| 摘要 |
PROBLEM TO BE SOLVED: To provide a weld line profiling judging device and a profiling control device which are hardly influenced by a short circuit, spattering, or the like, and can correspond to acceleration of welding speed by a high speed oscillation frequency, and are further applicable to butt welding or the like in which a groove width of a welding base metal is narrower than the oscillation amplitude range. SOLUTION: The weld line tracking judging device and the tracking control device comprise a linear interpolation means 13 for interpolating with a straight line a waveform missing part of a welding current waveform eliminating a short circuit waveform therefrom, an equalization means 27 for processing this linearly interpolated waveform into a smooth waveform, a differential conversion means 14 for converting the smooth waveform into a differential waveform, an allocation means 15 for allocating the differentiated waveform to a plurality of sections corresponding to the oscillation cycle of a welding torch, and a superposition means 16 for superposing the differentiated waveforms allocated by the allocation means 15 in a state reversed to each other in every half cycle, and the devices calculate the deviated direction and deviation of the weld line center position to the direction of the oscillation width, respectively, by adopting the intersection of the waveform between the maximum and minimum values of the differentiated waveform found out by the superposition means 16 as a groove center position.
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