WELD BEAD-SHAPING DEVICE, WELD BEAD-SHAPING METHOD, WELDING DEVICE, AND WELDING METHOD

摘要

PROBLEM TO BE SOLVED: To provide a weld bead-shaping device and a weld bead-shaping method, enabling highly accurate shaping even for a weld bead of a large-scale complicated structure.SOLUTION: A weld bead-shaping device 30B includes, in a polyarticulated robot 13 for roughly shaping a weld bead by gouging: a shape sensor processing apparatus 16B which measures the shape of a part where a two-dimensional shape sensor 15 installed in a robot arm of the polyarticulated robot 13 is gouged, and measures the shape of the weld bead at a prescribed interval between teaching points inside the locus of gouging to obtain a gouging condition and a weaving width appropriate for the location where a removals is most reduced; and a robot controller 17B that controls a robot device based on the gouging condition and weaving width obtained by the shape sensor processing apparatus 16B.