JPH0435267B2 - - Google Patents
Info
- Publication number
- JPH0435267B2 JPH0435267B2 JP58239025A JP23902583A JPH0435267B2 JP H0435267 B2 JPH0435267 B2 JP H0435267B2 JP 58239025 A JP58239025 A JP 58239025A JP 23902583 A JP23902583 A JP 23902583A JP H0435267 B2 JPH0435267 B2 JP H0435267B2
- Authority
- JP
- Japan
- Prior art keywords
- light
- torch
- workpiece
- optical
- fiber bundle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000003466 welding Methods 0.000 claims abstract description 69
- 230000003287 optical effect Effects 0.000 claims abstract description 52
- 230000001427 coherent effect Effects 0.000 claims abstract description 14
- WFKWXMTUELFFGS-UHFFFAOYSA-N tungsten Chemical compound [W] WFKWXMTUELFFGS-UHFFFAOYSA-N 0.000 claims abstract description 14
- 229910052721 tungsten Inorganic materials 0.000 claims abstract description 14
- 239000010937 tungsten Substances 0.000 claims abstract description 14
- 238000000034 method Methods 0.000 claims abstract description 13
- 239000013307 optical fiber Substances 0.000 claims description 34
- 230000033001 locomotion Effects 0.000 claims description 9
- 238000003384 imaging method Methods 0.000 claims description 6
- 238000010891 electric arc Methods 0.000 claims 1
- 238000012545 processing Methods 0.000 abstract description 7
- 239000000835 fiber Substances 0.000 abstract description 4
- 239000013305 flexible fiber Substances 0.000 abstract 1
- 239000007789 gas Substances 0.000 description 23
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 7
- 238000005286 illumination Methods 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 5
- ZOKXTWBITQBERF-UHFFFAOYSA-N Molybdenum Chemical compound [Mo] ZOKXTWBITQBERF-UHFFFAOYSA-N 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 229910052751 metal Inorganic materials 0.000 description 4
- 239000002184 metal Substances 0.000 description 4
- 229910052750 molybdenum Inorganic materials 0.000 description 4
- 239000011733 molybdenum Substances 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 239000011248 coating agent Substances 0.000 description 3
- 238000000576 coating method Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 239000010453 quartz Substances 0.000 description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 3
- XKRFYHLGVUSROY-UHFFFAOYSA-N Argon Chemical compound [Ar] XKRFYHLGVUSROY-UHFFFAOYSA-N 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 238000005253 cladding Methods 0.000 description 2
- 238000001816 cooling Methods 0.000 description 2
- 229910052802 copper Inorganic materials 0.000 description 2
- 239000010949 copper Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000011261 inert gas Substances 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 206010053567 Coagulopathies Diseases 0.000 description 1
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 229910052786 argon Inorganic materials 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 230000035602 clotting Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- CPBQJMYROZQQJC-UHFFFAOYSA-N helium neon Chemical compound [He].[Ne] CPBQJMYROZQQJC-UHFFFAOYSA-N 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000003472 neutralizing effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/095—Monitoring or automatic control of welding parameters
- B23K9/0956—Monitoring or automatic control of welding parameters using sensing means, e.g. optical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q35/00—Control systems or devices for copying directly from a pattern or a master model; Devices for use in copying manually
