Invention title: Welding motion measurement system
Technical field
[0001]
　The present invention relates to a welding motion measuring system that measures welding motion.
Background technology
[0002]
　With the recent social situation, the manufacturing environment has changed drastically. For example, due to an increase in overseas production, an increase in products procured from overseas, and a decrease in skilled engineers, it is becoming difficult to maintain manufacturing skills, and quality control is exposed to a more severe situation. Until now, the skill transfer method has been handed down by direct guidance from skilled technicians. However, there are not enough means to convey skills, and it is often a sensory instruction, so it takes time to teach and it is transmitted inaccurately, so it is not completely transmitted and is lost. Is also worried.
[0003]
　On the other hand, with the development of measurement technology in recent years, efforts to measure and evaluate skilled skills have come to be seen. As a method of solving the problems in the conventional skill transfer, efforts are being made to measure and evaluate the work of the target person using various measuring devices. By comparing the measured data with the data measured in the past, the quality is evaluated, and a method used for quality control and welding work training has been proposed.
[0004]
　In Patent Document 1, when manual welding is performed, data on the welding environment including the welding target and the behavior of the welder during the welding work is measured, and the characteristic amount of the welding state during the welding is calculated from the measurement data. A method of controlling welding quality by extracting and determining the quality of the manual welding state and transmitting the result to a welder is disclosed.
Prior art literature
Patent documents
[0005]
Patent Document 1: Japanese Unexamined Patent Publication No. 2001-171140
Outline of the invention
Problems to be solved by the invention
[0006]
　The method of Patent Document 1 describes that the movement is managed by acquiring the movement of the welder in three-dimensional coordinates, but a detailed method such as a measurement principle is not described.
[0007]
　Further, when the shape of the object to be welded becomes complicated, the positional relationship between the object to be welded and the welder cannot be accurately measured, and it is difficult to obtain relative information.
[0008]
　In view of the above, it is an object of the present invention to provide a welding motion measurement system capable of accurately measuring the positional relationship between a welding object and a welder and acquiring three-dimensional coordinate data of an accurate workpiece shape. ..
Means to solve problems
[0009]
　In order to solve the above problems, the welding motion measurement system of the present invention measures the light reflected from the light irradiation unit that irradiates light and the marker attached to the work or torch that reflects the irradiated light. , The 3D coordinate measurement unit that calculates the 3D coordinate data of the work and the torch, and the coordinate data of the shape of the work by digitizing the shape of the work based on the input 3D graphic data and 3D coordinate data of the work. It is configured to have a calculation unit to be generated.
[0010]
　As the light irradiation unit, either one that irradiates light having a predetermined wavelength or one that irradiates light having a predetermined wavelength range may be used. Further, instead of the light irradiation unit, a self-luminous marker attached to the work or torch may be used.
[0011]
　Further, when a light irradiation unit that irradiates light having a predetermined wavelength range is used, a filter for extracting light having a specific wavelength is provided, and the three-dimensional coordinate measurement unit identifies the light reflected from the marker. It is preferable to use one that measures light of the same wavelength.
Effect of the invention
[0012]
　It is possible to provide a welding motion measurement system that can accurately measure the positional relationship between a welding object and a welder and acquire three-dimensional coordinate data of an accurate workpiece shape.
A brief description of the drawing
[0013]
FIG. 1 is an overall view showing an embodiment of a welding work measurement system according to an embodiment of the present invention.
FIG. 2A is an enlarged view of the periphery of the torch according to the embodiment of the present invention.
FIG. 2B is an enlarged view of a torch according to an embodiment of the present invention.
FIG. 3 is a schematic diagram showing an example of a method for acquiring coordinate data of a welding object according to an embodiment of the present invention.
FIG. 4 is a diagram showing an example of marker coordinate data of a welding object according to an embodiment of the present invention.
[Fig. 5] Fig. 5 is a diagram showing measurement results of welding work data at welding time and welding position.
FIG. 6 is a diagram showing another embodiment (quality control system) of the welding work measurement system according to the embodiment of the present invention.
[Fig. 7A] It is a figure which shows the relationship of quality with respect to the average moving speed of a torch.
[Fig. 7B] It is a figure which shows the relationship of quality with respect to the angular velocity of a torch.
[Fig. 8A] Fig. 8A is a diagram showing the measurement results of the average moving speed of the torch during the welding time.
[Fig. 8B] Fig. 8B is a diagram showing the measurement results of the angular velocity of the torch during the welding time.
