Edge method of detection null of the suffering weldment which is applied to the arc welding robot

摘要

PURPOSE: To surely execute discriminating processing of the position of edge part even when the return of laser beam from the inside of gap at the place to be welded is larger than expected, the minimum value of received beam quantity measured at this time is higher than that of normal and L reference value does not work. ;CONSTITUTION: In the edge part detecting method applicable to the robot for arc welding in which a welding torch and laser sensor are arranged at the tip of moving arm, the sensor detects a shape of the object to be welded and welding is executed while correcting the data taught beforehand, at the beginning, touch of the edge part of place to be welded is searched. This P reference value is started from the place having a level of lower received beam quantity. But when P discriminating point has not been found after searching is repeated, each increment is added repeatedly to P reference value, finally, the receiving beam quantity is turned out higher than L reference value. In a such case, P reference value substitutes a role of L reference value.;COPYRIGHT: (C)1996,JPO