JP2016150349A - Welding system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a welding system which reduces a load of calculation and stabilizes an operation by solving such a problem that, because it is required to avoid a part of temporary welding when continuous welding by means of a welding robot is performed, in the conventional welding system, coordinates of a plurality of detection points are successively stored, the stored coordinates are compared with detected coordinates, thereby, whether the detected coordinates are the temporary welded part or not is judged and a substitute point of the temporary welded part is calculated, therefore, a load of calculation increases and a load of a welding system increases.SOLUTION: A control part of a welding system has such position changing means as to set a value of a deviation distance earlier than the time when it is judged that the deviation distance is not a prescribed value or less of deviation distances stored by storage means.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a welding system. More specifically, the present invention relates to a welding system that welds a workpiece on which tack welding has been performed.

  For example, as disclosed in Patent Document 1, a boom provided in a crane truck or the like is formed into a cylindrical body having a rectangular cross section by welding upper and lower members bent into a U-shaped cross section by butt welding. In welding, after performing temporary attachment to a plurality of locations on the edges of the upper and lower steel plates, the edges of the two members are continuously welded. Specifically, when performing long continuous welding such as a boom, the welding robot teaches the welding start point and welding end point, and the welding robot continuously welds along the line connecting the two points. Is done. By the way, the edge of such a relatively long workpiece may be deformed by several millimeters during bending before welding or the like. For this reason, in order to ensure the accuracy of continuous welding, the welding robot includes a laser sensor on the traveling direction side of the welding torch, and determines a reference line for welding between the two flat plate portions according to the value from the laser sensor, The two flat plate portions are accurately welded.

  However, when continuous welding is performed using the laser sensor, the laser sensor outputs a value along the contour shape of the tack welding in the tack welding portion, and the center of the two members should be welded. Will come to weld different places. As a result, the robot strays or stops suddenly in the vicinity of the tack welded part, and there is a problem that the performance of the welding work itself is hindered. It is also possible not to include the part of the tack welding between the welding start point and the welding end point, but it is necessary to repeat the teaching work of both points, and there is a problem that the work efficiency is lowered. there were.

  In order to solve the above-described problem, Patent Document 2 discloses a method for avoiding a portion of temporary welding when performing continuous welding by a welding robot. That is, the control unit of the system uses only the detection value of the laser sensor to determine the tack welded portion and the portion that is not the tack welded portion, and the portion that is not the tack welded portion is a welding reference based on the value detected by the laser sensor. Operate the welding robot based on the line. On the other hand, when the control unit determines that the welding robot has reached the tacking portion, the substitute point is calculated from a plurality of points before reaching the tack welding, and the line connecting the substitute points is the welding reference line. As a welding robot is operated.

  However, in this method, the coordinates of a plurality of detection points are sequentially stored, and the stored ones are compared with the detected ones to determine whether or not they are temporary welded parts, or substitute points for the temporary welded parts are calculated. Therefore, there is a problem that the calculation load increases and the load of the welding system increases.

JP 2012-206848 A Japanese Patent Laid-Open No. 10-34334

  In view of the above circumstances, the present invention provides a welding system that performs continuous welding based on a detection value of a laser sensor, the control unit of which has means for avoiding a temporary welded part while reducing a calculation load. For the purpose.

The welding system of the first invention is a welding system for welding two members with a welding device so as to be substantially flat, and a control unit of the welding system calculates a welding standard calculated based on an output from a laser sensor. A tip position calculating means for positioning the welding device at a point and calculating a tip position of the welding torch based on an output signal from a laser sensor between a welding start point and a welding end point taught by the welding device; Calculated by the tip position calculation means for the welding reference point determination means using the welding torch tip position calculated by the tip position calculation means as a welding reference point and the teaching line segment connecting the welding start point and the welding end point. Position determining means for determining whether or not the deviation distance of the tip position of the welded torch is equal to or less than a predetermined value, storage means for storing the deviation distance, and position determination means, If it is determined that the distance is not less than the predetermined value, the position of the deviation distance stored by the storage means is the value of the welding reference point that is the deviation distance before the position determination means determines that the distance is not less than the predetermined value. And a changing means.
In the welding system of the second invention, in the first invention, the position changing means determines that the position determining means determines that the deviation distance is not less than or equal to a predetermined value. The value of the deviation distance immediately before it is determined that it is not below is the value of the welding reference point.
In the welding system of the third invention, in the first invention, the position changing means determines that the position determining means determines that the deviation distance is not less than or equal to a predetermined value. It is characterized in that the value of the deviation distance before a predetermined time from the time when it is determined that it is not below is set as the value of the welding reference point.
According to a fourth aspect of the present invention, in the first to third aspects of the invention, the welding torch is a laser arc welding torch.
A welding system according to a fifth aspect of the present invention is characterized in that, in the first to fourth aspects, the flat plate is welded by abutting the edges of the flat plate portions of the two members.
The welding system of the sixth invention is characterized in that, in the first to fourth inventions, the flat plate is welded by overlapping two members and providing a fillet on one end edge.

