CN201748902U - Visual detection sensor - Google Patents
Visual detection sensor Download PDFInfo
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- CN201748902U CN201748902U CN2010201075271U CN201020107527U CN201748902U CN 201748902 U CN201748902 U CN 201748902U CN 2010201075271 U CN2010201075271 U CN 2010201075271U CN 201020107527 U CN201020107527 U CN 201020107527U CN 201748902 U CN201748902 U CN 201748902U
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- 230000000007 visual effect Effects 0.000 title claims abstract description 28
- 238000001514 detection method Methods 0.000 title claims abstract description 25
- 230000003287 optical effect Effects 0.000 claims abstract description 34
- 238000003384 imaging method Methods 0.000 claims abstract description 20
- 238000013016 damping Methods 0.000 claims description 33
- 239000011521 glass Substances 0.000 claims description 7
- 230000001681 protective effect Effects 0.000 claims description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 230000000295 complement effect Effects 0.000 claims description 3
- 238000003466 welding Methods 0.000 abstract description 23
- 238000000034 method Methods 0.000 abstract description 8
- 238000012544 monitoring process Methods 0.000 abstract description 4
- 238000003723 Smelting Methods 0.000 abstract 2
- 230000004438 eyesight Effects 0.000 description 13
- 230000000694 effects Effects 0.000 description 4
- 238000012876 topography Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 230000004313 glare Effects 0.000 description 2
- 238000003756 stirring Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000004446 light reflex Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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- Length Measuring Devices By Optical Means (AREA)
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Abstract
The utility model relates to a visual detection sensor, in particular to the visual detection sensor used for obtaining surface appearance quality after welding through visual sensing, tracking welding seam tracks before the welding and monitoring the change of a laser welding smelting pool in real time in the robot laser welding process. The utility model aims at providing the visual detection sensor used for robot laser welding, the visual detection sensor needs to have the characteristic of capability of simultaneously obtaining the surface appearance quality after the welding, tracking the welding seam tracks before the welding and monitoring the change of the laser welding smelting pool in real time, in addition, the structure is simple, and the operation and the control are convenient. The utility model provides the technical scheme that the visual detection sensor comprises a machine case arranged on a clamp. The utility model is characterized in that the machine case comprises a light irradiator, an imaging system, an optical lens assembly, a light reflector and a mechanical regulator.
Description
Technical field
The utility model relates to vision inspection apparatus, specifically is that a kind of robot laser beam welding visual sensing that is used for obtains postwelding surface topography quality, the visual sensing pick-up unit that weld seam route and real-time monitoring laser bonding molten bath change before the tracking welding.
Background technology
At present, the sensing mode that is applied on the welding robot is varied, in these method for sensing since the visual sensing mode have contain much information, noncontact, fast, advantage such as high precision and sensing range be big, be subjected to liking of numerous Welders author; Now become the research focus of robot welding sensor aspect.
In the existing robot laser bonding vision sensor, adopt active vision and passive vision dual mode to solve respectively before the weldering after the tracking welding that pattern detects and monitor in online molten bath mostly.Active vision-based detection sensor mainly is to utilize laser beam to form laser plane through cylindrical mirror, project on the workpiece weld seam in welding gun the place ahead, filter its all band veiling glare by optical filter, only penetrate the structured light of laser light-wave band, last video camera imaging, vision sensor is gathered the seam laser image, calculates position while welding by Flame Image Process, and convert simulating signal or wireless signal output to, realize the purpose of soldering joint automatic tracking to reach the control welding robot.Passive vision mainly is the laser that produces when utilizing welding, carries out emergency light reflex earlier, by the linear structure light laser, with light damping plate light is weakened, and filters veiling glare by optical filter again, arrives video camera at last and obtains image; Because two kinds of visual manner employings is independent device; Need separately carry out during use, function singleness is used comparatively complicated.
