CN1600505A - Servo binocular vision sensors on welding robot - Google Patents
Servo binocular vision sensors on welding robot Download PDFInfo
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- CN1600505A CN1600505A CN 200410067328 CN200410067328A CN1600505A CN 1600505 A CN1600505 A CN 1600505A CN 200410067328 CN200410067328 CN 200410067328 CN 200410067328 A CN200410067328 A CN 200410067328A CN 1600505 A CN1600505 A CN 1600505A
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Abstract
A servo binocular visual transducer for welding robot is featured as fixing CCD camera, pneumatic system, dimming and filtering system on flat support being fixed with external spindle; placing two bearings between two hollow spindles to let external one rotate around the internal one; connecting synchronous belt transmission system to external spindle with end cover; fixing internal hollow spindle and servo motor to drive CCD camera to rotate at controllable angle around welding gun.
Description
Technical field
The present invention relates to a kind of welding robot vision sensor, specifically is a kind of servo binocular vision sensors on welding robot.Be used for welding technology field.
Background technology
At present, the sensing mode that is applied on the welding robot is varied, among these method for sensing, since the visual sensing mode have contain much information, noncontact, fast, advantage such as high accuracy and detection range be big, be subjected to liking of numerous Welders author, become the research focus of robot welding sensor aspect at present.The visual sensing technology on welding robot, use more be carry out that the weld seam vision is followed the tracks of and welding process Based Intelligent Control such as penetration control aspect research.What study comparative maturity at present both at home and abroad is the visual sensing mode that adopts laser or structured light, this sensing mode need add specific light source, exists that information content is abundant inadequately, function singleness, volume are big, measurement point and welding point have weak points such as a segment distance.
Through the prior art literature search is analyzed, discovery is brought up people such as beneficial orchid at " electric welding machine " (2002, Vol32, No.5:9-12) vision sensor of introducing in " seam tracking system of structured light formula laser vision sensor " delivered on has certain representativeness, main miniature laser of this kind sensor and ccd video camera are formed, laser instrument is launched a branch of visible laser, becoming a branch of fan-shaped light belt through diaphragm shines on the workpiece, ccd video camera and laser instrument are provided with at angle, be imaged on the CCD from the reverberation of surface of the work geometric profile joint, utilize the optical triangulation method, not only can detect horizontal properties, and the height between sensor and workpiece can be determined also.But, this sensor function is single, can only be used for weld joint tracking, and in the time of on being used in robot, because its position with respect to welding gun is motionless, when the bigger weld seam of welding curvature, weld seam might break away from the visual field of CCD, cause and follow the tracks of failure, optical filter is fixed on the video camera front end and can not moves in addition, can't satisfy under the natural daylight condition and use.
Summary of the invention
The objective of the invention is to overcome deficiency of the prior art, a kind of servo binocular vision sensors on welding robot is provided.But achieved the ccd video camera wrapping gun and done the rotation of controlled angle keeping good capture orientation and the function that loads or remove optical filter and light damping plate automatically, thus make this welding robot vision sensor had multipurpose characteristics.
The present invention is achieved by the following technical solutions, the present invention includes: support and two bearings of servomotor, synchronization belt transmission system, two ccd video cameras, pneumatic system, dim light and filter systems, inside and outside two hollow shafts, end cap and flat brackets, channel steel shape.Adopted the structure of double-layer hollow axle in the design of ccd video camera wrapping gun rotation, welding gun is fixed on the interior hollow shaft by two groups of housing screws on the interior hollow shaft, two ccd video cameras, pneumatic system and dim lights and filter system are fixed on the flat bracket, flat bracket is fixed on the hollow outer shaft, place two high-precision bearings between two hollow shafts, hollow outer shaft can be around interior hollow shaft rotation by bearing.The power of servomotor is delivered on the hollow outer shaft by synchronization belt transmission system, drives the ccd video camera wrapping gun and rotates, and connects by end cap between synchronization belt transmission system and the hollow outer shaft.Interior hollow shaft and servomotor are fixed on the U-steel support, and interior like this hollow shaft has been subjected to most of weight of sensor.Whole sensor of the present invention is fixed on the last joint of welding robot by the channel steel shape support.
Synchronization belt transmission system comprise the pinion that is fixed on the servo motor shaft, synchronously with and be fixed on gear wheel on the hollow outer shaft.
