| 摘要 |
PURPOSE:To detect easily a target point even when the target point exists at the high place and the narrow part by detecting and teaching the position of the target point on the welding line based upon the image pick-up picture of the camera fitted to the wrist of the robot in a single body with a torch. CONSTITUTION:When teaching is executed prior to the welding, marking is executed to a target point T on a welding line 3, and a guide line L' is formed which crosses to induced lines L and L to pass through a target point T on the surface of a branch tube 2. By the operation of a teaching box 12, a command is given to a control part 11, shifted while a wrist 8 of a robot is visually observed up to the vicinity of the induced line L, and while a screen S of a monitor 9 is observed, by the operation of the box 12, the writs 8 is shifted so that the induced line L enters the view of a camera 6 fitted at the wrist 8. At such a time, a central shaft of a torch 4, a projector 5, and a camera 6 cross at an intersection P, a wire 10 is projected so that the tip of the wire 10 can be coincident to the intersection P, and the tip surface image of the wire 10 is displayed. |
