Welding teaching program creation system, welding teaching program creation device, welding teaching program creation program, and welding teaching program creation method

Abstract

A welding teaching program creation method comprises: acquiring position information pertaining to an operation axis of a production device having the operation axis, the production device producing a workpiece in cooperation with a welding robot that performs welding; receiving an input of a teaching point for teaching a welding operation of the welding robot; calculating orientation information pertaining to the welding robot on the basis of position information pertaining to the teaching point; generating a movement command in which the orientation information pertaining to the welding robot and the position information pertaining to the operation axis of the production device are associated with each other; and creating and outputting an operation program for causing the welding robot and the production device to produce the workpiece on the basis of a plurality of movement commands.

Description

Welding teaching program creation system, welding teaching program creation device, welding teaching program creation program, and welding teaching program creation method

[0001] The present disclosure relates to a welding teaching program creation system, a welding teaching program creation device, a welding teaching program creation program, and a welding teaching program creation method.

[0002] Patent Document 1 discloses an offline teaching device for a work robot that displays a 3D model of the work robot and 3D models of a workpiece and peripheral equipment on the screen of a personal computer (hereinafter also referred to as a PC), simulates the operation of the 3D model of the work robot according to a robot program, and modifies the robot program based on the results of the replay operation. In the offline teaching device, the work robot, slider, and positioner move in response to operation of a control panel, and their positions are sent to the PC main unit via a communication line. Software that operates the displayed 3D model is installed on the PC. Processes for creating and modifying the robot program are executed within the robot controller in response to operation of the control panel. The robot program is stored in memory within the robot controller.

[0003] Japanese Patent Application Laid-Open No. 2007-272309

[0004] The present disclosure provides a welding teaching program creation system, a welding teaching program creation device, a welding teaching program creation program, and a welding teaching program creation method for creating a welding teaching program for welding performed in collaboration between a welding robot and a device other than a welding robot.

[0005] The present disclosure provides a welding teaching program creation system including a first teaching device and a second teaching device operated by a worker, an external device that controls motion axes of a production device that produces a workpiece in cooperation with a welding robot that performs welding, and a terminal device that can communicate with the first teaching device, the second teaching device, and the external device, wherein the first teaching device is configured to receive a designation operation for position information of the motion axes of the production device and instruct the external device to control the motion axes to positions indicated by the position information based on the designation operation, and the external device controls the motion axes of the production device to the positions indicated by the position information of the motion axes based on the designation operation, and transmits the position information of the motion axes based on the designation operation to the terminal device. the terminal device is configured to acquire the position information of the motion axes of the production device, the second teaching device is configured to accept input of teaching points that teach the welding robot welding operations based on teaching operations by the worker, and to transmit position information of the teaching points to the terminal device, the terminal device is configured to calculate posture information of the welding robot based on the transmitted position information of the teaching points, generate movement commands that associate the posture information of the welding robot with the position information of the motion axes of the production device, and create and output an operation program that causes the welding robot and the production device to produce the workpiece based on the multiple movement commands.

[0006] The present disclosure also provides a welding teaching program creation device including a processor and a memory, wherein the processor, in cooperation with the memory, acquires position information of a motion axis of a production device that has a motion axis and that works in cooperation with a welding robot that performs welding to produce a workpiece, accepts input of teaching points that teach the welding robot a welding operation, calculates posture information of the welding robot based on the position information of the teaching points, generates movement commands that associate the posture information of the welding robot with the position information of the motion axis, and creates and outputs an operation program that causes the welding robot and the production device to produce the workpiece based on a plurality of the movement commands.

[0007] The present disclosure also provides a welding teaching program creation program that generates control operations for a welding robot that performs welding and a production device that has an operating axis and cooperates with the welding robot to produce a workpiece, the welding teaching program creation program causing a processor to acquire position information of the operating axis of the production device, accept input of an operating point that teaches the welding robot a welding operation, calculate posture information of the welding robot based on the position information of the operating point, generate a movement command that associates the posture information of the welding robot with the position information of the operating axis, and create and output an operating program that causes the welding robot and the production device to produce the workpiece based on a plurality of the movement commands.

[0008] The present disclosure also provides a welding teaching program creation method performed by a device that generates control operations for a welding robot that performs welding and a production device that has an operating axis and cooperates with the welding robot to produce a workpiece, the welding teaching program creation method acquiring position information of the operating axis of the production device, accepting input of an operating point that teaches the welding robot a welding operation, calculating posture information of the welding robot based on the position information of the operating point, generating a movement command that corresponds the posture information of the welding robot with the position information of the operating axis, and creating and outputting an operation program that causes the welding robot and the production device to produce the workpiece based on a plurality of the movement commands.

[0009] According to the present disclosure, a welding teaching program can be created for welding performed by a welding robot and an external device.

