JPH07214318A - Automatic welding machine and welding method using such machine - Google Patents

Abstract

PURPOSE:To provide an automatic welding machine which unnecessitates suspension of a feeding line while information of welding position and the like are stored, and which therefore demonstrates a superior work efficiency. CONSTITUTION:A welding robot 11 is provided with a three-dimensionally driven power arm 11a consisting of a movable arm 3 and a driving part 12 that enables the movable arm 3 to move back and forth between a structure 7 and an object 17 to be taught. The movable arm 3 is arranged with a welding torch 5 and a sensor device 4 at the tip end. The driving part 12 is structured with a built-in driving mechanism constituted of a driving motor, etc., for rotating the movable arm 3 as far as a prescribed angle. In addition, an initial setting structure 17 is set in an arranged part 18 outside the feeding line 6. This structure 17 is provided with a part 14a for predeterming the simulated welding in the same shape as the predetermined welding part 14b of the structure 7 on a feeding line 6.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic welding apparatus for welding based on position data detected by a sensor by a welding torch attached to the tip of a movable body such as a robot arm.

[0002]

2. Description of the Related Art As a conventional automatic welding device of this type,
For example, the ones shown in FIGS. 8 and 9 are known.
In such an automatic welding apparatus 1, the sensor device 4 and the welding torch 5 are attached to the tip of the movable arm 3 arranged on the pedestal 2.
Is provided.

In this automatic welding apparatus 1, a welding reference position for welding and a sensor measurement position for scanning and measurement by the sensor device 4 are previously learned and stored in an internal central control device.

Based on the welding reference position and the sensor measurement position, the sensor device 4 detects a position difference from the welding reference position of the structure 7 as the object to be welded located on the feed line 6. Position correction data is created, and the position difference between the stored welding reference position and the detected welding position is corrected on the basis of the position correction data by the central control device to form the pillar 7a and the beam 7b of the structure 7. On the other hand, the welding torch 5 is configured to perform welding.

As a welding robot equipped with this type of sensor, those described in “Mechatronics System Encyclopedia”, pages 595 to 601 and the like, published by the Industrial Research Institute, Inc., are known. There is.

[0006]

However, in such a conventional device, as shown in FIG. 9, since the sensor device 4 scans to determine the place where the measurement is performed, the reference point is set in advance. Relative position from 1 (ORG) to point 2 (XX) indicating depth, and point 1 (ORG)
The operator traces the scanning position of the structure by using the structure 7 on the feed line 6, and the relative position from the point to the point 3 indicating the width is stored in the central control unit of the welding robot 1. Be seen.

The work of storing the welding reference position is also performed by the operator tracing the welded portion of the structure using the structure 7 on the feed line 6.

Therefore, while storing these information,
It is necessary to stop the feeding line 6 and perform the work. For example, when a structure having a shape different from that of the structure 7 flows on the feed line following the structure 7, once the structure having a different shape at the head comes in front of the welding robot 1. It is difficult to say that the work efficiency is good because the feed line 6 must be stopped and the welding position information and the like must be stored each time, and the work on the other feed lines 6 is stagnated. In particular, it was inconvenient when trying to carry out small-volume production of other types with one feeding line 6. There was a similar problem when replacing the welding equipment.

[0009] Therefore, an object of the present invention is to provide an automatic welding apparatus having good working efficiency without stopping the feed line even while storing welding position information and the like.

[0010]

In order to solve the above-mentioned problems, according to the first aspect of the present invention, the position of the welding torch and the planned welding site is detected in the moving arm that is three-dimensionally driven. An automatic welding device for providing a sensor for performing a teaching with an object to be taught, and then welding a welding planned portion of the object to be welded, wherein a feed line for setting the object to be welded is provided, and outside the feed line. And an arrangement portion for setting a taught object is provided on the taught object, and the taught object has a simulated welding planned portion having the same shape as the welding planned portion of the welding object, and the moving arm portion includes the welding torch and the sensor. It is characterized by an automatic welding device capable of reciprocating between an object to be welded and the object to be taught.

According to another aspect of the present invention, the moving arm portion includes a base portion that allows the welding torch and the sensor to reciprocate between the object to be welded and the object to be taught, and the welding. The automatic welding device according to claim 1, further comprising: a torch and a movable arm on which a sensor is disposed, and only the coordinate value of the movable arm is used when calculating the coordinate value of the moving arm portion. I am trying.

