JPH0252172A - Welding system and welding method - Google Patents

Abstract

PURPOSE:To improve accuracy of welding work by providing a detection jig of an optical system arrangement and picking up slit rays irradiating on a work on an image to operate the welding position based on the obtained optical system arrangement data. CONSTITUTION:A sensor head 5 is arranged in the vicinity of a welding torch 4 and a slit ray emitting means 11 and an optical system 12 for observation are provided to the inside thereof. The ray emitting means 11 irradiates the planar slit rays 16 and 16' on the work and an optical cutting image is picked up by the optical system 12 for observation. A picture signal is then subjected to picture processing and the picture data pertaining to the detecting jig of the optical arrangement are collected to obtain the respective arrangement data of the optical system. Further, these arrangement data of the optical system are used to carry out operation of the welding position with respect to the work and perform welding. Since the deviation in the position of the optical system is corrected and further, welding is performed while operating the picture data automatically, accuracy of welding work is improved.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a welding system and a welding method, and in particular,
The present invention relates to a welding system and a welding method in which a work surface is irradiated with slit light, the image is processed to recognize a position on a workpiece to be welded, and a welding torch is guided to that position to perform welding.

[Conventional technology]

A slit light is irradiated onto the workpiece surface, an image is taken by an image sensor (imaging device), and this is image-processed to determine the welding line position 1 of the workpiece! ! For example, a welding device and welding method that recognizes the position to be welded and guides the tII#II torch to weld the recognized position are as follows:
It is disclosed in Japanese Unexamined Patent Publication No. 101379/1983.

[Problem to be solved by the invention]

In the conventional apparatus or method as described above, the number of chambers such as the arrangement data of the optical system is determined and stored in advance, and the position to be welded is determined using the number of chambers and the image data obtained by the image sensor. recognizes and controls the welding torch. Such a device or method enables highly accurate welding on the premise that the stored number of chambers is correct.

However, in reality, the initially set number of chambers deviates from the design value due to manufacturing errors and assembly errors of the optical system. In addition, during subsequent use, the image sensor may be deformed (installation position, angle, etc.), the wrist of the robot to which the sensor is attached may be deformed due to contact with an obstacle, or one part may be replaced. The constants (calculation parameters) that are being used begin to deviate from the actual situation. For this reason, the position to be welded obtained by the image sensor will deviate from the actual position. As a result, there is a problem in that the welding torch is positioned at a position deviated from the actual welding line, resulting in a deterioration in the quality of welding.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a welding system and welding method that can accurately recognize the position to be welded and perform high-quality welding work.

Another object of the present invention is to provide a welding system and a welding method that can easily correct deviations in recognition of positions to be welded and perform high-quality welding work.

[Means to solve the problem]

In a welding system as described in the prior art section, the present invention detects the arrangement of an optical system including two rectangular parallelepiped blocks stacked orthogonally to each other at a position near the tip of a welding torch and capable of receiving slit light. A jig is installed, slit light is irradiated in this state, this image is captured by the light receiving means, and the image signal is output to the image processing device.The image processing device processes this image signal and controls the optical system. Find placement data.

The robot control device uses this optical system arrangement data to calculate the position to be welded.

Further, in the present invention, when obtaining the above-mentioned optical system arrangement data, a cylindrical first recess into which a welding torch can be inserted with sufficient margin is formed adjacent to the optical system arrangement detection jig, Further, a block portion is formed in the center portion of the first recess portion to accommodate a second recess portion capable of accommodating a welding wire fed out from a welding torch; A torch position detection jig including a position detection sensor that detects the position of the welding torch in the X and Y directions, and a position detection sensor that is disposed within the block and detects the position of the welding torch in the Z direction, The robot control device calculates a control signal for controlling the welding torch using the above-mentioned optical system arrangement data and welding torch position data from the position detection sensor, and thereby controls the drive unit of the robot.

