| 摘要 |
<P>PROBLEM TO BE SOLVED: To exactly weld a welding portion of a branch pipe and a mother pipe by a welding torch. <P>SOLUTION: A branch pipe-welding machine 4 with the welding torch 11 that carries out circumferential action with a horseshoe-shaped guide 5 is mounted at a turning base 13 of a tip part of a robot hand 12, and a probe 14 is arranged at an opposite side. A contact detection signal of a touch sensor 16 connected with the probe 14 is made inputtable to a robot controller 19, and further an outer control device 20 is connected with it. When the horseshoe-shaped guide 5 of the branch pipe-welding machine 4 is externally suitable for a branch pipe 2a to be a welding object by controlling a multi-articulated robot by the robot controller 19, the deviation amount between the position of the horseshoe-shaped guide 5 and the position of the branch pipe 2a to be welded preliminarily detected by the probe 14 is obtained by a control device 20, and the positional correction amount of the horseshoe-shaped guide 5 for eliminating the deviation amount is obtained and is given to the robot controller 19. Therefore, the branch pipe 2a to be welded to which the horseshoe-shaped guide 5 is externally fitted is arranged at the center of the orbit of the circumferential action of the welding torch 11. <P>COPYRIGHT: (C)2012,JPO&INPIT |
