point candidate as the teaching point of the welding robot in the welding program when it is determined in the plane intersection determination process that the placement surface and the trajectory intersect.

[0010] A teaching point determination method according to an aspect of the present invention includes a teaching point candidate reception step for receiving a candidate for a teaching point of a welding robot holding a welding torch capable of irradiating a workpiece with a laser beam designated by a user, a plane intersection determination step for determining whether or not the laser beam trajectory intersects with a placement surface on which the workpiece is placed when the laser beam is irradiated at the received teaching point candidate, and a teaching point registration step for registering the teaching point candidate as the teaching point of the welding robot in a welding program when it is determined in the plane intersection determination step that the placement surface and the trajectory intersect, which is executed by a control device.

[0011] A teaching point determination program according to an aspect of the present invention causes a control device to execute a teaching point candidate reception process for receiving a candidate for a teaching point of a welding robot holding a welding torch capable of irradiating a workpiece with a laser beam designated by a user, a plane intersection determination process for determining whether or not the laser beam trajectory intersects with a placement surface on which the workpiece is placed when the laser beam is irradiated at the received teaching point candidate, and a teaching point registration process for registering the teaching point candidate as the teaching point of the welding robot in a welding program when it is determined in the plane intersection determination process that the placement surface and the trajectory intersect.

[0012] According to the control device, welding processing system, teaching point determination method, and teaching point determination program according to one aspect of the present invention, in order to determine whether the trajectory of the laser beam intersects the placement surface when the laser beam is irradiated at the teaching point candidate specified by the user, it is possible to prevent a teaching point where the trajectory does not intersect the placement surface, that is, a dangerous teaching point where the irradiation direction of the laser beam may face the user, from being registered in the welding processing program.

Effect of the Invention

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

Brief Description of the Drawings

[0014]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5a

Figure 5b

Figure 6a

Figure 6b

Figure 7a

Figure 7b

Figure 8a

Figure 8b

Figure 9

Figure 10

Figure 11

Figure 12a

Figure 12b

Figure 13a

Figure 13b

Figure 14a

Figure 14b

Figure 15a

Figure 15b

Figure 16a

Figure 16b

Figure 17a

Figure 17b

Figure 18a

Figure 18b

Figure 19

Figure 20

Figure 21

Embodiments for Carrying Out the Invention

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

[0016] [Overall Configuration of Welding System] Figure 1 is a block diagram showing the configuration of a welding system according to the present embodiment. The welding system 1 according to the present embodiment is, for example, a welding system capable of welding a plurality of workpieces. Specifically, as shown in FIG. 1, the 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 the welding torch 11, and a robot control device 40 that functions as a control device and is capable of controlling the welding robot 30. Further, the welding system 1 includes a welding machine control device 20 capable of controlling the welding machine 10 and a welding process program setting device 50. In the present embodiment, the welding machine control device 20 and the welding process program setting device 50, and the robot control device 40 and the welding process program setting device 50 are configured to be able to communicate with each other via a communication network NW.

[0017] [Configuration of Welding Machine] FIG. 2 is a schematic view showing the welding robot and the mounting table of the present embodiment. As shown in FIGS. 1 and 2, the welding machine 10 includes a welding torch 11 having a tip 11a capable of irradiating a laser beam toward a welding portion of a plurality of workpieces, and an oscillator 12 capable of emitting a laser beam based on welding conditions. In the present embodiment, the welding torch 11 and the oscillator 12 are connected to each other via a cable (not shown). Therefore, the laser beam emitted from the oscillator 12 is supplied to the welding torch 11 via the cable.

[0018] In the present embodiment, the welding torch 11 is a handy torch that can be gripped by the welding robot 30, and the welding torch 11 includes, but is not limited to, an irradiation switch capable of turning on / off the irradiation of the laser beam. The welding torch 11 can adopt various arbitrary configurations. Note that since known configurations can be adopted for the welding torch 11 and the oscillator 12, detailed descriptions thereof are omitted.

[0019] [Configuration of Welding Machine Control Device] As shown in FIG. 1, the welding machine control device 20 includes a storage unit 21 (welding machine storage unit) that stores predetermined welding processing conditions, and a welding machine control unit 22 that can control the welding machine 10 based on a command acquired from the welding processing program setting device 50. The predetermined welding processing conditions stored in the storage unit 21 are standard welding processing conditions in welding. The welding machine control unit 22 is configured to be able to set welding processing conditions based on a command acquired from the welding processing program setting device 50.

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

[0021] [Configuration of Welding Robot] As shown in FIG. 1, the welding robot 30 includes a robot hand 31 that holds the welding torch 11, and an articulated robot arm 32 that can move the robot hand 31 to a predetermined position.

[0022] In the present embodiment, "hold" includes, in addition to a configuration in which the robot hand 31 detachably grips the separately configured welding torch 11, a configuration in which the welding torch 11 is detachably attached to the robot hand 31 via a jig or the like, and a configuration in which the welding torch 11 is fixed to the robot hand 31.

[0023] As shown in FIG. 2, the welding robot 30 is arranged in the vicinity of a mounting table SP (for example, a surface plate or the like) including a mounting surface S on which the workpiece is placed. It is preferable that the welding robot 30 be fixed to the mounting table SP so that the coordinate data and the actual position of the welding robot 30 do not deviate after setting the orthogonal coordinate system described later. However, it is not limited to this.

[0024] In the present 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 cannot perform collaborative operations.

[0025] In this embodiment, the robot hand 31 holds the welding torch 11 and is configured to be able to operate the irradiation switch of the welding torch 11. However, it is not limited to this, and the robot hand 31 may not be able to operate the irradiation switch. When the robot hand 31 cannot operate the irradiation switch, the ON / OFF of the irradiation of the laser light of the welding torch 11 can be operated by an electrical signal.

[0026] In this embodiment, the robot arm 32 is an articulated arm having six-axis control axes. However, the robot arm 32 is not limited to this, and various known configurations can be arbitrarily adopted. Since known configurations can be adopted for the robot hand 31 and the robot arm 32, detailed descriptions thereof are omitted.

[0027] Figure 3 is a schematic diagram showing the welding torch of this embodiment. For 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 perpendicular to each other. In this embodiment, as shown in FIG. 2, the plane of the mounting surface S is set as the X-Y plane, and the direction perpendicular to the upper space of the mounting surface S (X-Y plane) is set as the Z-axis. Note that the setting of the Cartesian coordinate system is not limited to this.

[0028] Also, as shown in FIG. 3, for the welding robot 30, the tip 11a of the welding torch 11 held by the robot arm 32 is set as the tool center point (TCP: Tool Center Point), 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] Note that the direction of the Zt axis may be positive or negative with respect to the emission direction of the laser beam. Similar to the orthogonal coordinate system, the tool coordinate system has Xt, Yt, and Zt axes that are orthogonal to each other. In the present embodiment, for the sake of convenience in distinguishing the tool coordinate system from the orthogonal coordinate system, the X, Y, and Z axes are respectively referred to as the Xt, Yt, and Zt axes, but it is not limited thereto.

