JP2899150B2 - Weld bead shape inspection method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a weld bead shape inspection method for inspecting a finished shape of a weld bead in a fillet welded joint such as a T-shaped joint, a cross joint, a corner joint, a lap joint and the like.

[0002]

2. Description of the Related Art Conventionally, there has been proposed a method of measuring the shape of a weld bead in order to determine the quality of welding. That is, it is determined whether or not the quality such as the strength of the welded portion is secured by measuring the dimensions of the weld bead. For example, JP-A-52-9604
Japanese Patent Application Laid-Open Publication No. 9-29909 illuminates a test object with light that forms a plane including a straight line that intersects a welding line,
A method of observing the shape of reflected light with a camera, that is, a method of observing a bead shape by a so-called light section method is described. In this observation method, utilizing the fact that the reflected light reflects the surface shape of the weld bead, the surface shape of the weld bead is displayed on a monitor screen together with the dimensional scale, so that people such as high places and the inner surface of the pipe can be visually observed. Observe the shape of the bead where it is not possible on the monitor screen. Further, Japanese Unexamined Patent Publication No. Sho 59-11220
No. 9 discloses that the outer dimensions of a bead are determined based on a measured value at each position of an optical gap sensor by moving an optical gap sensor capable of measuring a distance in a non-contact manner in a direction intersecting a welding line. A method for measuring is described. Further, in Japanese Patent Application Laid-Open No. 61-142408, the surface shape of a weld bead at each position along a welding line is analyzed by a light cutting method, and a stress concentration count at a toe portion of the weld is calculated. It describes an apparatus for judging the quality of welding with respect to the fatigue strength of a part and the like.

[0003]

By the way, if the welded portion has excess, it is impossible to obtain a beautiful finished shape as a product and cannot satisfy the user's requirements. At present, the product is finished after it has a beautiful appearance. Therefore,
It is necessary to judge whether to grind based on the beauty of the welded portion.

On the other hand, among the conventional examples described above,
The methods described in Japanese Patent Application Laid-Open No. 96049 and Japanese Patent Application Laid-Open No. Sho 59-112209 are all performed by a person to judge the quality of welding, and are merely auxiliary methods for measuring the external dimensions of a weld bead. Things. In addition, Japanese Unexamined Patent Publication
In the apparatus described in JP-A-1-140808, it is possible to determine the quality of the weld bead without manual operation, but the shape of the weld bead is determined with respect to the strength surface.
It cannot be determined whether the weld should be ground. As described above, conventionally, roundness,
It has not been considered to determine the ugliness of the external shape such as symmetry, excess, and dents.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems, and a method for inspecting the shape of a weld bead mainly for a weld bead of a fillet welded joint so that the appearance of the weld bead can be judged to be ugly. It is intended to provide.

[0006]

According to the present invention, a number of measurement points are set along a weld line of a weld bead, and light forming a plane intersecting the weld line straddles the weld bead at each measurement point. In this manner, the method is based on a method of inspecting a weld bead shape by irradiating a light cut line at a portion straddling the weld bead and inspecting the shape of the weld bead based on the shape of the light cut line.

According to the first aspect of the present invention, the unevenness of the surface of the weld bead at each measurement point is measured based on the shape of the light cutting line, and the appearance of the weld bead is determined based on the change in the unevenness in the direction along the weld line. Evaluate the beauty of the shape. According to the second aspect of the present invention, in the method of the first aspect, the measured value of the unevenness of the weld bead at each measurement point is given by an evaluation value corresponding to the roundness of the surface of the weld bead.

According to a third aspect of the present invention, in the method of the first aspect, the measured value of the unevenness of the weld bead at each measurement point is given by an evaluation value corresponding to the position of a specific point of the weld bead. According to the invention of claim 4, the size of the weld bead at each measurement point is measured based on the shape of the light cutting line, and based on the integral value of the size of the weld bead in the direction along the weld line. Evaluate the beauty of the appearance of the weld bead.

According to a fifth aspect of the present invention, the symmetry of the weld bead at each measurement point is measured based on the shape of the light-section line, and the appearance of the weld bead is determined based on the change in the symmetry in the direction along the weld line. Evaluate the beauty of the shape. According to the invention of claim 6, the width of the weld bead at each measurement point is measured based on the shape of the light cutting line, and the beauty of the external shape of the weld bead is evaluated based on the change in the width in the direction along the weld line. I do.

According to the present invention, the position of the specific point at each measurement point is measured based on the shape of the light-section line, and the welding bead is determined based on the change in the position of the specific point in the direction along the welding line. Of the appearance of the weld bead is evaluated based on the linearity of the weld bead. In the invention of claim 8, the dent on the surface of the weld bead at each measurement point is measured based on the shape of the light-section line, and the weld bead is measured based on the ratio of the measurement points where the dent is detected to all the measurement points. Evaluate the beauty of appearance.

In the ninth aspect of the present invention, a plurality of the welding bead shape inspection methods according to the first to eighth aspects are combined. According to the tenth aspect of the present invention, a curved portion of the light cutting line at a portion corresponding to the welding bead, and an extension line of a pair of straight portions connected to both end points of the curved portion of the light cutting line,
The surface of the weld bead is determined based on the relationship between the area of a portion surrounded by a plurality of lines of a straight line connecting both end points of the curved portion of the light section line and an angle bisector at an intersection of both extension lines. The roundness, the size of the extra metal, and the symmetry of the weld bead are measured, and the beauty of the external shape of the weld bead is evaluated based on the change in the roundness, the size of the extra metal, and the symmetry.

In the eleventh aspect of the present invention, a curved portion of the light cutting line at a portion corresponding to the welding bead, an extension line of a pair of straight portions connected to both end points of the curved portion of the light cutting line, and a curved line of the light cutting line. Find the straight line connecting both end points of the part and the bisector of the angle at the intersection of the two extended lines, and determine the intersection of the straight line connecting the end points of the curved part of the light section line and the intersection of the two extended lines and the curved part of the light section line. Measure the roundness of the weld bead based on the dimensional relationship on the bisector between the two, and measure the size of the excess metal based on the dimension where the curved part of the light cutting line protrudes from the extension line, Measures the symmetry of the weld bead based on the dimensional relationship between the intersection of the light and each end point of the curved line of the light section line. To evaluate.

According to the twelfth aspect of the present invention, a curved portion of the light cutting line at a portion corresponding to the weld bead, an extension of a pair of straight portions connected to both end points of the curved portion of the light cutting line, and a curved line of the light cutting line The straight line connecting both end points of the part and the bisector of the angle at the intersection of the two extended lines are obtained, and the intersection of the curved part of the light section line and the bisector and each end point of the curved part of the light section line The roundness of the weld bead is measured based on the angle formed by a pair of straight lines connecting the straight lines, and the size of the excess is measured based on the angle formed by the tangent at the end point of the curved section of the light cutting line and the above-mentioned extended line. Measures the symmetry of the weld bead based on the relationship between the straight line connecting both ends of the curved line of the cutting line and each of the above-mentioned extended lines, and welds based on the roundness, the size of the excess metal, and the change in symmetry. Evaluate the beauty of the bead appearance.

According to the thirteenth aspect of the present invention, a light cutting line curved portion at a portion corresponding to a welding bead and an extension line of a pair of straight portions connected to both end points of the light cutting line curved portion are obtained. The presence or absence of an excess is determined based on the presence or absence of an intersection between the curved line and the extension line, and the presence or absence of a dent on the surface of the weld bead is determined based on the presence or absence of a discontinuity in the slope of the curved line of the light section line. ,
The appearance of the weld bead is evaluated based on the presence or absence of dents in the weld bead.

According to a fourteenth aspect of the present invention, at least one of the weld bead shape inspection methods according to the first to eighth aspects is provided.
One is to perform it together with the inspection for welding defects.

