Welding processing program creation device, welding processing program creation method, and welding processing program creation program

Abstract

A welding processing program creation device, a welding processing program creation method, and a welding processing program creation program that can create a welding processing program that enables efficient welding. [Solution] The system is configured to be able to execute an initial processing rotation information determination process that determines the rotation direction and rotation angle from the origin rotation angle of the table at the start of processing based on the arrangement information of multiple metal pins that are arranged along the circumferential direction on a table that can rotate in the circumferential direction and move in the circumferential direction in accordance with the rotation of the table, and the range of clockwise and counterclockwise rotation based on the origin rotation angle of the table, and a program creation process that creates a welding processing program to cause a welding device to execute the process of rotating the table to the specified rotation direction and rotation angle.

Description

[Technical Field]

[0001] The present invention relates to a welding processing program creation device, a welding processing program creation method, and a welding processing program creation program. [Background technology]

[0002] Conventionally, there is a laser welding device for flat wires that brings the welding surfaces of two adjacent flat wires into contact with each other and irradiates a laser beam from a laser beam irradiation unit to a welding area along the boundary line where the two flat wires are abutted, thereby welding them (Patent Document 1, etc.). The laser welding device for flat wires described in Patent Document 1 is used to weld flat wires used in, for example, motor stators. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2022-115294 Summary of the Invention [Problem to be solved by the invention]

[0004] A large number of flat wires used in stators are attached to a stator core, and the laser welding device sequentially welds the tips of two adjacent flat wires by moving the laser beam emitting unit or rotating the table that supports the stator core. When welding is performed while rotating the table, the range of clockwise and counterclockwise rotation based on the origin rotation angle of the table is limited, so it may not be possible to weld all of the flat wires by continuing to rotate the table in one direction.

[0005] In such cases, the table needs to be rotated clockwise and counterclockwise several times. Therefore, it is preferable to rotate the table 20 so that the flat wires are welded in an order that minimizes the processing time required for welding all of the flat wires. However, manually setting the rotation direction and rotation angle to minimize the processing time is not easy, and the setting work takes time.

[0006] One aspect of the present invention is a welding program creation device, a welding program creation method, and a welding program creation program that can create a welding program that enables efficient welding. [Means for solving the problem]

[0007] A welding processing program creation device according to one embodiment of the present invention is configured to be capable of executing an initial processing rotation information identification process that identifies the rotation direction and rotation angle from the origin rotation angle of the table at the start of processing based on the arrangement information of a plurality of metal pins that are arranged along the circumferential direction on a table that can rotate in the circumferential direction and move in the circumferential direction in accordance with the rotation of the table, and the clockwise and counterclockwise rotation range based on the origin rotation angle of the table, and a program creation process that creates a welding processing program to cause a welding device to execute a process of rotating the table in the identified rotation direction and rotation angle.

[0008] A welding processing program creation method according to one embodiment of the present invention includes an initial processing rotation information identification process performed by a welding processing program creation device, which identifies the rotation direction and rotation angle from the origin rotation angle of the table at the start of processing based on arrangement information of a plurality of metal pins that are arranged along the circumferential direction on a table that can rotate in the circumferential direction and move in the circumferential direction in accordance with the rotation of the table, and the clockwise and counterclockwise rotation range based on the origin rotation angle of the table, and a program creation process that creates a welding processing program to cause a welding device to execute a process of rotating the table in the identified rotation direction and rotation angle.

[0009] A welding processing program creation program according to one embodiment of the present invention causes a welding processing program creation device to execute an initial processing rotation information identification process that identifies the rotation direction and rotation angle from the origin rotation angle of the table at the start of processing based on the arrangement information of a plurality of metal pins that are arranged along the circumferential direction on a table that can rotate in the circumferential direction and move in the circumferential direction in accordance with the rotation of the table, and the clockwise and counterclockwise rotation range based on the origin rotation angle of the table, and a program creation process that creates a welding processing program for causing a welding device to execute a process of rotating the table in the identified rotation direction and rotation angle.

[0010] According to one aspect of the welding processing program creation device, welding processing program creation method, and welding processing program creation program of the present invention, the rotation direction and rotation angle from the origin rotation angle of the table at the start of processing are automatically determined to create a welding processing program, thereby making it possible to create a welding processing program that enables efficient welding. [Effects of the Invention]

[0011] According to the welding processing program creation device, welding processing program creation method, and welding processing program creation program of one aspect of the present invention, a welding processing program that enables efficient welding can be created. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a schematic diagram showing a welding system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a schematic diagram showing a table of this embodiment. [Figure 3] FIG. 3 is a functional block diagram showing the welding processing program creating device of this embodiment. [Figure 4] FIG. 4 is a schematic diagram showing an example of a welding processing program according to this embodiment. [Figure 5] FIG. 5 is a flowchart showing a part of the processing executed by the welding processing program creating device of this embodiment. [Figure 6] FIG. 6 is a diagram showing the selection of the tip of the metal pin in this embodiment. [Figure 7] FIG. 7 is a diagram showing the tip identification process of this embodiment. [Figure 8] FIG. 8 is a flowchart showing part of the processing executed by the welding processing program creating device of this embodiment. [Figure 9] FIG. 9 is a schematic diagram showing the arrangement information of this embodiment. [Figure 10] FIG. 10 is a diagram showing a specific example of the first processed metal pin of this embodiment. [Figure 11] FIG. 11 is a diagram showing a specific example of the first processed metal pin of this embodiment. [Figure 12] FIG. 12 is a diagram showing a specific example of the first processed metal pin of this embodiment. [Figure 13] FIG. 13 is a diagram showing an example of the provisional positioning process of this embodiment. [Figure 14] FIG. 14 is a diagram showing an example of the provisional positioning process and the bounding box determination process of this embodiment. [Figure 15] FIG. 15 is a diagram showing an example of the provisional positioning process and the bounding box determination process of this embodiment. [Figure 16] FIG. 16 is a diagram illustrating an example of the employment candidate specification process according to this embodiment. [Figure 17] FIG. 17 is a diagram showing an example of the adoption candidate specification process and the processing order setting process of this embodiment. [Figure 18] FIG. 18 is a flowchart showing an example of a welding processing program creating method according to this embodiment. [Figure 19] FIG. 19 is a diagram showing a modification of the nearest metal pin identification process of this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] The best mode for carrying out the present invention will be described below with reference to the drawings. Note that the following embodiments do not limit the inventions according to the claims, and not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0014] [Overall configuration of the welding system according to this embodiment] FIG. 1 is a schematic diagram showing a welding system according to an embodiment of the present invention. First, a welding system 1 according to an embodiment of the present invention will be outlined with reference to Fig. 1. As shown in Fig. 1, the welding system 1 according to this embodiment generally includes a welding apparatus 10 and a welding program creation device 200. The welding apparatus 10 includes a table 20, a welding head 30, a camera 50, and a control device 100. The welding apparatus 10 may also include a gas nozzle that sprays assist gas.

[0015] FIG. 2 is a schematic diagram showing a table of this embodiment. 2, the table 20 is configured so that a plurality of metal pins P (e.g., rectangular wires) to be welded can be attached thereto. The plurality of metal pins P are arranged along the circumferential direction of the table 20. In this embodiment, "arranged on the table 20" includes not only a configuration in which a plurality of metal pins P are attached and arranged on the table 20 via a welding jig, but also a configuration in which a plurality of metal pins P attached to a stator core (motor core) SC are attached to the table 20 via the stator core SC, and a configuration in which the stator core SC to which a plurality of metal pins P are attached is attached to the table 20 via a welding jig.

[0016] In this embodiment, the multiple metal pins P are arranged in pairs of two metal pins P along the circumferential direction of the table 20, and the pair of metal pins P is welded by irradiating them with laser light as described below. In this embodiment, unless otherwise specified, the pair of metal pins P before welding will also be referred to as "metal pins P."

[0017] The table 20 has a rotating portion and is configured to be rotatable in the circumferential direction. That is, the multiple metal pins P move in the circumferential direction of the table 20 in accordance with the rotation of the table 20. In this embodiment, the table 20 rotates with the clockwise direction being positive (rotation angle is +) and the counterclockwise direction being negative (rotation angle is −). However, the present invention is not limited to this, and the table 20 may rotate with the counterclockwise direction being positive.

[0018] In this embodiment, the table 20 can rotate 240° (±240°) clockwise and counterclockwise with respect to the origin rotation angle. However, the present invention is not limited to this, and the rotatable range of the table 20 can be any of various ranges depending on the configuration of the rotating part of the table 20. Furthermore, the table 20 can have various known configurations, and therefore detailed description thereof will be omitted.

[0019] As shown in Fig. 1, the welding head 30 is disposed above the table 20 and is configured to be able to weld a pair of adjacent metal pins P. A laser beam oscillated by a laser oscillator (not shown) is sent to the welding head 30 via an optical fiber. The welding head 30 welds the pair of adjacent metal pins P by irradiating the metal pins P with laser light from a nozzle (not shown).

[0020] The welding head 30 is attached to a Cartesian coordinate moving device or the like, and is configured to be movable on the table 20 in three directions: forward / backward, left / right, and depth. The welding head 30 also has a rotation axis, allowing it to freely change the direction of laser light irradiation. Furthermore, the welding head 30 has a galvanometer scanner, and by tilting the internal scan mirror, welding can be performed within a range (in this embodiment, the processing range PR) where the laser light can be irradiated, simply by driving the scan mirror, without moving the position of the welding head 30. In other words, all of the multiple metal pins P located within the processing range PR can be welded simply by driving the scan mirror. The welding head 30 can employ various known configurations, and detailed descriptions thereof will be omitted.

[0021] The welding device 10 equipped with such a table 20 and welding head 30 can perform welding processing of multiple metal pins P without moving the position of the welding head 30 by repeatedly rotating the table 20 and irradiating laser light from the welding head 30.

[0022] The camera 50 is provided with one lens and one image sensor, and is disposed above the table 20 so as to be able to photograph an area including at least a pair of adjacent metal pins P. In this embodiment, the camera 50 is configured to photograph the multiple metal pins P disposed on the table 20 from above.

[0023] Camera 50 is configured to supply captured image data to control device 100. Note that camera 50 according to this embodiment may be configured to output a digital signal (image data) directly from camera 50 to control device 100, or may be configured to convert an analog signal (captured image signal) output from camera 50 into a digital signal (image data) using an A / D converter (not shown) or the like and output the digital signal to control device 100.

[0024] The control device 100 according to this embodiment is, for example, a numerical control device or an electronic computer such as a desktop personal computer, a laptop computer, a tablet terminal, etc. The control device 100 is configured to be able to control the table 20, the welding head 30, and the camera 50.

[0025] That is, the control device 100 functions as an HMI (Human Machine Interface) for operating the table 20, the welding head 30, and the camera 50. The control device 100 is also configured to acquire image data captured by the camera 50 and identify the welding position based on the acquired image data.

[0026] Specifically, the control device 100 is configured to be able to execute a pin position specifying process that specifies the position of each metal pin P from image data captured by the camera 50, and a welding position specifying process that specifies the welding position of a pair of metal pins P based on the specified position of each metal pin P. The pin position specifying process includes a pin position candidate specifying process that specifies candidates for the position of the metal pin P from the image data, and a center position specifying process that specifies the center position of each metal pin P.

[0027] The control device 100 having the above configuration is configured to be able to correct the welding processing program 245 based on the identified welding position. Note that the control device 100 can employ various known configurations, and therefore detailed description thereof will be omitted.

[0028] FIG. 3 is a functional block diagram showing the welding processing program creating device of this embodiment. Welding processing program creation device 200 is, for example, a numerical control device or an electronic computer such as a desktop personal computer, a notebook computer, or a tablet terminal, and includes an input unit 210, a display unit 220, a control unit 230, and a storage unit 240. Welding processing program creation device 200 also includes CAM (computer-aided manufacturing) software.

[0029] The input unit 210 is composed of input devices such as a keyboard, a mouse, a touchpad, a joystick, etc., and by operating the input unit 210, in addition to the information input function normally required in the welding processing program creation device 200, it is possible to perform operations such as selecting the tip S of the metal pin P, which will be described later, selecting material information MI and processing conditions PC, which will be described later, and selecting the row of metal pins P to be processed first, which will be described later.

[0030] The display unit 220 has a display as a display device, and in addition to the screen display function normally required in the welding program creation device 200, displays a CAM software screen (not shown) and the like.

[0031] Furthermore, the display unit 220 can be configured as a touch panel (touch screen) having the function of the input unit 210. When the display unit 220 is configured as a touch panel, the user can, for example, operate the display unit 220 to perform various operations on the welding processing program creation device 200, such as selecting the tip S of the metal pin P, selecting the material information MI and processing conditions PC, and selecting the row of metal pins P to be processed first.

