US 5,597,498 A · Method for welding corrugate portions by means of welding robot for corrugation lap joint

Abstract

There is disclosed a method for the plasma arc welding of corrugate membranes, which can prevent a welding failure from occurring around the corrugate portion. In this welding method, NC data for robot control are modified so as to gradually change a torch angle around the R portions at a rate not greater than the maximum angular velocity and increase a welding speed around the R portions of foot regions of corrugate portions 1B and 2B and the R portion of an apex 22 before a welding torch 12 reaches the R portions. Three parameters are prepared for determining the deformation of the corrugate portions 1B and 2B in terms of height, width of the foot regions and the swell of the trunk portion. Data indicative of the height and foot width of the corrugate portion measured by a laser displacement sensor 15 are compared with standard corrugation NC data, and the NC data for robot control are modified to correct the height, foot width and swell degree thereof by utilizing the parameters.

Claims5

Dependent claims

A method for welding a corrugate portion by means of a welding robot for a corrugation lap joint, in which a sensor for measurement of a corrugate configuration travels ahead of the welding robot and controls a welding torch, said method comprising the steps of:

preliminarily storing a plurality of standard corrugate configurations as data in a control device;
selecting one standard corrugate configuration from data preliminarily stored in the control device based on the measurement of the sensor traveling ahead of the welding robot;
obtaining numerical control (NC) data of a welding line of the corrugate portion based on the selected standard corrugate configuration;
employing parameters for increasing a welding speed in a foot region of the corrugate portion by gradually changing a torch angle slightly before the welding torch reaches an arcuate portion of the foot region, along with the NC data of the welding line;
employing parameters for increasing the welding speed in an apex of the corrugate portion along with the NC data of the welding line;
and
controlling the welding speed and the welding torch angle to weld the corrugate portion by employing said parameters.

4 more elements

A method for welding a corrugate portion by means of a welding robot for a corrugation lap joint, which employs a control system in which a sensor for measurement of the corrugate configuration travels ahead of the welding robot and corrugate configurations are preliminarily stored as numerical control (NC) data in a control device, said method comprising the steps of:

calculating a deformation degree of a bulge of the corrugate portion along a weld line based on information indicative of a height and foot width of the corrugate configuration measured by means of the sensor;
modifying standard corrugation NC data based on the calculated degree;
calculating execution NC data for welding;
and
controlling an operation for the welding of the corrugate portion by utilizing the execution NC data.

2 more elements

Dependencies are inferred from the claim text.

Method for welding corrugate portions by means of welding robot for corrugation lap joint

Life of this patent

Method for welding corrugate portions by means of welding robot for corrugation lap joint

Life of this patent

Abstract

Claims5