OFFLINE TEACHING METHOD
First Claim
1. An offline teaching method for performing, on a welding robot, offline teaching of a weld line including a segment, the offline teaching method comprising the steps of:
- obtaining, by a computer, a position of a current step of a torch of the welding robot and a position of a next or a previous step;
setting, by the computer, either a previous stage coordinate system ranging from the previous step to the current step or a next stage coordinate system ranging from the current step to the next step by using, if the segment of the weld line is a straight line, an XYZ coordinate system in which a direction of the weld line is a Y direction and a direction perpendicular to a surface of a base material to be welded is a Z direction;
inputting, by an operator, an amount of travel in the set coordinate system; and
displaying, by the computer, the torch of the welding robot such that the torch is moved along the weld line in the next stage coordinate system or the previous stage coordinate system by the amount of travel.
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Abstract
A three-dimensional rectangular coordinate system is set in which the direction of a weld line is the Y direction, a direction perpendicular to a surface of a material to be welded is the Z direction, and a direction perpendicular to the Y direction and the Z direction is the X direction. A coordinate system A of XAYAZA is set as a previous stage coordinate system, which ranges from a previous step to a current step, and a coordinate system B of XBYBZB is set as a next stage coordinate system, which ranges from the current step to a next step. The weld line is defined by these coordinate systems that use a workpiece as a reference, and an operator specifies the amount of travel of a torch in these workpiece coordinate systems. By this method, offline teaching can be accurately performed in a welding system without requiring skill in operation.
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Citations
11 Claims
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1. An offline teaching method for performing, on a welding robot, offline teaching of a weld line including a segment, the offline teaching method comprising the steps of:
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obtaining, by a computer, a position of a current step of a torch of the welding robot and a position of a next or a previous step; setting, by the computer, either a previous stage coordinate system ranging from the previous step to the current step or a next stage coordinate system ranging from the current step to the next step by using, if the segment of the weld line is a straight line, an XYZ coordinate system in which a direction of the weld line is a Y direction and a direction perpendicular to a surface of a base material to be welded is a Z direction; inputting, by an operator, an amount of travel in the set coordinate system; and displaying, by the computer, the torch of the welding robot such that the torch is moved along the weld line in the next stage coordinate system or the previous stage coordinate system by the amount of travel. - View Dependent Claims (2, 3)
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4. An offline teaching method for performing, on a welding robot, offline teaching of a weld line divided into a plurality of segments by steps, the offline teaching method comprising the steps of:
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obtaining, by a computer, a position of a current step of a torch of the welding robot and positions of next and previous steps in order to allow the torch of the welding robot to move along a previous segment or a next segment; setting, by the computer, a previous stage coordinate system ranging from the previous step to the current step and a next stage coordinate system ranging from the current step to the next step by using, if the segment of the weld line is a straight line, an XYZ coordinate system in which a direction of the weld line is a Y direction and a direction perpendicular to a surface of a base material to be welded is a Z direction or, if the segment of the weld line is an arc, an XCZ coordinate system in which a radial direction of the arc is an X direction, a circumferential direction of the arc is a C direction, and a direction perpendicular to a base material to be welded is a Z direction; inputting, by an operator, an amount of travel in the set coordinate system; and displaying, by the computer, the torch of the welding robot such that the torch is moved along the weld line in the next stage coordinate system or the previous stage coordinate system by the amount of travel. - View Dependent Claims (5, 6, 7)
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8. An offline teaching method for performing, on a welding robot, offline teaching of a weld line divided into a plurality of segments by steps, the offline teaching method comprising the steps of:
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obtaining, by a computer, a position of a current step of a torch of the welding robot and positions of next and previous steps in order to allow the torch of the welding robot to move along a previous segment or a next segment; setting, by the computer, a previous stage coordinate system ranging from the previous step to the current step and a next stage coordinate system ranging from the current step to the next step by using, if the segment of the weld line is a straight line, an XYZ coordinate system in which a direction of the weld line is a Y direction and a direction perpendicular to a surface of a base material to be welded is a Z direction or, if the segment of the weld line is an arc, an XCZ coordinate system in which a radial direction of the arc is an X direction, a circumferential direction of the arc is a C direction, and a direction perpendicular to a base material to be welded is a Z direction; inputting, by an operator, an amount of travel in the set coordinate system; and displaying, by the computer using a coordinate system selected by an instruction from the operator, the torch of the welding robot such that the torch is moved along the weld line in the next stage coordinate system or the previous stage coordinate system by the amount of travel. - View Dependent Claims (9, 10, 11)
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Specification