FIG. 9 is a diagram showing another embodiment (education system) of the welding work measurement system according to the embodiment of the present invention.
[Fig. 10A] Fig. 10A is a diagram showing a training result of an average moving speed of a torch during welding time.
[Fig. 10B] It is a figure which shows the training result of the angular velocity of the torch at the welding time.
Mode for carrying out the invention
[0014]
　Hereinafter, each embodiment will be described with reference to the drawings.
Example 1
[0015]
　FIG. 1 shows an overall view of the welding work measurement system according to the first embodiment.
[0016]
　1 is a control unit (control device), 2a, 2b, 2c, 2d, 2e are markers measurement cameras, 3 is a marker, 4 is a welder, 5 is a light-shielding surface, 6 is a torch, 7 is an object to be welded, and 8 is. Semi-automatic welding power supply, 9 is a current / voltage measuring device, 10 is a temperature / humidity / wind force measuring device, and 11 is an absorbing film. The control unit (control device) 1 is, for example, an arithmetic processing unit (for example, a CPU), a storage device for storing programs and data executed by the arithmetic processing unit (for example, a semiconductor memory such as a ROM or RAM, an HDD, or the like). It is a magnetic storage device, and is a computer having a "storage unit" described later) and a display device (for example, a monitor, a touch panel) for displaying the calculation result of the calculation processing device.
[0017]
　The work of welding the object 7 to be welded by the welder 4 who is a worker by semi-automatic welding is measured. The marker measurement cameras 2a, 2b, 2c, 2d, and 2e, which are light irradiation units, are arranged around the welder 4 and the object to be welded 7. The marker measurement cameras 2a, 2b, 2c, 2d, and 2e can set a wavelength of light of 350 nm to 11 μm and irradiate the light so as to avoid the wavelength of light during arc welding. In this embodiment, it is assumed that light of 850 nm is irradiated. The marker 3 is attached to the object to be welded 7 (work 18), the torch 6, the welder 4, the light-shielding surface 5, the filler metal 19, and the like, and may be one that reflects light or one that emits light by itself. In this embodiment, a marker coated with a paint that reflects light is used. In the present invention, at least a marker may be provided on the torch 6 and the object to be welded 7, and more detailed coordinate data can be obtained by providing the marker on the welder 4, the light-shielding surface 5, the filler metal 19, and the like. It becomes possible. The marker measurement cameras 2a, 2b, 2c, 2d, 2e, the current / voltage measuring device 9, and the temperature / humidity / wind force measuring device 10 are connected to the control unit 1, and each measuring device controls its operation by the control unit 1. Work data, current value, voltage value, temperature such as average moving speed of torch, torch height, weaving condition, torch angle, supply amount of filler metal, elbow angle with torch, head position, etc. Environmental data such as humidity and wind power are sent to the control unit 1 and stored as accumulated data in the storage unit in the control unit 1. Further, the control unit 1 has a function of displaying the measured data.
[0018]
　FIG. 2A shows an enlarged view of the periphery of the torch 6, and FIG. 2B shows an enlarged view of the torch 6. A substance that absorbs light having a predetermined wavelength of 850 nm, here, an absorbing film 11 is attached to the entire surface of the torch 6. A plurality of markers 3 are mounted on the absorbing film 11, and light from the marker measuring cameras 2a, 2b, 2c, 2d, and 2e is reflected by the marker 3 to measure the accurate position of the marker 3. Can be done. The light emitted during arc welding also includes light of 850 nm, and the light is reflected from a place other than the marker 3 and measured. Therefore, by attaching the absorbing film 11 to the torch, it is possible to suppress the reflection of light from a place other than the marker 3 and suppress noise, and a highly accurate measurement result can be obtained. When the welder 4 starts welding, a measurement start signal is sent from the control unit 1 to each measuring device (marker measuring device which is a light irradiation device, current / voltage measuring device 9, temperature / humidity / wind measuring device 10). And the measurement is started. As described above, the measured accumulated data is sequentially sent to the control unit 1 and recorded in the storage unit.
[0019]
　The storage unit also stores three-dimensional graphic data, which is input three-dimensional CAD data, and calculated three-dimensional coordinate data, which will be described later. Further, although it is described that the storage unit is provided inside the control unit 1, it may be provided outside the control unit 1.
[0020]
　FIG. 3 shows a schematic diagram of a method of acquiring the coordinate data of the welding object 7 from the three-dimensional drawing data and the coordinate data of the marker 3 attached to the welding object 7.
