Patent ID: 6118093
Filing Date: 2000-09-12
Classification: B23K

Abstract:
A method for welding a cylindrical object by controlling a welding robot having an object supporter for supporting the cylindrical welding object for rotation about a center axis of the object, and a welding torch for welding the object, the method comprising the steps of:welding the object under predetermined initial welding conditions while rotating the object relative to the welding torch along a predetermined welding line;determining a changing point as a basis for changing the initial welding conditions;determining a changing value of the initial welding conditions at the changing point; andchanging the initial welding conditions with the changing value at the changing point, while the welding continues;wherein the initial welding conditions include a rotational speed of the welding object relative to the welding torch;wherein the determination of the changing point is carried out by detecting when a temperature of a portion of the object being welded reaches a predetermined level; andwherein the rotational speed of the welding object is linearly increased beginning at a time when the detected temperature of the portion of the welding object reaches the changing point to a time when the detected temperature of the portion of the welding object reaches an equilibrium state.