CN104625337A - Adjustable laser visual sensing structure - Google Patents
Adjustable laser visual sensing structure Download PDFInfo
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- CN104625337A CN104625337A CN201510030065.5A CN201510030065A CN104625337A CN 104625337 A CN104625337 A CN 104625337A CN 201510030065 A CN201510030065 A CN 201510030065A CN 104625337 A CN104625337 A CN 104625337A
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- laser
- outer housing
- sensor outer
- water channel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- Engineering & Computer Science (AREA)
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- Optics & Photonics (AREA)
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- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention discloses an adjustable laser visual sensing structure which comprises a CCD camera, a laser module, a sensor shell, a reflecting mirror module and an arc light baffle module. The CCD camera and the laser module are fixed into the sensor shell. The reflecting mirror module is fixed into the sensor shell. The arc light baffle module is fixed to the bottom of the sensor shell. A sensor shell circulating water way is arranged in the sensor shell. Compared with other laser visual sensor structures, the adjustable laser visual sensing structure has great advantages on the aspects of miniaturization, assembling and machining, a heat dissipation system and laser adjustability. The technical defects of an existing laser visual sensor in the prior art are overcome, and application of a laser visual welding seam tracking technology to the welding field is promoted.
Description
Technical field
The present invention relates to technical field of welding equipment, be specifically related to a kind of adjustable laser visual sensing structure.
Background technology
Flourish along with China's metal manufacturing, the automation for the such key metal processing mode of solder technology requires more and more higher, and Automation of Welding realizes the automatic tracking problem needing to solve weld seam.The automatic tracking technology of weld seam can provide the real-time position information of weld seam, the motion-control module of welding torch is made to become the self adaptation welding system of closed loop, therefore obtain the extensive concern of domestic and international scientific research institution and incorporated business, and constantly research and develop the sensor made new advances, new tracking technique.Up to now, occurred based on arc sensor tracking, mechanical contact tracking, laser vision tracking etc.
Arc sensing follows the tracks of the height change that can only detect welding torch, can not detect that horizontal cross moves, have certain limitation; Mechanically tracking can carry out vertical and horizontal direction two-dimensional tracking, but the metal probe with certain degree of hardness must be adopted, contact with welded piece, and apply certain pressure, the weld excursion accuracy of measurement that institute's procuratorial work goes out is lower, tracking velocity is comparatively slow, and is not suitable for workpiece and the plate sheet welding of butt weld.Laser-vision sensing tracking technique overcomes the shortcoming of arc sensing and mechanical sensing tracking mode, have contain much information, can carry out vertical and horizontal two-dimensional tracking, sensitivity high with precision, do not contact with welded piece, be applicable to the advantages such as various bevel shape, become soldering joint automatic tracking technology the most promising at present.
But, because welding surroundings is severe, workpiece is in the condition of high temperature all the time in welding process, cause installing with on welding gun, the laser vision sensor of the top of next-door neighbour's weld seam is subject to hyperthermia radiation, affect the normal work of sensor internal ccd video camera and laser instrument, bring interference to the automatic tracking of weld seam.Meanwhile, due to sensor internal, each assembly closely cooperates installation, and space is less, when needing to calibrate laser stripe adjustment or in order to adapt to different setting height(from bottom)s and weld seam centering, is difficult to regulate easily.
Summary of the invention
Instant invention overcomes the deficiencies in the prior art, the problem solving sensor internal temperature rise, laser adjustment is provided, devise a kind of structure that at utmost can reduce sensor internal temperature rise, adopt the laser mirror in adjustable direction to realize the adjustment of the relative CCD optic centre of laser stripe simultaneously.
For solving above-mentioned technical problem, the present invention by the following technical solutions:
A kind of adjustable laser visual sensing structure, it comprises ccd video camera and laser module, sensor outer housing, magnifier module, arc light damper modules; Described ccd video camera and laser module are fixed in described sensor outer housing; Described magnifier module is fixed in described sensor outer housing; Described arc light damper modules is fixed on bottom described sensor outer housing; Sensor outer housing cyclic water channel is provided with in described sensor outer housing.
Further technical scheme is that ccd video camera and laser module comprise ccd video camera, laser instrument and equipped fixture; Angle structure is formed between described ccd video camera and described laser instrument; Folder embraced by the laser instrument that the ccd video camera described equipped fixture being provided with one end open embraces folder and one end open; Described ccd video camera embraces screw folder is provided with for fixing described ccd video camera; Screw folder is provided with for fixing described laser instrument embraced by described laser instrument; Described equipped clamp base is provided with the threaded mounting hole for being fixed on by described equipped fixture in described sensor outer housing.
