JPS5617182A - Industrial robot - Google Patents

Abstract

PURPOSE: To perfectly automate brazing work so as to allow it to be easily performed by reading out the empirical work information having been stored every time when the position of a brazing torch and its posture change and controlling the stopping, flow rate and pressure of gas supplying, wire feed speed, etc.

CONSTITUTION: In brazing of, for example, iron plates 50, 51, the loci of the tip of a torch are defined as aWi, and the manual manipulation revealed that best results are obtained when a flame is slightly weakened at the point f. Hence, the robot position and torch angle, and further the conditions for a brazing control unit in respective positions are stored in a memory device in such a manner that the tip of the torch 16 of an industrial robot 25 assumes the same locus as well. First, the torch goes from the origin to the point (a) at a micro flame, where the flame is made middle and is remained there for a timer time. The base metals are preheated by the similar heating at the points (b), (c), where the flame is made large; a wire feed speed V is determined, and a braze material is built up on the base metals and enters the gap. During this time, the torch moves while remaining at the respective points dWf, where the flame is slightly weakened and the torch moving speed and the speed V are changed. At the point (i), the flame and the speed V are made zero and the torch is moved to the next point.

COPYRIGHT: (C)1981,JPO&Japio