CN102441724A - Welding line recognition sensing device based on secondary surface light source - Google Patents
Welding line recognition sensing device based on secondary surface light source Download PDFInfo
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- CN102441724A CN102441724A CN2011103902441A CN201110390244A CN102441724A CN 102441724 A CN102441724 A CN 102441724A CN 2011103902441 A CN2011103902441 A CN 2011103902441A CN 201110390244 A CN201110390244 A CN 201110390244A CN 102441724 A CN102441724 A CN 102441724A
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Abstract
A welding line recognition sensing device based on a secondary surface light source is characterized in that a surface light spot laser device and a CCD (charge coupled device) are fixedly connected into an aluminum alloy main frame, an angle of 18-25 degrees is formed between the optical axis of the surface light spot laser device and that of the CCD, and an optical filter, a polaroid and a dimmer are sequentially arranged at the front end of the CCD. The welding line recognition sensing device has the advantages that thin plates can be welded, characteristic recognition can be realized for characteristic information of welding lines, obtained welding line images are clear and contain more characteristic information of the welding lines, and the requirements of an intelligent welding robot on the sensing device are met. The sensing device is particularly suitable for high-quality full-automatic welding for the thin plates, and has extremely high usability.
Description
Technical field
The present invention relates to a kind of weld seam recognition sensing device, relate in particular to a kind of weld seam recognition sensing device based on face property secondary light source.
Background technology
At present, the sensor that is used for position while welding identification has feeler, arc sensor, electromagnetic sensor, ultrasonic sensor and vision sensor.Compare with other sensors, vision sensor has that the information content of providing is abundant, sensitivity and certainty of measurement is high, the anti-electromagnetic field interference performance is strong and with advantages such as workpiece is contactless.Along with the continuous development of material science, alloy material has all had significant raising on intensity and toughness, for plate sheet welding replaces common sheet material welding reliable guarantee is provided.Simultaneously because plate sheet welding in the superiority that reduces on the product weight, makes it have a wide range of applications.
During plate sheet welding, because surface of the work is smooth, can produce reflectively, the weld seam characteristic information is often flooded by arc light, brings difficulty for the picked-up of image feature information; During plate sheet welding, speed of welding is fast, and the span of weld seam is little, narrow.What research both at home and abroad was ripe at present is to adopt the visual sensing mode of linear laser as secondary light source; The distortion of this mode laser rays in the commissure is little; The characteristic information amount of obtaining is few; Can handle to image and bring very big difficulty, the weld joint tracking precision when being difficult to guarantee plate sheet welding influences welding quality.
Summary of the invention
The object of the present invention is to provide a kind of weld seam recognition sensing device based on face property secondary light source, this sensor can collect that information content is many, the evident characteristic weld image.
The present invention realizes like this; It comprises aluminium alloy main frame, face property light spot laser device, ccd video camera, optical filter, polaroid, light damping plate; It is characterized in that being fixed with in the aluminium alloy main frame face property light spot laser device and ccd video camera; The optical axis of said property light spot laser device and the optical axis 18o ~ 25o of ccd video camera, the front end of said ccd video camera is provided with optical filter, polaroid and light damping plate successively.
Technique effect of the present invention is: can realize that to plate sheet welding, the weld seam characteristic information carries out feature identification, and the weld image that obtains is clear, to comprise weld seam characteristic information amount many, satisfies the demand of intelligent welding robot to sensing device.The high-quality that this sensor is particularly suitable for thin plate automatically welds, and has very high usability.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is the structural representation of aluminium alloy main frame of the present invention.
The specific embodiment
Like Fig. 1, shown in Figure 2; The present invention realizes like this; Be fixed with face property light spot laser device 1 and ccd video camera 4 in the aluminium alloy main frame 13; The optical axis of said property light spot laser device 1 and the optical axis 18o ~ 25o of ccd video camera 4, the front end of said ccd video camera 4 is provided with optical filter 6, polaroid 7 and light damping plate 8 successively.Face property light spot laser device 1 is fixed on the aluminium alloy main frame 13 through laser instrument auxiliary clamp 2, and ccd video camera 4 is fixed on the aluminium alloy main frame 13 through ccd video camera auxiliary clamp 3, at the front end of aluminium alloy main frame 13 lucite 10 is housed.
