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:
Feb. 03, 1998
Filed:
Jun. 20, 1995
Takayuki Ito, Yamanashi, JP;
Akiko Takano, Yamanashi, JP;
Fanuc Ltd., Yamanashi, JP;
Abstract
A cylindrical workpiece as a welding object is rotated by an external drive shaft. A welding torch and a laser sensor are attached to a distal end portion of a robot. A deflective scanning laser beam from a laser sensor is projected on a region just ahead of a weld point, whereby a light spot trace is formed extending in a direction perpendicular to a welding center line. A CCD camera of the laser sensor picks up the trace, thereby detecting a change of the thickness of a weld layer. In executing a weaving operation, the robot performs an alternating motion including components in the direction perpendicular to the welding center line. When the workpiece rotates so that the range of projection of the laser beam, starting from a region without any weld layer thereon, reaches a region for the formation of a first weld layer, a layer transition is detected by an increase of the thickness of the weld layer. Based on this point of time, control is effected to execute correction of the robot position, modification of welding conditions, etc.