JPH0712533A - Detection method of welding gap - Google Patents

Detection method of welding gap

Info

Publication number
JPH0712533A
JPH0712533A JP15902993A JP15902993A JPH0712533A JP H0712533 A JPH0712533 A JP H0712533A JP 15902993 A JP15902993 A JP 15902993A JP 15902993 A JP15902993 A JP 15902993A JP H0712533 A JPH0712533 A JP H0712533A
Authority
JP
Japan
Prior art keywords
welding
light
objects
gap
line
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.)
Pending
Application number
JP15902993A
Other languages
Japanese (ja)
Inventor
Kotaro Nagai
高太郎 永井
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.)
Sekisui Chemical Co Ltd
Original Assignee
Sekisui Chemical Co Ltd
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 Sekisui Chemical Co Ltd filed Critical Sekisui Chemical Co Ltd
Priority to JP15902993A priority Critical patent/JPH0712533A/en
Publication of JPH0712533A publication Critical patent/JPH0712533A/en
Pending legal-status Critical Current

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  • Length Measuring Devices By Optical Means (AREA)

Abstract

PURPOSE:To precisely computes a gap by a method wherein the intersection line of a welding line with a plane used as a normal line and a beam-of-light track plane is made to nearly coincide with a perpendicular line to the welding line from a sensor light-sensing part. CONSTITUTION:While light from an optical sensor 1 is being scanned along a detection line 10 formed by crossing a beam-of-light track plane SA with surfaces 2A, 3A on objects 2, 3 to be welded, it is shone at the surfaces 2A, 3A on the objects 2, 3, a light-receiving image which is drawn on the surfaces is detected by a light-sensing part 1A on the sensor 1, end positions P3, P4 on the objects 2, 3 are computed by triginometry by means of a sensor box 6, and sensor data are obtained. The data are used as image data, it is displayed on a monitor 7, and a gap length A between the objects 2, 3 is detected on the basis of the sensor data. Thereby, the scanning distance of the sensor 1 can be set to be large, and the surface shape of the objects 2, 3 can be detected precisely while scattered and reflected light received by the sensor 1 is being suppressed even when a gap is small.

Description

【発明の詳細な説明】Detailed Description of the Invention

【0001】[0001]

【産業上の利用分野】本発明は、光学式センサを用いて
溶接対象物の表面形状を求め、溶接対象物相互間に形成
されたギャップを検出するための溶接ギャップ検出方法
に関する。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding gap detecting method for detecting a surface shape of an object to be welded using an optical sensor and detecting a gap formed between the objects to be welded.

【0002】[0002]

【従来の技術】従来の技術の自動溶接機や溶接ロボット
等による溶接を行なう際には、精密な溶接作業を行なう
ために、溶接される溶接対象物の相互間におけるギャッ
プ(溶接条件デ−タとなる)を正確に検出する必要があ
る。
2. Description of the Related Art When performing welding by a conventional automatic welding machine or welding robot, a gap (welding condition data) between the objects to be welded is required in order to perform a precise welding operation. Must be detected accurately.

【0003】そこで、従来、特開平3−32469号公
報,特開平3−32470号公報,特開平3−5277
4号公報および特開平3−207577号公報などに開
示される技術が提案されている。
Therefore, conventionally, JP-A-3-32469, JP-A-3-32470, and JP-A-3-5277 have been used.
Techniques disclosed in Japanese Patent Laid-Open No. 4 and Japanese Patent Laid-Open No. 3-207577 are proposed.

