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Robot controller that controls tandem arc welding system, arc tracking controlling method using the robot controller, and the tandem arc welding system
Robot controller that controls tandem arc welding system, arc tracking controlling method using the robot controller, and the tandem arc welding system
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机译:控制串联电弧焊接系统的机器人控制器,使用该机器人控制器的电弧跟踪控制方法以及串联电弧焊接系统
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摘要
A robot controller (8) that controls a tandem arc welding system (1) according to the present invention includes a leading-electrode (2a) correcting section (14a) that calculates a leading-electrode correction amount, used for correcting a displacement in a left-right direction and an up-down direction, from a leading-electrode (2a) changing amount calculated by a leading-electrode processing section (11a); a trailed-electrode correcting section (14b) that calculates a trailed-electrode correction amount, used for correcting a displacement in a rotational direction, from a trailed-electrode changing amount calculated by a trailed-electrode (2b) processing section (11b); a rotational-displacement correction controlling processing section (16) that calculates a rotational-center correction amount for correcting the displacement of the leading electrode; and a robot trajectory planning processing section (13) that corrects a teaching position and a position of a rotational center of a welding torch (2) during tracking correction. By such a structure, even if arc tracking is carried out at any rotational center, displacement of the leading electrode does not occur, so that defective welding does not occur.
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