JP2009160636A - Welding simulation program, welding simulation device, and welding simulation method - Google Patents

Welding simulation program, welding simulation device, and welding simulation method Download PDF

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Publication number
JP2009160636A
JP2009160636A JP2008002795A JP2008002795A JP2009160636A JP 2009160636 A JP2009160636 A JP 2009160636A JP 2008002795 A JP2008002795 A JP 2008002795A JP 2008002795 A JP2008002795 A JP 2008002795A JP 2009160636 A JP2009160636 A JP 2009160636A
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welding
gun
point
step
spot
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JP2008002795A
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Japanese (ja)
Inventor
Takeshi Kashiwa
Yoshitaka Kobayashi
Takeshi Nakatsuka
猛志 中塚
芳隆 小林
武 柏
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Ueno Technica:Kk
株式会社ウエノテクニカ
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Priority to JP2008002795A priority Critical patent/JP2009160636A/en
Publication of JP2009160636A publication Critical patent/JP2009160636A/en
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Abstract

It is an object of the present invention to provide a program, an apparatus, and a method capable of quickly and easily simulating a welding operation.
A program 41 according to the present invention uses a first step in which data 5 including at least two-dimensional coordinates of a welding point e is input, data 5 or data 5 and a welding surface f of each welding point e, The second step of creating the welding point e and the welding axis J, the third step in which the welding gun G is virtually arranged at the welding point e in accordance with the welding axis J, and at least the welding group name is changed. A process in which the welding gun G is changed, a process in which one of the welding points e is deleted, a process in which the approach angle of the welding gun G is changed, or a welding gun There is a fourth step in which at least one of the processes for changing the arrangement of the upside-down inversion of G is performed, and a fifth step in which information on the first to fourth steps is stored.
[Selection] Figure 3

Description

  The present invention relates to a welding simulation program, a welding simulation apparatus, and a welding simulation method for simulating welding work by a welding gun of a welding robot.

In recent years, the design work is mainly performed using a three-dimensional CAD (Computer Aided Design).
When performing the welding operation of an industrial robot designed using this three-dimensional CAD, the operation of the industrial robot that performs the welding operation is checked in advance, that is, the simulation is performed using simulation software on a personal computer based on the above CAD data. Confirmed virtual.
This working method has an advantage that defects and problems are clarified before a welding operation is actually performed and a product is manufactured.

In this manner, identifying problems before making an object is called front loading, and it is possible to shorten the delivery time.
The welding operation using the front loading welding robot is performed through the following steps.
FIG. 21 is a diagram showing a personal computer screen representing a procedure for creating welding work data for an industrial robot using a conventional three-dimensional CAD.

First, an operator obtains a design drawing in which a welding point is illustrated as a manufacturing instruction.
Then, as a first step, the three-dimensional coordinates of the welding point described in this design drawing are read, the three-dimensional CAD is started on the personal computer, and the personal computer screen p101 shown in FIG. Using the dialog box d101 of "Define", the point that will be the hit point position on the welding reference plane is entered as a two-dimensional coordinate (x, y) from the read three-dimensional coordinate manually, that is, manually created To do.

Subsequently, as a second step, the personal computer screen p102 shown in FIG. 21 (b) is displayed, and the point created in the first step is displayed on the panel using the “define projection” dialog box d102. The z-axis coordinate is determined by manually projecting onto the actual welding surface f to be welded on the member B.
Subsequently, as a third step, a personal computer screen p103 shown in FIG. 21 (c) is displayed, and a panel, that is, a member, is displayed on the point projected in the second step using the “define straight line” dialog box d103. A normal to the actual welding surface f to be welded on B is created using a command or manually.

Subsequently, as a fourth step, the personal computer screen p104 shown in FIG. 21 (d) is displayed, and the reference axis J of the welding gun G is manually aligned with the normal line created in the third step. Determines the direction, posture, etc. that enters when welding the welding spot.
Then, the resulting data is printed.
FIG. 22 is a diagram showing a personal computer screen showing the transition of the simulation of the welding operation of the welding gun G using simulation software which is a conventional CAE (Computer Aided Engineering) tool.

Simulation of welding work of the welding gun G using simulation software which is a CAE tool is performed as follows.
First, the operator activates the simulation software on the personal computer, displays the personal computer screen p201 shown in FIG. 22A as the first step, and the third step of the three-dimensional CAD shown in FIG. 21C. While viewing the paper on which the projected points are printed, a TAG is manually created for the points. That is, a perpendicular is dropped from the (x, y) coordinate to the welding surface f to determine the z-axis coordinate, the (x, y, z) coordinate is determined, and the reference axis J of the welding gun G (see FIG. 21 (d)). The angle around the x-axis, the angle around the y-axis, and the angle around the z-axis are determined, the z-axis of the TAG is arranged perpendicular to the welding surface f, and the z-axis of the TAG is used as the reference axis J of the welding gun G.

Subsequently, as the second step, the personal computer screen p202 shown in FIG. 22B is displayed, and the TAG is displayed in the first step while the operator looks at the personal computer screen p202 using the “Teach” dialog box d202. The operation of welding the hit points created by the welding gun G is simulated, and interference such as the welding gun G hitting the member B in the welding operation is confirmed, and tuning is performed.
Then, as a third step, the simulation result in the second step is printed to create a simulation result report R shown in FIG.

Thereafter, the designer activates the three-dimensional CAD on the personal computer, opens the personal computer screen p203 shown in FIG. 22 (d) for tuning the simulation result, and performs correction input while viewing the simulation result report R.
In addition, there exist the following as a prior art which the applicant etc. grasped.
Dassault Systèmes, CATIA, [online], [October 23, 2007 search], Internet <URL: http://www.3ds.com/jp/corporate/about-us/brands/catia/> Dassault Systèmes, DELMIA, [online], [October 23, 2007 search], Internet <URL: http://www.3ds.com/jp/corporate/about-us/brands/delmia/>

By the way, in the above-described front loading method, the data positioned by the three-dimensional CAD cannot be used as it is by the simulation software, and the operator determines the three-dimensional point of the data positioned by the simulation software by the three-dimensional CAD. Newly entered and created manually.
Specifically, after printing the data of the three-dimensional point positioned by the three-dimensional CAD through the process shown in FIG. 21, the operator activates the simulation software and the welding gun G hits the member B in the welding operation. In order to check for interference such as whether there is any interference, a three-dimensional point or the like is input again while observing the printed data, and simulation is performed.

In addition, when a simulation result report R shown in FIG. 22 (c) is created from the simulation results shown in FIGS. 22 (a) and 22 (b), and a defect such as the welding gun G hitting another member in the welding operation is found. First, an operator starts up a three-dimensional CAD and performs an input operation for data correction on the personal computer screen p203 shown in FIG. 22D while viewing the simulation result report R.
As described above, in the conventional method, the design work in the three-dimensional CAD and the simulation work for confirming the defect that occurs in the actual work in the simulation software are performed independently, and the coordinates are independently used in each software. Value and attribute value information is entered manually.

Therefore, there are problems such that a large amount of data cannot be processed at once, and it takes time to provide the angle information of the welding gun G.
In view of the above circumstances, an object of the present invention is to provide a welding simulation program, a welding simulation apparatus, and a welding simulation method capable of quickly and easily performing a welding operation simulation by a welding robot.

