Compound-function binocular vision sensor suitable for movable independent welding robot

Abstract

The invention discloses a compound-function binocular vision sensor suitable for a movable independent welding robot, comprising a fixture fixed on the tail joint of a welding robot, wherein the fixture is provided with two camera brackets of which the positions and the angles are adjustable; each camera bracket is provided with a camera and a motor rotating mechanism; and each motor rotating mechanism is connected with a reducing filter system and can drive the reducing filter system to rotate to cause the reducing filter system to rotate into / out of the visual field range of the camera. The sensor has the characteristics of simple structure and multiple degree of freedom, and can satisfy the requirement that the movable robot can independently and continuously works before and after arcing in antistructure space.

Description

technical field [0001] The invention relates to a device in the field of welding technology, in particular to a composite function binocular vision sensor suitable for a mobile autonomous welding robot. Background technique [0002] In the manufacture of non-structural large-scale equipment, the existing mobile robots have poor coordination of non-flexible holding welding torches in welding operations, and cannot meet the requirements of fillet welds and continuous motion stability of complex trajectories. In actual welding, there is a deviation between the actual workpiece information and the planned welding trajectory caused by factors such as thermal deformation, which affects the weld shape. The visual sensing method can obtain a large amount of information, is sensitive in response and high in precision, and is favored in the field of intelligent welding. In the field of robot welding, visual sensing is mainly used in macroscopic environment recognition and analysis, a...

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Problems solved by technology

However, the structure of the sensor is relatively complicated, and it is difficult to adjust the focus of the camera. The light reduction filter mechanism is only controlled by a manual switch DC motor, which brings inconvenience to the mobile robot's autonomous welding in the unstructured space. The monocular sensor has problems in camera calibration and stereo vision. Inherent defects cannot fully meet the diverse requirements of mobile robot welding targets. In addition, the clamping mechanism of the sensor and the robot's end joint has a single function, poor stability, and less degrees of freedom, resulting in the flexibility and autonomy of the sensor in the mobile robot application Reduced

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