| 摘要 |
PROBLEM TO BE SOLVED: To stably provide a favorable bead shape and a bead quality even with a change in root gap, backing clearance, or joint deviation. SOLUTION: A welding control method includes steps of: extracting a right and left end image 32 of torch swing from a molten pool of a welding member and its near image captured by a visual sensor; creating a composite image 35 having a virtual molten pool image 36 by composing the extracted right and left end image 32; calculating the distance between the left end point LP and the right end point RP of the virtual molten pool image 36 as the feature quantity of swing width; and appropriately performing follow-up (adaptation) control of a torch swing pattern relative to the bevel width fluctuation. Additionally, the method includes steps of: calculating the distance from the tip center point WP of an electrode image 34 to the center point of the left and right end points LP, RP of the virtual molten pool image 36 as the feature quantity of the swing center; and appropriately performing the bevel center line copying control using the calculated feature quantity of the swing center. COPYRIGHT: (C)2007,JPO&INPIT
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