  In order to achieve the above object, a welding simulation program according to the first aspect of the present invention is a welding simulation program for simulating a welding operation of welding a structure with a welding gun of a welding robot. Using the first step in which point data including two-dimensional coordinates is input and the point data or the point data and the welding surface of each set welding point, a welding axis and a welding axis perpendicular to the welding plane including the welding point A third step in which the welding gun is virtually arranged on the welding point in accordance with the welding axis, and at least a process in which the welding group name for distinguishing the welding point is changed, or The process by which the welding gun that welds the welding point is changed, or what of the welding points At least one of the process of deleting the mark, the process of changing the approach angle of the welding gun, or the process of changing the position of the vertical reversal of the welding gun when welding And a fifth step in which information obtained from the first step to the fourth step is stored.

  A welding simulation program according to the second aspect of the present invention is a welding simulation program for simulating a welding operation of welding a structure with a welding gun of a welding robot, and at least a welding group name for distinguishing welding points is changed. A process, a process in which a welding gun for welding a welding spot is changed, a process in which any one of the welding spots is deleted, or a process in which an approach angle at the time of welding of the welding gun is changed, Alternatively, a first step in which at least one of processes for changing the arrangement of the vertical reversal of the welding gun when welding is performed, and a second step in which information obtained in the first step is stored are performed. It is running.

  A welding simulation apparatus according to the third aspect of the present invention is a design simulation software for performing a welding operation simulation for welding a structure with a welding gun of a welding robot, and a welding simulation apparatus including the simulation software. Data exchange with the simulation software processing is performed using files of the same data format.

  A welding simulation apparatus according to a fourth aspect of the present invention is a welding simulation apparatus that performs a welding operation simulation in which a structure is welded by a welding gun of a welding robot, and is input with point data including at least two-dimensional coordinates related to welding points. A welding spot creating means for creating a welding axis and a welding axis perpendicular to the welding plane including the welding spot using the point data or the point data and the welding surface of each set welding spot; The welding gun includes a welding gun arrangement means arranged at a welding spot in accordance with a welding axis, at least a process for changing a welding group name for distinguishing the welding spot, or a welding gun for welding the welding spot. Processing to be changed, processing to delete any of the welding points, or welding of the welding gun A welding gun changing means, an input means, and a welding spot for performing at least one of a process for changing the approach angle of the welding gun and a process for changing the arrangement of the vertical reversal of the welding gun during welding. And an information storage means for storing information obtained by the creating means, the welding gun arrangement means, and the welding gun changing means.

  A welding simulation apparatus according to a fifth aspect of the present invention is a welding simulation apparatus that performs a welding operation simulation in which a structure is welded by a welding gun of a welding robot, and at least a welding group name that distinguishes a welding gun at a welding point is The process to be changed, the process to change the welding gun that welds the welding spot, the process to delete any of the welding spots, or the approach angle during welding of the welding gun is changed. Storing the information obtained by the welding gun changing means and the welding gun changing means for performing at least one of the processing for changing the arrangement of the vertical reversal of the welding gun at the time of welding. Information storage means.

  A welding simulation method according to a sixth aspect of the present invention is a design software for performing a welding operation simulation for welding a structure with a welding gun of a welding robot, and a welding simulation method using the simulation software, and the processing of the design software And data of the simulation software are processed using files having the same data format.

  A welding simulation method according to a seventh aspect of the present invention is a welding simulation method for simulating a welding operation for welding a structure with a welding gun of a welding robot, and is input with point data including at least two-dimensional coordinates related to welding points. A welding spot creation process in which a welding axis perpendicular to the welding plane including the welding spot and the welding spot is created using the point data or the point data and the welding surface of each set welding spot; The welding gun is arranged at the welding spot according to the welding axis, and at least the welding group name for distinguishing the welding spot is changed, or the welding gun for welding the welding spot is changed. Or one of the welding points is deleted, or the approach angle when welding the welding gun is Or a welding gun changing process in which at least one of the arrangement of the vertical reversal of the welding gun at the time of welding is changed, an input process, a welding spot creating process, and a welding gun arranging process And an information storing step in which information obtained in the welding gun changing step is stored.

  The welding simulation method according to the eighth aspect of the present invention is a welding simulation method for simulating a welding operation of welding a structure with a welding gun of a welding robot, and at least a welding group name for distinguishing welding points is changed, Alternatively, the welding gun for welding the welding point is changed, or any of the welding points is deleted, or the approach angle at the time of welding of the welding gun is changed, or the welding gun for welding is changed. A welding gun changing process in which at least one of the arrangements of the vertical reversal is changed, and an information storing process in which information obtained in the welding gun changing process is stored.

  According to the present invention, it is possible to realize a welding simulation program, a welding simulation apparatus, and a welding simulation method that can quickly and easily simulate a welding operation by a welding robot.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
FIG. 1A is a conceptual diagram of an embodiment of the present invention.
As shown in FIG. 1A, the embodiment of the present invention simulates the welding operation designed by the processing of the three-dimensional CAD2 for designing the welding operation by the welding robot B and the processing of the three-dimensional CAD2. The interface between the simulation software 3 and the processing for finding the defect is smoothed, the defect of the simulated actual welding operation can be smoothly fed back, and the welding operation simulation by the welding robot B can be performed quickly. It can be easily done.

As shown in FIG. 1, a personal computer 1 (hereinafter referred to as a personal computer 1) to which the present invention is applied includes a three-dimensional CAD 2 for designing a welding operation by a welding gun G on a hard disk 1d of a storage device, and 3 A simulation software 3 for simulating a welding operation designed in the dimension CAD2 is installed, and a welding macro program 4 is created in the three-dimensional CAD2.
In the personal computer 1, the welding macro program 4 is executed, and the same file format dot created by the welding macro program 4 between the processing of the welding macro program 4, the processing of the three-dimensional CAD 2, and the processing of the simulation software 3. The management intermediate file 5 is input / output, and the welding operation is simulated.

As shown in FIG. 1B of the conceptual configuration diagram, the welding macro program 4 includes a welding spot placement macro program 41 (hereinafter referred to as a welding spot placement macro 41) and a TAG information input macro program 42 (hereinafter referred to as a welding spot placement macro program 41). TAG information input macro 42), TAG information output macro program 43 (hereinafter referred to as TAG information output macro 43), welding point coordinate output macro program 44 (hereinafter referred to as welding point coordinate output macro 44), And a gun assembly information reading macro program 45 (hereinafter referred to as a gun information reading macro 45).
The personal computer 1 is a general-purpose personal computer including a central processing unit, a main storage device, an auxiliary storage device, an input device such as a keyboard 1a and a mouse 1b, and an output device such as a display 1c and a printer (not shown). .

Next, the overall flow of the processing of this embodiment will be described with reference to FIG. FIG. 2 is a flowchart showing the overall flow of processing.
The processing of this embodiment is performed in the personal computer 1 by executing the macro program 4 in the three-dimensional CAD 2 and in cooperation with the processing of the three-dimensional CAD 2 and the processing of the simulation software 3.
In the process of the present embodiment, a welding spot placement macro program 41, which is one of the welding macro programs 4, is executed in S1 of FIG. 2, and the process by the welding spot placement macro 41 is performed as follows.

That is, the worker obtains the common format dot management intermediate file 5a with the welding point data of the structure K and stores it in the hard disk shown in FIG. Based on the welding spot information such as the three-dimensional coordinates of a certain welding spot, the personal computer 1 shown in FIG. 1 is used to create the spot management intermediate file 5a in a common format using the welding spot coordinate output macro 44 described later. Store it on your hard disk.
Subsequently, the three-dimensional CAD 2 is activated to activate the welding spot placement macro 41, and an automatic reading point creation screen 41a1 (see FIG. 3B) is displayed on the display 1c (see FIG. 1). From the spot management intermediate file 5a in which the welding point data shown in a) is created, the automatic reading points are batched by the weld spot placement macro 41 job executed using the “import condition selection” dialog box d0. create.

