The torch angular control manner null in beveling automatic tracer control by the arc

摘要

PURPOSE:To perform welding with excellent welding quality by performing welding while maintaining the welding speed at a specified value and changing the proceeding direction and maintaining a proper torch angle by using a welding robot having a high-speed rotational arc welding torch with respect to materials to be welded with a bent weld line having a groove. CONSTITUTION:A welding arc is rotated at high speed of 10-200Hz by using the welding robot having the high-speed rotational arc welding torch and the rotational position of the arc with a Cf point ahead in the welding proceeding direction as the reference position at a welding current Ia and the welding voltage Ea is detected. A value obtained by integrating the difference (Ia-Io) between the above-mentioned current Ia and a reference value Io of the welding current for every rotation of the arc is defined as y and the difference (SL-SR) between values obtained by integrating the difference (Ea-Eo) between the voltage Ea and a reference value Eo of the arc voltage by the region surrounded by the same phase angles phi (5 deg.phi90 deg.) on right and left with the Cf point as a center is defined as x. The welding proceeding direction and the groove width direction are corrected by the values of y and x and size of the welding speed is maintained at the specified value and the welding torch angle is maintained constant.