[0032] The configurations of the input unit 210 and the display unit 220 are not limited to those described above, and any configuration having equivalent functions (for example, a display means or input means that can be used remotely) can be used instead of the input unit 210 and the display unit 220. In this embodiment, each selection operation by the user will be described as being performed via the input unit 210.

[0033] The control unit 230 is configured by, for example, an integrated arithmetic processing device having a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit). As shown in FIG. 3 , the control unit 230 also includes a grouping unit 231, an information linking unit 233, an angle identification unit 235, a scanner section identification unit 237, and a processing order setting unit 239.

[0034] FIG. 4 is a schematic diagram showing an example of a welding processing program according to this embodiment. Furthermore, control unit 230 is configured to be able to create a welding processing program 245 for causing welding apparatus 10 to perform welding. In this embodiment, control unit 230 is configured to be able to create a scanner pattern SP for welding by welding head 30. As shown in Fig. 4, scanner pattern SP is included in welding processing program 245. The number of scanner patterns SP included in welding processing program 245 varies depending on the number and arrangement of metal pins P arranged on table 20, etc.

[0035] The scanner pattern SP includes multiple scanner sections SS. The scanner sections SS are groups of metal pins that fit within the range captured by the camera 50 of the welding device 10. In this embodiment, the scanner sections SS are set to a range that is the same as or narrower than the processing range PR that the welding head 30 can process by simply tilting the scan mirror of the galvanometer scanner of the welding head 30.

[0036] Furthermore, the scanner pattern SP has position information of the welding head 30, specifically, position information of the processing range PR, and information on the rotation direction and rotation angle of the table 20 (rotation information in this embodiment), for each scanner section SS. The welding device 10 moves the welding head 30 to a position where the welding location of one of the multiple metal pins P falls within the processing range PR, in accordance with the scanner pattern SP of the welding program 245. Then, while rotating the table 20, the welding device 10 welds the multiple metal pins P arranged on the table 20 in the circumferential direction of the table 20 in order.

[0037] In this embodiment, the plurality of metal pins P that can be processed by one scanner pattern SP must satisfy the conditions listed below. 1. The metal pins P must be of the same shape. 2. The arrangement of metal pins P in each scanner section SS included in the scanner pattern SP is the same. 3. The material information MI and processing conditions PC must be the same metal pin P.

[0038] The control unit 230 is configured to automatically identify the processing order of the metal pins P, the scanner section SS, and the scanner pattern SP that will minimize the time required for welding all of the metal pins P, taking into consideration the shape and arrangement of the metal pins P, the material information MI, the processing conditions PC, etc.

[0039] FIG. 5 is a flowchart showing a part of the processing executed by the welding processing program creating device of this embodiment. Next, a specific configuration of the control unit 230 according to this embodiment will be described. The grouping unit 231 is configured to be able to group a plurality of metal pins P based on arrangement information 241, which will be described later. In this embodiment, the grouping unit 231 is configured to be able to identify metal pins P that have the same height and shape as a metal pin P selected by a user from the plurality of metal pins P, and add the identified metal pins P to the same group as the selected metal pin P. Specifically, the grouping unit 231 displays a 3D model 243 on the display unit 220, and executes a pin selection reception process that receives the selection of a pair of metal pins P included in the 3D model 243 (S1 in FIG. 5).

[0040] The 3D model 243 is 3D CAD (computer-aided design) data of a plurality of metal pins P to be arranged on the table 20, and the 3D models of the plurality of metal pins P are arranged based on arrangement information 241. The arrangement information 241 includes pin information 244 (described later) of each metal pin P arranged on the table 20. The pin information 244 has position information 242 having the coordinates of a center point C of a pair of metal pins P and the angle of the center point C of the pair of metal pins P. Hereinafter, in this embodiment, the 3D model 243 will be described as not including height information of each metal pin P included in the 3D model 243.

[0041] FIG. 6 is a diagram showing the selection of the tip of the metal pin in this embodiment. As shown in Figure 6, the user can select the tips S (surfaces) of any pair of metal pins P from among the multiple metal pins P included in the 3D model 243 displayed on the CAM software screen.

[0042] The grouping unit 231 is also configured to be able to execute a group generation process for generating groups including the metal pins P accepted in the pin selection acceptance process (S2 in FIG. 5). The grouping unit 231 may store the generated groups in the storage unit 240, or may store them in another device such as a server.

[0043] FIG. 7 is a diagram showing the tip identification process of this embodiment. Furthermore, the grouping unit 231 is configured to be able to execute a tip identification process for identifying the tips S of metal pins P that exist on the same plane as the tip S of the metal pin P accepted in the pin selection accepting process (S3 in FIG. 5). In the tip identification process, the grouping unit 231 acquires a virtual plane i that includes the tips S of a pair of metal pins P selected on the 3D model 243 and extends in a direction intersecting those metal pins P, as shown in FIG. 7, and identifies other metal pins P whose tips S are included in the virtual plane i. In other words, in the tip identification process, the grouping unit 231 identifies metal pins P whose tips S are in contact with the virtual plane i.

[0044] The grouping unit 231 is also configured to be able to execute a group addition process to identify metal pins P having the same shape as the metal pins P accepted in the pin selection receiving process from among the metal pins P identified in the tip end identification process, and add the identified metal pins P to the group generated in the group generation process (S4 in FIG. 5). The grouping unit 231 adds the metal pins P identified in the tip end identification process to the same group as the pair of metal pins P accepted in the pin selection receiving process.

[0045] In this embodiment, since the multiple metal pins P are all the same height, all the metal pins P are added to one group, but this is not limiting. When metal pins P of different heights are mixed, the grouping unit 231 repeatedly executes the pin selection receiving process, the group generation process, the tip identification process, and the group addition process until all the metal pins P included in the arrangement information 241 are sorted into any one of the groups.

[0046] In this embodiment, all of the metal pins P have the same shape, but when metal pins P of different shapes are mixed, the grouping unit 231 groups the metal pins P into groups of metal pins P that have the same height and the same shape. Furthermore, the grouping unit 231 assigns a shape ID, which is a unique identifier, to each metal pin P of the same shape.

[0047] By having such a configuration, the welding processing program creation device 200 can automatically select metal pins P of the same height, so that the selection work can be completed in a shorter time than the conventional method in which the user manually selects metal pins P of the same height, thereby improving work efficiency and reducing the burden on the user.

[0048] Furthermore, by being configured in this manner, the welding processing program creation device 200 has the advantage of being able to automatically select and group metal pins P of the same height even if there is no height information of the metal pins P.

[0049] However, without being limited to this, the 3D model 243 or the arrangement information 241 may include height information of each metal pin P. When the 3D model 243 or the arrangement information 241 includes height information of the metal pins P, the grouping unit 231 does not have to perform the above-mentioned process. Furthermore, instead of the above-mentioned process, the grouping unit 231 may group the multiple metal pins P into multiple groups of metal pins P of the same height based on the height information included in the 3D model 243 or the arrangement information 241.

[0050] The information linking unit 233 is configured to be able to link (set) the material information MI and processing conditions PC of the metal pins P collectively to the multiple metal pins P included in the group grouped by the grouping unit 231. Specifically, the information linking unit 233 is configured to be able to execute a group selection reception process (S5 in FIG. 5), a material information selection reception process (S6 in FIG. 5), a processing condition selection reception process (S7 in FIG. 5), and a linking process (S8 in FIG. 5).

[0051] In the group selection reception process, the information linking unit 233 displays a list of groups grouped by the grouping unit 231 on the display unit 220, and receives selection of a group to be linked with the material information MI and processing conditions PC of the metal pins P. Specifically, the information linking unit 233 reads out the groups grouped by the grouping unit 231 from the storage unit 240 or another device and displays them. The user can select any group from the list of groups displayed on the screen of the display unit 220.

[0052] In the material information selection receiving process, the information linking unit 233 receives a selection of material information MI to be linked with the group received in the group selection receiving process. Specifically, the information linking unit 233 is configured to read out one or more candidates of material information MI to be linked, and display them on the display unit 220. The user can select the material information MI to be linked from the candidates of material information MI displayed on the display unit 220.

[0053] The candidates for material information MI may be stored in the storage unit 240, and the information linking unit 233 may read out the candidates for material information MI from the storage unit 240, or the candidates for material information MI may be stored in another device such as a server, and the information linking unit 233 may read out the candidates for material information MI from the other device.

[0054] In the present embodiment, the information linking unit 233 reads all the material information MI from the storage unit 240 or the like, regardless of the group selected by the user, and displays them as selectable candidates on the display unit 220. However, the present invention is not limited to this. The information linking unit 233 may be configured to extract and read out candidates for material information MI to be linked from a list of material information MI in accordance with the group selected by the user, and display them on the display unit 220.

[0055] In the processing condition selection receiving process, the information linking unit 233 receives the selection of processing conditions PC to be linked with the group received in the group selection receiving process. Specifically, the information linking unit 233 is configured to extract and read one or more candidates of processing conditions PC to be linked from the list of processing conditions PC in accordance with the material information MI selected by the user, and display them on the display unit 220. The user can select the processing conditions PC to be linked from the candidates of processing conditions PC displayed on the display unit 220.

[0056] In addition, the candidates for processing conditions PC may be stored in the memory unit 240, and the information linking unit 233 may read out the candidates for processing conditions PC from the memory unit 240, or the candidates for processing conditions PC may be stored in another device such as a server, and the information linking unit 233 may read out the candidates for processing conditions PC from the other device.

[0057] Furthermore, the information linking unit 233 is not limited to the above-described configuration, and does not have to display candidates for processing conditions PC to be linked according to the material information MI selected by the user. The information linking unit 233 may read all processing conditions PC from the storage unit 240, etc., regardless of the material information MI selected by the user, and display them as selectable candidates on the display unit 220. When displaying all processing conditions PC, the information linking unit 233 can execute the processing condition selection reception process before the material information selection reception process.

[0058] In the linking process, the information linking unit 233 links the material information MI received in the material information selection receiving process and the processing conditions PC received in the processing condition selection receiving process to the group received in the group selection receiving process. Note that the information linking unit 233 may link the material information MI and the processing conditions PC to each metal pin P included in the group, without linking the material information MI and the processing conditions PC to the group.

[0059] The welding processing program creation device 200, having the above configuration, can simplify the operation compared to the conventional method in which the user manually links the material information MI and the processing conditions PC to each metal pin P one by one, and can therefore quickly link the material information MI and the processing conditions PC to the metal pin P. Furthermore, having such a configuration improves work efficiency and reduces the burden on the user.

[0060] FIG. 8 is a flowchart showing part of the processing executed by the welding processing program creating device of this embodiment. The angle identification unit 235 is configured to be able to execute an initial processing rotation information identification process that identifies the rotation direction and rotation angle from the origin rotation angle of the table 20 at the start of processing based on the arrangement information 241 of multiple metal pins P arranged on the table 20 along the circumferential direction of the table 20 and the clockwise and counterclockwise rotation range based on the origin rotation angle of the table 20 (S13 in Figure 8).

[0061] Specifically, the angle identification unit 235 acquires the arrangement information 241 and information on the rotatable range of the table 20. If the arrangement information 241 and information on the rotatable range are stored in the storage unit 240, the angle identification unit 235 reads out the arrangement information 241 and information on the rotatable range from the storage unit 240, and if the arrangement information 241 and information on the rotatable range are stored in another device such as a server, the angle identification unit 235 acquires and reads out the arrangement information 241 and information on the rotatable range from that device.

[0062] FIG. 9 is a schematic diagram showing the arrangement information of this embodiment. 9, the arrangement information 241 includes pin information 244 of each metal pin P arranged on the table 20. The pin information 244 includes position information 242 having the coordinates of the center point C of the pair of metal pins P and the angle of the center point C of the pair of metal pins P, as well as a shape ID assigned to each metal pin P by the grouping unit 231, and material information MI and processing conditions PC linked by the information linking unit 233.

[0063] In the arrangement information 241 in this embodiment, the multiple metal pins P are arranged in three rows along the circumferential direction of the table 20. In the row arranged on the outermost side (the outermost row in this embodiment), "metal pin 1" is arranged at a position of 0°, which is the origin rotation angle of the table 20. In addition, in the outermost row, 48 metal pins P are arranged at equal intervals of 7.5°. In this embodiment, the metal pins P arranged in the outermost row are referred to as "metal pin 2" and "metal pin 3" in the counterclockwise direction from "metal pin 1," and the metal pin P adjacent to "metal pin 1" in the clockwise direction is referred to as "metal pin 48."

[0064] However, the present invention is not limited to this, and various arbitrary configurations can be adopted for the number of metal pins P, the arrangement intervals of the metal pins P, and the number of rows of the metal pins P.

[0065] Furthermore, when there are multiple rows of metal pins P arranged circumferentially, the angle specifying unit 235 is configured to be able to execute a row selection receiving process that receives selection of the row to be machined first (S9 in FIG. 8). The user can select any row to be machined first from among the multiple rows of metal pins P on the CAM software screen. In this embodiment, the angle specifying unit 235 receives selection of whether to start machining from the outermost row or the innermost row.

