Servo binocular vision sensors on welding robot

A welding robot and binocular vision technology, applied in welding equipment, manipulators, arc welding equipment, etc., can solve problems such as tracking failure, weld detachment, unsatisfactory use, etc., and achieve high practicability

Inactive Publication Date: 2005-03-30
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
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Problems solved by technology

However, this sensor has a single function and can only be used for seam tracking, and when it is used on a robot, because its position relative to the welding torch does not move, when welding a seam with a large curvature, the seam may break away from the CCD. Field of view, resulting in tracking failure. In addition, the filter is fixed on the front of the camera and cannot be moved, which cannot be used under natural light conditions.

Method used

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  • Servo binocular vision sensors on welding robot

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Embodiment Construction

[0012] Such as figure 1 As shown, the present invention includes: a servo motor 1, a synchronous belt transmission system 2, two CCD cameras 3, a pneumatic system 4, a dimming and filtering system 5, an inner hollow shaft 6, an outer hollow shaft 7, an end cover 8 and a flat plate Support 9, channel-shaped support 10 and two bearings 11. The connection relationship is as follows: two CCD cameras 3, pneumatic system 4, light reduction and filter system 5 are fixed on the flat support 9, and the flat support 9 is fixed on the outer hollow shaft 7, between the inner hollow shaft 6 and the outer hollow shaft 7 Two high-precision bearings 11 are arranged, and the outer hollow shaft 7 rotates around the inner hollow shaft 6 through the bearings 11 . The power of the servo motor 1 is transmitted to the outer hollow shaft 7 through the synchronous belt transmission system 2, which drives the CCD camera 3 to rotate around the welding torch, and the synchronous belt transmission system...

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Abstract

A servo binocular visual transducer for welding robot is featured as fixing CCD camera, pneumatic system, dimming and filtering system on flat support being fixed with external spindle; placing two bearings between two hollow spindles to let external one rotate around the internal one; connecting synchronous belt transmission system to external spindle with end cover; fixing internal hollow spindle and servo motor to drive CCD camera to rotate at controllable angle around welding gun.

Description

technical field [0001] The invention relates to a welding robot vision sensor, in particular to a welding robot servo binocular vision sensor. For use in welding technology. 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 large detection range, the visual sensing method is widely used in welding. Workers love it, and it has become a research hotspot in robot 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 specific light source, and there are problems such as insufficient information, s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K9/00B23K9/127B25J19/04
Inventor 周律林涛陈善本郎玉友李来平
Owner SHANGHAI JIAO TONG UNIV
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