| 摘要 |
PURPOSE:To obtain a sound joint free from defect by detecting and calculating welding current and a feeding speed of consumable electrode to determine the length of protrusion of the electrode, and controlling the position of a torch based on the pattern of change. CONSTITUTION:Average welding current is determined by a current detector 24 and an amplifier 29, and the effective value of welding current is determined by the detector 24 and the amplifier 29. The relation between the average value and the effective value of welding current and the wire feeding speed is given by an approximate formula. The length of protrusion of the wire is determined from a program of the approximate formula by a digital electronic computer 36. The average value of the length of protrusion of the wire for one cycle is compared with a set value of a setting device 30, and outputted to a controlling device 7, and each shaft of a robot is controlled to conform the average value with the set value. By this method, the width of oscillation follows up variation of groove interval automatically, and at the same time, follows the weld line automatically. Accordingly, a joint free from defect can be obtained. |
