JPH0632860B2 - Welding robot equipment - Google Patents

Description

TECHNICAL FIELD The present invention relates to a welding robot apparatus, and more particularly to a welding robot apparatus capable of continuously and automatically welding a work including a mountain break corner to the outside.

"Prior art and problems" When performing horizontal fillet welding with a conventional welding robot apparatus, arc tracing control is usually performed to correct the deviation between the taught welding line and the actual welding line of the workpiece. .

However, when the work has a mountain corner, it is difficult to correct the deviation by the arc copying control.

The reason for this is that wall surfaces are required on both sides of the welding line in order to carry out arc tracing control favorably, but at the mountain break corner, one side (standing plate side) wall surface suddenly disappears, so arc tracing control is preferable. Because it will not be possible to do so.

Therefore, when the work contains a mountain break corner, the welding line up to a little before the mountain break corner and the welding line a little behind the mountain break corner are welded by a welding robot device, and the mountain break corner is manually operated. Are being welded in.

However, interposing such a manual welding process reduces the significance of using the welding robot apparatus by half.

"Object of the Invention" An object of the present invention is to provide a welding robot apparatus capable of continuously performing automatic welding to the outer circumference even in the case of a work including a mountain corner.

"Structure of the Invention" The welding robot apparatus of the present invention has a first welding line from a starting point to a mountain break point, welding conditions related to the first welding line, and a first welding line from the mountain break point to an end point. No. 2 welding line and condition setting means for setting welding conditions related to the second welding line, and second starting point setting for setting a second starting point located in the vicinity of the mountain break point and on the end point side of the mountain break point. First welding operation control means for advancing a welding operation in the first welding line direction under the welding conditions related to the first welding line while performing weaving and detecting the welding current or voltage, the welding current or voltage Corner detecting means for detecting a predetermined change in the workpiece to detect the corner break of the workpiece, corner detecting control means for moving the welding torch to the second start point after detecting the corner break, and moving to the second start point. After the second A second welding work control means for advancing the welding work in the welding line direction under the welding conditions relating to the second welding line is provided, and it is possible to continuously and automatically weld a work including a mountain break corner to the outside. It is a feature of the above.

Further, the welding robot apparatus of the present invention includes a first welding line from the start point to the mountain break point, welding conditions related to the first welding line, and second welding line from the mountain break point to the end point. Condition setting means for setting welding conditions relating to a line and its second welding line, second starting point setting means for setting a second starting point located near the mountain break point and on the end point side of the mountain break point, and weaving And a welding current or voltage is detected and the welding work is advanced in the first welding line direction under the welding conditions relating to the first welding line, and a predetermined welding current or voltage is set. A mountain break corner detecting means for detecting a mountain break corner of a work by detecting a change, after the mountain break corner is detected, weaving is stopped, and a welding current smaller than a welding current under welding conditions relating to the first welding line and Welding torch angle, Cornering control for smoothly and continuously changing from the welding torch angle under the welding condition for the first welding line to the welding torch angle under the welding condition for the second welding line, and moving the welding torch to the second starting point. Means and a second welding operation control means for advancing the welding operation in the second welding line direction under the welding conditions relating to the second welding line after moving to the second starting point. It is a feature of the construction that the work including the above can be continuously and automatically welded to the outside.

Further, the welding robot apparatus of the present invention includes a first welding line from the start point to the mountain break point, welding conditions related to the first welding line, and second welding line from the mountain break point to the end point. Condition setting means for setting welding conditions relating to a line and its second welding line, second start point setting means for setting a second start point located near the mountain break point and closer to the end point than the mountain break point, Proximity point setting means for setting a proximate point located near the mountain break point and closer to the starting point than the mountain break point, up to the proximate point under the welding condition related to the first welding line in the first welding line direction First welding work control means for advancing welding work, near the advancing welding work in the first welding line direction while the welding current is reduced and weaving is performed and the welding current or voltage is detected after reaching the proximity point. Section welding work control means, the welding current or voltage A mountain break corner detecting means for detecting a predetermined change and detecting a mountain break corner of the work, and after the mountain break corner is detected, weaving is stopped and a welding current smaller than the welding current under the welding condition relating to the first welding line. And the welding torch angle is smoothly and continuously changed from the welding torch angle under the welding conditions related to the first welding line to the welding torch angle under the welding conditions related to the second welding line. A cornering control means for moving the welding torch, and a second welding work control means for advancing the welding work in the second welding line direction under the welding conditions related to the second welding line after moving to the second starting point. The present invention is characterized in that the work including the mountain corners can be continuously and automatically welded to the outside.