At the problems referred to above, existing scientific and technical personnel lump together weld joint tracking and two sensor groups of postwelding pattern detection by increase electronic slide block the robot end, though the sensor of two function singlenesses is linked together, but still exist when using and control complexity, problems such as stability in use is poor, and testing result is inaccurate.
The utility model content
Technical problem to be solved in the utility model is the deficiency that overcomes the above-mentioned background technology, a kind of visual detection sensing unit that is used for the robot laser bonding is provided, this visual detection sensing unit should have the characteristics that can obtain postwelding surface topography quality, the preceding weld seam route of tracking welding simultaneously and monitor the variation of laser bonding molten bath in real time, and simple and reasonable, control conveniently.
The technical scheme that the utility model provides is: a kind of visual detection sensing unit, comprise the casing that is arranged on the anchor clamps, and it is characterized in that: comprise in the described casing:
Light irradiation device comprises a word line structured light laser instrument and a lens set thereof;
Imaging system comprises CCD or cmos camera filming apparatus;
Optical lens assembly comprises the cover plate that is arranged on optical lens group, optical filter, the light damping plate in the casing and is arranged on bottom of shell, and described optical lens group, optical filter are installed in the bottom of CCD or cmos camera; Light damping plate is installed on the rear chassis; The line of centres of described optical lens group, optical filter and light damping plate and the incident ray of video camera are located on the same line;
Light reflecting device comprises being installed in stationary mirror and the flexible mirror that is connected with light irradiation device, imaging system light path in the casing; This stationary mirror and flexible mirror are parallel to each other, and the flexible mirror along continuous straight runs moves forward and backward;
Mechanical speed-control device comprises light irradiation device, imaging system, optical lens assembly, light reflecting device are fixed on holder and holding screw in the casing.
Described casing comprises housing and the housing cover that mutual lid connects, and the bottom of housing is made of a protective glass plate, and side is provided with out the installing plate of fixed orifice.
But the bottom of described protective glass plate is provided with the shadow shield that an along continuous straight runs moves.
Described housing inner chamber is positioned at light irradiation device and the light damping plate lower horizontal is provided with two blocks of angle steel that are parallel to each other, and has a sliding tray that the flexible mirror along continuous straight runs is slided between described up and down two angle steel.
Described light irradiation device comprises a word line structured light laser instrument that vertically is installed in housing inner chamber top by fixed support, bolt, is provided with the eyeglass of one group of adjustable positions in the laser instrument; After the linear structure light of one word line structured light laser instrument emission passes its lens set, the light path that enters flexible mirror, stationary mirror, CCD or cmos camera successively.
Described imaging system comprises CCD or the cmos camera that vertically is installed in housing inner chamber top by fixed support, bolt, the bottom of video camera is connected with optical lens group and optical filter in turn, and the line of centres of described optical frames light group and optical filter and the incident ray of video camera are located on the same line.
Be provided with the light damping plate that an along continuous straight runs moves under the described optical filter, housing is provided with a chute that is complementary with light damping plate, the bottom of chute is provided with the projection that is used to support light damping plate, after the end of light damping plate passed through chute, moves horizontally in chute.
Described light reflecting device comprises stationary mirror and the flexible mirror that is arranged on light irradiation device and imaging system below, the bearing pin that described stationary mirror is provided with by its middle part, be plugged into the stationary mirror holder after, by holding screw stationary mirror is fixed in the housing; Described flexible mirror middle part is provided with sliding axle, and the slip the tip of the axis was regulated its position on sliding tray by the tightening nut after passing through sliding tray.
Also be provided with angle-regulating block between described flexible mirror and the sliding axle.
A described word line structured light laser instrument and CCD or cmos camera are installed in respectively in the inner chamber of housing, and the angle between a word line structured light laser instrument and CCD or the cmos camera is-15～15 degree.
A described word line structured light laser instrument and CCD or cmos camera vertically are installed in the inner chamber of housing respectively side by side, and a word line structured light laser instrument and CCD or cmos camera are parallel to each other.
