| 摘要 |
PURPOSE:To permit to detect a weld position with high-speed and high accuracy by a method wherein a pair of probes are arranged on both sides of a torch and both probes are brought into contact with two planes while they are extended and contracted, thereby to sample the relative positional relationship between the torch and the probes. CONSTITUTION:There are provided a detecting section 21 movable together with a wire 16 projecting from the distal end of a torch 13, a processing section 22 connected to the detecting section 21 and a robot control section 23 connected to the processing section 22 in the titled detector. With the distal end of the wire 16 locating at a point P1, probes 26 and 27 are pushed out until they come into contact with planes 14 and 15, respectively. Moved distances of the probes are respectively measured at 29 and 30 and the results are fed to an arithmetic section 25. The arithmetic section 25 calculates coordinate values of contact points S1, S2 between the planes 14, 15 and the probes 26, 27 based on the coordinate values of the point P1, attitude of the torch 13 and the individual measured values. similarly, coordinate values of contact points S1', S2' are calculated with the distal end of the wire 16 locating at a point P2. From individual coordinate values, straight lines S1S1', S2S2' indicating shapes of the two planes 14, 15 are obtained. A weld point P is calculated as a cross point of these two straight lines. |
