CN111195759A - Compact robot welding seam tracking laser vision sensor based on CMOS - Google Patents
Compact robot welding seam tracking laser vision sensor based on CMOS Download PDFInfo
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- CN111195759A CN111195759A CN201811383399.0A CN201811383399A CN111195759A CN 111195759 A CN111195759 A CN 111195759A CN 201811383399 A CN201811383399 A CN 201811383399A CN 111195759 A CN111195759 A CN 111195759A
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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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Abstract
A CMOS based compact robotic weld tracking laser vision sensor, comprising: installing support, system's shell, camera, laser instrument and subtract light filtering system, wherein: the camera and the laser are coaxially arranged on the inner wall of the system shell in the welding process and transmit welding seam images in the welding process, the camera and the laser are arranged in the system shell at an included angle of 20 degrees, and the mounting bracket is arranged on a welding gun; the invention has the characteristics of simple structure, multiple degrees of freedom, small volume, integral forming, low price and the like, and can meet the welding requirements of common welding seam types in narrow space, such as fillet welding seams and T-shaped welding seams. Through returning back type air flue cooling system, improved visual sensor's life and application range to satisfy the operation demand of long-time automatic welding among the actual industrial application and ensure the monitoring effect. The invention can be applied to the aspects of information acquisition and identification, welding seam tracking and control and the like in welding.
Description
Technical Field
The invention relates to a technology in the field of robot welding, in particular to a compact robot welding seam tracking laser vision sensor based on CMOS (complementary metal oxide semiconductor), which is suitable for narrow space, can be applied to welding seam identification, initial welding position guidance, real-time welding seam tracking in the welding process, three-dimensional reconstruction of welding seams based on point cloud and the like in robot welding automation, particularly to a vision sensor with similar functions and a volume far smaller than that of the vision sensor imported at present, and can be used for real-time tracking of fillet welds and T-shaped welding seams in common narrow space and the like.
Background
In the intelligent welding production technology, the intellectualization of robot welding can improve the welding production efficiency and the product quality and reduce the labor load, and is an indispensable ring for realizing the intelligent welding production. However, most industrial robots used in the manufacturing industry at present are based on teaching-reproducing operations, and when a deviation inconsistent with a teaching trajectory occurs, the robot cannot follow a weld to perform a welding operation, which makes it difficult for a teaching type welding robot to perform an ideal welding operation in the face of uncertainty of a deviation of a shape of a workpiece. The basic reason is that the traditional industrial robot does not have the sensing capability on external information, cannot measure the change of welding conditions and cannot adjust the motion in real time according to errors. The vision sensor is used for acquiring and processing external information, so that the adaptive adjustment capability of the robot in the welding task can be improved.
The vision sensor can acquire abundant welding process information and is divided into active vision sensing and passive vision sensing according to whether the auxiliary light source is used or not. The active vision uses an external auxiliary light source to assist imaging, and the passive vision mainly uses arc light generated by an arc in a welding process as an image light source. The sensor based on active vision is the mainstream research direction of a robot welding seam tracking system, a specific laser is used as an external light source, compared with the passive vision which directly uses welding arc light as a light source for image acquisition, the active vision sensor is not influenced by the welding process, has the characteristics of stable image quality, obvious welding seam characteristics, strong adaptability, easy processing and the like, and has wider and wider application in the field of welding seam tracking.
Through the literature search in the prior art, Chinese patent application numbers: CN200410052857.4 patent entitled "welding robot monocular vision sensor" provides another vision sensor, which includes a miniature CCD camera, a light reducing and filtering system, a motor drive system and a mounting bracket. The miniature CCD is mainly responsible for collecting images of a welding scene, a welded workpiece and a welding pool, and can carry out welding seam tracking and welding penetration control in the welding process through processing the images of the welding pool. However, the sensor is too large due to the motor driving system and the light reduction and filtering removal system, and is not beneficial to welding of small-angle welding seams; all materials of the sensor are metal, heat dissipation and cooling are not facilitated, and the sensor cannot work for a long time; in addition, the industrial CCD camera is expensive, high in production cost, not beneficial to batch production and has great limitation.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a compact robot welding seam tracking laser vision sensor based on a CMOS (complementary metal oxide semiconductor), which has the characteristics of simple structure, multiple degrees of freedom, small volume, integral forming, low price and the like, and can meet the welding requirements of common welding seam types in narrow space, such as fillet welding seams and T-shaped welding seams. The sensor is small in size, and the camera is only as large as a thumb, so that the space flexibility in installation and detection is greatly increased. In addition, the sensor is additionally provided with a return type air flue cooling system, so that the service life and the application range of the visual sensor are prolonged, the operation requirement of long-time automatic welding in actual industrial application is met, and the monitoring effect is ensured. The invention can be applied to the aspects of information acquisition and identification, welding seam tracking and control and the like in welding.
