JP3289559B2 - Welding position inspection device and welding system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding position inspection device, and more particularly to a welding position inspection device for determining whether a welding rod (wire) is accurately positioned at a welding position. Further, the present invention relates to a welding system, and more particularly to a welding system for correcting a position of a welding rod based on an inspection result by a welding position inspection device and performing welding. The present invention may be any welding method using a welding rod, and is used in fields such as gas burner welding and arc welding.

[0002]

2. Description of the Related Art Conventionally, as shown in FIG. 15, a rear axle housing is manufactured by welding a left housing 52 and a right housing 53 to both ends of a central housing 51 (housing center), respectively. Central housing 51
Is obtained by welding two members in the previous welding step.

In the welding process of the housings 51, 52, 53, these axle housing members are clamped 56,
The rear axle housing is welded with a wire (welding rod) 55 coming out of the torch 54 above the welding position while fixing the rear axle housing around the longitudinal direction.

[0004] At this time, if the wire 55 is displaced from the welding position A or if the wire 55 is bent, poor welding (bead misalignment) will occur. Welded, and if there was a problem, it was welded after reconfirmation after repair work.

[0005]

However, in such a conventional example, a process of performing a 100% visual inspection is required, but the inspection varies depending on the viewing angle at the time of visual inspection and differences in operators.

Further, in order to eliminate this variation,
Skilled workers are required. Since the worker who performs this visual inspection generally performs other work, the housing members 51, 52, and 53 from the previous process are included in the main welding process.
Even if a work (hereinafter referred to as a work) is set, there is a disadvantage that if the worker is performing another work, the work is stopped in a state of waiting for a visual inspection.

[0007]

An object of the present invention is to improve the disadvantages of the prior art, and in particular to a welding position inspection apparatus capable of inspecting the positional relationship between a welding position of a member to be welded and a wire (welding rod) by image processing. The purpose is to provide. It is still another object of the present invention to provide a welding system capable of automatically correcting a torch position when a positional deviation between a welding position and a wire is detected.

[0008]

Therefore, according to the present invention, as a first means, an imaging means for imaging a member to be welded and a welding rod so that the welding directions of the welding rod and the member to be welded are vertical, and this imaging means Image processing means for performing image processing on the original image from the means; and display means for displaying a determination result of the image processing means. Moreover, the image processing means is a region dividing unit that divides the original image into a work region in which the portion to be welded is captured and a welding rod region in which the welding rod is captured,
An edge extraction unit for extracting an edge in a vertical direction (a direction parallel to the imaged welding rod and the member to be welded) with respect to each of the regions divided by the region division unit, and an edge extraction unit for extracting an edge. A histogram calculation unit that calculates a histogram of the number of pixels for each predetermined length in the horizontal direction with respect to the region. Further, when the number of pixels for each predetermined length in the horizontal direction of the work area or the welding rod area calculated by the histogram calculation unit exceeds a predetermined pixel number threshold, the histogram calculation unit A width detection unit that calculates the length from the left end to the right end of the horizontal position beyond the welding position as the welding position width or the welding rod width, and the welding position width or the welding rod width detected by the width detecting unit is predetermined. A welding position determination unit that determines that the welding position is defective when the width threshold value is exceeded is also provided.

In the first means specified in each of these items, first, the imaging means images the member to be welded and the welding rod so that the welding directions of the welding rod and the member to be welded are vertical. Then, in the captured original image, the welding position of the welding rod and the member to be welded is a line having a vertical width.

Next, image processing is performed on the original image. In the image processing means, first, the region dividing unit divides the original image into a work region in which a portion to be welded is captured and a welding rod region in which a welding rod is captured. In this method, for example, the imaging unit is fixed, and the image is divided into two parts at a predetermined vertical position in the horizontal direction. Furthermore, the edge extraction unit
A vertical edge is extracted for each of the regions divided by the region dividing unit. Specifically, a spatial differentiation process is performed in the horizontal direction to emphasize a change in density in the horizontal direction, and binarization is performed using a predetermined threshold value to extract a vertical edge. Then, the density of the welding position of the welding rod and the member to be welded is emphasized, and an image in which the portion is left as a pixel is obtained.

[0011] Next, the histogram calculation section performs, for each predetermined length in the horizontal direction, that is, for each predetermined width specified by the coordinates in the horizontal direction, for each region from which the edge is extracted by the edge extraction section. A histogram of the number of pixels is calculated. Then, a position having a large number of pixels and a position having a small number of pixels become clear.

