| 摘要 |
PROBLEM TO BE SOLVED: To provide a remote operation welding robot system, where teaching work for welding work and the welding work can be performed by remote operation by an operator and a sound welding zone can be obtained. SOLUTION: A welding work robot 12 that is multi-articulated and three- dimensionally movable is employed. The teaching work necessary for the motion of the welding work robot is performed by storing previously taught data in a robot control device 20. Welding condition correcting work during the welding work is carried out by the remote operation using a teaching pendant 27 and a tool controller 28, by monitoring the image of a molten pool by an image pickup means such as a charge-coupled-device (CCD) camera 21 and by remotely conducting three-dimensional measurement by a binocular stereoscopic method. Furthermore, as a back bead monitoring device 23 is arranged, a welding current is automatically controlled by confirming the appearance of the rear side of a welding groove and picking up the image of the back bead molten pool, so that the generation of welding defects is effectively prevented. COPYRIGHT: (C)2003,JPO
|
