JP2012024867A - Teaching device for welding robot and teaching method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To shorten a working time of teaching by easily performing the teaching of a spot welding robot even if an operator does not have specific skill.SOLUTION: A teaching device for a welding robot is operated by: receiving an input of relative position information including distance information 430 indicating how long a weld tip of a welding gun is separated from workpieces in relation with welding spots 420 on the workpieces, first moving information 440 indicating how long the welding gun is moved to a side of positioning the weld spots 420, and second moving information 450 indicating how long it is moved to a side of not positioning the welding spots 420; receiving an input of welding spot information at each welding spot including positions of the welding spots and weld operation; determining non-welding running points of the welding gun; and generating an operation program for performing welding operation while maintaining the posture of the welding gun, thereby automatically determining the non-welding running points of the welding gun by only the input of the relative position information and the welding spot information without setting the posture of the welding gun in each welding spot.

Description

  The present invention relates to a teaching apparatus and teaching method for a spot welding robot, and in particular, projects a real space onto a virtual space of a computer, creates a virtual robot model corresponding to the spot welding robot in the real space in the virtual space, and generates a virtual robot model. TECHNICAL FIELD The present invention relates to a technique for programming the operation of a spot welding robot by using a robot.

  2. Description of the Related Art Conventionally, a robot system is known in which a welding tool (for example, a welding gun) is attached to the tip of a spot welding robot, and the welding tool is moved along a predetermined trajectory to perform a required welding operation. . In this type of robot system, as a teaching method for teaching a required operation to a spot welding robot, the operation can be performed without stopping the production line by simulating the operation on a screen such as a CRT. There is a so-called off-line teaching (teaching) method for creating a program for execution.

  That is, in this offline teaching method, a spot welding robot in a real space is created as a virtual robot model in a virtual space of a computer and displayed on a screen such as a CRT, and the spot welding robot is used using the virtual robot model on this screen. The operation of the spot welding robot is confirmed and an operation program is created by simulating the above operation.

  In addition to the means for setting the position at which the work is performed, the reference position includes means for setting the work at the set position, and means for setting another position based on the initially set position. A technique is disclosed in which programming and teaching of operations that repeat operations at a plurality of positions can be easily performed based on (see, for example, Patent Document 1). Also disclosed is a technique for setting the coordinates of the trajectory in which the working part of the virtual robot model operates in the virtual space, confirming the operation of the virtual robot model, and teaching the operation of the real robot by reflecting the result of the operation. (For example, refer to Patent Document 2).

  In addition, a technique is disclosed in which an operation program that defines the teach points and the order of passage of each teach point is created, and a simulation of the operation of operating the robot model according to the created operation program is executed (for example, Patent Document 3). reference). Also disclosed is a technique for setting an operation trajectory corresponding to the workpiece conveyance speed and the painting gun movement speed by teaching the painting start point at one end of the painting gun movement direction and the painting end point at the other movement direction of the painting gun. (For example, see Patent Document 4).

  In addition, position control variable data representing the position of the reference point of the vehicle body and the position of the reference point of the painting robot and the painting control variable data are input, and for painting work on the vehicle body for the painting robot using them. A technique for performing motion teaching is disclosed (for example, see Patent Document 5).

JP 2003-50610 A Japanese Patent Laid-Open No. 2001-2116015 Japanese Patent Laid-Open No. 9-244724 Japanese Patent Laid-Open No. 5-289722 JP-A-5-88740

  The transfer operation by the transfer robot is composed of certain operations such as taking a workpiece, raising the robot arm, moving the robot arm, lowering the robot arm, and placing the workpiece. Therefore, if the position for picking up the workpiece and the position for placing the workpiece are set, the operation of transporting the workpiece can be easily programmed. In addition, the painting operation by the painting robot consists of an operation in which the robot arm repeats a certain reciprocating motion while maintaining a certain distance from the workpiece. Therefore, if the position for starting painting and the position for finishing painting are set, the operation for painting a workpiece can be easily programmed. Furthermore, since the conveyance work and the painting work have fewer jigs and the like around the robot as compared with the welding work, the operation for avoiding the interference with the jig can be easily programmed.

