| 摘要 |
PURPOSE:To hold a welding speed on the periphery of a weld into so as to be constant to a set value, so that welding can be executed extending over the whole periphery, by executing an operation by inputting a copying control data, and maintaining a revolution angular velocity of a torch which moves by copying a weld line of a saddle type, so as to be constant in its tip. CONSTITUTION:A weld line 3 of an intersection part of a base pipe 1 of a large diameter pipe and a nozzle 2 of a small diameter pipe is welded extending over the whole periphery by a torch 4, and a revolutional angle phi of the torch 4 is detected continuously by a detecting means. From a revolutional angle phii' to be taken by the tip of the torch 4 in a position of a revolutional angle phii of '1' of the torch 4, and a revolutional angle phii+1' to be taken by the tip of the torch in a position of the next revolutional angle phii+1, a revolution angular velocity omega1' of omega'=omegaX(phii+1-phii)/(phii+1'-phii') is calculated, against a revolution angular velocity omega of '1'. In this way, welding is executed continuously while the torch goes round the nozzle, so that the torch 4 executes a revolution at the revolution angular velosity omega1' extending from a position of the revolutional angle phii to a position of the next revolutional angle phii+1.
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