According to the first invention, the control unit determines whether the deviation distance is equal to or less than a predetermined value based on the teaching line segment connecting the welding start point and the welding end point, that is, welding of the welding apparatus. Since the coordinates are determined based on the welding start point and the welding end point stored before the operation, the calculation load for determination can be reduced. In addition, since the determination is performed based only on the bias distance, the calculation load can be reduced in this respect.
Further, by providing position changing means for setting the value of the deviation distance before the time when the position determining means determines that it is not less than the predetermined value as the value of the welding reference point, the value of the welding reference point of the control unit is provided. The load for calculating can be reduced.
By reducing the calculation load as described above, the stability of the entire welding system can be improved.
According to the second invention, when the position determining means determines that the deviation distance is not less than or equal to a predetermined value, the position changing means determines that the position determining means is not less than or equal to the predetermined value among the stored deviation distances. By using the value of the deviation distance immediately before as the value of the welding reference point, particularly when the detection cycle of the laser sensor is long, the tip of the welding torch can be appropriately positioned and the welding quality is improved.
According to the third invention, when the position determining means determines that the deviation distance is not less than or equal to a predetermined value, the position changing means determines that the position determination means is not less than or equal to the predetermined value among the stored deviation distances. More, by setting the value of the deviation distance before a predetermined time as the value of the welding reference point, particularly when the detection cycle of the laser sensor is short, the tip of the welding torch can be appropriately positioned, Welding quality is improved.
According to the fourth aspect of the present invention, the welding torch is a laser arc welding torch including an arc welding means and a laser welding means, so that even a joint having a large clearance is reliably joined by welding. can do. Further, when the laser welding means is followed, the molten metal can be melted in the depth direction, so that the steel plate can be welded with a small heat input.
According to the fifth aspect of the present invention, the flat plate is welded by abutting the edges of the flat plate portions of the two members, so that the measurement target of the laser sensor becomes substantially two-dimensional, and the calculation load can be reduced. Thereby, the stability of the whole welding system can be improved.
According to the sixth aspect of the invention, the flat plate is welded by overlapping two members and providing a fillet at one end edge, so that the measurement target of the laser sensor becomes substantially two-dimensional and reduces the calculation load. it can. Thereby, the stability of the whole welding system can be improved.

It is explanatory drawing of the determination method of the welding reference point of the welding system which concerns on embodiment of this invention. It is a laser sensor arrangement | positioning figure of the welding robot of the welding system which concerns on embodiment of this invention. It is a block block diagram of the welding system which concerns on embodiment of this invention. It is a control flow figure of the welding system concerning the embodiment of the present invention. It is a lineblock diagram of a welding system concerning an embodiment of the present invention. It is a perspective view of the welding target object welded by the welding system of FIG.

Next, an embodiment of the present invention will be described with reference to the drawings.
FIG. 5 is a configuration diagram of a welding system according to an embodiment of the present invention, and FIG. 6 is a perspective view of a crane boom 14 that is a welding object welded by the welding system. The welding system according to the present invention is a system in which a welding robot 10 welds a long workpiece of about several meters to several tens of meters in the longitudinal direction. The welding object is, for example, the crane boom 14, and the welding location is a butting portion of the edge between the upper member 20 and the lower member 21 on the side surface of the crane boom 14. However, the welding object is not limited to this.

  The crane boom 14 is a long steel plate tubular structure, and a large bending load acts on the work. As a material of the crane boom 14, a high-tensile steel plate having a thickness of about 4 to 12 mm is mainly used. In the crane boom 14, an upper member 20 and a lower member 21, which are long steel plates bent into a U-shaped cross section, are abutted at their respective edges. That is, the flat plate portion of the upper member 20 constituting the side surface of the crane boom 14 and the flat plate portion of the lower member 21 similarly constituting the side surface are parallel to each other, and the flat plate portion is welded by butt welding. Are formed as cylindrical structured grains.

