CN108274097B

CN108274097B - Combined sensor device for welding

Info

Publication number: CN108274097B
Application number: CN201810045186.0A
Authority: CN
Inventors: 柯晓龙
Original assignee: Xiamen University of Technology
Current assignee: Xiamen University of Technology
Priority date: 2015-09-30
Filing date: 2015-09-30
Publication date: 2020-02-21
Anticipated expiration: 2035-09-30
Also published as: CN105171197A; CN105171197B; CN108274097A

Abstract

The invention discloses a combined sensor device for welding, which comprises a base, a line laser sensor, a line laser sliding-out mechanism, a CCD camera module, a CCD sliding-out mechanism and a line laser angle adjusting mechanism, wherein the line laser angle adjusting mechanism can adjust the working angle of the line laser sensor; the line laser sensor is arranged on the base through a line laser sliding-out mechanism, and the line laser sliding-out mechanism realizes that the line laser sensor slides out of the base and enters a working position; the CCD camera module is installed on the base through the CCD sliding-out mechanism, and the CCD camera module can slide out of the base and enter the working position through the CCD sliding-out mechanism. The invention can simultaneously realize two functions of groove measurement and welding pool observation of medium plate workpieces, and the working positions and angles of the line laser sensor and the CCD camera module can be conveniently adjusted, thereby realizing the advantages of convenient and flexible position adjustment, memorable working positions, good protection effect and the like.

Description

Combined sensor device for welding

The patent application of the invention is a divisional application of Chinese patent application No. 201510636196.8, the application No. of the original application is 201510636196.8, the application date is 2015, 09 and 30 days, and the invention name is as follows: a welded combination vision sensor device.

Technical Field

The invention relates to a vision sensor device, in particular to a vision sensor device for welding a medium plate.

Background

The welded parts can be classified into thin plates, middle plates and thick plates according to the thickness of the welded workpiece. Generally, the thin plate is a welding part with the thickness less than or equal to 4.5mm, the middle plate is a welding part with the thickness between 4.5 and 20mm, and the thick plate is a workpiece with the thickness more than 20 mm. The medium plate and the thick plate are commonly called medium plates.

The line laser sensor is a common tool for measuring the groove of a medium plate welding part. At present, the traditional method is that a linear laser sensor is fixed on a welding robot to measure a groove before welding, and the linear laser is taken down after the measurement is finished so as to avoid the thermal radiation or splashing during welding from damaging the linear laser sensor. However, when the line laser sensor is re-fixed to the welding robot again, repeated clamping will inevitably cause a positional error of the line laser sensor with respect to the welding gun, thereby affecting the welding accuracy. In addition, the observation and image acquisition of the welding pool are also one of the important links of the medium plate welding.

Therefore, a combined visual sensor device for medium plate welding is needed to be provided, which is used for realizing groove measurement and welding pool observation of medium plate workpieces and has the characteristics of good universality, convenience in adjustment and position memorization.

A chinese patent entitled "welding robot servo binocular vision sensor" entitled patent No. ZL200410067328.1, which comprises: servo motor, hold-in range transmission system, two CCD cameras, pneumatic system, subtract light and optical filtering system, two hollow shafts inside and outside, end cover and flat panel support, the support and two bearings of channel-section steel shape. The CCD camera, the pneumatic system and the light-reducing and filtering system are fixed on a flat support, the flat support is fixed on an outer hollow shaft, two bearings are arranged between the two hollow shafts, the outer hollow shaft rotates around the inner hollow shaft through the bearings, the power of the servo motor is transmitted to the outer hollow shaft through a synchronous belt transmission system to drive the CCD camera to rotate around a welding gun, the synchronous belt transmission system is connected with the outer hollow shaft through an end cover, and the inner hollow shaft and the servo motor are fixed on a channel steel support. The invention realizes the functions of keeping good image taking direction and automatically loading or removing the optical filter and the dimmer by the CCD camera rotating around the welding gun in a controllable angle, and has the characteristic of multiple purposes. However, the prior art does not enable groove measurement.

Chinese patent publication No. CN204414117U discloses a vision positioning welding robot, which is based on the vision positioning principle, and directly collects three-dimensional data through a CCD camera and a laser ranging sensor, and identifies and controls the position of a welding part in three directions, so as to realize the integration of programming and controlling of the welding process of the robot. The laser ranging sensor of this patent is in order to assist the CCD camera to carry out visual positioning, can not realize the groove and measure.

