CN208653413U - A kind of laser sensor - Google Patents
A kind of laser sensor Download PDFInfo
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- CN208653413U CN208653413U CN201820905596.3U CN201820905596U CN208653413U CN 208653413 U CN208653413 U CN 208653413U CN 201820905596 U CN201820905596 U CN 201820905596U CN 208653413 U CN208653413 U CN 208653413U
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- 230000005611 electricity Effects 0.000 claims description 6
- 238000009738 saturating Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 11
- 238000005259 measurement Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 238000003466 welding Methods 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 3
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Abstract
The utility model discloses a kind of laser sensors, comprising: laser emitter, imaging len, imaging sensor, bracket and driving motor, bracket are fixedly installed on the motor shaft of driving motor, and driving motor driving arm is swung with respect to motor shaft axial line；Laser emitter, imaging len and imaging sensor are fixedly installed on bracket and imaging len and imaging sensor are arranged at intervals on the RX path to diffuse；The laser beam projects that laser emitter issues form point shaped laser spot in object under test surface, then it reflects to form and diffuses outward through object under test surface, the left side or right side of motor shaft axial line is arranged in imaging len and imaging sensor, is projeced on imaging sensor after the imaged lens that diffuse.The small in size of the laser sensor, environment resistant interference performance are strong, and detection is reliable, accurate.
Description
Technical field
The utility model relates to laser technology field more particularly to a kind of laser sensors.
Background technique
Laser technology is grown rapidly in recent years, and since laser has, good directionality, brightness is high, monochromaticjty is good and energy is close
The features such as high is spent, thus laser triangulation technique is widely used in the fields such as industrial production, communication, information processing, especially existing
Using more extensive in the industrial productions such as welding, cutting, measurement.
Laser sensor is generallyd use during measuring the non-cpntact measurement of object distance, detection object pattern to be surveyed
Amount, currently used laser sensor form one using the laser emitter that can project a fan-shaped smooth surface on object appearance
Then road hot spot is acquired again using imaging sensor, analyzes the hot spot.Such laser sensor is in measurement process, especially
For the strong object under test of measurement surface reflection, easily generation interference phenomenon, thus the application of such laser sensor is limited.
Laser sensor is usually used cooperatively with execution system, such laser sensor is executed when measuring a region
System drives laser sensor to advance, direction of advance perpendicular to or be approximately perpendicular to lasing area, and general laser sensor is
Imaging len, imaging sensor are arranged on the direction of advance, then the length in direction of advance is just longer.If to be measured
The end of object direction of advance is difficult to complete the measurement of all patterns of measuring targets in direction of advance there are barrier, can
It is poor up to property.
Utility model content
The technical issues of solving needed for the utility model is: providing that a kind of environment resistant light interference performance is strong, small in size swashs
Optical sensor.
To solve the above problems, the technical solution adopted in the utility model is: a kind of laser sensor, comprising:
Laser emitter, imaging len, imaging sensor, bracket and driving motor, bracket are fixedly installed on the motor shaft of driving motor
On, laser emitter, imaging len and imaging sensor are fixedly installed on bracket and between imaging len and imaging sensor
Every being set on the RX path to diffuse；The laser beam projects that laser emitter issues form dotted in object under test surface
Then hot spot is reflected to form outward through object under test surface and is diffused, imaging len and imaging sensor are arranged in motor shaft
The left side or right side of axial line are projeced on imaging sensor after the imaged lens that diffuse.
Further, a kind of laser sensor above-mentioned, wherein driving motor driving arm is with respect to motor shaft axle center string pendulum
When dynamic, the inswept plane of scanning motion of straight line where the laser beam that laser emitter issues, the primary optical axis of imaging len and scanning are flat
Face is coplanar.
Further, a kind of laser sensor above-mentioned, wherein the plane of scanning motion is perpendicular to motor shaft axial line.
Further, a kind of laser sensor above-mentioned, wherein imaging sensor used uses linear array photosensitive element, at
As the primary optical axis of lens is coplanar with the plane of scanning motion, the plane of scanning motion makes the sense of linear array photosensitive element perpendicular to motor shaft axial line
Light is coplanar with the plane of scanning motion.