  However, the conventional off-line teaching method has a problem that it takes time to program the operation of the spot welding robot for the following reason. In other words, when a spot welding robot performs welding on a workpiece, the spot welding robot moves the welding welding spot on the workpiece and the spot welding robot retreats from the welding spot to the welding jig. Teaching must be done to prevent interference. In addition, the operation of the spot welding robot is complicated, such as retreating for each welding spot or welding a plurality of welding spots continuously without retracting. Such complicated operations must be taught flexibly while considering interference. That is, in order to program the complicated operation of the welding operation, the operator manually sets the continuous idle running points and operation postures of the welding gun one by one. Therefore, even an operator having a special skill takes a long time to program the operation of the spot welding robot, and the spot welding robot cannot be easily taught.

  The technique described in Patent Document 1 is a technique for programming an operation in which work is repeated at a plurality of positions based on a reference position, and a complex operation such as a spot welding robot is a programming target. Is not a technology. That is, the technique described in Patent Document 1 cannot solve the above problem.

  In addition, the technique described in Patent Document 2 is a technique that allows a virtual robot model corresponding to a real space robot to be easily created in consideration of only the operation function of the robot, and facilitates teaching of a spot welding robot. It is not a technology that makes it possible to do so. That is, the technique described in Patent Document 2 cannot solve the above problem.

  In addition, the technique described in Patent Document 3 is such that when a shape similar to the shape of the workpiece to be painted is selected from the basic shapes stored in advance, and dimension information relating to the size of the workpiece is input, And a motion program that defines the teaching points and the order of passage of each teaching point. That is, with the technique described in Patent Document 3, only an operation program related to a limited number of workpiece shapes can be created, and operation programs related to workpieces of various shapes cannot be created. In other words, only an operation program related to a limited operation can be created, and an operation program related to a complex operation like the spot welding robot cannot be created by the technique described in Patent Document 3. That is, the technique described in Patent Document 3 cannot solve the above problem.

  In addition, the technique described in the above-mentioned Patent Document 4 is used for programming a painting operation in which the painting gun repeats a certain vertical movement based on a painting start point at one end in the moving direction of the painting gun and a painting end point at the other end in the moving direction. This is a target technology, and not a technology that targets complex operations like a spot welding robot. That is, the technique described in Patent Document 4 cannot solve the above problem.

  The technique described in Patent Document 5 described above is based on position control variable data representing the position of the reference point of the vehicle body and the position of the reference point of the painting robot, and the painting control variable data. It is a technology that targets the painting operation that repeats the process, and is not a technology that targets the complex operation like the spot welding robot. That is, the technique described in Patent Document 5 cannot solve the above problem.

  The present invention has been made to solve such problems, and even a non-specialized operator can easily teach a spot welding robot and shorten the teaching work time. The purpose is to be able to.

  In order to solve the above-described problems, in the present invention, the welding tip positioned at the tip of a welding gun provided in the spot welding robot is selected in relation to the position of the welding hit point on the workpiece to which the spot welding robot performs welding. Distance information indicating whether the welding gun is to be moved away from the workpiece, first movement information indicating how much the welding gun is moved to the position where the welding hit point is positioned with respect to the workpiece, and no welding hit point being positioned with respect to the workpiece An input of relative position information including second movement information indicating how much is moved to the side is accepted. Moreover, the input of the welding spot information including the position and welding sequence of the plurality of welding spots on the workpiece and the welding operation related to the welding spot is accepted for each welding spot. Based on the received relative position information and welding point information, the idle run point of the welding gun for the received welding operation is determined, and the spot welding robot performs the welding operation while maintaining the welding gun posture. An operation program to be performed is generated.

