Boiler consisting multipass welding methods and structures to be welded by the welding method according to a welding robot

摘要

PURPOSE: To perform the position sensing of each branch pipe and a main pipe accurately in a short time, in a structure such as a boiler to which plural branch pipes of the same size are attached with a specific pitch in the longitudi nal direction of the main pipe, and also to prevent an excessive heat input. ;CONSTITUTION: A position sensing is performed for the original. point of a welding robot for only one of the plurality (N) of branch pipes 13 and the master pipe 12; and position data for N pieces of the branch pipes 13 is prepared by adding a prescribed branch pipe pitch to the initial position data. The position sensing is also performed by using a welding tip, which is at the specific position of the robot main body 1, as a probe for touch sensing; in addition, multilayer welding is not performed continuously from the initial layer to the last layer, but dispersedly for a few passes each on the N pieces of the branch pipes successively.;COPYRIGHT: (C)1995,JPO