[Operation] Slit light is irradiated onto an optical system placement detection jig including two rectangular parallelepiped blocks. In this irradiation state, the light receiving means captures this image and outputs one image signal. This image signal is input to one image processing device, where image processing is performed. As a result, a light cut image is obtained when the optical system placement detection jig is irradiated with slit light, and from the length of the line segment of this image and the data such as the length, width, thickness, etc. of the known rectangular parallelepiped block, the current The actual optical system arrangement data can be calculated. This calculation is performed by the 5-image processing device or the robot control device. The optical system arrangement data is stored in the robot control device, and until the optical system arrangement data is first calculated, the stored data is used to calculate the position to be welded.

The optical system arrangement data obtained here corresponds to the actual optical system arrangement at that time, and the position at which i8 should be in contact obtained using such data is accurate. Therefore, if the welding torch is guided to match the position to be welded recognized in this way (positioning is achieved by driving the robot's drive unit using a control signal), welding 1.
- The joint is moved correctly along the welding line, and quality deterioration due to one position shift can be prevented.

In addition, the welding torch itself is in a position that is shifted from the originally set position, but we prepared a torch position detection jig and
By detecting the actual torch position, errors caused by its deviation can be corrected. The torch position obtained by detection when calculating the control signal to guide the welding torch.

By using the above-mentioned optical system arrangement data.

The welding torch can be accurately moved to the position to be welded.

〔Example〕

Hereinafter, the present invention will be explained in detail by specific examples using the drawings.

FIG. 1 shows a system block configuration diagram according to an embodiment of the present invention, and FIG. 2 shows a system layout diagram of the embodiment of FIG.

As can be seen from FIG. 2, this system consists of a welding robot 1. TT source for welding 2. Robot control device 3° welding torch 4. Sensor head 5 integrated with welding torch 4. and an image processing device 6. Welding torch 4 and sensor head 5 are fixed together with sensor head 5 under the wrist of welding robot 1.

Figure 1 shows the block configuration of this system.

The robot control device 3 includes a servo control processor 8 that controls each axis of the welding robot 1 and welding conditions.
．． It is composed of a sequence control processor 91 that manages the operation of the system taught by the operator via the teaching box 7, and a communication control processor 10 that performs communication with the image processing device 6. The sensor head 5 includes a light emitting unit 11 that emits light from the slit 1 and a light receiving unit 17 that captures an image when the slit light is irradiated.

The image processing bag [6 converts the image signal captured by the light receiving means 17 into a digital signal, performs preprocessing such as noise removal, performs image processing, and outputs the processing result to the robot control device 3. . The calibration unit 23 includes a jig for detecting the actual arrangement of the optical system and the position of the Z-contact torch. The details will be described later.

Next, using FIGS. 3A and 3B, the sensor head 5
．． The detailed structure of equipment attached to the robot wrist, such as the welding torch 4, will be explained. FIG. 3A is a plan sectional view, and FIG. 3B is a side view.

3A and 3B, the sensor head 5 includes a light emitting means 11 that emits slit light and an observation optical system 12. The light emitting means 11 is composed of two sets of irradiation blocks;
Each block combines a near-infrared semiconductor laser, an aspherical lens, and a cylindrical lens, and a planar slit light 1
6, 1.6' is irradiated. The optical system is controlled so that the slit lights from the two sets of irradiation blocks form the same plane. [112111] of the optically sectioned image obtained by irradiating the slit light 16.16' is the imaging device 17. which is the light receiving means. Objective lens 18. The interference filter 19, which is implemented by the observation optical system 12 which is a combination of an interference filter 19 and an optical aperture 20, transmits only wavelength light within a narrow bandwidth. Therefore, the imaging device 17 can observe the optically sectioned image while reducing the influence of arc light generated during welding. In this example, the observation area of the imaging device L7 is located at a position approximately 30+w in front of the welding mark point, and the movement in the observation direction is performed by DC (-Itoto 21). Perform welding work on the workpiece while feeding it out.

Next, a method of converting the image data obtained by the light receiving means (imaging device) 17 into a welding position (cubic position) will be explained with reference to FIG. 4. FIG. 4 shows the optical system of the sensor head 5. This diagram schematically shows the arrangement of .

