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Offline teaching method

  • US 8,872,070 B2
  • Filed: 07/19/2011
  • Issued: 10/28/2014
  • Est. Priority Date: 08/09/2010
  • Status: Active Grant
First Claim
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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:

  • 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;

    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;

    selecting, before the step of obtaining, axes of a slider and a positioner on which peripheral coordination is to be performed;

    inputting, by the operator, either absence of peripheral axis coordination in the step of inputting the amount of travel or presence of peripheral axis coordination in the step of inputting the amount of travel, and either the attitude of the torch is to be fixed or the attitude of the torch is not to be fixed; and

    moving, if the peripheral axis coordination is to be performed, at least either the slider or the positioner by an amount proportional to the amount of travel of the torch relative to the position of the next step,wherein, if the torch is to be fixed, an angle of the torch is kept the same relative to a positioner setting surface in the coordinate system by setting an angle obtained by subtracting an amount of rotation of the positioner as the angle of the torch, and, if the torch is not to be fixed, the angle of the torch is not changed in the coordinate system.

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