[Examples] Hereinafter, the present invention will be described in more detail based on the examples shown in the drawings. Here, FIG. 1 is a block diagram showing the construction of a welding robot apparatus according to an embodiment of the present invention, FIG. 2 is a perspective view of an example of a work including a mountain break corner, and FIG. 3 is an operation of the apparatus shown in FIG. FIG. 4 is a schematic view of the movement locus of the welding torch and the welding current waveform in the apparatus shown in FIG. 1, FIG. 5 is a view corresponding to FIG. 1 of another embodiment of the present invention, and FIG.
FIG. 7 is an equivalent view of FIG. 3 in the apparatus shown in FIG. 5, FIG. 7 is an equivalent view of FIG. 4 in the apparatus shown in FIG. 5, and FIG. 8 is an equivalent view of FIG. 4 in still another embodiment of the present invention. Is. The present invention is not limited to the embodiments shown in the drawings.

In the welding robot apparatus 1 shown in FIG.
Supplies a drive signal to the robot body 4 via the servo circuit 3 so as to perform a movement in the welding line direction and a weaving movement perpendicular to the movement direction. Further, the work W is welded by electrically controlling the welding torch 6 via the welding machine 5. Further, the welding current is detected via the arc sensor 7. Furthermore, the operator's instruction is read via the control panel 8.

The control device 2 is configured with a computer as a center, and includes a condition setting unit 10, a second start point setting unit 12, a mountain break corner detection unit 13, a first welding work control unit 14, a cornering control unit 16 and a second. It has a welding work control unit 17.

Next, referring to FIGS. 3 and 4, the welding robot apparatus 1 will be described in the order of its operation. For convenience of explanation, in the work W as shown in FIG. 2, the starting point P ₁
→ Consider the work of welding in the order of the mountain break point P ₂ → the end point P ₃ .

First, the operator inputs a start point P ₁ , a mountain break point P ₂ , and an end point P ₃ via the control panel 8. As shown in FIG.
These points are the taught start point TP ₁ , mountain break point TP ₂ and end point.
It is set in the condition setting unit 10 as TP ₃ .

As a result, the control device 2 recognizes the area between the starting point TP ₁ and the mountain break point TP ₂ as the first welding line L _1, and the area between the mountain breaking point TP ₂ and the end point TP ₃ is the second welding line L _2. Recognize that.

Further, the operator inputs the welding conditions for the first welding line L ₁ and the welding conditions for the second welding line L ₂ .

As a specific example of this welding condition, for example, a welding current of 25
0A, welding speed 24 cm / min, weaving width 10 mm, weaving frequency 2 Hz, etc. However, the present invention is not limited to this, and for example, a welding current of 70 to 500 A and a welding speed of 1 to
It can be appropriately selected within the range of 200 cm / min and the weaving frequency of 0.5 to 3 Hz.

After the input operation, when the operator gives an instruction to start the welding, the control device 2 starts the welding operation according to the procedure shown in FIG.

First, the second start point setting unit 12 of the control device 2 sets the second start point P ₃ ′ (S1). Specifically, for example, the second
The second starting point P ₃ ′ is set as a point on the welding line L ₂ and at a distance equal to the leg length from the mountain break point TP ₂ . However, the present invention is not limited to this, and can be appropriately selected from the range of, for example, 0.5 to 1.5 (the leg length).

The first welding operation control unit 14 of the next control device 2, toward the outward bending point TP ₂ from the start point TP ₁ based on the welding condition according to the first weld line L _1, that is, the first weld line L ₁ In the direction of
Welding work is started (S2).

