| 摘要 |
PURPOSE:To omit teaching of the 2nd and succeeding layers by operating the welding torch position for the 2nd and succeeding layers in accordance with the information on the welding torch position for the 1st layer and the information in the welding conditions necessary for multi-layer build-up and controlling the welding torch in accordance therewith. CONSTITUTION:Only the teaching point for the 1st layer is taught to a welding robot to have the information on the control of a torch position stored therein. On the other hand, the welding conditions necessary for multi-layer build-up such as the kind of a groove, leg length, position, etc. are stored in a CNC device and further the shift quantity of the welding torch position for the 2nd and succeeding layers is operated. The information on the coordinates for controlling the torch for the 1st layer and the shift quantity of the position are added and the data on the torch position for the 2nd layer is calculated upon ending of welding of the 1st layer. The welding robot is controlled in accordance with the result thereof to determine the position of the torch. Multi-layer welding is thereafter repeated in the same way. The time for teaching is thus considerably reduced and the operator's burden is decreased. |
