Abstract: The present invention includes an apparatus and method by which the three-dimensional form or configuration of a distorted workpiece, such as a turbine component, is reverse engineered, and then this reverse engineering capability is combined with welding equipment, preferably a laser powder fusion welder, all integrally carried within a single machine, whereby a tool path unique to each workpiece is created and the welding machine accurately replaces lost material on the workpiece. The present invention consists of a series of operations or steps, preferably carried out by a single machine.

Abstract: A tooling fixture is disclosed that includes a weldment having spaced apart lateral members interconnected by opposing side members. Spaced apart trunnions support the side members for rotation about an axis, in one example. A locating pin is arranged between each side member and trunnions to enable quick and accurate location of the tooling fixture relative to the trunnions. The pins are at a right angle relative to the axis, in one example. Tooling plates are removable secured to each of the lateral members. Adjustable brackets are secured to the tooling plates and support tooling that cooperates with a workpiece supported on the tooling fixture. In one example, jack blocks, shims, squaring plates and stops are used to permit precise adjustment and repeatable relocation of the tooling in three directions.

Abstract: A method is provided for teaching a transfer robot used in conjunction with a workpiece processing system including a pedestal assembly, a light sensor having an optical input fixedly coupled to the pedestal assembly, a transfer robot having an end effector, and a processing chamber containing the pedestal assembly and light sensor. The method includes the steps of producing light within the processing chamber, moving the end effector over the optical input such that amount of light reaching the light sensor varies in relation to the position of the end effector, and recording the signal gain as the end effector is moved over the optical input. The method also includes the step of establishing from the recorded signal gain a desired position of the end effector relative to the pedestal assembly.

Abstract: A method for welding two metal parts, in which: the metal parts are positioned against each other in a welding position, the parts being respectively in surface contact along their welding surfaces, at least one of the parts having at least one extra-thick zone along its welding surface; TIG welding is carried out on the welding surfaces (v) of the metal parts by means of a TIG welding torch, a method in which a penetrating welding flux is applied locally on said extra-thick zone of the metal part prior to the TIG welding step.

Abstract: A welding device includes a welding torch, a memory, a power supply, an input section, a selector, and a controller. The welding torch includes a welding tip having a feeder for supplying electric power to a welding wire. The memory stores a plurality of welding conditions in which a feeder-work-piece to be welded distance is associated with at least one a length of the wire supplied per unit time, a weight of the wire supplied per unit time, and a set electric current. The power supply supplies electric power between the wire and the work-piece. The input section receives an input of a set value of a feeder-work-piece distance. The selector selects one of the welding conditions stored in the memory based on the set value. The controller controls the power supply based on the welding condition selected by the selector.

Abstract: A robotic welding cell includes a frame, a robot arm connected to the frame, a welding gun affixed to the robot arm, a welding table connected to the welding frame, and means to move the welding table in or about at least two mutually perpendicular axes. A welding table assembly for use in a robot welding cell is also disclosed.

Abstract: An industrial robot has a base for installation, a first arm, a second arm, a third arm, a wire feeder, a welding torch, and a torch cable. The first arm rotates with respect to the base. The second arm pivots with respect to the first arm. The third arm pivots with respect to the second arm. The torch cable is coupled to the wire feeder and feeds a welding wire to a welding torch. The wire feeder is provided to the second arm and is rotatable around a rotation axis.

Abstract: A method and apparatus for providing welding-type power is disclosed and includes a USB host and/or non-volatile memory, for example, an SD card and a memory stick. The controller preferably includes a receptacle for receiving a USB flash drive according to one embodiment. The controller can include one or more of a data monitoring module, a data logging module, a data logging module for providing diagnostic data, a code update module, an IP address logging module, disposed to provide data to the USB flash drive or non-volatile memory, according to various embodiments.