At this time, in order to correct the deviation between the taught welding line L ₁ and the actual welding line of the work W (broken line in FIG. 4),
Arc copying control is performed. Therefore, as shown in FIG. 4, in the vicinity of the starting point TP ₁ , the welding torch 6 starts from the true welding line.
Although it is slightly off, it will soon follow the true weld line. Such arc copying control is a conventionally known technique and is disclosed in, for example, Japanese Patent Laid-Open Nos. 54-124850, 55-22488 and 58-53375.

The mountain break corner detection unit 13 of the control device 2 detects a change in the welding current during the welding operation in the first welding line L ₁ direction in step S2. The welding currents have almost the same peak current values at the right end position and the left end position of the weaving when the arc tracing control is properly performed, but if the welding torch 6 passes through the mountain break corner C of the work W, the weaving Since the wall surface does not correspond at the right end position, the minimum current value is detected at the right end position. Therefore, when the extreme decrease of the current value at the right end position of the weaving is detected twice, it is determined that the mountain fold corner C of the work is detected. The reason for making such a determination after detecting twice is to prevent an erroneous determination and to minimize the overshoot amount.

It should be noted that such a determination can also be made by detecting a voltage change.

When the mountain folding corner C is detected (S3), the cornering control unit 16 of the control device 2, immediately stops the weaving, to move the welding torch 6 to a second start point P _{3 'previously} set (S4).

When it reaches the second starting point P ₃ ′ (S5), the second welding line L
Welding is started under the welding conditions according to No. ₃ (S6).

At this time, by performing the arc tracing control, even if there is a deviation between the taught welding line L ₂ and the actual welding line of the work W, it is gradually corrected, as described above.

As described above, according to the welding robot apparatus 1, it will be understood that it is possible to preferably perform continuous automatic welding on the outer circumference of a work including a mountain corner without increasing the burden of teaching. In other words, since the teaching is simple in the welding robot apparatus 1, it is possible to perform welding on a work having a bent corner without skill.

Next, a welding robot apparatus 1'shown in FIG. 5 is another embodiment of the present invention.

The difference from the device 1 of the embodiment shown in FIG.
In other respects, the configuration is similar.

In the condition setting unit 10 'of the control device 2', the welding condition relating to the starting point TP ₁ , the mountain break point TP ₂ , the ending point TP ₃ and the first welding line L ₁ and the welding condition relating to the second welding line L ₂ are set. Is set. This setting may be taught by the operator as described above, or may be set in advance.

The near point setting unit 11 ′ sets the near point P ₁ ′ on the first welding line L ₁ and at a distance of, for example, 9 mm from the mountain break point TP ₂ (S11 in FIG. 6). However, the present invention is not limited to this, and may be set to be larger than the predicted maximum value of the deviation between the taught welding line and the actual welding line of the work. Usually 20
mm or less.

The first welding operation control unit 14 'starts the welding operation at the welding condition according to the direction the first weld line L ₁ first weld line L ₁ from the starting point TP ₁ (S12). At this time, arc copying control is performed, and the deviation from the actual work W is corrected.

Therefore, the welding torch 6 advances the welding work by following the welding line of the actual work W, but when the welding torch 6 arrives at the neighboring corresponding point P ₁ ″ corresponding to the neighboring point P ₁ ′ (S13), the neighboring portion welding work control unit. 15 'sets the welding current to, for example, 230 A. This is for limiting the current value because excessive heat concentration is likely to occur at the corner C of the work W. Usually, the corresponding point P ₁ ″ in the vicinity. Since the welding current up to is large, the welding current may be decreased by, for example, about 20 A after the corresponding point P ₁ ″ in the vicinity.
It can be appropriately selected from the range of 0A to 250A.

The weaving width is set to, for example, 3 mm, and the weaving frequency is set to, for example, 4 Hz. This is to improve the responsiveness of detecting the mountain break corner C. However,
However, the weaving width is 2 to 4 mm, and the weaving frequency is 2 to 6 Hz.