[0030] [Configuration of Robot Control Device] 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, or a tablet terminal. Specifically, as shown in FIG. 1, the robot control device 40 includes a storage unit 41 (robot storage 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 an HDD (Hard Disk Drive) or an SSD (Solid State Drive) 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 through various teaching operations (teaching operations) such as direct teaching. Specifically, the storage unit 41 is configured to store, as operation information, the movement stroke of the welding robot 30, the movement mode of the welding robot 30, the welding start position and the welding end position in the movement stroke, and the welding mode for the welding parts of a plurality of workpieces.

[0032] The "moving stroke" is information indicating the moving process from the starting position to the ending position of the robot hand 31 of the welding robot 30. In the present embodiment, the storage unit 41 is configured to store, as the moving stroke, the starting position of the movement of the robot hand 31, one or more movement reference positions of the robot hand 31, and the ending position of the movement of the robot hand 31 (the last movement reference position). Note that the "movement reference position" is information indicating a position that serves as an index for the movement of the robot hand 31. For example, when the storage unit 41 stores the first movement reference position and the second movement reference position as the movement reference positions, the robot hand 31 first moves from the starting position towards the first movement reference position, then moves from the first movement reference position towards the second movement reference position, and ends the movement at the second movement reference position (the ending position).

[0033] Note that the number of movement reference positions is appropriately changed according to the shape of the workpiece to be welded, etc.

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

[0035] Note that the movement mode is appropriately changed according to the shape of the workpiece to be welded, etc.

[0036] The "welding start position" is a position among the movement reference positions where welding by the welding machine 10 is started. The number of welding start positions is appropriately changed according to the shape of the workpiece to be welded, etc. Therefore, the storage 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 (for example, the third welding start position, etc.) in addition to the first welding start position and the second welding start position.

[0037] The "welding end position" is the position within the movement reference position where welding by the welding machine 10 is completed. This welding end position is stored in the storage unit 41 only when the welding mode is the continuous irradiation mode described later, and is not stored in the storage unit 41 when the welding mode is the spot irradiation (spot welding) mode described later.

[0038] The "welding mode" is information indicating how to weld the welding parts of a plurality of workpieces. In the present embodiment, the storage unit 41 is configured to store the continuous irradiation mode from the welding start position to the welding end position and the spot irradiation mode at the welding start position as the welding modes.

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

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

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

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

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

[0044] In the present embodiment, the teaching points and teaching point candidates include information regarding the position and orientation of the welding torch 11 in the space above the placement surface S. Specifically, the teaching points and teaching point candidates include the position and orientation angles of the tip 11a of the welding torch 11, that is, the tool center point. More specifically, as shown in FIG. 3, the teaching points and teaching point candidates are the x coordinate, y coordinate, and z coordinate (x t , y t , z t ) of the position in the tool coordinate system of the tip 11a.

[0045] Further, the teaching points and teaching point candidates include the yaw angle, pitch angle, and roll angle (ψ t , θ t , φ t ) which are the orientation angles of the tip 11a. The yaw angle is the rotation angle around the Xt axis. The pitch angle is the rotation angle around the Yt axis. The roll angle is the rotation angle around the Zt axis.

[0046] In this embodiment, the posture angles are described assuming that the yaw angle, pitch angle, and roll angle are 0 degrees (ψ t = 0, θ t = 0, φ t = 0) when the directions of the X-axis of the orthogonal coordinate system and the Zt-axis of the tool coordinate system, the Y-axis of the orthogonal coordinate system and the Yt-axis of the tool coordinate system, and the Z-axis of the orthogonal coordinate system and the Xt-axis of the tool coordinate system coincide with each other. However, the reference for the posture angles is not limited to this.

[0047] The region setting unit 45 is configured to set the region of the placement surface S for the program creation unit 46 to determine the teaching point candidates and the side region SA described later. Specifically, the region setting unit 45 receives the designation of the range of each region by the user and sets each region. In this embodiment, the region setting unit 45 sets the region of the placement surface S in the X-Y coordinate plane so as to coincide with the range of the placement surface S of the placement table SP.

[0048] Specifically, as shown in FIG. 2, the region 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 are C2(Xs, 0, Zs), C3(0, Ys, Zs), and C4(Xs, Ys, Zs) respectively, and sets the range where the X coordinate is 0 ≦ x ≦ Xs and the Y coordinate is 0 ≦ y ≦ Ys in the X-Y coordinate plane as the region of the placement surface S.

[0049] Note that the specific coordinates for setting the region are set by the user specifying numerical values according to the shape and area of the placement surface S, so the position of the origin and the coordinates of each corner are only examples and are not limited to this. Also, in this embodiment, the region of the placement surface S is set to the same area as the range of the placement surface S, but it is not limited to this, and a partial range of the placement surface S may be set as the region of the placement surface S.

[0050] FIG. 9 is a diagram showing an example of the side region of this embodiment. In addition, as shown in FIG. 9, the area setting unit 45 is configured to be capable of executing a side area setting process for setting the range of a virtual side area SA extending at least toward the upper space of the placement surface S. The area setting unit 45 is configured to be capable of setting one or a plurality of side areas SA. In the example shown in FIG. 9, a first side area SA along the end connecting corner C1 and corner C2 of the placement surface S, a second side area SA along the end connecting corner C1 and corner C3 of the placement surface S, a third side area SA along the end connecting corner C3 and corner C4 of the placement surface S, and a fourth side area SA along the end connecting corner C2 and corner C4 of the placement surface S are set. The ranges of the first to fourth side areas SA are each set in a rectangular shape.

[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 does not hit the user, for example, 2 m, 3 m, etc. Also, the predetermined height can be set to various arbitrary heights as long as it is a finite height at which the laser light does not hit the user, such as the height of the partition installed around the mounting table SP and the welding robot 30, the height of the ceiling surface of the partition, and the height of the building using the welding processing system 1.

[0052] In addition, the side area SA has a predetermined width. The width of the side area SA is set to an arbitrary finite width. When the side area SA is set along the end of the placement surface S, the width of the side area SA is set to a length of at least the width of the area of the placement surface S or more. For example, the width of the side area SA is set according to the width of the area of the placement surface S. Specifically, in the example shown in FIG. 9, the width of the first side area SA is set to the width W1 of the end connecting corner C1 and corner C2 of the placement surface S, and the width of the second side area SA is set to the width W2 of the end connecting corner C1 and corner C3. Also, the width of the third side area SA is set to the width W3 of the end connecting corner C3 and corner C4, and the width of the fourth side area SA is set to the width W4 of the end connecting corner C2 and corner 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 view in the X-Y plane showing a case where one end of the mounting table of the present embodiment is in contact with a wall. Fig. 12b is a view in the X-Y plane showing a side region in the case where one end of the mounting table of the present embodiment is in contact with a wall. As shown in Fig. 9, the side region SA is preferably set over the entire circumference of the mounting surface S, but is not limited thereto. When there is a direction with a low risk of the user being irradiated with the laser light, such as when the mounting table SP is in contact with a wall surface that is safe even when irradiated with the laser light, the side region SA may not be set in that direction. For example, as shown in Fig. 12a, when one end of the mounting table SP (mounting surface S) (in the present embodiment, the end connecting corner C2 and corner C4 of the mounting surface S) is in contact with a wall 80 having a sufficient thickness that does not allow the laser light to pass through, as shown in Fig. 12b, the side region SA may be set along the three ends of the mounting table SP (mounting surface S) excluding the end in contact with the wall 80. That is, three sides of the first to third side regions SA are set, and the fourth side region SA along the end connecting corner C2 and corner C4 in contact with the wall 80 may not be set.