In conclusion, in the prior art, the two functions of groove measurement and welding pool observation of the medium plate workpiece cannot be realized at the same time, and a sensing device is not protected.

Disclosure of Invention

The invention aims to solve the technical problem that aiming at the welding requirement of a medium plate workpiece, the invention provides the combined sensor device for welding, which can simultaneously realize two functions of groove measurement and welding pool observation of the medium plate workpiece, and the position and the angle of the linear laser sensor are easy to adjust, thereby being more convenient for groove measurement.

In order to solve the technical problems, the technical solution of the invention is as follows:

a combined sensor device for welding comprises a base, a line laser sensor, a line laser sliding-out mechanism, a CCD camera module, a CCD sliding-out mechanism and a line laser angle adjusting mechanism capable of adjusting the working angle of the line laser sensor; the line laser sensor is arranged on the base through a line laser sliding-out mechanism, and the line laser sliding-out mechanism realizes that the line laser sensor slides out of the base and enters a working position; the CCD camera module is arranged on the base through a CCD sliding-out mechanism, and the CCD camera module can slide out of the base and enter a working position through the CCD sliding-out mechanism; the line laser sensor is arranged on the line laser sliding-out mechanism through a line laser angle adjusting mechanism, the line laser angle adjusting mechanism comprises a line laser guide rail and a line laser sliding block, the line laser guide rail is fixed on the line laser sliding-out mechanism, the line laser sliding block is arranged on the line laser guide rail, and the line laser sliding block are fixed on the line laser guide rail through a fixing structure; one end of the line laser sensor is hinged on the line laser guide rail, and the other end of the line laser sensor is hinged with the line laser sliding block through a line laser bracket.

Preferably, the line laser sliding-out mechanism comprises a base guide rail and a base sliding block, the base guide rail is fixed on the base, the base sliding block is installed on the base guide rail, and the base sliding block are fixed on the base guide rail through a fixing structure.

Preferably, the CCD sliding-out mechanism includes a CCD guide rail and a CCD slider, the CCD guide rail is fixed on the base, the CCD slider is mounted on the CCD guide rail, and both fix the CCD slider on the CCD guide rail through a fixing structure.

Preferably, the fixing structure is a set screw.

Preferably, the CCD camera module is mounted on the CCD sliding block through a CCD bracket, and the CCD camera module is hinged with the CCD bracket and adjusts and positions the angle between the CCD camera module and the CCD bracket through a hinge bolt.

Preferably, the base on be equipped with one and hold the chamber, line laser roll-off mechanism and line laser angle adjustment mechanism all set up and should hold the intracavity to set up a mobilizable apron lid and should hold on the chamber.

Preferably, the guide rail is marked with scales.

Preferably, the hinge shaft of the CCD camera module is marked with a scale.

After the scheme is adopted, compared with the existing welding vision sensor device, the welding vision sensor device has the following outstanding characteristics:

1. the combined visual sensor scheme is adopted, and the actual requirements of medium plate welding can be met. The linear laser sensor is used for groove measurement of a medium plate workpiece before welding so as to complete multilayer and multi-channel welding track planning of the medium plate, and the CCD camera module is used for molten pool observation and image taking during welding.

2. The positions and angles of the line laser sensor and the CCD camera module are easy to adjust. In the invention, the angle and the position of the line laser sensor can be adjusted. And loosening the base positioning screw and the line laser positioning screw, adjusting the line laser sensor to a required position and angle, and then locking the base positioning screw and the line laser positioning screw. Similarly, the angle of the CCD camera module can be adjusted by rotating the CCD camera module; and the CCD positioning screw is loosened, the CCD sliding block is adjusted to a required position, and then the CCD positioning screw is locked, so that the adjustment of the CCD position can be completed.

3. The working positions of the line laser sensor and the CCD camera module can be recorded, so that the position error caused by repeated clamping is effectively reduced. The base guide rail and the line laser guide rail can be further marked with scales, so that the positions of the base sliding block and the line laser sliding block can be conveniently recorded, and the working position of the line laser sensor can be recorded. Similarly, because the CCD camera module and the CCD guide rail can be marked with scales, the rotating angle of the CCD camera module and the position of the CCD sliding block can be conveniently recorded, and the working position of the CCD camera can be recorded.