Further technical scheme is equipped fixture is integrated formed structure; Described equipped fixture is that aluminum is made.
Further technical scheme is sensor outer housing is one-body molded aluminium alloy sensor outer housing.
Further technical scheme is that sensor outer housing inside dimension is greater than described equipped grip size, leaves gap between described sensor outer housing and described equipped fixture; The top board of described sensor outer housing is provided with the compressed air interface for being blown into extraneous air.
Further technical scheme is provided with circular open and rectangular aperture bottom sensor outer housing.
Further technical scheme is that sensor outer housing cyclic water channel comprises: be arranged on the first water channel in described sensor outer housing on a side and the second water channel, be arranged on the 3rd water channel and the 4th water channel of described sensor outer housing inner bottom part, be arranged on the 5th water channel on another side relative with a described side in described sensor outer housing; Described first water channel is communicated with described 3rd water channel, and described 3rd water channel is communicated with described 5th water channel, and described 5th water channel is communicated with described 4th water channel, and described 4th water channel is communicated with described second water channel.
Further technical scheme is that magnifier module comprises laser reflection mirror support, laser mirror; Be provided with elastomeric element between described laser reflection mirror support and described laser mirror, described laser reflection mirror support, elastomeric element and laser mirror three are connected by laser adjustment screw group.
Further technical scheme is that laser adjustment screw group is arranged on described sensor outer housing side.
Further technical scheme is that arc light damper modules comprises arc light cover plate and metal baffle; Described metal baffle is connected with described arc light cover plate is detachable.
Specifically, the present invention realizes mainly through following technological means, embodiments of the invention have employed modularized design, assembling is regulated more convenient, recirculated water cooling system is integrated in sensing shell, do not affect by assembling, whole sensor is primarily of formations such as ccd video camera and laser module, one-body molded aluminium alloy sensor outer housing, magnifier module, arc light damper modules, sensor is equipped with tool and processes by aluminium or other metal machine, both be conducive to system radiating, also provide stable fastening installation carrier for each assembly of sensor internal.Magnifier module carries out position adjustments by spring and housing screw group, makes speculum position, direction minor alteration up and down, reaches the object regulating laser stripe at the different image spaces of commissure.
Described ccd video camera is equipped with fixture with laser module is formed by cylindrical CCD miniature camera, cylindrical small linear laser instrument, integrated aluminium, aluminium material is equipped with on fixture and adopts perforate mode respectively with certain angle, CCD and laser instrument are installed, and directly folder is embraced at one end opening formation, screw thread is adopted to carry out fastening to CCD, laser instrument respectively, form ccd video camera and be equipped with module, the bottom design of this module has two threaded mounting holes, utilizes screw to be anchored on bottom in sensor outer housing.
Described sensor outer housing is by aluminium material integrated molding, there is certain thickness, bore mode is adopted to form the circulating water channel of shell side and bottom, with high efficiency, the heat radiation be subject to during welding can be taken away by circulation, enclosure size is a bit larger tham CCD installation module simultaneously, leave gap between the two, by the compressed air interface on top board, be blown into the air that external temperature is lower, the heat that can at utmost realize between CCD module and shell is isolated, and the temperature reduced when CCD and laser instrument itself work, improve the signal stabilization of sensor-based system.Compressed air is flowed out by the opening bottom sensor outer housing or equipped gap, and flue dust when blowing away welding by the mode gone out under entering on this, protection camera shooting and video quality and internal sensor assembly exempt from smoke contamination.Have circular open and rectangular aperture bottom sensor outer housing, circular open utilizes the imaging of ccd video camera butt welded seam; Rectangular aperture can facilitate the installation of magnifier module, simultaneously for laser stripe provide best outgoing route.
Described sensor outer housing cyclic water channel by sensor outer housing side, bottom, another side totally 5 deep holes form, be interconnected and communicate, deep hole bottom end face adopts soldering or other welding manner plug-hole, prevents recirculated water seepage, reduces design and the difficulty of processing of cyclic water channel.
Described magnifier module is made up of speculum, metallic support, spring and housing screw group.Four spring supportings are had between speculum and metallic support, metallic support is installed in the rectangular aperture bottom sensor outer housing by screw threads for fastening, housing screw group is installed and sensor outer housing side, by housing screw group, different pressure is applied to speculum, make speculum position, direction minor alteration up and down, reach the adjustment regulating laser stripe and CCD optic centre relative position, eliminate assembly and be equipped with error, also regulate laser stripe in the object of the different image spaces of commissure simultaneously.
