KR101280883B1 - Teaching control system and method for the same - Google Patents

Abstract

A teaching control system and a teaching control method are disclosed. The teaching control system according to an exemplary embodiment of the present invention receives a pattern selection data including position information on a welding line of a unit pattern when a job selection unit outputs a welding line teaching signal or a member teaching signal, and a welding line teaching signal is input. Welding line data generation unit for generating welding line data through copying and pasting of the teaching data, and when the member teaching signal is input, the member data including the position information of the welding line is matched with the position information of some welding lines among all the welding lines of the member. And a member data matching unit to output the data.

Description

Teaching Control System and Teaching Control Method {TEACHING CONTROL SYSTEM AND METHOD FOR THE SAME}

The present invention relates to a teaching control system and a teaching control method, and more particularly, to a teaching control system and a teaching control method for a member or a welding line.

Various welding systems are used for welding the members. For example, as shown in FIG. 1, the welding system includes a welding device 110, such as a gantry robot, and a plurality of welding devices 110 may be disposed in one welding line. At this time, each welding device 110 has a welding area, the welding device 110 may be equipped with a pair of rotary welding torch that can weld both sides of the reinforcement at the same time.

An operator disposed in the welding line moves one of the plurality of welding devices 110 to a welding line position and performs a teaching operation on the welding line directly by using a teaching pendant mounted to the welding device. At this point, several problems occur.

First, while the worker is teaching using one welding device, the other welding device should be waiting. In addition, the welding operation cannot proceed while the welding apparatus performs the teaching operation.

Second, when there are a large number of complex welding seams inside the member, the operator has to teach all the individual welding seams so that the teaching time may be long.

Third, since the amount of work on the welding line distributed to each welding device is determined by the operator, when the amount of work is incorrectly distributed, the total work end time may increase.

Fourth, welding line teaching has various problems such as collision problem due to overlapping welding areas between gantry, increase of gantry transfer time due to inefficient welding copper wire, and continuous operation of the worker by dividing all welding lines at several times. Alternative to Teaching Members Teaching can also take more time than welding seam teaching when a batch of work consists of a number of simple welded members.

Teaching control system and teaching control method according to an embodiment of the present invention is to provide an efficient teaching operation.

According to one aspect of the present invention, the job selection unit for outputting the welding line teaching signal or the member teaching signal, when the welding line teaching signal is input pattern input data including position information on the welding line of the unit pattern is input to the pattern teaching data Welding line data generation unit for generating weld line data through copying and pasting, and a member that matches position information of some welding lines among all welding lines of the member and outputs member data including position information of the member when the member teaching signal is input. A teaching control system including a data matching unit may be provided.

According to another aspect of the invention, the pattern input unit for receiving the pattern teaching data according to the welding line teaching of the unit pattern and outputs the pattern position data including position information on the weld line of the unit pattern, the pattern for copying and storing the pattern position data A teaching control system may be provided that includes a copying portion, and a pattern paste portion for generating weld line data including positional information on weld lines of the member by pasting the stored pattern position data.

According to another aspect of the present invention, the welding line grouping part that receives the welding line teaching data including position information of a part of the entire welding line of the member and groups at least a portion of the welded welding line and position information of the grouped welding line into the member data. A teaching control system including a matching member matching unit may be provided.

The patterns of the welding lines constituting the unit patterns are identical to each other, and the interval between the unit patterns may be constant.

The pattern teaching data may include data generated by teaching about an end point of a weld line constituting a unit pattern.

The teaching control system of the present invention may further include a scheduling unit for allocating the welding line to the welding apparatus according to the workload and the welding order of the welding lines.

The teaching control system of the present invention may further include a case matching unit for generating a plurality of member matching cases having different positions using the member data.

According to another aspect of the invention, the step of outputting the welding line teaching signal or the member teaching signal, when the welding line teaching signal is input, the pattern teaching data in accordance with the input of the pattern teaching data including the position information on the weld line of the unit pattern The teaching control method may include providing welding line data through copying and pasting, and outputting the member data when the member teaching signal is input.

According to another aspect of the invention, receiving the pattern teaching data according to the welding line teaching of the unit pattern outputting the pattern position data including the position information of the weld line of the unit pattern, copying and storing the pattern position data And pasting the stored pattern position data to generate weld line data including position information of weld lines of the member.