Abstract: A robot control unit for controlling a tandem arc welding system, which has a welding torch, a robot for weaving the welding torch, a leading electrode power supply, and a trailing electrode power supply, includes a leading electrode detection section and a trailing electrode detection section for detecting quantity of welding state during weaving; a leading electrode processing section for calculating amounts of electrical change; a leading electrode correction section for calculating correction amounts for correcting displacement in horizontal and vertical directions from a weld line of a weaving center trajectory based on the amounts of electrical change; a trailing electrode processing section for calculating an amount of electrical change; and a trailing electrode correction section for calculating a correction amount for correcting displacement in a rotational direction from the weld line of the weaving center trajectory based on the amount of electrical change.

Abstract: A method for estimating a plurality of geometrical parameters defining the size of a weld gun that has particular application for automatically selecting a weld gun for a welding operation. The method includes iteratively estimating a plurality of geometric parameters based on part section curves corresponding to a direction of approach of the weld gun to weld point of the plurality of weld points. Thereafter, a set of valid weld gun sizes are calculated based on the estimated plurality of geometric parameters. Similarly all the valid weld gun sizes are calculated corresponding to each of the weld gun approach direction. Further, each set of the valid gun sizes are estimated for each of the weld point for the welding operation. Finally, a weld gun for performing the welding operation is selected based on the set of weld gun sizes corresponding to the welding operation.

Abstract: A robot welding controller and a robot welding control. It comprises a robot having a welding torch at its tip, a robot controller, a wire feeder, and a welding electric power. It performs welding by moving the welding torch on the basis of a commanded welding line. A contact detecting section detects contact of the wire and the base material. A feed direction switching section switches feed directions of the wire. An arc generation detecting section detects that an arc is generated between the wire and the base material. A waveform control section controls electric power waveforms of plural shapes applied between the wire and the base material. A welding sequence section controls the operations of the contact detecting section, the feed direction switching section, the arc generation detecting section and the waveform control section in block.

Abstract: A method and a device produce a fleece of metallic fibers in a layer in which the metallic fibers are welded to one another to form the fleece. A welding process is repeatedly carried out with regard to a portion or section of the fleece. Such metallic fiber fleeces are used, in particular, for exhaust gas treatment units in the automobile industry.

Abstract: The cable control apparatus includes a body disposed above the arm and a fixing ring having a through-hole fixed in the conveying hole; a conveying ring; a cable tube for integrally housing a plurality of control cables and including one end connected to the conveying ring with being inserted into the conveying hole of the body and the other end connected to the head of the industrial robot through the through-hole of the fixing ring; and a elastic member externally inserted to the cable tube and including one end connected to the fixing ring and the other end connected to the conveying ring for returning the cable tube to an original position through elastic force after the conveying ring slides the cable tube in order to sustain the cable tube between the arm and head not to be loosen.

Abstract: To start consumable electrode arc welding, an initial current is supplied to a welding wire after causing the welding wire to contact a base material and retracting the welding wire from the base material. In this manner, an initial arc is generated. The welding wire is retracted continuously for an initial arc lift period Ti with the initial arc maintained. Afterwards, the initial arc is switched to a steady arc. A predetermined weld pool formation period Tp is set after the initial arc lift period Ti. In the weld pool formation period, a weld pool formation current greater than the initial current is supplied with the initial arc maintained and the welding wire is caused to proceed and fed to the base material. In the weld pool formation period, a weld pool is formed by the initial arc without allowing the welding wire to release droplets and contact the base material. By this method, the initial arc is switched to the steady arc state after the weld pool has been formed.

Abstract: In a plate assembling step, a gap (5) is formed between a leading end portion (3A) of a groove (3) provided on an upright plate (2) and a lower plate (1). An arc is generated from a welding wire (7) toward a back surface (3C) side of the groove (3) through the gap (5), to form a satisfactory penetration bead (8) on the back surface (3C) side of the groove (3). Next, the welding wire (7), the lower plate (1), the groove (3) of the upright plate (2) and the penetration bead (8) are fused to form a first-layer welding bead (9), thereby firmly joining the lower plate (1) and the groove (3) of the upright plate (2). The first and second welding steps are performed continuously after performing the plate assembling step, to enhance workability at the time of welding the lower plate (1) and the upright plate (2).

