JPH01182705A - Weld line detecting apparatus for welding robot - Google Patents

Abstract

PURPOSE:To obtain an apparatus, which can be applied to a material to be welded having various shapes, by observing and processing both images of slit light itself on the material to be measured and an image, which is generated by the projection of the reflected light from the other surface of the material. CONSTITUTION:A manipulator, which holds and moves a welding torch 3, is controlled with a control device. The image of a material to be measured 6, which is formed with slit light projected from a slit light source 2, is observed with a camera 1. The first reflected light is the image of the projected slit light itself. The second reflected light is the image, which is formed with the projection of the first reflected light on the other surface. Both reflected images are processed in an image processing device. In this way, the light source 2 and the camera 1 can be arranged in the vicinity of the torch 3 and a wrist rotating shaft 7. The interference between the light source 2 and the object to be measured 6 of the camera 1 can be avoided. Restrictions on the shape of the object to be measured 6 can thus be eliminated.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a welding line detection device for a welding robot.

Conventionally, in order to avoid diffuse reflection occurring on the welding line of the object to be measured, this type of detection device has been developed so that the plane formed by the center line of the camera and the center line of the slit light source is aligned with the center axis of the welding torch and the manipulator. A camera and a slit light source are placed so as to be directly connected to a plane that includes the rotation axis of the tip, and a camera is placed on both sides of the rotation axis of the manipulator tip on a plane that includes the central axis of the welding torch and the rotation axis of the manipulator tip. and a slit light source.

Problems to be Solved by the Invention In the above-mentioned conventional example, since the camera and the slit light source are arranged at a position away from the central axis of the torch, the camera and the slit light source interfere with the workpiece, making it difficult to adapt to the workpiece. This has been considered a problem in welding work because the shape of the welding material is restricted.

In view of the above drawbacks, it is an object of the present invention to provide a welding line detection device for a welding robot that eliminates restrictions on the shape of the workpiece (object to be measured) and is adaptable to workpieces of various shapes. It is something.

Means for Solving the Problem In order to solve this object, the weld line detection device for a welding robot of the present invention includes a welding torch, a manipulator for holding or moving the welding torch, a control device for controlling the manipulator, and a slit. A slit light source that obtains irradiated light of a shape, a camera that performs maintenance observation formed on the work surface by the slit light irradiated onto the object to be measured, and a primary reflection image that is an image of the irradiated slit light itself, as well as a primary reflection image. It has a configuration consisting of an image processing device that processes both a secondary reflected image, which is an image generated when light is projected onto the other surface.

Effect In the above configuration, the slit light irradiated from the slit light source forms an image of the slit light itself on the object to be measured, that is, 1
An image created by projecting the primary reflected light onto the other surface, that is, a secondary reflected image, is formed, and these images are observed by a camera placed at a position where they can be observed. .

By processing both of the above two types of images for this observed image, the plane formed by the center line of the camera and the center line of the slit light source is aligned with the center axis of the welding torch and the rotation of the tip of the manipulator. the center line of the slit light source, and the center line of the camera and the center line of the slit light source are located inside the angle between the manipulator tip rotation axis and the torch center axis. It becomes possible to arrange cameras and slit light sources.

EXAMPLE Hereinafter, an example of the present invention will be described with reference to the drawings. 1 to 6 show an embodiment of the present invention.

In FIG. 1, a camera 1 and a slit light source 2 are attached by a holder 6 to a rotating shaft 4 at the tip of a manipulator, which is a means for the position and posture of the welding torch 3, and their positional relationship. As mentioned above, the plane formed by the center line of the camera 1 and the center line of the slit light source 2 is 46 degrees above the plane containing the center axis of the welding torch 3 and the tip rotation axis 4 of the manipulator and the center line of the slit light source 2. The camera 1 is located at a position where the center line of the camera 1 and the center line of the slit light source 2 are located inside the angle formed by the tip rotation axis 4 of the manipulator and the center axis of the welding torch 3. and a slit light source 2 are arranged. Further, 6 is a T-shaped welded joint workpiece, that is, an object to be measured.

Figure 2 shows an image observed by the camera 1 shown in Figure 1, where 7 is the image of the slit light itself emitted from the slit light source 2, that is, the primary reflected image, and 8 is the primary reflected image. This is an image produced by the reflected light being projected onto the other surface, that is, a secondary reflected image. Here, if two slit-shaped windows 9 parallel to the primary reflected image 7 are provided on both sides of the primary reflected image 7 as shown in the figure, a part of the secondary reflected image 8 will be placed in these two windows 9. Observed. Furthermore, as shown in FIG. 3, if a slit-shaped window 10 is provided that is orthogonal to the primary reflected image 7, a part of the primary reflected image 7 can be observed in this window 10 in the same way as in FIG. . In addition, 11 in the figure
is a weld line, which is not directly observed.

Figs. 4 and 5 focus on images observed within windows 9 and 1o shown in Figs. 2 and 3, and show that the welding lines shown in Figs. 2 and 3 are This shows what kind of changes appear in these images when they are shifted in the direction. Fourth
As shown in the figure, if the weld line 11 is shifted in the X direction, 2
Part 1 of the secondary reflection image 8 observed within one window 9
2 is.

Move in the X' direction in the figure. Also, as shown in Figure 6,
When the welding line 11 is shifted in the Y direction, a portion 13 of the primary reflection image 7 observed within the window 10 moves in the Y' direction in the figure.

Effects of the Invention The present invention enables a slit light source and a camera to be placed near the welding torch and the rotation axis of the wrist tip by processing both the primary reflection image and the secondary reflection image. It is also possible to provide a welding line detection device for a welding robot that can avoid interference between the slit light source and the workpiece, eliminate restrictions on the shape of the workpiece, and be adaptable to workpieces of various shapes. , it has a great effect on welding work.

[Brief explanation of the drawing]

FIG. 1a is a side view of the essential parts of a welding line detection device for a welding robot showing an embodiment of the present invention, the first diagram is a front view of the essential parts, FIGS. 2, 3, 4, and 6. Each figure shows an image observed by the camera of the same detection device. 1... Camera, 2... Slit light source,
3... Welding torch, 4... Manipulator tip rotation shaft, 6... Holder, 6...
...Measurement object, 7...Primary reflection image, 8...
...Secondary reflection image, 9,1o...Window. Name of agent: Patent attorney Toshio Nakao and 1 other person 2nd
Figure 3 Figure 4 Figure 5

Claims (1)

[Claims] It is equipped with a welding torch, a manipulator that holds or moves the welding torch, and a control device that controls the manipulator, and includes a slit light source that obtains slit-shaped irradiation light, and a slit light irradiated onto the object to be measured on the surface of the workpiece. A camera that observes the image formed on the surface, and processes both the primary reflected image, which is the image of the irradiated slit light itself, and the secondary reflected image, which is the image that is created when the primary reflected light is projected onto the other surface. 1. A welding line detection device for a welding robot, comprising an image processing device for detecting a deviation between a taught welding teaching route and an actual welding line.