On described housing screw group and sensor outer housing, other all equipped screw thread all staggers with the cyclic water channel of sensor outer housing inside, non-interference.
Described arc light damper modules is made up of arc light cover plate and metal baffle, is slidably mounted on sensor base by draw-in groove, and side can be fixed by screw thread, facilitates the replacing of this welding consumptive material of arc light cover plate.
Compared with prior art, the invention has the beneficial effects as follows: (1) the present invention adopts the shaping material of metal-integral, carries out modularization installation, reduces the installation difficulty of miniaturized laser vision sensor.
(2) mounting means of CCD module and sensor outer housing in the present invention; can maximized realization heat between the two isolate; and adopt compressed air to carry out the heat radiation of inner CCD module; blow away weld fumes by sensor base opening and gap simultaneously, laser vision sensor is protected.
(3) the inner integrated cyclic water channel of sensor outer housing in the present invention, the temperature rise that sensor produces by welding radiation can be reduced, sensor outer housing adopts integrated aluminium material, maximized stop can weld radiation to the impact of inner CCD module, and improve the equipped stability of whole sensor.Cyclic water channel by sensor outer housing side, bottom, another side totally 5 deep holes form, be interconnected and communicate, deep hole bottom end face adopts soldering or other welding manner plug-hole, prevents recirculated water seepage, reduces design and the difficulty of processing of cyclic water channel.
(4) the present invention devises magnifier module, can easily be regulated the skew of laser stripe and CCD optic centre by housing screw, eliminates because original paper production defect or rigging error cause laser slip chart inconocenter, affects vision system tracking effect.
To sum up, the present invention is compared with other laser vision sensor structure, in miniaturization, assembly manufacturing, cooling system, laser are adjustable, all there is greater advantage, solve the prior art defect of laser vision sensor, facilitate the application of laser vision THE WELD SEAM TRACKING TECHNOLOGY at welding field.
Accompanying drawing explanation
Fig. 1 is that in one embodiment of the invention, CCD and linear laser are equipped with modular structure schematic diagram.
Fig. 2 is laser mirror module structure for amplifying schematic diagram figure in one embodiment of the invention.
Fig. 3 is that in one embodiment of the invention, laser position regulates schematic diagram.
Fig. 4 is sensor outer housing structure schematic diagram in one embodiment of the invention.
Fig. 5 is cyclic water channel structural representation in one embodiment of the invention.
Fig. 6 is laser vision sensor cap structure schematic diagram in one embodiment of the invention.
Fig. 7 is arc light damper modules structural representation in one embodiment of the invention.
Fig. 8 is laser vision sensor operating diagram in one embodiment of the invention.
Wherein, the name corresponding to the Reference numeral in accompanying drawing is called:
1-CCD and laser instrument are equipped with aluminium material carrier, the cylindrical video camera of 2-CCD, the cylindrical small linear laser instrument of 3-, 4-CCD embraces the solid screw of clamping, the solid screw of clamping embraced by 5-laser instrument, 6-CCD-laser module assembling screw, 7-laser reflection mirror support, 8-laser mirror, 9-spring, 10-laser adjustment screw, 11-laser mirror modules fit hole, 12-laser stripe, 13-laser and CCD optic centre intersection point, 14-optical filter, 15-laser vision sensor shell, 16-cool cycles water channel, 17-cyclic water channel connecting hole, 18-laser regulates screw, 19-arc light damper modules is equipped with draw-in groove, 20-arc light damper modules fixing threaded hole, 21-laser vision sensor shell bottom view, 22-CCD vision rectangle opening, 23-laser emitting hole, 24-laser mirror modules fit screw, 25-CCD-laser module pilot hole, 26-CCD-laser module, 27-laser mirror module, 28-arc light damper modules, 29-roof module, 30-laser vision sensor assembly, 31-cable-to-cable connector, 32-compressed air joint, 33-aluminium material cover plate, the assembling of 34-sensor supports, 35-welding gun (welding torch), 36-weld seam or welding position, 37-welded piece, 38-heat radiation.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further elaborated.
As shown in Figures 1 to 8, one embodiment of the invention adjustable laser visual sensing structure, have employed modular construction in the present embodiment, and as shown in figs. 1-7, main assembling carrier is aluminum or aluminum alloy material, is convenient to machine-shaping, equipped compact, and utilizes heat radiation.