【0004】具体的には、図2(a),(b)に示すように、
1はセンサボックス6に接続された光学式センサ、2,
3は相互に溶接線4をなすギャップAを形成した状態で
配設された一対の板状の溶接対象物、および7はセンサ
ボックス6に接続されたモニタである。そして、光学式
センサ1は、図2(b)に示すように、この照射光の光線
軌跡が溶接線4に略直交する光線軌跡平面SAをなすよ
うに溶接対象物2,3の表面2A、3Aに光を査走しつ
つ照射し、その光が溶接対象物2,3の表面2A,3A
に対して描く受光像を光学式センサ1の感光部1Aによ
り検出して、この検出結果に基づき、センサボックス6
において三角法により溶接対象物2,3の端部位置P
1,P2を算出してセンサデ−タとして得てから、その
センサデ−タに基づいて、溶接対象物2,3相互間のギ
ャップ長Aを検出している。また、モニタ7はセンサボ
ックス6からのセンサデ−タを画像デ−タとして表示す
る。
Specifically, as shown in FIGS. 2 (a) and 2 (b),
1 is an optical sensor connected to the sensor box 6, 2
Reference numeral 3 is a pair of plate-shaped objects to be welded arranged with a gap A forming a welding line 4 therebetween, and 7 is a monitor connected to the sensor box 6. Then, the optical sensor 1, as shown in FIG. 2B, has a surface 2A of the objects 2, 3 to be welded so that the ray trajectory of the irradiation light forms a ray trajectory plane SA that is substantially orthogonal to the welding line 4. It irradiates 3A while inspecting the light, and the light is applied to the surfaces 2A, 3A of the objects 2, 3 to be welded.
A light-receiving image drawn on the sensor box 6 is detected by the photosensitive section 1A of the optical sensor 1, and based on the detection result.
At the end position P of the welding objects 2 and 3 by trigonometry
1, P2 is calculated and obtained as sensor data, and then the gap length A between the welding objects 2 and 3 is detected based on the sensor data. The monitor 7 also displays the sensor data from the sensor box 6 as image data.

【0005】[0005]

【発明が解決しようとする課題】しかしながら、従来の
溶接ギャップ検出方法では、レ−ザ光等による光学式セ
ンサ1を用いていることから、溶接対象物2,3相互間
のギャップが小さく(1.0mm以下)なると、溶接対象物
2,3の表面2A、3Aに照射される光学式センサ1か
らの光によって乱反射光が多く発生し、これを光学式セ
ンサ1が受光することから、溶接対象物2,3相互間の
ギャップ部分では、光学式センサ1からの光が溶接対象
物の表面に対して描く受光像を正確に得ることができな
くなり、溶接対象物2,3の正確な表面形状をセンサデ
−タ,画像デ−タとして得ることが困難となり、溶接対
象物2,3相互間のギャップ部分におけるギャップ長を
正確に検出することができないという問題があった。
However, in the conventional welding gap detecting method, since the optical sensor 1 using laser light or the like is used, the gap between the objects to be welded 2 and 3 is small (1.0 mm or less), a large amount of irregularly reflected light is generated by the light from the optical sensor 1 irradiated on the surfaces 2A and 3A of the welding objects 2 and 3, and the optical sensor 1 receives this light. In the gap portion between the two and the three, it becomes impossible to accurately obtain the light reception image drawn by the light from the optical sensor 1 on the surface of the welding target object, and the accurate surface shape of the welding target objects 2 and 3 can be obtained. There is a problem that it is difficult to obtain the sensor data and the image data, and the gap length in the gap portion between the welding objects 2 and 3 cannot be accurately detected.

【0006】本発明は、このような問題を解決するため
になされたもので、溶接対象物相互のギャップが小さく
なる場合においても溶接対象物の表面形状を検出可能に
して、ギャップを正確に算出することがきるようにした
溶接ギャップ検出方法を提供するこを目的とする。
The present invention has been made in order to solve such a problem, and enables the surface shape of a welding object to be detected even when the gap between the welding objects becomes small, and the gap is accurately calculated. It is an object of the present invention to provide a welding gap detection method adapted to do so.