Further, a kind of laser sensor above-mentioned, wherein receiving light path refractive power member is further fixedly arranged on bracket
Part；Diffuse and be projeced on receiving light path dioptric element after imaged lens, then received optical path dioptric element reflection in
On imaging sensor；Or diffuse and be projeced on receiving light path dioptric element, then received optical path dioptric element reflection
By being projeced on imaging sensor after imaging len.
Further, a kind of laser sensor above-mentioned, wherein transmitting optical path refractive power member is further fixedly arranged on bracket
Part, the laser beam projects that laser emitter issues are on transmitting optical path dioptric element, and then emitted optical path dioptric element reflects
Point shaped laser spot is formed in object under test surface.
Further, a kind of laser sensor above-mentioned, wherein the imaging len is by the first imaging len and second
Imaging len composition, imaging sensor is made of the first imaging sensor and the second imaging sensor, the first imaging len and the
One imaging sensor is located at the left side of laser sensor, and the second imaging len and the second imaging sensor are located at laser sensor
Right side.
First imaging sensor and the second imaging sensor is linear array photosensitive element, the first imaging len and second
The primary optical axis of imaging len is coplanar with the plane of scanning motion, the photosensitive line of the first imaging sensor and the second imaging sensor with sweep
Retouch co-planar.
Further, a kind of laser sensor above-mentioned, wherein straight line where laser beam intersects with motor shaft axial line.
Further, a kind of laser sensor above-mentioned, wherein all element sets for following drive motor shaft to swing
Mass center is on motor shaft axial line.
Further, a kind of laser sensor above-mentioned, wherein the driving motor is oscillating motor, is swinging electricity
The angle detector for measuring motor shaft swing angle is provided on the motor shaft of machine.
Further, a kind of laser sensor above-mentioned, wherein the oscillating motor is fan-shaped motor, angle detection
Device is fan-shaped encoder.
Further, a kind of laser sensor above-mentioned, wherein laser emitter is connected with laser power control,
The laser power control control illuminating state of laser emitter, OFF state and light brightness；Imaging sensor and detection are believed
Breath processor is connected.
The beneficial effects of the utility model are: the laser sensor environment resistant interference performance is strong, laser sensing is effectively improved
The detection reliability and accuracy of device；Furthermore the length of the laser sensor in a forward direction compares traditional laser sensor
Length in a forward direction wants short.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the first embodiment of laser sensor described in the utility model.
Fig. 2 is the usage state diagram that laser sensor Yu welding gun, the work pieces mate of right view direction in Fig. 1 use.
Fig. 3 is a kind of structural schematic diagram of second of embodiment of laser sensor described in the utility model.
Fig. 4 is a kind of structural schematic diagram of the third embodiment of laser sensor described in the utility model.
Fig. 5 is a kind of structural schematic diagram of the 4th kind of embodiment of laser sensor described in the utility model.
Fig. 6 is a kind of structural schematic diagram of the 5th kind of embodiment of laser sensor described in the utility model.
Fig. 7 is the usage state diagram that laser sensor Yu welding gun, the work pieces mate of right view direction in Fig. 6 use.
Specific embodiment
With reference to the accompanying drawing and preferred embodiment is described in further detail technical solution described in the utility model.
Embodiment one
As depicted in figs. 1 and 2, a kind of laser sensor described in the present embodiment, comprising: laser emitter 1, imaging len
2, imaging sensor 3, bracket 20 and driving motor 4, bracket 20 are fixedly installed on the motor shaft of driving motor 4, Laser emission
Device 1, imaging len 2 and imaging sensor 3 are fixedly installed on bracket 20 and imaging len 2 and the interval of imaging sensor 3 are set
It is placed on the RX path to diffuse.In actual use, bracket 20 can be the support frame of a fixed component
Frame is also possible to the shell for wrapping all component the covers being fixed on bracket 20.What laser emitter 1 issued
Laser beam projects form point shaped laser spot in 100 surface of object under test, then reflect to form outward through 100 surface of object under test unrestrained
Reflected light, imaging len 2 and imaging sensor 3 are arranged at intervals on the RX path to diffuse.It diffuses imaged
It is projeced into after mirror 2 on imaging sensor 3.Imaging len 2 and imaging sensor 3 be arranged in motor shaft axial line 10 left side or
Right side.Pass through laser beam oscillatory scanning, so that it may detect the pattern of a profiled outline on 100 surface of object under test.At this moment
It needs using complicated array image sensor.