The invention is realized by the following technical scheme:
the invention comprises the following steps: installing support, system's shell, camera, laser instrument and subtract light filtering system, wherein: the camera and the light-reducing and filtering system are coaxially arranged on the inner wall of the system shell in the welding process and transmit welding seam images in the welding process, the camera and the laser are arranged in the system shell at an included angle of 20 degrees, and the mounting bracket is arranged on a welding gun.
The mounting bracket includes: welder left side anchor clamps, welder right side anchor clamps, connecting jig, positioning anchor clamps, left clamp splice, clamp splice main part, right clamp splice and dovetail, wherein: the welding gun left clamp and the welding gun right clamp are matched with each other between the connecting clamp three, the other end of the welding gun left clamp and the welding gun right clamp is matched with each other, the sensor is integrally arranged on the welding gun, the connecting clamp and the positioning clamp are rotatably connected to adjust the position between the sensor and the welding gun, one side of a clamping block main body of a bridge serving as the connecting sensor and the welding gun clamp is connected with the outer wall of a sensor shell through a dovetail groove, the other side of the clamping block main body is connected with the positioning clamp, the left clamping block and the right clamping block are matched with the clamping block main body, a fixing effect is achieved, and.
The system shell for the whole shaping of processing mode that 3D printed, adopt the temperature resistant nylon of high strength high tenacity as 3D printing material, its inner wall bottom is equipped with the slope that is 20 oblique angles, laser instrument and camera set gradually on the slope so that draw the characteristic information of laser stripe.
The light-reducing and light-filtering system support is in a drawer form, the light-reducing light filter is placed in the sliding drawer, the light filter adopted in the embodiment is a narrow-band light filter with the central wavelength of 660nm, the bandwidth of 20nm, the transmittance of more than 90 percent and the cut-off depth of OD4, and the design of the drawer is convenient for debugging and replacing the light-reducing light filter in the experimental process.
Technical effects
Compared with the prior art, the modular structure can effectively distinguish the functions, so that the functions are mutually independent, the installation and the maintenance are facilitated, and the influence of the components on the whole can be reduced to the greatest extent; meanwhile, due to the adoption of a semi-open design, the sensor has larger expansibility, and a module can be additionally added to realize more functions, so that the sensor is suitable for deficiency, and the flexible function of the sensor is realized.
The invention has the characteristics of flexibility, practicality, simplicity, convenience, easy expansion and the like, effectively solves the problem that the same sensor cannot continuously complete multiple welding works such as initial welding position guidance, welding seam tracking and the like in the welding process, and simultaneously has larger operation range and flexibility in the working process of a welding robot due to the compact structural design of the vision sensor, thereby effectively improving the product quality and the quality on the one hand, simplifying the working process and reducing the cost on the other hand, finally improving the automation degree of welding to a certain extent, and inevitably representing a hot direction of a future sensor due to the compact and practical design.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIGS. 2a and 2b are schematic views of a system housing;
FIGS. 3a, 3b and 3c are schematic views of the inner wall of the system housing;
FIG. 4 is a schematic view of a left (right) clamp of the welding gun;
FIG. 5 is a schematic view of a camera fixture;
in the figure: the device comprises a mounting bracket 1, a system shell 2, a camera 3, a laser 4, a light-reducing and filtering system 5, protective glass 6, a camera clamp 7, a return air flue 8, a laser clamp 9, a left clamp block 10, a right clamp block 11, a welding gun left clamp 12, a welding gun right clamp 13, a connecting clamp 14, a positioning clamp 15, a clamp block main body 16 and a dovetail groove 17.
Detailed Description
As shown in fig. 1, the compact CMOS-based robotic seam-tracking laser vision sensor according to the present embodiment comprises: mounting bracket 1, system housing 2, camera 3, laser 4 and dimming filter system 5, wherein: the camera 3 and the light-reducing and filtering system 5 are coaxially arranged on the inner wall of the system shell 2 in the welding process and transmit welding seam images in the welding process, the camera 3 and the laser 4 are arranged in the system shell 2 at an included angle of 20 degrees, and the mounting bracket 1 is arranged on a welding gun.
