JPS59194214A - Display device for teaching information - Google Patents

Abstract

PURPOSE:To draw a teaching point figure automatically by storing teaching information, etc., successively, and displaying teaching points and point numbers nearby on the basis of the information. CONSTITUTION:A teaching information memory 1 is stored with information on the point number of a teaching point and pieces of teaching information (position data) Xn-Zn on positions of welding, etc. When those pieces of information are displayed, pieces of information P6-P8 on point number corresponding to the positions, pieces of information P5 and P9 on point numbers before and behind it, and pieces of teaching information X6-Z9 are outputted from said memory 1. Those are applied to an arithmetic circuit 2 and converted into pieces of two- dimensional information Xn and Yn, which are applied to a plotting circuit 4 through a reducing circuit 3. Further, this plotting circuit 4 is applied with information Pn on a point number. Then, the teaching points are connected together by solid lines, etc., and point numbers are displayed near the respective teaching points on a CRT display device 5 and a printer 6.

Description

[Detailed description of the invention] The present invention relates to a teaching information display device.

Generally, when creating a program for a welding robot, first look at the drawing of the workpiece to be welded and determine the robot's movement taking into consideration the shape of the workpiece, torch interference, torch posture, etc. After determining sufficient teaching points to reproduce the process, a teaching point diagram was created by hand, and a program containing instructions for moving the welding torch was created on the desk without looking at this teaching point diagram.

Now, for the welding aPQ of the workpiece shown in Fig. 1, the second
If you create a teaching point diagram as shown in the figure and create a program for the welding robot according to this point diagram, this program will move the welding torch at high speed from position P to position P3 where detection of the start end of the weld line is performed. The start end detection operation is executed from the start end detection position P3 according to the start end detection program, and then the welding torch is moved from the start end detection position P4 to the welding start position P6, and at this position P6, the welding conditions (welding current, arc voltage , welding speed), and then execute automatic welding under the above welding conditions while moving the welding torch along the welding line PQ from position P6 to welding end position P8. current, arc voltage, torch stop time), and execute crater treatment at welding end position P8 based on these crater conditions.
After that, move the welding torch from the welding end position P8 to the position P1□
It is a content that allows you to move at high speed. The starting end detection program for the welding line is, for example, as shown in Fig. 3, in which the welding torch is searched in the horizontal direction, brought into contact with the workpiece, returned by a predetermined amount, and then searched in the vertical direction. This is a program that automatically detects the starting end of a welding line by bringing it into contact with a workpiece and then moving it a predetermined amount in a predetermined direction.

Then, the teaching point of the welding torch movement command statement written in the above program) No. II (p,, p
21...) is taught by manually moving the welding torch to the teaching point using a teaching box.

Programs for such welding robots cannot be created unless one is proficient in the robot language, and even if one is proficient, creating a program requires a great deal of effort.

Therefore, recently, a welding robot has been proposed that uses a teaching pendant to automatically generate movement commands for the welding torch while actually performing teaching work, and allows users to create welding robot programs without knowing anything about robot Ma. ing.

This welding robot has a program/ξ turn that includes special commands for automatically generating movement command statements for the welding torch, depending on the welding mode (number of welding stations, joint shape, etc.), and the program pattern is The instruction to expand on the teaching pendant is used to sequentially expand the program into the main program area, and if there is a special command during this expansion, the command to move the robot and the point number of the teaching point are read in according to the instructions on the teaching pendant. The information of the point number and its teaching information are sequentially written in the main program area, and the information of the point number and its teaching information are sequentially written in the teaching information memory, and finally a program for the welding robot with a delay is created in the main program area. It is.

The program pattern includes a movement instruction statement from position P□ to position P3 where start edge detection is executed in the welding robot program described above, a movement instruction statement from start edge detection position P4 to welding start position P6, and a movement instruction statement from welding start position P6 to welding start position P6. This includes special instructions for automatically generating a movement command sentence to the end position P8 and a movement command sentence from the welding end position P8 to the position P□. Furthermore, this program/ξ turn detects the starting edge, sets welding conditions,
This is an instruction that branches to a program (subroutine) that executes crater condition setting, and its operand field is a ξ parameter.The desired subroutine is selected by determining the subroutine label that becomes the parameter value for each parameter. It contains instructions to obtain.

The welding robot described above can freely determine teaching points and movement commands while actually looking at the work to be welded, and therefore does not require a teaching point diagram when creating a program.

However, when checking or correcting the teaching content, if a teaching point diagram is not created, the robot must be operated step by step in a dry run to reach the desired checkpoint or correction point, which requires a lot of effort. It takes a lot of time. Note that if there is a point diagram in which teaching points are given point numbers, the robot can be directly moved to a desired teaching point based on the numbers.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a teaching information display device that can automatically create a teaching point diagram.

