Circumferential Welding Torch Rotation for Continuous Robot Welding
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Solution Overview
Problem
Vertical articulated robots face challenges in performing continuous circumferential welding due to excessive motion angle ranges and wound welding cables, leading to suspended welding and potential defects when trying to move a welding torch in a circle along a circumferential weld line.
Innovation Solution
The method involves adjusting the rotation angle of the welding torch so that the wrist rotation center of the robot body is always closer to the robot's installation position than the torch, allowing the torch to move in a circular trajectory, thereby preventing suspension and maintaining a reasonable posture during circumferential welding.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the vertical articulated robot moves the welding torch along a circumferential weld line, then continuous welding can be performed, but the robot axis moves beyond the motion angle range at front and rear points
Solution Approach 1:
Instead of moving the robot body to achieve the welding torch trajectory, the patent inverts the approach by rotating the welding torch itself around the workpiece center. The torch rotation angle is calculated based on the angular position around the circumferential path, allowing the torch to maintain the correct orientation while the robot body remains within its motion angle limits.
Solution Approach 2:
The patent changes the parameter control approach by introducing a torch rotation angle parameter that is independently calculated and applied. This allows the system to achieve the required welding torch posture through parameter transformation rather than direct robot axis movement, keeping the robot within its operational range.
2Ease of operation
If the welding is suspended during circumferential welding, then the robot can reposition, but welding defects occur at the position of suspension
Solution Approach 1:
The patent ensures continuous welding action by calculating and applying the torch rotation angle dynamically throughout the entire circumferential path. This allows the welding process to continue without suspension, maintaining weld quality while the robot smoothly follows the circumferential trajectory within its motion capabilities.
3Productivity
If the welding torch is moved in a circle along the circumferential shape, then continuous welding is achieved, but the welding cable becomes wound
Solution Approach 1:
The patent inverts the motion approach by rotating the welding torch around the workpiece rather than moving the robot body in a large circular path. This reduced-radius rotation minimizes cable extension and winding, enabling continuous welding while simplifying cable management.
Data Source
AI summary
A circumferential welding method is a method for circumferentially welding at least one of a V-shaped groove and an I-shaped groove by, using a vertical articulated robot, moving a welding torch with the welding torch directed downward. The circumferential welding is performed by moving the welding torch so as to draw a circular trajectory while adjusting a rotation angle of the welding torch in such a manner that a rotation center of a wrist of a robot main body of the vertical articulated robot is located at all times on a side where the robot main body is installed relative to the welding torch.