Visual sensor with adjustable laser light path angle
By setting an adjustable laser light path in the vision sensor to increase the laser incident angle, the problem of insufficient laser line characteristics of the existing vision sensor is solved, and the effective extraction of laser lines in different weld types and environments is achieved, and software processing and sensor design are simplified.
Patent Information
- Application Number
- CN202422161412.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-04
- Publication Date
- 2025-07-01
- Estimated Expiration
- 2034-09-04
AI Technical Summary
The laser line position and linear structure light shape of the existing welding vision sensors cannot adapt to different weld types and welding environments, resulting in poor flexibility and lack of obvious laser line characteristics, making it difficult to effectively extract weld features.
A vision sensor with adjustable laser optical path angle is designed. By setting primary and secondary mirrors in the sensor housing, and adjusting the laser angle by rotating the secondary mirror, the incident angle of the laser is increased, making the laser line characteristics more obvious.
It improves the characteristic obviousness of laser lines in different weld types and environments, simplifies the difficulty and processing time of software algorithms, and reduces the overall size of the sensor to meet the diversified needs of robot welding.
Smart Images
Figure CN223043805U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of intelligent manufacturing of robot welding, and particularly relates to a vision sensor with adjustable laser light path angle. Background Technique
[0002] The intelligent welding of robots has always been the focus and difficulty of intelligent manufacturing research. To achieve the intelligent welding of robots, the vision sensor technology is the key to the entire intelligent welding system. At present, the vision sensors for welding that are maturely applied in the market cannot be re-developed for specific weld types, which seriously hinders the process of intelligent manufacturing production. Moreover, most of the current vision sensors for welding are for specific application scenarios, with poor flexibility, and the laser line position and the shape of the line structured light cannot be applied to different weld types and welding environments.
[0003] Therefore, it is urgent to design a vision sensor with an adjustable laser light path angle to solve the problems mentioned above that the laser line position and the shape of the line structured light cannot be applied to different weld types and welding environments. Content of the Utility Model
[0004] To solve the technical problem that the laser line position and the shape of the line structured light mentioned in the background technique cannot be applied to different weld types and welding environments, a vision sensor with an adjustable laser light path angle is provided. By increasing the incident angle of the laser, the laser line characteristics in different welding scenarios are more obvious, which is beneficial to the extraction of weld characteristics to solve the above problems.
[0005] To achieve the above purpose, the specific technical solution of the vision sensor with an adjustable laser light path angle of the utility model is as follows:
[0006] A vision sensor with an adjustable laser light path angle includes a sensor housing. A line laser is fixedly connected inside the sensor housing. A first reflector and a second reflector are arranged on the laser path of the line laser. The first reflector is located upstream of the second reflector. The first reflector is fixedly connected to the sensor housing to guide the laser of the line laser to the second reflector. The second reflector is rotatably connected to the sensor housing, and the second reflector is rotated to adjust the angle of the laser.
[0007] Further, a first bracket is fixedly connected to the sensor housing. The first bracket is fixedly connected to the first reflector. The first reflector is fixedly connected to the sensor housing through the first bracket. A second bracket is rotatably connected to the sensor housing. The second bracket is fixedly connected to the second reflector. The second reflector is rotatably connected to the sensor housing through the second bracket.
[0008] Further, the centers of the first reflector and the second reflector are on the same straight line.
[0009] Furthermore, the first reflecting mirror forms an angle of 22.5 degrees with the laser beam.
[0010] Furthermore, a light reduction and filtering system and a CCD camera are fixedly connected to the sensor housing, and the CCD camera is located above the light reduction and filtering system to transmit the weld pattern information in real time.
[0011] Furthermore, the light reduction and filtering system includes a light reduction glass sheet, a filtering glass sheet, and a fixing bracket. The fixing bracket is fixedly connected to the sensor housing, and both the light reduction glass sheet and the filtering glass sheet are fixedly connected to the fixing bracket. The light reduction glass sheet and the filtering glass sheet are stacked on the fixing bracket to make the welding image clear.
[0012] Furthermore, an arc light baffle is screwed to the bottom of the fixing bracket to block the arc light during welding.
[0013] Furthermore, a clamping bracket is fixedly connected to the sensor housing to connect the sensor housing to the robot.
[0014] Furthermore, the clamping bracket includes a first bracket, a second bracket, and an intermediate bracket. One end of the intermediate bracket is connected to the first bracket, and the end of the intermediate bracket away from the first bracket is connected to the second bracket. The end of the first bracket away from the intermediate bracket is connected to the end of the sixth axis of the robot, and the end of the second bracket away from the intermediate bracket is connected to the sensor housing.
[0015] Furthermore, a clamp is screwed inside the sensor housing, and the sensor housing is fixedly connected to the line laser through the clamp.
