# US 6,133,545 A · Welding robot

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- Number: US 6,133,545 A
- Document ID: US6133545A
- Status: Granted
- Kind: A
- Application number: 09/320,418
- Filed: 1999-05-26
- Granted: 2000-10-17
- Earliest claimed: 1998-05-27
- Assignees: Matsushita Electric Industrial Co., Ltd.
- Inventors: Yoshiyuki Okazaki; Satoru Komatsu; Masaya Hirayama; Teruhiko Hinata
- Web page: https://patentgrep.com/patent/US6133545A

## CPC

- B23K 9/0953: {using computing means}
- B23K 9/1274: {Using non-contact, optical means, e.g. laser means}
- G05B 2219/35291: Record history, log, journal, audit of machine operation
- G05B 2219/35528: Create machining conditions database by analyzing actual machining nc program
- G05B 2219/36414: Compare image detected path with stored reference, difference corrects position
- G05B 2219/45104: Lasrobot, welding robot
- B23K: SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)

## Abstract

A measured welding event is reproduced by a welding robot. Welding events are organized into a database by a three-dimensional measuring device and a data logging device, and the welding events are subjected to statistical and analytical processes, thereby producing operation data of a robot.

## Claims

### Claim 1

A welding robot comprising:
a welder that is used for a welding operation;
means for monitoring the welding operation;
a welding operation database in which at least one of a welding current and a welding voltage during said monitored welding operation is accumulated as welding conditions;
robot operation generating means for receiving welding conditions corresponding to objective welding from said welding operation database, and for deciding an operation of said robot;
a robot controller which drivingly controls said robot in accordance with an output of said robot operation generating means; and
a welder which is controlled in accordance with the welding conditions output from said welding operation database.

### Claim 2 (depends on 1)

A welding robot according to claim 1, wherein said monitoring means includes a welder torch path collecting means, and wherein, during said monitored welding operation, information from the welding torch path collecting means is accumulated, together with said at least one of the welding current and the welding voltage, in said welding operation database as welding conditions.

### Claim 3 (depends on 1)

A welding robot according to claim 1, wherein said monitoring means includes an image capturing means, and wherein, during said monitored welding operation, welding image information from the image capturing means is accumulated, together with said at least one of the welding current and the welding voltage, in said welding operation database as welding conditions.

### Claim 4 (depends on 1)

A welding robot according to claim 1, wherein said monitoring means includes a video capturing means, and wherein, during said monitored welding operation, welding video information from the video capturing means is accumulated, together with said at least one of the welding current and the welding voltage, in said welding operation database as welding conditions.

### Claim 5 (depends on 1)

A welding robot according to claim 1, wherein said monitoring means includes a data logging device, and wherein, during said monitored welding operation, said at least one of the welding current and the welding voltage is accumulated, via the data logging device, in said welding operation database as welding conditions.

### Claim 6 (depends on 1)

A welding robot according to claim 1, wherein said robot further comprises analytical and statistical processing means for linking said welding operation database with data.

### Claim 7 (depends on 1)

A welding robot according to claim 1, wherein said robot further comprises: three-dimensional displaying means for choosing plural welding conditions corresponding to objective welding from said welding operation database, and for displaying a welding state corresponding to the chosen welding conditions; and selecting means for selecting the chosen welding conditions.

### Claim 8 (depends on 1)

A welding robot according to claim 1, wherein said robot further comprises: collecting means for collecting said at least one of the welding current and the welding voltage as welding conditions during playback; and comparing means for comparing the collected welding conditions with the welding conditions which are selected from said welding operation database.

### Claim 9 (depends on 8)

A welding robot according to claim 8, wherein said robot further comprises: a robot controller which controls said robot; a welder which communicates with said robot controller and which controls said at least one of the welding current and the welding voltage; a data logging device which detects a state of said at least one of the welding current and the welding voltage that are output from said welder; current/voltage collecting means for accumulating, in said data base, a signal output from said data logging device; and comparing means for comparing the accumulated data with corresponding data in said welding operation database, control data of said welder being corrected on the basis of a result of the comparison.