CN206732416U - A kind of seam tracking system - Google Patents
A kind of seam tracking system Download PDFInfo
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- CN206732416U CN206732416U CN201720511104.8U CN201720511104U CN206732416U CN 206732416 U CN206732416 U CN 206732416U CN 201720511104 U CN201720511104 U CN 201720511104U CN 206732416 U CN206732416 U CN 206732416U
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Abstract
The utility model discloses a kind of seam tracking system.Seam tracking system includes vision sensing equipment, support, welding gun, motion, computer and baffle plate, the vision sensing equipment, including point-like laser device, linear laser, area array cameras；Area array cameras gathers image, and incoming computer, and the computer sends instruction, and control motion is in three-dimensional direction moving.Realize in welding process, changed by monitoring workpiece apparent height to automatically adjust welding gun height.The utility model is first using the overall weld bead height recognition and tracking method and welding gun adjusting method on the basis of the box-like visual sensing system of dotted line laser group, such a tracking, there is more preferable adaptability to various working, overcome the limitation of tracking in the prior art, this method fast response time, workpiece surface height change can be accurately identified, precision is high, can efficiently complete weld joint tracking.
Description
Technical field
Welding autocontrol technical field is the utility model is related to, specifically a kind of seam tracking system, this practicality
It is new to further relate to a kind of welding seam tracking method.
Background technology
In recent years, welding demand of the industry to workpiece constantly expands, and human weld can not meet to supply.Welding is automatic
Change is developed rapidly and extensive use, welding tracking systematic research are also increasingly paid close attention to by people.It is for mitigating work
People's labor intensity, it is significant to improve welding quality.But in welding steel, steel plate can be because the heat time be long, welds
Electric current it is excessive or other in the case of cause to collapse downwards, formed hole shape phenomenon.This will cause workpiece connection shaping difference and not weld
The defects of saturating.Therefore, it is necessary to Real time identification workpiece and welding gun relative position.
At present, there are some recognition methods to workpiece, weld seam in industry, such as CN104668738A discloses " staggered form
Dual laser visual sensing welding gun height real-time identifying system and recognition methods ", the system includes：Staggered form dual laser vision
Sensor, welding gun, computer etc.；Sensor is filtered by the left laser line generator, right laser line generator and front end for being distributed in video camera both sides
Light device forms；Recognition methods：After system parameter calibration, two-laser is with interleaved mode by laser line projection to workpiece, welding gun
In test position PiWhen, computer disposal is delivered to by camera acquisition image, obtains the distance X between two laser rays in imagei；
Welding gun height hiFor：
Hi=h0/(1-Xitan(θ/2)/(NpTan (α/2)))-Δ H, repeat the above steps, can Real time identification welding gun height
Degree.Employ two line laser formula sensing devices in the utility model, such device using two laser rays as tracking, identification,
The foundation of calculating, such a devices and methods therefor, it is suitable for using under the ecotopia of part feature, and in some actual environments
Under, then it can not use.For example, when workpiece surface is uneven, then the two lines that may be presented on workpiece are curve, and it is different
The spacing at position then can not Accurate Determining；In addition, when workpiece is angle welding, there are two folding lines on workpiece in the device,
And two folding lines in this case, can not realize the tracking, identification, calculating of weld seam not in same plane.
It is another to there is device to carry out weld joint tracking according to single laser line, but single laser is easily affected by vibration, causes welding gun to walk
To inaccuracy.
Utility model content
The purpose of this utility model is overcome the deficiencies in the prior art, there is provided a kind of seam tracking system and its method, should
System and method can adapt to a variety of weld seam techniques and varying environment, and possesses to environment and preferably adapt to regulating power.
In order to solve the above technical problems, the utility model seam tracking system and method, are achieved through the following technical solutions：
A kind of seam tracking system, it is characterised in that including vision sensing equipment, support, welding gun, motion, computer
And baffle plate；
The vision sensing equipment, including point-like laser device, linear laser, area array cameras, filter；The point-like laser
Device is used to project point-like laser to workpiece, and the linear laser is used to project linear laser to workpiece, and the filter is located at face
Array camera camera lens front end；
The support includes body frame, the first adjusting bracket and the second adjusting bracket of column, the area array cameras, the first regulation
Frame, the second adjusting bracket, welding gun, baffle plate are installed on body frame；The baffle plate is placed between welding gun and vision sensing equipment, described
Perpendicular to body frame, the point-like laser device is arranged on the first adjusting bracket first adjusting bracket, and can be slided along the first adjusting bracket；Institute
State that linear laser is detachable, is rotatably installed on the second adjusting bracket；
The motion is connected with body frame, and device for driving arm and thereon is to three-dimensional direction moving, the motion
Mechanism is connected with computer；
The area array cameras gathers workpiece surface image, and incoming computer, the computer send instruction, control fitness machine
Structure is in three-dimensional direction moving.
Further, the dot laser of point-like laser device transmitting, the transmitting of linear laser point line laser spectrum with
Filter bandpass range is consistent.
Further, the baffle plate is movably installed on body frame, and rotatably.
Further, this seam tracking system can also be provided with reflective mirror, and the laser of the linear laser transmitting is through reflective
It is projeced into after mirror reflection on workpiece.
A kind of welding seam tracking method, it is characterised in that：Tracking process, including following step are realized based on equipment described above
Suddenly：
Step 1：Equipment prepares and regulation, and workpiece is placed in the underface of vision sensing equipment, erects point-like laser device
Directly it is aimed downwardly in workpiece surface, laser spots are located at weld seam side, adjust linear laser line laser incident angle β, make wire
Laser axis and vertical direction angle are 20 °~70 °, and first adjusting bracket and area array cameras are smaller than 30mm, point
The laser spots that shape laser is sent are incident upon in the range of 5~20mm of weld seam side, ensure that point-like laser device projects sharp on workpiece
Luminous point overlaps with linear laser laser rays, and positioned at the center of area array cameras visual field；
Step 2：Weld joint tracking relevant parameter is demarcated：Area array cameras angle of visual field α, linear laser axis with it is vertical
Angular separation β；When point line laser overlaps, distance is h between workpiece surface weld seam and camera focus f0, the now position where welding gun
It is set to normal weld position b0；XiThe number of pixels of distance between laser spots and laser rays, image resolution ratio Xr(pixel/
mm)；
Step 3：Seam tracking system moves ahead from right to left along bead direction；As workpiece surface height change hiWhen,
Laser spots produce distance with laser rays on workpiece；
Step 4：Camera gathers workpiece epigraph, is sent to computer and is handled, and obtains laser spots and laser in image
Linear distance；
Step 5：According to following calculation formula, now workpiece surface height change h is calculatedi；
The implication of wherein each parameter is as described in step 2；
Step 6：Computer command motion driving welding gun accordingly adjusts welding position bi, when next time, workpiece surface is high
During degree change, repeat step 3- steps 5, so as to realize in welding process, changed by monitoring workpiece apparent height and automatic
Adjust welding gun height.
Further, wire laser axis and vertical direction angle β are 40 °~50 ° in the step 1.
Further, the spacing of first adjusting bracket and area array cameras is 10~20mm.
After such scheme, as a result of the entirety on the basis of the pioneering box-like visual sensing system of dotted line laser group
Weld bead height recognition and tracking method and welding gun adjusting method, the utility model method monitoring workpiece apparent height need to only be changed
When dotted line laser image gather and handle obtain its distance, you can with formula noted earlier calculate workpiece surface height change
Δhi, it is easy to real-time tracking weld seam；Such a tracking, there is more preferable adaptability to various working, overcome prior art
The limitation of middle tracking, this method fast response time, workpiece surface height change can be accurately identified, precision is high, can be efficiently
Complete weld joint tracking in ground.
Brief description of the drawings
Fig. 1 shows the structural representation of seam tracking system in a kind of embodiment of the utility model.In figure：1st, body frame,
2nd, the first adjusting bracket, 3, point-like laser device, 4, area array cameras (containing camera lens and filter), 5, computer, the 6, second adjusting bracket, 7, line
Shape laser, 8, baffle plate, 9, welding gun, 10, workpiece, 11, weld seam, 12, laser rays, 13, laser spots.
Fig. 2 is computation model figure of the present utility model.In figure：α is the CCD area array cameras angles of visual field, and β is linear laser axle
Line and vertical direction angle, f are the focus of area array cameras, P0For workpiece initial position (when point line laser overlaps), Pi(P1It is higher than
P0, P2Less than P0) it is that workpiece is in position when detecting, h0The distance (object distance) between workpiece surface weld seam and camera focus f,
ΔhiDifference in height (Δ h between test position and initial position for workpiece1For P1With P0Between difference in height, Δ h2For P2With P0It
Between difference in height), X1(including X1And X2) number of pixels of distance, b between laser spots and laser rays0For normal weld position, b1
To weld P1Locate position, b2To weld P2Locate position.
The image of image comparison workpiece under normal circumstances when Fig. 3 is workpiece surface height change.In figure：X1For P1Swash at place
The number of pixels of distance, X between luminous point and laser rays2For P2Locate the number of pixels of distance between laser spots and laser rays.
Fig. 4 shows the seam tracking system containing two point-like laser devices in a kind of embodiment of the utility model.
Fig. 5 shows that seam tracking system shows non-standard circular-section workpiece welding in a kind of embodiment of the utility model
It is intended to.
Embodiment
The utility model is described in further detail with reference to the accompanying drawings and detailed description.Describe only to use below
In explaining the utility model, it is not used to limit the utility model.
Embodiment 1
Fig. 1 shows the structural representation of seam tracking system in a kind of embodiment of the utility model, including visual sensing
Device, support, welding gun 9, motion, computer 5 and baffle plate 8；
The vision sensing equipment, including point-like laser device 3, linear laser 7, area array cameras 4.The point-like laser device
3, linear laser 7 is fixed with the three's relative position of area array cameras 4, and the point-like laser device 3 is used to project point-like to workpiece 10
Laser, the linear laser 7 are used to project linear laser to workpiece 10, and filter is provided with area array cameras camera lens front end；
Support includes body frame 1, the first adjusting bracket 2 and the second adjusting bracket 6 of column, the area array cameras 4, the first adjusting bracket
2nd, the second adjusting bracket 6, welding gun 9, baffle plate 8 are installed on body frame 1；The baffle plate 8 be placed in welding gun 9 and vision sensing equipment it
Between, first adjusting bracket 2 is arranged on the first adjusting bracket 2 perpendicular to body frame 1, the point-like laser device 3, and can be adjusted along first
Section frame 2 slides；The linear laser 7 is detachable, is rotatably installed on the second adjusting bracket 6；
The motion is connected with body frame 1, and device for driving arm and thereon is to three-dimensional direction moving, the motion
Mechanism is connected with computer 5；
The area array cameras 4 gathers workpiece surface image, and incoming computer 5, and the computer 5 sends instruction, control fortune
Motivation structure is in three-dimensional direction moving.
Preferably, the light of the laser rays 12 of 7 points of transmittings of laser spots 13, linear laser of the transmitting of point-like laser device 3
Spectrum is consistent with the bandpass range of filter 5.
Preferably, the baffle plate 8 can be movably installed on body frame 1 according to actual environment needs, and rotatably, Ci Zhongjie
Structure belongs to common technique of the prior art, is no longer described in detail herein.
Preferably, this seam tracking system is also provided with reflective mirror, and reflective mirror is used cooperatively with linear laser 7, institute
The laser for stating the transmitting of linear laser 7 is projeced into after mirror reflection on workpiece 10.Under such a situation, linear laser can be made
The adjusting bracket 2 of device 7 and second is reduced and known caused by the asynchronous vibrations of each part from shorter, more compact structure with a distance from area array cameras 4
Other error, also allow for the structure design of product.
In addition, be provided with baffle plate 8 between the welding gun 9 and dotted line combined type sighting device, ensure to filter out during welding arc light,
Veiling glare etc. disturbs.
Correspondingly, a kind of welding seam tracking method involved by the utility model, it is that tracking is realized based on equipment described above
Process, comprise the following steps：
Step 1：Equipment prepares and regulation, and workpiece 10 is placed in the underface of vision sensing equipment, makes point-like laser device 3
The surface of workpiece 10 is irradiated in straight down, and laser spots 13 are located at the side of weld seam 11, adjust the line laser incident angle of linear laser 7
β, it is 40 ° to make the axis of linear laser 7 and vertical direction angle, and first adjusting bracket 2 is smaller than with area array cameras 4
30mm, the laser spots 13 that point-like laser device 3 is sent are incident upon in the range of the 5~20mm of side of weld seam 11, ensure point-like on workpiece 10
The laser spots 13 that laser 3 projects overlap with the laser rays 12 that linear laser 7 is launched, and in the visual field of area array cameras 4
Centre；
Step 2：The parameter of above-mentioned dotted line combined type seam tracking system is demarcated：The angle of visual field α of CCD area array cameras 4,
The axis of linear laser 7 and vertical direction angle β；When point line laser overlaps, between the surface weld 11 of workpiece 10 and camera focus f
Distance (object distance) is h0, now the position where welding gun 9 is normal weld position b0；Xi(including X1And X2) it is laser spots and laser
The number of pixels of distance between line, image resolution ratio Xr(pixel/mm)；
Step 3：Dotted line combined type seam tracking system moves ahead from right to left along bead direction；When the apparent height of workpiece 10
Changes delta hi(Δh1Or Δ h2) when, seam tracking system detection Pi(P1Or P2) place, laser spots 12 are with laser rays 13 in workpiece 10
Upper generation distance；
Step 4：Area array cameras 4 gathers the epigraph of workpiece 10, is sent to computer 5 and is handled, and obtains laser in image
Point 13 and the distance of laser rays 12；
Step 5：According to following calculation formula, the now apparent height changes delta h of workpiece 10 is calculatedi；
The implication of wherein each parameter is as described in step 2；
Step 6：The order motion of computer 5 driving welding gun 9 accordingly adjusts welding position bi(b1Or b2), when next time
When the apparent height of workpiece 10 changes, repeat step 3- steps 5, so as to realize in welding process, pass through the surface of monitoring workpiece 10
Height change and automatically adjust the height of welding gun 9.
The axis of linear laser 7 and vertical direction angle β be at 20 °~70 ° in step 1, but optimized angle be 40 °~
50°.Such as embodiment illustrated in fig. 1 uses 40 °, 45 °, 50 °.
The preferred spacing of first adjusting bracket 2 and area array cameras 4 is that spacing is 10~20mm.Such as embodiment illustrated in fig. 1 is adopted
Use 10mm.
Embodiment 2
Fig. 4 is that it is with Fig. 1's according to the dotted line combined type seam tracking system for two point-like laser devices for implementing to exemplify
Difference is that vision sensing equipment includes two point-like laser devices 3；Two point-like laser devices 3 are separately mounted to the first adjusting bracket 2
The left and right sides, and can be slided (Y-direction) along the first adjusting bracket 2.Two point-like laser devices 3 are irradiated in workpiece surface straight down, and two
Individual laser spots are respectively positioned at weld seam left side and right side；
The axis of linear laser 7 is 45 ° with vertical direction angle β；The spacing of first adjusting bracket 2 and area array cameras 4 is
12mm；The laser spots that two point-like laser devices 3 are sent are incident upon at 11 liang of side 10mm of weld seam respectively, ensure laser on workpiece 10
Point overlaps with laser rays, and positioned at the center of the visual field of area array cameras 4.
Other steps, principle and embodiment 1 are similar.
Embodiment 3
Fig. 5 is that non-standard circular-section workpiece is welded according to the box-like seam tracking system of dotted line laser group for implementing to exemplify
Schematic diagram, under this operating mode, for circular tube shaped workpiece around axis rotation, seam tracking system is integrally motionless, and welding gun aims at weld seam, point
Shape laser vertical irradiation is located at weld seam side in workpiece surface, (circular hollow section radial direction) laser spots；Linear laser 7 with
Certain angle oblique illumination is in workpiece surface, and linear laser is perpendicular to weld seam；The laser spots and line of the Vertical Launch of point-like laser device 3
The laser rays that shape laser 7 is launched overlaps on non-standard circular-section workpiece；Area array cameras 4 gathers image, and incoming computer
5；The spacing of first adjusting bracket 2 and area array cameras is 15mm；The laser spots that point-like laser device 3 is sent are incident upon weld seam side 10mm
Place.Other method step and embodiment 1 are similar, can equally realize and be changed by monitoring workpiece apparent height to automatically adjust weldering
Rifle height.And some recognition methods of the prior art can not be then tracked to such a special operation condition.
Only the utility model is illustrated with section Example above, not formed to any limit of the present utility model
System, all any modification, improvement and equivalent substitutions made in the spirit and principles of the utility model etc., should be included in this reality
Within new protection domain.
Claims (4)
1. a kind of seam tracking system, it is characterised in that including vision sensing equipment, support, welding gun (9), motion, calculating
Machine (5) and baffle plate (8)；The vision sensing equipment, including point-like laser device (3), linear laser (7), area array cameras (4)；
The area array cameras (4) includes array image sensor, camera lens, filter；The point-like laser device (3) is used for workpiece incident point
Shape laser, the linear laser (7) are used to project linear laser to workpiece；
The support includes body frame (1), the first adjusting bracket (2) and the second adjusting bracket (6) of column, the area array cameras (4),
One adjusting bracket (2), the second adjusting bracket (6), welding gun (9), baffle plate (8) are installed on body frame (1)；The baffle plate (8) is placed in weldering
Rifle (9) is between vision sensing equipment, and first adjusting bracket (2) is perpendicular to body frame (1), point-like laser device (3) installation
On the first adjusting bracket (2), and it can be slided along the first adjusting bracket (2)；The linear laser (7) is detachable, rotationally pacifies
Loaded on the second adjusting bracket (6)；
The motion is connected with body frame (1), and device for driving arm and thereon is to three-dimensional direction moving, the fitness machine
Structure is connected with computer (5)；
The area array cameras (4) gathers workpiece surface image, and incoming computer (5), the computer (5) send instruction, control
Motion is in three-dimensional direction moving.
2. seam tracking system according to claim 1, it is characterised in that：The point of point-like laser device (3) transmitting swashs
The spectrum for the line laser that light, linear laser (7) are launched is consistent with the filter bandpass range of area array cameras (4) front end.
3. seam tracking system according to claim 1, it is characterised in that：The baffle plate (8) is movably installed in body frame (1)
On, and rotatably.
4. seam tracking system according to claim 1, it is characterised in that：It is additionally provided with reflective mirror, the linear laser
(7) laser of transmitting is projeced on workpiece after mirror reflection.
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| CN201720511104.8U CN206732416U (en) | 2017-05-03 | 2017-05-03 | A kind of seam tracking system |
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| CN201720511104.8U CN206732416U (en) | 2017-05-03 | 2017-05-03 | A kind of seam tracking system |
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ID=60564380
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106984926A (en) * | 2017-05-03 | 2017-07-28 | 武汉科技大学 | A kind of seam tracking system and welding seam tracking method |
| CN111774775A (en) * | 2020-06-30 | 2020-10-16 | 中国船舶重工集团公司第七一六研究所 | Three-dimensional vision system for gantry type robot welding of large-scale structural part and control method |
| CN113028988A (en) * | 2021-03-03 | 2021-06-25 | 天津工业大学 | Lattice light source intelligent visual sensor and application and calibration method thereof |
-
2017
- 2017-05-03 CN CN201720511104.8U patent/CN206732416U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106984926A (en) * | 2017-05-03 | 2017-07-28 | 武汉科技大学 | A kind of seam tracking system and welding seam tracking method |
| CN111774775A (en) * | 2020-06-30 | 2020-10-16 | 中国船舶重工集团公司第七一六研究所 | Three-dimensional vision system for gantry type robot welding of large-scale structural part and control method |
| CN113028988A (en) * | 2021-03-03 | 2021-06-25 | 天津工业大学 | Lattice light source intelligent visual sensor and application and calibration method thereof |
| CN113028988B (en) * | 2021-03-03 | 2022-03-25 | 天津工业大学 | Lattice light source intelligent visual sensor and application and calibration method thereof |
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Effective date of registration: 20200916 Address after: 225000 Heng Road, Bali Town, Yangzhou City, Jiangsu Province Patentee after: YANGZHOU LEADER ENGINEERING TECHNOLOGIES Co.,Ltd. Address before: 430081 No. 947 Heping Avenue, Qingshan District, Hubei, Wuhan Patentee before: WUHAN University OF SCIENCE AND TECHNOLOGY |
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