Method of welding three-dimensional structure and apparatus for use in such method
First Claim
1. A method of welding a three-dimensional structure including a cylindrical portion, the method used when forming the three-dimensional structure by combining and connecting a plurality of members by welding along welding lines, the method comprising:
- determining in a first step, three-dimensional positions of welding points on at least one of said welding lines at a predetermined spacing on the basis of design data of said three-dimensional structure;
determining an amount of deviation of position from the design data at the welding points from an image obtained by photographing the at least one welding line at the welding points by moving a light emitting section in a direction of x, y, and z axes and rotating work around its rotation axis so that the laser slit light irradiates the groove of the welding line when it crosses the welding line, and a CCD camera being positioned so that it receives the laser slight light from the direction slanting by a determined angle with regard to the emitting direction of the laser slight light;
determining the amount of deviation of position from the design data in a vertical direction, gap width and amount of deviation from a designated seam line at the welding points from an image obtained from a CCD camera by light section method as a first deviation; and
determining the amount of deviation of position from the design data in a horizontal direction by shading method from said obtained image, said obtained image being processed as a second deviation,a second step in which the teaching data corrected by said amount of deviation of position from the design data is obtained as modified teaching data; and
a third step in which welding is performed along said at least one welding line in accordance with said modified teaching data.
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Accused Products
Abstract
When a three-dimensional structure is formed by welding a plurality of members, accurate welding can be performed matching the three-dimensional shape. The teaching data consisting of the three-dimensional position at each of the welding points determined on each of the welding lines at a predetermined spacing on the basis of the design data of the three-dimensional structure is stored in a memory 18. A laser slit light sensor (a laser slit light emitting section 12 and a CD camera 13) is controlled by a total controller 17 via a camera controller 14 to photograph the welding point in order to obtain the image data of the welding point. An image processing apparatus 16 processes the image data to determine the amount of deviation from the design data of welding points. The total controller modify the teaching data on the basis of the amount of deviation from the design data of welding points to establish the modified teaching data and controls a welding head so that it moves according to the modified teaching data.
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Citations
6 Claims
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1. A method of welding a three-dimensional structure including a cylindrical portion, the method used when forming the three-dimensional structure by combining and connecting a plurality of members by welding along welding lines, the method comprising:
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determining in a first step, three-dimensional positions of welding points on at least one of said welding lines at a predetermined spacing on the basis of design data of said three-dimensional structure; determining an amount of deviation of position from the design data at the welding points from an image obtained by photographing the at least one welding line at the welding points by moving a light emitting section in a direction of x, y, and z axes and rotating work around its rotation axis so that the laser slit light irradiates the groove of the welding line when it crosses the welding line, and a CCD camera being positioned so that it receives the laser slight light from the direction slanting by a determined angle with regard to the emitting direction of the laser slight light; determining the amount of deviation of position from the design data in a vertical direction, gap width and amount of deviation from a designated seam line at the welding points from an image obtained from a CCD camera by light section method as a first deviation; and determining the amount of deviation of position from the design data in a horizontal direction by shading method from said obtained image, said obtained image being processed as a second deviation, a second step in which the teaching data corrected by said amount of deviation of position from the design data is obtained as modified teaching data; and a third step in which welding is performed along said at least one welding line in accordance with said modified teaching data. - View Dependent Claims (2, 3)
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4. An apparatus for welding a three-dimensional structure including a cylindrical portion formed from a plurality of members by welding along welding lines, comprising:
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a memory means for storing teaching data comprising three-dimensional positions of welding points determined on at least one of said welding lines at a predetermined spacing based on design data of said three-dimensional structure and as well as for storing normal vectors at the welding points, a photographing means for photographing said welding points in order to obtain image data thereof according to said teaching data, an image processing means for determining an amount of deviation of position from the design data at said welding points by moving a light emitting section in a direction of x, y, and z axes and rotating work around its rotation axis so that the laser slit light irradiates the groove of the welding line when it crosses the welding line, and a CCD camera being positioned so that it receives the laser slight light from the direction slanting by a determined angle with regard to the emitting direction of the laser slight light, determining the amount of deviation of position from the design data in a vertical direction, gap width and amount of deviation from a designated seam line at the welding points from an image obtained from a CCD camera by light section method as a first deviation, determining the amount of deviation of position from the design data in a horizontal direction by shading method from said obtained image, said obtained image being processed as a second deviation, and processing said image data, and a control means for determining modified teaching data by modifying said teaching data according to said amount of deviation of position from the design data, said control means controlling a welding head so that the welding head moves and welds along said at least one welding line in accordance with said modified teaching data. - View Dependent Claims (5, 6)
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Specification