| 摘要 |
PROBLEM TO BE SOLVED: To obtain a welding robot with a laser sensor for surely detecting a work bent part even when a work is arranged at an approximate position. SOLUTION: A sensor 4 opposed to a work plane is moved in parallel to the taught estimated line KL, and the first sampling is performed at a given interval. Then, the sensor is dispositioned in a manner that the measured value of the sensor becomes a reference value. When the measured value at the time of the J-th sampling exceeds the first setting value, the sensor is moved by a given interval in an opposite direction to the first sampling, for performing the second sampling at a small interval in the same direction as the first sampling. When the sensor measured value at the time of the K-th sampling, or the K-th sensor measured value and the K-1st sensor measured value exceed a given setting value, a detected signal is output indicating that the bent part of the work plane is positioned between the K-1st and the K-th samplings.
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