| 摘要 |
PURPOSE:To execute a continuous automatic welding of a corner part without a worker's teaching by detecting the corner part by a monitor sensor of a welding truck which runs tracklessly, and executing a numerical control of the welding truck, and a welding torch and an arm on the truck. CONSTITUTION:An arm 3 on a welding truck 1 which runs tracklessly is turned by an arm revolving shaft 2 and also expands and contracts freely. A wrist oscillating articulated part 4 provided on the tip part of the arm 3 holds a welding torch 7 and turns. A monitor sensor 5 provided on the welding truck 1 detects a corner P of a weld line 8 as the truck 1 advances, and executes a numerical arithmetic control to the position P of the corner and the position of execution of the revolving shaft 2 and the welding torch 7. When the torch 7 reaches a turning start position, the articulated part 4 is turned, and the truck 1 scarecely advances and executes welding along the weld line 8. When the torch 7 passes through the corner P, the truck 1 advances in a new welding direction and executes a continuous automatic welding of the corner part P. |