  In a long workpiece, the upper member 20 and the lower member 21 which are base materials are distorted due to the progress of welding, or the relative positional relationship between the base materials is changed. Moreover, in the case of the crane boom 14, since the boom longitudinal direction is long, the shape of an edge may not become an ideal straight line by bending, but may deform | transform. Therefore, the shape and positional relationship are fixed in advance by tack welding. In the crane boom 14, the upper member 20 and the lower member 21 are tack welded in advance, thereby fixing the relative positional relationship. Thereafter, using the welding system according to the present invention, the upper member 20 and the lower member 21 are continuously welded so as to include the temporary welded portion and integrated by the welded portion 22. The welding apparatus according to the present embodiment includes an articulated welding robot 10 and a control unit 11 that controls the welding robot 10. The welding robot 10 includes a welding torch 12 for laser arc welding and a laser sensor 13 adjacent to the welding torch 12 at the hand portion. Laser arc welding is hybrid welding of arc welding and laser welding, and the welding torch 12 is configured such that arc welding precedes and laser welding follows. For example, in the butt welding of a long boom, there is a portion where a gap of several mm is generated in the butt portion, but the welding torch 12 is a torch for laser arc welding in which arc welding precedes and laser welding follows. It can be reliably joined by welding. In particular, when the welding torch 12 is a laser welding single torch, welding may not be possible if the detection accuracy of the laser sensor 13 is reduced, but welding is possible by using a laser arc welding torch. In addition, since the molten metal can be melted in the depth direction by subsequent laser welding, the steel plate can be welded with less heat input. The configuration of the laser sensor 13 is a known one as disclosed in Patent Document 2, for example. The laser sensor 13 is disposed so as to detect the traveling direction side of the welding torch 12. The laser arc welding torch is not limited to the one described above, and laser welding may precede and arc welding may follow. The laser sensor 13 may be any sensor that can measure the distance to the welding object, and is not limited to one using a laser.

  FIG. 1 is an explanatory diagram of a method for determining a welding reference point in a welding system according to an embodiment of the present invention, and FIG. 2 is a laser sensor layout diagram of a welding robot. In FIG. 2B, the welding torch 12 is omitted. In this specification, the direction parallel to the straight line including the welding start point T1 and the welding end point T2 specified by the operator is taken as the Y axis, and the direction perpendicular to the plane on the flat plate as the welding object is taken as the Z axis. A direction perpendicular to the Y axis and the Z axis is taken as an X axis. The Y axis has the welding start point T1 as the origin and the forward direction toward the welding end point T2, and the Z axis is one of the two flat plate portions that are the welding objects (for example, the position of the surface of the upper member 20). The origin is the positive direction toward the laser sensor 13, and the X direction is a positive or negative direction (in the present embodiment, a member in the direction away from the edge of the flat plate portion with the welding reference line formed from the welding reference points as the origin. The direction away from D1 is positive).

  It should be noted that the welding start point T1 and the welding end point T2 taught by the operator are on the plane that is the object to be welded, but are not actually on this plane in relation to the laser sensor used. In this case (because the laser sensor is a non-contact sensor, the position of the welding torch, that is, the welding start point, etc. is kept at a certain distance from the welding object when teaching), the taught welding start point T1 Are points on this plane, and a line connecting these points on the plane is referred to as a “teach line segment”. Further, the “bias distance” with respect to this “teach line segment” refers to the absolute value of the X coordinate at that point.

  The laser sensor 13 is a sensor that simultaneously measures the distance from the object to be measured to the laser irradiation port and the laser irradiation direction, and has a predetermined width in the X direction as indicated by a one-dot chain line in FIG. And measure a plurality of points between the widths. The control unit 11 determines where the mating surfaces of the two members (for example, the mating surface that forms the step between the upper member 20 and the lower member 21 depending on the distance and direction) are based on the position signals from the laser sensor 13. Then, control is performed so that the tip position of the welding torch 12 is positioned at an optimum position with respect to the mating surface. The point on the mating surface of the two members detected by the laser sensor 13 is defined as the “tip position of the welding torch” and usually has a predetermined height directly above the mating surface of the two members, that is, in the Z direction. Means the point. By positioning the tip of the welding torch 12 at this “tip position of the welding torch”, usually optimum welding can be performed.