  According to the present invention configured as described above, by simply inputting the relative position information and the welding spot information for each welding spot, the free running point including the welding gun entry position and the retreat position relating to the welding operation is automatically set. It is determined. Therefore, the user can save the trouble of setting continuous free running points of a welding gun that performs a complicated operation. Further, since the operation program is automatically generated while maintaining the position of the welding gun, the user does not need to set an imaginary point for each welding hit point. As described above, even a non-specialized operator can easily teach the spot welding robot, and the teaching work time can be shortened.

It is a block diagram which shows the structural example of the teaching system provided with the teaching apparatus by this embodiment. It is a figure which shows the example of the relative position information input screen by this embodiment. It is a figure which shows the example of the screen display in the case of receiving the input of the welding spot information by this embodiment. It is a figure which shows the example of the idle run point of the welding gun by this embodiment. It is a flowchart which shows the operation example of the teaching apparatus by this embodiment. It is a figure which shows the example of the definition file by this embodiment.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram illustrating a configuration example of a teaching system 120 including a teaching device 100 according to the present embodiment. The teaching system 120 attaches a welding gun to the tip of a spot welding robot in real space (hereinafter referred to as a spot welding robot), and moves the welding gun along a predetermined track so as to perform a required welding operation. It is provided in the robot system. As shown in FIG. 1, the teaching system 120 includes an operation unit 140 and a display 160 in addition to the teaching device 100.

  The operation means 140 is for inputting a user instruction to the teaching device 100, and includes an input device such as a keyboard or a mouse. The display 160 displays various screens output from the teaching device 100.

  The teaching device 100 has an operation program generation function and a simulation function. The operation program generation function is a function of generating an operation program for executing an operation in which the spot welding robot performs welding on a work target workpiece. The simulation function displays the virtual robot model in the virtual space imitating the spot welding robot on the screen of the display 160, and simulates the operation of the spot welding robot on the virtual robot model on the screen based on the created operation program. This is a function for confirming the operation of the spot welding robot. In order to execute the operation program generation function and the simulation function, the teaching device 100 performs the relative position input reception unit 200, the operation environment information storage unit 220, the welding point input reception unit 240, the free running point determination unit 260, the operation program. A generation unit 280, an operation program storage unit 300, and an operation program execution unit 320 are provided.

  The relative position input receiving means 200 is positioned at the tip of a welding gun provided in the spot welding robot in relation to the position of the welding spot on the workpiece on which the spot welding robot performs welding through a user operation on the operation means 140. Distance information indicating how far the welding tip to be moved away from the workpiece, first movement information indicating how much the welding gun is moved from the welding point to the workpiece end surface, and the side where the welding gun is not located from the workpiece end surface The input of relative position information consisting of the second movement information indicating how much is moved is received.

  Specifically, the distance information specifies how far the welding tip positioned at the tip of the welding gun is separated from the workpiece when the welding gun enters and retracts the workpiece. It is information for. The user determines the separation distance so that the workpiece and the welding tip do not interfere with each other in consideration of the shape of the workpiece and the operation of the spot welding robot as to how far the welding tip located at the tip of the welding gun is to be separated from the workpiece. .

  The first movement information is distance information indicating the distance from the welding hit point to the workpiece end surface. The second movement information is distance information indicating the distance from the workpiece end surface to the outside of the welding jig interference, and the distance is determined so that the welding jig and the welding gun do not interfere in consideration of the shape of the welding jig. Is done.

  In the present embodiment, the relative position input receiving unit 200 displays a relative position information input screen for inputting relative position information on the display 160 and receives an input of relative position information through a user operation on the operation unit 140. . Then, the relative position input accepting means 200 outputs the relative position information accepted as an input to the free running point determining means 260.

  FIG. 2 is a diagram illustrating an example of the relative position information input screen 400. In the relative position information input screen 400, how many welding tips are positioned at the tip of the welding gun provided in the spot welding robot in relation to the position of the welding spot 420 on the workpiece 410 to which the spot welding robot performs welding. Assuming that the welding gun is moved from the right direction of the input box 430 for receiving distance information indicating whether the workpiece 410 is separated from the workpiece 410 or the relative position information input screen 400, the welding gun 420 is welded from the end 460 of the workpiece 410. An input box 440 that accepts input of first movement information indicating how much it is moved to the position where the welding gun is located, and how much the welding gun is moved from the end 460 of the workpiece 410 to the side where the welding point 420 is not located. An input box 450 for receiving the second movement information is provided. The relative position input receiving unit 200 receives the distance information, the first movement information, and the second movement information input to the input boxes 430 to 450 through a user operation on the operation unit 140, respectively.