FIG. 3 (a) is a diagram showing a dot management intermediate file in which welding point data is created, and FIG. 3 (b) is a diagram showing an automatic reading point creation screen of a welding spot placement macro. FIG. 3C is a view showing a welding gun placement screen of the welding spot placement macro, and FIG. 3D is a view showing a spot management intermediate file in which the processing result of the welding spot placement macro is output. is there.
Further, according to the executed welding spot placement macro 41 job, as shown in the welding gun placement screen 41a2 shown in FIG. 3 is output in the dot management intermediate file 5b shown in FIG. 3 (d) including data on the direction, posture and the like that the welding gun G enters to weld the welding spot. It is processed. In the welding spot placement macro 41 job, tuning is performed when the welding gun G interferes with the structure K to be welded in the welding operation.

The tuning of the welding spot arrangement macro 41 is limited to checking whether or not the welding gun G alone interferes with the structure K, and interference with the cooperation with the welding robot B that operates the welding gun G is the simulation software. This is performed by the simulation according to 3.
Subsequently, in S <b> 2 of FIG. 2, processing by the TAG information input macro 42 which is one of the macro programs 4 is performed as follows by executing the TAG information input macro 42.
That is, the spot management intermediate file 5b shown in FIG. 4A created in S1 of FIG. 2 is read using the screen 41a3 shown in FIG. 4B, and each welding spot in the simulation software 3 is automatically read. A process for creating a TAG which is information of the above is performed. 4A is a diagram showing a dot management intermediate file input to the TAG information input macro, and FIG. 4B is a diagram showing a screen for automatically creating a TAG by the TAG information input macro. is there.

Subsequently, in S3 of FIG. 2, the simulation of the welding process that cannot be performed by the simulation of the process of the welding spot placement macro 41 is performed using the simulation software 3 as follows.
That is, the operator activates the simulation software 3 and uses the simulation screen 41a4 shown in FIG. 5 to check interference such as cooperation with the welding robot B that operates the welding gun G during welding. If there is, make a fine adjustment to create a TAG with the necessary data corrected.
Subsequently, in S4 of FIG. 2, processing by the TAG information output macro 43, which is one of the macro programs 4, is performed as follows by executing the TAG information output macro 43.

That is, using the screen 41a5 shown in FIG. 6 (a), the position information TAG of the welding gun G corrected as necessary in S3 is used as the data for the dot management intermediate file 5c shown in FIG. 6 (b). Output. 6A is a view showing a screen for outputting the TAG of the welding gun position information to the dot management intermediate file, and FIG. 6B is a dot management intermediate file output by the TAG information output macro. FIG.
Next, in S5 of FIG. 2, the data of the dot management intermediate file 5c is input to the three-dimensional CAD 2, and the change work identified by simulation such as the change of the jig, the newly required design work, etc. Done.

Subsequently, in S6 of FIG. 2, the worker determines whether or not another simulation work is necessary.
When it is determined in S6 of FIG. 2 that the simulation work is necessary (Yes in S6 of FIG. 2), for example, when it is considered that the verification by the macro program 4, the simulation software 3 or the like is necessary again, FIG. The process proceeds to S1 of 2, and the above-described processing is performed in the same manner.
On the other hand, when it is determined in S6 of FIG. 2 that the simulation work is not necessary (No in S6 of FIG. 2), the work related to the simulation of the welding work is finished.

<< Data format of dot management intermediate file 5 >>
Next, a dot having a common data format used for data transfer between the 3D CAD 2 for designing the welding operation by the welding robot B and the simulation software 3 for simulating the welding operation designed by the 3D CAD 2. The management intermediate file 5 will be described with reference to FIG. FIG. 7 is a diagram showing an example of the data format of the dot management intermediate file 5.
The first line 5g1 of the dot management intermediate file 5 is a header line in which the name of each data item is described. When data is exported, the first line 5g1 is not read. On the other hand, the data of each data item is input in the second line and after 5g2, and when data is exported, the data in the second line and after 5g2 is data to be read.

The first row 5g1 is a fixed item from the first column 5r1 to the ninth column 5r9, and there is no particular rule for the 10th column 5r10 and later, and additional information is written in the 10th column 5r10 and later.
The data item in the first column 5r1 is a welding spot name represented by Tag1, Tag2,. In addition, n of Tagn shows the order of the welding spot to weld.
The data item in the second column 5r2 is the group name of the welding spot. For example, the group name is assigned to each welding robot B divided into a hit point group for hitting a fine place and a hit point group for hitting a rough place, or grouped for each nearby weld hit point. . When there is one welding gun G, there is no need for grouping.

The third column 5r3, the fourth column 5r4, and the fifth column 5r5 are the (x, y, z) coordinate values of the welding points, respectively. The origin of the (x, y, z) coordinates is the origin of the absolute coordinate system. For example, in the case of a car, the origin of the axis of the front tire is taken and determined in advance. This is the original coordinate system that is the standard for dimensions.
The 6th row 5r6, the 7th row 5r7, and the 8th row 5r8 are respectively the angle around the x axis, the angle around the y axis and the angle around the z axis of the welding gun G when welding the welding spot. The ninth column 5r9 indicates the type of the welding gun G.
2, the angle around the x axis, the angle around the y axis of the welding gun G of the sixth row 5r6, the seventh row 5r7, and the eighth row 5r8, z The angle around the axis is not determined and is not input, but is input by performing S1 to S4 in FIG.

As described above, the 10th row 5r10 to the 17th row 5r17 are the additional information 1 to the additional information 7, and for example, the 10th row 5r10 and the 11th row 5r11 are data on the material and thickness of the first part. The 12th row 5r12 and the 13th row 5r13 are data items of the material and thickness of the second part, and the 14th row 5r14 and the 15th row 5r15 are the material and the material of the third piece. The plate thickness is a data item.
In the 16th column 5r16, the welding start condition is a data item, and for example, a current to be passed, a pressurizing time, a welding time, and the like are entered.
The 17th row 5r17 is a welding current that is input when setting the original current even when the welding current is within the starting conditions of the 16th row 5r16.

<< Gun assembly product file Gf >>
Next, a gun assembly product file Gf including welding gun information created by executing the welding spot placement macro 41 based on the spot management intermediate file 5 will be described with reference to FIG. FIG. 8 is a diagram showing a screen of a gun assembly product file Gf (hereinafter referred to as a gun product file Gf).
The gun product file Gf is a file containing welding gun information of each welding spot e used in the three-dimensional CAD 2, and based on the spot management intermediate file 5 in which the original data of welding is stored, the welding spot placement macro 41 is displayed. This is a product file for the three-dimensional CAD 2 that includes information such as the placement and orientation information of the welding gun G created by use.

In FIG. 8, Gf1 and Gf2 represent the names of parts to be joined by welding, and Gf3 represents the welding point of this part.
Gf4 represents the component property of the gun product file Gf, and the file path is a path representing the directory of the dot management intermediate file 5.
Gf5 represents the welding gun G.
Gf6 represents the welding point 1 of the welding gun G, and the xy plane, yz plane, and zx plane of Gf6 represent the reference plane when the welding point is two-dimensional.

The “coordinate system” of Gf7 is (x, y, z) coordinates in the original coordinate system of the welding point, and the angle of the welding axis around the x axis, the angle around the y axis, and the angle around the z axis. Indicates.
The “shape set” of Gf8 is a welding spot that is associated for data organization and displayed on the screen shown in FIG. 8, and indicates that “Tag 1”, “Tag 15”, and “Tag 28” are displayed. .
Gf9 represents a tag component property, and represents each component property of “Tag1”, “Tag15”, and “Tag28”, and “TAG_NO” holds the welding order of welding points, “TAG_GROUP_NAME” (not shown) holds a group name of welding points.

