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    • 2. 发明授权
    • Method of welding three-dimensional structure and apparatus for use in such method
    • 三维结构焊接方法及其使用方法
    • US07239736B2
    • 2007-07-03
    • US10302934
    • 2002-11-25
    • Ken FujitaToshihiko TsunataniTomoaki KitagawaMasahiko MegaYasushi Takeuchi
    • Ken FujitaToshihiko TsunataniTomoaki KitagawaMasahiko MegaYasushi Takeuchi
    • G06K9/00
    • B23K26/24B23K9/1274B23K26/044B23K37/00
    • 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.
    • 当通过焊接多个构件形成三维结构时,可以进行与三维形状相匹配的精确的焊接。 基于三维结构的设计数据,以预定间隔在每个焊接线上确定的每个焊接点处的三维位置的教学数据被存储在存储器18中。 激光狭缝光传感器(激光狭缝光发射部分12和CD相机13)由总控制器17经由照相机控制器14控制以拍摄焊接点,以获得焊接点的图像数据。 图像处理装置16处理图像数据以确定与焊接点的设计数据的偏差量。 总控制器根据与焊点设计数据的偏差量修改教学数据,建立修改后的教学数据,控制焊接头,使其按照修改后的教学数据移动。