【0007】[0007]

【課題を解決するための手段】上記目的を達成するため
に、本発明の溶接ギャップ検出方法は、相互間に溶接線
をなすギャップを形成した状態で配設された一対の溶接
対象物に対して、照射光の光線軌跡が前記溶接線に交差
する光線軌跡平面をなすように光学式センサの光源から
光を走査しつつ照射し、その光が前記溶接対象物の表面
に対して描く受光像を前記光学式センサの感光部により
検出して、前記一対の溶接対象物のギャップを検出する
溶接ギャップ検出方法において、前記溶接線を法線とす
る平面と光線軌跡平面とが交差し、その交線が光学式セ
ンサの感光部から溶接線に下ろした垂線と、略一致する
ことを特徴とする。
In order to achieve the above object, the welding gap detecting method of the present invention is applied to a pair of objects to be welded arranged with a gap forming a welding line therebetween. A light receiving image drawn by the light from the light source of the optical sensor while scanning the light from the light source of the optical sensor so that the light ray trajectory of the irradiation light intersects the welding line. In the welding gap detecting method for detecting the gap of the pair of objects to be welded by detecting the photosensitive portion of the optical sensor, a plane having the welding line as a normal line and a ray trajectory plane intersect, and It is characterized in that the line substantially coincides with the perpendicular line drawn from the photosensitive portion of the optical sensor to the welding line.

【0008】[0008]

【作用】上述した本発明の溶接ギャップ検出方法では、
一対の溶接対象物相互間における光学式センサの光の走
査距離を大きく取ることができるとともに、これによ
り、光学式センサが受光する乱反射を押さえることがで
きる。
In the welding gap detecting method of the present invention described above,
The scanning distance of the light of the optical sensor between the pair of objects to be welded can be increased, and the diffuse reflection received by the optical sensor can be suppressed.

【0009】[0009]

【実施例】以下、本発明の一実施例を図面を参照して説
明する。
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

【0010】本発明の一実施例としての光学式ギャップ
検出方法を示すものであって、(a)は本実施例の方法が
適用された装置の外観構成を模式的示す図、(b)はその
方法により検出され算出されたセンサデ−タに基づいて
作業対象ワ−ク相互間のギャップ長を求める手順を示し
た図である。
An optical gap detection method as one embodiment of the present invention is shown, (a) is a diagram schematically showing an external configuration of an apparatus to which the method of this embodiment is applied, and (b) is It is the figure which showed the procedure which calculates | requires the gap length between work target work based on the sensor data detected and calculated by the method.

【0011】図1において、光学式センサ1は、この照
射光の光線軌跡が溶接線4を法線とする平面SBに対し
て交差する(本実施例では交差角度θ=45°)光線軌跡
平面SAをなすように、溶接対象物2,3の表面2A,
3Aに対向隣接されているとともに、この感光部1Aか
ら溶接線4に下ろした垂線8を、光線軌跡平面SAと平
面SBとの交線9に一致させるようにして配設されてい
る。
In FIG. 1, the optical sensor 1 has a ray locus plane in which a ray locus of the irradiation light intersects a plane SB whose normal line is the welding line 4 (intersection angle θ = 45 ° in this embodiment). The surface 2A of the welding objects 2 and 3 so as to form SA
It is arranged so as to be adjacent to and adjacent to 3A, and the perpendicular line 8 drawn from the photosensitive portion 1A to the welding line 4 coincides with the intersection line 9 between the ray locus plane SA and the plane SB.

【0012】そして、光学式センサ1からの光を、図1
(b)に示すように、該光線軌跡平面SAと溶接対象物
2,3の表面2A,3Aとが交差して形成される検出線
10に沿って査走しつつ溶接対象物2、3の表面2A,
3Aに照射し、その光が溶接対象物2,3の表面2A,
3Aに対して描く受光像を光学式センサ1の感光部1A
により検出して、この検出結果に基づき、センサボック
ス6において三角法により溶接対象物2,3の端部位置
P3,P4を算出してセンサデ−タとして得る。
Then, the light from the optical sensor 1 is converted into the light shown in FIG.
As shown in (b), the ray locus plane SA and the surfaces 2A and 3A of the welding objects 2 and 3 intersect each other along the detection line 10 formed so as to cross the welding objects 2 and 3 while Surface 2A,
3A is irradiated, and the light is applied to the surface 2A
The light-receiving image drawn on 3A is the photosensitive portion 1A of the optical sensor 1.
And the end positions P3 and P4 of the objects to be welded 2 and 3 are calculated by triangulation in the sensor box 6 based on the detection result to obtain the sensor data.

