Welding robot controlling method

Claim 2

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.

Claim 3

A welding robot controlling method according to claim 1, wherein said locus correction signal is given as a resultant vector of an arbitrary number of two-dimensional vectors on a plane which intersects the welding line direction at a right angle.

Claim 4

A welding robot controlling method according to claim 1 or 2, wherein said two-dimensional vector is a vector in an axial direction of said welding torch.

Claim 5

A welding robot controlling method according to claim 1 or 2, wherein said two-dimensional vector is a vector in a perpendicular direction with respect to an axial direction of said welding torch.

Claim 6

A welding robot controlling method according to claim 1 or 2, wherein said arbitrary number of two-dimensional vectors consist of a vector in an axial direction of said welding torch and a vector in a perpendicular direction with respect to the axial direction of said welding torch.

Claim 7

A welding robot controlling method according to claim 5 wherein said arbitrary number of two-dimensional vectors consist of two two-dimensional vectors represented respectively by a binary quantity.

Claim 8

A welding robot controlling method according to claim 1 or 2, wherein said arbitrary number of two-dimensional vectors consist of two two-dimensional vectors represented respectively by a binary quantity.

Claim 9

A welding robot controlling method according to claim 1 or 2, wherein a projecting component of the speed of said tip of said welding torch onto said r vector is controlled such that said projecting speed becomes a desired welding speed.

Claim 10

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) providing a weaving motion of said tip of said welding torch by controlling the movements of three basic axes of said welding robot, (2) 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, (3) correcting a locus of the center of said weaving motion 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 (4) controlling said three basic axes of said robot such that said center of said weaving motion 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.

Claim 11

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) providing a weaving motion of said tip of said welding torch by controlling the movements of three basic axes of said welding robot, (2) 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, (3) correcting a locus of the center of said weaving motion 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 (4) controlling said three basic axes of said robot such that said center of said weaving motion 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.

Claim 12

A welding robot controlling method according to claim 9, wherein said locus correction signal is given as a resultant vector of an arbitrary number of two-dimensional vectors on a plane which intersects the welding line direction at a right angle.

Claim 13

A welding robot controlling method according to claim 9 or 10, wherein said two-dimensional vector is a vector in an axial direction of said welding torch at the center of said weaving motion.

Claim 14

A welding robot controlling method according to claim 9 or 10, wherein said two-dimensional vector is a vector in a direction of said weaving motion of said welding torch.

Claim 15

A welding robot controlling method according to claim 9 or 10, wherein said arbitrary number of two-dimensional vectors consist of a vector in an axial direction of said welding torch at the center of said weaving motion and a vector in a perpendicular direction with respect to the axial direction of said welding torch.

Claim 16

A welding robot controlling method according to claim 13 wherein said arbitrary number of two-dimensional vectors consist of two two-dimensional vectors represented respectively by a binary quantity.

Claim 17

A welding robot controlling method according to claim 9 or 10, wherein said arbitrary number of two-dimensional vectors consist of a vector in a direction of said weaving motion of said welding torch and a vector in a perpendicular direction with respect to said weaving motion.

Claim 18

A welding robot controlling method according to claim 15 wherein said arbitrary number of two-dimensional vectors consist of two two-dimensional vectors represented respectively by a binary quantity.

Claim 19

A welding robot controlling method according to claim 9 or 10, wherein said arbitrary number of two-dimensional vectors consist of two two-dimensional vectors represented respectively by a binary quantity.

Claim 20

A welding robot controlling method according to claim 9 or 10, wherein a projecting component of the speed of said tip of said welding torch onto said r vector at said center of weaving is controlled such that said projecting speed becomes a desired welding speed.

Claim 21

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) providing a weaving motion of said tip of said welding torch by controlling the movements of three basic axes of said welding robot, (2) generating said locus correction signal by a change of a welding current at both laterally extreme positions of said weaving motion, (3) 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, (4) correcting a locus of the center of said weaving motion by controlling the 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 (5) controlling said three basic axes of said robot such that said center of said weaving motion 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.

Claim 22

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) providing a weaving motion of said tip of said welding torch by controlling the movements of three basic axes of said welding robot, (2) generating said locus correction signal by a change of a welding current at both laterally extreme positions of said weaving motion, (3) 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, (4) correcting a locus of the center of said weaving motion by controlling the 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 (5) controlling said three basic axes of said robot such that said center of said weaving motion 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.

Claim 23

A welding robot controlling method according to claim 19, wherein said locus correction signal is given as a resultant vector of an arbitrary number of two-dimensional vectors on a plane which intersects the welding line direction at a right angle.

Claim 24

A welding robot controlling method according to claim 19 or 20, wherein said two-dimensional vector is a vector in an axial direction of said welding torch at the center of said weaving motion.

Claim 25

A welding robot controlling method according to claim 19 or 20, wherein said two-dimensional vector is a vector in a direction of said weaving motion of said welding torch.

Claim 26

A welding robot controlling method according to claim 19 or 20, wherein said arbitrary number of two-dimensional vectors consist of a vector in an axial direction of said welding torch at the center of said weaving motion and a vector in a perpendicular direction with respect to the axial direction of said welding torch.

Claim 27

A welding robot controlling method according to claim 23 wherein said arbitrary number of two-dimensional vectors consist of two-dimensional vectors represented respectively by a binary quantity.

Claim 28

A welding robot controlling method according to claim 19 or 20, wherein said arbitrary number of two-dimensional vectors consist of a vector in the direction of said weaving motion of said welding torch and a vector in a perpendicular direction with respect to said weaving motion.

Claim 29

A welding robot controlling method according to claim 25 wherein said arbitrary number of two-dimensional vectors consist of two two-dimensional vectors represented respectively by a binary quantity.