Further, when the number of pixels for each fixed length in the horizontal direction calculated by the histogram calculation unit exceeds a predetermined threshold value, the width detection unit exceeds the predetermined threshold value. The width from the left end to the right end of the horizontal position is calculated as the welding position width or the welding rod width for each region. Thereby, the position of the welding position that appears as a density difference in the original image due to the step of the member to be welded and the wire that appears as the density difference in the original image due to the difference in color from the background is set as the number of pixels, and the position is horizontally set. Detected as direction coordinates.

Further, the welding position determining unit determines that the welding position is defective when the welding position width or the welding rod width detected by the width detecting unit exceeds a predetermined width threshold value.
Therefore, when the welding rod is inclined or when the member to be welded has a strong scratch, it is determined that the welding is defective. If the value does not exceed the threshold value, it is not determined that the welding position is defective, so that the welding rod position is left as it is and a good positional relationship can proceed to the welding process.

As a second means, in addition to the configuration of the first means, the width detecting section is provided with a position detecting section for calculating horizontal coordinates of the welding position width and the welding rod width detected by the width detecting section. A welding position judging unit is provided for judging a welding position when the positional deviation between the coordinates of the welding position width and the coordinates of the welding rod width detected by the position detecting unit exceeds a predetermined deviation amount threshold value. It has a function to determine that it is defective. The coordinates of the welding position width mean the coordinates on the image data obtained by imaging the member to be welded. The coordinates on the left side of the position detected as the welding position width or the coordinates of the center position may be used. The same applies to the coordinates of the welding rod width (see FIG. 6C).

According to the second means specified by these items, the position detecting section calculates the horizontal position of the welding position width or the welding rod width detected by the width detecting section. This may be specified by the horizontal coordinate of the center position of each width. Further, the welding position determining unit determines that the welding position is defective when the positional deviation between the welding position width and the welding rod width detected by the position detecting unit exceeds a predetermined deviation amount threshold value. I do. Therefore, a position shift defect of the welding rod with respect to the welding position is detected.

According to a third means, a welding position inspection apparatus as a second means, a torch for welding a member to be welded at a welding position, and a welding rod which is melted at a welding portion by the torch and joins the member to be welded. And a torch moving mechanism for transferring the torch to the welding position of the member to be welded. Moreover, the welding position determination unit has a torch movement control function for controlling the operation of the torch moving mechanism based on the positional deviation between the welding position width and the welding rod width. There are various methods for realizing the torch movement control function. The torch movement amount is determined based on a coefficient for converting the positional deviation between the welding rod and the position to be welded, which appears as the number of pixels, into a length in real space. And the step angle corresponding to the torch moving amount is output to the stepping motor of the torch moving mechanism.

In the third means specified by these items, the welding position determination unit controls the operation of the torch moving mechanism based on the positional deviation between the welding position width and the welding rod width by the torch movement control function. Therefore, the torch moving mechanism moves the torch by a moving amount corresponding to the detected deviation amount between the welding rod and the welding position.

[0018]

Next, an embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram showing the configuration of a welding position inspection apparatus according to the present invention. This welding position inspection device inspects the welding position of the rear axle housing shown in FIG. Therefore, there are two welding positions, and the inspection is performed at two positions. The welding position inspection apparatus according to this embodiment includes two imaging units 10, an image processing unit 20 that performs image processing based on an analog signal from the imaging unit, and a display that displays and outputs a determination result and the like of the image processing unit 20. Means 24.

The welding position inspection device is connected to a welding control device 30 for controlling the welding of the rear axle housing based on the determination result by the image processing means 20.

The image processing means 20 inputs a set signal indicating the completion of the work set between the processing unit 21 for determining OK / NG of the welding position by image processing on the original image and the welding control unit 30. Also, an input / output unit 22 for outputting L.OK / NG and R.OK / NG signals indicating inspection results, and an image input unit 23 for capturing an image signal from the imaging means 10 into a memory are provided. .

The processing unit 21 is, as shown in FIG.
A region dividing unit 21A that divides an original image into a work region in which a portion to be welded is captured and a welding rod region in which a welding rod is captured.
An edge extracting unit 21B for extracting a vertical edge for each of the regions divided by the region dividing unit 21A; and a predetermined horizontal constant for each of the regions from which the edge is extracted by the edge extracting unit 21B. A histogram calculator 21C for calculating a histogram of the number of pixels for each length.