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

[0059] Fig. 16a is a view in the X-Y plane showing a case where the mounting table of the present embodiment is in contact with a U-shaped wall. Fig. 16b is a view in the X-Y plane showing a side region in the case where the mounting table of the present embodiment is in contact with a U-shaped wall. Similarly, as shown in Fig. 16a, when the end portions of the mounting table SP (in this embodiment, the end portion connecting corner C1 and corner C2 of the mounting surface S, the end portion connecting corner C2 and corner C4 of the mounting surface S, and the end portion connecting corner C3 and corner C4 of the mounting surface S) are in contact with the U-shaped wall 80, as shown in Fig. 16b, a lateral region SA may be set along one end portion of the mounting table SP that is not in contact with the wall 80 (in this embodiment, the end portion connecting corner C1 and corner C3 of the mounting surface S). That is, only the second lateral region SA may be set, and the first lateral region SA, the third lateral region SA, and the fourth lateral region SA along the end portions in contact with the wall 80 may not be set.

[0060] Fig. 17a is a view in the X-Y plane showing the case where the mounting table of this embodiment is separated from the wall. Also, even when the mounting table SP and the wall 80 are separated, if there is only a gap that prevents the user from entering between the mounting table SP and the wall 80, or as shown in Fig. 17a, when an intrusion prevention fence 90 is provided so that the user cannot enter between the mounting table SP and the wall 80, etc., the lateral region SA may not be set in a direction where the risk of the laser light hitting the user is low.

[0061] Note that the intrusion prevention fence 90 is not limited to a fence, and may be, for example, a chain pole, a rope, a belt pole partition, a screen, etc., as long as it restricts the entry of the user. In the example shown in Fig. 17a, since the user cannot enter between the mounting table SP and the wall 80, the risk of the laser light hitting the user when irradiating the laser light toward the wall 80 is low. Therefore, the lateral region SA may not be set along the end portion of the mounting table SP facing the wall 80 (in this embodiment, the end portion connecting corner C2 and corner C4 of the mounting surface S). That is, the fourth lateral region SA along the end portion connecting corner C2 and corner C4 facing the wall 80 may not be set.

[0062] Fig. 17b is a view in the X-Y plane showing the lateral region in the case where the mounting table of this embodiment is separated from the wall. On the other hand, when the laser light is irradiated toward the intrusion prevention fence 90, there is a risk that the laser light hits the user when the user stands near the intrusion prevention fence 90. Therefore, it is necessary to set the side region SA so that the laser light cannot be irradiated toward the intrusion prevention fence 90. In the example shown in FIG. 9 and the like, the width of the side region SA is set in accordance with the width of the region of the mounting surface S, 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 region SA and the third side region SA are set by extending from the angles C2 and C4 to the wall 80, respectively, as shown in FIG. 17b.

[0063] In the present embodiment, since the planar shape of the mounting surface S of the mounting table SP is rectangular, a maximum of four side regions SA can be set, but it is not limited thereto. For example, the planar shape of the mounting surface S may be a quadrilateral, triangle, pentagon, hexagon, circle, etc. other than a rectangle, and various arbitrary numbers of side regions SA can be set according to the planar shape of the mounting surface S. Further, when the planar shape of the mounting surface S is circular, the side region SA may be set on the circumferential surface or may be set in a dome shape. Furthermore, the side region SA does not have to be rectangular. Also, the side region SA does not have to be set along the end of the mounting surface S.

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

[0065] The program creation unit 46 is configured to be able to register the teaching points of the welding robot 30 in the welding process program 43. Further, the program creation unit 46 is configured to be able to execute a teaching point candidate reception process for receiving the teaching point candidates designated by the user. The user may specify the teaching point candidates by directly teaching the welding robot 30, or may specify the teaching point candidates on the program creation condition setting screen 51a by operating the welding process program setting device 50. Further, when specifying the teaching point candidates, the user selects which position among the movement reference position, the movement end position, the welding start position, and the welding end position he / she wants to register as the teaching point in the welding process program 43.

[0066] FIG. 4 is a schematic view showing the placement surface and the welding torch of the present embodiment. Furthermore, as shown in FIG. 4, the program creation unit 46 is configured to be able to execute a plane intersection determination process for determining whether or not the placement surface S on which the workpiece is placed intersects with the locus L of the laser beam when the received teaching point candidate is irradiated with the laser beam. Specifically, the program creation unit 46 draws a virtual line of the locus L of the laser beam along the Zt axis of the tool coordinate system from the tip 11a of the welding torch 11 in the received teaching point candidate, and determines whether or not the virtual line intersects with the placement surface S (whether or not there is an intersection point within the region of the placement surface S). More specifically, the program creation unit 46 determines whether or not there are coordinates (0 ≦ x ≦ Xs, 0 ≦ y ≦ Ys, Zs) within the region of the placement surface S on the virtual line (on the Zt axis).

[0067] FIG. 5a is a view of the X-Z plane showing the locus of the laser beam when the teaching point candidate A of the present embodiment is irradiated with the laser beam. FIG. 5b is a view of the X-Y plane showing the locus of the laser beam when the teaching point candidate A of the present embodiment is irradiated with the laser beam. The case where the teaching point candidate designated by the user is, for example, the teaching point candidate A as shown in FIG. 5a will be described. The position and the attitude angle of the tip 11a of the welding torch 11 in the teaching point candidate A are, as shown in FIG. 5a, (x A , y A , z A , ψ A , θA , φ A ) is. The x-coordinate, y-coordinate, and z-coordinate of the tip 11a at the teaching point candidate A are, as shown in FIGS. 5a and 5b, 0 ≦ x A ≦ Xs, 0 ≦ y A ≦ Ys, Zs ≦ z A . Therefore, the tip 11a at the teaching point candidate A is located within the region of the placement surface S.

[0068] Also, the attitude angle of the tip 11a at the teaching point candidate A is ψ A = 0, θ A < 0, φ A = 0, and 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 is parallel to the X-axis. When the laser beam is irradiated with such a teaching point candidate A, the locus L of the laser beam intersects the intersection point P A (0 ≦ X1 ≦ Xs, 0 ≦ Y1 ≦ Ys, Zs) intersects the placement surface S. That is, since there are coordinates within the region of the placement surface S on the virtual line (on the Zt axis), the program creation unit 46 determines that the placement surface S and the locus L of the laser beam when the laser beam is irradiated with the teaching point candidate A intersect.

[0069] FIG. 6a is a view of the X-Z plane showing the locus of the laser beam when the laser beam is irradiated with the teaching point candidate B of the present embodiment. FIG. 6b is a view of the X-Y plane showing the locus of the laser beam when the laser beam is irradiated with the teaching point candidate B of the present embodiment. Next, the case where the teaching point candidate designated by the user is the teaching point candidate B as shown in FIG. 6a will be described. The position and attitude angle of the tip 11a of the welding torch 11 at the teaching point candidate B are, as shown in FIG. 6a, (x 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, as shown in FIGS. 6a and 6b, 0 ≦ x B ≦ Xs, 0 ≦ y B ≦ Ys, Zs ≦ z BTherefore, the tip 11a at 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 at 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 the points C2 and C4 on the placement surface S than that of the teaching point candidate A (x A <x B ). Also, 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 ), and 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 is parallel to the X axis.

