Abstract: The present invention is directed to a weld line profile control method in weaving welding. According to this method, a welding current and/or a welding voltage in a position close to a weaving endpoint is evaluated as a reference value. A welding current and/or a welding voltage in the vicinity of an n-th (n.gtoreq.2) weaving endpoint are actually measured respectively, and thereafter an (n+1)-th weaving endpoint position is evaluated on the basis of difference between the actually measured value and the reference value. Further, welding from the n-th weaving endpoint to an (n+1)-th weaving endpoint is executed on the basis of the positional data. As the result, neither too much nor too little weaving welding can be performed.

Abstract: A welding torch (4) of a welding robot (RO) is supported by arms (2, 3), to be movable under control by a computer (7). When first and second members (W1, W2) are welded by a weld woven across an interspace between them while oscillating a welding torch (4) along a weld line (WL). Data on changes in the interspace between the first and second welded member (W1, W2) along direction of the weld line (WL) are previously stored in advance to welding. During the welding, the computer 7 performs arithmetic to obtain command values on the basis of the data to output the same to the welding robot (RO), so that the welding robot (RO) performs weaving in accordance with the command values while varying a weaving amplitude of the welding torch (4) in response to the change in the interspace. Changes in the direction in which the welding torch is moved to weave the weld are determined by detecting the actual value of the welding current and reversing direction when the detected value exceeds a prescribed threshold value.

Abstract: A welding torch (4) of a welding robot (RO) is supported by arms (2, 3), to be movable under control by a computer (7). When first and second welded numbers (W1, W2) are woven while oscillating a welding torch (4) along a weld line (WL), data on change in an interspace between the first and second welded members (W1, W2) along direction of the weld line (WL) are previously stored in advance to welding. In the welding, the computer 7 performs arithmetic to obtain command values on the basis of the said data to output the same to the welding robot (RO), so that the welding robot (RO) performs weaving in accordance with the command values while varying a weaving amplitude of the welding torch (4) in response to the change in said interspace.

Abstract: A welding torch (4) of a welding robot (RO) is supported by arms (2, 3), to be movable under the control of a computer (7). First and second members (W1, W2) are welded by a mold woven while oscillating an welding torch (4) along a weld line (WL), with data on changes in an interspace between the first and second welded members (W1, W2) along a direction of the weld line (WL) being previously obtained and stored in advance of welding. For the welding, the computer 7 performs arithmetic to obtain command values on the basis of the stored data to output the same to the welding robot (RO), so that the welding robot (RO) performs weaving in accordance with the command values while varying a weaving amplitude of the welding torch (4) in response to the change in the interspace.