Remotely operated manual welding method and welding robot implementing such a method
AssigneeCommissariat A L'energie Atomique Et Aux Energies Alternatives
InventorsYann PERROT, Max DA SILVA SIMOES
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Abstract
A method to assist with the production of an assembly of two elements implemented by a remotely operated robot. The method includes an arm, hinged to the end of which is mounted a heat-supply member suitable for delivering heat to a heat-supply point; position sensors; guiding actuators; a video capture device; an interface; and a processing unit. The method involves the following steps: acquiring a type of assembly to be produced; calculating a reference path of the heat-supply point; defining a shell for guiding the heat-supply member; and controlling guiding actuators so as to prevent the heat-supply member from moving out of the guiding shell.
Claims17
A method for assisting in carrying out the assembly of two elements by the application of heat, for example a welded or brazed joint, the method being executed by means of a remotely operated robot, the robot comprising:
- an articulated arm at the end of which a heat application member, such as a nozzle or an electrode, is mounted, the heat application member being adapted to deliver heat at a point of application of heat;
- sensors of the position of the articulated arm;
- guidance actuators of the articulated arm;
- a device for video capture of the point of application of heat;
- an interface for controlling the path of the point of application of heat;
- a processing and control unit connected to the position sensors, to the guidance actuators, to the video capture device, and to the interface for controlling the assembly path and parameters,
- the method comprising the following steps:
- a) acquiring a type of assembly to be carried out;
- b) calculating a reference path of the point of application of heat;
- c) defining a guidance envelope of the heat application member around the reference path;
- d) controlling the guidance actuators in such a way as to oppose a movement of the heat application member out of the guidance envelope.
Dependencies are inferred from the claim text.