CN109807936A - Robot welding visual sensor for weld seam and molten bath monocular dibit picture synchronization collection - Google Patents
Robot welding visual sensor for weld seam and molten bath monocular dibit picture synchronization collection Download PDFInfo
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- CN109807936A CN109807936A CN201910179682.XA CN201910179682A CN109807936A CN 109807936 A CN109807936 A CN 109807936A CN 201910179682 A CN201910179682 A CN 201910179682A CN 109807936 A CN109807936 A CN 109807936A
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Abstract
A kind of robot welding visual sensor for weld seam and molten bath monocular dibit picture synchronization collection, it include: mounting bracket, system shell, with the laser and camera that relative position installation orientation angle is fixed, dim light filter system, protection mechanism and cooling mechanism, wherein: system shell is connected by mounting bracket with robot end, laser is set to system shell inside left and is close to inner wall by bracket and places, camera is rotatably dispose on system shell inner wall, dim light filter system is set in system shell and is set to the front end of camera, protection mechanism is set to below system shell, cooling mechanism is distributed on the inner wall of system shell.The present invention is in such a way that main passive vision combines, include a laser and a camera, it can simultaneously obtain weld seam and crater image in one frame of image, by the way that different dim light conditions is arranged on adjacent position in dim light filter system, reflect the laser stripe image of characteristics of weld seam and the crater image of welding quality, small volume, flexibility are larger, can satisfy the use demand of different occasions.
Description
Technical field
It is specifically a kind of to be used for weld seam and molten bath the present invention relates to a kind of technology of robot automtion welding field
The robot welding visual sensor of monocular dibit picture synchronization collection.
Background technique
During robot welding, appearance of weld quality is easy by external condition and the shadow of weld seam oneself factor
It rings, Automation of Welding is horizontal and reduction is welded for improving for the real time monitoring and intelligentized control method for realizing robot welding process
Defect be it is very necessary, wherein visual sensor robot welding intelligence in play an important role, according to whether
Using the outer light source being additionally provided, visual sensor can be divided into passive and active vision sensor.
Passive vision sensor, can directly using arclight strong in welding process as image information collecting light source
It easily realizes the weld joint tracking in welding process and molten bath monitoring, but is influenced by arclight, is easy disturbed；Actively regard
Feel that sensor can obtain more stable, clearly weld image, not by the shadow of welding method, welding material and welding parameter
It rings, but there are advanced detection errors, and cannot be used to monitor welding pool in real time, have a single function.
At present in external widely applied visual sensor, prevailing price is expensive and open poor, is unfavorable for
Large-scale promotion, and it is limitedly used to weld joint tracking, can not monitor the control that welding penetration is realized in molten bath.
Domestic passive sensor structure is complex in the prior art, and camera focusing adjusts difficult, dim light filtering mechanism
Manual switch control is needed, the degree of automation of welding process is reduced, it is difficult to meet the diversified need of robot welding target
It asks.Active vision sensor can only obtain weld image and cannot obtain crater image, thus molten bath can not be monitored and
The control of penetration quality, has greater limitations.
Summary of the invention
The present invention can not clearly obtain laser stripe image and crater image for the prior art simultaneously, cannot be real simultaneously
The demand of weld joint tracking and molten bath monitoring during existing robot welding, proposes one kind for weld seam and molten bath monocular dibit figure
As the robot welding visual sensor of synchronous acquisition, in such a way that main passive vision combines, comprising laser and
One camera, can simultaneously obtain weld seam and crater image in one frame of image, pass through the adjacent position in dim light filter system
The different dim light condition of upper setting, while the laser stripe image of reflection characteristics of weld seam and the crater image of welding quality are obtained,
Small volume, flexibility are larger, can satisfy the use demand of different occasions.
The present invention is achieved by the following technical solutions:
The present invention includes: mounting bracket, system shell, the laser and camera shooting fixed with relative position installation orientation angle
Head, dim light filter system, protection mechanism and cooling mechanism, in which: system shell is connected by mounting bracket with robot end,
Laser is set to system shell inside left and is close to inner wall by bracket and places, and camera is rotatably dispose in system shell
On wall, dim light filter system is set in system shell and is set to the front end of camera, and protection mechanism is set to outside system
Below shell, cooling mechanism is distributed on the inner wall of system shell.
The system shell is printed using 3D integration, equipped with the threaded hole for mounting bracket, protection mechanism
And the recess channels for gas flowing of radiating positioned at inner wall.
The mounting bracket includes: runing rest, camera bracket, laser stent, dovetail groove and bearing support,
In: runing rest and camera bracket are set in system shell to rotate fixing camera；Laser stent, which is set to, is
It unites in shell and passes through screw fixed laser；Bearing support is flexibly connected simultaneously by dovetail groove with the trapezoid block on system shell
It is fixed on the 6th axis of robot to adjust the height and angle of sensor, while by sensor.
