Control method in multi-layer welding
AssigneeFanuc Corporation
InventorsTetsuya Kosaka, Yoshitaka Ikeda
Life of this patent
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Abstract
In a multi-layer welding, weld line and a gap width of workpieces (A, B) to be welded are detected by a laser sensor mounted on a robot, during a welding for a first layer, whereby, a welding torch mounted on the robot is made to follow the weld line and welding conditions are adjusted in accordance with the detected gap width. The detected gap width is stored in the storage means together with the weld line data. Then, weldings for a second and subsequent layers are performed by using the stored data in such a manner that the welding torch is made to follow the weld line, and the welding conditions are adjusted in accordance with the gap width.
Claims10
A control method in a multi-layer welding which uses a welding robot having an arc welding torch and a laser sensor mounted thereon, comprising steps of:
- setting, in advance, relationships among a width of a gap existing in a portion to be welded and welding conditions;
- continuously or successively detecting the width of the gap existing in the portion to be welded along a weld path by using the laser sensor while performing welding for a first layer, and storing detected data concerning the gap width in a memory;
- and
- performing welding for a second layer and a subsequent layer or layers under said welding conditions determined in accordance with the gap width stored in said memory.
A welding control system comprising a welding robot mounting an arc welding torch and laser sensor thereon, and a robot controller for controlling the operation of said robot, said laser sensor being arranged in a manner such that a scanning beam may scan an area preceding a weld point with respect to an advancing direction of the robot, said robot controller comprising:
- weld line and gap width calculating means for obtaining information on the weld line from a three-dimensional position information of the portion to be welded, which is detected by said laser sensor while performing welding for a first layer and calculating a width of the gap of the portion to be welded which lies on the weld line;
- gap width storage means for storing data concerning the gap width of the portion to be welded which lies on said weld line;
- welding condition storage means for storing predetermined relationships between the gap width of said portion to be welded and the welding conditions;
- and
- welding condition outputting means for obtaining a gap width of the portion to be welded which lies on the weld line from a current position of the robot by using said gap width memory means, determining welding conditions in accordance with the gap width by using said welding condition storage means, and outputting the determining welding conditions to the robot for a second and a subsequent welding layer or layers.
A control method for multi-layer welding, comprising:
- storing, in advance, relationships between a width of a gap in a portion to be welded and corresponding welding conditions;
- detecting the width of the gap existing in the portion to be welded along a weld path while performing welding for a first layer, and storing the detected gap width data;
- and
- performing welding for at least second and third additional layers under the welding conditions determined in accordance with the stored gap width data.
Dependencies are inferred from the claim text.