CN104076804B - Operation path information setting device and operation path information setting method - Google Patents
Operation path information setting device and operation path information setting method Download PDFInfo
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- CN104076804B CN104076804B CN201410072009.3A CN201410072009A CN104076804B CN 104076804 B CN104076804 B CN 104076804B CN 201410072009 A CN201410072009 A CN 201410072009A CN 104076804 B CN104076804 B CN 104076804B
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Abstract
The invention provides an operation path information setting device, a program and an operation path information setting method, which reduces operation path information input operation performed by an operator when action track information of operation object equipment is generated. The operation path information setting device is used for setting operation path information of a workpiece on which the operation object equipment performs operation for operation instruction for the operation object equipment before operation. The operation path information setting device is provided with the components of: a welding line information storage part (61) which stores the operation path information of a reference workpiece model correspondingly with identifying information; a similar workpiece structure information acquiring part (51) which acquires structure information of a similar workpiece model that is used as a workpiece model of the operation path information and has size that is different from the reference workpiece model and a shape that is similar with that of the reference workpiece model; and a similar welding line information generating part (55) which uses the operation path information of the reference workpiece model and generates the operation path information of the similar workpiece model according to the acquired similar workpiece model.
Description
Technical field
Working path information setting device, program and working path information setting method the present invention relates to be used for automatic teaching system.
Background technology
Used as implementing one by manipulating object equipment of operation to workpiece, the welding robot for being welded performs action according to execution by way of the operation that its training data sets.In welding robot teaching method, in the presence of for example based on PTP (Point to Point, it is point-to-point) CP (the Continuous Pass of linear interpolation, continuous pass) control mode, this is that designated robot is answered the position of the point for passing through, posture and links the teaching method of the interpolation methods of these points.But, the teaching method comes what designated robot was passed through position a little, posture and its interpolation method by being manually operated at as the welding position of the workpiece of manipulating object, therefore haves the shortcomings that teaching is excessively time-consuming.
As in the prior art that publication is recorded, there is following technology (for example, referring to patent document 1)：When welding robot to be used in the welding of framework etc., in order to improve efficiency, by corner coupling head shape, welding track and welding condition isotype and it is prestored in memory, when the corner sealing wire to framework etc. carries out teaching, teaching is carried out to model selection and a datum mark.
Additionally, in the off line teaching method that make use of CAD data, there is following method (for example, referring to patent document 2)：When the operation to being similar to newly carries out teaching, the path storehouse of interim preservation is called, for being made for new working path data.Also, in the patent document 2, when path storehouse is utilized to object of the same race, it is necessary to the data (for example, referring to the section of patent document 2, (0069th)) of input block.
Additionally, there are following method (for example, referring to patent document 3)：2nd teaching step of the common off line teaching mode without the 1st teaching step of teaching mode and operator's input operation path of motion comprising the operation path of motion that robot is automatically made based on three-dimensional information, for teaching can be carried out by the 1st teaching step using the production line without teaching mode, for teaching cannot be carried out by operator using the production line without teaching mode.Thus, even in the presence of the operation object that cannot much use the production line without teaching mode, it is also possible to by being combined to reduce the operating area for carrying out online teaching without teaching mode and off line teaching.
Prior art literature
Patent document
Patent document 1：The clear 56-102376 publications of TOHKEMY
Patent document 2：JP Laid-Open 8-286722 publications
Patent document 3：TOHKEMY 2000-190264 publications
But, at these in the prior art, whenever be made as by the robot of manipulating object equipment movement locus information when, operator needs to carry out specifying for the datum mark of the Seeding location for turning into manipulating object, and is specified from 3 D workpiece model and extracts working path.Additionally, in order to be made the movement locus information in each working path, operator must be input into such as movement locus pattern, movement locus is made by the ID of manipulating object equipment, numbering of movement locus information etc. needed for parameter.
In recent years, with the variation of the market demand, the complication and maximization of product (workpiece) rapidly develop, and marginally the workpiece of production multi items turns into main flow.Wherein, in the case of the workpiece of different sizes of production height (H sizes), width (W sizes), depth (D sizes) etc., even if for analogous shape cannot also utilize original movement locus information, when changing per subjob, being required for carrying out teaching again.In the teaching again, it is desirable to which operator carries out manually operated (hereinafter referred to as " the input operation of working path information ") for extracting many working paths and the parameter come needed for input action track is made according to each working path.One of for the operator using off line teaching, the manually operated homework burden is very big, the reason for degradation in efficiency as the off line teaching for making to make use of automatic programming function.
The content of the invention
It is an object of the present invention to mitigate the input operation of the working path information that operator is carried out whenever the movement locus information by manipulating object equipment is made.
Using working path information setting device of the invention, for automatic teaching system, indicated to be implemented the operation before operation by manipulating object equipment, and set the working path information of the workpiece for being implemented operation by manipulating object equipment, the working path information setting device is characterised by possessing：Memory cell, it is accordingly stored the working path information of the benchmark part model of base shape with the identification information of identification working path；Tectonic information acquisition unit, it is obtained as wanting new work into the of different sizes with the benchmark part model of the part model of working path information and the tectonic information of similar part model that shape is similar；With working path information generating unit, the working path information of its benchmark part model using storage in the memory cell, tectonic information according to the described similar part model obtained by the tectonic information acquisition unit is made the working path information of the similar part model, the working path information generating unit, to in the working path information of the benchmark part model, recycled to be made the working path information of the similar part model with the working path information with the identification information identical identification information of the working path included in the tectonic information of the similar part model.
Herein, it is further characterized in that, the display unit of the job result for being also equipped with showing the working path information generating unit, the working path information generating unit, tectonic information and the working path information for storing the benchmark part model in the memory cell to the similar part model are compared, in the case of without identical identification information, the working path information of the benchmark part model is not utilized, and new working path information is made using the tectonic information, the display unit shows the result for being made the new working path information.
In addition, it is further characterized in that, the working path information generating unit, there is each working path of identical identification information for the working path with the working path information of the benchmark part model, judge whether the quantity of setting consistent, attribute whether consistent and operating direction it is whether consistent at least any one.
On the other hand, the present invention is a kind of program, computer is set to set the system of the working path information of the workpiece for being implemented operation by manipulating object equipment and play a role as in order to be implemented the operation before operation to indicate by manipulating object equipment, described program implements function such as the computer：Obtain the function of the working path information of the benchmark part model of the identification information and base shape with identification working path；Obtain as wanting new work into the of different sizes with the benchmark part model of the object of working path and the function of the tectonic information of similar part model that shape is similar；With the working path information for being made the similar part model according to the tectonic information of the similar part model using the working path information of the benchmark part model, and to the working path information of the benchmark part model in, the working path information of the identification information identical identification information of working path included in the tectonic information with part model similar with this recycled come the function of the working path information for being made the similar part model.