In addition, when the number of pixels for each fixed length in the horizontal direction of the work area or the welding rod area calculated by the histogram calculation section 21C exceeds a predetermined pixel number threshold value, A width detection unit 21D that calculates a length from the left end to the right end of the horizontal position exceeding the pixel number threshold value as a welding position width or a welding rod width;
A welding position determining unit 21F that determines that the welding position is defective when the welding position width or the welding rod width detected by the width detecting unit exceeds a predetermined width threshold value is also provided.

Further, the width detecting section 2D is connected to the width detecting section 21D.
A position detector 21E for calculating the horizontal position of the welding position width or the width of the welding rod detected by 1D is additionally provided, and the welding position determining unit 21F determines the welding position width and the welding rod detected by the position detecting unit 21E. A function is provided for determining that the welding position is defective when the positional deviation amount from the width exceeds a predetermined deviation amount threshold value.

This will be described in detail.

FIGS. 3 and 4 are views showing the mounting of the image pickup means 10, and are views of the two-dot chain line portion A in FIG. The imaging means 10 includes a CCD camera 1, illumination 2, and a protective case 3 for protecting the CCD camera 1.

In this embodiment, since there are two welding positions, the left welding position L will be described as an example. The left CCD camera 1 has a rear axle housing 5 which is a member to be welded.
1, 52 and the welding rod (wire 55)
An image is taken so that the welding direction of the housing 5 and the housing is vertical. For this reason, the wire 55 and the welding position are fixed at a position where an image is taken from directly in front. The illumination device 2 is installed at a position that illuminates the imaging range with uniform illuminance. These are stored in a protective case 3 to protect them from light and heat during welding, and the protective shutter 4 is opened only during inspection.

An imaging means 10 is similarly arranged at the right welding position.

Next, the inspection algorithm will be described with reference to the flowchart of FIG. 5 and the image examples of FIGS. In this inspection, the left welding position L and the right welding position R
5 is shown, but FIG. 5 shows one control step. Actually, it is performed for each of the welding positions L and R.

First, an input of a set signal from the welding control device 30 is waited, and when this is input, an inspection is started (step S1).

Next, the image signal from the CCD camera 1 is taken into the inspection device (step S2). 6A to 8A are original images. In the drawing, reference numeral 55 denotes the imaged wire 55, and reference numerals 51a and 52a denote the housings 51 and 52 (work) imaged, respectively. Hereinafter, a direction perpendicular to the welding position (the joint line of the axle member) and the wire 55 is defined as an x direction, and a direction parallel to the welding direction is defined as y.
Direction. Then, xy coordinates are set with the upper left as the origin.

The CCD camera 1, below the y-coordinate value y ₀ which is set in advance (> y ₀₎ in the work (axle housing members) are also wire above (≦ y ₀₎ from the y-coordinate value y ₀ 55 is fixed so as to be imaged. Therefore, the area dividing unit 21A divides the original image based on the y ₀ coordinates to the work area and the wire area. In this case, the image may be actually divided into two files, or may be logically divided by an operation based on coordinates.

In the processing unit 21, first, the edge extracting section 21B generates a y-direction edge image by differentiating the original image in the x-axis direction and then binarizing the original image (step S).
3). This is the image shown in FIGS. 6 to 8B. Thereby, an edge parallel to the wire 55 and the weld seam line is extracted. This edge captures a position where the density changes rapidly in the x direction.

Further, the histogram calculation section 21C calculates y
In each of the work area and the wire area of the directional edge image, for each x coordinate (x _i ), x _in ... x _i ... x _{i + n}
The number of pixels extracted as the y-direction edge in the x-coordinate range (n ≧ 0) of _{n + 1} is used as a histogram to generate a y-direction edge histogram (step S4). This is shown in FIGS. 6 to 8C, where n is an integer greater than or equal to 0 that is set in advance.

[0035] Next, the width detection unit 21D, each histogram in the work area and the wire area shown in Fig. 6 (C) is, the threshold H _a previously set to determine the x-coordinate exceeding H _b. Further, the difference between the smallest x-coordinates x _a0 , x _b0 and the largest x-coordinates x _a1 , x _b1 is determined by the following equation (1,2) as the welding position width a and the wire detection width b (step S5). .

A = x _a1 −x _a0 ... Equation (1) b = x _b1 −x _b0.

