CN105817743B - A kind of double vision feel automatic following device of welding seam - Google Patents
A kind of double vision feel automatic following device of welding seam Download PDFInfo
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- CN105817743B CN105817743B CN201610370494.1A CN201610370494A CN105817743B CN 105817743 B CN105817743 B CN 105817743B CN 201610370494 A CN201610370494 A CN 201610370494A CN 105817743 B CN105817743 B CN 105817743B
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- 238000003466 welding Methods 0.000 title claims abstract description 34
- 208000003164 Diplopia Diseases 0.000 title claims abstract description 14
- 208000029444 double vision Diseases 0.000 title claims abstract description 14
- 238000003384 imaging method Methods 0.000 claims abstract description 47
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 33
- 238000003780 insertion Methods 0.000 claims abstract description 5
- 230000037431 insertion Effects 0.000 claims abstract description 5
- 230000003287 optical effect Effects 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000012544 monitoring process Methods 0.000 description 3
- 230000001681 protective effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
Classifications
-
- 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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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Optics & Photonics (AREA)
- Geometry (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of double visions to feel automatic following device of welding seam, including pedestal, front and back adjusting knob, front and back adjusting platform, left and right adjusting button, left and right adjusting platform, holder, first imaging device, camera lens, second imaging device, laser generator, bent plate and support plate, the front and back adjusting knob is connect with front and back adjusting platform, left and right adjusting button is connect with left and right adjusting platform, in the front and back groove adjusted above platform insertion left and right adjusting platform, left and right adjusting platform is embedded in the groove in support plate, the front and back upper surface for adjusting platform is fixedly connected with holder, holder lower surface is fixedly connected with the upper end of the first imaging device, camera lens is equipped on the right side of first imaging device, laser generator is equipped with below camera lens, laser generator side is equipped with the second imaging device.Device of the present invention has many advantages, such as that compact-sized, small, light-weight, tracking accuracy is high, strong antijamming capability, can be widely used for robot or automatic welding equipment etc..
Description
Technical field
The invention belongs to welding robot visual sensing technical fields, more particularly, to a kind of on welding robot
Double vision feels automatic following device of welding seam.
Background technology
Currently, it is varied applied to the sensing mode on welding robot, among these method for sensing, visual sensing
Mode has many advantages, such as to contain much information, non-contact, quick, high-precision and detection range are big, is liked by numerous Welders author
Love, has become the research hotspot in terms of robot welding sensor at present.
In actual welding production, due to the abnormal error that workpiece to be welded is processed and assembled there are blanking, welding process
In will produce workpiece thermal deformation, wire bending and welding arc blow, welding mechanism movement warp etc. and be difficult to expect and ask in advance
Topic may cause gap width to be welded to differ and welding gun deviation is caused to wait for Weld pipe mill, therefore ideal automatic Arc Welding should
Need weld seam gap track and slit width automatic tracking, monitoring, dynamic adjusts welding gun movement locus and welding condition in due course accordingly.
Invention content
In view of this, the present invention is directed to propose a kind of double vision feel automatic following device of welding seam, the device have it is compact-sized,
Small, light-weight, the advantages that tracking accuracy is high, strong antijamming capability, it can be widely used for robot or automatic welding equipment
Deng.
In order to achieve the above objectives, the technical proposal of the invention is realized in this way：
A kind of double vision feel automatic following device of welding seam, including pedestal, front and back adjusting knob, front and back adjusting platform, left and right adjusting
Button, left and right adjusting platform, holder, the first imaging device, camera lens, the second imaging device, laser generator, bent plate and support plate,
Described pedestal one end is equipped with front and back adjusting knob and left and right adjusting button, and the front and back adjusting knob is connect with front and back adjusting platform, described
Left and right adjusting button is connect with left and right adjusting platform, in the front and back groove adjusted above platform insertion left and right adjusting platform, institute
It states in the groove in left and right adjusting platform insertion support plate, the support plate is fixedly connected with pedestal, the front and back adjusting platform
Upper surface be fixedly connected with holder, the holder lower surface is fixedly connected with the upper end of the first imaging device, and first imaging is set
Standby lower end is fixed on by the inclined-plane of bent plate on pedestal, first imaging device and the angle o degree of pedestal, and first imaging is set
Standby right side is equipped with camera lens, and the vertical plane top connection of the camera lens left end and bent plate, the camera lens is parallel with pedestal, the camera lens
Lower section is equipped with laser generator, and the laser generator is fixedly connected by the vertical plane lower part of bent plate with pedestal, the laser
Generator is in α angles with pedestal, and the laser generator side is equipped with the second imaging device, and second imaging device is fixed on
On pedestal.
The other end of the pedestal is equipped with protective cover, and protective cover is vertical with pedestal, second imaging device and pedestal
Vertical plane be in β angles.
Further, the front and back adjusting knob is connect with front and back adjusting platform by nut screw.
