Nkk Corporation

Daisuke Ozamoto

Yuji Sugitani

Masatoshi Murayama

Yoshihiro Kanjo

Naoyuki Gotoh

Hitoshi Serizawa

Method of detecting root gap and arc welding method using the former

A lattice welding robot detects an X-axis slide position of X.sub.p by an arc sensor of a welding torch, compares the value of X.sub.p with a reference value of X.sub.0 by a comparator, calculates a differential value of the value of X.sub.p by a differentiator and computes a travel speed correction amount .DELTA.V from a difference between a comparator output value and a differentiator output value by a computing unit. The correction amount .DELTA.V is added to an initial speed of each of inside wheels and outside wheels of a welding carriage to control each of driving motors for the inside wheels and the outside wheels by an adding speed command V.sub.in and an adding speed command V.sub.out, respectively. Thereby, a rough guidance for the welding carriage to trace a weld line is performed.

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Hisai, Japan

Daisuke Ozamoto