Monocular self-adaption cross laser visual corrugated plate welding line tracking sensor

An adaptive crossover and self-adaptive technology, applied in the field of weld seam tracking, can solve the problems of low production efficiency and achieve the effect of improving efficiency, improving precision and improving automation level

Active Publication Date: 2016-10-12
湖南艾克机器人有限公司
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Problems solved by technology

[0003] In order to solve the shortcomings of the existing technology and better promote the automation process of welding equipment, the present invention proposes a monocular self-adap

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  • Monocular self-adaption cross laser visual corrugated plate welding line tracking sensor
  • Monocular self-adaption cross laser visual corrugated plate welding line tracking sensor
  • Monocular self-adaption cross laser visual corrugated plate welding line tracking sensor

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[0017] In order to better express the technical solutions and beneficial effects of the entire invention, the invention will be further described in detail below with reference to the drawings and implementation cases. The embodiment of the present invention is not limited to this.

[0018] Step 1: Identify the starting point of corrugated board welding.

[0019] Set the required scanning laser length L before welding BF And the distance L from the intersection of the line laser and the weld to the intersection of the line laser and the scanning laser DL . The oscillating scanning laser emitted by the oscillating scanning laser device 11, 12 strikes the corrugated plate while the line laser emitter 10 emits a line laser and a camera 15 based on a line array CCD to take pictures. The camera based on a line array CCD takes 15 shots of laser stripes. After image processing, the length L of the scanning laser is obtained BF1 , Compare the obtained laser length with the initial valu...

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Abstract

The invention relates to a monocular self-adaption cross laser visual corrugated plate welding line tracking sensor. The sensor comprises a set of self-adaption visual viewing field device, a camera based on an area array CCD, a self-adaption oscillator, a linear laser emitter, a spot laser emitter, a set of self-adaption ahead distance transfer mechanism and a sensor protective cover. In a welding starting point position, the self-adaption oscillator can perform self-adaption swing to adjust the length of scanning laser, and the self-adaption visual viewing field device can adjust a visual viewing field range in a self-adaption manner; in the welding process, a height deviation of a welding gun is obtained according to a distance from the intersection between linear laser and a welding line and the intersection between the linear laser and the scanning laser, a left-right deviation is obtained through the length change of the scanning laser, and the turning point position and the bending angle of the corrugated plate welding line are determined according to the bending position and angle of the scanning laser; and the self-adaption ahead distance transfer mechanism can adjust an ahead distance according to the parameter change of a welding process in a self-adaption manner.

Description

technical field [0001] The invention relates to the field of seam tracking, and is a monocular self-adaptive cross laser vision corrugated plate seam tracking sensor. Background technique [0002] Due to the good mechanical properties of corrugated plates, they are currently widely used in the production of containers. The production of containers is a labor-intensive industry that requires a large number of welders, and the working environment is harsh and labor costs are high. Therefore, it is urgent to realize the automation of corrugated plate welding. The problem. The current welding methods for corrugated plates are mainly manual welding and mechanical profiling semi-automatic welding. The welding efficiency is low and the welding quality is difficult to guarantee, and the quality of the weld seam formation of corrugated plates is not high. These problems have existed for a long time and have not been solved in the welding of corrugated plates in my country, so that t...

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Application Information

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IPC IPC(8): B23K37/02
CPCB23K37/0252
Inventor 李湘文贾爱亭洪波钟勇
Owner 湖南艾克机器人有限公司
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