CN103273233A - Object shelf tray self-adaptation welding device based on laser vision - Google Patents
Object shelf tray self-adaptation welding device based on laser vision Download PDFInfo
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- CN103273233A CN103273233A CN2013102289581A CN201310228958A CN103273233A CN 103273233 A CN103273233 A CN 103273233A CN 2013102289581 A CN2013102289581 A CN 2013102289581A CN 201310228958 A CN201310228958 A CN 201310228958A CN 103273233 A CN103273233 A CN 103273233A
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Abstract
The invention discloses an object shelf tray self-adaptation welding device based on laser vision. The welding device comprises a base, two first axis moving devices arranged on the base in parallel, a second axis moving device arranged perpendicular to the first axis moving devices, a vertical axis moving device arranged on the second axis moving device, a laser vision sensor and a welding gun gesture mechanism. The laser vision sensor and the welding gun gesture mechanism are arranged abreast at the bottom end of the vertical axis moving device. Two ends of the second axis moving device are connected with the first axis moving devices. The laser vision sensor collects a welding gap image and stores the image to a computer through an image collection card, the computer processes the image to obtain the welding gap position, and a motion control card is utilized to control a welding gun walking device to conduct welding accurately. The self-adaptation welding device is high in self adaptability, capable of accurately recognizing the welding gap position of an object shelf tray, high in expandability, low in cost, simple and efficient to control and high in reliability.
Description
Technical field
The invention belongs to field of automatic welding, relate to a kind of shelf pallet self adaptation welding system based on laser vision.
Background technology
The pellet type shelf are widely used in fields such as manufacturing industry, third-party logistics and home-delivery center.A shelf pallet often is welded by the identical part of many specifications, so mostly weld seam is the main feature of pellet type shelf, the structures shape of pellet type shelf the key of its production be welding.Welding efficiency has directly determined the production efficiency of pellet type shelf, and welding quality is also directly determining the quality of pellet type shelf.This shows, for the pellet type shelf, the workload of welding is very huge, working strength of workers is very high, and prior art all adopts manual semi-automatic welding, operating personnel need to be engaged in welding job for a long time at the environment of the high radiation of high temperature, and are totally unfavorable to the quality of workman's healthy and weldment.So it is significant to develop a kind of self adaptation welding system for the shelf pallet.
Through the prior art literature search is found that the patent No. is CN201210159227.1, patent name is the Chinese invention patent of robot welding system, discloses a kind of robot welding system, is made up of mechanical mechanism, the source of welding current and control system.Control system comprises single-chip microcomputer, system power supply, display, position sensor, current sensor, voltage sensor etc.This invention can improve welding quality and welding efficiency conscientiously, but can't carry out weld seam recognition, and welding precision is not high; The patent No. is CN201010530701.8, patent name is the Chinese invention patent that is used for the robot welding system of marine diesel frame support, disclose a kind of robot welding system for marine diesel frame support, comprised two welding mechanisms that are oppositely arranged, master controller, image processing module, tilt control, knowledge model storehouse and video-frequency monitor.Rush-harvesting and rush-planting double mode of operation is adopted in this invention, utilize laser vision sensor in welding process, to carry out the automatic soldering method of real-time tracking welding, replace traditional manual semi-automatic welding pattern, has the welding efficiency height, advantages such as welding quality is good, but the welding system complicated in mechanical structure, cost is higher, and system's control difficulty is big.
Summary of the invention
Technical problem:For overcome existing shelf pallet robot welding system can't carry out that weld seam recognition, welding precision are not high, welding system complicated in mechanical structure, defective such as cost is higher and system's control difficulty is big, the invention provides and a kind ofly can carry out weld seam recognition, higher welding precision, simple relatively, the lower-cost shelf pallet self adaptation welding system based on laser vision of structure.
Technical scheme:Shelf pallet self adaptation welder based on laser vision of the present invention, comprise base, be set in parallel in two first axle mobile devices on the base, with the vertically disposed second axis mobile device of first axle mobile device, be arranged on vertical axis mobile device on the second axis mobile device, be set up in parallel laser vision sensor and posture of welding torch mechanism in vertical axis mobile device bottom; The two ends of the second axis mobile device are connected with a first axle mobile device respectively, and can move along the axis direction of first axle mobile device, the vertical axis mobile device can move along the axis direction of the second axis mobile device, and can vertically move;
Laser vision sensor comprises cabinet, is arranged on the interior temperature sensor of cabinet, is arranged side by side video camera and laser instrument on cabinet, and word lens that are horizontally set on the cabinet bottom, video camera vertically arranges, the projecting direction of laser instrument is in vertical direction with 15 degree angles, and the laser of ejaculation projects on the word lens;
Posture of welding torch mechanism comprises bearing, be arranged on the rotary joint of bearing bottom, pass pivot that bearing is connected with rotary joint, be arranged on bearing one side and pivotally connected motor, rotary joint can be around the axe movement of pivot, and the bottom of rotary joint is provided with welding gun.
Among the present invention, the bottom of cabinet can be provided with the optical filter that is positioned at the video camera below.
Among the present invention, can be provided with cooling device on the cabinet.
Beneficial effect:The present invention compared with prior art has the following advantages:
1, the present invention has designed corresponding laser vision sensor according to the characteristics of pellet type shelf weld seam, characteristic point that can the autonomous classification weld seam, and also the precision of weld seam recognition is higher, can realize the purpose of welding automatically;
2, welder of the present invention is simple in structure, and is easy to process, and expansibility is strong and cost is lower, can satisfy the demand of medium-sized and small enterprises;
3, four axis mobile devices in the welder of the present invention have three degree of freedom, the welding of energy implementation space any point, and this position mechanism is controlled relative simple and stable mainly by step motor control simultaneously; Soldering angle when considering the welding of shelf pallet, the posture of welding torch mechanism design has the free degree on the direction in the welder, and also by step motor control, control is accurately convenient, good stability.
Description of drawings
Fig. 1 is the stereogram that the present invention is based on the shelf pallet self adaptation welder of laser vision
Fig. 2 is the front view that the present invention is based on the shelf pallet self adaptation welder of laser vision
Fig. 3 is the top view that the present invention is based on the shelf pallet self adaptation welder of laser vision
Fig. 4 is the left view that the present invention is based on the shelf pallet self adaptation welder of laser vision
Fig. 5 is laser vision sensor structure front view among the present invention
Fig. 6 is laser vision sensor structural perspective among the present invention
Fig. 7 is that axis of the present invention mobile device is installed stereogram
Fig. 8 is that axis of the present invention mobile device is installed front view
Fig. 9 is that axis of the present invention mobile device is installed view
Figure 10 is that axis of the present invention mobile device is installed left view
Figure 11 is posture of welding torch mechanism stereogram among the present invention
Figure 12 is posture of welding torch mechanism front view among the present invention
Figure 13 is posture of welding torch mechanism top view among the present invention
Figure 14 is posture of welding torch mechanism left view among the present invention.
Have among the figure: laser vision sensor 1, cabinet 101, temperature sensor 102, ccd video camera 103, laser instrument 104, word lens 105, word lens and optical filter installing plate 106, laser vision sensor installing hole 107, heat radiation copper tube 108, ccd video camera support 109, laser stent 110, water-cooling system 111, dust block board 112 and optical filter 113;
First axle mobile device 2, first axle motor 21, first axle guide rail 22, first axle slide block 23, first axle ball screw 24;
Posture of welding torch mechanism 3, bearing 31, rotary joint 32, welding gun 33, motor 34, electric machine support 35, pivot 36
The second axis mobile device 4, the second axis motor 41, the second axis guide rail 42, the second axis slide block 43, the second axis ball screw 44;
Vertical axis mobile device 5, vertical axis motor 51, vertical axis guide rail 52;
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail.
Referring to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, shelf pallet self adaptation welder based on laser vision of the present invention, comprise base 6, be set in parallel in two first axle mobile devices 2 on the base, with the vertically disposed second axis mobile device 4 of first axle mobile device, be arranged on vertical axis mobile device 5 on the second axis mobile device 4, be set up in parallel laser vision sensor 1 and posture of welding torch mechanism 3 in vertical axis mobile device 5 bottoms; The two ends of the second axis mobile device 4 are connected with a first axle mobile device 2 respectively, and can move along the axis direction of first axle mobile device 2, vertical axis mobile device 5 can move along the axis direction of the second axis mobile device 4, and can vertically move.The effect of laser vision sensor 1 is to gather weld image, weld image is stored in the computer by image pick-up card, computer butt welded seam image is handled, and extraction weld seam pad and butt welded seam pad carry out the space three-dimensional modeling and control posture of welding torch mechanism 3 accurately welds.