When the opposite motor shaft axial line 10 of 4 driving arm of driving motor 20 is swung, the laser beam institute of laser emitter sending
In the inswept plane of scanning motion of straight line, if the primary optical axis of imaging len 2 is coplanar with the plane of scanning motion, by being shone formed by lens 2
The picture for penetrating hot spot can be at point-blank, then imaging sensor 3 can use a linear array photosensitive element, linear array
The photosensitive line of photosensitive element is coplanar with the plane of scanning motion.
When the opposite motor shaft axial line 10 of 4 driving arm 20 of driving motor is swung, if motor shaft axial line 10 perpendicular to
The inswept plane of straight line where the laser beam that laser emitter 1 issues, can also reduce by the picture of 100 surface hot spot of object under test with
Irradiate the complexity of hot spot self-position corresponding relationship.
The laser beam projects that laser emitter 1 issues form point shaped laser spot in 100 surface of object under test, we swash this
Optical transmitting set 1 is referred to as dot laser, irradiation 100 surface of object under test is scanned using dot laser, since the irradiation of shaped laser spot is bright
Degree is strong more than the irradiation brightness of linear hot spot, and the environment resistant light interference performance of laser sensor can be improved.
Driving motor 4 described in the present embodiment can use servo motor, pass through the electric current side in control servo motor
To the swing for realizing motor shaft, oscillating motor can also be directlyed adopt certainly.As shown in Fig. 2, being set on the motor shaft of oscillating motor
It is equipped with the angle detector 5 for measuring motor shaft swing angle, setting angle detector 5 can be best understood from, control electricity
The swing angle of arbor.
During actual measurement, the reflectance on different 100 surfaces of object under test, concave-convex degree etc. are different, thus
When being detected for different objects under test 100, it usually needs adjust Laser emission according to 100 surface topography of actual determinand body
The brightness for the laser beam that device 1 issues.Laser power control, Laser emission are additionally provided in the present embodiment in laser sensor
Device 1 is connected with laser power control, laser power control control the illuminating state of laser emitter 1, OFF state and
Light brightness.Laser emitter 1 is controlled by laser power control just to light within the period that detection unit exposes.
Laser sensor usually requires to be used cooperatively with execution system, as depicted in figs. 1 and 2, here with by the laser
Sensor is fixedly installed on welding gun 50, is illustrated for tracking weld information by the laser sensor, certain laser sensing
The use of device is not limited to weld joint tracking.Assuming that on 1 projection distance direction of laser emitter, detection range is N point to F
Point, then the visual angle of imaging system is only the angle φ, the range in the visual field is mainly that rotational angle theta is leaned on to extend.If it is desired to detection
Workpiece surface be range from Po point to Pn point, if imaging system is fixed relative to workpiece interface, it is necessary to which visual angle is expanded
Exhibition is angle Po-O-Pn, and the camera lens of imaging sensor 3 can complicated, huge many.On the other hand, for imaging len 2, N point
Object distance it is short, image distance is just grown；The object distance of F point is long, and image distance is with regard to short, then can be saturating relative to imaging by imaging sensor 3
The inclined arrangement of mirror 2 is advantageous to improve detection essence so that all the points on Z-F line segment are imaged perfectly
Degree.
