JPS5568183A - Arc welding method by industrial robot - Google Patents
Arc welding method by industrial robotInfo
- Publication number
- JPS5568183A JPS5568183A JP5214379A JP5214379A JPS5568183A JP S5568183 A JPS5568183 A JP S5568183A JP 5214379 A JP5214379 A JP 5214379A JP 5214379 A JP5214379 A JP 5214379A JP S5568183 A JPS5568183 A JP S5568183A
- Authority
- JP
- Japan
- Prior art keywords
- signal
- adder
- weaving
- sine wave
- circuit
- 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
Links
- 238000000034 method Methods 0.000 title 1
- 238000003466 welding Methods 0.000 title 1
- 238000009941 weaving Methods 0.000 abstract 4
- 210000000707 wrist Anatomy 0.000 abstract 1
Landscapes
- Numerical Control (AREA)
Abstract
PURPOSE: To provide permissible values to working accuracy and positioning accuracy of the works by performing the section of the amplitudes and frequencies of the AC signal from a weaving circuit disposed to a drive control circuit for the arm axes and wrist axes of the robot as well as the moving axes for applying the AC signal at arbitrary points on the weld line.
CONSTITUTION: The movement command signal 1 which has beforehand been programed to the X-axis of the arm of the robot is sent as the data for the positions requiring continuous movement into an adder 3. When the sine wave signal of a weaving circuit 2 which commands weaving operation has not entered the adder, the difference from the current position signal of (-) by a current position detector 9 is applied to a servo amplifier 4 by way of the adder 3, the moving axis keeps moving in accordance with the command signal owing to the closed loop of a servo valve 5, cylinder 6, rack 7, the pinion 8 intermeshed with the rack 7, and the position detector 9 connecting to the stem of the pinion 8. On the other hand, when the sine wave signal is added to the adder 3 from the circuit 2, the moving axis subsequently advances while making the sine wave motion of small advance and retreat by the weaving AC signal.
COPYRIGHT: (C)1980,JPO&Japio
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5214379A JPS5568183A (en) | 1979-04-27 | 1979-04-27 | Arc welding method by industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5214379A JPS5568183A (en) | 1979-04-27 | 1979-04-27 | Arc welding method by industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS5568183A true JPS5568183A (en) | 1980-05-22 |
Family
ID=12906644
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5214379A Pending JPS5568183A (en) | 1979-04-27 | 1979-04-27 | Arc welding method by industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5568183A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59153075U (en) * | 1983-03-31 | 1984-10-13 | 川崎重工業株式会社 | Wrist mechanism of arc welding robot |
| JP2007275969A (en) * | 2006-04-11 | 2007-10-25 | Yaskawa Electric Corp | Robot control apparatus and robot trajectory control method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5091559A (en) * | 1973-12-14 | 1975-07-22 | ||
| JPS5138257A (en) * | 1974-09-30 | 1976-03-30 | Shin Meiwa Ind Co Ltd | JIDOYOSETSUSOCHI |
| JPS5337559A (en) * | 1976-09-20 | 1978-04-06 | Kobe Steel Ltd | Automatic welding machine |
-
1979
- 1979-04-27 JP JP5214379A patent/JPS5568183A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5091559A (en) * | 1973-12-14 | 1975-07-22 | ||
| JPS5138257A (en) * | 1974-09-30 | 1976-03-30 | Shin Meiwa Ind Co Ltd | JIDOYOSETSUSOCHI |
| JPS5337559A (en) * | 1976-09-20 | 1978-04-06 | Kobe Steel Ltd | Automatic welding machine |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59153075U (en) * | 1983-03-31 | 1984-10-13 | 川崎重工業株式会社 | Wrist mechanism of arc welding robot |
| JP2007275969A (en) * | 2006-04-11 | 2007-10-25 | Yaskawa Electric Corp | Robot control apparatus and robot trajectory control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7123990B2 (en) | Gap welding process | |
| FI83176C (en) | A method for controlling the movements of a robot and a piece manipulator during the learning phase of a robot cell | |
| EP0144442A4 (en) | Method of controlling industrial robot along arc. | |
| EP0087983A2 (en) | Transitional command position modification for a controller | |
| Jinno et al. | Development of a force controlled robot for grinding, chamfering and polishing | |
| GB1481134A (en) | Method and apparatus for programming a computer operated robot arm | |
| SE8202088L (en) | DEVICE AT ROBOT ARMS | |
| JPS54141972A (en) | Programmed manipulator | |
| JPS5568183A (en) | Arc welding method by industrial robot | |
| JPS5815801B2 (en) | Trajectory control method for industrial robots | |
| EP0195089B1 (en) | Welding control system in an automatic welding machine | |
| EP0636444A4 (en) | Method and apparatus for discharge machining control. | |
| JPS5750279A (en) | Robot for welding having multilayer welding function | |
| JPS5626676A (en) | Welding arc detector | |
| Wang | Design of laser welding workstation control system based on industrial robot | |
| JPS5455959A (en) | Industrial robot with means for compensating motion of wrist | |
| JPS5650403A (en) | Position control unit | |
| Ryuh et al. | Arc welding robot automation systems | |
| Wang et al. | Study on humanoid motion control system | |
| Drews et al. | Sensor-Controlled Robots With Information System for Automated Arc Welding. I | |
| JPS5786905A (en) | Track control method of industrial robot | |
| JPS5858610A (en) | Controlling method of instructing and reproducing type robot | |
| SU863227A1 (en) | Apparatus for automatic guiding of welding tool axis on the butt line at welding tree-dimensional seams | |
| JPH01175004A (en) | robot control device | |
| JPS6373403A (en) | welding robot |