CN101797665B - Visual detection sensing unit - Google Patents
Visual detection sensing unit Download PDFInfo
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- CN101797665B CN101797665B CN 201010105629 CN201010105629A CN101797665B CN 101797665 B CN101797665 B CN 101797665B CN 201010105629 CN201010105629 CN 201010105629 CN 201010105629 A CN201010105629 A CN 201010105629A CN 101797665 B CN101797665 B CN 101797665B
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Abstract
The invention relates to a visual detection unit, in particular to a visual sensing detection unit used for acquiring postwelding surface topography quality in the process of robot laser welding in a visual sensing mode, tracking the welding seam route before welding and monitoring variations of a laser welding molten pool in real time. The invention aims to provide a visual detection sensing unit for robot laser welding. The visual detection sensing unit has the capabilities of simultaneously acquiring postwelding surface topography, tracking the welding seam route before welding and monitoring variations of the laser welding molten pool in real time, and has the advantages of simple and reasonable structure, and convenient operation. The technical scheme provided by the invention is that the visual detection sensing unit comprises a shell arranged on a clamping apparatus. The visual detection sensing unit is characterized in that the inside of the shell comprises a light irradiation device, an imaging system, an optical lens assembly, a light reflection device and a mechanical adjusting device.
Description
Technical field
The present invention relates to vision inspection apparatus, specifically is that a kind of robot laser beam welding visual sensing that is used for obtains postwelding surface topography quality, weld seam route and the visual sensing pick-up unit of monitoring the variation of laser bonding molten bath in real time before the tracking welding.
Background technology
At present, the sensing mode that is applied on the welding robot is varied, in these method for sensing since the visual sensing mode have contain much information, noncontact, fast, advantage such as high precision and sensing range be big, receive liking of numerous Welders author; Become the research focus of robot welding sensor aspect at present.
In the existing robot laser bonding vision sensor, adopt active vision and passive vision dual mode to solve respectively before the weldering after the tracking welding that pattern detects and monitor in online molten bath mostly.Active vision-based detection sensor mainly is to utilize laser beam to form laser plane through cylindrical mirror, projects on the workpiece weld seam in welding gun the place ahead, filters its all band veiling glare through optical filter; Only penetrate the structured light of laser light-wave band; Last video camera imaging, vision sensor is gathered the seam laser image, calculates position while welding through Flame Image Process; And convert simulating signal or wireless signal output to, realize the purpose of soldering joint automatic tracking to reach the control welding robot.Passive vision mainly is the laser that produces when utilizing welding, carries out emergency light reflex earlier, through the linear structure light laser, with light damping plate light is weakened, and filters veiling glare through optical filter again, arrives video camera at last and obtains image; Because two kinds of visual manner employings is independent device; Need separately carry out during use, function singleness is used comparatively complicated.
To the problems referred to above; Existing scientific and technical personnel lump together weld joint tracking and two sensor groups of postwelding pattern detection through increase electronic slide block the robot end; Though the sensor of two function singlenesses is linked together; Control complicacy but still exist when using, problem such as stability in use is poor, and testing result is inaccurate.
Summary of the invention
Technical matters to be solved by this invention is the deficiency that overcomes the above-mentioned background technology; A kind of visual detection sensing unit that is used for the robot laser bonding is provided; This visual detection sensing unit should have the characteristics that can obtain postwelding surface topography quality, the preceding weld seam route of tracking welding simultaneously and monitor the variation of laser bonding molten bath in real time; And simple and reasonable, control conveniently.
Technical scheme provided by the invention is: a kind of visual detection sensing unit, comprise the casing that is arranged on the anchor clamps, and it is characterized in that: comprise in the said casing:
Light irradiation device comprises a word line property structured light laser instrument and a lens set thereof;
Imaging system comprises CCD or cmos camera filming apparatus;
Optical lens assembly comprises the cover plate that is arranged on optical lens group, optical filter, the light damping plate in the casing and is arranged on bottom of shell, and described optical lens group, optical filter are installed in the bottom of CCD or cmos camera; Light damping plate is installed on the rear chassis; The line of centres of described optical lens group, optical filter and light damping plate and the incident ray of video camera are located on the same line;
Light reflecting device comprises being installed in stationary mirror and the flexible mirror that is connected with light irradiation device, imaging system light path in the casing; This stationary mirror and flexible mirror are parallel to each other, and the flexible mirror along continuous straight runs moves forward and backward;
Mechanical speed-control device comprises light irradiation device, imaging system, optical lens assembly, light reflecting device are fixed on holder and holding screw in the casing.