According to this invention, while performing a teaching operation, robot movement command sentences are created in sequence, and information on the point number of the teaching point of the movement command sentence and teaching information corresponding to the point number are sequentially stored. In a welding robot that creates a program for a welding robot, a teaching point corresponding to the teaching information is visually displayed based on the stored point number information and teaching information, and the point number is displayed near the displayed teaching point. I am trying to display it.

The present invention will now be described in detail with reference to the accompanying drawings Lfi.

FIG. 4 is a block diagram showing an embodiment of the teaching information display device according to the present invention. Now, when the teaching work at each teaching point as shown in Figure 2 is completed,
The teaching information memory 1 contains information Pn of the point number of the teaching point as shown in FIG.
Teaching information (I Kasumi data) xnl 3'H9
zn is stored.

On the other hand, along with the above teaching work, a program for the welding robot is created as shown in FIG. 5(b) as described above. In addition, in FIG. 5(b), “SA
" is an arc start command statement, l-8Mj is a movement command statement that moves between two points by linear interpolation, and "CA" is a subroutine indicated by the subroutine label in its operand column (in this case, a subroutine for processing craters). ) is a movement instruction that moves without interpolation.

Here, when an instruction (not shown) for displaying teaching information is given, information of point numbers P61 P7? corresponding to the welding start position to welding end position is obtained from the teaching information memory 1. Information on P8 and the point numbers before and after it P5 and P9 are output, and teaching information on these point numbers (X6+ y6+ 26
) to (Xgtyg+Zg) are output.

The teaching information X n l 7 n T Z n outputted from the teaching information memory 1 is added to the arithmetic circuit 2, where zn=0, converted to two-dimensional teaching information xn, yn, and sent to the reduction circuit 3. Added.

The reduction circuit 3 multiplies the input teaching information xn"n by an appropriate coefficient 1/K, and adds the resulting information x', y' to the plotting circuit 4. On the other hand, the other inputs of the plotting circuit 4 Point number information Pn is added to .

The plotting circuit 4 includes a read-only memory +7 (ROM) that outputs dot information indicating the teaching point and dot information corresponding to a predetermined point number based on the information Pn, and the information xn', yn input simultaneously with the information Pn.
The position of the dot information indicating the teaching point and the dot information corresponding to the point number is controlled based on the dot information, and a control signal containing the dot information is output to the CRT display 5 and printer 6. Further, control signals are output so that teaching points on the welding line are connected by solid lines, and other teaching points are connected by broken lines.

As a result, the CRT display 5 displays teaching points at intervals corresponding to the information xn"yn' as shown in FIG. Display the point number.

Similarly, the printer 6 prints the point diagram shown in FIG. 6 on print paper (not shown).

Note that checking and correcting the teaching content is mostly related to welding quality, so it is sufficient to display the weld line and the points before and after it as in this example. You may also do so. Furthermore, the teaching points do not necessarily have to be connected by solid lines or broken lines; in short, it is sufficient that the relationship between the workpiece and the point number can be recognized. Further, if the welding line cannot be displayed on one screen of the CRT display 5, it is possible to divide the welding line as appropriate and display it on multiple screens.As explained above, according to the present invention, the teaching point of the workpiece to be welded A point diagram depicting point A can be displayed, and the thickness is particularly useful when checking or correcting the taught points in a welding robot where the welding robot program can be created without creating a point diagram. You can expect great effects.

[Brief explanation of drawings]

Fig. 1 is a perspective view showing an example of the workpiece to be welded, Fig. 2 is a teaching point diagram for the workpiece to be welded shown in Fig. 1, Fig. 3 is an operation diagram of the welding torch showing an example of the start end detection operation, and Fig. 4 The figure is a block diagram showing one embodiment of the teaching information display device according to the present invention, and FIG.
FIG. 5(b) is a diagram showing the contents of the welding robot program, and FIG. 6 is an enlarged view of the CRT display shown in FIG. 4. 1... Teaching information memory, 2... Arithmetic circuit,
3... Reduction circuit, 4... Drawing circuit, 5... CRT
Dessolei, 6...Printer. Figure 6 5

Claims (1)

[Claims] The welding robot is programmed by sequentially creating robot movement commands while performing teaching work, and sequentially writing information on the point number of the teaching point of the movement command and teaching information corresponding to the point number into the teaching information memory. In a welding robot that creates a welding robot, a teaching point corresponding to the teaching information is visually displayed based on the point number information and teaching information stored in the teaching information memory, and the point number is displayed near the displayed teaching point. A teaching information display device equipped with a display device that displays.