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Welding seam tracking sight sensor based on laser structure light

A technology of laser structure and visual sensing, applied in the field of robotics, can solve the problems of lack of general, flexible and independent welding sensors

Inactive Publication Date: 2006-06-07
INST OF AUTOMATION CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

However, such seam tracking systems are generally closed, and are sensors and processing algorithms developed for specific systems, lacking general, flexible and independent welding sensors to provide welding seam position information for general welding robots or controllers

Method used

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  • Welding seam tracking sight sensor based on laser structure light
  • Welding seam tracking sight sensor based on laser structure light
  • Welding seam tracking sight sensor based on laser structure light

Examples

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Embodiment Construction

[0020] see figure 1 . exist figure 1 Among them, the laser beam emitted by the semiconductor flat-line laser (LD650-5-3) 1 produces a structured light plane, which irradiates the surface of the welding workpiece to form the characteristic laser stripes of the weld 6. The laser line width is 0.5mm, the spread angle is 20°, and the power is 5mw. WATEC505 black-and-white industrial camera 3 has a filter on it, which can transmit light waves with a wavelength of 670nm. A splash guard 5 is installed below the video camera 3, which can block welding spatter and protect the video camera. The laser 1 , optical filter 2 , camera 3 and splash guard 5 are packaged in the sensor housing, and the sensor is rigidly connected with the welding torch 4 . The position and angle of the inline laser 1 can be adjusted. Adjust the angle between the laser 1 and the camera 3 so that the center line of the optical axis of the camera 3 forms an angle of 30° to 60° with the laser structured light su...

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Abstract

The present invention relates to robot technology, and is weld seam tracking sight sensor based on laser structure light. The welding seam tracking sight sensor has laser as the light source of structure light, and consists of laser, video camera, monitor, treating unit, etc. By means of forming laser plane with laser beam in a cylindrical mirror, projecting the laser plane to a workpiece to generate laser fringes, acquiring the laser image of weld seam with a visual sensor, calculating weld seam positions through image processing and converting into analog signal or radio signal, the present invention controls welding robot for automatic weld seam tracking. Different weld seam processing modules for different kinds of weld seam are developed. The present invention has high weld seam position measuring precision, raised anti-jamming capacity and high versatility and flexibility.

Description

Technical field: [0001] The invention belongs to the visual measurement sensing device in the field of robots, in particular to a visual sensing device which can recognize the position of the welding seam in the welding process through visual images and guide the welding torch to correct the deviation. technical background: [0002] At present, the control methods used in welding industrial production generally use manual control or robot teaching or offline programming for path planning and motion programming. During the welding process, the preset actions are simply repeated. In existing seam tracking solutions, mechanical, electromagnetic, and visual sensors are generally used to provide seam information, which is processed by the system to realize welding torch position control. However, such weld seam tracking systems are generally closed, and are sensors and processing algorithms developed for specific systems, lacking general, flexible and independent welding sensors ...

Claims

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Application Information

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IPC IPC(8): G01B11/00B25J19/00
Inventor 谭民徐德李原李涛王麟琨沈扬
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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