Machine vision seam tracking method and apparatus for welding robots

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