CN112404719A

CN112404719A - Multi-sensor welding equipment carrying robot and capable of achieving bidirectional camera shooting

Info

Publication number: CN112404719A
Application number: CN202011259177.5A
Authority: CN
Inventors: 王静; 张云杰; 张弛; 蒋玉芳; 岳睿
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-11-04
Filing date: 2020-11-04
Publication date: 2021-02-26

Abstract

The invention provides a multi-sensor welding device which carries a robot and carries out bidirectional camera shooting, and the multi-sensor welding device comprises a controller and a scanner laser head; the controller is connected with a signal synchronizer through a setting line; the signal synchronizer is provided with two groups of data processors through two groups of lines in a connecting way; the two groups of data processors are respectively provided with lines connected with a monochromatic camera system and a color camera; one side of the laser head of the scanner is connected with a six-axis robot; the combination of two different sensors of visible light vision sensor and laser vision sensor that the both ends of dichroic mirror are connected can improve the accuracy to the penetration state detection, and the region that visual detection technique detected in the space is bigger, and information is abundanter, can overcome single detection method's not enough, improves the reliability of system.

Description

Multi-sensor welding equipment carrying robot and capable of achieving bidirectional camera shooting

Technical Field

The invention belongs to the technical field of modern intelligent control welding, and particularly relates to multi-sensor welding equipment which carries a robot and performs bidirectional camera shooting.

Background

The advantages of laser welding are as follows: high speed, great depth and less deformation. Can be welded at room temperature or under special conditions, and the welding equipment is simple. For example, laser light passes through an electromagnetic field, and the light beam does not deviate; the laser can be used for welding in vacuum, air and certain gas environments, and can be used for welding through glass or materials transparent to light beams. Can weld refractory materials such as titanium, quartz, etc., and can weld dissimilar materials with good effect. After laser is focused, the power density is high, and the depth-to-width ratio can reach 5: 1 and the highest can reach 10: 1 when a high-power device is welded. Micro-welding can be performed. The laser beam can obtain very small light spots after being focused, can be accurately positioned, and can be applied to assembly welding of micro and small workpieces in large-scale automatic production.

Disadvantages of laser welding: high weldment assembly accuracy is required and the position of the beam on the workpiece is required to be not significantly offset. The reason is that the spot size rain after laser focusing is small, the welding seam is narrow, and the filling metal material is used. If the assembly precision or the beam positioning precision of the workpiece cannot meet the requirements, welding defects are easily caused. The cost of the laser and the related system is high, and one-time investment is large. Laser welding is an efficient and precise welding method using a laser beam with high energy density as a heat source. Is one of the important aspects of the application of laser material processing technology. The materials are generally connected by adopting continuous laser beams, the metallurgical physical process of the materials is very similar to that of electron beam welding, and an energy conversion mechanism is completed by a small hole Key-hole structure. The equilibrium temperature in the cavity reaches about 2500 ℃, and heat is transferred from the outer wall of the high-temperature cavity, so that the metal surrounding the cavity is melted. The small holes are filled with high-temperature steam generated by continuous evaporation of the wall material under the irradiation of the light beams, the light beams continuously enter the small holes, the material outside the small holes continuously flows, and the small holes are always in a flowing stable state along with the movement of the light beams. The molten metal fills the voids left after the pores are removed and condenses with them, and a weld is formed.

In view of the above, the present invention provides a multi-sensor welding apparatus with a robot and capable of performing bidirectional imaging, which is developed and improved in view of the existing structure and defects, so as to achieve the purpose of higher practical value.

Disclosure of Invention

In order to solve the above technical problems, the present invention provides a multi-sensor welding apparatus with a robot and capable of performing bidirectional imaging, so as to solve the problem that the acoustic signal detection method proposed in the above background art is susceptible to nozzle airflow and environmental noise, the acoustic emission signal has a great dependence on the welding apparatus and the detection apparatus, the type and sensitive band of the sensor determine the credibility of the signal, and thus the application of the detection method is greatly limited.

