Sensing and welding arrangements for manipulator welding...

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327/107, 88/46

B23K 11/08 (2006.01) B23K 9/127 (2006.01) B25J 19/02 (2006.01) G05B 19/425 (2006.01)

Patent

CA 1193332

IMPROVED SENSING AND WELDING ARRANGEMENTS FOR MANIPULATOR WELDING APPARATUS Abstract Manipulator apparatus with weld seam tracking capabilities is provided with a sensing hand attached to the manipulator arm. The manipulator apparatus traverses a taught welding path on a workpiece to determine any deviation between the workpiece path and the taught path. The sensing hand includes a projection unit for projecting an optical slit pattern onto the workpiece. The sensing hand also includes a path sensing unit including an objective lens and a fiber optic cable for receiving by reflection from the workpiece the projected optical slit pattern. The fiber optic cable is connected to a camera located remotely from the sensing hand. The image received by the camera is utilize by the manipulator apparatus during a sensing step to determine the deviation between the path traversed by the manipulator during sensing and the actual workpiece path. The devi- ation is then utilized to calculate the workpiece path datafor welding the desired weld seam with a welding hand attached to the manipulator arm. In a first arrangement, a welding hand and sensing hand are provided at a hand holder station at the work station adjacent the workpiece. The manipulator auto- matically and selectively exchanges the hands at the hand holder station in accordance with the particular programmed operation to be performed. In another arrangement, the manipulator arm carries a welding hand and a sensing hand. The sensing hand is movably controlled by the manipulator apparatus between an operative sensing position and an inoperative welding position.

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