CN214978392U

CN214978392U - Improved binocular vision automatic weld joint tracking sensor

Info

Publication number: CN214978392U
Application number: CN202120680474.0U
Authority: CN
Inventors: 黄荣国; 曾垂喜; 张琦伟; 潘海鸿
Original assignee: Guangxi Anbote Intelligent Technology Co ltd
Current assignee: Guangxi Anbote Intelligent Technology Co ltd
Priority date: 2021-04-02
Filing date: 2021-04-02
Publication date: 2021-12-03
Anticipated expiration: 2031-04-02

Abstract

The utility model discloses an improved generation two mesh vision welding seams autotracking sensors, it includes the cavity structures who comprises upper cover plate, lower plate, procapsid and back casing cladding, and a word line laser instrument, circle shape laser instrument and board level camera have been arranged in proper order by going to the back in the centre in the cavity, has arranged two industry cameras in the left and right sides, the camera lens of board level camera and industry camera is vertical down, a word line laser instrument sets up aslope, makes the laser that a word line laser instrument sent is located in the visual field of board level camera. The utility model provides a weld joint tracking sensor, it is pleasing to the eye, simple structure is compact, and the controllability is strong, and is applicable in robot automatic weld's occasion.

Description

Improved binocular vision automatic weld joint tracking sensor

Technical Field

The utility model relates to a technical field of industry welding robot, concretely relates to welding seam tracking sensor based on vision teaching is a welding seam tracking sensor of initiative based on vision.

Background

With the intelligent development of modern production, the requirement on the welding quality of products is higher and higher, and meanwhile, the labor intensity of workers is required to be reduced, so that automatic welding is the key development direction in the welding field at present. In automated welding, detection and guidance are guarantees of welding quality. Therefore, the weld seam tracking sensor technology is a precondition for realizing the automation of robot welding.

At present, sensing modes applied to a welding robot are various, wherein the sensing mode based on vision has the advantages of large information acquisition amount, non-contact, rapidness, high precision, large detection range and the like, and becomes a research hotspot in the aspect of robot welding sensors. Among various visual sensors, the active visual sensor has a simple structure and is easier to realize. The active vision sensor utilizes laser as an imaging light source and uses a CCD camera to collect image information when the laser is irradiated on the joint. Because the laser is single wavelength, the coherence is good, and the laser is not easily interfered by the outside. Therefore, the influence of strong arc light, arc heat, smog, splashing and the like in the welding process can be overcome.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a tracking accuracy is high, the welding seam tracking means based on vision teaching that the interference killing feature is strong.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides an improved generation binocular vision welding seam automatic tracking sensor, its includes the cavity structures who comprises upper cover plate, lower plate, procapsid and back casing cladding, and the centre in the cavity has arranged a word line laser instrument, circle shape laser instrument and board level camera in proper order after going to, has arranged two industry cameras in the left and right sides, the camera lens of board level camera and industry camera is vertical down, a word line laser instrument sets up aslope, makes the laser that a word line laser instrument sent is located in the visual field of board level camera.

The rear housing is formed in a T-like shape structure by vertical mounting walls, and a space for mounting the board-level camera is formed in the middle of the T-shape, and the mounting walls form spaces for accommodating the left and right industrial cameras on the left and right sides of the middle space.

The lower end of the rear shell is connected with a horizontal pressing plate, a plurality of holes are formed in the pressing plate, and the holes comprise a small camera hole located right below the lens of the plate-level camera and a large camera hole located right below the two industrial camera lenses and the laser emission direction;

the lower part of the pressing plate is connected with a lower base plate through screws, holes corresponding to the positions and sizes of the large camera hole and the small camera hole of the pressing plate are formed in the lower base plate, mounting grooves are formed in the edges of the holes respectively, an optical filter and a protective lens are mounted between the pressing plate and the lower base plate, and the optical filter and the protective lens are pressed in the mounting grooves corresponding to the holes by the pressing plate.

