JPS5597880A - Fillet weld point detecting method in automatic welding robot - Google Patents

Abstract

PURPOSE: To detect always optimum fillet weld points by performing sensing, work by work, for the works formed with grooves by butting two members at a right angle, with a sufficiently remote position as a base point.

CONSTITUTION: First, a torch 116 is put in a certain fixed position with respect to the specified reference member, thence a consuming electrode 209 is let off. When its end approaches to the reference point Q and there is conduction of electricity between both, the protruding amount of the electrode 209 is specified by the signal of a current sensor 27. Next, the weld point WP of the torch 116 is position-controlled to the start position P₁ and the position information X₁, Z₁ in the X-axis and Z-axis directions in this position is taken in. The torch 116 is then displaced by a suitable amount from the position P₁ in the lower part of the Z-axis direction and is position-controlled to the position P₂ opposing to the perpendicular member W₂ when viewed in the X-axis direction. Thereafter, the necessary position information of the point WP is subsequently taken in and when all the sensing steps are finished, the position command for the torch 116 is executed with the intersecting point P₁₂ as the welding start command position.

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