Abstract: A method for joining together at least two sheets with a tool controlled by an industrial robot and including a first arm and a second arm that are mutually movable in relation to each other. An actual position of the sheets is detected by bringing one of the arms to sense the actual position of the sheets. The distance between an ideal position and the actual position is calculated and the actual position of the tool is moved the calculated distance, whereafter the sheets are joined together.

Abstract: A welding device includes a welding torch, a memory, a power supply, an input section, a selector, and a controller. The welding torch includes a welding tip having a feeder for supplying electric power to a welding wire. The memory stores a plurality of welding conditions in which a feeder-work-piece to be welded distance is associated with at least one a length of the wire supplied per unit time, a weight of the wire supplied per unit time, and a set electric current. The power supply supplies electric power between the wire and the work-piece. The input section receives an input of a set value of a feeder-work-piece distance. The selector selects one of the welding conditions stored in the memory based on the set value. The controller controls the power supply based on the welding condition selected by the selector.

Abstract: An industrial robot, having an end-effector supporting mechanism for holding an end-effector and accommodating an imaging device of a visual sensor, which is free from the interference with the periphery and capable of taking an image of the working position. A container-shaped adaptor of the end-effector supporting mechanism is attached to a distal end of a wrist flange provided in a robot wrist supported by a robot arm. The adaptor has a first attachment section provided with a first attachment surface to be attached to the wrist flange, and a second attachment section provided with a second attachment surface disposed generally parallel to a wrist flange surface at a position apart from the first attachment section by a predetermined distance along a rotary center axis of the wrist flange. On the second attachment surface, a tool holding member of the end-effector supporting mechanism for holding the working tool is attached.

Abstract: A robot cell comprises a support having a top surface within a plane and configured to rotate about a central axis substantially normal to the plane and a plurality of welding tables including a first welding table and a second welding table. The first welding table is operably connected to the support and configured to rotate about a first axis substantially parallel to the plane and about a second axis substantially normal to the plane. The first welding table is configured such that the second axis remains substantially normal to the plane while the first welding table rotates about the first axis. The second welding table is operably connected to the support and configured to rotate about a third axis substantially parallel to the plane and about a fourth axis substantially normal to the plane. The second welding table is configured such that the fourth axis remains substantially' normal to the plane while the second welding table rotates about the third axis.

Abstract: A tandem arc welding device in which the welding conditions and a program describing contents of operation are treated as independent to each other. It handles the welding conditions altogether simply as those parameters for the fore-going welding and those parameters for the hind-going welding. By so doing, a program can be produced without taking which of the two welders will become fore-going into consideration. Furthermore, a program and welding conditions thus provided offer superior re-usability and reproducibility to the tandem arc welding.

Abstract: An apparatus for forming a metal body of a predetermined shape by the deposition of a weld material. The apparatus comprises a support base on which the body can be formed, a means for rotating the base about an axis, a welding torch for depositing weld material to form the body, the body, as it is formed, being supported on the base as it rotates. The welding torch is operable for linear movement, relative to the base, in at least two perpendicular directions in a plane. One of those directions is parallel to the axis of rotation of the base. There is also provided a template support located remotely from the welding torch. Guiding means for guiding the linear movement of the welding torch relative to the base are also provided, the guiding means comprising means for mechanically following a shape of a template when secured on the template support. In operation as the base rotates, weld material is deposited to form a three-dimensional body having a profile similar in shape to that of the template.

