Method of and apparatus for controlling a welding robot

• US 5,171,966 A
• Filed: 10/29/1991
• Issued: 12/15/1992
• Est. Priority Date: 03/20/1986
• Status: Expired due to Fees

• 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, Kamiyama, Yoichi, Fukuoka, Hisahiro
• Primary Examiner(s): Shaw, Clifford C.
• Application Number:
  US07/784,186
• Time in Patent Office: 413 Days
• Field of Search: 219/125.12, 219/124.34
• US Class Current: 219/125.12
• 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 control by a computer (7). When first and second members (W1, W2) are welded by a weld woven across an interspace between them while oscillating a welding torch (4) along a weld line (WL). Data on changes in the interspace between the first and second welded member (W1, W2) along direction of the weld line (WL) are previously stored in advance to welding. During the welding, the computer 7 performs arithmetic to obtain command values on the basis of the 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. Changes in the direction in which the welding torch is moved to weave the weld are determined by detecting the actual value of the welding current and reversing direction when the detected value exceeds a prescribed threshold value.

Claims

1. A method of controlling a welding robot (RO) for welding first and second welded members (W1, W2) by moving a welding torch energized by a welding current and held by robot arms for movably supporting said welding torch while oscillating said welding torch in a first direction substantially perpendicular to a weld line (WL) and in a second direction substantially opposite to said first direction, said method comprising the steps of:

moving said welding torch in said first direction while detecting a magnitude of said welding current;

changing the direction of movement of said welding torch from said first direction to said second direction when said detected magnitude of said welding current exceeds a prescribed threshold value;

moving said welding torch in said second direction while detecting said welding current; and

changing the direction of movement of said welding torch from said second direction to said first direction when the magnitude of said welding current detected in said third step exceeds said prescribed threshold value,

said previous steps being repeated in order to make said welding robot (RO) perform controlled weaving and welding while varying a weaving amplitude between said first and second welded members (W1, W2) within a range of movements within which said detected magnitude of said welding current is lower than said prescribed threshold value.

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

setting a welding speed, and maintaining a speed of said movements of said welding torch in said first and second directions at said set welding speed.

3. An apparatus for controlling a welding robot for weaving a weld between first and second welded member (W1, W2) while providing a welding current for energizing a welding torch movably supported by support arms of the welding robot along a weld line (WL), comprising:

current detecting means for detecting a magnitude of said welding current;

comparing means for comparing the detected magnitude of said welding current with a predetermined threshold value to output a corresponding direction change command when said welding current exceeds said threshold value; and

command means for supplying movement controlling commands to said welding robot (RO) to move said welding torch in a first direction substantially perpendicular to said weld line (WL) and a second direction substantially opposite to said first direction, said command means changing the direction in which said welding torch is moved, between said first and second directions, in response to said direction change command.

4. An apparatus for controlling a welding robot in accordance with claim 3, further comprising:

means for setting a welding speed, said commands from said command means including a command for maintaining a speed of movement of said welding torch in said first and second directions at set welding speed.