[0066] Furthermore, the angle specifying unit 235 is configured to be able to further execute an initial processed metal pin specifying process that specifies a first processed metal pin P1 to be processed first among the multiple metal pins P, based on the arrangement information 241 and the rotatable range (S12 in FIG. 8). Furthermore, in the initial processing rotation information specifying process, the angle specifying unit 235 specifies a rotation direction and a rotation angle at which the first processed metal pin P1 specified in the initial processed metal pin specifying process is included in the processing range PR of the welding head 30 that irradiates the metal pin P with laser light when the table 20 is rotated.

[0067] When the arrangement information 241 includes multiple rows of metal pins P arranged circumferentially, the angle identification unit 235 identifies the first processed metal pin P1 from among the multiple metal pins P arranged in the row (outermost row or innermost row) received in the row selection receiving process. However, this is not limited to this, and the angle identification unit 235 does not have to be able to execute the row selection receiving process. When the arrangement information 241 includes multiple rows of metal pins P, the angle identification unit 235 may always identify the first processed metal pin P1 from among the multiple metal pins P arranged in the outermost row, or may always identify the first processed metal pin P1 from among the multiple metal pins P arranged in the innermost row. In this embodiment, the description will be given assuming that the first processed metal pin P1 is identified from among the multiple metal pins P arranged in the outermost row.

[0068] In this embodiment, the angle identification unit 235 is configured to be able to execute a clockwise determination process (S10 in Figure 8) that determines whether at least one of the multiple metal pins P is positioned at a position where it cannot reach the processing range PR when it is assumed that the table 20 is rotated clockwise to a predetermined allowable amount, and a counterclockwise determination process (S11 in Figure 8) that determines whether at least one of the multiple metal pins P is positioned at a position where it cannot reach the processing range PR when it is assumed that the table 20 is rotated counterclockwise to a predetermined allowable amount, and is configured to identify the first processed metal pin P1 in the initial processed metal pin identification process based on the determination results of the clockwise determination process and the counterclockwise determination process.

[0069] The order of the clockwise rotation determination process and the counterclockwise rotation determination process is not limited to the order shown in Fig. 8. That is, the clockwise rotation determination process may be executed after the counterclockwise rotation determination process.

[0070] In the initial processing rotation information identification process, clockwise determination process, and counterclockwise determination process according to this embodiment, the processing range PR of the welding head 30 coincides with the center point C of the "metal pin 1" whose center is positioned at the origin rotation angle, and the processing range PR will be described as being able to include only a pair of metal pins P.

[0071] Furthermore, when the angle identification unit 235 determines in the clockwise determination process that at least one of the multiple metal pins P is positioned in a position that cannot reach the processing range PR, and when it determines in the counterclockwise determination process that at least one of the multiple metal pins P is positioned in a position that cannot reach the processing range PR, it identifies, among the metal pins P positioned in a position that cannot reach the processing range PR, the metal pin P that is positioned at a position where the rotation angle from the origin rotation angle of the table 20 is maximum, as the first processing metal pin P1, and is configured to identify the rotation angle at which the identified first processing metal pin P1 is included in the processing range PR as the processing start angle.

[0072] FIG. 10 is a diagram showing a specific example of the first processed metal pin of this embodiment. In this embodiment, the predetermined allowable amount of rotation of the table 20 is the same as the rotatable range of the table 20, and the table 20 can rotate 240° clockwise and counterclockwise from the origin rotation angle. Therefore, assuming that the table 20 is rotated 240° counterclockwise from the origin rotation angle (-240° rotation), as shown in Fig. 10, of the multiple metal pins P, 15 metal pins P from "metal pin 2" to "metal pin 16" whose angles with respect to the center point C are between 7.5° and 112.5° are metal pins P that are located in positions that cannot reach the processing range PR.

[0073] Similarly, if we assume that the table 20 is rotated 240° clockwise from the origin rotation angle (+240° rotation), 15 metal pins P, namely "metal pin 34" to "metal pin 48", which are metal pins P with angles of the center point C between 247.5° and 352.5°, will be metal pins P that are positioned in positions that cannot reach the processing range PR.

[0074] Therefore, in the clockwise rotation determination process, the angle specifying unit 235 determines that at least one of the multiple metal pins P is arranged in a position that cannot reach the processing range PR, and in the counterclockwise rotation determination process, determines that at least one of the multiple metal pins P is arranged in a position that cannot reach the processing range PR. Then, the angle specifying unit 235 specifies, among the metal pins P arranged in positions that cannot reach the processing range PR ("metal pin 2" to "metal pin 16" and "metal pin 34" to "metal pin 48"), the metal pin P arranged in a position where the rotation angle from the origin rotation angle of the table 20 is maximum, as the first processed metal pin P1.

[0075] That is, assuming that the table 20 is rotated by +112.5° (112.5° clockwise) or -112.5° (112.5° counterclockwise) from the origin rotation angle, the angle identifying unit 235 identifies the metal pin P that comes to the position of the origin rotation angle (0°) as the first processed metal pin P1. Therefore, the angle identifying unit 235 identifies the "metal pin 16" whose center point C has an angle of 112.5° or the "metal pin 34" whose center point C has an angle of 247.5° as the first processed metal pin P1.

[0076] In this embodiment, when multiple metal pins P are identified that are located at positions where the rotation angle from the origin rotation angle is maximum, the angle identification unit 235 identifies the metal pin P that is located at the position where the rotation angle from the origin rotation angle is maximum when assumed to be rotated counterclockwise, i.e., "metal pin 16," as the first processed metal pin P1.

[0077] In this embodiment, since the metal pins P are arranged at equal intervals in the outermost row as described above, there is no difference in processing time regardless of whether "metal pin 16" or "metal pin 34" is identified as the first processed metal pin P1.

[0078] Furthermore, when the angle specifying unit 235 specifies the "metal pin 16" as the first processed metal pin P1, it specifies +112.5° (112.5° clockwise), where the "metal pin 16" is included in the processing range PR, as the processing start angle. That is, in the initial processing rotation information specifying process, the angle specifying unit 235 specifies the rotation direction from the origin rotation angle of the table 20 at the start of processing as the clockwise direction, and specifies the rotation angle from the origin rotation angle of the table 20 at the start of processing as 112.5°.

[0079] Furthermore, when the angle specifying unit 235 specifies the "metal pin 34" as the first processed metal pin P1, it specifies -112.5° (112.5° counterclockwise), where the "metal pin 34" is included in the processing range PR, as the processing start angle. That is, in the initial processing rotation information specifying process, the angle specifying unit 235 specifies the rotation direction from the origin rotation angle of the table 20 at the start of processing as the counterclockwise direction, and specifies the rotation angle from the origin rotation angle of the table 20 at the start of processing as 112.5°.

[0080] Furthermore, the angle specifying unit 235 according to this embodiment specifies the metal pin P adjacent to the first processed metal pin P1 on the side of the first rotation direction that causes the first processed metal pin P1 to reach the processing range PR as the second processed metal pin P2, and specifies the metal pin P adjacent to the second processed metal pin P2 on the side of the first rotation direction as the third processed metal pin P3. Furthermore, the angle specifying unit 235 specifies the metal pin P adjacent to the first processed metal pin P1 on the side of the second rotation direction that is opposite to the first rotation direction as the metal pin P to be processed last in the row. In this embodiment, the angle specifying unit 235 specifies the second processed metal pin P2 and the third processed metal pin P3 from the metal pins P grouped in the same group as the first processed metal pin P1.

[0081] A specific example will be described below using as an example a case where the "metal pin 16" is identified as the first processed metal pin P1 in the arrangement of the example shown in FIG. 9. The angle identification unit 235 identifies the metal pin P that is adjacent to the "metal pin 16" and is grouped in the same group as the "metal pin 16," and that is adjacent to the "metal pin 16" on the clockwise side that causes the "metal pin 16" to reach the processing range PR, as the second processed metal pin P2. In this embodiment, since all the metal pins P are added to one group, in the arrangement of the example shown in FIG. 9, the metal pin P that is adjacent to the "metal pin 16" on the clockwise side is the "metal pin 15." Therefore, the angle identification unit 235 identifies the "metal pin 15" as the second processed metal pin P2.

[0082] Furthermore, the metal pin P adjacent to the "metal pin 15" on the clockwise side identified as the second processed metal pin P2 is the "metal pin 14." Therefore, the angle identifying unit 235 identifies the "metal pin 14" as the third processed metal pin P3. Furthermore, the angle identifying unit 235 identifies the metal pin P adjacent to the "metal pin 16" on the rotational direction opposite to the clockwise direction that causes the "metal pin 16" to reach the processing range PR, i.e., the counterclockwise side, as the metal pin P to be processed last in the outermost row. In the example arrangement shown in FIG. 9 , the metal pin P adjacent to the "metal pin 16" on the counterclockwise side is the "metal pin 17." Therefore, the angle identifying unit 235 identifies the "metal pin 17" as the 48th processed metal pin P48 to be processed last in the outermost row.

[0083] The second processed metal pin P2 to the 48th processed metal pin P48 are not limited to this. As will be described later, if the processing range PR includes more than one pair of metal pins P, the second processed metal pin P2 to the 48th processed metal pin P48 may be metal pins P different from the metal pins P identified by the angle identifying unit 235.

[0084] In addition, when the angle identification unit 235 determines in either the clockwise determination process or the counterclockwise determination process that at least one of the multiple metal pins P is positioned in a position that cannot reach the processing range PR, it identifies the metal pin P among the multiple metal pins P that is positioned in a position where the rotation angle from the origin rotation angle of the table 20 is smallest when it is assumed to be rotated in the direction opposite to the direction in which it was determined that the pin is positioned in the unreachable position as the first processing metal pin P1, and identifies the rotation angle at which the identified first processing metal pin P1 is included in the processing range PR as the processing start angle.

[0085] FIG. 11 is a diagram showing a specific example of the first processed metal pin of this embodiment. For example, assume that only "metal pin 1" to "metal pin 9" and "metal pin 25" to "metal pin 33" are arranged in the outermost row as shown in Fig. 11. If it is assumed that the table 20 is rotated 240° counterclockwise from the origin rotation angle (-240° rotation), then, as shown in Fig. 10, of the multiple metal pins P, eight metal pins P from "metal pin 2" to "metal pin 9", which are metal pins P with angles from the center point C of 7.5° to 60°, are metal pins P arranged in positions that cannot reach the processing range PR.

[0086] On the other hand, assuming that the table 20 is rotated 240° clockwise from the origin rotation angle (+240° rotation), the metal pin P is not positioned at a position where it cannot reach the processing range PR. Therefore, in the clockwise determination process, the angle identification unit 235 determines that the metal pin P is not positioned at a position where it cannot reach the processing range PR, and in the counterclockwise determination process, determines that at least one of the multiple metal pins P is positioned at a position where it cannot reach the processing range PR.

[0087] Then, assuming that the table 20 is rotated in the opposite direction to the counterclockwise direction in which the metal pins P are determined to be positioned at an unreachable position, i.e., in the clockwise direction, the angle identifying unit 235 identifies, among the multiple metal pins P, the metal pin P that is positioned at a position where the rotation angle from the origin rotation angle of the table 20 is smallest, as the first processed metal pin P1. In other words, assuming that the table 20 is rotated clockwise or counterclockwise, the angle identifying unit 235 identifies the metal pin P that has the smallest rotation angle until it reaches the position of the origin rotation angle (0°) as the first processed metal pin P1.

[0088] 11, the angle of the center point C of the "metal pin 1" is 0°, and the "metal pin 1" is located at the origin rotation angle. Therefore, when the table 20 is assumed to be rotated clockwise, the rotation angle of the table 20 from the origin rotation angle is 0°. Therefore, the angle identifying unit 235 identifies the "metal pin 1" as the first processed metal pin P1.

[0089] In addition, if "metal pin 1" is not placed, i.e., if metal pin P is not positioned at the origin rotation angle, the angle identification unit 235 will identify "metal pin 2" whose rotation angle from the origin rotation angle of table 20 is the smallest +7.5 (7.5° clockwise) assuming that table 20 is rotated in the clockwise direction as the first processed metal pin P1.

[0090] Furthermore, when the angle specifying unit 235 specifies "metal pin 1" as the first processed metal pin P1, it specifies 0°, at which "metal pin 1" is included in the processing range PR, as the processing start angle. That is, in the initial processing rotation information specifying process, the angle specifying unit 235 specifies the rotation angle from the origin rotation angle of the table 20 at the start of processing as 0°.

[0091] Furthermore, when the angle specifying unit 235 specifies "metal pin 2" as the first processed metal pin P1, it specifies +7.5° (7.5° clockwise), where "metal pin 2" is included in the processing range PR, as the processing start angle. That is, in the initial processing rotation information specifying process, the angle specifying unit 235 specifies the rotation direction from the origin rotation angle of the table 20 at the start of processing as the clockwise direction, and specifies the rotation angle from the origin rotation angle of the table 20 at the start of processing as 7.5°.