The upper cover plate is provided with an air pipe joint, a vertical capillary hollow steel pipe is installed in the rear shell, the upper end of the capillary hollow steel pipe is connected to an external interface at the top of the rear shell, the air pipe joint is connected to an interface at the upper end of the rear shell through the upper cover plate, the lower end of the capillary hollow steel pipe is communicated with an outlet at the bottom of the shell, the outlet at the bottom of the shell is right opposite to the air channel of the lower bottom plate, the air channel extends along the periphery of the hole of the lower bottom plate and forms a plurality of air outlets leading to the inside of the hole, the bottom surface of the air channel is lower than the mounting groove of the hole, so that after the hole is respectively covered by the optical filter and the protective lens, the air outlets can be exposed between the edges of the optical filter and the protective lens and the lower bottom plate.

The back of the rear shell is connected with a welding gun clamp through a bolt and is connected with a welding gun through the welding gun clamp, the welding gun clamp comprises an L-shaped back plate connected to the back of the sensor, an upper height adjusting plate fixed on the welding gun and a lower adjusting plate connected between the back plate and the upper height adjusting plate, the upper height adjusting plate and the lower adjusting plate are respectively provided with a plurality of adjusting screw holes and bolts corresponding to the positions, the back plate is rotatably connected with the lower end of the lower adjusting plate through a screw, and arc-shaped adjusting holes used for adjusting the angle of the sensor relative to the welding gun are formed in the back plate and the lower adjusting plate.

An insulating block is arranged between the rear shell and the back plate.

The lower part of the lower bottom plate is connected with an arc baffle plate through screws, and the length of the arc baffle plate is based on that the arc baffle plate cannot block the sight of an industrial camera.

The upper cover plate is further provided with an aviation connector, an antenna, two industrial camera net mouths and a plate-level camera net mouth, the industrial cameras pass through the industrial camera net mouth and are connected with an external industrial personal computer, the plate-level cameras pass through the plate-level camera net mouth and are connected with the external industrial personal computer, and the linear laser and the circular ring-shaped laser pass through the aviation connector and are connected with the industrial personal computer.

The axes of the bodies of the industrial camera and the plate-level camera are parallel to each other, the bottoms of the two industrial cameras are coplanar, and the distance between the axes of the bodies is 68 mm.

The board level camera with form 15 degrees installation contained angles between the axis of a word line laser instrument, the distance of the optical center of board level camera and a word line laser instrument light-emitting hole is 43mm

After the technical scheme is adopted, compared with the background art, the utility model, have following advantage:

the utility model discloses compact structure, small in size will be two mesh vision cameras and board level camera and laser instrument integration together, and the outward appearance is mellow and full.

The teaching is simple and convenient, need the shortcoming of preschool teaching to current welding seam tracking sensor, the utility model discloses utilize a teaching rifle a few points on the welding seam can fit out welded orbit, convenient and fast accomplishes whole teaching process and only needs several seconds, and is not high to workman's technical requirement.

And after the teaching is finished, quickly positioning to the initial point of the welding seam by utilizing the locating function of the laser welding seam tracking system. During welding, the welding track is corrected in real time by utilizing the tracking function of the laser welding line tracking system, and the appearance change of the welding line caused by the inconsistent shape of the workpiece or the overheating of the welding temperature is prevented, so that the welding precision is improved.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a perspective view from the bottom of the present invention;

fig. 3 is an exploded view of the present invention;

fig. 4 is a schematic view of the internal structure of the present invention;

FIG. 5 is an exploded view of the rear housing structure and the lower plate of the present invention;

fig. 6 is a schematic view of the usage state of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Examples

Please refer to fig. 1 to 3 and show, the utility model discloses an improved generation binocular vision welding seam automatic tracking sensor, include by upper cover plate 1, lower plate 2, the cavity structures that procapsid 3 and 4 cladding of back casing constitute, see fig. 3 and fig. 4, the centre in the cavity has been arranged a word line laser 51, circle shape laser 52 and board level camera 6 by going to back in proper order, has arranged two industry cameras 7 in the left and right sides, the camera lens of board level camera 6 and industry camera 7 is vertical down, the laser emission direction of laser instrument is also down.

