JP2008110388A - Method and apparatus for measuring welding operation information - Google Patents

Method and apparatus for measuring welding operation information Download PDF

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JP2008110388A
JP2008110388A JP2006296320A JP2006296320A JP2008110388A JP 2008110388 A JP2008110388 A JP 2008110388A JP 2006296320 A JP2006296320 A JP 2006296320A JP 2006296320 A JP2006296320 A JP 2006296320A JP 2008110388 A JP2008110388 A JP 2008110388A
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welding
visual
work information
information measuring
molten pool
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Yasuhito Kamijo
康仁 上條
Masatake Sakuma
正剛 佐久間
Satoru Asai
知 浅井
Takashi Ogawa
剛史 小川
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Toshiba Corp
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Toshiba Corp
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a method and an apparatus for measuring welding operation information where the behavior of a welder, the shape of a molten pool, the projecting length of a wire or the like are simultaneously acquired during semi-automatic welding, and the determination of whether welding procedure is good or not can be swiftly performed. <P>SOLUTION: The apparatus for measuring welding operation information is provided with: a plurality of visual sensors 7, 8, 9, 10 each having a neutral density filter and a band pass filter, and, by image-picking up the respective visual fields by the visual sensors, a plurality of pieces of information regarding the projecting length of a welding wire, the shape of a molten pool and the behavior of a welder can be simultaneously acquired. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

本発明は、半自動のガスシールドメタルアーク溶接作業等において、溶接施工に関する複数の情報を同時に取得する溶接作業情報計測方法および装置に関する。   The present invention relates to a welding work information measuring method and apparatus for simultaneously acquiring a plurality of pieces of information related to welding work in a semi-automatic gas shield metal arc welding work or the like.

従来、溶接施工の分野では、溶接施工に関する情報を取得することで、溶接士の支援、訓練を行うための装置が知られている。例えば下記特許文献１には、アーク長さが光学情報とよく相関することから、アーク光からの光学情報をアーク情報取得手段で取得し、これを基準アーク長さと比較し、現実のアーク長さが基準アーク長さから外れているか否かをレシーバなどの音声発生手段で発生することで、溶接士に音声として伝達する手溶接の支援、訓練装置が開示されている。ＴＩＧ溶接にあってはアーク長さとアークの照度に、ＭＩＧ溶接にあってはトーチ高さとアークの照度に良好な相関関係があることから、前記手溶接の支援、訓練装置では、溶接母材の板厚、材質、溶接の種類、トーチ径などの溶接条件による基準アーク長さ及び基準トーチ長さを一義的に定めている。これにより、未熟練者溶接士の訓練を実施し、未熟練者溶接士でも熟練者並みの溶接品質を得ることを可能としている。
特開２００４−９００４１号公報 2. Description of the Related Art Conventionally, in the field of welding construction, an apparatus for assisting and training a welder by acquiring information related to welding construction is known. For example, in Patent Document 1 below, since the arc length correlates well with the optical information, the optical information from the arc light is acquired by the arc information acquisition means, and this is compared with the reference arc length, so that the actual arc length is obtained. A manual welding support and training device is disclosed in which whether or not the reference arc length deviates from the reference arc length is generated by sound generating means such as a receiver, and transmitted to the welder as sound. In TIG welding, there is a good correlation between arc length and arc illuminance, and in MIG welding, the torch height and arc illuminance have a good correlation. The standard arc length and standard torch length are uniquely determined according to welding conditions such as plate thickness, material, type of welding, and torch diameter. As a result, training of unskilled welders is carried out, and even unskilled welders can obtain welding quality equivalent to skilled workers.
Japanese Patent Laid-Open No. 2004-90041

上述した手溶接の支援、訓練装置は、溶接施工に関する情報として、アーク長さもしくはトーチ高さのみの情報で溶接施工状況を判断するものであるが、半自動溶接においては、トーチ高さが一定であっても、トーチ狙い位置、ウィービング周期および振幅、溶接速度、溶融プール形状といった溶接施工に関する特徴量が変化することによって、溶接品質や技量レベルに差があっても計測結果に差がでないという問題がある。すなわち、半自動溶接において溶接品質や技量レベルを判定するには、トーチ高さだけでは不十分であり、トーチ狙い位置、ウィービング周期および振幅、溶接速度、溶融プール形状等の複数の特徴量を同時に計測することが必要である。   The above-mentioned manual welding support and training device is used to determine the welding operation status based on only the arc length or torch height as information related to the welding operation. In semi-automatic welding, the torch height is constant. Even if there is a difference in welding quality and skill level due to changes in features related to welding, such as torch aiming position, weaving cycle and amplitude, welding speed, and molten pool shape, there is no difference in measurement results There is. In other words, the torch height alone is insufficient to determine the welding quality and skill level in semi-automatic welding, and multiple feature quantities such as the torch target position, weaving cycle and amplitude, welding speed, and molten pool shape are measured simultaneously. It is necessary to.

