CN107030352A - Weld joint tracking vision sensor based on laser structure light - Google Patents
Weld joint tracking vision sensor based on laser structure light Download PDFInfo
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- CN107030352A CN107030352A CN201710269244.3A CN201710269244A CN107030352A CN 107030352 A CN107030352 A CN 107030352A CN 201710269244 A CN201710269244 A CN 201710269244A CN 107030352 A CN107030352 A CN 107030352A
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- 238000003466 welding Methods 0.000 claims abstract description 40
- 230000003287 optical effect Effects 0.000 claims abstract description 33
- 238000000034 method Methods 0.000 claims abstract description 20
- 238000001914 filtration Methods 0.000 claims abstract description 18
- 238000012545 processing Methods 0.000 claims description 26
- 238000001816 cooling Methods 0.000 claims description 24
- 241000446313 Lamella Species 0.000 claims description 6
- 239000007788 liquid Substances 0.000 claims description 5
- 229910000679 solder Inorganic materials 0.000 claims description 5
- 238000009413 insulation Methods 0.000 claims description 4
- 238000010891 electric arc Methods 0.000 claims description 3
- 239000003500 flue dust Substances 0.000 claims description 3
- 239000004065 semiconductor Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 1
- 230000000007 visual effect Effects 0.000 abstract description 3
- 230000007547 defect Effects 0.000 abstract 1
- 230000006870 function Effects 0.000 description 12
- 239000011324 bead Substances 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000003032 molecular docking Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009776 industrial production Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 235000013372 meat Nutrition 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
-
- 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
- B23K9/32—Accessories
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- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Optics & Photonics (AREA)
- Geometry (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention belongs to visual sensing field of measuring technique, it is intended to solve to be currently based on the presence of the weld joint tracking vision sensor of laser structure light function is single, versatility is low and very flexible in terms of defect.For this purpose, the present invention provides a kind of weld joint tracking vision sensor based on laser structure light, including：Laser generator, for producing laser structure optical plane to the surface-emitting laser of workpiece, to form laser stripe；Image collecting device, for gathering weld image；Relative image harvester slides the dim light filter system set, and when dim light filter system is located at first position, dim light and optical filtering are carried out for will go into the light in image collecting device in welding process；When dim light filter system is located at the second place, sensor carries out demarcation and the guiding of weld seam initial point.The job requirements such as weld seam initial point guiding and weld joint tracking of the present invention available for polytype weld seam, with good versatility, and automaticity is higher.
Description
Technical field
The invention belongs to visual sensing field of measuring technique, a kind of weld joint tracking based on laser structure light is specifically provided and regarded
Feel sensor.
Background technology
Welding technique is a very important technique in industrial production, in the neck such as shipbuilding, steel, building and Aero-Space
Domain, which is respectively provided with, to be widely applied.Industrial robot widely should due to having the advantages that repeatable, programmable and precision high
For welding field, so as to drastically increase welding efficiency and welding quality.But existing welding robot is generally and " shown
Religion reproduction " humanoid robot, i.e. robot carries out repeating welding according to the good track of prior teaching.Such welding robot is to operation
The stability requirement of condition is strict, lacks " flexibility " during welding.Therefore, in order to improve the automatization level of welding, it can use
Sensor obtains the useful information in welding process.In numerous sensors, visual sensing mode is due to noncontact, height
Precision is widely used with the advantages of containing much information.So, reasonable in design, efficient vision sensor is improving robot weldering
It is particularly important in the automatization level connect.
At present, the weld seam tracking sensor based on laser of research comparative maturity is expensive both at home and abroad, while the sensing
Device typically may be only available for several certain types of weld seams, and can not make for some special weld seams such as thin plate docking bead weld
Use the sensor.The existing weld seam tracking sensor major function based on laser is to realize weld joint tracking simultaneously, and for weldering
Stitch initial position guiding and this partial function of the identification of welding line joint type is then deficienter, so being currently based on laser structure light
Weld joint tracking vision sensor the problem of there is single function, low versatility and very flexible.
Therefore, this area needs a kind of vdiverse in function, versatility height and the good weld seam based on laser structure light of flexibility
Vision sensor is tracked to solve the above problems.