[0016]

According to the method of the present invention, the irregularity of the surface in the direction along the welding line, the integral value of the size of the excess, the symmetry, the change of the width, the linearity, The indentation makes it possible to judge the beauty of the overall shape of the weld bead, and can provide a criterion for the beauty of the weld bead, which has not been conventionally performed.

The method according to any one of claims 10 to 13 is a specific example of a plurality of combinations of the six types of criteria for judging the beauty of a weld bead. Since the determination based on the presence / absence is performed, even if there are a plurality of determination criteria, a part of the procedure can be shared, which leads to an improvement in processing efficiency.

According to a fourteenth aspect of the present invention, the defect of the weld bead is determined at the same time as the inspection of the welding defect, which has been conventionally performed, and the strength of the weld bead and the comprehensive determination of the defect can be performed. become.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In the following embodiments, the method of judging the shape of a weld bead is different from each other, but a method common to all embodiments can be used to capture the appearance shape of a weld bead to be evaluated. For example, FIG. 5 shows an inspection target in which a pair of base materials 1 and 2 which are plate materials are crossed and butted, and the butted portion is welded to form a weld bead 3 and welded to form a joint. As a method for capturing the external shape of the bead 3, a so-called light cutting method is used. That is, light that forms a plane including a straight line that intersects the welding line 11 is irradiated from the light projecting device 4 to the inspection object, and the reflected light is received by the imaging device 5 such as an ITV camera. The surface shape of the weld bead 3 is obtained by extracting an image of a bright line (hereinafter, referred to as a light cutting line). The light cutting line 10 is shown in FIG.
As shown in FIG. 2, the light-section line 1 is linear on the base materials 1 and 2 and is curved on the weld bead 3.
0 means that the surface shape of the weld bead 3 is reflected. The light projecting device 4 has the above-mentioned shape by passing light from a light source such as a laser generator through a straight slit, or by scanning a light beam forming a point-like spot on the irradiation target in a straight line. It is configured to obtain light.
Here, the position of the light projecting device 4 and the imaging device 5 is controlled so as to move in the direction of the welding line 11 while maintaining a constant angular relationship, and at a constant or irregular interval along the welding line 11. The light cutting line 10 is taken in at a number of set measurement points. Therefore, the surface shape of the weld bead 3 in a number of parallel planes intersecting the welding line 11 can be obtained. With respect to the image of the light cutting line 10 taken into the image pickup device 5 by such an apparatus, various calculations as described in the following embodiments are performed by computer processing to determine the beauty of the weld bead.

For the following description, symbols given to each part of the image of the light section line 10 are defined as shown in FIG. In other words, of the light cutting lines 10, straight portions formed on the respective base materials 1 and 2 are defined as straight lines L1 and L2, respectively.
The point of intersection of the extension lines of both straight lines L1 and L2 is point A. Also,
The intersections of the curved line formed on the weld bead 3 and the straight lines L1 and L2 are defined as points B and C, respectively, and the bisected line L3 of ∠BAC and the curved line of the optical cutting line 10 B
The point of intersection with DC is point D, and the point of intersection of bisector L3 and line BC is point E.

1. Evaluation of Irregularities of Weld Bead (Example 1) In this example, as shown in FIG. 1, after capturing an image of the light cutting line 10, first, points A and
B and C are detected (step S102), and the area ( S2 ) of the triangle ABC is obtained (step S103). In addition, a curved portion BDC of the light cutting line 10 is obtained (step S10).
4), a portion (surface B) surrounded by the curved portion BDC and the straight line BC
DCE) area ( S1 ) (step S10)
5). The ratio of the areas S1 and S2 thus obtained (= S1 /
S2) is defined as an evaluation value Vi (step S106).
Here, since it can be evaluated that the roundness of the weld bead 3 is larger as the evaluation value Vi is larger, it is determined in the Vi determination routine (step S107) whether the weld bead 3 is sufficiently rounded.

That is, in the Vi determination routine, as shown in FIG. 2, the evaluation value Vi is compared with the threshold value Th1 (step S11), and if the evaluation value Vi is equal to or less than the threshold value Th1, the defect point counter k is incremented (step S11). Step S1
2). Thus, the evaluation value Vi for one measurement point is obtained.
Is evaluated, the length counter i is incremented (step S108), and it is determined whether the length counter i has been moved along the welding line 11 to the end of the weld bead 3 (step S108).
101) If the end of the weld bead 3, the weld bead 3
Is evaluated by a difference determination routine (step S109) and a final determination routine (step S110). Here, the length counter i corresponds one-to-one to the length of the weld bead 3 if the measurement points are at regular intervals, and the defect point counter k is a measurement in which the evaluation value Vi does not satisfy the predetermined condition. It will indicate the number of points. Therefore, at the start of measurement, the initial values of both the length counter i and the defective point counter k are 0.
Is set to (step S100).

The difference determination routine is as shown in FIG.
This is for determining a change in the evaluation value Vi between adjacent measurement points. When the change is large, it is determined that the image is not beautiful. That is, the evaluation value V of the adjacent measurement point
The difference between j and Vj + 1 is compared with a predetermined threshold Th2 (step S22). When the difference is equal to or larger than the threshold Th2,
Assuming that the requirements for the beautiful weld bead 3 are not satisfied at this measurement point, the defect point counter m is incremented (step S23). After evaluating the difference between the evaluation values Vi for one measurement point, the measurement point counter j is incremented (step S24), and the evaluation of the difference is repeated until the measurement point ends (step S25). Here, the initial values of the defective point counter m and the measurement point counter j are given as 0, and a value end corresponding to the length of the weld bead 3 obtained by the length counter i is used for determining the end of the measurement point j. (Step S21).

In the final judgment routine, as shown in FIG. 4, the value of the defect point counter k obtained in the Vi judgment routine shown in FIG. 2 and the value of the defect point counter m obtained in the difference judgment routine shown in FIG. With predetermined threshold values Th3 and T3, respectively.
h4 (steps S31 and S32), and when the number of measurement points determined to be defective by both routines is less than the corresponding threshold values Th3 and Th4, the external shape of the weld bead 3 is beautiful and the grinding is performed. Is displayed as a non-defective product (step S33). If any one of the defect point counters k and m is equal to or greater than the corresponding threshold value Th3 or Th4, it is determined that the appearance of the weld bead 3 has a defect that is inconvenient as a product and the defective product is displayed (step S1). S34).

As described above, in the final determination routine, it is possible to determine the beauty of the entire shape based on the unevenness of the surface of the weld bead 3. (Embodiment 2) In this embodiment, the relationship between the straight line AE and the straight line DE on the bisector L3 of ＬBAC is used as a method for evaluating the roundness of the weld bead 3. In other words, it is evaluated that the greater the length of the straight line DE with respect to the straight line AE, the greater the roundness of the weld bead 3.

Therefore, as shown in FIG. 8, first, points A, D, and E shown in FIG. 7 are detected (step S12).
2) the lengths (AE) for the line segments AE and DE,
(DE) is obtained (steps S123 and S124). Next, the ratio of the lengths (AE) and (DE) is evaluated using the evaluation value Vi ( = (D
E) / (AE) ) (step S125), and the evaluation value Vi is evaluated by the same Vi determination routine as in the first embodiment (step S126). After evaluating the evaluation value Vi over the entire length of the weld bead 3 (steps S127, S12
1) By the same processing as in the first embodiment, it is determined whether or not the external shape of the weld bead 3 has an inconvenient defect as a product. That is, only the evaluation value Vi is different, and the same procedure as that of the first embodiment can be used as a procedure for determining the beauty of the external shape based on the unevenness of the surface of the weld bead 3. That is, steps S122 to S125
Are the same as steps S102 to S106 in the first embodiment.
Except for the procedure. This is shown in Example 3 below.
The same applies to the fifth embodiment.

