| 摘要 |
<p>PROBLEM TO BE SOLVED: To easily achieve synchronization between automatic welding performed with a robot and manual welding performed by a welding worker when the automatic welding and the manual welding are applied to two welding parts respectively on one workpiece 2.SOLUTION: A first moving distance Lt1 from a first welding starting point of a first welding torch 41 is detected, a second moving distance Lt2 from a second welding starting point is detected by applying second-order integration to a second acceleration signal Dx2 to Dz2 from a second welding torch 42, and, when the distance differenceΔL between the first moving distance Lt1 and the second moving distance Lt2 becomes equal to a first reference value or more during welding, a first alarm Kh1 is issued. This causes a first alarm Kh1 by sound etc. to be issued when a progress status of welding performed with the first welding torch 41 and a progress status of welding performed with the second welding torch 42 delays or proceeds by a predetermined value or more. Receiving this alarm, the welding worker can adjust moving speed to a direction in which the progress statuses of the welding match with each other.</p> |
