Motion teaching device and motion teaching system

Abstract

To provide an operation teaching device and an operation teaching system which do not require knowledge and proficiency of a user and can easily set a posture of a welding robot.SOLUTION: The operation teaching device comprises a display part that displays an operation teaching screen for teaching operation to a welding robot that can hold a welding torch and an operating part that receives operation by a user to the operation teaching screen. The operation teaching screen is configured to display a plurality of posture candidates for the welding robot during welding. The operating part is configured to receive operation by the user who selects an arbitrary posture candidate from the plurality of posture candidates displayed on the operation teaching screen.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a motion teaching device and a motion teaching system. [Background technology]

[0002] Conventionally, there have been known welding robot systems for teaching operations to welding robots (see, for example, Patent Document 1). In the welding robot system described in Patent Document 1, when generating teaching data, a weldable position to which the welding robot can move while maintaining a desired posture is determined based on the robot position of the welding robot, the welding position by the welding robot, and the range of motion of the welding robot's arm. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-046500 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the welding robot system described in Patent Document 1 has the problem of poor work efficiency for the user because the posture of the welding robot is manually set according to the welding position, welding direction, welding target, etc. Another problem is that the user's knowledge and skill are required to appropriately set the posture of the welding robot according to the welding position, welding direction, welding target, etc.

[0005] One aspect of the present invention relates to an operation teaching device and an operation teaching system that can easily set the posture of a welding robot without requiring knowledge or skill on the part of a user. [Means for solving the problem]

[0006] A motion teaching device according to one aspect of the present invention includes a display unit that displays a motion teaching screen for teaching a motion to a welding robot capable of holding a welding torch, and an operation unit that accepts user operations on the motion teaching screen, wherein the motion teaching screen is configured to display multiple candidate postures for the welding robot during welding, and the operation unit is configured to accept user operations to select any one of the multiple candidate postures displayed on the motion teaching screen.

[0007] According to one aspect of the present invention, there is provided an operation teaching system comprising a welding robot capable of holding a welding torch and an operation terminal for teaching the welding robot an operation, the operation terminal comprising a display unit for displaying an operation teaching screen for teaching the welding robot an operation, and an operation unit for accepting user operations on the operation teaching screen, the operation teaching screen being configured to be capable of displaying a plurality of candidate postures for the welding robot during welding, and the operation unit being configured to accept user operations for selecting any one of the candidate postures displayed on the operation teaching screen.

[0008] According to one aspect of the present invention, the motion teaching device and motion teaching system allow the user to select any posture candidate from multiple posture candidates for the welding robot displayed on the motion teaching screen, eliminating the need for user knowledge or skill and making it possible to easily set the posture of the welding robot. [Effects of the Invention]

[0009] According to the motion teaching device and motion teaching system according to one aspect of the present invention, it is possible to easily set the posture of a welding robot without requiring knowledge or skill on the part of the user. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a block diagram showing the configuration of a motion teaching system according to this embodiment. [Figure 2] FIG. 2 is a schematic diagram showing a state in which the welding robot 10 according to this embodiment holds a welding torch. [Figure 3] FIG. 3 is a schematic diagram showing a welding torch. [Figure 4] FIG. 4 is a schematic diagram showing a state in which an operation teaching screen is displayed on the operation teaching device according to the present embodiment. [Figure 5] FIG. 5 is a schematic diagram showing a state in which a list of posture candidates is displayed on the motion teaching device according to the present embodiment. [Figure 6] FIG. 6 is a schematic diagram showing a state in which angle information of posture candidates is preset on the operation teaching screen. [Figure 7] FIG. 7 is a schematic diagram showing a state in which angle information of the pose candidate set in the preset area is confirmed. DETAILED DESCRIPTION OF THE INVENTION

[0011] Preferred embodiments for carrying out the present invention will be described below with reference to the drawings. Note that the following embodiments do not limit the inventions according to the claims, and not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention. Furthermore, in the present embodiments, the scale and dimensions of each component may be exaggerated, and some components may be omitted.