(Embodiment 3) In this embodiment, the relationship between ∠BAC and ∠BDC is used as a method for evaluating the roundness of the weld bead 3. That is, as described in the second embodiment, the greater the length of the straight line DE with respect to the straight line AE, the greater the roundness of the weld bead 3. Therefore, the tops of the two triangles ABC and BDC sharing the straight line BC as the base are described. There is a relationship between the angles ∠BAC and ∠BDC that the greater the roundness of the weld bead 3, the closer ∠BDC becomes to ∠BAC.

Therefore, as shown in FIG. 9, first, points A, B, C, and D shown in FIG. 7 are detected (step S13).
2) Then, values of ∠BAC and ∠BDC are obtained (steps S133, S134). Then, both angles ∠BA
C, the evaluation value Vi as the ratio of ∠BDC (= ∠BAC / ∠B
DC) (step S135). The processing after obtaining the evaluation value Vi is the same as that of the first embodiment, and thus the description is omitted.

(Embodiment 4) In this embodiment, the roundness of the weld bead 3 is evaluated based on the curvature at the point D of the curved portion BDC of the light section line 10. In short, it is determined that the greater the curvature, the greater the roundness of the weld bead 3. For this purpose, as shown in FIG. 10, first, the points B, C, and D in FIG. 7 are detected (step S142), and then, the curvature of the curved portion BDC at the point D is obtained, and this curvature is used as the evaluation value Vi. (Step S143). Subsequent processing is the same as in the first embodiment, and a description thereof will not be repeated.

(Embodiment 5) In this embodiment, the bisector L3 of ∠BAC is defined as the Y-axis direction, and the curved portion B of the light section line 10 is set.
The roundness of the weld bead 3 is evaluated based on the Y coordinate of the point D on DC. That is, assuming that the value of the Y coordinate increases in the direction from the point E to the point A, the larger the roundness of the welding bead 3, the larger the Y coordinate of the point D, due to the relationship described in the second embodiment. .

Based on such knowledge, as shown in FIG. 11, first, a point D in FIG. 7 is detected (step S1).
52) Next, the Y coordinate of the point D is determined as the evaluation value Vi (step S153). The procedure after determining the evaluation value Vi is the same as that of the first embodiment, and after evaluating the evaluation value Vi over the entire length of the welding bead 3 (steps S154 and S15).
5, S151), the difference between the evaluation values Vi of the adjacent measurement points is evaluated (Step S156), and the beauty of the weld bead 3 is determined based on the evaluation result regarding the evaluation value Vi and the difference (Step S157).

[0032] 2. Evaluation of Weld Bead Surplus In Examples 6 to 10 below, the appearance of the weld bead 3 is judged to be ugly by the degree of the weld bead 3 margin. Here, as shown in FIG. 12, the extra bank 12 is defined as a portion where the weld bead 3 protrudes with respect to a plane extending the surface of one of the base materials 1 and 2. Generally, if there is such a margin 12, a margin 1
It is necessary to grind 2. Considering the light section line 10, as shown in FIG. 13, the extra bank 12 is at least one of the straight line L1 (or L2) which is the straight line section of the light section line 10 among the curved portions BDC of the light section line 10. It can be considered that the curved portion BDC of the light cutting line 10 is a portion protruding outward (the hatched portion in FIG. 13) with respect to the extension line. In the following embodiment, the maximum distance of the extra bank 12 from the straight line L1 (or L2) is height H, and the angle between the tangent of the extra bank 12 at the point B or the point C and the straight line L1 (or L2) is θ. . Further, the center of gravity of the surface surrounded by the curved portion BDC and the straight line BC is represented by G1, and the surface surrounded by the curved portion BDC and the straight line BC excluding the extra bank 12 (the curved portion BDC and the straight line B).
Let G2 be the center of gravity of the plane surrounded by C and the straight line L1 (or L2), and let L be the distance between both centers G1 and G2. Further, the intersection point between the curved portion BDC and the straight line L1 (or L2) is represented by P.

(Embodiment 6) In this embodiment, the size of the margin 12 is evaluated using the area S3 of the margin 12 shown in FIG. That is, as shown in FIG. 14, after capturing the image of the light section line 10, first, FIG.
The curve BDC is detected by detecting the points B, C, and D defined in 3 (step S162). Next, an area S3 of a portion surrounded by the curved portion BDC and the straight line L2 (or L1) is determined as an area corresponding to the extra bank 12 (step S163), and the obtained area S3 is determined as an evaluation value Vi (step S164). ). Thereafter, the magnitude of the evaluation value Vi is determined by a Vi determination routine (step S165).

Here, when the evaluation value Vi is large, the margin 12 is large, and it can be determined that the requirements for the beautiful weld bead 3 are not satisfied. Therefore, in the Vi determination routine shown in FIG. The condition (Vi ≦ Th1) is changed to Vi ≧ Th1 and the evaluation value V
If i is equal to or greater than the predetermined threshold Th1, the state of the margin 12 at the measurement point is determined to be defective, and the defective point counter k is incremented.

After evaluating the evaluation value Vi for one measurement point in this way, the length counter i is incremented (step S166), and the length counter i is moved to the end of the weld bead 3 along the welding line 11. It is determined whether or not it is the end of the weld bead 3 (step S161). If it is the end of the weld bead 3, the appearance of the weld bead 3 is evaluated for beauty in the integral determination routine (step S167) and the final determination routine (step S168). Here, at the start of the measurement, the initial values of the length counter i and the defective point counter k are of course set to 0 (step S160).

In the integral judgment routine, as shown in FIG. 15, the integral value add of the evaluation value Vi at each measurement point is obtained (step S42), and the integral value ad of the evaluation value Vi is obtained.
d is compared with a predetermined threshold Th5 (step S4).
3). In other words, this corresponds to evaluating the volume of the extra bank 12 in the entire weld bead 3. Integral value add is threshold value Th
If the value is 5 or more, the margin 12 is large. At this time, the defect point counter m is incremented on the assumption that the requirements for the beautiful weld bead 3 are not satisfied (step S).
44). After evaluating the integral value add for one measurement point, the measurement point counter j is incremented (step S
45), the evaluation of the integral value add is repeated until the measurement point ends (step S46). Here, the initial values of the defect point counter m, the measurement point counter j, and the integral value add are 0.
In order to determine the end of the measurement point j, the value end corresponding to the length of the weld bead 3 obtained by the length counter i is used (step S41). Further, the defective point counter m indicates the number of measurement points after the measurement point at which the integrated value add is equal to or larger than the threshold Th5.

In the final determination routine, the procedure shown in FIG. 4 is used as in the first embodiment. The defective point counter k obtained in the Vi determination routine shown in FIG.
Defective point counter m obtained by the integration determination routine shown in FIG.
Are compared with predetermined thresholds Th3 and Th4, respectively (steps S31 and S32). If the number of measurement points determined to be defective by both routines is smaller than the corresponding thresholds Th3 and Th4, welding is performed. The display that the external shape of the bead 3 is good and does not require grinding is displayed (step S33). Also, the threshold value Th corresponding to one of the defect point counters k and m.
If it is equal to or greater than Th4, it is determined that there is an inconvenient defect in the appearance of the weld bead 3 as a product and a defective product is displayed (step S34). Here, the fault point counter m has a value of 1 or more when the volume of the extra bank 12 is equal to or more than a predetermined value. Therefore, the threshold value Th4 may be set to 1.
Conversely, without performing the process of incrementing the defective point counter m in the integration determination routine, a fixed value is given to the defective point counter m as the defective flag, and the threshold value Th4 is set to a value smaller than the defective flag. Is also good.