And then,If grasping the present invention from the category of method,Then the present invention is a kind of working path information setting method,Indicated to be implemented the operation before operation by manipulating object equipment,And set the working path information of the workpiece for being implemented operation by manipulating object equipment,The working path information setting method is characterised by,Obtain the identification information with identification working path,And the working path information of the benchmark part model of base shape,Obtain as wanting new work into the object of working path,The tectonic information of and similar part model that shape similar of different sizes with the benchmark part model,The working path information of the similar part model is made according to the tectonic information of the similar part model using the working path information of the benchmark part model,And in the working path information of the benchmark part model,The working path information of the identification information identical identification information of the working path included in the tectonic information with part model similar with this is recycled to be made the working path information of the similar part model.
Invention effect
According to the present invention, compared with situation of the invention is provided without, can significantly mitigate the input operation of the working path information that operator is carried out whenever the movement locus information by manipulating object equipment is made.
Brief description of the drawings
Fig. 1 is to represent the figure that the summary of the automatic teaching system that make use of the welding robot involved by present embodiment is constituted.
Fig. 2 is the figure of the hardware configuration example of the sealing wire information setting device for representing present embodiment.
Fig. 3 is the figure of the function configuration example of the sealing wire information setting device for representing present embodiment.
(a), (b) of Fig. 4 is the figure of of the tectonic information of the similar part model for being stored in similar workpiece configuration information storage part for explanation, being obtained from similar workpiece configuration information acquiring section.
Fig. 5 is to represent similar workpiece configuration information acquiring section, similar workpiece configuration validation of information portion and confirm that result shows/correct the flow chart of the treatment that receiving unit is carried out.
(a), (b) of Fig. 6 be for illustrating 102~104 the step of Fig. 5 in the figure of the confirmation treatment of the tectonic information of similar part model that carries out.
Fig. 7 is the figure of that represents the display picture used in 106~108 treatment the step of Fig. 5.
Fig. 8 is the explanatory diagram for illustrating the concept for being made function of the sealing wire information of the similar part model in present embodiment.
Fig. 9 is to represent similar sealing wire information generating unit and be made the flow chart that result showed/edited the flow for the treatment of performed by receiving unit.
The figure of the confirmation treatment of the same weld line name of the step of Figure 10 is for explanatory diagram 9 202.
The figure of the treatment of the step of (a) of Figure 11~(c) is for explanatory diagram 9 203,204,205.
The figure for automatically entering treatment of the sealing wire information in treatment shown in the step of (a), (b) of Figure 12 is for explanatory diagram 9 207.
Whether the vector data of the step of (a), (b) of Figure 13 is for explanatory diagram 9 208 has the figure of the judgement treatment of matching.
The figure for being made treatment of the new sealing wire information in the treatment shown in the step of Figure 14 is for explanatory diagram 9 211.
Figure 15 is the figure of the display example for being made result of the sealing wire information of the similar part model shown in the step of representing Fig. 9 210.
(a), (b) of Figure 16 is for illustrating the explanatory diagram that the summary of present embodiment is constituted.
Symbol description：
50 ... sealing wire information setting devices, 51 ... similar workpiece configuration information acquiring sections, 52 ... similar workpiece configuration validation of information portions, 53 ... confirmation results show/correct receiving unit, 54 ... base weld line information setting receiving unit, 55 ... similar sealing wire information generating units, 56 ... be made result show/edit receiving unit, 57 ... similar sealing wire information Store processing units, 61 ... sealing wire information storage parts, 62 ... similar workpiece configuration information storage parts.
Specific embodiment
Hereinafter, referring to the drawings, embodiments of the present invention are described in detail.
(summary description of present embodiment)
First, before the illustrating of present embodiment is entered, in order to be readily appreciated that, the summary to the sealing wire information setting of application present embodiment is illustrated.
Figure 16 (a), (b) are for illustrating the explanatory diagram that the summary of present embodiment is constituted.Figure 16 (a) is the concept map using the sealing wire information setting of present embodiment, Figure 16 (b) recycles of the file configuration GUI of function as sealing wire, shows the setting screen example of the sealing wire information for being made similar part model with the file of the sealing wire information of benchmark part model for the file of the tectonic information according to similar part model.
In Figure 16 (a), as the model of the workpiece for implementing by robot 10 weld job, show benchmark part model 301 with relative to 2 similar part models 302,303 that the benchmark part model 301 is of different sizes but shape is similar.In the example shown in Figure 16 (a), medium-sized benchmark part model 301 and similar large-scale similar part model 302 and small-sized similar part model 303 are shown.
In the automated programming mode of welding robot, in order to be made the movement locus information of robot 10, it is necessary to carry out the input operation of sealing wire information.Now, according to the production schedule of point product, on a production line, when the workpiece of each analogous shape is changed into size different workpiece, operator is required for being input into sealing wire information again.When sealing wire information input, even if the input time of every 1 is shorter, in the case where there is for example nearly 400 sealing wires, input is also required to a few hours.
In the present embodiment, first, base reference of reference part model 301 is selected as when sealing wire information setting.As premise, it is assumed that the sealing wire information of the benchmark part model 301 has been present.Then, the sealing wire information to the benchmark part model 301 is recycled, and automatically carries out the input of the sealing wire information of the similar similar part model 302,303 of that sealing wire information there is no, of different sizes but shape.Thus, " the input operation of sealing wire information " carried out when the manipulating object of analogous shape is changed into the different workpiece of size is alleviated.
In the setting screen shown in Figure 16 (b), in order to be made the sealing wire information of similar part model 302,303 according to benchmark part model 301, and the file of the sealing wire information of base reference of reference part model is selected as from sealing wire database (sealing wire information storage part 61 described later), and the tectonic information of similar part model is selected from the file (similar workpiece configuration information storage part 62 described later) of the similar part model that should newly implement weld job.Operator performs the operation of present embodiment described later by carrying out these selection operations.Additionally, operator carries out selection operation for setting screen shown in the display device 104 shown in Fig. 2 using input equipment 106.
Additionally, in the present embodiment, welding robot is the mode by manipulating object equipment artificially represented with various industrial machines, sealing wire information setting device is treated as a mode of working path information setting device.Additionally, welding instruction is one of operation instruction, sealing wire is treated as one of working path.Equally, pad is one of setting, and welding direction is one of operating direction.So, welding is treated as a mode of operation.Also, sealing wire information is a mode of working path information.
