JPS6471579A - Detector for weld line - Google Patents
Detector for weld lineInfo
- Publication number
- JPS6471579A JPS6471579A JP22918287A JP22918287A JPS6471579A JP S6471579 A JPS6471579 A JP S6471579A JP 22918287 A JP22918287 A JP 22918287A JP 22918287 A JP22918287 A JP 22918287A JP S6471579 A JPS6471579 A JP S6471579A
- Authority
- JP
- Japan
- Prior art keywords
- robot
- weld line
- length
- rectangular ray
- ray
- 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
Links
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
PURPOSE:To improve the degree of freedom of a robot position by projecting a rectangular ray on a work to be welded and calculating an area or a length of a projected image of the rectangular ray to detect a weld line position of the work based on the difference with a set reference value. CONSTITUTION:A torch holder 5 is provided to the tip part of a robot arm 3 and a projection part 6 and a photodetection part 7 of the rectangular ray are arranged thereto respectively. When a center line 8a of an optical axis of the rectangular ray is dislocated from a weld line 2, the length (lrb) of the projected image of the photodetection part 7 is calculated and the quantity (d) of displacement of dislocation is calculated and a robot action is corrected by the quantity (d) of displacement with respect to the reference value. By this method, an extension line of a torch 4 is coincident with the weld line 2. At this time, since the robot action is corrected via the length or area of the rectangular ray, the projection part 6 and the photodetection part 7 can be prevented from being projected. Accordingly, the degree of freedom of the welding position of the robot is improved.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP22918287A JPS6471579A (en) | 1987-09-11 | 1987-09-11 | Detector for weld line |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP22918287A JPS6471579A (en) | 1987-09-11 | 1987-09-11 | Detector for weld line |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS6471579A true JPS6471579A (en) | 1989-03-16 |
Family
ID=16888085
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP22918287A Pending JPS6471579A (en) | 1987-09-11 | 1987-09-11 | Detector for weld line |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS6471579A (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2012147199A1 (en) * | 2011-04-28 | 2012-11-01 | トヨタ自動車株式会社 | Method for detecting butt position of weld joint, device for detecting butt position of weld joint, and method for manufacturing weld joint |
-
1987
- 1987-09-11 JP JP22918287A patent/JPS6471579A/en active Pending
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2012147199A1 (en) * | 2011-04-28 | 2012-11-01 | トヨタ自動車株式会社 | Method for detecting butt position of weld joint, device for detecting butt position of weld joint, and method for manufacturing weld joint |
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