[0071] When the laser beam is irradiated with such a teaching point candidate B, the locus L of the laser beam intersects outside the area of the X-Y plane and the placement surface S and has no intersection point within the area of the placement surface S. That is, since there are no 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 and the locus L of the laser beam when irradiated with the teaching point candidate B do not intersect.

[0072] FIG. 7a is a view of the X-Z plane showing the locus of the laser beam when the laser beam is irradiated with the teaching point candidate C of the present embodiment. FIG. 7b is a view of the X-Y plane showing the locus of the laser beam when the laser beam is irradiated with the teaching point candidate C of the present embodiment. The case where the teaching point candidate designated by the user is the teaching point candidate C as shown in FIG. 7a will be described. The position and attitude angle of the tip 11a of the welding torch 11 at the teaching point candidate C are, as shown in FIG. 7a, (x C , y C , z C , ψ C , θ C , φ C) That is. The x - coordinate, y - coordinate, and z - coordinate of the tip 11a at the teaching point candidate C are the same as the x - coordinate, y - coordinate, and z - coordinate of the tip 11a at the teaching point candidate A (x C =x A ,y C =y A ,z C =z A ). Therefore, as shown in FIG. 7b, the tip 11a at the teaching point candidate C is located within the region of the placement surface S.

[0073] Also, the attitude angles of the tip 11a at the teaching point candidate C are ψ C =ψ A ,θ A <θ C <0, φ C =φ A and the irradiation direction of the laser beam in the X - Z plane is downward, but is directed upward compared to the teaching point candidate A. When the laser beam is irradiated with such a teaching point candidate C, the locus L of the laser beam intersects outside the region of the X - Y plane and the placement surface S and has no intersection point within the region of the placement surface S. That is, since there are no coordinates within the region of the placement surface S on the virtual line (on the Zt axis), the program creation unit 46 determines that the placement surface S and the locus L of the laser beam when irradiated with the teaching point candidate C do not intersect.

[0074] The program creation unit 46 is configured to be able to execute a teaching point registration process of registering the teaching point candidate as a teaching point of the welding robot 30 in the welding process program 43 when it determines that the placement surface S and the locus L intersect. Also, the program creation unit 46 is configured to execute a lateral intersection determination process described later when it determines that the placement surface S and the locus L do not intersect.

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

[0076] Furthermore, the program creation unit 46 is configured to be able to execute an in-region determination process for determining whether or not the position of the tip 11a that emits the laser beam of the welding torch 11 at the teaching point candidate is located within the placement surface S in a plan view. Specifically, the program creation unit 46 determines whether or not the position of the tip 11a in the X-Y plane is within the region of the placement surface S. In the present embodiment, the program creation unit 46 determines that the position of the tip 11a at the teaching point candidate is located within the placement surface S when the x coordinate and the y coordinate of the tip 11a at the teaching point candidate satisfy 0 ≦ x t ≦ Xs and 0 ≦ y t ≦ Ys.

[0077] When the program creation unit 46 determines that the position of the tip 11a at the teaching point candidate is located within the placement surface S, the program creation unit 46 is configured to execute the above-described plane intersection determination process. Further, when the program creation unit 46 determines that the position of the tip 11a at the teaching point candidate is not located within the placement surface S, the program creation unit 46 is configured to execute a danger avoidance process without executing the plane intersection determination process. Specifically, the program creation unit 46 is configured to be able to execute a non-registration process of not registering the teaching point candidate in the welding process program 43 or a warning display process of displaying a warning to the user.

[0078] In the warning display process, the program creation unit 46 may display a warning to the user by registering the teaching point candidate in the welding process program 43 in a manner different from the normal one, or may display a warning on the display unit 51. As a method of registering the teaching point candidate in the welding process program 43 in a manner different from the normal one, for example, there are a method of displaying the code related to the teaching point candidate in a color different from other codes, a method of describing a warning message in the code of the welding process program 43, a method of registering the code related to the teaching point candidate in the welding process program 43 as an unexecutable code, and the like.

[0079] For example, when the teaching point candidate specified by the user is teaching point candidate A, the coordinates of the tip 11a in the X-Y plane are within the region of the placement surface S as described above. Therefore, the program creation unit 46 determines that the position of the tip 11a in teaching point candidate A is located within the placement surface S and executes the plane intersection determination process. Similarly, when the teaching point candidates specified by the user are teaching point candidate B and teaching point candidate C, since the coordinates of the tip 11a in the X-Y plane are within the region of the placement surface S, the program creation unit 46 determines that the positions of the tip 11a in teaching point candidate B and teaching point candidate C are located within the placement surface S and executes the plane intersection determination process.

[0080] FIG. 8a is a view in the X-Z plane showing the locus of the laser beam when irradiating with the laser beam at teaching point candidate D of the present embodiment. Next, the case where the teaching point candidate specified by the user is teaching point candidate D as shown in FIG. 8a will be described. The position and posture angles of the tip 11a of the welding torch 11 in teaching point candidate D are, as shown in FIG. 8a, (x D , y D , z D , ψ D , θ D , φ D ). The posture angles of the tip 11a in teaching point candidate D are the same as those of the tip 11a in teaching point candidate A (ψ D = ψ A , θ D = θ A , φ D = φ A ), and the locus L of the laser beam when irradiating with the laser beam at teaching point candidate D intersects the placement surface S at the intersection point P D (0 ≦ X2 ≦ Xs, 0 ≦ Y2 ≦ Ys, Zs). That is, there are coordinates within the region of the placement surface S on the virtual line (on the Zt axis).

[0081] FIG. 8b is a view in the X-Y plane showing the locus of the laser beam when irradiating with the laser beam at teaching point candidate D of the present embodiment. Also, the y-coordinate and z-coordinate of the tip 11a in teaching point candidate D are the same as those in teaching point candidate A (y D = y A , zD = z A ) However, as shown in FIGS. 8a and 8b, the x-coordinate of the tip 11a in the teaching point candidate D is x D < 0, so the program creation unit 46 determines that the tip 11a in the teaching point candidate D is not located within the area of the placement surface S.

[0082] When the laser beam is irradiated from a teaching point candidate such as the teaching point candidate D, the locus L of the laser beam intersects the placement surface S, but there is a gap for the user to enter between the tip 11a and the mounting table SP. Therefore, there is a risk that the user will be hit by the laser beam if they enter. For this reason, it is preferable that such a teaching point candidate cannot be registered in the welding process program 43. In the present embodiment, the program creation unit 46 is configured to execute non-registration processing or warning display processing after the in-area determination process so that such a teaching point candidate is not erroneously registered as a teaching point in the welding process program 43.

[0083] After determining that the position of the tip 11a in the teaching point candidate D is not located within the placement surface S, the program creation unit 46 is configured to execute non-registration processing or warning display processing without executing the plane intersection determination process.

[0084] Note that the in-area determination process can also be executed after the plane intersection determination process. When the in-area determination process is executed after the plane intersection determination process, the program creation unit 46 determines that the placement surface S and the locus L intersect in the plane intersection determination process, and the position of the tip 11a in the teaching point candidate is located within the placement surface S in the in-area determination process. In this case, the teaching point candidate is configured to be registered in the welding process program 43 as a teaching point of the welding robot 30.