[0021]
　The control unit 1 is from the marker 3 attached to the welded object 7 (work 18) and the torch 6 that reflects the light irradiated by the marker measuring cameras 2a, 2b, 2c, 2d, 2e, which are light irradiation devices. The 3D coordinate measurement unit 21 that measures the reflected light and calculates the 3D coordinate data of the work 18 and the torch 6, and the shape of the work 18 is coordinated based on the 3D graphic data and the 3D coordinate data, and the work It includes a calculation unit 22 that generates coordinate data of 18 shapes. The calculation unit 22 matches the input three-dimensional graphic data of the work 18 with the three-dimensional coordinate data, and calculates the deviation amount. The deviation amount calculation unit 23 and the shape of the work 18 based on the calculated deviation amount. It is configured to include a correction unit 24 for correcting the coordinate data of. The three-dimensional coordinate measurement unit 21, the deviation amount calculation unit 23, and the correction unit 24 show the functions of the program executed by the arithmetic processing unit of the control unit 1 which is a computer. Details will be described below.
[0022]
　The three-dimensional drawing data 12 of the object to be welded 7 is three-dimensional CAD data stored or input in advance, and the marker coordinate data 13a, 13b, 13c, 13d, 13e, 13f, 13g of the object to be welded 7 are used. A certain three-dimensional coordinate data is the position coordinate data of each marker 3 shown in FIG. 4 measured by the marker measurement cameras 2a, 2b, 2c, 2d, and 2e, and is the position coordinate data of each marker 3 with reference to a predetermined position. I have coordinate data. The control unit 1 has a database that is a storage unit in which the three-dimensional drawing data 12 of the welding object 3 is stored in advance, and indicates the positions of the three-dimensional drawing data 12 and the marker 3 attached to the welding object 3. By matching the marker coordinate data 13a, 13b, 13c, 13d, 13e, 13f, 13g with the deviation amount calculation unit 23 of the control unit 1, each marker coordinate data 13a, 13b, 13c, 13d, 13e, 13f, The shape of the object to be welded 3 can be digitized from 13 g. Further, due to deformation during manufacturing or the like, the welding object 7 and the three-dimensional drawing data 12 may not completely match, that is, the three-dimensional coordinate data of the welding object 7 and the input three-dimensional drawing data may not match. In this case, the matching data, that is, the data of the amount of deviation (difference) between the three-dimensional drawing data 12 and the marker coordinate data 13a, 13b, 13c, 13d, 13e, 13f, 13g, is deformed by the correction unit 24. It is possible to predict the amount, offset-correct the torch position by the ideal torch operation determined in advance, and present it to the welding operator.
[0023]
　From the coordinate data of the object to be welded 7 and the coordinate data of the torch 6 and the marker 3 of the welder 4, it is possible to calculate the measurement result (positional relationship) of the welding time and the welding work data at the welding position as shown in FIG. By calculating the coordinate data of the object to be welded 7, it is possible to calculate the welding time, the height of the torch with respect to the welding position, and the angle of the right elbow. The control unit 1 can calculate the position, velocity, angle, locus, acceleration, angular velocity, etc. from the coordinate data that can be acquired from each marker. That is, the welding operation of a skilled person and the welding operation of a beginner can be acquired as data, and the welding operation can be quantitatively evaluated.
[0024]
　From the coordinate data measured by the torch 6, the work, the filler material, and the marker 3 attached to the operator, the filler feed amount, the movement of the torch 6 in the welding progress direction, the deformation amount of the work, and the right. The angle of the elbow was calculated. From the calculated filler feed amount and the movement of the torch 6 in the welding progress direction, it was confirmed that the filler metal and the torch have a periodic operation pattern that repeats stationary and moving.
[0025]
　It was also confirmed that the angle of the right elbow was also increased in conjunction with the torch movement. Further, as a result of calculating the deformation amount of the work from the coordinates of the marker 3 attached to the work, it was confirmed that it increased with the welding time. By quantitatively evaluating the amount of deformation on the spot, the amount of deformation can be offset to the torch coordinates at the time of measuring the next welding path, and the relative position of the torch 6 with respect to the work can be measured with high accuracy. By attaching the marker 3 to the torch 6, the work, the filler material, and the operator and measuring the relative positional relationship in this way, it is possible to evaluate the interlocking movement with high accuracy.
[0026]
　From the above, in the welding work measurement system of this embodiment, the positional relationship between the work to be welded and the torch to which the marker possessed by the welder is attached, that is, the positional relationship between the object to be welded and the welder can be accurately measured. , It is possible to provide a welding motion measurement system that acquires three-dimensional coordinate data of an accurate workpiece shape.
