发明名称 |
Method of multi-layer welding |
摘要 |
A method of multi-layer welding in which the welding operation is performed according to a path of welding defined by interpolating a plurality of instructed points by a suitable line, the method being characterized by storing in a memory device the coordinates actually passed by a welding torch in the welding operation of the first layer at the instructed points and determining the welding path of the second and succeeding layers by adding a predetermined amount of shift to the actual detected coordinates stored in the memory device at the instructed points and interpolating the shifted coordinates by a suitable line. According to another aspect of the present invention, therefor provided is a method for controlling the locus of operation in the second and succeeding layers in a multi-layer welding operation by a teach/playback type robot including an arithmetic control mechanism the method being characterized by teaching an arcuate locus of operation of the first layer; utilizing as a parameter a shift width corresponding to the arcuate bead to be formed in the second and succeeding layers through an external input member; determining the direction of shift of the second and succeeding layers by calculating the inner product of the directional vector of a welding torch according to the teaching data of the first layer and a directional vector from a point on the arcuate locus of operation to the center of the arc; and calculating the locus of operation of the second or a succeeding layer from the shift direction and width by the arithmetic control mechanism.
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申请公布号 |
US4508953(A) |
申请公布日期 |
1985.04.02 |
申请号 |
US19830487687 |
申请日期 |
1983.04.22 |
申请人 |
KABUSHIKI KAISHA KOBE SEIKO SHO |
发明人 |
MURAKAMI, TSUDOI;NASU, SHOJI;TATSUMI, KAZUAKI;NAGAHAMA, YASUHIDE |
分类号 |
B23K9/02;(IPC1-7):B23K9/12 |
主分类号 |
B23K9/02 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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