Detection device, control method and device for detecting fine-gap weld bead using detection device

Abstract

The embodiment of the invention provides a detection device, a control method and a device adopted the detection device to detect a fine-gap welding bead. The detection device comprises a sensor and aposition and posture adjusting mechanism, the sensor is used for detecting the fine-gap welding bead, and the sensor comprises a shell, an imaging element, a cross laser light source and a uniform diffusion light source, wherein the imaging element is fixed on the shell; the position and posture adjusting mechanism is connected to the shell and a welding gun, and the position and posture adjusting mechanism is used for adjusting the relative position of the sensor and the welding gun; the cross laser light source is used for emitting cross laser to be projected on the surface of a to-be-welded workpiece; the uniform diffusion light source is used for emitting diffused light with uniform brightness to be projected on the surface of the to-be-welded workpiece; and the reflected light on thesurface of the to-be-welded workpiece enters the imaging element to be imaged. The embodiment of the invention ensures that the welding bead is always in the field of view of the imaging element, inaddition, the cross laser light source is used for replacing an existing laser array, the position of the laser projection center point can be judged more easily, so that the relative position of thelaser projection center and a welded line are judged and further controlled.

Description

technical field [0001] The invention relates to the technical field of welding automation, and more specifically, to a detection device, a control method and a device for detecting a fine-gap weld bead by using the detection device. Background technique [0002] In the field of welding, robotic intelligent welding has become an important trend. In the face of welding beads with complex spatial curve trajectories, the welding torch itself connected to the robot can adapt to changes in the pose of the weld bead. However, how to detect the pose of the weld bead in real time by visual means and then track the weld bead is still a problem to be solved. The current weld bead visual detection device is often fixed with the welding torch, and the offset between the detection device and the welding torch makes it difficult to perform real-time visual detection and tracking of the weld bead with complex spatial curve trajectories. [0003] In addition, in some fields (such as the aer...

AI Technical Summary

Problems solved by technology

In this device, the relative position of the welding torch and the imaging element is fixed. When performing real-time detection of the weld bead, if the weld bead trajectory is a complex spatial curve, the projection point or weld bead of the laser array on the workpiece surface may not be able to enter the imaging element. field of view, causing the detection to fail

[0005] In addition, this method regards the surface area of ​​the workpiece where the projection point of the laser array is located as the plane where the weld bead is located. When performing real-time detection of the weld bead with complex spatial curve trajectories, if the projection area of ​​the laser array on the workpiece surface and the position of the weld bead If the deviation is large, the surface area of ​​the workpiece where the laser array projection point is located may not accurately represent the surface area of ​​the workpiece where the weld bead is located, resulting in an increase in the detection error

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