[0027]
　Although semi-automatic welding has been described in this embodiment, the same measurement can be performed by TIG welding or the like, and even when a filler metal is used, it can be measured in the same manner by attaching a marker to the filler metal.
[0028]
　Further, in this embodiment, the marker is recognized by irradiating the light irradiation unit with light having a predetermined wavelength (850 nm), but a light source having a wide wavelength range (predetermined wavelength range) is used as the light irradiation unit. You may. In that case, the three-dimensional coordinate measuring unit is provided with a filter that extracts light of a specific wavelength from the reflected light, and can measure the light of a specific wavelength among the light reflected from the marker attached to the work or torch. preferable.
[0029]
　When a self-luminous marker is used instead of a light-reflecting marker, either a marker that emits light having a predetermined wavelength or a marker that emits light having a wide wavelength range (predetermined wavelength range) is used. You can also choose. When the latter marker having a wide wavelength range is selected, it is preferable to use a filter that extracts light of a specific wavelength as in the case of the reflection type marker. Further, the marker may be provided with a filter function for reflecting light of a specific wavelength.
Example 2
[0030]
　FIG. 6 shows an overall view when the welding work measurement system of the first embodiment is used as a quality control system.
[0031]
　An inertial sensor 14, which is an acceleration angular velocity measuring device, is provided on the torch 6 to measure 3-axis acceleration and 3-axis angular velocity. The welding method and the welding object 7 are the same as those in the first embodiment.
[0032]
　Work data such as welding work operation data, welding state data, welding environment data, and welding part quality data acquired in the past are stored in advance, and welding work operation data and welding newly measured by the measuring part. The quality of the welded part is judged by the quality judgment part by comparing with the work data such as the state data and the welding environment data. This quality determination unit can also evaluate the work level of the welder.
[0033]
　In addition to the acceleration / angular velocity / geomagnetic measuring device such as the inertial sensor 14 described above, the welding work operation data may be measured by a global positioning system, an indoor global positioning system, a stereo camera, or the like.
[0034]
　Specifically, when welding the object to be welded 7, the measured marker coordinate data stored in the storage unit in the configuration of the first embodiment, the torch height and the welding time as shown in FIG. 5, and the welding Using accumulated data such as position data, elbow angle with torch (right elbow angle in Fig. 5), welding time and welding position data, measured torch height, welding time and welding position data , The angle of the right elbow is compared with the data of welding time and welding position, and the result is used for quality control. This will be described below.
[0035]
　As a result of correlation analysis with quality from the accumulated data of Example 1, the average moving speed of the torch and the torch angular velocity were extracted as feature quantities having a strong correlation with quality. FIG. 7A shows the relationship of quality with respect to the average moving speed of the torch, and FIG. 7B shows the relationship of quality with respect to the angular velocity of the torch. The average moving speed (welding speed) of the torch is good when it is about 20 to 30 cm / min, and when the torch angular velocity is 500 degree / s or more for 1 second or more, the bead appearance becomes poor. The results of measurement during welding are shown in FIGS. 8A and 8B. As a result of data analysis performed by the control unit 1, the average moving speed was in a good range as shown in FIG. 8A, and was 26.7 cm / min. On the other hand, as shown in FIG. 8B, there was a region in which the angular velocity of the torch continuously exceeded 500 degrees / s for 1.7 s or more. As a result of visually observing the appearance, the bead appearance of the relevant portion was disturbed, and it was judged that the appearance was poor. Immediately after welding, it is possible to estimate the type and location of defects. In this way, it was confirmed that the feature quantity having a strong correlation with the quality can be extracted with the configuration of Example 1 and the quality can be controlled by using a simpler sensor such as an inertial sensor. In this embodiment, the average moving speed and the angular velocity of the torch are selected as the feature quantities, but the present invention is not limited to this, for example, the torch height, the weaving condition, the torch angle, the supply amount of the filler material, and the angle of the elbow holding the torch. , The position of the head, etc. may be used. An inertial sensor was used as a sensor for measuring the torch motion, but the present invention is not limited to this.
Example 3
[0036]
　FIG. 9 shows an overall view when the welding work measurement system of the first embodiment is used as an education system. Reference numeral 15 denotes a simulated component to be welded, 16 indicates a head-mounted display which is a display unit (display device), and 17 indicates a simulated torch.
