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US 9,833,857 B2Granted
Method for teaching/testing a motion sequence of a welding robot, welding robot and control system for same
AssigneeFronius International GmbH
InventorJosef Artelsmair
Life of this patent
Estimating the term…
Abstract
The invention relates to a monitoring module (1 . . . 1″) for monitoring an electric arc machining process, the module comprising a camera (2), a photo flash lamp (3) and a control system (4) that controls the photo flash lamp (3) and a control system (4) that controls the photo flash lamp (3) in such a way that it illuminates when the camera (2) records the image. According to the invention, the components (2, 3, 4) are arranged in a common housing (5).
Claims16
A method of welding with a welding robot along a motion sequence, the method comprising the steps of
- a) teaching the welding robot the motion sequence without performing a welding process by:
- moving a movably mounted welding wire out of a welding head to a length;
- moving the welding head to a first position at a workpiece when a power supply of the welding head is deactivated;
- after positioning at the first position, starting a wire-touch sensing process in a welding device, the wire-touch sensing process comprising the steps of:
- applying a test voltage between the welding wire and the workpiece, wherein the test voltage or the therefrom resulting current flow is provided to be lower than an arc-forming voltage required for forming an arc or an arc-forming current required for forming the arc;
- subsequently, continuing a manual positioning process with the welding head;
- and
- retracting the welding wire to prevent bending of the welding wire and to interrupt a current flow between the welding wire and the workpiece when the welding wire touches the workpiece and the current flow or a drop of the test voltage is detected, and
- b) after teaching the welding robot the motion sequence, welding with the welding robot along the motion sequence.
6 more elements
A method of welding comprising the steps of:
- a) automatically detecting a central position of an intended weld bead without performing a welding process by:
- positioning a welding head at a workpiece;
- after the positioning, starting a wire-touch sensing process in a welding device, the wire-touch sensing process comprising the steps of:
- applying a test voltage between a welding wire and the workpiece, wherein the test voltage or the therefrom resulting current flow is provided to be lower than a voltage required for forming an arc or a current required for forming the arc;
- feeding the welding wire in a direction of the workpiece;
- and
- retracting the welding wire for preventing bending of the welding wire and for interrupting a current flow between the welding wire and the workpiece whenever the welding wire touches the workpiece and the current flow is detected;
- subsequently, tracing a preprogrammed track running perpendicular to an axis of the intended weld bead;
- and
- when the welding head is adjusted, repeatedly moving the welding wire to the workpiece and back from the workpiece to sense a contour of the workpiece and
- calculating the central position on a basis of values of wire lengths which have been fed;
- and
- b) after detecting the central position, welding the workpiece and forming the weld bead running perpendicular to the preprogrammed track.
10 more elements
Dependencies are inferred from the claim text.