[0010] Fig. 1 is a diagram showing an example of a welding teaching system according to an embodiment. Fig. 2 is a diagram showing a teaching state using a controller. Fig. 3 is a diagram showing an example of rotation of the axis J1 of a positioner. Fig. 4 is a diagram showing an example of rotation of the axis J2 of a positioner. Fig. 5 is a flowchart showing an example of an operation procedure of a teach pendant and a terminal device according to an embodiment. Fig. 6 is a diagram showing an example of teaching a welding operation. Fig. 7 is a diagram showing an example of a welding teaching program.

[0011] (Background to the present disclosure) Recently, there has been a teaching method for teaching a welding robot how to operate during welding using a virtual reality (VR) device. In this teaching method, compared to a case where a general offline teaching system such as a teach pendant (sometimes called a programming pendant) is used, an operator directly teaches teaching points, and therefore the time required for teaching teaching points can be reduced.

[0012] Here, in conventional teaching using VR equipment or a teach pendant, as described in Patent Document 1, first, the operation of a work robot (welding robot) is taught using a control panel (programming pendant), and then a robot program (welding teaching program) is created by teaching the positions of each axis of the work robot and peripheral equipment for each taught operating point of the work robot. Therefore, when teaching welding using a welding robot and another device other than the welding robot (for example, a positioner or slider), the worker performing the teaching work must teach the operation of the welding robot and the operation of the other device separately, which is very time-consuming.

[0013] Therefore, in the following embodiments, a welding teaching program creation system, a welding teaching program creation device, a welding teaching program creation program, and a welding teaching program creation method will be described, which create a welding teaching program for welding performed in collaboration between a welding robot and a device other than a welding robot.

[0014] Hereinafter, with reference to the drawings as appropriate, detailed descriptions of embodiments that specifically disclose a welding teaching program creation system, a welding teaching program creation device, a welding teaching program creation program, and a welding teaching program creation method according to the present disclosure will be provided. However, more detailed descriptions than necessary may be omitted. For example, detailed descriptions of already well-known matters or redundant descriptions of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. Note that the accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure and are not intended to limit the subject matter recited in the claims.

[0015] In addition, in this embodiment, an example of creating a welding teaching program that teaches welding operations for producing a workpiece by welding will be described as an example, but programs that can be created using the technology of the present disclosure are not limited to this. For example, the present disclosure may be applied to creating a repair welding operation program for performing repair welding, or to creating an appearance inspection program for performing an appearance inspection of a weld bead.

[0016] <Outline of Welding System> First, a welding teaching system 100 according to an embodiment will be described with reference to FIG.

[0017] Fig. 1 is a diagram showing an example of a welding teaching system 100 according to an embodiment. Note that Fig. 1 shows an example of the configuration of welding teaching system 100, but does not show the positional relationship of each device during operation.

[0018] Welding teaching system 100 includes teaching system TS, terminal device P1, welding robot 1, robot control device 3, teach pendant TP, and positioner PS. Note that welding teaching system 100 shown in FIG. 1 is an example, and the present disclosure is not limited to this configuration.

[0019] The teaching system TS receives instructions from a welding operator and transmits the received instruction information to the terminal device P1. The teaching system TS includes at least one base station BS (two in the example of FIG. 1 ), a controller CTR, and a head-mounted display HMD. Note that the head-mounted display HMD is not an essential component and may be omitted.

[0020] The base station BS is connected to the controller CTR and the terminal device P1 so as to enable data communication between them. The base station BS irradiates infrared light toward the controller CTR so as to enable detection of position information and attitude information of the controller CTR at the operating position of the controller CTR.

[0021] The controller CTR (an example of a second teaching device) is connected to the head-mounted display HMD, the base station BS, and the terminal device P1 so as to be able to communicate data with each other. The controller CTR includes a trigger button TRG that can receive operations from a worker. The controller CTR is operated by the worker in the manner of representing the welding torch 2 of the welding robot 1.

[0022] While looking at the actual workpiece Wk (see FIG. 2), the worker holds and operates the controller CTR as if it were a welding torch 2, thereby teaching the teaching points for the workpiece Wk.

[0023] The controller CTR also includes at least one light receiving unit (not shown) capable of receiving infrared light emitted from the base station BS. The controller CTR calculates position information of the tip of the controller CTR and attitude information of the controller CTR at the timing when the operation button (trigger button TRG) is pressed, i.e., at the teaching timing of the teaching point, based on information such as the arrival time or angle of the infrared light received by the light receiving unit (not shown). The controller CTR transmits the calculated position information of the tip of the controller CTR and attitude information of the controller CTR to the terminal device P1.

[0024] The position information of the tip of the controller CTR corresponds to the information (position information) of the teaching position of the teaching point. The posture information of the controller CTR corresponds to the posture information of the welding torch 2 at the teaching position of the teaching point, and includes information on the tilt angle, forward / backward advance angle, and twist angle of the welding torch 2 relative to the workpiece Wk.

[0025] The process of calculating at least one of the position information of the tip of the controller CTR and the attitude information of the controller CTR may be executed by the head mounted display HMD or the terminal device P1.

