JPS5597880A - Fillet weld point detecting method in automatic welding robot - Google Patents

Fillet weld point detecting method in automatic welding robot

Info

Publication number
JPS5597880A
JPS5597880A JP461779A JP461779A JPS5597880A JP S5597880 A JPS5597880 A JP S5597880A JP 461779 A JP461779 A JP 461779A JP 461779 A JP461779 A JP 461779A JP S5597880 A JPS5597880 A JP S5597880A
Authority
JP
Japan
Prior art keywords
torch
point
fillet weld
axis
detecting method
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.)
Granted
Application number
JP461779A
Other languages
Japanese (ja)
Other versions
JPS5820707B2 (en
Inventor
Toshiyuki Towata
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.)
Shinmaywa Industries Ltd
Original Assignee
Shin Meiva Industry 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 Shin Meiva Industry Ltd filed Critical Shin Meiva Industry Ltd
Priority to JP54004617A priority Critical patent/JPS5820707B2/en
Publication of JPS5597880A publication Critical patent/JPS5597880A/en
Publication of JPS5820707B2 publication Critical patent/JPS5820707B2/en
Expired legal-status Critical Current

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  • Numerical Control (AREA)

Abstract

PURPOSE: To detect always optimum fillet weld points by performing sensing, work by work, for the works formed with grooves by butting two members at a right angle, with a sufficiently remote position as a base point.
CONSTITUTION: First, a torch 116 is put in a certain fixed position with respect to the specified reference member, thence a consuming electrode 209 is let off. When its end approaches to the reference point Q and there is conduction of electricity between both, the protruding amount of the electrode 209 is specified by the signal of a current sensor 27. Next, the weld point WP of the torch 116 is position-controlled to the start position P1 and the position information X1, Z1 in the X-axis and Z-axis directions in this position is taken in. The torch 116 is then displaced by a suitable amount from the position P1 in the lower part of the Z-axis direction and is position-controlled to the position P2 opposing to the perpendicular member W2 when viewed in the X-axis direction. Thereafter, the necessary position information of the point WP is subsequently taken in and when all the sensing steps are finished, the position command for the torch 116 is executed with the intersecting point P12 as the welding start command position.
COPYRIGHT: (C)1980,JPO&Japio
JP54004617A 1979-01-17 1979-01-17 Fillet weld point detection method in automatic welding robot Expired JPS5820707B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP54004617A JPS5820707B2 (en) 1979-01-17 1979-01-17 Fillet weld point detection method in automatic welding robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP54004617A JPS5820707B2 (en) 1979-01-17 1979-01-17 Fillet weld point detection method in automatic welding robot

Publications (2)

Publication Number Publication Date
JPS5597880A true JPS5597880A (en) 1980-07-25
JPS5820707B2 JPS5820707B2 (en) 1983-04-25

Family

ID=11589010

Family Applications (1)

Application Number Title Priority Date Filing Date
JP54004617A Expired JPS5820707B2 (en) 1979-01-17 1979-01-17 Fillet weld point detection method in automatic welding robot

Country Status (1)

Country Link
JP (1) JPS5820707B2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60262205A (en) * 1984-06-06 1985-12-25 Hitachi Zosen Corp Control method of multi-joint robot

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5196748A (en) * 1975-02-21 1976-08-25 Jidoyosetsukino seigyohoshiki
JPS52148450A (en) * 1976-06-04 1977-12-09 Komatsu Mfg Co Ltd Profiling process and apparatus therefor
JPS539145A (en) * 1976-07-14 1978-01-27 Hitachi Ltd Groove shape detection method
JPS5314141A (en) * 1976-07-23 1978-02-08 Shin Meiwa Ind Co Ltd Method of correcting error of position controller
JPS5330949A (en) * 1976-09-03 1978-03-23 Shin Meiwa Ind Co Ltd Position control of welding torch and apparatus therefor

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5196748A (en) * 1975-02-21 1976-08-25 Jidoyosetsukino seigyohoshiki
JPS52148450A (en) * 1976-06-04 1977-12-09 Komatsu Mfg Co Ltd Profiling process and apparatus therefor
JPS539145A (en) * 1976-07-14 1978-01-27 Hitachi Ltd Groove shape detection method
JPS5314141A (en) * 1976-07-23 1978-02-08 Shin Meiwa Ind Co Ltd Method of correcting error of position controller
JPS5330949A (en) * 1976-09-03 1978-03-23 Shin Meiwa Ind Co Ltd Position control of welding torch and apparatus therefor

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60262205A (en) * 1984-06-06 1985-12-25 Hitachi Zosen Corp Control method of multi-joint robot

Also Published As

Publication number Publication date
JPS5820707B2 (en) 1983-04-25

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