| 摘要 |
PURPOSE:To increase a follow-up performance by providing the device outputting hourly the correcting quantity in the height and right and left directions of a torch, by arranging the computing element of respective operation quantity as well as by following up the torch to the weld line according to the operation quantity thereof. CONSTITUTION:An actuator 4 is arranged on a welding torch 3 and an arc sensor 5 is provided as well. Differentiators 8, 12 and computing elements 9, 13 are provided as for processing the signal in the height and right, left directions respectively on the arc sensor 5. The differentiator 8 calculates the difference Iyi of the torch height correction quantity stored in primary and secondary memories 6, 7. The computing elements 9, 13 operate the operation quantity DELTAUy and DELTAUx respectively given by equation (I), equation (II) respectively further. The a1-a4, b1-b4 in the equation are taken as constants. The actuator 4 corrects the position of the torch 3 according to the operation quantity DELTAUy, DELTAUx. The following up performance for the weld line 2 of the torch 3 therefore becomes better.
|
