Welding device
By adjusting the optical axis of the camera lens and setting up aligned visual recognition and lighting modules, the problems of unclear imaging and trapezoidal distortion in the welding device were solved, achieving high-precision welding and cost reduction.
Patent Information
- Application Number
- CN202422841770.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-21
- Publication Date
- 2025-11-07
- Estimated Expiration
- 2034-11-21
AI Technical Summary
In existing welding equipment, the optical axis of the vision recognition module is not parallel to the central axis of the welding head, resulting in unclear imaging and trapezoidal distortion, which affects the welding accuracy.
The optical axis of the camera lens is configured not to pass through the center of the image sensor, and the vision recognition module and the illumination module are aligned with the central axis of the welding head to ensure that the object to be welded is clearly imaged on the object plane of the vision recognition module, and the illumination module provides uniform illumination.
It improves the precision of the welding process, reduces manufacturing and maintenance costs, and enhances the visual recognition range and welding quality.
Smart Images
Figure CN223518928U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to a kind of welding devices. BACKGROUND
[0002] Generally welding device, for example welding robot, in order to can confirm whether the welding head is correctly welded to the object to be welded and monitors welding process, thus it will be through visual recognition module to shoot the welding head and the welding place of the object to be welded, since welding head is generally located in the center of welding device, and visual recognition module is set on the side of welding head, thus the optical axis of visual recognition module is configured to present skew relative to the central axis of welding head, to let visual recognition module to the welding place for shooting. Since the optical axis of visual recognition module is not parallel to the central axis of welding head, resulting in the object to be welded is not on the object plane of visual recognition module, thus the imaging of visual recognition module is not clear (Defocus) and occurs keystone (Keystone) etc. Condition, it can lead to visual recognition module misjudgment, and further reduce the precision of welding process.
[0003] The "BACKGROUND" section is merely intended to help understand the content of the utility model, thus the content disclosed in the "BACKGROUND" section can include some known technology which does not constitute the known technology known by the person skilled in the art. The content disclosed in the "BACKGROUND" section does not represent that the content or the problem to be solved by one or more embodiments of the utility model has been known or recognized by the person skilled in the art before the utility model application. CONTENT OF THE UTILITY MODEL
[0004] The utility model provides a kind of welding device, component positioning is simple, and the precision of welding process is high.
[0005] Other purposes and advantages of the utility model can be further understood from the technical features disclosed in the utility model.
[0006] To achieve one or part or all of the above purposes or other purposes, the welding device provided by the embodiment of the utility model includes a housing, a welding module and at least one visual recognition module. The welding module includes a welding head, and the welding head is arranged on a first area of the housing. The visual recognition module is arranged on a second area of the housing, each visual recognition module includes a camera lens and an image sensor, and the first optical axis of the camera lens does not pass through the center of the image sensor, and the first area is different from the second area.
[0007] Based on the above, the welding device provided by the embodiments of the present invention has at least one of the following advantages: (1) the object to be welded by the visual recognition module can fall on the object plane of the visual recognition module, and the object to be welded can be clearly imaged on the image sensor; (2) the visual recognition module is not skewed relative to the central axis of the welding head; (3) the lighting module is not skewed relative to the central axis of the welding head; and (4) the component positioning of the welding device is simple, which can greatly reduce manufacturing costs and maintenance costs.
[0008] To make the above-mentioned features and advantages of this utility model more apparent and understandable, specific embodiments are described below, and detailed descriptions are provided in conjunction with the accompanying drawings. Attached Figure Description
[0009] FIG. 1A A schematic diagram of a welding apparatus according to an embodiment of the present invention is shown.
[0010] FIG. 1B It is shown that according to one embodiment, in FIG. 1A A schematic diagram of the optical path architecture of the visual recognition module in the image.
[0011] FIG. 1C It is shown that according to one embodiment, in FIG. 1A A schematic diagram of the optical path architecture of the lighting module.
[0012] Explanation of reference numerals in the attached figures:
[0013] 2: Welding equipment
[0014] 20: Shell
[0015] 21: Welding Module
[0016] 22, 23: Visual Recognition Module
[0017] 24, 25: Lighting modules
[0018] 26, 27: Structured light illumination module
[0019] 210: Welding head
[0020] 221: Camera Lens
[0021] 221P: Object plane
[0022] 222: Image Sensor
[0023] 222C: Sensor Center
[0024] 241: Light source
[0025] 241P: Illumination Area
[0026] 242: Lens Group
[0027] A1: first region
[0028] A2, A3: second region
[0029] A4, A5, A6, A7: third region
[0030] C0: central axis
[0031] C1, C2: first optical axis
[0032] C3, C4: second optical axis
[0033] SA: object to be welded DETAILED DESCRIPTION
[0034] The above and other technical contents, features and effects of the present application will be apparent from the following detailed description of a preferred embodiment, taken in conjunction with the accompanying drawings. The directional terms mentioned in the following embodiments, such as up, down, left, right, front or back, etc., are only with reference to the direction of the drawings. Therefore, the directional terms are used for illustration, not for limiting the present application.