The coordinate system that pivot center (10) might as well be crossed with origin indicates the position of test point P.If the distance of A point to P point is
H, then h can be determined by the hot spot imaging position that imaging sensor (3) are judged as one, then the P under sensor coordinate system
(x, z) has according to coordinate conversion relation:
x = h*sinθ-W*cosθ
z = h*cosθ+ W*sinθ
As it can be seen that P point is uniquely determined by h and θ, that is, uniquely determined by hot spot imaging position with rotational angle theta.Wherein, rotational angle theta can
It is learnt by roll angle inspection element, h can be learnt by the position of luminous point p in imaging sensor.
In actual operation, the centre of gyration of laser sensor can be selected according to actual needs, it is general there are three types of
Mode:
First way: in order to simplify the solution process for solving P point position, motor shaft axial line and laser beam institute can be made
Both shown in Figure 1 to intersect at A point in straight line intersection, the centre of gyration selects A point at this time.
The second way: in order to simplify the solution process for solving P point position, motor shaft axial line and imaging can also be made saturating
The intersection of 2 primary optical axis of mirror refers to the two shown in Fig. 2 and intersects at C point, and the centre of gyration selects C point at this time.
It is created of course for the solution process for simplifying solution P point position, and for imaging sensor 3 using linear array photosensitive element
Condition is made, following adjustment can be done on the basis of first way or the second way: make the primary optical axis of imaging len 2 and sweep
Co-planar is retouched, or further makes the photosensitive line of linear array photosensitive element also coplanar with the plane of scanning motion again.
Imaging sensor 3 can be CCD device, be also possible to CMOS or other kinds of device.Particularly, which passes
Sensor 3 can be linear array photosensitive element, because the hot spot on the workpiece formed along laser beam is necessarily in straight line, fall in N-
On F line segment, as also the plane inswept with laser beam of straight line where linear array photosensitive element point-blank, need to be only total to by certainty
Face, it is conllinear with the position of measured point imaging at both ends, all test point blur-free imagings can be made.Imaging sensor uses linear array
Photosensitive element, can be than greatly improving processing speed using face battle array photosensitive element.
The third mode: the selection for the centre of gyration of laser sensor sometimes also needs to consider rotating part
Inertia swashs at this time when the mass center of all element sets for following drive motor shaft to swing is overlapped by selection with motor shaft axial line
The rotary inertia of optical sensor is minimum, most beneficial for the scan frequency for improving laser sensor.
One of which that in actual use can according to actual needs in three kinds of modes of flexible choice.
Embodiment two
Fig. 3 provides the structural schematic diagram of another embodiment, as shown in figure 3, the present embodiment it is different from embodiment one it
Be in: be further fixedly arranged on bracket 20 transmitting optical path dioptric element 7, the laser beam projects that laser emitter 1 issues in
Emit on optical path dioptric element 7, then the emitted reflection of optical path dioptric element 7 forms point shaped laser spot in 100 surface of object under test.
Transmitting optical path dioptric element 7 can be diffused using bendings such as reflective mirror, prisms, so that laser sensor be made integrally more to step up
It gathers, further reduces the overall volume of laser sensor.
Embodiment three
Fig. 4 provides the structural schematic diagram of another embodiment, as shown in figure 4, the present embodiment it is different from embodiment one it
Be in: receiving light path dioptric element 6 is further fixedly arranged on bracket 20, the position of receiving light path dioptric element 6 is provided with
Two ways:
First way: the position of receiving light path dioptric element 6, which is arranged, to be guaranteed: being projected after the imaged lens 2 that diffuse
In on receiving light path dioptric element 6, then the received reflection of optical path dioptric element 6 is on imaging sensor 3.
The second way: the position of receiving light path dioptric element 6, which is arranged, to be guaranteed: being diffused and is projeced into receiving light path refractive power
On element 6, then received optical path dioptric element 6 is projeced on imaging sensor 3 after reflecting after imaging len 2.
Receiving light path dioptric element 6 can bend laser beam using reflective mirror, prism etc., to keep laser sensor whole
It is more compact, further reduce the overall volume of laser sensor.
