| 摘要 |
PURPOSE:To determine automatically a welding start point, and to improve a work efficiency by using a wire sensing function, and searching the welding start point by profiling. CONSTITUTION:A torch TC is made to descend vertically to planes Q1, Q2 and Q3 from a search start point P1, moved by a prescribed distance at an angle theta1 from a point a1 contacting to a welding member WK, and when it reaches a point a2, the torch is made to descend vertically, and moved to a point a3 contacting to the member WK. Weaving is executed by repeating this step. In case the tip of a wire is detached from the planes Q1, Q2 and Q3, the torch is moved to a point b1 contacting to the member WK. The point b1 is a inclined plane of the groove. Weaving is executed from the point b1 and in case the wire tip is detached from an edge ED of the member WK, the torch is moved so as to return in the direction of the Y axis and moved to a point C1 contacting to the ED. It is moved to a point C2 along the edge ED in the X axis direction from the point C1, and a trough of a groove SL, namely, a welding start point A is searched by profiling the inclined plane of the groove SL from the point C2. |
