Passive visual sensor based on weld automatic tracking of welding robot

Abstract

The invention discloses a passive visual sensor based on the weld automatic tracking of a welding robot. The passive visual sensor comprises a mounting bracket, a system shell, a camera, a dimming and filtering system, a light reflection system and a wire feed adjustment mechanism, wherein the camera and the dimming and filtering system are coaxially arranged on an inner wall of the system shell in the welding process and transmit weld image information in the welding process; the dimming and filtering system is driven through a motor transmission system in the non-welding process and realizes guide and standardization before welding; the light reflection system is arranged on the inner wall of the system shell, is connected with the dimming and filtering system and acquires a welding image; the mounting bracket is arranged on a sixth shaft of the robot; and the wire feed adjustment mechanism is fixedly arranged on a welding gun. The passive visual sensor can be applied to the aspectsof information acquisition and identification, weld searching and tracking, penetration control and the like in the welding.

Description

technical field [0001] The invention relates to a device in the technical field of robot welding, in particular to a passive vision sensor based on a welding robot GTAW (argon tungsten arc welding) welding seam autonomous tracking. Background technique [0002] Robotic welding quality control has always been a hot and difficult point in welding research, and it is also an important topic for welding workers to study. In actual welding, there are often factors such as deformation, variable heat dissipation, variable gap, and variable edge, which affect the quality of weld formation. In order to overcome the influence of these uncertain factors in the welding process on the quality of precision welded parts, it is urgent to use information feedback, intelligent control and other technologies to improve the adaptability or intelligence level of the current welding robot, and realize the intelligent control of the robot welding process. In order to realize intelligent and accur...

AI Technical Summary

Problems solved by technology

However, due to the use of pneumatic devices to load and remove the light reduction filter system, the sensor’s volume and weight are too large, which is not conducive to the welding of small-angle welds. In addition, the use of air sources is not conducive to welding in the absence of air sources. has great limitations

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