[0085] Next, the registration of the exception teaching points according to the present embodiment will be described. Instead of irradiating the placement surface S with downward laser light as in the above-described teaching point candidate A, etc., it is conceivable to irradiate upward laser light toward the upper space of the placement surface S with the tip 11a of the welding torch 11 positioned within the placement surface S. For example, there are teaching point candidates having a posture angle that results in an irradiation direction where the laser light does not intersect the placement surface S and the trajectory L, such as a teaching point candidate that irradiates the laser light in an irradiation direction where the laser light hits the ceiling surface, and there is no risk of hitting the user. The fact that such teaching point candidates having such a posture angle cannot be registered in the welding process program 43 as teaching points is inconvenient for the user, and even for teaching point candidates where the placement surface S and the trajectory L do not intersect, it is preferable that such teaching point candidates can be registered in the welding process program 43 as an exception.

[0086] Therefore, the program creation unit 46 according to the present embodiment is configured to register, in the welding process program 43, exception teaching point candidates that satisfy a predetermined safety condition among the teaching point candidates where the placement surface S and the trajectory L do not intersect. In the present embodiment, the program creation unit 46 determines whether the trajectory L intersects the side region SA in the side intersection determination process, and determines 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, when it is determined that the trajectory L and the side region SA do not intersect, the program creation unit 46 is configured to be able to execute an exception teaching point registration process of determining the teaching point candidate as an exception teaching point candidate and registering it in the welding process program 43.

[0087] In the side intersection determination process, the program creation unit 46 draws a virtual 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 in the received teaching point candidate, and determines whether the virtual line intersects the side region SA (whether there is an intersection point within the region of the side region SA). More specifically, the program creation unit 46 determines whether there are coordinates within the region of the side region SA on the virtual line (on the Zt axis). For example, when determining whether the trajectory L intersects the first side region SA, the program creation unit 46 determines whether there are coordinates within the region of the first side region SA (0 ≤ x t ≤ Xs, 0, Zs < z tDetermine whether there is a ≦Zh).

[0088] When a plurality of side regions SA are set, in the side intersection determination process, the program creation unit 46 determines whether the trajectory L intersects each side region SA. In the following example description, the determination of whether it intersects some of the side regions SA will be described.

[0089] FIG. 10 is a view of the X-Z plane showing the trajectory of the laser beam when the laser beam is irradiated at the teaching point candidate E of the present embodiment. The case where the teaching point candidate designated by the user is, for example, the teaching point candidate E as shown in FIG. 10 will be described. Note that the side regions SA will be described as having the first to fourth side regions SA set as shown in FIG. 9. The position and posture angles of the tip 11a of the welding torch 11 in the teaching point candidate E are, as shown in FIG. 10, (x E , y E , z E , ψ E , θ E , φ E ). The x-coordinate, y-coordinate, and z-coordinate of the tip 11a in the teaching point candidate E are 0 ≦ x E ≦ Xs, 0 ≦ y E ≦ Ys, Zs ≦ z E and the tip 11a in the teaching point candidate E is located within the region of the mounting surface S.

[0090] Also, the posture angles of the tip 11a in the teaching point candidate E are ψ E = 0, 0 < θ E , φ E = 0, and the irradiation direction of the laser beam in the X-Z plane is upward. Also, the irradiation direction of the laser beam is directed in the direction where the fourth side region SA is set. Since the trajectory L of the laser beam when irradiated with the laser beam at such a teaching point candidate E does not intersect the mounting surface S, 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 with the laser beam at the 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 region 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 region SA set at a predetermined height and does not intersect with the fourth lateral region SA. Therefore, the program creation unit 46 determines that the trajectory L and the fourth lateral region SA do not intersect. Similarly, the program creation unit 46 determines that the trajectory L and the first to third lateral regions SA do not intersect.

[0092] 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 E do not intersect, and in the lateral 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 E and the lateral region SA do not intersect. Therefore, the program creation unit 46 determines the teaching point candidate E as an exception teaching point candidate and registers it in the welding process program 43.

[0093] On the other hand, when the teaching point candidate determined by the program creation unit 46 that the placement surface S and the trajectory L do not intersect does not satisfy the safety condition, that is, when it is determined in the lateral intersection determination process that the trajectory L and the lateral region SA intersect, the program creation unit 46 is configured to be able to execute a danger avoidance process. Specifically, when the program creation unit 46 determines in the lateral intersection determination process that the trajectory L and the lateral region SA intersect, the program creation unit 46 is configured to be able to execute a non-registration process of not registering the teaching point candidate in the welding process program 43 or a warning display process of displaying a warning to the user.

[0094] Note that a plurality of lateral regions SA are set, and when it is determined in the lateral intersection determination process that the trajectory L intersects with any one surface of the lateral regions SA, the program creation unit 46 is configured to be able to execute a non-registration process of not registering the teaching point candidate in the welding process program 43 or a warning display process of displaying a warning to the user.

[0095] FIG. 11 is a view of the X-Z plane showing the trajectory of the laser beam when the laser beam is irradiated at the teaching point candidate F of the present embodiment. The case where the teaching point candidate specified by the user is, for example, the teaching point candidate F as shown in FIG. 11 will be described. Note that the side region SA will be described assuming that the first to fourth side regions SA are set as shown in FIG. 9. The position and posture angles of the tip 11a of the welding torch 11 in the teaching point candidate F are, as shown in FIG. 11, (x F , y F , z F , ψ F , θ F , φ F ). The x-coordinate, y-coordinate, and z-coordinate of the tip 11a in the teaching point candidate F are the same as the x-coordinate, y-coordinate, and z-coordinate of the tip 11a in the teaching point candidate E (x F = x E , y F = y E , z F = z E ). Therefore, the tip 11a in the teaching point candidate F is located within the region of the placement surface S.

[0096] Also, the posture angles of the tip 11a in the teaching point candidate F are ψ F = ψ E , 0 < θ F < θ E , φ F = φ E . The irradiation direction of the laser beam in the X-Z plane is upward, but it is directed downward compared to the teaching point candidate E. Also, the irradiation direction of the laser beam is directed in the direction where the fourth side region SA is set, similar to the teaching point candidate E. Since the locus L of the laser beam when irradiating with the laser beam at such a teaching point candidate F does not intersect the placement surface S, in the plane intersection determination process, the program creation unit 46 determines that the placement surface S and the locus L of the laser beam when irradiating with the laser beam at the teaching point candidate F do not intersect.

[0097] Next, the program creation unit 46 determines whether or not the trajectory L of the laser beam when irradiating 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 irradiating 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 irradiating 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 irradiating 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 irradiating 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 irradiating the teaching point candidate G of the present embodiment with the laser beam. 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 corners C2 and 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 X-Y plane showing the trajectory of the laser beam when the laser beam is irradiated at the teaching point candidate G of the present embodiment. As shown in FIGS. 13a and 13b, the x-coordinate, y-coordinate, and z-coordinate of the tip 11a at the teaching point candidate G are 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 region of the mounting surface S. Also, the attitude angles of the tip 11a at the teaching point candidate G are ψ G = 0, θ G < 0, φ G = 0, and 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 is parallel to the X-axis.