Be divided into active vision, two kinds of working methods of passive vision during the utility model work:
Working method 1:
When adopting passive vision to detect, as Fig. 2 and 3, to turn on tightening nut 17 and move flexible mirror 6 to " A " station, rotational angle is adjusted piece 16 to the appropriate location, tightens tightening nut 17; Turning on holding screw 9 adjustment stationary mirrors 8 then tightens to suitable angle; Follow mobile shade 7-1, with its cover protective glass plate between the A-C (effect that shadow shield is set is: when passive vision detects for the light that prevents to produce by the laser bonding molten bath without stationary mirror 8, directly be mapped on the flexible mirror 6, cause error).As Fig. 2, stir light damping plate 5 to " M " working position being written into light damping plate 5, thereby reach the effect of regulating light intensity; The outage of last word linear structure light laser makes a word line structured light laser instrument and lens set thereof not work.At this moment, the light that is produced by the laser bonding molten bath at first is mapped on the stationary mirror 8, arrive the flexible mirror 6 of " A " station after being reflected, and through arriving successively in light damping plate 5, optical filter 4 and CCD or the cmos camera camera system 2 behind flexible mirror 6 secondary reflections.Take the image that obtains after the molten bath dim light filters by CCD or cmos camera camera system, finish the robot on-line monitoring in the welding process for the laser bonding molten bath, be that obtaining of information detected in the molten bath in the welding process, the direction of arrow is the cabling of light among the figure.
Working method 2:
When adopting active vision to detect, at first, as illustrated in fig. 1 and 2, to turn on tightening nut 17 and move flexible mirror 6 to " B " station, rotational angle is adjusted piece 16 to the appropriate location, tightens tightening nut 17; Turning on holding screw 9 adjustment stationary mirrors 8 then tightens to suitable angle.As Fig. 2, stir light damping plate 5 to " L " or " R " working position and make light damping plate 5 avoid shooting area, even the intensity of shooting light is constant, as shown in Figure 5, the rotation of light damping plate 5 on level reaches its limit of sports record when " L " or " R " working position; The setting of " L " or " R " working position at this moment can be avoided incident ray with light damping plate and exceeds.Last word linear structure light laser energising makes a word line structured light laser instrument and lens set work thereof; At this moment, the linear structure light of one word line structured light laser instrument emission passes the flexible mirror 6 that its lens set arrives " B " station earlier, and arrive stationary mirror 8 through reflection, behind stationary mirror 8 secondary reflections, shine again in CCD or cmos camera camera system 2 visual fields under on the weldment E; Can directly be gathered this image by CCD or cmos camera camera system, thereby finish obtaining of preceding weld joint tracking of weldering or postwelding surface topography detection information, the direction of arrow is the cabling of light among the figure.
The beneficial effects of the utility model are: this visual detection sensing unit can obtain postwelding surface topography quality, the preceding weld seam route of tracking welding simultaneously and monitor the laser bonding molten bath in real time and change, and whole detection sensing device has simple and reasonable, easy to use, detects the high characteristics of accuracy rate.
Description of drawings
Fig. 1 is a main TV structure synoptic diagram of the present utility model;
Fig. 2 is the back TV structure enlarged drawing of D portion among Fig. 1;
Fig. 3 is the structural representation of the utility model when being used to monitor the molten bath;
Fig. 4 is the structural representation of F portion among Fig. 3;
Fig. 5 is the perspective view of light damping plate among Fig. 4;
Fig. 6 is the structure enlarged drawing of G portion among Fig. 3;
Fig. 7 is the structural representation of flexible mirror among Fig. 1;
Fig. 8 be among Fig. 3 H portion look up structural representation.
Embodiment
Below by embodiment the technical solution of the utility model is described further.
