Multi-degree-of-freedom weld visual identification device and welding equipment

Abstract

A multi-degree-of-freedom weld visual identification device comprises an adjusting arm, a magnetic suction plate and a visual identification module, the magnetic suction plate is connected to one end of the adjusting arm, and the visual identification module is connected to the magnetic suction plate in an adsorption mode; the adjusting arm comprises at least one movable joint to allow the visual identification module to rotate around the movable joint so as to realize degree-of-freedom adjustment; the visual identification module comprises a shell and a weld visual sensor arranged in the shell; the surface of the shell is provided with at least one installation position comprising a magnet so that the visual identification module can be attracted and connected to the adjusting arm through the installation position. The multi-degree-of-freedom welding seam visual identification device is simple and convenient to disassemble and assemble, free to adjust and capable of effectively improving the detection precision of the welding seam surface quality. The utility model further provides welding equipment.

Description

Technical Field

[0001] The utility model belongs to the field of weld detection, and particularly relates to a multi-degree-of-freedom weld visual recognition device and a welding device. Background Art

[0002] With the development of automation technology, visual sensors are increasingly used in welding processes to replace manual labor for detecting the surface quality of welds. Some existing visual sensors are set as independent systems and fixed by separate brackets, resulting in insufficient stability; some are installed on fixed brackets integrated into welding devices, leading to insufficient flexibility and inconvenient installation. These problems have restricted the application of welding automation technology. Especially in harsh working conditions such as confined spaces or high radiation environments, it is difficult to effectively detect the quality of welds through visual sensors. Therefore, providing a weld visual recognition device with stable installation and high flexibility has positive significance for improving the quality of automated welding. Summary of the Utility Model

[0003] The purpose of the utility model is to provide a multi-degree-of-freedom weld visual recognition device to improve the effect of visual detection during the welding process. The utility model also provides a welding device.

[0004] According to an embodiment of one aspect of the utility model, a multi-degree-of-freedom weld visual recognition device is provided, which includes an adjusting arm, a magnetic adsorption plate, and a visual recognition module; the magnetic adsorption plate is connected to one end of the adjusting arm, and the visual recognition module is adsorbed and connected to the magnetic adsorption plate; the adjusting arm includes at least one movable joint to allow the visual recognition module to rotate around the movable joint to achieve freedom of movement adjustment; the visual recognition module includes a housing and a weld visual sensor, the weld visual sensor is arranged inside the housing, and at least one mounting position is arranged on the surface of the housing, and a magnet is arranged at the mounting position to allow the visual recognition module to be adsorbed and connected to the magnetic adsorption plate.

[0005] The device adsorbs and connects the visual recognition module through the magnetic adsorption plate, making the installation orientation and angle of the visual recognition module have higher degrees of freedom; replacing clamping or bolt fixing with magnetic adsorption reduces the stress borne by the housing of the visual recognition module, enabling the housing to be made of lighter materials such as nylon, effectively reducing the overall weight and manufacturing cost of the device.

[0006] Further, in some embodiments, the weld visual sensor includes an active vision camera and a passive vision camera, and a laser is also arranged inside the housing, and the laser is used to provide the light source for the active vision camera.

[0007] Further, in some embodiments, the visual sensor is configured as a CMOS camera.

[0008] Further, in some embodiments, a cooling air duct is provided on the inner wall of the housing, and at least part of the wall of the cooling air duct is configured as a heat conducting plate, and the heat conducting plate is in contact with the weld visual sensor for heat conduction.

[0009] Further, in some embodiments, the cooling air duct is provided as a loop-shaped air duct, and a cooling air inlet and a cooling air outlet are provided on the surface of the housing.

[0010] Further, in some embodiments, a fixing mechanism is provided at the other end of the adjusting arm to allow the multi-degree-of-freedom weld visual recognition device to be fixedly connected to the surface of the welding equipment through the fixing mechanism.

[0011] Further, in some embodiments, the fixing device is configured as a crab claw clamp.

[0012] Further, in some embodiments, the fixing device is movably connected to the adjusting arm and can rotate circumferentially around the adjusting arm.

[0013] Further, in some embodiments, the visual recognition module further includes a light reduction and light filtering device.