In Fig. 4, the plane formed by the slit light intersects the X5-Ys plane of the sensor coordinate system and makes an angle ζ with respect to the XS axis.
It also intersects the Ys-Zs plane.

It forms an angle η with the Zs axis.

The slit light plane at this time is expressed by the following equation.

(XS0sinη+ys'cosη)′CO8ζ−ZS
9CO9η+Sinζ=0 (1) The camera coordinate system has U and V coordinate axes on the image plane, and a W axis toward the origin of the sensor coordinate system.

Points (U, V, W) on the camera coordinate system can be converted to points (Xs, Ys, Zs) on the sensor coordinate system by solving the linear equation.

Here, α, β, and γ are Euler angles of the camera coordinate system with respect to the sensor coordinate system, and (Lx, LvHLx) are the origin position coordinates of the camera coordinate system. α, β.

The following relational expression holds between γ, Lx, and Lv+Lz.

...(3) Here, Lo=Lx"+Ly"+Lx" formula (1),
Using (2) and (3), the points on the image plane (U, V, O) and the lens center (0°0, f) in the camera Am system are the points on the sensor coordinate system (Xa, Ya, Zt ).

(Xg,'y,,zm). Here, (Xs, Yt, Zt) (Xs, Ym, Z
t) is expressed by the following equation.

...(4) Then, by solving the relational expressions (1) to (4), the points on the image plane are determined by the sensor PJ1. Third rank on the S system!
F! can be converted into coordinates.

The above conversion is the irradiation angle and twist angle of the slit light.

This method can be used only when various constants of the optical system such as the observation direction and image magnification at the time of imaging are set as designed values and are known.) 4f, standard transformation J method. However, it is generally difficult to adjust and restore the optical system to the designed values, and assembly errors occur.

Furthermore, the sensor head installed on the robot's wrist moves repeatedly, and in the worst case scenario, it may collide with the workpiece or the workpiece mounting jig. And these moves,? #The setting position may shift due to a bump. All of these positional deviations of the optical system result in errors in detecting the welding line, resulting in welding defects.

On the other hand, since the welding torch performs processing by itself, it collides with the workpiece and the jig for mounting the workpiece.

There is a high risk of misalignment during installation.

If the welding torch is deformed, there is a problem that welding quality cannot be ensured even if the welding line position is accurately detected by a visual sensor. In this device, first, the optical system constants of the visual sensor head are determined using a calibration jig.

Next, find the setting position deviation of the welding torch. First, we will discuss the calibration method using a calibration jig.

In Figure 5, each side is the orthogonal coordinate system (Xw
, Yw, Zw) by a distance Lss rows, and the optical system placement detection jig is installed so that the plane formed by each side of the jig is parallel or perpendicular to the sensor coordinate system (X s HY s + Z s ). 22 is a photo-cutting image obtained by irradiating slit light onto 22. The figure also shows a jig 22 obtained from the imaging device 17 when the interference filter 19 is removed.
The image of C is shown by the dotted line.

The jig 22 has a width Wx, a thickness W2, and a width Wy.

It has a shape in which two rectangular parallelepiped blocks with a thickness of W2 are combined with their long sides perpendicular to each other, and the upper surface of the rectangular parallelepiped block with a width of W8 is X5=O1, and the one in front is Zs=O.
It is the face of Furthermore, the right side surface of the rectangular parallelepiped block having a width Wa is a surface where Ys=0.

FIG. 6 is an enlarged view of the center of FIG.
The procedure for finding the three-dimensional coordinates of each point in the cut image will be described. Note that the uppercase letters in the figure indicate corner points obtained from the actual light sectioned image.

is compatible with W2. Therefore, point b is Ys=O
It can be seen that +Zs=O. The dot also coincides with the extension line of the line segment CI) where Z=O. Further, the YS axis component of the line segment AF takes the value Wy on the Xs-Yss plane where Z2;=0. Therefore, the component yc in the YS axis direction of the 0 point where x=0°y, = O is.

b yc”Wy.Similarly, 1) Coordinates of point A
F' AF Next, from point C, draw a line segment Ce that is parallel to line segment E D and has the same length. The length of the line segment FD corresponds to WZ. Therefore, the 0 point found from a line parallel to this is X5=O1
Zs=-W2. The length of the line at point e is Wo on the Z=O plane. From this, the plane equation of the slit light is A I=' The equation representing the plane 2 of the slit light is the three points Fl+1. It can be determined by the mark. Here, a plane equation is obtained from the data of each point of C, l) and 0 point.

