| 摘要 |
PROBLEM TO BE SOLVED: To provide an automatic beveling copy-welding apparatus with which even in the case of deviating the beveling state from a designing condition, the welding without observing the welding state, particularly, the welding with weaving can be performed. SOLUTION: The beveling position is detected from an image of the welding part by catching a video signal of the welded part 52 during welding containing a wire tip part 1 position from a CCD camera 2 and welding torch tip part positional information from a control unit 43 in a welding robot 4, and then, the positional relation to the welding torch 1 obtained from the welding torch tip part positional information, is calculated and a positional corrective signal is transmitted to the control unit 43 in the welding robot so that the advancing line positions to the intermediate position of the beveling. Further, in the case of performing the weaving welding, an image processing device 3 inputs a signal for showing a phase of the weaving from the robot control unit 43 and the positional relation between the beveling position and the welding torch is calculated based on the weaving phase and a corrective signal for correcting the weaving width is transmitted to the robot control unit 43. COPYRIGHT: (C)2004,JPO
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