Claim 30

A welding robot controlling method according to claim 19 or 20, wherein said arbitrary number of two-dimensional vectors consist of two two-dimensional vectors represented respectively by a binary quantity.

Claim 31

A welding robot controlling method according to claim 19 or 20, wherein a projecting component of the speed of said tip of said welding torch onto said r vector at said center of weaving is controlled such that said projecting speed becomes a desired welding speed.

Claim 32

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) providing a weaving motion of said tip of said welding torch by controlling the movements of three basic axes of said welding robot, (2) generating said locus correction signal by a change of a welding voltage at both laterally extreme positions of said weaving motion, (3) 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, (4) correcting a locus of the center of said weaving motion by controlling the 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 (5) controlling said three basic axes of said robot such that said center of said weaving motion 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.

Claim 33

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) providing a weaving motion of said tip of said welding torch by controlling the movements of three basic axes of said welding robot, (2) generating said locus correction signal by a change of a welding voltage at both laterally extreme positions of said weaving motion, (3) 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, (4) correcting a locus of the center of said weaving motion by controlling the 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 (5) controlling said three basic axes of said robot such that said center of said weaving motion 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.

Claim 34

A welding robot controlling method according to claim 29, wherein said locus correction signal is given as a resultant vector of an arbitrary number of two-dimensional vectors on a plane which intersects the welding line direction at a right angle.

Claim 35

A welding robot controlling method according to claim 29 or 30, wherein said two-dimensional vector is a vector in an axial direction of said welding torch at the center of said weaving motion.

Claim 36

A welding robot controlling method according to claim 29 or 30, wherein said two-dimensional vector is a vector in the direction of said weaving motion of said welding torch.

Claim 37

A welding robot controlling method according to claim 29 or 30, wherein said arbitrary number of two-dimensional vectors consist of a vector in an axial direction of said welding torch at the center of said weaving motion and a vector in a perpendicular direction with respect to the axial direction of said welding torch.

Claim 38

A welding robot controlling method according to claim 33 wherein said arbitrary number of two-dimensional vectors consist of two two-dimensional vectors represented respectively by a binary quantity.

Claim 39

A welding robot controlling method according to claim 29 or 30, wherein said arbitrary number of two-dimensional vectors consist of a vector in the direction of said weaving motion of said welding torch and a vector in a perpendicular direction with respect to said weaving motion.

Claim 40

A welding robot controlling method according to claim 35 wherein said arbitrary number of two-dimensional vectors consist of two two-dimensional vectors represented respectively by a binary quantity.

Claim 41

A welding robot controlling method according to claim 29 or 30, wherein said arbitrary number of two-dimensional vectors consist of two two-dimensional vectors represented respectively by a binary quantity.

Claim 42

A welding robot controlling method according to claim 29 or 30, wherein a projecting component of the speed of said tip of said welding torch onto said r vector at said center of weaving is controlled such that said projecting speed becomes a desired welding speed.

Claim 43

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 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, (3) controlling said three basic axes of said robot such that said tip of 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, (4) defining and teaching a monitoring point in addition to said two teaching points for an ordinary welding operation to detect an inflection point of a workpiece, (5) computing the distance between said monitoring point and the tip of said welding torch, (6) recognizing said welding operation to be a profiling welding step to be presently welded and continuing a weld line tracking operation when said distance is monotonically decreasing, or recognizing said inflection point of said step and completing said tracking operation in said step when said distance exceeds a predetermined width of variation, and (7) defining the position of said welding torch at said completion of said tracking operation in said preceding step as a new starting point, defining a point, which is determined by three-dimensionally parallelly shifting a previously taught ending point of said next step by a displacement vector between said new starting point and said previously taught ending point of said preceding step, as a new ending point, and controlling said tip of the welding torch so as to make said tip of the welding torch perform a profiling welding in a next step on the basis of a line connecting said new starting point and said new ending point.

Claim 44

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 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, (3) controlling said three basic axes of said robot such that said tip of 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, (4) defining and teaching a monitoring point in addition to said two teaching points for an ordinary welding operation to detect an inflection point of a workpiece, (5) computing the distance between said monitoring point and the tip of said welding torch, (6) recognizing said welding operation to be a profiling welding step to be presently welded and continuing a weld line tracking operation when said distance is monotonically decreasing, or recognizing said inflection point of said step and completing said tracking operation in said step when said distance exceeds a predetermined width of variation, and (7) defining the position of said welding torch at said completion of said tracking operation in said preceding step as a new starting point, defining a point, which is determined by three-dimensionally parallelly shifting a previously taught ending point of said next step by a displacement vector between said new starting point and said previously taught ending point of said preceding step, as a new ending point, and controlling said tip of the welding torch so as to make said tip of the welding torch perform a profiling welding in a next step on the basis of a line connecting said new starting point and said new ending point.

Claim 45

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) providing a weaving motion of said tip of said welding torch by controlling the movements of three basic axes of said welding robot, (2) 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, (3) correcting a locus of the center of said weaving motion 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 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, (4) controlling said three basic axes of said robot such that said center of said weaving motion 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, (5) defining and teaching a monitoring point in addition to said two teaching points for an ordinary welding operation to detect an inflection point of a workpiece, (6) computing the distance between said monitoring point and the center of said weaving, (7) recognizing said welding operation to be a profiling welding step to be presently welded and continuing a weld line tracking operation when said distance is monotonically decreasing, or recognizing said inflection point of said step and completing said tracking operation in said step when said distance exceeds a predetermined width of variation, and (8) defining the position of said welding torch at said completion of said tracking operation in said preceding step as a new starting point, defining a point, which is determined by three-dimensionally parallelly shifting a previously taught ending point of said next step by a displacement vector between said new starting point and said previously taught ending point of said preceding step, as a new ending point, and controlling said center of weaving so as to make said center of weaving perform a profiling welding in a next step on the basis of a line connecting said new starting point and said new ending point.

