| 摘要 |
PROBLEM TO BE SOLVED: To solve the problem of requiring time very much, since a welding path cannot be selected only by reaching a teaching point in order when confirming operation of the welding path in a multilayer welding robot.SOLUTION: A multilayer welding device executes welding by moving a welding torch T according to the generated welding path, by generating the welding path of the whole N layer based on a pre-taught basic welding line Ws including a welding starting point P2-1 and a welding finish point P3-1 and an offset amount set to the basic welding line Ws. When confirming the operation, when any one is selected from among the welding paths of the whole N layer by a teaching pendant, a robot control device calculates a movement target position (such as P2-2 and P2-3) on the welding path. Next, when a movement signal is inputted, the welding torch T is moved to the calculated movement target position. Since an operation-confirmation-required welding path can be instantly selected without revolving, a positional attitude confirmation time can be largely shortened. |