As shown in the figure, the visual sensing pick-up unit, comprise the casing 1 that is arranged on the anchor clamps, casing 1 is made of housing 1-1 and the housing cover 1-2 that mutual lid connects, the bottom of housing is made of a protective glass plate 7, but the bottom of protective glass plate be provided with the shadow shield 7-1 that an along continuous straight runs moves (effect that shadow shield is set is: when passive vision detects for the light that prevents to produce by the laser bonding molten bath without stationary mirror 8, directly be mapped on the flexible mirror 6, cause error), the side of this housing is provided with the installing plate 10 in fluting and hole.
Described housing inner chamber top vertically is provided with light irradiation device 11 and imaging system 2 side by side, and (also can rotate relatively between described light irradiation device 11 and the imaging system 2, activity point of view between the two is-15～15 degree; Be that imaging system 2 can rotate 15 degree to the left or to the right along the axle center), the inner chamber bottom is provided with the light reflecting device that is connected with imaging system 2 light paths with light irradiation device 11.Described light irradiation device 11 comprises a word line structured light laser instrument 11-1 who vertically is installed in housing inner chamber top by fixed support 13, bolt 12, is provided with the eyeglass 11-2 of one group of adjustable positions in the laser instrument.Described imaging system 2 comprises CCD or the cmos camera 2-1 that vertically is installed in housing inner chamber top by fixed support 2-3, bolt 2-3, the bottom of video camera 2-1 is connected with optical lens group 3 and optical filter 4 in turn, and described optical frames light group 3 and optical filter 4 are located on the same line with the incident ray of video camera 2-1.Also be provided with the light damping plate 5 of adjustable reflection of light intensity between described imaging system 2 and the light reflecting device, described light damping plate can move forward and backward in the horizontal direction, thereby regulates the light that reflects through light reflecting device.The end of described light damping plate has bolt hole 5-4, housing is provided with a chute 5-1 who is complementary with light damping plate, the bottom of chute is provided with the projection 5-2 that is used to support light damping plate, after the terminal 5-3 of light damping plate passed through chute, is located on projection by bolt 5-5; During use, as long as bolt is turned on the horizontal level relation of adjusting light damping plate in the back, thereby whether the light of adjusting through the light reflecting device reflection needs to be handled by dim light.
Described light reflecting device comprises stationary mirror 8 and the flexible mirror 6 that is arranged on light irradiation device and imaging system below, after the linear structure light of described word line structured light laser instrument emission passes its lens set, be connected with flexible mirror 6, stationary mirror 8, CCD or cmos camera 2 light paths successively.
The bearing pin 8-1 that described stationary mirror 8 is provided with by its middle part, be plugged into stationary mirror holder 8-2 after, by holding screw 9 stationary mirror 8 is fixed in the housing 1-1.Described housing 1-1 inner chamber is positioned at light irradiation device 11 and light damping plate 5 lower horizontal are provided with two angle steel 6-1,6-2 that are parallel to each other, and has a sliding tray 6-3 that flexible mirror 6 along continuous straight runs are slided between described up and down two angle steel.Described flexible mirror 6 middle parts are provided with sliding axle 6-1, and the slip the tip of the axis was regulated its position on sliding tray 6-3 by tightening nut 17 after passing through sliding tray.
Also be provided with angle-regulating block 16 between described flexible mirror 6 and the sliding axle, regulate, thereby adjusting enters the incident angle of the incident light of flexible mirror by the position that 16 pairs of flexible mirrors 6 of angle-regulating block are set.
The data line 14,15 of described light irradiation device 11 and imaging system 2 passes the back from housing respectively and is communicated with external power source.
Specific embodiment described herein only is that the utility model spirit is illustrated.The utility model person of ordinary skill in the field can make various modifications or replenishes or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present utility model or surmount the defined scope of appended claims.