The dim light filter system includes: light damping plate bracket, optical filter bracket, light damping plate and optical filter, in which: dim light
Piece is set in light damping plate bracket, and optical filter is set in optical filter bracket, and optical filter bracket is set on the camera lens of camera,
Light damping plate bracket is with optical filter bracket by being threadedly engaged.
The optical filter bracket is abutted directly on before camera lens after holding optical filter, and light damping plate bracket side is equipped with and is used for
It is inserted into the square groove of light damping plate, the coverage area of light damping plate is changed by the distance of selection insertion or is inserted into dim light respectively from both ends
The different light damping plate of degree meets weld joint tracking image and crater image not to be split in same visual field respectively
Same dim light demand.
The laser and camera fixed with relative position installation orientation angle refers to: by laser outside system
Shell inner wall is placed vertically, determines minimum cant and maximum tilt angle of the camera relative to vertical direction；For given
For operating distance and the lens focus determined, field angle, when cam lens are placed vertically downward, as camera is along finger
Needle rotation, visual field gradually move to left, and minimum cant is set as to the tilt angle of camera when laser stripe is located at field of view center,
Maximum tilt angle is set as to the tilt angle of camera when molten bath is located at field of view center, the tilt angle of camera is in this range
When interior adjusting, captured obtained image while including laser stripe and molten bath is capable of providing enough welding process feature letters
Breath.
The protection mechanism includes: buckle, protection glass and shading baffle, in which: buckle is set to system shell bottom
Portion, centre hold protection glass, and shading baffle is set on buckle.
The cooling mechanism includes: copper sheet and air flue, in which: copper sheet fits on system shell inner wall, air flue setting
In in the inner wall surface of system shell.
Technical effect
Compared with prior art, the present invention uses modular design, and each module is mutually indepedent to cooperate again, is easy to
Installation, maintenance, remain certain scalability, small volume, flexibility are larger, can satisfy the use demand of different occasions；
Time and the human cost of processing can be effectively saved using the method integral forming sensor outer housing and part of 3D printing
And it is also convenient for subsequent installation；Resulting sensor combines the advantages of actively and passively vision, can carry out simultaneously weld seam with
Track and molten bath monitoring, have preferable stability and image quality, and the use for very well satisfying robot welding automation needs
It asks.
Detailed description of the invention
Fig. 1, Fig. 2 are schematic structural view of the invention；
Fig. 3 is light damping plate bracket of the present invention (containing light damping plate) stereoscopic schematic diagram；
Fig. 4 is optical filter bracket of the present invention (containing optical filter) stereoscopic schematic diagram；
Fig. 5 is field range schematic diagram when camera tilt angle is 10 ° in the present invention；
Fig. 6 is field range schematic diagram when camera tilt angle is 25 ° in the present invention；
In figure: mounting bracket 1, system shell 2, laser 3, camera 4, dim light filter system 5, protection mechanism 6, heat dissipation
It is mechanism 7, copper sheet 8, air flue 9, buckle 10, protection glass 11, shading baffle 12, light damping plate bracket 13, optical filter bracket 14, trapezoidal
Block 15, runing rest 16, camera bracket 17, laser stent 18, dovetail groove 19, bearing support 20, light damping plate 21, optical filter
22, threaded hole 23, square groove 24.
Specific embodiment
As depicted in figs. 1 and 2, a kind of robot welding visual sensor being related to for the present embodiment, wherein including: installation
Bracket 1, system shell 2, laser 3, camera 4, dim light filter system 5, protection mechanism 6 and cooling mechanism 7, in which: installation
Bracket in bracket 1 and system shell 2 and dim light filter system 5 is all made of nylon 3D printing method and is made, and system shell 2 is logical
Mounting bracket 1 to be crossed to be fixedly installed on the 6th axis of robot, laser 3 is fixed on 2 inner wall of system shell by mounting bracket 1,
Camera 4 is rotatably dispose on 2 inner wall of system shell with 10-25 ° of inclination angle, and it is logical that camera 4 shoots obtained welding image
It crosses interface and is transferred to industrial personal computer, dim light filter system 5 is set to the front end of camera 4, camera lens surface is fixed on, to change mirror
Head receives the intensity and wave-length coverage of light, and protection mechanism 6 is set under system shell 2 for blocking arc light and splashing, radiates
Mechanism 7 is distributed on the inner wall of system shell 2.