Further, the left and right adjusting button is connect with left and right adjusting platform by nut screw.
Further, the front and back platform that adjusts is adjusted relative to left and right adjusting position of platform.
Further, the left and right adjusting platform is relative to support plate position-adjustable.
Further, the groove on the groove and support plate above the left and right adjusting platform is in dovetail shaped.
Compared with the existing technology, a kind of double vision of the present invention feels that automatic following device of welding seam has the advantage that：This
Device using laser emitter as light source, improve the anti-interference of seam tracking system, set in this device there are two regard
Feel imaging device, the first imaging device is used to guide the movement locus of welding gun, the second imaging device for butt welding seam welding into
Row monitoring in real time can effectively eliminate the tracking of traditional structure light vision system and lead to the problem of error, the present apparatus by two at
It is compact-sized in picture integration of equipments a to probe, it is small, it is light-weight, and tracking accuracy is high；In addition, the first imaging
The position of equipment can be finely adjusted, and before Productive statistics use, the position of the first imaging device can be adjusted by fine tuning, is improved
The consistency of the parameter of probe and the flexibility of production；All parts of this device are all integrated on a substrate, side
Just the assembling and repair of equipment, realizes integration of equipments.
Description of the drawings
The attached drawing for constituting the part of the present invention is used to provide further understanding of the present invention, schematic reality of the invention
Example and its explanation are applied for explaining the present invention, is not constituted improper limitations of the present invention.In the accompanying drawings：
Fig. 1 is the overall structure diagram described in the embodiment of the present invention.
Reference sign：
1- pedestals, adjusting knob before and after 2-, 3- is front and back to adjust platform, 4- left and right adjusting buttons, 5- left and right adjusting platforms, 6- branch
Frame, the first imaging devices of 7-, 8- camera lenses, the second imaging devices of 9-, 10- laser generators, 11- bent plates, 12- support plates.
Specific implementation mode
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
In addition, a kind of double vision feel automatic following device of welding seam being previously mentioned in an embodiment of the present invention, including pedestal 1,
Front and back adjusting knob 2, front and back adjusting platform 3, left and right adjusting button 4, left and right adjusting platform 5, holder 6, the first imaging device 7, camera lens
8, the second imaging device 9, laser generator 10, bent plate 11 and support plate 12,1 one end of the pedestal are equipped with 2 He of front and back adjusting knob
Left and right adjusting button 4, the front and back adjusting knob 2 are connect with front and back adjusting platform 3, the left and right adjusting button 4 and left and right adjusting platform 5
Connection, the front and back adjusting platform 3 are embedded in the groove above left and right adjusting platform 5, the insertion of left and right adjusting platform 5 support
In groove on plate 12, the support plate 12 is fixedly connected with pedestal 1, and the front and back upper surface for adjusting platform 3 is fixedly connected
Holder 6,6 lower surface of the holder are fixedly connected with the upper end of the first imaging device 7, and 7 lower end of the first imaging device passes through curved
The inclined-plane of plate 11 is fixed on pedestal 1, first imaging device 7 and 1 angle o degree of pedestal, first imaging device, 7 right side
Equipped with camera lens 8,8 left end of the camera lens is connect with the vertical plane top of bent plate 11, and the camera lens 8 is parallel with pedestal 1, the camera lens
8 lower sections are equipped with laser generator 10, and the laser generator 10 is fixedly connected by the vertical plane lower part of bent plate 11 with pedestal 1,
The laser generator 10 and pedestal 1 are in α angles, and 10 side of the laser generator is equipped with the second imaging device 9, and described second
Imaging device 9 is fixed on pedestal 1.
The front and back adjusting knob 2 is connect with front and back adjusting platform 3 by nut screw.
The left and right adjusting button 4 is connect with left and right adjusting platform 5 by nut screw.
The front and back platform 3 that adjusts is relative to 5 position-adjustable of left and right adjusting platform.
The left and right adjusting platform 5 is relative to 12 position-adjustable of support plate.
The groove on groove and support plate 12 above the left and right adjusting platform 5 is in dovetail shaped.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
In the present invention, if there are two imaging devices, imaging device is industrial CCD camera, the first imaging device 7
CCD camera is used to guide the movement of welding gun, the CCD camera of the second imaging device 9 to be supervised in real time for butt welding seam welding
It surveys, the CCD camera of the first imaging device 7 can carry out the fine tuning of position, rotation by front and back adjusting knob 2 and left and right adjusting button 4
Front and back adjusting knob 2, nut screw structure drives the front and back platform 3 that adjusts to be moved forward and backward relative to left and right adjusting platform 4, with this band
Dynamic first imaging device 7 is moved forward and backward, rotation left and right adjusting button 4, nut screw structure drive left and right adjusting platform 5 relative to
Support plate 12 moves, and the front and back platform 3 that adjusts is driven to move, and the variation of 7 left and right position of the first imaging device is realized with this, the
Two imaging devices 9 are located at the side of laser generator 10, and the vertical plane with 1 right end protective cover of pedestal is in β angles, is realized in real time
The function of monitoring, all elements of the present apparatus are all mounted on a pedestal 1, are easy to install and maintain.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention god.