According to another aspect of the present invention, receiving welding line teaching data including position information of a part of all welding lines of a member from a teaching apparatus, grouping at least a portion of the welded welding lines, and including position data of the grouped welding lines. A teaching control method may be provided, the method including: matching to.

The patterns of the welding lines constituting the unit patterns are identical to each other, and the interval between the unit patterns may be constant.

The teaching control method of the present invention may further include allocating the welding line to the welding device according to the workload and the welding order of the welding lines.

The teaching control method of the present invention may further include generating a plurality of member matching cases having different positions using the member data.

The teaching control system and the teaching control method according to an embodiment of the present invention can reduce the time required for teaching the weld sea through grouping or matching the weld seam.

In the teaching control system and the teaching control method according to an embodiment of the present invention, one of the welding line data generation unit and the member data matching unit may be selected to perform a flexible welding operation.

In the teaching control system and the teaching control method according to the embodiment of the present invention, the welding line is allocated by the scheduling unit rather than the welding line assignment by the operator, so that the amount of work can be efficiently assigned to the welding apparatus.

1 shows a general welding system.
2 shows a teaching control system according to an embodiment of the present invention.
3 illustrates a weld line data generator of a teaching control system according to an exemplary embodiment of the present invention.
4A and 4B illustrate an example of operation of the welding line data generator of the teaching control system according to an exemplary embodiment of the present invention.
5A and 5B show examples of the unit pattern of the member welding line.
6 is a view illustrating a member data matching unit of a teaching control system according to an exemplary embodiment of the present invention.
7A to 7C illustrate the operation of the welding line grouping unit of the teaching control system according to the exemplary embodiment of the present invention.
8 illustrates an operation of the member mapping unit of the teaching control system according to an exemplary embodiment of the present invention.
9A to 9B illustrate operation of the member mapping unit and the case mapping unit of the teaching control system according to the exemplary embodiment of the present invention.
10 illustrates an operation of a scheduling unit of the teaching control system according to an exemplary embodiment of the present invention.
11 is a flowchart of a teaching control method according to an embodiment of the present invention.
12 is a flowchart illustrating a method of generating weld line data in an embodiment of the present invention.
13 is a flowchart illustrating a method of matching member data in an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. In describing the present embodiment, the same designations and the same reference numerals are used for the same components, and further description thereof will be omitted.

2 shows a teaching control system according to an embodiment of the present invention. As shown in FIG. 2, the teaching control system according to an exemplary embodiment of the present invention includes a job selection unit 200, a welding line data generation unit 300, and a member data matching unit 400.

The job selector 200 outputs a welding line teaching signal or a member teaching signal.

When the welding line teaching signal is input, the welding line data generation unit 300 receives the pattern teaching data including the position information of the welding line of the unit pattern, and generates the welding line data through copying and pasting the pattern teaching data. .

When the member teaching signal is input, the member data matching unit 400 matches the position information of some welding lines among all welding lines of the member and outputs the member data including the position information of the member.

Next, the weld line data generation unit 300 and the member data matching unit 400 will be described in more detail with reference to the drawings.

3 illustrates a weld line data generator of a teaching control system according to an exemplary embodiment of the present invention. 4A and 4B illustrate an operation of a welding line data generator of a teaching control system according to an exemplary embodiment of the present invention.

As shown in FIG. 3, the weld line data generating unit 300 of the teaching control system according to the exemplary embodiment of the present invention includes a pattern input unit 310, a pattern copying unit 320, and a pattern paste unit 330.

When the welding line teaching signal is input, the pattern input unit 310 receives pattern teaching data according to welding line teaching of the unit pattern, and outputs pattern position data including position information of the welding line of the unit pattern.

In an embodiment of the present invention, a teaching apparatus, such as a laser point, does not teach all weld lines of a member but teaches weld lines constituting a unit pattern. That is, the position of the remaining weld lines may be set by teaching the weld lines constituting the unit pattern instead of teaching all the weld lines of the member.

For example, the weld lines of the member shown in FIG. 4A have the same length as each other and the spacing between the weld lines is constant. In this case, the unit patterns 401 and 403 may be formed of one welding line.

At this time, the teaching apparatus includes the teaching points 410 and 420 of both ends of the welding line constituting one of the adjacent unit patterns 401 and 403 and the teaching point of one end of the welding line constituting the other unit pattern 403. Teaching may be performed at 430.

The teaching apparatus outputs pattern teaching data including position information of the teaching points 410, 420, and 430, and the pattern input unit 310 receives the pattern teaching data.