Described casing comprises housing and the housing cover that mutual lid connects, and the bottom of housing is made up of a protective glass plate, and side is provided with out the installing plate of fixed orifice.
But the bottom of said protective glass plate is provided with the shadow shield that an along continuous straight runs moves.
Described housing inner chamber is positioned at light irradiation device and the light damping plate lower horizontal is provided with two blocks of angle steel that are parallel to each other, and has a sliding tray that the flexible mirror along continuous straight runs is slided between said up and down two angle steel.
Described light irradiation device comprises a word line property structured light laser instrument that vertically is installed in housing inner chamber top through fixed support, bolt, is provided with the eyeglass of one group of adjustable positions in the laser instrument; After the linear structure light of one word line property structured light laser instrument emission passes its lens set, the light path that gets into flexible mirror, stationary mirror, CCD or cmos camera successively.
Described imaging system comprises CCD or the cmos camera that vertically is installed in housing inner chamber top through fixed support, bolt; The bottom of video camera is connected with optical lens group and optical filter in turn, and the line of centres of described optical frames light group and optical filter and the incident ray of video camera are located on the same line.
Be provided with the light damping plate that an along continuous straight runs moves under the said optical filter; Housing is provided with a chute that is complementary with light damping plate; The bottom of chute is provided with the projection that is used to support light damping plate, after the end of light damping plate passed through chute, in chute, moves horizontally.
Described light reflecting device comprises stationary mirror and the flexible mirror that is arranged on light irradiation device and imaging system below; The bearing pin that described stationary mirror is provided with through the center, be plugged into the stationary mirror holder after, through holding screw stationary mirror is fixed in the housing; Described flexible mirror middle part is provided with sliding axle, and the slip the tip of the axis was regulated its position on sliding tray through the tightening nut after passing through sliding tray.
Also be provided with angle-regulating block between said flexible mirror and the sliding axle.
A described word line property structured light laser instrument and CCD or cmos camera are installed in respectively in the inner chamber of housing, and the angle between a word line property structured light laser instrument and CCD or the cmos camera is-15～15 degree.
A described word line property structured light laser instrument and CCD or cmos camera vertically are installed in the inner chamber of housing respectively side by side, and a word line property structured light laser instrument and CCD or cmos camera are parallel to each other.When working, the present invention is divided into active vision, two kinds of working methods of passive vision:
Working method 1:
When adopting passive vision to detect, like Fig. 2 and 3, to turn on tightening nut 17 and move flexible mirror 6 to " A " station, rotational angle adjustment piece 16 is tightened tightening nut 17 to the appropriate location; Turning on holding screw 9 adjustment stationary mirrors 8 then tightens to suitable angle; Follow mobile shade 7-1; With its cover protective glass plate between the A-C (effect that shadow shield is set is: when passive vision detects for the light that prevents to produce by the laser bonding molten bath without stationary mirror 8; Directly be mapped on the flexible mirror 6, cause error).Like Fig. 2, stir light damping plate 5 to " M " working position being written into light damping plate 5, thereby reach the effect of regulating light intensity; The outage of last word linear structure light laser makes a word line property structured light laser instrument and lens set thereof not work.At this moment; The light that is produced by the laser bonding molten bath at first is mapped on the stationary mirror 8; Arrive the flexible mirror 6 of " A " station after being reflected, and through arriving successively in light damping plate 5, optical filter 4 and CCD or the cmos camera camera system 2 behind flexible mirror 6 secondary reflections.Take the image that obtains after the molten bath dim light filters by CCD or cmos camera camera system; Accomplish the robot on-line monitoring in the welding process for the laser bonding molten bath; Be that obtaining of information detected in the molten bath in the welding process, the direction of arrow is the cabling of light among the figure.