The purpose and the effect of the multi-sensor welding equipment which carries the robot and carries out bidirectional camera shooting are achieved by the following specific technical means:

the multi-sensor welding equipment which carries the robot and carries out bidirectional camera shooting comprises a controller and a scanner laser head; the controller is connected with a signal synchronizer through a setting line; the signal synchronizer is provided with two groups of data processors through two groups of lines in a connecting way; the two groups of data processors are respectively connected with a monochrome camera and a color camera through lines; one side of the laser head of the scanner is connected with a six-axis robot; the laser head of the scanner also comprises a refraction bin, a laser beam end and a reflection area; one side of the laser head of the scanner is connected with a refraction bin; the top of the refraction bin is provided with a laser beam end; one side of the refraction bin is provided with a reflection area; the reflecting area connecting end is provided with a dichroic mirror through optical fiber connection.

Furthermore, a metal plate is arranged on one side of the color camera, and an optical filter is arranged at the front end of the color camera; the front end of the monochromatic camera is provided with a near infrared filter.

Furthermore, the laser head of the scanner also comprises a lens; a lens inclined by 45 degrees is arranged in the refraction bin; two surfaces of a filter in the refraction bin respectively correspond to the laser beam end and the reflection area; the laser beam end is provided with an optical fiber connected with a laser welding machine.

Furthermore, the inside of scanner laser head is provided with the speculum, and the angle of speculum is the same with the filter angle in the scanner laser head refraction case.

Furthermore, the dichroic mirror also comprises a visible light vision sensor and a laser vision sensor; the middle of the upper end of the dichroic mirror is provided with a visible light vision sensor, the middle of the left end of the dichroic mirror is provided with a laser vision sensor, and the visible light vision sensor and the laser vision sensor are provided with lines which are connected with an amplifier; one side of the amplifier is provided with a line connected with an oscilloscope.

The six-axis robot 8 is characterized in that six servo motors respectively drive six joint shafts to rotate through six speed reducers and six synchronous belt wheels, and the six joint shafts are respectively a shaft A21, a shaft B22, a shaft C23, a shaft D24, a shaft E25 and a shaft F26; when the control of the six-axis robot 8 is completed by adopting an upper microcomputer and a lower microcomputer, the host is used for managing the system, communicating, kinematically calculating and dynamically calculating, and sending instruction information to the lower microcomputer; as a subordinate slave, each joint corresponds to a CPU respectively, interpolation operation and servo control processing are carried out, given movement is realized, and information is fed back to the master; according to different requirements of laser welding tasks, the control mode of the six-axis robot 8 comprises point position control, continuous track control and force control.

Further, the monochromatic camera system 4 is composed of a beam reflector 31, an angle sensor 32, a motor 33, a laser tube 34, a condenser 35, an eyepiece 36, an observation mirror 37, a welded part 38 and a CCD camera 39; the welded part 38 is placed right below the observation mirror 37, the eyepiece 36 is mounted in front of the CCD camera 39, the angle sensor 32 and the beam mirror 31 are mounted on the output shaft of the motor 33, and the condenser 35 is mounted in front of the laser tube 34.

Compared with the prior art, the invention has the following beneficial effects:

1. the two cameras can be used for detecting the front and back conditions of the welded piece, meanwhile, the output power of the welding machine can be adjusted in time, the distance between the welding gun and the welded piece is adjusted in time through the robot, and the welding quality is greatly improved. The six-axis robot 8 of the present invention combines the characteristics of robots and people. The six-axis robot 8 has a structure similar to that of a human walking, waist turning, big arms, small arms, wrists, paws and the like, and is controlled by a computer. The sensor improves the self-adaptive capacity of the industrial robot to the surrounding environment. The multi-angle laser welding device is very suitable for multi-angle laser welding, so that welded parts are welded thoroughly and are welded actually, and cold welding is prevented.

2. The invention can clearly observe the welding status through the oscilloscope, the visible light visual sensor and the color separation mirror, and can adjust the distance between the laser beam and the welded part in the welding process in time. The welding quality of the metal material is obviously improved, and great help is provided for improving the manufacturing level of machinery.