Then, present embodiment is specifically illustrated.In the present embodiment, illustrated by taking the automatic teaching system that make use of welding robot as an example.
(composition of automatic teaching system)
Fig. 1 is to represent the figure that the summary of the automatic teaching system that make use of welding robot involved by present embodiment is constituted.
As shown in figure 1, welding robot system possesses：The teaching apparatus 30 of robot (manipulator) 10, the control device (controller) 20 of control robot and input training data.Additionally, the setting processing of the sealing wire information constituted as the feature of present embodiment, such as performed by the sealing wire information setting device 50 realized by computer system.Additionally, control device 20 possesses the interface of the read-write that data are for example carried out to the moveable storage medium 40 such as storage card, training data can be written out to storage medium 40, or be written to the training data of storage medium 40 and read in and be saved in storage device.
Robot 10 possesses the arm (arm) with multiple joints, carries out the various operations based on training data.In the case of welding robot system, in the front end of arm, the welding torch 11 of the weld job for carrying out object is provided with.Control device 20 possesses the storage device (memory) of storage training data and reads in training data and controls the processing unit (CPU) of the action of robot 10.Teaching apparatus 30 are used to be input into path of welding, weld job condition etc. by operator when the teaching operation of robot 10 is carried out.Teaching apparatus 30 possess the display picture 31 and load button 32 being made up of liquid crystal display etc..
Control device 20 has the interface and the interface to teaching apparatus 30 to robot 10, is connected with robot 10 and teaching apparatus 30 via these interfaces.Additionally, control device 20 possesses the interface of the read-write that data are for example carried out to the moveable storage medium 40 such as storage card, training data can be written out to storage medium 40, or be written to the training data of storage medium 40 and read and store storage device.
(hardware of sealing wire information setting device is constituted)
Fig. 2 is the figure of the hardware configuration example for representing sealing wire information setting device 50.
As shown in Fig. 2 possessing the memory 102 as the CPU (Central Processing Unit, central processing unit) 101 of arithmetic element and as main memory unit as the sealing wire information setting device 50 of one of working path information setting device.Additionally, as external equipment, possessing image presentation mechanism (video card etc.) 103 and display device 104, disk set (HDD：Hard Disk Drive, hard disk drive) input equipment such as 105 and keyboard or mouse 106.In addition, the hardware that Fig. 2 only illustrates in the case of realizing sealing wire information setting device 50 by computer system is constituted, sealing wire information setting device 50 is not limited to the composition of diagram.
(function of sealing wire information setting device is constituted)
Fig. 3 is the figure of the function configuration example for representing sealing wire information setting device 50.
As shown in figure 3, sealing wire information setting device 50 possesses：The sealing wire information storage part 61 played a role as one of the basic memory cell of sealing wire information of benchmark part model of storage as sealing wire information setting；With the similar workpiece configuration information storage part 62 played a role as one of the similar workpiece configuration information memory cell of tectonic information of similar part model of object of storage as new sealing wire information setting.The sealing wire information storage part 61 and similar workpiece configuration information storage part 62 can be realized by the disk set 105 (reference picture 2) of computer system.But, there is also the situation of both or any one party is arranged at the housings different from the computer system shown in Fig. 2, place is separate outside (for example, remote server, external storage device etc.).In this case, by network (not shown), it is connected with the computer system shown in Fig. 2.
Additionally, as shown in figure 3, sealing wire information setting device 50 possesses：The similar workpiece configuration information acquiring section 51 played a role as one of tectonic information acquisition unit；The similar workpiece configuration validation of information portion 52 played a role as one of confirmation unit；Receiving unit 53 is shown/corrects with confirmation result.Also, possess：Base weld line information setting receiving unit 54, the similar sealing wire information generating unit 55 played a role as one of working path information generating unit, the result that is made played a role as one of working path information generating unit and/or display unit show/edit receiving unit 56 and similar sealing wire information Store processing unit 57.The similar workpiece configuration information acquiring section 51, similar workpiece configuration validation of information portion 52, confirm that result shows/corrects receiving unit 53, base weld line information setting receiving unit 54, similar sealing wire information generating unit 55, is made result and shows/edit receiving unit 56, similar sealing wire information Store processing unit 57, for example, hardware as shown in Figure 2 constitute in CPU101, memory 102 and disk set 105 realize.More particularly, will realize that the program of the function of the sealing wire information setting device 50 of present embodiment is stored in disk set 105 by computer, the program is deployed into memory 102, and performed by CPU101, be achieved in above-mentioned each function.In addition, confirm that result shows/corrects receiving unit 53, base weld line information setting receiving unit 54, is made result and shows/edit receiving unit 56, various information are shown by GUI functions on display device 104 via image presentation mechanism 103, and the input from operator is accepted via input equipment 106.
Similar workpiece configuration information acquiring section 51 obtains the tectonic information of the similar part model of the sealing wire information that should be made similar part model from similar workpiece configuration information storage part 62.Acquired tectonic information is intended to the user (designer) using the automatic teaching system for applying present embodiment, from the information that the part model being made in advance is obtained.More particularly, it is the graphical model described by the CAD for specifying, the point coordinates value (sealing wire coordinate value) of sealing wire, attribute and the sealing wire name described when being formed in and being made the graphical model.Sealing wire name is that designer in a planned way determines when workpiece product is designed, and is determined as the rule of designer side in product design.On details, illustrated using Fig. 4 (a), (b).
Additionally, as tectonic information, can replace constitute the point coordinates value of sealing wire, attribute and there is the information of " crest line ".For example, replace point coordinates value, attribute or possess together with the point coordinates value, attribute being expected the crest line for turning into each component of sealing wire for the three-dimensional shape data of each component.In this case, welding candidate line is set on the crest line of the side of estimated welding, and would indicate that the data of the welding candidate line of the setting are set together with three-dimensional shape data.Therefore, in " tectonic information " of application present embodiment, the inscape of the sealing wire such as identification information (such as sealing wire name) and crest line comprising sealing wire.
In similar workpiece configuration validation of information portion 52, the tectonic information of the similar part model for being similar to acquired by workpiece configuration information acquiring section 51, tectonic information based on the similar part model carries out unmatched precheck so that be next made the similar sealing wire of sealing wire information it is respective between do not produce contradiction.
In confirming that result shows/correct receiving unit 53, the result of the sealing wire information inspection that similar workpiece configuration validation of information portion 52 is carried out is shown in display device 104, and accepts confirmation/correcting process that operator (user) is operated and carried out based on the display to input equipment 106.The tectonic information of the similar part model of confirmation/correcting process is implemented like this, and disk set 105 is stored as the confirmation tectonic information of similar part model.