Further, the arc copying control is stopped to maintain the current traveling direction. This _"are shifted are well corrected up to the vicinity corresponding point P _1" near the corresponding point P ₁ that is subsequently not required so much correction, and outward bending welding torch 6 corner C is a little too far arc tracking this time This is because it is preferable to avoid this because the weld bead bends and becomes unaesthetic when the control is activated.

Furthermore, the welding torch moving speed is reduced in proportion to the reduction rate of the welding current in order to prevent excessive welding bead thinning by reducing the welding current.

In this way, the welding operation after the vicinity corresponding point P ₁ ″ is advanced by the vicinity welding work control means 15 ′ (S 14), while the ridge break corner detection unit 13 ′ detects the change in the welding current during this time. When the extreme decrease of the welding current at the right end position of the weaving is detected twice, the mountain break corner detecting unit 13 'determines that the mountain break corner C is detected (S1).
5).

When detecting the described bending corner C (S15), a second start point setting unit 12 'and the second start point _{P 3'} to calculate the (S16). That is, the second start point setting unit 12 'obtains the right end position where the current drop at the right end of the weaving first occurs and the previous left end position of the weaving from the data of the position detector of the robot body 4, and the intermediate between them. ¹ for mountain break corner corresponding point P
_Set to ₂ . And this mountain break corner corresponding point P ₂ and end point
A second starting point P ₃ ′ is set on the line connecting TP ₃ and at a distance of, for example, ½ of the leg length from the mountain corner corresponding point P ₂ . However, the present invention is not limited to this, and can be appropriately selected from the range of, for example, 0.5 to 1.5 (the leg length).

The cornering control unit 16 'stops the weaving,
For example, the welding current is set to 200 A, the moving speed of the welding torch 6 is set to 48 cm / min, and the angle (posture) of the welding torch 6 is set.
The welding torch 6 is moved to the second starting point P ₃ ′ while smoothly changing the angle (posture) under the welding conditions related to the second welding line L ₂ (S17). However, the invention is not limited to this, and for example, a welding current of 100 to 250 A and a torch moving speed of 3 to
It can be appropriately selected from the range of 200 cm / min.

Moving speed of such welding current or welding torch, outward bending avoiding heat concentration on the corner C, also the weld bead is set to avoid becoming excessive, weld lines typically of a first weld line L ₁ Smaller welding current and larger torch movement speed. In this sense, it is preferable that the time from the detection of the corner C to reach the second starting point P ₃ ′ is 5 seconds or less.

When the welding torch 6 reaches the second starting point P ₃ ′ (S1
8), from the second start point P ₃ ′ toward the end point TP ₃ the second point
The welding operation is carried out under the welding conditions relating to the welding line L ₂ (S1)
9). At this time, the deviation between the taught welding line L ₂ and the actual work W is corrected by the arc copying control.

As can be understood from the above description, according to the welding robot apparatus 1 ', continuous automatic welding can be preferably performed on the outer circumference of the work including the mountain corner.

In addition, by adjusting the welding conditions such as decreasing the welding current after reaching the near point, heat concentration at the mountain break corners can be prevented, the responsiveness of mountain corner detection can be improved, and the weld beads with excellent appearance can be obtained. It can be formed.

Furthermore, when moving to the second start point after detecting the mountain break corner, the welding current is set to a small value and the welding torch is moved at a relatively high moving speed, so that heat concentration at the mountain break corner is prevented, and the vertical plate does not melt too much. Can be suppressed.

Further, if arc copying control is performed in the vicinity, erroneous copying may occur due to melting of the mountain break corner, but since arc copying control is stopped, such erroneous copying is prevented.

FIG. 8 illustrates another embodiment of the present invention.

That is, in the welding robot apparatus according to FIG. 8, the first welding line L ₁ ′ for the actual work W is obtained from the neighboring corresponding point P ₁ ″ and the mountain corner corresponding point P _2, and the teaching is made as such. No. 1 welding line L ₁ is calculated, the parallel displacement amount and rotational displacement amount of the shift are calculated, and the taught second welding line L ₂ is moved in parallel and rotationally to correct the welding line L _2. ′ Is obtained, and a second starting point P ₃ ′ is set on the corrected welding line L ₂ ′,
In addition, the welding work is performed along the modified welding line L ₂ ′ under the welding conditions related to the second welding line L ₂ .