  The operating environment information storage unit 220 stores operating environment information including virtual robot model information, virtual work model information, and virtual welding jig model information. The virtual robot model information indicates the shape of the virtual robot model in the virtual space imitating the spot welding robot and the operation parameters (for example, movable angles) of each joint. The virtual work model information indicates the shape of the virtual work model in the virtual space imitating the work in the real space. The virtual welding jig model information indicates the shape of the virtual welding jig model in the virtual space imitating the welding jig in the real space.

  The welding spot input receiving unit 240 inputs, for each welding spot, the welding spot information including the positions and welding sequences of the plurality of welding spots on the workpiece and the welding operation related to the welding spot through a user operation on the operation unit 140. Accept. In the present embodiment, the welding spot input receiving unit 240 displays a virtual robot model, a virtual work model, and a virtual welding jig model in the virtual space based on the operating environment information stored in the operating environment information storage unit 220. 160, and an input of welding spot information is received for each welding spot by a user operation on the operation means 140. Then, the welding spot input receiving means 240 outputs the welding spot information that has been accepted to the idle running point determination means 260.

  FIG. 3 is a diagram illustrating an example of a screen display when accepting input of welding spot information according to the present embodiment. FIG. 3A shows an example of a screen display when accepting an input of a welding spot position. 3A, 490 is a virtual robot model, 500 is a welding gun of the virtual robot model 490, 510 is a welding tip located above the welding gun 500, 520 is a welding tip located at the tip of the welding gun 500, 530 Are virtual work models, 540 and 550 are virtual welding jig models.

  The user can input the position of the welding point by designating an arbitrary position of the virtual work model 530 with a cursor (not shown) displayed on the screen. However, the position on the line 555 that is separated from the end of the virtual work model 530 by the distance specified by the first movement information that has been previously received is input as the position of the welding point. Note that the order in which the positions of the welding points are input directly becomes the welding order of the welding points. In this embodiment, the user inputs the position of the welding spot and the welding order by specifying using the cursor displayed on the screen in the order of the welding spot 560, the welding spot 570, the welding spot 580, and the welding spot 590. And

  FIG. 3B shows a welding operation selection screen displayed on the screen of the display 160 every time the user inputs the position of the welding point. The welding operation selection screen shown in FIG. 3B includes a button 600 for selecting a welding operation (approach → pressurization → evacuation), a button 610 for selecting a welding operation (entrance → pressurization), and a welding operation. A button 620 for selecting (pressurization → retraction) and a button 630 for selecting a welding operation (pressurization only (continuous dots)) are provided. The user inputs a welding operation related to welding points 560 to 590 input on the screen of FIG. 3A by selecting any one of the buttons 600 to 630.

  In this embodiment, it is assumed that the user has input a welding operation (approach → pressurization) as a welding operation related to the welding point 560 (first of continuous points) in FIG. This is because the welding gun needs to enter from the home position (working origin position) to the position of the welding hit point 560, but there is no virtual welding jig model between the weld hit point 560 and the next weld hit point 570. This is because the retracting operation for avoiding the virtual welding jig model is unnecessary. Further, it is assumed that the user has input a welding operation (pressurization only (continuous hitting point)) as a welding operation related to the welding hitting point 570 (continuous hitting point) in FIG. This is because the virtual welding jig model does not exist between the welding spot 570 and the next welding spot 580, and therefore a retreat operation for avoiding the virtual welding jig model is unnecessary.

