| 摘要 |
PURPOSE:To control easily and exactly the projecting length of a core wire by bringing a welding tip of a welding torch attached to the working arm of a welding robot into contact with an object to be welded, detecting the same as a short circuiting signal and detecting the position of the object to be welded. CONSTITUTION:A working arm 2 of a welding robot body 1 controlled by a robot control device 5 is moved to bring the top end of a welding tip 4 of a welding torch 3 into contact with an object 11 to be welded in the state of having a core wire 3 retreated in the welding torch attached to the arm 2. The contact is detected as the short circuiting signal of the preliminarily impressed detection voltage by a sensor control device 7, and the movement of the arm 2 is stopped by the device 5; at the same time, the position of the object 11 is detected from the stop position of the arm 2. The arm 2 is then moved to dispose the torch 3 in the position apart by the distance corresponding to the prescribed projecting length of the core wire and to operate a core wire feed part 8 by which the core wire 9 is projected to a prescribed length and is fed to a weld zone. Welding current is conducted from a welding power source 6 and welding is accomplished. |
