CONTROLLING METHOD OF BLASTING ROBOT

摘要

PURPOSE:To control a blasting robot so as to secure the necessary finishing face by amending the feeding speed of the cut depth of an electrode on each completion of one pass of a blasting route and by resetting the set length of the electrode. CONSTITUTION:The electrode 9 of the tip part of a blasting head 8 performs a blasting work in the direction X by starting from the instructed point P1 with the feeding of a fixed quantity so as to keep the set cut depth quantity (t). The blasting is started again in the direction X' when it comes to a P3 after movement by one pitch from the condition of P2 of a one pass completion. The motion thereof a repeated. Resetting is made so that the projecting length H' of the electrode rod 9 in the position of P2 can be equalized to the projecting length H of the electrode 9 in the position of P1. The difference DELTAl between both projecting lengths H' and H and the time T when an arc is generated while one pass from P1 upto P2 are measured. The DELTAl/T is calculated and based on the value thereof the cut depth feeding speed of the electrode rod 9 on the blasting route of the following pass is increased or decreased. The resetting of the projecting length of the electrode 9 and the amendment of the cut depth feeding speed are performed each one pass completion.