Weld line detection device null for arc welding robot

摘要

PURPOSE:To obtain an apparatus, which can be applied to a material to be welded having various shapes, by observing and processing both images of slit light itself on the material to be measured and an image, which is generated by the projection of the reflected light from the other surface of the material. CONSTITUTION:A manipulator, which holds and moves a welding torch 3, is controlled with a control device. The image of a material to be measured 6, which is formed with slit light projected from a slit light source 2, is observed with a camera 1. The first reflected light is the image of the projected slit light itself. The second reflected light is the image, which is formed with the projection of the first reflected light on the other surface. Both reflected images are processed in an image processing device. In this way, the light source 2 and the camera 1 can be arranged in the vicinity of the torch 3 and a wrist rotating shaft 7. The interference between the light source 2 and the object to be measured 6 of the camera 1 can be avoided. Restrictions on the shape of the object to be measured 6 can thus be eliminated.