Abstract: A method for controlling a plurality of manipulators, such as multiaxial or multiaxle industrial robots. At least one manipulator functions as the reference manipulator and is moved in a plurality of preset poses within its working area at which internal position values are determined as first desired poses. For each desired pose, subsequently a first actual pose of the reference manipulator is determined by an external measuring system. Subsequently at least one further manipulator moves up to specific poses of the reference manipulator as second desired poses and for each of these poses an actual pose of the further manipulator is determined by an external measuring system. On the basis of actual-desired deviations between the thus determined desired and actual poses of the two manipulators, subsequently a parameter model for the further manipulator is established and with it it is possible to compensate simultaneously both its own errors and those of the reference manipulator.

Abstract: An apparatus and/or process for applying a weld overlay to a nozzle or piping spool of complex configuration is disclosed. In an exemplary embodiment, the welding apparatus comprises a mounting assembly having a plurality of magnetic foot pads, a tension support rod attached at one end to one of the magnetic foot pads, an upper attachment pad at the opposite end of the rod, and a bottom attachment pad attached to at least one other magnetic foot pad; a travel guide, the travel guide attached to the upper attachment pad at one end and the bottom attachment pad at the other end; and a head assembly attached to the travel guide, the head assembly having: i) a track ring assembly having an inner ring and an outer ring, ii.) at least two opposed weld heads attached to the inner track ring, iii.) at least one movable wire feed drive mechanism on the track ring, and iv.

Abstract: There is provided a system and method for quick identification and selection of torch processes based on a profile scheme. In an illustrated embodiment, a profile selectable via a one-click process may define operational parameters for one or more torch processes. Multiple profiles may be identified by corresponding labels that are visible on the face of the system. Furthermore, in an illustrated embodiment, the profiles and associated torch processes may be automatically stored in the system upon user configuration of the operational parameters. For example, in one embodiment, the user may select a profile and configure a welding process. Upon changing an operational parameter, it may be automatically saved to the selected profile and process. Reselection of that profile may recall the last used process and its associated parameters. The operational parameters of other configured processes may then be retrieved by selecting the desired process within the selected profile.

Abstract: A computer-implemented solid modeling system that determines whether a gap exists between components based on internal loops of the components, and then generates a fillet or groove weld bead that fills the gap between the components. The gap is a component hole gap between components where one or more internal loops of a first component fully or partially encircles a second component, and the valid internal loops identify whether the second component passes through the first component through the component hole gap.

Abstract: An arc welding apparatus includes a single-electrode type welding torch, a single wire feeder supplied with a plurality of welding wires and having a plurality of wire drivers for driving the plurality of welding wires, and a welding controller for controlling operations of the welding torch and the wire feeder. The welding controller selectively operates any one of the plurality of wire drivers to feed only a single welding wire to the welding torch and performs the arc welding. An arc welding robot system includes the arc welding apparatus, a robot mechanical part for holding the welding torch of the arc welding apparatus, and a robot controller for controlling operation of the robot mechanical part.

Abstract: In the visual inspection of welded members, there is a limit to welding quality control. Even in the welding quality control using general-purpose measuring instruments, sufficient data cannot be collected, and increased cost entails. An arc welding robot of the invention is an arc welding robot which operates with a predetermined operation pattern by an operation program taught in advance, and welds a workpiece under predetermined welding conditions set in advance for each predetermined period in the operation pattern, includes: storage means for storing as history information at least one of a program name, a welding portion, and measurement data at the time of execution of the operation program. Therefore, it is possible to collect data necessary for welding quality control at low cost and with high accuracy without adding any special measuring instrument.

Abstract: An apparatus and method are providing for automated servicing of MIG welding torches and components thereof including the nozzle, the retaining head assembly, and the contact tip. The invention is directed to removing and cleaning a nozzle from a first end proximal to the torch, cleaning a retaining head assembly of deposited welding wire, or removing a used contact tip to be replaced with a replacement contact tip obtained from a magazine or combinations thereof. The invention can feature severing a welding wire or applying an anti-spatter solution to the torch or its components. The invention is also directed a plurality of maintenance operations being performed as to a stationary torch in an automated environment.