そこで本発明は、半自動溶接中に溶接士の挙動、溶融プール形状ならびにワイヤ突出し長さ等に関する複数の情報を同時に取得し、溶接施工の良否の判定をすみやかに行うことのできる溶接作業情報計測方法および装置を提供することを目的とする。   Accordingly, the present invention provides a welding work information measurement method capable of simultaneously acquiring a plurality of information on the welder's behavior, molten pool shape, wire protrusion length, etc. during semi-automatic welding and promptly judging the quality of the welding operation. And an object to provide an apparatus.

上記目的を達成するために、本発明の溶接作業情報計測装置は、減光フィルタと帯域通過フィルタを有する複数の視覚センサを備え、前記視覚センサによってそれぞれの視野を撮像することによって溶接ワイヤの突出し長さ、溶融プール形状及び溶接士の挙動に関する複数の情報を同時に取得するようにした構成とする。   In order to achieve the above object, a welding operation information measuring apparatus according to the present invention includes a plurality of visual sensors each having a neutral density filter and a band pass filter, and each of the visual fields is imaged by the visual sensor, thereby protruding a welding wire. It is set as the structure which acquired several information regarding length, a molten pool shape, and a welder's behavior simultaneously.

また本発明の溶接作業情報計測方法は、減光フィルタと帯域通過フィルタを有する複数の視覚センサを用い、前記視覚センサによってそれぞれの視野を撮像することによって溶接ワイヤの突出し長さ、溶融プール形状及び溶接士の挙動に関する複数の情報を同時に取得するようにした方法とする。   Also, the welding work information measuring method of the present invention uses a plurality of visual sensors having a neutral density filter and a band pass filter, and images each field of view by the visual sensor, thereby allowing the welding wire protrusion length, molten pool shape, and A method is adopted in which a plurality of information on the welder's behavior is acquired simultaneously.

本発明によれば、半自動溶接中に溶接士の挙動、溶融プール形状ならびにワイヤ突出し長さ等に関する複数の情報を同時に取得し、溶接施工の良否の判定をすみやかに行うことのできる溶接作業情報計測方法および装置を提供することができる。   According to the present invention, during semi-automatic welding, it is possible to simultaneously acquire a plurality of information related to the welder's behavior, molten pool shape, wire protrusion length, etc., and to perform welding work information measurement that can quickly determine the quality of welding work. Methods and apparatus can be provided.

以下、本発明に係る溶接作業情報計測方法および装置の３つの実施の形態を図面を参照して説明する。
（第１の実施の形態）
図1は平板下向き姿勢でのギャップ溶接を行う場合における本発明の実施の形態を示す図である。本実施の形態では、溶接機器としてワイヤ送給装置１、溶接トーチ２及び溶接電源３を備え、計測装置としてワイヤ送給速度計測器４、電流・電圧計測器５、ビード形状計測器６および減光フィルタと帯域通過フィルタを有する視覚センサ７，８，９，１０を備えている。これらの機器は全て画像解析装置１１に接続されている。視覚センサ７，８，９，１０が有するフィルタは、透過率、透過波長の組合せを変えることにより、異なる特徴量の抽出を行うための最適な映像を獲得することができる。視覚センサ７，８，９，１０はＣＣＤカメラ、ＣＭＯＳカメラ等を使用する。 Hereinafter, three embodiments of a welding work information measuring method and apparatus according to the present invention will be described with reference to the drawings.
(First embodiment)
FIG. 1 is a view showing an embodiment of the present invention when gap welding is performed in a flat plate downward posture. In this embodiment, a wire feeding device 1, a welding torch 2 and a welding power source 3 are provided as welding equipment, and a wire feeding speed measuring device 4, a current / voltage measuring device 5, a bead shape measuring device 6 and a reduction device are used as measuring devices. Visual sensors 7, 8, 9, and 10 having optical filters and band pass filters are provided. All these devices are connected to the image analysis apparatus 11. The filters of the visual sensors 7, 8, 9, and 10 can acquire an optimal video for extracting different feature amounts by changing the combination of transmittance and transmission wavelength. The visual sensors 7, 8, 9, and 10 use a CCD camera, a CMOS camera, or the like.