In addition, as additional item 1, additional information 1 in the tenth column 5r10 of the dot management intermediate file 5 shown in FIG. 7 is shown, and as additional item 2, additional information in the eleventh column 5r11 of the dot management intermediate file 5 shown in FIG. 2 and the additional item 3 indicates the additional information 3 in the 12th column 5r12 of the dot management intermediate file 5 shown in FIG. 7, and so on.
The “constraint” of Gf10 represents a condition for connecting the parts indicated by Gf1 and Gf2, for example, connecting the part Front_Frame and the part Rein_F2 together with the A axis and the B hole, or connecting the part Front_Frame and the part Rein_F2. , A surface and B surface are combined and recorded.

  If there is no tag component corresponding to incorrect welding spot information or welding spot in the existing gun product file Gf, the process does not proceed to the gun placement screen and the process is terminated. For example, when the coordinates of (x, y, z) are missing, or when there is no data on the welding surface of the welding point, any coordinate value of the coordinates of (x, y, z) is the upper limit value, lower limit When the value is out of the range, error processing is performed. This is because the program continues without stopping processing, or an unexpected error occurs. The welding surface data is determined by, for example, specifying three points in the original coordinate system, and the size thereof is determined by specifying a point on the welding surface.

Hereinafter, each process shown in FIG. 2 will be described in detail.
<< Welding spot placement macro 41 >>
Hereinafter, the processing of the welding spot placement macro 41 will be described with reference to FIG. FIG. 9 is a flowchart showing an outline of the processing flow of the welding spot arrangement macro 41.
The welding spot placement macro 41 is a configuration of a gun product file Gf (see FIG. 8) by importing the spot management intermediate file 5 (see FIG. 7) into which the spot information data has been input into the three-dimensional CAD 2 or the simulation software 3. This is a macro program that automatically creates the element “GUN_ASSY” and edits the arrangement of the welding gun G.
The edited result can be overwritten and saved in the imported dot management intermediate file 5 or can be newly saved as a new dot management intermediate file 5.

As an execution condition, the three-dimensional CAD 2 or the simulation software 3 is activated.
On the activated three-dimensional CAD 2, a gun product file Gf for inputting welding spot information shown in FIG. 10A is made active. In FIG. 10 (a), “Work” of Gf0 is blue, and the gun assembly product file Gf is active.
10A shows a screen on which the path of the gun product file Gf is displayed, and FIG. 10B shows a “Import condition selection” dialog box d1. FIG. 10C shows a file selection dialog box d1 ′.
In the personal computer 1 shown in FIG. 1, a common spot dot management intermediate file 5 in which the welding point data of the structure K is recorded is created by an operator using a welding spot coordinate output macro 44 or the like, which will be described later. 1d.

First, execution of the welding spot placement macro 41 is started by, for example, double-clicking the icon of the welding spot placement macro 41 displayed on the screen of the display 1c.
Then, the “Import condition selection” dialog box d1 (see FIG. 10B) is opened as S11 in FIG. In the “Import condition selection” dialog box d1, data information to be imported is set, and welding points are created based on the information set in this dialog box d1.
When the “....” button d11a of the file selection item is clicked, a file selection dialog box d1 ′ shown in FIG. 10C is displayed. Click and specify the desired dot management intermediate file 5 to be imported and set. To do.

Next, in S12 of FIG. 9, according to the data of the designated dot management intermediate file 5, in the plane selection check box d12 (see FIG. 10B), “2D (Dimension) information” or “3D (Dimension) Check one of “Information” and select either 2D or 3D data format. That is, when the two-dimensional coordinates are input to the hit point management intermediate file 5 as the original data, “2D information” is checked, and the three-dimensional coordinates are input to the hit point management intermediate file 5 as the original data. In this case, check “3D information”.
In the case of the data format “2D information”, if the (x, y) coordinates are input in the plane selection check box d13 (see FIG. 10B), check “XY plane” and (y, When the z) coordinate is input, the “YZ plane” is checked, and when the (z, x) coordinate is input, the “ZX plane” is checked to set the plane.

Thus, when the “XY plane” in the plane selection check box d13 is checked, x and y coordinate values are read, a point is projected in the Z-axis direction on the welding surface f set on the arrangement surface described later, and the welding point is determined. Created.
Similarly, if the “YZ plane” in the plane selection check box p13 is checked, y and z coordinate values are read, a point is projected in the X-axis direction on the welding surface f set in the arrangement surface described later, and the hit point is Created.
Similarly, if the “ZX plane” in the plane selection check box p13 is checked, z and x coordinate values are read, and a point is projected in the Y-axis direction onto the welding surface f set on the arrangement surface described later. Created.
FIG. 11A is a diagram showing an “Import condition selection” dialog box d1, and FIG. 11B is a diagram showing a surface selection screen p2 for selecting the welding surface f.

When the data format is “3D information” (see FIG. 10B), “position information only” or “rotation axis” in the position information check box d14 in the “Import condition selection” dialog box d1 shown in FIG. Check any of the check boxes for “Include information” and set the location information.
Here, when the “position information only” check box is checked, only the 3D coordinate information is read, and a point is projected onto the welding surface f set on the arrangement surface described later to create a welding hit point. The welding axis is created as an axis that passes through the welding point and is perpendicular to the welding surface f based on the created welding point and the welding surface f.
When the “Include rotation axis information” check box is checked, all 3D coordinate information is read, and the hit points and axes are created. No projection is performed. This is because the welding axis information is already determined as the rotation axis information.

Next, when the welding point is welded by the welding gun G, the arrangement surface of the welding surface f is set so that the reference axis J (see FIG. 21D) of the welding gun G is vertical. When the face setting button d151 of the arrangement surface d15 is clicked in the “Import condition selection” dialog box d1 shown in FIG. 11A, a surface selection screen p2 of the three-dimensional CAD2 shown in FIG. 11B is displayed.
Therefore, the welding surface f is set by clicking the add button d21 in the surface selection dialog box d2 and clicking the welding surface f of the structure K in the surface selection screen p2 of the three-dimensional CAD2. In FIG. 11B, the welding surface f set by clicking is stored as the surface 1.
When another surface to be arranged, that is, the welding surface f is selected, the add button d21 is clicked again, the welding surface f of the structure K in the surface selection screen p2 of the three-dimensional CAD 2 is clicked, and the welding surface f is selected. Set.

In addition, when continuously adding three or more arrangement surfaces, that is, welding surfaces f, click the continuous addition button d22 and continuously click the welding surface f of the structure K on the surface selection screen p2 of the three-dimensional CAD2. Then, a plurality of welding surfaces f are set continuously. To finish the selection of the arrangement surface, the Esc key of the keyboard 1a shown in FIG.
On the other hand, when deleting the selected arrangement surface, the item to be deleted is selected from the selected surface list displayed in the display window d20 (see FIG. 11B), and the delete button d23 is clicked.
When all the selected placement surfaces are deleted, all items in the placement surface list displayed in the display window d20 are deleted by clicking a delete all button d24 (see FIG. 11B).