As shown in fig. 4, the mounting bracket 1 includes: welding gun left side anchor clamps 12, welding gun right side anchor clamps 13, connecting jig 14, positioning anchor clamps 15, left clamp splice 10, clamp splice main part 16, right clamp splice 11 and dovetail 17, wherein: one end of a welding gun left clamp 12 and one end of a welding gun right clamp 13 are matched with each other among a connecting clamp 14, the other end of the welding gun left clamp is matched with each other among welding guns, the sensor is integrally arranged on the welding gun, the connecting clamp 14 and a positioning clamp 15 are rotatably connected to adjust the position between the sensor and the welding gun, one side of a clamping block main body 16 of a bridge serving as the connecting sensor and the welding gun clamp is connected with the outer wall of a sensor shell 2 through a dovetail groove, the other side of the clamping block main body is connected with the positioning clamp 15, a left clamping block 10 and a right clamping block 11 are matched with the clamping block main body 16 to play a fixing role, and.
As shown in fig. 2 a-2 b and fig. 3 a-3 c, the inner wall of the system housing 2 is provided with a return air duct 8, the return air duct 8 starts from the top air duct inlet of the main body and ends at the air duct outlet parallel to the air duct inlet, the air duct is positioned on the left, right and back three inner walls 8a, 8b and 8c of the main body, the depth of the lower part of the inner wall surface is 1.5mm, the width of the inner wall surface is 5mm, grooves with three surfaces as densely distributed as possible are formed in the length of the inner wall surface to form the return air duct, and the service life and the application range of the vision sensor are improved through the air cooling system formed by the return air duct 8, so that the operation requirement of long-time automatic welding in practical industrial application is met.
The system shell 2 inner wall bottom be equipped with and be the slope of 20 oblique angles, laser instrument 4 and camera 3 set gradually on the slope so that extract the characteristic information of laser stripe.
As shown in fig. 1 and 5, the laser 4 is fixedly connected with the camera clamp 7 through a laser clamp 9, and the camera 3 is fixedly connected with the camera clamp 7 through a panel threaded hole, so that the laser clamp 9 and the camera clamp 7 are matched with each other.
As shown in fig. 5, the camera clamp 7 is of an L-shaped structure, so that the camera and the laser form an included angle of 20 degrees and the centers of the two are located on the same plane, and the design of the camera clamp 7 enables the laser and the camera to be pre-installed outside the sensor to determine the relative positions and then to be integrally assembled inside the system housing 2, thereby simplifying the assembly process and facilitating maintenance.
The light-reducing and light-filtering system 5 is of a sliding drawer structure, the light-reducing and light-filtering sheets can be sequentially arranged in the drawer, when elements are damaged, the drawer is pulled open for replacement, and the light-reducing and light-filtering system is convenient to install and maintain.
The outer side of the light-reducing and light-filtering system is provided with the protective glass 6 made of transparent resin, so that various splashing in welding can be prevented, a camera and the laser light-filtering system are protected from being damaged on the premise of not influencing the image acquisition of the camera, and the service life of elements is prolonged.
Compared with the Servo-CAM/G Camera series of Servo-robot company in canada which is most successfully commercialized by using an active visual sensing mode at present, the device has the advantages that the performance difference is not large, the volume is less than half, and the cost is remarkably reduced.
The device has a modular structure, and is very convenient to install, disassemble, replace and maintain; the method has the characteristics of flexibility, practicability, simplicity, convenience, easy expansion and the like; the requirements of guiding of a welding initial position, tracking of a welding seam, quality control in the welding process and the like can be met, and the welding process automation and the welding quality optimization are facilitated.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (8)
1. A compact CMOS based robotic weld tracking laser vision sensor, comprising: installing support, system's shell, camera, laser instrument and subtract light filtering system, wherein: the camera and the laser are coaxially arranged on the inner wall of the system shell in the welding process and transmit welding seam images in the welding process, the camera and the laser are arranged in the system shell at an included angle of 20 degrees, and the mounting bracket is arranged on a welding gun;
the mounting bracket includes: welder left side anchor clamps, welder right side anchor clamps, connecting jig, positioning anchor clamps, left clamp splice, clamp splice main part, right clamp splice and dovetail, wherein: one end of the welding gun left clamp and one end of the welding gun right clamp are matched with the connecting clamp, the other end of the welding gun left clamp and the welding gun right clamp are matched with each other, the sensor is integrally arranged on the welding gun, the connecting clamp and the positioning clamp are rotatably connected to adjust the position between the sensor and the welding gun, one side of a clamping block main body of a bridge connecting the sensor and the welding gun clamp is connected with the outer wall of a sensor shell through a dovetail groove, the other side of the clamping block main body is connected with the positioning clamp, the left clamping block and the right clamping block are matched with the clamping block main body to play a role in fixing, and;
the system shell inner wall bottom be equipped with the slope that is 20 oblique angles, laser instrument and camera set gradually on the slope so that extract the characteristic information of laser stripe.