  In addition, it is assumed that the user inputs a welding operation (pressurization → retraction) as a welding operation related to the welding spot 580 (the last of the continuous spots) in FIG. This is because the virtual welding jig model 540 exists between the welding hit point 580 and the next welding hit point 590, and therefore a retreat operation for avoiding the virtual welding jig model 540 is necessary. In addition, it is assumed that the user has input a welding operation (approach → pressurization → retraction) as a welding operation related to the welding spot 590 (last spot) in FIG. This is because the welding gun moves to the home position after being pressurized at the welding point 590.

  FIG.3 (c) has shown the welding spot confirmation screen displayed, whenever a user inputs welding operation regarding a welding spot on the welding operation | movement selection screen shown in FIG.3 (b). The welding spot confirmation screen shown in FIG. 3C is provided with a button 640 for inputting the next welding spot information and a button 650 for completing the input of the welding spot information. When the user selects the button 640, the welding spot input receiving means 240 transitions from the welding spot confirmation screen of FIG. 3C to the screen shown in FIG. 3A and receives the input of the next welding spot information. . When the user selects button 650, welding point input receiving means 240 ends the process of receiving input of welding point information.

  Based on the relative position information output from the relative position input receiving means 200 and the welding spot information output from the welding spot input receiving means 240, the idle running point determination means 260 has received an input by the welding spot input means 240. Determine the idle point of the welding gun for the welding operation. Then, the free running point determination unit 260 outputs the free running point information indicating the determined free running point to the operation program generation unit 280.

  FIG. 4 is a diagram illustrating an example of idle running points of the welding gun according to the present embodiment. 4, 700 is a virtual work model (corresponding to the virtual work model 530 in FIG. 3A), 710 is a virtual welding jig model (corresponding to the virtual welding jig model 540 in FIG. 3A), and 720 is Virtual welding jig model (corresponding to virtual welding jig model 550 in FIG. 3A), 730 is the first welding point (corresponding to welding point 560 in FIG. 3A), and 740 is the second welding point. (Corresponding to the welding spot 570 in FIG. 3 (a)), 750 is the third welding spot (corresponding to the welding spot 580 in FIG. 3 (a)), and 760 is the last welding spot (welding in FIG. 3 (a)). Corresponding to the dot 590).

  First, since the welding operation related to the first welding point 730 is “approach → pressurization”, the free running point determination unit 260 moves the welding gun to the home position with the welding gun opened by the separation distance specified by the distance information. After moving from 770 to the position of the welding hit point 730 through the idle run point 780 and the idle run point 790, each idle run point of closing the welding gun and pressurizing the weld hit point 730 is determined. The idle running point 780 is specified by the first movement information and the second movement information with the position of the welding hit point 730 as a reference. Further, the idle running point 790 is specified by the first movement information with reference to the position of the welding hit point 730.

  Next, since the welding operation related to the second welding spot 740 is “pressing only (continuous spotting)”, the idle running point determination means 260 opens the welding gun for the separation distance specified by the distance information. Then, after the welding gun is moved in parallel from the position of the welding hit point 730 to the position of the welding hit point 740, each free running point of closing the welding gun and pressurizing the welding hit point 740 is determined.

  Next, since the welding operation related to the third welding point 750 is “pressurization → evacuation”, the idle running point determination unit 260 opens the welding gun in a state in which the welding gun is opened by the separation distance specified by the distance information. Are moved in parallel from the position of the welding hit point 740 to the position of the weld hit point 750, and then each idle running point is determined in which the welding gun is closed and the welding hit point 750 is pressurized. Furthermore, the free running point determination means 260 moves the welding gun from the position of the welding hit point 750 to the free running point 810 from the position of the welding hit point 750 with the welding gun opened by the separation distance specified by the distance information. Determine each free run point. The idle running point 800 is specified by the first movement information with the position of the welding hit point 750 as a reference. The idle running point 810 is specified by the first movement information and the second movement information with the position of the welding hit point 750 as a reference.

