| 摘要 |
A mechanism for driving a sensor for detecting the shapes of weld beads is completely separated from a mechanism for driving a welding torch with the sensor being operative independently of the welding torch. Prior to or during a welding operation, the sensor is moved above the groove in a direction perpendicular to a weld line in accordance with a command from a computer. Information about the shapes, in particular, information about the shapes of cross-sections of a groove portion which has been obtained by scanning is first stored in a memory. Then, information processing is executed so as to calculate a central position of the groove, the amount of dislocation, and the shape of the bead. In case enough information for enabling a welding operation to be carried out satisfactorily has not been obtained by a single scanning, particularly in case the groove portion is too deep to enable the sensor to perform its detection function satisfactorily, the sensor is again moved in scanning motion in the direction perpendicular to the weld line and in a vertical direction to collect information. The information thus collected is combined with the information previously obtained, so as to detect the accurate shapes of weld beads.
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