[0012] [Overall configuration of the motion teaching system] Fig. 1 is a block diagram showing the configuration of a motion teaching system according to this embodiment. Fig. 2 is a schematic diagram showing a welding robot 10 according to this embodiment holding a welding torch. 1 and 2, the operation teaching system 1 includes a welding robot 10 capable of holding a welding torch T, a robot control device 20 capable of controlling the welding robot 10, and an operation teaching device 30 (operation terminal) for teaching operations to the welding robot 10. In this embodiment, the robot control device 20 and the operation teaching device 30 are configured to be able to communicate with each other via a communication network NW.

[0013] [Welding robot configuration] As shown in Figures 1 and 2, the welding robot 10 is positioned near the mounting table SP and is equipped with a robotic hand 11 that can hold a welding torch T, and a multi-joint robotic arm 12 that can move the robotic hand 11 to a predetermined position.

[0014] The mounting table SP is a table such as a surface plate on which a workpiece can be placed when teaching the welding robot 10 how to move, and is provided with a mounting surface S on which the workpiece can be placed.

[0015] Robot hand 11 is configured to hold welding torch T by gripping it. Note that the configuration in which robot hand 11 holds welding torch T is not limited to this, and for example, welding torch T may be held by attaching welding torch T to robot hand 11 via a jig or the like, or robot hand 11 and welding torch T may be configured as a single unit to hold welding torch T. Robot hand 11 may hold welding torch T in a detachable or non-detachable manner.

[0016] It should be noted that the welding robot 10, including the robot hand 11 and the robot arm 12, can have a known configuration, and therefore detailed description thereof will be omitted.

[0017] In the welding robot 10 having the above configuration, a Cartesian coordinate system is set to control the operation of the robot arm 12. The Cartesian coordinate system has an X-axis, a Y-axis, and a Z-axis that are orthogonal to one another. In this embodiment, as shown in FIG. 2, the Cartesian coordinate system is set such that the plane of the placement surface S is the XY plane and the Z-axis is oriented perpendicularly toward the space above the placement surface S (XY plane). However, the setting of the Cartesian coordinate system is not limited to this.

[0018] FIG. 3 is a schematic diagram showing a welding torch. As shown in FIG. 3, the welding robot 10 has a tip Ta of a welding torch T held by the robot hand 11 set as a tool center point (TCP), and the trajectories LB and R of the laser light irradiated from the welding torch T are Z The tool coordinate system is set with the axes aligned.

[0019] In addition, R Z The direction of the axis may be positive or negative in the direction of laser light emission. The tool coordinate system is a rectangular coordinate system with mutually orthogonal R X axis, R Y axis, R Z In this embodiment, the tool coordinate system has X, Y, and Z axes, which are designated as R, R, and R, respectively, for the sake of convenience in distinguishing it from the Cartesian coordinate system. X axis, R Y axis, R Z The axis is, but is not limited to, this.

[0020] [Robot control device configuration] The robot control device 20 is, for example, a numerical control device, a personal computer, a tablet terminal, or other electronic computer. Specifically, as shown in FIG. 1, the robot control device 20 includes a memory unit 21 (robot memory unit) and a robot control unit 22 that can control the welding robot 10.

[0021] The memory unit 21 is configured to store information taught to the welding robot 10, such as operation information and the posture of the welding robot 10 during welding. The information stored in the memory unit 21 is used when creating a welding processing program.

[0022] Robot control unit 22 is configured to move welding robot 10 to a predetermined teaching position based on a movement command received from operation teaching device 30. Robot control unit 22 is also configured to move welding robot 10 to a retracted position of welding torch T when the predetermined teaching position is a welding teaching position.

[0023] In this specification, the "retracted position of the welding torch" refers to a position where the welding torch T does not interfere with the workpiece, the jig, or the like.

