| 摘要 |
PURPOSE:To enable various shapes of weld lines to be searched with one unit by letting the sensor of the rod end vibrate in pendulumn type within the plane rectangular to the rod, detecting the inclination at the detecting of the weld line and letting the rod turn and follow-up with the torch position as an axis. CONSTITUTION:A rod 12 is turnable in the phi direction with the three-dimensionally movable welding torch 6 position of a welding robot 1 as an axis. The sensor 15 which outputs the voltage proportional to the distance of this end is vibrated in the theta direction above the welding works. The angle detector 21 in the vibration part 13 detects the angle of the sensor to the Z-axis at the weld line detecting in this one vibration, peak sensor angle thetam. This is processed and the command value of the sensor torch angle phi is emitted. A servo motor 10 is driven until the deviation between this and the detection value from an angle detector 11 becomes 0. This causes a gear 8 to rotate and the sensor 15 mounted to this to be turned so as to position always right above the weld line. |
