| 摘要 |
PURPOSE:To perform welding of good quality through correct tracing of a weld line by moving a torch along the line apart from the weld line in acordance with stored data, detecting the positions of the torch and correcting the stored data. CONSTITUTION:A check locus CL retreated by a constant distance from the weld line WL 2 to be stored in a storage device is calculated from the position data of all the teach points Pc11-Pc20, Pa11-Pa14 of the weld line WL 2. A torch 23 departing from the origin P00 is moved along the check locus CL and the positions of the line WL 2 are actually measured with a detector 26 at every check point, thence the torch returns to the origin P00 via the retreat point Pt12. Thence, the work is welded while tracing the line WL 2 by using the data of the actually measured position of the check points Pc11-Pc20 collected in this way in lieu of the position data of the check points Pc11-Pc20 stored in the storage device and adding corrections to the stored position data of the points Pa11-Pa14. |
