| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To execute welding with excellent accuracy in conformity with a three-dimensional shape when a three-dimensional object is formed by welding a plurality of members. <P>SOLUTION: Teaching data, which are regulated based on design data of the three-dimensional object and have a three-dimensional position at each welding spot in a predetermined interval on each welding line and a normal vector of the position, are stored in a storage device 18. Laser slit light sensors (a laser slit light irradiation part 12 and a CCD camera 13) are controlled by a whole control device 17 via a camera controller 14 and image data are obtained by taking a picture of the welding spot. An image processor 16 obtains an amount of position deviation of the welding spot by image processing the image data. The whole control device corrects the teaching data based on the amount of the position deviation, obtains corrected teaching data, and drive- controls a welding head based on the corrected teaching data. <P>COPYRIGHT: (C)2003,JPO</p> |