  Finally, since the welding operation related to the last welding point 760 is “approach → pressurization → evacuation”, the free running point determination unit 260 opens the welding gun in a state in which the welding gun is opened for the separation distance specified by the distance information. Is moved from the free running point 810 to the position of the welding hit point 760 through the free running point 820 and the free running point 830, and then the free running point of closing the welding gun and pressurizing the welding hit point 760 is determined. The idle running point 820 is specified by the first movement information and the second movement information with the position of the welding hit point 760 as a reference. The free running point 830 is specified by the first movement information with the position of the welding hit point 760 as a reference. Further, the idle running point determination unit 260 opens the welding gun by the separation distance specified by the distance information, and the welding gun moves from the position of the welding hit point 760 through the idle running point 830 and the idle running point 820 to the home position 770. Determine each free run point to return to.

  Based on the idle running point information output from the idle running point determining means 260, the operation program generating means 280 is an operational program (spot welding not shown) for the spot welding robot to perform the welding operation while maintaining the attitude of the welding gun. A program that can be interpreted by the robot controller is generated. The attitude of the welding gun is set in advance by the user in consideration of the area and productivity of the spot welding robot. Then, the operation program generation unit 280 stores the generated operation program in the operation program storage unit 300.

  The operation program execution unit 320 retrieves and executes the operation program stored in the operation program storage unit 300 when an operation requesting the execution of the operation program is performed through a user operation on the operation unit 140. Specifically, the operation program execution unit 320 displays the virtual robot model, the virtual work model, and the virtual welding jig model in the virtual space on the display 160 based on the operation environment information stored in the operation environment information storage unit 220. The virtual robot model is operated according to the operation program extracted from the operation program storage means 300. A user who sees a virtual robot model that simulates the operation of the spot welding robot on the screen of the display 160 confirms the validity of the operation of the spot welding robot offline, such as whether or not there is interference between the welding gun and the workpiece and the welding jig. be able to.

  Next, operation | movement of the teaching apparatus 100 of this embodiment is demonstrated. FIG. 5 is a flowchart showing an operation example of the teaching device 100 according to the present embodiment. The flowchart shown in FIG. 5 starts when the teaching device 100 receives an operation requesting execution of teaching via a user operation on the operation unit 140.

  First, the relative position input receiving unit 200 displays a relative position information input screen for inputting relative position information on the display 160, and receives an input of relative position information by a user operation on the operating unit 140 (step S100). Then, the relative position input accepting means 200 outputs the relative position information accepted as an input to the free running point determining means 260.

  Next, the welding spot input receiving unit 240 receives an input of the position of the welding spot on the workpiece through a user operation on the operation unit 140 (step S120). Next, the welding spot input receiving unit 240 receives an input of a welding operation related to the welding spot that has been input in step S120 through a user operation on the operation unit 140 (step S140). Next, the welding point input receiving means 240 determines whether or not the next welding point information is input through a user operation on the operation unit 140 (that is, the button 640 is selected on the welding point confirmation screen in FIG. 3C). It is determined whether or not (step S160). If the next welding spot information is input by welding spot input receiving means 240 (YES in step S160), the process proceeds to step S120.

  On the other hand, when the next welding spot information is not input (that is, the button 650 is selected on the welding spot confirmation screen in FIG. 3C) and the welding spot input receiving means 240 determines (NO in step S160). ), The welding spot input accepting means 240 outputs the welding spot information that has been accepted to the idle running point determining means 260. Next, the free running point determination unit 260 determines the free running point of the welding gun based on the relative position information output from the relative position input reception unit 200 and the welding point information output from the welding point input reception unit 240. (Step S180). Then, the free running point determination unit 260 outputs the free running point information indicating the determined free running point to the operation program generation unit 280.

  Next, the operation program generation unit 280 generates an operation program for the spot welding robot to perform the welding operation while maintaining the attitude of the welding gun based on the idle running point information output from the idle running point determination unit 260. (Step S200). Then, the operation program generation unit 280 stores the generated operation program in the operation program storage unit 300.

  Next, the operation program execution unit 320 determines whether or not an operation for requesting execution of the operation program has been performed through a user operation on the operation unit 140 (step S220). If operation program execution means 320 determines that an operation requesting execution of the operation program has not been performed (NO in step S220), the process transitions to step S220.