[0101] When the 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 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 the laser beam is irradiated at the teaching point candidate G do not intersect.

[0102] Also, since the fourth lateral region SA along the end connecting the angles C2 and C4 in contact with the wall 80 is not set, in the lateral intersection determination process, the program creation unit 46 determines whether the trajectory L of the laser beam when the laser beam is irradiated at the teaching point candidate G intersects the first to third lateral regions SA.

[0103] Since the trajectory L of the laser beam when the laser beam is irradiated at the teaching point candidate G does not intersect any of the set first to third lateral regions SA as shown in FIG. 13b, the program creation unit 46 determines that the trajectory L and the lateral region SA do not intersect, determines the teaching point candidate G as an exception teaching point candidate, and registers it in the welding process program 43.

[0104] FIG. 14a is a view of the X-Z plane showing the trajectory of the laser beam when the laser beam is irradiated at the teaching point candidate H of the present embodiment. FIG. 14b 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 H of the present embodiment. Next, a case where the teaching point candidate designated by the user is the teaching point candidate H as shown in FIG. 14a will be described. The position and posture angles of the tip 11a of the welding torch 11 at the teaching point candidate H are, as shown in FIG. 14a, (x 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, as shown in FIGS. 14a and 14b, 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 region of the placement surface S.

[0105] Also, the posture angles of the tip 11a at the teaching point candidate H are 0 < ψ H , θ H < 0, φ H = 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 is directed toward one end of the wall 80 (the end on the corner C4 side of the placement surface S).

[0106] When the laser beam is irradiated at such a teaching point candidate H, the irradiation direction of the laser beam is directed toward the wall 80 as shown in FIG. 14a. The trajectory L of the laser beam intersects the wall 80, but intersects the X-Y plane outside the region of the placement surface S, so it does not have an intersection point within the region of the placement surface S. Therefore, in the plane intersection determination process, the program creation unit 46 determines that the placement 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 trajectory L of the laser beam when irradiating the teaching point candidate H intersects the third lateral region SA. As shown in FIG. 14b, the trajectory L of the laser beam when irradiating the teaching point candidate H intersects the third lateral 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 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 H determined not to intersect the placement surface S and the trajectory L does not satisfy the safety condition.

[0108] In the plane intersection determination process, it is determined that the placement surface S and the trajectory L of the laser beam when irradiating the teaching point candidate H do not intersect, and in the lateral intersection determination process, it is determined that the trajectory L of the laser beam when irradiating the teaching point candidate H and the lateral 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 process program 43 or a warning display process of displaying a warning to the user.

[0109] Next, as shown in FIG. 17a, with the mounting table SP separated from the wall 80 and an intrusion prevention fence 90 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 lateral 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 trajectory of the laser beam when irradiating 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 posture angles of the tip 11a of the welding torch 11 in 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 diagram 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 placement surface S. Also, 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 is directed toward one end of the wall 80 (the end on the corner C4 side of the placement surface S).

[0112] When the laser beam is irradiated at such a teaching point candidate I, the irradiation direction of the laser beam is directed toward 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 placement surface S, so it does not have an intersection point within the region of the placement surface S. Therefore, in the plane intersection determination process, the program creation unit 46 determines that the placement 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, within 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). 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 intersects the third lateral region SA. Therefore, the teaching point candidate I determined that the placement surface S and the trajectory L do not intersect does not satisfy the safety condition.

[0114] 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 I 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 I and the side region SA intersect. Therefore, the program creation unit 46 executes a non-registration process of not registering the teaching point candidate I in the welding process program 43 or a warning display process of displaying a warning to the user.

[0115] Note that the program creation unit 46 may not be able to execute the side intersection determination process. When the side intersection determination process cannot be executed, it is preferable that the program creation unit 46 is configured to be able to immediately execute a 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 process program 43 stored in the storage unit 41.

[0117] Note that the robot control device 40 according to the present embodiment may be arranged independently of the welding robot 30, or may be integrated or integrally formed with the welding robot 30.

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

[0119] The display unit 51 is a display that can display various types of information. In the present embodiment, the display unit 51 is a touch screen that can display various types of information and receive input operations by the user. That is, the display unit 51 also functions as an operation unit that receives input operations by the user.

[0120] Note that in the present embodiment, the description has been made assuming that the display unit 51 and the operation unit are integrally configured, but it is not limited thereto. For example, the operation unit may be configured by an input device such as a keyboard, a mouse, a touchpad, or a 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 the present embodiment. Further, 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 of a welding process program 43 including operation information of the welding robot 30 that holds the welding torch 11 of the welding machine 10 and welding process conditions of the welding machine 10.

[0122] The program creation condition setting screen 51a is configured to be able to display operation information of the welding robot 30 acquired from the robot control device 40. In the present embodiment, the program creation condition setting screen 51a is configured to be able to display a welding process list L1 showing the operation information of the welding robot 30 acquired from the robot control device 40 as a welding process. By having such a configuration, there is an advantage that it is easy for the user to visually recognize the operation information of the welding robot 30.

[0123] Further, as shown in FIG. 1, the welding process program setting device 50 includes a welding process control unit 53 that can control at least the welding machine 10 based on the welding process program 43. That is, the welding process program setting device 50 according to the present embodiment also functions as a welding process control device that can control at least the welding machine 10 based on the welding process program 43.

[0124] In the present embodiment, the welding process program setting device 50 has been described as functioning as a welding process control device. However, the present invention is not limited to this, and the welding process program setting device 50 and the welding process control device may be configured as independent devices. That is, the welding process system 1 may include a welding process program setting device 50 capable of setting the program creation conditions of the welding process program 43, and a welding process control device including a welding process control unit 53 capable of controlling at least the welding machine 10 based on the welding process program 43 created based on the program creation conditions set by the welding process program setting device 50.

[0125] The welding process control unit 53 is configured to control the welding machine 10 based on the welding process program 43 created by the program creation unit 46 of the control unit 44 of the robot control device 40. Specifically, the welding process control unit 53 is configured to be able to change the setting of the welding process conditions in the welding machine 10 according to the welding start position during the execution of the welding process program 43.

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

[0127] [Teaching Point Judgment Method According to the Present Embodiment] Next, a method for determining teaching points of the robot control device 40 according to the present embodiment will be described. The method for determining teaching points of the robot control device 40 according to the present embodiment generally includes a teaching point candidate receiving step of receiving candidates for teaching points of the welding robot 30 that holds the welding torch 11 capable of irradiating a workpiece specified by the user with a laser beam, a placement surface S on which the workpiece is placed, and a plane intersection determination step of determining whether or not the trajectory L of the laser beam intersects when the received teaching point candidate is irradiated with the laser beam. When it is determined in the plane intersection determination step that the placement surface S and the trajectory L intersect, the robot control device 40 executes a teaching point registration step of registering the teaching point candidate as a teaching point of the welding robot 30 in the welding process program 43.

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

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

[0130] After receiving the teaching point candidates, the program creation unit 46 of the control unit 44 of the robot control device 40 determines the teaching point candidates. Specifically, first, the program creation unit 46 determines whether the position of the tip 11a that emits the laser light of the welding torch 11 in 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-region determination step). In the present embodiment, the program creation unit 46 determines whether the X-Y plane coordinates of the tip 11a set as the tool center point are located within the region of the X-Y plane coordinates of the placement surface S.