Claim 46

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) providing a weaving motion of said tip of said welding torch by controlling the movements of three basic axes of said welding robot, (2) 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, (3) correcting a locus of the center of said weaving motion 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 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, (4) controlling said three basic axes of said robot such that said center of said weaving motion 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, (5) defining and teaching a monitoring point in addition to said two teaching points for an ordinary welding operation to detect an inflection point of a workpiece, (6) computing the distance between said monitoring point and the center of said weaving, (7) recognizing said welding operation to be a profiling welding step to be presently welded and continuing a weld line tracking operation when said distance is monotonically decreasing, or recognizing said inflection point of said step and completing said tracking operation in said step when said distance exceeds a predetermined width of variation, and (8) defining the position of said welding torch at said completion of said tracking operation in said preceding step as a new starting point, defining a point, which is determined by three-dimensionally parallelly shifting a previously taught ending point of said next step by a displacement vector between said new starting point and said previously taught ending point of said preceding step, as a new ending point, and controlling said center of weaving so as to make said center of weaving perform a profiling welding in a next step on the basis of a line connecting said new starting point and said new ending point.

Claim 47

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) providing a weaving motion of said tip of said welding torch by controlling the movements of three basic axes of said welding robot, (2) generating said locus correction signal by a change of a welding current at both laterally extreme position of said weaving motion, (3) 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, (4) correcting a locus of the center of said weaving motion 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 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, (5) controlling said three basic axes of said robot such that said center of said weaving motion 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, (6) defining and teaching a monitoring point in addition to said two teaching points for an ordinary welding operation to detect an inflection point of a workpiece, (7) computing the distance between said monitoring point and the center of said weaving, (8) recognizing said welding operation to be a profiling welding step to be presently welded and continuing a weld line tracking operation when said distance is monotonically decreasing, or recognizing said inflection point of said step and completing said tracking operation in said step when said distance exceeds a predetermined width of variation, and (9) defining the position of said welding torch at said completion of said tracking operation in said preceding step as a new starting point, defining a point, which is determined by three-dimensionally parallelly shifting a previously taught ending point of said next step by a displacement vector between said new starting point and said previously taught ending point of said preceding step, as a new ending point, and controlling said center of weaving so as to make said center of weaving perform a profiling welding in a next step on the basis of a line connecting said new starting point and said new ending point.

Claim 48

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) providing a weaving motion of said tip of said welding torch by controlling the movements of three basic axes of said welding robot, (2) generating said locus correction signal by a change of a welding current at both laterally extreme position of said weaving motion, (3) 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, (4) correcting a locus of the center of said weaving motion 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 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, (5) controlling said three basic axes of said robot such that said center of said weaving motion 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, (6) defining and teaching a monitoring point in addition to said two teaching points for an ordinary welding operation to detect an inflection point of a workpiece, (7) computing the distance between said monitoring point and the center of said weaving, (8) recognizing said welding operation to be a profiling welding step to be presently welded and continuing a weld line tracking operation when said distance is monotonically decreasing, or recognizing said inflection point of said step and completing said tracking operation in said step when said distance exceeds a predetermined width of variation, and (9) defining the position of said welding torch at said completion of said tracking operation in said preceding step as a new starting point, defining a point, which is determined by three-dimensionally parallelly shifting a previously taught ending point of said next step by a displacement vector between said new starting point and said previously taught ending point of said preceding step, as a new ending point, and controlling said center of weaving so as to make said center of weaving perform a profiling welding in a next step on the basis of a line connecting said new starting point and said new ending point.

Claim 49

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) providing a weaving motion of said tip of said welding torch by controlling the movements of three basic axes of said welding robot, (2) generating said locus correction signal by a change of a welding voltage at both laterally extreme positions of said weaving motion, (3) 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, (4) correcting a locus of the center of said weaving motion 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 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, (5) controlling said three basic axes of said robot such that said center of said weaving motion 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, (6) defining and teaching a monitoring point in addition to said two teaching points for an ordinary welding operation to detect an inflection point of a workpiece, (7) computing the distance between said monitoring point and center of said weaving, (8) recognizing said welding operation to be a profiling welding step to be presently welded and continuing a weld line tracking operation when said distance is monotonically decreasing, or recognizing said inflection point of said step and completing said tracking operation in said step when said distance exceeds a predetermined width of variation, and (9) defining the position of said welding torch at said completion of said tracking operation in said preceding step as a new starting point, defining a point, which is determined by three-dimensionally paralelly shifting a previously taught ending point of said next step by a displacement vector between said new starting point and said previously taught ending point of said preceding step, as a new ending point, and controlling said center of weaving so as to make said center of weaving perform a profiling welding in a next step on the basis of a line connecting said new starting point and said new ending point.

Claim 50

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) providing a weaving motion of said tip of said welding torch by controlling the movements of three basic axes of said welding robot, (2) generating said locus correction signal by a change of a welding voltage at both laterally extreme positions of said weaving motion, (3) 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, (4) correcting a locus of the center of said weaving motion 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 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, (5) controlling said three basic axes of said robot such that said center of said weaving motion 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, (6) defining and teaching a monitoring point in addition to said two teaching points for an ordinary welding operation to detect an inflection point of a workpiece, (7) computing the distance between said monitoring point and center of said weaving, (8) recognizing said welding operation to be a profiling welding step to be presently welded and continuing a weld line tracking operation when said distance is monotonically decreasing, or recognizing said inflection point of said step and completing said tracking operation in said step when said distance exceeds a predetermined width of variation, and (9) defining the position of said welding torch at said completion of said tracking operation in said preceding step as a new starting point, defining a point, which is determined by three-dimensionally paralelly shifting a previously taught ending point of said next step by a displacement vector between said new starting point and said previously taught ending point of said preceding step, as a new ending point, and controlling said center of weaving so as to make said center of weaving perform a profiling welding in a next step on the basis of a line connecting said new starting point and said new ending point.