[0037]
　The welded object simulated part 15 is the same as in the first and second embodiments. By using the welding work measurement system described above, it is possible to train the feature quantity analyzed to have a strong correlation with quality in Example 1 without actually welding, and it can be used as an educational system. ..
[0038]
　As the feature amount, the average moving speed and the angular velocity of the torch were selected as in Example 2. Therefore, the inertial sensor 14, which is a work data measuring unit capable of measuring and calculating these features, is attached to the torch as in the second embodiment (FIG. 6). A pattern for camera recognition is applied to the welding object simulated part 15 and the simulated torch 17, which are welding objects, and an image pickup unit (imaging device) such as a camera acquires an image of the pattern, and further , Acquire the position information of the welding object simulated part 15 and the simulated torch 17. As the imaging unit such as this camera, a camera installed on the head-mounted display 16 may be used. By recognizing the pattern with the camera of the head-mounted display 16, it is possible to display an image of the welding work including the simulated welding object 15 and the simulated torch 17 on the screen of the head-mounted display.
[0039]
　Further, the imaging unit may be a stereo camera. By using the stereo camera, it is possible to measure the positional relationship between the simulated part 15 of the welding object and the simulated torch 17, that is, to acquire three-dimensional distance information and position information. Until now, the marker provided on the torch was measured with a camera to obtain accurate position information of the marker, but if welding is not actually performed, a stereo camera can be used without using the marker. It is possible to measure the positional relationship between the simulated welding object 15 and the simulated torch 17 from the acquired three-dimensional distance data.
[0040]
　Based on the position information acquired by the imaging unit and the various work data described above, the three-dimensional coordinate measurement unit 21 calculates the three-dimensional coordinate data of the welded object simulated part 15 and the simulated torch 17, which are the welded objects. As described in the first embodiment, the calculation unit 22 coordinates the shape of the simulated welding object 15 based on the input three-dimensional graphic data and the three-dimensional coordinate data of the simulated welding object 15, and coordinates the simulated object 15 to be welded. The coordinate data of the shape of the simulated component 15 is generated.
[0041]
　The simulated torch 17 has a switch for starting welding, and if the switch is pressed, it is recognized as an energized state. When the torch tip is within a predetermined distance from the welded object simulated part 15 in the energized state, an arc is displayed on the head-mounted display which is a display unit, and a molten pool is displayed accordingly. When the welder 4 moves the simulated torch 17, the arc and the molten pool move accordingly. The control unit 1 can refer to the data accumulated in the past, and can reproduce the arc, the molten pool, the welding sound, and the welding current / voltage according to the operation of the torch. That is, based on the coordinate data of the shape of the welded object simulated part 15 generated on the head-mounted display which is the display unit and the work data stored in advance, the arc and the molten pool corresponding to the operation of the torch , Welding sound, welding current / voltage can be displayed to reproduce the image of welding work.
[0042]
　FIG. 10A shows the training result of the average moving speed of the torch during the welding time, and FIG. 10B shows the training result of the angular velocity of the torch during the welding time.
[0043]
　As can be seen from FIGS. 10A and 10B, the average moving speed of the torch and the angular velocity of the torch satisfy the ideal predetermined range (expert's operating range) stored in advance, and good welding can be obtained. It was a torch operation. In this way, the welder can train the torch movement to be trained safely and without consuming the object to be welded.
[0044]
　With this system, it is possible to accumulate accurate work data such as measured marker coordinate data, torch height and welding time and welding position data, and right elbow angle and welding time and welding position data. Therefore, it is possible to refer to the training history and manage the skill level of the work.
[0045]
　In this embodiment, an education system was constructed using a virtual system, but it is also possible to train while actually welding using an actual welding object and a torch.
[0046]
　As described above, in the present invention, the welding work operation can be accurately quantified, and by utilizing the numerical data in the education system and quality control, skill transfer can be efficiently carried out and manufacturing quality can be improved. It is possible to provide a welding motion measurement system that can be improved and contribute to the reduction of the defective rate.
Description of the sign
[0047]
　1 Control unit
　2a, 2b, 2c, 2d, 2e Marker measurement camera
　3 Marker
　4 Welder
　5 Light-shielding surface
　6 Torch
　7 Welding object
　8 Welding power supply
　9 Welding current / voltage measuring device
　10 Temperature / humidity / wind force measuring device
　11 Absorption the film
The scope of the claims
[Claim 1]

　Three-dimensional coordinate measurement that measures the light reflected from 　the light irradiation unit that irradiates light and the marker attached to the work or torch that reflects the irradiated light, and calculates the three-dimensional coordinate data of the work and torch. 　A welding work measurement system including a
　unit, a calculation unit that coordinates the shape of the work based on the input three-dimensional graphic data of the work and the three-dimensional coordinate data, and generates coordinate data of the shape of the
work.
