JPH01182705A - Weld line detecting apparatus for welding robot - Google Patents
Weld line detecting apparatus for welding robotInfo
- Publication number
- JPH01182705A JPH01182705A JP63005870A JP587088A JPH01182705A JP H01182705 A JPH01182705 A JP H01182705A JP 63005870 A JP63005870 A JP 63005870A JP 587088 A JP587088 A JP 587088A JP H01182705 A JPH01182705 A JP H01182705A
- Authority
- JP
- Japan
- Prior art keywords
- image
- slit light
- camera
- welding
- light source
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000003466 welding Methods 0.000 title claims abstract description 33
- 238000001514 detection method Methods 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 2
- 210000000707 wrist Anatomy 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/0021—Generation or control of line pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/74—Inputs being a function of engine parameters
- F16H2059/746—Engine running state, e.g. on-off of ignition switch
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H2312/00—Driving activities
- F16H2312/02—Driving off
- F16H2312/022—Preparing to drive off
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
本発明は、溶接ロボット用溶接線検出装置に関するもの
である。DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a welding line detection device for a welding robot.
従来の技術
従来、この種の検出装置は、測定対象物の溶接線上で生
じる乱反射を避けるために、カメラの中心線と、スリッ
ト光源の中心線が成す平面が、溶接トーチの中心軸とマ
ニピュレータの先端の回転軸とを含む平面と直焚するよ
うにカメラ及びスリット光源を配置したものや、溶接ト
ーチの中心軸とマニピュレータの先端回転軸とを含む平
面上のマニピュレータの先端回転軸の両側にカメラ及び
スリット光源を配置していた。Conventionally, in order to avoid diffuse reflection occurring on the welding line of the object to be measured, this type of detection device has been developed so that the plane formed by the center line of the camera and the center line of the slit light source is aligned with the center axis of the welding torch and the manipulator. A camera and a slit light source are placed so as to be directly connected to a plane that includes the rotation axis of the tip, and a camera is placed on both sides of the rotation axis of the manipulator tip on a plane that includes the central axis of the welding torch and the rotation axis of the manipulator tip. and a slit light source.
発明が解決しようとする課題
上記の従来例では、前記カメラ及び前記スリット光源が
トーチ中心軸から離れた位置に配置されるため、カメラ
及びスリット光源が被溶接物と干渉し、適応できる被溶
接物の形状が制限され、溶接施工上問題とされてきた。Problems to be Solved by the Invention In the above-mentioned conventional example, since the camera and the slit light source are arranged at a position away from the central axis of the torch, the camera and the slit light source interfere with the workpiece, making it difficult to adapt to the workpiece. This has been considered a problem in welding work because the shape of the welding material is restricted.
本発明は、上記欠点に鑑み、被溶接物（測定対象物）の
形状に対する制限を廃し、様々な形状の被溶接物に適応
可能な溶接ロボット用溶接線検出装置を提供することを
目的とするものである。In view of the above drawbacks, it is an object of the present invention to provide a welding line detection device for a welding robot that eliminates restrictions on the shape of the workpiece (object to be measured) and is adaptable to workpieces of various shapes. It is something.
課題を解決するための手段
この目的を解決する為に本発明の溶接ロボット用溶接線
検出装置は、溶接トーチと、溶接トーチを保持または移
動させるマニピュレータと、このマニピュレータを制御
する制御装置と、スリット状の照射光を得るスリット光
源と、測定対象物に照射されたスリット光によりワーク
表面上に形成される保全観測するカメラと、照射したス
リット光自体の像である１次反射像ならびに１次反射光
が他面に投影されることにより生じる像である２次反射
像の両者を処理する画像処理装置からなる構成を有して
いる。Means for Solving the Problem In order to solve this object, the weld line detection device for a welding robot of the present invention includes a welding torch, a manipulator for holding or moving the welding torch, a control device for controlling the manipulator, and a slit. A slit light source that obtains irradiated light of a shape, a camera that performs maintenance observation formed on the work surface by the slit light irradiated onto the object to be measured, and a primary reflection image that is an image of the irradiated slit light itself, as well as a primary reflection image. It has a configuration consisting of an image processing device that processes both a secondary reflected image, which is an image generated when light is projected onto the other surface.
作用
上記構成において、スリット光源から照射されたスリッ
ト光は、測定対象物上にスリット光自体の像すなわち１
次反射像と１次反射光が他面に投影されることにより生
じる像、すなわち２次反射像の両者を形成し、これらの
像は、これらを観測できる位置に配置されたカメラによ
り観測される。Effect In the above configuration, the slit light irradiated from the slit light source forms an image of the slit light itself on the object to be measured, that is, 1
An image created by projecting the primary reflected light onto the other surface, that is, a secondary reflected image, is formed, and these images are observed by a camera placed at a position where they can be observed. .
