Patent
1995-06-20
1998-02-03
Hafiz, Tariq R.
395 94, 395 82, G05B 1900
Patent
active
057153752
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.
REFERENCES:
patent: 4508953 (1985-04-01), Murakami et al.
patent: 4935597 (1990-06-01), Zimmer
patent: 5173592 (1992-12-01), Okumura et al.
patent: 5233150 (1993-08-01), Schneebeli et al.
patent: 5449875 (1995-09-01), Ito et al.
Ito Takayuki
Takano Akiko
Fanuc Ltd.
Hafiz Tariq R.
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