DEVICE AND METHOD FOR APPROACHING WELDING OBJECT AT HIGH SPEED OF MULTI-JOINT ROBOT

摘要

PURPOSE: A device and a method for approaching a welding object at a high speed of a multi-joint robot are provided to improve productivity by saving time taken to detect a position of the welding object by a robot controller. CONSTITUTION: A robot moves to a reference position established on an off-line program of a robot controller(7). To detect an initial welding point, the robot moves at a several hundreds mm/s until a distance between a welding object(1) and an end of a wire(2) approaches within dozens mm. Herein, the distance is recognized by plural approach sensors(11). Even if only one among three signals is obtained, it is recognized that the robot reaches a desired position. A position reach signal is transferred to a controller(7) through a sensor cable(12). The controller recognizes the signal and acts a touch sensor(5). Then, the controller moves the robot by decelerating the approach speed of the robot to several mm/s until the end of the wire(2) touches the welding object.