Robot controller that controls tandem arc welding system, arc tracking controlling method using the robot controller, and the tandem arc welding system

摘要

A robot controller (8) that controls a tandem arc welding system (1) according to the present invention includes a leading-electrode (2a) correcting section (14a) that calculates a leading-electrode correction amount, used for correcting a displacement in a left-right direction and an up-down direction, from a leading-electrode (2a) changing amount calculated by a leading-electrode processing section (11a); a trailed-electrode correcting section (14b) that calculates a trailed-electrode correction amount, used for correcting a displacement in a rotational direction, from a trailed-electrode changing amount calculated by a trailed-electrode (2b) processing section (11b); a rotational-displacement correction controlling processing section (16) that calculates a rotational-center correction amount for correcting the displacement of the leading electrode; and a robot trajectory planning processing section (13) that corrects a teaching position and a position of a rotational center of a welding torch (2) during tracking correction. By such a structure, even if arc tracking is carried out at any rotational center, displacement of the leading electrode does not occur, so that defective welding does not occur.