JPH0416272B2 - - Google Patents
Info
- Publication number
- JPH0416272B2 JPH0416272B2 JP10948983A JP10948983A JPH0416272B2 JP H0416272 B2 JPH0416272 B2 JP H0416272B2 JP 10948983 A JP10948983 A JP 10948983A JP 10948983 A JP10948983 A JP 10948983A JP H0416272 B2 JPH0416272 B2 JP H0416272B2
- Authority
- JP
- Japan
- Prior art keywords
- point
- weaving
- line
- line segment
- welding
- 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
Links
- 238000009941 weaving Methods 0.000 claims description 171
- 238000003466 welding Methods 0.000 claims description 79
- 238000000034 method Methods 0.000 claims description 29
- PCTMTFRHKVHKIS-BMFZQQSSSA-N (1s,3r,4e,6e,8e,10e,12e,14e,16e,18s,19r,20r,21s,25r,27r,30r,31r,33s,35r,37s,38r)-3-[(2r,3s,4s,5s,6r)-4-amino-3,5-dihydroxy-6-methyloxan-2-yl]oxy-19,25,27,30,31,33,35,37-octahydroxy-18,20,21-trimethyl-23-oxo-22,39-dioxabicyclo[33.3.1]nonatriaconta-4,6,8,10 Chemical compound C1C=C2C[C@@H](OS(O)(=O)=O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2.O[C@H]1[C@@H](N)[C@H](O)[C@@H](C)O[C@H]1O[C@H]1/C=C/C=C/C=C/C=C/C=C/C=C/C=C/[C@H](C)[C@@H](O)[C@@H](C)[C@H](C)OC(=O)C[C@H](O)C[C@H](O)CC[C@@H](O)[C@H](O)C[C@H](O)C[C@](O)(C[C@H](O)[C@H]2C(O)=O)O[C@H]2C1 PCTMTFRHKVHKIS-BMFZQQSSSA-N 0.000 claims description 10
- 210000000707 wrist Anatomy 0.000 description 15
- 238000010586 diagram Methods 0.000 description 14
- 230000005484 gravity Effects 0.000 description 6
- 238000013500 data storage Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000155 melt Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 230000002250 progressing effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10948983A JPS603979A (ja) | 1983-06-18 | 1983-06-18 | 溶接ロボツトにおけるウイ−ビングパタ−ン教示方法 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10948983A JPS603979A (ja) | 1983-06-18 | 1983-06-18 | 溶接ロボツトにおけるウイ−ビングパタ−ン教示方法 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS603979A JPS603979A (ja) | 1985-01-10 |
| JPH0416272B2 true JPH0416272B2 (enrdf_load_stackoverflow) | 1992-03-23 |
Family
ID=14511540
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10948983A Granted JPS603979A (ja) | 1983-06-18 | 1983-06-18 | 溶接ロボツトにおけるウイ−ビングパタ−ン教示方法 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS603979A (enrdf_load_stackoverflow) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2696135B2 (ja) * | 1986-09-29 | 1998-01-14 | 新明和工業株式会社 | ロボツトの走査制御方法 |
| JPH08589Y2 (ja) * | 1992-11-05 | 1996-01-10 | 東邦瓦斯株式会社 | 型加熱用バ−ナチップ |
| CN105834629B (zh) * | 2016-04-11 | 2017-07-21 | 南京埃斯顿机器人工程有限公司 | 一种焊接机器人焊接圆弧焊缝的平面三角摆焊方法 |
-
1983
- 1983-06-18 JP JP10948983A patent/JPS603979A/ja active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS603979A (ja) | 1985-01-10 |
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