  In FIG. 3, the block block diagram of the welding system which concerns on embodiment of this invention is shown. The welding system includes a control unit 11, a welding robot 10 connected to the control unit 11, a laser sensor 13 provided at the tip of the welding robot 10, a welding torch 12 also provided at the tip of the welding robot 10, It is comprised including. The control unit 11 includes a CPU 31 that controls the entire system, a memory such as a ROM 32, a liquid crystal display unit 35 that displays information from the control unit 11 to an operator, an operation panel 36 that receives an instruction from the operator, and the like. Connected by bus line. In addition, a welding power supply unit 37 that supplies power to the welding torch 12 and a servo amplifier 38 that supplies power to the welding robot 10 are connected to the bus line.

  The ROM 32 stores various programs for the CPU 31 to control the welding robot and the like. The RAM 33 is a memory used for primary storage and calculation of data. The nonvolatile memory 34 stores setting values of various parameters.

  With reference to FIG. 1, a method for determining a welding reference point in a state where there is a temporary welding portion E will be described. The control unit 11 of the welding system according to this embodiment is configured such that after the operator teaches the welding start point T1 and the welding end point T2, the control unit 11 performs a laser between the welding start point T1 and the welding end point T2. Based on an output signal from the sensor 13, tip position calculation means for sequentially calculating the tip position of the welding torch 12 is provided.

  FIG. 1 is a view of a state in which two long members D1 and D2 are butt welded as seen from the front of the two members D1 and D2. T1 is a welding start point taught by an operator, T2 is a welding end point, and S1 is a plane formed by T1 including members D1 and D2 (when the member D1 corresponds to the upper member 20, the plane of the member 20). Sr is the point where T2 is lowered on the plane. A straight line connecting S1 and Sr is a “teaching line segment”, and is displayed by a dotted line in FIG.

  The mating surface of the two members D1 and D2 is represented by a solid line shown below the teaching line segment in FIG. The laser sensor 13 measures this mating surface at a predetermined cycle. The detection points by the laser sensor 13 on the mating surfaces are indicated as Si (i is a numerical value from 1 to an arbitrary number of r, 1 <m <n <r). Since the welding robot 10 is operated at a constant speed by the control unit 11, the detection points Si by the laser on the mating surface have a constant interval in the Y direction. The controller 11 is provided with a tip position calculating means for calculating the tip position of the welding torch 12 between the welding start point T1 and the welding end point T2 based on the output signal from the laser sensor 13, thereby teaching The tip position of the welding torch 12 is calculated not along the line segment but along the mating surface. And since the control part 11 is equipped with the welding reference point determination means which makes the front-end | tip position of this welding torch 12 a welding reference point, welding is performed along this mating surface.

  A plurality of tack welds E are provided on the mating surfaces. Since the laser sensor 13 measures the positions of the surfaces of the members D1 and D2, when the mating surfaces of the two members D1 and D2 are not exposed on the surface by the tack welding portion E, these are not the mating surfaces. The contour portion of the tack welded portion E is detected. Therefore, from S1 to Sm-1, there is a laser measurement point Si on the mating surface, but from Sm to Sn-1, a location away from the mating surface of the two members D1 and D2 is detected by the laser sensor 13. The

  In the present embodiment, the control unit 11 includes a position determination unit that sequentially determines whether or not the deviation distance of the tip position of the welding torch 12 calculated by the tip position calculation unit is equal to or less than a predetermined value. Specifically, as shown in FIG. 1, a parallel line is provided at a position separated by ΔX in parallel with the teaching line segment connecting the welding start point T1 and the welding end point T2, and the detection point Si of the laser is If the parallel line is exceeded, it is determined that the detection point of the laser sensor 13 is not on the mating surface of the two members D1 and D2.

  The control unit 11 sequentially determines whether or not the deviation distance is a predetermined value or less with reference to the teaching line segment connecting the welding start point T1 and the welding end point T2, that is, before the welding operation of the welding robot 10 Since the coordinates are determined based on the welding start point T1 and the welding end point T2 stored in the above, the calculation load for determination can be reduced. In addition, since the determination is performed based only on the bias distance, the calculation load can be reduced also in this respect. By reducing this calculation load, the stability of the entire welding system can be improved.

  In the present embodiment, the control unit 11 includes a storage unit that sequentially stores the bias distance. That is, the coordinates of each point of Si on the mating surface measured by the laser sensor 13 are sequentially stored. At that time, the absolute value of the value of the X coordinate is stored as the value of the bias distance.

