CN206153729U - Weld identifying and tracking sensors device suitable for high hot welding connects environment - Google Patents
Weld identifying and tracking sensors device suitable for high hot welding connects environment Download PDFInfo
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- CN206153729U CN206153729U CN201621082815.XU CN201621082815U CN206153729U CN 206153729 U CN206153729 U CN 206153729U CN 201621082815 U CN201621082815 U CN 201621082815U CN 206153729 U CN206153729 U CN 206153729U
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- 238000003466 welding Methods 0.000 title claims abstract description 73
- 238000000034 method Methods 0.000 claims abstract description 22
- 239000011521 glass Substances 0.000 claims abstract description 18
- 230000001681 protective effect Effects 0.000 claims abstract description 12
- 239000000428 dust Substances 0.000 claims abstract description 8
- 238000009434 installation Methods 0.000 claims abstract description 8
- 238000007639 printing Methods 0.000 claims abstract description 8
- 230000003287 optical effect Effects 0.000 claims description 50
- 238000013016 damping Methods 0.000 claims description 26
- 206010020741 Hyperpyrexia Diseases 0.000 claims description 20
- 238000007664 blowing Methods 0.000 claims description 11
- 238000001914 filtration Methods 0.000 claims description 10
- 238000001816 cooling Methods 0.000 claims description 8
- 238000005476 soldering Methods 0.000 claims description 3
- 238000009413 insulation Methods 0.000 claims description 2
- 230000013011 mating Effects 0.000 claims 1
- 238000012545 processing Methods 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000017525 heat dissipation Effects 0.000 abstract description 3
- 230000001737 promoting effect Effects 0.000 abstract 1
- 238000000605 extraction Methods 0.000 description 5
- 238000012538 light obscuration Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 208000020564 Eye injury Diseases 0.000 description 2
- 230000002411 adverse Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 238000001228 spectrum Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000013401 experimental design Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000001881 scanning electron acoustic microscopy Methods 0.000 description 1
- 229910000679 solder Inorganic materials 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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Abstract
The utility model discloses a weld identifying and tracking sensors device suitable for high hot welding connects environment. The device includes: but adjusting device installation angle and height and insulating fixture, have the shell mechanism who blows bits gas circuit groove and heat dissipation gas circuit groove, the locking mechanism of line laser ware and adjustable line laser ware angle, industry CCD camera and fixed bolster, dim light piece and light filter, organic protective glass board and the slip table mechanism that can the printing opacity can block external dust again, can shelter from that the welding time is splashed and the baffle of arc light. Its working method does: select industry CCD camera and camera lens, line laser ware, dim light piece and light filter according to the welding requirements, carry out overall arrangement and installation to each mechanism element, industry CCD camera is installed perpendicularly, line laser ware slope installation, welding seam characteristic and information are acquireed in device image acquisition and processing. The utility model discloses intelligent degree is welded through promoting the machine people to discernment of welding seam groove and real -time tracking the in the mainly used welding, has improved production efficiency and welding quality.
Description
Technical field
The present invention relates to intelligent robot welding technology field, particularly a kind of weld seam knowledge suitable for hyperpyrexia welding surroundings
Not with tracking transducer device.
Background technology
Robot welding automatization is a trend of solder technology development.With the development of production, the welding to product
Prescription more and more higher, while and need to improve the labor intensity of workman, at present, the welding robot widely applied both at home and abroad
In general the first generation or accurate secondary " teaching-reproduction " humanoid robot.Such robot is for welding surroundings
Coherence request is abnormal strict, and its path of welding and related process parameters all need to pre-set.But in actual weldering
Usually because there is the factors such as deformation, change radiating, Varied clearance, change misalignment, workpiece machining error and rigging error causes weldering in connecing
The change of seam positions and dimensions, causes weld seam and teaching track to have deviation, because " teaching-reproduction " humanoid robot is to teaching track
Deviation does not have adaptability, does not possess weld seam real-Time Tracking Control function, so as to finally affect the quality of appearance of weld, it is difficult to meet
Enterprise limits its application in many fields to welding manufacture high-quality, efficient requirement.Welded to overcome
Impact of these uncertain factors to weldment quality in journey, in the urgent need to designing a weld distinguishing and tracking sensor,
The adaptability and intelligent level of existing welding robot are improved using THE WELD SEAM TRACKING TECHNOLOGY, the intelligence of robot welding process is realized
Energyization is controlled.