Claims (6)
1. a kind of double vision feels that automatic following device of welding seam, including pedestal, the first imaging device, the second imaging device and laser occur
Device；First imaging device, the second imaging device and laser generator are each attached on pedestal；It is characterized in that：Further include front and back
Adjusting knob, front and back adjusting platform, left and right adjusting button, left and right adjusting platform, holder, camera lens, bent plate and support plate, the pedestal one
End is equipped with front and back adjusting knob and left and right adjusting button, and the front and back adjusting knob is connect with front and back adjusting platform, the left and right adjusting button
It is connect with left and right adjusting platform, in the front and back groove adjusted above platform insertion left and right adjusting platform, the left and right adjusting
Platform is embedded in the groove in support plate, and the support plate is fixedly connected with pedestal, and the front and back upper surface for adjusting platform is solid
Determine connecting bracket, the holder lower surface is fixedly connected with the upper end of the first imaging device, and first imaging device lower end passes through
The inclined-plane of bent plate is fixed on pedestal, first imaging device and the angle o degree of pedestal, is equipped on the right side of first imaging device
The vertical plane top of camera lens, the camera lens left end and bent plate connects, and the camera lens is parallel with pedestal, is equipped with and swashs below the camera lens
Optical generator, the laser generator are fixedly connected by the vertical plane lower part of bent plate with pedestal, the laser generator and base
Seat is in α angles, and the laser generator side is equipped with the second imaging device, and second imaging device is fixed on pedestal.
2. a kind of double vision according to claim 1 feels automatic following device of welding seam, it is characterised in that：The front and back adjusting knob
It is connect by nut screw with front and back adjusting platform.
3. a kind of double vision according to claim 1 feels automatic following device of welding seam, it is characterised in that：The left and right adjusting button
It is connect by nut screw with left and right adjusting platform.
4. a kind of double vision according to claim 2 feels automatic following device of welding seam, it is characterised in that：Front and back adjust is put down
Platform is adjustable relative to left and right adjusting position of platform.
5. a kind of double vision according to claim 3 feels automatic following device of welding seam, it is characterised in that：The left and right adjusting is flat
Platform is relative to support plate position-adjustable.
6. a kind of double vision according to claim 1 feels automatic following device of welding seam, it is characterised in that：The left and right adjusting is flat
The groove on groove and support plate above platform is in dovetail shaped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610370494.1A CN105817743B (en) | 2016-05-27 | 2016-05-27 | A kind of double vision feel automatic following device of welding seam |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610370494.1A CN105817743B (en) | 2016-05-27 | 2016-05-27 | A kind of double vision feel automatic following device of welding seam |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105817743A CN105817743A (en) | 2016-08-03 |
| CN105817743B true CN105817743B (en) | 2018-09-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610370494.1A Active CN105817743B (en) | 2016-05-27 | 2016-05-27 | A kind of double vision feel automatic following device of welding seam |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106181162B (en) * | 2016-08-12 | 2018-10-23 | 中国矿业大学 | A kind of real-time weld joint tracking detection method based on machine vision |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB9707954D0 (en) * | 1997-04-19 | 1997-06-11 | Integrated Sensor Systems Limi | An improved remote operator viewing system for arc welding |
| US7081599B2 (en) * | 2000-10-24 | 2006-07-25 | Elpatronic Ag | Apparatus and method for processing workpieces |
| CN101486124B (en) * | 2009-02-13 | 2011-08-17 | 南京工程学院 | Multi-structured light binocular composite vision weld joint tracking method and device |
| CN103056490B (en) * | 2012-12-28 | 2015-04-29 | 新疆威奥科技股份有限公司 | Laser weld seam tracking sensor based on dual-camera image overlaying |
| CN203599692U (en) * | 2013-10-08 | 2014-05-21 | 成都泛华航空仪表电器有限公司 | Weld joint visual tracking device |
| CN104625337A (en) * | 2015-01-21 | 2015-05-20 | 成都焊研威达科技股份有限公司 | Adjustable laser visual sensing structure |
| CN104942404B (en) * | 2015-07-15 | 2017-03-15 | 广东工业大学 | Dual wavelength binocular vision welding seam tracking method and tracking system |
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Effective date of registration: 20191210 Address after: Room 205-67, zone a, University Pioneer Park, high tech Zone, No. 99, University Road, Tongshan District, Xuzhou City, Jiangsu Province Patentee after: Xuzhou Zhichang Robot System Co., Ltd Address before: 301700 Tianjin city Wuqing District Keihin Industrial Zone Keihin B1 building wisdom City Patentee before: Tianjin company limited of Zhi Tong robot |
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| TR01 | Transfer of patent right |