| 摘要 |
PURPOSE:To improve the accuracy in following up a groove by expressing mathematically the pattern of welding current and controlling a welding torch so as to follow up the groove in accordance with the results of the arithmetic processing by such arithmetic expression. CONSTITUTION:A current sensor is provided in a wiring to the welding torch and the output thereof is inputted via a low-pass filter, analog-to-digital converter, etc. to a microcomputer. The output from the computer is inputted via an interface to a servocontrol circuit of a welding robot. The step for sampling the welding current value during oscillation of the welding torch at a suitable number of times and storing the detected current value is executed at every half period of the oscillation. The computer is provided preliminarily with the program for approximate expression such as cubic or quartic expression and expresses mathematically the detected current value Int. The computer controls the welding torch so as to follow up the weld line while calculating the respective coefft. values of such mathematical expression. The follow up accuracy of the torch is improved by the above-mentioned method. |
