Welding Torch Teaching Handle Layout for Precise Robot Guidance
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Solution Overview
Problem
When a welding robot with a teaching handle is used, the teaching handle is typically located away from the welding torch, making it difficult to teach welding behaviors similar to those of a human welder and to achieve accurate welding.
Innovation Solution
The welding robot is designed with a teaching handle mounted to the welding torch such that the handle's distal end faces the torch's bending portion, allowing the operator to apply external forces to teach the robot's behavior by moving the torch distal end. The handle is positioned to form an obtuse angle with the torch body, enhancing the teaching process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the teaching handle is mounted to the end of the robot body away from the welding torch, then the robot structure is simpler, but it becomes difficult to teach welding behaviors similar to human welders and achieve accurate welding
Solution Approach 1:
The teaching handle is merged with the welding torch assembly by mounting it to the torch body rather than the robot end effector. This integration allows the operator to directly control the torch position and orientation during teaching, achieving both operational simplicity and welding precision simultaneously.
Solution Approach 2:
The teaching handle serves as an intermediary device between the operator and the robot control system. By positioning it at the torch assembly, it provides direct mechanical feedback and control authority at the point of action, enabling accurate teaching of welding behaviors while maintaining simple robot architecture.
2Device complexity
If the teaching handle is positioned away from the torch body, then the handle design is simpler, but the operator cannot precisely and smoothly move the torch distal end during teaching
Solution Approach 1:
The teaching handle is combined with the torch assembly, allowing the operator to directly manipulate the torch distal end position during teaching operations. This merging provides precise and smooth control while keeping the handle design relatively simple.
3Device complexity
If the teaching handle is mounted away from the bending portion, then the torch body layout is simpler, but it becomes difficult to teach behaviors similar to human welders
Solution Approach 1:
The teaching handle is positioned at a specific location on the torch body that faces the bending portion, creating a localized control point that mimics human welding posture and motion. This local positioning provides the adaptability to teach natural welding behaviors while maintaining overall torch body layout simplicity.
Data Source
AI summary
A teaching handle is mounted to a welding torch such that a handle distal end is disposed at a position facing a bending portion. The teaching handle extends in a direction away from a second portion of a torch body from the bending portion to a torch distal end, with a first torch virtual line along a first portion of the torch body from a torch proximal end to the bending portion interposed therebetween. A handle mounting angle is an obtuse angle, which is formed between a second torch virtual line along the second portion of the torch body from the bending portion to the torch distal end and a first handle virtual line along a direction in which the teaching handle extends from the handle distal end.