Title:
WELDING ROBOT SYSTEM
Document Type and Number:
WIPO Patent Application WO/1998/039131
Kind Code:
A1
Abstract:
A laser sensor (2) and a welding torch (3) are mounted to a robot terminal end (1) to perform welding on joints (A, B). The laser sensor (2) scans the surfaces of the joints to periodically perform detection of a weld line position and detection of a gap length. A robot periodically outputs to the sensor (2) current sensor position data with time stamp, and the weld line position is found as robot data. A weaving condition corresponding to a range of the gap length g (x) thus detected is selected, and a torch tip end (4) draws a path WV, in which tracking and weaving are superposed.
Inventors:
TERADA AKIHIRO (JP)
OKUDA MITSUHIRO (JP)
OKUDA MITSUHIRO (JP)
Application Number:
PCT/JP1998/000879
Publication Date:
September 11, 1998
Filing Date:
March 03, 1998
Export Citation:
Assignee:
FANUC LTD (JP)
TERADA AKIHIRO (JP)
OKUDA MITSUHIRO (JP)
TERADA AKIHIRO (JP)
OKUDA MITSUHIRO (JP)
International Classes:
B25J9/16; B23K9/12; B23K9/127; B25J19/04; (IPC1-7): B23K9/127; B23K9/095
Foreign References:
| JPH08166813A | 1996-06-25 | |||
| JPH0857647A | 1996-03-05 | |||
| JPH08257749A | 1996-10-08 |
Attorney, Agent or Firm:
Takemoto, Shoji (23-10 Toranomon 1-chom, Minato-ku Tokyo, JP)
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