| 摘要 |
PROBLEM TO BE SOLVED: To automatically perform welding in such a complicated welding route 3 of a body to be welded which is composed of a square pillar 1 and a semi-circular/ square pillat 2 without making an effort such as teaching. SOLUTION: The bodies 1, 2 to be welded are loaded on a rotary table 12 having a horizontal table top 12a and rotated at constant speed around the axis 12b of rotating through a table rotation controller 13. The optical axes of an image sensor 8 and laser beam displacement meter 9 are present on the same vertical plane including the axis 12b of rotation, the height H of a point P where the vertical plane and the welding route 3 cross is measured from a picked-up image with the image sensor 8 and, at the same sampling period, the horizontal distance D to the point P is measured with the laser beam displacement meter 9. The measured sampling data of the image sensor 8 and the laser beam displacement meter 9 corresponding to the rotational angleθof the rotary table 12 are sent to a route recognizing device 11 and the three-dimensional position data of the welding route is accumulated in the device 11. This recognition data of the welding route 3 is sent to the controller of an articulated robot for driving a welding torch not shown in the figure and automatic welding in which the route 3 is followed with the torch is performed.
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