| 摘要 |
PROBLEM TO BE SOLVED: To provide an arc welding machine that can change direction of a welding torch in the middle of a weaving motion without greatly moving the arm of a welding robot for that purpose, and also to provide a weaving welding method of the arc welding machine. SOLUTION: An articulated robot having at least six kinds of latitude is controlled in each of its axes, with a welding torch moved along a welding line and arranged in a manner inclined to the rotary shaft of the tip end sixth shaft J6. While the tip end of the welding torch is made to perform a weaving motion right and left relative to the welding line, the tip end is, linked with the weaving motion, additionally made to perform an oscillating motion relative to the rotary shaft of the sixth shaft J6. COPYRIGHT: (C)2007,JPO&INPIT |
