| 摘要 |
PURPOSE:To perform a welding job just with teaching of the start and end points of a welding torch by securing such an action based on a specific relational formula to evade the attitude of the torch in case the interference objects exist at both ends of said start and end points against a line to be welded. CONSTITUTION:The tip coordinate value of a welding torch 4 is shown as Pt(xt, yt, zt) via an AC 3-axis manipulator, the coordinate value of a welded head 3 is shown as Pm(xm, ym, zm) via the same manipulator, and the effective torch length from the head 3 through the torch head 4 is defined as Rt respectively. Furthermore the angle formed between the torch 4 and a Z axis is defined as (a) with the angle formed between the torch 4 and an X axis defined as C. Under such conditions, the torch 4 is made follow the linear axis shift positions X, Y and Z between the start and end points of an object to be welded together with changes of the bend shift value A and the rotary shift value C based on the equations I. Thus it is possible to follow the welding line in evading the interference areas at both ends of the line just by teaching the start and end points of the welding line.
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