The content of the invention
In order to solve above mentioned problem of the prior art, be that solution the sensor function is single, versatility is low and
The problem of very flexible, the invention provides a kind of weld joint tracking vision sensor based on laser structure light, the sensor bag
Include：Laser generator, it is used to produce laser structure optical plane to workpiece transmitting laser to be welded, with the table of the workpiece
Face forms laser stripe；Image collecting device, it is used for the weld image for gathering workpiece to be welded；And relative described image
Harvester slides the dim light filter system set, and when the dim light filter system is in first position, the dim light
Filter system can will go into the laser beam in described image harvester during the workpiece is in and is soldered
Carry out dim light and optical filtering；In the state of the workpiece is in non-solder, the dim light filter system is made by way of slip
Positioned at the second place, the sensor carries out demarcation and the guiding of weld seam initial point.
In the optimal technical scheme of the sensor, the sensor also includes connecting with described image harvester signal
The processing unit connect, the processing unit includes multiple images processing module corresponding with polytype weld image, described
The type for the weld image that processing unit can be provided according to described image harvester calls corresponding described image to handle
Module, to handle weld image.
In the optimal technical scheme of the sensor, the laser generator is the word laser of semiconductor one.
In the optimal technical scheme of the sensor, described image harvester is industrial camera, and in assembling
In the state of good, the angle of the optical axis center line of the industrial camera and the laser structure optical plane is 15 to 30 °.
In the optimal technical scheme of the sensor, the sensor also includes system shell, the system shell bag
Backboard, bottom plate, side cover and upper lid are included, and in assembled state, the backboard, the bottom plate, the side cover and described
Upper cap-shaped is pacified into the case structure for accommodating described image harvester and the laser generator, the dim light filter system
Loaded on the bottom plate.
In the optimal technical scheme of the sensor, the sensor also includes mounting assembly, the mounting assembly bag
Include：Insulate board mount, and it is arranged at the outside of the backboard；Mounting bracket, it is connected with the insulation board mount, the system
Shell is arranged on by the mounting bracket on the welding robot that weld job is performed to workpiece；Outer casing stand, it is arranged at institute
State the inner side of backboard；Supporting plate, it is arranged at the inner side of the outer casing stand, and the supporting plate is used to install described image collection dress
Put；And laser stent, it is arranged in the case structure and is connected with the bottom plate, and the laser stent is used to pacify
Fill the laser generator.
In the optimal technical scheme of the sensor, the dim light filter system includes：Dim light optical filtering support, itself and institute
Bottom plate is stated to connect away from the side of the laser generator, and the dim light optical filtering support is provided with the first slideway being stacked
With the second slideway；Filter layer, it is slidably connected with first slideway；And dim light lamella, it is slided with second slideway
Dynamic connection.
In the optimal technical scheme of the sensor, the sensor also includes：Mounting seat, with dim light optical filtering branch
The bottom connection of frame；Diaphragm, being arranged at is used to stop the flue dust produced in welding process in the mounting seat.
In the optimal technical scheme of the sensor, the sensor also includes cooling end, and the cooling end includes：Gas
Cold passage, it includes：The first air cooling passage for being arranged in the outer casing stand, be arranged at it is logical on the dim light optical filtering support
Stomata and the second air cooling passage being arranged in the mounting seat, the first air cooling passage is through the passage and described the
Two air cooling passages are connected；Liquid cold passage, it is arranged in the backboard.
In the optimal technical scheme of the sensor, the sensor also includes arc baffle, and the arc baffle is arranged at
The bottom of the backboard, the arc baffle is used to stop the electric arc produced in welding process.
By inventor's repetition test, observe and compare, in case of the solution according to the inven- tion, i.e., by swashing
Surface-emitting laser from optical generator to workpiece and produce the mode of laser structure optical plane, taken the photograph in welding process by industry
The collective effect of camera and dim light filter system gathers clearly weld image, and by the way that dim light is filtered during non-solder
The mode that system is extracted out, realizes vision sensor calibration and the guiding of weld seam initial point.Moreover, by configuring processing unit (such as
Processing unit develops the image processing module of different type weld seam for polytype weld seam), make the present invention complete
The weld joint tracking of paired polytype weld seam, and can solve the problem that and can not connect using same vision sensor in welding process
The problem of multinomial welding jobs such as continuous completion welding line joint type identification, the guiding of weld seam initial point and weld joint tracking so that vision
Sensor it is vdiverse in function, improve versatility and the flexibility of vision sensor, industrial machine can be improved in the industrial production
The welding efficiency of device people.