3. The invention has wide popularization and application prospect, can be widely applied to mechanical manufacturing and can also be applied to electronic, chemical and instrument production enterprises, and has good welding effect, high automation degree and good practicability.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a schematic perspective view of a laser head of the scanner according to the present invention.

Fig. 3 is a schematic perspective view of a six-axis robot according to the present invention.

Fig. 4 is a schematic perspective view of the monochrome image pickup system 4 according to the present invention.

In the drawings, the corresponding relationship between the component names and the reference numbers is as follows:

1. a controller; 2. a signal synchronizer; 3. a data processor; 4. a monochrome camera system machine; 5. a color camera; 6. a metal plate; 7. a scanner laser head; 701. a refraction bin; 702. laser beam termination; 703. a reflective region; 704. a lens; 705. a mirror; 8. a six-axis robot; 9. laser welding machine; 10. a dichroic mirror; 1001. a visible light visual sensor; 1002. a laser vision sensor; 11. an amplifier; 12. an oscilloscope. 21. An axis A; 22. a shaft B; 23. an axis C; 24. a shaft D; 25. a shaft D; 26. an axis E; 31. a beam reflecting mirror; 32. an angle sensor; 33. a motor; 34. a laser tube; 35. a focusing mirror; 36. an eyepiece; 37. an observation mirror; 38. a part to be welded; 39. a CCD camera.

Detailed Description

The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example (b):

as shown in figures 1 to 4:

the invention provides a multi-sensor welding device which carries a robot and carries out bidirectional camera shooting, and the multi-sensor welding device comprises a controller 1 and a scanner laser head 7; the controller 1 is provided with a signal synchronizer 2 connected with a line; the signal synchronizer 2 is provided with two groups of data processors 3 through two groups of lines; the two groups of data processors 3 are respectively connected with a monochrome camera system 4 and a color camera 5 through lines; wherein, one side of the color camera 5 is provided with a metal plate 6, the metal plate 6 is provided with a workpiece waiting for laser welding, and the front end of the color camera 5 is provided with a light filter; the front end of the monochromatic camera system 4 is provided with a near-infrared filter; one side of the laser head 7 of the scanner is connected with a six-axis robot 8; the laser head 7 of the scanner also comprises a refraction bin 701, a laser beam end 702 and a reflection area 703; a refraction bin 701 is connected and arranged on one side of the laser head 7 of the scanner; the top of the refraction bin 701 is provided with a laser beam end head 702; a reflecting region 703 is arranged on one side of the refraction bin 701; the connecting end of the reflecting region 703 is provided with a dichroic mirror 10 through optical fiber connection; wherein, the laser head 7 of the scanner also comprises a lens 704; a lens 704 inclined by 45 degrees is arranged in the refraction bin 701; two surfaces of a filter in the refraction bin 701 respectively correspond to the laser beam end 702 and the reflection area 703; the laser beam tip 702 is provided with an optical fiber connection with a laser welder 9.

Wherein, the inside of scanner laser head 7 is provided with speculum 705, and the angle of speculum 705 is the same with the filter angle in the scanner laser head 7 refraction case.

The dichroic mirror 10 further includes a visible light vision sensor 1001 and a laser vision sensor 1002; a visible light vision sensor 1001 is arranged in the middle of the upper end of the dichroic mirror 10, a laser vision sensor 1002 is arranged in the middle of the left end of the dichroic mirror 10, and the visible light vision sensor 1001 and the laser vision sensor 1002 are connected with an amplifier 11 through a circuit; an oscilloscope 12 is arranged on one side of the amplifier 11 and connected with a line.

The specific use mode and function of the embodiment are as follows:

in the invention, a controller 1 transmits signals to a signal synchronizer 2, the signal synchronizer 2 is connected with two groups of data processors 3 for data processing respectively, and the data processors 3 control a monochromatic camera system 4 and a color camera 5 respectively; a workpiece is arranged on a metal plate 6, and shooting signals are fed back to the data processor 3 by the monochrome camera system 4 and the color camera 5 in the welding process and are intensively fed back to the controller 1 through the signal synchronizer 2 for comparison display.

