Robot welding binocular vision sensing device based on miniature stepping motor lead screw transmission

Abstract

A robot welding binocular vision sensing device based on miniature stepping motor lead screw transmission comprises a mounting bracket, a sensor assembly, a base, a reflector assembly, a dimming and light filtering system, a lead screw transmission system and a protection mechanism. The sensor assembly includes a system shell, a laser, a camera and a cooling mechanism; the lead screw transmissionsystem comprises a miniature stepping motor, a lead screw sliding block mechanism and a sliding rail sliding block mechanism; the mounting bracket includes a trapezoid block, a camera shooting bracket, a laser bracket, a dovetail groove and a bearing bracket; the dimming and light filtering system includes a dimming carrying groove, a light filtering carrying groove, a dimming sheet and a light filter; the protection mechanism includes protective glass and a shading baffle; and the reflector assembly includes a reflector, a clamping groove and a headless stud. According to the device, a welding helmet worn by a welder is simulated, so that the automatic loading and removal of the dimming and light filtering system before welding, during welding and after welding can be realized, and the functions of welding environment identification, welding seam guidance, welding seam tracking, molten pool monitoring and the like can be realized by adopting the binocular sensor mode combining activevision and passive vision.

Description

technical field [0001] The invention relates to a technology in the field of robot welding, in particular to a robot welding binocular vision sensing device based on a micro-stepping motor screw drive. Background technique [0002] The visual sensing device plays an important role in the intelligentization of robot welding. It is the eyes of the welding robot. However, most of the visual sensing devices currently used are monocular vision sensors, which have a single function or are only used before welding arcs. Welding environment identification and guidance, or can only be used for welding seam tracking and molten pool monitoring in the welding process after arc initiation, unable to take off the welder's cap before welding like a skilled welder for welding environment identification and guidance, Wear a welder's cap when welding, track the weld seam and monitor the molten pool, adjust the welding position and welding parameters in real time, and switch between the two mo...

AI Technical Summary

Problems solved by technology

[0002] The visual sensing device plays an important role in the intelligentization of robot welding. It is the eyes of the welding robot. However, most of the visual sensing devices currently used are monocular vision sensors, which have a single function or are only used before welding arcs. Welding environment identification and guidance, or can only be used for welding seam tracking and molten pool monitoring in the welding process after arc initiation, unable to take off the welder's cap before welding like a skilled welder for welding environment identification and guidance, Wear a welder's cap when welding, track the weld seam and monitor the molten pool, adjust the welding position and welding parameters in real time, and switch between the two modes flexibly

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