CN202053009U - Visual sensor for welding robot remote teaching - Google Patents
Visual sensor for welding robot remote teaching Download PDFInfo
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- CN202053009U CN202053009U CN2011200893249U CN201120089324U CN202053009U CN 202053009 U CN202053009 U CN 202053009U CN 2011200893249 U CN2011200893249 U CN 2011200893249U CN 201120089324 U CN201120089324 U CN 201120089324U CN 202053009 U CN202053009 U CN 202053009U
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Abstract
The utility model provides a visual sensor for welding robot remote teaching, belonging to the technical field of welding. The technical scheme is as follows: the sensor consists of a camera and a tubular bracket; the tubular bracket is sleeved outside the conductive nozzle of a robot welding gun; the back end of the tubular bracket is provided with internal threads, which match with external threads on a protection gas nozzle mounting joint on the robot welding gun; the inner diameter of the front end of the tubular bracket is smaller and the front end face thereof is provided with a camera mounting hole; the camera is fixed in the camera mounting hole; the camera faces to the front of the tubular bracket; and the output signals of the camera are connected with a monitor. The visual sensor is compact in structure, compact in volume and flexible and convenient in operation, so that teachers can judge the relative position between a welding gun electrode and a welding seam correctly when the welding seam position is higher or the welding seam is positioned in a narrow space; and the visual sensor ensures the accurate teaching of the welding robot.
Description
Technical field
The utility model relates to a kind of vision sensor that can assist the welding robot teaching at a distance, can help the teaching personnel clearly to judge the relative position of welding gun electrode and weld seam in the teaching process, belongs to welding technology field.
Background technology
Along with improving constantly of industrial automatization, welding robot has obtained extensive use in fields such as automobile, heavy-duty machinery, Aero-Space, boats and ships, chemical industry.Existing welding robot mainly contains two kinds in playback robot and off-line programing robot, and wherein the playback robot is applicable to the occasion that welding quality is had relatively high expectations.When using the playback robot to carry out weld job, after determining welding parameter, need elder generation, is determined the movement locus of its welding gun electrode, and then welds the welding robot channeling conduct by the teaching personnel.But higher when position while welding, when perhaps being in narrow space or the dangerous work environment, the teaching personnel often can not be approaching, thereby be difficult to determine the relative position of welding robot welding gun electrode end and weld seam, brings big difficulty to teaching.
Chinese patent application numbers 200710037890.3 discloses a kind of " welding robot multifunctional double-eye visual sensor and scaling method thereof ", this method adopts the relative position between dual camera observation welding gun electrode and the weld seam, but two cameras all are positioned at the torch neck outside, its complex structure, volume is also bigger, when weld seam is in more deeply, in the narrower space time, will bring difficulty to its observation, and when welding gun rotates, also to adjust the position of two cameras by motor, it is very inconvenient to operate, and is difficult to reach the purpose of accurate teaching.
The utility model content
The purpose of this utility model is to provide a kind of simple operation, the remote teaching vision sensor of welding robot simple in structure, to improve the remote teaching precision of welding robot.
Problem described in the utility model realizes with following technical proposals:
The remote teaching vision sensor of a kind of welding robot; comprise camera and tubular bracket in the formation; described tubular bracket is sleeved on the ignition tip outside of robot welding gun; its rear end be provided with the robot welding gun on the erection joint of protection gas jets on the internal thread that is complementary of external screw thread; less and the front end face of front inner diameter is provided with the camera installing hole; described camera is fixed in the camera installing hole, and its camera lens is towards the place ahead of tubular bracket, and the output signal of camera connects monitor.
The remote teaching vision sensor of above-mentioned welding robot also is provided with power spring between the ignition tip of tubular bracket and robot welding gun, tubular bracket is electrically connected with electrode on ignition tip and the ignition tip by power spring.
The remote teaching vision sensor of above-mentioned welding robot, described camera is provided with 2～4, and they evenly distribute around the tubular bracket axis, and the axis of each camera and the axis of tubular bracket meet at a bit, and intersection point is positioned at tubular bracket the place ahead 20～35mm.
The remote teaching vision sensor of above-mentioned welding robot, the outer setting of described tubular bracket has protective sleeve.
The utility model is replaced former welding gun protection gas jets and is installed on the welding gun in welding robot teaching process, it utilizes the image at camera collection electrode and weld seam position, and help teaching personnel judge the relative position between welding gun electrode and the weld seam.Because camera is installed in the camera installing hole on the tubular bracket front end face, thereby this sensor has advantage such as compact conformation, volume are small and exquisite, flexible and convenient operation, even higher, when perhaps weld seam is in the narrow space, also can realize accurate teaching at position while welding.A plurality of cameras can monitor from a plurality of angle Butt welding gun electrodes, help the teaching personnel and correctly judge electrode position.Be electrically connected between protective sleeve, tubular bracket, ignition tip and the electrode, any one parts wherein with can trigger warning device after workpiece contacts, valuable reference information is provided for the teaching personnel.The effect of power spring is to guarantee that tubular bracket reliably is electrically connected with ignition tip, improves the reliability of this device.Protective sleeve is used to the cable protecting camera and be attached thereto.