  On the other hand, when operation program execution means 320 determines that an operation requesting the execution of the operation program has been performed (YES in step S220), operation program execution means 320 performs an operation stored in operation program storage means 300. The program is taken out and executed (step S240). When the process of step S240 is completed, the teaching device 100 ends the process in FIG.

  As described above in detail, in this embodiment, while receiving the input of relative position information composed of distance information, first movement information, and second movement information, the positions and welding orders of a plurality of welding points on the workpiece, and An input of welding spot information consisting of a welding operation related to the welding spot is accepted for each welding spot. Then, based on the received relative position information and welding point information, an idle running point of the welding gun for the welding operation is determined, and the operation for the spot welding robot to perform the welding operation while maintaining the position of the welding gun. A program is generated.

  According to the present embodiment configured as described above, the idle running point of the welding gun related to the welding operation is automatically determined only by inputting the relative position information and the welding spot information for each welding spot. Therefore, the user can save the trouble of setting continuous free running points of a welding gun that performs a complicated operation. In addition, since the operation program is automatically generated in a state where the posture of the welding gun is maintained, the user does not need to set an idle running point for each welding hit point. As described above, even a non-specialized operator can easily teach the spot welding robot, and the teaching work time can be shortened.

  The functions of the teaching device 100 according to the present embodiment described above are realized by software. Actually, the teaching device 100 is configured to include a computer CPU or MPU, RAM, ROM, and the like, and can be realized by operating a program stored in the RAM or ROM. Therefore, it can be realized by recording a program that causes a computer to perform the functions of the above-described embodiment on a recording medium such as a CD-ROM and causing the computer to read the program.

  As a recording medium for recording the program, a flexible disk, a hard disk, a magnetic tape, an optical disk, a magneto-optical disk, a DVD, a nonvolatile memory card, and the like can be used in addition to the CD-ROM. The program may be downloaded to a computer via a network such as the Internet.

  In addition, the functions of the above-described embodiments are realized by executing a program supplied by a computer, and the program is used in cooperation with an OS (operating system) or other application software running on the computer. When the functions of the above-described embodiment are realized, or when all or part of the processing of the supplied program is performed by a function expansion board or a function expansion unit of the computer, the function of the above-described embodiment is realized. Such a program is included in the embodiment of the present invention.

  In the above embodiment, the welding spot input receiving means 240 reads the definition file defining the welding order of the welding spot and the welding operation related to the welding spot, thereby performing the welding order of the welding spot and the welding operation related to the welding spot. An input may be accepted.

  FIG. 6A is a diagram illustrating an example of a definition file. As shown in FIG. 6A, in the definition file, the welding operation flags related to the welding points A to D are described from the top in the order of the welding points. The welding operation flag is a flag for identifying a welding operation related to a welding spot. The welding operation corresponding to the welding operation flag can be specified by referring to the correspondence table that defines the correspondence between the welding operation flag and the welding operation as shown in FIG. It is assumed that the position information indicating the position of the welding spot is stored in the operating environment information storage unit 220.

  In this case, the welding point input receiving means 240 holds the correspondence table of FIG. 6B in its own internal memory, and refers to the held correspondence table when the definition file is read. Further, the welding spot input receiving means 240 specifies the position of the welding spot described in the definition file by referring to the position information stored in the operating environment information storage means 220. In this way, the user can input the welding spot information of all the welding spots by simply describing the welding sequence of the welding spots and the welding operation flags related to the welding spots in one definition file. it can. Therefore, the user can reduce the trouble of inputting welding spot information via various screens shown in FIGS. 3A to 3C for each welding spot.

  Moreover, although the relative position input reception means 200 demonstrated the example which receives the input of relative position information only once in the said embodiment, this invention is not limited to this. For example, the relative position input receiving unit 200 may receive input of relative position information for each welding spot. If it does in this way, the idle run point of a welding gun can be determined finely according to the shape of a work and the shape of a welding jig for every welding spot. Therefore, it is possible to generate an operation program that can more reliably avoid the workpiece shape and the interference between the welding jig and the welding gun.