Example IV
Fig. 5 provides the structural schematic diagram of another embodiment, as shown in figure 5, the present embodiment it is different from embodiment one it
Be in: using two imaging lens in the present embodiment: the first imaging len 2-1 and the second imaging len, and use two
Imaging sensor: the first imaging sensor 3-1 and the second imaging sensor 3-2.For convenience of description, by laser sensor advance side
To the positive direction of Y-axis in i.e. Fig. 2 is defined as " preceding ".Wherein the first imaging len 2-1 and the first imaging sensor 3-1 is located at electricity
The left side of arbor axial line 10, the second imaging len 2-2 and the second imaging sensor 3-2 are located at the right side of motor shaft axial line 10
Side.First imaging len 2-1 and the second imaging len 2-2 is symmetrical or close to being symmetrically disposed on 10 two sides of motor shaft axial line, phase
Ying Di, the first imaging sensor 3-1 and the second imaging sensor 3-2 are symmetrical or close to being symmetrically disposed on motor shaft axial line 10
Two sides.
When first imaging sensor and the second imaging sensor use linear array photosensitive element, the first imaging len and the second one-tenth
As the primary optical axis of lens is coplanar with the plane of scanning motion, the photosensitive line of the first imaging sensor and the second imaging sensor with scanning
Co-planar.
Setting using the above structure, even if object under test 100 is very strong there are surface reflection or there is concave-convex hide
At least one problems such as gear situation or the noise of image sensor signal are relatively low, as long as there is an imaging sensor can
Obtain good image information, can also stablize, accurately detect object under test 100 pattern.Using from same in the present embodiment
Two light of any calculate the facula position on object under test 100, the received place that diffuses the first imaging sensor 3-1
Angle α between the place straight line that diffuses of the receiving of straight line and the second imaging sensor 3-2 is than the angle β in embodiment one
It is obvious much greater, it is higher than by two contained side detection and localization point precision of β by two contained side detection and localization points of α, because
And detection accuracy of the detection accuracy of laser sensor described in the present embodiment also than embodiment one is high.
Embodiment five
Fig. 6 and Fig. 7 provides the structural schematic diagram of another embodiment, and the present embodiment and the difference of embodiment one exist
In overall volume in order to further reduce laser sensor, oscillating motor can be using fan-shaped motor, and angle detector can be with
It, in this way can be with using fan-shaped encoder, or the cramped construction being combined as a whole using fan-shaped motor and fan-shaped photoelectric encoder
Under conditions of laser sensor volume does not increase, the dial disc radius of fan-shaped photoelectric encoder is made larger, so as to
Improve angle measurement accuracy.Referring to shown in Fig. 6 and Fig. 7, the rotor of fan-shaped motor is reduced to sector (-shaped) coil 4-2, the stator of fan-shaped motor
Also it can simplify as sector electromagnet 4-1, the fixed part of fan-shaped photoelectric encoder is Photoelectric Detection head 5-1, Photoelectric Detection head 5-1
Reflective gratings information detector can be used.The rotating part of fan-shaped photoelectric encoder is fan-shaped grating 5-2.
The above is only the preferred embodiment of the utility model, is not to make any other form to the utility model
Limitation, and according to any modification or equivalent variations made by the technical essence of the utility model, still fall within the requires of the utility model
The range of protection.
The utility model has the advantages that: the laser sensor environment resistant interference performance is strong, effectively improves laser sensor
Detect reliability and accuracy；Furthermore the length of the laser sensor in a forward direction is compared to traditional laser sensor preceding
Want short into the length on direction.
Claims (13)
1. a kind of laser sensor, comprising: laser emitter, imaging len and imaging sensor, it is characterised in that: further include branch
Frame and driving motor, bracket are fixedly installed on the motor shaft of driving motor, and driving motor driving arm is with respect to motor shaft axle center
String pendulum is dynamic；Laser emitter, imaging len and imaging sensor are fixedly installed on bracket and imaging len and image sensing
Device is arranged at intervals on the RX path to diffuse；The laser beam projects that laser emitter issues are formed in object under test surface
Point shaped laser spot, then reflects to form outward through object under test surface and diffuses, and imaging len and imaging sensor are arranged in electricity
The left side or right side of arbor axial line are projeced on imaging sensor after the imaged lens that diffuse.
