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Robot control device and robot control method

A control device and robot technology, applied in the fields of seam welding seam welding equipment, robot control, and robot control device, can solve the problems such as the separation of the rotating electrode, and achieve the effect of reducing the burden

Active Publication Date: 2017-06-20
YASKAWA DENKI KK +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, when the workpiece is three-dimensional, the rotating electrode is easily detached from the workpiece

Method used

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  • Robot control device and robot control method
  • Robot control device and robot control method
  • Robot control device and robot control method

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Embodiment Construction

[0039] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[0040] Such as figure 1 As shown, the seam welding facility 10 is composed of an articulated robot 20 and a welding device 30 attached to the robot 20 .

[0041] The articulated robot 20 is, for example, a six-axis robot composed of a lower arm 23, an upper arm 26, and a wrist 29, wherein the lower arm 23 utilizes a first motor M1 (although the motor is built-in, but for convenience of description , the motor is shown outside. Other motors are also the same.) Rotate around the first axis 21 corresponding to the axis perpendicular to the ground, and swing around the second axis 22 corresponding to the horizontal axis by the second motor M2, so The upper arm part 26 is connected to the front end of the lower arm part 23 via the third shaft 24 and swings around the third shaft 24 by the third motor M3, and swings around the fourth shaft orthogonal to the third s...

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Abstract

The invention aims to settle a technical problem of supplying a robot control device of a seam welding apparatus which is not affected by surface shape and integral shape of a workpiece, and a robot control method. For settling the technical problem, the robot control device includes an error acquiring unit, a convertor and a robot control unit. The error acquiring unit acquires error between a measured or estimated position of an end effector mounted on a robot including a plurality of drive sections and a target position of the end effector. The convertor converts the error to a correction angle for a predetermined revolving angle of the end effector. The robot control unit controls the robot so that the end effector revolves based on the correction angle.

Description

[0001] This application is a divisional application with the application number 201380065272.3 and the title of the invention (sealing welding equipment, seaming welding method, robot control device and robot control method). technical field [0002] The invention relates to a seam welding equipment, a seam welding method, a robot control device and a robot control method suitable for seam welding, especially for body seam seam welding. Background technique [0003] A seam welding method using a rotating electrode is known. That is, the pair of rotating electrodes pinches the two steel plates in the state of overlapping. Power is supplied to the rotating electrode on one side and the rotating electrode on the other side acts as a ground electrode. A deposited metal (nugget) is formed between the two steel sheets. By relatively moving the rotating electrodes, the deposited metal is continuous in a linear form. [0004] Since seam welding is continuous welding, it is suitab...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K11/06B23K11/24B23K11/25B23K11/30B23K11/31B23K11/36B25J9/16B23K101/04B23K103/04
CPCB23K11/067B23K11/24B23K11/252B23K11/3036B23K11/314B23K11/36B25J9/1697B23K11/253B23K2101/18B23K2103/04B23K2101/006G05B2219/37423G05B2219/40613G05B2219/45104Y10S901/42B23K2101/04
Inventor 河合泰宏山足和彦小林晴彦金子贡栗本典子中仓雅美园田哲平
Owner YASKAWA DENKI KK
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