| 摘要 |
PURPOSE:To relax remarkably restrictions on welding position, by fixing a light projecting section and a photographing section near a welding torch so that the extension lines of respective center axes intersect at the tip position of the welding wire of the welding torch and thereby enabling detection of weld line of various objects to be welded. CONSTITUTION:Annular light 9 of width W and diameter D which is generated from a projecting section 10 and fully covers the weld line 8 of objects 7, 7' to be welded is irradiated on the vicinity of a joint of the objects 7, 7', and the annular light 9 is photographed by a photographing section 11. By treating the picture, the coordinates (x1, y1), (x2, y2) of weld points 8a, 8b are determined from the image 9a of annular light in the visualfied 21 of the section 11, and teach data of a welding robot is corrected. Welding is started after correction. As extensions of center axes of the projecting section 10 and photographing section 11 intersect at the tip P of the welding wire, that is the position of welding, the advancing direction of the welding torch 12 has the degree of freedom of 360 deg., and becomes applicable to a solid body. |
