Electric heating – Metal heating – By arc
Patent
1983-04-19
1986-02-04
Shaw, Clifford C.
Electric heating
Metal heating
By arc
2191251, 901 5, 901 42, 901 47, B23K 912
Patent
active
045688168
ABSTRACT:
Control apparatus for manipulator welding apparatus is provided that includes a vision correction system for workpiece sensing. During an initial teach mode, the manipulator is taught the desired welding path on a workpiece and data is recorded representing the welding path relative to a frame of reference defined by the workpiece. In addition to the data representing the taught welding path and the frame of reference, data representing one or more reference images or templates are also recorded in the teach mode. As successive workpieces are presented to the manipulator for performing the desired welding path, the control apparatus in a repeat work cycle mode is first controlled to measure and define the new location and orientation of the frame of reference in accordance with the workpiece. The new frame of reference data is utilized to modify the path data. In a preferred arrangement, a first repeat pass is performed by controlling the manipulator to move over the weld path in accordance with modified weld path data as determined from the new frame of reference data. The vision system utilizing an image processor detects the deviation between the first repeat pass welding path and the actual welding path of the workpiece. The control apparatus in response to the deviation data provided by the image processor in the first repeat pass modifies the first repeat pass weld path data to provide corrected welding path data for the welding of the actual workpiece during a second repeat pass with the weld being initiated at a predetermined point relative to the frame of reference.
REFERENCES:
patent: 4380696 (1983-04-01), Masaki
Shaw Clifford C.
Unimation Inc.
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