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:
Aug. 06, 1996
Filed:
Feb. 23, 1995
NKK Corporation, Kawasaki, JP;
Abstract
A lattice welding robot detects an X-axis slide position of X.sub.p by an arc sensor of a welding torch, compares the value of X.sub.p with a reference value of X.sub.0 by a comparator, calculates a differential value of the value of X.sub.p by a differentiator and computes a travel speed correction amount .DELTA.V from a difference between a comparator output value and a differentiator output value by a computing unit. The correction amount .DELTA.V is added to an initial speed of each of inside wheels and outside wheels of a welding carriage to control each of driving motors for the inside wheels and the outside wheels by an adding speed command V.sub.in and an adding speed command V.sub.out, respectively. Thereby, a rough guidance for the welding carriage to trace a weld line is performed.