JPH0570552B2 - - Google Patents

Info

Publication number
JPH0570552B2
JPH0570552B2 JP58503385A JP50338583A JPH0570552B2 JP H0570552 B2 JPH0570552 B2 JP H0570552B2 JP 58503385 A JP58503385 A JP 58503385A JP 50338583 A JP50338583 A JP 50338583A JP H0570552 B2 JPH0570552 B2 JP H0570552B2
Authority
JP
Japan
Prior art keywords
welding
groove
scanning
camera
torch
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
Application number
JP58503385A
Other languages
English (en)
Japanese (ja)
Other versions
JPS60501798A (ja
Inventor
Ronarudo Deii Buraun
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Caterpillar Inc
Original Assignee
Caterpillar Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Caterpillar Inc filed Critical Caterpillar Inc
Publication of JPS60501798A publication Critical patent/JPS60501798A/ja
Publication of JPH0570552B2 publication Critical patent/JPH0570552B2/ja
Granted legal-status Critical Current

Links

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
    • B23K9/095—Monitoring or automatic control of welding parameters
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Laser Beam Processing (AREA)
JP58503385A 1983-07-13 1983-10-06 レーザによるテレビジョンスキャナを有する適応形溶接装置 Granted JPS60501798A (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US06/513,533 US4493968A (en) 1983-07-13 1983-07-13 Adaptive welder with laser TV-scanner
US513533 1983-07-13

Publications (2)

Publication Number Publication Date
JPS60501798A JPS60501798A (ja) 1985-10-24
JPH0570552B2 true JPH0570552B2 (enEXAMPLES) 1993-10-05

Family

ID=24043663

Family Applications (1)

Application Number Title Priority Date Filing Date
JP58503385A Granted JPS60501798A (ja) 1983-07-13 1983-10-06 レーザによるテレビジョンスキャナを有する適応形溶接装置

Country Status (5)

Country Link
US (1) US4493968A (enEXAMPLES)
EP (1) EP0149609B1 (enEXAMPLES)
JP (1) JPS60501798A (enEXAMPLES)
DE (1) DE3375882D1 (enEXAMPLES)
WO (1) WO1985000309A1 (enEXAMPLES)

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US4649426A (en) * 1984-06-12 1987-03-10 The United States Of America As Represented By The United States Department Of Energy Electronic imaging system and technique
US4596919A (en) * 1984-08-23 1986-06-24 Sri International Three-dimensional imaging device
US5267143A (en) * 1984-10-12 1993-11-30 Sensor Adaptive Machines, Incorporated Vision assisted fixture construction
US4672190A (en) * 1984-12-21 1987-06-09 The Gerber Scientific Instrument Company Line following system and process with matrix generating
DE3505525C1 (de) * 1985-02-18 1986-04-10 ESAB-HANCOCK GmbH, 6367 Karben Fotoelektrische Einrichtung zum Nachfuehren eines Abtastkopfes laengs einer Vorlagenbahn
JPH0665438B2 (ja) * 1985-02-25 1994-08-24 キヤタピラ− インコ−ポレ−テツド 曲線状溶接溝用の埋め制御修正機能を有する適応溶接装置
US4591689A (en) * 1985-02-25 1986-05-27 Caterpillar Tractor Co. Adaptive welding guidance apparatus
US4643578A (en) * 1985-03-04 1987-02-17 Robotic Vision Systems, Inc. Arrangement for scanned 3-D measurement
US4734766A (en) * 1985-08-19 1988-03-29 Kawasaki Steel Corporation Method and system for locating and inspecting seam weld in metal seam-welded pipe
US4694153A (en) * 1985-10-29 1987-09-15 California Institute Of Technology Linear array optical edge sensor
JPS63502415A (ja) * 1986-02-20 1988-09-14 キエフスキ　ポリテヒニチェスキ　インスティテュトイメニ　５０−レティア　ベリコイ　オクトヤブルスコイ　ソツィアリスティチェスコイ　レボリュツィイ 金属切削用ｃｎｃ工作機械の切削プロセス制御システム
US4767911A (en) * 1987-02-26 1988-08-30 Rockwell International Corporation Optical weld contour monitor for penetration control
US4724302A (en) * 1987-03-30 1988-02-09 General Electric Company Bead process control with profiler
US4983043A (en) * 1987-04-17 1991-01-08 Industrial Technology Institute High accuracy structured light profiler
US4965499A (en) * 1987-12-31 1990-10-23 Westinghouse Electric Corp Parametric path modeling for an optical automatic seam tracker and real time robotic control system
US4850712A (en) * 1988-02-01 1989-07-25 Caterpillar Inc. Method and system for determining surface profile information
DE3806686A1 (de) * 1988-03-02 1989-09-14 Wegu Messtechnik Mehrkoordinatenmess- und -pruefeinrichtung
US4969108A (en) * 1988-04-08 1990-11-06 Cincinnati Milacron Inc. Vision seam tracking method and apparatus for a manipulator
US4979815A (en) * 1989-02-17 1990-12-25 Tsikos Constantine J Laser range imaging system based on projective geometry
US4920249A (en) * 1989-05-08 1990-04-24 General Electric Company Weld bead wetting angle detection and control
US4995087A (en) * 1989-05-15 1991-02-19 General Electric Company Machine vision system
US4998005A (en) * 1989-05-15 1991-03-05 General Electric Company Machine vision system
US5166495A (en) * 1989-09-11 1992-11-24 Esab Aktiebolag Method and apparatus for automatic multi-run welding
SE8902963L (sv) * 1989-09-11 1991-03-15 Esab Ab Saett vid automatisk flerstraengsvetsning
US5245409A (en) * 1991-11-27 1993-09-14 Arvin Industries, Inc. Tube seam weld inspection device
JPH05277904A (ja) * 1992-03-31 1993-10-26 Koike Sanso Kogyo Co Ltd 倣い方法及び倣い装置
JPH05282030A (ja) * 1992-03-31 1993-10-29 Koike Sanso Kogyo Co Ltd 倣い方法及び倣い装置
DE4326338C2 (de) * 1993-08-05 1996-07-18 Daimler Benz Aerospace Ag Schweißroboter
KR20020090636A (ko) * 2001-05-29 2002-12-05 신사문 레이저 비전 센서를 이용한 굴곡관의 용접 방법 및 장치
US6909066B2 (en) * 2003-07-30 2005-06-21 Edison Welding Institute Adaptive and synergic fill welding method and apparatus
US20060067830A1 (en) * 2004-09-29 2006-03-30 Wen Guo Method to restore an airfoil leading edge
US7865285B2 (en) 2006-12-27 2011-01-04 Caterpillar Inc Machine control system and method
CN101412173B (zh) * 2008-11-21 2012-05-23 成都焊研科技有限责任公司 轧辊堆焊及堆焊厚度检测控制方法
US9573215B2 (en) * 2012-02-10 2017-02-21 Illinois Tool Works Inc. Sound-based weld travel speed sensing system and method
US20160069184A1 (en) * 2014-09-09 2016-03-10 Rolls-Royce Corporation Method of blade tip repair
CN108581284B (zh) * 2018-05-09 2020-05-05 滁州职业技术学院 一种精密智能焊接设备
CN111086000B (zh) * 2019-12-25 2023-04-07 上海新时达机器人有限公司 焊缝寻位方法、装置、计算机设备及存储介质
CN112222617B (zh) * 2020-09-16 2024-06-14 华南师范大学 一种自动化的激光焊接装置及焊接方法

