Arc welding robot control system and method thereof

Abstract

An arc welding robot control system of the present invention includes memory devices, controlling devices, a welding condition changing position calculating device (32), a weaving operation controlling device (35) that outputs a signal of completion of one weaving cycle every time when a welding torch completes to perform one weaving cycle of a predetermined movement pattern, a welding condition calculating device (33) for calculating to-be-changed welding conditions, and a welding condition changing device (34) that changes welding conditions of an arc welding robot, based on to-be-changed welding conditions, every time when a signal of completion of one weaving cycle is input. With this configuration, it enables a continuous change of welding conditions and a copying arc welding with high accuracy even in the case in which the arc welding robot performs a weaving operation.

Description

technical field [0001] The invention relates to a control device of an arc welding robot which continuously changes the welding conditions of the arc welding robot. Background technique [0002] Currently, in arc welding using an arc welding robot, in order to change welding conditions such as welding current, welding voltage, welding speed, swing cycle, and swing amplitude step by step, it is necessary to set (teach) multiple welds on the welding line. Condition change position (teaching point), and manually set different welding conditions at each welding condition change position. Therefore, since it is very complicated to manually set the welding conditions at each welding condition change position, a technology for automatically changing the welding conditions has been disclosed (see Japanese Patent Laid-Open No. 61-138470, US Patent No. 6177650). [0003] For example, the technology disclosed in Japanese Patent Application No. 61-138470 is to linearly change the weldi...

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Problems solved by technology

[0004] In the technologies disclosed in the above two patent documents, the welding conditions such as welding current and the like are changed every time the welding torch performs one cycle of swing, and the welding current command value is different at the left and right ends of the swing, so the problem of uneven thickness of the weld bead occurs

In addition, even if the arc welding robot is equipped with an arc sensor, since the actual welding current is different at the left and right ends of the swing even if there is no deviation on the workpiece, the desired welding line cannot be tracked on the target of the welding rod. offset

In addition, for the swing command, there is a slight delay in the actual swing operation of the welding torch. Due to this delay, the timing of actually performing one-cycle swing of the welding torch and the timing of changing welding conditions such as welding current are inconsistent, so that the left and right ends of the swing are inconsistent. The welding current becomes unequal, resulting in the more advanced the swing cycle, the more uneven the thickness of the weld bead

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