溶接電源３がデジタル式の場合、ワイヤ送給速度と溶接電流・電圧は溶接電源３から出力される。一方、溶接電源３がアナログ式の場合、ワイヤ送給速度計測器４は、ワイヤ送給装置１の送給モータの出力軸とロータリーエンコーダの回転軸をカップリングにて接続し、送給モータの出力軸の回転数をエンコーダにて電気信号へ変換することでワイヤ送給速度を計測する。溶接電流・電圧は、クランプメータやテスタ等を用いて計測する。ビード形状計測器６は、レーザセンサ１２により溶接前の開先部及び溶接後のビード表面に溶接線の鉛直上方からレーザを照射し、視覚センサで照射部を撮像することで、開先部及びビード表面の形状を計測する。   When the welding power source 3 is digital, the wire feed speed and the welding current / voltage are output from the welding power source 3. On the other hand, when the welding power source 3 is an analog type, the wire feed speed measuring device 4 connects the output shaft of the feed motor of the wire feed device 1 and the rotary shaft of the rotary encoder by a coupling, The wire feed speed is measured by converting the rotation speed of the output shaft into an electrical signal by an encoder. Welding current and voltage are measured using a clamp meter or tester. The bead shape measuring device 6 irradiates the groove part before welding and the bead surface after welding with the laser sensor 12 from vertically above the welding line, and images the irradiation part with a visual sensor, thereby the groove part and Measure the shape of the bead surface.

図２（ａ）は、視覚センサ７を用いて撮像できる画像の模式図である。視覚センサ７は、溶接線の延長線上の溶接進行方向側に固定されており、溶接トーチ２のノズル先端１３、アーク長１４及び開先１５の形状を一つの視野で撮像することによって、ワイヤ突出し長さ１６を計測することができる。   FIG. 2A is a schematic diagram of an image that can be captured using the visual sensor 7. The visual sensor 7 is fixed on the welding progress direction side on the extension line of the welding line, and images the shape of the nozzle tip 13, arc length 14, and groove 15 of the welding torch 2 in one field of view, thereby protruding the wire. The length 16 can be measured.

図２（ｂ）は、視覚センサ８を用いて撮像できる画像の模式図である。視覚センサ８は、溶接トーチ２に取り付けられており、溶融プール４３及び溶融プール近傍を一つの視野で撮像することによって、溶融プール幅１７及び溶融プール先行距離１８を計測することができる。また視覚センサ８は図３（ａ）に示すように視覚センサ８の前面にミラー２３を配置することによって、ＴＩＧ溶接に比べ、スパッタ、ヒュームが多く、アークの熱的影響の大きい半自動溶接においても、溶融プール４３の形状を鮮明に撮像することができる。   FIG. 2B is a schematic diagram of an image that can be captured using the visual sensor 8. The visual sensor 8 is attached to the welding torch 2 and can measure the molten pool width 17 and the molten pool preceding distance 18 by imaging the molten pool 43 and the vicinity of the molten pool with one visual field. Further, the visual sensor 8 has a mirror 23 arranged on the front surface of the visual sensor 8 as shown in FIG. 3 (a), so that even in the semi-automatic welding in which spatter and fumes are larger than in the TIG welding and the thermal influence of the arc is large. The shape of the molten pool 43 can be clearly imaged.

また、視覚センサ８は、図３（ｂ）に示すように視覚センサ８の光軸８ａを溶接トーチ２の電極２４と同軸上になるように配置することによって、溶接士が視覚センサ８を意識せず、違和感なく溶接作業を行うことができる。 Further, the visual sensor 8 is arranged so that the optical axis 8a of the visual sensor 8 is coaxial with the electrode 24 of the welding torch 2 as shown in FIG. Without welding, it is possible to perform the welding work without a sense of incongruity.

図２（ｃ）は、視覚センサ９を用いて撮像できる画像の模式図である。視覚センサ９は、溶接進行方向前方に固定されており、溶融プール４３及び開先１５の形状を一つの視野で撮像することによって、ウィービング周期および振幅1９、及びトーチ狙い位置２０を計測することができる。   FIG. 2C is a schematic diagram of an image that can be captured using the visual sensor 9. The visual sensor 9 is fixed in front of the welding progress direction, and can measure the weaving period and amplitude 19 and the torch aiming position 20 by imaging the shape of the molten pool 43 and the groove 15 with one visual field. it can.

図２（ｄ）は、視覚センサ１０を用いて撮像できる画像の模式図である。視覚センサ９は、溶接士４０の正面に固定されており、溶接対象４１を含む溶接士全体の様子を撮像することによって、トーチ角度２１などの溶接士４０の挙動を計測することができる。また、視覚センサ１０に減光フィルタを装備してアーク２２の挙動を撮像し、単位時間当たりのアーク２２の移動距離を計測することによって溶接速度を計測することができる。   FIG. 2D is a schematic diagram of an image that can be captured using the visual sensor 10. The visual sensor 9 is fixed to the front surface of the welder 40, and the behavior of the welder 40 such as the torch angle 21 can be measured by imaging the entire state of the welder including the welding target 41. Moreover, it is possible to measure the welding speed by equipping the visual sensor 10 with a neutral density filter to image the behavior of the arc 22 and measuring the moving distance of the arc 22 per unit time.