Domestic some people has carried out studying and achieving certain achievement for weld distinguishing and tracking sensor, but
The overwhelming majority is not actually used in welding scene still in laboratory stage, and it is as follows that it is primarily present Problem Summary：Its design
Sensor bulk is big, heavy, robot motion's scope is affected when being placed in welding gun front end and increases robot load；Without blow bits and
Heat dissipation design, it is difficult to work long hours in welding high temperature and adverse circumstances；Image variants algorithm is simple, it is impossible to adapt to
Polytype groove and reflective material.
The content of the invention
It is an object of the invention to provide a kind of weld distinguishing and tracking sensor device suitable for hyperpyrexia welding surroundings,
Intelligence degree, and improve production efficiency and welding quality are lifted in robot welding industry.
The technical solution for realizing the object of the invention is：A kind of weld distinguishing and tracking suitable for hyperpyrexia welding surroundings
Sensor device, including clamping device, shell blow bits and cooling mechanism, optics and fixed support, dim light filtering mechanism, anti-
Shield device and mechanism, wherein, the clamping device includes holding gun apparatus, angle regulator, slide block；The shell blows bits and dissipates
Heat engine structure includes with the shell mechanism, the inlet suction port that radiates for blowing bits gas circuit groove and radiating gas circuit groove, blows bits inlet suction port, radiating
Air outlet adapter, aviation plug；The optics and fixed support include the lock of laser line generator, the scalable laser line generator angle
Tight mechanism, the fixed support of industrial CCD camera, industrial CCD camera, camera lens；The dim light filtering mechanism includes dim light optical filter
Placement mechanism, camera lens cover plate, light damping plate ring for fixing, light damping plate, optical filter ring for fixing, optical filter；The protective device
And the cover plate of mechanism including laser line generator, the slipway mechanism for changing protective glass plate, can printing opacity can block again outward
The organic protection glass plate of boundary's dust, splash when can block welding and arc light baffle plate.
Further, in the clamping device, gun apparatus are held and is formed by screw connection by two semi-circular clamp blocks, should
The anti-skidding rubber of insulation is equipped with inside two semi-circular clamp blocks；The gun apparatus of holding adopt a terminal screw with angle regulator
Fixed, another terminal screw connects in the mode that arc chute is fixed, to adjust sensor setting angle；Clamping device angular adjustment
Device is attached with slide block by way of dovetail groove fixation, to adjust the upper and lower installation site of sensor.
Further, the shell is blown in bits and cooling mechanism, with the shell machine for blowing bits gas circuit groove and radiating gas circuit groove
Structure respectively with radiating inlet suction port, blow bits inlet suction port, radiating air outlet adapter and be threadedly coupled, and shell mechanism and aviation plug spiral shell
Silk connection；In high-temperature soldering environment, all the way compressed gas enter shell mechanism by blowing bits inlet suction port, through blowing bits gas circuit
Groove is flowed out by shell mechanism bottom, blows away the splashing produced in welding process, and the image for making industrial CCD collected by camera is not splashed
Interference；Another road compressed gas enter shell mechanism by the inlet suction port that radiates, through the gas circuit groove that radiates by the air outlet adapter that radiates
Flow out, the heat produced in welding process is taken away.
Further, the clamping device is led to by slide block with the shell mechanism for blowing bits gas circuit groove and radiating gas circuit groove is carried
Cross screw connection together.
