| 摘要 |
PURPOSE:To perform exactly operation for correcting profiling of a weld line in the direction normal to said line by detecting the direction of the weld line during welding in accordance with teaching data and correcting data for profiling and correcting the moving direction of a welding torch by profiling control so as to bring the same in the direction normal to the direction of the detected weld line. CONSTITUTION:A mechanism for controlling driving of a welding torch 1 provided with a wrist part 2 having an S-axis to oscillate the torch 1 and a B-axis to bend the torch 1 and an arm part 3 having plural axes to control the position of the part 2 is operated in the following way: the directions X, Y, Z of the weld line presently under welding are detected by the teaching data for controlling the driving of the respective axes S, B to move the top end of the torch 1 along the weld line and the correction data for profiling by the detected deviation are preliminarily detected. The axes S, B of the arm part 3 are simultaneously controlled in such a way that the moving direction along the actual weld line of the torch 1 is brought to the normal X', Y', Z' of the weld line in accordance with the direction of the detected weld line mentioned above. In the figure, 4 denotes a control device for a welding robot and 5 a teaching box, respectively. |
