JPH0350623B2 - - Google Patents

Info

Publication number
JPH0350623B2
JPH0350623B2 JP59029887A JP2988784A JPH0350623B2 JP H0350623 B2 JPH0350623 B2 JP H0350623B2 JP 59029887 A JP59029887 A JP 59029887A JP 2988784 A JP2988784 A JP 2988784A JP H0350623 B2 JPH0350623 B2 JP H0350623B2
Authority
JP
Japan
Prior art keywords
scaling
welding
point
vector
axis direction
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
Application number
JP59029887A
Other languages
English (en)
Japanese (ja)
Other versions
JPS60174274A (ja
Inventor
Seiichiro Nakajima
Kenichi Toyoda
Shinsuke Sakakibara
Tatsuo Karakama
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
Priority to JP59029887A priority Critical patent/JPS60174274A/ja
Priority to EP19850901064 priority patent/EP0172257A4/en
Priority to US06/795,278 priority patent/US4742207A/en
Priority to PCT/JP1985/000069 priority patent/WO1985003783A1/ja
Publication of JPS60174274A publication Critical patent/JPS60174274A/ja
Publication of JPH0350623B2 publication Critical patent/JPH0350623B2/ja
Granted 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
    • B23K9/02—Seam welding; Backing means; Inserts
    • B23K9/0216—Seam profiling, e.g. weaving, multilayer
    • 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
    • B23K9/02—Seam welding; Backing means; Inserts
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
    • G05B19/4083—Adapting programme, configuration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36503—Adapt program to real coordinates, software orientation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45104—Lasrobot, welding robot
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45135—Welding
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49221—Control of scale

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
JP59029887A 1984-02-20 1984-02-20 三次元曲面におけるスケ−リング方法 Granted JPS60174274A (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP59029887A JPS60174274A (ja) 1984-02-20 1984-02-20 三次元曲面におけるスケ−リング方法
EP19850901064 EP0172257A4 (en) 1984-02-20 1985-02-20 GRADUATION PROCESS FOR AN AUTOMATIC WELDING MACHINE.
US06/795,278 US4742207A (en) 1984-02-20 1985-02-20 Multilayer welding method
PCT/JP1985/000069 WO1985003783A1 (en) 1984-02-20 1985-02-20 Scaling method in an automatic welding machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP59029887A JPS60174274A (ja) 1984-02-20 1984-02-20 三次元曲面におけるスケ−リング方法

Publications (2)

Publication Number Publication Date
JPS60174274A JPS60174274A (ja) 1985-09-07
JPH0350623B2 true JPH0350623B2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html) 1991-08-02

Family

ID=12288479

Family Applications (1)

Application Number Title Priority Date Filing Date
JP59029887A Granted JPS60174274A (ja) 1984-02-20 1984-02-20 三次元曲面におけるスケ−リング方法

Country Status (4)

Country Link
US (1) US4742207A (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
EP (1) EP0172257A4 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
JP (1) JPS60174274A (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
WO (1) WO1985003783A1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4281368A (en) * 1979-11-02 1981-07-28 Humbert A Robert Keyhole illuminating apparatus
JP2684359B2 (ja) * 1985-02-22 1997-12-03 ファナック 株式会社 ロボットのワーク直交座標系設定装置
JPS63268568A (ja) * 1987-04-24 1988-11-07 Hitachi Ltd 自動溶接装置
US5014183A (en) * 1988-10-31 1991-05-07 Cincinnati Milacron, Inc. Method and means for path offsets memorization and recall in a manipulator
AU629909B2 (en) * 1989-02-23 1992-10-15 Kabushiki Kaisha Yaskawa Denki Seisakusho Method and apparatus for multi-layer buildup welding
JP3665353B2 (ja) * 1993-09-14 2005-06-29 ファナック株式会社 ロボットの教示位置データの３次元位置補正量取得方法及びロボットシステム
JPH0816221A (ja) * 1994-06-28 1996-01-19 Fanuc Ltd レーザセンサを用いたロボット教示経路の変更方法
SE515773C2 (sv) * 1995-12-22 2001-10-08 Esab Ab Förfarande vid automatisk flerskiktssvetsning
JPH1058362A (ja) * 1996-08-13 1998-03-03 Fanuc Ltd 産業用ロボットによるステッチ加工方法
US5841104A (en) * 1996-09-03 1998-11-24 Abb Flexible Automation, Inc. Method and system for multiple pass welding
US6567707B1 (en) * 1999-05-11 2003-05-20 Falcon Machine Tools Co. Ltd. Recording medium of CNC machine tool
US6845900B2 (en) * 2002-05-21 2005-01-25 Exxonmobil Upstream Research Company Methods for producing weld joints having thermally enhanced heat-affected-zones with excellent fracture toughness
WO2011127601A1 (en) * 2010-04-13 2011-10-20 National Research Council Of Canada Laser processing control method
CN106141372B (zh) * 2016-08-05 2019-02-05 武汉船用机械有限责任公司 坡口焊缝机器人横焊的多层多道焊接方法
EP4157577B1 (de) * 2020-06-02 2024-04-17 FRONIUS INTERNATIONAL GmbH Schweissverfahren

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5622105A (en) * 1979-08-01 1981-03-02 Hitachi Ltd Control device for numerical control machine tool
JPH065486B2 (ja) * 1981-03-26 1994-01-19 株式会社安川電機 ロボットの軌跡制御方法
JPS58187269A (ja) * 1982-04-27 1983-11-01 Kobe Steel Ltd 溶接ロボツトの軌跡制御方法
US4508953A (en) * 1982-04-27 1985-04-02 Kabushiki Kaisha Kobe Seiko Sho Method of multi-layer welding

Also Published As

Publication number Publication date
EP0172257A4 (en) 1988-02-23
JPS60174274A (ja) 1985-09-07
US4742207A (en) 1988-05-03
EP0172257A1 (en) 1986-02-26
WO1985003783A1 (en) 1985-08-29

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