Accordingly, the pattern input unit 310 may calculate the position of the welding line and the length of the welding line through the positions of the teaching points 410 and 420 of both ends of the welding line constituting one unit pattern 401. In addition, the pattern input unit 310 weld line through one end teaching point 410 of the welding line constituting one unit pattern 401 and one end teaching point 430 of the welding line constituting the other unit pattern 403. You can calculate the spacing between them.

Through this calculation, the pattern input unit 310 outputs pattern position data including information on the position of the welding line, the length of the welding line, and the spacing between adjacent welding lines. In FIG. 4A, the solid line represents the weld line for which the length and the position calculation are completed, and the dotted line represents the weld line for the length and position calculation.

The pattern copying unit 320 copies and stores pattern position data. The pattern copying unit 320 may include a storage means (not shown) such as a buffer or a memory to store the pattern position data.

The pattern paste unit 330 generates weld line data including position information of weld lines of the member by pasting the stored pattern position data. Accordingly, as shown in FIG. 4B, the position of the weld line is set at intervals between adjacent weld lines. That is, the teaching control system according to the exemplary embodiment of the present invention may generate welding line data of welding lines of the member through teaching the welding lines constituting the unit pattern instead of teaching the entire welding lines of the member. .

On the other hand, the shape of the unit pattern may vary. 5A and 5B show examples of the unit pattern of the member welding line.

As shown in FIG. 5A, the spacing of the entire welding lines is constant, and one unit pattern 510 and 530 includes welding lines 511, 512, 531, and 532 having different lengths. The teaching apparatus teaches teaching points at both ends of the welding lines 511 and 512 forming one unit pattern 510. In addition, the teaching apparatus teaches a teaching point of one end of the welding line 531 included in the other unit pattern 530.

Accordingly, the positions and lengths of the welding lines 511 and 512 of the unit pattern 510 may be calculated. In addition, an interval between adjacent unit patterns 510 and 530 may be calculated through a distance between the teaching point 513 of one unit pattern 510 and the teaching point 533 of the other unit pattern 530.

By the pattern copying unit 320 and the pattern paste unit 330 copying and pasting the pattern position data, positioning of the welding lines of the member may be performed.

As shown in FIG. 5B, one unit pattern 550 and 570 includes one vertical welding line 551 and 571 and two horizontal welding lines 552, 553, 572 and 573. In addition, the interval between the unit patterns 550 and 570 is constant.

The teaching apparatus teaches the teaching points 554, 555, 556, 557, 558, 559 at both ends of the welding lines 551. 552, 553 constituting one unit pattern 550. Also, the teaching apparatus teaches the teaching point 574 of one end of the weld line 571 included in the other unit pattern 530.

Accordingly, the positions and lengths of the welding lines 551, 552, and 553 constituting the unit pattern 550 may be calculated. In addition, an interval between adjacent unit patterns 550 and 570 may be calculated through a distance between the teaching point 554 of one unit pattern 550 and the teaching point 574 of the other unit pattern 570.

As described with reference to FIGS. 4A through 5B, the patterns of the welding lines constituting the unit patterns may be identical to each other, and the interval between the unit patterns may be constant.

By the pattern copying unit 320 and the pattern paste unit 330 copying and pasting the pattern position data, positioning of the welding lines of the member may be performed.

The teaching point of the unit pattern described above is not limited thereto and may be variously changed.

The welding line data generator 300 according to an exemplary embodiment of the present invention may further include a macro matching unit 340. In an embodiment of the present invention, the macro may be a program for controlling the welding position of the welding device. The welding shape may vary depending on the welding line, and the welding type may be varied, such as two-torch (two-sided) welding, one-torch (one-sided) welding, turning of member end welding, multi-pass welding, or other special motion. Accordingly, since the welding apparatus needs to perform welding according to various types of welding lines, the welding posture of the welding apparatus may also vary. Accordingly, the macro matching unit 340 may select a macro suitable for welding line data among a plurality of preset macros and match the welding line.

The welding line data generator 300 according to an exemplary embodiment of the present invention may further include an information correction unit 350. The information correction unit 350 may modify the position data on the weld line matched with the weld line data or the macro.

The welding line data generator 300 according to an embodiment of the present invention may further include a scheduling part 360. The scheduling unit 530 may allocate the corrected weld line to the welding device. Although not shown in FIG. 3, the scheduling unit 360 performs scheduling of the welding line according to the position-related data of the welding line input from the pattern paste unit 330, the macro matching unit 340, or the information correction unit 350. You may.