Below in conjunction with accompanying drawing the utility model is further specified.
Fig. 1 is the connection diagram of the utility model and robot welding gun.
Fig. 2 is the left view of Fig. 1.
Fig. 3 is the structural representation of tubular bracket when 3 cameras are installed.
Fig. 4 is the left view of Fig. 3.
Fig. 5 is the structural representation of camera protective sleeve.
Each label is among the figure: 1, tubular bracket; 2, camera; 3, protective sleeve; 4, electrode; 5, power spring; 6, ignition tip; 7, camera installing hole; 8, cable aperture; 9, the protection gas jets erection joint on the robot welding gun.
The specific embodiment
Referring to Fig. 1, Fig. 2, the utility model mainly comprises camera 2, tubular bracket 1, power spring 5 and protective sleeve 3, two to four cameras place respectively in the camera installing hole 7 of tubular bracket 1 sidewall, camera installing hole 7 one ends are positioned on the front end face of tubular bracket 1, the other end is positioned on the outer wall of tubular bracket 1, also is provided with the cable aperture 8 that is used to place the camera cable in the sidewall of tubular bracket 1.Many cameras are placed in tubular bracket 1 sagittal plane at an angle, generally speaking, are 180 ° during two cameras, and three cameras are 120 °, are 90 ° during four cameras; The axis of each camera all focuses on the axis of tubular bracket 1, intersection point is 20～35mm apart from the leading section of tubular bracket 1, apart from former welding gun ignition tip 6 ends is 15～30mm, and no matter welding gun rotates the relative position that much angles can both clearly be seen electrode 4 and workpiece.Owing to need to guarantee that electrode 4 contacts with workpiece in the teaching process, whether contact in order to judge the two, robot all is provided with welding gun protection gas jets and contacts the alarm system with workpiece.Electrode 4 is electrically connected with tubular bracket 1, protective sleeve 3, tubular bracket 1 adopts power spring 5 to be connected with ignition tip 6, promptly in tubular bracket 1, put power spring, it is sleeved on the electrodes conduct mouth 6, under the spring compressive state, realized the circuit turn-on of electrode 4, ignition tip 6, tubular bracket 1, protective sleeve 3, so just, can judge accurately in the teaching process whether electrode contacts with workpiece, provide safeguard for obtaining the accurate run trace of robot.This sensor is replaced the protection gas jets on the former robot welding gun before teaching begins; the camera cable is connected with monitor; electrode 4 is aimed at welded piece; at this moment monitor will present the picture that every width of cloth picture all has electrode 4 ends and welded piece; thereby can judge the relative position of electrode 4 and welded piece by vision sensor-camera and feeler, reach the purpose of accurate identification.Again sensor is changed to former welding gun protection gas jets after teaching is finished and carries out weld job.
Claims (4)
1. remote teaching vision sensor of welding robot; it is characterized in that; this sensor comprises camera (2) and tubular bracket (1) in constituting; described tubular bracket (1) is sleeved on the ignition tip outside of robot welding gun; its rear end be provided with the robot welding gun on protection gas jets erection joint (9) on the internal thread that is complementary of external screw thread; less and the front end face of front inner diameter is provided with camera installing hole (7); described camera (2) is fixed in the camera installing hole (7); its camera lens is towards the place ahead of tubular bracket (1), and the output signal of camera (2) connects monitor.
2. according to the remote teaching vision sensor of the described welding robot of claim 1, it is characterized in that, also be provided with power spring (5) between the ignition tip (6) of tubular bracket (1) and robot welding gun, tubular bracket (1) is electrically connected with electrode (4) on ignition tip (6) and the ignition tip by power spring (5).
3. according to claim 1 or the remote teaching vision sensor of 2 described welding robots, it is characterized in that, described camera (2) is provided with 2～4, they evenly distribute around tubular bracket (1) axis, the axis of the axis of each camera and tubular bracket (1) meets at a bit, and intersection point is positioned at tubular bracket (1) the place ahead 20～35mm.