この観測された画像に対し、上記２種類の像の両者を処
理することにより、前記カメラの中心線と前記スリット
光源の中心線が成す平面が、前記溶接トーチの中心軸と
前記マニピュレータの先端回転軸とを含む平面と一致も
しくはスリット光源の中心線上で交差し、かつカメラの
中心線とスリット光源の中心線がマニピュレータの先端
回転軸とトーチ中心軸すなす角の内側に存在するような
位置にカメラおよびスリット光源を配置することが可能
となる。By processing both of the above two types of images for this observed image, the plane formed by the center line of the camera and the center line of the slit light source is aligned with the center axis of the welding torch and the rotation of the tip of the manipulator. the center line of the slit light source, and the center line of the camera and the center line of the slit light source are located inside the angle between the manipulator tip rotation axis and the torch center axis. It becomes possible to arrange cameras and slit light sources.
実施例
以下、本発明の一実施例について、図面を参照しながら
説明する。第１図〜第６図は、本発明の一実施例を示し
たものである。EXAMPLE Hereinafter, an example of the present invention will be described with reference to the drawings. 1 to 6 show an embodiment of the present invention.
第１図に於て、カメラ１及びスリット光源２は、溶接ト
ーチ３と共に溶接トーチ３の位置及び姿勢側ａ手段であ
るマニピュレータの先端回転軸４にホルダー６によって
取り付けられており、それらの位置関係は上記したよう
に、カメラ１の中心線と、スリット光源２の中心線が成
す平面が、溶接トーチ３の中心軸とマニピュレータの先
端回転軸４とを含む平面とスリット光源２の中心線上で
４６°の角度をもって交差し、かつカメラ１の中心線と
、スリット光源２の中心線がマニピュレータの先端回転
軸４と溶接トーチ３の中心軸とが成す角の内側に存在す
るような位置にカメラ１およびスリット光源２が配置さ
れている。また、６はＴ字型の溶接継手ワークすなわち
測定対象物である。In FIG. 1, a camera 1 and a slit light source 2 are attached by a holder 6 to a rotating shaft 4 at the tip of a manipulator, which is a means for the position and posture of the welding torch 3, and their positional relationship. As mentioned above, the plane formed by the center line of the camera 1 and the center line of the slit light source 2 is 46 degrees above the plane containing the center axis of the welding torch 3 and the tip rotation axis 4 of the manipulator and the center line of the slit light source 2. The camera 1 is located at a position where the center line of the camera 1 and the center line of the slit light source 2 are located inside the angle formed by the tip rotation axis 4 of the manipulator and the center axis of the welding torch 3. and a slit light source 2 are arranged. Further, 6 is a T-shaped welded joint workpiece, that is, an object to be measured.
第２図は、第１図に示したカメラ１によって観測された
画像を示したもので、７がスリット光源２から照射され
たスリット光自体の像すなわち１次反射像であり、８は
１次反射光が他面に投影されることにより生じる像、す
なわち２次反射像である。ここで図に示すように１次反
射像７の両側に１次反射像７と平行なスリット状のウィ
ンドー９を２つ設けると、この２つのウィンドー９には
２次反射像８の一部が観測される。また、第３図に示す
ように、１次反射像７と直交するスリット状のウィンド
ー１０を設けると、このウィンドー１０には１次反射像
７の一部が第２図と同様に観測される。また、図中１１
は、溶接線であり、これは直接には観測されないもので
ある。Figure 2 shows an image observed by the camera 1 shown in Figure 1, where 7 is the image of the slit light itself emitted from the slit light source 2, that is, the primary reflected image, and 8 is the primary reflected image. This is an image produced by the reflected light being projected onto the other surface, that is, a secondary reflected image. Here, if two slit-shaped windows 9 parallel to the primary reflected image 7 are provided on both sides of the primary reflected image 7 as shown in the figure, a part of the secondary reflected image 8 will be placed in these two windows 9. Observed. Furthermore, as shown in FIG. 3, if a slit-shaped window 10 is provided that is orthogonal to the primary reflected image 7, a part of the primary reflected image 7 can be observed in this window 10 in the same way as in FIG. . In addition, 11 in the figure
is a weld line, which is not directly observed.
第４図、第５図は、第２図、第３図で示したウィンドー
９，１ｏ内に観測される像に着目し、第２図、第３図に
示した溶接線がＸ方向及びＹ方向にずれた時にこれらの
像にどの様な変化が現れるかを示したものである。第４
図に示すように、溶接線１１がＸ方向にずれた場合、２
つのウィンドー９内に観測される２次反射像８の一部１
２は。Figs. 4 and 5 focus on images observed within windows 9 and 1o shown in Figs. 2 and 3, and show that the welding lines shown in Figs. 2 and 3 are This shows what kind of changes appear in these images when they are shifted in the direction. Fourth
As shown in the figure, if the weld line 11 is shifted in the X direction, 2
Part 1 of the secondary reflection image 8 observed within one window 9
2 is.
図のＸ′方向に移動する。また、第６図に示すように、
溶接線１１がＹ方向にずれだ場合、ウィンドー１０内に
観測される１次反射像７の一部１３は、図のＹ′方向に
移動する。Move in the X' direction in the figure. Also, as shown in Figure 6,
When the welding line 11 is shifted in the Y direction, a portion 13 of the primary reflection image 7 observed within the window 10 moves in the Y' direction in the figure.
