发明授权
- 专利标题: Multilayer welding method
- 专利标题(中): 多层焊接方法
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申请号: US795278申请日: 1985-10-15
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公开(公告)号: US4742207A公开(公告)日: 1988-05-03
- 发明人: Seiichiro Nakashima , Kenichi Toyoda , Shinsuke Sakakibara , Tatsuo Karakama
- 申请人: Seiichiro Nakashima , Kenichi Toyoda , Shinsuke Sakakibara , Tatsuo Karakama
- 申请人地址: JPX Minamitsuru
- 专利权人: Fanuc Ltd.
- 当前专利权人: Fanuc Ltd.
- 当前专利权人地址: JPX Minamitsuru
- 优先权: JPX59-029887 19840220
- 主分类号: B23K9/127
- IPC分类号: B23K9/127 ; B23K9/02 ; B23K9/12 ; B25J9/18 ; B25J9/22 ; G05B19/408 ; G05B19/42
摘要:
A scaling method in an automatic welding machine equipped with a robot control unit for controlling a robot grasping a welding torch. The robot control unit obtains subsequent taught positions on the basis of taught position data indicative of primary welding points (P1, . . . Pn)) of a welding workpiece. The scaling method includes computing the direction of a normal vector (N) of the surface of the workpiece (WK) based on position data (Q1, Q2, Q3) indicative of any three points on the surface of the workpiece (WK), and obtaining, by correction, scaling points corresponding to the primary welding points on the basis of the direction of the normal vector N.
公开/授权文献
- US6019934A Hollow extrusion using internal coolant 公开/授权日:2000-02-01
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