According to the third aspect,
While the object to be welded is provided on the feed line, an arrangement portion for setting the object to be taught is provided outside the feed line, and the tip of the welding torch is applied to the simulated welding planned site of the object to be taught, and the coordinates of the moving arm portion are provided. A welding torch initial setting teaching step of detecting a value to obtain welding torch teaching data; a welding reference point calculating step of calculating a welding reference point of a simulated welding planned portion of the taught object from the welding torch teaching data; To the simulated welding planned site of the taught object, the outer shape of the simulated welding planned site of the taught object is measured, and first sensor teaching data is obtained from the coordinate value of the moving arm and the measured value of the sensor. A first teaching step for obtaining a sensor, a simulated welding point calculating step for calculating coordinate values of a simulated welding point of a simulated welding planned portion of the taught object based on the first sensor teaching data, and the moving arm. Part ahead From the object to be taught to the object to be welded, the moving arm tip moving step, and the outer shape of the planned welding site of the object to be welded is measured by the sensor, and from the coordinate value of the moving arm and the measurement data of the sensor. A second teaching step for the sensor to obtain the second sensor teaching data, a welding point calculating step for calculating the coordinate values of the planned welding point of the workpiece based on the second sensor teaching data, and a welding point A correction data calculating step of comparing the coordinate value and the coordinate value of the simulated welding point and calculating the difference between the coordinate value of the welding point and the coordinate value of the simulated welding point as the correction data, and based on the correction data,
A welding torch operation data calculation step for calculating coordinate values of a moving arm portion corresponding to a state in which the welding torch is applied to a planned welding site of the object to be welded, and the welding torch is welded based on the welding torch operation data. A welding method using the automatic welding apparatus according to claim 1 or 2, which has an actual welding step of performing a corresponding operation and performing welding.

[0013]

[Operation] According to the first aspect of the present invention having such a configuration, the object to be taught is provided in the arrangement portion outside the feed line. Since the taught object is provided with a simulated welding planned portion having the same shape as the welding planned portion of the welding object, after the teaching is performed with the moving arm portion facing the teaching object, the line is displayed on the line. If you weld the planned welding part of the
You can work without stopping the line while teaching.

According to the second aspect of the invention, among the coordinate values when teaching the moving arm portion toward the object to be taught, only the coordinate value of the movable arm is used for movement. Since the coordinate value of the arm portion is calculated, the coordinate value of the base portion used for the reciprocating movement between the workpiece and the taught portion is excluded, and the workpiece on the line is directly processed. The planned welding site can be welded.

According to the third aspect of the present invention, in the initial setting teaching step of the welding torch, the tip of the welding torch is applied to the simulated welding planned portion of the taught object, and the moving arm portion is moved. The welding torch teaching data is obtained by detecting the coordinate value.

In the welding reference point calculating step, the welding reference point of the simulated welding planned portion of the taught object is calculated from the welding torch teaching data.

In the first teaching step for the sensor, the sensor is directed toward the simulated welding planned site of the taught object, and the sensor measures the outer shape of the simulated welding planned site of the taught object, and the coordinates of the moving arm portion are measured. First sensor teaching data is obtained from the value and the measured value of the sensor.

In the simulated welding point calculating step, the coordinate value of the simulated welding point of the scheduled welding scheduled portion of the object to be taught is calculated based on the first sensor teaching data.

In the moving arm tip moving step, the tip of the moving arm is directed from the object to be taught to the object to be welded.

In the second teaching step for the sensor, the outer shape of the planned welding site of the workpiece is measured by the sensor, and the second sensor teaching is performed from the coordinate value of the moving arm and the measurement data of the sensor. Data is obtained.

In the welding point calculating step, the coordinate value of the planned welding point of the workpiece is calculated based on the second sensor teaching data.

In the correction data calculating step, the coordinate value of the welding spot and the coordinate value of the simulated welding spot are compared, and the difference between the coordinate value of the welding spot and the coordinate value of the simulated welding spot is calculated as the correction data.

In the welding torch operation data calculation step, the coordinate value of the moving arm corresponding to the state in which the welding torch is applied to the planned welding site of the workpiece is calculated based on the correction data.

In the actual welding process, the operation of applying the welding torch to the welding position is performed based on the welding torch operation data, and welding is performed.