[0092] Furthermore, the angle specifying unit 235 according to this embodiment specifies the metal pin P adjacent to the first processed metal pin P1 on the second rotation direction side opposite to the first rotation direction that causes the first processed metal pin P1 to reach the processing range PR as the second processed metal pin P2, and specifies the metal pin P adjacent to the second rotation direction side of the second processed metal pin P2 as the third processed metal pin P3. Furthermore, the angle specifying unit 235 specifies the metal pin P adjacent to the first processed metal pin P1 on the first rotation direction side as the metal pin P to be processed last in the row.

[0093] A specific example will be described below using an example arrangement shown in FIG. 11 in which "metal pin 1" is identified as the first processed metal pin P1. In order to process the multiple metal pins P arranged in the same row in clockwise order, that is, to perform processing while rotating the table 20 counterclockwise, the angle identifying unit 235 identifies the metal pin P adjacent on the clockwise side as the second processed metal pin P2. In the example arrangement shown in FIG. 11, the metal pin P adjacent on the clockwise side of "metal pin 1" is "metal pin 33." Therefore, the angle identifying unit 235 identifies "metal pin 33" as the second processed metal pin P2.

[0094] A specific example will be described below using an example in which "metal pin 2" is identified as the first processed metal pin P1 in an arrangement in which "metal pin 1" is not present in the example shown in FIG. 11. The angle identifying unit 235 identifies the metal pin P adjacent to "metal pin 2" and located on the rotational direction opposite to the clockwise direction that causes "metal pin 2" to reach the processing range PR, i.e., on the counterclockwise side, as the second processed metal pin P2. In the arrangement of the example shown in FIG. 11, the metal pin P adjacent to "metal pin 2" on the counterclockwise side is "metal pin 3." Therefore, the angle identifying unit 235 identifies "metal pin 3" as the second processed metal pin P2.

[0095] Furthermore, the metal pin P adjacent to the counterclockwise side of "metal pin 3" identified as the second processed metal pin P2 is "metal pin 4." Therefore, the angle identifying unit 235 identifies "metal pin 4" as the third processed metal pin P3. Furthermore, the angle identifying unit 235 identifies the metal pin P adjacent to "metal pin 2" and adjacent to the clockwise side that causes "metal pin 2" to reach the processing range PR as the metal pin P to be processed last in the outermost row. In the example shown in FIG. 11 , in the arrangement where "metal pin 1" is not present, the metal pin P adjacent to "metal pin 2" on the clockwise side is "metal pin 33." Therefore, the angle identifying unit 235 identifies "metal pin 33" as the 17th processed metal pin P17 to be processed last in the outermost row.

[0096] The second processed metal pin P2 to the 48th processed metal pin P48 are not limited to this. If the processing range PR does not include only a pair of metal pins P, the second processed metal pin P2 to the 48th processed metal pin P48 may be metal pins P different from the metal pin P identified by the angle identifying unit 235.

[0097] Furthermore, if the angle identification unit 235 determines in the clockwise determination process that no metal pin P is positioned in a position where it cannot reach the processing range PR, and if it determines in the counterclockwise determination process that no metal pin P is positioned in a position where it cannot reach the processing range PR, it identifies the metal pin P among the multiple metal pins P that is positioned at the smallest rotation angle from the origin rotation angle of the table 20 as the first processing metal pin P1, and identifies the rotation angle at which the identified first processing metal pin P1 is included in the processing range PR as the processing start angle.

[0098] FIG. 12 is a diagram showing a specific example of the first processed metal pin of this embodiment. For example, as shown in Figure 12, assume that only "metal pin 1" and "metal pin 17" to "metal pin 33" are arranged in the outermost row. If it is assumed that the table 20 is rotated 240° counterclockwise from the origin rotation angle (-240° rotation), the metal pin P is not arranged in a position that cannot reach the processing range PR. Also, if it is assumed that the table 20 is rotated 240° clockwise from the origin rotation angle (+240° rotation), the metal pin P is not arranged in a position that cannot reach the processing range PR.

[0099] Therefore, in the clockwise determination process, the angle identification unit 235 determines that the metal pin P is not placed in a position where it cannot reach the processing range PR, and in the counterclockwise determination process, it determines that the metal pin P is not placed in a position where it cannot reach the processing range PR.

[0100] Then, the angle identification unit 235 identifies, among the multiple metal pins P, the metal pin P that is positioned at a position where the rotation angle from the origin rotation angle of the table 20 is the smallest, as the first processed metal pin P1, and identifies the rotation angle at which the identified first processed metal pin P1 is included in the processing range PR as the processing start angle.

[0101] 12, the angle of the center point C of the "metal pin 1" is 0°, and the "metal pin 1" is located at the origin rotation angle, so the rotation angle from the origin rotation angle of the table 20 is 0°. Therefore, the angle identifying unit 235 identifies the "metal pin 1" as the first processed metal pin P1.

[0102] In addition, if "metal pin 1" is not placed, i.e., if metal pin P is not positioned at the origin rotation angle, the angle identification unit 235 identifies "metal pin 17" whose rotation angle from the origin rotation angle of table 20 is the smallest +120 (120° clockwise) or "metal pin 33" whose rotation angle is -120° (120° counterclockwise) as the first processed metal pin P1.

[0103] Furthermore, when the angle specifying unit 235 specifies "metal pin 1" as the first processed metal pin P1, it specifies 0°, at which "metal pin 1" is included in the processing range PR, as the processing start angle. That is, in the initial processing rotation information specifying process, the angle specifying unit 235 specifies the rotation angle from the origin rotation angle of the table 20 at the start of processing as 0°.

[0104] Furthermore, when the angle specifying unit 235 specifies the "metal pin 17" as the first processed metal pin P1, it specifies +120° (120° clockwise), where the "metal pin 17" is included in the processing range PR, as the processing start angle. That is, in the initial processing rotation information specifying process, the angle specifying unit 235 specifies the rotation direction from the origin rotation angle of the table 20 at the start of processing as the clockwise direction, and specifies the rotation angle from the origin rotation angle of the table 20 at the start of processing as 120°.

[0105] Furthermore, when the angle specifying unit 235 specifies the "metal pin 33" as the first processed metal pin P1, it specifies -120° (120° counterclockwise), at which the "metal pin 33" is included in the processing range PR, as the processing start angle. That is, in the initial processing rotation information specifying process, the angle specifying unit 235 specifies the rotation direction from the origin rotation angle of the table 20 at the start of processing as the counterclockwise direction, and specifies the rotation angle from the origin rotation angle of the table 20 at the start of processing as 120°.

[0106] Furthermore, the angle specifying unit 235 according to this embodiment specifies the metal pin P adjacent to the first processed metal pin P1 on the second rotation direction side opposite to the first rotation direction that causes the first processed metal pin P1 to reach the processing range PR as the second processed metal pin P2, and specifies the metal pin P adjacent to the second rotation direction side of the second processed metal pin P2 as the third processed metal pin P3. Furthermore, the angle specifying unit 235 specifies the metal pin P adjacent to the first processed metal pin P1 on the first rotation direction side as the metal pin P to be processed last in the row.

[0107] A specific example will be described below using an example arrangement shown in FIG. 12 in which "metal pin 1" is identified as the first processed metal pin P1. In order to process the multiple metal pins P arranged in the same row in a clockwise order, that is, to perform processing while rotating the table 20 counterclockwise, the angle identifying unit 235 identifies the metal pin P adjacent on the clockwise side as the second processed metal pin P2. In the example arrangement shown in FIG. 12, the metal pin P adjacent on the counterclockwise side of "metal pin 1" is "metal pin 33." Therefore, the angle identifying unit 235 identifies "metal pin 33" as the second processed metal pin P2.

[0108] A specific description will be given of an example in which "metal pin 17" is identified as the first processed metal pin P1 in an arrangement in which "metal pin 1" is not present in the example shown in FIG. 12. The angle identification unit 235 identifies the metal pin P adjacent to "metal pin 17" and located on the rotational direction opposite to the clockwise direction that causes "metal pin 17" to reach the processing range PR, i.e., on the counterclockwise side, as the second processed metal pin P2. In the arrangement of the example shown in FIG. 12, the metal pin P adjacent to "metal pin 17" on the counterclockwise side is "metal pin 18." Therefore, the angle identification unit 235 identifies "metal pin 18" as the second processed metal pin P2.

[0109] Furthermore, the metal pin P adjacent to the "metal pin 18" on the counterclockwise side identified as the second processed metal pin P2 is "metal pin 19." Therefore, the angle identifying unit 235 identifies "metal pin 19" as the third processed metal pin P3. Furthermore, the angle identifying unit 235 identifies the metal pin P adjacent to "metal pin 17" and adjacent to the clockwise side that causes "metal pin 17" to reach the processing range PR as the metal pin P to be processed last in the outermost row. In the example shown in FIG. 12, in the arrangement where "metal pin 1" is not present, the metal pin P adjacent to "metal pin 17" on the clockwise side is "metal pin 33." Therefore, the angle identifying unit 235 identifies "metal pin 33" as the 17th processed metal pin P17 to be processed last in the outermost row.

[0110] The second processed metal pin P2 to the 48th processed metal pin P48 are not limited to this. If the processing range PR does not include only a pair of metal pins P, the second processed metal pin P2 to the 48th processed metal pin P48 may be metal pins P different from the metal pin P identified by the angle identifying unit 235.

[0111] As shown in Figure 9, etc., when there are multiple rows of metal pins P arranged along the circumferential direction of the table 20, for the second row and beyond, the angle identification unit 235 identifies the metal pin P that should be processed first among the multiple metal pins P arranged in that row based on the arrangement information 241 and the clockwise and counterclockwise rotation range based on the rotation angle of the table 20 at the end of processing the front row, and identifies the rotation direction and rotation angle that will include the identified metal pin P in the processing range PR when the table 20 is rotated from the rotation angle at the end of processing the front row.

[0112] In this embodiment, the angle identification unit 235 is configured to execute clockwise determination processing and counterclockwise determination processing, as in the first row, and identify the metal pin P to be processed first among the multiple metal pins P arranged in that row based on the determination results of the clockwise determination processing and counterclockwise determination processing.

[0113] In this embodiment, the angle identification unit 235 performs processing of the second and subsequent rows at least after the scanner section identification unit 237 performs a candidate-to-be-adopted identification process, which will be described later, based on the first processed metal pin P1. In the candidate-to-be-adopted identification process, if the scanner section identification unit 237 identifies a scanner section candidate SSC including multiple rows of metal pins P as a scanner section candidate SSC to be adopted for the scanner section SS, the angle identification unit 235 is configured to omit processing of the rows included in the scanner section SS along with the first row.

[0114] For example, as will be described later, when the scanner section identification unit 237 identifies the scanner section candidate SSC including the metal pins P in the first and second rows as the scanner section candidate SSC to be adopted for the scanner section SS, the angle identification unit 235 omits processing of the second row. Then, the angle identification unit 235 identifies the metal pin P to be machined first among the multiple metal pins P arranged in the third row (the innermost row in this embodiment) based on the arrangement information 241 and the clockwise and counterclockwise rotation range based on the rotation angle at the end of machining the first and second rows of the table 20, and identifies the rotation direction and rotation angle at which the identified metal pin P falls in the machining range PR when the table 20 is rotated from the rotation angle at the end of machining the first and second rows.

[0115] However, this is not limited to this. The angle identification unit 235 may execute the processing for the second and subsequent rows before the scanner section identification unit 237 executes the adoption candidate identification process based on the first processed metal pin P1. Furthermore, if the processing for the second and subsequent rows is executed before executing the adoption candidate identification process, and the scanner section identification unit 237 identifies a scanner section candidate SSC including multiple rows of metal pins P as the scanner section candidate SSC to be adopted in the adoption candidate identification process, the welding processing program creation device 200 may discard the processing results of the rows included in the scanner section candidate SSC together with the first row.

[0116] The explanation of the processing from the second column onwards overlaps with the explanation of the processing of the first column, so a detailed explanation will be omitted.

[0117] As described above, the predetermined tolerance for the clockwise and counterclockwise rotation angles of the table 20 in this embodiment is 240° each, but here we will explain the case where the predetermined tolerance for the clockwise and counterclockwise rotation angles of the table 20 is 360° each.

[0118] If the predetermined allowable amounts of the clockwise and counterclockwise rotation angles are each 360°, all of the metal pins P arranged on the table 20 can always reach the processing range PR whether the table 20 is rotated clockwise or counterclockwise. Therefore, just as when the angle specifying unit 235 determines in the clockwise rotation determination process that no metal pin P is arranged in a position where it cannot reach the processing range PR and when it determines in the counterclockwise rotation determination process that no metal pin P is arranged in a position where it cannot reach the processing range PR, the angle specifying unit 235 specifies, among the multiple metal pins P, the metal pin P arranged in a position where the rotation angle from the origin rotation angle of the table 20 is the smallest, as the first processed metal pin P1, and specifies the rotation angle at which the specified first processed metal pin P1 is included in the processing range PR as the processing start angle.