以上のようにして取得した溶接施工中の電流・電圧、ワイヤ送給速度及び個々の視覚センサでの特徴量や情報は画像解析装置１１にて処理される。図４に示すように、画像解析装置１１は計測結果表示部２５と計測結果記録部２６と溶接状態判定部２７を備えており、計測結果表示部２５と計測結果記録部２６にて計測結果を時系列データとして表示・記録することができ、過去に記録した特徴量や情報とともにレーダチャートに表示することによって、現在の特徴量や情報との比較が可能となる。この機能により、熟練者の挙動と非熟練者の挙動を比較することで、溶接技量の明示化が可能となる。   The image analysis device 11 processes the current / voltage, the wire feed speed, and the feature amounts and information obtained by the individual visual sensors during the welding process acquired as described above. As shown in FIG. 4, the image analysis apparatus 11 includes a measurement result display unit 25, a measurement result recording unit 26, and a welding state determination unit 27, and the measurement result is displayed by the measurement result display unit 25 and the measurement result recording unit 26. It can be displayed and recorded as time-series data, and by displaying on the radar chart together with the feature amount and information recorded in the past, comparison with the current feature amount and information becomes possible. This function makes it possible to clarify the welding skill by comparing the behaviors of skilled and non-experts.

図５（ａ）は、ＪＩＳ Ｚ３８４１に規定されている中板試験片下向きＭＡＧ溶接（裏当て有り）を行った際の初層溶接時におけるトーチ狙い位置の計測結果である。図５（ａ）には、溶接後のＲＴ（放射線探傷検査）及び断面調査の結果、融合不良が見られたものと欠陥が見られなかったものを比較している。図５（ａ）から、健全溶接となるトーチ狙い位置は開先の中央付近を保ち続けているのに対し、融合不良が発生した溶接は開先中央から離れた位置を狙っていることが分かる。また、３層目（余盛り）溶接において、前層ビード際に融合不良が発生した試験片の前層（２層目）ビード外観を、レーザセンサ１２で鉛直上方から照射し、試験片斜め上方から視覚センサで撮影したところ、融合不良発生領域ではレーザセンサからのスリット光により前層ビードが凸になっている傾向にあることが分かった。   FIG. 5A shows the measurement result of the target position of the torch at the time of the first layer welding when performing the downward MAG welding (with backing) of the intermediate plate test piece defined in JIS Z3841. FIG. 5 (a) compares the results of RT (radiation inspection) and cross-sectional inspection after welding, in which poor fusion was found and those in which no defect was found. From FIG. 5 (a), it can be seen that the torch aiming position for sound welding is kept near the center of the groove, whereas the weld where the fusion failure occurs is aimed at a position away from the center of the groove. . In addition, in the third layer (excess) welding, the front layer (second layer) bead appearance of the test piece in which fusion failure occurred during the front layer bead was irradiated from the vertically upper side by the laser sensor 12, and the test piece was obliquely upward. From the image taken with a visual sensor, it was found that the front layer bead tended to be convex due to the slit light from the laser sensor in the poor fusion occurrence region.

図５（ｂ）は、３層目（余盛り）溶接時における溶融プール先行距離（図２（ｂ）の符合１８）の計測結果である。図５（ｂ）から、融合不良が発生する溶接時にはウィービングの端部停止時に溶融プールの先行距離が健全時に比べて長い傾向にあることが分かる。   FIG.5 (b) is a measurement result of the molten pool preceding distance (symbol 18 of FIG.2 (b)) at the time of the 3rd layer (excess) welding. From FIG. 5 (b), it can be seen that the welding distance in which fusion failure occurs is such that the preceding distance of the molten pool tends to be longer when the end of the weaving is stopped than when it is healthy.

画像解析装置１１の溶接状態判定部２７は、上記のように複数の視覚センサ７，８，９，１０により取得した特徴量と、ビード形状計測器６により取得した開先形状及び各層毎のビード形状をリンクさせることによって、平板下向き姿勢でのギャップ溶接の施工結果の良否の判定、また、多層盛溶接においては、予め設定された品質判断基準に基づき次の層の溶接が連続して施工可能か否かの判定を行う。   As described above, the welding state determination unit 27 of the image analysis apparatus 11 includes the feature amount acquired by the plurality of visual sensors 7, 8, 9, 10, the groove shape acquired by the bead shape measuring device 6, and the bead for each layer. By linking the shapes, it is possible to judge the quality of gap welding construction results in a flat plate downward orientation, and in multi-layer welding, the next layer can be welded continuously based on preset quality criteria. It is determined whether or not.