First, from the data of points C and D of Zs=O, Cb Db
Wy tanη=...(5
)AF Wx Next, from the data of C and e, Ae-Cb Wy tanζ= ...(6
) A.F.W.

・(7) becomes.

Next, FIG. 7 shows an image of the cut image of FIG. 5 obtained by an imaging device. A method of converting the data of each point in this screen into two-dimensional coordinates of Xs, Ys, and Zs will be explained.

As can be seen from FIG. 5, the line segment AH connecting points A and 11 of the line image indicates the Xs-axis direction, and similarly, the line segment BC indicates the Yss direction. On the other hand, line segment CI) represents a light section image obtained when irradiating onto the plane of Zs=O. Therefore, when the line segment CD is decomposed into the Xss direction component and the Ys axis axial force acid component.

The component parallel to the line segment AI (is the length W in the XS axis force direction) and the component parallel to the line segment 13C, the line segment BG
The component parallel to corresponds to the length Wy in the Y-axis direction.

In FIG. 7, the position of each point on the screen is represented by (unV), and six points are assumed to be temporary mg points. The ground point (u, , V
W)*(uy+vy) can be found using the following formula.

The angles formed by the coordinate system of the imaging device with respect to the sensor coordinate system are represented by Euler angles α, β, and γ.

Furthermore, it is assumed that the image magnification on the imaging probe is a constant value p. As a result, a linear equation holds true.

...(9) Wx Wy y If the lens is a thin lens and the focal length of the lens is o, then the distance between the image carrier device and the 6 points of the calibration jig is Lo,
and yli distance from the image sensor to the lens are given by the following equation.

It is assumed here that point C near the origin is in focus on the imaging probe.

From the sensor coordinate system, the origin position of the imaging device (■,
I L, L can be determined by the following equation using the Euler angles α, β, γ obtained from the relationship in equation (15) and the distance Lo to the imaging probe.

Lx=Losinβcosα, Ly=LosinαS
inβ, Lz=Locosβ−(12) On the other hand, the origin C of the coordinate system shown in FIG. It can be found from the intersection of a line drawn parallel to line segment AH from point b and line segment BC. This coordinate point b (ub+vb)
, C(uc+vc) is expressed by the following equation.

00), (12), (13) to the point (X,) of the wrist coordinate system.

Yi, Z*) can be converted using a linear equation.

...(14) Furthermore, the lens center position (Xa, Y
t, Z*) can be determined by a linear equation.

Any point (u+V) of the slit light image appearing on the screen and the three-dimensional coordinate position (X, Y) in the wrist coordinate system.

The relationship with Z) is as follows.

(16) That is, from the image data as shown in FIG. 7 obtained by imaging the above-mentioned optical system arrangement detection jig 22.

The slit light plane and the position and orientation of the imaging device can be determined.

In the robot control bag [3, as described above, the actual constants of the optical system based on the image data are replaced and corrected. Furthermore, using the values of various constants of this optical system, a coordinate conversion formula (conversion from the sensor coordinate system to the wrist coordinate system Calculate the conversion parameters of formula).

Note that this conversion may be performed by one image processing device.

An image obtained by irradiating the groove surface of the object to be welded (workpiece) with slit light is captured, and the image is processed by the image processing bag [6. The groove position data obtained is transmitted to the robot control device 3. . The robot control device 3 uses this groove position data to convert it into wrist coordinate data based on the above-mentioned modified coordinate conversion formula.

6 for explaining a method of detecting the position of the welding torch 4 and the position of the optical system with reference to FIG. 8.

