| 摘要 |
PURPOSE:To prevent an incomplete fusion of welding by providing a pulse encoder on each driving means for the right and left, the upper and lower directions, and the oscillation, of a welding torch, and executing a simultaneous control of each driving means, based on a weaving data. CONSTITUTION:Pulse encoders 31, 30 and 7 are provided on a right and left driving motor 16, an up-and-down driving motor 30, and an oscillating motor 5, of a welding torch 1, respectively. An operator sets in advance a weaving data of a weaving width W, an oscillating angle theta, etc., and calculates a position of a rotation center 6b for satisfying an oscillating condition. Subsequently, the center 6b is positioned in a groove, and also, based on detecting signals of the encoders 31, 30 and 7 respective driving shafts are brought to a simultaneous control and welding is executed. In this way, a groove side wall can be aimed at exactly, therefore, a fusion at the time of welding can be prevented exactly. |