The weld line data generator 300 may further include a driving data generator 370. The driving data generator 370 may generate data for controlling the rotation amount of the motor of the welding robot.

Welding line data generation unit 300 according to an embodiment of the present invention may further include a monitoring unit 380. The monitoring unit 380 monitors the working condition of the welding apparatus and feeds back to the scheduling unit 360, so that the scheduling unit 360 reassigns the welding lines of the member to the welding apparatus according to the working situation.

Next, with reference to the drawings will be described in detail the operation of the member data matching unit according to an embodiment of the present invention.

6 is a view illustrating a member data matching unit of a teaching control system according to an exemplary embodiment of the present invention.

As shown in FIG. 6, the member data matching unit 400 of the teaching control system according to the exemplary embodiment includes a welding line grouping unit 410, a member name matching unit 430, and a case matching unit 450. do.

When the member teaching signal is input, the welding group grouping unit 410 receives welding line teaching data including position information of a part of the entire welding lines of the member from the teaching apparatus, and groups at least a portion of the welded weld lines.

For example, as shown in FIG. 7A, some of the entire welding lines of the members are taught by the teaching apparatus, and the teaching apparatus outputs welding line teaching data for the welded welding line to the welding line grouping unit 410. As shown in FIG. 7B, the welding line grouping unit 410 receives welding line teaching data. As shown in FIG. 7C, the welding line grouping unit 410 groups at least some of the taught welding lines.

The member matching unit 430 matches the position information of the grouped welding line with the member data. At this time, the member matching unit 430 receives the member data from the server 470a or reads it from the database 470b. The member data may include the position of the member as well as information on all weld lines inside the member.

In the embodiment of the present invention, the teaching is not performed for the entire welding line of the member but the teaching of some of the welding lines of the member. Some of the taught weld lines may be searched for member data including information on the entire weld line through grouped and grouped weld line information.

Therefore, the operator controlling the welding device can secure the position information on the entire welding line while reducing the number of teachings about the welding line. That is, as shown in FIG. 8, the position of the member and the positions of the entire welding lines within the member may be obtained by the operation of the member matching unit 430.

In an embodiment of the present invention, the member data may be computer-aided design data such as CAD data, catia data, AUTOKON data or GSCAD data.

In an embodiment of the present invention, the absence data matching unit 400 may include a database 470b or may receive member data from a separate database 470b.

In an embodiment of the present invention, the member data matching unit 400 may further include a case matching unit 450. As described above, the teaching of some of the welding seams of the member is performed instead of the teaching of the entire welding seam of the member to obtain the member data. Therefore, the member data may be searched through the grouped weld line information, and the member data may include location information of all weld lines of the member.

Since the grouped weld line information does not represent all weld lines of the member, the member position according to the member data in which the member matching unit 430 matches the grouped weld line information may not be accurate. That is, as shown in FIGS. 9A and 9B, the members may have patterns of grouped weld lines at different positions. Therefore, the case matching unit 450 generates a plurality of member matching cases having different positions using the member data. 9A and 9B illustrate such member matching cases.

In this case, the case matching unit 450 may provide a member matching case selected from a plurality of member matching cases. The selection of the member matching case can be made by two methods. That is, the operator may select a member matching case of FIG. 9A suitable for grouped weld lines among the plurality of member matching cases. Accordingly, the case matching unit 450 may provide the member matching case selected by the operator's operation.

In addition, the case matching unit 450 selects the member matching case having the smallest difference between the position of the grouped welding lines and the position of the welding line of the member matching case among the plurality of member matching cases.

The member data matching unit 400 according to an exemplary embodiment of the present invention may further include a macro matching unit 490. In an embodiment of the present invention, the macro may be a program for controlling the welding position of the welding device. The macro matching unit 490 may select a macro suitable for the welding line of the member data or the member matching case among a plurality of preset macros and match the welding line.

The member data matching unit 400 according to an exemplary embodiment of the present invention may further include an information correction unit 510. The information correction unit 510 may modify the position data of the weld line of the member data, the weld line of the member matching case, or the weld line matched to the macro.

The absence data matching unit 400 according to an exemplary embodiment of the present invention may further include a scheduling unit 530. The scheduling unit 530 assigns the welding line, which has been corrected for the position information, to the welding apparatus. For example, if there are three welding apparatuses in one work line, the scheduling unit 530 may assign a specific welding line to one of the three welding apparatuses. Accordingly, the welding device performs welding along the assigned welding line.

