CONTROL METHOD OF INDUSTRIAL ROBOT

• Main Authors: KINUGASA YASUHIRO, YOSHIMA KAZUMASA
• Format: Patent
• Language: English; Japanese
• Published: 04.12.2014
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; HAND TOOLS; MACHINE TOOLS; MANIPULATORS; METAL-WORKING NOT OTHERWISE PROVIDED FOR; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; SOLDERING OR UNSOLDERING; TRANSPORTING; WELDING; WORKING BY LASER BEAM

PROBLEM TO BE SOLVED: To execute continuous teaching, by preventing a wire from bending, by automatically releasing a contact state, when a welding wire and a workpiece that is a welding object contact in teaching.SOLUTION: In a control method of an industrial robot having a welding torch for inserting a welding wire and operating based on a taught program, when detecting contact between the wire projected from the welding torch and a welding object in teaching, the contact between the wire and the welding object is released by inversely feeding for feeding the wire in the separating direction from the welding object, and the wire is normally fed by the same length as the inversely fed length after moving the welding torch in the separating direction from the welding object. 【課題】教示中に、溶接用ワイヤと溶接対象物であるワークとが接触した場合に、自動的に接触状態を解除することにより、ワイヤが曲がってしまうことを防止し、継続して教示を行うことができるようにする。【解決手段】溶接用のワイヤを挿通する溶接用トーチを備えており、教示されたプログラムに基づいて動作する産業用ロボットの制御方法であって、教示中に、溶接用トーチから突出したワイヤと溶接対象物との接触が検出されると、ワイヤを溶接対象物から離れる方向へ送給する逆送を行うことにより、ワイヤと溶接対象物との接触を解除し、溶接用トーチを溶接対象物から離れる方向へ移動させた後に、逆送した長さと同じ長さだけワイヤを正送する。【選択図】図３