CN102126068A - Passive visual sensor based on weld automatic tracking of welding robot - Google Patents
Passive visual sensor based on weld automatic tracking of welding robot Download PDFInfo
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- CN102126068A CN102126068A CN 201110053264 CN201110053264A CN102126068A CN 102126068 A CN102126068 A CN 102126068A CN 201110053264 CN201110053264 CN 201110053264 CN 201110053264 A CN201110053264 A CN 201110053264A CN 102126068 A CN102126068 A CN 102126068A
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Abstract
The invention discloses a passive visual sensor based on the weld automatic tracking of a welding robot. The passive visual sensor comprises a mounting bracket, a system shell, a camera, a dimming and filtering system, a light reflection system and a wire feed adjustment mechanism, wherein the camera and the dimming and filtering system are coaxially arranged on an inner wall of the system shell in the welding process and transmit weld image information in the welding process; the dimming and filtering system is driven through a motor transmission system in the non-welding process and realizes guide and standardization before welding; the light reflection system is arranged on the inner wall of the system shell, is connected with the dimming and filtering system and acquires a welding image; the mounting bracket is arranged on a sixth shaft of the robot; and the wire feed adjustment mechanism is fixedly arranged on a welding gun. The passive visual sensor can be applied to the aspects of information acquisition and identification, weld searching and tracking, penetration control and the like in the welding.
Description
Technical field
What the present invention relates to is the device in a kind of robotic welding technology field, specifically is a kind of based on the autonomous passive vision sensor of following the tracks of of welding robot GTAW (argon tungsten-arc welding) weld seam.
Background technology
The robot welding quality control is the focus and the difficult point of welding research always, also is the important topic that the welding worker of circle endeavours to study.In actual welding, factors such as gap, change misalignment are dispelled the heat, become in usually existence distortion, change, influence the quality of appearance of weld.In order to overcome in the welding process these uncertain factors to the influence of precision welding fitting quality, press for adaptability or intelligent level that technology such as adopting feedback information, Based Intelligent Control improves existing welding robot, realize the intellectuality control of robot welding process.Realize the intelligent accurately control of welding process quality, at first need to obtain to describe the accurate information of welding process state, wherein sensor plays an important role obtaining message context.The useful information that utilizes sensor to obtain exactly in the welding process has important significance for theories and engineering practical value to the control of welding quality.At present, the method for sensing that is applied on the welding robot is varied, among these method for sensing, since the visual sensing mode have contain much information, noncontact, fast, high accuracy and automaticity advantages of higher, be subjected to liking of numerous Welders author, become one of focus of third generation welding robot research at present.For this reason, reasonable in design, vision sensor seems particularly important in the intelligent process of robot welding efficiently.
The visual sensing technology is mainly used in the guiding of carrying out initial welding position, the aspects such as identification, weld joint tracking and penetration control of welding point form in the welding robot field, at present both at home and abroad the active vision sensing of research comparative maturity has and costs an arm and a leg, complex structure is huge and have deficiencies such as blind area, especially because the thermal deformation of workpiece is easy to generate leading detection error, this is the most fatal defective; And electric arc itself is exactly monitoring location in the passive vision sensor, can not produce tired seemingly active vision sensor and detect error in advance because of caused by factors such as thermal deformations, can directly obtain the information in welding line joint and molten bath, help the intellectuality control of welding quality.But existing passive vision sensor then exists function singleness, arc light to disturb deficiencies such as big, that automaticity is low, volume size is relatively large, cause scope to diminish with welding activity after the welding gun integral installation, the continuity of welding process be can't satisfy, equipment uses in the welding process flexibility and flexibility greatly reduced.