[0035] Referring to FIGS. 1A-1C , FIG. 1A a schematic view of a welding device according to an embodiment of the present application is shown, FIG. 1B a schematic view of the optical path architecture of a visual recognition module in FIG. 1A according to an embodiment is shown, FIG. 1C a schematic view of the optical path architecture of an illumination module in FIG. 1A according to an embodiment is shown.
[0036] The welding device 2 comprises a housing 20, a welding module 21, a visual recognition module 22, 23, an illumination module 24, 25 and a structured light illumination module 26, 27.
[0037] The welding module 21 includes a welding head 210 configured on the first region A1 of the housing 20 and having a virtual center axis C0 defined at the center of the position where the welding head 210 is connected to the housing 20. The visual recognition modules 22, 23 are respectively configured on the second regions A2, A3 of the housing 20. The illumination modules 24, 25 are respectively configured on the third regions A4, A5 of the housing 20. The structured light illumination modules 26, 27 are respectively configured on the third regions A6, A7 of the housing 20. In the present embodiment, the first region A1 is different from the second regions A2, A3 and the third regions A4, A5, A6, A7, and the third regions A4, A5, A6, A7 are different from the first region A1 and different from the second regions A2, A3. The number of the visual recognition modules, the illumination modules and the structured light illumination modules in the present embodiment is respectively two, but is not limited thereto. The structured light illumination modules 26, 27 are used to emit a light beam having an illumination pattern, which is a matrix distribution structure pattern, such as a dot matrix or a line matrix, for the visual recognition modules 22, 23 to use as a reference mark when shooting the welding position to improve the accuracy of the welding process.
[0038] The visual recognition module 22 includes a camera lens 221 and an image sensor 222. It should be particularly noted that the first optical axis C1 of the camera lens 221 is configured not to pass through the sensor center 222C of the image sensor 222. Specifically, the camera lens 221 is used to shoot the welding object SA. The welding object SA can be a welding object or the environment around the welding object to improve the accuracy of the welding process. As shown in FIG. 1A and FIG. 1B The welding head 210 is configured on the first region A1 of the housing 20, and the visual recognition module 22 is configured on the second region A2 of the housing 20. Therefore, the welding object or the environment around the welding object (i.e., the welding object SA) will be misaligned relative to the first optical axis C1 of the visual recognition module 22. By configuring the first optical axis C1 of the camera lens 221 not to pass through the sensor center 222C of the image sensor 222, the welding object SA can be made to fall on the object plane 221P on the first optical axis C1 of the visual recognition module 22. When the visual recognition module 22 shoots the welding object SA on the object plane 221P on the first optical axis C1 of the camera lens 221, and the image sensor 222 is located on the image plane on the first optical axis C1 of the camera lens 221, the object plane 221P is parallel to the image plane (X-Y plane) where the image sensor 222 is located. Therefore, the image of the welding object SA on the image sensor 222 is clear, which is conducive to improving the accuracy of the welding process.
[0039] It should also be noted that, in FIG. 1BIn the illustrated embodiment, the workpiece SA is misaligned with respect to the first optical axis C1 in the X direction (i.e., the first direction) and misaligned with respect to the first optical axis C1 in the Y direction (i.e., the second direction), where the first optical axis C1 is parallel to the Z direction, and the X direction, the Y direction, and the Z direction are perpendicular to each other. Thus, the sensor center 222C of the image sensor 222 is configured to be misaligned with respect to the first optical axis C1 in the X direction and misaligned with respect to the first optical axis C1 in the Y direction.
[0040] Referring to FIG. 1A , by configuring the first optical axis C1 of the camera lens 221 to not pass through the sensor center 222C of the image sensor 222, the first optical axis C1 of the camera lens 221 can be parallel to the center axis CO of the welding head 210 (i.e., the first optical axis C1 of the camera lens 221 is not skewed with respect to the center axis CO of the welding head 210). Compared with the welding device in the background art, the component positioning of the welding device 2 of the present embodiment is simple, and the manufacturing cost and the maintenance cost can be greatly reduced.
[0041] Referring to FIG. 1A , the vision recognition module 23 has the same optical path architecture as the vision recognition module 22, which is not described herein. Moreover, the first optical axis C2 of the camera lens (not shown) of the vision recognition module 23 is parallel to the first optical axis C1 of the vision recognition module 22. By providing the vision recognition module 22 and the vision recognition module 23, the vision recognition range of the welding device 2 can be increased, and the precision of the welding process can be improved.
[0042] Referring to FIG. 1A and FIG. 1C , the illumination module 24 can be used to illuminate the workpiece to be welded of the welding device 2, or the environment around the workpiece to be welded.
