工业自动焊机一般都装备有跟踪装置,当焊枪沿接缝运动时用它控制焊枪相对待焊焊缝的位置。大多数市售跟踪装置用探测器跟踪焊缝。市场上很少见到非接触跟踪装置,通常这些跟踪装置都采用超声或电容原理。最近出版的一些刊物介绍了光学焊缝跟踪装置的研制情况。Drews和King[1,2,4]所 Industrial automatic welders are generally equipped with tracking devices that control the position of the welding gun relative to the weld to be welded as it moves along the seam. Most commercially available tracking devices track the weld with a detector. Few contactless tracking devices are found on the market, and these tracking devices often employ either ultrasonic or capacitive principles. Some recently published publications describe the development of optical seam tracking devices. Drews and King [1,2,4]