【0013】次いで、そのセンサデ−タを画像デ−タと
してモニタ7に表示するとともに、そのセンサデ−タに
基づいて、溶接対象物2,3相互間のギャップ長A、す
なわち、A=|P3−P4|×cos45°を検出して
いる。
Next, the sensor data is displayed on the monitor 7 as image data, and the gap length A between the objects 2, 3 to be welded, that is, A = | P3-, is displayed based on the sensor data. P4 | × cos 45 ° is detected.

【0014】このように、本実施例による溶接ギャップ
検出方法によれば、光学式センサ1は、この照射光の光
線軌跡が、溶接線4を法線とする平面SBに交差する光
線軌跡平面SAをなすように溶接対象物2,3の表面2
A、3Aに光を査走しつつ照射することができるので、
従来に比して、溶接対象物2,3相互間における光学式
センサ1の走査距離を大きく取ることができ、溶接対象
物2,3相互間のギャップが小さい場合であっても、光
学式センサ1が受光する乱反射光を押さえつつ、溶接対
象物2,3の表面形状が正確に検出することが可能とな
る。したがって、従来に比して、溶接対象物2,3相互
間におけるギャップを正確に検出することができる。
As described above, according to the welding gap detecting method of this embodiment, the optical sensor 1 has the ray trace plane SA in which the ray trace of the irradiation light intersects the plane SB whose normal line is the welding line 4. Surface 2 of objects 2 and 3 to be welded
Since it is possible to irradiate light on A and 3A,
The scanning distance of the optical sensor 1 between the objects to be welded 2 and 3 can be made larger than in the past, and even if the gap between the objects to be welded 2 and 3 is small, the optical sensor 1 can be used. It is possible to accurately detect the surface shape of the welding objects 2 and 3 while suppressing the irregular reflection light received by the welding object 1. Therefore, the gap between the welding objects 2 and 3 can be detected more accurately than in the conventional case.

【0015】以上、この発明の実施例を図面により詳述
してきたが、具体的な構成はこの実施例に限られるもの
ではなく、この発明の要旨を免脱しない範囲の設計の変
更等があってもこの発明に含まれる。例えば、一対の溶
接対象物2,3に照射される光学式センサ1の角度θが
45°であるが、これに限定されるものではなく、他の
照射角度であっても本実施例と同様な効果を得ることが
できる。
Although the embodiment of the present invention has been described in detail above with reference to the drawings, the specific structure is not limited to this embodiment, and there are changes in design within the scope not departing from the gist of the present invention. However, it is included in this invention. For example, the angle θ of the optical sensor 1 with which the pair of welding objects 2 and 3 is irradiated is 45 °, but the invention is not limited to this, and other irradiation angles are the same as in the present embodiment. It is possible to obtain various effects.

【0016】また、上記実施例では、板状の溶接対象物
2,3相互間のギャップAを検出する場合について説明
したが、本発明の方法は、他の形状の溶接対象物相互間
のギャップを検出する場合にも、上記実施例と同様に適
用される。
In the above embodiment, the case where the gap A between the plate-shaped welding objects 2 and 3 is detected has been described, but the method of the present invention is the gap between welding objects having other shapes. The same applies to the above embodiment when detecting

【0017】[0017]

【発明の効果】以上詳述したように、本発明の溶接ギャ
ップ検出方法によれば、光学式センサは、この照射光の
光線軌跡が、溶接線を法線とする平面に交差する光線軌
跡平面をなすように溶接対象物の表面に光を査走しつつ
照射しているので、一対の溶接対象物相互間のギャップ
における光学式センサの走査距離を大きく取ることがで
き、一対の溶接対象物相互間のギャップが小さい場合で
あっても、光学式センサが受光する乱反射光を押さえつ
つ、一対の溶接対象物の表面形状を正確に検出すること
が可能となり、したがって、従来に比して、一対の溶接
対象物相互間におけるギャップを正確に検出することが
できる。
As described above in detail, according to the welding gap detecting method of the present invention, in the optical sensor, the ray locus of this irradiation light intersects with the plane having the welding line as the normal line. Since it irradiates the surface of the object to be welded while inspecting it, the scanning distance of the optical sensor in the gap between the pair of objects to be welded can be made large, and a pair of objects to be welded can be obtained. Even when the gap between them is small, it is possible to accurately detect the surface shape of the pair of welding objects while suppressing the diffused reflection light received by the optical sensor, and therefore, compared to the conventional case, The gap between the pair of welding objects can be accurately detected.