Referring to fig. 5, the rear case 4 is formed into a T-like shape structure by vertical mounting walls 41, and a space for mounting the board level camera 6 is formed in the middle of the T-shape, the mounting walls 41 form spaces for accommodating the left and right two industrial cameras 7 on the left and right sides of the middle space, the two side edges of the rear case 4 are connected to the front case 3 by screws, the body axes of the board level camera 6 and the industrial cameras 7 are parallel to each other, the bottoms of the two industrial cameras 7 are coplanar, and the body axes are spaced apart by 68 mm.

The front case 3 and the rear case 4 are connected by screws at both side edges, a line laser 51 is obliquely mounted on a fixing block 43, and the fixing block 43 is connected to the inner side surface of the front case 3 by screws, so that the line laser 51 can be obliquely fixed in front of the board-level camera 6 and laser light emitted from the laser is emitted into the field of view of the board-level camera 6. In this embodiment, a 15-degree installation angle is formed between the plate-level camera 6 and the axis of the word line laser 51, the distance between the optical center of the plate-level camera 6 and the light exit hole of the word line laser 51 is 43mm, and the emitted word line light spot is located right below the visual field of the plate-level camera 6. The circular light spot emitted by the circular laser 52 is positioned in the field of view of the two industrial cameras 7.

Referring to fig. 3, a horizontal pressing plate 44 is attached to the lower end of the rear case 4, and a plurality of holes including a small camera hole 46 directly below the lens of the board-level camera 6, two industrial cameras 7, and a large camera hole 45 directly below the laser emission direction are formed in the pressing plate 44.

The lower bottom plate 2 is connected with the lower part of the pressure plate 44 through screws, the lower bottom plate 2 is provided with

holes

21 and 22 corresponding to the pressure plate 44, wherein the aperture 21 is positioned and sized the same as the large camera hole 45 on the platen 44, the aperture 22 is positioned and sized the same as the small camera hole 46, a circle of mounting grooves 27 (see fig. 5) are respectively formed at the edges of the

holes

21 and 22, the optical filter 23 and the protective lens 24 are mounted between the pressing plate 44 and the lower base plate 2, the optical filter 23 is pressed in the mounting groove 27 of the hole 22 by the pressing plate 44, the optical filter 23 adopts a 650nm narrow-band optical filter, the protective lens 24 is pressed on the hole 21 by the pressing plate 44 and is clamped in the mounting groove 27, the protective lens 24 can be used for blocking flying slag and smoke during welding, and further protecting the safety of a lens and a laser of the industrial camera 7, and adopt the high transparent toughened glass that can conveniently dismantle, conveniently dismantle the change after it is polluted by splashing and smog.

The lower part of the lower bottom plate 2 is connected with an arc baffle 8 through screws for blocking splashing and smog during welding, the length of the arc baffle 8 extending downwards is as large as possible for blocking the splashing and the smog during welding, and the length of the arc baffle is based on the condition that the sight of the industrial camera 7 cannot be blocked.

See fig. 1 and fig. 2, upper cover plate 1 is equipped with a plurality of gas circuits and circuit connector, including a pipe connection 11, an aviation connector 12, antenna 13, two industrial camera net gapes 14 and board level camera net gape 15, industrial camera 7 passes through industrial camera net gape 14 and connects outside industrial computer, board pole camera 6 passes through board level camera net gape 15 and connects outside industrial computer, two lasers pass through aviation connector 12 and connect the industrial computer, aviation connector 12 is used for controlling the bright and dark of a word line laser 51 and circle shape laser 52, an antenna 13 has still been reserved and is used for receiving teaching rifle signal, can not pass through industrial computer direct control industrial camera and laser.