[0024] The robot control unit 22 is configured to change the posture of the welding robot 10 based on a posture change command received from the operation teaching device 30 when the welding robot 10 is located at the retreat position of the welding torch T. As a result, the welding robot 10 according to this embodiment is configured to take the posture of a posture candidate selected by the user via the operation teaching screen TS, which will be described later, at the retreat position of the welding torch T. At this time, the welding robot 10 does not change the Cartesian coordinates (X axis, Y axis, Z axis) but changes the tool coordinates (R X axis, R Y axis, R Z axis) only.

[0025] Furthermore, robot control unit 22 is configured to move welding robot 10 from the retreat position of welding torch T to the welding teaching position after welding robot 10 changes its posture. As a result, welding robot 10 is configured to be able to move welding torch T from the retreat position of welding torch T to the welding teaching position by operation by the user.

[0026] [Configuration of the operation teaching device (operation terminal)] FIG. 4 is a schematic diagram showing a state in which an operation teaching screen is displayed on the operation teaching device according to the present embodiment. The movement teaching device 30 is, for example, an operation terminal such as a personal computer, a tablet terminal, etc. In this embodiment, the movement teaching device 30 is a tablet terminal that can be held and carried by a user (see FIG. 4).

[0027] As shown in Figures 1 and 4, the operation teaching device 30 includes a memory unit 31 (operation teaching memory unit), a display unit 32 that displays an operation teaching screen TS for teaching an operation to a welding robot 10 that can hold a welding torch T, and an operation unit 33 that accepts user operations on the operation teaching screen TS.

[0028] The storage unit 31 stores information about the teaching position of the welding robot 10 and information about possible postures of the welding robot 10. This information may be created and registered (stored) by operating the motion teaching device 30, or may be created by a device other than the motion teaching device 30 and registered (stored) in the motion teaching device 30.

[0029] The display unit 32 is a display, and in this embodiment, is a touch screen that is configured integrally with the operation unit 33. Note that the operation unit 33 is configured with various known input devices such as a keyboard, a mouse, a touchpad, and a joystick, and the display unit 32 and the operation unit 33 may be configured independently.

[0030] The operation teaching screen TS is configured to display operation information to be taught to the welding robot 10. Specifically, the operation teaching screen TS is configured to display a teaching operation process chart L that shows the operation process to be taught to the welding robot 10.

[0031] As shown in Figure 4, the teaching operation schedule L shows items "P1" to "Pn (n is a natural number greater than or equal to 2)" and, for each item "P1" to "Pn", one or two icons selected from "Line", "Circle" ("Circle1" and "Circle2"), "on", "off", and "spot".

[0032] In this specification, an "icon" is a graphic or pictogram that indicates predetermined information.

[0033] "P1" to "Pn" indicate teaching positions of welding robot 10 stored in memory unit 31. For example, if first teaching position to sixth teaching position are stored in memory unit 31, items "P1" to "P6" are displayed in teaching operation process chart L as shown in FIG. 4. "Line" is an icon for teaching welding robot 10 the operation of moving tip Ta of welding torch T in a straight line. "Circle" is an icon for teaching welding robot 10 the operation of moving tip Ta of welding torch T in a curved line. "on", "off", and "spot" are icons for teaching welding robot 10 welding teaching positions. Specifically, "on" and "off" are icons for teaching welding robot 10 the operation of continuing irradiation of laser light by welding torch T from the welding start position to the welding end position (operation of performing continuous irradiation). On the other hand, "spot" is an icon for teaching the welding robot 10 an action of causing the welding torch T to momentarily irradiate laser light (an action of causing spot irradiation).

[0034] In the teaching operation process chart L shown in FIG. 4, a "Line" icon is shown in the "P1" section, and "Line" and "on" icons are shown in the "P2" section. A "Circle1" icon is shown in the "P3" section, and "Circle2" and "off" icons are shown in the "P4" section. Furthermore, a "Line" icon is shown in the "P5" and "P6" sections. Therefore, welding robot 10 is taught an operation to linearly move tip Ta of welding torch T from the initial position to a first taught position and an operation to linearly move tip Ta of welding torch T from the first taught position to a second taught position. Furthermore, welding robot 10 is taught an operation to curvedly move tip Ta of welding torch T from the second taught position to a fourth taught position via a third taught position, and an operation to continue irradiating laser light from welding torch T from the second taught position to the fourth taught position. Furthermore, welding robot 10 is taught an operation to linearly move tip Ta of welding torch T from the fourth taught position to the fifth taught position, and an operation to linearly move tip Ta from the fifth taught position to the sixth taught position.

