Robot welding seam tracking system

摘要

In the system, the electrode welding rod connects with an analog switch, sampleing-and-holders, a comparator and an A/D converter to obtain current difference and sine representable in 0-5 bit signals in response to the left-right oscillation of the rod on the weld line; a CPU checks and reads the current difference sine expressed in 6 and 7 bits and determines correction values a, b through flip-flops and a data bus, the CPU connecting with a RAM, a ROM ad a computing CPU to calculate the drive amout of each coordinate servodriver of the robot.