- B23Q35/04—Control systems or devices for copying directly from a pattern or a master model; Devices for use in copying manually using a feeler or the like travelling along the outline of the pattern, model or drawing; Feelers, patterns, or models therefor
- B23Q35/08—Means for transforming movement of the feeler or the like into feed movement of tool or work
- B23Q35/12—Means for transforming movement of the feeler or the like into feed movement of tool or work involving electrical means
- B23Q35/127—Means for transforming movement of the feeler or the like into feed movement of tool or work involving electrical means using non-mechanical sensing
- B23Q35/128—Sensing by using optical means
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Plasma & Fusion (AREA)
- Automation & Control Theory (AREA)
- Geometry (AREA)
- Optics & Photonics (AREA)
- Arc Welding In General (AREA)
- Laser Beam Processing (AREA)
- Lining Or Joining Of Plastics Or The Like (AREA)
- Adhesives Or Adhesive Processes (AREA)
- Non-Portable Lighting Devices Or Systems Thereof (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Manipulator (AREA)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US06/451,219 US4491719A (en) | 1982-12-20 | 1982-12-20 | Light pattern projector especially for welding |
| US451219 | 1989-12-15 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59125274A JPS59125274A (ja) | 1984-07-19 |
| JPH0435267B2 true JPH0435267B2 (US07902200-20110308-C00004.png) | 1992-06-10 |
Family
ID=23791300
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58239025A Granted JPS59125274A (ja) | 1982-12-20 | 1983-12-20 | 自動溶接装置 |
Country Status (8)
Families Citing this family (54)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4636612A (en) * | 1983-04-19 | 1987-01-13 | Cyclomatic Industries, Inc. | Optical tracking device |
| US4573073A (en) * | 1983-06-02 | 1986-02-25 | General Electric Company | Integrated lighting and camera system |
| GB2157851A (en) * | 1984-03-10 | 1985-10-30 | Univ Liverpool | Optical weld seam tracker |
| US4614868A (en) * | 1984-10-12 | 1986-09-30 | Caterpillar Industrial Inc. | Fiber optic seam tracking apparatus |
| US4555613A (en) * | 1984-10-17 | 1985-11-26 | Unimation, Inc. | Image sensing and welding arrangement for manipulator welding apparatus |
| DK154481C (da) * | 1984-11-14 | 1989-06-12 | Christian Chemnitz | Lysanordning til et elektrisk svejseapparat |
| US4599506A (en) * | 1984-12-05 | 1986-07-08 | Westinghouse Electric Corp. | Visual observation of welding operation |
| JPS61154771A (ja) * | 1984-12-27 | 1986-07-14 | Hitachi Ltd | 溶接位置検出装置 |
| US4687325A (en) * | 1985-03-28 | 1987-08-18 | General Electric Company | Three-dimensional range camera |
| US4636611A (en) * | 1985-04-15 | 1987-01-13 | General Electric Company | Quiescent circle and arc generator |
| US4724480A (en) * | 1985-05-02 | 1988-02-09 | Robotic Vision Systems, Inc. | Method for optical alignment of one object with respect to another |
| US4590356A (en) * | 1985-07-12 | 1986-05-20 | General Electric Company | Robot navigation method for joint following |
| DE3679616D1 (de) * | 1985-08-28 | 1991-07-11 | Igm Ind Geraete Maschf Gmbh | Verfahren zum erfassen der position und geometrie von werkstueckoberflaechen. |
| US4724301A (en) * | 1985-10-21 | 1988-02-09 | Hitachi, Ltd. | Apparatus utilizing light stripe image for detecting portion to be welded prior to welding thereof |
| US4687326A (en) * | 1985-11-12 | 1987-08-18 | General Electric Company | Integrated range and luminance camera |
| US4644131A (en) * | 1986-04-22 | 1987-02-17 | The Ohio State University Research Foundation | Electrode support for gas arc welding torch having coaxial vision |