Literature search through prior art is found, Chinese patent application number: the patents of 200710037890.3 " welding robot multifunctional double-eye visual sensor and scaling methods thereof " by name provide another kind of vision sensor, this kind sensor mainly is made up of two ccd video cameras, realize the collection of butt welded seam image by image pick-up card and ccd video camera, this device can be real-time the image information that collects weld seam, can realize the control of guiding, tracking and appearance of weld.But this sensor is unfavorable for the welding of low-angle weld seam owing to utilize pneumatic means to load and remove the dim light filter system and make sensor bulk and weight excessive, adds and will utilize source of the gas, is unfavorable for not having the welding under the source of the gas occasion, has significant limitation.
Summary of the invention
The present invention is directed to the prior art above shortcomings, provide a kind of based on the autonomous passive vision sensor of following the tracks of of welding robot weld seam, characteristics in conjunction with the robot welding automation process, carry out the conversion of weld seam guiding and tracing mode by miniature big moment direct current generator and pinion rack drives dim light filter system, reduce the volume of sensor greatly, avoided the carrying out of welding under the occasion of no source of the gas simultaneously; By the dim light filter system and the drawer-type structure of multilayer multiple tracks, the feasible characteristic information that can clearly observe the different light intensity place simultaneously; And require to load the wire feed governor motion to guarantee welding quality according to actual process.Information during the present invention can be applicable to weld is obtained and identification, weld seam searching and aspects such as tracking and penetration control.
The present invention is achieved by the following technical solutions, the present invention includes: mounting bracket, system shell, video camera, the dim light filter system, reflective optical assembly and wire feed governor motion, wherein: video camera and dim light filter system are coaxial in welding process to be arranged at the system shell inwall and to transmit welding process weld image information, guiding and demarcation before the dim light filter system drives and realize by motor transmission system to weld in non-welding process, reflective optical assembly is arranged at the system shell inwall and links to each other with the dim light filter system and obtain welding image, mounting bracket is wholy set in the 6th of robot, and the wire feed governor motion is fixedly set on the welding gun.
Described mounting bracket comprises: carrying support, camera mount, dim light filter system support, reflective optical assembly support and wire feeder support, wherein: the carrying support is fixedly set in the robot end, camera mount and dim light filter system support all are fixedly set in the inner surface of system shell, and the wire feeder support is fixedly set on the welding gun.
Described reflective optical assembly support is made up of first order reflection mirror support and secondary reflex mirror support, wherein: the first order reflection mirror support is fixedly set in the inner surface of system shell, and the secondary reflex mirror support is fixedly set on the dim light filter system and is at 45 with the axle center of video camera.
The inner surface of described system shell is provided with screwed hole and groove with mounting bracket and video camera.
The PORT COM of described video camera is connected with the port of computer, and communication modes is a serial ports.
Described dim light filter system comprises: multilayer multiple tracks structure and motor transmission mechanism, wherein: multilayer multiple tracks structure is installed on the slide block of linear slide rail of motor transmission system, miniature big moment direct current generator provides power, moves around by gear in the motor transmission mechanism and rack drives slide block.
Described multilayer multiple tracks structure is a four-layer structure, be followed successively by video camera light shield layer, drawer type filter layer, drawer type dim light lamella and following extension layer from top to down, wherein: the drawer type filter layer is determined filter range by placing different optical filters, realizes different filter effects; Following extension layer is mainly used in and connects reflective optical assembly and limit the position of dim light filter system on loading plate.
Described motor transmission mechanism comprises: miniature big moment direct current generator, rack-and-pinion, slide block and linear slide rail, wherein: miniature big moment direct current generator cogs and is meshed with tooth bar, and slide block is movably set on the linear slide rail.
Described slide block is provided with the dim light optical filter.
Described wire feed governor motion comprises: wire feed adjustable support, wire-feed motor mouth and wire feeding motor, wherein: the wire feed adjustable support is fixedly set on the welding gun, the wire-feed motor mouth is fixedlyed connected with the wire feed adjustable support, and wire feeding motor is connected with source of welding current switch board and realizes manually or automatically regulating of wire feed rate by main control computer.