Working method 2:
When adopting active vision to detect, at first as illustrated in fig. 1 and 2, to turn on tightening nut 17 and move flexible mirror 6 to " B " station, rotational angle adjustment piece 16 is tightened tightening nut 17 to the appropriate location; Turning on holding screw 9 adjustment stationary mirrors 8 then tightens to suitable angle.Like Fig. 2, stir light damping plate 5 to " L " or " R " working position and make light damping plate 5 avoid shooting area, even the intensity of shooting light is constant, as shown in Figure 5, the rotation of light damping plate 5 on level reaches its limit of sports record when " L " or " R " working position; The setting of " L " or " R " working position at this moment can be avoided incident ray with light damping plate and exceeds.Last word linear structure light laser energising makes a word line property structured light laser instrument and lens set work thereof; At this moment; The linear structure light of one word line property structured light laser instrument emission passes the flexible mirror 6 that its lens set arrives " B " station earlier; And arrive stationary mirror 8 through reflection, behind stationary mirror 8 secondary reflections, shine again in CCD or cmos camera camera system 2 visual fields under on the weldment E; Can directly be gathered this image by CCD or cmos camera camera system, thereby accomplish obtaining of preceding weld joint tracking of weldering or postwelding surface topography detection information, the direction of arrow is the cabling of light among the figure.
The invention has the beneficial effects as follows: this visual detection sensing unit can obtain postwelding surface topography quality, the preceding weld seam route of tracking welding simultaneously and monitor the laser bonding molten bath in real time and change; And whole detection sensing device has simple and reasonable, easy to use, detects the high characteristics of accuracy rate.
Description of drawings
Fig. 1 is a main TV structure synoptic diagram of the present invention;
Fig. 2 is the back TV structure enlarged drawing of D portion among Fig. 1;
Fig. 3 is the structural representation of the present invention when being used to monitor the molten bath;
Fig. 4 is the structural representation of F portion among Fig. 3;
Fig. 5 is the perspective view of light damping plate among Fig. 4;
Fig. 6 is the structure enlarged drawing of G portion among Fig. 3;
Fig. 7 is the structural representation of flexible mirror among Fig. 1;
Fig. 8 be among Fig. 3 H portion look up structural representation.
Embodiment
Below through embodiment technical scheme of the present invention is described further.
As shown in the figure; The visual sensing pick-up unit; Comprise the casing 1 that is arranged on the anchor clamps, casing 1 is made up of housing 1-1 and the housing cover 1-2 that mutual lid connects, and the bottom of housing is made up of a protective glass plate 7; But the bottom of protective glass plate be provided with the shadow shield 7-1 that an along continuous straight runs moves (effect that shadow shield is set is: when passive vision detects for the light that prevents to produce by the laser bonding molten bath without stationary mirror 8; Directly be mapped on the flexible mirror 6, cause error), the side of this housing is provided with the installing plate 10 in fluting and hole.
Said housing inner chamber top vertically is provided with light irradiation device 11 and imaging system 2 side by side, and (also can rotate relatively between described light irradiation device 11 and the imaging system 2, activity point of view between the two is-15～15 degree; The system that promptly forms images 2 can rotate 15 degree to the left or to the right along the axle center), the inner chamber bottom is provided with the light reflecting device that is connected with imaging system 2 light paths with light irradiation device 11.Described light irradiation device 11 comprises a word line property structured light laser instrument 11-1 who vertically is installed in housing inner chamber top through fixed support 13, bolt 12, is provided with the eyeglass 11-2 of one group of adjustable positions in the laser instrument.Described imaging system 2 comprises CCD or the cmos camera 2-1 that vertically is installed in housing inner chamber top through fixed support 2-3, bolt 2-3; The bottom of video camera 2-1 is connected with optical lens group 3 and optical filter 4 in turn, and described optical frames light group 3 is located on the same line with the incident ray of optical filter 4 with video camera 2-1.Also be provided with the light damping plate 5 of adjustable reflection of light intensity between described imaging system 2 and the light reflecting device, described light damping plate can move forward and backward in the horizontal direction, thereby regulates the light that reflects out through light reflecting device.The end of said light damping plate has bolt hole 5-4; Housing is provided with a chute 5-1 who is complementary with light damping plate; The bottom of chute is provided with the projection 5-2 that is used to support light damping plate, after the terminal 5-3 of light damping plate passed through chute, is located on projection through bolt 5-5; During use, as long as bolt is turned on the horizontal level relation of adjusting light damping plate in the back, thereby whether adjustment need be handled by dim light through the light of light reflecting device reflection.