In addition, in the present embodiment, " operator (user) " is the people that butt welding wiring information setting device 50 is operated, and exists and the different situation of " user (designer) " main body identical situation of the side of part model, main body is designed by the operation of CAD.
On being similar to workpiece configuration information acquiring section 51, similar workpiece configuration validation of information portion 52 and confirming that result shows/correct the treatment of receiving unit 53, it is described in detail using Fig. 5~Fig. 7.
Base weld line information setting receiving unit 54, answers new work to be read from sealing wire information storage part 61 into the sealing wire information of the basic benchmark part model of the similar part model of sealing wire information, and be set as comparison other by turning into.In the case of the sealing wire information of multiple species that are stored with sealing wire information storage part 61, accept for turn into answer new work into similar part model basic benchmark part model base weld line information user select, read data simultaneously set.In sealing wire information storage part 61, it is divided into the species of benchmark part model or the species of similar part model, storage (preservation) has the manual sealing wire message file being made or the sealing wire message file being made automatically by present embodiment.
Here, in " sealing wire information ", sealing wire name and the welding track information comprising the identification information as sealing wire.It is somebody's turn to do " sealing wire information " and sets parameter in units of 1 sealing wire.
In addition, in the present embodiment, for convenience of description, the sealing wire information of benchmark part model is referred to as " base weld line information " sometimes, the sealing wire information of similar part model is referred to as " similar sealing wire information ", by new work into sealing wire information be referred to as " new sealing wire information ".
" welding track information " represents the parameter for being made using automatic programming function and being input into during movement locus information.In the welding track information, for example, the inscape comprising movement locus pattern, robot ID, the numbering of movement locus information and sealing wire.In this composition key element, comprising the position (coordinate) for representing sealing wire or the information of attribute, for example, line model etc. is welded.Additionally, in welding track information, vector information, other information sometimes comprising the component face such as mother metal face or riser face.For the vector information in component face, even if operator is not input into, it is also possible to calculated automatically according to inscape.
Obtained from " movement locus pattern " is the arc manipulation pattern by robot to welding position.
" robot ID " represents the identification information (ID) of the robot using the movement locus information being made automatically, when movement locus information is made using movement locus pattern, the identification information (ID) of the robot for turning into process object is represented.
" numbering of welding track information " represents the identification information (ID) assigned to movement locus information, is so-called tutorial program numbering.
" movement locus information " is represented for the tutorial program with movement locus (the interpolation information by point and posture and between points of robot), robotic command (electric arc open (ON)/close (OFF) etc.) that makes the robot of real machine start and be welded.
Similar sealing wire information generating unit 55 is made the sealing wire information of similar part model according to the tectonic information for being shown/being corrected receiving unit and confirmed by the confirmation result of similar part model using the sealing wire information of the benchmark part model set by base weld line information setting receiving unit 54.
It is being made during result shows/edit receiving unit 56, for the sealing wire information by being similar to the similar part model that sealing wire information generating unit 55 is made, it is shown that be made result.Particularly, detected between the sealing wire information and the sealing wire information of the similar part model being made of benchmark part model it is unmatched in the case of, mismatch position understand in the state of display processing result.Then, correcting process, the editing and processing of the sealing wire message file of the similar part model that operator is carried out to the display are accepted.In addition it is also possible to be configured to, detect it is unmatched in the case of, this do not carried out be made result to show/editing the treatment of receiving unit 56, and be transferred directly to the treatment of next similar sealing wire information Store processing unit 57.
Similar sealing wire information Store processing unit 57 as the sealing wire information of new benchmark part model in order to utilizing, and entering the sealing wire information Store of the similar part model for being about to be made automatically to the treatment of sealing wire information storage part 61.
Then, the content for each function part shown in above-mentioned Fig. 3 is described in further detail.
(explanation of the tectonic information of similar part model)
Fig. 4 (a), (b) are for illustrating the figure of of the tectonic information of the similar part model that storage is obtained in similar workpiece configuration information storage part 62 and from similar workpiece configuration information acquiring section 51.Fig. 4 (a) represents one of sealing wire, and what Fig. 4 (b) illustrated that the tectonic information of the sealing wire shown in Fig. 4 (a) charges to form example.
Sealing wire shown in Fig. 4 (a) is made up of the 1st line 76, the 2nd line 77 and the 3rd line 78.1st line 76 is straight line, with the the 1st: 71 and the 2nd: 72 this 2 points show.Additionally, the 2nd line 77 being connected with the 1st line 76 is curve, with the the 2nd: 72, the 3rd: 73 and the 4th: 74 this 3 points show.Also, the 3rd line 78 being connected with the 2nd line 77 is straight line, with the the 4th: 74 and the 5th: 75 this 2 points show.Sealing wire direction is the the 1st: 71 → the the the 2nd: 72 → the 3rd: 73 → the 4th: 74 → the 5th: 75 order.
In the tectonic information shown in Fig. 4 (b), there is sealing wire name 79 and constitute the sum i.e. points 80 of the point of sealing wire.Sealing wire name 79 plays a role as the identification information of identification sealing wire.In the present embodiment, for related to benchmark part model sealing wire in similarity relation, using the sealing wire name identical sealing wire name with the sealing wire information of benchmark part model.Because, wanting the part model design phase that for example make use of CAD using user (designer) side of automatic teaching system, the sealing wire to the association between the workpiece of similarity relation assigns identical identiflication number.
Additionally, in the tectonic information shown in Fig. 4 (b), for the 1st line 76, the 2nd line 77, the 3rd line 78 each bar of line, the attribute comprising the line for being straight line (L) or circular arc (C).Additionally, as sealing wire coordinate value, the coordinate value (X, Y, Z) comprising the point (the the 1st: 71~the 5th: 75) for constituting each sealing wire.
(the confirmation treatment of the tectonic information of similar part model)
Then, the confirmation treatment for being similar to workpiece configuration information is illustrated.
Fig. 5 is to represent similar workpiece configuration information acquiring section 51, similar workpiece configuration validation of information portion 52 and confirm that result shows/correct the flow chart of the treatment that receiving unit 53 is carried out.