Abstract: A modular welding system for performing quick, easy and high quality welds. The modular welding system comprises a basic component system and a modular fixture component system. The basic component system provides the basic components which are needed to perform a quality weld efficiently. The modular fixture component system interfaces with the basic component system and provides a particular welding fixture assembly that performs a particular type of weld. More particularly, a stiffener type modular fixture component system and a butt/tee type modular fixture system are described. However, any other particular fixture type system may be integrated with the basic component system of the present invention.

Abstract: A method and a device for providing feedback on weaving parameters in connection with programming an industrial robot provided with a tool to perform a weaving movement. The device includes a simulation unit receiving the weaving parameters and on basis thereof performing a simulation of the weaving movement with a mathematical model of the weaving movements, a graphical unit receiving the calculated trace and on basis thereof producing a graphical representation of the weaving movement, and a display unit displaying the graphical representation of the weaving movement.

Abstract: The present invention includes an apparatus and method by which the three-dimensional form or configuration of a distorted workpiece, such as a turbine component, is reverse engineered, and then this reverse engineering capability is combined with welding equipment, preferably a laser powder fusion welder, all integrally carried within a single machine, whereby a tool path unique to each workpiece is created and the welding machine accurately replaces lost material on the workpiece. The present invention consists of a series of operations or steps, preferably carried out by a single machine.

Abstract: A layout for shop window construction includes a dormant frame and an opening frame of a closed tubular section defining an internal volume, the opening or dormant frames appearing in the form of an assembly of the profiles defining the closed tubular section, the profiles being joined edge against edge by their ends e1 e2. Each profile includes at least an opening element and a closing element and a fixation device for between the profiles, each opening element including at least a web and two wings defining at least two edges known as longitudinal, extending from one end to another of the profiles and connected wholly in part to the web and/or to said the wings. The fixation device includes an internal welding completing the volume, connecting the profiles at the level of their junction, the welding being envisaged before closing of volume by the closing element. The invention also relates to a window frame, glazed door and/or similar, composed of such a frame.

Abstract: Accommodating a welding control cable for connecting a welding power supply and a robot main body and a wire feeder sensor cable connected to a wire feeder encoder in a robot main body driving power cable connecting the robot main body and the robot controller of an arc welding robot. This configuration saves the number of cables to be connected thus improving the installation workability in system deployment on site as well as reducing the overall cost.

Abstract: A robot main body is provided with a protection cover. The robot main body can be swung by a rotary pipe shaft holding a wire feed device and including a hollow portion and is structured such that a connecting cable and/or a gas hose are guided through the hollow portion of the rotary pipe shaft and are then guided through the forearm portion and base portion thereof. The protection cover covers the portions of the connecting cable and/or gas hose ranging from the connecting portion of the wire feed device and connecting cable and/or gas hose to the rotary pipe shaft.

Abstract: The invention provides an arc welding robot capable of collecting and displaying waveform data in a welding operation without using an external device. The arc welding robot comprises: a manipulator 101 including a welding torch 124 mounted thereon; a control unit 102 for operating the manipulator 101 in a given operation pattern in accordance with a previously taught operation program, the control unit 102 including therein a welding control part 104 for welding a member to be welded 125 under a given welding condition, and a RAM 106 for recording waveform data relating to at least one of a welding current instruction value, a welding current output value, a welding voltage instruction value, a welding voltage output value, a welding speed, a wire feed speed, the number of times of short circuits and a wire feed motor current during a given period; and, display means for graphically displaying the waveform data recorded in the RAM 106.

Abstract: A welding apparatus capable of effecting welding completion processing which is reliable and free of wasteful time, by transmitting the completion of wire fusion prevention processing to a welding machine 11, by transmitting the detected result to a controller 17 upon completion of the subsequent wire fusion detection processing, and by thus proceeding with processing while effecting the confirmation of completion of respective processing between the welding machine 11 and the controller 17.

