METHOD FOR FOLLOWING WELD LINE IN WELDING ROBOT

• Main Authors: FUKUOKA HISAHIRO, MARUYAMA SHIGEO, IKEDA MASAMI, RAN NOBORU
• Format: Patent
• Language: English
• Published: 30.09.1985
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; CLADDING OR PLATING BY SOLDERING OR WELDING; CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; HAND TOOLS; MACHINE TOOLS; MANIPULATORS; METAL-WORKING NOT OTHERWISE PROVIDED FOR; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PERFORMING OPERATIONS; PHYSICS; PORTABLE POWER-DRIVEN TOOLS; REGULATING; SOLDERING OR UNSOLDERING; TRANSPORTING; WELDING; WORKING BY LASER BEAM

PURPOSE:To widen the range of applicable work by determining coordinate axes components of the body of a robot of displacement of a torch consisting of fitting angle of a peripheral axis to the body of the robot, and preparing a pattern of oscillation by adding displacement of coordinate axes themselves. CONSTITUTION:The body of the robot RO is placed on a moving body and travels along a peripheral axis T that extends at a fitting angle gamma to X-axis. A computer 10 includes a CPU and a memory and controls whole system. A remote control board 11 is provided with a group of working switches SW, condition setting switches SE etc. The computer 10 performs arc sensing at all times during welding, and corrects positional deviation using data stored beforehand, and at the same time, prepares a pattern of oscillation and outputs it. An executing pattern of oscillation is moved in the direction of groove width at right angles to a teaching weld line and in the direction of height by length of successive correction, and the torch 4 always follows up the weld line. Accordingly, it becomes not necessary to make the weld line parallel to the peripheral axis, and the range of applicable work is widened.