The modular construction that the present invention proposes can be distinguished each function effectively, makes it separate, is beneficial to installation and maintenance, can at utmost reduce the influence of parts to integral body; Owing to adopt the design of semi open model, this sensor has bigger autgmentability simultaneously, can increase module in addition and realize more function, " because of need suiting measures to different conditions ", the flexibility function of realization sensor.
The present invention has solved effectively and has utilized same sensor can't finish problem such as multinomial welding jobs such as initial welding position guiding, weld joint tracking and penetration controls continuously in the welding process, allow the structure of sensor have very big flexibility and autgmentability simultaneously, can improve stability and precision on the one hand, on the other hand can easy operation and saving cost.
Description of drawings
Fig. 1 is a structural representation of the present invention.
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: mounting bracket 1, system shell 2, video camera 3, dim light filter system 4, reflective optical assembly 5 and wire feed governor motion 6, wherein: video camera 3 and dim light filter system 4 are coaxial in welding process to be arranged at system shell 2 inwalls and to transmit welding process weld image information, guiding and demarcation before dim light filter system 4 drives and realize by motor transmission system to weld in non-welding process, reflective optical assembly 5 is arranged at the system shell inwall and links to each other with the dim light filter system and obtain welding image, mounting bracket 1 is arranged at the 6th 16 of robot, and wire feed governor motion 6 is fixedly set on the welding gun 7.
Described mounting bracket 1 comprises: insulation board support 9, wire feeder support 10, camera mount 11 and reflective optical assembly support 12, wherein: sensor-based system is fixed on the mounting bracket 1 by insulation board support 9, avoid sensor-based system to be subjected to the electric arc High-frequency Interference, mounting bracket 1 is arranged at robot end 16, camera mount 11 and reflective optical assembly support 12 all are fixedly set in the inner surface of system shell 2, and wire feeder support 10 is fixedly set on the welding gun 7.
The inner surface of described system shell 2 is provided with screwed hole and groove with mounting bracket 1 and video camera 3.
Described video camera 3 comprises ccd sensor 17 and camera lens 18, and ccd sensor 17 PORT COMs are connected with the port of computer, and communication modes is a serial ports.
Described dim light filter system 4 comprises: multilayer multiple tracks structure and motor transmission mechanism, wherein: multilayer multiple tracks structure is installed on the slide block of linear slide rail of motor transmission system, miniature big moment direct current generator provides power, moves around by the slide block on gear in the motor transmission mechanism and the rack drives linear slide rail.
Described multilayer multiple tracks structure is a four-layer structure, be followed successively by video camera light shield layer, drawer type filter layer, drawer type dim light lamella and following extension layer from top to down, wherein: the drawer type filter layer is determined filter range by placing different optical filters, realizes different filter effects; Following extension layer is mainly used in and connects reflective optical assembly 5 and limit the position of dim light filter system 4 on loading plate.
Described motor transmission mechanism comprises: miniature big moment direct current generator 13, gear 19, tooth bar 20, linear slide block 14, wherein: the gear 19 on the miniature big moment direct current generator 13 is meshed with tooth bar 20, and slide block is movably set on the linear slide block 14.
Described slide block is provided with the dim light optical filter.
Described reflective optical assembly 5 is made up of first order reflection mirror 15 and secondary reflex mirror 21, wherein: first order reflection mirror 15 is fixedly set in the inner surface of system shell 2 by support, and secondary reflex mirror 21 is fixedly set on the dim light filter system 4 by support and is at 45 with the axle center of video camera 3.
Described wire feed governor motion 6 comprises: wire feed adjustable support 22, wire-feed motor mouth 23 and wire feeding motor, wherein: wire feed adjustable support 25 is fixedly set on the welding gun 7, wire-feed motor mouth 23 is fixedlyed connected with wire feed adjustable support 22, and wire feeding motor is connected with source of welding current switch board and realizes manually or automatically regulating of wire feed rate by main control computer.
Present embodiment is installed, dismantles, changes, safeguards all very convenient; Have characteristics such as flexibility, accurate, easy, easy expansion; Can satisfy requirement such as quality control in guiding, weld joint tracking and the welding process of weld start position, for welding process automation and welding quality high quality are offered help.
