| 摘要 |
PURPOSE:To avoid a detection error and to detect an accurate groove shape with high accuracy by using a distance sensor to adjust a direction freely as a system to detect the groove shape. CONSTITUTION:The distance sensor 3 is oscillated in the direction to cross almost at right angles with respect to a weld line and information on the groove is detected and this detected information is processed with a first arithmetic processing part 18 and a characteristic point in the groove and a cross-sectional area in the groove are obtained. The groove information obtained with the processing part 18 is outputted by a command issued from a second arithmetic processing part 19 at every prescribed interval and the processing part 19 performs the weld line profile control and the welding condition control of the V-shaped groove multi-layer symmetrical welding by the predetermined order and an operation expression based on said groove information. At this time, a welding line profile control signal is outputted to an X-axis motor 16 and a Y-axis motor 17 to control the position of a welding torch 7. Furthermore, a control signal of a welding current and the welding voltage of control signals of a welding condition is outputted to the titled welding equipment 20 and a control signal of the welding speed is outputted to a welding speed regulator 21. |
