| 摘要 |
PURPOSE:To increase the performance in welding control by storing the integral value on each half period in weaving and by comparing on each the right and left half period, by correcting the locus in the left or right direction of the weaving direction according to the size relation and by offsetting the noise component caused by the instability in feeding core wire included in the welding current. CONSTITUTION:The signal 102 detecting 5 a welding current and the signal 101 generated by the tachometer generator 8 fitted to the shaft end of a core wire feeding motor 7 are inputted to a welding profile detector 1. The profile detector 1 and robot controller 2 are connected by a line 103, exchanging the reception of signals and a weaving synchronous signal is transmitted to the detector 1 from the controller 2 and a locus correcting signal is transmitted to the controller 2 from the detector 1. And the controller 2 overlaps the weaving movement in moving into the direction of the welding line during welding, performing the necessary operation and processing in compliance with the signal for locus correction transmitted from the detector 1 to perform the locus correction of the robot for industrial use. |
