| 摘要 |
PURPOSE:To maintain the shape of beads constant and to improve the reliability of joints in welding waveform parts from flat parts, by detecting the speed of a welding torch on a Z-axis and moving the welding torch on an X-axis at the speed of the mathematical expressionIfrom said detected speed and the preset welding speed. CONSTITUTION:In accordance with the rotating speed of a motor 5, the speed of a welding torch 3 in a Z-axis direction is detected with a detector 37. At this time, it is necessary to change the speed Vx in an X-axis direction by the equationIaccording to the change in the speed Vz in the Z-axis direction in order to maintain the welding speed Vw constant. Thereupon, the speed Vz in the Z-axis direction is detected and is squared with a circuit 38, the output of which is applied to a subtractor 39. On the other hand, the signal from a circuit 40 setting the speed Vw is squared with a circuit 41, and is applied to the subtractor 39. Next, a circuit 42 operates the equationI, and applies the result thereof to a subtractor 43, then a motor 4 moves the torch 3 in the X-axis direction. Thence, the speed Vx in the X-axis direction is detected with a detector 44, and is inputted to the subtractor 43. The motor 4 is so controlled that the speed Vx in the X-axis direction calculated with the circuit 42 coincides with the actual speed detected with the detector 44. |
