| 摘要 |
<p>When welding is carried out while a welding torch TC of a welding machine is gripped by a robot and woven to the right and left with respect to a weld line, the path correction of an automatic welding machine comprises computing an integration value of a welding current for each half cycle of the torch to be woven with respect to a given weld line, deciding a correcting direction, making computation on the basis of the integration value in accordance with the correcting direction, determined to determine the correction amt. multiplying the correction quantity determined by a predetermined coefficient and correcting the weaving path of the torch.</p> |
