WELDING ROBOT WITH SENSOR

摘要

PURPOSE:To obtain the position data on welding torch without complicated calculations and to shorten the time before starting welding by providing the optical sensor to detect the point separated from the prescribed distance in the projecting direction of the wire of welding torch. CONSTITUTION:A welding torch 2 is brought to the sensing start point having been taught in advanced and the positioning in the upper and lower direction is performed by an optical sensor 1, which controls the arm of robot so as to make the detected distance within the fixed range. Because of the data pattern being obtainable by performing the distance measurement of the point on the scanning part 4 of the upper face of a lap work 3 with moving the optical sensor 1 the position showing the abrupt change in this data pattern is detected as the position of the welding line of the lap work 3 namely welding start point P.