2:3 and 30 are a calibration jig and a support arm, respectively. The six calibration jig 23 and support arm 30, which are fixed to each other by fixing bolts 31a and 31b, are removed when copy welding by playback, which will be described later, is performed. In the figure, the support plate 30 is
Reference plane 30a.

:]Ob, 30c, and the mounting bracket is positioned and fixed at :32.

FIG. 9 is a view taken along the line A-A' in FIG. 8, and shows a support plate;
30 is omitted. FIG. 10 is a plan view of FIG. 9. In Figures 9 and 10, Xw, Yw,
7 The w axis is arranged so as to coincide with each coordinate axis of the wrist coordinate system of the robot. 9 The calibration jig 23 is an optical system position detection jig 22 that detects the deviation of each part of the optical system by the method described above.
and a welding torch position detection jig 24.

24a to 24d are seat motion transformers. For each differential transformer.

As shown in the figure, a rotatable roller is provided at the tip of the movable part for detecting displacement. The differential transformer 24a is
It is on the Xw thin axis of the wrist coordinate system. In addition, the differential transformer 24b
and 24c are located on a plane including the Xw-Yt axes, and are mounted at an angle of 120° with respect to the mounting position of the differential transformer 24a.

Using the welding torch position detection device 24 described above.

The mass differential transformers 24a, 24b, and 24c are brought into contact with the outer periphery of the welding torch, and each distance from the origin Ow of the hand 1 m system to the torch contact point is detected. Letting the detected values be Qa and Qb+Qc, respectively, and the positional deviations of the center position of the Wj contact torch 4 with respect to the wrist coordinate system Xw and Y as XT and Yt, these relationships are expressed as in the following equation.

(17) That is, by actually measuring Qa, (lb, nc) and substituting them into equation (17) for calculation, it is possible to detect the positional deviation of the welding torch in the Xw and Ywh directions.

On the other hand, the differential transformer 24d is ZW! It is placed parallel to Ill. The height of the lower surface 4a of the welding torch 4 is all determined by the differential transformer 24d. As a result, it is possible to detect seven positional deviations in the Zwh direction of the wire tip 4b, which is installed a certain distance away from the lower surface 4a of the torch in the 2w axis direction.

The positional deviation LXT, Yt, and 7th of the J-torch are determined in advance and this data is stored in the robot control device.When operating the robot by playback, the stored data of the positional deviation of the ri-torch is stored. Using the values of XT, Yt, and ZT, the tracing control of the torch position is corrected and executed. This makes it possible to accurately trace the welding torch position.

Further, the optical system position detection jig 22 is integrally arranged in the fifth calibration jig 23. This makes it possible to detect the actual positioning data of the sensor optics based on the image data in the manner described above.

Next, a method for controlling the tracing of a weld line when performing tracing control in the playback mode will be explained using FIG. 11.

As described above, this system includes a robot, a robot control device 3, nine image processing devices 6, and one calibration jig. As shown in FIG. 2, the robot control device 3 includes a servo control processor 8. Sequence control processor9. Each processor of communication control processor 1o is built-in.

When the welding torch 4 reaches the sensing area, the sequence controller 1-roll processor 9
The detection request flag is transferred to the RAM of. When the communication control processor 10 detects this flag, it requests the image processing device 5 to perform detection processing through the communication line. At the same time, the communication control processor 10 detects (!) the starting point of the detection area.
position vector TI, end point position vector '1't+1.
and RΔ from the servo control processor 8
Stores the 6-axis angle data sent to Mk. On the other hand, the first image processing device 6 executes the detection process of the optical switching image sent from the sensor head 5 at the same time as receiving the detection request from the communication control processor 10. The optical section image detected by the sensor head 5 is
The image is sent to the image processing device 6 for processing. That is, first, an internal A/D converter (not shown) converts the video signal obtained from the imaging device 17 into a digital amount while sampling it, and sends this result to an internal preprocessing circuit (not shown). Here, noise removal processing for one image data is performed1
Next, local maxima are determined using the data after noise removal (filtering) processing.

This is F in Figure 11, which performs the process of extracting the minimum address.
It is l.

