CN101612736A - Robot MIG welding binocular vision sensing system - Google Patents
Robot MIG welding binocular vision sensing system Download PDFInfo
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- CN101612736A CN101612736A CN200910055217A CN200910055217A CN101612736A CN 101612736 A CN101612736 A CN 101612736A CN 200910055217 A CN200910055217 A CN 200910055217A CN 200910055217 A CN200910055217 A CN 200910055217A CN 101612736 A CN101612736 A CN 101612736A
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Abstract
A kind of robot MIG welding binocular vision sensing system of automatic welding equipment technical field, comprise: two welding gun fixed muffles, two sensor sleeve contiguous blocks, molten bath observation module and weld joint tracking modules, wherein: observation module in molten bath is individually fixed in welding gun fixed muffle separately with the weld joint tracking module and is connected with two sensor sleeve contiguous blocks respectively, the sensor sleeve contiguous block rotates and is arranged on the welding gun fixed muffle, and the welding gun fixed muffle is fixedlyed connected with the MIG welding gun.The present invention obtains picture rich in detail by the angle of regulating between angle, mirror assembly and the sensor main body module between sensor main body module and the welding gun, and guarantees welding quality by penetration control.
Description
Technical field
What the present invention relates to is a kind of device of welding technology field, specifically is a kind of robot MIG welding binocular vision sensing system.
Background technology
Automation element in the modern production process is more and more, the automation and intelligentification solder technology is widely used in industries such as automobile and shipbuilding, sensor is the important devices of intelligent robot welding system, the sensing mode that is used for robot welding is a lot, comprise first generation touch sensor, the sensor that the second generation is made up of discrete signal receiving element, the sensor that the third generation adopts highly integrated signal receiving element to form, wherein, with CCD face battle array is that the passive vision sensor of core has simple in structure, noncontact, the Information Monitoring amount is big, fast, advantages such as high accuracy can be used to weld the initial position guiding, weld joint tracking and penetration control.In addition; because having arc burning, MIG weldering (metal-arc inert-gas welding(MIG welding)) stablizes and characteristics such as welding quality is good; be widely used in the welding of low alloy steel sheet; yet be accompanied by the droplet transfer in the MIG weldering process and splash interference etc.; make to be difficult to finish weld joint tracking in real time and to collect gratifying crater image, to control in real time for welding process and guarantee that welding quality has significance so design the suitable passive vision sensor that is used for robot MIG welding.
Literature search through prior art is found, be used at present different materials TIG weldering multi-functional passive visual sensing system design and study more, and the passive vision sensor-based system that is used for the MIG weldering is less, for example, Chinese patent application number: 200410067328.1, " servo binocular vision sensors on welding robot " by name, it has realized that but the ccd video camera wrapping gun does the rotation of controlled angle to keep good capture orientation and the function that loads or remove optical filter and light damping plate automatically, comprise: servomotor, synchronization belt transmission system, two ccd video cameras, pneumatic system, dim light and filter system, inside and outside two hollow shafts, end cap and flat bracket, the support of channel steel shape and two bearings, the image information that collects weld seam and molten bath that can be real-time, what but ccd video camera adopted is the camera lens of fixed focal length, and shooting angle fixes, can't flexible modulation video camera shooting angle and obtain better image.Chinese patent application number: the patent of 200710037890.3 " welding robot multifunctional double-eye visual sensor and scaling methods thereof " by name, it is by varifocal ccd video camera, filter system, light path system, pneumatic system, and can wrapping gun turn an angle and realize that the guiding of weld seam starting point, weld joint tracking and crater image obtain work in real time, but the front and back two order relative positions of this biocular systems are still fixing, realize simultaneously that in welding process the effect that weld joint tracking and crater image obtain is unsatisfactory, work of treatment brings difficulty to successive image.And the molten bath information of utilizing the passive vision sensing to carry out the MIG weldering is obtained and the research of control in real time is fewer, through literature search, " the robot molten bath visual sensing system that is used for the aluminum alloy MIG weldering " by name (Shi Uoo etc., electric welding machine, 2006,27～29, the 36th volume) a cover molten bath visual sensing system has been proposed in the literary composition, form and comprise video camera, camera lens, dim light filter system, light path system etc., realized the Molten pool image gathering task in the MIG weldering process, but the not clear and definite concrete frame for movement that proposes sensor-based system according to concrete experimental enviroment.
Through further technical literature retrieval, do not see the relevant visual sensing system patent that is applied to robot MIG welding as yet.