4. The protective effect is good, and damage to the sensor is avoided. When the line laser sensor does not need to work, the line laser sensor is retracted into the base, the cover plate is covered, and the cover plate screw is locked, so that the line laser sensor is prevented from being damaged by heat radiation or splashing during welding. Similarly, the CCD camera module can be retracted when not in operation.

Therefore, the combined visual sensor device has the advantages of good universality, convenience in adjustment, position memorability, good protection effect and the like, and has great research value and feasibility.

Drawings

FIG. 1 is a schematic front side view of an embodiment of the present invention;

FIG. 2 is a rear side schematic view of an embodiment of the present invention;

FIG. 3 is a schematic diagram of a line laser sensor retraction according to an embodiment of the present invention;

FIG. 4 is a schematic view of a cover plate according to an embodiment of the present invention;

fig. 5 is a schematic diagram of a CCD camera module according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of position scale markings of a line laser sensor in accordance with an embodiment of the present invention;

FIG. 7 is a schematic diagram of position scale marks on a CCD guide rail according to an embodiment of the present invention;

fig. 8 is a schematic diagram of position scale marks of a CCD holder according to an embodiment of the present invention.

Detailed Description

The invention is described in further detail below with reference to the figures and specific examples.

The present invention discloses a welded combination vision sensor device, as shown in fig. 1 to 5, which is a preferred embodiment of the present invention. The combined vision sensor device comprises a base 1, a line laser sensor 2, a line laser sliding-out mechanism 3, a CCD camera module 4, a CCD sliding-out mechanism 5 and a line laser angle adjusting mechanism 6. Wherein:

base 1 can install when using on welding robot support 7 to install whole combination vision sensor device on welding robot support, be equipped with welder 8 on this welding robot support 7.

The line laser sensor 2 is arranged on the base 1 through the line laser sliding-out mechanism 3, and the line laser sensor 2 can slide out of the base 1 through the line laser sliding-out mechanism 3 and enter a working position. Specifically, the line laser sliding-out mechanism 3 includes a base guide rail 31 and a base slider 32, the base guide rail 31 is fixed on the base 1, the base slider 32 is installed on the base guide rail 31, and the base slider 32 is fixed on the base guide rail 31 through a fixing structure. Preferably, the fixing structure may be a base set screw 33. Loosening the base positioning screw 33 on the base sliding block 32, and enabling the base sliding block 32 to slide along the base guide rail 31; after the base sliding block 32 is moved to the right position, the base positioning screw 33 on the base sliding block 32 is locked, so that the base sliding block 32 can be fixed. The line laser sensor 2 is directly or indirectly mounted on the base slider 32 and moves synchronously with the base slider 32, and when the base slider 32 moves outwards, the line laser sensor 2 slides out to a working position.

In order to achieve the purpose of angle adjustment of the line laser sensor 2, a line laser angle adjusting mechanism 6 may be further provided. The line laser sensor 2 is arranged on the line laser sliding-out mechanism 3 through a line laser angle adjusting mechanism 6, and the angle adjustment of the line laser sensor 2 is realized. Specifically, the line laser angle adjustment mechanism 6 includes a line laser guide 61 and a line laser slider 62. The linear laser guide rail 61 is fixed to the linear laser sliding mechanism 3 (in this embodiment, fixed to the base slider 32) so as to move synchronously with the linear laser sliding mechanism 3, that is, the base slider 32. The line laser sliding block 62 is installed on the line laser guide rail 61, and the line laser sliding block 62 is fixed on the line laser guide rail 61 through a fixing structure. Preferably, the securing structure may be a line laser set screw 63. The line laser positioning screw 63 on the line laser slider 62 is released, and the line laser slider 62 can slide along the line laser guide rail 61. One end of the line laser sensor 2 is hinged on the line laser guide rail 61, and the other end is hinged with the line laser sliding block 62 through a line laser bracket 64. When the line laser slider 62 moves left and right along the line laser guide rail 61, the line laser sensor 2 is driven to rotate by a certain angle. After the line laser sensor 2 is turned to a required angle, the line laser positioning screw 63 on the line laser slider 62 is locked, and the angle of the line laser sensor 2 is fixed.