[0119] Furthermore, when the predetermined rotation angle tolerance is 360° and there are multiple rows of metal pins P arranged along the circumferential direction of the table 20, for the second row and onwards, the angle identification unit 235 is configured to identify the metal pin P that should be processed first among the multiple metal pins P arranged in that row based on the arrangement information 241 and the clockwise and counterclockwise rotation range based on the rotation angle of the table 20 at the end of processing the front row, and to identify the rotation direction and rotation angle that include the identified metal pin P in the processing range PR when the table 20 is rotated from the rotation angle at the end of processing the front row.

[0120] In this embodiment, the angle identification unit 235 is configured to execute clockwise determination processing and counterclockwise determination processing, and to identify the metal pin P to be processed first among the multiple metal pins P arranged in the row based on the determination results of the clockwise determination processing and counterclockwise determination processing.

[0121] The scanner section identifying unit 237 is configured to identify the position of the processing range PR of the welding head 30 in which other metal pins P can be processed together with the first processed metal pin P1 without rotating the table 20 or moving the welding head 30, based on the arrangement information 241. Specifically, the scanner section identifying unit 237 is configured to identify the position of the processing range PR in which the number of metal pins P that can be processed together with the first processed metal pin P1 is the largest. In other words, the scanner section identifying unit 237 is configured to identify the scanner section SS in which the number of metal pins P included in the processing range PR is the largest.

[0122] The scanner section identification unit 237 is configured to be able to perform a provisional positioning process to identify the scanner section SS including the metal pins P arranged in the first row, by virtually moving the position of the welding head 30 on the CAM software so that the center point C of the first processed metal pin P1 coincides with the center of the processing range PR of the welding head 30, and provisionally positioning the scanner section SS (S14 in Figure 8).

[0123] In this embodiment, the range of the scanner section SS is described as being the same as the processing range PR, but this is not limited to this.

[0124] FIG. 13 is a diagram showing an example of the provisional positioning process of this embodiment. The scanner section identification unit 237 virtually moves the position of the welding head 30 so that the center point C of the first processed metal pins P1 arranged in the outermost row coincides with the center of the processing range PR, as shown in Figure 13.

[0125] In addition, when the innermost row is selected in the row selection reception process, since the first processed metal pin P1 is in the innermost row, the scanner section identification unit 237 virtually moves the position of the welding head 30 so that the center point C of the first processed metal pin P1 arranged in the innermost row coincides with the center of the processing range PR.

[0126] Furthermore, as will be described later, when identifying a scanner section SS including metal pins P arranged in the second row or later, the scanner section identification unit 237 virtually moves the position of the welding head 30 on the CAM software so that the center point C of the metal pin P to be processed first among the multiple metal pins P arranged in the row identified by the angle identification unit 235 coincides with the center of the processing range PR of the welding head 30, thereby temporarily positioning the scanner section SS.

[0127] Furthermore, the scanner section identification unit 237 is configured to be able to execute a bounding box determination process that determines whether or not a bounding box BB of a target metal pin P is contained within the processing range PR (S15 in FIG. 8). In this embodiment, the bounding box BB is the smallest rectangle that can enclose one or more metal pins P. In the bounding box determination process, the scanner section identification unit 237 executes the determination based on numerical values ​​on a coordinate plane, specifically, the coordinates of the center point C of the pair of metal pins P, the outer diameters of the pair of metal pins P, and the coordinates of the four corners that form the rectangle of the bounding box BB.

[0128] 13, the target metal pin P is only the first processed metal pin P1 that has been provisionally positioned in the scanner section SS, and the bounding box BB of the first processed metal pin P1 is included in the processing range PR. Therefore, in the bounding box determination process, the scanner section identification unit 237 determines that the bounding box BB of the target metal pin P is included in the processing range PR.

[0129] If it is determined that the bounding box BB of the target metal pin P is included in the processing range PR (YES in S15 of FIG. 8), the scanner section identification unit 237 executes a candidate addition process to register the position of the welding head 30 and the pin information 244 of the metal pin P included in the processing range PR as a candidate for the scanner section SS (scanner section candidate SSC) (S16 of FIG. 8).

[0130] After the candidate addition process is executed, the scanner section identification unit 237 is configured to execute the tentative positioning process again (S14 in FIG. 18). In the second and subsequent tentative positioning processes, the scanner section identification unit 237 is configured to execute a similar metal pin identification process, based on the pin information 244, to identify metal pins P (referred to as similar metal pins in this embodiment) among metal pins P that have not yet been registered as scanner section candidates SSC (referred to as unregistered metal pins in this embodiment) whose shape ID, material information MI, and processing conditions PC match those of the metal pins P (referred to as initially registered metal pins in this embodiment) whose pin information 244 was initially registered as scanner section candidates SSC.

[0131] The scanner section identification unit 237 searches the pin information 244 of unregistered metal pins and identifies metal pins P that have matching shape IDs, material information MI, and processing conditions PC. In this embodiment, since the multiple metal pins P all have the same shape IDs, material information MI, and processing conditions PC, all the remaining metal pins P are identified as metal pins of the same type.

[0132] In addition, when there are multiple identified metal pins of the same type, the scanner section identification unit 237 is configured to perform a nearest metal pin identification process to identify, among the identified metal pins of the same type, the metal pin P that is closest to the center of the processing range PR (scanner section SS) that was initially registered as the scanner section candidate SSC.

[0133] Specifically, the scanner section identification unit 237 identifies a metal pin P of the same type that is in a different row from the initially registered metal pin and has the same angle of the center point C as the initially registered metal pin as the nearest metal pin. Furthermore, if there is no metal pin P of the same type that is in a different row from the initially registered metal pin and has the same angle of the center point C as the initially registered metal pin, the scanner section identification unit 237 identifies a metal pin P of the same type that is in the same row as the initially registered metal pin and is located counterclockwise from the initially registered metal pin as the nearest metal pin. Furthermore, if there is no metal pin P of the same type that is in the same row as the initially registered metal pin and is located counterclockwise from the initially registered metal pin, the scanner section identification unit 237 identifies a metal pin P of the same type that is in a different row from the initially registered metal pin and is located counterclockwise from the initially registered metal pin and has the closest angle of the center point C to the initially registered metal pin as the nearest metal pin.

[0134] 13, there is no metal pin of the same type that is in a different row from the first processed metal pin P1, which is the initially registered metal pin, and has the same angle of the center point C as the initially registered metal pin. Therefore, in the nearest metal pin identification process, the scanner section identification unit 237 identifies the same type of metal pin that is located (adjacent) in the counterclockwise direction of the initially registered metal pin (first processed metal pin P1) as the nearest metal pin.

[0135] After the nearest metal pin identification process, the scanner section identification unit 237 identifies the provisional positioning position of the previous scanner section SS, i.e., the midpoint between the center of the processing range PR previously registered as the scanner section candidate SSC and the center point C of the nearest metal pin, and virtually moves the position of the welding head 30 on the CAM software so that the identified midpoint coincides with the center of the processing range PR, thereby provisionally positioning the scanner section SS.

[0136] FIG. 14 is a diagram showing an example of the provisional positioning process and the bounding box determination process of this embodiment. In this embodiment, the scanner section specifying unit 237 moves the position of the welding head 30 as shown in Fig. 14(a). Then, as shown in Fig. 14(b), the scanner section specifying unit 237 again executes the bounding box determination process to determine whether the bounding box BB of the target metal pin P is within the processing range PR.

[0137] 14, the target metal pins P are the initially registered metal pin and the nearest metal pin, and the bounding box BB surrounding these metal pins P is included in the processing range PR. Therefore, in the bounding box determination process, the scanner section identification unit 237 determines that the bounding box BB is included in the processing range PR. Then, the scanner section identification unit 237 executes a candidate addition process to register the position of the welding head 30 and the pin information 244 of the metal pins P included in the processing range PR as a scanner section candidate SSC (S16 in FIG. 8).

[0138] After executing the candidate addition process, the scanner section identification unit 237 executes the tentative positioning process again. Specifically, it identifies a second nearby metal pin from among unregistered metal pins of the same type, and identifies the midpoint between the center of the processing range PR previously registered as the scanner section candidate SSC and the center point C of the identified second nearby metal pin. Then, the scanner section identification unit 237 virtually moves the position of the welding head 30 again on the CAM software so that the identified midpoint coincides with the center of the processing range PR, thereby performing tentative positioning of the scanner section SS.

[0139] In this embodiment, the scanner section identification unit 237 identifies, as the second neighboring metal pin, a metal pin P surrounding the initially registered metal pin that has not been identified as the nearest metal pin, among the unregistered metal pins of the same type. Specifically, when a metal pin P of the same type that is in a different row from the initially registered metal pin and has the same angle of the center point C as the initially registered metal pin is identified as the nearest metal pin, the scanner section identification unit 237 identifies, as the nearest metal pin, a metal pin P of the same type that is in the same row as the initially registered metal pin and located counterclockwise from the initially registered metal pin. Furthermore, when a metal pin P of the same type that is in the same row as the initially registered metal pin and located counterclockwise from the initially registered metal pin is identified as the nearest metal pin, the scanner section identification unit 237 identifies, as the nearest metal pin, a metal pin P of the same type that is in a different row from the initially registered metal pin and located counterclockwise from the initially registered metal pin and has the closest angle of the center point C to the initially registered metal pin.

[0140] FIG. 15 is a diagram showing an example of the provisional positioning process and the bounding box determination process of this embodiment. In this embodiment, the scanner section identification unit 237 identifies a metal pin P of the same type that is in a different row from the initially registered metal pin, is located counterclockwise from the initially registered metal pin, and has an angle of the center point C closest to the initially registered metal pin as the second adjacent metal pin, and moves the position of the welding head 30 as shown in Fig. 15(a).The scanner section identification unit 237 then performs a bounding box determination process again to determine whether the bounding box BB is within the processing range PR as shown in Fig. 15(b).

[0141] 15, the target metal pins P are the initially registered metal pin, the nearest metal pin, and the second nearest metal pin, and the bounding box BB surrounding these metal pins P is included in the processing range PR. Therefore, in the bounding box determination process, the scanner section identification unit 237 determines that the bounding box BB is included in the processing range PR. Then, the scanner section identification unit 237 executes a candidate addition process to register the position of the welding head 30 and the pin information 244 of the metal pins P included in the processing range PR as a scanner section candidate SSC (S16 in FIG. 8).

[0142] Thereafter, the scanner section identifying unit 237 identifies a third nearby metal pin using the same procedure as for identifying the second nearby metal pin, and identifies the midpoint between the center of the processing range PR previously registered as the scanner section candidate SSC and the center point C of the third nearby metal pin. Then, as shown in Fig. 16 , the scanner section identifying unit 237 again virtually moves the position of the welding head 30 on the CAM software so that the identified midpoint coincides with the center of the processing range PR, thereby temporarily positioning the scanner section SS.

[0143] 13, since there is no metal of the same type that can be identified as the third nearby metal pin, the scanner section identification unit 237 ends the registration of the scanner section candidate SSC. That is, if the scanner section identification unit 237 cannot identify the second nearby metal pin and the third nearby metal pin, it ends the registration of the scanner section candidate SSC at that point. Furthermore, if the scanner section identification unit 237 determines in the bounding box determination process that the bounding box BB is not within the processing range PR (NO in S15 of FIG. 8), it ends the registration of the scanner section candidate SSC.

[0144] In addition, when metal pins P with different conditions are mixed, the scanner section identification unit 237 virtually moves the position of the welding head 30 on the CAM software so that the center point C of the metal pin P located in the outermost row among the unregistered metal pins with different conditions coincides with the center of the processing range PR, performs a temporary positioning process to temporarily position the scanner section SS, and performs a bounding box determination process and a candidate addition process in the same procedure as the above-mentioned process.

[0145] The scanner section identification unit 237 is also configured to be able to execute an adoption candidate identification process that identifies a scanner section candidate SSC to be adopted as a scanner section SS from among the multiple registered scanner section candidates SSC (S17 in FIG. 8). Specifically, the scanner section identification unit 237 is configured to determine whether the scanner section candidate SSC satisfies a predetermined condition, and to identify the scanner section candidate SSC that satisfies the predetermined condition from among the multiple scanner section candidates SSC as the scanner section candidate SSC to be adopted.

