Method of controlling the welding of a three-dimensional structure
First Claim
1. A method of forming a welded structure composed of a three-dimensional support base and a plurality of pieces employing welding equipment that is operable in a three-dimensional X-Y-Z coordinate system, said method comprising:
- arranging the pieces on the support base to provide an assembly in accordance with the structure to be welded,photographing the assembly and making a picture map of the assembly,identifying weld points and determining welding parameters from the picture map,supplying control data specifying said weld points and welding parameters to the welding equipment,moving the welding equipment in the X-Y plane on the basis of the picture map and said control data,repeatedly measuring the Z-axis position of the support base by laser pointing and supplying Z-axis position data to the welding equipment, andmoving the welding equipment along the Z-axis on the basis of the Z-axis position data so as to maintain the welding equipment at a constant Z-axis distance from the support base.
2 Assignments
0 Petitions
Accused Products
Abstract
A welded structure is formed by arranging multiple pieces on a three-dimensional support base to provide an assembly in accordance with the structure to be welded and making a picture map of the assembly by photographing the assembly. Weld points are identified from the picture map and welding parameters are determined from the picture map. Control data specifying the weld points and welding parameters are supplied to welding equipment that is operable in a three-dimensional X-Y-Z coordinate system. The welding equipment is moved in the X-Y plane on the basis of the picture map and said control data. The welding equipment is moved along the Z-axis on the basis of Z-axis position data that are acquired by repeatedly measuring the Z-axis position of the support base.
24 Citations
15 Claims
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1. A method of forming a welded structure composed of a three-dimensional support base and a plurality of pieces employing welding equipment that is operable in a three-dimensional X-Y-Z coordinate system, said method comprising:
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arranging the pieces on the support base to provide an assembly in accordance with the structure to be welded, photographing the assembly and making a picture map of the assembly, identifying weld points and determining welding parameters from the picture map, supplying control data specifying said weld points and welding parameters to the welding equipment, moving the welding equipment in the X-Y plane on the basis of the picture map and said control data, repeatedly measuring the Z-axis position of the support base by laser pointing and supplying Z-axis position data to the welding equipment, and moving the welding equipment along the Z-axis on the basis of the Z-axis position data so as to maintain the welding equipment at a constant Z-axis distance from the support base. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method of forming a welded structure to be used in a watercraft, comprising:
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providing a three-dimensional support base, arranging a plurality of pieces on the support base to provide an assembly in accordance with the structure to be welded, photographing the assembly and making a picture map of the assembly, identifying weld points and determining welding parameters from the picture map, moving a welding robot in an X-Y plane on the basis of the picture map and control data specifying said weld points and welding parameters, repeatedly measuring the Z-axis position of the support base by laser pointing, and moving the welding robot along the Z-axis on the basis of the Z-axis position data to maintain the welding robot at a constant distance from the support base. - View Dependent Claims (13, 14, 15)
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Specification