DE69728854T2 - Steuerverfahren eines schweissroboters - Google Patents

Steuerverfahren eines schweissroboters Download PDF

Info

Publication number
DE69728854T2
DE69728854T2 DE69728854T DE69728854T DE69728854T2 DE 69728854 T2 DE69728854 T2 DE 69728854T2 DE 69728854 T DE69728854 T DE 69728854T DE 69728854 T DE69728854 T DE 69728854T DE 69728854 T2 DE69728854 T2 DE 69728854T2
Authority
DE
Germany
Prior art keywords
control method
welding robot
robot
welding
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
DE69728854T
Other languages
English (en)
Other versions
DE69728854D1 (de
Inventor
Akihiro Terada
Mitsuhiro Okuda
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Application granted granted Critical
Publication of DE69728854D1 publication Critical patent/DE69728854D1/de
Publication of DE69728854T2 publication Critical patent/DE69728854T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • 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
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127—Means for tracking lines during arc welding or cutting
    • B23K9/1272—Geometry oriented, e.g. beam optical trading
    • B23K9/1274—Using non-contact, optical means, e.g. laser means

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Geometry (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Lasers (AREA)
DE69728854T 1996-07-19 1997-07-22 Steuerverfahren eines schweissroboters Expired - Fee Related DE69728854T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP8207641A JPH1034334A (ja) 1996-07-19 1996-07-19 溶接ロボット制御システム
PCT/JP1997/002532 WO1998003294A1 (fr) 1996-07-19 1997-07-22 Systeme de commande de robot soudeur

Publications (2)

Publication Number Publication Date
DE69728854D1 DE69728854D1 (de) 2004-06-03
DE69728854T2 true DE69728854T2 (de) 2005-04-21

Family

ID=16543154

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69728854T Expired - Fee Related DE69728854T2 (de) 1996-07-19 1997-07-22 Steuerverfahren eines schweissroboters

Country Status (5)

Country Link
US (1) US6040554A (de)
EP (1) EP0862963B1 (de)
JP (1) JPH1034334A (de)
DE (1) DE69728854T2 (de)
WO (1) WO1998003294A1 (de)

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6230072B1 (en) * 1998-02-09 2001-05-08 John W. Powell Boiler automated welding system (BAWS)
JP3215086B2 (ja) * 1998-07-09 2001-10-02 ファナック株式会社 ロボット制御装置
JP3124519B2 (ja) * 1998-07-23 2001-01-15 セイコー精機株式会社 制御系のモード切替え機能を有するロボット制御装置
CA2244037A1 (en) * 1998-09-09 2000-03-09 Servo-Robot Inc. Apparatus to help in robot teaching
JP2001129776A (ja) * 1999-11-05 2001-05-15 Fanuc Ltd センサを使った検出線に対する追従装置
JP3715537B2 (ja) * 2001-02-19 2005-11-09 本田技研工業株式会社 多関節ロボットの干渉回避方法およびプログラム
JP3476441B2 (ja) * 2001-04-11 2003-12-10 ファナック株式会社 レーザ加工ノズル
JP4578056B2 (ja) * 2003-02-06 2010-11-10 株式会社ダイヘン 作業ロボットを用いた制御システムによるワーク加工方法
DE102004026185A1 (de) * 2004-05-28 2005-12-22 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Betreiben einer Maschine, wie eines Mehrachs- Industrieroboters
DE102004039410A1 (de) * 2004-08-13 2006-02-23 Precitec Kg Verfahren und Vorrichtung zur Regelung eines automatischen Bearbeitungsprozesses
US20070023408A1 (en) * 2005-08-01 2007-02-01 Sino Golf Manufacturing Co., Ltd. Welding system and method
FR2923295B1 (fr) * 2007-11-06 2009-12-11 Areva Np Procede et dispositif de visualisation et de controle du profil d'un cordon de soudure a l'interieur d'un chanfrein menage entre deux pieces metalliques
CN102430841A (zh) * 2011-08-26 2012-05-02 昆山工研院工业机器人研究所有限公司 基于离线规划的弧焊机器人激光视觉焊缝跟踪控制方法
CN106103012B (zh) 2014-03-27 2017-12-12 松下知识产权经营株式会社 机器人控制方法
US20190232425A1 (en) * 2016-04-29 2019-08-01 Termaco Ltee Method for laser welding
CN105834557B (zh) * 2016-05-27 2018-10-16 廊坊智通机器人系统有限公司 弧焊机器人焊接的直线焊缝离线跟踪方法
CN108153707B (zh) * 2017-12-28 2021-04-02 北京工业大学 一种基于空间变换原理的弧焊机器人直线摆焊方法
CN114434001A (zh) * 2021-03-24 2022-05-06 西华大学 一种焊缝轨迹自主跟踪算法
CN113333984B (zh) * 2021-06-30 2023-03-24 北京博清科技有限公司 焊接机器人的控制方法、控制装置与计算机可读存储介质
JP2023176950A (ja) * 2022-06-01 2023-12-13 リンクウィズ株式会社 溶接システムおよび溶接方法

