Patent ID: 8487213

Claim:
An arc welding robot including a control system for controlling the arc welding robot to weld work pieces while performing a weaving operation at a predetermined movement pattern, the control system including a computer comprising: a memory for storing a welding condition changing start point, a welding condition changing finish point, welding conditions at the welding condition changing start point, and welding conditions at the welding condition changing finish point, the welding conditions at the welding condition changing start point and the welding conditions at the welding condition changing finish point each including a weaving cycle, a weaving amplitude, and at least one of a welding current, a welding voltage and a welding speed; means for producing a weaving operation command allowing a welding torch of the arc welding robot to perform a weaving operation of a predetermined movement pattern, and also for outputting a signal of completion of one weaving cycle stored in the memory every time when the welding torch completes one weaving cycle of the predetermined movement pattern according to a weaving operation command; means for calculating a travelling position of the welding torch having travelled from the welding condition changing start point toward the welding condition changing finish point stored in the memory; means for calculating a correction value corresponding to a distance from the welding condition changing start point stored in the memory to the travelling position calculated by the means for calculating a travelling position of the welding torch, based on a difference between the welding conditions at the welding condition changing start point and the welding conditions at the welding condition changing finish point stored in the memory, and for determining to-be-changed welding conditions at the travelling position by adding the correction value to the welding conditions at the welding condition changing start point; and means for changing welding conditions for the arc welding robot based on the to-be-changed welding conditions at the travelling position every time when the signal of completion of one weaving cycle is input, and responsive to the signal of completion of one weaving cycle.