以上に説明したように、本実施の形態の溶接作業情報計測装置によれば、視覚センサ７，８，９，１０を用いて取得した溶接施工中の鮮明な動画映像から、溶接士４０の挙動、溶融プール４３の形状ならびにワイヤ突出し長さ１６に関する特徴量とこれらにリンクした電流・電圧、ワイヤ送給速度を同時に計測し、デジタル映像として取得することができる。また、これらの計測結果と開先形状及び各層毎のビード形状をリンクさせることで、すみやかに溶接状態の良否の判定を行うことが可能となる。   As described above, according to the welding work information measuring apparatus of the present embodiment, the behavior of the welder 40 from the clear video image during welding construction obtained using the visual sensors 7, 8, 9, 10. The feature amount related to the shape of the molten pool 43 and the wire protrusion length 16, the current / voltage linked thereto, and the wire feed speed can be simultaneously measured and acquired as a digital image. In addition, by linking these measurement results with the groove shape and the bead shape for each layer, it is possible to quickly determine whether the welding state is good or bad.

（第２の実施の形態）
図６は平板立向き姿勢（上進）でのギャップ溶接を行う場合における本発明の実施の形態を示す図である。本実施の形態では、溶接機器としてワイヤ送給装置１、溶接トーチ２及び溶接電源３を備え、計測装置としてワイヤ送給速度計測器４、電流・電圧計測器５、ビード形状計測器６および視覚センサ２８，２９，３０，３１を備えている。これらの機器は全て画像解析装置１１に接続されている。画像解析装置１１の構成は図４に示した第１の実施の形態におけると同じである。 (Second Embodiment)
FIG. 6 is a diagram showing an embodiment of the present invention when gap welding is performed in a flat plate standing posture (upward). In this embodiment, a wire feeding device 1, a welding torch 2 and a welding power source 3 are provided as welding equipment, and a wire feeding speed measuring device 4, a current / voltage measuring device 5, a bead shape measuring device 6 and a visual device are used as measuring devices. Sensors 28, 29, 30, and 31 are provided. All these devices are connected to the image analysis apparatus 11. The configuration of the image analysis apparatus 11 is the same as that in the first embodiment shown in FIG.

視覚センサ２８は、溶接線の延長線上の溶接進行方向側に固定されており、図２（ａ）に示したように、溶接トーチ２のノズル先端１３、アーク長１４及び開先１５の形状を一つの視野で撮像することによって、ワイヤ突出し長さ１６を計測することができる。視覚センサ２９は、溶接トーチ２に取り付けられており、図２（ｂ）に示したように溶融プール４３及び溶融プール４３近傍を一つの視野で撮像することによって、溶融プール幅１７及び溶融プール先行距離１８を計測することができる。視覚センサ３０は、溶接進行方向前方に固定されており、図２（ｃ）に示したように溶融プール及び開先形状を一つの視野で撮像することによって、ウィービング周期・振幅1９及びトーチ狙い位置２０を計測することができる。視覚センサ３１は、溶接士４０の右後方に固定されており、図２（ｄ）に示したように溶接対象４１を含む溶接士４０全体の様子を撮像することで、溶接トーチ角度２１などの溶接士４０の挙動を計測することができる。また、視覚センサ３１は、減光フィルタを取り付けてアーク２２の挙動を撮像し、単位時間当たりのアーク２２の移動距離を計測することによって溶接速度を計測することができる。   The visual sensor 28 is fixed to the welding progress direction side on the extension line of the welding line, and the shapes of the nozzle tip 13, the arc length 14 and the groove 15 of the welding torch 2 are shown in FIG. The wire protrusion length 16 can be measured by imaging in one field of view. The visual sensor 29 is attached to the welding torch 2 and images the molten pool 43 and the vicinity of the molten pool 43 in one field of view as shown in FIG. The distance 18 can be measured. The visual sensor 30 is fixed in front of the welding direction, and as shown in FIG. 2 (c), by imaging the molten pool and the groove shape with a single field of view, the weaving period / amplitude 19 and the torch target position 20 can be measured. The visual sensor 31 is fixed to the right rear side of the welder 40. As shown in FIG. 2D, the visual sensor 31 captures an image of the entire welder 40 including the welding target 41, and thereby the welding torch angle 21 and the like. The behavior of the welder 40 can be measured. Further, the visual sensor 31 can measure the welding speed by attaching a neutral density filter to image the behavior of the arc 22 and measuring the moving distance of the arc 22 per unit time.

