초록 ▼

A welding robot controlling method for controlling a welding robot having a welding torch which has a tip thereof directed toward a teaching direction and sensor which intermittently generates a locus correction signal for the tip of the welding torch, comprising, (1) giving the locus correction sig

A welding robot controlling method for controlling a welding robot having a welding torch which has a tip thereof directed toward a teaching direction and sensor which intermittently generates a locus correction signal for the tip of the welding torch, comprising, (1) giving the locus correction signal as a resultant vector of an arbitrary number of two-dimensional vectors on a plane which intersects a welding line direction, (2) correcting a locus by controlling the three basic axes of the robot in a direction of a resultant vector which is composed of a predetermined length vector of which direction is parallel to a line connecting two teaching points and which passes through a tip of the welding torch and the locus correction vector, when the locus correction signal is generated, (3) controlling the three basic axes of the robot such that the tip of welding torch moves on a line which is parallel to the line connecting the two teaching points, until a subsequent locus correction signal is again given after completion of the locus correction.

대표청구항 ▼

A welding robot controlling method for controlling a welding robot having a welding torch guided toward a teaching direction and a sensor which intermittently generates a locus correction signal for the tip of said welding torch, comprising (1) giving said locus correction signal as a resultant vect

A welding robot controlling method for controlling a welding robot having a welding torch guided toward a teaching direction and a sensor which intermittently generates a locus correction signal for the tip of said welding torch, comprising (1) giving said locus correction signal as a resultant vector of an arbitrary number of two-dimensional vectors on a plane which intersects a welding line direction, (2) correcting a locus of said tip of said welding torch by controlling three basic axes of said robot in a direction of a resultant vector composed of a correction vector representing said locus correction signal and a vector (hereinafter called r vector) which, through a position of said tip of said welding torch, has a direction vector parallel to a line connecting two teaching points, and has a predetermined length, when said locus correction signal is generated, and (3) controlling said three basic axes of said robot such that said tip of said welding torch moves on a line which is parallel to said line connecting said two teaching points and passes through a position of said tip of said welding torch immediately after completion of said locus correction, until a subsequent locus correction signal is given after completion of said locus correction.