Welding position detection device, welding position detection method, and welding robot system
Provided is a welding position detection device capable of improving the welding position detection accuracy. The welding position detection device includes a calculation unit that irradiates two members to be joined with laser light to calculate approximate straight lines of the respective members, calculates an end portion of one member of the two members on the basis of the approximate straight line of the one member, and calculates a virtual straight line which is a straight line connecting the calculated end portion of the one member and the approximate straight line of the other member of the two members and having a specific angle with respect to the approximate straight line of the one member, and a detection unit that detects an intersection point of the calculated virtual straight line and the approximate straight line of the other member as a welding position.
1. A welding position detection device comprising:
a calculation unit; and
a detection unit;
wherein the calculation unit irradiates two members to be joined with laser light to calculate approximate straight lines of the respective members;
the calculation unit calculates an end portion of one member of the two members on the basis of the approximate straight line of the one member;
the calculation unit calculates a virtual straight line which is a straight line connecting the calculated end portion of the one member and the approximate straight line of the other member of the two members and having a specific angle with respect to the approximate straight line of the one member;
the calculation unit radiates laser light from the end portion of the one member toward the other member side in a direction forming a specific angle with the approximate straight line of the one member and calculates a second approximate straight line in the one member, wherein the calculation unit further calculates the virtual line when the second approximate straight line has a length less than a predetermined prescribed length; and
wherein the detection unit that detects an intersection point of the calculated virtual straight line and the approximate straight line of the other member as a welding position.
2. The welding position detection device according to claim 1 , wherein
the prescribed length is equal to or less than the thickness of the one member.
3. The welding position detection device according to claim 1 , wherein when the second approximate straight line is not less than the predetermined prescribed length, the detection unit detects an intersection point of the second approximate straight line and the approximate straight line of the other member as a welding position.
4. The welding position detection device according to claim 1 , further comprising
an estimation unit that, when the calculation unit does not calculate the end portion of one member within a predetermined end portion detection range, estimates a welding position by calculating a present intersection point on the basis of a plurality of intersection points detected by the detection unit in a previous detection cycle and thereby instead of detecting the intersection point by the detection unit.
5. The welding position detection device according to claim 1 , wherein
the two members are welded by a lap joint.
6. The welding position detection device according to claim 5 , wherein
a part of the lap joint is tacked by fillet welding.
7. The welding position detection device according to claim 1 , wherein
the specific angle is substantially a right angle.
8. A welding position detection method controlled by a processor, the method comprising:
irradiating two members to be joined with laser light and calculating approximate straight lines of the respective members;
calculating an end portion of one member of the two members on the basis of the approximate straight line of the one member;
calculating a virtual straight line which is a straight line connecting the calculated end portion of the one member and the approximate straight line of the other member of the two members and having a specific angle with respect to the approximate straight line of the one member;
detecting an intersection point of the calculated virtual straight line and the approximate straight line of the other member as a welding position; and
radiating laser light from the end portion of the one member toward the other member side in a direction forming a specific angle with the approximate straight line of the one member and calculates a second approximate straight line in the one member, wherein
calculating the virtual line when the second approximate straight line has a length less than a predetermined prescribed length.
9. A welding robot system comprising:
a welding robot that performs welding; and
a welding position detection device, including a calculation unit that irradiates two members to be joined with laser light to calculate approximate straight lines of the respective members;
the calculation unit calculates an end portion of one member of the two members on the basis of the approximate straight line of the one member;
the calculation unit calculates a virtual straight line which is a straight line connecting the calculated end portion of the one member and the approximate straight line of the other member of the two members and having a specific angle with respect to the approximate straight line of the one member;
the calculation unit radiates laser light from the end portion of the one member toward the other member side in a direction forming a specific angle with the approximate straight line of the one member and calculates a second approximate straight line in the one member, wherein
the calculation unit calculates the virtual line when the second approximate straight line has a length less than a predetermined prescribed length; and
a detection unit that detects an intersection point of the calculated virtual straight line and the approximate straight line of the other member as a welding position.