本実施の形態によれば、複数の視覚センサ２８，２９，３０，３１により採取した特徴量と、ビード形状計測器６により採取した開先形状及び各層毎のビード形状をリンクさせることによって、平板立向き姿勢（上進）でのギャップ溶接の施工結果の良否の判定、また、多層盛溶接においては、予め設定された品質判断基準に基づき次の層の溶接が連続して施工可能か否かの判定をすみやかに行うことができる。   According to the present embodiment, the feature amount collected by the plurality of visual sensors 28, 29, 30, and 31 is linked to the groove shape collected by the bead shape measuring device 6 and the bead shape for each layer, whereby a flat plate Judgment of the quality of gap welding construction results in a standing posture (advanced), and in multi-layer welding, whether or not the next layer can be continuously welded based on preset quality criteria Can be determined promptly.

（第３の実施の形態）
図７は水平すみ肉溶接を行う場合における本発明の実施の形態を示す図である。本実施の形態では、溶接機器としてワイヤ送給装置１、溶接トーチ２及び溶接電源３を備え、計測装置としてワイヤ送給速度計測器４、電流・電圧計測器５、ビード形状計測器６および視覚センサ３２，３３，３４，３５を備えている。これらの機器は全て画像解析装置１１に接続されている。画像解析装置１１の構成は図４に示した第１の実施の形態におけると同じである。 (Third embodiment)
FIG. 7 is a view showing an embodiment of the present invention when horizontal fillet welding is performed. In this embodiment, a wire feeding device 1, a welding torch 2 and a welding power source 3 are provided as welding equipment, and a wire feeding speed measuring device 4, a current / voltage measuring device 5, a bead shape measuring device 6 and a visual device are used as measuring devices. Sensors 32, 33, 34, and 35 are provided. All these devices are connected to the image analysis apparatus 11. The configuration of the image analysis apparatus 11 is the same as that in the first embodiment shown in FIG.

視覚センサ３２は、溶接トーチ２に取り付けられており、図２（ｂ）に示したように溶融プール４３及び溶融プール４３近傍を一つの視野で撮像することによって、溶融プール幅１７、溶融プール先行距離１８及びウィービング周期・振幅を計測することができる。視覚センサ３３は、溶接線の延長線上の溶接進行方向側に固定されており、図２（ａ）に示したのとほぼ同様にして溶接トーチ２のノズル先端１３、アーク長１４及び溶融プール４３を一つの視野で撮像することによって、ワイヤ突出し長さ１６とトーチ狙い位置を計測することができる。視覚センサ３４は溶接対象４１の上方に固定されており、アーク２２の挙動を撮像し、単位時間当たりのアーク２２の移動距離を計測することによって溶接速度を計測することができる。視覚センサ３５は、溶接士４０の右後方に固定されており、溶接対象４１を含む溶接士４０の作業姿勢全体の様子を確認することができる。   The visual sensor 32 is attached to the welding torch 2 and images the molten pool 43 and the vicinity of the molten pool 43 in one field of view as shown in FIG. The distance 18 and the weaving period / amplitude can be measured. The visual sensor 33 is fixed on the welding progress direction side on the extension line of the welding line, and in the same manner as shown in FIG. 2A, the nozzle tip 13 of the welding torch 2, the arc length 14, and the molten pool 43. Can be measured in one field of view, and the wire protrusion length 16 and the torch aiming position can be measured. The visual sensor 34 is fixed above the welding object 41 and can measure the welding speed by imaging the behavior of the arc 22 and measuring the moving distance of the arc 22 per unit time. The visual sensor 35 is fixed to the right rear side of the welder 40, and can check the overall working posture of the welder 40 including the welding target 41.

本実施の形態によれば、複数の視覚センサ３２，３３，３４，３５により採取した特徴量とビード形状計測器６により採取した開先形状及び各層毎のビード形状をリンクさせることによって、水平すみ肉溶接の施工結果の良否の判定、また、多層盛溶接においては、予め設定された品質判断基準に基づき次の層の溶接が連続して施工可能か否かの判定をすみやかに行うことができる。   According to the present embodiment, the horizontal corner is obtained by linking the feature values collected by the plurality of visual sensors 32, 33, 34, and 35 with the groove shape collected by the bead shape measuring device 6 and the bead shape for each layer. In the case of multilayer welding, it is possible to quickly determine whether or not the next layer can be continuously welded based on a preset quality criterion in multilayer welding. .

