DE69728854D1 - Steuerverfahren eines schweissroboters - Google Patents
Steuerverfahren eines schweissrobotersInfo
- Publication number
- DE69728854D1 DE69728854D1 DE69728854T DE69728854T DE69728854D1 DE 69728854 D1 DE69728854 D1 DE 69728854D1 DE 69728854 T DE69728854 T DE 69728854T DE 69728854 T DE69728854 T DE 69728854T DE 69728854 D1 DE69728854 D1 DE 69728854D1
- Authority
- DE
- Germany
- Prior art keywords
- control procedure
- welding robot
- robot
- welding
- procedure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP8207641A JPH1034334A (ja) | 1996-07-19 | 1996-07-19 | 溶接ロボット制御システム |
PCT/JP1997/002532 WO1998003294A1 (fr) | 1996-07-19 | 1997-07-22 | Systeme de commande de robot soudeur |
Publications (2)
Publication Number | Publication Date |
---|---|
DE69728854D1 true DE69728854D1 (de) | 2004-06-03 |
DE69728854T2 DE69728854T2 (de) | 2005-04-21 |
Family
ID=16543154
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE69728854T Expired - Fee Related DE69728854T2 (de) | 1996-07-19 | 1997-07-22 | Steuerverfahren eines schweissroboters |
Country Status (5)
Country | Link |
---|---|
US (1) | US6040554A (de) |
EP (1) | EP0862963B1 (de) |
JP (1) | JPH1034334A (de) |
DE (1) | DE69728854T2 (de) |
WO (1) | WO1998003294A1 (de) |
Families Citing this family (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6230072B1 (en) * | 1998-02-09 | 2001-05-08 | John W. Powell | Boiler automated welding system (BAWS) |
JP3215086B2 (ja) * | 1998-07-09 | 2001-10-02 | ファナック株式会社 | ロボット制御装置 |
JP3124519B2 (ja) * | 1998-07-23 | 2001-01-15 | セイコー精機株式会社 | 制御系のモード切替え機能を有するロボット制御装置 |
CA2244037A1 (en) * | 1998-09-09 | 2000-03-09 | Servo-Robot Inc. | Apparatus to help in robot teaching |
JP2001129776A (ja) * | 1999-11-05 | 2001-05-15 | Fanuc Ltd | センサを使った検出線に対する追従装置 |
JP3715537B2 (ja) * | 2001-02-19 | 2005-11-09 | 本田技研工業株式会社 | 多関節ロボットの干渉回避方法およびプログラム |
JP3476441B2 (ja) * | 2001-04-11 | 2003-12-10 | ファナック株式会社 | レーザ加工ノズル |
JP4578056B2 (ja) * | 2003-02-06 | 2010-11-10 | 株式会社ダイヘン | 作業ロボットを用いた制御システムによるワーク加工方法 |
DE102004026185A1 (de) * | 2004-05-28 | 2005-12-22 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zum Betreiben einer Maschine, wie eines Mehrachs- Industrieroboters |
DE102004039410A1 (de) * | 2004-08-13 | 2006-02-23 | Precitec Kg | Verfahren und Vorrichtung zur Regelung eines automatischen Bearbeitungsprozesses |
US20070023408A1 (en) * | 2005-08-01 | 2007-02-01 | Sino Golf Manufacturing Co., Ltd. | Welding system and method |
FR2923295B1 (fr) * | 2007-11-06 | 2009-12-11 | Areva Np | Procede et dispositif de visualisation et de controle du profil d'un cordon de soudure a l'interieur d'un chanfrein menage entre deux pieces metalliques |
CN102430841A (zh) * | 2011-08-26 | 2012-05-02 | 昆山工研院工业机器人研究所有限公司 | 基于离线规划的弧焊机器人激光视觉焊缝跟踪控制方法 |
WO2015146180A1 (ja) * | 2014-03-27 | 2015-10-01 | パナソニックIpマネジメント株式会社 | ロボット制御方法 |
CA3022520A1 (en) * | 2016-04-29 | 2017-11-02 | Termaco Ltee | Method for laser welding |
CN105834557B (zh) * | 2016-05-27 | 2018-10-16 | 廊坊智通机器人系统有限公司 | 弧焊机器人焊接的直线焊缝离线跟踪方法 |
CN108153707B (zh) * | 2017-12-28 | 2021-04-02 | 北京工业大学 | 一种基于空间变换原理的弧焊机器人直线摆焊方法 |
CN114434001A (zh) * | 2021-03-24 | 2022-05-06 | 西华大学 | 一种焊缝轨迹自主跟踪算法 |
CN113333984B (zh) * | 2021-06-30 | 2023-03-24 | 北京博清科技有限公司 | 焊接机器人的控制方法、控制装置与计算机可读存储介质 |
JP2023176950A (ja) * | 2022-06-01 | 2023-12-13 | リンクウィズ株式会社 | 溶接システムおよび溶接方法 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4636612A (en) * | 1983-04-19 | 1987-01-13 | Cyclomatic Industries, Inc. | Optical tracking device |
JPS61191905A (ja) * | 1985-02-20 | 1986-08-26 | Sumitomo Metal Ind Ltd | 開先位置検出装置 |
JPH0630813B2 (ja) * | 1989-11-20 | 1994-04-27 | 日本鋼管株式会社 | 開先ならい制御方法 |
JPH04258379A (ja) * | 1991-02-08 | 1992-09-14 | Hitachi Ltd | ならい溶接方法 |
JP2764485B2 (ja) * | 1991-08-27 | 1998-06-11 | ファナック株式会社 | リアルタイムセンサの診断方法 |
JPH0839470A (ja) * | 1994-07-27 | 1996-02-13 | Fanuc Ltd | 断面形状認識による溶接ロボット制御方法 |
-
1996
- 1996-07-19 JP JP8207641A patent/JPH1034334A/ja active Pending
-
1997
- 1997-07-22 DE DE69728854T patent/DE69728854T2/de not_active Expired - Fee Related
- 1997-07-22 WO PCT/JP1997/002532 patent/WO1998003294A1/ja active IP Right Grant
- 1997-07-22 EP EP97930866A patent/EP0862963B1/de not_active Expired - Lifetime
- 1997-07-22 US US09/043,487 patent/US6040554A/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
EP0862963A4 (de) | 2000-10-25 |
JPH1034334A (ja) | 1998-02-10 |
US6040554A (en) | 2000-03-21 |
EP0862963B1 (de) | 2004-04-28 |
EP0862963A1 (de) | 1998-09-09 |
WO1998003294A1 (fr) | 1998-01-29 |
DE69728854T2 (de) | 2005-04-21 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
8364 | No opposition during term of opposition | ||
8339 | Ceased/non-payment of the annual fee |