Ccd video camera 4 is perpendicular to face of weld, and face property light spot laser device 1 adopts oblique illumination, and the optical axis of face property light spot laser device 1 and the optical axis of ccd video camera 4 can be regulated in 18o ~ 25o.
Composite filter system 8 comprises aluminium alloy sleeve barrel 5, optical filter 6, polaroid 7, light damping plate 8, and composite filter system 8 is contained in the front end of ccd video camera.
Aviation Connector 12 is fixed on the end cap 11, and the power supply of face property light spot laser device 1, ccd video camera 4, video line are connected with Aviation Connector 12, are connected with extraneous power supply and image pick-up card through Aviation Connector 12 again.
Claims (1)
1. weld seam recognition sensing device based on face property secondary light source; It comprises aluminium alloy main frame, face property light spot laser device, ccd video camera, optical filter, polaroid, light damping plate; It is characterized in that being fixed with in the aluminium alloy main frame face property light spot laser device and ccd video camera; The optical axis of said property light spot laser device and the optical axis 18o ~ 25o of ccd video camera, the front end of said ccd video camera is provided with optical filter, polaroid and light damping plate successively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011103902441A CN102441724A (en) | 2011-11-30 | 2011-11-30 | Welding line recognition sensing device based on secondary surface light source |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011103902441A CN102441724A (en) | 2011-11-30 | 2011-11-30 | Welding line recognition sensing device based on secondary surface light source |
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| CN102441724A true CN102441724A (en) | 2012-05-09 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105627925A (en) * | 2016-03-02 | 2016-06-01 | 南昌航空大学 | Laser vision sensor design method and device thereof |
| CN105798430A (en) * | 2016-05-27 | 2016-07-27 | 廊坊智通机器人系统有限公司 | Laser visual monitoring system for real-time welding line tracking |
| CN106001915A (en) * | 2016-05-27 | 2016-10-12 | 天津智通机器人有限公司 | Seam tracking scanner used for welding robot |
| WO2020042031A1 (en) * | 2018-08-29 | 2020-03-05 | 深圳配天智能技术研究院有限公司 | Seam inspection method of vision-based welding system, and system |
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| CN101334264A (en) * | 2008-07-25 | 2008-12-31 | 华中科技大学 | Laser welding narrow butt-jointed seam measurement method and device |
| CN201313218Y (en) * | 2008-11-19 | 2009-09-23 | 上海沪工电焊机制造有限公司 | DSP based weld joint position real-time detecting system |
| CN202411630U (en) * | 2011-11-30 | 2012-09-05 | 南昌航空大学 | Welding joint recognizing sensing device based on surface auxiliary light source |
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| US4933541A (en) * | 1989-06-29 | 1990-06-12 | Canadian Patents And Development Ltd. - Societe Canadienne Des Brevets Et D'exploitation Limitee | Method and apparatus for active vision image enhancement with wavelength matching |
| JPH10244367A (en) * | 1997-03-03 | 1998-09-14 | Fanuc Ltd | Welding robot system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105627925A (en) * | 2016-03-02 | 2016-06-01 | 南昌航空大学 | Laser vision sensor design method and device thereof |
| CN105798430A (en) * | 2016-05-27 | 2016-07-27 | 廊坊智通机器人系统有限公司 | Laser visual monitoring system for real-time welding line tracking |
| CN106001915A (en) * | 2016-05-27 | 2016-10-12 | 天津智通机器人有限公司 | Seam tracking scanner used for welding robot |
| CN106001915B (en) * | 2016-05-27 | 2018-02-09 | 天津智通机器人有限公司 | A kind of weld joint tracking scanner for welding robot |
| CN105798430B (en) * | 2016-05-27 | 2018-09-21 | 廊坊智通机器人系统有限公司 | A kind of laser vision monitoring system of real-time weld joint tracking |
| WO2020042031A1 (en) * | 2018-08-29 | 2020-03-05 | 深圳配天智能技术研究院有限公司 | Seam inspection method of vision-based welding system, and system |
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Application publication date: 20120509 |
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