Machine vision seam tracking method and apparatus for welding robots

Abstract

The invention relates to a machine vision seam tracking method and apparatus for welding robots, particularly to an apparatus which can automatically detect the deviation between an actual welding seam and a taught path where the apparatus so as to correct the welding path, comprises an image forming means and an image processor. Through the image forming means, a light coming from a common light source, after being condensed and transmitted, can be projected onto a workpiece to form a line of light across the welding seam. A solid state camera disposed along the direction of the welding seam can detect the image of the welding seam which in turn is transmitted to the image processor. The image processor preferably is a microcomputer which comprises software for processing the images respectively formed by the butt, fillet, lap and V-groove joints so as to calculate the deviation, including the positional error across the welding seam as well as the distance variation between the welding torch and the workpiece (the so called height of the welding torch), existing between the actual welding seam and the taught path. A controller of the welding robot can convert the error signals of the welding path into the corresponding data by which the coordinates of the welding robot can be corrected to align with the actual welding seam.

Dependencies are inferred from the claim text.