[0025]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Specific embodiments of the present invention will be described below with reference to the drawings.

1 to 7 show an embodiment of the present invention. The same or equivalent parts as those of the conventional example are designated by the same reference numerals.

First, the structure will be described.
A welding robot as an automatic welding apparatus of this embodiment is shown, and this welding robot 11 is provided with a moving arm portion 11a that is three-dimensionally driven. The moving arm portion 11a is mainly a movable arm 3 that can be driven in a predetermined direction, and a base motion that allows the movable arm 3 to reciprocate between a structure 7 that is an object to be welded and an object to be taught 17. And a part 12. Of these, the welding torch 5 for welding the welding target portion of the workpiece and the sensor device 4 as a sensor are arranged at the tip of the movable arm 3. In addition, the base 12 is
The movable arm 3 is rotatably supported on the pedestal 2, and a drive mechanism including a drive motor for rotating the movable arm 3 to a predetermined angle is built in.

The sensor device 4 mainly comprises an irradiation unit and a light receiving unit. Then, the laser light 10 emitted from this irradiation unit is reflected in the vicinity of the planned welding portion 14b of the structure 7 as the object to be measured, and the reflected laser light is detected by the light receiving unit and the structure 7 is irradiated. It is configured to detect the position to be welded. A sensor controller 13 is connected to the sensor device 4. Then, the shape data of the structure 7 detected by the sensor device 4 is transmitted to the sensor controller 13.

The sensor controller 13 receives the shape data, and the columns 7a and the beams 7b forming the structure 7 are formed.
Gap between the joint pipe 7c and the step D,
Coordinate calculating means for calculating the coordinate value of the edge E and the like, optimum condition selecting means for selecting the optimum welding condition from this shape data from the optimum welding condition database stored in advance by the welding robot 11, and the welding robot 11 And signal transmission means for transmitting the coordinates of the planned welding site and the optimum welding condition signal. And this sensor controller 1
3 is connected to the central control unit of the welding robot 11.

The optimum welding condition database in the central control unit of the welding robot 11 contains information such as current, voltage, speed, torch angle, aiming angle, etc. for determining welding conditions based on the knowledge and experience of a skilled worker. Remembered Then, when the coordinate value of the moving arm portion 11a is calculated, the coordinate value is calculated using only the coordinate value of the movable arm 3.

Further, the feed line 6 is constituted by a conveyer means such as a belt conveyor, and the convey speed can be adjusted according to the work.

An arrangement portion 18 is provided outside the feed line 6 so as not to interfere when the structure 7 on the feed line 6 is fed. An initial setting structure 17 as an object to be taught is set and prepared in the arrangement portion 18. The structure 17 for initial setting is placed with the structure 7 on the feed line rotated in the lateral direction by 90 ° so that the surface facing the welding robot 11 is the same surface. The structure 17 for initialization is the structure 7 described above.
7a, which is a part of the
And a joint pipe 7c used to join the beam 7b.

Then, the pillar 7a and the joint pipe 7
A simulated welding planned portion 14a is provided around the joint surface with c. The simulated welding planned site 14a is set substantially along the welding reference line 14 which is the welding reference site.

Then, after the initial setting structure 17 is taught, the planned welding site 1 of the structure 7 is described.
It is configured to weld 4b.

The operation of the present invention thus configured will be described. First, the operation flow chart shown in FIG. 7 will be described. After each function of the welding robot 11 is started, the movable arm 3 of the welding robot 11 is rotated by about 90 ° in the base moving section 12, The moving arm portion 11a is rotationally moved to a position (a position indicated by a chain double-dashed line in FIG. 1) of the disposing portion 18 apart from the feeding line 6 outside the feeding line 6.

An initial setting structure 17 having substantially the same shape as the structure 7 is previously arranged at the position of the arranging part 18 at the arranging part 18.
It is installed in. This initialization structure 17 is shown in FIG.
In order to determine the place where the measurement is performed by scanning with the sensor device 4 as shown in, the reference point 1 (ORG) is set beforehand.
To the point 2 (XX) indicating the depth and the relative position from the point 1 (ORG) to the point 3 indicating the width are the same as the relative positions of the structure 7 on the feed line 6. It is formed so that.

By measuring each of the points 1 to 3 at the position of the disposing portion 18 outside the feed line 6, the sensor measurement location and the welding reference location are stored.

