JPS6421304A - Vision sensor device - Google Patents

Abstract

PURPOSE:To achieve a higher detection accuracy and a higher operability of sensors, by including more than one sets of sensors mounted at a different angle while a means is provided to select the combination of a laser light generating section and a position detecting element of the sensors. CONSTITUTION:Shapes of objects 4a and 4b to be welded are inputted into an input device 12 and a robot control circuit 11 selects the combination of laser light generating sections 1a and 1b and position detecting elements 2a and 2b to have an optical path optimal for the detection of a shape of the object 4b being welded according to the type of welding. For example, in the case of a fillet welding, it selects a laser light generating section 1b of a sensor 3b at a position B and a position detecting element 2a of a sensor 3a at a position A and signals which are outputted from the position detecting elements 2a and 2b where reflected lights L3 and L3' of laser lights L1 and L1' are received from the laser light generating sections 1a and 1b are inputted into a robot controller 11.