Finally, by clicking the OK button d25 (see FIG. 11B), the surface selection screen p2 and the surface selection dialog box d2 are terminated, and the selection contents are reflected in the data of the welding surface f of the arrangement surface, and welding is performed. The striking point, the welding axis J and the like are processed.
On the other hand, when the cancel button d26 shown in FIG. 11B is clicked, all the selected arrangement surfaces are released.
As S13 in FIG. 9, whether or not to acquire information on the welding gun G for the welding spot set so far is determined in the GUN check box d16 in the “Import condition selection” dialog box d1 shown in FIG. This is set depending on whether or not “Acquire GUN information” is checked. FIG. 12A shows a GUN check box d16, an OK button d17, and a cancel button d18 in the “Import condition selection” dialog box d1, and FIG. 12B shows a TOOLS reload dialog. FIG. 12C is a view showing the box d3, FIG. 12C is a view showing the gun arrangement screen p3, and FIG. 12D is a view showing a confirmation dialog box d4 for canceling the TOOLS process. .

Here, when “acquire GUN information” d16 (see FIG. 12A) is checked, information necessary for welding work of the welding gun G is acquired from the data of the dot management intermediate file 5, and welding is performed. Arrangement in the welding operation of the gun G is executed.
On the other hand, if “GUN information is acquired” d16 (see FIG. 12A) is not checked, information necessary for the welding operation of the welding gun G is not acquired from the data of the dot management intermediate file 5, and welding is performed. The execution process of gun G placement is not performed.
Subsequently, by clicking the OK button d17 in the “Import condition selection” dialog box d1 shown in FIG. 12 (a), data is acquired from the spot management intermediate file 5, and welding spot information is created. The gun placement process in the welding operation is performed.

On the other hand, if the cancel button d18 is clicked without clicking the OK button d17 (see FIG. 12A), the process is terminated.
Subsequently, a ROOTS re-read dialog box d3 shown in FIG. 12B is displayed.
It is possible to read a different dot management intermediate file 5 after reading the dot management intermediate file 5 by inputting to the reloading dialog box d3 of the TOOLS. The “Yes” button in the reload dialog box d3 of the TOOLS By clicking “d31”, a different dot management intermediate file 5 can be read.
On the other hand, by clicking the “No button” d32 in the ROOTS reloading dialog box d3 shown in FIG. 12B, the gun placement screen p3 shown in FIG. Is displayed.

It should be noted that when the input data includes erroneous welding hit point information such as a coordinate value exceeding the upper limit value and the lower limit value, or a coordinate value not input, or a plurality of weld surfaces f for one hit point. Is acquired, the gun placement screen p3 shown in FIG. 12C is not displayed, and the process is terminated.
If there is a welding point that cannot be automatically arranged, a TOOLS processing confirmation dialog box d4 shown in FIG. 12D is displayed before the processing is stopped.
When canceling the process, click the “Yes button” d41 in the dialog box d4 for canceling the TOOLS process. On the other hand, if the process is not to be canceled, a “No button” d42 in the confirmation dialog box d4 for canceling the TOOLS process is clicked.
On the other hand, when there is no welding spot that cannot be automatically arranged and all the welding spot information is correctly recognized, a gun placement screen p5 shown in FIG. 13 is displayed.

The welding spot information to be operated is selected from the welding spot list d51 displayed in the “GUN placement” dialog box d5 displayed at the same time as the gun placement screen p5. FIG. 13 is a diagram showing a gun arrangement screen p5.
Here, in the list of welding points d51, the “front” and “counter” d511, the welding gun G group name d512, and the names of welding points to be welded, respectively represent the cases where the welding gun G is facing up and down. And the GunPart name d514, which is the name of the selected welding gun G, are displayed.
The display button d52 displayed side by side in the welding spot list d51 is a button to be clicked when displaying the selected welding spot, and the non-display button d53 is a button to be clicked when not displaying the selected spot. The selection only display button d54 is a button that is clicked when only the selected welding spot is displayed.

The all display button d55 is a button that is clicked when displaying all welding points, and the ↑ ↓ button d56 is a button that is used when changing the order of information of the selected welding points. Only compatible.
Using these display button d52, non-display button d53, selection only display button d54, full display button d55, and ↑ ↓ button d56, the welding spot information displayed in the list of welding spots d51 can be manipulated. .
After the simulation as described above is performed and the virtual welding gun G is arranged and the welding operation content, procedure, and the like are clarified, the welding spot information is tuned as S14 in FIG.
That is, using the welding spot list d51, the group name of the welding spot as a unit for performing the welding work is reviewed, and the change is made if necessary.

This review of the group names of welding points is that welding points are appropriately arranged in each welding work area, and that welding points are appropriate for the welding point group that hits a fine place and the welding point group that hits a rough place. In addition, the operator visually recognizes the gun arrangement screen p5 shown in FIG. 13 to determine whether or not the welding point corresponds appropriately for each welding robot B, and a review change process is performed.
When changing the group name of the welding spot, enter the group name to be changed in the text box d57 described as the group name and click the group name change button d58 to select the welding spot selected in the welding spot list d51. The name of is changed.
Subsequently, the welding gun G is changed using the gun arrangement screen p5 and the “GUN arrangement” dialog box d5 shown in FIG. 14A is a diagram showing a gun arrangement screen p5 and a “GUN arrangement” dialog box d5, and FIG. 14B is a figure showing a lower part of the “GUN arrangement” dialog box d5.

Here, if the welding gun G is selected in advance in the three-dimensional CAD 2 and stored in the dot management intermediate file 5 of the input data, there is little change.
However, although the welding gun placement macro 41 performs the welding gun G placement automatically, the operator simulates the gun placement screen p5 (see FIG. 14A), and the welding gun G performs the welding work. At this time, when the welding gun G hits the structure K and finds that the welding gun G cannot hit the structure K, etc., the operator manually checks the gun placement screen p5 (see FIG. 14 (a)) and manually sets the welding gun G. Change processing is performed.
For example, when welding a narrow place, if the welding gun G is too large to enter the structure K, the welding gun G is changed to a small welding gun G that enters the structure K. Thus, when the welding gun G hits the structure K and welding cannot be performed, a change process is performed.

When changing the welding gun G, first, the welding spot to be changed is selected by clicking from the welding spot list d51 on the gun arrangement screen p5 shown in FIG.
Then, the welding gun G and its welding spot on the gun placement screen p5 of the welding spot selected in the welding spot list d51 are selected so as to be circled.
Next, after specifying the file path name displayed in the file path d57a of the welding Gun in the “GUN arrangement” dialog box d5 shown in FIG. 14 (a), the selected welding spot is selected by clicking the Gun change button d57b. The Gun file of the welding gun G is changed.
On the other hand, when deleting the welding gun G, that is, when deleting the welding spot, first, the deleted welding spot is clicked and selected from the welding spot list d51 on the gun arrangement screen p5 shown in FIG. .

Subsequently, by clicking the Gun deletion button d57c, the gun file information of the selected welding point is deleted.
Or, when the welding gun G hits the structure K during the welding operation or the like, it is found in the simulation that the welding operation cannot be performed smoothly, and the operator determines the approach direction of the welding gun G performing the welding operation. Set manually. The approach direction of the welding gun G is performed at an angle of plus or minus 180 degrees around the welding axis.
When setting this approach direction, that is, an approach direction of plus or minus 180 degrees centering on the welding axis of the welding gun G, first, information on the changed welding point is displayed in the “GUN Arrangement” dialog shown in FIG. Click and select the welding spot to be changed from the welding spot list d51 in the box d5.