なお、上記第１ないし第３の実施の形態で用いられる視覚センサ７〜１０、２８〜３５は、減光フィルタと帯域通過フィルタの数量及び種類を変更することで、電流、電圧等の異なる溶接条件やステンレスやアルミニウム等の溶融状態の異なる溶接対象へ適用することができる。また、配置される位置は上記第１ないし第３の実施の形態で説明した位置に限定されるものではなく、種々の位置に設置することで様々な形状の溶接対象と溶接姿勢に対応することができる。   In addition, the visual sensors 7 to 10 and 28 to 35 used in the first to third embodiments described above have different welding currents, voltages, etc. by changing the quantity and type of the neutral density filter and the band pass filter. It can be applied to welding objects with different melting conditions such as stainless steel and aluminum. Further, the positions to be arranged are not limited to the positions described in the first to third embodiments, and can be installed at various positions to correspond to various shapes of welding objects and welding postures. Can do.

本発明の第１の実施の形態の溶接作業情報計測装置の構成を示すブロック図。The block diagram which shows the structure of the welding work information measuring apparatus of the 1st Embodiment of this invention. 本発明の第１の実施の形態の溶接作業情報計測装置の動作を説明する図。The figure explaining operation | movement of the welding operation information measuring device of the 1st Embodiment of this invention. 本発明の第１の実施の形態の溶接作業情報計測装置に備えられる視覚センサの溶接トーチへの取付状態を示す図。The figure which shows the attachment state to the welding torch of the visual sensor with which the welding operation information measuring device of the 1st Embodiment of this invention is equipped. 本発明の第１の実施の形態の溶接作業情報計測装置に備えられる画像解析装置の構成を示すブロック図。The block diagram which shows the structure of the image-analysis apparatus with which the welding operation information measuring device of the 1st Embodiment of this invention is equipped. 本発明の第１の実施の形態の溶接作業情報計測装置の作用を説明するグラフ。The graph explaining the effect | action of the welding operation information measuring device of the 1st Embodiment of this invention. 本発明の第２の実施の形態の溶接作業情報計測装置の構成を示すブロック図。The block diagram which shows the structure of the welding operation information measuring device of the 2nd Embodiment of this invention. 本発明の第３の実施の形態の溶接作業情報計測装置の構成を示すブロック図。The block diagram which shows the structure of the welding operation information measuring device of the 3rd Embodiment of this invention.

符号の説明Explanation of symbols

１…ワイヤ送給装置、２…溶接トーチ、３…溶接電源、４…ワイヤ送給速度計測器、５…電流・電圧計測器、６…ビード形状計測器、７，８，９，１０…視覚センサ、８ａ…光軸、１１…画像解析装置、１２…レーザセンサ、１３…ノズル先端、１４…アーク長、１５…開先、１６…ワイヤ突出し長さ、１７…溶融プール幅、１８…溶融プール先行距離、１９…ウィービング周期および振幅、２０…トーチ狙い位置、２１…トーチ角度、２２…アーク、２３…ミラー、２４…トーチの電極、２５…計測結果表示部、２６…計測結果記録部、２７…溶接状態判定部、２８，２９，３０，３１，３２，３３，３４，３５…視覚センサ、４０…溶接士、４１…溶接対象、４２…溶接ワイヤ、４３…溶融プール、４４…溶接ビード。   DESCRIPTION OF SYMBOLS 1 ... Wire feeding apparatus, 2 ... Welding torch, 3 ... Welding power supply, 4 ... Wire feeding speed measuring device, 5 ... Current / voltage measuring device, 6 ... Bead shape measuring device, 7, 8, 9, 10 ... Visual Sensor, 8a ... Optical axis, 11 ... Image analysis device, 12 ... Laser sensor, 13 ... Nozzle tip, 14 ... Arc length, 15 ... Groove, 16 ... Wire protrusion length, 17 ... Melting pool width, 18 ... Melting pool Leading distance, 19 ... weaving period and amplitude, 20 ... torch target position, 21 ... torch angle, 22 ... arc, 23 ... mirror, 24 ... torch electrode, 25 ... measurement result display unit, 26 ... measurement result recording unit, 27 ... welding state determination part, 28, 29, 30, 31, 32, 33, 34, 35 ... visual sensor, 40 ... welder, 41 ... welding object, 42 ... welding wire, 43 ... molten pool, 44 ... weld bead.

