| 摘要 |
PURPOSE:To perform fillet copy welding at a specified projecting rate of a copying roll and torch angle by detecting the projecting position of the copying roll and controlling the moving of a carriage and the turning of link mechanisms in accordance with the information thereof. CONSTITUTION:A copying roll 10 is brought into contact with the perpendicular surface of a plate material W2, and the projecting position of the roll 10 is detected with a detector S1 for projecting position. In accordance with the output information thereof, a moving body 5 of a traveling carriage 1 is moved and controlled so that the projecting rate of the roller 10 is made roughly constant. The turning of parallel link mechanisms 9 which are pivotally supported perpendicularly to the body 5 is controlled to make the angle of a welding torch T to the position P of a weld line roughly constant. Further, if necessary, means, etc. for controlling the speed of the carriage roughly constant and steering and controlling wheels so as to make the distance between the weld line WL and the carriage 1 roughly constant are provided. With such mechanism, the need for mounting many sensors is eliminated, and the fillet copy welding is accomplished with the simple construction. |
