| 摘要 |
PROBLEM TO BE SOLVED: To stabilize the welding by detecting the welding starting position of a longer side part and a shorter side part using a contact detector to correct the change in the position of a pipe, to correctly recognize the weld seam, and uniformize the penetration shape and the bead thickness. SOLUTION: A contact member 87 of a contact detector is projected in a contact manner. A long side part 87a of the contact member 87 is circumferentially moved from the preset circumference detection starting position AP2 of a first cylindrical body WKP, and the first position of the cylindrical body WKP is detected to calculate the deviation of the first circumferential position. Then, a short side part 87b of the contact member 87 is moved, and the second position of the circumference of the cylindrical body WKP is detected to detect the deviation of the second circumferential position. After the contact member 87 is stored in the contact detector, the deviation of the first or the second circumferential position is added to the preset welding position. The corrected welding position is welded, and the weld seam of the circumference to be formed by a flat plate WKF and the cylindrical body WKP is successively welded by a welding robot. |
