Title:
ROBOT PROGRAMMING DEVICE, CONTROL PROGRAM CREATION METHOD AND PROGRAM THEREOF
Document Type and Number:
Japanese Patent JP2017104963
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To improve a state associated with variation in product quality due to ununiformly-distributed approach angles of a welding gun of a welding robot with respect to a welding spot.SOLUTION: A robot programming device for creating a control program for controlling a welding robot having a welding gun comprises: a route setting part for setting an entry route for at least one welding spot of a plurality of welding spots; and a route determination part for determining entry routes of the welding gun for other welding spots on the basis of the entry route which is set by the route setting part. When a first welding spot is defined as a welding spot for which an entry route has been set, a first entry route is defined as a welding route of the welding gun for the first welding spot, and an angle between a tangential line of a line connecting plurality of welding spots, at the first welding spot and the first entry route is defined as a first angle, the route determination part determines an angle of the entry route along which the welding gun enters with respect to a welding spot for which no entry route has determined, on the basis of the first angle.SELECTED DRAWING: Figure 1
Inventors:
FUJISHIRO ATSUSHI
AZUMA MIKI
AZUMA MIKI
Application Number:
JP2015242364A
Publication Date:
June 15, 2017
Filing Date:
December 11, 2015
Export Citation:
Assignee:
TOYOTA PROD ENG CORP
International Classes:
B25J9/22
Attorney, Agent or Firm:
Shirasaka Hajime
Takanashi Reiko
Harima Satoko
Takanashi Reiko
Harima Satoko