Further, overall structure of the invention uses modular construction, can efficiently differentiate the function of each several part, make
It is mutually independent, consequently facilitating installing and safeguarding.
Brief description of the drawings
Fig. 1 is the structural representation of the weld joint tracking vision sensor based on laser structure light of the present invention；
Fig. 2 is the structural representation of the dim light filter system of the present invention.
Fig. 3 is the structural representation of the processing unit of the present invention.
Embodiment
The preferred embodiment of the present invention described with reference to the accompanying drawings.It will be apparent to a skilled person that this
A little embodiments are used only for explaining the technical principle of the present invention, it is not intended that limit the scope of the invention.
It should be noted that in the description of the invention, term " on ", the direction of the instruction such as " interior " or the art of position relationship
Language is to be based on direction shown in the drawings or position relationship, and this is intended merely to facilitate description, rather than indicates or imply the dress
Put or element there must be specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to the limit of the present invention
System.
In addition it is also necessary to explanation, in the description of the invention, unless otherwise clearly defined and limited, term " peace
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary,
It can be the connection of two element internals.To those skilled in the art, it can understand that above-mentioned term exists as the case may be
Concrete meaning in the present invention.
Based on the weld joint tracking vision sensor function based on laser structure light in background technology is single, versatility is low and
The problem of very flexible, the present invention provides a kind of vision sensor that vdiverse in function, versatility is high and flexibility is good, it is intended to pass through
The sensor can realize automatic identification welding line joint type and can complete the weld joint tracking of polytype weld seam, be also suitable it
Bead weld is docked in thin plate.Meanwhile, the sensor function that also the weld seam initial point with polytype weld seam is guided.
When welding robot is welded to workpiece, workpiece is positioned over to the lower section of sensor, weldering is set on workpiece
Seam, can avoid occurring weldering meat in welding.
Referring to Fig. 1, Fig. 1 is the structural representation of the weld joint tracking vision sensor based on laser structure light of the present invention,
As shown in figure 1, the sensor main will include：Laser generator 1, swashs for being produced to the surface-emitting laser of workpiece to be welded
Photo structure optical plane, to form laser stripe；Image collecting device 2, the weld image for gathering workpiece；And it is relatively described
Image collecting device 2 slides the dim light filter system 3 set, when dim light filter system 3 is located at first position, the dim light filter
The light that photosystem 3 can be will go into welding process in described image harvester 2 carries out dim light and optical filtering；In non-weldering
Connect under situation, by the way that dim light filter system 3 is in into the second place in a sliding manner, so as to realize that the sensor enters rower
The guiding of fixed and weld seam initial point.
In said structure, referring to Fig. 2, Fig. 2 is the structural representation of the dim light filter system 3 of the present invention, as shown in Fig. 2
Relative it can be slided between the dim light filter system and described image harvester to realize, the dim light filter system 3
Can be preferably by drawer-type structure.In welding process, described image harvester 2 and the dim light filter system 3 are same
Axle is set, and the first position as the aforementioned is the unpumped position of the dim light filter system 3 of drawer-type structure (in Fig. 2
Exactly this state), in welding process, the dim light filter system 3 is located at the first position.And the second place is then
The position extracted out for the dim light filter system 3 of drawer-type structure, during non-solder, the dim light filter system 3
In the second place.
In order to realize the structure of above-mentioned drawer type, the dim light filter system 3 includes：Dim light optical filtering support 31, it is described to subtract
Light optical filtering support 31 is provided with the first slideway and the second slideway being stacked, and filter layer 32 is slided with first slideway to be connected
Connect；Dim light lamella 33 is slidably connected with second slideway.Wherein, the filter layer 32 can be located at the dim light lamella 33
Top, so, can be by the filter layer 32 and the dim light lamella 33 from corresponding in the case of non-solder
Slideway in extract out.