【図面の簡単な説明】[Brief description of drawings]

【図1】本発明の一実施例としての光学式ギャップ検出
方法を示すものであって、(a)は本実施例の方法が適用
された装置の外観構成を模式的示す図、(b)はその方法
により検出され算出されたセンサデ−タに基づいて作業
対象ワ−ク相互間のギャップ長を求める手順を示した図
である。
FIG. 1 shows an optical gap detection method as one embodiment of the present invention, (a) is a diagram schematically showing an external configuration of an apparatus to which the method of this embodiment is applied, (b) FIG. 6 is a diagram showing a procedure for obtaining a gap length between work-target works based on sensor data detected and calculated by the method.

【図2】従来技術の光学式ギャップ検出方法を示すもの
であって、(a)は従来技術の方法が適用された装置の外
観構成を模式的示す図、(b)はその方法により検出され
算出されたセンサデ−タに基づいて作業対象ワ−ク相互
間のギャップ長を求める手順を示した図である。
2A and 2B show a conventional optical gap detection method, in which FIG. 2A is a diagram schematically showing an external configuration of an apparatus to which the method of the related art is applied, and FIG. It is the figure which showed the procedure which calculates | requires the gap length between work target works based on the calculated sensor data.

【符号の説明】[Explanation of symbols]

1 光学式センサ 1A 感光部 2,3 作業対象ワ−ク(測定対象物) 4 溶接線 6 センサボックス 7 モニタ 8 垂線 9 交線 A ギャップ 1 Optical Sensor 1A Photosensitive Part 2 and 3 Work Target Work (Measurement Target) 4 Welding Line 6 Sensor Box 7 Monitor 8 Vertical Line 9 Intersection Line A Gap

Claims (1)

【特許請求の範囲】[Claims] 【請求項1】 相互間に溶接線をなすギャップを形成し
た状態で配設された一対の溶接対象物に対して、照射光
の光線軌跡が前記溶接線に交差する光線軌跡平面をなす
ように光学式センサの光源から光を走査しつつ照射し、
その光が前記溶接対象物の表面に対して描く受光像を前
記光学式センサの感光部により検出して、前記一対の溶
接対象物のギャップを検出する溶接ギャップ検出方法に
おいて、 前記溶接線を法線とする平面と光線軌跡平面とが交差
し、その交線が光学式センサの感光部から溶接線に下ろ
した垂線と、略一致することを特徴とする溶接ギャップ
検出方法。
1. A pair of objects to be welded arranged with a gap forming a welding line between them forms a plane of a ray trajectory of irradiation light that intersects with the welding line. Irradiate while scanning light from the light source of the optical sensor,
In the welding gap detection method, in which a light-receiving image drawn by the light on the surface of the welding object is detected by the photosensitive portion of the optical sensor, and the gap of the pair of welding objects is detected, the welding line is determined. A welding gap detecting method characterized in that a plane as a line and a ray locus plane intersect each other, and the intersecting line substantially coincides with a perpendicular line drawn from the photosensitive portion of the optical sensor to the welding line.
JP15902993A 1993-06-29 1993-06-29 Detection method of welding gap Pending JPH0712533A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP15902993A JPH0712533A (en) 1993-06-29 1993-06-29 Detection method of welding gap

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP15902993A JPH0712533A (en) 1993-06-29 1993-06-29 Detection method of welding gap

Publications (1)

Publication Number Publication Date
JPH0712533A true JPH0712533A (en) 1995-01-17

Family

ID=15684704

Family Applications (1)

Application Number Title Priority Date Filing Date
JP15902993A Pending JPH0712533A (en) 1993-06-29 1993-06-29 Detection method of welding gap

Country Status (1)

Country Link
JP (1) JPH0712533A (en)

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