WELDING ROBOT DEVICE FOR FILLET WELDING

摘要

PURPOSE:To execute an automatic boxing welding correctly on the start and finish ends and to perform a labor saving and cost reduction by correcting the position for the weld line of the torch position given by the main axis by an auxiliary axis system. CONSTITUTION:The torch position correction motion by a wire sensing method is started when the position control by the main axis onto the start point coordinate by an off-line teaching is completed. In No.1 torch 41A, U axis slider 31A is descended and after descending the wire tip upto the position abutting to an I shaped beam the motion of ascending by the specified vertical distance is performed. The motion of retreating by the specified distance is then performed after moving the wire tip upto the position of its contact with the No.1 reinforcing member by moving V axis slider 34A toward No.1 cross reinforcing material. This specified distance is the optimum vertical distance and optimum horizontal distance to be secured for the weld line by the wire tip. Similar correction control is carried out on No.2 torch 41B.