As shown in Figure 1, the present embodiment adopts one piece of CCD and laser instrument to be equipped with aluminium material carrier 1, by boring, the manufacturing process such as opening, form the cylindrical video camera of CCD 2 and be equipped with hole with cylindrical small linear laser instrument 3, design in one end, equipped hole and embrace folder, adopt CCD to embrace the solid screw 4 of clamping and laser instrument respectively to embrace and clamp screw 5 couples of CCD and laser instrument admittedly and carry out fastening, form CCD-laser module 26, CCD-laser module assembling screw 6 is processed in the bottom of whole module, for with sensor outer housing bottom CCD-laser module pilot hole 25 (visible in the laser vision sensor shell bottom view 21 of Fig. 4) carry out screw fastening be equipped with.
As shown in Figure 2, laser mirror 8 is equipped with the side with laser reflection mirror support 7,4 angles between the two have a support spring 9 respectively, 4 laser adjustment screw 10 on sensor outer housing are installed on when precession, the pose of speculum can be adjusted, laser reflection mirror support 7 is by fastening laser mirror modules fit screw 24 place be arranged on bottom laser vision sensor shell 15, laser mirror modules fit hole 11, be rigidly connected by such, magnifier module, CCD-laser module, sensor outer housing all realize the fixing of relative position.
Realize the principle of laser adjustment as shown in Figure 3, laser stripe 12, through the reflection of laser mirror 8, arrives CCD optic centre line, both are intersected in laser and CCD optic centre intersection point 13, preferably, the cylindrical video camera of CCD is provided with and filters sheet 14, reach better optical signal transmission effect.In great majority welding application, this is desirable position while welding, and image quality is best herein, and precision is higher.But, process due to the product defects of laser instrument own or each assembly and be equipped with error, laser stripe and CCD optic centre have skew, therefore, the benchmark image that the vision that often can not obtain good quality is followed the tracks of, the pose of laser mirror 8 is regulated by adjusting 4 laser adjustment screw 10, the vertical and horizontal reflection angle of laser stripe 12 can be regulated, thus realize the laser of laser stripe on welded piece and the position of CCD optic centre intersection point 13 in two dimensions adjusts, eliminate the skew of laser stripe and CCD optic centre line, obtain desirable seam laser image, improve the reliability that vision is followed the tracks of.
Laser vision sensor shell 15 is made by monoblock aluminium, inner machined is emptied and is formed CCD-laser module and magnifier module installing space, as shown in Figure 4, laser vision sensor shell 15 is provided with arc light damper modules fixing threaded hole 20, for fixing arc light damper modules.Meanwhile, laser vision sensor shell 15 is provided with four laser and regulates screw 18, for fixed laser adjustment screw 10.The gap that common compressed air circulates all is left in CCD-laser module 26 and four sides of laser vision sensor shell 15, is convenient to dispel the heat to CCD-laser module, prevents weld fumes from invading sensor internal simultaneously.The bottom of laser vision sensor shell 15 processes the fastening installation of CCD-laser module pilot hole 25 for CCD-laser module 26, and laser mirror modules fit screw 24 is for the fastening installation of laser mirror module 27.Sensor outer housing two bottom sides is opening respectively, forms CCD vision rectangle opening 22 and laser emitting hole 23.
As shown in Figure 8, during welding, around weld seam or the welding position 36 of welded piece 37, form the heat radiation 38 to sensor, the side that the bottom of most heat radiation effect and sensor outer housing and sensor and welding gun 35 are close to, accordingly, the cool cycles water channel with maximum radiating efficiency of design as shown in phantom in Figure 4, cool cycles water channel 16 is by being formed at sensor outer housing Side wall drill deep hole, near the position of bottom, a deep hole is respectively bored in three sides, and the equipped side of vision sensor, by two water channels, forms access way.The direct deep hole in side directly runs through connection, reduces difficulty of processing, and cyclic water channel connecting hole 17 is blocked up by soldering or screw, while keeping the without hindrance UNICOM of internal water channel, prevents recirculated water from exosmosing.Aluminium matter laser vision sensor shell 15 can maximizedly prevent sweating heat radiation from invading and harassing inner CCD-laser module, is taken away rapidly by heat simultaneously, realize the steady operation of laser vision sensor by cooling circulating water.
Vision sensor aluminium material cover plate 33 is made up of aluminium sheet, and upper dress CCD, laser instrument are powered and signal-transmitting cable connector 31, compressed air joint 32, forms roof module 29, as shown in Figure 6.
Arc light damper modules 28, as shown in Figure 7, inside is provided with anti-arc light and spatter glass, is equipped with draw-in groove 19 is slidably installed and sensor bottom by arc light damper modules, for convenience detach, is beneficial to the replacing to arc light glass.
