The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jun. 02, 1987
Filed:
Oct. 29, 1984
Asea Aktiebolag, Vaster.ang.s, SE;
Abstract
A welding robot having a robot arm which is servo-controlled in a multiplicity of degrees of freedom. At least one servo-system for one of the degrees of freedom is capable of disengaging a part of its feedback network, this part being an integrating circuit, whereby the adjustment from PI-type passes to P-type. The arm then becomes sprung in a direction away for a set-point value with respect to this freedom of movement. When used for welding, the welding gun used and attached to the robot arm is provided with a holding-off or fender arrangement, such as wheels, and is drawn by the servo-system towards a set-point value which it is unable to attain because of the shape of the workpiece, whereupon the wheel is caused to press against the workpiece with spring force, and to follow the shape of a weld joint as it is made, irrespective of whether the joint is uneven or not.