As described above, in the final judgment routine, it is possible to judge the beauty of the entire shape based on the size of the margin 12 of the welding bead 3. Here, in the following seventh to tenth embodiments, the processing procedure of the Vi evaluation routine, the integral evaluation routine, and the final determination routine is the same as that of the present embodiment. (Embodiment 7) In this embodiment, the size of the margin 12 is
It is evaluated by the height H of 2. That is, as shown in FIG. 16, the points B,
C and D are obtained, and a curved portion BDC of the light section line 10 is detected (step S172). As described above, the maximum distance between the straight line L1 (or L2) and the curved portion BDC is defined as the height H of the margin 12, and the height H is obtained (step S173).
Thereafter, the height H is set to the evaluation value Vi (step S17).
4) In the Vi determination routine, the evaluation value Vi is evaluated. When the extra bank 12 is large, the height H is large, and in the Vi determination routine, when the extra bank 12 is large, it is determined that the requirements for the beautiful weld bead 3 are not satisfied. That is, similarly to the sixth embodiment, in the Vi determination routine shown in FIG. 2, the determination condition (Vi ≦ Th1) in step S11 is changed to Vi ≧ Th1.

The subsequent processing is the same as in the sixth embodiment.
After the evaluation value Vi is obtained over the entire length of the weld bead 3 (steps S176 and S171), the integral determination routine evaluates the integral value of the height H of the margin 12, and the final determination routine evaluates the remainder of the weld bead 3. Ultimately, the beauty of the appearance shape of the asperity 12 is evaluated (steps S177, S177).
178).

(Embodiment 8) In this embodiment, the light cutting line 10
Is used as an evaluation value Vi for judging the size of the extra bank 12 with respect to the straight line L1 (or L2). That is, it is determined that the larger the angle θ is, the larger the extra bank 12 is.

As shown in FIG. 17, after detecting the curved portion BDC of the light section line 10 (step S182), the angle between the tangent of the curved portion BDC at the point B (or point C) and the straight line L1 (or L2). θ is obtained (step S183).
This angle θ is set to the evaluation value Vi (step S18).
4) After that, as in the sixth embodiment, the evaluation is performed over the entire length of the welding bead 3 by the Vi determination routine (Steps S185, S186, S181), and then the integration determination routine and the final determination routine are used. The size of the weld bead 3 is evaluated by evaluating the size of the weld bead 12 (steps S187 and S188).

(Embodiment 9) In this embodiment, the light cutting line 10
Center of gravity G1 of the figure surrounded by the curved portion BDC and the straight line BC
And a figure L excluding the margin 12 from the figure (that is, a figure surrounded by the curved portion BDC, the straight line BC, and the straight line L1 (or L2)) and the distance L between the center of gravity G2 of the figure and the margin 12
Is determined. That is, the center of gravity G1,
That is, it is determined that the larger the distance L of G2, the larger the margin 12 is.

Therefore, as shown in FIG. 18, first, the points B, C and D defined in FIGS. 7 and 13 are detected (step S192). Next, the curved part BDC and the straight line B
The center of gravity G1 of the plane surrounded by C and the center of gravity G2 of the plane surrounded by the curved portion BDC, the straight line BC, and the straight line L1 (or L2) are obtained (steps S193, S194), and then the distance between the centers of gravity G1, G2 Find L (Step S19)
5). The distance L between the centers of gravity G1 and G2 obtained in this way is defined as an evaluation value Vi (step S196).

The subsequent processing is the same as in the sixth embodiment.
In a Vi determination routine, the number of measurement points where the evaluation value Vi is equal to or greater than a predetermined threshold Th1 is obtained as a count value of the defective counter k,
In the integration determination routine, it is determined whether or not the sum of the distances L at the respective measurement points exceeds a predetermined threshold Th5, and the value of the defective counter m is set. Thereafter, in the final determination routine, the beauty of the weld bead 3 is determined based on the defective product counters k and m.

(Embodiment 10) In this embodiment, the light cutting line 1
0 of the intersection between the curved part BDC of 0 and the straight line L1 (or L2)
Is determined based on the presence or absence of the margin 12. That is, if the intersection P exists, the extra bank 12 exists. Therefore, when the extra bank 12 exists, it is determined that there is a possibility that the weld bead 3 is not beautiful.

That is, as shown in FIG.
Further, the curved portion BDC of the light section line 10 defined in FIG. 13 is obtained (step S212), and the curved portion BDC and the straight line L1 are obtained.
(Or L2) is found (step S)
213). It is determined whether or not the intersection P exists (step S21).
4) If it does not exist, the evaluation value Vi is set to 0 (step S215), and if it exists, the evaluation value Vi is set to 1 (step S216).

Next, in the Vi determination routine, the evaluation value V
The quality of the weld bead 3 at the measurement point is determined based on the magnitude of i. Here, as the determination condition of step S11 shown in FIG. 2, since the evaluation value Vi is a binary value of 1 and 0, it is sufficient to determine whether Vi = 1. That is,
When Vi = 1, the defective product counter k is incremented. After detecting the presence or absence of the intersection P for each measurement point over the entire length of the weld bead 3 in this manner, the beauty of the weld bead 3 is determined by the integration determination routine and the final determination routine (steps S219 and S220). However, since the evaluation value Vi is binary, the integrated value add obtained by the integration determination routine shown in FIG. 15 has the same value as the defective product counter k. Therefore, in the final determination routine shown in FIG. 4, one of the determination conditions of step S31 and step S32 is sufficient.

[0048] 3. Evaluation of Weld Bead Symmetry Examples 11 to 16 below determine the beauty of the weld bead 3 based on the symmetry at each measurement point of the weld bead 3. (Embodiment 11) In this embodiment, the triangle ABE and the triangle A
The symmetry at each measurement point of the weld bead 3 is evaluated based on the ratio of the area to CE. That is, both triangles ABE,
The closer the ACE area ratio is to 1, the better the symmetry is.

Therefore, as shown in FIG.
The points A, B, C and E defined in FIG. 7 are detected (step S
232) and then the area of each triangle ABE, ACE (S
4), (S5) are obtained (steps S233, S23)
4). Next, the ratio of the two areas (S4) and (S5) is calculated as an evaluation value V
i (= S4 / S5) (step S235), and V
The symmetry of each measurement point is determined based on the evaluation value Vi by the i determination routine (step S236). Here, in the Vi determination routine shown in FIG. 2, the defective product counter k is incremented when the evaluation value Vi satisfies Vi ≦ Th1 with respect to the predetermined threshold value Th1, but in this embodiment, the evaluation value It is necessary to increment the defective product counter k when the deviation of Vi from 1 is large. Therefore, as the determination condition of step S11, the defective counter k may be incremented when | Vi-1 | ≧ Th1.

After the symmetry is evaluated for all the measurement points of the weld bead 3 (steps S237, S23)
1) A change in symmetry along the weld line is detected in accordance with the difference determination routine shown in FIG. 3 (step S238), and the beauty of the weld bead 3 based on the symmetry is detected by the final determination routine shown in FIG. A determination is made (step S239).

In the following twelfth and thirteenth embodiments, the processing of the Vi determination routine is the same as that of the present embodiment. (Embodiment 12) In this embodiment, the ratio of the lengths (AB) and (AC) between the line segment AB and the line segment AC is evaluated as an evaluation value Vi (= AB / A).
The symmetry is determined as C). That is, as shown in FIG. 21, the points A, B, C, and E defined in FIG. 7 are detected (step S242), and the lengths (AB) and (AC) of the line segment AB and the line segment AC are respectively obtained. (Step S24
3, S244), and the ratio of the lengths (AB), (AC) is determined as the evaluation value Vi (= AB / AC) (step S245). Subsequent processing is the same as in the eleventh embodiment. The Vi determination routine determines the symmetry at the measurement point (Step S246), and the difference determination routine determines the change in symmetry at the adjacent measurement point (Step S246). Step S24
8) Finally, in the final judgment routine based on the symmetry of each measurement point and the entire weld bead 3, the weld bead 3
Is determined (step S249).

