CN208398805U - Welding stud visual detection device matched with robot for use - Google Patents
Welding stud visual detection device matched with robot for use Download PDFInfo
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- CN208398805U CN208398805U CN201820683504.1U CN201820683504U CN208398805U CN 208398805 U CN208398805 U CN 208398805U CN 201820683504 U CN201820683504 U CN 201820683504U CN 208398805 U CN208398805 U CN 208398805U
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- industrial robot
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- detection device
- welding screw
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- 238000003466 welding Methods 0.000 title claims abstract description 56
- 238000001514 detection method Methods 0.000 title claims abstract description 29
- 230000000007 visual effect Effects 0.000 title abstract description 3
- 239000000523 sample Substances 0.000 claims abstract description 24
- 238000007689 inspection Methods 0.000 claims description 11
- 238000009826 distribution Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000012937 correction Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000005259 measurement Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- PCTMTFRHKVHKIS-BMFZQQSSSA-N (1s,3r,4e,6e,8e,10e,12e,14e,16e,18s,19r,20r,21s,25r,27r,30r,31r,33s,35r,37s,38r)-3-[(2r,3s,4s,5s,6r)-4-amino-3,5-dihydroxy-6-methyloxan-2-yl]oxy-19,25,27,30,31,33,35,37-octahydroxy-18,20,21-trimethyl-23-oxo-22,39-dioxabicyclo[33.3.1]nonatriaconta-4,6,8,10 Chemical compound C1C=C2C[C@@H](OS(O)(=O)=O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2.O[C@H]1[C@@H](N)[C@H](O)[C@@H](C)O[C@H]1O[C@H]1/C=C/C=C/C=C/C=C/C=C/C=C/C=C/[C@H](C)[C@@H](O)[C@@H](C)[C@H](C)OC(=O)C[C@H](O)C[C@H](O)CC[C@@H](O)[C@H](O)C[C@H](O)C[C@](O)(C[C@H](O)[C@H]2C(O)=O)O[C@H]2C1 PCTMTFRHKVHKIS-BMFZQQSSSA-N 0.000 description 1
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- 229910052742 iron Inorganic materials 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The utility model discloses a welding stud vision detection device used in cooperation with a robot, which comprises an industrial robot, a detection device, an industrial personal computer and an industrial robot controller, wherein the detection device is arranged at the front end of the industrial robot and comprises a shell, an image acquisition device arranged in the shell, and a contact probe which is at least three and is vertically arranged outside the shell towards the direction of a measured object; adjusting the posture of the industrial robot according to the position information of the welding plane acquired by the contact probe, so that the position of the detection device meets the requirement; the device combines the flexibility characteristic of a robot and a visual detection technology, and three contact probes are simultaneously contacted with the plane of the welding stud to be detected, so that the front surface of the image acquisition device is ensured to be parallel to the plane of the welding stud to be detected, and the accuracy and the definition of camera phase taking are improved; the welding position and angle information of the stud to be measured are accurately measured, the labor is saved, and the repair rate of stud welding workpieces is reduced.
Description
Technical field
The utility model relates to intelligence manufacture fields, and in particular to a kind of welding screw vision inspection that cooperation robot uses
Survey device.
Background technique
Arc stud welding is a kind of widely applied connection type, in workpiece manufacturing field by it is well known that such as: an Automobile
Stud with it up to up to a hundred, be highly important processing technology in automobile manufacture for connecting each building block, because
This, whether welding screw position will precisely directly affect subsequent assembly；Traditional welding screw position measurement is using artificial
Tape measure, such as: dial gauge, iron plate ruler, wedge-shaped feeler gauge etc., time-consuming and measurement accuracy is poor, not smart to the detection of welding screw
Standard, not intelligent, labor intensive cost.
Summary of the invention
The purpose of the utility model is to provide a kind of flexible measuring feature of combination industrial robot and vision detection technology,
Accurate measurement welding screw position, while manpower is saved, distort small, image in order to obtain in visual detection algorithm treatment process
Complete stud tip circle and bottom circle information, camera need parallel face to be tested the shooting of stud surface location.
For this purpose, the technical solution of the utility model is as follows:
A kind of welding screw vision inspection apparatus that cooperation robot uses, including industrial robot, detection device, industry control
Machine and industrial robot controller, the connection between above-mentioned component are electrical connection, the industrial robot controller and the work
Industry robot connection, for controlling the movement of the industrial robot；
The detection device is mounted on the front end of the industrial robot, including shell, is mounted on the shell in-vivo image
Acquisition device, the hull outside are at least set towards right angle setting contact type probe on measured object direction, the contact type probe
Set three；
The industrial personal computer is connect with the contact type probe and industrial robot controller respectively, is connect according to collected
The location information data of touch probe judges whether that all contact type probes have touched welding plane, if it is not, then calculating
Industrial robot position correction data, and this data is transmitted to industrial robot controller, then adjust industrial robot
Posture, until all contact type probes are in contact with welding plane.
Preferably, the contact type probe is arranged three, and position distribution triangular in shape guarantees the detection device with this
Housing front faces are parallel with plane where welding screw to be measured.
Further, described image acquisition device is used to acquire the image information of welding screw to be measured, and by collected figure
As information data transmission to industrial personal computer；The industrial personal computer handles acquired image data, obtains welding screw to be measured
Position offset and tilt angle data between pre-stored benchmark stud position determine position offset and tilt angle
It is whether qualified, show judgment basis or/and result.
Further, light source is arranged in the shell single side surface of the detection device；The surface of shell that light source is arranged is the figure
As the opposite face of acquisition device；Preferably, the light source is LED area array light source, so that uniform illumination, image clearly.
Further, the detection device is mounted on the front end of the industrial robot, the fixed dress by fixed device
Set the driving for including fixed block, being symmetrically hinged on two clamping limbs on the fixed block and the control clamping limb movement
Cylinder；Fixed test device when described two clamping limbs are closed.
Further, be one of the forming three sections of described two clamping limbs, first segment is arc, second segment is straight line,
Three sections are arc.
The utility model has the advantages that
1) it is contacted simultaneously using three contact type probes with plane where welding screw to be measured, guarantees image collecting device
Front surface is parallel with plane where welding screw to be measured, improves accuracy and clarity that camera takes phase.
2) clamping limb can firmly fix detection device, it is ensured that the safety of detection device in use.
3) this detection device utilizes vision measurement principle, and the accurate welding position for measuring tested stud, angle information are saved
Manpower reduces arc stud welding workpiece repair rate.
Detailed description of the invention
Fig. 1 is the utility model overall structure diagram；
Fig. 2 is detection device shell and contact type probe, light source position structural schematic diagram；
Fig. 3 is fixture structure schematic diagram；
Fig. 4 is the schematic diagram that tested stud is imaged in image collecting device.
Specific embodiment
The technical solution of the utility model is described in detail below in conjunction with the drawings and specific embodiments.
A kind of welding screw vision inspection apparatus that cooperation robot uses, including industrial robot 1, detection device 3, work
Control machine 5 and industrial robot controller 6；Industrial robot controller 6 is connect by signal wire 4 with industrial robot 1, for controlling
The movement of industrial robot 1 processed, detection device 3 are mounted in the front end of industrial robot 1, including shell, shell and install image
Acquisition device, image collector is set to camera in the present embodiment；
Hull outside is towards three contact type probes 12 of right angle setting on measured object direction, and position distribution triangular in shape；
In measurement, detection device 3 passes through the front end that fixed device 2 is mounted on industrial robot 1, and fixed device 2 includes solid
Determine block 11, three sections that symmetrical two clamping limbs, 18, two clamping limbs being hinged on fixed block are one of the forming, first segment is
Arc, second segment are straight line, third section is arc, and driving cylinder 20 controls the closure of clamping limb 18 and carrys out fixed test device 3.
Industrial personal computer 5 is connect with contact type probe 12 and industrial robot controller 6 respectively, and industrial personal computer 5 is visited according to contact
The location information of the collected welding plane 8 of needle 12, analyses whether that three contact type probes 12 have touched welding plane 8,
If it exists not in contact with the probe for arriving welding plane 8, then analysis result is fed back into industrial robot controller 6, adjust industrial machine
The posture of device people 1, until all contact type probes 12 are in contact with welding plane 8, detection device 3 and welding plane 8 are protected at this time
Maintain an equal level row.
In use, LED area array light source is arranged in shell single side surface；The surface of shell that light source is arranged is image collecting device
Opposite face, light source is opened in detection process, and light illuminates welding screw.
Image collecting device is used to acquire the image information of welding screw to be measured, and acquired image information data is passed
Transport to industrial personal computer 5, i.e., the welding position plane that the camera face being arranged inside detection device is tested stud is taken pictures, obtain to
Arc stud welding image is surveyed, industrial personal computer 5 handles acquired image data, obtains welding screw to be measured and pre-stored benchmark
Position offset and tilt angle data between stud position determine whether position offset and tilt angle are qualified, display
Judgment basis or/and result.
Industrial personal computer carries out image procossing according to collected welding screw image, and image processing process is as follows:
2. camera calibration obtains the corresponding relationship between photo coordinate system and world coordinate system；
2. in three-dimensional coordinate system, the top and bottom of welding screw are respectively small one and large one disc, and center of circle position
In (such as Fig. 4) on the axis of stud, therefore can be joined by the pose that the three-dimensional information at two disc centers obtains welding screw
Number obtains the posture information of benchmark stud in advance, by comparing the posture information of tested stud AB and benchmark stud CD, obtains
The offset of tested stud.The complete stud tip circle of the small image that distorts in order to obtain and bottom circle information, camera need parallel face
Tested stud surface location shooting.
ABCD indicates the center of circle, and LAC is the offset of tested welding screw, welding screw center line AB and center line CD
Angle be tested welding screw tilt angle offset.
3. in two dimensional image plane coordinate system, tip circle center B, D are projected on the plane of delineation, adjustment detection device is right against
Tested stud, opens light source, acquires image, and host computer carries out feature extraction to stud image, carries out the identification of class oval feature, obtains
Obtain the pixel coordinate of A B ' the C D ' under image coordinate system
Pixel coordinate information and unit pixel according to A B ' C D ' correspond to the physical size in X-axis and Y direction, can
The tilt angle offset of the offset LAC and tested welding screw of tested welding screw relative datum stud is calculated
Amount.
Position offset and angular deviation of the tested welding screw relative to base position are obtained.Judgement welding spiral shell
Whether column position is qualified.Host computer provides measurement result prompt, and measurement terminates.
Claims (7)
1. a kind of welding screw vision inspection apparatus that uses of cooperation robot, including industrial robot (1), detection device (3),
Industrial personal computer (5) and industrial robot controller (6), the connection between above-mentioned component are electrical connection, the industrial robot control
Device (6) is connect with the industrial robot (1), for controlling the movement of the industrial robot (1), it is characterised in that:
The detection device (3) is mounted on the front end of the industrial robot (1), including shell, is mounted in the shell and schemes
As acquisition device, the hull outside is towards right angle setting contact type probe (12), the contact type probe on measured object direction
(12) at least it is arranged three；
The industrial personal computer (5) connect with the contact type probe (12) and industrial robot controller (6) respectively, according to acquisition
The location information data of the contact type probe (12) arrived judges whether that all contact type probes (12) have touched welding plane
(8), if it is not, then calculating industrial robot (1) position correction data, and this data is transmitted to industrial robot controller
(6), the posture of industrial robot (1) is then adjusted, until all contact type probes (12) are in contact with welding plane (8).
2. the welding screw vision inspection apparatus that cooperation robot uses as described in claim 1, it is characterised in that: described image
Acquisition device is used to acquire the image information of welding screw to be measured, and by acquired image information data transmission to industrial personal computer
(5)；The industrial personal computer (5) handles acquired image data, obtains welding screw to be measured and pre-stored benchmark spiral shell
Position offset and tilt angle data between column position determine whether position offset and tilt angle are qualified, and display is sentenced
Disconnected foundation or/and result.
3. the welding screw vision inspection apparatus that cooperation robot uses as described in claim 1, it is characterised in that: the detection
Light source is arranged in the shell single side surface of device (3)；The surface that the shell of light source is arranged is the opposite face of described image acquisition device.
4. the welding screw vision inspection apparatus that cooperation robot uses as claimed in claim 3, it is characterised in that: the light source
For LED area array light source.
5. the welding screw vision inspection apparatus that cooperation robot uses as described in claim 1, it is characterised in that: the contact
Formula probe (12) is arranged three, position distribution triangular in shape.
6. the welding screw vision inspection apparatus that cooperation robot uses as described in claim 1, it is characterised in that: the detection
Device (3) passes through the front end that fixed device (2) are mounted on the industrial robot (1), and the fixed device (2) includes fixed block
(11), the driving cylinder of two clamping limbs (18) and control being symmetrically hinged on the fixed block clamping limb movement
(19)；Fixed test device (3) when described two clamping limbs (18) are closed.
7. the welding screw vision inspection apparatus that cooperation robot uses as claimed in claim 6, it is characterised in that: described two
Be one of the forming three sections of clamping limb, first segment is arc, second segment is straight line, third section is arc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820683504.1U CN208398805U (en) | 2018-05-09 | 2018-05-09 | Welding stud visual detection device matched with robot for use |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820683504.1U CN208398805U (en) | 2018-05-09 | 2018-05-09 | Welding stud visual detection device matched with robot for use |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208398805U true CN208398805U (en) | 2019-01-18 |
Family
ID=65062813
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820683504.1U Active CN208398805U (en) | 2018-05-09 | 2018-05-09 | Welding stud visual detection device matched with robot for use |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208398805U (en) |
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2018
- 2018-05-09 CN CN201820683504.1U patent/CN208398805U/en active Active
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