[0035] In this way, the operation teaching screen TS according to this embodiment is configured to allow the user to set the operation to be taught to the welding robot 10 for each teaching position of the welding robot 10. The settings of "Line," "Circle," "on," "off," and "spot" in the items "P1" to "Pn" can be performed by the user selecting any icon from the icons displayed in the icon selection area IA of the operation teaching screen TS.

[0036] FIG. 5 is a schematic diagram showing a state in which a list of posture candidates is displayed on the motion teaching device according to the present embodiment. The operation teaching screen TS is configured to be able to display a plurality of candidate postures P of the welding robot 10 during welding. Specifically, as shown in FIG. 5, the operation teaching screen TS is configured to be able to display a candidate posture list PL in response to a user operation, thereby being able to display a plurality of candidate postures P as a list. In the example shown in FIG. 5, 15 candidate postures P (P1 to P15) are displayed as a list. The candidate postures P are information stored in the memory unit 31. The candidate posture list PL is displayed on the operation teaching screen TS, for example, when the user operates a posture selection icon SI displayed on the operation teaching screen TS.

[0037] In this specification, "displaying a list of a plurality of posture candidates" means displaying a plurality of posture candidates P simultaneously.

[0038] The operation teaching screen TS is configured to be able to display, as an image, the posture candidate P of the welding robot 10. In this specification, the term "image" includes not only 3D images and 2D images but also icons and the like.

[0039] The operation teaching screen TS is also configured to be able to display posture candidates P according to the welding method of the workpiece. Specifically, the operation teaching screen TS is configured to be able to display posture candidates P classified by workpiece welding method, as shown in Fig. 5. Here, the "workpiece welding method" refers to welding methods such as butt welding, corner edge remaining welding, corner R welding, and fillet welding, as shown in the left column of the posture candidate list PL. In the example shown in Fig. 5, three posture candidates P (P1 to P3) are classified into butt welding and corner edge remaining welding, six posture candidates P (P4 to P9) into corner R welding, and six posture candidates P (P10 to P15) into fillet welding.

[0040] FIG. 6 is a schematic diagram showing a state in which angle information of posture candidates is preset on the operation teaching screen. The operation teaching screen TS is configured to preset angle information of a posture candidate P selected by the user as the welding posture of the welding robot 10, and is configured to allow the preset angle information to be adjusted by a user operation. Specifically, as shown in Fig. 6, the operation teaching screen TS is configured so that when a user selects an arbitrary posture candidate P from the posture candidate list PL, the angle information of the selected posture candidate P is preset in a preset display area PA of the operation teaching screen TS. Furthermore, the operation teaching screen TS is configured so that when the user operates various buttons displayed in an angle adjustment button display area AA of the operation teaching screen TS, the angle information of the posture candidate P preset in the preset display area PA is changed.

[0041] The angle information of the orientation candidate P is the tool coordinate (R X axis, R Y axis, R Z The preset display area PA also displays the tool coordinates (R X axis, R Y axis, R Z Therefore, the operation teaching screen TS presets information on each axis of the tool coordinates of the orientation candidate P in each item of the tool coordinates in the preset display area PA.

[0042] The operation unit 33 is configured to accept a user operation to select an arbitrary posture candidate P from a plurality of posture candidates P displayed on the action teaching screen TS. The operation unit 33 is also configured to accept various operations performed on the action teaching screen TS, such as a user operation to select "Line," "Circle," "on," "off," and "spot" on the action teaching screen TS, and a user operation to change angle information preset in the preset display area PA.

