Electric heating – Metal heating – By arc
Patent
1991-07-03
1992-07-14
Shaw, Clifford C.
Electric heating
Metal heating
By arc
901 42, B23K 912
Patent
active
051305151
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
The present invention relates to a control method for an arc welding robot, more particularly, to a control method for an arc welding robot for performing arc welding by weaving a welding torch along a weld line of a base metal.
BACKGROUND ART
An arc welding robot for automatically performing arc welding using an industrial robot has been researched and developed. This arc welding robot carries out arc welding automatically by weaving a welding torch mounted at a hand portion of the robot along a weld line of a base metal (weld member).
To this end, patterns for movement of the welding torch are previously stored to memory unit of the robot, the user selects a suitable weaving pattern from the stored pattern, and the arc welding is carried out in accordance with the selected weaving pattern. However, in the conventional control method for the arc welding robot, weaving patterns which can be used by the user are limited to the basic weaving patterns which are previously stored in the arc welding robot. Therefore, it is difficult to carry out arc welding by weaving the welding torch in accordance with a weaving pattern suitable for a shape and a material of each base metal.
DISCLOSURE OF THE INVENTION
The object of the present invention is to carry out arc welding by using a weaving pattern suitable for a shape and a material of each base metal.
According to the present invention, there is provided a control method for an arc welding robot for performing arc welding by weaving a welding torch along a weld line of a base metal, characterized in that the control method for the arc welding robot comprises: a weaving pattern teaching step for teaching one cycle of a weaving pattern suitable for a shape and a material of the base metal; a weaving pattern storing step for storing the taught weaving pattern; and an arc welding performing step for performing arc welding by weaving the welding torch in accordance with the stored weaving pattern, when the stored weaving pattern is appointed.
According to the control method for the arc welding robot having the above configuration, one cycle of a weaving pattern suitable for a shape and a material of the base metal is taught by the weaving pattern teaching step, and the taught weaving pattern is stored by the weaving pattern storing step. When the stored weaving pattern is appointed, the arc welding is performed by weaving the welding torch in accordance with the stored weaving pattern by the arc welding performing step, and consequently, the arc welding can be carried out by using a weaving pattern suitable for a shape and a material of each base metal.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a diagram showing an example of a weaving pattern stored previously to a conventional arc welding robot;
FIG. 2 is a schematic diagram showing an example of an arc welding robot using a control method for an arc welding robot of the present invention; and
FIG. 3 is a diagram showing an example of a weaving pattern taught by a control method for an arc welding robot of the present invention.
BEST MODE FOR CARRYING OUT THE INVENTION
First, the problems of a method used for an arc welding robot according to a prior art will be explained, followed by an explanation of a method used for an arc welding robot according to the present invention.
FIG. 1 is a diagram showing an example of a weaving pattern stored previously to a conventional arc welding robot. As shown in FIG. 1, in a control of the conventional arc welding robot, a weld member 41 is connected to a weld member 42 at a weld line 43 by weaving a welding torch 5 in accordance with a zigzag weaving pattern 44, and melting a welding wire 51. These patterns for weaving the welding torch are previously stored and the user selects a specific weaving pattern from the stored patterns in the arc welding robot. That is, in the conventional arc welding robot, some welding patterns are previously stored, and the user selects and uses a suitable weaving pattern from the stored patterns. But, the previous s
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patent: 4150329 (1979-04-01), Dahlstrom
patent: 4179602 (1979-12-01), Maruyama et al.
patent: 4590577 (1986-05-01), Nio et al.
patent: 4621333 (1986-11-01), Watanabe
Kaihori Hirotsugu
Mizuno Toru
Toyoda Kenichi
Fanuc Ltd.
Shaw Clifford C.
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