The instruction manner in the weld arc coordinate in the arc welding robot and as the instruction mannered null weld arc of the offset value in multilayer

摘要

PROBLEM TO BE SOLVED: To provide a teaching method of welding line coordinates in a welding robot capable of improving efficiency in teaching work of offset values in welding lines after second pass when performing the teaching method of the offset values in multi-layer build up welding.;SOLUTION: The teaching method of welding line coordinates in the welding robot includes the steps of: setting ground welding line coordinates by defining a line connected by each teaching point in a first pass of multi-layer build up welding as a welding line to move a welding torch to a teaching point position of an m-th point in the first pass based on the ground welding line coordinates; moving the welding torch to an offset scheduled position corresponding to each pass after a second pass from the teaching point position of the m-th point in the first pass based on the ground welding line coordinates; and teaching the position of the welding torch every time when the welding torch moves to the offset scheduled position in each pass to record the difference between the position or posture of the first pass as an offset value based on the ground welding line coordinates in each pass after the second pass.;COPYRIGHT: (C)2009,JPO&INPIT