Next, the position detecting section 21E obtains the x-coordinates x _a and x _b of the middle point of each detection width. Further, the difference is calculated by the following equation (3) as a shift amount c.

C = x _a −x _b ... Equation (3)

The welding position judging section 21F checks whether or not both the welding position width a and the wire detection width b (hereinafter referred to as inspection widths a and b) have been detected (step S6). As shown in FIG. 6 or FIG. 8, when both the inspection widths a and b are detected, the process proceeds to step S7. On the other hand, as shown in FIG. 7A, when the wire 55 is extremely bent or a workpiece is not set, as shown in FIG. 7B, the y-direction edge is hard to appear. Therefore, FIG.
, The maximum value of the histogram is the threshold value Ha,
Since Hb is not exceeded, the inspection widths a and b are not detected. As described above, if either one of a and b is not detected, the welding position determination unit 21F determines that the result is NG, and proceeds to step S9.

Next, the welding position determination section 21F checks whether the detection widths a and b are within the set range (step S7).
The detection widths a and b are lower limit values a ₀ and b ₀ and upper limit values a ₁ and b ₁
Is set in advance, and if the inspection widths a and b are both within the allowable range, that is, if the following equations (4, 5) are satisfied, the process proceeds to step S8. For example, the case shown in FIG.

A ₀ ≦ a ≦ a ₁ ... Equation (4) b ₀ ≦ b ≦ b _1.

As shown in FIG. 8, when the wire 55 is bent or the work is flawed, the following is performed. First, in the work area, the y-direction edge is extracted at the position of the welding position and damage, and both histograms have the threshold value H.
more than _a. Therefore, x _a0 is the left end of the welding position, x _a1 is the right end of the flaw, and the value of a = x _a1 −x _a0 is the upper limit a ₁
(A ₁ <a), which is outside the allowable range.

On the other hand, in the wire region, the range in which the y-direction edge is extracted is widened due to the bending of the wire 55, and the histogram becomes gentle. Therefore, the wire detection width b is increased, the unacceptable exceeds the upper limit value b _1.
In this way, if one of the inspection widths a and b is out of the allowable range, it is determined as NG, and the process proceeds to step S9.

Next, the amount of displacement is calculated (step S8). Tolerance c ₁ (displacement threshold) for displacement c
Is set in advance, and if the absolute value of c is equal to or smaller than the allowable range, that is, if the following expression (6) is satisfied, it is determined to be OK, and the process proceeds to step S10. move on.

C ≦ c ₁ ..... (6) (where c is an absolute value)

In step S9, an NG signal is output to the welding control unit. In step S10, an OK signal is output to the welding control unit. In addition, image processing results of these inspections, NG factors (L and R types, detection NG, detection width N
G, deviation NG) and the like are displayed on the display unit 24.

As described above, in the example shown in FIG. 1, a defective welding position and a defective wire direction can be detected satisfactorily by image processing. Can be output.

Next, the welding process will be described with reference to the flowchart of FIG.

First, the process waits until the workpiece comes from the previous process and the clamping is completed (step S11). Completion of the clamp is detected by a switch attached to the clamp. For this reason, when there is a defective clamp or a defective component, the result is NG.

When the work setting is completed, the protection shutter of the imaging unit is opened (step S12), and a set signal is output to the inspection device (step S13).

Next, the wire 55 and the work are inspected according to the flowchart shown in FIG. 5, and OK or NG is output from the processing unit 21 to the welding control device 30 via the input / output unit 22 (step S14). .

Further, it is confirmed whether both the welding positions L and R are OK (step S15), and if both the welding positions L and R are OK, the process proceeds to step S16, and conversely, if one of them is NG. If there is, the process proceeds to step S18.

In step S16, after the protection shutter is closed, welding is performed in step S17, the work is sent to the next process, and the process returns to step S11.

In step S18, the display means 24 informs the worker of NG using a buzzer, a lamp, or the like, and instructs the operator to correct it.

Next, when the operator completes the correction work, the operator notifies the completion with a switch or the like. Then, step S1
2 and restart the inspection (step S19).

Next, a second embodiment will be described with reference to FIGS.
This will be described with reference to FIG. In the second embodiment, the torch position is corrected by the torch moving mechanism 40 when the position of the torch 54 becomes NG due to the displacement of the work joining position and the torch 54.