[0043] [Movement teaching method] FIG. 7 is a schematic diagram showing a state in which angle information of the pose candidate set in the preset area is confirmed. Next, a movement teaching method using the movement teaching system 1 according to this embodiment will be described with reference to FIGS.

[0044] As shown in FIG. 4, the user selects any icon from among the icons "Line," "Circle," "on," "off," and "spot" displayed in the icon selection area IA of the operation teaching screen TS, and sets the operation to be taught to the welding robot 10.

[0045] Next, the user operates the first start button SB1 displayed on the operation teaching screen TS while selecting the item "P1" displayed on the teaching operation schedule L on the operation teaching screen TS. When the first start button SB1 is operated, a movement command is transmitted from the operation teaching device 30 to the robot control device 20. When the robot control device 20 receives the movement command, the robot control unit 22 of the robot control device 20 moves the welding robot 10 from the initial position to the first teaching position based on the received movement command. In the example shown in FIG. 4, since the "Line" icon is displayed in the item "P1," the robot control unit 22 moves the welding robot 10 so that the tip Ta of the welding torch T moves linearly from the initial position to the first teaching position.

[0046] Next, the user operates the first start button SB1 displayed on the operation teaching screen TS while selecting the item "P2" displayed on the teaching operation schedule L on the operation teaching screen TS. When the first start button SB1 is operated, a movement command is transmitted from the operation teaching device 30 to the robot control device 20. When the robot control device 20 receives the movement command, the robot control unit 22 moves the welding robot 10 from the first teaching position to the second teaching position based on the received movement command. In the example shown in FIG. 4, since the "Line" icon is displayed in the item "P2," the robot control unit 22 moves the welding robot 10 so that the tip Ta of the welding torch T moves linearly from the first teaching position to the second teaching position.

[0047] Also, in the example shown in Figure 4, since the "on" icon is displayed in the "P2" item (because it is the welding teaching position), the robot control unit 22 moves the welding robot 10 from the second teaching position to the retreat position of the welding torch T.

[0048] After the welding robot 10 has moved to the retreat position of the welding torch T, the user operates a posture selection icon SI displayed on the operation teaching screen TS to display a posture candidate list PL, and selects an arbitrary posture candidate P from the posture candidate list PL, as shown in Fig. 5. When the user selects an arbitrary posture candidate P from the posture candidate list PL, angle information of the posture candidate P is preset in a preset display area PA of the operation teaching screen TS, as shown in Fig. 6. At this time, the user may change the angle information of the posture candidate P by operating various buttons displayed in an angle adjustment button display area AA of the operation teaching screen TS.

[0049] Thereafter, the user operates the second start button SB2 displayed on the operation teaching screen TS. When the second start button SB2 is operated, angle information of the confirmed posture candidate P is displayed in the confirmation area DA on the operation teaching screen TS, as shown in Fig. 7, and an posture change command is sent from the operation teaching device 30 to the robot control device 20. When the robot control device 20 receives the posture change command, the robot control unit 22 changes the posture of the welding robot 10 based on the received posture change command. After the welding robot 10 changes its posture, the robot control unit 22 moves the welding robot 10 from the retreat position of the welding torch T to the welding teaching position (the second teaching position in the example shown in Fig. 4).

[0050] For each item from "P3" onwards, the user performs the same operations as for "P1" and "P2". By performing the above operations, the welding robot can be taught the desired operation.

[0051] [Advantages of the movement teaching system and movement teaching device according to this embodiment] The operation teaching system 1 according to this embodiment includes a welding robot 10 capable of holding a welding torch T, and an operation teaching device (operation terminal) 30 that teaches the welding robot 10 how to perform an operation. The operation teaching device (operation terminal) 30 includes a display unit 32 that displays an operation teaching screen TS for teaching the welding robot 10 how to perform an operation, and an operation unit 33 that accepts user operations on the operation teaching screen TS. The operation teaching screen TS is configured to be able to display multiple candidate postures P for the welding robot 10 during welding, and the operation unit 33 is configured to accept user operations to select an arbitrary candidate posture P from the multiple candidate postures P displayed on the operation teaching screen TS.