First, it is similar to the tectonic information (step 101) that workpiece configuration information acquiring section 51 reads in similar part model from similar workpiece configuration information storage part 62.Then, judged in the relevant data of the sealing wire of similar part model with the presence or absence of mismatch by being similar to workpiece configuration validation of information portion 52.More particularly, first, it is determined that with the presence or absence of sealing wire name and sealing wire coordinate value (step 102).In the case of these are non-existent (being "No" in step 102), aftermentioned step 106 is transferred to.In the presence of these (being "Yes" in step 102), judge whether the sealing wire for existing name does not repeat (step 103).In the case of repetition (being "No" in step 103), aftermentioned step 106 is transferred to.In the case of unduplicated (being "Yes" in step 103), judge whether sealing wire coordinate value does not repeat (step 104).In the case of repetition (being "No" in step 104), aftermentioned step 106 is transferred to.In the case of unduplicated (in step 104 be "Yes"), the sealing wire information for being transferred to the similar part model that similar sealing wire information generating unit 55 is carried out is made treatment (step 105).
Fig. 6 (a), (b) be for illustrating 102~104 the step of Fig. 5 in the figure of the confirmation treatment of the tectonic information of similar part model that carries out.Fig. 6 (a) is the figure of the inspection result example for representing the presence or absence of sealing wire name and sealing wire coordinate value/repetition, and Fig. 6 (b) is the figure of the repetition example for representing sealing wire (coordinate value).
In the information " AWELD_C ... 300L2 " of the sealing wire of the 1st section shown in Fig. 6 (a), " AWELD_C " is sealing wire name 112.Additionally, " ... 300L2 " is the coordinate value 113 of the sealing wire showed with point information.Hereinafter, it is also later same at the 2nd section.The information 114 of the sealing wire represented by the 2nd section of " AWELD_C ... 300L2 ", sealing wire name 112 and coordinate value 113 are consistent with the information of the 1st section of sealing wire.The information 115 of the sealing wire represented by the 4th section of " AWELD_C ... 800L2 ", the sealing wire name 112 as " AWELD_C " is consistent with the information of the 1st section of sealing wire.The information 116 of the sealing wire represented by the 5th section of " AWELD_D ... 300L2 ", the coordinate value 113 as " ... 300L2 " is consistent with the information of the 1st section of sealing wire.In the information 117 of the 6th section of sealing wire, sealing wire name 112 is " without (blank) ".In the information 118 of the 7th section of sealing wire, coordinate value 113 is " without (blank) ".
In the left figure of Fig. 6 (b), the 1st sealing wire 121 and the 2nd sealing wire 122 are repeated on line part 123.In the right figure of Fig. 6 (b), the 3rd sealing wire 125 and the 4th sealing wire 126 are repeated on line part 127.
So, in similar workpiece configuration validation of information portion 52, carry out the inspection of sealing wire name and the presence or absence of sealing wire coordinate value/repeat, if judge 1 it is problematic, be transferred to the treatment of step 106.
Here, in the information shown in coordinate value 113, " 3 " of such as " ... 300L2 " represent X-coordinate value, and " 0 " represents Y-coordinate value, and ensuing " 0 " represents Z coordinate value, and " L " represents the attribute of line, and " 2 " represent total points.Additionally, although not shown, but also comprising sealing wire component face (mother metal face, riser face, component towards amount etc.) identification information.
(the confirmation result of the tectonic information of similar part model shows and corrects)
In the step 106 shown in Fig. 5, display constitutes the confirmation result of the sealing wire of similar part model.Then, confirm to cancel the presence or absence of instruction (step 107) according to whether the cancel button for being present in display picture is pressed.Cancel and indicate to be to make the instruction temporarily ceased to the transfer of the treatment performed by similar sealing wire information generating unit 55.In the case of without instruction is cancelled (being "No" in step 107), step 105 is transferred to.Have cancel indicate in the case of (in step 107 be "Yes"), confirm result show/correction portion 53 accepts operator and is based on the amendment of shown confirmation result and/or edits (step 108).Then, return to step 102.
Fig. 7 is the figure of that represents the display picture used in the treatment of step 106~108.Display picture shown in Fig. 7 display device 104 as shown in Figure 2 shows.Carry out, the display shown in Fig. 7 is shown as the result of the overall confirmation treatment of the sealing wire of similar part model confirmation treatment 1 sealing wire, 1 sealing wire of the step of Fig. 5 102~104.In the display picture shown in Fig. 7, information 132, reference column 133 of species 131, sealing wire name of sealing wire etc. are shown.The display of " recycling " in species 131, represents when similar sealing wire information is made, the sealing wire of the similar workpiece for being recycled according to base weld line information.Additionally, the display of " unregistered " in species 131 is demonstrated by sealing wire name or coordinate value is the situation of blank.In the example of " unregistered " of Fig. 7, the display of " solderless wiring name " is carried out in the column of the information 132 as the situation without sealing wire name in sealing wire name.
Additionally, in the case where there is warning, the information point color of sealing wire to be showed also very effective.It is purple etc. in the case where sealing wire (coordinate) is repeated for example, being red in the case where sealing wire name is repeated.Also, in the case where there is warning, warning message is shown in reference column 133.
Additionally, in the display picture shown in Fig. 7, the instruction of the amendment/editor from operator can be accepted.In the example shown in Fig. 7, it is shown that OK button 138 and cancel button 139.Operator makes the indicator devices such as the mouse as one of input equipment 106 move to the position that these buttons show, and clicks on these buttons.Sealing wire information setting device 50, by recognizing operation of the operator to the display picture, the instruction of the operator shown in 107 the step of be capable of identify that Fig. 5.Additionally, for the display content shown in Fig. 7, display content is directly inputted using keyboard etc. by the relief operator for clicking cancel button 139, the amendment/editor shown in 108 the step of Fig. 5 can be accepted.
By a series of these treatment, new work is complete into the tectonic information of the similar part model of sealing wire information, is transferred to the i.e. similar sealing wire information of step 105 and is made treatment.
(being made for the sealing wire information of similar part model)
Then, to the similar sealing wire information generating unit 55 shown in Fig. 3, be made the similar sealing wire information that result showed/edited receiving unit 56 and carried out and be made treatment and illustrate.
Fig. 8 is the explanatory diagram for illustrating the concept for being made function of the sealing wire information of the similar part model in present embodiment.Pass through the sealing wire information 141 that the base weld line information setting receiving unit 54 shown in Fig. 3 reads benchmark part model from sealing wire information storage part 61 in order to sealing wire is recycled.The sealing wire information 141 of the benchmark part model sets information in units of 1 sealing wire.When sealing wire is recycled, with reference to the tectonic information 144 of similar part model.The tectonic information 144 is that confirmation result as shown in Figure 3 shows/correct that receiving unit 53 has accepted the tectonic information of the similar part model of amendment.The tectonic information 144 also sets information in units of 1 sealing wire.
In the present embodiment, the sealing wire information in similar part model is made treatment, using the sealing wire information 141 and the tectonic information 144 of similar part model of benchmark part model, the sealing wire information 145 of similar part model is made automatically.
