A rotating are sensor is provided. The rotating arc sensor includes a motor, a connecting rod for driving a welding gun to perform an annular movement, a sliding assembly for supporting a weight of the connecting rod and supporting a free movement of a first end of the connecting rod, and an eccentric oscillating member for driving a second end of the connecting rod to perform the annular movement, wherein a center of a rotating shaft of the motor is provided with a hollow cavity capable of communicating with both ends of the motor, the sliding assembly is disposed at a top end of the motor, and the first end of the connecting rod protrudes out of the top end of the motor through the hollow cavity and is connected with the sliding assembly. The eccentric oscillating member includes a first flange and a second flange.

A rotating are sensor is provided. The rotating arc sensor includes a motor, a connecting rod for driving a welding gun to perform an annular movement, a sliding assembly for supporting a weight of the connecting rod and supporting a free movement of a first end of the connecting rod, and an eccentric oscillating member for driving a second end of the connecting rod to perform the annular movement, wherein a center of a rotating shaft of the motor is provided with a hollow cavity capable of communicating with both ends of the motor, the sliding assembly is disposed at a top end of the motor, and the first end of the connecting rod protrudes out of the top end of the motor through the hollow cavity and is connected with the sliding assembly. The eccentric oscillating member includes a first flange and a second flange.

A rotating arc sensor is provided. The rotating arc sensor includes a motor, a connecting rod for driving a welding gun to perform an annular movement, a sliding assembly for supporting a weight of the connecting rod and supporting a free movement of a first end of the connecting rod, and an eccentric oscillating member for driving a second end of the connecting rod to perform the annular movement, wherein a center of a rotating shaft of the motor is provided with a hollow cavity capable of communicating with both ends of the motor, the sliding assembly is disposed at a top end of the motor, and the first end of the connecting rod protrudes out of the top end of the motor through the hollow cavity and is connected with the sliding assembly. The eccentric oscillating member includes a first flange and a second flange.

A rotating arc sensor is provided. The rotating arc sensor includes a motor, a connecting rod for driving a welding gun to perform an annular movement, a sliding assembly for supporting a weight of the connecting rod and supporting a free movement of a first end of the connecting rod, and an eccentric oscillating member for driving a second end of the connecting rod to perform the annular movement, wherein a center of a rotating shaft of the motor is provided with a hollow cavity capable of communicating with both ends of the motor, the sliding assembly is disposed at a top end of the motor, and the first end of the connecting rod protrudes out of the top end of the motor through the hollow cavity and is connected with the sliding assembly. The eccentric oscillating member includes a first flange and a second flange.

A weaving control method in fillet welding. On a surface perpendicular to a welding direction, a position of the welding torch is set such that a weaving reference line passes through a base point on a weld line, and at least five fixed end points are set, and positions of the fixed end points are set such that one or more of the fixed end points are provided on each of both sides across the weaving reference line and a reference end point a being on the weaving reference line and having the shortest distance between a tip and a base metal is provided. The weaving operation is performed such that the welding torch moves between the fixed end points along with a trajectory forming a polygon when viewed from the welding direction.

A weaving control method in fillet welding. On a surface perpendicular to a welding direction, a position of the welding torch is set such that a weaving reference line passes through a base point on a weld line, and at least five fixed end points are set, and positions of the fixed end points are set such that one or more of the fixed end points are provided on each of both sides across the weaving reference line and a reference end point a being on the weaving reference line and having the shortest distance between a tip and a base metal is provided. The weaving operation is performed such that the welding torch moves between the fixed end points along with a trajectory forming a polygon when viewed from the welding direction.

A weaving control method in fillet welding. On a surface perpendicular to a welding direction, a position of the welding torch is set such that a weaving reference line passes through a base point on a weld line, and at least five fixed end points are set, and positions of the fixed end points are set such that one or more of the fixed end points are provided on each of both sides across the weaving reference line and a reference end point a being on the weaving reference line and having the shortest distance between a tip and a base metal is provided. The weaving operation is performed such that the welding torch moves between the fixed end points along with a trajectory forming a polygon when viewed from the welding direction.

A weaving control method in fillet welding. On a surface perpendicular to a welding direction, a position of the welding torch is set such that a weaving reference line passes through a base point on a weld line, and at least five fixed end points are set, and positions of the fixed end points are set such that one or more of the fixed end points are provided on each of both sides across the weaving reference line and a reference end point a being on the weaving reference line and having the shortest distance between a tip and a base metal is provided. The weaving operation is performed such that the welding torch moves between the fixed end points along with a trajectory forming a polygon when viewed from the welding direction.

A welding apparatus includes an articulated robot having a plurality of drive shafts, an end effector supported by the articulated robot, a tip shaft drive mechanism, and a drive control unit. The tip shaft drive mechanism is provided between a tip drive shaft of the articulated robot and the end effector and allows a tip shaft of the end effector to perform a weaving operation. The drive control unit drives the articulated robot and the tip shaft drive mechanism. The tip shaft drive mechanism includes a first-axis drive unit which drives the tip shaft in a first-axis direction that is perpendicular to the tip shaft of the end effector and a second-axis drive unit which drives the tip shaft in a second-axis direction that is perpendicular to the tip shaft and the first-axis direction.

A welding apparatus includes an articulated robot having a plurality of drive shafts, an end effector supported by the articulated robot, a tip shaft drive mechanism, and a drive control unit. The tip shaft drive mechanism is provided between a tip drive shaft of the articulated robot and the end effector and allows a tip shaft of the end effector to perform a weaving operation. The drive control unit drives the articulated robot and the tip shaft drive mechanism. The tip shaft drive mechanism includes a first-axis drive unit which drives the tip shaft in a first-axis direction that is perpendicular to the tip shaft of the end effector and a second-axis drive unit which drives the tip shaft in a second-axis direction that is perpendicular to the tip shaft and the first-axis direction.