JPH07117372B2 - Welding line detector - Google Patents
Welding line detectorInfo
- Publication number
- JPH07117372B2 JPH07117372B2 JP63005869A JP586988A JPH07117372B2 JP H07117372 B2 JPH07117372 B2 JP H07117372B2 JP 63005869 A JP63005869 A JP 63005869A JP 586988 A JP586988 A JP 586988A JP H07117372 B2 JPH07117372 B2 JP H07117372B2
- Authority
- JP
- Japan
- Prior art keywords
- light
- welding
- image
- lap joint
- face
- 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 - Fee Related
Links
- 238000003466 welding Methods 0.000 title claims description 54
- 238000001514 detection method Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 4
- 230000001678 irradiating effect Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 description 12
- 238000005259 measurement Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000012937 correction Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000003760 hair shine Effects 0.000 description 1
Landscapes
- Length Measuring Devices By Optical Means (AREA)
- Manipulator (AREA)
Description
【発明の詳細な説明】 産業上の利用分野 本発明は重ね継手形状の被溶接物の溶接線をセンサーで
検出認識し、溶接用ロボットに教示されている位置との
差を自動的に補正して動く溶接倣いロボットにおける溶
接線検出装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention detects a welding line of a lap joint-shaped work piece with a sensor, and automatically corrects a difference from a position taught by a welding robot. The present invention relates to a welding line detection device for a welding copying robot.
従来の技術 従来、被溶接物の形状またはその位置を求める方法は、
たとえば２本のスリット光を照射し溶接ワーク固有の形
状で歪められた像から位置関係を求める光切断法に示さ
れる様に公知の事実であるが、重ね継手形状の溶接線の
位置を求める時も、光切断法が用いられていた。2. Description of the Related Art Conventionally, a method for determining the shape of a workpiece or its position is
This is a known fact, as shown in the optical cutting method of irradiating two slit lights and obtaining the positional relationship from the image distorted by the shape unique to the welding work, but when determining the position of the welding line of the lap joint shape. Also, the light-section method was used.
発明が解決しようとする課題 従来の光切断法を重ね継手形状の被溶接物に用いると、
被溶接物の光反射率が低い場合を除きスリット光が溶接
ワーク固有の形状で歪められる位置付近で２次反射をお
こすため、画像処理装置でスリット光の像とスリット光
の２次反射像とを識別することが困難であった。Problems to be Solved by the Invention When a conventional optical cutting method is used for an object to be welded having a lap joint shape,
Except when the light reflectance of the work piece is low, secondary reflection occurs near the position where the slit light is distorted by the shape unique to the welding work. Therefore, the image of the slit light and the secondary reflection image of the slit light are generated by the image processing device. Was difficult to identify.
課題を解決するための手段 上記課題を解決するため、本発明の溶接線検出装置は、
重ね継手形状の被溶接物の端面に略一様照射光を照射す
る光照射部と、被溶接物の端面を横切るスリット光を照
射するスリット光照射部と、略一様照度光とスリット光
の像を受ける受光部と、受光部が受光した像の位置から
溶接線の位置を求める画像処理装置とを備えてなるもの
である。Means for Solving the Problems In order to solve the above problems, the welding line detection device of the present invention,
A light irradiation part that irradiates the end face of the lap joint-shaped workpiece with substantially uniform irradiation light, a slit light irradiation part that irradiates slit light that traverses the end face of the welded object, and a substantially uniform illuminance light and slit light It is provided with a light receiving portion for receiving an image and an image processing device for obtaining the position of the welding line from the position of the image received by the light receiving portion.
作用 上記手段において、重ね継手形状の溶接線に対して、重
ね継手の端面が見える角度から、略一様照度光を投光
し、重ね継手の端面による反射光が強い角度に受光用の
カメラを配置すると、重ね継手の端面の位置を認識でき
る。これにより溶接線を検出する。Action In the above means, a substantially uniform illuminance light is projected from the angle at which the end face of the lap joint is visible with respect to the welding line of the lap joint, and the camera for receiving light is set at an angle at which the reflected light from the end face of the lap joint is strong. When arranged, the position of the end face of the lap joint can be recognized. Thereby, the welding line is detected.
なお、被溶接物の光反射率が低くない場合に対しても、
精度よく溶接線の位置を認識し、教示からのずれだけロ
ボットをシフトすることで、検出範囲内であれば被溶接
物の位置が教示時と異なっていても溶接線上を溶接でき
る。Even if the light reflectance of the work piece is not low,
By accurately recognizing the position of the welding line and shifting the robot by the deviation from the teaching, it is possible to weld on the welding line within the detection range even if the position of the workpiece is different from that at the time of teaching.
実施例 以下、本発明の実施例について添付図面を参照して説明
する。Embodiments Embodiments of the present invention will be described below with reference to the accompanying drawings.
第１図は照明器と受光用のテレビカメラと溶接ワークの
位置関係を示す図である。FIG. 1 is a diagram showing a positional relationship among an illuminator, a television camera for receiving light, and a welding work.