Claims (10)
1. a visual detection sensing unit comprises the casing (1) that is arranged on the anchor clamps, it is characterized in that: comprise in the casing:
Light irradiation device (11) comprises a word line structured light laser instrument and a lens set thereof;
Imaging system (2) comprises CCD or cmos camera filming apparatus;
Optical lens assembly comprises the cover plate (7) that is arranged on optical lens group (3), optical filter (4), the light damping plate (5) in the casing and is arranged on bottom of shell, and described optical lens group, optical filter are installed in the bottom of CCD or cmos camera; Light damping plate is installed on the rear chassis; The incident ray of described optical frames light group, optical filter and light damping plate and video camera is located on the same line;
Light reflecting device comprises being installed in stationary mirror (8) and the flexible mirror (6) that is connected with light irradiation device, imaging system light path in the casing; This stationary mirror and flexible mirror are parallel to each other, and the flexible mirror along continuous straight runs moves forward and backward;
Mechanical speed-control device comprises light irradiation device, imaging system, optical lens assembly, light reflecting device are fixed on holder and holding screw in the casing.
2. visual detection sensing unit according to claim 1, it is characterized in that: described casing (1) comprises housing (1-1) and the housing cover (1-2) that mutual lid connects, the bottom of housing is made of a protective glass plate (7), this protective glass plate (7) but the bottom be provided with the shadow shield (7-1) that an along continuous straight runs moves, the side of housing is provided with out the installing plate of fixed orifice (10).
3. visual detection sensing unit according to claim 1 and 2, it is characterized in that: described housing (1-1) inner chamber is positioned at light irradiation device (11) and light damping plate (5) lower horizontal is provided with two blocks of angle steel that are parallel to each other (6-1,6-2), has a sliding tray (6-3) that flexible mirror (6) along continuous straight runs is slided between described up and down two angle steel.
4. visual detection sensing unit according to claim 3, it is characterized in that: described light irradiation device (11) comprises a word line structured light laser instrument (11-1) that vertically is installed in housing inner chamber top by fixed support (13), bolt (12), is provided with the eyeglass (11-2) of one group of adjustable positions in the laser instrument; After the linear structure light of one word line structured light laser instrument emission passes its lens set, be connected with flexible mirror (6), stationary mirror (8), CCD or cmos camera (2) light path successively.
5. visual detection sensing unit according to claim 4, it is characterized in that: described imaging system (2) comprises CCD or the cmos camera (2-1) that vertically is installed in housing inner chamber top by fixed support (2-3), bolt (2-3), the bottom of video camera (2-1) is connected with optical lens group (3) and optical filter (4) in turn, and described optical frames light group (3) and optical filter (4) are located on the same line with the incident ray of video camera (2-1).
6. visual detection sensing unit according to claim 5, it is characterized in that: be provided with the light damping plate (5) that an along continuous straight runs moves under the described optical filter (4), housing is provided with a chute that is complementary with light damping plate (5-1), the bottom of chute is provided with the projection (5-2) that is used to support light damping plate, after the end of light damping plate (5-3) passed through chute, in chute, move horizontally.
7. visual detection sensing unit according to claim 6, it is characterized in that: described light reflecting device comprises stationary mirror (8) and the flexible mirror (6) that is arranged on light irradiation device and imaging system below, the bearing pin (8-1) that described stationary mirror (8) is provided with by its middle part, be plugged into stationary mirror holder (8-2) after, by holding screw (9) stationary mirror (8) is fixed in the housing (1-1); Described flexible mirror (6) middle part is provided with sliding axle (6-1), and the slip the tip of the axis was regulated its position on sliding tray (6-3) by tightening nut (17) after passing through sliding tray.
8. visual detection sensing unit according to claim 7 is characterized in that: also be provided with angle-regulating block (16) between described flexible mirror (6) and the sliding axle.
9. visual detection sensing unit according to claim 8, it is characterized in that: a described word line structured light laser instrument and CCD or cmos camera are installed in respectively in the inner chamber of housing, and the angle between a word line structured light laser instrument and CCD or the cmos camera is-15～15 degree.