| US4767911A (en) * | 1987-02-26 | 1988-08-30 | Rockwell International Corporation | Optical weld contour monitor for penetration control |
| US4864777A (en) * | 1987-04-13 | 1989-09-12 | General Electric Company | Method of automated grinding |
| US4806732A (en) * | 1987-05-14 | 1989-02-21 | Caterpillar Inc. | Multi-power laser seam tracking system |
| CA1280807C (en) * | 1987-09-11 | 1991-02-26 | National Research Council Of Canada | Adaptive welding control vision head |
| US5104216A (en) * | 1988-12-05 | 1992-04-14 | Igm Industriegerate- Und Maschinenfabriksgesellschaft Mbh | Process for determining the position and the geometry of workpiece surfaces |
| US5205232A (en) * | 1989-08-30 | 1993-04-27 | Orisol Ltd. | Apparatus for advance edge detection and sewing |
| US5045668A (en) * | 1990-04-12 | 1991-09-03 | Armco Inc. | Apparatus and method for automatically aligning a welding device for butt welding workpieces |
| JP2803386B2 (ja) * | 1991-04-16 | 1998-09-24 | 株式会社明電舎 | 電縫管溶接管理方法およびその装置 |
| JP3123146B2 (ja) * | 1991-09-11 | 2001-01-09 | トヨタ自動車株式会社 | 溶接ビードの品質検査装置 |
| US5481085A (en) * | 1994-09-09 | 1996-01-02 | University Of Kentucky Research Foundation | Apparatus and method for measuring 3-D weld pool shape |
| US5572102A (en) * | 1995-02-28 | 1996-11-05 | Budd Canada Inc. | Method and apparatus for vision control of welding robots |
| EP1245923A3 (de) * | 1996-07-29 | 2003-03-12 | Elpatronic Ag | Verfahren und Vorrichtung zur Kantenverfolgung und Kantenprüfung |
| GB9707954D0 (en) * | 1997-04-19 | 1997-06-11 | Integrated Sensor Systems Limi | An improved remote operator viewing system for arc welding |
| CA2244037A1 (en) * | 1998-09-09 | 2000-03-09 | Servo-Robot Inc. | Apparatus to help in robot teaching |
| JP3385362B2 (ja) | 2000-05-11 | 2003-03-10 | 北海道大学長 | レーザ溶接ヘッド制御システムおよびこれを具えるレーザ溶接ヘッド |
| AUPQ755800A0 (en) * | 2000-05-17 | 2000-06-08 | Qni Technology Pty Ltd | Method for measurement of a consumable electrode |
| EP1193490A1 (en) * | 2000-10-02 | 2002-04-03 | AEA Technology QSA GmbH | Method for weld seam testing and device therefore |
| DE10158095B4 (de) * | 2001-05-05 | 2012-03-22 | Lpkf Laser & Electronics Ag | Vorrichtung zur Kontrolle einer Schweißnaht in einem aus schweißfähigem Kunststoff bestehenden Werkstück |
| US6559405B2 (en) * | 2001-06-12 | 2003-05-06 | General Electric Company | Positioning device for welding electrode |
| KR100492150B1 (ko) * | 2002-05-31 | 2005-06-01 | 삼성중공업 주식회사 | 형강 자동절단장치 및 그 절단방법 |
| EP1396556A1 (en) * | 2002-09-06 | 2004-03-10 | ALSTOM (Switzerland) Ltd | Method for controlling the microstructure of a laser metal formed hard layer |
| US7186950B1 (en) * | 2005-06-17 | 2007-03-06 | Fisher Carl M | Welder with light source |
| US8683900B2 (en) | 2008-12-16 | 2014-04-01 | Netta Jewell Hurt | Torch guide device |
| JP5704454B2 (ja) * | 2011-04-28 | 2015-04-22 | スズキ株式会社 | 画像処理装置及び画像処理方法 |
| WO2013008235A2 (en) * | 2011-07-08 | 2013-01-17 | Omer Einav | System and method for manual seam tracking during welding and welding assistance system |
| US9573215B2 (en) * | 2012-02-10 | 2017-02-21 | Illinois Tool Works Inc. | Sound-based weld travel speed sensing system and method |
| WO2015014404A1 (en) * | 2013-08-01 | 2015-02-05 | Fisher Smith Llp | An optical device for detecting quality of welding gun electrodes |
| US9463525B2 (en) * | 2013-11-06 | 2016-10-11 | Lincoln Global, Inc. | Laser enclosure |
| KR102343226B1 (ko) * | 2014-09-04 | 2021-12-23 | 삼성전자주식회사 | 스팟 히터 및 이를 이용한 웨이퍼 클리닝 장치 |
| TWI571343B (zh) * | 2014-09-19 | 2017-02-21 | 國立雲林科技大學 | Radiation coating device with internal nozzle for nozzle |
