| 摘要 |
PURPOSE:To execute continuously and automatically fillet welding of high quality by providing a running truck having a direction steering part, a welding head having a weaving shaft, a current detector for detecting an arc current value, and a controller of the direction steering part. CONSTITUTION:First of all, a running truck 10 is set to a start position on a leather material 1, and a welding torch 30 is aligned with a fillet weld zone. Subsequently, a running deiving part of the running truck 10 is started and it is run freely in parallel along a vertical plate 2, and simultaneously, the welding torch 30 is brought to weaving by a prescribed amplitude, and arc welding is executed. A robot controller 80 receives an arc current value signal, and feeds out and feeds back a forward and backward moving shaft 21 so that arc current values in both ends of weaving become equal to each other. That is to say, welding is executed by always keeping a distance between the welding torch 30 and the fillet weld zone constant. When the projecting quantity of the forward and backward moving shaft 21 becomes small, the robot controller 80 decides that the running truck 10 is near the vertical plate 2, decides that it is separated, when the projecting quantity becomes large, and the direction steering part is controlled, therefore, the running truck 10 runs in parallel to the vertical plate 2. |