  Furthermore, in this embodiment, when the position determination means determines that the absolute value of the deviation distance, that is, the X coordinate value of the detection point Si of the laser sensor 13 is not less than a predetermined value, the control unit 11 determines the welding reference point. Position change means for changing the value of the X coordinate from the value of the X coordinate of the detection point of the laser sensor 13 is provided. For the X coordinate of the welding reference point, the value of the bias distance that is temporally prior to when the position determination means determines that it is not less than or equal to the predetermined value among the bias distances stored by the storage means. For example, in the butt welding of a long boom, since the mating surfaces of the members D1 and D2 are substantially parallel to the teaching line segment, the welding can be continued by using the value of the bias distance as described above.

  By providing the position changing means for setting the value of the deviation distance before the time when the position determining means determines that it is not less than or equal to the predetermined value as the value of the welding reference point, the member D1, Welding can be performed along the mating surface of D2. Further, in the tack welded portion E, the joint surfaces of the members D1 and D2 that cannot actually be measured are parallel to the teaching line segment by using the value at the detection point (Sm-1) immediately before the tack welded portion E. It is possible to simply estimate the mating surface as a line segment and continue welding, and to reduce the load of the control unit 11 for calculating the value of the welding reference point. The stability of the entire welding system can also be improved by reducing the calculation load.

  The bias distance value is positive. Therefore, when the X coordinate of the tip position of the welding torch is a positive value before the time when the position determining means determines that it is not less than the predetermined value, the value of the bias distance is the X of the welding reference point as it is. When the X coordinate of the tip position of the welding torch is a negative value, a value obtained by multiplying the deviation distance value by -1 is the X coordinate value of the welding reference point.

  Here, “before the time when the position determining means determines that the value is not less than the predetermined value” may be immediately before the determination or may be a predetermined time before the determination. .

  The term “immediately before the determination” refers to, for example, a time just before the detection cycle of the laser sensor 13, and is effective when, for example, the detection cycle is relatively long and the interval between detection points of the laser sensor 13 is relatively wide. Is expensive. When the interval between the detection points of the laser sensor 13 in the Y direction is relatively wide, in the shape of the tack welded portion E, a portion having a greatly different inclination from the inclination of the mating surface (in FIG. 1, a portion from Sm-1 to Sm If the interval between the detection points Si of the laser sensor 13 is wider than the length of the portion from Sn-1 to Sn, it is desirable to set the value immediately before the determination by the position determination means as the value of the welding reference point.

  Of the stored deviation distances, the position deviation means determines that the deviation distance immediately before the position determination means determines that the deviation is not less than a predetermined value, so that the value of the welding reference point is used. When the detection cycle is long, the tip of the welding torch 12 can be appropriately positioned, and the welding quality is improved.

  Conversely, when the detection cycle is relatively short and the detection point Si of the laser sensor 13 has a relatively narrow interval in the Y direction, “before the position determination means determines that the detection point Si is not less than a predetermined value” It is said that “a predetermined time before”. When the detection cycle is relatively short, the detection point Si of the laser sensor 13 exists in a portion where the inclination of the mating surface is greatly different from the inclination of the mating surface in the shape of the tack welded portion E, and the deviation distance value of that portion is used. However, it is because it is closer to the mating surface of two members if the value of several previous deviation distances is used.

  The position change means uses the deviation distance value that is a predetermined time before the position determination means determines that it is not less than a predetermined value among the stored deviation distances as the welding reference point value. Thus, particularly when the detection cycle of the laser sensor 13 is short, the tip of the welding torch 12 can be appropriately positioned, and the welding quality is improved.

  In this embodiment, although the case where it carried out by butt-welding the edge of two members was demonstrated, it is not restricted to this. As a case where two members are welded so as to be substantially flat, for example, a case where two flat members are overlapped and a fillet is provided at one end edge is also applicable.

  A control flow of the welding system according to the embodiment of the present invention will be described with reference to FIG. First, when using the welding system of the present embodiment, the operator uses the operation panel 36 or the like for the welding start point T1 and the welding end point T2 for performing continuous welding on two members that have already been tack welded. Teach (step 001, hereinafter referred to as S001). At this time, the control unit 11 stores the coordinates of the welding start point T1 and the welding end point T2 in the RAM 33, and a predetermined point from the plane that is lowered with respect to the plane parallel to the flat plate to be welded or the plane. A point separated by the value is stored in the RAM 33 as a welding reference point.

