| 摘要 |
PROBLEM TO BE SOLVED: To provide a welding tool monitoring device in automatic welding equipment capable of determining whether or not a work is held by a tool without using any electric equipment. SOLUTION: When receiving the work clamp completion signal, an image from a photographing camera is input (S11, S12), the image is processed on the basis of the input image (S13, S14), and pattern-matching is performed with the master image stored in advance (S15), it is determined whether or not the work is held correctly (S16-S19), and the result of determination is output to a PLC. After the work is held correctly, the automatic welding is performed by a welding robot (S22). COPYRIGHT: (C)2007,JPO&INPIT
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