Hitachi Construction Machinery Co., Ltd.

Shin Meiwa Industry Co., Ltd.

Hisahiro Fukuoka

Yutaka Takano

Yoichi Kamiyama

Kazumasa Yoshima

Shunji Iwaki

Hirotoshi Watanabe

Weld line profile control method

A welding torch (4) of a welding robot (RO) is supported by arms (2, 3), to be movable under control by a computer (7). When first and second members (W1, W2) are welded by a weld woven across an interspace between them while oscillating a welding torch (4) along a weld line (WL). Data on changes in the interspace between the first and second welded member (W1, W2) along direction of the weld line (WL) are previously stored in advance to welding. During the welding, the computer 7 performs arithmetic to obtain command values on the basis of the data to output the same to the welding robot (RO), so that the welding robot (RO) performs weaving in accordance with the command values while varying a weaving amplitude of the welding torch (4) in response to the change in the interspace. Changes in the direction in which the welding torch is moved to weave the weld are determined by detecting the actual value of the welding current and reversing direction when the detected value exceeds a prescribed threshold value.

Method of and apparatus for controlling a welding robot

A welding torch (4) of a welding robot (RO) is supported by arms (2, 3), to be movable under control by a computer (7). When first and second welded numbers (W1, W2) are woven while oscillating a welding torch (4) along a weld line (WL), data on change in an interspace between the first and second welded members (W1, W2) along direction of the weld line (WL) are previously stored in advance to welding. In the welding, the computer 7 performs arithmetic to obtain command values on the basis of the said data to output the same to the welding robot (RO), so that the welding robot (RO) performs weaving in accordance with the command values while varying a weaving amplitude of the welding torch (4) in response to the change in said interspace.

Method and apparatus for controlling a welding robot forming a

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Takarazuka, Japan

Hisahiro Fukuoka