(Embodiment 13) In this embodiment, the ratio of ∠ABC to ∠ACB is evaluated by an evaluation value Vi (= ∠ABC / ∠ACB).
The evaluation value Vi is the same as in the eleventh embodiment.
Is closer to 1, it is determined that the symmetry is better. That is, as shown in FIG. 22, first, the points A, B,
C and E are detected (step S252), and ∠ABC and ∠A
CB is obtained (steps S253 and S254), and the evaluation value Vi is defined as Vi = ∠ABC / ∠ACB (step S255). Evaluation of the evaluation value Vi thus obtained is performed in the same procedure as in the eleventh embodiment.

(Embodiment 14) In this embodiment, as shown in FIG. 23, the approximate center point O of the curved portion BDC of the light section line 10 is obtained, and the bisector L3 of ∠BAC and the center point O Is to evaluate the symmetry of the weld bead 3 at each measurement point based on the distance ΔX. That is, the symmetry is evaluated using the fact that the better the symmetry is, the smaller the distance ΔX is.

Therefore, as shown in FIG. 24, first, after detecting points A, B, C, and D defined in FIG. 7 (step S262), an approximate curve BDC is obtained based on the points B, C, and D. The center point O is obtained (step S263). In this process, for example, the intersection of the perpendicular bisector of the straight line BD and the straight line DC may be determined as the approximate center point O. Next, ∠B
The distance ΔX between the bisector L3 of the AC and the center point O is determined (step S264), and this distance ΔX is defined as the evaluation value Vi (step S265).

After the evaluation value Vi is determined, the evaluation value Vi for each measurement point is evaluated by the Vi determination routine in the same manner as in the eleventh embodiment (step S266), and the adjacent measurement points are determined by the difference determination routine. The evaluation is performed based on the change between the two (step S267), and the beauty of the entire weld bead 3 is determined by the final determination routine (step S268). Here, in the Vi determination routine, it is determined that the smaller the distance ΔX, the better the symmetry. Therefore, in step S11 shown in FIG.
The determination condition is set so that the defect point counter k is incremented when ≧ Th1. Other procedures are the same as in the eleventh embodiment.

(Embodiment 15) In this embodiment, as shown in FIG. 25, the center of gravity G of the figure surrounded by the curved portion BDC and the straight line BC of the light section line 10 is obtained, and the bisector L3 of ∠BAC is obtained.
The symmetry at each measurement point of the weld bead 3 is evaluated based on the distance ΔY between the welding bead 3 and the center of gravity G. In this case, as in the fourteenth embodiment, the symmetry is evaluated using the fact that the better the symmetry, the smaller the distance ΔY.

Therefore, as shown in FIG. 26, after detecting the points A, B, C, and D defined in FIG. 7 (step S272), the curved portion BDC of the light section line 10 is detected (step S273). , The center of gravity G of the figure surrounded by the curved portion BDC and the straight line BC is obtained (step S274). next,
The distance ΔY between the bisector L3 of the ∠BAC and the center of gravity G is determined (step S275), and this distance ΔY is defined as an evaluation value Vi (step S276).

After the evaluation value Vi is determined, the same processing as in the fourteenth embodiment can be performed to evaluate the symmetry of the weld bead 3. That is, the determination conditions in the Vi determination routine are the same as in the fourteenth embodiment. Step S
Other procedures except 273 to S276 are the same as those of the fourteenth embodiment. (Embodiment 16) In this embodiment, as shown in FIG.
The symmetry of the weld bead 3 is determined based on the distance H1 between the points B and C in the direction along the bisector L3 of the BAC and the angle θ1 formed by the straight line BC with respect to the direction orthogonal to the bisector L3. is there. That is, the distance H1 and the angle θ1
Evaluates the symmetry using the fact that the better the symmetry, the smaller the value.

Therefore, as shown in FIG.
After detecting C (step S292), the angle θ1 between the direction orthogonal to the bisector L3 of the ∠BAC and the straight line BC,
And the distance H1 between the points B and C in the direction along the bisector L3 is determined (steps S293 and S294). As the evaluation value Vi, at least one of the angle θ1 and the distance H1 is used, and both may be used (step S295). Since it can be determined that the smaller the evaluation value Vi is, the more excellent the symmetry is. Therefore, in the Vi determination routine, the defect point counter k is incremented under the same determination conditions as in the fourteenth embodiment. As the evaluation value Vi, it is sufficient to use one of the angle θ1 and the distance H1,
When both are used, it is only necessary to judge that both are non-defective when both are smaller than a predetermined threshold. Other procedures are the same as in the fourteenth embodiment.

[0060] 4. Evaluation of Width of Weld Bead (Embodiment 17) In the present embodiment, as shown in FIG.
2 determines the beauty of the weld bead 3.
That is, the distance H2 between the points B and C in the direction orthogonal to the bisector L3 of ∠BAC is obtained , and
That the change in that value over time is not beautiful
The evaluation of the weld bead 3 is performed using the evaluation.

Therefore, as shown in FIG.
After detecting C (step S302), a distance H2 between points B and C in a direction orthogonal to the bisector L3 is determined (step S303), and this distance H2 is defined as an evaluation value Vi (step S304). The evaluation value Vi is evaluated using the Vi determination routine shown in FIG. 2 (step S305), and after evaluating the evaluation value Vi for all the measurement points of the welding bead 3 (steps S306 and S301), the evaluation value Vi is shown in FIG. The change in the width at the adjacent measurement point is evaluated by the difference determination routine (step S307), and the beauty of the weld bead 3 is determined by the final determination routine shown in FIG. 4 (step S308). The procedure excluding steps S302 to S304 is the same as that of the first embodiment, and thus the description is omitted.

[0062] 5. Evaluation of Linearity of Weld Bead (Embodiment 18) In this embodiment, the point D which is the intersection with the bisector L3 of ∠BAC on the curved portion BDC of the light section line 10 defined in FIG. , By detecting a change in position in a direction orthogonal to the bisector L3,
This is to evaluate the linearity of. That is, a coordinate axis may be defined in a direction orthogonal to the bisector L3, the coordinate value of the point D may be defined as the evaluation value Vi, and it may be determined that the linearity is good when the coordinate value is within a predetermined range.

Specifically, as shown in FIG. 31, first,
A point D on the curved portion BDC is detected (step S31).
2) Find the coordinate value (x) of point D (step S31)
3) The coordinate value (x) is defined as an evaluation value Vi (step S314). After the evaluation value Vi is determined, the evaluation value Vi is evaluated by the Vi determination routine (step S315). When the evaluation value Vi is out of the predetermined range, the defect point counter k is incremented. That is, in step S11 in FIG. 2, | Vi−V ₀ |
When ≧ Th1, the defect point counter k may be incremented. Here, V ₀ is a reference coordinate value and is a constant.

After evaluating the coordinate value (x) of the point D for all the measurement points of the weld bead 3 (steps S316 and S31)
1) The change in the position of the point D between the adjacent measurement points is evaluated by the difference determination routine (step S317), and in the final determination routine, the welding bead is determined based on the determination results by the Vi determination routine and the difference determination routine. It is determined that the third item is ugly (step S318).

With the above procedure, the beauty of the weld bead 3 can be evaluated based on the linearity of the weld bead 3. 6. Evaluation of Depression of Weld Bead (Embodiment 19) In this embodiment, when the depression P1 is formed on the weld bead 3 as shown in FIG.

That is, as shown in FIG. 33, the light cutting line 10 is traced starting from the straight line L1 (or L2) which is a straight line portion of the light cutting line 10 (step S322), and the inclination of the light cutting line 10 is discontinuous. Is detected as the dent point P1 (step S323). Next, when the dent point P1 does not exist at the measurement point, the evaluation value Vi is set to 0 (step S325), and when the dent point P1 exists, the evaluation value Vi is set to 1 (step S32).
6).