The final operation principle of laser vision sensor as shown in Figure 8, aforementioned each module assembly is on sensor outer housing, form laser vision sensor assembly 30, it is fixing that laser vision sensor assembly 30 assembles support 34 by the screw of sensor outer housing dorsal surface and sensor, the latter is fastened on welding gun, when welding workpiece, laser vision sensor assembly 30 keeps identical motion path with welding gun 35, calculated by the image measurement of laser vision sensor, under the effect of welding control system, follow weld seam motion, reach the object from motion tracking.
Spoken of in this manual " embodiment ", " another embodiment ", " embodiment ", etc., refer to the specific features, structure or the feature that describe in conjunction with this embodiment and be included at least one embodiment of the application's generality description.Multiple place occurs that statement of the same race is not necessarily refer to same embodiment in the description.Furthermore, when describing specific features, structure or a feature in conjunction with any one embodiment, what advocate is also fall within the scope of the invention to realize this feature, structure or feature in conjunction with other embodiments.
Although with reference to the multiple explanatory embodiment of inventing, invention has been described here, but, should be appreciated that, those skilled in the art can design a lot of other amendment and embodiment, these amendments and embodiment will drop within spirit disclosed in the present application and spirit.More particularly, in the scope of the open claim of the application, multiple modification and improvement can be carried out to the building block of subject combination layout and/or layout.Except the modification of carrying out building block and/or layout is with except improvement, to those skilled in the art, other purposes also will be obvious.
Claims (10)
1. an adjustable laser visual sensing structure, is characterized in that: it comprises ccd video camera and laser module, sensor outer housing, magnifier module, arc light damper modules; Described ccd video camera and laser module are fixed in described sensor outer housing; Described magnifier module is fixed in described sensor outer housing; Described arc light damper modules is fixed on bottom described sensor outer housing; Sensor outer housing cyclic water channel is provided with in described sensor outer housing.
2. adjustable laser visual sensing structure according to claim 1, is characterized in that described ccd video camera and laser module comprise ccd video camera, laser instrument and equipped fixture; Angle structure is formed between described ccd video camera and described laser instrument; Folder embraced by the laser instrument that the ccd video camera described equipped fixture being provided with one end open embraces folder and one end open; Described ccd video camera embraces screw folder is provided with for fixing described ccd video camera; Screw folder is provided with for fixing described laser instrument embraced by described laser instrument; Described equipped clamp base is provided with the threaded mounting hole for being fixed on by described equipped fixture in described sensor outer housing.
3. adjustable laser visual sensing structure according to claim 2, is characterized in that described equipped fixture is integrated formed structure; Described equipped fixture is that aluminum is made.
4. adjustable laser visual sensing structure according to claim 1, is characterized in that described sensor outer housing is one-body molded aluminium alloy sensor outer housing.
5. the adjustable laser visual sensing structure according to Claims 2 or 3, is characterized in that described sensor outer housing inside dimension is greater than described equipped grip size, leaves gap between described sensor outer housing and described equipped fixture; The top board of described sensor outer housing is provided with the compressed air interface for being blown into extraneous air.
6. adjustable laser visual sensing structure according to claim 1, is characterized in that being provided with circular open and rectangular aperture bottom described sensor outer housing.
7. adjustable laser visual sensing structure according to claim 1, it is characterized in that described sensor outer housing cyclic water channel comprises: be arranged on the first water channel in described sensor outer housing on a side and the second water channel, be arranged on the 3rd water channel and the 4th water channel of described sensor outer housing inner bottom part, be arranged on the 5th water channel on another side relative with a described side in described sensor outer housing; Described first water channel is communicated with described 3rd water channel, and described 3rd water channel is communicated with described 5th water channel, and described 5th water channel is communicated with described 4th water channel, and described 4th water channel is communicated with described second water channel.
8. adjustable laser visual sensing structure according to claim 1, is characterized in that described magnifier module comprises laser reflection mirror support, laser mirror; Be provided with elastomeric element between described laser reflection mirror support and described laser mirror, described laser reflection mirror support, elastomeric element and laser mirror three are connected by laser adjustment screw group.
9. adjustable laser visual sensing structure according to claim 8, is characterized in that described laser adjustment screw group is arranged on described sensor outer housing side.
10. adjustable laser visual sensing structure according to claim 1, is characterized in that described arc light damper modules comprises arc light cover plate and metal baffle; Described metal baffle is connected with described arc light cover plate is detachable.
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| CN105403238A (en) * | 2015-12-08 | 2016-03-16 | 徐州华恒机器人系统有限公司 | Protection structure of four-eye laser device and four-eye laser device adopting the same |
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