[0052] The operation teaching system 1 and operation teaching device 30 having such a configuration have the advantage that the user can set the posture of the welding robot with a simple operation of selecting an arbitrary posture candidate P from a plurality of posture candidates P of the welding robot 10 displayed on the operation teaching screen TS. Another advantage is that the user does not need knowledge or skill.

[0053] In the operation teaching device 30 according to the present embodiment, the operation teaching screen TS is configured to be able to display, as an image, the posture candidate P. The operation teaching device 30 having such a configuration has the advantage that the posture candidate P of the welding robot 10 is visualized, making it easy for the user to select the desired posture candidate P.

[0054] In the action teaching device 30 according to the present embodiment, the action teaching screen TS is configured to be able to display a list of a plurality of posture candidates P. The action teaching device 30 having such a configuration has the advantage that a plurality of posture candidates P are simultaneously displayed, making it easy for the user to compare the posture candidates P.

[0055] In the operation teaching device 30 according to this embodiment, the operation teaching screen TS is configured to be able to display posture candidates P according to the welding method of the workpiece. The operation teaching device 30 having such a configuration has the advantage that posture candidates P according to the welding method of the workpiece are displayed, allowing the user to select an appropriate posture candidate P.

[0056] In the action teaching device 30 according to this embodiment, the action teaching screen TS is configured to be able to display posture candidates P classified by workpiece welding method. The action teaching device 30 having such a configuration has the advantage that the posture candidates P are displayed classified by workpiece welding method, allowing the user to select an appropriate posture candidate P.

[0057] In the operation teaching device 30 according to this embodiment, the operation teaching screen TS is configured to preset the angle information of the posture candidate P selected by the user as the welding posture of the welding robot 10, and is configured to allow the preset angle information to be adjusted by the user's operation. The operation teaching device 30 having such a configuration has the advantage that the user can freely change the preset angle information, thereby making it possible to bring the welding posture of the welding robot 10 closer to a desired posture.

[0058] In the operation teaching system 1 according to this embodiment, the welding robot 10 is configured to assume the posture of the posture candidate P selected by the user via the operation teaching screen TS at the retracted position of the welding torch T. The operation teaching system 1 having such a configuration has the advantage that the posture of the welding robot 10 is changed at the retracted position of the welding torch T, and therefore the welding torch T does not interfere with the workpiece, jig, or the like while the posture of the welding robot 10 is being changed.

[0059] In the operation teaching system 1 according to the present embodiment, the welding robot 10 is configured to be able to move the welding torch T from a retracted position to a welding teaching position by operation by a user. The operation teaching system 1 having such a configuration has the advantage that the welding torch T does not interfere with the workpiece, jig, etc., because the welding robot 10 moves the welding torch T to the welding teaching position after changing the posture of the welding torch T at the retracted position.

[0060] [Variations] The motion teaching device and motion teaching system according to the present invention are not limited to the above-described embodiments, and various modifications can be made within the scope that does not deviate from the technical concept of the present invention.

[0061] In the above embodiment, the operation teaching screen TS is described as displaying the orientation candidate P as an image, but is not limited to this, and for example, only the information on the tool coordinates may be displayed.

[0062] In the above embodiment, the action teaching screen TS is described as displaying a list of a plurality of posture candidates P, but is not limited to this, and each posture candidate P may be displayed individually.

[0063] In the above-described embodiment, the operation teaching screen TS has been described as displaying posture candidates P according to the welding method of the workpiece, but this is not limited to this, and posture candidates P may be displayed regardless of the welding method of the workpiece.

[0064] In the above-described embodiment, the operation teaching screen TS has been described as displaying posture candidates P classified by workpiece welding method, but this is not limited thereto, and classification by workpiece welding method is not required. Also, a workpiece welding method may be specified, and only posture candidates P related to the specified workpiece welding method may be displayed.

