| 摘要 |
<p>PURPOSE: To reduce the burden of work required for teaching a welding torch attitude and to stabilize the accuracy of welding. CONSTITUTION: The positions of a start point A of a welding path, end point F and connecting points B, C, D and E are successively taught by moving a jog feeding torch top end 2 without paying any attention on the torch attitude (1). A reference plane for specifying the A attitude of a torch 1 is designated and a target angle and an advance angle expressing the torch attitude are inputted to a robot controller (2). Based on an inputted angle parameter and the teaching data of (1), the basic welding attitude is automatically calculated. Auxiliary points around the respective connecting points B-E forming a corner part are set (3), concerning the auxiliary points and the connecting points, a tool vector is automatically calculated so as to apply the smooth torch attitude change through the corner part and based on that tool vector, a welding program is generated. Among the factors to decide the torch attitude, the factor on the rotation around a torch axis is reflected with the state of (1) at the time of teaching.</p> |