Claims (10)
1. one kind based on the autonomous passive vision sensor of following the tracks of of welding robot weld seam, it is characterized in that, comprise: mounting bracket, system shell, video camera, the dim light filter system, reflective optical assembly and wire feed governor motion, wherein: video camera and dim light filter system are coaxial in welding process to be arranged at the system shell inwall and to transmit welding process weld image information, guiding and demarcation before the dim light filter system drives and realize by motor transmission system to weld in non-welding process, reflective optical assembly is arranged at the system shell inwall and links to each other with the dim light filter system and obtain welding image, mounting bracket is arranged at the 6th of robot, and the wire feed governor motion is fixedly set on the welding gun.
2. according to claim 1 based on the autonomous passive vision sensor of following the tracks of of welding robot weld seam, it is characterized in that, described mounting bracket comprises: insulation board support, camera mount, dim light filter system support, reflective optical assembly support and wire feeder support, wherein: the insulation board support is fixedly set in the robot end by mounting bracket, camera mount and dim light filter system support all are fixedly set in the inner surface of system shell, and the wire feeder support is fixedly set on the welding gun.
3. according to claim 2 based on the autonomous passive vision sensor of following the tracks of of welding robot weld seam, it is characterized in that, described reflective optical assembly support is made up of first order reflection mirror support and secondary reflex mirror support, wherein: the first order reflection mirror support is fixedly set in the inner surface of system shell, and the secondary reflex mirror support is fixedly set on the dim light filter system and is at 45 with the axle center of video camera.
4. according to claim 1ly it is characterized in that the inner surface of described system shell is provided with screwed hole and groove with mounting bracket and video camera based on the autonomous passive vision sensor of following the tracks of of welding robot weld seam.
5. according to arbitrary described passive vision sensor based on the autonomous tracking of welding robot weld seam in the claim 1 to 4, it is characterized in that the PORT COM of described video camera is connected with the port of computer, communication modes is a serial ports.
6. according to claim 1 or 3 described passive vision sensors based on the autonomous tracking of welding robot weld seam, it is characterized in that, described dim light filter system comprises: multilayer multiple tracks structure and motor transmission mechanism, wherein: multilayer multiple tracks structure is installed on the slide block of linear slide rail of motor transmission system, miniature big moment direct current generator provides power, moves around by gear in the motor transmission mechanism and rack drives slide block.
7. according to claim 6 based on the autonomous passive vision sensor of following the tracks of of welding robot weld seam, it is characterized in that, described multilayer multiple tracks structure is a four-layer structure, be followed successively by video camera light shield layer, drawer type filter layer, drawer type dim light lamella and following extension layer from top to down, wherein: the drawer type filter layer is determined filter range by pulling out distance, realizes filter effects different under the same eyepiece; Following extension layer is mainly used in and connects reflective optical assembly and limit the position of dim light filter system on loading plate.
8. according to claim 6 based on the autonomous passive vision sensor of following the tracks of of welding robot weld seam, it is characterized in that, described motor transmission mechanism comprises: miniature big moment direct current generator, rack-and-pinion, slide block and linear slide rail, wherein: miniature big moment direct current generator is meshed with rack-and-pinion, and slide block is movably set on the linear slide rail.
9. according to claim 8 based on the autonomous passive vision sensor of following the tracks of of welding robot weld seam, it is characterized in that described slide block is provided with the dim light optical filter.
10. according to claim 1 based on the autonomous passive vision sensor of following the tracks of of welding robot weld seam, it is characterized in that, described wire feed governor motion comprises: wire feed adjustable support, wire-feed motor mouth and wire feeding motor, wherein: the wire feed adjustable support is fixedly set on the welding gun, the wire-feed motor mouth is fixedlyed connected with the wire feed adjustable support, and wire feeding motor is connected with source of welding current switch board and realizes manually or automatically regulating of wire feed rate by main control computer.