Next, in the Vi determination routine, the evaluation value V
The quality of the weld bead 3 at the measurement point is determined based on the value of i (step S327). Here, the evaluation value Vi
Is a binary value of 1, 0, the defective counter k is incremented by the same procedure as in the tenth embodiment when Vi = 1 is determined in step S11 shown in FIG. After detecting the presence or absence of the dent point P1 for each measurement point over the entire length of the welding bead 3 (steps S328 and S321),
Judgment of the weld bead 3 is determined by the integration determination routine and the final determination routine (steps S329 and S33).
0). However, since the evaluation value Vi is binary, the integrated value add obtained by the integration determination routine shown in FIG. 15 has the same value as the defective product counter k. Therefore, in the final determination routine shown in FIG.
One of the judgment conditions of 32 is sufficient.

[0069] 7. Combination of various evaluation methods for welding beads
This Example evaluated (Example 20) by, there is a combination of evaluation method regarding personal appearance of the external shape of the weld bead 3 described above, irregularities, excess weld symmetry, width, linearity, indentation of six Of these evaluation methods are combined.
The combination may be appropriately selected depending on the purpose. Further, the Vi determination routine, the difference determination routine, the integration determination routine, and the final determination routine can be shared by various evaluation methods by making them into subroutines. , The readability of the main routine is improved.

Embodiment 21 In this embodiment, the evaluation of the appearance of the weld bead 3 based on the evaluation method as described above, and at the same time, the defect or defect (hamping,
Undercuts, pits, etc.) are detected and recorded. That is, as shown in FIG. 34, a welding defect is determined for each measurement point (step S341), and if there is no welding defect, the above-described appearance shape is evaluated (step S341).
342). Here, since the evaluation is performed for each measurement point,
Only the Vi determination routine may be used as the evaluation method.
The determination result is recorded as shape data (step S34)
3) After evaluating all the measurement points of the weld bead 3 as poor welding and ugly appearance (step S3)
40), display and recording of the inspection result are performed (step S345). Here, in step S345, the overall shape of the weld bead 3 may be evaluated by the difference routine, the integration routine, and the final determination routine. On the other hand, when a welding defect is detected in step S341, it is useless to judge the appearance of the weld bead 3 as ugly, and the defect is recorded (step S344), and the inspection result is displayed and recorded. Is performed (step S345).

(Embodiment 22) In this embodiment, a method using the area as the evaluation value Vi among the above-described methods for evaluating the appearance of the weld bead 3 is also combined. That is, Example 1, Example 6, and Example 11 are combined, and the weld bead 3 has roundness, excess
Beauty can be evaluated based on symmetry.

In this case, since the area is used for performing a plurality of types of evaluations, a subroutine for the part for obtaining the area is formed as a subroutine, so that a highly readable and efficient program can be created. It is. (Embodiment 23) In this embodiment, a combination of the above-described methods for evaluating the appearance of the weld bead 3 with the use of the length of the line segment as the evaluation value Vi is combined.
That is, the welding bead 3 is a combination of the second, seventh, and twelfth embodiments, and is similar to the twenty-second embodiment.
Can be evaluated based on its roundness, margin, and symmetry.

In this embodiment, as in the twenty-second embodiment, the length of the line segment is used as the evaluation value Vi for a plurality of evaluation methods. can do. (Embodiment 24) In this embodiment, a method using an angle as the evaluation value Vi is combined. That is, the third embodiment, the eighth embodiment, and the thirteenth embodiment are combined.
Therefore, in the present embodiment, similarly to the twenty-second embodiment, it is possible to evaluate the beauty of the weld bead 3 on the basis of roundness, excess, and symmetry, and it is possible to make a routine for obtaining an angle in a program into a subroutine.

(Embodiment 25) In this embodiment, a method in which the presence or absence of a specific point is set as the evaluation value Vi is combined, and the embodiments 10 and 19 are combined. This combination makes it possible to evaluate the beauty of the weld bead 3 based on the excess and the depression. Also in this embodiment, some routines of the program can be converted into subroutines.

[0074] 8. Welding system to obtain beautiful weld beads
In the following embodiment, a description will be given of a welding control method that monitors the beauty of the formed weld bead 3 simultaneously with the welding operation and performs feedback control of the welding conditions so that a beautiful weld bead is formed. As shown in FIG. 35, a wire-shaped filler 22 is fed from a feeder 23 and a filler 22 is provided near an electrode of a welding torch 21 as shown in FIG.
And an arc is formed between the electrode of the welding torch 21 and the base materials 1 and 2 by supplying a welding current from the welding power source 24 between the electrode of the welding torch 21 and the base materials 1 and 2. 1 shows an arc welding apparatus that welds base materials 1 and 2 to form a weld bead 3. The position of the welding torch 21 is controlled by the articulated robot 25.

In such a welding apparatus, the welding conditions include the electrode position and moving speed of the welding torch 21, the welding current and arc voltage to the welding torch 21, and the electrode feeding if the welding torch 21 has a consumable electrode. The speed, the feed speed of the filler 22, and the like can be considered. Among these welding conditions, examples of controlling the welding current, the electrode position of the welding torch 21, the feed speed of the filler 22, and the welding speed will be described as an embodiment. As the welding current increases, the margin of the weld bead 3 increases.
Further, when the position of the welding torch 21 deviates from the predetermined position, the margin increases, and the symmetry is lost. Welding
As for the moving speed of the pier 21 and the feed speed of the filler 22, the larger the feed amount of the filler 22 per unit welding length, that is, the more the moving speed of the welding torch 21 becomes constant.
If there is, the higher the feed rate of the filler 22 is large, also Fi
If the feed speed of the welding torch 21 is constant,
The smaller the dynamic speed, the greater the roundness of the weld bead 3. However, when the feed speed of the filler 22 is constant and the welding torch
When the moving speed of 21 is low, it is added per unit length.
Control to reduce the welding current
Is required. By the finding based on these experimental results, the welding current, the electrode position and movement speed of the welding torch 21
Time is to control the feed rate of the filler 22 as welding conditions.

The appearance of the weld bead 3 is detected by the appearance sensor 20 integrally connected to the welding torch 21. The appearance sensor 20 is, as shown in FIG.
The light-projecting device 4 and the imaging device 5 shown in FIG.
Are arranged so that the electrode of the welding torch 21 and the central axis of the appearance sensor 20 are aligned along the welding line at such a position as to be straddled.

(Embodiment 26) In this embodiment, as shown in FIG. 37, the appearance sensor 20 detects an excess at each measurement point by any of the methods of the sixth to tenth embodiments, and Is obtained (Step S346), the welding current is controlled in accordance with the evaluation value Vi (Step S347), and the welding torch 2 is obtained.
1 is controlled (step S348). That is,
As the excess increases, the welding current decreases,
The position control of the articulated robot 25 is performed so as to move the welding torch 21 in a direction in which no excess is generated. Thus, when it is detected that the welding has been moved to the welding end position (step S345), the welding is ended.

As described above, the evaluation value Vi relating to the margin is obtained based on the appearance sensor 20, and the welding current and the position of the welding torch 21 are feedback-controlled so as to reduce the margin. Thus, a beautiful weld bead 3 can be formed. (Embodiment 27) In this embodiment, as shown in FIG. 38, the symmetry of the weld bead is detected at each measurement point based on any of the methods of Embodiments 11 to 16, and the weld bead 3 is detected. An evaluation value Vi corresponding to the symmetry is obtained (step S
351) The position of the electrode of the welding torch 21 is feedback-controlled based on the evaluation value Vi so that the symmetry of the welding bead 3 is maintained (step S352). That is, the symmetry of the weld bead 3 is maintained by performing feedback control so as to move the electrode of the welding torch 21 toward the one where the weld bead 3 is biased based on the evaluation value Vi. If the welding torch 21 moves to the welding end position (step S350),
End the welding. The configuration of the welding device is the same as that of the twenty-sixth embodiment.