2. a kind of laser sensor described in accordance with the claim 1, it is characterised in that: driving motor driving arm is with respect to motor shaft
When axial line is swung, the inswept plane of scanning motion of straight line where the laser beam that laser emitter issues, the primary optical axis of imaging len
It is coplanar with the plane of scanning motion.
3. a kind of laser sensor described in accordance with the claim 1, it is characterised in that: driving motor driving arm is with respect to motor shaft
When axial line is swung, the plane of scanning motion that straight line where the laser beam that laser emitter issues is inswept is perpendicular to motor shaft axial line.
4. a kind of laser sensor described in accordance with the claim 3, it is characterised in that: the imaging sensor is that linear array is photosensitive
The primary optical axis of element, imaging len is coplanar with the plane of scanning motion, and the photosensitive line of linear array photosensitive element is coplanar with the plane of scanning motion.
5. according to a kind of laser sensor described in claim 1,2 or 3, it is characterised in that: be further fixedly arranged on bracket
Receiving light path dioptric element；It diffuses and is projeced on receiving light path dioptric element after imaged lens, then received optical path
Dioptric element is reflected on imaging sensor；Or diffuse and be projeced on receiving light path dioptric element, then received light
It is projeced on imaging sensor after imaging len after the reflection of road dioptric element.
6. according to a kind of laser sensor described in claim 1,2 or 3, it is characterised in that: be further fixedly arranged on bracket
Emit optical path dioptric element, the laser beam projects that laser emitter issues are on transmitting optical path dioptric element, then emitted light
Dioptric element reflection in road forms point shaped laser spot in object under test surface.
7. a kind of laser sensor described in accordance with the claim 1, it is characterised in that: the imaging len is saturating by the first imaging
Mirror and the second imaging len composition, imaging sensor are made of the first imaging sensor and the second imaging sensor, the first imaging
Lens and the first imaging sensor are located at the left side of laser sensor, and the second imaging len and the second imaging sensor are located at laser
The right side of sensor.
8. a kind of laser sensor according to claim 7, it is characterised in that: first imaging sensor and second
Imaging sensor is linear array photosensitive element, and the primary optical axis of the first imaging len and the second imaging len is coplanar with the plane of scanning motion,
The photosensitive line of first imaging sensor and the second imaging sensor is coplanar with the plane of scanning motion.
9. according to a kind of laser sensor described in claim 1,2,3 or 7, it is characterised in that: straight line where laser beam and electricity
The intersection of arbor axial line.
10. according to a kind of laser sensor described in claim 1,2,3 or 7, it is characterised in that: all to follow drive motor shaft
The mass center of the element set of swing is on motor shaft axial line.
11. a kind of laser sensor described in accordance with the claim 1, it is characterised in that: the driving motor is oscillating motor,
The angle detector for measuring motor shaft swing angle is provided on the motor shaft of oscillating motor.
12. a kind of laser sensor according to claim 11, it is characterised in that: the oscillating motor is fan-shaped electricity
Machine, angle detector are fan-shaped encoder.
13. a kind of laser sensor described in accordance with the claim 1, it is characterised in that: laser emitter and laser power control
Device is connected, and the laser power control control illuminating state of laser emitter, OFF state and lights brightness；Imaging sensor
It is connected with detection information processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820905596.3U CN208653413U (en) | 2018-06-12 | 2018-06-12 | A kind of laser sensor |
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| CN201820905596.3U CN208653413U (en) | 2018-06-12 | 2018-06-12 | A kind of laser sensor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108680117A (en) * | 2018-06-12 | 2018-10-19 | 苏州睿牛机器人技术有限公司 | A kind of laser sensor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108680117A (en) * | 2018-06-12 | 2018-10-19 | 苏州睿牛机器人技术有限公司 | A kind of laser sensor |
| CN108680117B (en) * | 2018-06-12 | 2024-05-31 | 苏州睿牛机器人技术有限公司 | Laser sensor |
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Granted publication date: 20190326 |