Claim 51

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 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, (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 teachings points and passes through a position of said tip of welding torch immediately after completion of said locus correction, until a subsequent locus correction signal is given after completion of said locus correction, (4) storing, in performing profiling welding along an inflection point such as a rectangular inflection point, a position (x n-1 , y n-1 , z n-1 ) of said welding torch tip at the generation of said preceding locus correction signal and a position (x n-1 ', y n-1 ', z n-1 ') of said welding torch tip at the completion of said preceding locus correction, (5) projecting a line l 1 connecting a position (x n , y n , z n ) of said welding torch tip at the moment of generation of the instant locus correction signal and said position (x n-1 , y n-1 , z n-1 ) of said welding torch tip at the generation of said preceding locus correction signal, on a plane defined by a previously taught line L 1 within an instant profiling welding step and a line L 2 taught in a next succeeding step, and determining the angle ξ between said projected line and said line L 1 , (6) determining the angle ξ between the projection of a line l 2 connecting a position (x n ', y n ', z n ') of said welding torch tip immediately after the completion of said locus correction and said position (x n-1 ', y n-1 ', z n-1 ') of said welding torch tip at the completion of said preceding locus correction, on said plane defined by said lines L 1 and L 2 , and said line L 1 , (7) computing the mean value of said angles ξ and η before and after every locus correction during said welding operation, (8) storing computed results sequentially in a FIFO memory circuit, (9) recognizing an inflection point, clearing the contents of said FIFO memory circuit when said mean value memorized in said FIFO memory circuit becomes greater than a predetermined value, and completing said profiling welding operation in said step of said line L 1 , and (10) defining the position of said welding torch at said completion of the tracking operation in said preceding step as a new starting point, defining a point, which is determined by three-dimensionally parallelly shifting a previously taught ending point of said next step of said line L 2 by a displacement vector between said new starting point and said previously taught ending point of said preceding step, as a new ending point, and controlling said welding torch tip so as to make said welding torch tip perform a profiling welding in a next step on the basis of a line connecting said new starting point and said new ending point.

Claim 52

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 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, (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 teachings points and passes through a position of said tip of welding torch immediately after completion of said locus correction, until a subsequent locus correction signal is given after completion of said locus correction, (4) storing, in performing profiling welding along an inflection point such as a rectangular inflection point, a position (x n-1 , y n-1 , z n-1 ) of said welding torch tip at the generation of said preceding locus correction signal and a position (x n-1 ', y n-1 ', z n-1 ') of said welding torch tip at the completion of said preceding locus correction, (5) projecting a line l 1 connecting a position (x n , y n , z n ) of said welding torch tip at the moment of generation of the instant locus correction signal and said position (x n-1 , y n-1 , z n-1 ) of said welding torch tip at the generation of said preceding locus correction signal, on a plane defined by a previously taught line L 1 within an instant profiling welding step and a line L 2 taught in a next succeeding step, and determining the angle ξ between said projected line and said line L 1 , (6) determining the angle ξ between the projection of a line l 2 connecting a position (x n ', y n ', z n ') of said welding torch tip immediately after the completion of said locus correction and said position (x n-1 ', y n-1 ', z n-1 ') of said welding torch tip at the completion of said preceding locus correction, on said plane defined by said lines L 1 and L 2 , and said line L 1 , (7) computing the mean value of said angles ξ and η before and after every locus correction during said welding operation, (8) storing computed results sequentially in a FIFO memory circuit, (9) recognizing an inflection point, clearing the contents of said FIFO memory circuit when said mean value memorized in said FIFO memory circuit becomes greater than a predetermined value, and completing said profiling welding operation in said step of said line L 1 , and (10) defining the position of said welding torch at said completion of the tracking operation in said preceding step as a new starting point, defining a point, which is determined by three-dimensionally parallelly shifting a previously taught ending point of said next step of said line L 2 by a displacement vector between said new starting point and said previously taught ending point of said preceding step, as a new ending point, and controlling said welding torch tip so as to make said welding torch tip perform a profiling welding in a next step on the basis of a line connecting said new starting point and said new ending point.

Claim 53

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) providing a weaving motion of said tip of said welding torch by controlling the movements of three basic axes of said welding robot, (2) 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, (3) correcting a locus of the center of said weaving motion 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 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, said said locus correction signal is generated, (4) controlling said three basic axes of said robot such that said center of said weaving motion 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, (5) storing, in performing profiling welding along an inflection point such as a rectangular inflection point, a position (x n-1 , y n-1 , z n-1 ) of said center of weaving at the generation of said preceding locus correction signal and a position (x n-1 ', y n-1 ', z n-1 ') of said center of weaving at the completion of said preceding locus correction, (6) projecting a line l 1 connecting a position (x n , y n , z n ) of said center of weaving at the moment of generation of the instant locus correction signal and said position (x n-1 , y n-1 , z n-1 ) of said center of weaving at the generation of said preceding locus correction signal, on a plane defined by a previously taught line L 1 within the instant profiling welding step and a line L 2 taught in the next succeeding step, and determining the angle ξ between said projected line and said line L 1 , (7) determining the angle η between the projection of a line l 2 connecting a position (x n' , y n ', z n ') of said center of weaving immediately after the completion of said locus correction and said position (x n-1 ', y n-1 ',z n-1 ') of said center of weaving at the completion of said preceding locus correction, on said plane defined by said lines L 1 and L 2 , and said line L 1 , (8) computing the mean value of said angles ξ and η before and after every locus correction during said welding operation, (9) storing computed results sequentially in a FIFO memory circuit, (10) recognizing an inflection point, clearing the contents of said FIFO memory circuit when said mean value memorized in said FIFO memory circuit becomes greater than a value of a function of the welding speed, weaving frequency and the amount of locus correction, and completing said profiling welding operation in said step of said line L 1 , and (11) defining the position of said welding torch at said completion of the tracking operation in said preceding step as a new starting point, defining a point, which is determined by three-dimensionally parallelly shifting a previously taught ending point of said next step of said line L 2 by a displacement vector between said new starting point and said previously taught ending point of said preceding step, as a new ending point, and controlling said center of weaving so as to make said center of weaving perform a profiling welding in a next step on the basis of a line connecting said new starting point and said new ending point.

