ROBOT CONTROL UNIT FOR CONTROLLING TANDEM ARC WELDING SYSTEM, AND ARC-SENSOR CONTROL METHOD USING THE UNIT
First Claim
1. A robot control unit for controlling a position of a welding torch in a tandem arc welding system that has the welding torch having a leading electrode and a trailing electrode at a tip, a robot that is attached with the welding torch, and weaves that welding torch right and left with respect to a travelling direction of welding, and a leading electrode power supply and a trailing electrode power supply for supplying power to the leading electrode and the trailing electrode;
- and performs arc welding along a weld line, the robot control unit comprising;
a leading electrode detection section for detecting quantity of welding state during weaving the leading electrode;
a trailing electrode detection section for detecting quantity of welding state during weaving the trailing electrode;
a leading electrode processing section for calculating amounts of electrical change from the quantity of welding state detected by the leading electrode detection section;
a leading electrode correction section for calculating correction amounts for correcting displacement in horizontal and vertical directions from the weld line of a weaving center trajectory based on the amounts of electrical change calculated by the leading electrode processing section;
a trailing electrode processing section for calculating an amount of electrical change from the quantity of welding state detected by the trailing electrode detection section; and
a trailing electrode correction section for calculating a correction amount for correcting displacement in a rotational direction from the weld line of the weaving center trajectory based on the amount of electrical change calculated by the trailing electrode processing section.
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Accused Products
Abstract
A robot control unit for controlling a tandem arc welding system, which has a welding torch, a robot for weaving the welding torch, a leading electrode power supply, and a trailing electrode power supply, includes a leading electrode detection section and a trailing electrode detection section for detecting quantity of welding state during weaving; a leading electrode processing section for calculating amounts of electrical change; a leading electrode correction section for calculating correction amounts for correcting displacement in horizontal and vertical directions from a weld line of a weaving center trajectory based on the amounts of electrical change; a trailing electrode processing section for calculating an amount of electrical change; and a trailing electrode correction section for calculating a correction amount for correcting displacement in a rotational direction from the weld line of the weaving center trajectory based on the amount of electrical change. According to the robot control unit, arc welding can be performed, which is excellent in accuracy of arc-sensor control, and hardly produces welding defects.
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Citations
13 Claims
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1. A robot control unit for controlling a position of a welding torch in a tandem arc welding system that has the welding torch having a leading electrode and a trailing electrode at a tip, a robot that is attached with the welding torch, and weaves that welding torch right and left with respect to a travelling direction of welding, and a leading electrode power supply and a trailing electrode power supply for supplying power to the leading electrode and the trailing electrode;
- and performs arc welding along a weld line, the robot control unit comprising;
a leading electrode detection section for detecting quantity of welding state during weaving the leading electrode; a trailing electrode detection section for detecting quantity of welding state during weaving the trailing electrode; a leading electrode processing section for calculating amounts of electrical change from the quantity of welding state detected by the leading electrode detection section; a leading electrode correction section for calculating correction amounts for correcting displacement in horizontal and vertical directions from the weld line of a weaving center trajectory based on the amounts of electrical change calculated by the leading electrode processing section; a trailing electrode processing section for calculating an amount of electrical change from the quantity of welding state detected by the trailing electrode detection section; and a trailing electrode correction section for calculating a correction amount for correcting displacement in a rotational direction from the weld line of the weaving center trajectory based on the amount of electrical change calculated by the trailing electrode processing section. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
- and performs arc welding along a weld line, the robot control unit comprising;
Specification