| 摘要 |
A method and a device for numeric control of a gripping and welding head (1) in a placement and welding robot, where the gripping and welding head (1) can be moved in a triple-axes coordinate system and can be rotated around the vertical axis of the coordinate system for positioning, stapling and welding of a work piece (9) on an essentially flat plate (10) by means of a numerically controlled drive mechanism. With the head (1), the work piece (9) is gripped, positioned and tack welded in a numerically fixed position on the plate (10) after which a reference value part (2), with dependency on numerical control, is set in a new, numerically determined, coordinate position for the work piece at which time a real value (3) for the head (1) conjointly detects the real position of the work piece (9). The detected difference is utilized for adjusting the position of the work piece to primarily agree with the theoretical position after which tack welding is performed. During tack welding, any deviation in the placement of the work piece (9) from its theoretical position determined by the numerical geometry description is recorded. This deviation will then modify the numerical geometry description to comply with actual performance, after which final welding is implemented via numeric control in accordance with the modified numeric description.<IMAGE> |
