JPH06106351A - Automatic welding equipment - Google Patents

Abstract

(57) [Summary] [Structure] A turning roller 3 for rotatably supporting the tubular body 1 about an axis, a CCD camera 8 for capturing an image of a reinforcing band 2 held by being wrapped around the tubular body 1, and a reinforcing member. A robot arm 6 for holding a welding torch 8 for welding the cut 2a of the band 2 so as to be reversible in the opposite direction to the front and back; an image processing device 9 for image-processing the image captured by the CCD camera 8;
The sequencer 5 controls the driving of the turning roller 3 and receives a signal output from the image processing device 9 to position the cut 2a of the reinforcing band 2 so as to correspond to the CCD camera 8. [Effect] The cut 2a of the reinforcing band 2 by image processing
Is detected, the reinforcing band 2 is positioned, and the robot arm 6 moves the welding torch 7 to automatically weld the cut 2a of the reinforcing band 2 to obtain a certain quality.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic welding apparatus for welding a joint portion or the like of a reinforcing band of a spiral steel pipe.

[0002]

2. Description of the Related Art Conventionally, a reinforcing steel band is attached around the spiral steel pipe, and a cut of the reinforcing band is welded and fixed to the spiral steel pipe as a joint. This welding work is performed manually by a worker.

[0003]

However, according to the above-mentioned conventional structure, since the quality of welding is judged by the subjectivity of the operator, the welding quality varies.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object of the present invention is to provide an automatic welding apparatus which can obtain a certain quality by automatically welding.

[0005]

In order to solve the above-mentioned problems, an automatic welding apparatus of the present invention includes a turning roller for rotatably supporting a tubular body around an axis and a hugging arrangement for the tubular body. A robot arm that holds the industrial TV camera that takes an image of the reinforcing band and a welding torch that welds the breaks in the reinforcing band so that they can be reversed in the opposite direction, and an image that processes the image taken by the industrial TV camera. A processing device and a control device that controls the driving of the turning roller and receives a signal output from the image processing device to position the break of the reinforcing band so as to correspond to the industrial television camera. is there.

[0006]

With the above structure, the robot arm is driven to hold the industrial television camera at a position where the reinforcing band can be imaged. In this state, drive the turning roller,
An image taken by an industrial television camera is image-processed by an image processing device while rotating the tube body around the tube axis, and a break in the reinforcing band is detected. Then, when the break is detected, a signal is sent from the image processing device to the control device, the driving of the turning roller is controlled by the control device, and the tube is rotated so that the break of the reinforcing band corresponds to the industrial TV camera. Stop. In this state, reverse the industrial TV camera and welding torch in the opposite directions, position the welding torch at the break of the reinforcing band, and drive the robot arm to move the welding torch along the cut of the reinforcing band. While doing so, welding is performed at the break of the reinforcing band.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. In FIG. 1, a tubular body 1 is a spiral steel pipe, and a split reinforcing band 2 is attached to the body. The tubular body 1 is horizontally arranged on the turning roller 3, and the turning roller 3 rotates the tubular body 1 about its axis and has a servo motor 4. Also,
A sequencer 5 for controlling driving is connected to the servo motor 4.

A robot arm 6 is arranged above the pipe body 1, and a welding torch 7 and a CCD camera 8 which is an industrial television camera are provided at the tip of the robot arm 6 at 180 ° C. in opposite directions. It is provided so that it can be inverted. Further, the robot arm 6 includes a welding torch 7 and a CCD camera 8
Can be moved along the tube axis direction or to any position within the reach of the arm.

An image processing device 9 is connected to the CCD camera 8, and the image processing device 9 performs image processing on the image captured by the CCD camera 8 to form a cut 2 in the reinforcing band 2.
a is detected. The image processing device 9 is also connected to the sequencer 5.

The operation of the above structure will be described below.
The turning roller 3 is driven by the servo motor 4,
While rotating the tube 1 around the tube axis, the CCD camera 8
The reinforcing band 2 is imaged with. Furthermore, CCD camera 8
The image captured by the image processing device 9 is image-processed by the image processing device 9, and the cut 2a of the reinforcing band 2 is detected.

Then, when the break 2a is detected, a signal is sent from the image processing device 9 to the sequencer 5, and the driving of the turning roller 3 by the servomotor 4 is controlled by the sequencer 5 so that the break 2a of the reinforcing band 2 is a CCD camera. 8
The rotation of the tubular body 1 is stopped so as to correspond to. At this time,
Accurate positioning can be performed by counting the pulses from the reception of the stop signal to the stop and rotating the servo motor 4 in the reverse direction at a low speed.

Then, with the tube 1 and the reinforcing band 2 positioned, the CCD camera 8 and the welding torch 7 are reversed in the opposite directions, and the welding torch 7 is positioned at the cut 2a of the reinforcing band 2. Welding is performed at the cut 2a of the reinforcing band 2 while driving the robot arm 6 to move the welding torch 7 along the cut 2a of the reinforcing band 2.

[0013]

As described above, according to the present invention, the break of the reinforcing band is detected by image processing to position the reinforcing band, and the break of the reinforcing band is moved while the welding torch is moved by the robot arm. A certain quality can be obtained by automatically welding.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing a configuration of an automatic welding apparatus according to an embodiment of the present invention.

[Explanation of symbols]

 1 Tube 2 Reinforcing Band 3 Turning Roller 4 Servo Motor 5 Sequencer 6 Robot Arm 7 Torch 8 CCD Camera 9 Image Processing Device

Claims (1)

[Claims] 1. A welding for welding a turning roller for rotatably supporting a tubular body around an axis, an industrial television camera for picking up an image of a reinforcing band arranged so as to be held by the tubular body, and a break in the reinforcing band. A robot arm that holds the torch so that it can be flipped in the opposite direction to the front and back, an image processing device that processes the image captured by an industrial TV camera, and a signal that is output from the image processing device that controls the drive of the turning roller. An automatic welding device, comprising: a control device for receiving and positioning a break of a reinforcing band so as to correspond to an industrial television camera.