That is, in the initial setting teaching process of the welding torch 5 in step 1, the tip 5a of the welding torch 5 is applied to the simulated welding planned portion 14a of the initial setting structure 17 along the welding line. By manually moving the tip 5a, the coordinate value of the moving arm 11a is detected and the welding torch teaching data is obtained.

In the welding reference point calculation step of step 2,
The central processing unit calculates the welding reference point of the simulated welding planned portion 14a of the initial setting structure 17 from the welding torch teaching data.

In the first teaching process for the sensor in step 3, the sensor device 4 is directed to the simulated welding planned portion 14a of the initial setting structure 17 and the initial setting structure 17 is simulated by the sensor device 4. The shape of the planned welding portion 14a is measured, and the first sensor teaching data is obtained from the coordinate value of the moving arm portion 11a and the measurement value of the sensor device 4.

In the simulated welding point calculating step of step 4,
Based on the first sensor teaching data, the coordinate value of the simulated welding portion of the simulated welding planned portion 14a of the initial setting structure 17 is calculated.

During this time, the structure 7 on the feed line 6
Does not stop the flow, because a certain distance is provided between the structures 7 and 7, or
If the interval is short, another welding robot or worker
The welding operation may be performed only on the structures 7 that flow during this period.

Next, the movable arm 3 is rotated and returned to the welding position shown by the solid line position in FIG. 1 by the base part 12, and the position detection and welding are performed on the structure 7 on the feed line 6. To do.

In the moving arm tip moving step of step 5, the tip of the moving arm 11a is directed from the initial setting structure 17 which is the object to be taught to the structure 7 which is the object to be welded.

In the second teaching step for the sensor in step 6, the outer shape of the planned welding site of the structure 7 is measured by the sensor device 4, and the coordinate value of the moving arm 11a and the measurement data of this sensor device are measured. From this, the second sensor teaching data is obtained.

First, as shown in FIG. 3, the movable arm 3 is operated to move the sensor device 4 to the sensor measurement positions S1 to S7.
Scanning is performed while sequentially moving to. At this time, from the reference point 1 (ORG) measured by the initialization structure 17 to the depth point 2 (XX).
These sensor measurement positions S1 to S7 are determined on the basis of the relative position up to and the relative position from point 1 (ORG) to point 3 indicating the width.

At this time, among the coordinate values when teaching the moving arm portion 11a toward the initial setting structure 17, only the coordinate value of the movable arm 3 is used to calculate the coordinate value of the moving arm portion 11a. Is calculated, the coordinate values of the base portion 12 used for the reciprocating motion between the structure 7 and the initial setting structure 17 are excluded, and the structure on the feed line 6 is kept as it is. Scanning of the welding planned site 14b of No. 7 is performed.

Next, the movable arm 3 once returns to the standby position, and the sensor controller 13 causes the welding scheduled portion 14b.
Then, the position difference from the welding reference position stored in advance is calculated, position correction data is created, the welding position coordinate value is determined, and the optimum welding condition signal is determined. Send to controller.

That is, in the welding portion calculating step of step 7, the structure 7 is calculated based on the second sensor teaching data.
The coordinate values of the planned welding site 14b of are calculated.

In the correction data calculating step of step 8, the coordinate value of the welding spot and the coordinate value of the simulated welding spot are compared,
The difference between the coordinate value of the welding location and the coordinate value of the simulated welding location is calculated as correction data. At this time, using only the coordinate values of the movable arm 3 among the coordinate values of the simulated welding planned portion 14a when the moving arm portion 11a is directed toward the initial setting structure 17 and teaching is performed. 11
Since the coordinate value of a is calculated, the coordinate value of the base portion 12 used for the reciprocating motion between the structure 7 and the initial setting structure 17 is excluded, and the movable arm 3 is used as it is. 5a of the arm is applied to the planned welding site 14b of the structure 7, and the tip 5a is manually moved along the welding reference line 14 to be corrected by using the same coordinate values of the moving arm 11a. Day is created.

In the central control unit of the welding robot 11, the welding torch 5 arranged at the tip of the movable arm 3 is, as shown in FIG. 4, based on these signals, the welding reference line 14 of the planned welding portion 14b. The columns 7a and the beams 7b of the structure 7 are welded to each other by sequentially moving them while correcting the positional deviation.