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

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

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

[0134] When it is determined that the locus L and the lateral region SA do not intersect (NO at S16 in FIG. 19), the program creation unit 46 determines the teaching point candidate as an exception teaching point candidate and registers it in the welding process program 43 (S17 in FIG. 19: exception teaching point registration step). On the other hand, when it is determined that the locus L and the lateral region SA intersect (YES at S16 in FIG. 19), the program creation unit 46 executes a non-registration process of not registering the teaching point candidate in the welding process program 43 or a warning display process of displaying a warning to the user (S15 in FIG. 19).

[0135] Through the above steps, a series of teaching point determination methods by the robot control device 40 according to the present embodiment are executed. When repeatedly determining a plurality of teaching point candidates, the lateral region input step and the lateral region setting step only need to be performed once at first, so the steps after the teaching point candidate designation step 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 the present embodiment (in the present embodiment, the robot control device 40) includes a control unit 44 capable of registering the teaching points of the welding robot 30 that holds the welding torch 11 capable of irradiating the workpiece with laser light in the welding process program 43. The control unit 44 includes a teaching point candidate reception process for receiving teaching point candidates designated by the user, a placement surface S on which the workpiece is placed, and a plane intersection determination process for determining whether or not the trajectory L of the laser light intersects when the received teaching point candidate is irradiated with the laser light. When it is determined in the plane intersection determination process that the placement surface S and the trajectory L intersect, the control unit 44 is configured to be able to execute a teaching point registration process for registering the teaching point candidate as a teaching point of the welding robot 30 in the welding process program 43. Further, in the control device (robot control device 40) according to the present embodiment, the teaching points and the teaching point candidates include information regarding the position and orientation of the welding torch 11 in the space above the placement surface S.

[0137] And, by having such a configuration, the control device (robot control device 40) according to the present embodiment determines whether or not the trajectory L of the laser light intersects the placement surface S when the laser light is irradiated at the teaching point candidate designated by the user. Therefore, it has the advantage of preventing a dangerous teaching point where the trajectory L does not intersect the placement surface S, that is, a teaching point where the laser light may be directed at the user, from being registered in the welding process program 43.

[0138] Furthermore, in the control device (robot control device 40) according to the present embodiment, when the control unit 44 determines that the placement surface S and the trajectory L do not intersect, 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 process program 43 or a warning display process of displaying a warning to the user. By having such a configuration, there is an advantage that it is possible to more reliably prevent a dangerous teaching point from being registered in the welding process program 43. Specifically, when executing the non-registration process, there is no risk that a teaching point where the trajectory L does not intersect the placement surface S, that is, a dangerous teaching point where there is a risk that the laser light irradiation direction may face the user, will be automatically registered in the welding process program 43. Therefore, there is an advantage that it is possible to more reliably prevent a dangerous teaching point from being registered in the welding process program 43. Also, when executing the warning display process, since the user can recognize that the designated teaching point candidate is a dangerous teaching point, there is an advantage that it is possible to more reliably prevent a dangerous teaching point from being registered in the welding process program 43.

[0139] Still further, in the control device (robot control device 40) according to the present embodiment, the control unit 44 is configured to be able to execute an in-region determination process of determining whether or not the position of the tip 11a that emits the laser light of the welding torch 11 in the teaching point candidate is located within the placement surface S in a plan view. By having such a configuration, even for a teaching point candidate where the placement surface S and the trajectory L intersect, it is possible to discriminate a teaching point candidate where there is a risk that the user may enter between the welding torch 11 and the placement surface S (a teaching point candidate where there is a risk that the user may enter on the irradiation line of the laser light). Therefore, there is an advantage that it is possible to prevent such a dangerous teaching point from being registered in the welding process program 43.

[0140] Also, in the control device (robot control device 40) according to the present embodiment, when the control unit 44 determines that the position of the tip 11a at the teaching point candidate is located within the placement surface S, it is configured to execute a plane intersection determination process. By having such a configuration, since the plane intersection determination process is executed only for teaching point candidates other than those where there is a risk of the user entering between the welding torch 11 and the placement surface S, it is not necessary to perform the plane intersection determination process for all teaching point candidates, and there is a further advantage that the time related to the determination flow of the teaching point candidates can be shortened.

[0141] Furthermore, in the control device (robot control device 40) according to the present embodiment, the control unit 44 is configured to register an exception teaching point candidate that satisfies a predetermined safety condition in the welding process program 43 among the teaching point candidates where the placement surface S and the locus L do not intersect. By having such a configuration, even for teaching point candidates where the placement surface S and the locus L do not intersect, teaching point candidates where there is no risk of the laser beam hitting the user can be exceptionally registered in the welding process program 43. Therefore, while preventing dangerous teaching points from being registered in the welding process program 43, there is a further advantage that the number of registrable teaching point candidates can be increased.

[0142] Furthermore, in the control device (robot control device 40) according to the present embodiment, the control unit 44 executes a lateral region setting process for setting the range of a virtual lateral region SA extending at least upward from the placement surface S, a lateral intersection determination process for determining whether or not the trajectory L intersects the lateral region SA, and an exception teaching point registration process for determining a teaching point candidate as an exception teaching point candidate and registering it in the welding process 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 it is determined in the lateral intersection determination process that the trajectory L and the lateral region SA do not intersect. The lateral region SA has a predetermined height. By having such a configuration, even for a teaching point candidate where the irradiation direction of the laser beam is close to being parallel to the placement surface S or a teaching point candidate where the irradiation direction of the laser beam is directed upward from the placement surface S, a teaching point candidate where there is no risk of the laser beam hitting the user can be exceptionally registered in the welding process program 43. Therefore, there is a further advantage that the number of registerable teaching point candidates can be increased while ensuring safety.

[0143] Also, in the control device (robot control device 40) according to the present embodiment, the lateral region SA is set across the entire circumference of the placement surface S. By having such a configuration, regardless of the direction in which the irradiation direction of the laser beam in the teaching point candidate faces in the circumferential direction of the placement surface S, it is possible to determine whether or not it is a dangerous teaching point candidate by the lateral intersection determination process. Therefore, it is possible to prevent dangerous teaching points from being registered in the welding process program 43, and there is a further advantage that the risk of the laser beam hitting the user is reduced even if the user enters any position around the placement surface S.

[0144] Furthermore, in the control device (robot control device 40) according to the present embodiment, when the teaching point candidate determined not to intersect with the placement surface S does not satisfy the safety condition, 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 process program 43 or a warning display process of displaying a warning to the user. By having such a configuration, there is an advantage that it is possible to more reliably prevent a dangerous teaching point from being registered in the welding process program 43. Specifically, when executing the non-registration process, a teaching point where the trajectory L does not intersect with the placement surface S, that is, a dangerous teaching point that may be directed toward the user by the irradiation direction of the laser beam, will not be automatically registered in the welding process program 43. Therefore, there is an advantage that it is possible to more reliably prevent a dangerous teaching point from being registered in the welding process program 43. Also, when executing the warning display process, since the user can recognize that the designated teaching point candidate is a dangerous teaching point, there is an advantage that it is possible to more reliably prevent a dangerous teaching point from being registered in the welding process program 43.