Further, in the optics and fixed support, the fixed support of industrial CCD camera, scalable line laser
The retaining mechanism of device angle is screwed on shell mechanism, and industrial CCD camera is installed on fixed support by screw,
Industrial CCD camera and the supporting connection of camera lens, laser line generator is fixed on retaining mechanism by lock screw, and laser line generator is in locking machine
Angle adjustment can be carried out in structure.
Further, the camera lens cover plate, light damping plate ring for fixing, light damping plate, optical filter ring for fixing, optical filter be sequentially
In being arranged at placement mechanism, placement mechanism is screwed in the bottom of shell mechanism.
Further, the organic protection glass plate is placed in slipway mechanism, and slipway mechanism is by shell mechanism bottom
Chute is slipped into, and baffle plate is screwed on slipway mechanism.
A kind of method of work of the weld distinguishing and tracking sensor device suitable for hyperpyrexia welding surroundings, step is as follows：
Step 1, according to welding requirements the choosing of industrial CCD camera and camera lens, laser line generator, light damping plate and optical filter is carried out
Type；
Step 2, is laid out and installs to each mechanism element in device, and industrial CCD camera right angle setting, laser line generator inclines
Tiltedly install；
Step 3, using industrial CCD camera image acquisition is carried out, and the image to collecting is processed, and obtains characteristics of weld seam
With information.
Further, described in step 1 according to welding requirements carry out industrial CCD camera and camera lens, laser line generator, light damping plate and
The type selecting of optical filter, it is specific as follows：
(1.1) according to welding precision and performance requirement, respective volume, the industrial CCD camera of quality and camera lens, line is selected to swash
Light device, light damping plate and optical filter；
(1.2) according to welding precision and image processing speed, resolution is selected in the black and white of 2,000,000 to 5,000,000 pixels
Industrial CCD camera and supporting camera lens；
(1.3) wavelength is selected to be 600～680nm, laser levels are the laser line generator of IIIb；
(1.4) parameter of optical filter is determined according to the wavelength parameter of laser line generator selected by (1.3), select centre wavelength with
Laser line generator wavelength identical optical filter；
(1.5) it is far and near according to distance welding arc light, the optical filter that light extinction rate is 40～60% is selected when not observing molten bath, need
The optical filter that light extinction rate is 70～90% is selected during observation molten bath.
Further, described in step 2 each mechanism element in device is laid out and is installed, industrial CCD camera is vertically pacified
Dress, laser line generator is inclined to be installed, specific as follows：
(2.1) fixed support of industrial CCD camera is vertically fixed on shell mechanism by screw, adjusts laser line generator angle
The retaining mechanism of degree is screwed on shell mechanism, 14 ° of inclination angles of inclined light shaft of retaining mechanism and industrial CCD camera,
And the optical axis of retaining mechanism central axis and industrial CCD camera is in the same plane, industrial CCD camera is installed on solid by screw
On fixed rack, industrial CCD camera and the supporting connection of camera lens；Laser line generator is fixed on retaining mechanism, line laser by lock screw
Device can carry out angle adjustment in retaining mechanism；
(2.2) camera lens cover plate, light damping plate ring for fixing, light damping plate, optical filter ring for fixing, optical filter be in order successively
In being put into placement mechanism, placement mechanism is screwed in shell mechanism bottom；
(2.3) can printing opacity can block the organic protection glass plate of extraneous dust again and be placed in slipway mechanism, slipway mechanism
Slipped into by the chute of shell mechanism bottom, baffle plate is screwed on slipway mechanism.
Compared with prior art, its remarkable advantage is the present invention：(1) small volume, lightweight, anti-arc light splash；(2) outward
Shell mechanism has blows bits and heat dissipation design, for welding high temperature and adverse circumstances better adaptability；(3) image variants algorithm
Feature richness, and portable strong, support secondary development.
The present invention is described in further detail below in conjunction with the accompanying drawings.
Description of the drawings
Fig. 1 is weld distinguishing and tracking transducer arrangement configuration figure of the present invention suitable for hyperpyrexia welding surroundings.