Further, in the present embodiment, the rotational movement is included in the calculation of the corrected welding line L ₂ ′ and the second starting point P ₃ ′, but only parallel movement may be performed.

According to this, welding with almost no deviation can be performed.

Note that the mountain break corner detection according to the present invention cannot be applied after the second pass in multi-layer welding, but
By using the information obtained by applying the second pass, it is possible to perform welding that is faithful to the actual work even after the second pass.

[Advantage of the Invention] According to the present invention, the first welding line from the starting point to the mountain break point, the welding condition relating to the first welding line, and the second welding from the mountain break point to the end point. Condition setting means for setting welding conditions relating to a line and its second welding line, second starting point setting means for setting a second starting point located near the mountain break point and on the end point side of the mountain break point, and weaving And a welding current or voltage is detected and the welding operation is performed in the first welding line direction under the welding conditions according to the first welding line, and the welding operation control means determines a predetermined welding current or voltage. A mountain break corner detecting means for detecting a mountain break corner of a work by detecting a change, and the second corner after the mountain break corner is detected.
A cornering control means for moving a welding torch to a start point, and a second welding process under the welding conditions related to the second weld line in the second weld line direction after moving to the second start point
There is provided a welding robot apparatus characterized by including the welding work control means, and even when the taught mountain break point and the actual work mountain break corner are misaligned,
Since the welding torch can be suitably cornered by detecting an actual mountain break corner, a work including the mountain break corner can be continuously and automatically welded to the outside.

Further, according to the present invention, as the cornering control means of the welding robot apparatus, after the mountain break corner is detected, the weaving is stopped, the welding current is smaller than the welding current under the welding condition relating to the first welding line, and the welding is performed. The torch angle is a welding current smaller than the welding current under the welding conditions related to the welding line in FIG. 1 and the welding torch angle is changed from the welding torch angle under the welding conditions related to the first welding line to the second welding line. A welding robot having a cornering control means for smoothly and continuously changing the welding torch angle under such welding conditions to the welding torch angle under the welding conditions for the second welding line and moving the welding torch to the second starting point. A device is provided, which controls the heat concentration at the corner of the ridge of the workpiece,
It will be possible to perform aesthetically pleasing welding without the corners breaking through.

Further, according to the present invention, in addition to the welding robot apparatus, a proximity setting means for setting a proximity point located near the mountain break point and closer to the starting point than the mountain break point, and reaching the proximity point Then, a welding robot apparatus is provided, which is provided with a neighboring welding work control means for advancing the welding work in the first welding line direction while reducing the welding current, weaving and detecting the welding current or voltage. As a result, the welding current is reduced when the workpiece approaches the mountain break corner, so that the heat concentration at the mountain corner can be more completely controlled and more beautiful welding can be performed.

[Brief description of drawings]

FIG. 1 is a block diagram showing the construction of a welding robot apparatus according to an embodiment of the present invention, FIG. 2 is a perspective view of an example of a work including a mountain corner, and FIG. 3 is a main part of the operation of the apparatus shown in FIG. FIG. 4 is a flow chart, FIG. 4 is a schematic diagram of the locus of movement of the welding torch and the welding current waveform by the apparatus shown in FIG. 1, FIG. 5 is a view corresponding to FIG. 1 of another embodiment of the present invention, and FIG. FIG. 7 is an equivalent view of the apparatus shown in FIG. 7, FIG. 7 is an equivalent view of FIG. 4 of the apparatus shown in FIG. 5, and FIG. 8 is an equivalent view of FIG. 4 in still another embodiment of the present invention. (Explanation of symbols) 1, 1 '... welding robot device 2, 2' ... control device, 4 ... robot body 5 ... welding machine, 6 ... welding torch 7 ... arc sensor, 8 ... control panel 10, 10 '... Condition setting section 11' ... Proximity point setting section 12, 12 '... Second start point setting section 13, 13 ... Mountain break corner detecting section 14, 14' ... First welding work control section 15 '.... vicinity welding operation controller 16, 16' .... cornering control unit 17, 17 '... second welding operation control unit P _1, TP ₁ ... start point, _{P 2,} TP ₂ ...... outward bending point P ₃ , TP ₃ ...... End point, C ...... Curve corner corner P ₃ ′ …… Second start point, P ₁ ′ …… Neighbor point P ₁ ″ …… Point near corresponding point P ₂ …… Mountain corner corner corresponding point L ₁ ... 1st welding line, L ₂ ... 2nd welding line W ... Work.