Pneumatic system comprises an electromagnetic gas valve and two cylinders.Dim light and filter system comprise dim light eyeglass, filter glass and lens supports, connecting rod and slide bar and support.Dim light eyeglass and filter glass are overlapping to be arranged on the lens supports, is connected with the axle of cylinder by connecting rod, is subjected to the driving of cylinder.For preventing that lens supports from rotating around cylinder axis, on one side of lens supports, be fixed with slide bar, slide bar can slide on its support.
The external shaft that servomotor can be used as robot is controlled by robot controller.The I/O port of electromagnetic gas valve and robot controller is connected, thereby both can be when welding robot have been carried out the teaching operation, by the teach programming device air valve is controlled, also can realize the air valve programming Control, thereby satisfy the job requirement that drives dim light and filter system in the different operating stage by main control computer.
When sensor of the present invention uses, weld the last stage beginning, because electric arc does not ignite, system adopts the natural lighting imaging, at this moment cylinder drive lens supports makes light damping plate and optical filter remove from the video camera front end, make two video cameras can directly take the welded piece image, realize the recognition and verification of butt welded seam and weld start position, carry out identification and the guiding of welding robot to initial welding position, ccd video camera by the oblique the place ahead of weld seam carries out weld seam and independently follows the tracks of and generate the coordinate of weld seam curve under the robot basis coordinates then, and finishes the planning in video camera capture orientation by servomotor; Carrying out the welding process stage, because electric arc ignites, illumination is very strong, in order to make the video camera can be clear to welding pool and weld seam imaging, can light damping plate and optical filter be moved on to the front end of two video cameras by the electromagnetic gas valve control cylinder, the video camera that uses oblique rear, molten bath is to the welding pool imaging, by to the processing of crater image to weld penetration control, use the video camera in oblique the place ahead, molten bath to carry out weld joint tracking, further correct weld seam deviation.
The present invention has satisfied the demand of intelligent welding robot to sensor, owing to use automatic mobile spectral filter of pneumatic system and light damping plate, this sensor can be realized the multiple functions such as the obtaining of guiding, weld seam coordinate, weld joint tracking and penetration control of initial weld seam.Because ccd video camera can rotate to the capture orientation that needs by wrapping gun, thus can realize curved welding seam is followed the tracks of, and the weld seam curve can be closed.Carry out penetration control when using two video cameras that weld joint tracking can be implemented in.The high-quality that this sensor is particularly suitable for curved welding seam automatically welds, and has very high practicality.
Description of drawings
Fig. 1 sensor construction schematic diagram of the present invention
The specific embodiment
As shown in Figure 1, the present invention includes: support 10 and two bearings 11 of servomotor 1, synchronization belt transmission system 2, two ccd video cameras 3, pneumatic system 4, dim light and filter system 5, interior hollow shaft 6, hollow outer shaft 7, end cap 8 and flat brackets 9, channel steel shape.Its annexation is: two ccd video cameras 3, pneumatic system 4, dim light and filter systems 5 are fixed on the flat bracket 9, flat bracket 9 is fixed on the hollow outer shaft 7, two high-precision bearings 11 are set between interior hollow shaft 6, the hollow outer shaft 7, and hollow outer shaft 7 rotates around interior hollow shaft 6 by bearing 11.The power of servomotor 1 is delivered on the hollow outer shaft 7 by synchronization belt transmission system 2, drives ccd video camera 3 wrapping guns and rotates, and connects by end cap 8 between synchronization belt transmission system 2 and the hollow outer shaft 7.Interior hollow shaft 6 and servomotor 1 are fixed on the U-steel support 10.
On the hollow shaft 6, whole sensor was fixed on the last joint of welding robot by channel steel shape support 10 in welding gun was fixed on by two groups of housing screws on the interior hollow shaft 6.
Synchronization belt transmission system 2 comprises the pinion 12 that is fixed on 1 of the servomotor, synchronously with 13 be fixed on gear wheel 14 on the hollow outer shaft 7.
Pneumatic system 4 comprises: an electromagnetic gas valve 15 and two cylinders 16.Dim light and filter system 5 comprise: dim light eyeglass 17, filter glass 18 and lens supports 19, connecting rod 20 and slide bar 21 and support 22.Dim light eyeglass 17 and filter glass 18 overlapping being arranged on the lens supports 19 are connected with the axle of cylinder 16 by connecting rod 20, are subjected to the driving of cylinder 16, are fixed with slide bar 21 on one side of lens supports 19, and slide bar 21 slides on its support 22.The I/O port of electromagnetic gas valve 15 and welding robot controller is connected.