Abstract: Methods and systems are provided for dual fillet or T-joint welding, in which two electrodes are directed to opposite sides of a joint between two workpieces and the electrodes are energized with DC pulse or AC welding waveforms at a controlled waveform phase angle. The systems include a synchronizing controller to synchronize the welding waveforms, and a workpoint allocation system provides one or more workpoint values to the welding machines to provide synergic control of the dual fillet welding according to a user selected system workpoint value or parameter. The systems and methods further provide for synchronized workpoint value modulation for the opposite sides of the dual fillet weld.

Abstract: An invention is provided which contains a pressure isolation chamber coupled to a shielding gas system such that some of the shielding gas is directed to the isolation chamber and as the pressure in the shielding gas system decreases the pressure within the chamber decreases. The chamber is coupled to a pressure sensor or switch, which senses the pressure in the pressure isolation chamber. The pressure isolation chamber is blocked by a normally-closed valve such that if the system pressure increases, the pressure within the pressure isolation chamber does not increase accordingly, until the normally-closed valve is opened to allow the pressure in the pressure isolation chamber to equalize with the system pressure. The pressure switch is coupled to a control system such that when the pressure senses that the pressure in the pressure isolation chamber drops below a threshold the control system and/or the pressure switch ceases the welding operation so that a defective weld can not be created.

Abstract: In a method for controlling the movement of a manipulator associated with an interpretation of a given point sequence of poses (positions and orientations) by splines, the motion components are separately parameterized. Thus, marked, subsequent changes to the orientation of robot axes have no undesired effects on the Cartesian movement path of the robot. Suitable algorithms are provided for orientation control by using quaternions or Euler angles.

Abstract: In accordance with one exemplary embodiment, there is provided a welding torch that includes features facilitating aligned assembly of various components of the welding torch with respect to one another. For example, the welding torch includes a nipple that carries a pin member extending from both an inner peripheral surface and an outer peripheral of a sleeve of the nipple. This pin engages with a slot on a coupling member and a slot on a neck assembly, thereby facilitating proper alignment of the neck assembly, coupling member, and nipple with respect to one another. Moreover, the engagement between the pin member and the slots block pivotal displacement of neck assembly, coupling member, and neck assembly with respect to one another. Advantageously, the use of a single pin member for both slots presents a more judicious construction, leading to reduced manufacturing costs, for instance.

Abstract: The invention includes means for, when welding a crater in a welding termination portion, moving a torch in a direction allowing the whole of the torch to part apart from a molten pool and, therefore, the invention can prevent all welding wires from coming into contact with the molten pool. Also, the invention can check not only the crater-welded welding wire but also all of the remaining welding wires for deposition and, if there is detected a deposited wire, can energize the deposition detected wire again to thereby be able to remove the deposition of the wire.

Abstract: An umbilical-member managing system for an industrial robot. The embodiment of the umbilical-member managing system provided in an arc welding robot serves to lay and manage, along a manipulator, a torch cable connected to a welding torch attached to the manipulator. This umbilical-member managing system includes a support unit provided on the manipulator movably toward and away from the welding torch to support the torch cable; and a biasing mechanism continually biasing the support unit on the manipulator in a direction away from the welding torch. In this arrangement, the support unit may be composed of a wire feeding device for feeding a welding wire in the torch cable toward the welding torch. A guide unit is provided on the manipulator, which can guide the wire feeding device in a direction toward and away from the welding torch.

Abstract: A portable welding cell unit includes a frame structure in which first and second welding stations are disposed. A robot arm is also provided within the frame. The robot arm can pivot between the first and second welding stations such that a work piece can be welded in the first welding station while a work piece is being loaded into or unloaded from the second welding station.