Claims (23)

[Claims] 1. (a) A first welding line from a starting point to a mountain break point, welding conditions relating to the first welding line, and a second welding line from the mountain break point to an end point and the same. Condition setting means for setting welding conditions relating to the second welding line, (b) second start point setting means for setting a second start point located near the mountain break point and closer to the end point than the mountain break point, c) first welding work control means for advancing the welding work in the first welding line direction under the welding conditions relating to the first welding line while performing weaving and detecting the welding current or voltage, (d) the welding Mountain break corner detecting means for detecting a mountain change corner of a work by detecting a predetermined change in current or voltage, (e) Cornering control means for moving the welding torch to the second starting point after detecting the mountain break corner, and (f) After moving to the second start point, in the second welding line direction, the Second advancing welding work in welding conditions according to the second weld line
The welding robot apparatus is equipped with the welding work control means described above, and is capable of continuously and automatically welding a work including a mountain break corner to the outside. 2. The first welding line and the second welding line are set by teaching three points of a start point, a mountain break point, and an end point in the condition setting means. Welding robot equipment. 3. The welding robot apparatus according to claim 1, wherein the first welding work control means and the second welding work control means perform arc tracing control. 4. The second starting point setting means sets the second starting point on the second welding line and at a distance of 0.5 or more and 1.5 or less (the leg length) from the mountain break point. The welding robot apparatus according to any one of items. 5. The second starting point setting means calculates a mountain break corner corresponding point corresponding to the mountain break corner of the workpiece detected by the mountain break corner detecting means, and on a line connecting the mountain break corner corresponding point and the end point. And 0.5 or more from the point corresponding to the mountain break corner 1.5
The welding robot apparatus according to any one of claims 1 to 3, wherein a second starting point is set at a distance of (hereinafter, leg length). 6. (a) A first welding line from the starting point to the mountain break point, welding conditions relating to the first welding line, and a second welding line from the mountain break point to the end point. Condition setting means for setting welding conditions relating to the second welding line, (b) second start point setting means for setting a second start point located near the mountain break point and closer to the end point than the mountain break point, (c) A first welding work control means for advancing the welding work in the first welding line direction under the welding conditions relating to the first welding line while weaving and detecting the welding current or voltage, (d) Mountain break corner detecting means for detecting a predetermined change in welding current or voltage to detect a mountain break corner of the work, (e) after detecting the mountain break corner, weaving is stopped,
The welding current is smaller than the welding current under the welding conditions related to the first welding line, and the welding torch angle is changed from the welding torch angle under the welding conditions related to the first welding line to the welding conditions related to the second welding line. Cornering control means for smoothly and continuously changing the welding torch angle to move the welding torch to the second start point, and (f) after moving to the second start point, the second welding line in the second welding line direction. The welding work under the welding conditions related to the welding line of No. 2
The welding robot apparatus is equipped with the welding work control means described above, and is capable of continuously and automatically welding a work including a mountain break corner to the outside. 7. The first welding line and the second welding line are set by teaching three points of a start point, a mountain break point, and an end point in the condition setting means. Welding robot equipment. 8. The welding robot apparatus according to claim 6 or 7, wherein the first welding work control means and the second welding work control means perform arc tracing control. 9. The method according to claims 6 to 8, wherein the second starting point setting means sets the second starting point on the second welding line and at a distance of 0.5 or more and 1.5 or less (the leg length) from the mountain break point. The welding robot apparatus according to any one of items. 10. The second starting point setting means calculates a mountain break corner corresponding point corresponding to the mountain break corner of the work detected by the mountain break corner detecting means, and on a line connecting the mountain break corner corresponding point and the end point. The welding robot apparatus according to any one of claims 6 to 8, wherein the second starting point is set at a distance of 0.5 or more and 1.5 or less (has a leg length) from the corner corresponding point. 