| 摘要 |
PURPOSE:To obtain a product having high welding quality by changing wrist data with respect to the deviation between a welding torch and a weld line when a welding robot is played back in accordance with teaching data, thereby controlling the welding torch and correcting the deviation. CONSTITUTION:Wrist data with the length l3 in the direction Y of a wrist 2 is changed by the value corresponding to a deviation DELTAY by a robot control device 4 and at the same time the wrist data with the length l2 in the direction Z of the wrist 2 is changed by a deviation DELTAZ when a work 15B' deviates by DELTAY and DELTAZ. The magnitude of the DELTAZ, DELTAY necessary for changing the wrist data in this stage is easily known by try-running a torch 1 in accordance with the teaching data or putting preliminarily marks M1, M2 in the symmetrical positions spaced from each other of the work 15, moving the torch 1 to the positions of the marks M1, M2 and comparing and calculating the position data of the torch 1 in these marked positions with the device 4. |
