| 摘要 |
PURPOSE:To automate the following multi-layered welding by only inputting the shift width, by storing a circular arclike operation locus of the first layer in a robot, and deriving operation loci of the second and subsequent layers from the inputted shift width. CONSTITUTION:A circular arclike operation locus R1 of the first layer is stored in a teaching and regnerating type welding robot containing an arithmetic controlling means. Subsequently, shift width DELTAS corresponding to weld beads 7 of the first and subsequent layers is given as a parameter to this robot from the outside. Also, in accordance with data of the first layer, a direction vector 'T of a welding torch 8 and a direction vector 'pr facing the center C of this circular arc from on the locus R1 are derived, and also the inner product of these two vectors is claculated by which shift directions of the second and subsequent layers are decided. In this way, the second layer bead 7 is formed, and multi- layered welding is automated by only inputting the shift width DELTAS. |
