| 摘要 |
PROBLEM TO BE SOLVED: To provide a simple and inexpensive multi-articulated tandem welding robot. SOLUTION: The multi-articulated welding robot with two welding torches 3, 4 attached has the welding torches 3, 4 attached to a wrist axis 2 at the tip end of the articulated robot, and has a rocking function rocking each welding torch in a groove width direction by composite movement of all robot axes. With the torch angle of each welding torch held constant, each welding torch is rocked in the groove width direction with the same phase and the same amplitude. The wrist axis is turned in accordance with a root gap or a front layer bead width, by which an inter-electrode distance in the groove width direction relative to a welding direction is changed to a prescribed value. Thus, tandem welding is performed by controlling the rocking width as well as the inter-electrode distance in the groove width direction. COPYRIGHT: (C)2011,JPO&INPIT
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