Described light reflecting device comprises the stationary mirror 8 and flexible mirror 6 that is arranged on light irradiation device and imaging system below; After the linear structure light of described word line property structured light laser instrument emission passes its lens set, be connected with flexible mirror 6, stationary mirror 8, CCD or cmos camera 2 light paths successively.
The bearing pin 8-1 that described stationary mirror 8 is provided with through the center, be plugged into stationary mirror holder 8-2 after, through holding screw 9 stationary mirror 8 is fixed in the housing 1-1.Said housing 1-1 inner chamber is positioned at light irradiation device 11 and with light damping plate 5 lower horizontal two angle steel 6-1,6-2 that are parallel to each other is set, and saidly has a sliding tray 6-3 that flexible mirror 6 along continuous straight runs are slided up and down between two angle steel.Described flexible mirror 6 middle parts are provided with sliding axle 6-1, and the slip the tip of the axis was regulated its position on sliding tray 6-3 through tightening nut 17 after passing through sliding tray.
Also be provided with angle-regulating block 16 between said flexible mirror 6 and the sliding axle, regulate, thereby adjusting gets into the incident angle of the incident light of flexible mirror through the position that 16 pairs of flexible mirrors 6 of angle-regulating block are set.
The data line 14,15 of described light irradiation device 11 and imaging system 2 passes the back from housing respectively and is communicated with external power source.
Specific embodiment described herein only is that the present invention's spirit is illustrated.Person of ordinary skill in the field of the present invention can make various modifications or replenishes or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present invention or surmount the defined scope of appended claims.
Claims (10)
1. a visual detection sensing unit comprises the casing (1) that is arranged on the anchor clamps, it is characterized in that: comprise in the casing:
Light irradiation device (11) comprises a word line property structured light laser instrument and a lens set thereof;
Imaging system (2) comprises CCD or cmos camera filming apparatus;
Optical lens assembly comprises the protective glass plate (7) that is arranged on optical lens group (3), optical filter (4), the light damping plate (5) in the casing and is arranged on bottom of shell, and described optical lens group, optical filter are installed in the bottom of CCD or cmos camera; Light damping plate is installed on the rear chassis; The incident ray of described optical lens group, optical filter and light damping plate and video camera is located on the same line;
Light reflecting device comprises being installed in stationary mirror (8) and the flexible mirror (6) that is connected with the imaging system light path with the light irradiation device light path in the casing; This stationary mirror and flexible mirror are parallel to each other, and the flexible mirror along continuous straight runs moves forward and backward;
Mechanical speed-control device comprises light irradiation device, imaging system, optical lens assembly, light reflecting device are fixed on holder and holding screw in the casing.
2. visual detection sensing unit according to claim 1; It is characterized in that: described casing (1) comprises housing (1-1) and the housing cover (1-2) that mutual lid connects; The bottom of housing is made up of a said protective glass plate (7); This protective glass plate (7) but the bottom be provided with the shadow shield (7-1) that an along continuous straight runs moves, the side of housing is provided with out the installing plate of fixed orifice (10).
3. visual detection sensing unit according to claim 2; It is characterized in that: described housing (1-1) inner chamber is positioned at light irradiation device (11) and light damping plate (5) lower horizontal is provided with two blocks of angle steel that are parallel to each other (6-1,6-2), has a sliding tray (6-3) that flexible mirror (6) along continuous straight runs is slided between said up and down two angle steel.