Fig. 2 is weld distinguishing and tracking transducer arrangement configuration explosive view of the present invention suitable for hyperpyrexia welding surroundings.
Fig. 3 is that the present invention blows bits schematic diagram suitable for the weld distinguishing and tracking sensor device of hyperpyrexia welding surroundings.
Fig. 4 is the present invention suitable for the weld distinguishing and tracking sensor device gas circuit trench pattern of hyperpyrexia welding surroundings and blows
Bits radiating gas flow figure.
Fig. 5 is image of the present invention suitable for the weld distinguishing and tracking sensor device method of work of hyperpyrexia welding surroundings
Collection and Processing Algorithm flow chart.
Fig. 6 is image variants algorithm experimental design sketch in the embodiment of the present invention 1.
Fig. 7 is clear laser stripe centrage and extraction characteristic point experiment effect figure in the embodiment of the present invention 1.
Label in Fig. 2：1 to hold gun apparatus, and 2 is angle regulator, and 3 is slide block, and 4 is shell mechanism, and 5 are radiating air inlet
Joint, 6 to blow bits inlet suction port, and 7 are radiating air outlet adapter, and 8 is aviation plug, and 9 is laser line generator, and 10 is retaining mechanism, and 11
For fixed support, 12 is industrial CCD camera, and 13 is camera lens, and 14 is cover plate, and 15 is slipway mechanism, and 16 is organic protection glass
Glass plate, 17 is baffle plate, and 18 is placement mechanism, and 19 is camera lens cover plate, and 20 is light damping plate ring for fixing, and 21 is light damping plate, and 22 are
Optical filter ring for fixing, 23 is optical filter.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment is described in further detail to the present invention.
With reference to Fig. 1～2, the present invention is applied to the weld distinguishing and tracking sensor device of hyperpyrexia welding surroundings, including folder
Hold mechanism, shell and blow bits and cooling mechanism, optics and fixed support, dim light filtering mechanism, protective device and mechanism.Its
In, clamping device holds gun apparatus 1, clamping device angle regulator 2, clamping device slide block 3 including clamping device；Shell blows bits
And cooling mechanism includes with the shell mechanism 4, the inlet suction port 5 that radiates for blowing bits gas circuit groove and radiating gas circuit groove, blows bits air inlet connecting
6, radiating air outlet adapter 7, aviation plug 8；Optics and fixed support include laser line generator 9, scalable laser line generator angle
The retaining mechanism 10 of degree, industrial CCD camera fixing support 11, industrial CCD camera 12, camera lens 13；Dim light filtering mechanism includes subtracting
Light optical filter placement mechanism 18, camera lens cover plate 19, light damping plate ring for fixing 20, light damping plate 21, optical filter ring for fixing 22, optical filtering
Piece 23；Protective device and mechanism include laser line generator cover plate 14, is conveniently replaceable protective glass plate slipway mechanism 15, can
The baffle plate 17 of splashing and arc light printing opacity can block the organic protection glass plate 16 of extraneous dust, can block welding again when.
In the clamping device, clamping device holds gun apparatus 1 by the two semi-circular clamp blocks in left and right by screw connection
Into, be easily installed on welding gun, be designed with the anti-skidding rubber that insulate in the semi-circular clamp block of left and right, can by sensor and welding gun every
Open, it is to avoid high voltage, electric current destruction sensor internal device during welding.Clamping device holds gun apparatus 1 and clamping device angle
Adjusting means 2 is fixed using a terminal screw, another terminal screw connects by the way of arc chute fixation, can adjust sensor peace
Dress angle.Clamping device angle regulator 2 and clamping device slide block 3 are attached by way of dovetail groove fixation, can be with
Adjust the upper and lower installation site of sensor.
The shell blow bits and cooling mechanism in, with blow bits gas circuit groove and radiating gas circuit groove shell mechanism 4 respectively with
Radiating inlet suction port 5, blow bits inlet suction port 6, radiating air outlet adapter 7 and be threadedly coupled, and shell mechanism 4 and the screw of aviation plug 8
Connection.In high-temperature soldering environment, all the way compressed gas enter shell mechanism 4 by blowing bits inlet suction port 6, through blowing bits gas circuit
Groove is flowed out by the bottom of shell mechanism 4, blows away the splashing produced in welding process, it is ensured that the image of the collection of industrial CCD camera 12 is not
Disturbed by splashing；Another road compressed gas enter shell mechanism 4 by radiating inlet suction port 5, through the gas circuit groove that radiates by radiating
Air outlet adapter 7 flows out, and the heat produced in welding process is taken away, and keeps the temperature in a rational scope, it is ensured that device
Part normal work.Its blow bits schematic diagram see Fig. 3, its gas circuit trench pattern and blow bits radiating gas flow figure see Fig. 4.
The clamping device blows bits gas circuit groove and the shell mechanism 4 of the gas circuit groove that radiates by clamping device slide block 3 with carrying
Screw connection is together.
In the optics and fixed support, industrial CCD camera fixing support 11, the lock of scalable laser line generator angle
Tight mechanism 10 is screwed on shell mechanism 4, and industrial CCD camera 12 is installed on industrial CCD camera and fixes by screw
On support 11, industrial CCD camera 12 and the supporting connection of camera lens 13.Laser line generator 9 is fixed on retaining mechanism 10 by lock screw,
Laser line generator 9 can carry out angle adjustment in retaining mechanism 10 in certain scope.
The camera lens cover plate 19, light damping plate ring for fixing 20, light damping plate 21, optical filter ring for fixing 22, optical filter 23 are pressed
It is sequentially placed in dim light optical filter placement mechanism 18 according to order, dim light optical filter placement mechanism 18 is screwed in shell machine
On the bottom of structure 4.
Can printing opacity can block the organic protection glass plate 16 of extraneous dust again and be put into the cunning for being conveniently replaceable protective glass plate
In platform mechanism 15, slipway mechanism 15 is slipped into by the chute of the bottom of shell mechanism 4, and baffle plate 17 is screwed in slipway mechanism
On 15, splashing and arc light can be blocked in welding process, it is ensured that industrial CCD camera 12 collects clearly laser stripe figure
Picture.
The present invention is applied to the method for work of the weld distinguishing and tracking sensor device of hyperpyrexia welding surroundings, concrete steps
It is as follows：
Step 1, according to welding requirements industrial CCD camera 12 and camera lens 13, laser line generator 9, light damping plate 21 and optical filtering are carried out
The type selecting of piece 23；Specially：
(1.1) small volume, the industrial CCD camera 12 of light weight and camera lens are selected in the case where welding precision and performance requirement is met
13rd, laser line generator 9, light damping plate 21 and optical filter 23；
(1.2) according to welding precision, it is considered to the factor such as quality volume, image processing speed, a resolution is selected 200
The black and white industrial CCD camera 12 and matched camera lens 13 of ten thousand to 5,000,000 pixels.
(1.3) according in welding process produce arc light radiation spectrum 600nm wavelengths above intensity it is relatively low this
One is theoretical, it is considered to laser intensity and to human eye injury etc. factor, selections wavelength be 600～680nm, laser levels be IIIb line
Laser instrument 9.
(1.4) wavelength parameter of laser line generator 9 determines the parameter of optical filter according to selected by (1.3), selects centre wavelength
With the wavelength identical optical filter 23 of laser line generator 9.
(1.5) it is far and near according to distance welding arc light, select under ordinary circumstance (not observing molten bath) light extinction rate be 40～
60% optical filter, need to such as observe molten bath, select the optical filter that light extinction rate is 70～90%.
Step 2, is laid out and installs to each mechanism element in device, the right angle setting of industrial CCD camera 12, laser line generator
9 incline installation, specially；
(2.1) industrial CCD camera fixing support 11 is vertically fixed on shell mechanism 4 by screw, scalable line laser
The retaining mechanism 10 of device angle is screwed on shell mechanism 4, the 14 ° of inclination angles of inclined light shaft with industrial CCD camera 12,
And the optical axis of its center axis and industrial CCD camera 12 is in the same plane, industrial CCD camera 12 is installed on industry by screw
On CCD camera fixed support 11, industrial CCD camera 12 and the supporting connection of camera lens 13.Laser line generator 9 is fixed on by lock screw
Retaining mechanism 10, laser line generator 9 can carry out angle adjustment in retaining mechanism 10 in certain scope.
(2.2) camera lens cover plate 19, light damping plate ring for fixing 20, light damping plate 21, optical filter ring for fixing 22, optical filter 23 is pressed
It is sequentially placed in dim light optical filter placement mechanism 18 according to order, dim light optical filter placement mechanism 18 is screwed in shell machine
On the bottom of structure 4.
(2.3) can printing opacity can block the organic protection glass plate 16 of extraneous dust again and be put into and be conveniently replaceable protective glass plate
Slipway mechanism 15 in, slipway mechanism 15 is slipped into by the chute of the bottom of shell mechanism 4, and baffle plate 17 is screwed in slide unit
In mechanism 15, splashing and arc light can be blocked in welding process, it is ensured that industrial CCD camera 12 collects clearly laser stripe
Image.
Step 3, using industrial CCD camera 12 image acquisition is carried out, and the image to collecting is processed, and obtains weld seam special
Levy and information, specially：
Using ROI region extraction, medium filtering, expansion process, corrosion treatmentCorrosion Science, binary conversion treatment, horizontal projection method, center
The image variants algorithm such as line drawing, feature point extraction, is shown in Fig. 5, obtains clearly laser stripe centrage and extracts
Characteristic point, so as to obtain characteristics of weld seam and information.
Embodiment 1
To-be-welded region place butt weld steel plate, using this be applied to hyperpyrexia welding surroundings weld seam recognition with
The method for designing of track sensor completes the identification of weld seam, and it is comprised the following steps that：
Step 1, according to welding requirements the choosing of industrial CCD camera and camera lens, laser line generator, light damping plate and optical filter is carried out
Type, specially：
(1.1) select in the case where welding precision and performance requirement is met small volume, the industrial CCD camera of light weight and camera lens,
Laser line generator, light damping plate and optical filter；
(1.2) according to welding precision, it is considered to the factor such as quality volume, image processing speed, the resolution of company of Daheng is selected
Rate is the model MER-200-14GM/GC black and white industrial CCD camera of 2,000,000 pixels and the camera lens of model M0814-MP2.
(1.3) according in welding process produce arc light radiation spectrum 600nm wavelengths above intensity it is relatively low this
One is theoretical, it is considered to laser intensity and to human eye injury etc. factor, selections wavelength be 650nm, laser power be 200mW line laser
Device.
(1.4) wavelength parameter of laser line generator according to selected by (1.3) determines the parameter of optical filter, and selection centre wavelength is
The optical filter of 650nm.
(1.5) it is far and near according to distance welding arc light, select the optical filter that light extinction rate is 50%.
Step 2, the rational deployment of each mechanism element of device and installation, industrial CCD camera right angle setting, laser line generator is inclined
Install, specially；
(2.1) industrial CCD camera fixing support 11 is vertically fixed on shell mechanism 4 by screw, scalable line laser
The retaining mechanism 10 of device angle is screwed on shell mechanism 4, the 14 ° of inclination angles of inclined light shaft with industrial CCD camera 12,
And the optical axis of its center axis and industrial CCD camera 12 is in the same plane, industrial CCD camera 12 is installed on industry by screw
On CCD camera fixed support 11, industrial CCD camera 12 and the supporting connection of camera lens 13.Laser line generator 9 is fixed on by lock screw
Retaining mechanism 10, laser line generator 9 can carry out angle adjustment in retaining mechanism 10 in certain scope.
(2.2) camera lens cover plate 19, light damping plate ring for fixing 20, light damping plate 21, optical filter ring for fixing 22, optical filter 23 is pressed
It is sequentially placed in dim light optical filter placement mechanism 18 according to order, dim light optical filter placement mechanism 18 is screwed in shell machine
On the bottom of structure 4.
(2.3) can printing opacity can block the organic protection glass plate 16 of extraneous dust again and be put into and be conveniently replaceable protective glass plate
Slipway mechanism 15 in, slipway mechanism 15 is slipped into by the chute of the bottom of shell mechanism 4, and baffle plate 17 is screwed in slide unit
In mechanism 15, splashing and arc light can be blocked in welding process, it is ensured that industrial CCD camera 12 collects clearly laser stripe
Image.
Step 3, device image variants obtain characteristics of weld seam and information, specially：
(3.1) using ROI region extraction, medium filtering, expansion process, corrosion treatmentCorrosion Science, binary conversion treatment, floor projection
The image variants algorithm such as method, central line pick-up, feature point extraction, is shown in Fig. 5, obtains clearly that laser stripe centrage is simultaneously
Characteristic point is extracted, Fig. 6～7 are seen, so as to obtain characteristics of weld seam and information.
Claims (7)
1. a kind of weld distinguishing and tracking sensor device suitable for hyperpyrexia welding surroundings, it is characterised in that including clamping machine
Structure, shell blow bits and cooling mechanism, optics and fixed support, dim light filtering mechanism, protective device and mechanism, wherein, institute
Stating clamping device includes holding gun apparatus (1), angle regulator (2), slide block (3)；The shell blows bits and cooling mechanism to be included
With the shell mechanism (4), the inlet suction port (5) that radiates for blowing bits gas circuit groove and radiating gas circuit groove, blow bits inlet suction port (6), radiating
Air outlet adapter (7), aviation plug (8)；The optics and fixed support include laser line generator (9), the scalable line laser
The retaining mechanism (10) of device angle, the fixed support (11) of industrial CCD camera, industrial CCD camera (12), camera lens (13)；It is described
The placement mechanism (18) of dim light filtering mechanism including dim light optical filter, camera lens cover plate (19), light damping plate ring for fixing (20), subtract
Mating plate (21), optical filter ring for fixing (22), optical filter (23)；The protective device and mechanism include the cover plate of laser line generator
(14), for change protective glass plate slipway mechanism (15), can printing opacity can block the organic protection glass of extraneous dust again
Plate (16), splash when can block welding and arc light baffle plate (17).
2. the weld distinguishing and tracking sensor device suitable for hyperpyrexia welding surroundings according to claim 1, its feature
It is in the clamping device, to hold gun apparatus (1) and formed by screw connection by two semi-circular clamp blocks, two semicircles
The anti-skidding rubber of insulation is equipped with inside shape grip block；The gun apparatus (1) of holding are consolidated with angle regulator (2) using a terminal screw
Fixed, another terminal screw connects in the mode that arc chute is fixed, to adjust sensor setting angle；Clamping device angular adjustment is filled
Put (2) to be attached by way of dovetail groove fixation with slide block (3), to adjust the upper and lower installation site of sensor.
3. the weld distinguishing and tracking sensor device suitable for hyperpyrexia welding surroundings according to claim 1, its feature
Be, the shell blow bits and cooling mechanism in, with blow bits gas circuit groove and radiating gas circuit groove shell mechanism (4) respectively with dissipate
Hot inlet suction port (5), blow bits inlet suction port (6), radiating air outlet adapter (7) threaded connection, and shell mechanism (4) and aviation plug
(8) screw connection；In high-temperature soldering environment, all the way compressed gas consider inlet suction port (6) to be worth doing into shell mechanism (4) by blowing,
Flowed out by shell mechanism (4) bottom through blowing bits gas circuit groove, blow away the splashing produced in welding process, make industrial CCD camera
(12) image of collection is not disturbed by splashing；Another road compressed gas pass through radiating inlet suction port (5) into shell mechanism (4),
Through radiating, gas circuit groove is flowed out by the air outlet adapter that radiates (7), and the heat produced in welding process is taken away.
4. the weld distinguishing and tracking sensor device suitable for hyperpyrexia welding surroundings according to claim 1, its feature
It is that the clamping device blows the shell mechanism (4) for considering gas circuit groove and radiating gas circuit groove to be worth doing by screw by slide block (3) with carrying
Link together.
5. the weld distinguishing and tracking sensor device suitable for hyperpyrexia welding surroundings according to claim 1, its feature
It is, in the optics and fixed support, the fixed support (11) of industrial CCD camera, scalable laser line generator angle
Retaining mechanism (10) is screwed on shell mechanism (4), and industrial CCD camera (12) is installed on fixed support by screw
(11) on, industrial CCD camera (12) and the supporting connection of camera lens (13), laser line generator (9) is fixed on locking machine by lock screw
Structure (10), laser line generator (9) can carry out angle adjustment in retaining mechanism (10).
6. the weld distinguishing and tracking sensor device suitable for hyperpyrexia welding surroundings according to claim 1, its feature
It is, the camera lens cover plate (19), light damping plate ring for fixing (20), light damping plate (21), optical filter ring for fixing (22), optical filter
(23) it is sequentially arranged in placement mechanism (18), placement mechanism (18) is screwed in the bottom of shell mechanism (4).
7. the weld distinguishing and tracking sensor device suitable for hyperpyrexia welding surroundings according to claim 1, its feature
It is that the organic protection glass plate (16) is placed in slipway mechanism (15), and slipway mechanism (15) is by shell mechanism (4) bottom
Chute slip into, baffle plate (17) is screwed on slipway mechanism (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621082815.XU CN206153729U (en) | 2016-09-27 | 2016-09-27 | Weld identifying and tracking sensors device suitable for high hot welding connects environment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621082815.XU CN206153729U (en) | 2016-09-27 | 2016-09-27 | Weld identifying and tracking sensors device suitable for high hot welding connects environment |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106270947A (en) * | 2016-09-27 | 2017-01-04 | 中国船舶重工集团公司第七六研究所 | It is applicable to weld distinguishing and tracking sensor device and the method for high thermal weld environment |
| CN108788394A (en) * | 2018-05-22 | 2018-11-13 | 江苏理工学院 | A kind of laser scanning weld tracker and its tracking |
| 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 |
| CN109927074A (en) * | 2019-04-22 | 2019-06-25 | 上海交通大学 | Position and tracking visual sensor are sought in robot welding |
| CN109967827A (en) * | 2017-12-28 | 2019-07-05 | 株式会社达谊恒 | Sensor device is used in welding |
| CN109986170A (en) * | 2017-12-28 | 2019-07-09 | 株式会社达谊恒 | Sensor device is used in welding |
| 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 |
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2016
- 2016-09-27 CN CN201621082815.XU patent/CN206153729U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106270947A (en) * | 2016-09-27 | 2017-01-04 | 中国船舶重工集团公司第七六研究所 | It is applicable to weld distinguishing and tracking sensor device and the method for high thermal weld environment |
| CN109967827A (en) * | 2017-12-28 | 2019-07-05 | 株式会社达谊恒 | Sensor device is used in welding |
| CN109986170A (en) * | 2017-12-28 | 2019-07-09 | 株式会社达谊恒 | Sensor device is used in welding |
| CN109986170B (en) * | 2017-12-28 | 2021-08-13 | 株式会社达谊恒 | Sensor device for welding |
| CN108788394A (en) * | 2018-05-22 | 2018-11-13 | 江苏理工学院 | A kind of laser scanning weld tracker and its tracking |
| CN108788394B (en) * | 2018-05-22 | 2020-11-20 | 江苏理工学院 | Laser scanning welding seam tracking device and tracking method thereof |
| 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 |
| CN109927074A (en) * | 2019-04-22 | 2019-06-25 | 上海交通大学 | Position and tracking visual sensor are sought in robot welding |
| 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 |
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