[0014] According to an embodiment of another aspect of the present invention, a welding equipment is provided, including a welding module and a visual recognition device, wherein the visual recognition device adopts the multi-degree-of-freedom weld visual recognition device provided in any one of the foregoing embodiments. Description of the Drawings

[0015] Figure 1 It is a schematic structural diagram of a multi-degree-of-freedom weld visual recognition device in an embodiment;

[0016] Figure 2 It is a partial cross-sectional view of a multi-degree-of-freedom weld visual recognition device in an embodiment;

[0017] Figure 3 It is a cross-sectional view of the visual recognition module of a multi-degree-of-freedom weld visual recognition device in an embodiment.

[0018] The meaning of the accompanying drawings: 1-crab claw clamp; 2-adjusting arm; 3-crab claw clamp; 4-magnetic suction plate; 5-side magnet; 6-housing; 7-cooling air duct; 8-rear end clamp; 9-front end clamp; 10-active camera; 11-active lens; 12-focusing groove; 13-light reduction filter; 14-bottom plate; 15-laser; 16-laser clamp; 17-passive lens; 18-passive camera; 19-cooling air inlet; 20-data cable slot; 21 plug interface; 22-clamp fixing hole; 23-right clamp; 24-active lens fixing hole; 25-cover fixing hole; 26 passive lens fixing hole; 27-laser window; 28-laser inner groove; 29-laser fixing hole; 30-left clamp; 31-cooling outlet; 32-back magnet.

[0019] The purpose of the above drawings is to provide a detailed description of the present invention so that those skilled in the art can understand the technical concept of the present invention, but it is not intended to limit the present invention. For the sake of simplicity, the above drawings only schematically depict structures related to the technical features of the present invention, and do not strictly depict the complete structure and all details in accordance with the actual proportion. DETAILED DESCRIPTION

[0020] The present invention will be further described in detail below through specific embodiments in conjunction with the accompanying drawings.

[0021] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The phrase appearing in various locations in the specification does not necessarily refer to the same embodiment, nor is it limited to mutually exclusive independent or alternative embodiments. Those skilled in the art should be able to understand that the embodiments herein may be combined with other embodiments without causing structural conflicts.

[0022] In the description of this article, unless otherwise clearly specified and limited, the technical terms "installed", "connected", "connected" and the like should be understood in a broad sense, which can be a movable connection, a fixed connection or an integral connection. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of this application can be understood according to specific circumstances.

[0023] In the description of this document, terms indicating orientation or positional relationships, such as "up", "down", "left", "right", "horizontal", "vertical", "height", "length", and "width", are intended to accurately describe the embodiments and simplify the description, but are not intended to limit the parts or structures involved to have a specific orientation, be installed or operate in a specific orientation, and should not be construed as a limitation on the embodiments in this document.

[0024] In the description of this article, terms such as "first" and "second" are only used to distinguish different objects, and cannot be understood as indicating relative importance or limiting the quantity, specific order, or primary-secondary relationship of the described technical features. In the description of this article, the meaning of "a plurality of" is at least two.

[0025] During the welding process, the surface quality of the weld seam is an important indicator for evaluating welding quality. With the development of industrial vision recognition technology, the use of industrial cameras for weld seam quality detection has gained more and more applications. However, in some current solutions, the weld seam vision recognition device is integrated into the welding equipment in a fixed installation manner, which is inconvenient for disassembly and assembly, and the orientation setting is not flexible enough; in other solutions, the weld seam vision recognition device is independent of the welding equipment and requires a separate support and fixing structure, which is difficult to install and lacks stability, making it difficult to meet the requirements of weld seam quality detection.

[0026] To overcome the above difficulties, an embodiment of one aspect of the present utility model provides a multi-degree-of-freedom weld seam vision recognition device, which can flexibly adjust the angle, has high portability, and meets the requirements of different working scenarios.

[0027] The structure of the vision recognition device is as Figure 1 、 Figure 2 shown, and it includes an adjustment arm 2, a magnetic suction plate 4, and a vision recognition module. Crab claw clamps 1 and 3 are respectively arranged at both ends of the adjustment arm 2. Among them, the crab claw clamp 1 is used to fixedly connect the vision recognition device to the welding equipment or the welding trolley, and the crab claw clamp 3 holds and fixes the magnetic suction plate 4; a movable joint is arranged in the middle of the adjustment arm 2 to allow the adjustment arm 2 to bend and rotate. The housing 6 of the vision recognition device is integrally set to be approximately a cuboid structure, and a side magnet 5 is arranged on one side surface. The housing 6 is adsorbed on the magnetic suction plate 4 through the side magnet 5, so that the vision recognition module can rotate around the movable joint of the adjustment arm 2 to achieve the adjustment of the orientation and angle. A weld seam vision sensor is installed in the housing 6 for detecting the weld seam quality. Another side surface of the housing 6 is also provided with a back magnet 32 to allow the housing 6 to be adsorbed and connected to the magnetic suction plate 4 in different postures, making the installation method of the vision recognition module more flexible. In a preferred embodiment, the adjustment arm 2 can also be provided with two or more movable joints to achieve more degrees of freedom of adjustment.

