DE3664735D1 - Welding position detecting apparatus - Google Patents

Welding position detecting apparatus

Info

Publication number
DE3664735D1
DE3664735D1 DE8686112826T DE3664735T DE3664735D1 DE 3664735 D1 DE3664735 D1 DE 3664735D1 DE 8686112826 T DE8686112826 T DE 8686112826T DE 3664735 T DE3664735 T DE 3664735T DE 3664735 D1 DE3664735 D1 DE 3664735D1
Authority
DE
Germany
Prior art keywords
position detecting
detecting apparatus
welding position
welding
detecting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
DE8686112826T
Other languages
English (en)
Inventor
Nobuo Shibata
Kenji Mori
Akira Hirai
Tsugio Udagawa
Toshio Akatsu
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Ltd
Original Assignee
Hitachi Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Application granted granted Critical
Publication of DE3664735D1 publication Critical patent/DE3664735D1/de
Expired legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q35/00—Control systems or devices for copying directly from a pattern or a master model; Devices for use in copying manually
    • B23Q35/04—Control systems or devices for copying directly from a pattern or a master model; Devices for use in copying manually using a feeler or the like travelling along the outline of the pattern, model or drawing; Feelers, patterns, or models therefor
    • B23Q35/08—Means for transforming movement of the feeler or the like into feed movement of tool or work
    • B23Q35/12—Means for transforming movement of the feeler or the like into feed movement of tool or work involving electrical means
    • B23Q35/127—Means for transforming movement of the feeler or the like into feed movement of tool or work involving electrical means using non-mechanical sensing
    • B23Q35/128—Sensing by using optical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127—Means for tracking lines during arc welding or cutting
    • B23K9/1272—Geometry oriented, e.g. beam optical trading
    • B23K9/1274—Using non-contact, optical means, e.g. laser means

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Optics & Photonics (AREA)
  • Geometry (AREA)
  • Plasma & Fusion (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices By Optical Means (AREA)
DE8686112826T 1985-10-21 1986-09-17 Welding position detecting apparatus Expired DE3664735D1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP23325285 1985-10-21

Publications (1)

Publication Number Publication Date
DE3664735D1 true DE3664735D1 (en) 1989-09-07

Family

ID=16952156

Family Applications (1)

Application Number Title Priority Date Filing Date
DE8686112826T Expired DE3664735D1 (en) 1985-10-21 1986-09-17 Welding position detecting apparatus

Country Status (4)

Country Link
US (1) US4724301A (de)
EP (1) EP0219691B1 (de)
JP (1) JPS62176787A (de)
DE (1) DE3664735D1 (de)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2605834B1 (fr) * 1986-11-05 1989-01-06 Pellenc & Motte Machine robotisee, notamment pour la recolte de fruits
US4812614A (en) * 1987-02-26 1989-03-14 Industrial Technology Research Institute Machine vision seam tracking method and apparatus for welding robots
CA1280807C (en) * 1987-09-11 1991-02-26 National Research Council Of Canada Adaptive welding control vision head
JP2542653B2 (ja) * 1987-12-10 1996-10-09 ファナック株式会社 非接触倣い方法
DE3825345A1 (de) * 1988-07-26 1990-02-01 Kuka Schweissanlagen & Roboter Schweissbrenner
JPH03190652A (ja) * 1989-12-19 1991-08-20 Fanuc Ltd 非接触ならい制御装置
US5194791A (en) * 1990-07-19 1993-03-16 Mcdonnell Douglas Corporation Compliant stereo vision target
JPH0531653A (ja) * 1991-07-26 1993-02-09 Fanuc Ltd 非接触倣い制御方式
US5245409A (en) * 1991-11-27 1993-09-14 Arvin Industries, Inc. Tube seam weld inspection device
ES2083908A2 (es) * 1992-09-18 1996-04-16 Wesringhouse Electric Corp Procedimiento para reconstruir el vaciado interior del rotor de una turbomaquina.
GB9300403D0 (en) * 1993-01-11 1993-03-03 Huissoon Jan P Dynamic seam tracking with redundant axes control
US6060853A (en) * 1997-09-04 2000-05-09 Cybo Robots, Inc. Removable robotic sensor assembly
US7081599B2 (en) * 2000-10-24 2006-07-25 Elpatronic Ag Apparatus and method for processing workpieces
US6559405B2 (en) * 2001-06-12 2003-05-06 General Electric Company Positioning device for welding electrode
US7186950B1 (en) 2005-06-17 2007-03-06 Fisher Carl M Welder with light source
US10058948B2 (en) * 2010-12-29 2018-08-28 Illinois Tool Works Inc. Weld cell system with communication
WO2017030142A1 (ja) * 2015-08-18 2017-02-23 株式会社Ihi 高温部観察装置
CN106826832A (zh) * 2017-02-27 2017-06-13 广东工业大学 一种焊接机器人及其焊缝路径学习方法、系统
CA3098890A1 (en) 2018-04-30 2019-11-07 Path Robotics, Inc. Reflection refuting laser scanner
CN109759753B (zh) * 2019-02-12 2021-10-22 北京斯达峰控制技术有限公司 激光测距焊缝跟踪器及智能焊接系统
US11407110B2 (en) 2020-07-17 2022-08-09 Path Robotics, Inc. Real time feedback and dynamic adjustment for welding robots
US11648683B2 (en) 2021-02-24 2023-05-16 Path Robotics, Inc. Autonomous welding robots

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5626676A (en) * 1979-08-07 1981-03-14 Komatsu Ltd Welding arc detector
NO158207C (no) * 1980-03-25 1988-08-03 Inst Tekh Kib I Robotika Fremgangsmaate og innretning for aa foelge sveisespor.
US4417127A (en) * 1980-05-19 1983-11-22 Institute Po Technicheska Kibernetika I Robotika Method and apparatus for seam tracking in arc welding
SU994175A1 (ru) * 1980-08-28 1983-02-07 Всесоюзный научно-исследовательский проектно-конструкторский и технологический институт токов высокой частоты им.В.П.Вологдина Способ контрол совмещени внутреннего и наружного швов и устройство дл его осуществлени
JPS59501540A (ja) * 1982-09-07 1984-08-30 キャタピラー　インコーポレーテッド 自動溶接システム
US4491719A (en) * 1982-12-20 1985-01-01 General Electric Company Light pattern projector especially for welding
US4532405A (en) * 1983-11-23 1985-07-30 General Electric Company Arc welding torch with two integral optical systems
US4599506A (en) * 1984-12-05 1986-07-08 Westinghouse Electric Corp. Visual observation of welding operation

Also Published As

Publication number Publication date
JPS62176787A (ja) 1987-08-03
EP0219691B1 (de) 1989-08-02
EP0219691A1 (de) 1987-04-29
US4724301A (en) 1988-02-09

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee