Multi-layer welding device

Abstract

When the motion of weld pass is determined in a multi-layer welding robot, the weld pass only can be selected by successively reaching to a teaching point, thereby greatly wasting a lot of time. The multi-layer welding device, based on a pre-teaching basic welding line (Ws) including a welding beginning point (P2-1) and a welding ending point (P3-1) and a displacement amount set relative to the basic welding line (Ws), generates all of N layers of welding passes, and performs the welding by moving a welding torch (T) based on the generated welding passes. When any one of the all of N layers of welding passes is selected by a demonstrator as a motion is determined, a robot control device calculates moving target positions (P2-2, P2-3 etc.) on the welding passes. Next, when moving signals are input, the welding torch (T) moves toward the calculated moving target positions. Because the welding passes to be determined to move can be selected immediately without the need for rewinding, the determination time of position gesture can be greatly reduced.

Description

technical field [0001] The present invention relates to a multilayer welding device that generates a desired number of welding passes by reflecting a predetermined offset on a taught basic welding line. Background technique [0002] Multi-layer welding refers to a welding construction method that repeatedly welds the joints of thick plate workpieces through multiple welding passes, and fills the grooves with weld passes, thereby performing the welding construction method. When the multilayer welding is realized by a teaching reproduction type robot, it is necessary to teach the teaching points to the robot, but the amount of work required to teach the teaching points for all the welding passes is enormous. Therefore, as shown in, for example, Patent Document 1, only the basic welding line of the first pass is taught, and after the second pass, a predetermined offset is added to each teaching point of the first pass. Automatically generate multiple weld passes, reducing teac...

AI Technical Summary

Problems solved by technology

[0016] In the above-mentioned prior art, if the robot R can only reach each teaching point sequentially, and checks the operation while rewinding (or reciprocating) the teaching point with the number of all welding passes, it will take a lot of time. The problem

In particular, depending on the thickness of the plate, the shape of the groove, the number of passes may reach 100 passes, so in this case, it will take a lot of time to rewind (or reciprocate) all the welding passes

Images