Method and device for tracer correction in a welding robot
AssigneeKabushiki Kaisha Komatsu Seisakusho
InventorsRiichi Abe, Katsuji Tsuruta, Seiji Tsujikado
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Abstract
A method for performing multi-layer welding using a welding robot is disclosed, in which welding on the second and subsequent layers is carried out by backwardly displacing the position of a torch tip by the amount of a preset value. This displacement is made possible through making a constant determined by a torch shape increase by the preset value.
Claims16
A tracer correction device for a welding robot comprising:
- a sensor in which a detection is carried out in a predetermined direction, for detecting torch tip error against weld line with respect to a coordinate system fixed to the torch,
- a memory for storing sets of coefficient values for converting said torch tip error into a correction value with respect to axes in which a robot body is driven, using a signal representative of the torch posture as an address signal for accessing a corresponding one of said sets from said memory, and
- an arithmetic circuit for calculating the correction value with respect to axes in which the robot body is driven on the basis of the coefficient read out from the memory corresponding to the torch posture and the error value detected by the sensor.
A tracer correction device for a welding robot including a wrist provided between a robot body and a torch with a degree of freedom in movement, and a sensor for detecting a torch tip error against weld line with respect to a predetermined coordinate system fixed to the torch, comprising:
- a memory for storing sets of coefficient values for converting the torch tip error into a correction value with respect to axes in which a robot body is driven by using a signal representative of the wrist posture, and
- an arithmetic circuit for calculating said correction value on the basis of (a) the coefficient read out from the memory and corresponding to said wrist posture as represented by said signal, and (b) the torch tip error detected by the sensor.
A tracer correction method for a welding robot comprising steps of:
- detecting, by a sensor having a predetermined direction, the torch tip error against weld line with respect to a coordinate system fixed to a torch,
- reading out a coefficient value for converting the torch tip error into a correction value with respect to axes in which a robot body is driven corresponding to a torch posture, from a memory in which a set of such coefficient values are stored at addresses accessed by an address signal representing said torch posture,
- performing arithmetic operations by an arithmetic circuit to obtain said correction value based on said coefficient value and a torch tip error value detected by the sensor, and
- making correction with respect to said axis, using said correction value.
A tracer correction device for a welding robot of a type which comprises a robot body movable along driving axes thereof, a torch on which selected ones of a plurality of sensors each detecting torch tip error from a weld line in a direction inherent to each sensor is provided, and a wrist provided between said robot body and said torch for controlling the posture of said torch with respect to said robot body, the torch tip error detected by said selected one sensor serving to obtain a correction value for correcting the position of the robot body with respect to said driving axes, comprising:
- a plurality of memories provided corresponding to said plurality of sensors, each of said memories storing one or more coefficient values for converting said detected torch tip error into said correction value corresponding to said torch tip posture;
- means for selecting one memory for among said plurality of memories corresponding to said selected one sensor;
- and
- arithmetic means for calculating said correction value based on said detected torch tip error and the coefficient value read out from said memory selected by said means.
Dependencies are inferred from the claim text.