11. The cornering control means sets the welding torch speed higher than the welding torch speed under the welding conditions relating to the first welding line, according to any one of claims 6 to 10. Welding robot equipment. 12. (a) A first welding line from a starting point to a mountain break point, welding conditions relating to the first welding line, and a second welding line from the mountain break point to an end point and the same. Condition setting means for setting welding conditions relating to the second welding line, (b) proximity point setting means for setting a proximity point located near the mountain break point and closer to the starting point than the mountain break point, (c) Second start point setting means for setting a second start point located near the mountain break point and closer to the end point than the mountain break point, (d) welding relating to the first weld line in the first weld line direction First welding work control means for advancing welding work to the near point under the conditions, (e) after reaching the near point, the welding current is reduced, weaving is performed, and the welding current or voltage is detected while the first Welding work control means for advancing welding work in the welding line direction, (f) Predetermined welding current or voltage Described bending corner detecting means detects a change to detect the described bending corner of the workpiece, (g) the described bending after corner detection, stops weaving,
The welding current is smaller than the welding current under the welding conditions related to the first welding line, and the welding torch angle is changed from the welding torch angle under the welding conditions related to the first welding line to the welding conditions related to the second welding line. Cornering control means for smoothly and continuously changing the welding torch angle to move the welding torch to the second starting point, and (h) after moving to the second starting point, the second welding line is moved to the second welding line direction. The welding work under the welding conditions related to the welding line of No. 2
The welding robot apparatus is equipped with the welding work control means described above, and is capable of continuously and automatically welding a work including a mountain break corner to the outside. 13. The condition setting means sets a first welding line and a second welding line by teaching three points of a start point, a mountain break point, and an end point. Welding robot equipment. 14. The welding robot apparatus according to claim 12 or 13, wherein the first welding work control means and the second welding work control means perform arc tracing control. 15. The welding robot apparatus according to claim 14, wherein the near field welding work control means reduces the welding torch speed. 16. The welding control means in the vicinity of the weaving frequency is increased to increase the weaving frequency.
The welding robot apparatus according to item 5. 17. The welding robot apparatus according to any one of claims 14 to 16, wherein the vicinity welding work control means reduces the weaving width. 18. The welding robot apparatus according to any one of claims 14 to 17, wherein the vicinity welding work control means stops the arc copying control. 19. The method according to claim 12, wherein the neighboring point setting means sets the neighboring point on the first welding line at a distance of 5 mm or more and 20 mm or less from the mountain break point. The welding robot apparatus described in 1. 20. The method according to claim 12, wherein the second starting point setting means sets the second starting point on the second welding line and at a distance of 0.5 or more and 1.5 or less (the leg length) from the mountain break point. The welding robot apparatus according to any one of items. 21. The second start point setting means calculates a mountain break corner corresponding point corresponding to the mountain break corner of the workpiece detected by the mountain break corner detecting means, and on a line connecting the mountain break corner corresponding point and the end point. And 0.5 or more from the point corresponding to the mountain break corner
The welding robot apparatus according to any one of claims 12 to 19, wherein the second starting point is set at a distance of 1.5 or less (a leg length). 22. The second starting point setting means calculates a mountain break corner corresponding point corresponding to the mountain break corner of the workpiece detected by the mountain break corner detecting means, and the first welding line shift parallel and rotational movement amount. A second welding line is calculated from the above, and a second starting point is set on the line at a distance of 0.5 or more and 1.5 or less (the leg length) from the point corresponding to the mountain fold corner. The welding robot device according to one. 23. The cornering control means sets a welding torch speed higher than a welding torch speed under a welding condition relating to a first welding line, according to any one of claims 12 to 22. Welding robot equipment.