Here, as shown in FIG. 10, two torch moving mechanisms 40 each having a stepping motor for moving the two torches 40 in a direction (x direction) perpendicular to the wire 55 and the welding position are provided. ing.

Further, as shown in FIG. 11, the input / output unit 22 and the torch moving mechanism 40 are connected so as to input and output a torch control signal.

FIGS. 12 and 13 show the torch moving mechanism 40.
FIG. The structure is the same on both sides. Here, a mechanism using a rack and a pinion is used, and the forward and reverse rotation of the stepping motor 43 fixed to the bearing 46 rotates the coaxial pinion 44, and the rack 45 engaged with the pinion 44 moves left and right in parallel. The torch 54 fixed to the rack also moves left and right in parallel.

When the welding position inspection device controls the torch movement by the rotation of the stepping motor, it is necessary to feed back the current torch position. However, since the wire position is captured by image processing, the welding position inspection device is The current torch position can be detected based on the wire position by this image processing. Therefore, a potentiometer or the like for knowing the torch position is unnecessary. Of course, it may be used for duplication.

Measurement values a, b, c used in image processing
And the unit of the set value H _a1 , H _b1 , etc. are pixels (dots)
It is. Here, the imaging device 10, the work, and the wire 55
Is fixed, the coefficient with the actual distance unit (for example, [mm]) is constant. That is, the coefficient of the distance [mm] per dot is constant. Therefore, -c means that the torch moves by a distance of -c x coefficient [mm].

FIG. 14 is a flowchart showing the processing steps of the second embodiment. Steps S21 to S27 are the same as steps S1 to S7 shown in FIG.

In step S28, if the absolute value of the shift amount c is less than the allowable range, it is determined that the determination is OK. If the absolute value exceeds the allowable range, the distance in the real space corresponding to the number of pixels c is first determined. Is calculated, and the torch 54 is moved by -c in the x direction for the distance.
Move a distance corresponding to. Thereafter, a retest is performed.

For this reason, NG occurs only in the case of the detection NG or the detection width NG, and the deviation NG is output as OK after the automatic correction. As a result, the operator's correction work in the welding process shown in FIG. 5 is required only in the case of the detection NG or the detection width NG.

As described above, according to the first embodiment and the second embodiment, the man-hour required for the full visual inspection, which has been conventionally required, becomes unnecessary, and since the inspection is performed with a fixed camera, the viewing angle at the time of visual inspection is reduced. Eliminates variations due to In addition, since the inspection is performed by image processing, there is no variation caused by the operator during visual observation. Therefore, a skilled worker is not required.
Furthermore, while the worker is working in another process, the NG
As long as the process does not occur, this process will not stop,
Production efficiency increases. Further, in the second embodiment, since the deviation NG is automatically corrected, the occurrence of NG is reduced,
Further, production efficiency is increased.

[0065]

Since the present invention is specified and functions as described above, according to the first aspect of the present invention, the welding position judging section determines the welding position width or the welding rod width detected by the width detecting section. In order to determine that the welding position is defective when the width exceeds a predetermined width threshold value, it is possible to determine that the welding rod is oblique or that the member to be welded has a strong flaw. If the width does not exceed the threshold value, it is not determined that the welding position is defective. Therefore, it is determined that there is a good positional relationship to proceed to the welding process with the welding rod position as it is. As described above, it is possible to provide an unprecedented excellent welding position inspection apparatus capable of inspecting the positional relationship between the welding position of a member to be welded and a wire (welding rod) by image processing.

According to the second aspect of the present invention, when the welding position determining unit determines that the positional deviation between the welding position width and the welding rod width detected by the position detecting unit exceeds a predetermined deviation amount threshold value. Therefore, it is possible to detect a situation where welding is not performed normally in the same positional relationship by image processing.

According to the third aspect of the present invention, the welding position determination unit controls the operation of the torch moving mechanism based on the positional deviation between the welding position width and the welding rod width by the torch movement control function. The mechanism moves the torch by an amount corresponding to the amount of deviation between the detected welding rod and the position to be welded, and therefore automatically detects the positional deviation of the welding rod (wire) by image processing, and Since the welding rod can be repositioned in accordance with the length of the deviation, it is possible to provide an unprecedented superior welding system that can automatically detect and correct the state of poor welding.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of an embodiment of the present invention.

FIG. 2 is a block diagram showing a detailed configuration of a processing unit shown in FIG.