In this case, the scheduling unit 530 may equally allocate the welding line to the welding devices. For example, the scheduling unit 250 divides the time (welding preparation time, welding time, post-welding movement time, etc.) required for welding the entire welding line by the number of welding apparatuses, and the work time performed by the welding apparatuses. Can be equalized. Alternatively, when there are 90 welding lines and three welding devices, the scheduling unit 530 may allocate 30 welding lines to one welding device.

In addition, the scheduling unit 530 may set the welding order of the member welding line. For example, as shown in the left side of FIG. 10, when the welding order of the welding line is determined, the welding apparatus should weld the welding line 3 by skipping the two welding lines after welding the welding lines 1 and 2. After that, the welding apparatus returns to the welding line 4 again and performs welding on the welding lines 4 and 5. Finally, the welding device must skip welding line 3 and perform welding on welding line 6. This welding sequence increases the travel distance of the welding device, which may increase the welding time.

Accordingly, as shown in the right side of FIG. 10, the scheduling unit 530 rearranges the welding order of the welding lines so that the welding distance of the welding device can be minimized so that the welding can be efficiently performed. That is, the welding order of welding lines may be rearranged so that welding lines 1 to 6 may be sequentially welded.

As such, when the welding order is rearranged, collision between welding devices may be prevented. As shown in the left figure of FIG. 10, after the welding device welds welding line 2, the welding device increases the moving distance of the welding device to perform welding on welding line 6 by skipping 4 and 5 and the welding line. As the movement distance of the welding device increases in this way, the possibility of collision with an adjacent welding device increases. However, as shown in the right side of FIG. 10, when the scheduling unit 530 rearranges the welding order, the welding device may sequentially weld the welding lines 1 to 6, thereby reducing the moving distance of the welding device, and possibly colliding with the adjacent welding device. Can be reduced.

As described above, the teaching control system according to the exemplary embodiment of the present invention determines the amount of work on the welding line distributed to each welding device, so that the amount of work can be efficiently distributed as compared to the amount determined by the operator.

Although not shown in FIG. 6, the scheduling unit 530 may perform scheduling of the welding line according to the position-related data of the welding line input from the member matching unit 430, the case matching unit 450, and the macro matching unit 490. It may be.

The member data matching unit 400 according to an exemplary embodiment of the present invention may further include a driving data generator 550. The driving data generator 550 may generate data necessary for driving the welding apparatus according to the position information of the member output from the scheduling unit 530. For example, the driving data generator 550 may generate data for controlling the rotation amount of the motor of the welding robot.

The member data matching unit 400 according to an exemplary embodiment of the present invention may further include a monitoring unit 570. The monitoring unit 570 monitors the working condition of the welding apparatus and feeds back to the scheduling unit 530 so that the scheduling unit 570 reassigns the welding lines of the member to the welding apparatus according to the working situation. The working condition of the welding apparatus refers to various situations that may occur during the operation, such as an error of the welding apparatus or an operation stop.

Next, a teaching control method according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

11 is a flowchart of a teaching control method according to an embodiment of the present invention.

The welding line teaching signal or the member teaching signal is output by the job selecting unit 200 (S110).

When the welding line teaching signal is input, the welding line data is generated through copying and pasting the pattern teaching data according to the input of the pattern teaching data including the position information of the welding line of the unit pattern (S120).

When the member teaching signal is input, the member data is output. At this time, the member data is matched with position information of some welding lines among all welding lines of the member and includes position information of the member.

Since various features of the teaching control method have been described in detail through the teaching control system, the description thereof will be omitted.

12 is a flowchart illustrating a method of generating weld line data in an embodiment of the present invention.

When the welding line teaching signal is input, the pattern teaching data according to the welding line teaching of the unit pattern is received, and the pattern position data including the position information of the welding line of the unit pattern is output (S210). The pattern position data is copied and stored (S220). The stored pattern position data is pasted to generate weld line data including position information of weld lines of the member (S230).

Since various features of the welding line data generation method have been described in detail through the welding line data generation unit, description thereof will be omitted.

13 is a flowchart illustrating a method of matching member data in an embodiment of the present invention.

When the member teaching signal is input, at least a portion of the welded welded lines are grouped by receiving welding line teaching data including position information of a part of the entire welded lines of the member from the teaching apparatus (S310).

