| 摘要 |
PURPOSE:To avoid the welding abnormality by forming automatically a point to back by the distance where the welding abnormality hardly takes place in the direction of a weld line vector at the time of restarting the welding and starting the welding from that point. CONSTITUTION:When the welding is stopped in a moment at a point aT on the way from a welding starting point a1 to a finishing point a2, a robot calculates automatically the point aS to back by the distance DELTAl in the direction of the weld line vector and the robot is moved till the point aS and restarted. Since the data on the point a1, the point aT and the distance DELTAl exist in the inside of the robot, the coordinates of the point aS can be calculated. At the time of restarting the welding, since the robot is moved automatically by the necessary distance in the back direction and started, the welding abnormality such as the running-out of an arc, etc., at the time of restarting is avoided.
|