Claims (4)
1, a kind of servo binocular vision sensors on welding robot, comprise: two ccd video cameras (3), it is characterized in that, also comprise: servomotor (1), synchronization belt transmission system (2), pneumatic system (4), dim light and filter system (5), interior hollow shaft (6), hollow outer shaft (7), end cap (8) and flat bracket (9), the support of channel steel shape (10) and two bearings (11), its annexation is: two ccd video cameras (3), pneumatic system (4), dim light and filter system (5) are fixed on the flat bracket (9), flat bracket (9) is fixed on the hollow outer shaft (7), interior hollow shaft (6), two bearings (11) are set between the hollow outer shaft (7), hollow outer shaft (7) rotates around interior hollow shaft (6) by bearing (11), the power of servomotor (1) is delivered on the hollow outer shaft (7) by synchronization belt transmission system (2), driving ccd video camera (3) wrapping gun rotates, connect by end cap (8) between synchronization belt transmission system (2) and the hollow outer shaft (7), interior hollow shaft (6) and servomotor (1) are fixed on the U-steel support (10).
2, servo binocular vision sensors on welding robot according to claim 1, it is characterized in that synchronization belt transmission system (2) comprises the pinion (12) that is fixed on servomotor (1) axle, band (13) and be fixed on gear wheel (14) on the hollow outer shaft (7) synchronously.
3, servo binocular vision sensors on welding robot according to claim 1, it is characterized in that, pneumatic system (4) comprises an electromagnetic gas valve (15) and two cylinders (16), dim light and filter system (5) comprise dim light eyeglass (17), filter glass (18) and lens supports (19), connecting rod (20) and slide bar (21) and support (22), dim light eyeglass (17) and filter glass (18) are overlapping to be arranged on the lens supports (19), be connected with the axle of cylinder (16) by connecting rod (20), on one side of lens supports (19), be fixed with slide bar (21), slide bar (21) is gone up at its support (22) and is slided, and the I/O port of electromagnetic gas valve (15) and welding robot controller is connected.
4, servo binocular vision sensors on welding robot according to claim 1, it is characterized in that, welding gun is fixed on the interior hollow shaft (6) by two groups of housing screws on the interior hollow shaft (6), and whole sensor is fixed on the last joint of welding robot by channel steel shape support (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100673281A CN1319704C (en) | 2004-10-21 | 2004-10-21 | Servo binocular vision sensors on welding robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100673281A CN1319704C (en) | 2004-10-21 | 2004-10-21 | Servo binocular vision sensors on welding robot |
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| CN1600505A true CN1600505A (en) | 2005-03-30 |
| CN1319704C CN1319704C (en) | 2007-06-06 |
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| CNB2004100673281A Expired - Fee Related CN1319704C (en) | 2004-10-21 | 2004-10-21 | Servo binocular vision sensors on welding robot |
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| CN100460166C (en) * | 2007-03-08 | 2009-02-11 | 上海交通大学 | Welding robot multifunctional double-eye visual sensor and calibration method thereof |
| CN101559568A (en) * | 2008-04-16 | 2009-10-21 | 鸿富锦精密工业（深圳）有限公司 | Machine tool |
| CN102126068A (en) * | 2011-03-05 | 2011-07-20 | 上海交通大学 | Passive visual sensor based on weld automatic tracking of welding robot |
| CN102139487A (en) * | 2011-03-30 | 2011-08-03 | 唐山开元焊接自动化技术研究所有限公司 | Long-distance demonstration visual sensor for welding robot |
| CN102151945A (en) * | 2011-01-28 | 2011-08-17 | 唐山开元焊接自动化技术研究所有限公司 | Multifunctional arc welding vision monitoring device and monitoring method |
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| CN104325234A (en) * | 2014-10-16 | 2015-02-04 | 上海交通大学 | Visual sensor for acquiring images of double-sided weld pool during plasma welding |
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| CN106002023A (en) * | 2016-06-12 | 2016-10-12 | 舟山利远机械有限公司 | Intelligent visual tracking, welding and creeping trolley |
| CN106925922A (en) * | 2017-03-24 | 2017-07-07 | 西北工业大学 | Self adaptation laser binocular seam tracking system |
| CN107486624A (en) * | 2016-06-13 | 2017-12-19 | 长沙华恒机器人系统有限公司 | A kind of butterfly eye laser welding intelligent locating device |
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| 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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