4. visual detection sensing unit according to claim 3; It is characterized in that: described light irradiation device (11) comprises a said word line property structured light laser instrument (11-1) that vertically is installed in housing inner chamber top through fixed support (13), bolt (12), is provided with the eyeglass (11-2) of one group of adjustable positions in the laser instrument; After the linear structure light of one word line property structured light laser instrument emission passes its lens set, be connected with flexible mirror (6), stationary mirror (8), CCD or cmos camera (2) light path successively.
5. visual detection sensing unit according to claim 4; It is characterized in that: described imaging system (2) comprises said CCD or the cmos camera (2-1) that vertically is installed in housing inner chamber top through fixed support (2-3), bolt (2-2); The bottom of video camera (2-1) is connected with optical lens group (3) and optical filter (4) in turn, and described optical lens group (3) and optical filter (4) are located on the same line with the incident ray of video camera (2-1).
6. visual detection sensing unit according to claim 5; It is characterized in that: be provided with the said light damping plate (5) that an along continuous straight runs moves under the said optical filter (4); Housing is provided with a chute that is complementary with light damping plate (5-1); The bottom of chute is provided with the projection (5-2) that is used to support light damping plate, after the end of light damping plate (5-3) passed through chute, in chute, moves horizontally.
7. visual detection sensing unit according to claim 6; It is characterized in that: described light reflecting device comprises said stationary mirror (8) and the flexible mirror (6) that is arranged on light irradiation device and imaging system below; The bearing pin (8-1) that described stationary mirror (8) is provided with through the center, be plugged into stationary mirror holder (8-2) after, through holding screw (9) stationary mirror (8) is fixed in the housing (1-1); Described flexible mirror (6) middle part is provided with sliding axle (6-1), and the slip the tip of the axis was regulated its position on sliding tray (6-3) through tightening nut (17) after passing through sliding tray.
8. visual detection sensing unit according to claim 7 is characterized in that: also be provided with angle-regulating block (16) between said flexible mirror (6) and the sliding axle.
9. visual detection sensing unit according to claim 8; It is characterized in that: a described word line property structured light laser instrument and CCD or cmos camera are installed in respectively in the inner chamber of housing, and the angle between a word line property structured light laser instrument and CCD or the cmos camera is the 0-30 degree.
10. visual detection sensing unit according to claim 9; It is characterized in that: a described word line property structured light laser instrument and CCD or cmos camera vertically are installed in the inner chamber of housing respectively side by side, and a word line property structured light laser instrument and CCD or cmos camera are parallel to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010105629 CN101797665B (en) | 2010-01-20 | 2010-01-20 | Visual detection sensing unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010105629 CN101797665B (en) | 2010-01-20 | 2010-01-20 | Visual detection sensing unit |
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| Publication Number | Publication Date |
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| CN101797665A CN101797665A (en) | 2010-08-11 |
| CN101797665B true CN101797665B (en) | 2012-05-16 |
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| CN 201010105629 Expired - Fee Related CN101797665B (en) | 2010-01-20 | 2010-01-20 | Visual detection sensing unit |
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| CN108226168A (en) * | 2018-01-14 | 2018-06-29 | 湘潭大学 | The multi-functional main passive vision sensing device of monocular and its method for sensing |
| CN108406050A (en) * | 2018-03-08 | 2018-08-17 | 北京斯达峰控制技术有限公司 | Binocular laser Weld joint tracker and seam tracking system |
| CN109814124A (en) * | 2019-01-28 | 2019-05-28 | 河北省科学院应用数学研究所 | A kind of robot positioning system and method based on structure light 3 D sensor |
| CN112605499B (en) * | 2020-12-18 | 2022-11-22 | 南京理工大学 | Visual sensing device for tracking narrow-gap welding seam of thick plate and using method |
| CN114888488B (en) * | 2022-05-16 | 2023-09-29 | 华南理工大学 | A structure light sensor for welding rectify and weld surface quality detects |
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