公开(公告)号：US10105784B2

公开(公告)日：2018-10-23

申请号：US14220501

申请日：2014-03-20

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： Tatsuya Ikeda ,  Hisashi Kataoka ,  Tetsuya Takayama ,  Yasushi Mukai

IPC: B23K9/12 ,  B23K9/127 ,  B23K9/025

Abstract: The present invention is a weld line-detecting method when fillet welding by an industrial robot including a welding torch is taught. The welding torch on which an angle sensor having a contactor is attached is moved toward a welding object, angle information obtained when the contactor is in contact with the welding object is transmitted to the industrial robot, and the industrial robot moves the welding torch based on the angle information so that the angle of the contactor becomes zero. These operations are repeated, and the welding torch is moved toward a fillet part along the surface of the welding object. When the contactor arrives at the fillet part, a signal indicating that the contactor is pressed in the axial direction of the contactor is transmitted to the industrial robot. The industrial robot detects that the contactor arrives at the position to be welded on the weld line.