Summary of the invention
The present invention is directed to the prior art above shortcomings, a kind of robot MIG welding binocular vision sensing system is provided, needs according to the MIG welding process, the function of weld seam recognition and Molten pool image gathering is provided, the present invention adopts the one design of multimode, characteristics are to obtain picture rich in detail by the angle of regulating between angle, mirror assembly and the sensor main body module between sensor main body module and the welding gun, and guarantee welding quality by penetration control.
The present invention is achieved by the following technical solutions, the present invention includes: two welding gun fixed muffles, two sensor sleeve contiguous blocks, molten bath observation module and weld joint tracking modules, wherein: observation module in molten bath is individually fixed in welding gun fixed muffle separately with the weld joint tracking module and is connected with two sensor sleeve contiguous blocks respectively, the sensor sleeve contiguous block rotates and is arranged on the welding gun fixed muffle, and the welding gun fixed muffle is fixedlyed connected with the MIG welding gun.
Described sensor sleeve contiguous block is bakelite and makes.
Described molten bath observation module comprises: the first ccd video camera system, the first dim light filter system, reverse support, mirror assembly, first heat-resisting anti-assembly and the molten bath observation support of splashing, wherein: the first ccd video camera system, the first dim light filter system and reverse support and be fixedly set in respectively on the molten bath observation support, mirror assembly is arranged at and reverses internal stent, the first heat-resisting anti-assembly that splashes is arranged at and reverses frame bottom, and molten bath observation support is movably connected on the first sensor sleeve contiguous block.
Described molten bath observation support be provided with the perforate of waist type make its can with relative being slidingly connected of first sensor sleeve contiguous block.
The described support that reverses comprises: on reverse holder part and down reverse holder part, wherein: on reverse holder part the upper end be fixedly mounted on the molten bath observation support, on reverse holder part the lower end become arcuation, side has the arcuation of coupling baffle plate; Under reverse holder part and form by 4 baffle plates, wherein the upper end of 2 baffle plates become arcuation with on reverse the holder part coupling, can rotate 37 around fixed axis and spend to adjust required observation angle, other 2 baffle plates then work the effect of shutting out the light.Two parts cooperate around fixed axis rotates the adjustment observation angle.
Described mirror assembly comprises: speculum loading plate and speculum, and wherein: the speculum loading plate fixes reflective mirror by both sides screw in compression reflective mirror, and the speculum loading plate is installed on down and reverses holder part.
The eyeglass of described speculum adopts the front surface aluminizer to handle.
Described weld joint tracking module comprises: the second ccd video camera system, the second dim light filter system, second heat-resisting anti-splash assembly and the weld joint tracking support, wherein: the second ccd video camera system is fixedly set on the weld joint tracking support, the second dim light filter system is arranged on the weld joint tracking support, the second heat-resisting anti-assembly that splashes is arranged on the weld joint tracking support and the second dim light filter system, and the weld joint tracking support is movably connected on the second sensor sleeve contiguous block.
Described weld seam observation support is provided with the perforate of waist type makes it can be with second the sensor sleeve contiguous block is relative is slidingly connected.
The described first ccd video camera system and the second ccd video camera system include: ccd video camera and camera lens, wherein: the communication serial ports of ccd video camera is connected the collection transmission that realizes image with computer epigraph capture card serial ports, image in capture card by analogue data to digital data conversion, so that the processing of image processing program.
The described first dim light filter system and the second dim light filter system include: optical filter, light damping plate and dim light optical filter loading plate, wherein: optical filter and light damping plate are arranged on the loading plate, the middle part of loading plate is provided with circular stair-stepping hollow out, in order to carrying light damping plate, optical filter.
Described first heat-resisting anti-assembly and the second heat-resisting anti-assembly that splashes of splashing includes: heat-resisting anti-splash glass and loading plate, wherein: reverse holder part and relative with its maintenance static under loading plate is fixed in by screw, the heat-resisting anti-glass that splashes by loading plate to its thickness direction pressure fixing.
