| 摘要 |
There is disclosed a manipulator welding apparatus which comprises a manipulator arm (10, 18) which is controllable in a plurality of axes and includes a selectively operable hand receiver (20) into which can be fitted either a welding hand (24) or a sensing hand (22). The welding hand (24) includes a welding torch (92), and the sensing hand (22) includes a projection unit (50) and an image sensing unit (56) which includes an objective lens (60) and a fibre optic cable (62) for receiving, by reflection from a workpiece, a projected optical slit pattern. The fibre optic cable is connected to a camera (32) located remotely from the sensing hand (22) when the latter is mounted in the hand receiver (20). The image received by the camera is utilised by the manipulator apparatus during a sensing step to determine the deviation between the path traversed by the manipulator during sensing and the actual workpiece path. The deviation is then utilised to calculate the workpiece path data for welding a desired weld seam. To permit ready exchange of the welding hand (24) and the sensing hand (22) relative to the manipulator arm, and also for hand storage purposes, a hand tool station (26) is provided which supports the welding hand (24) and the sensing hand (22) when not in use. The hand tool station 26 has a fixture (42) which interfits with the welding hand (24) and a fixture (40) which interfits with the sensing hand (22). |
