Single eye visual sensor for welding robot and its hand-eye relation quick marking method

A technology of welding robot and monocular vision, which is applied in the direction of welding equipment, auxiliary welding equipment, welding/cutting auxiliary equipment, etc., can solve the problems such as not being able to meet the simple and fast calibration, and meet the needs of actual production work, meet the flexibility, reduce the The effect of calibration error

Inactive Publication Date: 2007-08-15
SHANGHAI JIAOTONG UNIV
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AI Technical Summary

Problems solved by technology

This method has the advantages of accurate positioning and high reliability, but it also has the disadvantages of moving the end effector of the robot during the calibration process, and performing multiple image acquisitions and multiple calibrations.
Can not meet the requirements of simple and fast calibration in actual production application

Method used

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  • Single eye visual sensor for welding robot and its hand-eye relation quick marking method
  • Single eye visual sensor for welding robot and its hand-eye relation quick marking method

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Embodiment Construction

[0015] As shown in FIG. 1 , the monocular vision sensor of the welding robot of the present invention includes: a miniature CCD camera 1 , a light reduction and filtering system 2 , a motor drive system 3 and a mounting bracket 4 . The connection relationship is as follows: the miniature CCD camera 1, the light reduction and filter system 2 and the motor drive system 3 are all arranged on the mounting bracket 4, and the light reduction and filter system 2 includes a light reduction lens 5, a filter lens 6 and a lens holder 7. The movable connecting rod 8, the driving arm 9, the dimming lens 5 and the filter lens 6 are overlapped and arranged on the lens holder 7, and are connected with the driving arm 9 through the movable connecting rod 8, and the driving arm 9 is directly connected to the motor drive system. The output shaft of the deceleration device 11 is connected, and can be driven by the output shaft to rotate forward / reversely; the motor drive system 3 includes a drive ...

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Abstract

The present invention belongs to single eye visual sensor and its hand-eye relation quick calibrating method for welding robot. The sensor has mini CCD camera, light dimming and filtering system and motor driving system on support. The light dimming and filtering system has dimming lens and filtering lens set on lens rack and connected via movable link rod with driving arm; the motor driving system has driving motor connected to the speed reducer; and the light dimming and filtering system has its driving arm connected directly to the speed reducer. During the calibration of the inner and outer parameters of the CCD camera, the method of superposing the universal coordinate system and the robot coordinate system is adopted, and the expression of the camera outer parameters in the universal coordinate system is converted into that in welding robot end controlling point coordinate system to complete the hand-eye relation calibration of the welding robot.

Description

technical field [0001] The invention relates to a welding robot vision sensor and a calibration method thereof, in particular to a welding robot monocular vision sensor and a hand-eye relationship rapid calibration method thereof. For welding and cutting fields. Background technique [0002] At present, there are many kinds of sensing methods applied to welding robots. Among these sensing methods, due to the advantages of large amount of information, non-contact, fast, high precision and high degree of automation, the visual sensing method is widely used in welding work. It has become a research hotspot in robotic welding sensors. The application of visual sensing technology in welding robots is more research on the intelligent control of welding processes such as weld seam visual tracking and penetration control. At present, the relatively mature research at home and abroad is the visual sensing method using laser or structured light. This sensing method needs to add a sp...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/04B25J13/00B23K37/00
Inventor 林涛朱振友陈善本陈文杰陈希章
Owner SHANGHAI JIAOTONG UNIV
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