| 摘要 |
PURPOSE:To make the locus of the end of a torch linear and let the torch accomplish welding evenly along the weld line by inputting the position data of the torch and the angle data of the wrist part. CONSTITUTION:An input applies the coordinate values x, y, z of the position of a torch end 6a and the data of the rotating angles phi, theta of a wrist 4 to a read coordinate converting unit. This unit performs not only one-to-one conversion of the coordinates of the arm end 3a in each position and the coordinates of the torch end 6a but also the coordinate conversion of the arm end 3a under the conditions of not moving the torch end 6a. The outputs thereof are applied via memory device to a processing unit, where these are divided to linear motion components and rotating motion components. Then, the coordinates X, Y, Z of the arm end 3a when parallel moved with the angles phi, theta being fixed, the data indicating the fluctuations of the arm end 3a when rotated with the torch end 6a being fixed and the angles phi, theta are outputted. The components of these X, Y, Z directions are mutually added by a positioning device, whereby the locus of the torch end 6a is made linear and welding accomplished. |
