AUTOMATIC WELDING EQUIPMENT

摘要

PURPOSE:To work under the optimum welding conditions at all times and to maintain good welding quality by performing the control of welding conditions according to the position of a welding torch for the gravitational acceleration direction and the variation in the welding path direction. CONSTITUTION:A gravitational direction detector 11 is provided on the base part of a robot main body and composed of the three acceleration pickups arranged so that its detection direction may be intersected at right angles. A robot control device 3 is equipped with CPU-A21 and CPU-B26 to execute all processings. The CPU-A21 performs the robot operation control mainly and CPU-B26 performs the processings of man-machine interface and other main parts. A servo control part 23 receives the operation target position of each shaft from the CPU-A21 and places a command to a motor driving amplifier 24, which generates the current and voltage for driving a motor according to the command to drive each motor M1-M6.