Abstract: A cable arrangement for a robot arm is provided, which includes a rotation arm and a line member such as a power cable. The rotation arm has a front end and a base end, the front end being provided with a swing shaft, the base end being provided with a rotational shaft rotatable about a longitudinal axis. The line member extends from the base end toward the front end of the arm. The rotational shaft includes a line offset member formed with at least one through-hole for passing the line member. The through-hole as a whole is offset from the axis of the rotational shaft.

Abstract: A welding head employs a carriage assembly for guiding the welding head along a track or guide. A torch assembly, mounted on the carriage assembly, is configurable for multiple welding processes. The torch assembly includes a torch block and a GTA filler wire guide mounted together on a mounting plate, whereby the GTA filler wire guide is placed in general proximity of a welding torch mounted on the torch block. The torch block accommodates the mounting of either of a GMA torch and a GTA torch. Additionally, the torch block accommodates placement of a GMA adapter sleeve within the torch block to feed a filler wire through the GMA torch. A system control unit provides manual, semi-automated, or automated control of welding system resources including a welding power supply, a supply of one or more shielding gasses, and a fluid coolant supply.

Abstract: A first wrist element is rotatably provided on the front end of a forearm base of a robot. A second wrist element is rotatably provided on the first wrist element. A welding torch is rotatably supported via a transmission mechanism. A wire feeder is disposed at a position other than a forearm. A torch cable is fitted to a slider with an intermediate fitting section. A slider can be pulled backward by returning a wire connected to a tension generator using a pulley. In place of the fitting section, an intermediate guiding section can be provided.

Abstract: A gap welding process (10) for manipulating a movable robotic welder (30) for making a weld between two or more substantially immovable work pieces (51) using a higher level programming language (20). The gap welding process (10) performs a data transfer routine which takes spreadsheet data (18) representing expected variables, runs a data conversion program (20) that creates weld program data including point position, user frames (34 and 36), weld schedule, seam tracking schedule, weave schedule, azimuth orientation, travel speed, wait time, weave type and number of digital output control data. The gap welding process (10) also performs a gap-sensing routine (28) for actual weld gap measuring by using the robotic welder (30) to touch specific locations on pieces forming the gap or fixturing to produce weld variance data.

Abstract: A first wrist element is provided at a distal end of a front arm of an arc welding robot rotatably about a first axial line, a second wrist element is provided on the first wrist element rotatably about a second axial line, and a welding torch is supported on the second wrist element about a third axial line. A slide mechanism which can reciprocate in a direction approximately parallel to the first axial line is provided at a proper position from an upper portion of the front arm to an upper portion of the first wrist element and a wire feeding apparatus is mounted on the slide mechanism. By sliding the position of the wire feeding apparatus in response to the attitude of the welding torch, an extending state of the torch cable can be maintained properly.

Abstract: A welded structure is formed by arranging multiple pieces on a three-dimensional support base to provide an assembly in accordance with the structure to be welded and making a picture map of the assembly by photographing the assembly. Weld points are identified from the picture map and welding parameters are determined from the picture map. Control data specifying the weld points and welding parameters are supplied to welding equipment that is operable in a three-dimensional X-Y-Z coordinate system. The welding equipment is moved in the X-Y plane on the basis of the picture map and said control data. The welding equipment is moved along the Z-axis on the basis of Z-axis position data that are acquired by repeatedly measuring the Z-axis position of the support base.

Abstract: First, an operator sequentially teaches the start point A, the end point F and junction points B, C, D, E on the welding path by moving the torch head by jog feed without paying attention to the torch orientation. Next, a reference plane to define the orientation of the torch is specified, and an inclination angle and a forward angle representing the torch orientation be inputted into a robot controller. On the basis of these inputted angle data and the taught data, a basic welding orientation is automatically calculated. Further auxiliary points are set around the junction points B through E each forming corner parts connecting straight lines; tool vectors which may give a smooth torch orientation change through the corner parts are automatically calculated for the auxiliary points and the junction points; and on the basis of the results, a welding program is produced.