Fig. 9 is to represent similar sealing wire information generating unit 55 and be made the flow chart that result showed/edited the flow for the treatment of performed by receiving unit 56.In the treatment shown in Fig. 9, the tectonic information of the sealing wire of the similar part model consistent with the sealing wire information of benchmark part model for sealing wire name, using as other confirmation items sealing wire between points, attribute it is consistent as condition, using the tectonic information of the sealing wire of the sealing wire information and similar part model of consistent benchmark part model, sealing wire information to benchmark part model recycles to be made the sealing wire information of similar part model.On the other hand, the tectonic information of the sealing wire of the similar part model inconsistent with the sealing wire information of benchmark part model for sealing wire name, the sealing wire information of benchmark part model is not utilized, and new sealing wire information is made merely with the tectonic information of the sealing wire.
First, it is similar to sealing wire information generating unit 55 and is taken into the sealing wire information of benchmark part model and the tectonic information (step 201) of similar part model.
Then sealing wire information, based on benchmark part model and the tectonic information of similar part model, carry out same weld line name inspection, that is, confirm sealing wire name whether identical (step 202).Sealing wire information (being "Yes" in step 202) with same weld line name is transferred to following confirmation and processes (below step 203).What the sealing wire information (in step 202 be "No") without same weld line name was transferred to new sealing wire information is made treatment (step 211), and shown (step 210) carrying out the result for being made treatment of similar sealing wire information labeled as " unregistered " (step 212).
Be in step 202. "Yes", i.e., sealing wire name it is identical in the case of, processed as its confirmation, first, it is determined that whether points between sealing wire consistent (step 203).In the case that points between sealing wire are inconsistent (being "No" in step 203), for inconsistent sealing wire, the termination for being made treatment of step 213, similar part model sealing wire information is transferred to.Then, shown as the result for being made treatment of the sealing wire information of the similar part model that make use of display device 104 (reference picture 2), show " mistake " (step 214) for corresponding sealing wire, and be transferred to step 210.In the case that points between sealing wire are consistent (being "Yes" in step 203), judge attribute between sealing wire whether unanimously (step 204)." attribute " is referred to being illustrated using Fig. 4, is, for example, straight line (L) or circular arc (C) etc. herein.In the case of inconsistencies (being "No" in step 204), it is transferred to step 213, treatment is made for sealing wire information that inconsistent sealing wire stops similar part model, and step 210 is transferred to labeled as " mistake " (step 214) to corresponding sealing wire.In the case where attribute is consistent (being "Yes" in step 204), judge whether the welding direction between sealing wire is consistent (step 205).In the case of consistent (being "Yes" in step 205), the sealing wire information for being transferred to similar part model is made treatment (step 207).(being "No" in step 205), carries out warning label (mark of " alarm ") (step 206), and be transferred to step 207 using display device 104 in the case of inconsistencies.
Whether the sealing wire information for having carried out similar part model in step 207 is made after treatment, judge the vector data with matching (step 208).If having matching (in step 208 be "Yes"), result is shown (step 210) carrying out the result for being made treatment of the sealing wire information of similar part model as normal.If without matching (in step 208 be "No"), labeled as " mistake " (step 209), and carrying out the result for being made treatment of the sealing wire information of similar part model and showing (step 210).
Figure 10 is the figure for illustrating the confirmation treatment of the same weld line name of step 202.The upper figure of Figure 10 is the sealing wire information of the benchmark part model for being accepted and being set by base weld line information setting receiving unit 54.Figure below of Figure 10 is to be confirmed by similar workpiece configuration validation of information portion 52 or show/correct that receiving unit 53 has accepted the tectonic information of the similar part model of amendment by confirmation result.Turn into comparison other, the sealing wire name 152 in the sealing wire name 151 of the sealing wire information of benchmark part model and the tectonic information of similar part model in the confirmation treatment of same weld line name.In the example shown in Figure 10, being similar to " AWELD_C " and " AWELD_A " of part model has same weld line name, and " AWELD_D " is in the sealing wire information of benchmark part model in the absence of same weld line name.As it was previously stated, being transferred to step 203 in the case of with identical sealing wire name.Be transferred to step 211 in the case of without identical sealing wire name, and carry out new sealing wire information be made treatment.
Figure 11 (a)~(c) is the figure for illustrating above-mentioned step 203,204,205 treatment.Here, showing the tectonic information of the sealing wire information and similar part model as the benchmark part model of comparison other.
In the treatment of step 203, the tectonic information of sealing wire information and similar part model based on benchmark part model, the comparing that sealing wire points are carried out between the sealing wire of same names confirms.As a result, the sealing wire consistent for sealing wire points, its sealing wire information is transferred to following confirmation treatment (step 204).In the example shown in Figure 11 (a), the sealing wire points 161-2 of sealing wire points 161-1 and similar part model between the sealing wire of same names to benchmark part model is compared.
In the treatment of step 204, the tectonic information of sealing wire information and similar part model based on benchmark part model, the comparing for carrying out welding line attribute between the sealing wire of same names confirms.As a result, the sealing wire consistent for welding line attribute, its sealing wire information is transferred to following confirmation treatment (step 205).In the example shown in Figure 11 (b), the welding line attribute 162-2 of welding line attribute 162-1 and similar part model between the sealing wire of same names to benchmark part model is compared.
In the treatment of step 205, the tectonic information of sealing wire information and similar part model based on benchmark part model, the comparing that sealing wire direction is carried out between the sealing wire of same names confirms.In the example shown in Figure 11 (c), the sealing wire direction that the sealing wire direction calculated to the coordinate value 163-1 according to benchmark part model between the sealing wire of same names calculates with the coordinate value 163-2 according to similar part model is compared.Additionally, in Figure 11 (c), illustrate only 1 point of coordinate value respectively in coordinate value 163-1,163-2, but in fact, in the presence of having at 3 points at 2 points if, circular arc if such as straight line, be so respectively present multiple coordinate values.Here, for this 2 points, such as using the direction from starting point towards end point as sealing wire direction, and as the object for comparing.
Then, it is the consistent sealing wire in sealing wire direction for these result of the comparison, the sealing wire information for being transferred to similar part model is made treatment (step 207).In the case where sealing wire direction is inconsistent, via the treatment of the warning label of step 206, in step 207, it is set as the sealing wire direction of the tectonic information of the sealing wire of similar part model.
Figure 12 (a), (b) are the figures for automatically entering treatment for illustrating the sealing wire information in the treatment shown in step 207.Figure 12 (a) shows the sealing wire information of the benchmark part model of the sealing wire with same names and the tectonic information of similar part model.Here, it is different that order is charged in both.Additionally, Figure 12 (b) shows the example of the sealing wire information of the similar part model being automatically entered.