In the next processing flow F2, while determining the continuity of the pseudo-binarized LAR data obtained in the preprocessing in the vertical direction of the screen, segmentation processing is performed to group elements that satisfy the continuity into one area.

Then, in flow F3, the distance sr of the center line forming the skeleton of each segment with respect to the origin of the m-image chorion and the angle φ with respect to the U axis of the image sensor are calculated (Hough transformation), and in flow F4, For each adjacent segment, r and φ are compared, and if the difference between them is within a certain threshold, the segments are considered to be on the same line and integrated. As a result of these series of processes, basic line elements corresponding to the joint model can be extracted. At this time, if there are candidates for multiple basic line elements, select the pair of lines with the longest line length.In the case of a 0th order 1 overlap joint, proceed to flow F5°F6,
Calculate the end points of the optically sectioned image obtained from the lower plate surface. In addition, in the case of fillet joints, flow r・'7. Proceed to F8, and calculate the intersection of the optically sectioned images obtained from each of the vertical plate and the lower plate. These points become the welding line positions on the m image plane.

Then, at f/9, this position is converted into sensor coordinates using the above-mentioned calibration data and a coordinate conversion formula determined in advance. Next, the direction angle of the sensor head is used to convert into the robot's hand tIf system. i image processing device f!
6 is performing the detection process, the communication
The control processor 10 calculates the teach line basic vector eT+ using the teaching data 'l'+, 1'+◆1, and the transformation matrix T using the angle data of the six axes of the robot.The value of the T matrix is expressed by the following formula.

Mr. ri ri ri O tA Here, C+ = cos(θ,).

S + = sin (0+) + (Px, Py, Pz); Three-dimensional position vector of wrist coordinate system origin θ1: Turning angle 02: Forearm angle θ8: Upper arm angle θ4: Bending angle θ11 = Twisting angle θ6: Swing angle When the calculation is completed, the communication control processor 10 repeatedly asks the image processing device 6 whether the calculation is completed.

The image processing device ff6 completes the detection process.

The position to be welded in the hand coordinate system is transferred to the communication control processor 10. The communication control processor 10 converts the welding position in the wrist coordinate system to the welding position coordinate in the robot coordinate system using the T matrix determined in advance by the following equation.

This converted position is then stored in a register within the communication control processor 10.

Communication control processor 10
1 issues the next imaging request to the image processing device 6 and repeats the process.

〔Effect of the invention〕

According to the present invention, it is possible to obtain optical system arrangement data from image data obtained by irradiating the optical system arrangement detection jig with slit light, and use this obtained data to find the position to be welded. The welding torch can be accurately guided to the position to be welded. Therefore, high quality welding work can be achieved. Further, the arrangement data of the optical system is automatically calculated using image data obtained by irradiating the jig with slit light, so that highly accurate welding work can be easily performed.

[Brief explanation of the drawing]

Fig. 1 is a system block configuration diagram showing an embodiment of the present invention, Fig. 2 is a layout diagram of the system shown in Fig. 1, and Figs. 3A and 3B show the configuration of equipment attached to the robot wrist. FIG. 4 is a diagram schematically showing the arrangement of the optical system of the sensor head, FIG. 5 is a diagram showing a light section image obtained by irradiating the optical system arrangement detection jig with slit light, and FIG. is an enlarged view of the center of Figure 5, Figure 7 is a diagram showing the image obtained by the light receiving means when the optical system placement detection jig is irradiated with slit light, and Figure 8 is FIG. 9 and FIG. 10 are diagrams showing a specific example of the calibration jig, and FIG. 11 is a diagram showing the processing flow of image processing. 1... Welding robot, 2... Welding N, source, 3...
- Robot control device, 4... Welding torch, 5... Sensor head. 6... Image processing device, 11... Light emitting means, 17...
- Light receiving means, 22... Optical system arrangement detection jig, 23...
- Calibration jig, 24... Welding torch position detection jig. \ Dokuni! Fig. 3A, Fig. 3B, Is -j+'fE L;S゛zl・-DCu-7 Taku μ, bad dirt ward\ -E,,7. . 1.7゜30.

