Line laser weld detection device for vertically articulated six-axis industrial robot

Abstract

The invention discloses a line laser weld seam testing device suitable for a vertical joint type six-axis industrial robot. The line laser weld seam testing device comprises a laser sensor and a sensor mounting base. The laser sensor is fixed on the front end of a welding gun through the sensor mounting base and is used for acquiring weld seam information by means of a triangulation principle. The sensor mounting base is used for adjusting three-dimensional spatial relative position and mounting angle in an X direction, a Y direction and a Z direction between the laser sensor and the welding gun. Furthermore the sensor mounting base has an insulating function and realizes insulation between the laser sensor and the welding gun. The sensor mounting base can be adjusted. A relative position between the laser sensor and the welding gun can be adjusted for ensuring an optical included angle between an industrial image camera and a strip type laser generator in the sensor body, thereby realizing the triangulation principle. The line laser weld seam testing device has advantages of effectively enlarging detecting range of the laser sensor and improving detecting precision.

Description

technical field [0001] The invention relates to the field of automatic welding, in particular to the field requiring the use of a vertically articulated six-axis industrial robot and a line laser weld seam detection device. Background technique [0002] With the development of automated welding technology, six-axis industrial robots are more and more widely used in the welding field. However, the current programming method of welding robots is mainly based on "teaching-reproduction", which is more efficient in linear welding , but due to the large amount of heat generated by welding, the workpiece is deformed, which directly affects the welding accuracy; for complex welds, more teaching points need to be determined, the work efficiency is low, and it is more difficult to ensure the accuracy, and it is difficult to achieve a high degree of automatic welding. [0003] In order to solve the above problems, it is necessary to improve the seam tracking technology. The common met...

AI Technical Summary

Problems solved by technology

However, strong arc noise is generated during welding, which affects the image quality collected by industrial cameras and increases the difficulty of weld feature extraction

The closer the laser stripe is to the molten pool, the greater the impact of the arc light on the laser sensor. In severe cases, it is even impossible to extract the characteristics of the weld seam

If the distance between the laser stripe and the molten pool is increased, although the influence of the arc light is reduced, the real-time detection of the weld seam will be reduced, which will affect the accuracy of the weld seam tracking, and the phenomenon of "welding deviation" will easily occur.

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