(Embodiment 28) In this embodiment, the welding condition is feedback-controlled by detecting the roundness of the weld bead 3 at each measurement point based on any of the methods of Embodiments 1 to 5. Things. That is, FIG.
As shown in FIG. 9, the roundness of the weld bead 3 is detected at each measurement point (step S361). When the roundness is small, the feed amount of the filler 22 is increased, the welding current is increased, or the welding speed is decreased. By doing so, the roundness is increased (step S362). put it here,
The control of the feed amount, the welding current, and the welding speed of the filler 22 may be controlled by any one or a combination thereof. When the welding torch 21 moves to the welding end position (step S360), the welding ends. By such control, the weld bead 3 can be finished with a beautiful rounded appearance.

(Embodiment 29) This embodiment is a combination of a plurality of the control methods of Embodiments 26 to 28. By performing such control, a margin, symmetry and roundness can be obtained. A beautiful weld bead 3 can be formed for two or more items. (Embodiment 30) As shown in FIG.
5 in which a second external appearance sensor 20a is added to the configuration of FIG. 5, and the second external appearance sensor 20a is located on the side opposite to the external appearance sensor 20 across the welding torch 21 in the direction along the welding line.
Has been arranged. The second appearance sensor 20a has a configuration similar to that of the appearance sensor 20. In the second appearance sensor 20a, the shape of the joint between the base materials 1 and 2 before welding is determined by a light cutting method. It can be detected.

That is, as shown in FIG. 41, the positions and dimensions of the parts to be joined of the base materials 1 and 2 before welding are measured, and at the same time, the roundness, extra height,
The symmetry is inspected (steps S371 and S372), and then welding conditions are determined based on the shape before welding and the shape of the weld bead 3 (step S373). The roundness, excess, and symmetry of the weld bead 3 were determined in Examples 1 to 16.
According to the method described above, information on the roundness, margin, and symmetry at the measurement point can be obtained based on the evaluation value Vi. That is, based on the shape before welding, the welding torch 2
1 and the welding current are determined, and furthermore, the information based on the shape of the welding bead 3 is checked against a database, whereby the feed rate of the filler 22 per unit welding length is controlled. In short, basic welding conditions are determined based on the shape before welding, and the welding conditions are corrected based on information obtained from the appearance of the weld bead 3 so that a beautiful weld bead 3 is formed.

As described above, Embodiment 26 to Embodiment 3
If the welding control method of 0 is used, the welding conditions can be feedback-controlled based on the appearance shape of the welding bead 3, and the welding bead 3 having a beautiful appearance can be formed.

[0083]

According to the method of any one of the first to ninth aspects, the irregularity of the surface in the direction along the welding line, the integral value of the size of the overfill, the symmetry, the change of the width, the straight line of the weld bead. Deterioration of the overall shape of the weld bead can be determined by the properties and dents, and there is an advantage that it is possible to provide a criterion for determining the degeneracy of the weld bead, which has not been conventionally performed. Therefore, mainly in the case of a fillet welded joint, it is possible to quantitatively determine whether or not the weld bead is beautiful, regardless of feeling, and it is possible to provide a homogeneous product.

The method of claim 10 to claim 13 is a specific example of a plurality of combinations of the six types of judgment criteria for judging the beauty of a weld bead, wherein the area, size, angle, and specific point Since the determination based on the presence / absence is performed, even if there are a plurality of determination criteria, a part of the procedure can be shared, which leads to an improvement in processing efficiency. That is, when determining the beauty of a weld bead by computer processing, a part of the program can be easily converted into a subroutine, and there is an advantage that the readability of the program is improved and the memory area is saved.

The method according to claim 14 is for judging the ugliness of the weld bead simultaneously with the inspection of the welding defect which has been conventionally performed, and it is possible to make a comprehensive judgment on the strength aspect and the ugliness of the weld bead. Has advantages.

[Brief description of the drawings]

FIG. 1 is an operation explanatory diagram showing a procedure of a first embodiment.

FIG. 2 is an operation explanatory diagram showing a Vi determination routine used in the embodiment.

FIG. 3 is an operation explanatory diagram showing a difference determination routine used in the embodiment.

FIG. 4 is an operation explanatory diagram showing a final determination routine used in the embodiment.

FIG. 5 is a schematic configuration diagram of an apparatus used for a light section method in an embodiment.

FIG. 6 is an explanatory diagram showing a concept of a light section line in the embodiment.

FIG. 7 is an explanatory diagram that defines symbols given to light cutting lines in the example.

FIG. 8 is an operation explanatory diagram showing a procedure of the second embodiment.

FIG. 9 is an operation explanatory diagram showing a procedure of the third embodiment.

FIG. 10 is an operation explanatory view showing a procedure of the fourth embodiment.

FIG. 11 is an operation explanatory view showing a procedure in the fifth embodiment.

FIG. 12 is an explanatory diagram showing a concept of a margin in the embodiment.

FIG. 13 is an explanatory diagram for defining symbols used in the sixth to tenth embodiments.

FIG. 14 is an operation explanatory view showing a procedure in the sixth embodiment.

FIG. 15 is an operation explanatory diagram showing an integration determination routine used in the embodiment.

FIG. 16 is an operation explanatory view showing a procedure in the seventh embodiment.

FIG. 17 is an operation explanatory view showing a procedure in the eighth embodiment.

FIG. 18 is an operation explanatory view showing a procedure of the ninth embodiment.

FIG. 19 is an operation explanatory view showing a procedure in the tenth embodiment.

FIG. 20 is an operation explanatory diagram showing a procedure in the eleventh embodiment.

FIG. 21 is an operation explanatory view showing a procedure in the twelfth embodiment.

FIG. 22 is an operation explanatory view showing a procedure in the thirteenth embodiment.

FIG. 23 is an explanatory diagram for defining symbols used in the fourteenth embodiment.

FIG. 24 is an operation explanatory view showing a procedure in the fourteenth embodiment.

FIG. 25 is an explanatory diagram for defining symbols used in the fifteenth embodiment.

FIG. 26 is an operation explanatory view showing a procedure of the fifteenth embodiment.

FIG. 27 is an explanatory diagram for defining symbols used in the sixteenth embodiment.

FIG. 28 is an operation explanatory view showing a procedure in the sixteenth embodiment.

FIG. 29 is an explanatory diagram for defining symbols used in the seventeenth embodiment.

FIG. 30 is an operation explanatory view showing a procedure in the seventeenth embodiment.

FIG. 31 is an operation explanatory view showing a procedure in the eighteenth embodiment.

FIG. 32 is an explanatory diagram for defining symbols used in the nineteenth embodiment.

FIG. 33 is an operation explanatory view showing a procedure in the nineteenth embodiment.

FIG. 34 is an operation explanatory view showing a procedure in the twenty-first embodiment.

FIG. 35 is a schematic configuration diagram of an apparatus used in Examples 26 to 29.

FIG. 36 is a schematic configuration diagram of an appearance sensor used in Examples 26 to 30.

FIG. 37 is an operation explanatory view showing a procedure in the twenty-sixth embodiment.

FIG. 38 is an operation explanatory diagram showing a procedure in the twenty-seventh embodiment.

FIG. 39 is an operation explanatory view showing a procedure in the twenty-eighth embodiment.

FIG. 40 is a schematic configuration diagram of an apparatus used in Example 30.

