| 摘要 |
PROBLEM TO BE SOLVED: To realize proper judgement even with welding of a groove which is formed in gas cutting or the like and has inferior accuracy by storing size of a gap measured at plural portions along a weld line and each measuring position, measuring a shape of welding beads being identical to or vicinity of each measuring position after completion of welding, and comparing the shape with a judging reference including size of the gap stored in advance. SOLUTION: A control unit 4 controls an action of a welding robot 1, and a sensor control unit 6 on-off controls a sensor 3 based on a command from the control unit 4 and relays output of the sensor 3. A data processing unit 7 calculates size of a groove gap before welding at the measuring position based on the position signal from the control unit 4 and the output of the sensor 3 relayed by the sensor control unit 6, and the judging reference based on the size of the gap. Additionally, the unit 7 calculates width or length of the welding bead after welding, calculates the judging reference and width or length of the welding bead, and compares it with width or length of the welding bead.
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