It is pointed out that referring to Fig. 3, Fig. 3 is the structural representation of the processing unit 4 of the present invention, as shown in figure 3, institute
Stating sensor also includes the processing unit 4 that be connected with the signal of described image harvester 2, the processing unit 4 including with it is a variety of
The corresponding multiple images processing module of weld image of type, the processing unit 4 can be carried according to described image harvester 2
The type of the weld image of confession calls corresponding described image processing module, to handle weld image.Described image
Harvester 2 is connected by network interface with the processing unit 4, and the image collected is converted into number by described image harvester 2
Word signal is transferred to the processing unit 4 by network interface, and the processing unit 4 is directed to polytype weld seam, develops difference
The image processing module of type welding seam, such as docking V-type, overlap joint and docking bead weld, while new weld seam class can be increased
Type image processing module, with expanded function.Certainly, image processing module can be according to practical situation independent development, certainly
Can directly invoke existing image processing module, the main object of the present invention is to make processing module by the configuration of polymorphic type
The image of different type weld seam be able to can be handled.
Preferably, image collecting device 2 described above is industrial camera, and the laser generator 1 is the word of semiconductor one
Laser., can be in the minimum wavelength conduct of visible ray section selection intensity by carrying out sampling analysis to the spectrum for welding arc light
The wavelength of the laser generator 1.
It is preferred that the wavelength of the laser generator 1 is 635nm；The video camera is industrial camera, and frame per second selection exists
More than 25 frames, model MER-131-75GxGigE black and white industrial camera can be selected in the present embodiment, wherein：In reality
In operating process, the optical axis center line of the video camera is vertical with the surface of the welded piece where weld seam.
Specifically, the angle of the optical axis center line of the video camera and the laser structure optical plane is 15 to 30 °, in reality
Depending on border can be according to actual effect in installing, the setting angle that can be selected in the present embodiment is 22 °.
It is pointed out that the centre wavelength of the optical filter of the filter layer 32 uses the ripple of the laser generator 1
Long, on the premise of cost performance is high, bandwidth should use less bandwidth, generally take positive and negative 10nm to meet requirement, this implementation
The centre wavelength of optical filter is 635nm in example, and with a width of positive and negative 10nm, and the dim light lamella 33 can be different by changing
Light damping plate reaches different dimming effects.
In order that the overall structure of sensor of the invention is modular construction, so as to efficiently differentiate each several part
Function, makes it be mutually independent, consequently facilitating installing and safeguarding.The sensor also includes outside system shell 5, the system
Shell 5 includes backboard 51, bottom plate 52, side cover 53 and upper lid 54, in assembled state, the backboard 51, the bottom plate 52, institute
State side cover 53 and the upper lid 54 constitute case structure for accommodating described image harvester 2 and the laser generator 1,
The dim light filter system 3 is installed on the bottom plate 52, wherein：The dim light optical filtering support 31 deviates from institute with the bottom plate 52
State the side connection of laser generator 1.Wherein, the bearing of trend of first slideway and second slideway can be each perpendicular to
The backboard 51.
It is described in order to which the system shell 5, the laser generator 1 and described image harvester 2 are preferably fixed
Sensor also includes mounting assembly, and the mounting assembly includes：Insulate board mount 6, mounting bracket 7, outer casing stand 8, the and of supporting plate 9
Laser stent 10, wherein, insulation board mount 6 is arranged at the outside of the backboard 51, mounting bracket 7 and the insulation board mount
6 connections, the mounting bracket 7 is mainly used in being arranged on the system shell 5 into the welding robot for performing workpiece weld job
On.Welding robot is preferably multi-axis robot, and the mounting bracket 7 is arranged on the power transmission shaft of multi-axis robot.Shell branch
Frame 8 is arranged at the inner side that on the system shell 5 and it is arranged at the backboard 51, and the bottom plate 52 is installed by screwed hole
In on the outer casing stand 8.Supporting plate 9 is arranged at the inner side of the outer casing stand 8, and the supporting plate 9 is mainly used in installing described image
Harvester 2, can be threaded hole to connect the outer casing stand 8 and the screw thread of the supporting plate 9 in the outer casing stand 8
Connect.Laser stent 10 is arranged in the case structure and is connected with the bottom plate 52, and the laser stent 10 is mainly used in
The laser generator 1 is installed and with the structure of setting angle can be adjusted, such as it will be apparent to a skilled person that
The angle of the transmitting laser of laser generator 1 can flexibly be set according to the actual requirements, to realize the Reasonable adjustment of angle.