The robot MIG welding visual sensing system modularized design that the present invention proposes, be to observe at the passive vision in the MIG weldering process specially, be divided into two functional modules substantially, be respectively the molten bath observation module and the weld joint tracking module of MIG weldering process, two big modules are separate, can finish the molten bath observation in the MIG welding process simultaneously, multinomial work such as weld joint tracking can only be assembled one of them functional module according to the robot load bearing requirements simultaneously.Two big modules are all detachable, and can be connected in the sleeve and the contiguous block that aim at this welding gun design according to the specification difference of different MIG weldering gooseneck welding guns.So the versatility that makes this sensor-based system be used for the MIG weldering strengthens greatly.In addition, light and handy and small-sized design has alleviated the bearing pressure of robot greatly satisfying on the basis of observation scope, and can be used for complicated welding surroundings, reduces unnecessary collision.The use of robot MIG welding passive vision sensor makes welding process intelligent more, can perform well in the quality control requirement of the MIG welding process of welding materials such as sheet metal.
The design that is applicable to MIG weldering gooseneck welding gun that the present invention proposes, on the basis of the 6DOF that robot originally has, and not exclusively keep the relative static of sensor-based system and welding gun, molten bath observation module as a whole and weld joint tracking module can be before experiments or producing, manually ± 5 ° of wrapping gun fixed muffle rotations separately obtain better observation angle as required; The molten bath observes support and weld joint tracking support also can make certain welding gun axis direction distance of observing module and weld joint tracking module with adjustment molten bath as a whole that moves at the welding gun axis direction; To being positioned at the molten bath observation module of gooseneck welding gun front end, be arranged at reversing support and can on the basis of the intrinsic angle of gooseneck welding gun, do 37 ° rotation on the molten bath observation support, with the observation area, molten bath on the selection bead direction.The free degree that increases makes sensor have more flexibility, absorbs better image information.
Description of drawings
Fig. 1 is an embodiment overall structure schematic diagram.
Fig. 2 is a partial cutaway schematic;
Wherein: a is a local enlarged diagram under the molten bath observation module; B is a local enlarged diagram on the molten bath observation module.
The specific embodiment
Below embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, present embodiment comprises: the first welding gun fixed muffle 1, the second welding gun fixed muffle 2, first sensor sleeve contiguous block 3, the second sensor sleeve contiguous block 4, molten bath observation module 5 and weld joint tracking module 6, wherein: molten bath observation module 5 and weld joint tracking module 6 are individually fixed in the first welding gun fixed muffle 1 and the second welding gun fixed muffle 2 and are connected with the second sensor sleeve contiguous block 4 with first sensor sleeve contiguous block 3 respectively, the first sensor sleeve contiguous block 3 and the second sensor sleeve contiguous block 4 rotate respectively and are arranged on the first welding gun fixed muffle 1 and the second welding gun fixed muffle 2, the first welding gun fixed muffle 1 is connected with the second welding gun fixed muffle 2 and is fastening with MIG gooseneck welding gun 7, and image is gathered in the output output of molten bath observation module 5 and weld joint tracking module 6.
The described first welding gun fixed muffle 1 and the second welding gun fixed muffle 2, connection is as the welding gun fixed muffle, shown in Fig. 1 embodiment overall structure schematic diagram, sleeve inner arc and the coaxial coupling of MIG gooseneck welding gun 7 diameters, be Φ 19mm in the present embodiment, the first welding gun fixed muffle 1 is connected fastening MIG gooseneck welding gun 7 with the second welding gun fixed muffle 2 by screw, keeps making the welding gun fixed muffle to keep relative static with MIG gooseneck welding gun 7 by frictional force.Partial cutaway schematic as shown in Figure 2 can see that therefrom the first welding gun fixed muffle, 1 global shape is the narrow I shape in wide centre up and down, is rotationally connected and the interlock coupling with first sensor sleeve contiguous block 3.
The described first sensor sleeve contiguous block 3 and the second sensor sleeve contiguous block 4 are bakelite and make, and are used for connecting the first welding gun fixed muffle 1 and molten bath observation module 5, the second welding gun fixed muffle 2 and weld joint tracking module 6 respectively.
Described molten bath observation module 5 comprises: the first ccd video camera system 8, the first dim light filter system 9, reverse support 10, mirror assembly 11, first heat-resisting anti-assembly 12 and the molten bath observation support 13 of splashing, wherein: the first ccd video camera system 8, the first dim light filter system 9 and reverse support 10 screw is fastening respectively from top to bottom successively and be arranged on the molten bath observation support 13, mirror assembly 11 interts by the through hole that reverses support 10 to be installed, screw is fastening after adjusting to proper angle, the first heat-resisting anti-assembly 12 that splashes is arranged at and reverses support 10 bottoms, and molten bath observation support 13 is arranged on the first sensor sleeve contiguous block 3.
