Method of welding robot control which controls the three basic axes of a robot to provide a repetition of a weaving pattern along a robot locus
US4677276A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Nov 23, 1982 |
| Grant date | Jun 30, 1987 |
| Priority date | — |
| Expiry date | Nov 23, 2002 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/49384
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A method of controlling a welding robot substantially comprises (i) teaching three points in the neighborhood of a teaching line to define a weaving pattern, and (ii) controlling three basic axes of a welding robot so that a welding torch tip of the robot moves on one of the surfaces of a triangular pillar formed by shifting a triangular plane defined by the above three points along the teaching line, while executing a weaving operation which is determined by a weaving amplitude, a weaving frequency, and a welding velocity. After continuing the above movement until the torch tip arrives at the end point of the teaching line, the weaving operation along the next teaching line is effected utilizing a new triangular plane which is formed by rotating the former triangular plane on an axis defined by the former teaching line and the next teaching line. By utilizing and repeating such rotation, there is no need to teach a weaving pattern at each teaching line and an operator can easily teach the welding pattern with any complex weaving pattern.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.