The rear shell 4 is provided with a vertical capillary hollow steel pipe 49 beside the board-level camera 6, the upper end of the capillary hollow steel pipe 49 is connected with an outward interface 47 at the top of the rear shell 4, the air pipe joint 11 is connected with the interface 47 at the upper end of the rear shell through the upper cover plate 1, see fig. 5, the lower end of the capillary hollow steel pipe 49 is communicated with an outlet at the bottom of the shell, the outlet at the bottom of the shell corresponds to a through hole 48 on the pressing plate 44 and is opposite to the ventilation groove 25 of the lower base plate 2, the ventilation groove 25 extends along the periphery of the hole 22 of the lower base plate 2 for one circle and leads to the hole 22 to form an air outlet 28, the ventilation groove 25 also extends from the periphery of the hole 22 to one side of the edge of the hole 21 and forms a plurality of air outlets 28 leading to the hole 21, the bottom surface of the ventilation groove 25 is lower than the mounting groove 27 of the hole, so that the hole is covered by the optical filter 23 and the protective lens 24 respectively, the air outlet 28 can be exposed between the edges of the filter 23 and the protective lens 24 and the lower base plate 2, and is used for exhausting air from the air channel 25 to the air outlet 28.

After the air pipe joint 11 is ventilated, the air flow reaches the air channel 25 in the lower bottom plate 2 through the internal channel, and is respectively sprayed out from the air outlets 28 at the edge of the lens to form an air curtain to blow away welding slag, so that the welding slag is prevented from splashing on the sensor lens during welding.

Referring to fig. 6, the back of the rear housing 4 of the sensor is bolted to the welding gun fixture so that the sensor can track the welding process information. The sensor is installed on a welding gun 9 through a welding gun clamp, wherein the welding gun clamp comprises an L-shaped back plate 91 connected to the back of the sensor, an upper height adjusting plate 92 fixed on the welding gun 9 and a lower adjusting plate 93 connected between the back plate 91 and the upper height adjusting plate 92, wherein the upper height adjusting plate 92 and the lower adjusting plate 93 are respectively provided with a plurality of adjusting screw holes 94 corresponding to different positions, the adjusting screw holes 94 of the upper height adjusting plate and the lower height adjusting plate are staggered and correspond to different positions at different heights and are fixed through screws, the height of the sensor relative to the welding gun 9 can be adjusted, the back plate 91 and the tail end of the lower adjusting plate 93 are rotatably connected through screws 96, and the angle adjustment of the whole sensor relative to the welding gun 9 is realized through the fixation of arc-shaped adjusting holes 95 at different rotation angle positions.

An insulating block 97 is installed between the sensor rear shell 4 and the back plate 91, and the insulating block 97 can separate the whole sensor from the welding gun 9 so as to prevent high voltage and current from damaging elements in the sensor during welding.

The industrial camera 7 is used for visual teaching, a teaching gun is used for simulating the posture of a welding gun, straight line or circular arc fitting is carried out at a plurality of points of a welding point position point, the industrial camera 7 collects images of a target on the teaching gun, image processing is carried out on the images, the welding track and the posture information of the welding gun are calculated, the information is sent to the robot in real time, and the robot moves according to the obtained information to complete the teaching process. A circular aperture from a circular ring laser 52 is located within the area of the field of view of the two industrial cameras 7 to define a teach zone.

Before the robot starts welding, the linear laser 51 of the sensor projects laser lines to the surface of a welding part, the laser lines are deformed due to welding seams, the plate-level camera 6 collects deformation images of the laser lines and sends the deformation images to the industrial personal computer, the industrial personal computer obtains coordinates of welding points after image processing is carried out on the collected images, and the robot moves to the position of a first welding point to complete a locating function. After welding starts, the plate-level camera 6 sends each frame of continuously acquired image to the industrial personal computer for image processing to obtain coordinate values of welding points, and the industrial robot performs corresponding motion according to the coordinates to enable the tail end of the welding gun to move along the welding line of the workpiece, so that automatic tracking of the welding line of the industrial robot is completed.