[0146] In this embodiment, in the adoption candidate identification process, the scanner section identification unit 237 determines whether all of the predetermined conditions are satisfied for the scanner section candidate SSC, starting with the most recently registered one. If the scanner section identification unit 237 determines that the most recently registered scanner section candidate SSC satisfies all of the conditions, it identifies the most recently registered scanner section candidate SSC as the scanner section candidate SSC to be adopted as the scanner section SS. On the other hand, if it determines that the most recently registered scanner section candidate SSC does not satisfy one or more of the predetermined conditions, it determines whether the scanner section candidate SSC immediately preceding the most recently registered scanner section candidate SSC satisfies all of the predetermined conditions.

[0147] In this embodiment, if the scanner section identification unit 237 determines in the arrangement determination process described below that the angle difference described below does not match among the metal pins P registered as scanner section candidates SSC, it does not execute the interference determination process described below and determines whether the scanner section candidate SSC immediately before the most recently registered scanner section candidate SSC satisfies all of the predetermined conditions. Also, if the arrangement determination process also determines that the angle difference between the immediately previous scanner section candidate SSC does not match among the metal pins P registered as scanner section candidates SSC, it determines whether the scanner section candidate SSC immediately before that satisfies all of the predetermined conditions.

[0148] In the adoption candidate identification process, the scanner section identification unit 237 first executes an arrangement determination process to determine the arrangement of the metal pins P registered as the scanner section candidates SSC. In this embodiment, in the scanner section candidate SSC registered last, the processing range PR is located at the position shown in FIG. 15(a).

[0149] In the placement determination process, the scanner section identification unit 237 specifically calculates the difference between the angle of the center point C of a metal pin P registered as a scanner section candidate SSC and the angle of the center point C of a metal pin P that is not registered as a scanner section candidate SSC and is adjacent in the counterclockwise direction to the registered metal pin P. Then, the scanner section identification unit 237 determines whether the calculated difference matches for each of the metal pins P registered as scanner section candidates SSC.

[0150] FIG. 16 is a diagram illustrating an example of the employment candidate specification process according to this embodiment. In this embodiment, the multiple metal pins P are arranged at equal intervals as described above, and therefore, the differences in angle between the center points C of the registered metal pins P and the metal pins P adjacent in the counterclockwise direction are all 15°, which is the same, as shown in Fig. 16. Therefore, in the arrangement determination process, the scanner section identification unit 237 determines that there is a match.

[0151] Furthermore, when the scanner section identification unit 237 determines in the placement determination process that the calculated angle difference matches for each of the metal pins P registered as the scanner section candidate SSC, it executes an interference determination process to determine whether or not the bounding box BB of one or more metal pins P registered as the scanner section candidate SSC interferes with the metal pins P surrounding the scanner section candidate SSC. Specifically, the scanner section identification unit 237 determines whether or not the bounding box BB interferes with the same-row metal pin Psr, which is a metal pin P adjacent to the metal pin P registered as the scanner section candidate SSC.

[0152] Furthermore, the scanner section identification unit 237 determines whether the bounding box BB interferes with a same-angle metal pin Psa, which is a metal pin P located in a row in which there is no metal pin P registered as a scanner section candidate SSC and which has the same angle as the angle of the center point C of the metal pin P registered as a scanner section candidate SSC.

[0153] FIG. 17 is a diagram showing an example of the adoption candidate specification process and the processing order setting process of this embodiment. Furthermore, the scanner section identification unit 237 determines whether the bounding box BB does not interfere with different-row metal pins Pdr, which are metal pins P adjacent to the same-angle metal pin Psa in the clockwise and counterclockwise directions. As shown in Fig. 17, the bounding box BB does not interfere with any of the same-row metal pins Psr, same-angle metal pins Psa, and different-row metal pins Pdr. Therefore, the scanner section identification unit 237 determines that the bounding box BB does not interfere with any of the same-row metal pins Psr, same-angle metal pins Psa, and different-row metal pins Pdr.

[0154] Therefore, the scanner section identification unit 237 determines that the last registered scanner section candidate SSC satisfies all the conditions, and identifies the last registered scanner section candidate SSC as the scanner section candidate SSC to be adopted as the scanner section SS.

[0155] Furthermore, after identifying the scanner section SS of the row (first row) including the first processed metal pin P1, the scanner section identification unit 237 is configured to identify the scanner section SS including the metal pins P arranged in the second row or later, by virtually moving the position of the welding head 30 on the CAM software so that the center point C of the metal pin P to be processed first, identified by the angle identification unit 235 among the multiple metal pins P arranged in that row, coincides with the center of the processing range PR of the welding head 30, thereby temporarily positioning the scanner section SS and identifying the scanner sections SS of the second row or later.

[0156] In addition, when the scanner section identification unit 237 identifies a scanner section candidate SSC including multiple rows of metal pins P as the scanner section candidate SSC to be adopted for the scanner section SS in identifying the first row of scanner section SS, it is configured to omit processing of the rows included in the scanner section SS along with the first row.

[0157] For example, as described above, when the scanner section candidate SSC including the metal pins P in the first and second rows is identified as the scanner section candidate SSC to be adopted as the scanner section SS, the scanner section identification unit 237 omits processing of the second row. Then, the scanner section identification unit 237 identifies the scanner section SS including the metal pins P arranged in the third row (the innermost row in this embodiment).

[0158] The machining order setting unit 239 is configured to be able to execute a machining order setting process that sets the machining order of the metal pins P in the scanner section SS identified by the scanner section identifying unit 237 (S18 in Fig. 8). As shown in Fig. 17, the machining order of the metal pins P in the scanner section SS is prioritized for the metal pins P located in the machining start row accepted in the row selection accepting process. Furthermore, if there are multiple metal pins P in the same row, the metal pins P located in the opposite direction to the rotation direction during machining are prioritized.

[0159] The control unit 230 having the above configuration is configured to be able to execute a program creation process to create a welding processing program 245 for causing the welding device 10 to execute a process of rotating the table 20 in the rotation direction and rotation angle specified by the angle specification unit 235 (S19 in Figure 8).

[0160] The storage unit 240 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. As shown in Fig. 3, the storage unit 240 stores arrangement information 241, a 3D model 243, pin information 244, a welding program 245, and a welding program creation program 248. The storage unit 240 also stores programs required for controlling each part of the welding program creation device 200.

[0161] The welding processing program 245 can be configured to be able to execute a first rotation control process in which the first processed metal pin P1 reaches the processing range PR by rotating the table 20 in a first rotation direction, and a second rotation control process in which the second processed metal pin P2 adjacent to the first rotation direction side of the first processed metal pin P1 reaches the processing range PR by rotating the table 20 in a second rotation direction opposite to the first rotation direction.

[0162] In addition, the welding processing program 245 may be configured to be able to execute a first rotation control process in which the first processed metal pin P1 reaches the processing range PR by rotating the table 20 in a first rotation direction, and a second rotation control process in which the second processed metal pin P2 adjacent to the first processed metal pin P1 on the second rotation direction side opposite to the first rotation direction reaches the processing range PR by rotating the table 20 in the first rotation direction.

[0163] The welding processing program creation program 248 causes the welding processing program creation device 200 to execute an initial processing rotation information determination process that determines the rotation direction and rotation angle from the origin rotation angle of the table 20 at the start of processing based on the arrangement information 241 of multiple metal pins P that are arranged along the circumferential direction of the table 20, which can rotate in the circumferential direction, and that move in the circumferential direction of the table 20 in accordance with the rotation of the table 20, and the clockwise and counterclockwise rotation range based on the origin rotation angle of the table 20, and a program creation process that creates a welding processing program 245 for causing the welding device 10 to execute the process of rotating the table 20 in the determined rotation direction and rotation angle.

[0164] [Welding processing program creation method according to this embodiment] FIG. 18 is a flowchart showing an example of a welding processing program creating method according to this embodiment. Next, a welding program creation method by the welding program creation device 200 according to this embodiment will be described with reference to Figures 8 and 18. In the welding program creation method according to this embodiment, the welding program creation device 200 generally performs an initial processing rotation information specifying step of specifying a rotation direction and rotation angle from an origin rotation angle of the table 20 at the start of processing based on arrangement information 241 of a plurality of metal pins P that are arranged along the circumferential direction of the table 20 on the circumferentially rotatable table 20 and move in the circumferential direction of the table 20 in accordance with the rotation of the table 20, and on a range of clockwise and counterclockwise rotation based on the origin rotation angle of the table 20, and a program creation step of creating a welding program 245 for causing the welding apparatus 10 to execute a process of rotating the table 20 in the specified rotation direction and rotation angle.

[0165] First, the angle specifying unit 235 of the control unit 230 of the welding processing program creation device 200 acquires the arrangement information 241 and information on the range of clockwise and counterclockwise rotation based on the origin rotation angle of the table 20. Next, the angle specifying unit 235 determines whether or not at least one of the multiple metal pins P is arranged at a position where it cannot reach the processing range PR when it is assumed that the table 20 is rotated clockwise up to a predetermined allowable amount (S10 in FIG. 8: clockwise rotation determination step).

[0166] The angle specifying unit 235 also determines whether or not at least one of the multiple metal pins P is positioned in a position that cannot reach the processing range PR of the welding head 30, assuming that the table 20 is rotated counterclockwise up to a predetermined allowable amount (S11 in FIG. 8: counterclockwise rotation determination step).The angle specifying unit 235 then specifies a first processed metal pin P1 to be processed first among the multiple metal pins P, based on the determination results of the clockwise rotation determination step and the counterclockwise rotation determination step (S12 in FIG. 8: initial processed metal pin identification step).

[0167] If the angle identification unit 235 determines in the clockwise determination process that at least one of the multiple metal pins P is positioned in a position that cannot reach the processing range PR, and if it determines in the counterclockwise determination process that at least one of the multiple metal pins P is positioned in a position that cannot reach the processing range PR (YES in S100 of Figure 18), it identifies the metal pin P that is positioned in a position where the rotation angle from the origin rotation angle of the table 20 is maximum as the first processed metal pin P1 (S101 of Figure 18).

[0168] Next, the angle specifying unit 235 specifies the rotation direction and rotation angle at which the specified first processed metal pin P1 is included in the processing range PR when the table 20 is rotated (S102 in FIG. 18). Then, the control unit 230 creates a welding processing program 245 for causing the welding device 10 to execute a process of rotating the table 20 in the specified rotation direction and rotation angle (S19 in FIG. 8, S103 in FIG. 18: program creation step).

[0169] On the other hand, if the angle identification unit 235 determines in either the clockwise determination process or the counterclockwise determination process that at least one of the multiple metal pins P is positioned in a position that cannot reach the processing range PR (NO in S100 of Figure 18, YES in S104 of Figure 18), it identifies, among the multiple metal pins P, the metal pin P that is positioned in a position where the rotation angle from the origin rotation angle of the table 20 is smallest when assumed to be rotated in the direction opposite to the direction in which it was determined that the metal pin is positioned in the unreachable position, as the first processed metal pin P1 (S105 of Figure 18).

[0170] Then, when the table 20 is rotated, the angle identification unit 235 identifies the rotation direction and rotation angle at which the identified first processed metal pin P1 is included in the processing range PR (S102 in Figure 18), and the control unit 230 creates a welding processing program 245 (S19 in Figure 8, S103 in Figure 18: program creation process).

[0171] Furthermore, if the angle identification unit 235 determines in the clockwise determination process that no metal pin P is positioned in a position where it cannot reach the processing range PR, and if it determines in the counterclockwise determination process that no metal pin P is positioned in a position where it cannot reach the processing range PR (NO in S100 of Figure 18 and NO in S104 of Figure 18), it identifies, among the multiple metal pins P, the metal pin P that is positioned in a position where the rotation angle from the origin rotation angle of the table 20 is the smallest, as the first processed metal pin P1 (S106 of Figure 18).

[0172] Then, the angle specifying unit 235 specifies the rotation direction and rotation angle at which the specified first processed metal pin P1 is included in the processing range PR when the table 20 is rotated (S102 in FIG. 18), and the control unit 230 creates a welding processing program 245 (S19 in FIG. 8, S103 in FIG. 18: program creation step). Through the above steps, a series of welding processing program creation methods are performed by the welding processing program creation device 200 according to this embodiment.

[0173] [Advantages of the welding processing program creation device, welding processing program creation method, and welding processing program creation program according to this embodiment] As described above, the welding processing program creation device 200 of this embodiment is configured to be able to execute an initial processing rotation information determination process that determines the rotation direction and rotation angle from the origin rotation angle of the table 20 at the start of processing based on the arrangement information 241 of multiple metal pins P that are arranged circumferentially on the table 20 that can rotate circumferentially and move circumferentially in accordance with the rotation of the table 20, and the clockwise and counterclockwise rotation range based on the origin rotation angle of the table 20, and a program creation process that creates a welding processing program 245 to cause the welding apparatus 10 to execute the process of rotating the table 20 in the determined rotation direction and rotation angle.

[0174] The welding processing program creation device 200 of this embodiment has such a configuration that it automatically determines the rotation direction and rotation angle from the origin rotation angle of the table 20 at the start of processing and creates a welding processing program 245, thereby having the advantage of being able to create a welding processing program 245 that enables efficient welding.