[0026] The head-mounted display HMD is connected to the controller CTR and the terminal device P1 so that data can be communicated between them, and functions as a device for relaying data communicated between the controller CTR and the terminal device P1. The head-mounted display HMD is not essential to the teaching system TS and may be omitted. In such a case, data communication is performed directly between the controller CTR and the terminal device P1. The head-mounted display HMD does not have to be wearable on the worker's head, but may be installed in any location where data communication between the controller CTR and the terminal device P1 is possible.

[0027] Terminal device P1 (an example of a welding teaching program creation device) is connected to base station BS, controller CTR, head-mounted display HMD, and robot control device 3 so as to be able to communicate data with each other. Terminal device P1 is a device that creates a welding teaching program for causing welding robot 1 to perform welding, based on position information of teaching points taught by controller CTR at each position of each axis of positioner PS and attitude information of controller CTR. Terminal device P1 includes a communication unit 10, a processor 11, a memory 12, an input unit 13, and a display unit 14.

[0028] The communication unit 10 is connected to the base station BS, the controller CTR, the head-mounted display HMD, and the robot control device 3 so as to be able to communicate wirelessly or via wires with each other, and transmits and receives data. The communication unit 10 outputs various data transmitted from the base station BS, the controller CTR, the head-mounted display HMD, and the robot control device 3 to the processor 11. The communication unit 10 also transmits various data output from the processor 11 to the corresponding device (the base station BS, the controller CTR, the head-mounted display HMD, or the robot control device 3). Note that wireless communication here refers to communication via a wireless local area network (wireless LAN) such as Wi-Fi (registered trademark).

[0029] Processor 11 is configured using, for example, a Central Processing Unit (CPU) or a Field Programmable Gate Array (FPGA), and performs various processes and controls in cooperation with memory 12. Specifically, processor 11 references the programs and data stored in memory 12 and executes the programs to realize various functions for creating a welding teaching program.

[0030] The welding teaching program is an operation program that causes the welding robot 1 and at least one production facility (also referred to as production device, in this example, the positioner PS) that cooperates with the welding robot 1 to produce the workpiece Wk. The welding teaching program in this example is a program that causes the welding robot 1 to perform a welding operation on the workpiece Wk and causes the positioner PS to perform an operation to adjust the position or posture of the workpiece Wk.

[0031] The memory 12 includes, for example, a random access memory (RAM) serving as a work memory used when the processor 11 executes each process, and a read-only memory (ROM) for storing programs and data defining the operation of the processor 11. The RAM temporarily stores data or information generated or acquired by the processor 11. The ROM stores programs defining the operation of the processor 11. The memory 12 may also store various programs or data necessary for creating a welding teaching program. For example, the memory 12 stores information about the workpiece Wk to be welded, as well as information about production equipment for the workpiece Wk, such as the welding robot 1, the welding torch 2, the positioner PS, or jigs. Furthermore, for example, the memory 12 stores information about three-dimensional coordinate systems for the axes (e.g., joint axes and motion axes) of the welding robot 1 and the positioner PS, and information about the three-dimensional coordinate system for the controller CTR.

[0032] The input unit 13 is a user interface that can accept input operations by an operator, and is realized by, for example, a keyboard, a mouse, or a touch panel. The operator who operates the input unit 13 does not have to be the same person as the operator who operates the controller CTR. The input unit 13 converts the content of the accepted input operation into an electrical signal (control command) and transmits it to the processor 11. When the input unit 13 is realized by a touch panel, the input unit 13 may be configured integrally with the display unit 14.

[0033] Display unit 14 is configured using, for example, a liquid crystal display (LCD) or an organic electroluminescence (organic EL). Display unit 14 displays a screen (see FIG. 7) related to the welding teaching program output from processor 11.

[0034] The welding robot 1 is connected to a robot control device 3 so as to be able to communicate data with the robot control device 3. The welding robot 1 has an articulated robot arm (having, as an example, six joint axes in this example) and a welding torch 2 as an end effector at the tip of the robot arm. Under the control of the corresponding robot control device 3, the welding robot 1 drives the welding torch 2 to perform a welding operation based on a welding teaching program.

[0035] The robot controller 3 (an example of an external device) is connected to the welding robot 1, the teach pendant TP, the positioner PS, and the terminal device P1 so that data can be communicated between them. The robot controller 3 controls the welding robot 1 and the positioner PS to perform welding operations based on a welding teaching program transmitted from the terminal device P1. The robot controller 3 also adjusts the position of the positioner PS based on setting commands transmitted from the teach pendant TP that specify the position or operating direction of each axis J1, J2 (see FIG. 2 ), and controls the welding robot 1 based on the setting commands transmitted from the teach pendant TP.