Preferably, the sensor also includes：Mounting seat 11, it is connected with the bottom of the dim light optical filtering support 31；With
And diaphragm, it is arranged in the mounting seat 11, the splashing for being mainly used in blocking in welding process and the flue dust of generation.
The sensor is cooled in weld job in order to realize, to prevent the heat produced during welding from being passed to
The inside of the sensor, while accelerating distributing for the sensor internal heat so that the industrial camera can and institute
State laser generator 1 preferably to coordinate, the sensor also includes cooling end, the cooling end includes：Air cooling passage, it is wrapped
Include：The first air cooling passage (not shown) for being arranged in the outer casing stand 8, it is arranged on the dim light optical filtering support 31
Passage and the second air cooling passage (not shown) for being arranged in the mounting seat 11, the first air cooling passage warp
The passage 12 is connected with the second air cooling passage, passes through the design of above-mentioned air cooling channel design so that can in welding
To carry out fast cooling to the inside of the sensor by way of air cooling.Preferably, can be on dim light optical filtering support 31
Block is installed close to the side of the backboard 51, the foregoing passage 12 is arranged on block.In addition, by
In in welding process, the heat that welding gun is produced can be passed to the inside of the sensor by the backboard 51, therefore, it can
Liquid cold passage (not shown) is opened up in the backboard 51, so as to cool by the cold mode of liquid to the backboard 51
To reduce the heat for being passed to the sensor internal during weld job from welding gun, the cold mode of above-mentioned liquid can use water circulation
The type of cooling.
Preferably, the sensor also includes arc baffle 13, and the arc baffle 13 is connected to the bottom of the backboard 51, main
It is used to stop the electric arc produced in welding process, the arc baffle 13 and the backboard 51 can be connected by screwed hole.
So far, combined preferred embodiment shown in the drawings describes technical scheme, still, this area
Technical staff is it is easily understood that protection scope of the present invention is expressly not limited to these embodiments.Without departing from this
On the premise of the principle of invention, those skilled in the art can make equivalent change or replacement to correlation technique feature, these
Technical scheme after changing or replacing it is fallen within protection scope of the present invention.
Claims (10)
1. a kind of weld joint tracking vision sensor based on laser structure light, it is characterised in that the sensor includes：
Laser generator, it is used to produce laser structure optical plane to workpiece transmitting laser to be welded, with the workpiece
Surface forms laser stripe；
Image collecting device, it is used for the weld image for gathering workpiece to be welded；And
The dim light filter system set is slided with respect to described image harvester, and
When the dim light filter system is in first position, the dim light filter system can be in the workpiece and be soldered
During will go into laser beam in described image harvester and carry out dim light and optical filtering；
In the state of the workpiece is in non-solder, the dim light filter system is set to be located at second by way of slip
Put, the sensor carries out demarcation and the guiding of weld seam initial point.
2. sensor according to claim 1, it is characterised in that the sensor also includes and described image harvester
The processing unit of signal connection, the processing unit includes multiple images corresponding with polytype weld image and handles mould
Block, the type for the weld image that the processing unit can be provided according to described image harvester calls the corresponding figure
As processing module, to handle weld image.
3. sensor according to claim 1, it is characterised in that the laser generator is the word laser of semiconductor one.
4. sensor according to claim 3, it is characterised in that described image harvester is industrial camera, and
In assembled state, the angle of the optical axis center line of the industrial camera and the laser structure optical plane is 15
To 30 °.
5. sensor according to any one of claim 1 to 4, it is characterised in that the sensor also includes outside system
Shell, the system shell includes backboard, bottom plate, side cover and upper lid, and
In assembled state, the backboard, the bottom plate, the side cover and the upper cap-shaped are into for accommodating described image
The case structure of harvester and the laser generator, the dim light filter system is installed on the bottom plate.
