(19)
(11)EP 0 512 583 A3

(12)EUROPEAN PATENT APPLICATION

(88)Date of publication A3:
16.03.1994 Bulletin 1994/11

(43)Date of publication A2:
11.11.1992 Bulletin 1992/46

(21)Application number: 92112964.9

(22)Date of filing:  17.07.1986
(51)International Patent Classification (IPC)5G05B 19/42, B23K 9/02
(84)Designated Contracting States:
FR IT

(30)Priority: 20.03.1986 JP 62561/86
31.03.1986 JP 74610/86
25.04.1986 JP 63394/86 U

(62)Application number of the earlier application in accordance with Art. 76 EPC:
86904386.9 / 0266424

(71)Applicants:
  • SHIN MEIWA INDUSTRY CO., LTD.
    Nishinomiya-shi Hyogo 662 (JP)
  • HITACHI CONSTRUCTION MACHINERY CO., LTD.
    Chiyoda-ku Tokyo 100 (JP)

(72)Inventors:
  • Fukuoda, Hisahiro c/o Shin Meiwa Industry Co.Ltd.
    Takarazuka-shi, Hyogo 665 (JP)
  • Takano, Yutaka c/o Hitachi Construction Machinery
    Tsuchiura-shi, Ibaragi 300 (JP)
  • Kamiyama, Yoichi c/o Hitachi Construction
    machi Tsuchiura-shi, Ibaragi 300 (JP)

(74)Representative: WILHELMS, KILIAN & PARTNER Patentanwälte 
Eduard-Schmid-Strasse 2
81541 München
81541 München (DE)


(56)References cited: : 
  
     
    Remarks:
    This application was filed on 29 - 07 - 1992 as a divisional application to the application mentioned under INID code 60.
     


    (54)Method of and apparatus for controlling a welding robot


    (57) A welding torch (4) of a welding robot (RO) is supported by arms (2, 3), to be movable under control by a computer (7). When first and second welded mumbers (W1, W2) are woven while oscillating an welding torch (4) along a weld line (WL), data on change in an interspace between the first and second welded members (W1, W2) along direction of the weld line (WL) are previously stored in advance to welding. In the welding, the computer 7 performs arithmetic to obtain command values on the basis of the said data to output the same to the welding robot (RO), so that the welding robot (RO) performs weaving in accordance with the command values while varying a weaving amplitude of the welding torch (4) in response to the change in said interspace.





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