Subsequently, the slider bar d58 can be dragged to move the approach direction of the welding gun G left and right in units of 1 degree, and can be changed to plus or minus 180 degrees. At this time, on the gun arrangement screen p5 shown in FIG. 14, the approach direction of the welding gun G is changed to 180 degrees left and right in units of 1 degree around the reference axis J (see FIG. 21D) in real time. Is displayed.
Alternatively, if the welding gun G hits the structure K at the time of welding work, and it is found in the simulation that the welding work cannot be performed smoothly, the placement of the welding gun G when welding is turned upside down and adjusted. To do. This adjustment is effective when the size of the upper and lower portions of the welding gun G is different.
That is, when inverting the welding gun G, clicking the inverting button d58a (see FIG. 14 (a)) displays it in the welding spot list d51 on the gun arrangement screen p5 (see FIG. 14 (a)). Inverts the top and bottom of the selected Gun placement of the weld spot being welded.

On the other hand, when canceling the vertical reversal of the welding gun G, by clicking the reverse cancel button d58b, the welding spot Gun displayed in the selected welding spot list d51 (see FIG. 14A). The placement inversion process is canceled.
As S15 in FIG. 9, when the data updated by adjusting the approach direction of the welding gun G, the reversal of the welding gun G and the like as described above is overwritten in the dot management intermediate file 5, as shown in FIG. Click the overwrite button d59a in the “GUN arrangement” dialog box d5 shown in FIG.
Alternatively, when new data is saved by adjusting the approach direction of the welding gun G, the reversal of the welding gun G, and the like, the new save button d59b (see FIG. 14B) is clicked. In this case, the template dot management intermediate file 5 is read and processed, and a new dot management intermediate file 5 is created and stored with the specified name.

When an existing file is set, a confirmation message is displayed for overwriting. When overwriting is performed, the original data is deleted.
Alternatively, in the case where data updated by adjusting the approach direction of the welding gun G, the reversal of the welding gun G, and the like are merged with the original data, the merge output button d59c (see FIG. 14B) is clicked. Then, existing data is overwritten in the designated dot management intermediate file 5, new data is added, and merge output processing is performed on the designated dot management intermediate file 5.
On the other hand, when the results obtained so far are not overwritten, newly saved, merged, etc., the close button d59d is clicked. Then, the gun arrangement screen p5 is closed and the welding spot arrangement macro 41 is ended.

  In the embodiment, a process for changing the welding group name for distinguishing the welding spot e, a process for changing the welding gun G for welding the welding spot e, and a process for deleting any one of the welding spots e. In the above description, the process of changing the approach angle during welding of the welding gun G and the process of changing the arrangement of the vertical reversal of the welding gun G when welding are performed simultaneously. You may comprise so that at least 1 process may be performed.

<< Welding point coordinate output macro 44 >>
Next, processing of the welding hit point coordinate output macro 44 will be described.
As shown in FIG. 1B, the welding spot coordinate output macro 44 is one of the welding macro programs, and there is data of the gun product file Gf such as a two-dimensional coordinate value and a three-dimensional coordinate value regarding the welding spot. In this case, it is a program that is output as the dot management intermediate file 5 (see FIGS. 7 and 1A) of the common format. The gun product file Gf is a file created by inputting data using the three-dimensional CAD2.
That is, the welding spot coordinate output macro 44 is a program for creating the spot management intermediate file 5 to be input in the above-described welding spot arrangement macro 41.

As an execution condition, the three-dimensional CAD 2 or the simulation software 3 is activated.
On the activated 3D CAD 2, the gun product file Gf for inputting the welding spot information displayed on the personal computer screen p 6 shown in FIG. 15A is selected by clicking “Work” p 6 a and activated.
FIG. 15A is a diagram showing a screen p6 showing a state where the gun product file Gf is activated, and FIG. 15B is a diagram showing a tree t1 of the gun product file Gf.
When processing the welding spot coordinate output macro 44, first, the gun assembly information is read by double-clicking the icon representing the welding spot coordinate output macro 44 displayed on the display 1c of the personal computer 1 shown in FIG. The execution of the macro 45 is started.

Then, the Gun output hit point selection dialog box d6 shown in FIG. 16A is displayed, and the hit point w1 to be output from the tree t1 shown in FIG. 15B is selected. Specifically, WeldPoint (w0) is clicked to be in a selected state, and points 5 to 12 of the welding hit points are selected.
FIG. 16A shows the Gun output dot selection dialog box d6, and FIG. 16B shows the save file dialog box d7.
Subsequently, the execution button d61 in the Gun output hit point selection dialog box d6 shown in FIG.

Then, a save file dialog box d7 shown in FIG. 16B is opened, so that a file name for outputting data is designated in the file name input field d71 and the save button d72 is clicked.
Then, the dot coordinate information of the gun product file Gf is acquired and output to the dot management intermediate file 5 having the designated file name. For example, when overwriting an existing file, the overwriting process is performed by merging with the original data of the existing file.

<< Gun assembly information reading macro 45 >>
Next, the gun assembly information reading macro 45 will be described.
The gun assembly information reading macro 45 reads the information of the gun assembly product file Gf (see FIG. 8) having the component “GUN_ASSY” created by the above-described welding spot arrangement macro 41, and FIG. This is a macro program for starting the processing from the processing by the gun arrangement screen p5 and the “GUN arrangement” dialog box d5 shown in (a) and editing the arrangement of the welding gun G again.
As an execution condition, the three-dimensional CAD 2 or the simulation software 3 is activated.

On the activated three-dimensional CAD 2, the gun assembly product file Gf (see FIG. 8) created by the welding spot arrangement macro 41 to be edited again is made active.
First, execution of the gun assembly information reading macro 45 is started by double-clicking an icon representing the gun assembly information reading macro 45 displayed on the display 1c of the personal computer 1 shown in FIG.
Then, a gun assembly reading confirmation dialog box d8 shown in FIG. 17 is displayed, and the yes button d81 is clicked. FIG. 17 is a diagram showing a gun assembly reading confirmation dialog box d8.

  Then, since the gun arrangement screen p5 and the “GUN arrangement” dialog box d5 shown in FIG. 14A are displayed, the same processing as the welding spot arrangement macro 41 described above is performed, and the arrangement of the welding gun G is edited again. Can be processed. Since the subsequent processing is the same as the welding spot arrangement macro 41 described above, detailed description thereof is omitted.

<< TAG information input macro 42 >>
Next, processing of the TAG information input macro 42 (see FIGS. 1B, 2 and 4) which is one of the welding macro programs 4 will be described.
The TAG information input macro 42 is a macro program that imports the spot management intermediate file 5 which is a spot coordinate data file of welding spots and creates a TAG in an active process file for the simulation software 3.
Note that TAG refers to information about each welding spot in the simulation software 3 as described above. The process file is a file for the simulation software 3.

Here, a method of additionally creating an offset TAG as an option of the TAG information input macro 42 will be described. The offset TAG refers to a point where the welding gun G is arranged in addition to the welding spot during the welding operation in order to avoid interference with the structure K of the welding gun G.
An execution condition is that a process file for creating a TAG is opened in the simulation software 3.

Hereinafter, a processing procedure for creating a TAG using the welding spot placement macro 41 will be described.
First, execution of the TAG information input macro 42 is started by double-clicking the icon of the TAG information input macro 42 displayed on the display 1c of the personal computer 1 shown in FIG.
Then, a Tag option setting dialog box d9 shown in FIG.
Therefore, it is set whether or not to create an offset Tag.

When “Offset” d91 is checked, in addition to the Tag of the imported data, “Tag name Before” Tag that is offset in the negative direction of the X axis by the specified amount, and the positive direction of the X axis The “Tag name After” Tag offset to is created. That is, “Tag name Before” means offset in the minus direction, and “Tag name After” means offset in the plus direction.
The offset amount is set to a value larger than 0 in the offset amount d92 of the Tag option setting dialog box d9 shown in FIG. FIG. 18A is a diagram showing a Tag option setting dialog box d9, and FIG. 18B is a diagram showing a tree t2 of the screen when the simulation software 3 is executed, and FIG. These are figures which show file selection dialog box d10.