[0145] [Modification Example] As described above, the preferred embodiments of the present invention have been described. However, the technical scope of the present invention is not limited to the scope described in the above embodiments. Various changes or improvements can be made to the above-described embodiments.

[0146] For example, in the above-described embodiment, the teaching point and the teaching point candidate have been described as including information regarding the position and posture of the welding torch 11 in the space above the placement surface S. However, the present invention is not limited to this. The teaching point and the teaching point candidate may not include information regarding the position and posture of the welding torch 11 in the space above the placement surface S, but may include information regarding the position and posture of the welding robot 30, specifically, information regarding the position and posture of the robot hand 31 or the robot arm 32 of the welding robot 30.

[0147] FIG. 21 is a diagram showing a modification example of the program creation condition setting screen of the present embodiment. In the above-described embodiment, the control unit 44 has been described as being configured to be capable of executing a non-registration process of not registering the teaching point candidate in the welding process 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 locus L do not intersect. However, the present invention is not limited to this. The control unit 44 may not 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 only be displayed on the program creation condition setting screen 51a of the display unit 51 or the like. The display of the determination result may simply display whether or not there is an intersection in characters, or as shown in FIG. 21, the determination result may be displayed as a 2D or 3D simulation image.

[0148] In the above-described embodiment, the control unit 44 has been described as being configured to be capable of executing an in-region determination process for determining whether or not the position of the tip portion 11a that emits the laser light of the welding torch 11 in the teaching point candidate is located within the placement surface S in a plan view. However, the present invention is not limited to this. The control unit 44 may not be able to execute the in-region determination process.

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

[0150] In the above-described embodiment, the control unit 44 has been described as being configured to register an exception teaching point candidate that satisfies a predetermined safety condition in the welding process program 43 among the teaching point candidates where the placement surface S and the locus L do not intersect. However, the present invention is not limited to this. The control unit 44 may not register the exception teaching point candidate in the welding process program 43.

[0151] In the above-described embodiment, the control unit 44 is configured to be capable of executing a lateral region setting process for setting a range of a virtual lateral region SA extending at least upward from the placement surface S, a lateral intersection determination process for determining whether or not the locus L intersects the lateral region SA, and an exception teaching point registration process for determining a teaching point candidate as an exception teaching point candidate and registering it in the welding process program 43 when it is determined in the plane intersection determination process that the placement surface S and the locus L do not intersect and it is determined in the lateral intersection determination process that the locus L and the lateral region SA do not intersect. Although the lateral region SA has been described as having a predetermined height, it is not limited thereto. The control unit 44 may not be able to execute the exception teaching point registration process. Further, the determination result of the lateral region setting process may only be displayed on the program creation condition setting screen 51a of the display unit 51 or the like. Furthermore, the user may confirm the determination result and manually register the exception teaching point candidate in the welding process program 43.

[0152] In the above-described embodiment, the lateral region SA has been described as being set over the entire circumference of the placement surface S, but it is not limited thereto. The lateral region SA may not be set over the entire circumference of the placement surface S. As described above, the lateral region SA can be set in various arbitrary ways.

[0153] In the above-described embodiment, the control unit 44 has been described as being configured to be capable of executing a non-registration process of not registering a teaching point candidate in the welding process program 43 or a warning display process of displaying a warning to the user when the teaching point candidate determined not to intersect the placement surface S does not satisfy the safety conditions, but it is not limited thereto. The control unit 44 may not be able to execute the non-registration process or the warning display process.

[0154] In the above-described embodiment, the robot control device 40 has been described as including a program creation unit 46 capable of creating a welding process program 43 based on the program creation conditions set by the welding process program setting device 50. However, the present invention is not limited to this. The robot control device 40 may not include the program creation unit 46, and the welding process program setting device 50 may include the program creation unit 46. Also, in the above-described embodiment, the robot control device 40 has been described as including a region setting unit 45. However, the present invention is not limited to this, and the welding process program setting device 50 may include the region setting unit 45. Further, the welding system 1 may include a teaching reflection unit capable of registering teaching points and determining teaching point candidates separately from the program creation unit 46 capable of creating the welding process program 43.

[0155] In the above-described embodiment, the welding system 1 includes a robot control device 40 that functions as a control device. The robot control device 40 has been described as including a control unit 44 capable of registering the teaching points of the welding robot 30 that holds the welding torch 11 capable of irradiating the workpiece with laser light in the welding process program 43. However, the present invention is not limited to this. The welding system 1 may function as a control device including a control unit in which the welding process program setting device 50 is capable of registering the teaching points in the welding process program 43.

[0156] In the above-described embodiments, the program creation unit 46 has been described as executing the plane intersection determination process for all teaching point candidates or for the teaching point candidates determined such that the position of the tip 11a in the teaching point candidate is located within the placement surface S in the in-region determination process. However, the present invention is not limited to this. The program creation unit 46 may execute the plane intersection determination process only for the teaching point candidates that the user wants to register in the welding process program 43 as the teaching points of the welding start position and the welding end position. Similarly, the program creation unit 46 may execute the in-region determination process and the side intersection determination process only for the teaching point candidates that the user wants to register in the welding process program 43 as the teaching points of the welding start position and the welding end position. That is, the program creation unit 46 may be configured to be able to execute each determination process for at least the teaching point candidates related to the irradiation of the laser beam.

[0157] In the above-described embodiments, the side region SA has been described on the premise that it extends only toward the upper space of the placement surface S. However, the present invention is not limited to this. The side region SA may extend toward the back surface direction of the mounting table SP in addition to the direction of the upper space of the placement surface S. Further, the side region SA may be set outside the region of the placement surface S. That is, the side region SA does not have to be in contact with the end of the placement surface S.

Explanation of Signs

[0158] 1 Welding system 10 Welding machine 11 Welding torch 11a Tip 12 Oscillator 20 Welding machine control device 21 Storage unit 22 Welding machine control unit 30 Welding robot 31 Robot hand 32 Robot arm 40 Robot control device 41 Storage unit 42 Teaching point determination program 43 Welding process program 44 Control unit 45 Area setting unit 46 Program creation unit 47 Robot control unit 50 Welding process program setting device 51 Display unit 51a Program creation condition setting screen 52 Storage unit 53 Welding process control unit 80 Wall 90 Intrusion prevention fence L Locus L1 Welding process list NW Communication network S Placing surface SA Side area SP Placing table

Claims

1. A control unit is provided that can register teaching points of a welding robot that holds a welding torch capable of irradiating a workpiece with a laser beam in a welding processing program. The control unit is a teaching point candidate receiving process for receiving a 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 regarding 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 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 capable of executing an in-area determination process for determining whether a position of a 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 portion 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, in the welding processing program, an exceptional teaching point candidate that satisfies a predetermined safety condition among the teaching point candidates where the placement surface and the trajectory do not intersect. The control device according to claim 1 or 2.

7. The control unit is a side area setting process for setting a range of a virtual side area extending toward at least an upper space of 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 the plane intersection determination process determines that the placement surface and the trajectory do not intersect and the side intersection determination process determines that the trajectory and the side area do not intersect. is configured to be able to execute The lateral region has a predetermined height. The control device according to claim 6.

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

9. The control unit is configured 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 determined that the placement surface and the trajectory do not intersect 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 is a teaching point candidate receiving process for receiving a 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 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 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.

Images