Lattice welding robot and method for the lattice welding

摘要

A lattice welding robot detects an X-axis slide position of Xp by an arc sensor of a welding torch, compares the value of Xp with a reference value of X0 by a comparator, calculates a differential value of the value of Xp by a differentiator and computes a travel speed correction amount DELTA V from a difference between a comparator output value and a differentiator output value by a computing unit. The correction amount DELTA V is added to an initial speed of each of inside wheels and outside wheels of a welding carriage to control each of driving motors for the inside wheels and the outside wheels by an adding speed command Vin and an adding speed command Vout, respectively. Thereby, a rough guidance for the welding carriage to trace a weld line is performed.