JPS6320180A - 溶接線における特異点検出方法 - Google Patents

溶接線における特異点検出方法

Info

Publication number
JPS6320180A
JPS6320180A JP16707186A JP16707186A JPS6320180A JP S6320180 A JPS6320180 A JP S6320180A JP 16707186 A JP16707186 A JP 16707186A JP 16707186 A JP16707186 A JP 16707186A JP S6320180 A JPS6320180 A JP S6320180A
Authority
JP
Japan
Prior art keywords
welding
arc
weld line
arc light
light
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
Application number
JP16707186A
Other languages
English (en)
Japanese (ja)
Other versions
JPH0413069B2 (en]
Inventor
Seigo Nishikawa
清吾 西川
Hiroaki Ito
博昭 伊藤
Shinji Okumura
信治 奥村
Tatsuzo Nakazato
辰三 中里
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.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Manufacturing 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 Yaskawa Electric Manufacturing Co Ltd filed Critical Yaskawa Electric Manufacturing Co Ltd
Priority to JP16707186A priority Critical patent/JPS6320180A/ja
Priority to PCT/JP1987/000517 priority patent/WO1988000508A1/ja
Priority to EP87904730A priority patent/EP0275322B1/en
Priority to US07/187,664 priority patent/US4951218A/en
Priority to DE8787904730T priority patent/DE3786447D1/de
Publication of JPS6320180A publication Critical patent/JPS6320180A/ja
Priority to US07/546,621 priority patent/US5040124A/en
Priority to US07/545,320 priority patent/US5038292A/en
Priority to US07/545,323 priority patent/US5040125A/en
Publication of JPH0413069B2 publication Critical patent/JPH0413069B2/ja
Granted legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1684—Tracking a line or surface by means of sensors
    • 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)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Automation & Control Theory (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Analysis (AREA)
JP16707186A 1986-07-15 1986-07-15 溶接線における特異点検出方法 Granted JPS6320180A (ja)

Priority Applications (8)

Application Number Priority Date Filing Date Title
JP16707186A JPS6320180A (ja) 1986-07-15 1986-07-15 溶接線における特異点検出方法
PCT/JP1987/000517 WO1988000508A1 (en) 1986-07-15 1987-07-15 Method of detecting position data in arc welding
EP87904730A EP0275322B1 (en) 1986-07-15 1987-07-15 Method of detecting position data in arc welding
US07/187,664 US4951218A (en) 1986-07-15 1987-07-15 Positional information detecting method in arc welding
DE8787904730T DE3786447D1 (de) 1986-07-15 1987-07-15 Verfahren der ortungsdaten in bogenschweissen.
US07/546,621 US5040124A (en) 1986-07-15 1990-06-27 Positional information detecting method in arc welding
US07/545,320 US5038292A (en) 1986-07-15 1990-06-27 Positional information detecting method in arc welding
US07/545,323 US5040125A (en) 1986-07-15 1990-06-27 Positional information detecting method in arc welding

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP16707186A JPS6320180A (ja) 1986-07-15 1986-07-15 溶接線における特異点検出方法

Publications (2)

Publication Number Publication Date
JPS6320180A true JPS6320180A (ja) 1988-01-27
JPH0413069B2 JPH0413069B2 (en]) 1992-03-06

Family

ID=15842864

Family Applications (1)

Application Number Title Priority Date Filing Date
JP16707186A Granted JPS6320180A (ja) 1986-07-15 1986-07-15 溶接線における特異点検出方法

Country Status (1)

Country Link
JP (1) JPS6320180A (en])

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS57168780A (en) * 1981-04-10 1982-10-18 Komatsu Ltd Method and device for detecting error in welding position

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS57168780A (en) * 1981-04-10 1982-10-18 Komatsu Ltd Method and device for detecting error in welding position

Also Published As

Publication number Publication date
JPH0413069B2 (en]) 1992-03-06

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