| 摘要 |
PURPOSE:To reduce the motion steps of a robot and to increase the operability by providing a distance detector on the periphery centering around the shaft of a welding torch and the driving mechanism to locate it with its rotation and by detecting the symmetrical position independently of the robot motion. CONSTITUTION:A welding torch 3 is located on a welding start point P5 because of the welding start point P5 and the same completion P6 being taught in advance. Now when a distance sensor 5 is rotated once by a driving device 6, the detection value for the scanning line 7 of the distance sensor 6 becomes points A13-A15. The points A16-A18 are found with one rotation of the distance sensor 5 once again by moving the welding torch 3 along the weld line to a position P7 then. The equation of space straight lines l1, l2, l3 is found by using the points A13-A18. Consequently the cross point of the space straight lines l1, l2 corresponds to a welding start point WS and the l3 becomes corresponding to the weld line direction and found by a formula and these operations are performed by using a control device 10. |
