CN215698719U

CN215698719U - Laser welding seam locating sensor

Info

Publication number: CN215698719U
Application number: CN202121364352.7U
Authority: CN
Inventors: 曾垂喜; 阮腾辉; 黄荣国; 潘海鸿
Original assignee: Guangxi Anbote Intelligent Technology Co ltd
Current assignee: Guangxi Anbote Intelligent Technology Co ltd
Priority date: 2021-06-19
Filing date: 2021-06-19
Publication date: 2022-02-01
Anticipated expiration: 2031-06-19

Abstract

The utility model discloses a laser welding seam locating sensor which comprises a cavity body formed by coating a front shell and a rear shell, wherein a linear laser and a board-level camera are sequentially arranged in the middle of the cavity body from front to back, a lens of the board-level camera is vertically downward, and the linear laser is obliquely arranged so that laser emitted by the linear laser is positioned in a view field of the board-level camera; the back casing comprises trilateral structure of surrounding by top surface, back wall and lower bottom surface, a fixed bolster is connected to the back wall, the first half part of fixed bolster form the width with the open slot of a word line laser looks adaptation, a word line laser passes through the screw and connects aslope on the inclined plane of open slot, and the latter half part of fixed bolster forms a circular shape screens. The welding seam tracking sensor provided by the utility model has a simple and compact structure, and is suitable for occasions of automatic welding of robots.

Description

Laser welding seam locating sensor

Technical Field

The utility model relates to the technical field of industrial welding robots, in particular to a laser welding seam locating sensor.

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

The utility model aims to provide a laser welding seam locating sensor with high tracking precision and strong anti-interference capability.

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

laser welding seam seeks a position sensor, its characterized in that: the laser device comprises a cavity formed by coating a front shell and a rear shell, wherein a linear laser and a board-level camera are sequentially arranged in the middle of the cavity from front to back, a lens of the board-level camera is vertically downward, and the linear laser is obliquely arranged so that laser emitted by the linear laser is positioned in a view field of the board-level camera;

the rear shell is of a structure surrounded by three faces, namely a top face, a rear wall face and a lower bottom face, the rear wall face is connected with a fixing support through screws, the front half portion of the fixing support forms an open slot with the width matched with the linear laser, the linear laser is obliquely connected onto the inclined face of the open slot through screws, and the rear half portion of the fixing support forms a circular clamping position used for being clamped on the board-level camera and fixing the board-level camera through screws.

Be formed with two holes down on the bottom surface, two holes are located respectively under the camera lens of board level camera and the below of the laser emission direction of a word line laser instrument, a bottom plate is passed through screwed connection to the below of bottom surface down, the centre of bottom plate forms the boss, and the bottom recess of bottom surface makes the bottom plate closely laminate with lower bottom surface have on the boss with the position and the equal same two holes of size of two holes of bottom surface down form the round respectively along the periphery of every hole and are less than the mounting groove on boss surface, just place the light filter in the hole to board level camera lens below, place the protection lens in the hole that is located a word line laser instrument below, two lenses press from both sides between bottom plate and lower bottom surface and block respectively in the mounting groove that corresponds the hole.

The position in the middle of two holes of boss forms an air channel, the air channel extends to in the hole on both sides respectively for two holes communicate with each other, just the bottom surface of air channel is less than the height of mounting groove, makes the hole cover the back by the lens, can also expose the space between lens and the air channel bottom surface, thereby forms the gas outlet that can give vent to anger outward, it has the ventilation hole to open on the lower bottom surface of back casing, the ventilation hole is just to the below the position of air channel, the top surface of back casing is equipped with an air inlet, the external connection of air inlet is used for letting in the tracheal joint of outside gas.

The lower part of the rear shell is connected with an arc baffle which is surrounded at the edge of the lower bottom surface through screws.

The top surface of the rear shell is provided with an aviation connector and a board-level camera interface, the board-level camera is connected with an external industrial personal computer through the board-level camera interface, and the linear laser is connected with the external industrial personal computer through the aviation connector.