Claims (12)

減光フィルタと帯域通過フィルタを有する複数の視覚センサを備え、前記視覚センサによってそれぞれの視野を撮像することによって溶接ワイヤの突出し長さ、溶融プール形状及び溶接士の挙動に関する複数の情報を同時に取得するようにしたことを特徴とする溶接作業情報計測装置。   A plurality of visual sensors having a neutral density filter and a band pass filter are provided, and a plurality of pieces of information on the protruding length of the welding wire, the molten pool shape, and the welder's behavior are simultaneously acquired by imaging each visual field with the visual sensor. A welding work information measuring device characterized by that. 前記視覚センサの少なくとも１つは溶接線の延長線上の溶接進行方向側に設けられ、溶接トーチのノズル先端、チップ先端及びアーク長を一つの視野で撮像することによって、ワイヤ突出し長さを計測することを特徴とする請求項１に記載の溶接作業情報計測装置。   At least one of the visual sensors is provided on the welding progress direction side on the extension line of the welding line, and measures the wire protruding length by imaging the nozzle tip, tip tip and arc length of the welding torch in one field of view. The welding work information measuring device according to claim 1. 前記視覚センサの少なくとも１つは溶接トーチに取り付けられ、溶融プールと溶融プール近傍を一つの視野で撮像することによって溶融プール形状を計測することを特徴とする請求項１に記載の溶接作業情報計測装置。   The welding work information measurement according to claim 1, wherein at least one of the visual sensors is attached to a welding torch and measures the molten pool shape by imaging the molten pool and the vicinity of the molten pool with one visual field. apparatus. 前記視覚センサの前面にミラーを配置したことを特徴とする請求項３に記載の溶接作業情報計測装置。   The welding work information measuring device according to claim 3, wherein a mirror is disposed in front of the visual sensor. 前記視覚センサの光軸を前記溶接トーチの電極と同軸にしたことを特徴とする請求項３に記載の溶接作業情報計測装置。   The welding work information measuring apparatus according to claim 3, wherein the optical axis of the visual sensor is coaxial with the electrode of the welding torch. 前記視覚センサの少なくとも１つは溶接進行方向前方に設けられ、溶融プールと開先形状を一つの視野で撮像することによってトーチ狙い位置、ウィービング周期及びウィービング振幅を計測することを特徴とする請求項１に記載の溶接作業情報計測装置。   The at least one of the visual sensors is provided in front of a welding progress direction, and measures a torch aiming position, a weaving cycle, and a weaving amplitude by imaging a molten pool and a groove shape with one visual field. The welding work information measuring device according to 1. 前記視覚センサの少なくとも１つは溶接士の姿勢と溶接線が確認できる位置に設けられ、溶接士の挙動を撮像することによってトーチ角度を計測することを特徴とする請求項１に記載の溶接作業情報計測装置。   The welding operation according to claim 1, wherein at least one of the visual sensors is provided at a position where the posture of the welder and the weld line can be confirmed, and the torch angle is measured by imaging the behavior of the welder. Information measuring device. 前記視覚センサは、減光フィルタを通してアークを撮像することによって溶接速度を計測することを特徴とする請求項７に記載の溶接作業情報計測装置。   The welding work information measuring apparatus according to claim 7, wherein the visual sensor measures a welding speed by imaging an arc through a neutral density filter. 電流・電圧計測器およびワイヤ送給速度計測器を備え、前記視覚センサでそれぞれの視野を撮像すると同時に、溶接電流、電圧及びワイヤ送給速度を計測するようにしたことを特徴とする請求項１に記載の溶接作業情報計測装置。   2. A current / voltage measuring instrument and a wire feeding speed measuring instrument are provided, and each visual field is imaged by the visual sensor, and at the same time, a welding current, a voltage and a wire feeding speed are measured. The welding work information measuring device described in 1. 前記視覚センサの固定位置を変えることで、下向き、立向き、上向きにおける溶接姿勢に対応できるようにしたことを特徴とする請求項１に記載の溶接作業情報計測装置。   The welding work information measuring apparatus according to claim 1, wherein a welding position in a downward direction, a vertical direction, and an upward direction can be accommodated by changing a fixing position of the visual sensor. レーザセンサを備え、前記レーザセンサによって溶接前の開先形状と各層毎のビード形状に関する情報を取得するようにしたことを特徴とする請求項１に記載の溶接作業情報計測装置。   The welding work information measuring apparatus according to claim 1, further comprising a laser sensor, wherein the laser sensor acquires information related to a groove shape before welding and a bead shape for each layer. 減光フィルタと帯域通過フィルタを有する複数の視覚センサを用い、前記視覚センサによってそれぞれの視野を撮像することによって溶接ワイヤの突出し長さ、溶融プール形状及び溶接士の挙動に関する複数の情報を同時に取得するようにしたことを特徴とする溶接作業情報計測方法。   Using multiple visual sensors with neutral density filters and bandpass filters, and simultaneously capturing multiple fields of information regarding welding wire protrusion length, molten pool shape and welder behavior by imaging each field of view with the visual sensor A welding work information measuring method characterized by being made.
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