Subsequently, a product t21 serving as a reference for the TAG group is selected from the tree t2 on the screen when the simulation software 3 shown in FIG. 18B is executed. Then, TAGs are arranged based on the origin position of the selected product, and a parent-child relationship is created between the target work and the TAG list.
Subsequently, an OK button d93 in the Tag option setting dialog box d9 shown in FIG.
When the OK button d93 is clicked, a file selection dialog box d10 shown in FIG. 18C is opened. The dot coordinate data file to be imported is selected, designated in the file name field d10a, and the open button d10b is clicked.

Then, TAG data is read and a TAG is created in the process file. That is, offsets t31, t32, t33, t34, t35, and t36 are added to the tree t3 of the TAG group shown in FIG.
FIG. 19A is a diagram showing a state in which offsets t31, t32, t33, t34, t35, and t36 are added to the tree t3 of the TAG group, and FIG. 19B is a structure meaning the offset. It is a figure which shows the point on the body K.
Here, welding is performed in the order from the top spot to the bottom spot on the tree t3 of the TAG group shown in FIG.

As shown in FIG. 19 (b), “Point 5After” means that the welding gun G is located at a point where the point 5 is offset by an offset amount d92 (see FIG. 18 (a)) designated in the plus direction in the X-axis direction. , Which means that the welding is performed before and after the point 5.
On the other hand, “Point 5 Before” is a point where the point 5 is offset by an offset amount d72 (see FIG. 18A) designated in the minus direction in the X-axis direction between the welding point and the next welding point. It means that the gun G is arranged before and after the point 5 and welding is performed.
When the Cancel button d94 is clicked in the Tag option setting dialog box d9 shown in FIG. 18A, the tag is changed from the dot management intermediate file 5 to the active process file for the simulation software 3 without creating the offset TAG. Is created.

<< TAG information output macro 43 >>
Next, the processing of the TAG information output macro 43 (see FIGS. 1B, 2 and 6) will be described.
The TAG information output macro 43 is a macro for exporting the TAG data of the active process file corrected by the simulation software 3 to the dot management intermediate file 5 which is a dot coordinate data file.
The TAG information output macro 43 is executed on condition that a process file for acquiring TAG information is opened in the simulation software 3.
First, execution of the TAG information output macro 43 is started by, for example, double-clicking the icon of the TAG information output macro 43 displayed on the display 1c of the personal computer 1.

Then, since the execution dialog box d11 shown in FIG. 20A is displayed, the output TAG is selected from the tree t4 shown in FIG. 20B (for example, Tag4 to Tag9 in FIG. 20B). Click the execution button d11a (see FIG. 20A) in the execution dialog box d11.
20A is a diagram showing an execution dialog box d11, FIG. 20B is a diagram showing a tree t4 of the TAG information output macro 43, and FIG. 20C is a storage file designation. It is a figure which shows dialog box d12.
As shown in FIG. 20B, when a TAG group or the like is in a selected state, all points included in the TAG group are output targets, and a plurality of selections are possible.
Subsequently, since the save file designation dialog box d12 shown in FIG. 20C is opened, the file name to be exported is designated in the file name column d12a.

When the save button d12b is clicked, the designated TAG information shown in FIG. 20B is acquired and output to the dot management intermediate file 5. When overwriting an existing file, the original data is merged and overwritten.
According to the above-described configuration, the dot management intermediate file of the common format is integrated with the welding information such as the arrangement information, current value, and applied pressure of the welding gun G including a plurality of coordinates and angles created by the three-dimensional CAD 2 as the dot information. 5 can be output.
Also, with the spot management intermediate file 5 as an input, the welding work can be simulated easily by the processing of the welding spot placement macro 41.

In addition, the dot information of the dot management intermediate file 5 in the common format output by the processing of the welding dot arrangement macro 41 can be input to the simulation software 3, and a plurality of TAGs can be created in a batch, thereby shortening the simulation time.
The placement information of multiple welding guns G corrected by the simulation software 3 can be output collectively to the dot information of the dot management intermediate file 5 in the common format by the processing of the TAG information output macro 43, and the information is input to the three-dimensional CAD 2 By doing so, the design rework time can be shortened.
In the above-described embodiment, the case where the processing of the three-dimensional CAD 2, the simulation software 3, and the welding macro program 4 is performed by the same personal computer 1 is described as an example. However, the processing may be performed using different computers. Is possible.
In the present embodiment, the welding macro program 4 has been described as a macro program for the three-dimensional CAD 2. However, the welding macro program 4 is not configured as a macro program for the three-dimensional CAD 2, but is configured as a program independent of the three-dimensional CAD 2. May be.

The conceptual diagram of embodiment to which this invention is applied. It is a flowchart which shows the flow of the whole process of embodiment. (a) is a figure which shows the dot management intermediate file in which the data of the welding point was created, (b) is a figure which shows the creation screen of the automatic reading point of a welding spot arrangement | positioning macro, (c) is a figure. It is a figure which shows the welding gun arrangement | positioning screen of a welding spot arrangement | positioning macro, (d) is a figure which shows the spot management intermediate file to which the processing result of the welding spot arrangement | positioning macro was output. (a) is a figure which shows the dot management intermediate file input into a TAG information input macro, (b) is a figure which shows the screen which produces TAG automatically of a TAG information input macro. It is a figure which shows the simulation screen of simulation software. (a) is a figure which shows the screen which outputs the TAG of the positional information on a welding gun to a dot management intermediate file, (b) is a figure which shows the dot management intermediate file output by the TAG information output macro. It is the figure which showed an example of the data format of a dot management intermediate file. It is a figure which shows the screen of a gun assembly product file. It is a flowchart which shows the outline | summary of the processing flow of a welding spot arrangement | positioning macro. (a) is a diagram showing a screen on which the path of a gun assembly product file is displayed, (b) is a diagram showing an “Import condition selection” dialog box, and (c) is a file. It is the figure which showed the selection dialog box. (a) is a diagram showing an “Import condition selection” dialog box, and (b) is a diagram showing a surface selection screen. (a) is a diagram showing a GUN check box, an OK button, and a cancel button at the bottom of the “Import condition selection” dialog box, and (b) is a diagram showing a TOOLS reload dialog box. (c) is a diagram showing a gun arrangement screen, and (d) is a diagram showing a confirmation dialog box for canceling TOOLS processing. It is the figure which showed the gun arrangement | positioning screen. (a) is a figure which shows a gun arrangement | positioning screen and a "GUN arrangement | positioning" dialog box, (b) is a figure which shows the lower part of a "GUN arrangement" dialog box. (a) is a figure which shows the screen showing the state which activated the gun assembly product file, (b) is a figure which shows the tree of a gun assembly product file. (a) is a figure which shows a Gun output dot selection dialog box, (b) is a figure which shows a preservation | save file dialog box. It is a figure which shows the gun assembly read confirmation dialog box. (a) is a diagram showing a Tag option setting dialog box, (b) is a diagram showing a tree of a screen when executing simulation software, and (c) is a diagram showing a file selection dialog box. . (a) is a figure which shows the state by which offset was added to the tree of a TAG group, (b) is a figure which shows the position of the point which an offset means. (a) is a diagram showing an execution dialog box, (b) is a diagram showing a tree of a TAG information output macro, and (c) is a diagram showing a save file designation dialog box. It is the figure which showed the personal computer screen showing the transition of the procedure which produces the welding operation data of the industrial robot using the conventional three-dimensional CAD. It is the figure which showed the personal computer screen showing the transition of the work simulation of the welding gun using the simulation software which is the conventional CAE tool.