FIG. 3 is a partial cross-sectional view illustrating a positional relationship between a side surface of a rear axle housing, which is a member to be welded, and an imaging unit.

FIG. 4 is an explanatory diagram showing a positional relationship between an upper surface of a rear axle housing, which is a member to be welded, and an imaging unit.

FIG. 5 is a flowchart showing an inspection process in the configuration shown in FIG.

6 is a diagram showing a normal example of an image used in the inspection process shown in FIG. 5; FIG. 6A is an explanatory diagram showing an example of an original image; FIG. 6B is a vertical edge extracted image; FIG. 6C is a diagram showing a histogram.

7A and 7B are explanatory diagrams illustrating an example in which an image wire used in the inspection process illustrated in FIG. 5 is extremely bent. FIG. 7A is a diagram illustrating an example of an original image, and FIG. FIG. 7C is a diagram illustrating an example of a vertical edge extraction image, and FIG. 7C is a diagram illustrating a histogram.

8A and 8B are explanatory diagrams illustrating an example in which a wire of an image used in the inspection process illustrated in FIG. 5 is bent and an example in which a work is damaged. FIG. 8A illustrates an example of an original image. 8 (B)
FIG. 8C is a diagram illustrating an example of a vertical edge extraction image, and FIG. 8C is a diagram illustrating a histogram.

FIG. 9 is a flowchart illustrating a welding process according to the first embodiment.

FIG. 10 is a front view showing the configuration of the second embodiment.

FIG. 11 is a block diagram illustrating a relationship between a torch moving mechanism and an image processing unit illustrated in FIG. 10;

FIG. 12 is a plan view showing a detailed configuration of the torch moving mechanism shown in FIG.

FIG. 13 is a front view of the torch moving mechanism shown in FIG.

FIG. 14 is a flowchart illustrating an inspection process according to the second embodiment.

FIG. 15 is a front view showing a configuration of a conventional welding device.

[Explanation of symbols]

 Reference Signs List 10 imaging means 20 image processing means 21A area dividing unit (S2) 21B edge extracting unit (S3) 21C histogram calculating unit (S4) 21D width detecting unit (S5) 21E position detecting unit (S5) 21F welding position determining unit (S6 to S10) 24 display means 40 torch moving mechanism

Continuation of front page (56) References JP-A-59-94585 (JP, A) JP-A-63-61116 (JP, A) JP-A-55-5134 (JP, A) JP-A-64-71577 (JP) , A) (58) Field surveyed (Int. Cl. ⁷ , DB name) B23K 9/127

Claims (3)

(57) [Claims] An imaging means for imaging a member to be welded and a welding rod so that the welding direction of the welding rod and the member to be welded is vertical, and performing image processing on an original image output from the imaging means. An image processing means, and a display means for displaying a determination result of the image processing means, wherein the image processing means comprises: a work area in which a portion to be welded is imaged from the original image; A region dividing unit that divides the region into a plurality of regions, an edge extracting unit that extracts a vertical edge for each region divided by the region dividing unit, and a region that is extracted in advance by the edge extracting unit. A histogram calculation unit for calculating a histogram of the number of pixels for each fixed length in the horizontal direction, and the histogram calculation unit When the calculated number of pixels for each fixed length in the horizontal direction of the work area or the welding rod area exceeds a predetermined pixel number threshold value, the left to right ends of the horizontal position exceeding the pixel number threshold value A width detecting unit that calculates the length up to the welding position width or the welding rod width, and when the welding position width or the welding rod width detected by the width detecting unit exceeds a predetermined width threshold value. Bending of the welding rod or scratches near the welded part
A welding position inspection device, further comprising a welding position determining unit that determines that there is a welding position. 2. The width detecting section further includes a position detecting section for calculating horizontal coordinates of the welding position width and the welding rod width detected by the width detecting section. A function for determining that the welding position is defective when the positional deviation between the coordinates of the welding position width and the coordinates of the welding rod width detected by the position detection unit exceeds a predetermined deviation amount threshold value. The welding position inspection apparatus according to claim 1, wherein: 3. A welding position inspection apparatus according to claim 2, a torch for welding said member to be welded at a welding position, and said torch melts a welding portion of said member to be welded and joins said member to be welded. A welding rod and a torch moving mechanism for transferring the torch to a welding position of the member to be welded, wherein the welding position determining unit moves the torch based on a positional deviation between the welding position width and the welding rod width. A welding system comprising a torch movement control function for controlling the operation of the mechanism.