Electric heating – Metal heating – By arc
Patent
1989-10-06
1991-11-05
Shaw, Clifford C.
Electric heating
Metal heating
By arc
B23K 9127
Patent
active
050632817
DESCRIPTION:
BRIEF SUMMARY
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to a weaving welding method permitting a weaving welding based on simple technique.
2. Description of the Related Art
In a consumable electrode type arc welding robot, it is known to carry out weaving welding by moving the welding torch of the robot along a weld line while weaving the same within a groove of a workpiece in a direction traversing the weld line. In doing this, it is necessary to determine the plane in which the distal end of the welding torch is to be moved (hereinafter referred to as the weaving swing plane). Conventionally, the weaving swing plane is determined by giving the start and end points of a desired weld line coinciding with the center line of the groove and another point which is off the desired line, or by giving the desired weld line and the angle to be defined between the desired weld line and the weaving swing plane. This process, however, is complicated. If the desired weld line includes a plurality of sections of straight lines and/or arcs, the weaving swing plane must be determined for each of the sections, thus increasing the complexity. Further, if a deviation of the desired weld line from the center line of the groove occurs due to a machining error of the workpiece, a setting error of the workpiece relative to the robot, thermal distortion during welding, etc., the actual path of the welding torch, i.e., the actual weld line, becomes misaligned with the center line of the groove even though the welding torch is driven along the desired weld line. In such a case, the welding direction may be corrected to compensate for the deviation of the actual weld line from the center line of the groove moreover, this is not enough to achieve an accurate welding because the weaving swing plane has already been determined for the individual sections of the weld line.
SUMMARY OF THE INVENTION
An object of the present invention is to provide a weaving welding method which permits an accurate and continuous weaving welding along various weld lines including a complicated weld line which is a combination of straight lines and arcs, based on a simple determination.
To achieve the above object, the present invention provides a weaving welding method comprising the steps of: (a) determining a desired weld line, (b) detecting an orientation of a welding torch, (c) determining a weaving swing plane on the basis of the determined desired weld line and the detected orientation of the welding torch, the weaving swing plane including an intersecting line at which a first plane traversing the desired weld line at right angles thereto intersects a second plane perpendicular to an axis of the welding torch, and parallel to the desired weld line, and (d) moving the welding torch along the desired weld line while weaving the same with a predetermined width with respect to the desired weld line in a direction traversing the desired weld line, to move the distal end of the welding torch on the weaving swing plane.
When the desired weld line includes a plurality of sections each comprising one of a straight line and an arc, the above-mentioned steps (a) through (d) are executed for each of the sections, and preferably, a step of (e) correcting a deviation of the desired weld line from the center line of a groove of a workpiece, a step of (f) integrating a correction amount of each section, and a step of (g) correcting the desired weld line of each section in accordance with the integrated value of correction amounts obtained in the section preceding said each section are also executed.
Thus, according to the invention, the welding torch is moved along the desired weld line while woven with a predetermined width with respect to the desired weld line in a direction traversing the desired weld line, to move the distal end thereof on the weaving swing plane, which plane is determined based on the determined desired weld line and the detected orientation of the welding torch so that it includes an intersecting line at whic
REFERENCES:
patent: 4621333 (1986-11-01), Watanabe
patent: 4635206 (1987-01-01), Bhatia et al.
patent: 4677276 (1987-06-01), Nio et al.
Mizuno Toru
Morikawa Shigehiro
Fanuc Ltd.
Shaw Clifford C.
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