WELD LINE-DETECTING METHOD AND INDUSTRIAL ROBOT

摘要

This weld line-detecting method is a weld line-detecting method during teaching of fillet welding by an industrial robot that has a welding torch. A welding torch on which an angle sensor that has a contactor has been installed is moved in the direction of the object to be welded, information on the angle at which the contactor is in contact with the object to be welded is transmitted to the industrial robot, and the industrial robot moves the welding torch on the basis of the angle information so that the angle of the contactor becomes zero. Said operations are then repeated and the welding torch is moved in the direction of the fillet along the surface of the object to be welded. The industrial robot detects arrival at the position to be welded on the weld line as a result of transmission to the industrial robot of the contactor having been pushed in in the axial direction of the contactor when the contactor arrives at the fillet of the object to be welded.