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4636612A (en) * 1983-04-19 1987-01-13 Cyclomatic Industries, Inc. Optical tracking device
JPS61191905A (ja) * 1985-02-20 1986-08-26 Sumitomo Metal Ind Ltd 開先位置検出装置
JPH0630813B2 (ja) * 1989-11-20 1994-04-27 日本鋼管株式会社 開先ならい制御方法
JPH04258379A (ja) * 1991-02-08 1992-09-14 Hitachi Ltd ならい溶接方法
JP2764485B2 (ja) * 1991-08-27 1998-06-11 ファナック株式会社 リアルタイムセンサの診断方法
JPH0839470A (ja) * 1994-07-27 1996-02-13 Fanuc Ltd 断面形状認識による溶接ロボット制御方法

Also Published As

Publication number Publication date
EP0862963A4 (de) 2000-10-25
EP0862963B1 (de) 2004-04-28
JPH1034334A (ja) 1998-02-10
EP0862963A1 (de) 1998-09-09
US6040554A (en) 2000-03-21
WO1998003294A1 (fr) 1998-01-29
DE69728854D1 (de) 2004-06-03

Similar Documents

Publication Publication Date Title
DE69728854T2 (de) Steuerverfahren eines schweissroboters
DE69735269D1 (de) Steuerverfahren zum schrittbetrieb eines roboters
DE69720859D1 (de) Steuersystem eines Werksroboters für Punktschweissen
DE69410921T2 (de) Koordiniertes steuern eines arbeitsgerätes
DE69836765D1 (de) Steuergerät eines mit beinen beweglichen roboters
DE69812558D1 (de) Roboter System und Methode zum Antreiben eines Roboters
DE69315137D1 (de) Verfahren zum steuern von mehreren robotern
FI952844A0 (fi) Menetelmä kanavanvaihdon parantamiseksi
GB2315135B (en) Control apparatus for welding robot
DE59402073D1 (de) Schweisszangenregelung
NO307247B1 (no) Sveisemetode
DE69837741D1 (de) Verfahren und system zur steuerung eines roboters
EP0785490A4 (de) Verfahren zur robotersteuerung
DE69510031T2 (de) Verfahren zum bestimmen von bezugspositionen eines industrieroboters
GB9803973D0 (en) Method of teaching a welding robot
DE59800782D1 (de) Adaptives-steuerungsverfahren eines kupplungssystems
DE69307484D1 (de) Steuerungsverfahren eines punktschweissroboters
DE69616735T2 (de) Verfahren zum schrittbetrieb eines roboters
FI944614A0 (fi) Järjestelmä robotin siirtämiseksi
NO940516D0 (no) Sveisemetode
EP0836915A4 (de) Verfahren zum zuvorkommen von interferenz für industrierobotor
AU4489296A (en) Method and apparatus for tacking intended for the assembly welding of a crane girder casing
GB2350209B (en) Method of teaching a welding robot
FI932416A0 (fi) Menetelmä nosturin ohjaamiseksi
FI930464A (fi) Paikoitusmenetelmä hitsaustyöasemalle

Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee