CN206936651U - Compound weld seam tracking sensor - Google Patents
Compound weld seam tracking sensor Download PDFInfo
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- CN206936651U CN206936651U CN201720450504.2U CN201720450504U CN206936651U CN 206936651 U CN206936651 U CN 206936651U CN 201720450504 U CN201720450504 U CN 201720450504U CN 206936651 U CN206936651 U CN 206936651U
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- weld seam
- sensor
- laser beam
- seam tracking
- laser
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- 150000001875 compounds Chemical class 0.000 title claims abstract description 36
- 230000003287 optical effect Effects 0.000 claims description 13
- 238000003384 imaging method Methods 0.000 claims description 12
- 238000003466 welding Methods 0.000 description 10
- 230000004438 eyesight Effects 0.000 description 7
- 238000001514 detection method Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000010365 information processing Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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Abstract
It the utility model is related to a kind of compound weld seam tracking sensor, including mounting bracket, one end of mounting bracket is provided with the laser beam emitting device that can produce multiple laser beams, laser beam emitting device includes at least one generating laser, the other end of mounting bracket is provided with the first image acquiring sensor being engaged with generating laser, and the second image acquiring sensor for being used for gathering gray level image is provided between the first image acquiring sensor and generating laser.Compound weld seam tracking sensor weld seam recognition rate of the present utility model is high, resists strong light interference performance strong.
Description
Technical field
It the utility model is related to a kind of detection device, more particularly to a kind of compound weld seam tracking sensor.
Background technology
The existing weld seam vision sensor using laser active illumination is according to workpiece surface appearance feature, in detection not
During bevel butt weld, if the butt-joint clearance do not reserved, the foundation detected is only that weld seam both sides workpiece deviates reason
Think position and caused misalignment size, then just occur that misalignment size is too small and discrimination is low or the problem of None- identified.Together
When, as shown in Figure 1, existing laser vision sensor, more by the way of laser transmitter projects go out a smooth surface, in work
Part surface formed one of light line, then again with camera acquisition, analyze the light line.Its shortcoming is that the energy of laser is relatively scattered, letter
Number intensity it is relatively weak, be difficult to be applicable in the case where there is strong ambient light interference.
In view of it is above-mentioned the defects of, the design people, be actively subject to research and innovation, to found a kind of the compound of new structure
Type weld seam tracking sensor.
Utility model content
In order to solve the above technical problems, the purpose of this utility model is to provide, a kind of weld seam recognition rate is high, resists strong light interference
The strong compound weld seam tracking sensor of ability.
Compound weld seam tracking sensor of the present utility model, including mounting bracket, one end of the mounting bracket are provided with energy
The laser beam emitting device of multiple laser beams is enough produced, the laser beam emitting device includes at least one generating laser, mounting bracket
The other end be provided with the first image acquiring sensor being engaged with the generating laser, described first image collection sensing
The second image acquiring sensor for being used for gathering gray level image is provided between device and generating laser.
Further, compound weld seam tracking sensor of the present utility model, the main shaft of the laser beam is positioned at same flat
In face, and the laser beam that generating laser is sent is set in parallel, diverging or convergence.
Further, compound weld seam tracking sensor of the present utility model, it is additionally provided with the mounting bracket for shining
The light source of bright measured workpiece.
Further, compound weld seam tracking sensor of the present utility model, described first image collection sensor into
In being generally aligned in the same plane as primary optical axis and the laser beam main shaft of system, and the master of the imaging system of the first image acquiring sensor
The main shaft of optical axis and the laser beam is inclined to set.
Further, compound weld seam tracking sensor of the present utility model, described first image collection sensor are tool
There are the linear array images collection sensor of single file collecting unit or the image acquiring sensor with three row collecting units.
Further, compound weld seam tracking sensor of the present utility model, in addition to can minute angle vibration it is reflective
Mirror, the reflective mirror are arranged in the light path for the laser beam that generating laser is sent.
Further, compound weld seam tracking sensor of the present utility model, described first image collection sensor and the
Two image acquiring sensors turn into same imaging sensor, and tunable optical filter is provided with front of imaging sensor.
Further, compound weld seam tracking sensor of the present utility model, the tunable optical filter are automatically controlled adjustable filter
Light device or by multiple filter sets into filter disc.
By such scheme, the utility model at least has advantages below：Compound weld joint tracking of the present utility model passes
Sensor increases a 2D the second image acquiring sensor on the basis of the laser seam sensor of principle of triangulation, with
Just sensor information fusion is realized, improves the accommodation of weld seam tracking sensor work and the discrimination of weld seam.Wherein laser is sent out
Emitter coordinates with the first image acquiring sensor, forms laser vision, obtains the depth information of weld seam upright position, or simultaneously
Obtain the depth and weld seam horizontal position information of weld seam；Second image acquiring sensor, then by way of gray level image processing
Realize that the position of butt welding seam in the horizontal direction carries out detection judgement.Under some environment, the second image acquiring sensor needs to increase
Add the light source of irradiation weld seam, to improve the change of weld edge contrast.Second image acquiring sensor is also used as monitoring
Means, the subsidiary conditions of monitoring welding tracking process are provided for operator.In addition, compound weld joint tracking of the present utility model
Sensor, what its generating laser was sent is laser beam.If each laser beam is all arranged in approximately the same plane, just instead of
Lasing area in conventional laser vision sensor, it is different only in that a series of on cross section by being aligned in for illuminated with laser light
Luminous point or hot spot.As a result of laser beam, rather than lasing area, the energy of irradiation light is more concentrated, therefore anti-strong light interference energy
Power is stronger.Laser beam can use other arrangement modes according to task in theory, and be not necessarily intended in approximately the same plane,
The mathematical modeling being only arranged such that is simple, is easy to solve facula position.In summary, compound weld seam of the present utility model with
Track sensor is based on principle of triangulation, irradiates workpiece surface using multiple laser, strengthens the exposure intensity of hot spot, so as to improve
The reliability of visual information, increase strong resistance and strong light interference performance, while compound weld seam tracking sensor weld seam of the present utility model
Discrimination is high.
Described above is only the general introduction of technical solutions of the utility model, in order to better understand skill of the present utility model
Art means, and being practiced according to the content of specification, with preferred embodiment of the present utility model and coordinate accompanying drawing detailed below
Describe in detail bright as after.
Brief description of the drawings
Fig. 1 is the structural representation of existing weld seam tracking sensor；
Fig. 2 is the structural representation of the compound weld seam tracking sensor of embodiment one；
Fig. 3 is the use state figure of compound weld seam tracking sensor；
Fig. 4 is the structural representation of the compound weld seam tracking sensor of embodiment two；
Fig. 5 is that (wherein mounting bracket, the first image are adopted for the structural representation of the compound weld seam tracking sensor of embodiment three
Collection sensor, the second image acquiring sensor are not shown).
Embodiment
With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below
Embodiment is used to illustrate the utility model, but is not limited to the scope of the utility model.
Embodiment one：
The compound weld seam tracking sensor of the present embodiment on the basis of the laser seam sensor of principle of triangulation,
Increase a 2D the second image acquiring sensor, improve the scope of application of its work, and using multiple laser irradiation workpiece 4
Surface, improve the reliability of visual information.
Fig. 1 is the structure of conventional laser vision sensor, and the generating laser 1 on mounting bracket 6 sends one and swashed
Smooth surface, intersect with detected workpiece 4.What the generating laser 1 of the present embodiment was sent is laser beam.If each laser beam is all arranged
It is listed in approximately the same plane, just instead of the lasing area in conventional laser vision sensor, it is different only in that by illuminated with laser light
The a series of luminous points or hot spot that are aligned on cross section, rather than the light line of continuous shape of cross section.These laser
Beam can abreast be arranged as Fig. 2, can also divergently be arranged in sector as Fig. 4, to reduce generating laser
The volume of array.
Generating laser 1 coordinates with the first image acquiring sensor 2 in Fig. 2, forms laser vision, obtains the vertical position of weld seam
The depth information put, or the depth and weld seam horizontal position information of weld seam are obtained simultaneously；Second image acquiring sensor 3, then
Realize that the position of butt welding seam in the horizontal direction carries out detection judgement by way of gray level image processing.Under some environment, the
Two image acquiring sensors 3 need to increase the lighting source (being not drawn into figure) of irradiation weld seam, to improve weld edge contrast
Degree change.
Compound weld seam tracking sensor and welding gun 5 are placed in welding executing agency, such as robot or welding tractor
Be located at the front certain distance (as shown in Figure 3) of welding gun 5 Deng, compound weld seam tracking sensor, during welding, compound weld seam with
The weld information that track sensor will be observed that is transferred to computer or other mobile terminals, and seam track is obtained after processing, calculates
Machine or mobile terminal can real-time query welding gun deviate the distance of weld seam, real so as to control executing agency to adjust welding torch position
Now to the tracking of weld seam.
Especially, if making plane where laser beam be more convenient to calculate the Vertical Square of workpiece perpendicular to the surface of workpiece 4
To depth information.Similarly, if making the primary optical axis of the imaging system of the first image acquiring sensor perpendicular to workpiece surface,
The simplification on certain model can be obtained.But in terms of structure arrangement, it must typically make the imaging of the first image acquiring sensor
The primary optical axis of system and plane where laser beam are at an angle, to utilize principle of triangulation.
Embodiment two：
Distinguishingly, the primary optical axis and plane where laser beam that can also make the imaging system of the first image acquiring sensor are total to
Face, but the primary optical axis of imaging system and each bar laser beam are inclined, and hot spot energy caused by laser beam irradiation workpiece
It is enough to be imaged on the photosurface of the first image acquiring sensor, as shown in Figure 4.The compound weld seam tracking sensor of this spline structure
The characteristics of be：All hot spots are point-blank imaged, therefore the first image acquiring sensor can use linear array device (only
Have 1 row photosensitive array), information processing rate is fast.
If the physical location of laser beam, direction and design point have larger error, hot spot imaging will fall on line
Outside the photosensitive unit of the first image acquiring sensor of battle array.Can also be used for this have some a small number of row photosensitive units (such as
Have the photosensitive array of 3 rows) the first image acquiring sensor, facilitate use.At this moment can use sense corresponding to this several row
The methods of intensity signal weighted average that light unit detects, anticipates, and follow-up processing unit is then by the first IMAQ
The output of sensor gathers sensor as a linear array images and treated.
Especially, make laser beam regularly light or cease to go out, it might even be possible to make their alternately light on and off successively, Yi Jitong
One moment only had a laser beam and lighted.Because these rules, it is known that be used for hot spot by the position and direction of each laser beam
The solution of position, derivation algorithm can be simplified, improve information processing rate.In the situation using face battle array image acquiring sensor
Under, the constraints information of facula position has also been additionally provided, has been favorably improved calculation accuracy.
Embodiment three：
Preferably, reflective mirror 7 can be increased in the way that laser beam advances, realize and fold light path, reduce overall dimensions.
Especially, use can make the reflective mirror of minute angle vibration, the deflection of laser beam when gathering image information
Angle is also monitored, known, so that it may so that laser beam can scan between each hot spot, reaches hot spot to detecting section
All standing.As shown in figure 5, the reflective mirror that one side does minute angle vibration is employed, it is corresponding between the side-to-side vibrations limit
Hot spot can with whole line segments of inswept two neighboring hot spot, as long as that is, the scanning displacement of hot spot be more than two neighboring hot spot
Between ultimate range.The quantity of laser beam thus can be reduced and can equally obtain intensive fine test point light
Spot.
It the above is only preferred embodiment of the present utility model, be not limited to the utility model, it is noted that for
For those skilled in the art, on the premise of the utility model technical principle is not departed from, if can also make
Dry improvement and modification, these improvement and modification also should be regarded as the scope of protection of the utility model.
Claims (8)
1. a kind of compound weld seam tracking sensor, including mounting bracket, it is characterised in that：One end of the mounting bracket is provided with energy
The laser beam emitting device of multiple laser beams is enough produced, the laser beam emitting device includes at least one generating laser, mounting bracket
The other end be provided with the first image acquiring sensor being engaged with the generating laser, described first image collection sensing
The second image acquiring sensor for being used for gathering gray level image is provided between device and generating laser.
2. compound weld seam tracking sensor according to claim 1, it is characterised in that：The main shaft of the laser beam is located at
In same plane, and the laser beam that generating laser is sent is set in parallel, diverging or convergence.
3. compound weld seam tracking sensor according to claim 1, it is characterised in that：It is additionally provided with the mounting bracket
For illuminating the light source of measured workpiece.
4. compound weld seam tracking sensor according to claim 1, it is characterised in that：Described first image collection sensing
In the primary optical axis and laser beam main shaft of the imaging system of device are generally aligned in the same plane, and the imaging system of the first image acquiring sensor
The main shaft of the primary optical axis of system and the laser beam is inclined to set.
5. compound weld seam tracking sensor according to claim 1, it is characterised in that：Described first image collection sensing
Device gathers sensor or the image acquiring sensor with three row collecting units for the linear array images with single file collecting unit.
6. the compound weld seam tracking sensor according to any one of claim 1-5, it is characterised in that：Also including can be micro-
The reflective mirror of low-angle vibration, the reflective mirror are arranged in the light path for the laser beam that generating laser is sent.
7. the compound weld seam tracking sensor according to any one of claim 1-5, it is characterised in that：First figure
Turn into same imaging sensor as gathering sensor and the second image acquiring sensor, and be provided with front of imaging sensor
Tunable optical filter.
8. compound weld seam tracking sensor according to claim 7, it is characterised in that：The tunable optical filter is automatically controlled
Tunable optical filter or by multiple filter sets into filter disc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720450504.2U CN206936651U (en) | 2017-04-26 | 2017-04-26 | Compound weld seam tracking sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720450504.2U CN206936651U (en) | 2017-04-26 | 2017-04-26 | Compound weld seam tracking sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206936651U true CN206936651U (en) | 2018-01-30 |
Family
ID=61358846
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720450504.2U Expired - Fee Related CN206936651U (en) | 2017-04-26 | 2017-04-26 | Compound weld seam tracking sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206936651U (en) |
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2017
- 2017-04-26 CN CN201720450504.2U patent/CN206936651U/en not_active Expired - Fee Related
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180130 |
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| CF01 | Termination of patent right due to non-payment of annual fee |