Claim 54

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) providing a weaving motion of said tip of said welding torch by controlling the movements of three basic axes of said welding robot, (2) 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, (3) correcting a locus of the center of said weaving motion 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 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, said said locus correction signal is generated, (4) controlling said three basic axes of said robot such that said center of said weaving motion 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, (5) storing, in performing profiling welding along an inflection point such as a rectangular inflection point, a position (x n-1 , y n-1 , z n-1 ) of said center of weaving at the generation of said preceding locus correction signal and a position (x n-1 ', y n-1 ', z n-1 ') of said center of weaving at the completion of said preceding locus correction, (6) projecting a line l 1 connecting a position (x n , y n , z n ) of said center of weaving at the moment of generation of the instant locus correction signal and said position (x n-1 , y n-1 , z n-1 ) of said center of weaving at the generation of said preceding locus correction signal, on a plane defined by a previously taught line L 1 within the instant profiling welding step and a line L 2 taught in the next succeeding step, and determining the angle ξ between said projected line and said line L 1 , (7) determining the angle η between the projection of a line l 2 connecting a position (x n' , y n ', z n ') of said center of weaving immediately after the completion of said locus correction and said position (x n-1 ', y n-1 ',z n-1 ') of said center of weaving at the completion of said preceding locus correction, on said plane defined by said lines L 1 and L 2 , and said line L 1 , (8) computing the mean value of said angles ξ and η before and after every locus correction during said welding operation, (9) storing computed results sequentially in a FIFO memory circuit, (10) recognizing an inflection point, clearing the contents of said FIFO memory circuit when said mean value memorized in said FIFO memory circuit becomes greater than a value of a function of the welding speed, weaving frequency and the amount of locus correction, and completing said profiling welding operation in said step of said line L 1 , and (11) defining the position of said welding torch at said completion of the tracking operation in said preceding step as a new starting point, defining a point, which is determined by three-dimensionally parallelly shifting a previously taught ending point of said next step of said line L 2 by a displacement vector between said new starting point and said previously taught ending point of said preceding step, as a new ending point, and controlling said center of weaving so as to make said center of weaving perform a profiling welding in a next step on the basis of a line connecting said new starting point and said new ending point.

Claim 55

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) providing a weaving motion of said tip of said welding torch by controlling the movements of three basic axes of said welding robot, (2) generating said locus correction signal by a change of the welding current at both laterally extreme positions of said weaving motion, (3) 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, (4) correcting a locus of the center of said weaving motion 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 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, (5) controlling said three basic axes of said robot such that said center of said weaving motion 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, (6) storing, in performing profiling welding along an inflection point such as a rectangular inflection point, a position (x n-1 , y n-1 , z n-1 ) of said center of weaving at the generation of said preceding locus correction signal and a position (x n-1 ', y n-1 ', z n-1 ') of said center of weaving at the completion of said preceding locus correction, (7) projecting a line l 1 connecting a position (x n , y n , z n ) of said center of weaving at the moment of generation of the instant locus correction signal and said position (x n-1 , y n-1 , z n-1 ) of said center of weaving at the generation of said preceding locus correction signal, on a plane defined by a previously taught line L 1 within the instant profiling welding step and a line L 2 taught in the next succeeding step, and determining the angle ξ between said projected line and said line L 1 , (8) determining the angle η between the projection of a line l 2 connecting a position (x n ', y n ', z n ') of said center of weaving immediately after the completion of said locus correction and said position (x n-1 ', y n-1 ',z n-1 ') of said center of weaving at the completion of said preceding locus correction, on said plane defined by said lines L 1 and L 2 , and said line L 1 , (9) computing the mean value of said angles ξ and η before and after every locus correction during said welding operation, (10) storing computed results sequentially in a FIFO memory circuit, (11) recognizing an inflection point, clearing the contents of said FIFO memory circuit when said mean value memorized in said FIFO memory circuit becomes greater than a value of a function of the welding speed, weaving frequency and the amount of locus correction and completing said profiling welding operation in said step of said line L 1 , and (12) defining the position of said welding torch at said completion of the tracking operation in said preceding step as a new starting point, defining a point, which is determined by three-dimensionally parallelly shifting a previously taught ending point of said next step of said line L 2 by a displacement vector between said new starting point and said previously taught ending point of said preceding step, as a new ending point, and controlling said center of weaving so as to make said center of weaving perform a profiling welding in a next step on the basis of a line connecting said new starting point and said new ending point.