[0175] The welding processing program creation device 200 according to this embodiment is further configured to be able to execute an initial processing metal pin identification process that identifies a first processed metal pin P1 to be processed first among the multiple metal pins P based on the arrangement information 241 and the rotatable range, and the initial processing rotation information identification process identifies a rotation direction and rotation angle at which the first processed metal pin P1 identified in the initial processed metal pin identification process falls within the processing range PR of the welding head 30 that irradiates the metal pin P with laser light when the table 20 is rotated. This configuration automatically identifies the first processed metal pin P1 to be processed first, and determines a rotation direction and rotation angle at which the first processed metal pin P1 falls within the processing range PR at the start of processing, thereby advantageously enabling creation of a welding processing program 245 that enables efficient welding.

[0176] Furthermore, the welding processing program creation device 200 according to this embodiment is configured to be able to execute a clockwise rotation determination process for determining whether at least one of the plurality of metal pins P is positioned in a position that cannot reach the processing range PR when the table 20 is assumed to be rotated clockwise to a predetermined allowable amount, and a counterclockwise rotation determination process for determining whether at least one of the plurality of metal pins P is positioned in a position that cannot reach the processing range PR when the table 20 is assumed to be rotated counterclockwise to a predetermined allowable amount, and is configured to identify the first processed metal pin P1 in the initial processed metal pin identification process based on the determination results of the clockwise rotation determination process and the counterclockwise rotation determination process. This configuration has the advantage of being able to create a welding processing program 245 that enables more efficient welding because the first processed metal pin P1 is identified based on the determination results of the clockwise rotation determination process and the counterclockwise rotation determination process when the table 20 is assumed to be rotated clockwise and counterclockwise to a predetermined allowable amount.

[0177] Furthermore, when the welding program creation device 200 according to this embodiment determines in the clockwise rotation determination process that at least one of the plurality of metal pins P is located in a position that cannot reach the processing range PR and determines in the counterclockwise rotation determination process that at least one of the plurality of metal pins P is located in a position that cannot reach the processing range PR, it identifies, among the metal pins P located in positions that cannot reach the processing range PR, the metal pin P located in the position where the rotation angle from the origin rotation angle of the table 20 is greatest, as the first processed metal pin P1, and identifies, as the processing start angle, the rotation angle at which the identified first processed metal pin P1 is included in the processing range PR. This configuration has the advantage that all of the metal pins P located in the same row as the first processed metal pin P1 can be welded simply by rotating the table 20 in one direction from the first processed metal pin P1, thereby enabling creation of a welding program 245 that enables more efficient welding.

[0178] Furthermore, in the welding processing program creation device 200 according to this embodiment, the welding processing program 245 is configured to be able to execute a first rotation control process for rotating the table 20 in a first rotation direction to cause the first processed metal pin P1 to reach the processing range PR, and a second rotation control process for rotating the table 20 in a second rotation direction opposite to the first rotation direction to cause the second processed metal pin P2 adjacent to the first processed metal pin P1 on the first rotation direction side to reach the processing range PR. This configuration makes it possible to create a welding processing program 245 that minimizes the rotation distance of the table 20 (minimizes the amount of rotation of the table 20) regardless of the arrangement of the metal pins P, which has the advantage of being able to create a welding processing program 245 that enables more efficient welding.

[0179] Furthermore, when the welding processing program creation device 200 according to this embodiment determines in one of the clockwise rotation determination process and the counterclockwise rotation determination process that at least one of the multiple metal pins P is positioned in a position that cannot reach the processing range PR, the welding processing program creation device 200 identifies, among the multiple metal pins P, the metal pin P that is positioned at the smallest rotation angle from the origin rotation angle of the table 20 when it is assumed that the table 20 is rotated in the direction opposite to the direction in which it was determined that the metal pins P are positioned in the unreachable position, as the first processed metal pin P1, and identifies the rotation angle at which the identified first processed metal pin P1 is included in the processing range PR as the processing start angle. This configuration has the advantage that all of the metal pins P positioned in the same row as the first processed metal pin P1 can be welded simply by rotating the table 20 in one direction starting from the first processed metal pin P1, thereby enabling creation of a welding processing program 245 that enables more efficient welding.

[0180] Furthermore, when the welding processing program creation device 200 according to this embodiment determines in the clockwise rotation determination process that no metal pin P is arranged in a position that cannot reach the processing range PR and determines in the counterclockwise rotation determination process that no metal pin P is arranged in a position that cannot reach the processing range PR, it identifies, among the multiple metal pins P, the metal pin P arranged in a position where the rotation angle from the origin rotation angle of the table 20 is smallest, as the first processed metal pin P1, and identifies the rotation angle at which the identified first processed metal pin P1 is included in the processing range PR as the processing start angle. With this configuration, all of the metal pins P arranged in the same row as the first processed metal pin P1 can be welded simply by rotating the table 20 in one direction from the first processed metal pin P1, which has the advantage of enabling creation of a welding processing program 245 that enables more efficient welding.

[0181] Furthermore, in the welding processing program creation device 200 according to this embodiment, the welding processing program 245 is configured to be able to execute a first rotation control process for rotating the table 20 in a first rotation direction to cause the first processed metal pin P1 to reach the processing range PR, and a second rotation control process for rotating the table 20 in the first rotation direction to cause the second processed metal pin P2 adjacent to the first processed metal pin P1 in a second rotation direction opposite to the first rotation direction to reach the processing range PR. This configuration makes it possible to create a welding processing program 245 that minimizes the rotation distance of the table 20 (minimizes the amount of rotation of the table 20) regardless of the arrangement of the metal pins P, which has the advantage of being able to create a welding processing program 245 that enables more efficient welding.

[0182] The welding processing program creation device 200 according to this embodiment is configured to be able to group a plurality of metal pins P based on the arrangement information 241, and is configured to identify the second processed metal pin P2 from among the metal pins P grouped in the same group as the first processed metal pin P1. With this configuration, it is possible to machine a metal pin P grouped in the same group as the first processed metal pin P1, for example, a metal pin P having the same height and shape as the first processed metal pin P1, after the first processed metal pin P1. In this case, there is no need to change the machining conditions PC after machining the first processed metal pin P1 and before machining the second processed metal pin P2, which has the advantage of making it possible to create a welding processing program 245 that enables more efficient welding.

[0183] The welding processing program creation device 200 according to this embodiment is configured to identify the position of the processing range PR of the welding head 30 that can process the first processed metal pin P1 and other metal pins P without rotating the table 20 or moving the welding head 30, based on the arrangement information 241. This configuration has the advantage that the number of times the table 20 needs to be rotated can be reduced, thereby enabling the creation of a welding processing program 245 that enables more efficient welding.

[0184] The welding processing program creation device 200 according to this embodiment is configured to identify the position of the processing range PR that maximizes the number of metal pins P that can be processed together with the first processed metal pin P1. This configuration has the advantage of identifying the position of the processing range PR that minimizes the total number of scanner sections SS and further reducing the number of times the table 20 is rotated, thereby enabling the creation of a welding processing program 245 that enables more efficient welding.

[0185] [Variations] Although the preferred embodiments of the present invention have been described above, the technical scope of the present invention is not limited to the scope described in the above-described embodiments. Various modifications and improvements can be made to the above-described embodiments.

[0186] For example, in the above-described embodiment, the welding processing program creation device 200 is configured to further execute an initial processing metal pin identification process that identifies a first processed metal pin P1 among the multiple metal pins P to be machined first based on the arrangement information 241 and the rotational range. The initial processing rotation information identification process is described as identifying a rotation direction and a rotation angle that, when the table 20 is rotated, causes the first processed metal pin P1 identified in the initial processing metal pin identification process to be included in the processing range PR of the welding head 30 that irradiates the metal pin P with laser light. However, this is not limited to this. The welding processing program creation device 200 does not necessarily have to execute the initial processing metal pin identification process. Furthermore, instead of identifying a first processed metal pin P1 among the multiple metal pins P to be machined first, the welding processing program creation device 200 may identify a metal pin P among the multiple metal pins P to be machined last. Furthermore, the welding processing program creation device 200 may identify one or more priority processing metal pins that should be machined preferentially.

[0187] In the above-described embodiment, the welding processing program creation device 200 is configured to execute a clockwise rotation determination process that determines whether at least one of the multiple metal pins P is positioned in a position that cannot reach the processing range PR when the table 20 is rotated clockwise by a predetermined allowable amount, and a counterclockwise rotation determination process that determines whether at least one of the multiple metal pins P is positioned in a position that cannot reach the processing range PR when the table 20 is rotated counterclockwise by a predetermined allowable amount, and is configured to identify the first processed metal pin P1 in the initial processed metal pin identification process based on the determination results of the clockwise rotation determination process and the counterclockwise rotation determination process. However, the welding processing program creation device 200 does not necessarily have to execute at least one of the clockwise rotation determination process and the counterclockwise rotation determination process.

[0188] In the above-described embodiment, when the welding program creation device 200 determines in the clockwise rotation determination process that at least one of the multiple metal pins P is located in a position that cannot reach the processing range PR and determines in the counterclockwise rotation determination process that at least one of the multiple metal pins P is located in a position that cannot reach the processing range PR, it identifies, among the metal pins P located in positions that cannot reach the processing range PR, the metal pin P located in a position where the rotation angle from the origin rotation angle of the table 20 is the largest, as the first processed metal pin P1, and identifies, as the processing start angle, the rotation angle at which the identified first processed metal pin P1 falls within the processing range PR. However, this is not limited to this. The welding program creation device 200 does not need to identify, among the metal pins P located in positions that cannot reach the processing range PR, the metal pin P located in a position where the rotation angle from the origin rotation angle of the table 20 is the largest, as the first processed metal pin P1.

[0189] For example, the welding processing program creation device 200 may identify, among all the metal pins P arranged on the table 20, the metal pin P arranged at a position where the rotation angle from the origin rotation angle of the table 20 is maximum as the first processed metal pin P1. Also, the welding processing program creation device 200 may identify, among all the metal pins P arranged on the table 20, the metal pin P arranged at a position where the rotation angle from the origin rotation angle of the table 20 is minimum as the first processed metal pin P1.

[0190] In the above-described embodiment, the welding program 245 is described as being configured to execute a first rotation control process in which the first processed metal pin P1 reaches the processing range PR by rotating the table 20 in a first rotation direction, and a second rotation control process in which the second processed metal pin P2 adjacent to the first processed metal pin P1 on the first rotation direction side reaches the processing range PR by rotating the table 20 in a second rotation direction opposite to the first rotation direction. However, the present invention is not limited to this. In the second rotation control process, the welding program 245 may rotate the table 20 in the first rotation direction to cause the second processed metal pin P2 adjacent to the first processed metal pin P1 on the second rotation direction side to reach the processing range PR.

[0191] In the above-described embodiment, when the welding processing program creation device 200 determines in one of the clockwise rotation determination process and the counterclockwise rotation determination process that at least one of the multiple metal pins P is positioned in an unreachable position within the processing range PR, it identifies, as the first processed metal pin P1, the metal pin P that is positioned at the smallest rotation angle from the origin rotation angle of the table 20 when the table 20 is rotated in the direction opposite to the direction in which it was determined that the pins are positioned in the unreachable position, and it identifies, as the processing start angle, the rotation angle at which the identified first processed metal pin P1 is included within the processing range PR. However, this is not limited to this. The welding processing program creation device 200 does not have to identify, as the first processed metal pin P1, the metal pin P that is positioned at the smallest rotation angle from the origin rotation angle of the table 20 when the table 20 is rotated in the direction opposite to the direction in which it was determined that the pins are positioned in the unreachable position.

[0192] For example, the welding processing program creation device 200 may identify, among the metal pins P located in positions that cannot reach the processing range PR, a metal pin P that is adjacent to a metal pin P located in a position where the rotation angle from the origin rotation angle of the table 20 is maximum and that is located in a position where the processing range PR can be reached, as the first processed metal pin P1. Also, the welding processing program creation device 200 may identify, among the multiple metal pins P, a metal pin P located in a position where the linear distance from the origin rotation angle position is maximum, as the first processed metal pin P1. Furthermore, the welding processing program creation device 200 may identify, as the first processed metal pin P1, a metal pin P located in a position where the rotation angle from the origin rotation angle is 180°.

[0193] In the above-described embodiment, when the welding program creation device 200 determines in the clockwise rotation determination process that no metal pin P is positioned at a position that cannot reach the processing range PR and determines in the counterclockwise rotation determination process that no metal pin P is positioned at a position that cannot reach the processing range PR, the welding program creation device 200 identifies, among the multiple metal pins P, the metal pin P positioned at a position where the rotation angle from the origin rotation angle of the table 20 is smallest as the first processed metal pin P1 and identifies the rotation angle at which the identified first processed metal pin P1 is included in the processing range PR as the processing start angle. However, this is not limited to this. The welding program creation device 200 does not have to identify, among the multiple metal pins P, the metal pin P positioned at a position where the rotation angle from the origin rotation angle of the table 20 is smallest as the first processed metal pin P1. For example, the welding program creation device 200 may identify, among the multiple metal pins P, the metal pin P positioned at a position where the rotation angle from the origin rotation angle of the table 20 is largest as the first processed metal pin P1.

