PURPOSE: To teach exactly an oscillating pattern, and to improve a follow-up property of a weld line by containing an oscillating pattern generating means of a welding torch in a welding robot, and teaching a welding start point, and end point, an arc sensor start point, etc.
CONSTITUTION: A welding robot RO executes welding of a work W consisting of a horizontal plate material W1 and a vertical plate material W2, oscillating a welding torch 4 installed to a vertical shaft 1 through the first and the second arms 2, 3, in the width direction of a groove, detects and corrects a position shift of the welding torch 4 in the course of its oscillation, and makes the welding torch 4 follow a weld line WL. An oscillating pattern is generated and stored in a computer 10 by using a remote operating board 11, and also, at the time of teaching, a welding operating point P of the welding torch 4 is positioned to a welding start point P2, an arc sensor start point Pt1, the other end point Pt2 of an oscillation for forming a half period of the oscillating pattern, and a welding end point P3 and each point is taught. Thereafter, a weld line follow-up oscillating welding of a welding robot RO is operated by said remote operating board 11.
UENO YOSHIYUKI
MARUYAMA SHIGEO
RAN NOBORU
IKEDA MASAMI
KAMIMURA SETSU
| JPS58192108A | 1983-11-09 | |||
| JPS5314139A | 1978-02-08 |