[Claim 2]
　The welding work system according to claim 1,
　wherein the light irradiation unit irradiates light having a predetermined wavelength range, and the
　three-dimensional coordinate measurement unit includes a filter for extracting light of a specific wavelength. A welding work measurement system characterized by measuring light of the specific wavelength among the light reflected from the marker.
[Claim 3]
　The
　welding work measurement system according to claim 1, wherein the light irradiation unit irradiates light having a predetermined wavelength.
[Claim 4]
　A three-dimensional coordinate measurement unit that measures the light emitted from a light emitting marker attached to the work or torch and calculates the three-dimensional coordinate data of the work and the torch, and
　the three-dimensional graphic data of the input work and the third order.
　A welding work measurement system including a calculation unit that digitizes the shape of the work based on the original coordinate data and generates coordinate data of the shape of the work.
[Claim 5]
　In the welding work system according to claim 1, the
　calculation unit includes a deviation amount calculation unit that matches the input three-dimensional graphic data of the work with the three-dimensional coordinate data and calculates the deviation amount. A welding work measurement system including a correction unit that corrects coordinate data of the shape of the work based on the amount of deviation.
[Claim 6]
　The welding work measurement system according to claim 1,
　wherein the three-dimensional coordinate measurement unit measures light reflected from the work, the torch, the filler metal, and a marker attached to the worker, and the work, the work. A welding work measurement system that calculates three-dimensional coordinate data of the torch, the filler metal, and the worker.
[Claim 7]
　The welding work measurement system according to claim 5,
　wherein the correction unit predicts a deformation amount based on the deviation amount, and the
coordinates of the shape of the work calculated by the calculation unit based on the deformation amount. A welding work measurement system that corrects the coordinate data of the shape of the work based on the data.
[Claim 8]
　The welding work measurement system according to claim 5, further
　comprising a display unit that displays coordinate data of the shape of the work corrected by the correction unit.
[Claim 9]
　The welding work measurement system according to claim 1,
　wherein the torch is provided with a substance that absorbs the predetermined wavelength of the light emitted from the light irradiation unit.
[Claim 10]
　The welding work measurement system according to claim 1,
　wherein the wavelength of the light emitted from the light irradiation unit is 350 nm to 11 μm.
[Claim 11]
　The welding work measurement system according to claim 1
　, further comprising a storage unit for storing the measured or calculated three-dimensional coordinate data of the work and the torch.
[Claim 12]
　The welding work measurement system according to claim 1, based on
　a measuring unit that measures work data at a welding time or a welding position, work data
　stored in advance, and the work data measured by the measuring unit. Welding work measurement system with a quality judgment unit that determines the quality of the welded part.
[Claim 13]
　The welding work measurement system according to claim 12,
　wherein the work data includes the average moving speed of the torch, the torch height, the weaving condition, the torch angle, the supply amount of filler metal, the angle of the elbow holding the torch, and the head. The welding work measurement system
　, which is at least one data of the position, and the work data stored in advance is work data when a skilled worker welds in the past
.
[Claim 14]
　A simulated torch,
　a work data measuring unit that measures work data,
　an imaging unit that images a welding object and the simulated torch to acquire position information,
　a display unit that displays an image captured by the imaging unit, and the
　above. Based on the three-dimensional coordinate measurement unit that calculates the three-dimensional coordinate data of the welding object and the torch based on the work data and the position information, and the
　input three-dimensional graphic data of the welding object and the three-dimensional coordinate data. The
　display unit has a calculation unit that digitizes the shape of the welding object and generates coordinate data of the shape of the welding object, and the display unit includes the generated coordinate data of the shape of the welding object. A welding work measurement system that displays work data stored in advance and images of welding work generated from.
[Claim 15]
　The welding work measurement system according to claim 14,
　wherein the work data includes the average moving speed of the torch, the torch height, the weaving condition, the torch angle, the supply amount of filler metal, the angle of the elbow holding the torch, and the head. The welding work measurement system
　, which is at least one data of the position, and the work data stored in advance is work data when a skilled worker welds in the past
.
[Claim 16]
　The welding work measurement system according to claim 14,
　wherein the image of the welding work displayed on the display unit is an image of reproducing an arc and a molten pool corresponding to the operation of the simulated torch. ..