Patent ID: 9533377
Date: 2017-01-03
CPC Classifications: B23K,C21D,Y10S

Claim:
1. A weld bead shaping apparatus comprising: a shape data extracting unit that extracts shape data of an object to be shaped on which a weld bead existing on the object is formed, from a measurement result obtained by a shape sensor that measures a shape of the object to be shaped; a weld reinforcement shape extracting/removal depth calculating unit that calculates a weld reinforcement shape of the weld bead from a difference between the shape data and a preset designated shape of the object to be shaped, and calculates a removal depth by which gouging is performed using a gouging torch, on a basis of the weld reinforcement shape; a target position/torch posture calculating unit that calculates a target position and a posture of the gouging torch on a basis of the weld reinforcement shape and the removal depth; a gouging condition calculating unit that calculates a gouging condition on the basis of the weld reinforcement shape and the removal depth; a driving apparatus that drives the gouging torch and the object to be shaped and a controlling apparatus that controls the gouging torch, on a basis of: the target position and the posture of the gouging torch that are calculated by the target position/torch posture calculating unit; and the gouging condition calculated by the gouging condition calculating unit; a pass sequence selecting unit that compares the shape data with the designated shape, and divides a track of the gouging in a case where there is a portion in which reinforcement of the weld bead is insufficient for the designated shape; an inflection point/intersection point extracting unit that extracts, as an intersection point, a point at which the shape data and the designated shape intersect with each other, and extracts, as an inflection point, an apex of a valley portion of the weld bead on the shape data that is excessively reinforced with reference to the designated shape, wherein in a case where a number of the intersection points is more than two, the pass sequence selecting unit calculates a distance between adjacent ones of the intersection points, in a case where the distance is more than a predetermined value, the pass sequence selecting unit divides the track of the gouging, and in a case where the distance is equal to or less than the predetermined value, the pass sequence selecting unit does not divide the track of the gouging.