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US3135857A (en) * 1960-01-11 1964-06-02 Acf Ind Inc Method and apparatus for electronically guided welding
US3532807A (en) * 1967-10-05 1970-10-06 Webb James E Automatic closed circuit television arc guidance control
US3511965A (en) * 1968-01-25 1970-05-12 Inductotherm Corp Positioning and tracking apparatus for work tools
US3609288A (en) * 1968-12-18 1971-09-28 Welding Research Inc Electron beam seam-finding method and apparatus
US3757125A (en) * 1970-12-26 1973-09-04 Mitsubishi Electric Corp Optical tracking apparatus
US3895870A (en) * 1971-06-01 1975-07-22 Autech Corp Laser dimension comparator
US3775581A (en) * 1971-06-23 1973-11-27 Welding Research Inc Seam tracking method
US3766355A (en) * 1971-08-23 1973-10-16 E Kottkamp Apparatus for use with electron beam welding machines
SU495172A1 (ru) * 1972-05-03 1975-12-15 Предприятие П/Я Р-6476 Способ автоматического направлени горелки сварочного трактора по стыку
GB1449044A (en) * 1972-11-14 1976-09-08 Kongsberg Vapenfab As Procedures and apparatuses for determining the shapes of surfaces
US3855446A (en) * 1972-11-17 1974-12-17 V Kotova Device for directing the movement of welding electrode along the butt of joining parts
DE2500182C3 (de) * 1975-01-03 1980-11-06 Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V., 8000 Muenchen Verfahren zur Regelung der Schweißparameter mit einer Bildaufnahmeeinrichtung beim automatischen Lichtbogen-Schutzgasschweißen
US4021840A (en) * 1975-01-24 1977-05-03 General Dynamics Corporation Seam tracking welding system
JPS5323848A (en) * 1976-08-18 1978-03-04 Hitachi Ltd Automatic weld lineeprofiling process
FR2363779A1 (fr) * 1976-09-02 1978-03-31 Iria Procede et appareil optiques pour la determination tridimensionnelle de la forme d'objets a l'aide d'un calculateur
JPS5392353A (en) * 1977-01-25 1978-08-14 Masataka Inoue Welding profiling method
DE2711660C3 (de) * 1977-03-17 1981-06-04 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., 8000 München Optisches Verfahren zur Schweißbahnverfolgung
JPS5542185A (en) * 1978-09-22 1980-03-25 Kawasaki Heavy Ind Ltd Detecting device for arc welding or the like
US4225771A (en) * 1979-04-25 1980-09-30 Westinghouse Electric Corp. Method and apparatus for monitoring arc welding
JPS5626676A (en) * 1979-08-07 1981-03-14 Komatsu Ltd Welding arc detector
US4328416A (en) * 1979-11-01 1982-05-04 J. Ray Mcdermott & Co., Inc. Seam tracker for automatic welder
US4417127A (en) * 1980-05-19 1983-11-22 Institute Po Technicheska Kibernetika I Robotika Method and apparatus for seam tracking in arc welding
US4412121A (en) * 1981-08-28 1983-10-25 S R I International Implement positioning apparatus and process
US4410787A (en) * 1981-08-31 1983-10-18 Sri International Image acquisition apparatus and process
US4492847A (en) * 1981-09-30 1985-01-08 Unimation, Inc. Manipulator welding apparatus with sensing arrangements for weld slam tracking

Also Published As

Publication number Publication date
EP0149609A1 (en) 1985-07-31
DE3375882D1 (en) 1988-04-14
JPS60501798A (ja) 1985-10-24
WO1985000309A1 (en) 1985-01-31
US4493968A (en) 1985-01-15
EP0149609B1 (en) 1988-03-09

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