| 摘要 |
PURPOSE:To make a torch follow up a groove line exactly by measuring a short-circuit shifting phenomenon of a small current area, and correcting a locus of the torch based on comparison of a moving average value of the right and left of the moving motion. CONSTITUTION:A short circuit time counter 12 and an arc time counter 13 input a binary-coded welding voltage V through a filter 10 and an A/D converter 11, and output a short-circuit time TS and an arc time TA to a controller 15, respectively. That is to say, a welding profile detector 1 inputs said time TS and TA, and a weaving center signal S1 from a robot controller 3, and outputs a track correcting signal S2 of a welding torch 5 to the controller 3. In this case, the correcting signal S2 based on the moving average value of the right and left of the moving motion is outputted, therefore, the torch 5 follows up a groove line exactly. |