The described support 10 that reverses comprises: on reverse support 23 and under reverse support 24, be rotationally connected by screw rod between the two.Wherein: on reverse support 23 the upper end be fixedly mounted on the molten bath observation support 13, on reverse support 23 the lower end become arcuation, side has coupling arcuation baffle plate 29; Under reverse support 24 and form by 4 baffle plates 29, wherein the upper end of 2 baffle plates 29 become arcuation with on reverse support 23 couplings and make that reversing support 10 rotates with-18 °～+ 18 ° of adjustment to adapt to the observation scope in bead direction around fixed axis, 29 on other 2 baffle plates work the effect of shutting out the light.Two parts cooperate around fixed axis rotates the adjustment observation angle.Shown in Fig. 2 a.
Described mirror assembly 11 comprises: speculum loading plate 25 and speculum 26, wherein, speculum loading plate 25 makes speculum 26 fixing by both sides screw in compression speculum 26, and speculum loading plate 25 is installed on down in the through hole that reverses support 24, and screw is fastenedly connected.Shown in Fig. 2 a.
The eyeglass of described speculum 26 adopts the front surface aluminizer to handle.
Described weld joint tracking module 6 comprises: the second ccd video camera system 14, the second dim light filter system, 15, second heat-resisting anti-splash assembly 16, the weld joint tracking support 17, wherein: screw is fastening respectively from top to bottom successively is arranged on the weld joint tracking support 17 for the second ccd video camera system 14 and the second dim light filter system 15, the second heat-resisting anti-assembly 16 that splashes is arranged at weld joint tracking support 17 bottoms, and weld joint tracking support 17 is arranged on the second sensor sleeve contiguous block 4.
The described first ccd video camera system 8 and the second ccd video camera system 14 include: ccd video camera 18, camera lens 19 and video camera outer baffle 20, wherein: the above two are by self screw thread bayonet socket connection, ccd video camera 18 is arranged on the video camera outer baffle 20, and video camera outer baffle 20 is connected on the molten bath observation support 13.The communication serial ports of ccd video camera is connected the collection transmission that realizes image with computer epigraph capture card serial ports, image in capture card by analogue data to digital data conversion, so that the processing of image processing program.Shown in Fig. 2 b.
The described first dim light filter system 9 and the second dim light filter system 15 include: light damping plate optical filter 21, dim light optical filter loading plate 22, wherein: light damping plate optical filter 21 is placed in the dim light optical filter loading plate 22, and dim light optical filter loading plate 22 is connected on the molten bath observation support 13.The middle part of dim light optical filter loading plate 22 is provided with circular stair-stepping hollow out, in order to carrying light damping plate optical filter 21.Shown in Fig. 2 a.
The described heat-resisting anti-assembly that splashes comprises heat-resisting anti-loading plate 1 and the heat-resisting anti-loading plate 2 18 that splashes that is assemblied in weld seam observation module 14 of splashing that is assemblied in molten bath observation module 2, and the corresponding heat-resisting anti-glass that splashes.The former is anchored on down by the both sides screw and reverses on the bracket side baffle plate 10 as can be seen by cutaway view, heat-resisting anti-splash glass by pressure fixing under reverse support and heat-resisting anti-splashing between the loading plate 1.The latter then is anchored on the second side plate support 13 and the second dim light optical filter loading plate 17 by the both sides screw.
Described first heat-resisting anti-assembly 12 and the second heat-resisting anti-assembly 16 that splashes of splashing includes: the heat-resisting anti-glass 27 that splashes, the heat-resisting anti-glass loading plate 28 that splashes, wherein: heat-resisting anti-splash glass loading plate 28 with reverse support 10 bottoms and be connected, the heat-resisting anti-glass 27 that splashes is positioned between the two, by the thickness direction pressure fixing.
In the present embodiment, profile according to MIG gooseneck welding gun 7, and MIG gooseneck welding gun 7 and the characteristics that become 0 °～10 ° perpendicular to the workpiece direction in the MIG weldering process, the small adjustment of the other three degree of freedom of design can obtain better crater image, but comprise two all rotations of wrapping gun fixed muffle of big whole observation module, all can adjust the visual range of sensor up and down along the side plate holder orientation from workpiece, and for molten bath observation module 5, according to the shape of MIG gooseneck welding gun 7, reverse support 10 and can change 37 ° to adapt to observation scope in bead direction.
