| 摘要 |
<p>The present invention provides a weaving method for carrying out accurately and continuously weaving welding for various weld lines inclusive of complicated weld lines consisting of the combination of lines and arcs on the basis of a simple teaching. A weaving plane including a line along which a first plane which crosses transversely a target weld line and is perpendicular to the target weld line and a second plane perpendicular to the axis of a welding torch cross, and being parallel to the target weld line is decided (S2) on the basis of the start and end points of the target weld line in a first zone taught in advance, a weaving width taught in advance and the posture of the welding torch detected. The welding torch is caused to weave within a weaving width and moved along the target weld line (S3) in a direction crossing the target weld line so that the tip of the torch moves on the weaving plane. Meanwhile, the target weld line is corrected (S4) so that the target weld line is in agreement with the work groove center on the basis of the detected value of a weld current. Next, similar processing is conducted for a second zone of the target weld line.</p> |
