Robot welding visual sensor for weld joint and molten bath monocular two-position image synchronous acquisition

Abstract

The invention provides a robot welding visual sensor for weld joint and molten bath monocular two-position image synchronous acquisition. The robot welding visual sensor comprises a mounting support,a system shell, a laser unit, a camera, a light reducing and filtering system, a protecting mechanism and a heat dissipating mechanism, wherein the laser unit and the camera are mounted and positionedat relative positions and have fixed angles. The system shell is connected with a robot terminal through the mounting support, the laser unit is arranged on the left side in the system shell and clings to the inner wall through the support, the camera is rotationally mounted on the inner wall of the system shell, the light reducing and filtering system is arranged in the system shell and at the front end of the camera, the protecting mechanism is arranged below the system shell, and the heat dissipating mechanism is distributed on the inner wall of the system shell. Active vision and passivevision are combined, the laser unit and the camera are included, weld joint and molten bath images can be simultaneously obtained in one frame of image, different light reducing conditions are set atdifferent positions in the light reducing and filtering system, laser stripe images for reflecting weld joint characteristics and molten bath images for reflecting the welding quality are simultaneously obtained, and the robot welding visual sensor is small in size and high in flexibility, and can meet the use requirements of different occasions.

Description

technical field [0001] The invention relates to a technology in the field of robot intelligent welding, in particular to a robot welding vision sensor for synchronous acquisition of monocular and dual-bit images of weld seams and molten pools. Background technique [0002] In the process of robot welding, the quality of weld formation is easily affected by external conditions and the factors of the weld itself. It is necessary to realize real-time monitoring and intelligent control of the robot welding process to improve the level of welding automation and reduce welding defects. Among them, the visual sensor It plays an important role in the intelligentization of robot welding. Depending on whether an additional external light source is used, vision sensors can be divided into passive and active vision sensors. [0003] The passive vision sensor directly uses the strong arc light in the welding process as the light source for image information collection, which can easily r...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the requirement that the prior art cannot clearly acquire the laser stripe image and the molten pool image at the same time, and cannot realize the welding seam tracking and the molten pool monitoring in the process of robot welding at the same time, the present invention proposes a single-eye dual-camera sensor for the welding seam and the molten pool. The robotic welding vision sensor for synchronous acquisition of bit images adopts a combination of active and passive vision, including a laser and a camera, which can simultaneously obtain weld seam and molten pool images in one frame of image. Different dimming conditions are set at adjacent positions, and the laser stripe image reflecting the characteristics of the weld and the molten pool image of the welding quality are obtained at the same time. The volume is small and the flexibility is large, which can meet the needs of different occasions.

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