The mounting bracket 1 includes: trapezoid block 15, runing rest 16, camera bracket 17, laser stent 18, swallow
Stern notch 19 and bearing support 20, in which: runing rest 16 and camera bracket 17 are set to 2 inner wall of system shell and are connected by rotation
It connects so that camera 4 to be fixed on to the side of system shell 2 and allows to adjust its inclined degree, and then changes laser in gained image
The respective shared ratio of striped and crater image；Laser stent 18 is set to the 2 inner wall other side of system shell and passes through screw
Laser 3 is fixed；Trapezoid block 15 is set on system shell 2, integral with system shell 2；Dovetail groove 19 is slideably positioned in
On trapezoid block 15；Bearing support 20 is flexibly connected height and angle to adjust sensor with system shell 2 by dovetail groove 19
Degree.
The bracket of the mounting bracket 1, system shell 2 and dim light filter system 5 is all made of nylon 3D printing method system
?.
The system shell 2 is equipped with the threaded hole 23 for being fixedly connected, and 2 top of system shell remains for placing in advance
The space of aviation plug.
The camera 4 is the CCD camera that focal length is 8mm, and the PORT COM on the top CCD is directly and computer port
It is connected, communication modes are serial ports, can meet while observe the needs of laser stripe and crater image, can change by actual demand and regard
Respective proportion in.
System shell, mounting bracket and light damping plate bracket and optical filter bracket are made using the method for 3D printing, significantly
Design structure is simplified, the process-cycle is shortened, weight is lighter compared to machining, the load in robot, joint, end is saved,
It is easily installed simultaneously；The adjusting of camera tilt angle is realized by runing rest, can change view according to actual use demand
Field range covering.
The dim light filter system 5 includes: light damping plate bracket 13, optical filter bracket 14, light damping plate 21 and optical filter 22,
Wherein: light damping plate 21 is set in light damping plate bracket 13, and optical filter 22 is set in optical filter bracket 14, and optical filtering bracket 14 is arranged
In front of the camera lens of camera 4, fitted closely with camera lens, light damping plate bracket 13, which is screwed with optical filter bracket 14 by screw thread, matches
It closes.
As shown in figure 3,13 side of light damping plate bracket is equipped with the square groove 24 for being inserted into light damping plate 21.
As shown in figure 4, optical filter bracket 14 directly fits for holding optical filter 22 among the optical filter bracket 14
In front of camera lens, realizes and fix, the screw thread of outer surface and being threadedly engaged for 14 inner surface of light damping plate bracket.
The protection mechanism 6 includes: buckle 10, protection glass 11 and shading baffle 12, in which: protection glass 11 is arranged
In in buckle 10, buckle 10 is set to 2 bottom of system shell, enters inside system shell to prevent electric arc from splashing；Shading gear
Plate 12 is fixedly installed on buckle 10 by screw.
The buckle 10 is manufactured using aluminium alloy, and the load of bracket is effectively reduced while meeting requirement.
The shading baffle 12 is manufactured using copper sheet, and ductility is good, convenient for passing through rolling required shape.
The cooling mechanism 7 includes: copper sheet 8 and air flue 9, in which: air flue 9 is arranged consecutively in system shell 2
On three faces of wall；Copper sheet 8 has good thermal diffusivity, is fitted on 2 inner wall of system shell by glue, for sealing air flue 9
With transmitting heat.
The design process of camera tilt angle is as follows in the present embodiment:
The vertical distance of CCD photosensitive element and table plane is set as 150mm, selects focal length for the camera lens of 8mm, is led to
It is 67.1 ° that the relevant parameter for crossing inquiry camera lens, which can obtain the field angle of camera lens,.As shown in figure 5, when camera tilt angle is 10 °,
The horizontal distance of visual field center and optical center is 26.45mm on workbench, and the position in visual field center is approximately laser stripe
Position；As shown in fig. 6, the horizontal distance of visual field center and optical center is on workbench when camera tilt angle is 25 °
69.95mm, visual field center are closely located to molten bath present position.Rotation angle is set as 10 to 25 °, field range being capable of capsule
Include that laser stripe is located at visual field center, molten bath is located at that the visual field is central and the various situations such as the transition state of the two.By pacifying
The tilt angle that camera is adjusted when dress can change crater image and laser stripe image the location of in the visual field, full
Use demand under sufficient different situations.
The components such as mounting bracket, system shell, dim light filtering mechanism, protection mechanism, cooling mechanism in the present apparatus use
Modular design, is easily installed, safeguards, while remaining certain scalability；Compact structure and novel 3D printing
Technique makes the volume of the present apparatus and quality smaller, and the design-adjustable of CCD and system shell when fixed to sense utensil
There is higher flexibility；Only need a CCD camera lens cooperation laser that the seam laser striped in welding process can be achieved at the same time
With the acquisition of crater image, has both actively and the advantages of passive vision, can be welded during robot welding well
Seam tracking and molten bath monitoring.