[0065] In the above-described embodiment, the action teaching screen TS has been described as presetting angle information of a posture candidate P selected by the user, but the present invention is not limited to this and does not require presetting of angle information of a posture candidate P. Furthermore, in the above-described embodiment, the action teaching screen TS has been described as adjusting preset angle information through a user operation, but the present invention is not limited to this and, for example, the preset angle information may be made unadjustable, or a suggestion for changing the angle information may be presented to the user based on information set in the past, etc.

[0066] In the above-described embodiment, the welding robot 10 has been described as taking the posture of the posture candidate P selected by the user at the retreat position of the welding torch T, but this is not limited thereto, and the welding robot 10 may take the posture of the posture candidate P selected by the user at the welding teaching position.

[0067] In the above-described embodiment, the welding robot 10 has been described as assuming the posture of the posture candidate P selected by the user. In addition, the robot control device 20 may be configured to determine whether the welding robot 10 can assume the posture of the posture candidate P selected by the user, and to display a warning if the welding robot 10 cannot assume the posture of the posture candidate P selected by the user.

[0068] It is clear from the claims that the above-mentioned modifications are included within the scope of the present invention. [Explanation of symbols]

[0069] 1: Motion teaching system 10: Welding robot 11: Robot Hand 12: Robot arm 20: Robot control device 21: Storage section 22: Robot control unit 30: Motion teaching device 31: Storage section 32: Display section 33: Operation section AA: Angle adjustment button display area DA: Determined area IA: Icon selection area L: Teaching operation process chart NW: Communication network P:Position candidate PA: Preset display area PL: List of posture candidates S: Placement surface SB1: First start button SB2: Second start button SI: Posture selection icon SP: Placement stand T: Welding torch TS: Operation teaching screen Ta: Tip

Claims

1. a display unit that displays an operation teaching screen for teaching an operation to a welding robot capable of holding a welding torch; an operation unit that accepts a user's operation on the operation teaching screen; Equipped with the display unit is a touch panel integrally formed with the operation unit, the operation teaching screen is configured to be able to display a plurality of posture candidates of the welding robot during welding, the operation unit is configured to accept a user operation of selecting an arbitrary posture candidate from the plurality of posture candidates displayed on the action teaching screen, The operation teaching screen is configured to be able to display the posture candidates as images, and is configured to be able to display the posture candidates classified by workpiece welding method. Motion teaching device.

2. The motion teaching screen is configured to be able to display a list of the plurality of posture candidates. The motion teaching device according to claim 1 .

3. The operation teaching screen is configured to preset angle information of the posture candidate selected by a user as a welding posture of the welding robot, and is configured to allow the preset angle information to be adjusted by a user operation.

3. The movement teaching device according to claim 1 or 2.

4. a welding robot capable of holding a welding torch; an operation terminal for instructing the welding robot to operate; Equipped with The operation terminal a display unit that displays an operation teaching screen for teaching an operation to the welding robot; an operation unit that accepts a user's operation on the operation teaching screen; Equipped with the display unit is a touch panel integrally formed with the operation unit, the operation teaching screen is configured to be able to display a plurality of posture candidates of the welding robot during welding, the operation unit is configured to accept a user operation of selecting an arbitrary posture candidate from the plurality of posture candidates displayed on the action teaching screen, The operation teaching screen is configured to be able to display the posture candidates as images, and is configured to be able to display the posture candidates classified by workpiece welding method. Motion teaching system.

5. The welding robot is configured to take the posture of the posture candidate selected by the user via the operation teaching screen at the retreat position of the welding torch. The motion teaching system according to claim 4 .

6. The welding robot is configured so that the welding torch can be moved from the retracted position to a welding teaching position by a user's operation. The motion teaching system according to claim 5 .

7. A Cartesian coordinate system and a tool coordinate system are set for the welding robot, The welding robot is configured to change only the tool coordinates without changing the Cartesian coordinates when taking the posture of the posture candidate.

7. The movement teaching system according to claim 5 or 6.

Images