Explanation of symbols

1 ... Personal computer (computer, welding simulation device),
2 ... 3D CAD,
3 ... Simulation software,
5, 5a, 5b, 5c ... Dot management intermediate file (point data),
41 ... Welding spot placement macro program (welding simulation program, input means, welding spot creation means, welding gun placement means, welding gun change means, information storage means, first welding spot creation means, second welding spot creation means),
42 ... TAG information input macro program (offset creation means),
B ... Welding robot,
e ... welding point,
f ... welded surface,
G ... Welding gun,
J: Welding shaft,
K ... Structure (structure),

Claims (17)

  1. A welding simulation program for simulating a welding operation of welding a structure with a welding gun of a welding robot,
    On the computer,
    A first step in which point data including at least two-dimensional coordinates regarding the welding point is input;
    A second step in which a welding axis perpendicular to a welding plane including the welding point and the welding point is created using the point data or the point data and a welding surface of each set welding point;
    A third step in which the welding gun is virtually arranged at the welding point in alignment with the welding axis;
    At least a process in which a welding group name that distinguishes the welding spot is changed, a process in which a welding gun that welds the welding spot is changed, or a process in which any one of the welding spots is deleted, or A fourth step in which at least one of a process for changing the approach angle of the welding gun and a process for changing the arrangement of the welding gun upside down when welding is performed is performed. When,
    A welding simulation program for executing a fifth step in which information obtained in the first step to the fourth step is stored.
  2. The second step includes
    A step 2.1 for creating a welding point and a welding axis perpendicular to a welding plane including the welding point from the read point data; a step 2.2 for setting a welding surface of each welding point; Of the read point data, the welding point is determined by projecting perpendicularly onto the welding surface from the point data in which the welding point and the welding axis are not created in step 2.1, and the welding surface is determined from the welding point. The welding simulation program according to claim 1, further comprising a second step in which a welding axis is created perpendicular to the welding axis.
  3. In the fifth step,
    The welding simulation program according to claim 1 or 2, wherein the information is stored in the same data format as the point data in the first step.
  4. A welding simulation program for simulating a welding operation of welding a structure with a welding gun of a welding robot,
    At least a process in which a welding group name that distinguishes welding points is changed, a process in which a welding gun that welds the welding points is changed, or a process in which any of the welding points is deleted, or A first step in which at least one of a process for changing an approach angle of the welding gun during welding or a process for changing the arrangement of the vertical reversal of the welding gun during welding is performed; ,
    A welding simulation program for executing the second step in which the information obtained in the first step is stored.
  5. A welding simulation apparatus comprising design software and simulation software for simulating a welding operation for welding a structure with a welding gun of a welding robot,
    The welding simulation apparatus, wherein data exchange between the design software process and the simulation software process is performed using a file having the same data format.
  6. The welding simulation apparatus according to claim 5, wherein the welding simulation program according to any one of claims 1 to 4 is stored, and processing of the welding simulation program is performed.
  7. A welding simulation device for simulating a welding operation of welding a structure with a welding gun of a welding robot,
    Input means for inputting point data including at least two-dimensional coordinates relating to the welding point;
    Welding point creation means for creating a welding axis perpendicular to a welding plane including the welding point and the welding point, using the point data or the welding surface of each point and the set welding point;
    A welding gun placement means for virtually placing the welding gun at the welding point in accordance with the welding axis;
    At least a process in which a welding group name that distinguishes the welding spot is changed, a process in which a welding gun that welds the welding spot is changed, or a process in which any one of the welding spots is deleted, or A welding gun change in which at least one of a process for changing the approach angle of the welding gun and a process for changing the position of the welding gun upside down when welding is performed is performed. Means,
    A welding simulation apparatus comprising: the input means; the welding spot creation means; the welding gun arrangement means; and information storage means for storing information obtained by the welding gun changing means.
  8. The welding spot creation means includes a first welding spot creation means for creating a welding spot and a welding axis perpendicular to a welding plane including the welding spot from the read point data, and a welding surface of each welding spot is set. Welding point setting means, and from the read point data, the welding spot and welding axis are not created by the first welding spot creation means, and the welding spot is projected perpendicularly onto the welding surface. The welding simulation apparatus according to claim 7, further comprising: a second welding spot creation unit that is determined and creates a welding axis perpendicular to the welding surface from the welding spot.
  9. The welding simulation apparatus according to claim 7 or 8, wherein the information storage means stores the information in the same data format as the point data input to the input means.
  10. A welding simulation device for simulating a welding operation of welding a structure with a welding gun of a welding robot,
    At least a process in which a welding group name that distinguishes a welding gun at a welding point is changed, a process in which a welding gun that welds the welding point is changed, or a process in which any of the welding points is deleted Welding in which at least one of processing for changing the approach angle during welding of the welding gun or processing for changing the arrangement of the vertical reversal of the welding gun during welding is performed. Cancer change means,
    An information storage means for storing information obtained by the welding gun changing means.
  11. The welding simulation apparatus according to any one of claims 6 to 10, further comprising an offset creation unit that creates an offset spot between the welding spots.
  12. A design software for simulating a welding operation for welding a structure with a welding gun of a welding robot, and a welding simulation method using the simulation software,
    The welding simulation method, wherein data exchange between the design software process and the simulation software process is performed using a file having the same data format.
  13. A welding simulation method for simulating a welding operation of welding a structure with a welding gun of a welding robot,
    An input process in which point data including at least two-dimensional coordinates regarding the welding point is input;
    Using the point data or the point data and a welding surface of each set welding point, a welding point creation step in which a welding axis perpendicular to a welding plane including the welding point and the welding point is created;
    A welding gun placement step in which the welding gun is virtually placed at the welding point according to the welding axis;
    At least a welding group name for distinguishing the welding points is changed, a welding gun for welding the welding points is changed, or any of the welding points is deleted, or welding of the welding gun is performed. A welding gun changing step in which at least one of the approach angle at the time is changed, or the arrangement of the upside down inversion of the welding gun at the time of welding is changed,
    A welding simulation method comprising: the input step; and an information storage step in which information obtained in the welding spot creation step, the welding gun placement step, and the welding gun change step is stored.
  14. The welding spot creation step includes a first welding spot creation process in which a welding axis and a welding axis perpendicular to a welding plane including the welding spot are created from the read point data, and a welding surface of each welding spot is set. The welding surface setting step and the point data in which the welding spot and the welding axis are not created in the first welding spot creation step among the read point data, and the welding spot is projected perpendicularly to the welding surface. The welding simulation method according to claim 13, further comprising: a second welding spot creation step in which a welding axis is created perpendicularly to the welding surface from the welding spot.
  15. The welding simulation method according to claim 13 or 14, wherein, in the information storage step, the information is stored in the same data format as the point data input in the input step.
  16. A welding simulation method for simulating a welding operation of welding a structure with a welding gun of a welding robot,
    At least a welding group name that distinguishes welding points is changed, a welding gun that welds the welding points is changed, or one of the welding points is deleted, or when the welding gun is welded A welding gun changing step in which at least one of the approach angle is changed, or the arrangement of the vertical reversal of the welding gun at the time of welding is changed,
    An information storage step in which information obtained in the welding gun changing step is stored.
  17. The welding simulation method according to any one of claims 13 to 16, further comprising an offset creation step of creating offset spots between the welding spots.
JP2008002795A 2008-01-10 2008-01-10 Welding simulation program, welding simulation device, and welding simulation method Pending JP2009160636A (en)

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