JPS6189907U

JPS6189907U -

Info

Publication number: JPS6189907U
Application number: JP17532984U
Authority: JP
Priority date: 1984-11-19
Filing date: 1984-11-19
Publication date: 1986-06-11

Description

[Brief explanation of drawings]

第１図は本考案による溶接パターンの会話入力
装置を含む溶接ロボツト制御装置のブロツク図、
第２図は溶接パターンの一例を示すプログラム、
第３図は溶接パターンを会話入力する手順を示す
フローチヤート、第４図および第５図はそれぞれ
溶接パターンおよび溶接パターンの各パラメータ
別のサブルーチンラベルを会話入力する際の表示
画面の一例を示す図、第６図はテイーチングポイ
ント図、第７図は始端検出動作の一例を示す溶接
トーチの動作図である。１……ＣＲＴデイスプレイ、２……キーボード
、３……中央処理装置（ＣＰＵ）、４……入出力
制御装置、５……ロボツト制御用入出力装置、６
……システムプログラム用メモリ、７……溶接パ
ターンテーブルメモリ、８……溶接パターン会話
用メモリ、９……ユーザプログラム用メモリ、１
０……テイーチング用メモリ、１１……テイーチ
ングボツクス。 FIG. 1 is a block diagram of a welding robot control device including a welding pattern conversation input device according to the present invention;
Figure 2 shows a program showing an example of a welding pattern.
Figure 3 is a flowchart showing the procedure for inputting a welding pattern through dialogue, and Figures 4 and 5 are diagrams showing examples of display screens when inputting a welding pattern and subroutine labels for each parameter of the welding pattern through dialogue, respectively. , FIG. 6 is a teaching point diagram, and FIG. 7 is an operation diagram of a welding torch showing an example of a start end detection operation. 1... CRT display, 2... Keyboard, 3... Central processing unit (CPU), 4... Input/output control device, 5... Robot control input/output device, 6
... Memory for system program, 7 ... Welding pattern table memory, 8 ... Memory for welding pattern conversation, 9 ... Memory for user program, 1
0...Memory for teaching, 11...Teaching box.

Claims

[Scope of utility model registration request]

Instructions that branch to the start end detection subroutine, welding condition setting subroutine, and crater condition setting subroutine whose operand field is a parameter, special instructions for automatically generating robot movement command statements, and welding robot A plurality of welding patterns consisting of the common parts in the program are created depending on the combination of the number of searches when detecting the start edge, the number of welding layers, and whether the welding direction of even-numbered layers is forward or reverse when the number of welding layers is 2 or more. This device selects a desired welding pattern from a stored welding pattern table memory and determines a subroutine label that becomes the parameter value for each parameter of the selected welding pattern, and includes a welding pattern conversation input mode, welding pattern, and selection. a selection means and display for selecting a subroutine label for each parameter of the welding pattern, the number of searches, the number of welding layers, and whether the welding direction of even-numbered layers is forward or reversed when the number of welding layers is 2 or more; a second image for displaying search conditions, welding conditions, and crater conditions according to a welding pattern on the display in a texture format; The control device includes a welding pattern conversation memory for storing data and a control device, and when a welding pattern conversation input mode is selected by the selection means, the control device reads first image data from the welding pattern conversation memory. When the selection means makes a selection corresponding to the question on the display, the corresponding welding pattern is selected from the welding pattern table memory, and the corresponding welding pattern is selected from the welding pattern conversation memory. The second image data corresponding to the selected welding pattern is read out and outputted to the display, and when the selection means makes a selection corresponding to the question on the display, the subroutine label of the welding pattern is displayed. Conversation input device for inputting welding patterns.