| 摘要 |
PURPOSE: To facilitate the steering for correcting the track according to the misalignment of a tube by controlling so that a backing pad may be located immediately below a welding torch based on the position detecting information by a plurality of position detecting mechanisms. CONSTITUTION: A backing tape (a) is pressed against the surface of a tube P by a pad 10. Light detector 15a1 , 15b1 are provided at a forward part and a rear part in the feeding direction of the tape (a) on the pad surface 100 of a pad 10, and the relative position of the pad 10 to the welding torch (b) in the welding advancing direction is detected by a first position detecting mechanism based on the light reception output. Light detectors 15a2 , 15b2 detect the reflected light from a light flooding means and the tube surface side, and the turning and the transverse deviation to the weld seam of the pad 10 are detected by a second position detecting mechanism based on the detected value. Based on the position detecting information of the first and second position detecting mechanism, the traveling speed and the steering of a truck is controlled by using a control means so that the backing pad 10 may be located immediately below a welding torch (b). The truck can be moved in an accurately synchronous manner with an automatic welding machine on the inner side of the tube. |