[0036] The teach pendant TP (an example of a first teaching device) is connected to the robot control device 3 so as to be able to transmit and receive data. The teach pendant TP operates in a teaching mode, in which the welding robot 1 or the positioner PS is controlled based on the operator's operation, and a program mode, in which the welding robot 1 or the positioner PS is operated based on information recorded in a pre-created program (e.g., a welding teaching program). In the teaching mode, the teach pendant TP causes the robot control device 3 to control the joint angles or positions on a three-dimensional coordinate system of each axis of the welding robot 1 based on the operator's operation, and causes the robot control device 3 to control the positions (e.g., rotation angles or shift positions) of each axis (operation axis) of the positioner PS. The teach pendant TP may also be configured to edit or modify the welding teaching program created by the terminal device P1 based on the operator's operation. Note that the teach pendant TP is not an essential component and may be omitted. In such a case, the functions realized by the teach pendant TP may be realized by the input unit 13 of the terminal device P1.

[0037] The positioner PS (an example of a production device) is connected to the robot control device 3 so that data can be communicated therewith, and is controlled by the robot control device 3. In this example, the positioner PS has a workpiece Wk fixedly placed on a stationary base STG (see FIG. 2). The positioner PS has at least one axis (two axes J1 and J2 in this example, see FIG. 2), and adjusts the position or posture of the workpiece Wk placed on the stationary base STG by adjusting the positions (rotation angles) of the axes J1 and J2 based on control commands sent from the robot control device 3.

[0038] Next, the positioner PS will be described with reference to each of FIGS.

[0039] Fig. 2 is a diagram showing a teaching state using the controller CTR, Fig. 3 is a diagram showing an example of rotation of the axis J1 of the positioner PS, and Fig. 4 is a diagram showing an example of rotation of the axis J2 of the positioner PS.

[0040] In the welding teaching system 100 according to the present embodiment, as an example, teaching is performed using an actual workpiece Wk, a positioner PS, and a controller CTR. Before starting the teaching operation, the operator places the workpiece Wk on the fixed base STG of the positioner PS. The operator operates the teach pendant TP to adjust the positions of the axes J1 and J2 of the positioner PS, aligns the tip of the controller CTR with the teaching position of the workpiece Wk placed on the fixed base STG, and presses the trigger button TRG to teach the teaching point.

[0041] The positioner PS has multiple axes J1 and J2 and a fixed base STG. The axis J1 is an axis along the Y-axis direction of the three-dimensional coordinate system J0 of the positioner PS. The rotation direction R1 indicates the positive rotation direction around the axis J1. The axis J2 passes through the center position of the fixed base STG and is an axis along the normal direction of the installation surface of the fixed base STG on which the workpiece Wk is placed. The rotation direction R2 indicates the positive rotation direction around the axis J2. As an example, the positioner PS can rotate 180° (-90° to +90°) in the rotation direction R1 around the axis J1 and 180° (-90° to +90°) in the rotation direction R2 around the axis J2.

[0042] The fixture base STG has a horizontal surface (mounting surface) on which the workpiece Wk can be fixedly mounted. The horizontal surface of the fixture base STG is substantially parallel to the XY plane of the three-dimensional coordinate system J0 when the axes J1 and J2 are both at 0° (see FIG. 2).

[0043] Based on a control command sent from the robot control device 3, the positioner PS rotates the fixed base STG around the axis J1 or the axis J2 to adjust the posture of the workpiece Wk placed on the fixed base STG.

[0044] 3, when the axis J1=+90° and the axis J2=0 (zero)°, the horizontal plane of the fixed base STG becomes a plane approximately parallel to the YZ plane, and the axis J2 of the positioner PS rotates in a direction along the X axis. When the axis J1=-90° and the axis J2=0 (zero)°, the horizontal plane of the fixed base STG becomes a plane approximately parallel to the YZ plane, and the axis J2 of the positioner PS rotates in a direction along the -X axis.

[0045] Furthermore, as shown in FIG. 4, when the axis J1 is 0 (zero)° and the axis J2 is ±90°, the horizontal plane of the fixed base STG is rotated ±90° around the axis J2, and the workpiece Wk placed on the fixed base STG is rotated in accordance with the rotation direction of the axis J2.

[0046] <Operation Procedure for Registering Teaching Point> Next, an operation procedure for registering a teaching point using the teach pendant TP and the terminal device P1 will be described with reference to FIGS. 5 and 6, respectively.

[0047] Fig. 5 is a flowchart showing an example of an operation procedure of the teach pendant TP and the terminal device P1 in the embodiment. Fig. 6 is a diagram showing an example of teaching the welding start point WP1 and the welding end point WP2.

[0048] In the operational procedure shown in FIG. 5 , as an example, a description is given of the registration of teaching points (a welding start point WP1 and a welding end point WP2) at two different positions of the positioner PS (see FIG. 6 ). Note that multiple teaching points may be taught for one position of the positioner PS. In addition, the operational procedure shown in FIG. 5 illustrates an example in which a welding start point WP1 and a welding end point WP2 are taught as teaching points. However, teaching points such as a free-running point for the welding torch 2, an approach point for bringing the welding torch 2 closer to the workpiece Wk, a retraction point for removing the welding torch 2 from the workpiece Wk, and an avoidance point for avoiding interference between the welding torch 2 and the workpiece Wk or a jig, etc., can also be taught using a similar procedure, and therefore, a description thereof will be omitted here. The position and orientation of the virtual welding torch shown in FIG. 6 correspond to the position and orientation of the controller CTR taught by the operator.

