Method and apparatus for manipulator welding apparatus with improved weld path definition
US4568816A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Apr 19, 1983 |
| Grant date | Feb 4, 1986 |
| Priority date | — |
| Expiry date | Apr 19, 2003 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45135
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
Control apparatus for manipulator welding apparatus is provided that includes a vision correction system for workpiece sensing. During an initial teach mode, the manipulator is taught the desired welding path on a workpiece and data is recorded representing the welding path relative to a frame of reference defined by the workpiece. In addition to the data representing the taught welding path and the frame of reference, data representing one or more reference images or templates are also recorded in the teach mode. As successive workpieces are presented to the manipulator for performing the desired welding path, the control apparatus in a repeat work cycle mode is first controlled to measure and define the new location and orientation of the frame of reference in accordance with the workpiece. The new frame of reference data is utilized to modify the path data. In a preferred arrangement, a first repeat pass is performed by controlling the manipulator to move over the weld path in accordance with modified weld path data as determined from the new frame of reference data. The vision system utilizing an image processor detects the deviation between the first repeat pass welding path a…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.