WELD LINE FOLLOWING METHOD IN WELDING ROBOT

摘要

PURPOSE:To improve remarkably a follow-up performance of a weld line of a welding robot by correcting a position shift of a welding torch and executing an arc welding, and correcting position information of the next teaching point by using the previous correcting information. CONSTITUTION:A welding robot RO executes an arc welding of a work W, oscillating a welding torch 4 in the width direction of a groove, also detects a position shift of a welding torch 4 in the course of this oscillation, corrects this position shift, and is provided with a computer 10, a remote operating board 11, etc. for executing a control so as to make the welding torch 4 follow a weld line WL. When the welding torch 4 is reached an arc sensor end point, the next target point is derived by using the previous information and performing a parallel correction or a rotary correction to position information of the next teaching point, and the welding torch 4 is moved to its correcting target point without executing an arc weaving. In this way, even in case an arc sensor is halted, etc., a good working finish can be obtained.