When the sealing wire information of similar part model is made, robot ID, movement locus pattern, movement locus information encoding are obtained from the sealing wire information of benchmark part model.On the other hand, the inscape of sealing wire is obtained from the tectonic information of similar part model.Then, the rule of " sealing wire information " according to the rules, is allocated, the automatic setting of the sealing wire information as shown in thus, it is possible to carry out Figure 12 (b) according to the order of charging to of sealing wire information.
Figure 13 (a), (b) are for illustrating whether the vector data of step 208 has the figure of the judgement treatment of matching.Figure 13 (a) represents the example of the benchmark part model and similar part model for being compared, and Figure 13 (b) shows the figure of of the index of the matching for judging these vector datas.
Confirm whether (inspection) has the matching of the sealing wire information as similar part model by the sealing wire information that above-mentioned each treatment is made relative to the sealing wire information of benchmark part model.As the method, first, the sealing wire direction vector 181-1 of the sealing wire of the calculating benchmark part model and difference D being made as described above between the welding direction of the sealing wire of the similar part model of sealing wire information vector 181-2.Then judge difference D whether in permissible range.If for example, it is less than more than 0 ° 10 ° to set permissible range, if the absolute value of the value of difference D is in permissible range, i.e.
0°≤|D|≤10°
It is considered that there is matching.Like this, whether difference D is judged in permissible range, it is judged as there is matching (being "Yes" in step 208) if in permissible range, is judged as if in permissible range outer (being more than 10 °) in the absence of matching (being "No" in step 208).In addition, for example, if each sealing wire is by (the 185-1 of welding starting point 185,185-2) with welding end point 186 (186-1,186-2) this 2 points define, then " welding direction vector 181 (181-1,181-2) " is from the welding starting point 185 (185-1,185-2) towards the vector in the direction of welding end point 186 (186-1,186-2).
Figure 14 is the figure for being made treatment for illustrating the new sealing wire information in the treatment shown in step 211.As it was previously stated, " AWELD_D " of Figure 10 is without same weld line name.Therefore, tectonic information " AWELD_D " based on similar part model carries out being made for sealing wire information.In the example shown in Figure 14, line model 155 is made using the initial point 153 of the sealing wire of similar part model and the coordinate value of terminal 154.Then, based on the line model 155 come automatic detection means face (mother metal face 156 and riser face 157).Based on these information, new sealing wire information is made.
(being made the display of result)
Figure 15 is the figure of the display example for being made result of the sealing wire information for representing the similar part model shown in step 210.The result that is made shown in Fig. 3 shows/edits receiving unit 56, using the display device 104 shown in Fig. 2, operator is shown and is made result.Various confirmations shown in the flow chart of Fig. 9 are carried out with processing 1 sealing wire, 1 sealing wire, and the display shown in Figure 15, it is shown as the result of the overall confirmation treatment of the sealing wire of similar part model.
In the display example shown in Figure 15, show and be made the species 191 for the treatment of, number (No.) 192, sealing wire 193, be made the result 194, mistake for the treatment of or the content 195 of alarm.Additionally, having carried out as the error number mark 196 and alarm number mark 197 of the summary for being made result.Here, in species 191, " recycling " is labeled as in the case where make use of the sealing wire information of benchmark part model, the non-existent sealing wire in the sealing wire information of benchmark part model is labeled as " unregistered " as the new mark of step 212.For being made new sealing wire information in step 211 and being marked as the sealing wire of " unregistered " in the step 212, afterwards as the input object of movement locus pattern, robot ID, the numbering of welding track information etc..
In the result 194 for being made treatment, mark " normal ", " mistake " or " alarm "." normal " mark is the situation of the matching for confirming vector data in a step 208." mistake " is the result queue of step 209, step 212, step 214." alarm " is the warning label of step 206.In mistake or the content 195 of alarm, actual wrong content is showed in the form of operator is readily appreciated that.
Like this, shown to operator and be made result.
(editor of the sealing wire information of similar part model)
Similar sealing wire information is made as above, and display is made result.The result that is made shown in Fig. 3 shows/edits receiving unit 56, accepts the editing operating that operator is carried out as needed using the input equipment 106 shown in Fig. 2.For example, being change or sealing wire editor, sealing wire deletion, the combination of sealing wire, the editor of welding track information, the editor of welding sequence such as flexible etc. of length of welding direction.The edited result for being carried out, covers and is saved in memory 102 etc. as the sealing wire information of new similar part model, is processed by similar sealing wire information Store processing unit 57, and store to sealing wire information storage part 61.
Then, in the case where the sealing wire information of next new similar part model is made automatically, the sealing wire information for storing the similar part model before sealing wire information storage part 61 by being similar to sealing wire information Store processing unit 57 can be used as the sealing wire information of new benchmark part model.
Function is accepted by with this editor, even if for example, in the design alteration of the additional or model by new structural member, and only in the case of the alteration of form of a part for workpiece, it is also possible to it is made sealing wire information.If also, extract the sealing wire information, and it is additional be registered in sealing wire information storage part 61, then after the sealing wire information can be recycled.Additionally, because the sealing wire information of unwanted benchmark part model can be deleted, it is possible to the utilization of the sealing wire information of the benchmark part model of mistake is prevented, additionally, the management of the sealing wire information of benchmark part model becomes simple.
(effect of present embodiment)
More than, as detailed description, according to present embodiment, in the part model (similar part model) of analogous shape, based on the sealing wire information from the benchmark part model extracted as base reference of reference part model, can unify automatically to carry out being made for the sealing wire information of similar part model.Thus, it is not necessary to carry out conventional carried out whenever the different workpiece of the size that manipulating object changes into analogous shape, welding line drawing operation again and movement locus is made the input operation of required parameter.Therefore, it is possible to mitigate the burden of the input operation of operator, can make make use of the efficiency of the off line teaching system of automatic programming function to improve.Further, since being made for movement locus information also can be carried out rapidly, therefore also can significantly shorten the time in the teaching of robot and strength.
In addition, as described above, the sealing wire information of the similar part model that will can be made by present embodiment is as the sealing wire information Store of new benchmark part model to sealing wire information storage part 61, but it is also possible to preserved respectively by the type of workpiece and using the sealing wire information of these benchmark part models.Preserve respectively and utilize by the type by workpiece, the welding wire management between the part model as manipulating object becomes easy, be prevented from the sealing wire using different type of machines from the mistake for acting into movement locus information etc..Further, since utilizing sealing wire information in automatic programming function, therefore sealing wire information need not be individually set to automatic programming function.Thus, the time that is made of movement locus information also shorten.