[0049] Before starting the teaching operation, the operator places the workpiece Wk on the fixed base STG of the positioner PS. Next, the operator operates the teach pendant TP to input (specify) the position of the positioner PS at the time of teaching the teaching point (welding start point WP1) into the input unit 13. In the example shown in Figure 5, the operator inputs (specifies) the axes J1 and J2 = 0 (zero)° as the position of the positioner PS.

[0050] The teach pendant TP generates a control command to adjust the position of the positioner PS to a position where the axes J1, J2 = 0 (zero) degree, and transmits it to the robot control device 3 (St11). The robot control device 3 manipulates the positions of the axes J1, J2 of the positioner PS based on the control command transmitted from the teach pendant TP, and transmits current position information of the axes J1, J2 of the positioner PS to the terminal device P1.

[0051] The terminal device P1 acquires the position of the positioner PS (here, axes J1, J2 = 0 (zero)°) input by the worker based on the position information transmitted from the robot control device 3. Here, if the terminal device P1 determines that the position of the positioner PS input from the teach pendant TP cannot be acquired from the robot control device 3, it generates an error notification indicating that the position of the positioner PS cannot be acquired and displays it on the display unit 14. This enables the terminal device P1 to more quickly notify the worker of an abnormality in the connection settings with the robot control device 3, or a communication failure between devices (for example, noise during wireless communication or a broken cable during wired communication).

[0052] The operator performs the teaching operation of the welding start point WP1 (teaching point) by aligning the tip position of the actual controller CTR with the welding start position on the actual workpiece Wk installed on the positioner PS operated to axes J1, J2 = 0 (zero)° and then pressing the trigger button TRG.

[0053] The terminal device P1 accepts a teaching operation of a teaching point (welding start point WP1) based on the pressing operation of the trigger button TRG (St12).

[0054] The terminal device P1 acquires, from the controller CTR or the like, information on the tip position and posture of the controller CTR at the time the trigger button TRG is pressed, converts the information into the tip position and posture of the welding torch 2 on the three-dimensional coordinate system of the welding robot 1, and calculates posture information of the welding robot 1 for realizing this tip position and posture of the welding torch 2 (St13). The terminal device P1 generates and registers a movement command that associates the positions of the axes J1 and J2 (here, axes J1 and J2 = 0 (zero)°), which are position information of the positioner PS, with the calculated posture information of the welding robot 1. The generated movement command may be stored in the memory 12.

[0055] After the controller CTR has finished teaching the teaching point at the current position of the positioner PS (axes J1, J2 = 0 (zero)°), the operator operates the teach pendant TP to input (specify) the position of the positioner PS at the teaching position of the next teaching point (welding end point WP2). In the example shown in Figure 5, the operator inputs axis J1 = -20° and axis J2 = -40° as the positions of the positioner PS (see the lower part of Figure 6).

[0056] The teach pendant TP generates a control command to adjust the position of the positioner PS to axis J1=-20° and axis J2=-40°, and transmits it to the robot control device 3 (St14). Based on the control command transmitted from the terminal device P1, the robot control device 3 operates the positions of the axes J1 and J2 of the positioner PS, and transmits a notification indicating the current position information of the axes J1 and J2 of the positioner PS to the terminal device P1.

[0057] Based on the notification sent from the robot control device 3, the terminal device P1 acquires the position of the positioner PS input by the worker (here, axis J1=-20°, axis J2=-40°).

[0058] The operator performs the teaching operation of the welding end point WP2 (teaching point) by aligning the tip position of the actual controller CTR with the welding end position on the actual workpiece Wk installed on the positioner PS operated to axis J1 = -20° and axis J2 = -40° and then pressing the trigger button TRG.

[0059] The terminal device P1 accepts a teaching operation of the teaching point (welding end point WP2) based on the pressing operation of the trigger button TRG (St15).

[0060] The terminal device P1 acquires, from the controller CTR or the like, information on the tip position and posture of the controller CTR at the time the trigger button TRG is pressed, converts this information into the tip position and posture of the welding torch 2 on the three-dimensional coordinate system of the welding robot 1, and calculates posture information of the welding robot 1 for realizing this tip position and posture of the welding torch 2 (St16). The terminal device P1 generates and registers a movement command that associates the positions of the axes J1 and J2 (here, axis J1 = -20°, axis J2 = -40°), which are position information of the positioner PS, with the calculated posture information of the welding robot 1. The generated movement command may be stored in the memory 12.