6. sensor according to claim 5, it is characterised in that the sensor also includes mounting assembly, the installation
Component includes：
Insulate board mount, and it is arranged at the outside of the backboard；
Mounting bracket, it is connected with the insulation board mount, and the system shell is arranged on by the mounting bracket and workpiece is held
On the welding robot of row weld job；
Outer casing stand, it is arranged at the inner side of the backboard；
Supporting plate, it is arranged at the inner side of the outer casing stand, and the supporting plate is used to install described image harvester；And
Laser stent, it is arranged in the case structure and is connected with the bottom plate, and the laser stent is used to install
The laser generator.
7. sensor according to claim 5, it is characterised in that the dim light filter system includes：
Dim light optical filtering support, it is connected with the bottom plate away from the side of the laser generator, and the dim light optical filtering support
Provided with the first slideway and the second slideway being stacked；
Filter layer, it is slidably connected with first slideway；And
Dim light lamella, it is slidably connected with second slideway.
8. sensor according to claim 7, it is characterised in that the sensor also includes：
Mounting seat, is connected with the bottom of the dim light optical filtering support；
Diaphragm, being arranged at is used to stop the flue dust produced in welding process in the mounting seat.
9. sensor according to claim 8, it is characterised in that the sensor also includes cooling end, the cooling end
Including：
Air cooling passage, it includes：The first air cooling passage for being arranged in the outer casing stand, it is arranged at the dim light optical filtering support
On passage and the second air cooling passage for being arranged in the mounting seat, the first air cooling passage through the passage with
The second air cooling passage connection；
Liquid cold passage, it is arranged in the backboard.
10. sensor according to claim 5, it is characterised in that the sensor also includes arc baffle, the arc baffle
The bottom of the backboard is arranged at, the arc baffle is used to stop the electric arc produced in welding process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710269244.3A CN107030352B (en) | 2017-04-24 | 2017-04-24 | Welding seam tracking visual sensor based on laser structured light |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710269244.3A CN107030352B (en) | 2017-04-24 | 2017-04-24 | Welding seam tracking visual sensor based on laser structured light |
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| CN107030352A true CN107030352A (en) | 2017-08-11 |
| CN107030352B CN107030352B (en) | 2020-02-07 |
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| CN108032011A (en) * | 2017-12-13 | 2018-05-15 | 中国科学院自动化研究所 | Initial point guiding device and method are stitched based on laser structure flush weld |
| CN108406854A (en) * | 2018-03-07 | 2018-08-17 | 深圳市东恒达智能科技有限公司 | A kind of robot visual sensor |
| CN108871232A (en) * | 2018-07-27 | 2018-11-23 | 航天智造（上海）科技有限责任公司 | A kind of laser profile detection device |
| 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 |
| CN109986170A (en) * | 2017-12-28 | 2019-07-09 | 株式会社达谊恒 | Sensor device is used in welding |
| CN110153602A (en) * | 2019-06-24 | 2019-08-23 | 哈尔滨行健智能机器人股份有限公司 | Multi-direction laser visual tracking device and tracking and control method thereof |
| CN110587073A (en) * | 2019-09-10 | 2019-12-20 | 上海交通大学 | Robot welding binocular vision sensing device based on micro stepping motor lead screw transmission |
| CN111189393A (en) * | 2020-01-21 | 2020-05-22 | 北京卫星制造厂有限公司 | High-precision global vision measurement method for three-dimensional thin-wall structural weld joint |
| CN111292303A (en) * | 2020-01-21 | 2020-06-16 | 湖北文理学院 | Weld defect type detection method and device, electronic equipment and storage medium |
| CN112705886A (en) * | 2020-12-15 | 2021-04-27 | 广州瑞松智能科技股份有限公司 | Robot self-adaptive welding system and method for online real-time guidance |
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| CN113275708A (en) * | 2020-01-31 | 2021-08-20 | 通用汽车环球科技运作有限责任公司 | Enhanced automatic welding system and method for first and second workpieces |
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