第１図において、１は重ね継手形状の溶接ワーク、２は
重ね継手形状の端面、３は溶接用ロボットのアーム、４
はスポット照明器、５はスリット照明器、６は受光用の
テレビカメラ、７は溶接用トーチである。In FIG. 1, 1 is a lap joint welding work, 2 is a lap joint end face, 3 is a welding robot arm, 4
Is a spot illuminator, 5 is a slit illuminator, 6 is a television camera for receiving light, and 7 is a welding torch.
まず、第１図のように、重ね継手形状の溶接ワーク１に
対して、スリット照明器５からスリット光を、スポット
照明器４からほぼ照度が均一になるようにスポット光を
照射し、テレビカメラ６で照射部を映すと、第２図のよ
うにスリット光の像と重ね継手形状の端面２だけが強く
光る画面を得る。First, as shown in FIG. 1, the welding work 1 having a lap joint shape is irradiated with the slit light from the slit illuminator 5 and the spot light from the spot illuminator 4 so that the illuminance is substantially uniform. When the irradiation portion is imaged at 6, a screen in which only the image of the slit light and the end face 2 of the lap joint shape are strongly illuminated as shown in FIG.
第２図において、11はテレビカメラが映した画面、12は
スポット光により強く光っている部分、13はスリット光
の像、14はスポット光による像の重心測定範囲、15はス
リット光の像の重心測定範囲である。このスリット光の
画像と重ね継手形状の端面の反射光の画像の重心を画像
処理装置で求めることで溶接線の位置を認識できる。In FIG. 2, 11 is a screen displayed by a television camera, 12 is a portion strongly illuminated by spot light, 13 is an image of slit light, 14 is a range of measurement of the center of gravity of the image by spot light, and 15 is an image of slit light. It is the center of gravity measurement range. The position of the welding line can be recognized by obtaining the center of gravity of the image of the slit light and the image of the light of the reflected light of the end face of the lap joint shape by the image processing device.
ただし、スポット照明器５やテレビカメラ６が重ね継手
形状の端面２の上部かそれより前方にセットすると端面
２の反射光を受光できないため、溶接線を認識できなく
なり、第１図のように溶接用トーチ７の近くにセットす
ると溶接トーチ７の影になるためセンシング時に溶接用
トーチ７を後方へシフトする必要がある。However, if the spot illuminator 5 and the television camera 6 are set above the end face 2 of the lap joint shape or in front of it, the reflected light from the end face 2 cannot be received, and the welding line cannot be recognized, and as shown in FIG. If the welding torch 7 is set near the welding torch 7, it will be in the shadow of the welding torch 7, so the welding torch 7 needs to be shifted backward during sensing.
第３図にロボットで溶接トーチ方向と溶接トーチ７に対
して直角上下方向の溶接開始点位置補正を行なうフロー
チャートを示す。まず溶接開始点を教示する時に、第２
図のように強く光っている重ね継手形状の端面２の重心
を重心測定範囲14で、スリット光の重心を重心測定範囲
15で求めておく。つぎにその溶接開始点への運転時にも
同様に重心を求める。溶接ワーク１が教示時と運転時に
同じ位置にあればこれら重心の位置は変わらないが、溶
接ワーク１の形のばらつきやワーク固定治具の位置のば
らつきなどのために多少異なってくる。この教示時と運
転時の重心差をロボット座標（溶接トーチ方向と溶接ト
ーチに対して直角上下方向）に変換する。FIG. 3 shows a flowchart for correcting the position of the welding start point by the robot in the welding torch direction and in the vertical direction perpendicular to the welding torch 7. First, when teaching the welding start point,
As shown in the figure, the center of gravity of the end face 2 of the lap joint shape that shines strongly is the center of gravity measurement range 14, and the center of gravity of the slit light is the center of gravity measurement range.
I will ask for it in 15. Next, the center of gravity is likewise calculated during operation to the welding start point. If the welding work 1 is at the same position during teaching and during operation, the positions of these centers of gravity will not change, but they will be slightly different due to variations in the shape of the welding work 1 and variations in the position of the workpiece fixing jig. The difference between the center of gravity during teaching and during operation is converted into robot coordinates (welding torch direction and vertical direction perpendicular to the welding torch).
溶接トーチ方向の位置補正量をＸ、溶接トーチに対して
直角上下方向の位置補正量をＹ、教示時と運転時のスリ
ット光の像の重心差をDX、スポット光の像の重心差をDY
とすると、次式の関係となる。X is the position correction amount in the welding torch direction, Y is the position correction amount in the vertical direction perpendicular to the welding torch, Y is the difference in the center of gravity of the slit light image during teaching and operation, and DY is the difference in the center of gravity of the spot light image.
Then, the following relationship is established.
Ｘ＝Ａ＊DX＋Ｂ＊DY Ｙ＝Ｃ＊DX＋Ｄ＊DY ここで、A,B,C,Dは係数で、照明器4,5とカメラ６の位置
で決まり、実験により求められる。X = A * DX + B * DY Y = C * DX + D * DY Here, A, B, C and D are coefficients, which are determined by the positions of the illuminators 4, 5 and the camera 6 and are obtained by an experiment.