The embodiment has the advantages of compact structure, strong adjustability, wider application range and more convenient installation and disassembly; the method can meet the requirements of searching of the welding starting position, tracking of the welding seam and deviation correction in the welding process, and can provide help for automation of welding and optimization of welding quality.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The utility model provides an improved generation binocular vision welding seam automatic tracking sensor which characterized in that: including the cavity structures who constitutes by upper cover plate, lower plate, procapsid and back casing cladding, a word line laser instrument, circle shape laser instrument and board level camera have been arranged in proper order to the centre in the cavity by going to the back, have arranged two industry cameras in the left and right sides, the camera lens of board level camera and industry camera is vertical down, a word line laser instrument sets up aslope, makes the laser that a word line laser instrument sent is located in the visual field of board level camera.

2. The improved binocular vision automatic weld tracking sensor according to claim 1, wherein: the rear housing is formed in a T-like shape structure by vertical mounting walls, and a space for mounting the board-level camera is formed in the middle of the T-shape, and the mounting walls form spaces for accommodating the left and right industrial cameras on the left and right sides of the middle space.

3. The improved binocular vision weld joint automatic tracking sensor according to claim 2, wherein: the lower end of the rear shell is connected with a horizontal pressing plate, a plurality of holes are formed in the pressing plate, and the holes comprise a small camera hole located right below the lens of the plate-level camera and a large camera hole located right below the two industrial camera lenses and the laser emission direction;

4. The improved binocular vision weld joint automatic tracking sensor according to claim 3, wherein: the upper cover plate is provided with an air pipe joint, a vertical capillary hollow steel pipe is installed in the rear shell, the upper end of the capillary hollow steel pipe is connected to an external interface at the top of the rear shell, the air pipe joint is connected to an interface at the upper end of the rear shell through the upper cover plate, the lower end of the capillary hollow steel pipe is communicated with an outlet at the bottom of the shell, the outlet at the bottom of the shell is right opposite to the air channel of the lower bottom plate, the air channel extends along the periphery of the hole of the lower bottom plate and forms a plurality of air outlets leading to the inside of the hole, the bottom surface of the air channel is lower than the mounting groove of the hole, so that after the hole is respectively covered by the optical filter and the protective lens, the air outlets can be exposed between the edges of the optical filter and the protective lens and the lower bottom plate.

5. The improved binocular vision automatic weld tracking sensor according to claim 1, wherein: the back of the rear shell is connected with a welding gun clamp through a bolt and is connected with a welding gun through the welding gun clamp, the welding gun clamp comprises an L-shaped back plate connected to the back of the sensor, an upper height adjusting plate fixed on the welding gun and a lower adjusting plate connected between the back plate and the upper height adjusting plate, the upper height adjusting plate and the lower adjusting plate are respectively provided with a plurality of adjusting screw holes and bolts corresponding to the positions, the back plate is rotatably connected with the lower end of the lower adjusting plate through a screw, and arc-shaped adjusting holes used for adjusting the angle of the sensor relative to the welding gun are formed in the back plate and the lower adjusting plate.

6. The improved binocular vision weld joint automatic tracking sensor according to claim 5, wherein: an insulating block is arranged between the rear shell and the back plate.

7. The improved binocular vision weld joint automatic tracking sensor according to claim 6, wherein: the lower part of the lower bottom plate is connected with an arc baffle plate through screws, and the length of the arc baffle plate is based on that the arc baffle plate cannot block the sight of an industrial camera.

8. The improved binocular vision weld joint automatic tracking sensor according to claim 4, wherein: the upper cover plate is further provided with an aviation connector, an antenna, two industrial camera net mouths and a board-level camera net mouth, the industrial cameras pass through the industrial camera net mouth is connected with an external industrial personal computer, the board-level cameras pass through the board-level camera net mouth is connected with the external industrial personal computer, and the linear laser and the circular laser pass through the aviation connector and are connected with the industrial personal computer.

9. The improved binocular vision automatic weld tracking sensor according to claim 1, wherein: the axes of the bodies of the industrial camera and the plate-level camera are parallel to each other, the bottoms of the two industrial cameras are coplanar, and the distance between the axes of the bodies is 68 mm.

10. The improved binocular vision automatic weld tracking sensor according to claim 1, wherein: the board level camera with form 15 degrees installation contained angles between the axis of a word line laser instrument, the distance of the optical center of board level camera and a word line laser light-emitting hole is 43 mm.