  Further, the relative position input receiving means 200 may individually receive the input of the relative position information related to the welding spot desired by the user after receiving the input of the relative position information common to each welding spot. In this case, the individually input relative position information is applied to the welding point desired by the user. On the other hand, common relative position information is applied to welding points other than the welding point desired by the user.

  In addition, when the spot welding robot generates an operation program for performing an operation of performing welding on a plurality of workpieces, the relative position input receiving unit 200 receives an input of relative position information for each workpiece. May be. If it does in this way, the idle run point of a welding gun can be finely determined according to the shape of a work, and the shape of a welding jig for every work.

  In the above embodiment, the operation program execution unit 320 extracts the operation program stored in the operation program storage unit 300 only when an operation for executing the operation program is performed through a user operation on the operation unit 140. However, the present invention is not limited to this. For example, after the operation program generation unit 280 stores the operation program in the operation program storage unit 300, the operation program execution unit 320 automatically extracts and executes the operation program stored in the operation program storage unit 300. Also good.

  Moreover, although the said embodiment demonstrated the example which receives the input of the welding order of a welding spot automatically according to the order which received the input of the position of a welding spot, this invention is not limited to this. For example, every time an input of the position of the welding spot is accepted, an input of the welding order of the welding spot may be accepted.

  In addition, each of the above-described embodiments is merely an example of implementation in carrying out the present invention, and the technical scope of the present invention should not be construed in a limited manner. That is, the present invention can be implemented in various forms without departing from the gist or the main features thereof.

DESCRIPTION OF SYMBOLS 100 Teaching apparatus 200 Relative position input reception means 240 Welding point input reception means 260 Free running point determination means 280 Operation program generation means 320 Operation program execution means

Claims (4)

Distance information indicating how far the welding tip located at the tip of the welding gun provided in the spot welding robot is separated from the workpiece in relation to the position of the welding spot on the workpiece on which the spot welding robot performs welding, First movement information indicating how much the welding gun is moved to the position where the welding point is located with respect to the workpiece, and how much the welding gun is moved to the side where the welding point is not located with respect to the workpiece Relative position input receiving means for receiving input of relative position information including second movement information indicating whether or not to perform;
Welding spot input receiving means for receiving, for each welding spot, the position and welding order of the plurality of welding spots on the workpiece and welding spot information including a welding operation related to the welding spot;
The input received by the welding point input receiving unit based on the relative position information received by the relative position input receiving unit and the welding point information received by the welding point input receiving unit. A free running point determining means for determining a free running point of the welding gun relating to the welding operation;
Operation program generating means for generating an operation program for the spot welding robot to perform the welding operation while maintaining the attitude of the welding gun based on the idle running point determined by the idle running point determining means; A teaching device for a spot welding robot, comprising: The teaching device according to claim 1,
The teaching apparatus according to claim 1, wherein the welding spot input receiving means receives a welding operation input related to the welding order and the welding spot by reading a definition file defining a welding operation related to the welding order and the welding spot. A teaching program for causing a computer to function as each means according to claim 1. Distance information indicating how far the welding tip located at the tip of the welding gun provided in the spot welding robot is separated from the workpiece in relation to the position of the welding spot on the workpiece on which the spot welding robot performs welding, First movement information indicating how much the welding gun is moved to the position where the welding point is located with respect to the workpiece, and how much the welding gun is moved to the side where the welding point is not located with respect to the workpiece A first step of accepting input of relative position information including second movement information indicating whether to perform;
A second step of receiving input of welding spot information including a position and welding order of the plurality of welding spots on the workpiece and a welding operation related to the welding spot for each welding spot;
Based on the relative position information received by the first step and the welding point information received by the second step, the welding operation received by the second step. A third step of determining a free running point of the welding gun;
And a fourth step of generating an operation program for the spot welding robot to perform the welding operation while maintaining the position of the welding gun based on the idle running point determined in the third step. A teaching method for a spot welding robot.

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