2. The compact robotic weld tracking laser vision sensor according to claim 1, wherein the system housing is integrally formed in a 3D printing process using temperature resistant nylon as the 3D printing material and having a return air passage in its inner wall to form an air cooling system.
3. The compact robotic weld seam tracking laser vision sensor according to claim 2, wherein the air passage of the meander shape starts from the entrance of the air passage at the top of the main body and ends at the exit of the air passage at a position parallel to the entrance of the air passage, and the air passage is located at the left, right and back three inner walls of the main body, and is dug with a depth of 1.5mm and a width of 5mm under the surface of the inner wall.
4. The compact robotic weld tracking laser vision sensor according to claim 1, wherein the laser is fixedly linked by a laser clamp, and the camera is fixedly linked by a threaded hole in the panel to the camera clamp, which in turn is mated with the laser clamp.
5. The compact robotic weld seam tracking laser vision sensor according to claim 4, wherein the camera fixture is of an L-shaped configuration, ensuring that the camera and the laser are at an included angle of 20 ° and that their centers are on the same plane, the design of the camera fixture enabling the laser and the camera to be pre-mounted outside the sensor to determine their relative positions before being integrally assembled inside the system housing, simplifying assembly procedures and facilitating maintenance.
6. The compact robotic weld-tracking laser vision sensor according to claim 1, wherein the light-reducing filter system is a sliding drawer structure and the light-reducing filters can be placed in the drawer in sequence, and when the components are damaged, the drawer can be pulled open for replacement, and the installation is convenient and the maintenance is convenient.
7. The compact robotic seam tracking laser vision sensor of claim 1 or 6, wherein a protective glass is provided outside the dimming filter system, the protective glass is made of transparent resin, so as to prevent various splashes during welding, protect the camera and the laser filter system from being damaged without affecting the image acquisition of the camera, and prolong the service life of the components.
8. The compact robotic weld-tracking laser vision sensor according to claim 6, wherein the light-attenuating filter has a center wavelength of 660nm, a bandwidth of 20nm, a transmittance of greater than 90%, and a narrow band filter with a cut-off depth of OD 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811383399.0A CN111195759A (en) | 2018-11-20 | 2018-11-20 | Compact robot welding seam tracking laser vision sensor based on CMOS |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811383399.0A CN111195759A (en) | 2018-11-20 | 2018-11-20 | Compact robot welding seam tracking laser vision sensor based on CMOS |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112743198A (en) * | 2020-12-18 | 2021-05-04 | 华南理工大学 | Welding seam tracking sensor structure with compact structure |
| CN112743273A (en) * | 2021-01-25 | 2021-05-04 | 配天机器人技术有限公司 | Welding gun, laser tracker mounting fixture and welding robot |
| CN116713655A (en) * | 2023-08-08 | 2023-09-08 | 长沙埃施韦格机器人工程有限公司 | Automatic welding workstation of welding seam is known |
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2018
- 2018-11-20 CN CN201811383399.0A patent/CN111195759A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112743198A (en) * | 2020-12-18 | 2021-05-04 | 华南理工大学 | Welding seam tracking sensor structure with compact structure |
| CN112743198B (en) * | 2020-12-18 | 2022-04-22 | 华南理工大学 | Welding seam tracking sensor structure with compact structure |
| CN112743273A (en) * | 2021-01-25 | 2021-05-04 | 配天机器人技术有限公司 | Welding gun, laser tracker mounting fixture and welding robot |
| CN116713655A (en) * | 2023-08-08 | 2023-09-08 | 长沙埃施韦格机器人工程有限公司 | Automatic welding workstation of welding seam is known |
| CN116713655B (en) * | 2023-08-08 | 2023-11-21 | 长沙埃施韦格机器人工程有限公司 | Automatic welding workstation of welding seam is known |
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