The laser welding machine 9 transmits laser to the refraction bin 701, reflects the laser into the scanner laser head 7 through the lens 704 for welding, collects laser light through the reflection area 703, transmits the laser light into the dichroic mirror 10, transmits the laser light into the amplifier 11 through the visible light vision sensor 1001 and the laser vision sensor 1002, and finally presents the laser light in the oscilloscope 12.

The accuracy of the detection of the fusion-through state can be improved by the combination of the visible light vision sensor 1001 and the laser vision sensor 1002 connected to both ends of the dichroic mirror 10 and two different sensors, and the area of the detection in space is larger and the information is more abundant by the vision detection technology. Therefore, methods for acquiring status information during welding with different vision sensors have been gaining attention and research. The data of the welding state in the welding process is collected through a plurality of sensors, and the conditions of non-penetration, molten pool penetration, keyhole penetration, through penetration and non-moderate conditions are identified and classified by using a mode identification method, so that the defects of a single detection method are overcome, and the reliability of the system is improved.

In fig. 3, the six-axis robot 8 is driven by six servo motors through six speed reducers and six synchronous pulleys to rotate six joint shafts, wherein the six joint shafts are a shaft a21, a shaft B22, a shaft C23, a shaft D24, a shaft E25 and a shaft F26; when the control of the six-axis robot 8 is completed by adopting an upper microcomputer and a lower microcomputer, the host is used for managing the system, communicating, kinematically calculating and dynamically calculating, and sending instruction information to the lower microcomputer; as a subordinate slave, each joint corresponds to a CPU respectively, interpolation operation and servo control processing are carried out, given movement is realized, and information is fed back to the master; according to different requirements of laser welding tasks, the control mode of the six-axis robot 8 comprises point position control, continuous track control and force control. The six-axis robot 8 is mainly characterized by the following aspects: 1. programming: the six-axis robot 8 is largely characterized by flexible start-up, an important component in a flexible manufacturing system. The industrial robot can be reprogrammed along with the change of the working environment and the change of a machined part, and is suitable for the application of small-batch and multi-variety flexible manufacturing production lines with balanced efficiency. 2. Personification: the six-axis robot 8 combines the characteristics of robots and people. The six-axis robot 8 has a structure similar to that of a human walking, waist turning, big arms, small arms, wrists, paws and the like, and is controlled by a computer. The sensor improves the self-adaptive capacity of the industrial robot to the surrounding environment. The multi-angle laser welding device is very suitable for multi-angle laser welding, so that welded parts are welded thoroughly and are welded actually, and cold welding is prevented. 3. Universality: generally, the six-axis robot 8 has better universality when different work tasks are executed. There are of course also special industrial robots. 4. Electromechanical integration: the six-axis robot 8 is a combined mechatronics technology of mechanics and microelectronics. The industrial robot has various sensors which can acquire external environment information, and also has artificial intelligence such as memory capacity, language understanding capacity, image recognition capacity, reasoning and judging capacity and the like, which are all applications of microelectronic technology, particularly application of computer technology.

Fig. 4 is a schematic perspective view of the monochrome image pickup system 4 according to the present invention. The monochromatic camera system 4 consists of a light beam reflecting mirror 31, an angle sensor 32, a motor 33, a laser tube 34, a collecting mirror 35, an ocular 36, an observation mirror 37, a welded part 38 and a CCD camera 39; the welded part 38 is placed right below the observation mirror 37, the eyepiece 36 is mounted in front of the CCD camera 39, the angle sensor 32 and the beam mirror 31 are mounted on the output shaft of the motor 33, and the condenser 35 is mounted in front of the laser tube 34. The on-spot real-time situation of laser welding is convenient for accurately shoot like this, in time adjusts the laser beam and by the welding part between the distance for by welding part 38 welding firm, the welding is real, prevents simultaneously that the rosin joint from loosening and takes off. The warp deformation of the welded part 38 can also be monitored in time.