[0061] Based on each movement command registered in memory 12, terminal device P1 creates a welding teaching program for moving positioner PS and welding robot 1 to the position of positioner PS and the posture of welding robot 1, respectively, included in each movement command. Terminal device P1 may also accept a setting operation by the operator regarding the order of each movement command for producing workpiece Wk. Terminal device P1 rearranges each movement command in the set order and creates a welding teaching program based on the rearranged multiple movement commands.

[0062] As described above, the terminal device P1 in the embodiment can simultaneously receive, in the production of the workpiece Wk, information required for teaching each axis of the welding robot 1 that welds the workpiece Wk, and information required for teaching each axis of the production equipment (in this example, the positioner PS) that cooperates with the welding robot 1. This allows the terminal device P1 to create a welding teaching program for causing the welding robot 1 and the positioner PS to produce the workpiece Wk, based on the attitude of the welding robot 1 (i.e., the position of each axis) at each taught teaching point and the position of each axis of the positioner PS.

[0063] <Example of Welding Teaching Program> Next, with reference to FIG. 7, the posture information PRG1 of the welding robot 1 and the position information PRG2 of the positioner PS included in the welding teaching program PRG will be described.

[0064] 7 is a diagram showing an example of a welding teaching program PRG. Note that the welding teaching program PRG, the posture information PRG1 of the welding robot 1, and the position information PRG2 of the positioner PS shown in FIG. 7 are merely examples, and the present disclosure is not limited thereto.

[0065] The welding teaching program PRG includes a plurality of movement commands for causing the welding robot 1 and the positioner PS to perform operations to produce the workpiece Wk. Here, the movement command "MOVEL+ P019 15.00 m / min" to the welding end point WP2 included in the welding teaching program PRG shown in Fig. 7 further includes posture information PRG1 of the welding robot 1 at the welding end point WP2 shown in Fig. 6 and position information PRG2 of the positioner PS.

[0066] The posture information PRG1 of the welding robot 1 includes position information (posture information) for each of the six axes of the welding robot 1 at the welding end point WP2. Here, the six axes of the welding robot 1 are the RT axis, UA axis, FA axis, RW axis, BW axis, and TW axis. The posture information PRG1 shown in Fig. 7 includes the following: RT axis = -11.46°, UA axis = -0.62°, FA axis = -55.17°, RW axis = 17.79°, BW axis = -21.13°, and TW axis = -12.15°.

[0067] The position information PRG2 of the positioner PS includes the axis J1=-20° and the axis J2=-40° as the position of the positioner PS at the welding end point WP2.

[0068] As a result of the above, the terminal device P1 in the embodiment can create a welding teaching program including movement commands that correspond to the position (posture information) of each axis of the welding robot 1 and the position information of each axis J1, J2 of the positioner PS for each teaching point.

[0069] In the present embodiment, the positioner PS is configured to perform a rotational movement about the axes J1 and J2. However, the present disclosure is not limited to this configuration and may have a shifting movement that translates the stationary base STG along one of three-dimensional coordinate axes. In such a case, the positioner PS has shift axes for performing the shifting movement in each direction. The terminal device P1 can create a welding teaching program for operating the welding robot 1 and the positioner PS by generating a movement command that includes the positions of the multiple axes J1 and J2 and the multiple shift axes as position information for the positioner PS.

[0070] (Additional Notes) The above description of each embodiment discloses the following techniques.

[0071] (Technology 1) A welding teaching program creation system (welding teaching system 100) comprising: a first teaching device (teach pendant TP or input unit 13 of terminal device P1) and a second teaching device (controller CTR) operated by an operator; an external device (robot control device 3) that controls motion axes (axes J1, J2) of a production device (positioner PS) that cooperates with a welding robot 1 that performs welding to produce a workpiece Wk; and a terminal device P1 that can communicate with the first teaching device (teach pendant TP), the second teaching device (controller CTR), and the external device (robot control device 3), wherein the first teaching device (teach pendant TP) is configured to receive a designation operation for position information of the motion axes (axes J1, J2) of the production device (positioner PS), and to instruct the external device (robot control device 3) to control the motion axes (axes J1, J2) to positions indicated by the position information based on the designation operation; The external device (robot control device 3) is configured to control the motion axes (axes J1, J2) of the production device (positioner PS) to the positions indicated by the position information of the motion axes (axes J1, J2) based on the designation operation, and transmit the position information of the motion axes based on the designation operation to the terminal device P1; the terminal device P1 is configured to acquire the position information of the motion axes (axes J1, J2) of the production device (positioner PS); the second teaching device (controller CTR) is configured to accept input of teaching points (welding start point WP1, welding end point WP2) that teach the welding operation of the welding robot 1 based on a teaching operation by the worker, and transmit position information of the teaching points to the terminal device P1; the terminal device P1 calculates posture information of the welding robot 1 based on the transmitted position information of the teaching points; The posture information of the welding robot 1 and the operating axis (axis J1,J2), and based on the plurality of movement commands, create and output an operation program (welding teaching program PRG) that causes the welding robot 1 and the production device (positioner PS) to produce the workpiece Wk.

