Method and apparatus for controlling a welding robot forming a nonuniform weld satisfying predetermined criteria related to an interspace between elements being welded

• US 4,870,247 A
• Filed: 11/20/1987
• Issued: 09/26/1989
• Est. Priority Date: 03/20/1986
• Status: Expired due to Term

• Current Assignee: Hitachi Construction Machinery Company Limited (Hitachi, Ltd.), Shin Meiwa Industry Company Limited
• Original Assignee: Hitachi Construction Machinery Company Limited (Hitachi, Ltd.), Shin Meiwa Industry Company Limited
• Inventors: Takano, Yutaka, Fukuoka, Hisahiro, Kamiyama, Yoichi
• Primary Examiner(s): Shaw, Clifford C.
• Application Number:
  US07/138,383
• Time in Patent Office: 676 Days
• Field of Search: 219/125.12, 219/125.1, 219/125.11, 219/124.34
• US Class Current: 219/125.1
• CPC Class Codes: B23K 9/0216 Seam profiling, e.g. weaving, multilayer
• CPC Class Codes: B23K 9/1272 Geometry oriented, e.g. beam optical trading
• CPC Class Codes: B25J 9/1679 characterised by the tasks executed
• CPC Class Codes: G05B 19/425 Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
• CPC Class Codes: G05B 2219/35286 Run tape without machining, tape proving, dry run, test run
• CPC Class Codes: G05B 2219/36417 Programmed coarse position, fine position by alignment, follow line, path adaptive
• CPC Class Codes: G05B 2219/37405 Contact detection between workpiece and tool, probe, feeler
• CPC Class Codes: G05B 2219/45104 Lasrobot, welding robot
• CPC Class Codes: G05B 2219/49384 Control of oscillatory movement like filling a weld, weaving

Abstract

A welding torch (4) of a welding robot (RO) is supported by arms (2, 3), to be movable under the control of a computer (7). First and second members (W1, W2) are welded by a mold woven while oscillating an welding torch (4) along a weld line (WL), with data on changes in an interspace between the first and second welded members (W1, W2) along a direction of the weld line (WL) being previously obtained and stored in advance of welding. For the welding, the computer 7 performs arithmetic to obtain command values on the basis of the stored data to output the same to the welding robot (RO), so that the welding robot (RO) performs weaving in accordance with the command values while varying a weaving amplitude of the welding torch (4) in response to the change in the interspace.

Claims

1. A method of controlling a welding robot for weaving first and second welded members by a welding robot having a welding torch and arms for movably supporting said welding torch while oscillating said welding torch along a weld line, comprising the steps of:

initially storing data on a linear successive change in an interspace between said first and second members that are to be welded along a direction of said weld line, in advance of welding;

performing arithmetic on the basis of said stored data and thereby obtaining command values for making said welding robot perform a corresponding weaving weld while successively varying a weaving amplitude in response to said change in said interspace; and

supplying said command values to control said welding robot, wherein

said step of initially storing data including the steps of teaching a plurality of data input dedicated points for recognizing said change through positioning of said welding torch, and detecting said change on the basis of said data input dedicated points.

2. A method of controlling a welding robot in accordance with claim 1, wherein:

said stored data are obtained on the basis of data generated by correcting positional data on prescribed points related to a positional relation between said first and second welded members through sensing.

3. A method of controlling a welding robot in accordance with claim 1, further comprising:

setting a welding speed, said command values for making said welding robot perform weaving including a command for maintaining an advancing speed of said welding torch in a weaving direction at set welding speed.

4. A method of controlling a welding robot in accordance with claim 1, wherein:

an advancing speed of said welding torch in a weaving direction is controlled at a desired value in performing weaving while varying a weaving amplitude in response to change in an interspace between said first and second welded members.

5. An apparatus for controlling a welding robot for weaving a weld between first and second members separated by a linearly successive changing interspace therebetween by application of a moving welding torch by manipulation of arms supporting said welding torch while oscillating said welding torch along a weld line related to the interspace, comprising:

means for generating positional data of a plurality of data input dedicated points which are taught through positioning of said welding torch for recognizing a linear successive change of said interspace;

means for detecting said change of the interspace on the basis of said positional data;

memory means for storing data on said change as detected with respect to said interspace between said said and second members that are to be securely welded along said weld line therebetween;

arithmetic means for performing arithmetic on the basis of said stored data to generate corresponding command values for making said welding robot perform weld weaving by successively varying a weaving amplitude of the motion of said welding torch in response to variations encountered in said interspace as the welding progresses; and

output means for sequentially outputting said command values to said welding robot to control the same.

6. An apparatus for controlling a welding robot in accordance with claim 5, further comprising:

means for sensing a positional relation between said first and second members at prescribed points of said interspace therebetween to correct said positional data on the basis of said proportional relation.

7. An apparatus for controlling welding robot in accordance with claim 5, further comprising:

means for setting a welding speed, said command values for making said welding robot perform weaving including a command for maintaining an advancing speed of said welding torch in a weaving direction at a predetermined welding speed.

8. An apparatus for controlling a welding robot in accordance with claim 5 further comprising:

means for controlling an advancing speed of said welding torch in a weaving direction at a desired value in performing weaving while varying a weaving amplitude in response to change in an interspace between said first and second members.

9. A method of controlling a welding robot for weaving a weld between first and second members by a welding robot having a welding torch and arms for movably supporting said welding torch while oscillating said welding torch along a weld line, comprising the steps of:

initially storing data on linear successive change in an interspace between said first and second members along a direction of said weld line, in advance of welding;

obtaining command values for making said welding robot perform said weaving while successively varying a weaving amplitude in response to said change in said interspace by performing arithmetic on the basis of said stored data; and

supplying said command values to said welding robot, wherein

said step of initially storing data including the steps of storing information of a plurality of patterns of said linear successive change, and selecting said information of one of said patterns in a menu system.

10. An apparatus for controlling a welding robot for weaving a weld between first and second members separated by a linearly successively changing interspace therebetween by the application of a moving welding torch by manipulation of arms supporting said welding torch while oscillating said welding torch along a weld line related to the interspace, comprising:

means for providing data of a plurality of patterns of linear successive change of said interspace;

means for selecting said data of one of said patterns in a menu system;

memory means for storing said data as selected with respect to said interspace between said first and second members that are to be securely welded along said weld line therebetween;

arithmetic means for performing arithmetic on the basis of said data as stored, to generate corresponding command values for making said welding robot perform weld weaving by successively varying a weaving amplitude of the motion of said welding torch in response to variations encountered in said interspace as the welding progresses; and

output means for sequentially outputting said command values to said welding robot to control the same.