| US10373517B2 (en) * | 2015-08-12 | 2019-08-06 | Illinois Tool Works Inc. | Simulation stick welding electrode holder systems and methods |
| US10657839B2 (en) * | 2015-08-12 | 2020-05-19 | Illinois Tool Works Inc. | Stick welding electrode holders with real-time feedback features |
| US10682729B2 (en) * | 2015-12-01 | 2020-06-16 | General Electric Company | System for automated in-process inspection of welds |
| CA2919392C (en) * | 2016-02-01 | 2022-05-31 | Jean-Paul Boillot | Range finder device for monitoring robot processing tool position |
| JP6339651B1 (ja) * | 2016-12-02 | 2018-06-06 | ファナック株式会社 | アーク溶接ロボットシステム |
| CN110860791B (zh) * | 2019-12-25 | 2021-06-08 | 株洲光谷激光加工技术有限公司 | 一种激光寻缝视觉引导焊接系统及焊接方法 |
| CN113510349A (zh) * | 2021-04-16 | 2021-10-19 | 睿信泰智能科技(昆山)有限公司 | 钨极焊接失效预判检测装置及其检测方法 |
| CN114473153B (zh) * | 2022-04-01 | 2022-11-15 | 电王精密电器(北京)有限公司 | 一种油气长输管道焊接系统及方法 |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3619065A (en) * | 1967-07-29 | 1971-11-09 | Kenneth Leslie Agnew | Verification of three-dimensional shapes by means of contour lines |
| US3757125A (en) * | 1970-12-26 | 1973-09-04 | Mitsubishi Electric Corp | Optical tracking apparatus |
| GB1449044A (en) * | 1972-11-14 | 1976-09-08 | Kongsberg Vapenfab As | Procedures and apparatuses for determining the shapes of surfaces |
| US3800149A (en) * | 1973-01-29 | 1974-03-26 | Michael M Du Pont | Electro-optical information conversion system using fiber optics |
| FR2327513A1 (fr) * | 1974-01-10 | 1977-05-06 | Cilas | Dispositif pour determiner le profil d'une surface |
| DE2711660C3 (de) * | 1977-03-17 | 1981-06-04 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., 8000 München | Optisches Verfahren zur Schweißbahnverfolgung |
| WO1979000004A1 (en) * | 1977-06-16 | 1979-01-11 | Boc Ltd | Edge followers |
| US4158507A (en) * | 1977-07-27 | 1979-06-19 | Recognition Equipment Incorporated | Laser measuring system for inspection |
| NO158207C (no) * | 1980-03-25 | 1988-08-03 | Inst Tekh Kib I Robotika | Fremgangsmaate og innretning for aa foelge sveisespor. |
| US4349277A (en) * | 1980-06-11 | 1982-09-14 | General Electric Company | Non-contact measurement of surface profile |
| US4380696A (en) * | 1980-11-12 | 1983-04-19 | Unimation, Inc. | Method and apparatus for manipulator welding apparatus with vision correction for workpiece sensing |
| DE3117606A1 (de) * | 1981-05-05 | 1982-12-16 | Messer Griesheim Gmbh, 6000 Frankfurt | "automatisch, beruehrungslose brennerfuehrung auf fugenmitte beim schutzgas-lichtbogenschweissen" |
| US4409477A (en) * | 1981-06-22 | 1983-10-11 | Sanders Associates, Inc. | Scanning optical system |
-
1982
- 1982-12-20 US US06/451,219 patent/US4491719A/en not_active Expired - Fee Related
-
1983
- 1983-11-25 CA CA000441988A patent/CA1206210A/en not_active Expired
- 1983-12-20 AT AT83402481T patent/ATE28420T1/de not_active IP Right Cessation
- 1983-12-20 IL IL70502A patent/IL70502A/xx unknown
- 1983-12-20 DE DE8383402481T patent/DE3372594D1/de not_active Expired
- 1983-12-20 EP EP83402481A patent/EP0116798B1/en not_active Expired
- 1983-12-20 JP JP58239025A patent/JPS59125274A/ja active Granted
- 1983-12-20 AU AU22569/83A patent/AU575548B2/en not_active Ceased
Also Published As
| Publication number | Publication date |
|---|---|
| ATE28420T1 (de) | 1987-08-15 |
| AU575548B2 (en) | 1988-08-04 |
| DE3372594D1 (en) | 1987-08-27 |
| EP0116798B1 (en) | 1987-07-22 |
| AU2256983A (en) | 1984-06-28 |
| IL70502A0 (en) | 1984-03-30 |
| JPS59125274A (ja) | 1984-07-19 |
| US4491719A (en) | 1985-01-01 |
| EP0116798A1 (en) | 1984-08-29 |
| CA1206210A (en) | 1986-06-17 |
| IL70502A (en) | 1985-11-29 |
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