Claim 56

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) providing a weaving motion of said tip of said welding torch by controlling the movements of three basic axes of said welding robot, (2) generating said locus correction signal by a change of the welding current at both laterally extreme positions of said weaving motion, (3) 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, (4) correcting a locus of the center of said weaving motion 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 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, (5) controlling said three basic axes of said robot such that said center of said weaving motion 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, (6) storing, in performing profiling welding along an inflection point such as a rectangular inflection point, a position (x n-1 , y n-1 , z n-1 ) of said center of weaving at the generation of said preceding locus correction signal and a position (x n-1 ', y n-1 ', z n-1 ') of said center of weaving at the completion of said preceding locus correction, (7) projecting a line l 1 connecting a position (x n , y n , z n ) of said center of weaving at the moment of generation of the instant locus correction signal and said position (x n-1 , y n-1 , z n-1 ) of said center of weaving at the generation of said preceding locus correction signal, on a plane defined by a previously taught line L 1 within the instant profiling welding step and a line L 2 taught in the next succeeding step, and determining the angle ξ between said projected line and said line L 1 , (8) determining the angle η between the projection of a line l 2 connecting a position (x n ', y n ', z n ') of said center of weaving immediately after the completion of said locus correction and said position (x n-1 ', y n-1 ',z n-1 ') of said center of weaving at the completion of said preceding locus correction, on said plane defined by said lines L 1 and L 2 , and said line L 1 , (9) computing the mean value of said angles ξ and η before and after every locus correction during said welding operation, (10) storing computed results sequentially in a FIFO memory circuit, (11) recognizing an inflection point, clearing the contents of said FIFO memory circuit when said mean value memorized in said FIFO memory circuit becomes greater than a value of a function of the welding speed, weaving frequency and the amount of locus correction and completing said profiling welding operation in said step of said line L 1 , and (12) defining the position of said welding torch at said completion of the tracking operation in said preceding step as a new starting point, defining a point, which is determined by three-dimensionally parallelly shifting a previously taught ending point of said next step of said line L 2 by a displacement vector between said new starting point and said previously taught ending point of said preceding step, as a new ending point, and controlling said center of weaving so as to make said center of weaving perform a profiling welding in a next step on the basis of a line connecting said new starting point and said new ending point.

Claim 57

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) providing a weaving motion of said tip of said welding torch by controlling the movements of three basic axes of said welding robot, (2) generating said locus correction signal by a change of the welding voltage at both laterally extreme positions, (3) 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, (4) correcting a locus of the center of said weaving motion 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 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, (5) controlling said three basic axes of said robot such that said center of said weaving motion 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, (6) storing, in performing profiling welding along an inflection point such as a rectangular inflection point, a position (x n-1 , y n-1 , z n-1 ) of said center of weaving at the generation of said preceding locus correction signal and a position (x n-1 ', y n-1 ', z n-1 ') of said center of weaving at the completion of said preceding locus correction, (7) projecting a line 1 connecting a position (x n , y n , z n ) of said center of weaving at the moment of generation of the instant locus correction signal and said position (x n-1 , y n-1 , z n-1 ) of said center of weaving at the generation of said preceding locus correction signal, on a plane defined by a previously taught line L 1 within the instant profiling welding step and a line L 2 taught in the next succeeding step, and determining the angle between said projected line and said line L 1 , (8) determining the angle η between the projection of a line l 2 connecting a position (x n ', y n ', z n ') of said center of weaving immediately after the completion of said locus correction and said position (x n-1 ', y n-1 ',z n-1 ') of said center of weaving at the completion of said preceding locus correction, on said plane defined by said lines L 1 and L 2 , and said line L 1 , (9) computing the mean value of said angles ξ and η before and after every locus correction during said welding operation, (10) storing computed results sequentially in a FIFO memory circuit, (11) recognizing an inflection point, clearing the contents of said FIFO memory circuit when said mean value memorized in said FIFO memory circuit becomes greater than a value of a function of the welding speed, weaving frequency and the amount of locus correction and completing said profiling welding operation in said step of said line L 1 , and (12) defining the position of said welding torch at said completion of the tracking operation in said preceding step as a new starting point, defining a point, which is determined by three-dimensionally parallelly shifting a previously taught ending point of said next step of said line L 2 by a displacement vector between said new starting point and said previously taught ending point of said preceding step, as a new ending point, and controlling said center of weaving so as to make said center of weaving perform a profiling welding in a next step on the basis of a line connecting said new starting point and said new ending point.

Claim 58

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) providing a weaving motion of said tip of said welding torch by controlling the movements of three basic axes of said welding robot, (2) generating said locus correction signal by a change of the welding voltage at both laterally extreme positions, (3) 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, (4) correcting a locus of the center of said weaving motion 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 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, (5) controlling said three basic axes of said robot such that said center of said weaving motion 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, (6) storing, in performing profiling welding along an inflection point such as a rectangular inflection point, a position (x n-1 , y n-1 , z n-1 ) of said center of weaving at the generation of said preceding locus correction signal and a position (x n-1 ', y n-1 ', z n-1 ') of said center of weaving at the completion of said preceding locus correction, (7) projecting a line 1 connecting a position (x n , y n , z n ) of said center of weaving at the moment of generation of the instant locus correction signal and said position (x n-1 , y n-1 , z n-1 ) of said center of weaving at the generation of said preceding locus correction signal, on a plane defined by a previously taught line L 1 within the instant profiling welding step and a line L 2 taught in the next succeeding step, and determining the angle between said projected line and said line L 1 , (8) determining the angle η between the projection of a line l 2 connecting a position (x n ', y n ', z n ') of said center of weaving immediately after the completion of said locus correction and said position (x n-1 ', y n-1 ',z n-1 ') of said center of weaving at the completion of said preceding locus correction, on said plane defined by said lines L 1 and L 2 , and said line L 1 , (9) computing the mean value of said angles ξ and η before and after every locus correction during said welding operation, (10) storing computed results sequentially in a FIFO memory circuit, (11) recognizing an inflection point, clearing the contents of said FIFO memory circuit when said mean value memorized in said FIFO memory circuit becomes greater than a value of a function of the welding speed, weaving frequency and the amount of locus correction and completing said profiling welding operation in said step of said line L 1 , and (12) defining the position of said welding torch at said completion of the tracking operation in said preceding step as a new starting point, defining a point, which is determined by three-dimensionally parallelly shifting a previously taught ending point of said next step of said line L 2 by a displacement vector between said new starting point and said previously taught ending point of said preceding step, as a new ending point, and controlling said center of weaving so as to make said center of weaving perform a profiling welding in a next step on the basis of a line connecting said new starting point and said new ending point.

