Positional information detecting method in arc welding

• US 4,951,218 A
• Filed: 03/07/1988
• Issued: 08/21/1990
• Est. Priority Date: 07/15/1986
• Status: Expired due to Fees

• Current Assignee: Kabushiki Kaisha Yaskawa Denki Seisakusho
• Original Assignee: Kabushiki Kaisha Yaskawa Denki Seisakusho
• Inventors: Ito, Hiroaki, Nishikawa, Seigo, Nakazato, Tatsumi, Okumura, Shinji
• Primary Examiner(s): Ruggiero, Joseph
• Application Number:
  US07/187,664
• Time in Patent Office: 897 Days
• Field of Search: 364/513, 364/477, 901/42, 901/47, 219/124.34, 219/121.79
• US Class Current: 700/212
• CPC Class Codes: B23K 9/0956 using sensing means, e.g. optical
• CPC Class Codes: B23K 9/1274 Using non-contact, optical means, e.g. laser means
• CPC Class Codes: B23Q 35/128 Sensing by using optical means
• CPC Class Codes: B25J 9/1684 Tracking a line or surface by means of sensors

Abstract

Herein disclosed is a method of detecting information on an arc welding position by monitoring the shape and/or position of an welding arc. When in the arc welding along a welding groove position while locating the same, the shape of the arc is picked up from above the joint portion of a member to be welded by means of an image pickup device, and the arc shape picked up is binary-coded. This binary arc shape and/or position are monitored to detect the welding groove position, the height of the welding torch, the welding start point, the welding end point, the external corner point, the internal corner point, the contact point of the welding wire with the work, and the welding groove gap.

Claims

1. In an arc welding along a welding groove position while locating the welding groove position, a welding groove position locating method for locating a welding groove position, comprising the steps of:

locating an image pickup device above a joint portion of a member to be welded;

presetting a vertical axis of a window of said image pickup device to correspond with a weld line;

detecting an image of the shape of an arc by means of said image pickup device;

binary-coding the detected image of the shape of the arc;

scanning said binary-coded image of the shape of the arc within said window from a top corner of said window along the horizontal direction of said window; and

detecting the welding groove position on the basis of a point where a first change occurs in said binary level while scanning.

2. A welding groove position locating method according to claim 1, further including the step of making said image pickup device integral with a welding torch so that said image pickup device can detect the image following movement of said welding torch.