| 摘要 |
PROBLEM TO BE SOLVED: To prevent the possibility of generating a machining defective article even as keeping the instruction program to a robot caused on the heat strain during welding, for example, in a YAG laser beam welding robot. SOLUTION: A strain measuring sensing unit 3 in order to measure the strain of a work W is arranged in the advancing direction of a laser beam nozzle 1 of a laser beam machining head 2 and the strain is detected with a CCD camera 6 with a semiconductor laser beam source. The position data is calculated with an arithmetic controller 4 from the received image data, it is transmitted to a robot controller 5 and the instruction program is compensated. |
