| 摘要 |
PURPOSE: To enable the accurate copy welding by extracting the coordinates of the feature point of the groove after the welding through the approximate processing of the light cutting image, and correcting the position of the welding wire tip based on the difference obtd. by subjecting the feature points of the groove before and after the welding to differential processing. CONSTITUTION: A welding truck 2 is horizontally moved along a traveling rail 4 which is installed approximately parallel to the joint groove of a material to be welded. A welding torch 3 supported by a welding arm 5 is arranged to the lower part of the welding truck 2, and a longitudinally moving means 6, a vertically moving means 7, and a horizontally turning means 8 are operated by a welding equipment control device 9. A sensor unit 11 detects the groove shape or the position of the wire tip of the welding torch 3, and is provided with a laser beam irradiation equipment and a photographing equipment for the light cutting image and the arc light. An image processor 17 extract the coordinates of the feature point of the groove from the light cutting image through the straight line and curved line approximation, and the wire tip position is calculated by putting the initializing value at the point of the center of gravity of the arc light image, and controlled by the welding equipment control means 9. The accurate copy welding can be achieved thereby. |