Claim 59

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, when an actual weld starting position is deviated from the previously taught weld starting position, comprising (1) providing a weaving motion of said tip of said welding torch by controlling the movements of three basic axes of said welding robot, (2) 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, (3) correcting a locus of a center of said weaving motion 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 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, (4) controlling said three basic axes of said robot such that said center of said weaving motion 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, (5) extremely reducing the welding speed and the welding current comparatively to a normal welding speed and a normal welding current respectively, until said welding torch reaches said actual welding line, (6) increasing the amount of said locus correction comparatively to said normal amount of locus correction, until said welding torch reaches said actual welding line, (7) controlling the movements of the three basic axes of said robot to make said tip of said welding torch carry out a weaving motion in a perpendicular direction with respect to said taught line, (8) increasing the weaving frequency comparatively to normal weaving frequency, until said welding torch reaches said actual welding line, (9) generating said locus correction signal by the change of welding current between both laterally extreme positions of said weaving, (10) storing, in performing profiling welding on a workpiece plate, a position (x n-1 , y n-1 , z n-1 ) of said center of weaving at the generation of said preceding locus correction signal and a position (x n-1 ', y n-1 ', z n-1 ') of said center of weaving at the completion of said preceding locus correction, (11) projecting a line l 1 connecting a position (x n , y n , z n ) of said center of weaving at the moment of generation of the instant locus correction signal and said position (x n-1 , y n-1 , z n-1 ) of said center of weaving at the generation of said preceding locus correction signal, on a plane defined by a previously taught line L 1 within the instant profiling welding step and a line L 2 taught in the next succeeding step, and determining the angle ξ between said projected line and said line L 1 , (12) determining the angle η between the projection of a line l 2 connecting a position (x n ', y n ', z n ' of said center of weaving immediately after the completion of said locus correction and said position (x n-1 ', y n-1 ',z n-1 ') of said center of weaving at the completion of said preceding locus correction, on said plane defined by said lines L 1 and L 2 , and said line L 1 ,

Claim 60

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, when an actual weld starting position is deviated from the previously taught weld starting position, comprising (1) providing a weaving motion of said tip of said welding torch by controlling the movements of three basic axes of said welding robot, (2) 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, (3) correcting a locus of a center of said weaving motion 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 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, (4) controlling said three basic axes of said robot such that said center of said weaving motion 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, (5) extremely reducing the welding speed and the welding current comparatively to a normal welding speed and a normal welding current respectively, until said welding torch reaches said actual welding line, (6) increasing the amount of said locus correction comparatively to said normal amount of locus correction, until said welding torch reaches said actual welding line, (7) controlling the movements of the three basic axes of said robot to make said tip of said welding torch carry out a weaving motion in a perpendicular direction with respect to said taught line, (8) increasing the weaving frequency comparatively to normal weaving frequency, until said welding torch reaches said actual welding line, (9) generating said locus correction signal by the change of welding current between both laterally extreme positions of said weaving, (10) storing, in performing profiling welding on a workpiece plate, a position (x n-1 , y n-1 , z n-1 ) of said center of weaving at the generation of said preceding locus correction signal and a position (x n-1 ', y n-1 ', z n-1 ') of said center of weaving at the completion of said preceding locus correction, (11) projecting a line l 1 connecting a position (x n , y n , z n ) of said center of weaving at the moment of generation of the instant locus correction signal and said position (x n-1 , y n-1 , z n-1 ) of said center of weaving at the generation of said preceding locus correction signal, on a plane defined by a previously taught line L 1 within the instant profiling welding step and a line L 2 taught in the next succeeding step, and determining the angle ξ between said projected line and said line L 1 , (12) determining the angle η between the projection of a line l 2 connecting a position (x n ', y n ', z n ' of said center of weaving immediately after the completion of said locus correction and said position (x n-1 ', y n-1 ',z n-1 ') of said center of weaving at the completion of said preceding locus correction, on said plane defined by said lines L 1 and L 2 , and said line L 1 ,

Claim 61

(13) computing the mean value of said angles ξ and η before and after every locus correction during said welding operation, (14) storing computed results sequentially in a FIFO memory circuit, (15) recognizing a normal weld starting position, clearing the contents of said FIFO memory circuit when said mean value memorized in said FIFO memory circuit becomes smaller than a value of a function of the welding speed, weaving frequency and the amount of locus correction, and completing such a searching operation, (16) determining the position of said welding torch at said completion of said searching operation as said actual weld starting position, and (17) setting said welding speed, said welding current, said amount of locus correction and said weaving frequency to normal values, namely, previously taught values, and continuing profiling welding on the basis of a previously taught path.