(other configuration examples of present embodiment)
In the above description, by computer implemented sealing wire information setting device 50, the sealing wire information of benchmark part model and the tectonic information of similar part model are obtained, and be made the treatment of the sealing wire information of similar part model.In this regard, the function of the sealing wire information setting device 50 of present embodiment can also for example be realized by the control device 20 of the welding robot system shown in Fig. 1 and teaching apparatus 30.
In the case, control device 20 possesses CPU101, memory 102, the disk set 105 in the hardware configuration example shown in Fig. 2.Additionally, realizing image presentation mechanism 103 and display device 104 by the display picture 31 and its drive mechanism of teaching apparatus 30, input equipment 106 is realized by the load button 32 of teaching apparatus 30.In the case, for example the setting screen shown in Figure 16 (b), the display picture shown in Fig. 7, Figure 15 are shown in the display picture 31 of teaching apparatus 30.Then, operator operates to the load button 32 of teaching apparatus 30, carries out desired assignment.Control device 20 accepts the input operation carried out by the teaching apparatus 30.
Additionally, the sealing wire information setting method realized by present embodiment, as described above, can be applied as the treatment performed by the CPU101 of sealing wire information setting device 50.But it is also possible to each step is disperseed, by being realized by multiple computer installations of network connection.In addition, the preservation of the tectonic information of similar part model is for example carried out by portable storage device (not shown), the sealing wire information of benchmark part model can also be saved in disk set 105 of sealing wire information setting device 50 etc., and the place of retention on data can also there is various ways in which.
Claims (4)
1. a kind of working path information setting device, it is used for automatic teaching system, in order to by operation
Object-based device is implemented the operation before operation and is indicated, and sets the work for being implemented operation by manipulating object equipment
The working path information of part,
The working path information setting device is characterised by possessing：
Memory cell, it is by the working path information of the benchmark part model of base shape and recognizes operation
The identification information in path is accordingly stored；
Tectonic information acquisition unit, it is obtained as wanting part model of the new work into working path information
And similar part model that shape similar of different sizes with the benchmark part model construction letter
Breath；With
Working path information generating unit, its benchmark work using storage in the memory cell
The working path information of part model, according to the described similar work obtained by the tectonic information acquisition unit
The tectonic information of part model is made the working path information of the similar part model,
The working path information generating unit, in the working path information of the benchmark part model
, with the identification information with the working path included in the tectonic information of the similar part model
The working path information of identical identification information is recycled to be made the work of the similar part model
Industry routing information.
2. working path information setting device according to claim 1, it is characterised in that
The display unit of the job result for being also equipped with showing the working path information generating unit,
The working path information generating unit, tectonic information and storage to the similar part model
The working path information of the benchmark part model in the memory cell is compared, and is not having
In the case of having identical identification information, the working path information of the benchmark part model is not utilized, and
New working path information is made using the tectonic information,
The display unit shows the result for being made the new working path information.
3. working path information setting device according to claim 1 and 2, it is characterised in that
The working path information generating unit, for the working path letter with the benchmark part model
The working path of breath has each working path of identical identification information, judges the quantity of setting and is
No consistent, attribute whether consistent and operating direction it is whether consistent at least any one.
4. a kind of working path information setting method, before implementing operation by manipulating object equipment
Operation is indicated, and sets the working path information of the workpiece for being implemented operation by manipulating object equipment,
The working path information setting method is characterised by,
Obtain the working path information of the benchmark part model of base shape, the working path information tool
There is the identification information of identification working path,
Obtain as wanting part model and described benchmark part model size of the new work into working path
The tectonic information of the similar similar part model of different and shape,
Using the working path information of the benchmark part model come according to the similar part model
Tectonic information is made the working path information of the similar part model, and to the benchmark part model
Operation road included in tectonic information in working path information, with part model similar with this
The working path information of the identification information identical identification information in footpath is recycled similar to be made this
The working path information of part model.
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| JP2013070638A JP6022394B2 (en) | 2013-03-28 | 2013-03-28 | Work route information setting device, program, and work route information setting method |
| JP2013-070638 | 2013-03-28 |
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| CN109590563B (en) * | 2017-10-02 | 2021-09-10 | 白光株式会社 | Welding device, storage medium, and welding method |
| JP7171407B2 (en) * | 2018-12-12 | 2022-11-15 | 株式会社日立製作所 | Information processing device, production instruction support method |
| CN110153584A (en) * | 2019-06-10 | 2019-08-23 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | The rapid workpiece welding method accelerated based on figure video card |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS59104271A (en) * | 1982-12-07 | 1984-06-16 | Hitachi Zosen Corp | Method for inputting information to welding robot |
| JPS6464016A (en) * | 1987-09-03 | 1989-03-09 | Nec Corp | Robot teaching system |
| JPH0546226A (en) * | 1991-08-16 | 1993-02-26 | Amada Co Ltd | Welding processing program preparing method for welding robot system |
| JP3231478B2 (en) * | 1993-05-28 | 2001-11-19 | 株式会社日立製作所 | Robot teaching device |
| JP3482539B2 (en) * | 1994-02-21 | 2003-12-22 | 株式会社小松製作所 | Industrial robot program creation device |
| JPH10211575A (en) * | 1997-01-24 | 1998-08-11 | Nippon Kokan Light Steel Kk | Automatic teaching method of automatic welding equipment for metallic box shape structure and automatic welding method of metallic box shape structure by automatic teaching method |
| JP4837837B2 (en) * | 2001-04-26 | 2011-12-14 | 株式会社小松製作所 | A robot program creation device in a work robot system and a program creation device in an automatic control device system |
| US7029280B2 (en) * | 2002-02-11 | 2006-04-18 | Sap Ag | E-learning course editor |
| KR100520079B1 (en) * | 2003-08-01 | 2005-10-12 | 삼성전자주식회사 | robot system and control method thereof |
| JP2005316906A (en) * | 2004-04-30 | 2005-11-10 | Nissan Motor Co Ltd | Method for supporting welding teaching |
| JP3946753B2 (en) * | 2005-07-25 | 2007-07-18 | ファナック株式会社 | Robot program evaluation / correction method and robot program evaluation / correction device |
| CN100559375C (en) * | 2008-02-02 | 2009-11-11 | 南京航空航天大学 | Utilization is based on the implementation method of the on-the-spot teaching of the three-dimensional assembly technique file of WEB |
| WO2010092981A1 (en) * | 2009-02-12 | 2010-08-19 | 三菱電機株式会社 | Industrial robot system |
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| JP6022394B2 (en) | 2016-11-09 |
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