[0194] In the above-described embodiment, the welding program 245 is described as being configured to execute a first rotation control process in which the first processed metal pin P1 reaches the processing range PR by rotating the table 20 in a first rotation direction, and a second rotation control process in which the second processed metal pin P2 adjacent to the first processed metal pin P1 in a second rotation direction opposite to the first rotation direction by rotating the table 20 in the first rotation direction, to reach the processing range PR. However, the present invention is not limited to this. In the second rotation control process, the welding program 245 may rotate the table 20 in the second rotation direction to cause the second processed metal pin P2 adjacent to the first processed metal pin P1 in the first rotation direction to reach the processing range PR.

[0195] In the above-described embodiment, the welding program creation device 200 is described as being configured to be able to group the plurality of metal pins P based on the arrangement information 241 and to identify the second processed metal pin P2 from among the metal pins P grouped in the same group as the first processed metal pin P1, but this is not limiting. The welding program creation device 200 does not have to be able to group the plurality of metal pins P based on the arrangement information 241. Furthermore, the welding program creation device 200 may identify the second processed metal pin P2 from among the metal pins P grouped in a different group from the first processed metal pin P1. Furthermore, in the above-described embodiment, the welding program creation device 200 is described as being configured to be able to identify and group metal pins P of the same height and shape from among the plurality of metal pins P, but this is not limiting. The welding program creation device 200 does not have to be able to identify and group metal pins P of the same height and shape from among the plurality of metal pins P.

[0196] In the above-described embodiment, the welding processing program creation device 200 has been described as being configured to identify, based on the arrangement information 241, the position of the processing range PR of the welding head 30 where other metal pins P can be processed together with the first processed metal pin P1 without rotating the table 20 or moving the welding head 30, but this is not limited to this. The welding processing program creation device 200 does not have to identify, based on the arrangement information 241, the position of the processing range PR of the welding head 30 where other metal pins P can be processed together with the first processed metal pin P1 without rotating the table 20 or moving the welding head 30.

[0197] In the above-described embodiment, the welding processing program creation device 200 has been described as being configured to identify the position of the processing range PR in which the number of metal pins P that can be processed together with the first processed metal pin P1 is the largest, but this is not limited thereto. The welding processing program creation device 200 does not have to identify the position of the processing range PR in which the number of metal pins P that can be processed together with the first processed metal pin P1 is the largest.

[0198] In the above-described embodiment, the welding processing program creation device 200 is described as being provided separately from the control device 100 of the welding device 10, but this is not limiting. The control device 100 and the welding processing program creation device 200 may be configured as an integrated unit.

[0199] In the above-described embodiment, camera 50 has been described as being attached above table 20 on the ceiling surface or the like, but this is not limited thereto. Camera 50 may be built into welding head 30 and pointed in the same direction as the direction in which welding head 30 emits laser light. Camera 50 may also be attached to the outside of welding head 30. When camera 50 is built into welding head 30 or attached to the outside of welding head 30, control device 100 may rotate the image data in accordance with the attitude of welding head 30 (camera 50).

[0200] In the above-described embodiment, the scanner section identification unit 237 has been described as identifying a metal pin P of the same type that is in a different row from the initially registered metal pin and has the same angle of the center point C as the initially registered metal pin as the nearest metal pin, but this is not intended to be limiting. Furthermore, when there is no metal pin P of the same type that is in a different row from the initially registered metal pin and has the same angle of the center point C as the initially registered metal pin, the scanner section identification unit 237 has been described as identifying a metal pin P of the same type that is in the same row as the initially registered metal pin and is located counterclockwise from the initially registered metal pin as the nearest metal pin, but this is not intended to be limiting. Furthermore, when there is no metal pin P of the same type that is in the same row as the initially registered metal pin and is located counterclockwise from the initially registered metal pin, the scanner section identification unit 237 has been described as identifying a metal pin P of the same type that is in a different row from the initially registered metal pin, is located counterclockwise from the initially registered metal pin, and has the closest angle of the center point C to the initially registered metal pin as the nearest metal pin, but this is not intended to be limiting.

[0201] FIG. 19 is a diagram showing a modification of the nearest metal pin identification process of this embodiment. For example, as shown in FIG. 19, the scanner section identification unit 237 may identify the nearest metal pin by calculating the distance between the following same type metal pin and the initially registered metal pin as a candidate for the nearest metal pin. 1. A metal pin P of the same type as the initially registered metal pin, which is in the same row as the initially registered metal pin and is located in the counterclockwise direction of the initially registered metal pin (first candidate for the nearest metal pin Pn1). 2. A metal pin P of the same type that is in a different row from the initially registered metal pin and has the same angle of the center point C as the initially registered metal pin (second candidate for the nearest metal pin Pn2). 3. A metal pin P of the same type that is in a different row from the initially registered metal pin, is located counterclockwise from the initially registered metal pin, and has an angle of its center point C that is closest to the initially registered metal pin (third candidate for the nearest metal pin Pn3).

[0202] More specifically, the scanner section identification unit 237 calculates the straight-line distance between the center point C of the initially registered metal pin and the center points C of the same type of metal pins (first candidate Pn1 to third candidate Pn3) that are candidates for the nearest metal pin, and identifies the same type of metal pin with the shortest calculated distance as the nearest metal pin. In the example shown in Figure 19, the same type of metal pin (first candidate Pn1) located (adjacent) in the counterclockwise direction of the initially registered metal pin is identified as the nearest metal pin.

[0203] If the straight-line distances between the center point C of the initially registered metal pin and the center points C of the first candidate Pn1 to the third candidate Pn3 are all the same, the scanner section identification unit 237 may identify the candidate having the closest angle to the initially registered metal pin (in this embodiment, the second candidate Pn2) as the nearest metal pin. Also, the scanner section identification unit 237 may identify the nearest metal pin based on various arbitrary information such as the arrangement position of the gas nozzle.

[0204] In addition, when identifying the nearest metal pin from the first candidate Pn1 to the third candidate Pn3, the scanner section identification unit 237 may identify the candidate with the second shortest straight-line distance from the center point C of the initially registered metal pin as the second nearest metal pin, and the candidate with the third shortest straight-line distance as the third nearest metal pin. [Explanation of symbols]

[0205] 1. Welding System 10 Welding equipment 20 tables 30 welding head 50 cameras 100 control device 200 Welding processing program creation device 210 Input section 220 Display section 230 Control Unit 231 Sorting Section 233 Information Linking Department 235 Angle identification part 237 Scanner Section Specific Part 239 Machining order setting section 240 Storage section 241 Placement information 242 Location information 243 3D models 244 Pin Information 245 Welding Processing Program 248 Welding processing program creation program BB Bounding Box C center point MI material information P Metal pin P1 First processed metal pin Pdr dissimilar metal pin Psa same angle metal pin Psr metal pin PC processing conditions PR processing range S Metal pin tip SC stator core SP Scanner Pattern SS Scanner Section SSC Scanner Section Candidate i Virtual plane

Claims

1. an initial processing rotation information identification process for identifying a rotation direction and a rotation angle of the table from an origin rotation angle at the start of processing, based on arrangement information of a plurality of metal pins that are arranged along the circumferential direction on a table that is rotatable in the circumferential direction and move in the circumferential direction in accordance with the rotation of the table, and a clockwise and counterclockwise rotatable range based on the origin rotation angle of the table; a program creation process for creating a welding processing program for causing a welding device to execute a process for rotating the table in the specified rotation direction and rotation angle; is configured to run Welding processing program creation device.

2. a first processed metal pin identification process for identifying a first processed metal pin to be processed first among the plurality of metal pins based on the arrangement information and the rotatable range, In the initial processing rotation information specifying process, the rotation direction and the rotation angle are specified such that the first processed metal pin specified in the initial processed metal pin specifying process is included in a processing range of a welding head that irradiates the metal pin with laser light when the table is rotated.

2. The welding processing program creating device according to claim 1.

3. a clockwise rotation determination process for determining whether or not at least one of the plurality of metal pins is positioned at a position that cannot reach the processing range when the table is assumed to be rotated clockwise up to a predetermined allowable amount; a counterclockwise rotation determination process for determining whether or not at least one of the plurality of metal pins is positioned at a position that cannot reach the processing range when the table is assumed to be rotated counterclockwise up to a predetermined allowable amount; It is configured to be able to execute In the initial processed metal pin identification process, the first processed metal pin is identified based on the determination results of the clockwise rotation determination process and the counterclockwise rotation determination process.

3. The welding processing program creating device according to claim 2.

4. When it is determined in the clockwise rotation determination process that at least one of the plurality of metal pins is arranged in a position that cannot reach the machining range, and when it is determined in the counterclockwise rotation determination process that at least one of the plurality of metal pins is arranged in a position that cannot reach the machining range, among the metal pins arranged in positions that cannot reach the machining range, the metal pin arranged in a position where the rotation angle from the origin rotation angle of the table is maximum is identified as the first machining metal pin, and the rotation angle at which the identified first machining metal pin is included in the machining range is identified as the machining start angle.

4. The welding processing program creating device according to claim 3.

5. The welding processing program a first rotation control process for rotating the table in a first rotation direction to cause the first processed metal pin to reach the processing range; a second rotation control process for rotating the table in a second rotation direction opposite to the first rotation direction, thereby causing a second processed metal pin adjacent to the first processed metal pin on the first rotation direction side to reach the processing range; It is configured to be able to run 5. The welding processing program creating device according to claim 4.

6. When it is determined in one of the clockwise rotation determination process and the counterclockwise rotation determination process that at least one of the plurality of metal pins is positioned in a position that cannot reach the machining range, the metal pin that is positioned at a position where the rotation angle from the origin rotation angle of the table is smallest when the metal pin is assumed to be rotated in the direction opposite to the direction in which it was determined that the pin is positioned in the unreachable position is identified as the first machining metal pin, and the rotation angle at which the identified first machining metal pin is included in the machining range is identified as the machining start angle.

4. The welding processing program creating device according to claim 3.

7. If it is determined in the clockwise rotation determination process that the metal pin is not positioned at a position where it cannot reach the machining range, and if it is determined in the counterclockwise rotation determination process that the metal pin is not positioned at a position where it cannot reach the machining range, the metal pin that is positioned at the smallest rotation angle from the origin rotation angle of the table among the multiple metal pins is identified as the first machining metal pin, and the rotation angle at which the identified first machining metal pin is included in the machining range is identified as the machining start angle.

4. The welding processing program creating device according to claim 3.

8. The welding processing program a first rotation control process for rotating the table in a first rotation direction to cause the first processed metal pin to reach the processing range; a second rotation control process for rotating the table in the first rotation direction to allow a second processed metal pin adjacent to the first processed metal pin on a second rotation direction side opposite to the first rotation direction to reach the processing range; It is configured to be able to run 8. The welding processing program creating device according to claim 6 or 7.

9. The device is configured to be able to group the plurality of metal pins based on the arrangement information, and is configured to identify the second processed metal pin from among the metal pins grouped into the same group as the first processed metal pin. The welding processing program creating device according to claim 8.

10. The position of the processing range of the welding head that can process other metal pins together with the first processed metal pin without rotating the table or moving the welding head is identified based on the arrangement information. The welding processing program creating device according to any one of claims 2 to 7.

11. The position of the processing range where the number of metal pins that can be processed together with the first processing metal pin is maximized is identified. The welding processing program creating device according to claim 10.

12. an initial processing rotation information specifying step of specifying a rotation direction and a rotation angle from an origin rotation angle of the table at the start of processing based on arrangement information of a plurality of metal pins that are arranged along the circumferential direction on a table that is rotatable in the circumferential direction and move in the circumferential direction in accordance with the rotation of the table, and a clockwise and counterclockwise rotatable range based on the origin rotation angle of the table; a program creation process for creating a welding processing program for causing a welding device to execute a process for rotating the table in the specified rotation direction and rotation angle; The welding processing program creation device executes How to create a welding processing program.

13. an initial processing rotation information identification process for identifying a rotation direction and a rotation angle of the table from an origin rotation angle at the start of processing, based on arrangement information of a plurality of metal pins that are arranged along the circumferential direction on a table that is rotatable in the circumferential direction and move in the circumferential direction in accordance with the rotation of the table, and a clockwise and counterclockwise rotatable range based on the origin rotation angle of the table; a program creation process for creating a welding processing program for causing a welding device to execute a process for rotating the table in the specified rotation direction and rotation angle; The welding processing program creation device executes the above. Welding processing program creation program.

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