| 摘要 |
PURPOSE:To obtain a joint free from welding defect by calculating a sum of length of arc protrusion and arc length and controlling the width of oscillation automatically based on the pattern of variation. CONSTITUTION:The average value and the effective value of welding current are obtained from a current detector 23 and amplifiers 29, 30. A voltage between a chip 12 and an object to be welded 16 is determined from a detected value of voltage 24, and a wire feeding speed v is obtained by a rotation detector 25. The sum of the length of wire protrusion and arc length is calculated from these values by computer 38. The computer 38 performs arithmetic so as to conform the average value for one cycle of the value of the sum with a set value based on the pattern of variation of the sum of the length of protrusion and arc length. Further, it performs arithmetic for controlling weld line copying and arithmetic for making the torch height constant, and controls each shaft of a robot. Thus, a sound weld joint free from defect is obtained. |