The present apparatus in such a way that active vision is in conjunction with passive vision, utilizes the difference of different zones dim light degree for the first time
Alienation, can be simultaneously comprising clearly crater image and laser stripe, during can be realized simultaneously robot welding in visual field
Weld joint tracking and molten bath monitoring.The tilt angle of camera is adjusted within the scope of 10-25 °, and can meet makes under different situations
With demand, the directly fixation of dim light filter system is fitted in camera lens surface and moves, and plug-type light damping plate can weaken view
In molten bath zone arclight and can according to the coverage area of molten bath zone change insertion depth, thus acquisition clearly reflect
The laser stripe image of characteristics of weld seam and the crater image of welding quality.
Above-mentioned specific implementation can by those skilled in the art under the premise of without departing substantially from the principle of the invention and objective with difference
Mode carry out local directed complete set to it, protection scope of the present invention is subject to claims and not by above-mentioned specific implementation institute
Limit, each implementation within its scope is by the constraint of the present invention.
Claims (6)
1. a kind of robot welding visual sensor characterized by comprising mounting bracket, system shell are pacified with relative position
Fill orientation angle fixed laser and camera, dim light filter system, protection mechanism and cooling mechanism, in which: system shell
It is connected by mounting bracket with robot end, laser is set to system shell inside left and is close to inner wall by bracket and puts
It sets, camera is rotatably dispose on system shell inner wall, and dim light filter system is set in system shell and is set to camera shooting
The front end of head, protection mechanism are set to below system shell, and cooling mechanism is distributed on the inner wall of system shell；
The laser and camera fixed with relative position installation orientation angle refers to: by laser in system shell
Wall is placed vertically, determines minimum cant and maximum tilt angle of the camera relative to vertical direction；For giving work
For distance and the lens focus determined, field angle, when cam lens are placed vertically downward, as camera is revolved along pointer
Turn, visual field gradually moves to left, and minimum cant is set as to the tilt angle of camera when laser stripe is located at field of view center, will most
Big tilt angle is set as the tilt angle of camera when molten bath is located at field of view center, and the tilt angle of camera is adjusted within this range
When section, captured obtained image while including laser stripe and molten bath is capable of providing enough welding process characteristic informations.
2. robot welding visual sensor according to claim 1, characterized in that the protection mechanism includes: button
Plate, protection glass and shading baffle, in which: protection glass is set in buckle, and buckle is set to system shell bottom, shading gear
Plate is set on buckle.
3. robot welding visual sensor according to claim 1, characterized in that the mounting bracket includes: rotation
Turn bracket, camera bracket, laser stent, dovetail groove and bearing support, in which: runing rest and camera bracket are set to
To rotate fixing camera in system shell；Laser stent is set in system shell and by screw fixed laser；
Bearing support is flexibly connected by dovetail groove with the trapezoid block on system shell and height and angle to adjust sensor, together
When sensor is fixed on the 6th axis of robot.
4. robot welding visual sensor according to claim 1, characterized in that the dim light filter system packet
It includes: light damping plate bracket, optical filter bracket, light damping plate and optical filter, in which: light damping plate is set in light damping plate bracket, optical filter
It is set in optical filter bracket, optical filter bracket is set on the camera lens of camera, and light damping plate bracket passes through with optical filter bracket
It is threadedly engaged.
5. robot welding visual sensor according to claim 4, characterized in that the optical filter bracket is being held
It is abutted directly on before camera lens after optical filter, light damping plate bracket side is equipped with the square groove for being inserted into light damping plate, is inserted by selecting
The distance entered changes the coverage area of light damping plate or is inserted into the different light damping plate of dim light degree respectively from both ends, thus in same view
It is split in, meets weld joint tracking image and the different dim light demand of crater image respectively.
6. robot welding visual sensor according to claim 1, characterized in that the cooling mechanism includes: copper
Plate and air flue, in which: copper sheet fits on system shell inner wall, and air flue is set on the inner wall of system shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910179682.XA CN109807936A (en) | 2019-03-11 | 2019-03-11 | Robot welding visual sensor for weld seam and molten bath monocular dibit picture synchronization collection |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910179682.XA CN109807936A (en) | 2019-03-11 | 2019-03-11 | Robot welding visual sensor for weld seam and molten bath monocular dibit picture synchronization collection |
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| CN201910179682.XA Pending CN109807936A (en) | 2019-03-11 | 2019-03-11 | Robot welding visual sensor for weld seam and molten bath monocular dibit picture synchronization collection |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110405385A (en) * | 2019-07-06 | 2019-11-05 | 河北工业大学 | A kind of more exposure image acquisition devices of welding region |
| CN111299760A (en) * | 2019-12-10 | 2020-06-19 | 上海交通大学 | Robot welding seam tracking and molten pool monitoring sensor based on active and passive vision |
| CN114051083A (en) * | 2021-11-02 | 2022-02-15 | 北京石油化工学院 | Observation device of welding pool |
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Application publication date: 20190528 |
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