Claim 62

(13) computing the mean value of said angles ξ and η before and after every locus correction during said welding operation, (14) storing computed results sequentially in a FIFO memory circuit, (15) recognizing a normal weld starting position, clearing the contents of said FIFO memory circuit when said mean value memorized in said FIFO memory circuit becomes smaller than a value of a function of the welding speed, weaving frequency and the amount of locus correction, and completing such a searching operation, (16) determining the position of said welding torch at said completion of said searching operation as said actual weld starting position, and (17) setting said welding speed, said welding current, said amount of locus correction and said weaving frequency to normal values, namely, previously taught values, and continuing profiling welding on the basis of a previously taught path.

Claim 63

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, when an actual weld starting position is deviated from the previously taught weld starting position, comprising (1) providing a weaving motion of said tip of said welding torch by controlling the movements of three basic axes of said welding robot, (2) 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, (3) correcting a locus of a center of said weaving motion 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 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, (4) controlling said three basic axes of said robot such that said center of said weaving motion 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, (5) extremely reducing the welding speed and the welding voltage comparatively to a normal welding speed and a normal welding voltage respectively, until said welding torch reaches said actual welding line, (6) increasing the amount of said locus correction comparatively to said normal amount of locus correction, until said welding torch reaches said actual welding line, (7) controlling the movements of the three basic axes of said robot to make said tip of said welding torch conduct a weaving motion in a perpendicular direction with respect to said taught line, (8) increasing the weaving frequency comparatively to normal weaving frequency, until said welding torch reaches said actual welding line, (9) generating said locus correction signal by the change of welding voltage between both laterally extreme positions of said weaving, (10) storing, in performing profiling welding on a workpiece plate, a position (x n-1 , y n-1 , z n-1 ) of said center of weaving at the generation of said preceding locus correction signal and a position (x n-1 ', y n-1 ', z n-1 ') of said center of weaving at the completion of said preceding locus correction, (11) projecting a line l 1 connecting a position (x n , y n , z n ) of said center of weaving at the moment of generation of the instant locus correction signal and said position (x n-1 , y n-1 , z n-1 ) of said center of weaving at the generation of said preceding locus correction signal, on a plane defined by a previously taught line L 1 within the instant profiling welding step and a line L 2 taught in the next succeeding step, and determining the angle ξ between said projected line and said line L 1 , (12) determining the angle η between the projection of a line l 2 connecting a position (x n ', y n ', z n ') of said center of weaving immediately after the completion of said locus correction and said position (x n-1 ', y n-1 ', z n-1 ') of said center of weaving at the completion of said preceding locus correction, on said plane defined by said lines L 1 and L 2 , and said line L 1 , (13) computing the mean value of said angles ξ and η before and after every locus correction during said welding operation, (14) storing computed results sequentially in a FIFO memory circuit, (15) recognizing a normal weld starting position, clearing the contents of said FIFO memory circuit when said mean value memorized in said FIFO memory circuit becomes smaller than a value of a function of the welding speed, weaving frequency and the amount of locus correction, and completing such a searching operation, (16) determining the position of said welding torch at said completion of said searching operation as said actual weld starting position, and (17) setting said welding speed, said welding voltage, said amount of locus correction and said weaving frequency to normal values, namely previously taught values, and continuing profiling welding on the basis of a previously taught path.

Claim 64

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, when an actual weld starting position is deviated from the previously taught weld starting position, comprising (1) providing a weaving motion of said tip of said welding torch by controlling the movements of three basic axes of said welding robot, (2) 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, (3) correcting a locus of a center of said weaving motion 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 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, (4) controlling said three basic axes of said robot such that said center of said weaving motion 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, (5) extremely reducing the welding speed and the welding voltage comparatively to a normal welding speed and a normal welding voltage respectively, until said welding torch reaches said actual welding line, (6) increasing the amount of said locus correction comparatively to said normal amount of locus correction, until said welding torch reaches said actual welding line, (7) controlling the movements of the three basic axes of said robot to make said tip of said welding torch conduct a weaving motion in a perpendicular direction with respect to said taught line, (8) increasing the weaving frequency comparatively to normal weaving frequency, until said welding torch reaches said actual welding line, (9) generating said locus correction signal by the change of welding voltage between both laterally extreme positions of said weaving, (10) storing, in performing profiling welding on a workpiece plate, a position (x n-1 , y n-1 , z n-1 ) of said center of weaving at the generation of said preceding locus correction signal and a position (x n-1 ', y n-1 ', z n-1 ') of said center of weaving at the completion of said preceding locus correction, (11) projecting a line l 1 connecting a position (x n , y n , z n ) of said center of weaving at the moment of generation of the instant locus correction signal and said position (x n-1 , y n-1 , z n-1 ) of said center of weaving at the generation of said preceding locus correction signal, on a plane defined by a previously taught line L 1 within the instant profiling welding step and a line L 2 taught in the next succeeding step, and determining the angle ξ between said projected line and said line L 1 , (12) determining the angle η between the projection of a line l 2 connecting a position (x n ', y n ', z n ') of said center of weaving immediately after the completion of said locus correction and said position (x n-1 ', y n-1 ', z n-1 ') of said center of weaving at the completion of said preceding locus correction, on said plane defined by said lines L 1 and L 2 , and said line L 1 , (13) computing the mean value of said angles ξ and η before and after every locus correction during said welding operation, (14) storing computed results sequentially in a FIFO memory circuit, (15) recognizing a normal weld starting position, clearing the contents of said FIFO memory circuit when said mean value memorized in said FIFO memory circuit becomes smaller than a value of a function of the welding speed, weaving frequency and the amount of locus correction, and completing such a searching operation, (16) determining the position of said welding torch at said completion of said searching operation as said actual weld starting position, and (17) setting said welding speed, said welding voltage, said amount of locus correction and said weaving frequency to normal values, namely previously taught values, and continuing profiling welding on the basis of a previously taught path.