ロボットの位置をＸとＹだけ補正すると溶接位置とワー
クの位置関係が教示時と同じになる。そこで溶接を開始
すると、教示時と運転時において溶接ワーク１の位置が
検出範囲内で異なっていても、同じ位置関係で溶接でき
る。If the position of the robot is corrected by X and Y, the positional relationship between the welding position and the work becomes the same as when teaching. When welding is started there, welding can be performed with the same positional relationship even if the position of the welding work 1 is different within the detection range during teaching and during operation.
また溶接中の位置検出は、前述の溶接開始点検出法を定
時間ごと、あるいは定移動距離ごとに行なうとできる
が、アーク溶接の場合アーク光と照明器による反射光を
識別する必要がある。Position detection during welding can be performed by the above-mentioned welding start point detection method at regular time intervals or at constant movement distances. In the case of arc welding, it is necessary to distinguish between arc light and light reflected by an illuminator.
発明の効果 以上のように本発明によれば、光照射部の略一様照度光
による重ね継手の端面の反射を利用して、スリット光照
射部のスリット光により重ね継手の端面の溶接線の溶接
開始点または溶接位置を確実に検出できるものである。As described above, according to the present invention, by utilizing the reflection of the end face of the lap joint by the substantially uniform illuminance light of the light irradiation part, the welding light of the end face of the lap joint is formed by the slit light of the slit light irradiation part. The welding start point or welding position can be reliably detected.
第１図は本発明の一実施例を示す溶接線検出装置の斜視
図、第２図は同装置のカメラにより観測される画像を示
す図、第３図は同装置による溶接線検出工程を示すフロ
ーチャートである。 １……溶接ワーク、２……重ね継手の端面、４……スポ
ット照明器、５……スリット照明器、６……テレビカメ
ラ。FIG. 1 is a perspective view of a welding line detecting apparatus showing an embodiment of the present invention, FIG. 2 is a view showing an image observed by a camera of the apparatus, and FIG. 3 is a welding line detecting step by the apparatus. It is a flowchart. 1 ... Welding work, 2 ... End face of lap joint, 4 ... Spot illuminator, 5 ... Slit illuminator, 6 ... Television camera.
Claims (1)
照度の略一様照度光を照射する光照射部と、前記被溶接
物の端面を横切るスリット光を照射するスリット光照射
部と、前記略一様照度光とスリット光の像を受ける受光
部と、前記受光部が受光した像の位置から溶接線の位置
を求める画像処理装置を具備し、前記略一様照度光によ
りできる重ね継手の端面像と前記スリット光の像の両方
の位置から重ね継手形状の溶接線の溶接開始点または溶
接位置を検出することを特徴とする溶接線検出装置。1. A light irradiation section for irradiating an end face of a lap joint-shaped object to be welded with substantially uniform illuminance light, and slit light irradiation for irradiating slit light across the end face of the object to be welded. Part, a light receiving part for receiving the image of the substantially uniform illuminance light and the slit light, and an image processing device for obtaining the position of the welding line from the position of the image received by the light receiving part. A welding line detection device, which detects a welding start point or a welding position of a welding line of a lap joint shape from both positions of an end face image of the lap joint and the image of the slit light.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63005869A JPH07117372B2 (en) | 1988-01-14 | 1988-01-14 | Welding line detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63005869A JPH07117372B2 (en) | 1988-01-14 | 1988-01-14 | Welding line detector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01182704A JPH01182704A (en) | 1989-07-20 |
| JPH07117372B2 true JPH07117372B2 (en) | 1995-12-18 |
Family
ID=11622945
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63005869A Expired - Fee Related JPH07117372B2 (en) | 1988-01-14 | 1988-01-14 | Welding line detector |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH07117372B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021220949A1 (en) * | 2020-04-28 | 2021-11-04 | ファナック株式会社 | Robot system |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2818990B2 (en) * | 1992-10-05 | 1998-10-30 | シャープ株式会社 | Brazing robot |
| JP4807599B2 (en) * | 2009-01-22 | 2011-11-02 | 日商精密光学株式会社 | Combined optical system of light cutting method and depth height measurement method by point light |
| CN106002022B (en) * | 2016-06-07 | 2018-10-23 | 湘潭大学 | The corrugated plating weld seam tracking sensor of the adaptive intersecting laser vision of monocular |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2512050Y2 (en) * | 1986-02-18 | 1996-09-25 | 株式会社 東京精密 | Observation device in non-contact detection device |
-
1988
- 1988-01-14 JP JP63005869A patent/JPH07117372B2/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021220949A1 (en) * | 2020-04-28 | 2021-11-04 | ファナック株式会社 | Robot system |
| US12208529B2 (en) | 2020-04-28 | 2025-01-28 | Fanuc Corporation | Robot system |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH01182704A (en) | 1989-07-20 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |