| 摘要 |
PROBLEM TO BE SOLVED: To appropriately monitor a welding arc, a molten pool or the like by a welding robot during a welding operation. SOLUTION: The welding operation monitoring system 1 comprises: a vertical 6-axis multi-joint robot manipulator 2 whose tip is fitted with a welding wire; a robot controller 3 controlling the robot manipulator 2; a camera unit 4 provided with a CCD (Change Coupled Device) camera installed in a position at which a welding operation can be monitored and whose optical axis can be turned to free directions and a control part 6 converting the coordinates of the tip part of the robot into a camera coordinate system and matching the center of the optical axis of the CCD camera to the tip part of the robot; and a monitor 7 displaying an image photographed by the camera unit 4. COPYRIGHT: (C)2011,JPO&INPIT |