That is, in the welding torch operation data calculation step of step 9, the coordinates of the moving arm portion 11a corresponding to the state in which the welding torch 5 is applied to the planned welding portion 14b of the structure 7 based on this correction data. The value is calculated.
This coordinate value becomes the welding torch operation data.

In the actual welding process of step 10, the operation of applying the welding torch 5 to the welding position is performed based on the welding torch operation data, and welding is performed. At this time, the optimum condition selecting means of the sensor controller 13 selects the optimum condition for welding, corrects the gap and the like and performs accurate welding.

Then, returning to step 6 again, in the second teaching process for the sensor, the sensor device 4 measures the outer shape of the planned welding site of the structure 7 to be sent next.

Therefore, while the welding position information such as the sensor measurement position and the welding reference position is stored, the welding robot 11 is initialized without moving the feed line 6 while moving the structures 7. Can be done. For example,
Even if another structure having a different shape from the structure 7 flows on the feed line 6 following the structure 7, the feed line 6 is stopped each time, and the step of FIG. There is no need to perform the initial setting teaching process of the welding torch 5 shown in 1 and the first teaching process for the sensor in step 3. Therefore, it is possible to perform an efficient line work even when performing high-mix low-volume production, and it is possible to provide an automatic welding device with good work efficiency.

Moreover, in the welding robot 11 of this embodiment, the tip 5a of the movable arm 3 is directly applied to the simulated welding planned portion 14a of the initial setting structure 17,
Since the correction data is created by using the coordinate values of the moving arm portion 11a when the tip 5a is manually moved along the welding line, an automatic welding device having a simpler configuration and good work efficiency can be provided. Can be provided.

Although the embodiment of the present invention has been described in detail above with reference to the drawings, the specific structure is not limited to this embodiment, and the present invention can be applied even if there is a design change or the like without departing from the gist of the present invention. include. For example, in the above-described embodiment, by using the base portion 12 composed of a drive mechanism such as a drive motor,
The movable arm 3 is placed from the welding position to the placement portion 1 outside the feed line 6.
Although it is configured to automatically rotate up to 8, the present invention is not limited to this, and for example, only the rotating shaft may be provided between the movable arm 3 and the pedestal 2 and manually rotated.

Further, although the position of the disposing portion 18 is set to a position obtained by rotating the movable arm 3 by 90 ° from the welding position on the feed line 6, the position is not particularly limited to this, and 120 °, 180 °.
Of course, any other angle or position such as a position rotated up to another angle or the position above the welding robot 11 may be a position outside the feed line 6. .

In the above embodiment, the movable arm 3 can be driven in a predetermined direction. However, the present invention is not limited to this. For example, the movable arm 3 can be combined with linear movements of actuators in the XY directions. The movable arm 3 may be any type of movable arm that can be driven.

In the embodiment, the structure 17 for initial setting as the object to be taught is the pillar 7a which is a part of the structure 7 and is to be welded, and the pillar 7a and the beam 7b are joined together. It is composed of a joint pipe 7c used in, but is not limited to this. For example, when the entire structure 7 is used or when another portion is welded, a partially cut model of the other portion, etc. Of course, it is okay.

In the correction data calculation step of the step 8, only the coordinate value of the movable arm 3 is used when calculating the coordinate value of the moving arm portion 11a, but the present invention is not limited to this and the welding point is not limited to this. If the difference between the coordinate value of the simulated welding point and the coordinate value of the simulated welding point is compared and the difference between the coordinate value of the welding point and the coordinate value of the simulated welding point is calculated as correction data, what kind of calculation process Good.

[0062]

As described above, according to the first aspect of the present invention having such a configuration, after the teaching is performed with the moving arm portion facing the object to be taught, the object to be welded on the line is welded. Welding the parts to be welded allows you to work without stopping the line during teaching. Therefore, it is possible to provide an automatic welding apparatus with good work efficiency without stopping the feeding line even while storing the welding position information and the like.

According to the second aspect of the invention, among the coordinate values when teaching the moving arm portion toward the object to be taught, only the coordinate value of the movable arm is used to perform the motion. Since the coordinate value of the arm is calculated, the coordinate value of the base part used for the reciprocating motion between the object to be welded and the taught part is excluded, and teaching is performed on the object to be welded as it is. It is possible to weld the intended welding site of the workpiece on the line using exactly the same coordinate values as in the case. For this reason, it is possible to provide an automatic welding apparatus having a simple configuration and good work efficiency without stopping the feed line while storing the welding position information and the like.