The position information of the grouped welding line is matched to the member data (S320). In this case, a plurality of member matching cases having different positions may be generated using the member data.

Since various features of the member data matching method have been described in detail through the member data matching unit, a description thereof will be omitted.

The teaching control system and the teaching control method according to an embodiment of the present invention can reduce the time required for teaching the weld sea through grouping or matching the weld seam.

The teaching control system and the teaching control method according to the embodiment of the present invention can select one of grouping or member matching for the welded weld line, thereby performing flexible welding operation.

In the teaching control system and the teaching control method according to the embodiment of the present invention, the welding line is allocated by the scheduling unit rather than the welding line assignment by the operator, so that the amount of work can be efficiently assigned to the welding apparatus.

It will be apparent to those skilled in the art that the present invention can be embodied in other specific forms without departing from the spirit or scope of the invention as defined in the appended claims. It is obvious to them. Therefore, the above-described embodiments should be regarded as illustrative rather than restrictive, and thus, the present invention is not limited to the above description and may be modified within the scope of the appended claims and their equivalents.

Claims (13)

A job selector configured to output a welding line teaching signal or a member teaching signal;
A welding line data generator configured to receive pattern teaching data including position information of welding lines of a unit pattern when the welding line teaching signal is input, and generate weld line data through copying and pasting of the pattern teaching data;
When the member teaching signal is input includes a member data matching unit for matching the position information of the part of the welding line of the entire welding line of the member and outputs the member data including the position information of the member,
And a case matching unit configured to generate a plurality of member matching cases having different positions using the member data. A pattern input unit receiving pattern teaching data according to welding line teaching of a unit pattern and outputting pattern position data including position information of the welding line of the unit pattern;
A pattern copying unit which copies and stores the pattern position data;
And a pattern paste portion for generating weld line data including position information of weld lines of members by pasting the stored pattern position data.
When the unit patterns have the same pattern and spacing, the pattern teaching data may be taught at both ends of the welding line of the first unit pattern among the first unit pattern and the second unit pattern adjacent to each other and at one end of the weld line of the second unit pattern. Teaching control system comprising a position information for the point. A welding line grouping unit receiving welding line teaching data including position information of a part of all welding lines of the member and grouping at least a portion of the welded welding lines; And
It includes a member matching unit for matching the position information of the grouped weld line to the member data,
And a case matching unit configured to generate a plurality of member matching cases having different positions using the member data. The method of claim 2,
The lengths of the weld lines of the unit patterns are calculated based on the position information of the teaching points at both ends of the weld line of the first unit pattern.
And a distance between the unit patterns is calculated based on the distance between the teaching points of one end of the welding line of the first unit pattern and the second unit pattern. delete 4. The method according to any one of claims 1 to 3,
And a scheduling unit for allocating the welding line to the welding device according to the workload and the welding order of the welding lines. delete Outputting a welding line teaching signal or a member teaching signal;
Generating welding line data through copying and pasting of the pattern teaching data according to input of the pattern teaching data including position information of the welding line of the unit pattern when the welding line teaching signal is input;
Outputting the member data when the member teaching signal is input;
And generating a plurality of member matching cases having different positions using the member data. Receiving pattern teaching data according to welding line teaching of the unit pattern and outputting pattern position data including position information of the welding line of the unit pattern;
Copying and storing the pattern position data;
Pasting the stored pattern position data to generate weld line data including position information for weld lines of the member,
When the unit patterns have the same pattern and spacing, the pattern teaching data may be taught at both ends of the welding line of the first unit pattern among the first unit pattern and the second unit pattern adjacent to each other and at one end of the weld line of the second unit pattern. Teaching control method comprising the position information for the point. Grouping at least a portion of the welded welding lines by receiving welding line teaching data including position information of a part of the entire welding lines of the member from the teaching apparatus;
Matching position information of the grouped weld line to member data; And
And generating a plurality of member matching cases having different positions using the member data. 10. The method of claim 9,
The lengths of the weld lines of the unit patterns are calculated based on the position information of the teaching points at both ends of the weld line of the first unit pattern.
And a distance between the unit patterns is calculated based on the distance between the teaching points of one end of the welding line of the first unit pattern and the second unit pattern. 11. The method according to any one of claims 8 to 10,
And assigning the welding line to the welding device according to the workload and the welding order for the welding lines. delete

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