[0028] In a preferred embodiment, the crab claw clamp 1 and the crab claw clamp 3 are connected to the adjustment arm 2 through a rotating sleeve, so that the crab claw clamp 1 and the crab claw clamp 3 can freely rotate circumferentially around the adjustment arm 2 and be locked in a specified position. In other embodiments, the crab claw clamps 1 and 3 can also be replaced with other detachable fixing devices, such as bench vises or hook claws, etc., and can also be set as strong magnets.

[0029] Combined with Figure 3, inside the housing 6, an active vision camera system is provided, including an active camera 10, an active lens 11, and a one-line structure laser 15 as a light source. The emission direction of the laser 15 forms a 30° angle with the imaging direction of the active camera 10. The half field of view angle of the active camera 10 is about 28°, ensuring that the laser stripe is within the field of view of the active camera 10. A passive vision camera system is also provided inside the housing 6, including a passive camera 18 and a passive lens 17. The active vision camera system and the passive vision camera system are fixedly installed inside the housing 6 through a rear fixture 8, a front fixture 9, fixture fixing holes 22, a right fixture 23, and a left fixture 30. Each fixture is made of aluminum alloy. Among them, the active lens 11 is installed in the active lens fixing hole 24, and the passive lens 17 is installed in the passive lens fixing hole 26. Both the active camera 10 and the passive camera 18 use CMOS cameras. Compared with CCD cameras, CMOS cameras have lower costs. Both the active camera 10 and the passive camera 18 are focused through a focusing groove 12. The laser 15 is positioned through the laser inner groove 28 and fixed in the laser positioning hole 29 through a laser fixture 16. During the assembly process, first, the vision camera system is assembled with each fixture outside the housing, and then assembled into the housing 6 through the positioning holes, ensuring that the active camera 10 and the passive camera 18 are on the same plane. In this way, the relative positions of the active camera 10 and the passive camera 18 can be determined outside the housing 6. Finally, a cover plate is installed through the cover plate fixing hole 25 on the flanging of the bottom plate 14 to seal the housing 6. A data wire groove 20 and a socket 21 are provided at the top of the housing 6 to integrate the power supply and communication of the internal components. A high-definition and high-temperature-resistant protective glass is provided on the bottom plate 14 to prevent welding spatter from damaging the camera and the light reduction and light filtering device 13 without affecting image acquisition.

[0030] During the working process, the laser emitted by the laser 15 irradiates the weld surface through the laser window 27, and the active camera 10 captures the image; the passive camera 18 captures the image simultaneously.

[0031] Since the housing 6 of the vision recognition module is attached to the magnetic adsorption plate 4 by the side magnets 5, the crab claw clamp 3 is prevented from directly clamping the housing 6, and the stress borne by the housing 6 is relatively low. The housing 6 can be made of materials with lower cost and lighter weight, such as nylon. The housing 6 can be manufactured by 3D printing to have the advantages of fast processing speed, low manufacturing cost, short molding cycle, and the ability to manufacture complex structures. A return-shaped cooling air duct 7 is provided on the inner wall of the housing 6. The cooling air duct 7 is formed by cutting a 1.5-mm deep groove on the inner wall of the housing. The cooling air duct 7 is connected to the cooling air inlet 19 and the cooling air outlet 31 provided on the surface of the housing 6. Air flows in from the cooling air inlet 19 and out from the cooling air outlet 31 to achieve cooling. A copper heat conduction plate is provided on a part of the wall of the cooling air duct 7. The copper heat conduction plate is in contact with the active camera 10 and the passive camera 18 to cool the cameras by means of contact heat conduction during operation, so as to extend the service life of the device and ensure the detection effect.