発明の効果
本発明は、１次反射像と２次反射像の両者を処理するこ
とにより、スリット光源とカメラを溶接トーチと手首先
端回転軸の近傍に配置することを可能にするもので、カ
メラ及びスリット光源の被溶接物との干渉を避けること
ができ、被溶接物の形状に対する制限を廃し、種々な形
状の被溶接物に適応可能な溶接ロボット用溶接線検出装
置を提供することができ、溶接施工上その効果は大なる
ものがある。Effects of the Invention The present invention enables a slit light source and a camera to be placed near the welding torch and the rotation axis of the wrist tip by processing both the primary reflection image and the secondary reflection image. It is also possible to provide a welding line detection device for a welding robot that can avoid interference between the slit light source and the workpiece, eliminate restrictions on the shape of the workpiece, and be adaptable to workpieces of various shapes. , it has a great effect on welding work.
第１図ａは本発明の一実施例を示す溶接ロボット用溶接
線検出装置の要部側面図、第１図りは同要部正面図、第
２図、第３図、第４図および第６図はそれぞれ同検出装
置のカメラにより観測される画像を示す図である。
１・・・・・・カメラ、２・・・・・・スリット光源、
３・・・・・・溶接トーチ、４・・・・・・マニピュレ
ータの先端回転軸、６・・・・・・ホルダー、６・・・
・・・測定対象物、７・・・・・・１次反射像、８・・
・・・・２次反射像、９，１ｏ・・・・・・ウィンドー
。
代理人の氏名 弁理士 中 尾 敏 男 ほか１名第２
図
第３図
第４図
第５図FIG. 1a is a side view of the essential parts of a welding line detection device for a welding robot showing an embodiment of the present invention, the first diagram is a front view of the essential parts, FIGS. 2, 3, 4, and 6. Each figure shows an image observed by the camera of the same detection device. 1... Camera, 2... Slit light source,
3... Welding torch, 4... Manipulator tip rotation shaft, 6... Holder, 6...
...Measurement object, 7...Primary reflection image, 8...
...Secondary reflection image, 9,1o...Window. Name of agent: Patent attorney Toshio Nakao and 1 other person 2nd
Figure 3 Figure 4 Figure 5
Claims (1)
マニピュレータと、前記マニピュレータを制御する制御
装置とを具備し、スリット状の照射光を得るスリット光
源と、測定対象物に照射したスリット光によりワーク表
面上に形成される像を観測するカメラと、照射したスリ
ット光自体の像である１次反射像ならびに１次反射光が
他面に投影されることにより生じる像である２次反射像
の両者を処理する画像処理装置を備え、教示された溶接
教示経路と実際の溶接線のずれ量を検出することを特徴
とした溶接ロボット用溶接線検出装置。It is equipped with a welding torch, a manipulator that holds or moves the welding torch, and a control device that controls the manipulator, and includes a slit light source that obtains slit-shaped irradiation light, and a slit light irradiated onto the object to be measured on the surface of the workpiece. A camera that observes the image formed on the surface, and processes both the primary reflected image, which is the image of the irradiated slit light itself, and the secondary reflected image, which is the image that is created when the primary reflected light is projected onto the other surface. 1. A welding line detection device for a welding robot, comprising an image processing device for detecting a deviation between a taught welding teaching route and an actual welding line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63005870A JPH07117373B2 (en) | 1988-01-14 | 1988-01-14 | Welding line detector for welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63005870A JPH07117373B2 (en) | 1988-01-14 | 1988-01-14 | Welding line detector for welding robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01182705A true JPH01182705A (en) | 1989-07-20 |
| JPH07117373B2 JPH07117373B2 (en) | 1995-12-18 |
Family
ID=11622970
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63005870A Expired - Fee Related JPH07117373B2 (en) | 1988-01-14 | 1988-01-14 | Welding line detector for welding robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH07117373B2 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04256802A (en) * | 1991-02-08 | 1992-09-11 | Fanuc Ltd | Laser-output controlling method |
| JP2009142922A (en) * | 2007-12-12 | 2009-07-02 | Komatsu Ltd | Welding robot |
| US7715946B2 (en) | 2003-10-31 | 2010-05-11 | Fanuc Ltd | Industrial robot |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS50113251A (en) * | 1974-02-14 | 1975-09-05 | ||
| JPS62172214A (en) * | 1986-01-24 | 1987-07-29 | N T T Gijutsu Iten Kk | Visual sensor using laser beam |
-
1988
- 1988-01-14 JP JP63005870A patent/JPH07117373B2/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS50113251A (en) * | 1974-02-14 | 1975-09-05 | ||
| JPS62172214A (en) * | 1986-01-24 | 1987-07-29 | N T T Gijutsu Iten Kk | Visual sensor using laser beam |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04256802A (en) * | 1991-02-08 | 1992-09-11 | Fanuc Ltd | Laser-output controlling method |
| US7715946B2 (en) | 2003-10-31 | 2010-05-11 | Fanuc Ltd | Industrial robot |
| JP2009142922A (en) * | 2007-12-12 | 2009-07-02 | Komatsu Ltd | Welding robot |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH07117373B2 (en) | 1995-12-18 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |