CN206208199U - Suitable for the line laser detection device of drag articulation type six-shaft industrial robot - Google Patents
Suitable for the line laser detection device of drag articulation type six-shaft industrial robot Download PDFInfo
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- CN206208199U CN206208199U CN201621215913.6U CN201621215913U CN206208199U CN 206208199 U CN206208199 U CN 206208199U CN 201621215913 U CN201621215913 U CN 201621215913U CN 206208199 U CN206208199 U CN 206208199U
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Abstract
The utility model discloses a kind of line laser detection device suitable for drag articulation type six-shaft industrial robot, including laser sensor and sensor mounting seat, the laser sensor is fixed on welding gun front end by sensor mounting seat, for obtaining weld information using principle of triangulation；X, Y, the three dimensions relative position of Z-direction and setting angle that described sensor mounting seat is used to adjust between laser sensor and welding gun, while the sensor mounting seat possesses insulation function, realize the insulation between sensor and welding gun.Sensor base of the present utility model can adjust, and can change the relative position of sensor and welding gun, it is ensured that angle is optimal between sensor body inside industrial camera and striped formula laser generator, realizes principle of triangulation.By the utility model, can effective expanded laser light sensor detection range, improve accuracy of detection.
Description
Technical field
The utility model is related to field of automatic welding, more particularly to needs to use drag articulation type six-shaft industrial machine
People, and using the field of line laser detection device.
Background technology
With the development of automatic welding technique, six-shaft industrial robot is more and more extensive in the utilization of welding field, so
And, the programming mode of current welding robot is based on " teaching-reproduction ", and this mode efficiency when straight line is welded is higher, but
It is, because welding produces big calorimetric, to cause workpiece to deform, directly affects welding precision；And for complicated weld seam, it is thus necessary to determine that
More taught points, inefficiency, and be more difficult to ensure precision, it is difficult to reach the automatic welding of height.
To solve problem above, it is necessary to improve THE WELD SEAM TRACKING TECHNOLOGY.The conventional method of weld joint tracking is to utilize sensor
Real-time detection position while welding, generation coordinate information is sent to controller, drives welding gun to move to the coordinate points.As weld joint tracking
The first step, weld seam detection precision and efficiency can have a huge impact to control effect hereafter.Conventional contactless weldering
Seam detection sensor has arc sensor, ultrasonic sensor, laser sensor etc., is passed relative to arc sensor and ultrasonic wave
Sensor, the detection efficiency and precision of laser sensor is all higher.However, due to strong arc light noise, shadow can be produced when welding
The picture quality of industrial camera collection has been rung, the difficulty of characteristics of weld seam extraction has been increased.Laser stripe from molten bath more close to, laser
Arc light influence suffered by sensor is bigger, and even characteristics of weld seam cannot be extracted when serious.If increase laser stripe and molten bath
Distance, although arc light influence is reduced, but the reduction of weld seam detection real-time can be caused, so as to influence the precision of weld joint tracking, hold
Easily there is phenomenons such as " being partially welded ".Therefore, how to reduce while the arc light suffered by detection device is disturbed and ensure weld seam detection
Real-time be an important technology.
Utility model content
The purpose of this utility model is to provide a kind of line laser weld seam suitable for drag articulation type six-shaft industrial robot
Detection means, it is intended to utilize principle of triangulation, quickly, accurately extracts welding seam position information.And ensure welding pool and weldering
Seam feature point detection position is optimal, i.e., under low-noise situation, measurement distance is minimum.
The purpose of this utility model is realized by following scheme：
A kind of line laser detection device suitable for drag articulation type six-shaft industrial robot, including laser sensor
With sensor mounting seat, the laser sensor is fixed on welding gun front end by sensor mounting seat, for utilizing triangle
Measuring principle obtains weld information；Described sensor mounting seat is used to adjust X, Y, the Z between laser sensor and welding gun
To three dimensions relative position and setting angle, while the sensor mounting seat possesses insulation function, realize sensor
Insulation and welding gun between.
The laser sensor of this programme can follow welding gun to move, and realize characteristics of weld seam on-line checking, laser in welding process
The setting angle of sensor and welding gun can be adjusted by sensor mounting seat, to ensure welding pool and weld bead feature points
Test position is optimal.Sensor mounting seat possesses insulation function, the insulation between sensor and welding gun is capable of achieving, to keep away
Exempt from infringement of the high current of the 300A of generation in welding process or so to sensor.Sensor mounting seat can ensure that sensor
Angle is optimal between body interior industrial camera and striped formula laser generator, realizes principle of triangulation.
Further, described sensor mounting seat includes sensor base fixed plate, industrial hinge leaf, sensor
Installation side plate, sensor installation base plate, sensor activity base plate, the left support strip of sensor base, the right support strip of sensor base,
Along X to the slotted hole for being provided with installation laser sensor in the sensor installation side plate, on described sensor installation base plate
The slotted hole of the sensor installation side plate is installed along Y-direction, Z-direction is provided with installation sensing on described sensor activity base plate
The slotted hole of device installation base plate, described sensor base fixed plate is fixed on welding gun, and the sensor activity base plate passes through
Industrial hinge leaf is movably hinged with the sensor base fixed plate, and the both sides of the sensor activity base plate have been respectively articulated with
Connect the left support strip of sensor base and the right support strip of sensor base of welding gun, the left support strip of sensor base and sensing
One end of the connection welding gun of the right support strip of device base is provided with slotted hole, the regulation sensor is provided with the slotted hole and is lived
The adjusting screw of dynamic base plate setting angle.
This programme is optimal to ensure welding pool and weld bead feature points test position, i.e., under low-noise situation, swash
Striations is minimum with the distance of welding gun, laser sensor is fixed on sensor activity base plate by sensor installation base plate,
Sensor activity base plate passes through industrial hinge and the connection of sensor base fixed plate, the left support strip of sensor base and sensor bottom
Seat right support strip connection sensor activity base plate and welding gun, by the left support strip of sensor base and the right support strip of sensor base
The setting angle of adjustment laser sensor and welding gun.Realize swashing in the position of sensor installation side plate by adjusting laser sensor
Optical sensor is moved along X-direction, and laser is realized in the position of sensor installation base plate by adjusting sensor installation side plate
Sensor is moved along Y direction, realizes sensor along Z in the position of sensor base portable plate by adjusting sensor installation base plate
Direction of principal axis is moved, by the relative position for adjusting laser sensor and weld seam, it is ensured that the intersection point of laser stripe and weld seam is by camera
Vertically capture.
Further, the laser sensor includes that laser sensor body, industrial camera, striped formula laser occur
Device, laser generator base, described industrial camera are fixed in laser sensor body vertically, the striped formula laser hair
Raw device is fixed in laser sensor body by laser generator base and axis and the axis of industrial camera are in a clamp
Angle.
In this programme, to ensure that angle is most between sensor body inside industrial camera and striped formula laser generator
It is excellent, realize principle of triangulation.Sensor internal industrial camera is vertically-mounted, and striped formula laser generator is inclined to be installed, work
Industry camera spindle and striped formula laser generator main shaft form an angle realization using principle of triangulation acquisition weld information.
Further, the axis of the striped formula laser generator and the angle of the axis of industrial camera are 20 °.
Further, described industrial camera uses CMOS cameras, and described CMOS cameras high speed acquisition carries weld seam
The feature stripe pattern of information.
Further, described striped formula laser generator is three laser line generators, and its wavelength is 645~655nm, work(
Rate is 30~35mW, and three diatom laser projections form the structural light stripes for characterizing weld profile feature in face of weld.
Further, described sensor mounting seat 4 is using the POM materials for ensureing welding gun and laser sensor insulating properties
Material, the electrical insulating property of POM preferably, is hardly influenceed by temperature and humidity, and the dielectric strength of POM is 85kv/mm, volume resistance
>1015Ω/cm3, sheet resistance>1013 Ω, therefore welding gun and laser sensor insulation can be ensured.
Operation principle of the present utility model is：Before laser sensor is arranged on YMENS-300R welding guns by sensor base
End, moves with welding gun.Sensor base has industrial chain connection, can adjust the setting angle of sensor and welding gun, and
And the sensor installation side plate of sensor body, sensor base, the relative position of sensor installation base plate can change so that
Sensor can be in tri- direction movements of X, Y and Z, with reference to the folder of industrial camera and the laser generator composition of sensor internal
Angle, realizes and obtains weld information using principle of triangulation.
The utility model has the following advantages and effect relative to prior art：
(1) laser sensor body interior industrial camera is vertically-mounted, and laser generator is inclined to be installed, it is to avoid due to
Industrial camera inclines caused more noise jamming problems when installing vertically-mounted with laser generator, reduces at image
The difficulty of reason.
(2) industrial camera main shaft and laser generator main shaft into 20 degree of angles.Angle is excessive, can cause sensor body body
Product is excessive, and angle is too small, and laser stripe can be caused to deviate camera main shaft with the intersection point of weld seam, and camera needs to move, laser stripe
Feature is not obvious, influences certainty of measurement.It is experimentally confirmed, this angle is optimal.
(3) sensor base can be adjusted with the setting angle of welding gun, and sensor can be adjusted with respect to the position of welding gun, from
And distance of the laser stripe with respect to molten bath can be changed, make sensor in low noise jamming, laser stripe and molten bath distance
Minimum, improves weld joint tracking precision, while also ensure that effective application of principle of triangulation.
Brief description of the drawings
Fig. 1 a are the imaging coordinate system schematic diagrames of principle of triangulation.
Fig. 1 b are the principle of triangulation of when measurement plane is located at reference planes (Δ h=0).
Fig. 1 c are when measurement plane is located at (Δ h under reference planes>0) principle of triangulation when.
Fig. 1 d are when measurement plane is located at (Δ h on reference planes<0) principle of triangulation when.
Fig. 2 is national forest park in Xiaokeng figure.
Fig. 3 applies to the line laser detection device schematic diagram of drag articulation type six-shaft industrial robot.
Fig. 4 is laser sensor body interior figure.
Fig. 5 is sensor mounting seat structure chart.
It is shown in figure：1- industrial robots；2- welding guns；3- laser sensors；31- laser sensor bodies；32- industry
Video camera；33- striped formula laser generators；34- laser generator bases；4- sensor mounting seats；41- sensor bases are consolidated
Fixed board；42- industry hinge leafs；43- sensor installation side plates；44- sensor installation base plates；45- sensor activity base plates；
The left support strip of 46- sensor bases；The right support strip of 47- sensor bases.
Specific embodiment
The utility model is described in further detail with reference to embodiment and accompanying drawing, but implementation of the present utility model
Mode not limited to this.
Embodiment
As shown in Figures 3 to 5, a kind of line laser weld seam detection dress suitable for drag articulation type six-shaft industrial robot
Put, including laser sensor 3 and sensor mounting seat 4, the laser sensor 3 is fixed on by sensor mounting seat 4
The front end of welding gun 2, for obtaining weld information using principle of triangulation；Described sensor mounting seat 4 is used to adjust laser
The three dimensions relative position and setting angle of X, Y, Z-direction between sensor and welding gun, while the sensor mounting seat 4
Possess insulation function, realize the insulation between sensor and welding workpiece.
Specifically, described sensor mounting seat 4 includes sensor base fixed plate 41, industrial hinge leaf 42, passes
The left support strip 46, sensor of sensor installation side plate 43, sensor installation base plate 44, sensor activity base plate 45, sensor base
The right support strip 47 of base, it is described along X to the slotted hole for being provided with installation laser sensor 3 in the sensor installation side plate 43
Sensor installation base plate 44 on the slotted hole of the sensor installation side plate 43, described sensor activity bottom are installed along Y-direction
The slotted hole of install sensor installation base plate 44 is provided with plate 45 along Z-direction, described sensor base fixed plate 41 is fixed on
On welding gun 2, the sensor activity base plate 45 passes through industrial hinge leaf 42 and the moveable hinge of sensor base fixed plate 41
Connect, the both sides of the sensor activity base plate 45 are respectively articulated with the left support strip 46 of sensor base and sensing of connection welding gun 2
The connection welding gun 2 of the right support strip 47 of device base, the left support strip 46 of sensor base and the right support strip 47 of sensor base
One end is provided with slotted hole, and the regulation spiral shell for adjusting the setting angle of sensor activity base plate 45 is provided with the slotted hole
Nail.
Specifically, the laser sensor 3 includes laser sensor body 31, industrial camera 32, striped formula laser hair
Raw device 33, laser generator base 34, described industrial camera 32 are fixed in laser sensor body 31 vertically, the bar
Line formula laser generator 33 is fixed in laser sensor body 31 by laser generator base 34 and axis is imaged with industry
The axis of machine 32 is in 20 ° of angles.
Specifically, the axis of the striped formula laser generator 33 and the angle of the axis of industrial camera 32 are 20 °.
Specifically, described industrial camera 32 uses CMOS cameras, and described CMOS cameras high speed acquisition carries weld seam
The feature stripe pattern of information.
Specifically, described striped formula laser generator 33 is three laser line generators, and its wavelength is 645~655nm, work(
Rate is 30~35mW, and three diatom laser projections form the structural light stripes for characterizing weld profile feature in face of weld.
Specifically, described sensor mounting seat 4 is using the POM materials for ensureing welding gun and laser sensor insulating properties.
As shown in figure 3, the laser sensor 3 of the present embodiment is welded by sensor mounting seat 4 installed in YMENS-300R
Rifle front end, welding gun 2 is arranged on six-shaft industrial robot 1, and laser sensor 3 is moved with welding gun 2.In the present embodiment
BASLER-acA1600-60gc industrial cameras 32 are directly vertically installed in laser sensor body 31, NL-03L-660-
100-30 striped formulas laser generator 33 is arranged on laser generator base 34, and striped formula laser generator 33 is inclined and mounted on
In laser sensor body 31, the main shaft of industrial camera 32 is with the main shaft of striped formula laser generator 33 for angle is 20 degree.
As shown in figure 4, laser sensor body 31 is arranged in sensor installation side plate 43 in the present embodiment, make laser
Sensor 3 can be adjusted with respect to the position of welding gun 2 in X-direction；Sensor installation side plate 43 is arranged on sensor installation base plate 44,
Laser sensor 3 is set to be adjusted in Y direction with respect to the position of welding gun 2；Sensor installation base plate 44 is arranged on sensor activity
On base plate 45, laser sensor 3 is set to be adjusted in Z-direction with respect to the position of welding gun 2；Sensor activity base plate 45 passes through 1 English
Very little industrial hinge leaf 42 is connected with sensor base fixed plate 41, and laser sensor body 31 leads to the setting angle of welding gun 2
Cross the left support strip 46 of sensor base and the right support strip 47 of sensor base is adjusted, sensing base fixing plate 41 is directly installed on weldering
On rifle 2.By mode installed above, the detection height and detecting distance of laser sensor 3 can be adjusted.
The Mathematical Modeling of triangulation as shown in Fig. 1 a- Fig. 1 d, camera optics plane it is parallel with measurement plane and away from
From being H+ Δs h.Such as accompanying drawing 1b) shown in, the Δ h=0 when measurement plane is located at reference planes, now laser plane, measurement plane
Point P, picture P' and O of this in imaging plane are intersected at optical axis1Overlap.When tested plane is moved up and down, Δ h becomes
Change, the position of P and P' also correspondingly there occurs regular change, such as accompanying drawing 1c), 1d) shown in.Using geometrical relationship, can obtain z and
The relation of u is：
In formula, for reference planes highly, f is focal length to H, and θ is the angle of optical axis and laser plane.
The pin-hole model of video camera as shown in Figure 2, with photocentre o2It is the coordinate system o of origin2Xyz is referred to as camera coordinates
System, with sensitive chip center o1It is the coordinate o of origin1Uv is referred to as imaging coordinate system.Assuming that impact point P is in o2Xyz coordinates for (x,
Y, z), as P' is in o1The coordinate of uv coordinates is (u, v), and the projection that can derive v and y, u and x by similar triangle theory is closed
It is to be：
Y=- (z/f) v (2)
X=- (z/f) u (3)
Image uses pixel coordinate (c, r), represents that physical location a little is different from imager coordinate, and pixel coordinate is discrete
, represent line number and columns of the pixel in CMOS array.Set up pixel coordinate as follows with the relation of imager coordinate：
In formula, SxAnd SyRespectively represent CMOS chip on it is horizontally adjacent and vertically adjacent to two distances of photosensitive unit, (Cx,
Cy) represent optical axis and imaging plane intersection point pixel coordinate.
Simultaneous formula (1)-(4) formula can be obtained:
In formula, (Sx,Sy,f,Cx,Cy) inner parameter of video camera is referred to as, H and θ is structural parameters.
Formula (5) establishes in image on laser stripe two-dimensional pixel coordinate (c, r) of any with the point in camera coordinates
The mapping relations of the three-dimensional coordinate (x, y, z) under system.
Each parts described in the present embodiment can type selecting it is as follows, but type selecting not limited to this：Industrial camera 1：Can select it
The industrial camera of his type；Striped formula laser generator 3：Can select other model laser generators；1 inch industrial hinge is closed
Page, can select other hinge leafs；Sensor installation side plate 43, sensor installation base plate 44, sensor activity base plate 45 are optional
Use other insulating materials.
Above-described embodiment is present aspect preferably implementation method, but the bright implementation method of we is not by above-described embodiment
Limitation, it is other it is any away from Spirit Essence of the present utility model and the change, modification, replacement made under principle, combine, it is simple
Change, should be equivalent substitute mode, be included within protection domain of the present utility model.
Claims (7)
1. a kind of line laser detection device suitable for drag articulation type six-shaft industrial robot, it is characterised in that：Including
Laser sensor (3) and sensor mounting seat (4), the laser sensor (3) are fixed on by sensor mounting seat (4)
Welding gun (2) front end, for obtaining weld information using principle of triangulation；Described sensor mounting seat (4) is for adjusting
The three dimensions relative position and setting angle of X, Y, Z-direction between laser sensor and welding gun, while the sensor is installed
Base (4) possesses insulation function, realizes the insulation between sensor and welding gun.
2. the line laser detection device suitable for drag articulation type six-shaft industrial robot according to claim 1,
It is characterized in that：Described sensor mounting seat (4) including sensor base fixed plate (41), industrial hinge leaf (42),
Sensor installation side plate (43), sensor installation base plate (44), sensor activity base plate (45), the left support strip of sensor base
(46), the right support strip of sensor base (47), along X to being provided with installation laser sensor on the sensor installation side plate (43)
(3) slotted hole, the oval of the sensor installation side plate (43) is installed on described sensor installation base plate (44) along Y-direction
Hole, is provided with the slotted hole of install sensor installation base plate (44) along Z-direction on described sensor activity base plate (45), described
Sensor base fixed plate (41) is fixed on welding gun (2), and the sensor activity base plate (45) is by industrial hinge leaf
(42) it is movably hinged with the sensor base fixed plate (41), the both sides of the sensor activity base plate (45) have been respectively articulated with
The left support strip of the sensor base (46) and the right support strip of sensor base (47) of connection welding gun (2), the sensor base are left
One end of the connection welding gun (2) of support strip (46) and the right support strip of sensor base (47) is provided with slotted hole, the slotted hole
Inside it is provided with the adjusting screw for adjusting sensor activity base plate (45) setting angle.
3. the line laser detection device suitable for drag articulation type six-shaft industrial robot according to claim 1,
It is characterized in that：The laser sensor (3) includes laser sensor body (31), industrial camera (32), striped formula laser
Generator (33), laser generator base (34), described industrial camera (32) are fixed on laser sensor body vertically
(31) in, the striped formula laser generator (33) is fixed on laser sensor body (31) by laser generator base (34)
Interior and axis is in a certain angle with the axis of industrial camera (32).
4. the line laser detection device suitable for drag articulation type six-shaft industrial robot according to claim 3,
It is characterized in that：The axis of the striped formula laser generator (33) is 20 with the angle of the axis of industrial camera (32)o。
5. the line laser detection device suitable for drag articulation type six-shaft industrial robot according to claim 3,
It is characterized in that：Described industrial camera (32) uses CMOS cameras, and described CMOS cameras high speed acquisition carries weld seam letter
The feature stripe pattern of breath.
6. the line laser detection device suitable for drag articulation type six-shaft industrial robot according to claim 3,
It is characterized in that：Described striped formula laser generator (33) is three laser line generators, and its wavelength is 645 ~ 655nm, power
It is 30 ~ 35mW, three diatom laser projections form the structural light stripes for characterizing weld profile feature in face of weld.
7. the line laser detection device suitable for drag articulation type six-shaft industrial robot according to claim 1,
It is characterized in that：Described sensor mounting seat (4) is using the POM materials for ensureing welding gun and laser sensor insulating properties.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621215913.6U CN206208199U (en) | 2016-11-10 | 2016-11-10 | Suitable for the line laser detection device of drag articulation type six-shaft industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621215913.6U CN206208199U (en) | 2016-11-10 | 2016-11-10 | Suitable for the line laser detection device of drag articulation type six-shaft industrial robot |
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| Publication Number | Publication Date |
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| CN206208199U true CN206208199U (en) | 2017-05-31 |
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ID=58752344
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621215913.6U Withdrawn - After Issue CN206208199U (en) | 2016-11-10 | 2016-11-10 | Suitable for the line laser detection device of drag articulation type six-shaft industrial robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106382888A (en) * | 2016-11-10 | 2017-02-08 | 华南理工大学 | Line laser weld seam testing device suitable for vertical joint type six-axis industrial robot |
| CN107830802A (en) * | 2017-12-07 | 2018-03-23 | 沈阳理工大学 | A kind of auto parts machinery gluing quality dynamic on-line monitoring device and control method |
| CN108593659A (en) * | 2018-04-25 | 2018-09-28 | 吉林大学 | The full-automatic scanning detection device of laser welded seam surface quality and method |
| CN109746943A (en) * | 2019-03-21 | 2019-05-14 | 重庆东渝中能实业有限公司 | 3D structure light scan device and intelligence manufacture robot |
| CN112223283A (en) * | 2020-09-29 | 2021-01-15 | 腾讯科技（深圳）有限公司 | Robot arm, robot arm control method, processing apparatus, and medium |
-
2016
- 2016-11-10 CN CN201621215913.6U patent/CN206208199U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106382888A (en) * | 2016-11-10 | 2017-02-08 | 华南理工大学 | Line laser weld seam testing device suitable for vertical joint type six-axis industrial robot |
| CN107830802A (en) * | 2017-12-07 | 2018-03-23 | 沈阳理工大学 | A kind of auto parts machinery gluing quality dynamic on-line monitoring device and control method |
| CN107830802B (en) * | 2017-12-07 | 2024-03-15 | 沈阳理工大学 | Online dynamic detection device and control method for glue coating quality of automobile parts |
| CN108593659A (en) * | 2018-04-25 | 2018-09-28 | 吉林大学 | The full-automatic scanning detection device of laser welded seam surface quality and method |
| CN109746943A (en) * | 2019-03-21 | 2019-05-14 | 重庆东渝中能实业有限公司 | 3D structure light scan device and intelligence manufacture robot |
| CN112223283A (en) * | 2020-09-29 | 2021-01-15 | 腾讯科技（深圳）有限公司 | Robot arm, robot arm control method, processing apparatus, and medium |
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Granted publication date: 20170531 Effective date of abandoning: 20191210 |