Possible improvement to the prefabrication process :A manual welder can compensate for rust, grease
etc. or many of the dimensional tolerances which normally occur during the prefabrication process (tacking, cutting etc.). In most cases, the robots searching
procedures also compensate for the deviations regarding the location of the welding joints. But too great tolerances might cause crashes when the robot executes intermediate
steps (air movement, approaching the start position of a welding seam) and can cause mechanical damage to workpiece and robot. Also, on the same work pieces of a
production run, the gaps at the same joints
should be within a consistent dimension. If not, welding these joints with the same parameters, cause over- or underfilling of the seam. There is sensory equipment (laser sensors) available which can establish the correct dimensions of the gap sizes. However, these sensors mean
an additional investment and more search routines. These additional search routines will consequently increase the cycle
time of the robot program.back
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