According to the third aspect of the present invention, the welding torch initialization teaching step and the first step for the sensor are performed.
The teaching step of (1) is performed at the simulated welding planned site of the taught object.

Since the object to be taught is set in the arrangement portion outside the feed line, other work can be performed without stopping the feed line during each of the above steps, and the work efficiency is good. Automatic welding equipment,
It has a practically useful effect.

[Brief description of drawings]

FIG. 1 is a top view showing a welding robot according to an embodiment of the present invention and showing an arrangement of the entire system.

FIG. 2 is a top view of an initial setting structure as an object to be taught, which is arranged in the arrangement portion of the same embodiment.

FIG. 3 is a perspective view of the system showing the welding robot of the same embodiment and showing a state in which scanning is performed by a sensor device.

FIG. 4 is a perspective view of the system showing the welding robot of the same embodiment and showing how the welding is performed by the welding torch.

FIG. 5 is a side view of a main part of the structure according to the same embodiment.

FIG. 6 is a perspective view of a main part of the structure of the same embodiment.

FIG. 7 is a flow chart showing work steps of the same embodiment.

FIG. 8 is a top view of the entire system showing a conventional welding robot.

FIG. 9 is a top view of a main part of a structure on a feed line of a conventional example.

[Explanation of symbols]

 4 Sensor device (sensor) 5 Welding torch 6 Feed line 7 Structure (workpiece to be welded) 11 Welding robot (automatic welding device) 11a Moving arm part 12 Base part 17 Structure for initial setting (instruction object) 14a Simulated welding Planned part 14b Planned part for welding

Claims (3)

[Claims] 1. A welding torch and a sensor for detecting a position of a planned welding portion are provided on a moving arm portion which is driven three-dimensionally, and after teaching is performed with a taught object, a welding planned portion of the welding object. An automatic welding apparatus for welding a welding line, wherein a feed line for setting the object to be welded is provided, an arrangement portion for setting the object to be taught is provided outside the feed line, and the object to be taught is the object to be welded. A simulated welding planned site having the same shape as the planned welding site is provided, and the moving arm section is capable of reciprocating the welding torch and the sensor between the object to be welded and the object to be taught. Automatic welding equipment. 2. A moving arm part is a base part that allows the welding torch and the sensor to reciprocate between the object to be welded and the object to be taught, and a movable arm on which the welding torch and the sensor are arranged. The automatic welding apparatus according to claim 1, further comprising: and using only the coordinate value of the movable arm when calculating the coordinate value of the moving arm portion. 3. An object to be welded is provided on the feed line, an arrangement portion for setting the object to be taught is provided outside the feed line, and the tip of the welding torch is applied to a simulated welding planned portion of the object to be taught. Welding torch initial setting teaching process for obtaining the welding torch teaching data by detecting the coordinate values of the moving arm, and calculating the welding reference point of the simulated welding planned site of the taught object from the welding torch teaching data A step of directing the sensor to a simulated welding planned site of the taught object, measuring the outer shape of the simulated welding planned site of the taught object by the sensor, and measuring the outer shape of the moving arm part from the coordinate value of the sensor and the measured value of the sensor; 1
A first teaching step for the sensor to obtain the sensor teaching data, and a simulated welding point calculating step for calculating the coordinate value of the simulated welding point of the simulated welding scheduled portion of the taught object based on the first sensor teaching data. A moving arm tip moving step for directing the tip of the moving arm from the object to be welded to the object to be welded, the outer shape of the planned welding site of the object to be welded is measured by the sensor, and the coordinate value of the moving arm and the A second teaching step for the sensor to obtain second sensor teaching data from the measurement data of the sensor, and a welding location for calculating coordinate values of a planned welding location of the workpiece based on the second sensor teaching data Comparing the calculation process with the coordinate values of the welding location and the simulated welding location,
A correction data calculation step of calculating the difference between the coordinate value of the welding location and the coordinate value of the simulated welding location as the correction data, and a state in which the welding torch is applied to the welding planned portion of the workpiece based on the correction data. And a welding torch operation data calculation step for calculating the coordinate values of the moving arm portion, and an actual welding step in which welding is performed by applying the welding torch to the welding location based on the welding torch operation data. A welding method using the automatic welding device according to claim 1 or 2.