| 摘要 |
<p>A welding torch (4) of a welding robot (RO) is supported by arms (2, 3), and is movable while being controlled by a computer (7). First and second members (W1, W2) to be welded are weaving-welded by swinging the welding torch (4) along a weld line (WL). Prior to the welding, data are stored that are related to changes of the gap between the first and second members (W1, W2) to be welded along the direction of the weld line (WL). During the welding, the computer (7) calculates an instruction relying upon the data, and sends the instruction to the welding robot (RO). Depending upon the instruction, the welding robot (RO) performs the weaving-welding while changing the amplitude of weaving of the welding torch (4) in response to the changes of the gap between the two members.</p> |