[0072] As a result, in the production of workpiece Wk, welding teaching system 100 in the embodiment allows terminal device P1 to simultaneously receive information necessary for teaching each axis of welding robot 1 that welds workpiece Wk, and information necessary for teaching each axis of production equipment (positioner PS in this example) that cooperates with welding robot 1. Thus, welding teaching system 100 can create a welding teaching program for causing welding robot 1 and positioner PS to produce workpiece Wk, based on the attitude of welding robot 1 (i.e., the position of each axis) at each taught teaching point and the position of each axis of positioner PS.

[0073] (Technology 2) The welding teaching program creation system (welding teaching system 100) according to (Technology 1), wherein the first teaching device (input unit 13) and the terminal device P1 are the same device.

[0074] As a result, welding teaching system 100 in the embodiment can accept and control operator operations regarding the positions of axes J1, J2 of positioner PS using terminal device P1 without using teach pendant TP.

[0075] (Technology 3) The welding teaching program creation system (welding teaching system 100) described in (Technology 1) or (Technology 2) is configured such that, when it is determined that the position information of the motion axes (axes J1, J2) cannot be acquired from the external device (robot control device 3), the terminal device P1 displays an error notification indicating that the position information of the motion axes (axes J1, J2) of the production device (positioner PS) cannot be acquired.

[0076] As a result, the welding teaching system 100 in the embodiment can quickly notify the worker of an abnormality even if it is unable to obtain position information of the positioner PS due to an abnormality in the connection settings between the terminal device P1 and the robot control device 3, or poor communication between the devices (for example, noise during wireless communication, or a broken cable during wired communication, etc.).

[0077] (Technology 4) A welding teaching program creation device (terminal device P1) comprising: a processor 11; and a memory 12, wherein the processor 11 cooperates with the memory 12 to: acquire position information of motion axes (axes J1, J2) of a production device (positioner PS) that has motion axes (axes J1, J2) and works with a welding robot 1 that performs welding to produce a workpiece Wk; accept input of teaching points that teach the welding robot 1 a welding operation, and calculate posture information of the welding robot 1 based on the position information of the teaching points; generate movement commands that associate the posture information of the welding robot 1 with the position information of the motion axes (axes J1, J2); and create and output an operation program that causes the welding robot 1 and the production device (positioner PS) to produce the workpiece Wk based on the multiple movement commands.

[0078] As a result, the terminal device P1 in the embodiment can simultaneously receive, in the production of the workpiece Wk, information required for teaching each axis of the welding robot 1 that welds the workpiece Wk, and information required for teaching each axis of the production equipment (in this example, the positioner PS) that cooperates with the welding robot 1. Therefore, based on the attitude of the welding robot 1 (i.e., the position of each axis) at each taught teaching point and the position of each axis of the positioner PS, the terminal device P1 can create a welding teaching program for causing the welding robot 1 and the positioner PS to produce the workpiece Wk.

[0079] (Technology 5) A welding teaching program creation program that generates control operations for a welding robot 1 that performs welding and a production device (positioner PS) that has motion axes (axes J1, J2) and cooperates with the welding robot 1 to produce a workpiece Wk, the welding teaching program creation program causing a processor 11 to: acquire position information of the motion axes (axes J1, J2) of the production device (positioner PS), accept input of teaching points that teach the welding robot 1 welding operations, calculate posture information of the welding robot 1 based on the position information of the teaching points, generate movement commands that associate the posture information of the welding robot 1 with the position information of the motion axes (axes J1, J2), and create and output an operation program (welding teaching program PRG) that causes the welding robot 1 and the production device (positioner PS) to produce the workpiece Wk based on a plurality of the movement commands.

[0080] As a result, the terminal device P1 in the embodiment can simultaneously receive, in the production of the workpiece Wk, information required for teaching each axis of the welding robot 1 that welds the workpiece Wk, and information required for teaching each axis of a production device (in this example, the positioner PS) that cooperates with the welding robot 1. Therefore, based on the attitude of the welding robot 1 (i.e., the position of each axis) at each taught teaching point and the position of each axis of the positioner PS, the terminal device P1 can create a welding teaching program for causing the welding robot 1 and the positioner PS to produce the workpiece Wk.

[0081] (Technology 6) A welding teaching program creation method performed by a device (terminal device P1) that generates control operations for a welding robot 1 that performs welding and a production device (positioner PS) that has motion axes (axes J1, J2) and cooperates with the welding robot 1 to produce a workpiece Wk, the welding teaching program creation method comprising: acquiring position information of the motion axes (axes J1, J2) of the production device (positioner PS); accepting input of positions of teaching points that teach the welding robot 1 welding operations and calculating posture information of the welding robot 1 based on the position information of the teaching points; generating movement commands that associate the posture information of the welding robot 1 with the position information of the motion axes (axes J1, J2); and creating and outputting an operation program (welding teaching program PRG) that causes the welding robot 1 and the production device (positioner PS) to produce the workpiece Wk based on the multiple movement commands.

