SEAM WELDING APPARATUS, SEAM WELDING METHOD, ROBOT CONTROL DEVICE, AND ROBOT CONTROL METHOD

摘要

Providing a seam welding apparatus that is uninfluenced by the surface state and entire shape of a workpiece is a problem the present invention. To solve the problem, the seam welding apparatus (10) includes a pair of rotating electrodes (31, 32), an electrode supporting frame (37), a distance measuring means (50), and a controller (43). The electrode supporting frame supports the pair of rotating electrodes (31, 32). The distance measuring means is provided on the electrode supporting frame and measures a distance to an edge (61a) of the steel plate (61). The controller (43) controls the robot (20) to adjust a running direction of the rotating electrodes (31, 32) so that a deviation comes into zero when a distance actually measured by the distance measuring means (50) deviates from a predetermined distance. Thereby, it is accomplished that the seam welding apparatus is downsized as well as uninfluenced by the surface state and/or shape of workpiece (steel plate (61)).