90o
gear torch body
motor
bearing
welding tip wire guide
current sensor
photo sensor
bearing
isolation material
welding electrode gas nozzle
rotating gap
Motor Drive ArcSensor 80c196kc current sensor
signal
A/D 0 HSO
Carriage 80c196kc command
signal speed signal
Motor Drive HSO
DC Motor
Vertical slider Torch slider
Driving wheel Arc sensor
HSI
924
rw
b a
Po
X Y
b
work piece
x
Pc
Po d
φ Pe
y
xtss
X Y
Pa
work piece
Po xo xco
) 1 ( −i
) (i vweld
926
Time (s)
Welding velocity (cm/min)
70
0 10 20 30 40 50 60 80
60 50 40 30
10 90
70 100
0 80
20
Time (s)
Torch slider (mm)
70
0 10 20 30 40 50 60 80
300 250 200 150
50 450
350 500
0 400
100
Time[sec]
0 2 4 6 8 10
-400 -300 -200 -100 0 100 200 300
928
