| 摘要 |
<P>PROBLEM TO BE SOLVED: To fix the angle of a welding torch to a welding spot, even if a branch pipe is tilted. <P>SOLUTION: A branch pipe welding machine 4 including a welding torch 11 operated circularly with a horseshoe-shaped guide 5 is mounted on a turntable 13 on the tip part of a robot hand 12, and a probe 14 is provided on the opposite side. The tip of a welding wire 15 projecting from the tip of the welding torch 11 of the branch pipe welding machine 4 is held at some one point in an actual space to perform mastering of a robot, and a tool coordinate system 16 using the point as the origin O, and including a coordinate axis on an axial center position of circular operation of the welding torch 11 is set relative to the branch pipe welding machine 4. After performing coordinate transformation for allowing a coordinate axis corresponding to the axial center position of the circular operation of the welding torch 11 in the tool coordinate system 16 to agree with the inclination from a vertical direction of the branch pipe 2 temporarily welded to a mother pipe 1 detected by sensing, the horseshoe-shaped guide 5 is externally fitted onto the branch pipe 2 to be welded, and an axial center direction of the circular operation of the welding torch 11 is allowed to agree with the axial center direction of the branch pipe 2. <P>COPYRIGHT: (C)2012,JPO&INPIT |