  In S002, the worker inputs a value of ΔX from the operation panel 36, and the control unit 11 stores the value of ΔX in the RAM 33.

  The welding robot 10 is moved to the welding start point T1 by the control unit 11, the laser sensor 13 measures the traveling direction side of the welding torch 12, and sequentially detects the detection points Si at a constant cycle (S002). Since the welding robot 10 moves along the Y axis at a constant speed, the detection points Si are positioned at constant intervals in the Y axis direction.

  In step S003, the control unit 11 sequentially stores the coordinates of the detection point Si in the RAM 33.

  In S004, the control unit 11 examines whether or not the value of the X coordinate of the detection point Si is not less than ΔX by the position determination unit. If it is determined that it is smaller than ΔX, the process proceeds to S006, and if it is determined that it is equal to or greater than ΔX, the process proceeds to S009.

  In S006, the control unit 11 sets the X coordinate of the detection point Si as the X coordinate of the welding reference point. Moreover, in S009, the control part 11 makes the X coordinate of a welding reference point the value immediately before determining with the position determination means not being below a predetermined value, ie, the X coordinate of Sm-1. In this embodiment, at the detection points Sm, Sm + 1,..., Sn-1, the X coordinate of Sm-1 is set as the X coordinate of the welding reference line. It should be noted that the Y coordinate and Z coordinate values of the detection point Si are set to the Y coordinate and Z coordinate values of the welding reference point that are sequentially detected in each case, or the Y of the welding reference point is adjusted by adjusting a predetermined margin. The coordinate and Z coordinate values are used.

  In step S007, the control unit moves the welding torch to the welding reference point determined in step S006 or S009, and performs welding. This welding is performed continuously along the mating surfaces of the two members.

  In S008, the control unit 11 determines whether or not the Y coordinate of the detection point Si is equal to or less than the Y coordinate of the welding end point T2. When it is below the Y coordinate of the welding end point T2, the welding is continued until S003. If it is not less than the Y coordinate, the welding is terminated. By performing continuous welding according to such a flow, the calculation load of the control unit 11 is reduced and the stability of the entire welding system is improved.

DESCRIPTION OF SYMBOLS 10 Welding robot 11 Control part 12 Welding torch 13 Laser sensor 14 Crane boom T1 Welding start point T2 Welding end point Si detection point

Claims (6)

A welding system for welding two members with a welding device so as to be substantially flat,
The welding system includes a welding torch provided at a hand portion of the welding apparatus,
A sensor for detecting the traveling direction side of the welding torch;
A control unit for positioning the welding torch at a welding reference point calculated based on the output from the sensor,
This control unit
Tip position calculating means for calculating a tip position of the welding torch based on an output signal from the laser sensor between a welding start point and a welding end point taught by the welding apparatus;
A welding reference point determining means having the welding torch tip position calculated by the tip position calculating means as the welding reference point;
Position determination for determining whether or not the deviation distance of the tip position of the welding torch calculated by the tip position calculation means with respect to the teaching line segment connecting the welding start point and the welding end point is equal to or less than a predetermined value Means,
Storage means for storing the bias distance;
If the position determining means determines that the deviation distance is not less than or equal to a predetermined value, out of the deviation distances stored by the storage means, the deviation distance before when the position determining means determines that it is not less than or equal to the predetermined value. A position changing means for setting the value of the welding reference point as a value of
A welding system characterized by that. The position changing means, when the position determining means determines that the bias distance is not less than a predetermined value, immediately before the position determining means determines that the position determining means is not less than or equal to a predetermined value. The deviation distance value of the welding reference point value,
The welding system according to claim 1. When the position determining unit determines that the bias distance is not less than a predetermined value, the position changing unit determines that the position determining unit determines that the stored distance is not less than a predetermined value. The value of the deviation distance before the predetermined time is set as the value of the welding reference point.
The welding system according to claim 1. The welding torch is
The welding system according to any one of claims 1 to 3, wherein the welding system is a laser arc welding torch including an arc welding means and a laser welding means. The flat plate
The welding system according to any one of claims 1 to 4, wherein the end edges of the flat plate portions of the two members are abutted and welded. The flat plate
The welding system according to any one of claims 1 to 4, wherein the two members are overlapped and welded by providing a fillet at one end edge.

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