Referring to Fig. 5 and Fig. 6, laser vision sensor comprises laser vision sensor cabinet 101, temperature sensor 102, laser instrument 104, laser stent 110, word lens 105, word lens and optical filter installing plate 106, laser vision sensor installing hole 107, heat radiation copper tube 108, ccd video camera support 109, ccd video camera 103, laser vision sensor water-cooling system 111, dust block board 112 and optical filter 113.Temperature sensor 102 is installed on the laser vision sensor cabinet 101, and main effect is the temperature in the monitoring laser vision sensor, the protection sensor; Be installed on the cabinet 101 after laser instrument 104 and laser stent 1110 are fixing by screw, laser instrument 104 mainly is the accuracy in order to guarantee that image is handled as secondary light source; One word lens 105 are installed on word lens and the optical filter installing plate 106, and the point-like light that laser instrument 104 is sent is converted to the yi word pattern Line of light; Laser vision sensor 1 is installed in vertical axis by installing hole 107 and moves; Heat radiation copper tube 108 is wrapped on the ccd video camera 103, and main effect is auxiliary ccd video camera 103 heat radiations; Being installed on the cabinet 101 after ccd video camera 103 is fixing by screw with ccd video camera support 109, is the core component of laser vision sensor 1, and main effect is to gather weld image; Cooling waters are adorned in laser vision sensor water-cooling system 111 inside, directly are welded on the side of laser vision sensor 1, in order to the heat radiation of whole laser vision sensor 1; Optical filter 113 is transparent thin slices, and effect is the veiling glare that filtering enters ccd video camera 103, is installed on word lens and the optical filter installing plate 106; Ccd video camera 103 is vertically installed, and the projecting direction of laser instrument 104 is in vertical direction with 15 degree angles, and the laser of ejaculation projects on the word lens 105.
Referring to Fig. 7, Fig. 8, Fig. 9 and Figure 10, the second axis mobile device 4 connects by the first axle slide block 23 first axle mobile device 2 relative with two, 21 work of first axle motor make 24 rotations of first axle ball screw, drive first axle slide block 23 and move along first axle guide rail 22, thereby realize that the second axis mobile device 4 moves along X-axis; Vertical axis mobile device 5 connects by the second axis slide block 43 first axle mobile device 4 relative with two, 41 work of the second axis motor make 44 rotations of the second axis ball screw, drive the second axis slide block 43 and move along the second axis guide rail 42, thereby realize that vertical axis mobile device 5 is moving along y-axis shift; In like manner, also can be so that vertical axis mobile device 5 moves along the Z axle by the work of vertical axis motor 51.
Referring to Figure 11, Figure 12, Figure 13 and Figure 14, posture of welding torch mechanism 3 comprises bearing 31, be arranged on the rotary joint 32 of bearing 31 bottoms, pass pivot 36 that bearing 31 is connected with rotary joint 32, be arranged on the motor 34 that bearing 301 1 sides are connected with pivot 36, rotary joint 32 can be around the axe movement of pivot 36, the bottom of rotary joint 32 is provided with welding gun 33, motor 34 is installed on the electric machine support 35, this posture of welding torch mechanism 3 can realize that welding gun 33 rotates a certain angle, so that tackle different welding work pieces.Referring to Figure 12, this figure is the front view of welding gun running gear attitude mechanism among the present invention.