[0016] The vision sensor with adjustable laser optical path angle of the present utility model has the following advantages:
[0017] The present utility model adopts an angle-adjustable secondary reflection optical path design, effectively increasing the incident angle of the laser, making the laser line feature more obvious, which is beneficial to the extraction of weld features, solves the problem that the laser line feature of the existing sensor is not obvious and it is difficult to extract weld features, reduces the difficulty and processing time of the software algorithm, and at the same time reduces the overall size of the sensor. Due to the adoptable design of adjustable laser optical path position, it meets the different requirements of robot welding position finding and weld tracking for the position and distance of the laser line. Description of the Drawings
[0018] Figure 1 It is a schematic structural diagram of the vision sensor with adjustable laser optical path angle of the present utility model.
[0019] Explanation of the marks in the figure: 1. Sensor housing; 2. Line laser; 3. First reflecting mirror; 4. Second reflecting mirror; 5. Light reduction and filtering system; 501. Fixing bracket; 6. CCD camera; 7. Arc light baffle; 8. Clamping bracket; 801. First bracket; 802. Second bracket; 803. Intermediate bracket; 9. Clamp. Detailed implementation manners
[0020] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Apparently, the described embodiments are some but not all of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.
[0021] Those skilled in the art can understand that although some embodiments herein include certain features included in other embodiments but not other features, the combination of the features of different embodiments means that it is within the scope of the present utility model and forms different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination manner.
[0022] Next, refer to the attached Figure 1 to describe the vision sensor with adjustable laser light path angle of the present utility model.
[0023] At present, most of the vision sensors for welding are for specific application occasions, with poor flexibility, and the laser line position and the shape of the structured light cannot be applied to different weld types and welding environments.
[0024] Therefore, the present utility model provides a vision sensor with adjustable laser light path angle. As Figure 1 shown, it includes a sensor housing 1. A line laser 2 is fixedly connected inside the sensor housing 1. A first reflecting mirror 3 and a second reflecting mirror 4 are provided on the laser path of the line laser 2. The first reflecting mirror 3 is located upstream of the second reflecting mirror 4. The first reflecting mirror 3 is fixedly connected to the sensor housing 1 to guide the laser of the line laser 2 to the second reflecting mirror 4. The second reflecting mirror 4 is rotatably connected to the sensor housing 1. By rotating the second reflecting mirror 4, the angle of the laser can be adjusted. Specifically, this device adopts a second reflecting optical path design with adjustable angle, effectively increasing the incident angle of the laser, making the laser line feature more obvious, which is beneficial to the extraction of weld features and solves the problem that the laser line feature of the existing sensor is not obvious and it is difficult to extract weld features.
[0025] Preferably, a first bracket is fixedly connected to the sensor housing 1. The first bracket is fixedly connected to the first reflecting mirror 3. The first reflecting mirror 3 is fixedly connected to the sensor housing 1 through the first bracket. A second bracket is rotatably connected to the sensor housing 1. The second bracket is fixedly connected to the second reflecting mirror 4. The second reflecting mirror 4 is rotatably connected to the sensor housing 1 through the second bracket. Thus, by rotating the angle of the second reflecting mirror 4, the change of the laser stripe optical path angle is realized.
[0026] Preferably, the centers of the first-stage reflector 3 and the second-stage reflector 4 are located on the same straight line to facilitate the angle adjustment of the second-stage reflector 4.
[0027] Preferably, the first-stage reflector 3 forms an angle of 22.5 degrees with the laser beam, that is Figure 1 α = 25° in , thereby further making the angle adjustment of the second-stage reflector 4 accurate, efficient and convenient.
[0028] A light reduction and filtering system 5 and a CCD camera 6 are fixedly connected to the sensor housing 1. The CCD camera 6 is located above the light reduction and filtering system 5 to transmit the weld pattern information in real time. Preferably, the CCD camera 6 communicates with the computer through an Ethernet connection to the port. The CCD camera 6 is coaxially connected to the lens thereon through a C-mount. The CCD camera 6 acquires the pre-welding positioning and tracking images of the weld during the welding process.
[0029] The light reduction and filtering system 5 includes a light reduction glass sheet, a filtering glass sheet and a fixing bracket 501. The fixing bracket 501 is fixedly connected to the sensor housing 1. Both the light reduction glass sheet and the filtering glass sheet are fixedly connected to the fixing bracket 501. The light reduction glass sheet and the filtering glass sheet are stacked on the fixing bracket 501 to make the welding image clear.
[0030] Preferably, an arc light baffle 7 is screwed to the bottom of the fixing bracket 501 to block the arc light during welding, effectively preventing the laser stripe from being overwhelmed by the strong arc light.
