JPS5522455A - Control unit of automatic welding equipment - Google Patents

Control unit of automatic welding equipment

Info

Publication number
JPS5522455A
JPS5522455A JP9533778A JP9533778A JPS5522455A JP S5522455 A JPS5522455 A JP S5522455A JP 9533778 A JP9533778 A JP 9533778A JP 9533778 A JP9533778 A JP 9533778A JP S5522455 A JPS5522455 A JP S5522455A
Authority
JP
Japan
Prior art keywords
torch
theta
coordinates
data
arm end
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.)
Pending
Application number
JP9533778A
Other languages
Japanese (ja)
Inventor
Hiroyuki Takagi
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.)
Komatsu Ltd
Original Assignee
Komatsu Ltd
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 Komatsu Ltd filed Critical Komatsu Ltd
Priority to JP9533778A priority Critical patent/JPS5522455A/en
Publication of JPS5522455A publication Critical patent/JPS5522455A/en
Pending 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
    • B23K9/24—Features related to electrodes
    • B23K9/28—Supporting devices for electrodes
    • B23K9/287—Supporting devices for electrode holders

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)

Abstract

PURPOSE:To make the locus of the end of a torch linear and let the torch accomplish welding evenly along the weld line by inputting the position data of the torch and the angle data of the wrist part. CONSTITUTION:An input applies the coordinate values x, y, z of the position of a torch end 6a and the data of the rotating angles phi, theta of a wrist 4 to a read coordinate converting unit. This unit performs not only one-to-one conversion of the coordinates of the arm end 3a in each position and the coordinates of the torch end 6a but also the coordinate conversion of the arm end 3a under the conditions of not moving the torch end 6a. The outputs thereof are applied via memory device to a processing unit, where these are divided to linear motion components and rotating motion components. Then, the coordinates X, Y, Z of the arm end 3a when parallel moved with the angles phi, theta being fixed, the data indicating the fluctuations of the arm end 3a when rotated with the torch end 6a being fixed and the angles phi, theta are outputted. The components of these X, Y, Z directions are mutually added by a positioning device, whereby the locus of the torch end 6a is made linear and welding accomplished.
JP9533778A 1978-08-04 1978-08-04 Control unit of automatic welding equipment Pending JPS5522455A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP9533778A JPS5522455A (en) 1978-08-04 1978-08-04 Control unit of automatic welding equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP9533778A JPS5522455A (en) 1978-08-04 1978-08-04 Control unit of automatic welding equipment

Publications (1)

Publication Number Publication Date
JPS5522455A true JPS5522455A (en) 1980-02-18

Family

ID=14134884

Family Applications (1)

Application Number Title Priority Date Filing Date
JP9533778A Pending JPS5522455A (en) 1978-08-04 1978-08-04 Control unit of automatic welding equipment

Country Status (1)

Country Link
JP (1) JPS5522455A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59120371A (en) * 1982-12-27 1984-07-11 Komatsu Ltd Method for controlling driving of welding torch
JPS6163359A (en) * 1984-09-04 1986-04-01 Koike Sanso Kogyo Co Ltd Working device of angle bar
US4749327A (en) * 1985-03-29 1988-06-07 Decco-Roda S.P.A. Machine for transferring bins and the like containers
KR100900629B1 (en) * 2002-05-07 2009-06-02 주식회사 포스코 Test method of welding part of coil

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS50124357A (en) * 1974-03-18 1975-09-30
JPS50148779A (en) * 1974-05-21 1975-11-28

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS50124357A (en) * 1974-03-18 1975-09-30
JPS50148779A (en) * 1974-05-21 1975-11-28

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59120371A (en) * 1982-12-27 1984-07-11 Komatsu Ltd Method for controlling driving of welding torch
JPS6163359A (en) * 1984-09-04 1986-04-01 Koike Sanso Kogyo Co Ltd Working device of angle bar
JPH0312995B2 (en) * 1984-09-04 1991-02-21 Koike Sanso Kogyo Kk
US4749327A (en) * 1985-03-29 1988-06-07 Decco-Roda S.P.A. Machine for transferring bins and the like containers
KR100900629B1 (en) * 2002-05-07 2009-06-02 주식회사 포스코 Test method of welding part of coil

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