In order to further protect the line laser sensor, the base 1 may be provided with an accommodating cavity 11, the line laser sliding-out mechanism 3 and the line laser angle adjusting mechanism 6 are both disposed in the accommodating cavity 11, and a movable cover plate 12 is disposed to cover the accommodating cavity 11. After the line laser sensor 2 retracts into the accommodating cavity 11 under the driving of the line laser sliding-out mechanism 3 and the line laser angle adjusting mechanism 6, the cover plate 12 is covered, and the cover plate 12 can be locked through the cover plate screw 13, so that the line laser sensor 2 is hidden in the base 1.

The CCD camera module 4 is arranged on the base 1 through the CCD sliding-out mechanism 5, and the CCD camera module 4 can slide out of the base 1 and enter a working position through the CCD sliding-out mechanism 5. Specifically, the CCD sliding-out mechanism 5 includes a CCD guide rail 51 and a CCD slider 52. The CCD guide 51 is fixed on the base 1, and specifically, the CCD guide 51 may be fixed on a CCD base plate 53, and the CCD base plate 53 is fixed on the base 1, so as to fix the CCD switch 51 on the base 1. The CCD slide block 52 is arranged on the CCD guide rail 51, and the CCD slide block 52 is fixed on the CCD guide rail 51 through a fixing structure. Preferably, the securing structure may be a CCD set screw 54. Loosening the CCD positioning screw 54 on the CCD sliding block 52, and enabling the CCD sliding block 52 to slide along the CCD guide rail 61; after the CCD slide block 52 is moved to the proper position, the CCD positioning screw 54 on the CCD slide block 52 is locked, so that the CCD slide block 52 is fixed. The CCD camera module 4 is mounted on the CCD sliding block 52, so that the CCD sliding block 52 moves synchronously, and when the CCD sliding block 52 moves outwards, the CCD camera module 4 slides out to a working position.

In order to adjust the working angle of the CCD camera module 4, the CCD camera module 4 may be mounted on the CCD slide block 52 by a CCD holder 55. The CCD camera module 4 is hinged to the CCD holder 55, and the angle between the two is adjusted and positioned by a hinge bolt 56.

When the combined vision sensor device is used, the combined vision sensor device can be arranged on a welding robot bracket 7, so that the groove measurement and the welding pool observation of a medium-thickness plate workpiece are realized. Wherein, the groove measurement is completed by the line laser sensor 2, and the weld pool observation is completed by the CCD camera module 4. When the groove of the medium plate workpiece needs to be measured before welding, as shown in fig. 1, the line laser sensor 2 is moved to a proper working position, and the working position is adjusted according to factors such as actual groove parameter conditions and the range of the line laser sensor. When it is desired to view or image the weld puddle, the CCD camera module is moved to the proper operating position as shown in fig. 2.

When the line laser sensor 2 does not work, the base positioning screw 33 and the line laser positioning screw 63 are loosened, the base sliding block 32 and the line laser sliding block 62 are pushed, the line laser sensor 2 is retracted into the accommodating cavity 11 of the base 1 (as shown in fig. 3), then the base positioning screw 33 and the line laser positioning screw 63 are locked, then the cover plate 12 is covered, and the cover plate screw 13 is locked (as shown in fig. 4), so that the line laser sensor 2 can be protected, and the damage to the line laser sensor 2 caused by heat radiation or splashing during welding is prevented. When the line laser sensor 2 needs to work, the cover plate screw 13 is loosened, the cover plate 12 is taken down, the line laser sensor 2 is pushed out of the base 1, the angle of the line laser sensor 2 is adjusted, the base positioning screw 33 and the line laser positioning screw 63 are locked, and the line laser sensor 2 is clamped completely (as shown in fig. 1).

Similarly, when the CCD camera module 4 is not needed, the hinge bolt 56 is loosened to rotate the CCD camera module 4 to the horizontal position; then, the CCD positioning screw 54 is loosened, the CCD slide block 52 is pushed, the CCD camera module 4 is retracted, and finally, the CCD positioning screw 54 is tightened again (see fig. 5). When the CCD camera module 4 needs to be used, the CCD positioning screw 54 is loosened, the CCD slide block 52 is pushed to a desired position, and the CCD camera module 4 is rotated to a proper position to lock the hinge bolt 56.

