| 摘要 |
PURPOSE:To perform easily and quickly a teaching operation, by obtaining the position data on a robot from the data on the welding position as well as the function of the form of the member to be welded for a coordinate system which is set previously. CONSTITUTION:The welding gun data, tool data, form data of a member to be welded, etc. are supplied to a control part 1 consisting of graphic and display processors from a standard product file 2 and a data file 3. The form of the member to be welded is displayed to a CRT6, and the welding point data obtained by a light pen 7 is fed to the part 1. The control part 1 calculates the normal line vector of the welding point and the approach vector showing the approaching direction to the welding point of the welding gun from the data given from the file 2, the form data given from the file 3 and the welding point data. At the same time, the part 1 obtains the position data on shafts constituting the mobile parts of a welding robot in the form of a teaching data from those of above-mentioned data and then delivers this data to an output device 11. |