[0043] According to some embodiments of the present application, as FIG. 1CAs shown, the illumination module 24 comprises a light source 241 and a lens group 242. The light source 241 can be disposed off-axis relative to the second optical axis C3 of the lens group 242. Accordingly, the illumination area 241P of the illumination module 24 can be misaligned relative to the second optical axis C3 of the lens group 242 to accurately illuminate the workpiece and its surrounding area (i.e., the workpiece SA), thereby improving the visual recognition accuracy of the visual recognition modules 22, 23 and the welding quality of the welding device 2. In these embodiments, the second optical axis C3 of the illumination module 24 can be parallel to the first optical axis C1 of the visual recognition module 22, the first optical axis C2 of the visual recognition module 23, and the central axis CO of the welding head 210. Therefore, the component positioning of the welding device 2 is simple, and the manufacturing cost and maintenance cost can be greatly reduced. The illumination module 25 has the same internal structure as the illumination module 24, and is not described here. Moreover, the second optical axis C4 of the lens group (not shown) of the illumination module 25 is parallel to the second optical axis C3 of the illumination module 24. By providing the illumination module 24 and the illumination module 25, sufficient and uniform illumination of the workpiece and its surrounding area can be provided, thereby improving the accuracy of the welding process.
[0044] However, the present application is not limited thereto, and according to some embodiments, FIG. 1C The light source 241 in the illumination module 24 is configured on the second optical axis C3 of the lens group 242, and the illumination module 24 is tilted to illuminate the workpiece of the welding device 2 or the environment around the workpiece (i.e., the workpiece SA). In these embodiments, the second optical axis C3 of the illumination module 24 (and the second optical axis C4 of the illumination module 25) can not be parallel to the first optical axis C1 of the visual recognition module 22, the first optical axis C2 of the visual recognition module 23, and the central axis CO of the welding head 210.
[0045] In summary, the welding device of the embodiments of the present application has at least one of the following advantages: (1) the workpiece of the visual recognition module can fall on the object plane of the visual recognition module, and the workpiece can be clearly imaged on the image sensor; (2) the visual recognition module is not tilted relative to the central axis of the welding head; (3) the illumination module is not tilted relative to the central axis of the welding head; and (4) the component positioning of the welding device is simple, and the manufacturing cost and maintenance cost can be greatly reduced.
[0046] The above are only preferred embodiments of the present application, and cannot limit the scope of the present application. Any simple equivalent changes and modifications made according to the claims and contents of the present application are still within the scope of the present application. In addition, any embodiment or claim of the present application does not necessarily achieve all the purposes or advantages or features disclosed in the present application. Furthermore, the abstract and title (application name) are only used to assist patent document retrieval, and are not used to limit the claims of the present application. In addition, the terms "first", "second", etc. mentioned in the specification or claims are only used to name elements or distinguish different embodiments or ranges, and are not used to limit the upper or lower limit of the number of elements.
Claims
1. A welding device, characterized in that, The welding device comprises a housing, a welding module, and at least one visual recognition module, wherein: The welding module comprises a welding head arranged on a first region of the housing; and Each of the at least one visual recognition module comprises a camera lens and an image sensor, and a first optical axis of the camera lens does not pass through a center of the image sensor, the first region being different from the second region.
2. The welding device of claim 1, wherein, The welding device further comprises at least one illumination module arranged on a third region of the housing, each of the at least one illumination module comprising a light source and a lens group, and the light source is arranged off-axis relative to a second optical axis of the lens group.
3. The welding device of claim 2, wherein, The first optical axis is parallel to the second optical axis.
4. The welding device of claim 1, wherein, The welding device further comprises at least one illumination module arranged on a third region of the housing, each of the at least one illumination module comprising a light source and a lens group, and the light source is arranged on the second optical axis of the lens group.
5. The welding device of claim 4, wherein, The first optical axis is not parallel to the second optical axis.
6. The welding device of claim 1, wherein, The at least one visual recognition module comprises a first visual recognition module and a second visual recognition module, the first optical axis of the camera lens of the first visual recognition module being parallel to the first optical axis of the camera lens of the second visual recognition module.
7. The welding device of claim 1, wherein, The welding device further comprises at least one structured light illumination module arranged on a third region of the housing, the third region being different from the first region and the second region.
8. The welding device of claim 7, wherein, The at least one structured light illumination module is configured to emit a light beam having an illumination pattern, the illumination pattern being a matrix distribution structure pattern.
9. The welding device of claim 1, wherein, The at least one visual recognition module is configured to capture a to-be-welded object located on an object plane on the first optical axis of the camera lens, the image sensor being located on an image plane on the first optical axis of the camera lens, the object plane being parallel to the image plane.
10. The welding device of claim 1, wherein, The center of the image sensor is misaligned with the first optical axis in a first direction perpendicular to the first optical axis, and misaligned with the first optical axis in a second direction perpendicular to the first optical axis, the first direction being perpendicular to the second direction.