The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated. The above-mentioned embodiments are merely illustrative and not restrictive, and those skilled in the art can make modifications to the embodiments without inventive contribution as required after reading the present specification, but only protected by the patent laws within the scope of the claims.

Claims

1. Multi-sensor welding equipment that carries robot and two-way camera shooting, its characterized in that includes: a controller (1) and a scanner laser head (7); the controller (1) is provided with a signal synchronizer (2) connected with a circuit; the signal synchronizer (2) is provided with two groups of data processors (3) through two groups of lines; the two groups of data processors (3) are respectively provided with a monochrome camera system (4) and a color camera (5) which are connected by lines; a six-axis robot (8) is connected to one side of the scanner laser head (7); the scanner laser head (7) also comprises a refraction bin (701), a laser beam end (702) and a reflection area (703); a refraction bin (701) is connected and arranged at one side of the scanner laser head (7); the top of the refraction bin (701) is provided with a laser beam end head (702); a reflecting area (703) is arranged on one side of the refraction bin (701); the connecting end of the reflecting area (703) is provided with a dichroic mirror (10) through optical fiber connection.

2. The robotic, bi-directional camera multi-sensor welding apparatus of claim 1, wherein: a metal plate (6) is arranged on one side of the color camera (5), and an optical filter is arranged at the front end of the color camera (5); the front end of the monochromatic camera system (4) is provided with a near infrared filter.

3. The robotic, bi-directional camera multi-sensor welding apparatus of claim 1, wherein: the scanner laser head (7) also comprises a lens (704); a lens (704) inclined at 45 degrees is arranged in the refraction bin (701); two surfaces of a filter in the refraction bin (701) respectively correspond to the laser beam end (702) and the reflection area (703); the laser beam end (702) is provided with an optical fiber connected with a laser welding machine (9).

4. The robotic, bi-directional camera multi-sensor welding apparatus of claim 1, wherein: the inside of scanner laser head (7) is provided with speculum (705), and the angle of speculum (705) is the same with the filter angle in scanner laser head (7) refraction case.

5. The robotic, bi-directional camera multi-sensor welding apparatus of claim 1, wherein: the dichroic mirror (10) further comprises a visible light vision sensor (1001) and a laser vision sensor (1002); a visible light vision sensor (1001) is arranged in the middle of the upper end of the dichroic mirror (10), a laser vision sensor (1002) is arranged in the middle of the left end of the dichroic mirror (10), and the visible light vision sensor (1001) and the laser vision sensor (1002) are connected with an amplifier (11) through a circuit; one side of the amplifier (11) is provided with a line connected with an oscilloscope (12).

6. The robotic, bi-directional camera multi-sensor welding apparatus of claim 1, wherein: the six-axis robot (8) is characterized in that six servo motors respectively drive six joint shafts to rotate through six speed reducers and six synchronous belt wheels, and the six joint shafts are respectively a shaft A (21), a shaft B (22), a shaft C (23), a shaft D (24), a shaft E (25) and a shaft F (26); when the control of the six-axis robot (8) is completed by adopting an upper microcomputer and a lower microcomputer, the host is used for managing the system, communicating, kinematically calculating and dynamically calculating, and sending instruction information to the lower microcomputer; as a subordinate slave, each joint corresponds to a CPU respectively, interpolation operation and servo control processing are carried out, given movement is realized, and information is fed back to the master; according to different requirements of laser welding tasks, the control mode of the six-axis robot (8) comprises point position control, continuous track control and force control.

7. The robotic, bi-directional camera multi-sensor welding apparatus of claim 1, wherein: the monochromatic camera system (4) consists of a beam reflector (31), an angle sensor (32), a motor (33), a laser tube (34), a collecting mirror (35), an eyepiece (36), an observation mirror (37), a welded part (38) and a CCD camera (39); the welded part (38) is placed under the observation mirror (37), the eyepiece (36) is installed in front of the CCD camera (39), the output shaft of the motor (33) is provided with the angle sensor (32) and the beam reflector (31), and the front of the laser tube (34) is provided with the focusing mirror (35).