Further, the base rail 31 and the line laser rail 61 may be marked with scales (as shown in fig. 6). When the position and angle of the line laser sensor 2 are determined, the corresponding scale positions of the base slider 32 and the line laser slider 62 are also uniquely corresponding. Therefore, when the line laser sensor 2 needs to return to the last operation position, it is only necessary to move the base slider 32 and the line laser slider 62 to the last recorded scale position.

Similarly, as shown in fig. 7 and 8, since the hinge axis of the CCD rail 51 and the CCD camera module 4 can be marked with scales, the position of the CCD slide block 52 and the angle of rotation of the CCD camera module 4 can be recorded conveniently, so that the working position of the CCD camera can be recorded. Therefore, when the CCD camera module 4 needs to return to the last operation position, the CCD slide block 52 and the CCD camera module 4 only need to be moved and rotated to the last recorded scale position.

The above-mentioned embodiments are only preferred embodiments of the present invention, and do not limit the technical scope of the present invention, so that the changes and modifications made by the claims and the specification of the present invention should fall within the scope of the present invention.

Claims

1. A unitized sensor apparatus for welding, comprising: the device comprises a base (1), a line laser sensor (2), a line laser sliding-out mechanism (3), a CCD camera module (4), a CCD sliding-out mechanism (5) and a line laser angle adjusting mechanism (6) capable of adjusting the working angle of the line laser sensor (2); the line laser sensor (2) is arranged on the base (1) through a line laser sliding-out mechanism (3), and the line laser sliding-out mechanism realizes that the line laser sensor (2) slides out of the base (1) and enters a working position; the CCD camera module (4) is arranged on the base (1) through a CCD sliding-out mechanism (5), and the CCD camera module (4) slides out of the base (1) and enters a working position through the CCD sliding-out mechanism; the line laser sensor (2) is arranged on the line laser sliding-out mechanism (3) through a line laser angle adjusting mechanism (6), the line laser angle adjusting mechanism comprises a line laser guide rail (61) and a line laser sliding block (62), the line laser guide rail is fixed on the line laser sliding-out mechanism (3), the line laser sliding block is arranged on the line laser guide rail, and the line laser sliding block (62) is fixed on the line laser guide rail (61) through a fixing structure; one end of the line laser sensor (2) is hinged on the line laser guide rail (61), and the other end is hinged with the line laser sliding block (62) through a line laser bracket (64).

2. The unitized sensor device for welding of claim 1, wherein: the line laser sliding-out mechanism (3) comprises a base guide rail (31) and a base sliding block (32), the base guide rail is fixed on the base (1), the base sliding block is installed on the base guide rail, and the base sliding block (32) is fixed on the base guide rail (31) through a fixing structure.

3. The unitized sensor device for welding of claim 1, wherein: the CCD sliding-out mechanism (5) comprises a CCD guide rail (51) and a CCD sliding block (52), the CCD guide rail is fixed on the base (1), the CCD sliding block is installed on the CCD guide rail, and the CCD sliding block (52) is fixed on the CCD guide rail (51) through a fixing structure.

4. A unitized sensor device for welding according to any one of claims 1-3, wherein: the fixing structure is a positioning screw.

5. The unitized sensor device for welding of claim 3, wherein: the CCD camera module (4) is arranged on the CCD sliding block (52) through a CCD support (55), and the CCD camera module is hinged with the CCD support and is adjusted and positioned at an angle between the CCD camera module and the CCD support through a hinged bolt (56).

6. The combination sensor device for welding according to claim 2, 3 or 5, characterized in that: the laser line sliding-out mechanism is characterized in that a containing cavity (11) is formed in the base (1), the line laser sliding-out mechanism (3) and the line laser angle adjusting mechanism (6) are arranged in the containing cavity (11), and a movable cover plate (12) is arranged to cover the containing cavity (11).

7. A unitized sensor device for welding according to any one of claims 1-3, wherein: the guide rail is marked with scales.

8. The unitized sensor device for welding of claim 5, wherein: scales are marked on a hinged shaft of the CCD camera module (4).