The characteristics that present embodiment simply is easy to assemble, flexibility is good, observation scope is big are fit to combine with robot very much carries out intelligent MIG welding gun, the weld joint tracking in the realization MIG weldering process, and adjust MIG welding gun welding quality in real time.
Claims (10)
1, a kind of robot MIG welding binocular vision sensing system, it is characterized in that, comprise: two welding gun fixed muffles, two sensor sleeve contiguous blocks, molten bath observation module and weld joint tracking modules, wherein: observation module in molten bath is individually fixed in welding gun fixed muffle separately with the weld joint tracking module and is connected with two sensor sleeve contiguous blocks respectively, the sensor sleeve contiguous block rotates and is arranged on the welding gun fixed muffle, and the welding gun fixed muffle is fixedlyed connected with the MIG welding gun.
2, robot MIG welding binocular vision sensing system according to claim 1, it is characterized in that, described molten bath observation module comprises: the first ccd video camera system, the first dim light filter system, reverse support, mirror assembly, first heat-resisting anti-assembly and the molten bath observation support of splashing, wherein: the first ccd video camera system, the first dim light filter system and reverse support and be fixedly set in respectively on the molten bath observation support, mirror assembly is arranged at and reverses internal stent, the first heat-resisting anti-assembly that splashes is arranged at and reverses frame bottom, and molten bath observation support is movably connected on the first sensor sleeve contiguous block.
3, robot MIG welding binocular vision sensing system according to claim 2, it is characterized in that, the described support that reverses comprises: on reverse holder part and under reverse holder part, wherein: on reverse holder part the upper end be fixedly mounted on the molten bath observation support, on reverse holder part the lower end become arcuation, side that coupling arcuation baffle plate is arranged; Under reverse holder part and form by 4 baffle plates, wherein the upper end of 2 baffle plates become arcuation with on reverse the holder part coupling, can rotate 37 around fixed axis and spend to adjust required observation angle, other 2 baffle plates then work the effect of shutting out the light.Two parts cooperate around fixed axis rotates the adjustment observation angle.
4, robot MIG welding binocular vision sensing system according to claim 2, it is characterized in that, described mirror assembly comprises: speculum loading plate and speculum, wherein: the speculum loading plate fixes reflective mirror by both sides screw in compression reflective mirror, and the speculum loading plate is installed on down and reverses holder part.
5, robot MIG welding binocular vision sensing system according to claim 1, it is characterized in that, described weld joint tracking module comprises: the second ccd video camera system, the second dim light filter system, second heat-resisting anti-splash assembly and the weld joint tracking support, wherein: the second ccd video camera system is fixedly set on the weld joint tracking support, the second dim light filter system is arranged on the weld joint tracking support, the second heat-resisting anti-assembly that splashes is arranged on the weld joint tracking support and the second dim light filter system, and the weld joint tracking support is movably connected on the second sensor sleeve contiguous block.
6, according to claim 2 or 5 described robot MIG welding binocular vision sensing systems, it is characterized in that, the described first ccd video camera system and the second ccd video camera system include: ccd video camera and camera lens, wherein: the communication serial ports of ccd video camera is connected the collection transmission that realizes image with computer epigraph capture card serial ports, image in capture card by analogue data to digital data conversion, so that the processing of image processing program.
7, according to claim 2 or 5 described robot MIG welding binocular vision sensing systems, it is characterized in that, the described first dim light filter system and the second dim light filter system include: optical filter, light damping plate and dim light optical filter loading plate, wherein: optical filter and light damping plate are arranged on the loading plate, the middle part of loading plate is provided with circular stair-stepping hollow out, in order to carrying light damping plate, optical filter.
8, according to claim 2 or 5 described robot MIG welding binocular vision sensing systems, it is characterized in that, described first heat-resisting anti-assembly and the second heat-resisting anti-assembly that splashes of splashing includes: heat-resisting anti-splash glass and loading plate, wherein: reverse holder part and relative with its maintenance static under loading plate is fixed in by screw, the heat-resisting anti-glass that splashes by loading plate to its thickness direction pressure fixing.
9, robot MIG welding binocular vision sensing system according to claim 2 is characterized in that, described molten bath observation support be provided with the perforate of waist type make its can with relative being slidingly connected of first sensor sleeve contiguous block.
10, robot MIG welding binocular vision sensing system according to claim 5 is characterized in that, described weld seam observation support is provided with the perforate of waist type makes it can be with second the sensor sleeve contiguous block is relative is slidingly connected.
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