Automatic welding controller for saddle type piping weld zone
专利汇可以提供Automatic welding controller for saddle type piping weld zone专利检索，专利查询，专利分析的服务。并且PURPOSE: To eliminate the need for a sensor for the welding profiling and to reduce the size of automatic welding equipment by installing the welding equipment on a branch pipe and afterward, teaching points of a base pipe and the branch pipe on a saddle type weld line and the diameters of the base pipe and branch pipe.
CONSTITUTION: The radius R of the base pipe, the radius (r) of the branch pipe, a sensing point
j SPi and a torch angle initial value α are inputted to an input teaching device 300. A controller 400 is divided into a coordinate transformation calculation part 40, a target value calculation part 41 and a locus control part 42. The coordinate transformation calculation part 40 determines a matrix of the base pipe → the robot coordinate transformation. The target value calculation part 41 transforms each point on a base pipe coordinate system saddle type curve into the position of a joint coordinate system to carry out the locus control. The locus control part 42 outputs a target value calculated with the target value calculation part 41 to servo controllers 500, 501, 502 and 503 in a prescribed period of time. The servo controllers 500W503 consist of a servo amplifier 50, a servo motor 51 and a potentiometer 52 for detecting the position and also controls the positions of respective axes of θ
j , R
j , Z
j and β so as to attain the output target value from the locus control part 42.
COPYRIGHT: (C)1988,JPO&Japio，下面是Automatic welding controller for saddle type piping weld zone专利的具体信息内容。
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