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| CN201110053264XA CN102126068B (en) | 2011-03-05 | 2011-03-05 | Passive visual sensor based on weld automatic tracking of welding robot |
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| CN201110053264XA CN102126068B (en) | 2011-03-05 | 2011-03-05 | Passive visual sensor based on weld automatic tracking of welding robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102284769A (en) * | 2011-08-05 | 2011-12-21 | 上海交通大学 | System and method for initial welding position identification of robot based on monocular vision sensing |
| CN102357716A (en) * | 2011-09-30 | 2012-02-22 | 上海交通大学 | Compound-function binocular vision sensor suitable for movable independent welding robot |
| CN102672315A (en) * | 2012-06-07 | 2012-09-19 | 中国东方电气集团有限公司 | Autonomous mobile double-sided double-arc welding robot system |
| CN104289793A (en) * | 2014-09-22 | 2015-01-21 | 武汉纳瑞格智能设备有限公司 | Self-adaptation tracking elastic force sensor used for welding groove |
| CN105741306A (en) * | 2016-03-03 | 2016-07-06 | 上海交通大学 | Penetration state determination method based on small hole characteristic on back side |
| CN107030352A (en) * | 2017-04-24 | 2017-08-11 | 中国科学院自动化研究所 | Weld joint tracking vision sensor based on laser structure light |
| CN109807936A (en) * | 2019-03-11 | 2019-05-28 | 上海交通大学 | Robot welding visual sensor for weld seam and molten bath monocular dibit picture synchronization collection |
| CN109927074A (en) * | 2019-04-22 | 2019-06-25 | 上海交通大学 | Position and tracking visual sensor are sought in robot welding |
| CN111044535A (en) * | 2019-12-17 | 2020-04-21 | 上海交通大学 | Electric arc spectrum sensor and method for detecting defects of aluminum alloy welding air holes |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102284769A (en) * | 2011-08-05 | 2011-12-21 | 上海交通大学 | System and method for initial welding position identification of robot based on monocular vision sensing |
| CN102357716A (en) * | 2011-09-30 | 2012-02-22 | 上海交通大学 | Compound-function binocular vision sensor suitable for movable independent welding robot |
| CN102357716B (en) * | 2011-09-30 | 2013-09-04 | 上海交通大学 | Compound-function binocular vision sensor suitable for movable independent welding robot |
| CN102672315A (en) * | 2012-06-07 | 2012-09-19 | 中国东方电气集团有限公司 | Autonomous mobile double-sided double-arc welding robot system |
| CN104289793A (en) * | 2014-09-22 | 2015-01-21 | 武汉纳瑞格智能设备有限公司 | Self-adaptation tracking elastic force sensor used for welding groove |
| CN104289793B (en) * | 2014-09-22 | 2016-06-29 | 武汉纳瑞格智能设备有限公司 | Adaptive tracing elastic sensor for bevel for welding |
| CN105741306A (en) * | 2016-03-03 | 2016-07-06 | 上海交通大学 | Penetration state determination method based on small hole characteristic on back side |
| CN107030352A (en) * | 2017-04-24 | 2017-08-11 | 中国科学院自动化研究所 | Weld joint tracking vision sensor based on laser structure light |
| CN107030352B (en) * | 2017-04-24 | 2020-02-07 | 中国科学院自动化研究所 | Welding seam tracking visual sensor based on laser structured light |
| CN109807936A (en) * | 2019-03-11 | 2019-05-28 | 上海交通大学 | Robot welding visual sensor for weld seam and molten bath monocular dibit picture synchronization collection |
| CN109927074A (en) * | 2019-04-22 | 2019-06-25 | 上海交通大学 | Position and tracking visual sensor are sought in robot welding |
| CN111044535A (en) * | 2019-12-17 | 2020-04-21 | 上海交通大学 | Electric arc spectrum sensor and method for detecting defects of aluminum alloy welding air holes |
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