10. visual detection sensing unit according to claim 9, it is characterized in that: a described word line structured light laser instrument and CCD or cmos camera vertically are installed in the inner chamber of housing respectively side by side, and a word line structured light laser instrument and CCD or cmos camera are parallel to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201075271U CN201748902U (en) | 2010-01-20 | 2010-01-20 | Visual detection sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201075271U CN201748902U (en) | 2010-01-20 | 2010-01-20 | Visual detection sensor |
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| CN201748902U true CN201748902U (en) | 2011-02-16 |
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| CN2010201075271U Expired - Lifetime CN201748902U (en) | 2010-01-20 | 2010-01-20 | Visual detection sensor |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101797665B (en) * | 2010-01-20 | 2012-05-16 | 浙江理工大学 | Visual detection sensing unit |
| CN102636472A (en) * | 2012-04-27 | 2012-08-15 | 北京中拓机械有限责任公司 | Non-contact testing device of LED (light-emitting diode) epitaxial wafer |
| CN103781618A (en) * | 2011-07-25 | 2014-05-07 | Lpkf激光电子股份公司 | Device and method for carrying out and monitoring a plastic laser transmission welding process |
| CN105675624A (en) * | 2015-12-29 | 2016-06-15 | 浙江理工大学 | Optical fiber crack multi-angle vision detection apparatus for ultrasonic welded parts |
| CN109759753A (en) * | 2019-02-12 | 2019-05-17 | 北京斯达峰控制技术有限公司 | Laser ranging Weld joint tracker and Intelligent welding system |
| CN111157541A (en) * | 2020-01-14 | 2020-05-15 | 合肥维信诺科技有限公司 | Optical detection system and optical detection method |
| CN112719592A (en) * | 2020-12-31 | 2021-04-30 | 唐山英莱科技有限公司 | Laser welding head device with welding seam tracking function |
| CN113369641A (en) * | 2021-05-18 | 2021-09-10 | 宁波博视达焊接机器人有限公司 | Visual sensor for tracking welding seam |
| CN114414565A (en) * | 2021-11-30 | 2022-04-29 | 西安交通大学 | Multi-energy composite laser welding pool observation device and experimental method |
-
2010
- 2010-01-20 CN CN2010201075271U patent/CN201748902U/en not_active Expired - Lifetime
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101797665B (en) * | 2010-01-20 | 2012-05-16 | 浙江理工大学 | Visual detection sensing unit |
| CN103781618A (en) * | 2011-07-25 | 2014-05-07 | Lpkf激光电子股份公司 | Device and method for carrying out and monitoring a plastic laser transmission welding process |
| CN102636472A (en) * | 2012-04-27 | 2012-08-15 | 北京中拓机械有限责任公司 | Non-contact testing device of LED (light-emitting diode) epitaxial wafer |
| CN102636472B (en) * | 2012-04-27 | 2014-09-17 | 北京中拓机械有限责任公司 | Non-contact testing device of LED (light-emitting diode) epitaxial wafer |
| CN105675624A (en) * | 2015-12-29 | 2016-06-15 | 浙江理工大学 | Optical fiber crack multi-angle vision detection apparatus for ultrasonic welded parts |
| CN109759753A (en) * | 2019-02-12 | 2019-05-17 | 北京斯达峰控制技术有限公司 | Laser ranging Weld joint tracker and Intelligent welding system |
| CN111157541A (en) * | 2020-01-14 | 2020-05-15 | 合肥维信诺科技有限公司 | Optical detection system and optical detection method |
| CN111157541B (en) * | 2020-01-14 | 2023-03-14 | 合肥维信诺科技有限公司 | Optical detection system and optical detection method |
| CN112719592A (en) * | 2020-12-31 | 2021-04-30 | 唐山英莱科技有限公司 | Laser welding head device with welding seam tracking function |
| CN113369641A (en) * | 2021-05-18 | 2021-09-10 | 宁波博视达焊接机器人有限公司 | Visual sensor for tracking welding seam |
| CN114414565A (en) * | 2021-11-30 | 2022-04-29 | 西安交通大学 | Multi-energy composite laser welding pool observation device and experimental method |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20110216 Effective date of abandoning: 20100120 |