FIG. 41 is an operation explanatory view showing a procedure in the working example 30;

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 base material 2 base material 3 welding bead 4 light emitting device 5 imaging device 10 light cutting line 11 welding line 12 extra bank 20 appearance sensor 20a appearance sensor 21 welding torch 22 filler 23 filler feeder 24 welding power supply 25 multi-joint robot

Claims (14)

(57) [Claims] 1. A method for setting a plurality of measurement points along a welding line of a welding bead, and irradiating a beam forming a plane intersecting the welding line so as to straddle the welding bead at each measurement point. In the welding bead shape inspection method of forming a light cutting line at a straddling portion and inspecting the shape of the welding bead based on the shape of the light cutting line, the unevenness of the surface of the welding bead at each measurement point is determined by the light cutting line. A method for inspecting the shape of a weld bead, wherein the shape of the weld bead is measured based on the shape and the appearance of the weld bead is evaluated based on a change in unevenness in a direction along a welding line. 2. The method according to claim 1, wherein the measured value of the unevenness of the weld bead at each measurement point is given by an evaluation value corresponding to the roundness of the surface of the weld bead. 3. The welding bead shape inspection method according to claim 1, wherein the measured value of the unevenness of the weld bead at each measurement point is given by an evaluation value corresponding to the position of a specific point of the weld bead. 4. A plurality of measurement points are set along a weld line of a weld bead, and light forming a plane intersecting the weld line is irradiated so as to straddle the weld bead at each of the measurement points. In the welding bead shape inspection method that forms a light cutting line at the straddling part and inspects the shape of the weld bead based on the shape of the light cutting line, the size of the excess of the weld bead at each measurement point is optically cut. Measured based on the shape of the line, the direction along the weld line
A method for inspecting the shape of a weld bead, wherein the beauty of the appearance of the weld bead is evaluated based on the integral value of the size of the margin in the welding bead. 5. A method for setting a plurality of measurement points along a welding line of a welding bead, and irradiating a beam forming a plane intersecting the welding line so as to straddle the welding bead at each measurement point. In the welding bead shape inspection method that forms a light cutting line on the straddling part and inspects the shape of the welding bead based on the shape of the light cutting line, the shape of the light cutting line is used to determine the symmetry of the welding bead at each measurement point A method for inspecting the shape of a weld bead, wherein the shape of the weld bead is evaluated based on a change in symmetry in a direction along a welding line. 6. A plurality of measurement points are set along a welding line of a welding bead, and light forming a plane intersecting the welding line is irradiated so as to straddle the welding bead at each measurement point, and the welding bead is irradiated onto the welding bead. In the welding bead shape inspection method that forms a light cutting line at the straddling part and inspects the shape of the welding bead based on the shape of the light cutting line, the width of the welding bead at each measurement point is set to the shape of the light cutting line. A method for inspecting the shape of a weld bead, characterized in that the shape of the weld bead is evaluated based on a change in width in a direction along a welding line. 7. A plurality of measurement points are set along a weld line of a weld bead, and light forming a plane intersecting the weld line is irradiated so as to straddle the weld bead at each measurement point, and the weld bead is illuminated. In a welding bead shape inspection method that forms a light cutting line on a straddling part and inspects the shape of the weld bead based on the shape of the light cutting line, the position of a specific point for each measurement point is changed to the shape of the light cutting line A weld bead shape inspection method characterized in that the external shape of the weld bead is evaluated based on the linearity of the weld bead determined by a change in the position of a specific point in a direction along the weld line. . 8. A plurality of measurement points are set along a weld line of a weld bead, and light forming a plane intersecting the weld line is irradiated so as to straddle the weld bead at each of the measurement points. In a welding bead shape inspection method in which a light cutting line is formed on a straddling portion and the shape of the welding bead is inspected based on the shape of the light cutting line, a dent on the surface of the welding bead at each measurement point is defined as a light cutting line. A method for inspecting the shape of a weld bead, comprising measuring the shape based on the shape, and evaluating the beauty of the external shape of the weld bead based on the ratio of measurement points where dents are detected to all the measurement points. 9. A method for inspecting the shape of a weld bead, wherein a plurality of methods for inspecting the shape of a weld bead according to claim 1 are combined. 10. A plurality of measurement points are set along a welding line of a welding bead, and light forming a plane intersecting the welding line is radiated at each measurement point so as to straddle the welding bead. In a welding bead shape inspection method of forming a light cutting line at a straddling portion and inspecting a shape of a welding bead based on a shape of the light cutting line, a curved portion of a light cutting line at a portion corresponding to the welding bead, A plurality of extension lines of a pair of straight line portions connected to both end points of the curved portion of the cutting line, a straight line connecting both end points of the curved portion of the light cutting line, and a bisector of an angle at an intersection of both extension lines. Based on the relationship of the area of the part surrounded by the line, the roundness of the surface of the weld bead, the size of the excess, the symmetry of the weld bead are measured, and the roundness, the size of the excess, the change in the symmetry Weld bead characterized by evaluating the beauty of the external shape of the weld bead based on the weld bead Shape inspection method. 11. A plurality of measurement points are set along a welding line of a welding bead, and light forming a plane intersecting the welding line is irradiated so as to straddle the welding bead at each measurement point, and is applied to the welding bead. In a welding bead shape inspection method of forming a light cutting line at a straddling portion and inspecting a shape of a welding bead based on a shape of the light cutting line, a curved portion of a light cutting line at a portion corresponding to the welding bead, An extension line of a pair of straight line portions connected to both end points of the curved portion of the cutting line, a straight line connecting both end points of the curved portion of the light cutting line, and a bisector of an angle at an intersection of both extended lines are obtained. Measure the roundness of the weld bead based on the dimensional relationship on the bisector between the straight line connecting the end points of the curved section of the cutting line and the intersection of both extension lines and the curved section of the optical section line, and Measure the size of the prosperity based on the dimension where the curve protrudes from the extension line, Measures the symmetry of the weld bead based on the dimensional relationship between the intersection of the light and each end point of the curved line of the light section line. A weld bead shape inspection method characterized by evaluating the following. 12. A plurality of measuring points are set along a welding line of a welding bead, and light forming a plane intersecting the welding line is irradiated so as to straddle the welding bead at each measuring point to the welding bead. In a welding bead shape inspection method of forming a light cutting line at a straddling portion and inspecting a shape of a welding bead based on a shape of the light cutting line, a curved portion of a light cutting line at a portion corresponding to the welding bead, An extension line of a pair of straight line portions connected to both end points of the curved portion of the cutting line, a straight line connecting both end points of the curved portion of the light cutting line, and a bisector of an angle at an intersection of both extended lines are obtained. Measure the roundness of the weld bead based on the angle formed by a pair of straight lines connecting the intersection of the curved line of the cutting line and the bisector and each end point of the curved line of the light cutting line, Measure the size of the margin on the basis of the angle between the tangent at the end point and the extension line, and Measures the symmetry of the weld bead based on the relationship between the straight line connecting both ends of the curved line of the cutting line and each of the above-mentioned extended lines, and welds based on the roundness, the size of the excess metal, and the change in symmetry. A method for inspecting the shape of a weld bead, comprising evaluating the beauty of the external shape of the bead. 13. A plurality of measurement points are set along a welding line of a welding bead, and light forming a plane intersecting the welding line is irradiated so as to straddle the welding bead at each measurement point to the welding bead. In a welding bead shape inspection method of forming a light cutting line at a straddling portion and inspecting a shape of a welding bead based on a shape of the light cutting line, a curved portion of a light cutting line at a portion corresponding to the welding bead, An extension of a pair of straight lines connected to both end points of the curved line of the cutting line is determined, and the presence or absence of a margin is determined based on the presence or absence of an intersection between the curved portion of the optical cutting line and the extended line. Determines the presence or absence of a dent on the surface of the weld bead based on the presence or absence of a discontinuity in the slope of the curved part, and evaluates the beauty of the appearance of the weld bead based on the presence or absence of dents in the weld bead. Weld bead shape inspection method. 14. A weld bead shape inspection method, wherein at least one of the weld bead shape inspection methods according to claim 1 is performed together with inspection of a weld defect.