Claims (1)

[Scope of Claims] 1. A robot having a wrist portion and having a sensor head including a welding torch and a light receiving means for receiving the reflected light of the slit light irradiated onto the work surface; and the light receiving means. an image processing device that performs image processing on the image signal obtained by the above and outputs image data; and an image processing device that uses the image data to calculate the position to be welded on the workpiece, and aligns the tip of the welding torch with the position to be welded. In a welding system equipped with a robot control device that outputs control signals to a drive unit of the robot so that the slits coincide with each other, the slits are stacked orthogonally to each other at a position near the tip of the welding torch where the slit light can be received. an optical system placement detection jig including two rectangular parallelepiped blocks, the light receiving means images the slit light irradiated to the optical system placement detection jig and outputs an image signal thereof; The processing device performs image processing on the image signal to obtain image data regarding the optical system placement detection jig to obtain placement data of the optical system, and the robot control device uses the placement data of the optical system to detect the workpiece. A welding system characterized by calculating the position to be welded during welding work. 2. In the welding system according to claim 1, a cylindrical first recess into which the welding torch can be inserted with a sufficient margin is formed adjacent to the optical system arrangement detection jig, and a block part having a second recess formed in the center of the recess capable of accommodating the welding wire fed out from the welding torch; a position detection sensor that detects the position in the X direction and the Y direction on a plane perpendicular to the axis of the torch, and a position detection sensor that is arranged within the block part and detects the position in the Z direction that is the axial direction of the welding torch. a torch position detection jig, wherein the robot control device calculates the control signal using position data of the optical system and position data of the welding torch from the position detection sensor. system. 3. Irradiate the workpiece surface with slit light, take an image of the workpiece surface, process the image, use the image data obtained to recognize the position on the workpiece to be welded, and place the welding torch at the position. In a welding method in which welding is performed by guiding a welding torch, two
Using the image data obtained by irradiating the slit light onto each rectangular parallelepiped block and capturing an image of the irradiated state on the block, the arrangement data of the optical system is calculated and stored, and subsequent welding work for the workpiece is performed. A welding method characterized in that the position to be welded is calculated using the stored position data of the optical system. 4. Irradiate the workpiece surface with slit light, take an image of the workpiece surface, process the image, use the image data obtained to recognize the position of the workpiece to be welded, and place the welding torch at the position. In a welding method in which welding is performed by guiding a welding torch, two
Using the image data obtained by irradiating the slit light onto the rectangular parallelepiped blocks, the arrangement data of the optical system is determined and stored, and the output data from the sensor that detects the position of the welding torch is stored, and In the welding work on the workpiece, the stored data is used to calculate a control signal for guiding the welding torch, and the control signal is used to control the drive section of the robot to which the welding torch is attached. Welding method. 5. The sensor head has a welding torch, a light emitting means for emitting slit light toward the workpiece to be welded, and a light receiving means for receiving the reflected light reflected from the surface of the workpiece at the wrist, and the sensor head is controlled. a welding robot that moves the welding torch along the welding line of the workpiece in response to a signal; an image processing device that inputs the image signal obtained by the light receiving means and processes the image to obtain image data; A robot that determines a welding position from image data obtained by an image processing device, uses the welding position to calculate and output a control signal for driving the welding torch to a pre-stored position. A welding robot system comprising: a control device; an arm that can be attached to the wrist and extends to the tip of the welding torch; and an arm that is attached to the arm at a position where it can receive the slit light and that are orthogonal to each other. An optical system deviation calibration jig includes two rectangular parallelepiped blocks arranged and stacked, and the light receiving means receives reflected light of the slit light irradiated to the two rectangular parallelepiped blocks to generate a detection image. The image processing device inputs the detection image signal and performs image processing on the signal to obtain image data, and the robot control device obtains arrangement data of the optical system based on the image data. , a welding system characterized in that the arrangement data of the optical system is replaced with the determined arrangement data of the optical system from among various constants of the optical system used in the relational expression for obtaining the position to be welded.