METHOD FOR CONTROLLING WELDING ROBOT

摘要

PURPOSE:To maintain the deep penetration and to improve the reliability by weaving a torch according to a set pattern in the space formed of the base metal surfaces in a part where the sensing is not performed and a part where the sensing is performed in a weaving pattern of one cycle. CONSTITUTION:A full line of a torch locus in diagram shows the part where the arc sensing is performed and a dotted line shows the part where the arc sensing is not performed. The surface 22 of an alternate long and short dash line is the virtual surface formed by the part where the arc sensing is performed and the profile welding is performed by performing the arc sensing and detecting a weld line by an oscillation of the torch on said surface 22. On the other hand, the deep penetration can be maintained even in the neighborhood of a root part and at a weld zone of the vertical, horizontal and overhead positions by weaving the torch along the base metal surfaces W1 and W2 without performing the arc sensing according to the preset pattern shown by the dotted line in the space surrounded by the surface 22 and the base metal surface W1 and W2.