METHOD OF ATTITUDE CONTROLLING FOR TORCH AND ITS DEVICE, AND ROBOT FOR ARC WELDING

PROBLEM TO BE SOLVED: To enable an automatic change in a welding condition corresponding to the attitude of a torch in the teaching method of a robot for arc welding so that much time and labor are unnecessary when a welded work has, in particular, a curved plane, a setting of an additional welding condition is unnecessary, and even when a welding condition corresponding to the attitude of the torch is not instructed. SOLUTION: The position of the tip of a torch and the vertical inclined angle of a weld line are inputted after the tip of the torch is moved to the beginning position of the welding, the vertical inclined angle of the torch and the angle between the welding line and the torch are calculated from the number of revolution of an encorder of each joint axis provided at each joint axis of a manipulater and the vertical inclined angle of the weld line, these data are inputted into a data base retrieval circuit and a welding condition corresponding to the attitude of the torch is extracted from a welding condition data base circuit where the relationship between the attitude of the torch and the welding condition is prescribed, the motion of the tip of the torch at the welding position is controlled by inputting a welding position controlling signal into a robot controlling circuit, a welding power is outputted by inputting a welding output value controlling signal into a welding power supply device.