Welding device and method based on binocular vision sensing of structured light

A binocular vision and welding device technology, applied in welding equipment, arc welding equipment, manufacturing tools, etc., can solve problems such as serious health threats, difficult level adjustment, cumbersome operation, etc., achieve accurate identification, improve image processing speed, and improve The effect of positioning speed

Inactive Publication Date: 2013-04-10
SHANGHAI DIANJI UNIV
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Problems solved by technology

[0005] The present invention aims to provide a binocular vision sensor based on structured light for the defects in the prior art that the traditional welding device needs manual visual

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  • Welding device and method based on binocular vision sensing of structured light
  • Welding device and method based on binocular vision sensing of structured light

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Embodiment Construction

[0018] In order to illustrate the technical content, structural features, achieved goals and effects of the present invention in detail, the following will be described in detail in conjunction with the embodiments and accompanying drawings.

[0019] see figure 1 , and see in conjunction with figure 2 , figure 1 Shown is a structural schematic diagram of the welding device based on structured light binocular vision sensing of the present invention. figure 2 Shown is a schematic diagram of the positioning principle of the tube sheet pattern to be welded by the welding device based on the structured light binocular vision sensor of the present invention. The welding device 1 based on structured light binocular vision sensing includes a mounting bracket 11, and the mounting bracket 11 is used to install the welding device 1 based on structured light binocular vision sensing; a structured light emitter 12, the The structured light emitter 12 is a laser emitter, which is used ...

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Abstract

The invention discloses a welding device based on the binocular vision sensing of structured light. The welding device comprises an installation bracket, a structured light emitter, a data storage unit, a binocular vision system, an automatic welding device and a motion control system, wherein the structured light emitter is used for positioning the center of a pipe plate pattern to be welded and movably arranged on the installation bracket; the data storage unit is used for storing the position information of the pipe plate pattern to be welded, which is obtained by the structured light emitter; the binocular vision system is provided with a first vision device and a second vision device which are movably arranged on two sides of the structured light emitter; and the motion control system is used for controlling the three-degree-of-freedom motion of the automatic welding device during welding of the pipe plate pattern to be welded. The welding device based on the binocular vision sensing of the structured light has the advantages that by using the binocular vision system and adopting a spatial circle identification algorithm, the center of the pipe plate pattern to be welded in a certain inclination angle range can be identified; the characteristic points can be quickly and accurately identified; image processing speed is increased; and the positioning speed of a system pipe hole is greatly increased.

Description

technical field [0001] The invention relates to the field of welding technology, in particular to a welding device based on structured light binocular vision sensing. Background technique [0002] In the manufacture of heat exchange in chemical industry, power station, boiler and other industries, there are a large number of welding tasks between tubes and plates. This kind of welding is difficult, requires high quality, and requires a lot of work. At present, in the domestic market, tube-tube-sheet welding equipment is usually a semi-automatic welding method, and manual hand-held welding guns must be used to manually align holes and manually check welding quality. Under high-intensity work, it is essential to bear welding arc radiation and smoke pollution, which seriously affects the health of workers. Therefore, the development of welding technology has always been a concern of those skilled in the art. [0003] Chinese patent CN201076976Y discloses a coaxial tube-sheet...

Claims

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Application Information

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IPC IPC(8): B23K9/095
Inventor 刘俊张秋雨梁熠天张开明郑庆元
Owner SHANGHAI DIANJI UNIV
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