| 摘要 |
PURPOSE:To weld simultaneously the whole section of a welding projected line without cutting an arc, even if the welding projected line is a non-closed circuit, by advancing a welding torch along the welding projected line, returning it temporarily to a welding start projected point from an arc generated point, and thereafter, advancing it again. CONSTITUTION:A welding torch 2000 is attached to a wrist of a robot body 1000, and its position and attitude are controlled by a control board. The torch 2000 is positioned at a welding start projected point S on a work 4000, and advances from said point to a welding end projected point E along a welding projected line l in which the point S is a start point. On the way of this advance, an arc start is superposed and executed, and in case an arc has been generated, it is set as an arc start point AS, and extending from said point to the point S, the torch is advanced in reverse in a state that the arc remains maintained. Subsequently, in the state that the arc remains maintained, the torch is advanced again in the forward direction along the line l from the point S, and welding is executed.
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