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:
Apr. 29, 1997
Filed:
Aug. 17, 1995
Fumikazu Terawaki, Yamanashi, JP;
Yoshitaka Ikeda, Yamanashi, JP;
Fanuc Ltd., Yamanashi, JP;
Abstract
A robot supports a welding torch for use in arc welding of a cylindrical welding object. The welding object is rotated about an axis and is controlled by a robot controller. The robot is operated to track the welding torch along a calculated welding line to continuously position the welding torch along the welding line. A reference circle is formed by rotation of one point on the welding object. A coordinate system is set with a center corresponding to the center of the reference circle. A laser sensor detects a point on the welding line, and the detected point is stored by using a distance r from a center O of the work coordinate system and a z-coordinate value z. As the cylindrical welding object is rotated by an angle .theta. corresponding to an interval between the position detected by the laser sensor and a calculated second position, the welding torch is moved to a position to coincide with the second position.