[0082] As a result, the terminal device P1 in the embodiment can simultaneously receive, in the production of the workpiece Wk, information required for teaching each axis of the welding robot 1 that welds the workpiece Wk, and information required for teaching each axis of the production equipment (in this example, the positioner PS) that cooperates with the welding robot 1. Therefore, based on the attitude of the welding robot 1 (i.e., the position of each axis) at each taught teaching point and the position of each axis of the positioner PS, the terminal device P1 can create a welding teaching program for causing the welding robot 1 and the positioner PS to produce the workpiece Wk.

[0083] Although various embodiments have been described above with reference to the accompanying drawings, the present disclosure is not limited to such examples. It is clear that a person skilled in the art can conceive of various modifications, alterations, substitutions, additions, deletions, and equivalents within the scope of the claims, and it is understood that these also fall within the technical scope of the present disclosure. Furthermore, the components of the various embodiments described above may be combined in any manner without departing from the spirit of the invention.

[0084] The present disclosure is useful as a welding teaching program creation system, a welding teaching program creation device, a welding teaching program creation program, and a welding teaching program creation method for creating a welding teaching program for welding performed by a welding robot and an external device.

[0085] REFERENCE SIGNS LIST 1 Welding robot 2 Welding torch 3 Robot control device 10 Communication unit 11 Processor 12 Memory 13 Input unit 14 Display unit 100 Welding teaching system BS Base station CTR Controller HMD Head-mounted display J0 Three-dimensional coordinate system J1 Axis J2 Axis P1 Terminal device PRG Welding teaching program PRG1 Posture information PRG2 Position information PS Positioner R1 Rotation direction R2 Rotation direction St11 to St16 Steps STG Fixing base TP Teach pendant TRG Trigger button TS Teaching system Wk Workpiece WP1 Welding start point WP2 Welding end point

Claims

1. A welding teaching program creation system comprising: a first teaching device and a second teaching device operated by a worker; an external device that controls motion axes of a production device that produces a workpiece in cooperation with a welding robot that performs welding; and a terminal device that can communicate with the first teaching device, the second teaching device, and the external device, wherein the first teaching device is configured to receive a designation operation for position information of the motion axes of the production device, and to instruct the external device to control the motion axes to positions indicated by the position information based on the designation operation; the external device is configured to control the motion axes of the production device to the positions indicated by the position information of the motion axes based on the designation operation, and to transmit the position information of the motion axes based on the designation operation to the terminal device; the terminal device is configured to acquire the position information of the motion axes of the production device; and the second teaching device is configured to receive, based on a teaching operation by the worker, input of teaching points that teach welding operations to the welding robot, and to transmit position information of the teaching points to the terminal device. the terminal device is configured to calculate posture information of the welding robot based on the position information of the transmitted teaching point, generate a movement command that associates the posture information of the welding robot with the position information of the motion axis of the production device, and create and output an operation program that causes the welding robot and the production device to produce the workpiece based on the multiple movement commands.

2. The welding teaching program creation system according to claim 1, wherein the first teaching device and the terminal device are the same device.

3. The welding teaching program creation system according to claim 1, wherein the terminal device is configured to display an error notification indicating that the position information of the motion axis of the production device cannot be obtained when it is determined that the position information of the motion axis cannot be obtained from the external device.

4. A welding teaching program creation device comprising: a processor; and a memory, wherein the processor, in cooperation with the memory, acquires position information of a motion axis of a production device which has a motion axis and which produces a workpiece in cooperation with a welding robot which performs welding; accepts input of teaching points which teach the welding robot a welding operation, and calculates posture information of the welding robot based on the position information of the teaching points; generates a movement command which associates the posture information of the welding robot with the position information of the motion axis; and creates and outputs an operation program which causes the welding robot and the production device to produce the workpiece based on a plurality of the movement commands.

5. A welding teaching program creation program that generates control operations for a welding robot that performs welding and a production device that has an operating axis and cooperates with the welding robot to produce a workpiece, the program causing a processor to: acquire position information of the operating axis of the production device; accept input of teaching points that teach the welding robot welding operations; calculate posture information for the welding robot based on the position information of the teaching points; generate movement commands that associate the posture information of the welding robot with the position information of the operating axis; and create and output an operation program that causes the welding robot and the production device to produce the workpiece based on a plurality of the movement commands.

6. A welding teaching program creation method performed by a device that generates control operations for a welding robot that performs welding and a production device that has an operating axis and cooperates with the welding robot to produce a workpiece, the method comprising: acquiring position information of the operating axis of the production device; accepting input of teaching points that teach the welding robot welding operations and calculating posture information of the welding robot based on the position information of the teaching points; generating movement commands that associate the posture information of the welding robot with the position information of the operating axis; and creating and outputting an operation program that causes the welding robot and the production device to produce the workpiece based on a plurality of the movement commands.

Images