[0031] A clamping bracket 8 is fixedly connected to the sensor housing 1 to connect the sensor housing 1 to the robot, thereby meeting the requirements of the robot for welding positioning and tracking.
[0032] The clamping bracket 8 includes a first bracket 801, a second bracket 802 and an intermediate bracket 803. One end of the intermediate bracket 803 is connected to the first bracket 801, and the end of the intermediate bracket 803 far from the first bracket 801 is connected to the second bracket 802. The end of the first bracket 801 far from the intermediate bracket 803 is connected to the end of the sixth axis of the robot, and the end of the second bracket 802 far from the intermediate bracket 803 is connected to the sensor housing 1.
[0033] A clamp 9 is screwed inside the sensor housing 1. The sensor housing 1 is fixedly connected to the line laser 2 through the clamp 9.
[0034] Preferably, the communication mode between the line laser 2 and the software is a serial port.
[0035] Preferably, the sensor housing 1, the clamp 9, the fixed bracket 501, the primary bracket, the secondary bracket, and the clamping bracket 8 are all made of high-strength, high-toughness heat-resistant nylon as the 3D printing material. They are light in weight, have few components, and low manufacturing costs, making them suitable for mass production in industrial manufacturing.
[0036] The present utility model adopts an angle-adjustable secondary reflection optical path design, which effectively increases the incident angle of the laser, making the laser line feature more obvious, facilitating the extraction of weld features, solving the problem that the laser line feature of the existing sensor is not obvious and it is difficult to extract weld features, reducing the difficulty and processing time of the software algorithm, and at the same time reducing the overall size of the sensor. Due to the adjustable laser optical path position design, it meets the different requirements of the robot welding position finding and weld tracking for the position and distance of the laser line.
[0037] Obviously, the above-mentioned embodiments of the present utility model are merely examples for clearly illustrating the present utility model, rather than limiting the implementation manners of the present utility model. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present utility model shall be included within the protection scope of the claims of the present utility model.
Claims
1. A visual sensor with adjustable laser light path angle, characterized in that: It includes a sensor housing, a wire laser is fixedly connected inside the sensor housing, a primary reflector and a secondary reflector are provided on the laser path of the wire laser, the primary reflector is located upstream of the secondary reflector, the primary reflector is fixedly connected to the sensor housing to guide the laser of the wire laser to the secondary reflector, the secondary reflector is rotatably connected to the sensor housing, and the secondary reflector is rotated to adjust the angle of the laser.
2. The visual sensor with adjustable laser light path angle according to claim 1, characterized in that: A primary bracket is fixedly connected to the sensor housing, the primary bracket is fixedly connected to the primary reflector, the primary reflector is fixedly connected to the sensor housing through the primary bracket, a secondary bracket is rotatably connected to the sensor housing, the secondary bracket is fixedly connected to the secondary reflector, and the secondary reflector is rotatably connected to the sensor housing through the secondary bracket.
3. The visual sensor with adjustable laser light path angle according to claim 2, characterized in that: The center of the primary reflector and the center of the secondary reflector are located on the same straight line.
4. The visual sensor with adjustable laser light path angle according to claim 3, characterized in that: The primary reflector is at an angle of 22.5 degrees to the laser beam.
5. The visual sensor with adjustable laser light path angle according to claim 1, characterized in that: A light reduction filter system and a CCD camera are fixedly connected to the sensor housing. The CCD camera is located above the light reduction filter system to transmit weld seam graphic information in real time.
6. The visual sensor with adjustable laser light path angle according to claim 5, characterized in that: The dimming and filtering system includes a dimming glass sheet, a filter glass sheet and a fixed bracket. The fixed bracket is fixedly connected to the sensor housing. The dimming glass sheet and the filter glass sheet are both fixedly connected to the fixed bracket. The dimming glass sheet and the filter glass sheet are superimposed on the fixed bracket to make the welding image clear.
7. The visual sensor with adjustable laser light path angle according to claim 6, characterized in that: An arc baffle is screwed on the bottom of the fixed bracket to shield the welding arc.
8. The visual sensor with adjustable laser light path angle according to claim 1, characterized in that: A clamping bracket is fixedly connected to the sensor housing to connect the sensor housing to the robot.
9. The visual sensor with adjustable laser light path angle according to claim 8, characterized in that: The clamping bracket includes a first bracket, a second bracket and an intermediate bracket. One end of the intermediate bracket is connected to the first bracket, and the end of the intermediate bracket away from the first bracket is connected to the second bracket. The end of the first bracket away from the intermediate bracket is connected to the six-axis end of the robot, and the end of the second bracket away from the intermediate bracket is connected to the sensor housing.
10. The visual sensor with adjustable laser light path angle according to claim 1, characterized in that: A clamp is screwed inside the sensor housing, and the sensor housing is fixedly connected to the line laser through the clamp.