[0032] In a preferred embodiment, the vision recognition module further includes a light reduction and filtering device 13. The light reduction and filtering device 13 is provided with a drawer-type drawable light reduction and filtering film with a central wavelength of 650 nm, a bandwidth of 100 nm, a transmittance greater than 90%, and a cut-off depth OD3. This device facilitates debugging or replacing the light reduction and filtering film during the welding process.

[0033] An embodiment of another aspect of the present invention provides a welding device. The welding device includes a welding module, and the welding module can be a resistance welding gun or the corresponding tool for welding methods such as argon arc welding, laser welding, or friction stir welding. The welding device further includes a vision recognition device, and the vision recognition device adopts the multi-degree-of-freedom weld seam vision recognition device provided in any of the foregoing embodiments. Some embodiments adopt the vision recognition device as shown in Figures 1 to 3 . The vision recognition device can be fixed on the welding gun robotic arm or the welding trolley of the welding device through the crab claw clamp 1 to achieve flexible and fast installation and multi-degree-of-freedom adjustment. In other embodiments, the crab claw clamp 1 can be replaced by a strong magnet, and the vision recognition device can be fixed on the welding device by magnetic adsorption.

[0034] The multi-degree-of-freedom weld seam vision device provided in the above embodiments is flexible in disassembly and assembly, capable of performing multi-degree-of-freedom orientation adjustment, and improving the detection accuracy and flexibility of the vision recognition device for the weld seam quality. The welding device provided in the above embodiments can flexibly arrange the vision recognition device according to actual needs, thereby improving the weld seam detection accuracy.

[0035] The purpose of the above embodiments is to make a further detailed description of the present utility model in conjunction with the accompanying drawings, so that those skilled in the art can understand the technical concept of the present utility model, rather than aiming to limit the present utility model. Within the scope disclosed by the present utility model, optimizing or equivalently replacing the involved part structures, and combining the implementation manners in different embodiments without conflict in structure and principle all fall within the protection scope of the present utility model.

Claims

1. A multi-degree-of-freedom visual recognition device for weld seams, characterized in that, It includes an adjusting arm, a magnetic adsorption plate and a vision recognition module; the magnetic adsorption plate is connected to one end of the adjusting arm, and the vision recognition module is adsorbed and connected to the magnetic adsorption plate; the adjusting arm includes at least one movable joint to allow the vision recognition module to rotate around the movable joint to achieve freedom of movement adjustment; the vision recognition module includes a housing and a weld seam vision sensor, the weld seam vision sensor is arranged in the housing, and at least one mounting position is arranged on the surface of the housing, and a magnet is arranged at the mounting position to allow the vision recognition module to be adsorbed and connected to the magnetic adsorption plate.

2. The multi-degree-of-freedom weld visual recognition device according to claim 1, wherein The weld seam vision sensor includes an active vision camera and a passive vision camera, and a laser is further arranged in the housing, and the laser is used to provide the light source for the active vision camera.

3. The multi-degree-of-freedom weld visual recognition device according to claim 2, wherein The vision sensor is configured as a CMOS camera.

4. The multi-degree-of-freedom weld visual recognition device according to claim 1 or 2 or 3, characterized in that, A cooling air duct is arranged on the inner wall of the housing, and at least part of the wall of the cooling air duct is configured as a heat conducting plate, and the heat conducting plate is in contact with the weld seam vision sensor for heat conduction.

5. The multi-degree-of-freedom weld visual recognition device according to claim 4, characterized in that, The cooling air duct is arranged as a loop-shaped air duct, and a cooling air inlet and a cooling air outlet are arranged on the surface of the housing.

6. The multi-degree-of-freedom weld visual recognition device according to claim 1, wherein A fixing mechanism is arranged at the other end of the adjusting arm to allow the multi-degree-of-freedom weld seam vision recognition device to be fixedly connected to the surface of the welding equipment through the fixing mechanism.

7. The multi-degree-of-freedom weld visual recognition device according to claim 6, wherein, The fixing device is configured as a crab claw clamp.

8. The multi-degree-of-freedom weld visual recognition device according to claim 6 or 7, characterized in that The fixing device is movably connected to the adjusting arm and can rotate circumferentially around the adjusting arm.

9. The multi-degree-of-freedom weld visual recognition device according to claim 1 or 2 or 3, characterized in that, The vision recognition module further includes a light reduction and filtering device.

10. A welding device, comprising a welding module, characterized in that, The welding equipment further includes a vision recognition device, and the vision recognition device adopts the multi-degree-of-freedom welding recognition device as described in any one of claims 1 to 9.

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