A spring is installed at the position of a lens of the plate-level camera.

After adopting the technical scheme, compared with the background technology, the utility model has the following advantages:

the utility model utilizes the locating function of the laser welding seam tracking system to quickly locate the initial point of the welding seam. 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 view from the bottom of the present invention;

FIG. 3 is an internal view of the present invention with the front housing open;

FIG. 4 is an exploded view of the base plate portion of the present invention;

FIG. 5 is an exploded view of the base of the present invention;

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further 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 utility model and are not intended to limit the utility model.

Examples

Referring to fig. 1 to 3, the utility model discloses a laser weld locating sensor, which comprises a cavity structure formed by a front shell 1 and a rear shell 2 in a wrapping mode, wherein a linear laser 3 and a board-level camera 4 are sequentially arranged in the cavity structure from front to back, and the laser emission directions of a lens of the board-level camera 4 and the linear laser 3 are both downward.

Referring to fig. 4 and 5, the rear housing 2 is composed of a top surface 21, a rear wall surface 22 and a lower bottom surface 23, the edges of the top surface 21 and the lower bottom surface 23 of the rear housing 2 are connected with the front housing 1 through screws, a fixing bracket 24 is connected on the rear wall surface 22 through screws, referring to fig. 4, the front half part of the fixing bracket 24 forms an open slot 26 with a width matched with the laser 3, the laser 3 is connected on the inclined surface of the open slot 26 in an inclined manner through screws, and the inclined direction makes the laser emitted by the laser face the lower part of the board-level camera 4, the rear half part of the fixing bracket 24 forms a circular clamping part 27 for clamping on the board-level camera 4 and fixing the camera through screws, a spring 41 is installed at the lens of the board-level camera 4, the lens is more firmly installed through the action of the spring 41, and is not easy to generate shaking, in this embodiment, an installation included angle of 15 degrees is formed between the plate-level camera 4 and the axis of the word line laser 3, and a word line light spot emitted by the laser is just positioned under the visual field of the plate-level camera 4.

Two holes 28 are formed on the lower bottom surface 23, and the two holes 28 are respectively located right below the lens of the plate-level camera 4 and below the laser emission direction of the in-line laser 3.

The lower part of the lower bottom surface 23 is connected with a bottom plate 5 through screws, a boss 51 is formed in the middle of the bottom plate 5, the boss 51 is embedded into a bottom groove of the lower bottom surface 23, the bottom plate 5 is tightly attached to the lower bottom surface 23, two holes 52 with the same positions and sizes as those of the two holes 28 of the lower bottom surface 23 are formed in the boss 51, a circle of mounting groove 53 lower than the surface of the boss 51 is formed along the periphery of each hole 52, an optical filter 56 is arranged in the hole 52 right below a lens of the plate-level camera 4, a protective lens 54 is arranged in the hole 52 below the linear laser 3, and the lenses are clamped between the bottom plate 5 and the lower bottom surface 23 and are respectively clamped in the mounting grooves 53 corresponding to the holes. Two lenses are used for blocking flying slag and smog when welding, protect the safety of laser instrument to adopt the high transparent toughened glass that can conveniently dismantle, conveniently dismantle the change after it is splashed and smog pollutes.

A vent groove 55 is formed in the middle of the two holes 52, the vent groove 55 extends into the holes on the two sides respectively, so that the two holes 52 are communicated, the bottom surface of the vent groove 55 is lower than the height of the mounting groove 53, and after the holes are covered by the lens, a gap can be exposed between the lens and the bottom surface of the vent groove 55, so that an air outlet capable of exhausting air outwards is formed.