4. according to the remote teaching vision sensor of the described welding robot of claim 3, it is characterized in that the outer setting of described tubular bracket (1) has protective sleeve (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200893249U CN202053009U (en) | 2011-03-30 | 2011-03-30 | Visual sensor for welding robot remote teaching |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200893249U CN202053009U (en) | 2011-03-30 | 2011-03-30 | Visual sensor for welding robot remote teaching |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202053009U true CN202053009U (en) | 2011-11-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011200893249U Expired - Lifetime CN202053009U (en) | 2011-03-30 | 2011-03-30 | Visual sensor for welding robot remote teaching |
Country Status (1)
| Country | Link |
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| CN (1) | CN202053009U (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN104603860A (en) * | 2012-07-06 | 2015-05-06 | 林肯环球股份有限公司 | System for characterizing manual welding operations |
| US9685099B2 (en) | 2009-07-08 | 2017-06-20 | Lincoln Global, Inc. | System for characterizing manual welding operations |
| US9773429B2 (en) | 2009-07-08 | 2017-09-26 | Lincoln Global, Inc. | System and method for manual welder training |
| US9836987B2 (en) | 2014-02-14 | 2017-12-05 | Lincoln Global, Inc. | Virtual reality pipe welding simulator and setup |
| US10083627B2 (en) | 2013-11-05 | 2018-09-25 | Lincoln Global, Inc. | Virtual reality and real welding training system and method |
| US10198962B2 (en) | 2013-09-11 | 2019-02-05 | Lincoln Global, Inc. | Learning management system for a real-time simulated virtual reality welding training environment |
| US10475353B2 (en) | 2014-09-26 | 2019-11-12 | Lincoln Global, Inc. | System for characterizing manual welding operations on pipe and other curved structures |
| US10473447B2 (en) | 2016-11-04 | 2019-11-12 | Lincoln Global, Inc. | Magnetic frequency selection for electromagnetic position tracking |
| US10803770B2 (en) | 2008-08-21 | 2020-10-13 | Lincoln Global, Inc. | Importing and analyzing external data using a virtual reality welding system |
| US11475792B2 (en) | 2018-04-19 | 2022-10-18 | Lincoln Global, Inc. | Welding simulator with dual-user configuration |
| US11557223B2 (en) | 2018-04-19 | 2023-01-17 | Lincoln Global, Inc. | Modular and reconfigurable chassis for simulated welding training |
-
2011
- 2011-03-30 CN CN2011200893249U patent/CN202053009U/en not_active Expired - Lifetime
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10803770B2 (en) | 2008-08-21 | 2020-10-13 | Lincoln Global, Inc. | Importing and analyzing external data using a virtual reality welding system |
| US11715388B2 (en) | 2008-08-21 | 2023-08-01 | Lincoln Global, Inc. | Importing and analyzing external data using a virtual reality welding system |
| US11521513B2 (en) | 2008-08-21 | 2022-12-06 | Lincoln Global, Inc. | Importing and analyzing external data using a virtual reality welding system |
| US11030920B2 (en) | 2008-08-21 | 2021-06-08 | Lincoln Global, Inc. | Importing and analyzing external data using a virtual reality welding system |
| US10347154B2 (en) | 2009-07-08 | 2019-07-09 | Lincoln Global, Inc. | System for characterizing manual welding operations |
| US10522055B2 (en) | 2009-07-08 | 2019-12-31 | Lincoln Global, Inc. | System for characterizing manual welding operations |
| US10068495B2 (en) | 2009-07-08 | 2018-09-04 | Lincoln Global, Inc. | System for characterizing manual welding operations |
| US9685099B2 (en) | 2009-07-08 | 2017-06-20 | Lincoln Global, Inc. | System for characterizing manual welding operations |
| US9773429B2 (en) | 2009-07-08 | 2017-09-26 | Lincoln Global, Inc. | System and method for manual welder training |
| CN102139487B (en) * | 2011-03-30 | 2012-08-22 | 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 |
| 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 |
| CN104603860A (en) * | 2012-07-06 | 2015-05-06 | 林肯环球股份有限公司 | System for characterizing manual welding operations |
| CN104603860B (en) * | 2012-07-06 | 2017-10-20 | 林肯环球股份有限公司 | System for characterizing human weld's operation |
| US10198962B2 (en) | 2013-09-11 | 2019-02-05 | Lincoln Global, Inc. | Learning management system for a real-time simulated virtual reality welding training environment |
| US11100812B2 (en) | 2013-11-05 | 2021-08-24 | Lincoln Global, Inc. | Virtual reality and real welding training system and method |
| US10083627B2 (en) | 2013-11-05 | 2018-09-25 | Lincoln Global, Inc. | Virtual reality and real welding training system and method |
| US10720074B2 (en) | 2014-02-14 | 2020-07-21 | Lincoln Global, Inc. | Welding simulator |
| US9836987B2 (en) | 2014-02-14 | 2017-12-05 | Lincoln Global, Inc. | Virtual reality pipe welding simulator and setup |
| US10475353B2 (en) | 2014-09-26 | 2019-11-12 | Lincoln Global, Inc. | System for characterizing manual welding operations on pipe and other curved structures |
| US10473447B2 (en) | 2016-11-04 | 2019-11-12 | Lincoln Global, Inc. | Magnetic frequency selection for electromagnetic position tracking |
| US11475792B2 (en) | 2018-04-19 | 2022-10-18 | Lincoln Global, Inc. | Welding simulator with dual-user configuration |
| US11557223B2 (en) | 2018-04-19 | 2023-01-17 | Lincoln Global, Inc. | Modular and reconfigurable chassis for simulated welding training |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20111130 Effective date of abandoning: 20130227 |
|
| RGAV | Abandon patent right to avoid regrant |