| 摘要 |
<p>PROBLEM TO BE SOLVED: To solve such a problem that location of the end point of each weld line in the second and subsequent weld lines cannot be identified when inclining an end face being a plane made by each bead end with respect to a weld line direction in a multilayer filling welding in which plural weld lines do not exist on the same plane.SOLUTION: A calculation device 2 calculating the end point of a weld line of a welding robot in a multilayer filling welding comprises: the end face inclination information indicating the inclination of the end face in the multilayer filling welding with respect to a weld line direction; a storage part 21 in which the teaching point of a first weld line in the multilayer filling welding is stored; an end face calculation part 24 calculating the position of the end face using the end face inclination information and the teaching point of the first weld line; and an end point calculation part 25 calculating the end point of each of the second and subsequent weld lines which is the intersection point of the end face in which the end face calculation part 24 calculates the position thereof, and the line meeting each of the second and subsequent weld lines to accumulate into the storage part 21. Accordingly, the location of the end point of each of the second and subsequent weld lines can be identified even when plural weld lines do not exist on the same plane.</p> |