It has two ventilation holes 29 to open on the lower bottom surface 23 of back casing 2, ventilation hole 29 is just to the position of air channel 55 of below, the top surface 21 of back casing 2 is equipped with an air inlet 25, see fig. 5, the external connection trachea of air inlet 25 connects 11, from trachea joint 11 the outside gas that lets in, gas gets into the inside of cavity from air inlet 25, and get into ventilation hole 29 from the cavity, get into air channel 55 from ventilation hole 29 in, and form the gas curtain from the gas outlet blowout at lens edge respectively and blow away the welding slag, the welding slag splashes on the lens when preventing to weld. The gas can also carry out heat dissipation and temperature reduction on the interior of the cavity flowing through while blowing the slag.

See fig. 1 and fig. 2, the top surface 21 of the rear housing 2 is provided with a plurality of circuit connectors besides a gas pipe connector 11, wherein the circuit connectors include an aviation connector 12 and a board-level camera interface 13, the board-level camera 4 is connected with an external industrial personal computer through a connector on the board-level camera interface 13, the linear laser 3 is connected with the industrial personal computer through the aviation connector 12, the aviation connector 12 is further provided with a dust plug 14, the aviation connector 12 can be pulled out when gas does not need to be introduced, the dust plug 14 is plugged at the interface of the housing, and external dust is prevented from falling into the cavity.

The lower part of the rear shell 2 is connected with an arc baffle 6, the arc baffle 6 is connected with the edge of the lower bottom surface 23 through screws, and the arc baffle 6 is used for blocking splashing and smog during welding.

The back of the shell is connected with a welding gun clamp through a bolt, and the positioner is arranged on a welding gun through the welding gun clamp, so that the positioner can track welding process information along with the welding gun.

Before the robot starts welding, the linear laser 3 projects laser lines to the surface of a welding part, the welding line causes the laser lines to deform, the plate-level camera 4 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 the locating function. After welding starts, the plate-level camera 4 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 are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. Laser welding seam seeks a position sensor, its characterized in that: the laser device comprises a cavity formed by coating a front shell and a rear shell, wherein a linear laser and a board-level camera are sequentially arranged in the middle of the cavity from front to back, a lens of the board-level camera is vertically downward, and the linear laser is obliquely arranged so that laser emitted by the linear laser is positioned in a view field of the board-level camera;

2. The laser weld seam locating sensor according to claim 1, characterized in that: be formed with two holes down on the bottom surface, two holes are located respectively under the camera lens of board level camera and the below of the laser emission direction of a word line laser instrument, a bottom plate is passed through screwed connection to the below of bottom surface down, the centre of bottom plate forms the boss, and the bottom recess of bottom surface makes the bottom plate closely laminate with lower bottom surface have on the boss with the position and the equal same two holes of size of two holes of bottom surface down form the round respectively along the periphery of every hole and are less than the mounting groove on boss surface, just place the light filter in the hole to board level camera lens below, place the protection lens in the hole that is located a word line laser instrument below, two lenses press from both sides between bottom plate and lower bottom surface and block respectively in the mounting groove that corresponds the hole.

3. The laser weld seam locating sensor according to claim 2, characterized in that: the position in the middle of two holes of boss forms an air channel, the air channel extends to in the hole on both sides respectively for two holes communicate with each other, just the bottom surface of air channel is less than the height of mounting groove, makes the hole cover the back by the lens, can also expose the space between lens and the air channel bottom surface, thereby forms the gas outlet that can give vent to anger outward, it has the ventilation hole to open on the lower bottom surface of back casing, the ventilation hole is just to the below the position of air channel, the top surface of back casing is equipped with an air inlet, the external connection of air inlet is used for letting in the tracheal joint of outside gas.

4. The laser weld seam locating sensor according to claim 3, characterized in that: the lower part of the rear shell is connected with an arc baffle which is surrounded at the edge of the lower bottom surface through screws.

5. The laser weld seam locating sensor according to claim 4, characterized in that: the top surface of the rear shell is provided with an aviation connector and a board-level camera interface, the board-level camera is connected with an external industrial personal computer through the board-level camera interface, and the linear laser is connected with the external industrial personal computer through the aviation connector.

6. The laser weld seam locating sensor according to claim 5, characterized in that: a spring is installed at the position of a lens of the plate-level camera.