Claims (3)
1. shelf pallet self adaptation welder based on laser vision, it is characterized in that, this device comprises base (6), be set in parallel in two first axle mobile devices (2) on the described base (6), with the vertically disposed second axis mobile device (4) of described first axle mobile device (2), be arranged on vertical axis mobile device (5) on the described second axis mobile device (4), be set up in parallel laser vision sensor (1) and posture of welding torch mechanism (3) in described vertical axis mobile device (5) bottom; The two ends of the described second axis mobile device (4) are connected with a first axle mobile device (2) respectively, and can be along the axis direction motion of first axle mobile device (2), described vertical axis mobile device (5) can move along the axis direction of the second axis mobile device (4), and can vertically move;
Described laser vision sensor (1) comprises cabinet (101), is arranged on the interior temperature sensor (102) of described cabinet (101), is arranged side by side video camera (103) and laser instrument (104) on cabinet (101), and word lens (105) that are horizontally set on described cabinet (101) bottom, described video camera (103) vertically arranges, the projecting direction of described laser instrument (104) is in vertical direction with 15 degree angles, and the laser of ejaculation projects on the described word lens (105);
Described posture of welding torch mechanism (3) comprises bearing (31), be arranged on the rotary joint (32) of described bearing (31) bottom, pass pivot (36) that bearing (31) is connected with described rotary joint (32), be arranged on the motor (34) that described bearing (31) one sides are connected with pivot (36), rotary joint (32) can be around the axe movement of pivot (36), and the bottom of rotary joint (32) is provided with welding gun (33).
2. the shelf pallet self adaptation welder based on laser vision according to claim 1 is characterized in that, the bottom of described cabinet (101) is provided with the optical filter (114) that is positioned at video camera (103) below.
3. the shelf pallet self adaptation welder based on laser vision according to claim 1 and 2 is characterized in that described cabinet (101) is provided with cooling device.
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| CN2013102289581A CN103273233A (en) | 2013-06-09 | 2013-06-09 | Object shelf tray self-adaptation welding device based on laser vision |
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| CN2013102289581A CN103273233A (en) | 2013-06-09 | 2013-06-09 | Object shelf tray self-adaptation welding device based on laser vision |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103692118A (en) * | 2013-12-12 | 2014-04-02 | 温岭市风云机器人有限公司 | Laser vision cooling device |
| CN103925875A (en) * | 2014-04-03 | 2014-07-16 | 东莞市天勤仪器有限公司 | Optical imaging system and method for looking for detection targets through optical imaging system |
| CN104308345A (en) * | 2014-10-20 | 2015-01-28 | 泰安加华电力器材有限公司 | Double-gun welding device for transformer |
| CN104625386A (en) * | 2015-02-10 | 2015-05-20 | 姜利 | Automatic photovoltaic module bus bar welding device based on machine vision |
| CN104858575A (en) * | 2015-05-04 | 2015-08-26 | 绍兴汉立工业自动化科技有限公司 | Container top reinforced plate automatic welding device with three dimensional weld recognition |
| CN104889537A (en) * | 2015-05-15 | 2015-09-09 | 无锡阳工机械制造有限公司 | Argon arc welding intelligent welding method |
| CN104889615A (en) * | 2015-05-15 | 2015-09-09 | 无锡阳工机械制造有限公司 | Intelligent welding method with safety protection |
| CN109202228A (en) * | 2018-11-08 | 2019-01-15 | 深圳市力辉电机有限公司 | A kind of induction soldering machine and its welding method |
| CN110497121A (en) * | 2019-08-05 | 2019-11-26 | 苏州热工研究院有限公司 | The image processing mode of welding bead center tracking in a kind of welding process |
| CN113070620A (en) * | 2021-04-09 | 2021-07-06 | 南京南化建设有限公司 | Box type welding equipment and control method thereof |
| CN117260086A (en) * | 2023-10-31 | 2023-12-22 | 新蔚来智能科技(山东)有限公司 | Multilayer multi-pass welding device and welding method for medium plate based on visual characterization |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103692118B (en) * | 2013-12-12 | 2016-04-20 | 温岭市风云机器人有限公司 | Laser vision cooling device |
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| CN103925875A (en) * | 2014-04-03 | 2014-07-16 | 东莞市天勤仪器有限公司 | Optical imaging system and method for looking for detection targets through optical imaging system |
| CN103925875B (en) * | 2014-04-03 | 2017-02-15 | 东莞市天勤仪器有限公司 | Optical imaging system and method for looking for detection targets through optical imaging system |
| CN104308345A (en) * | 2014-10-20 | 2015-01-28 | 泰安加华电力器材有限公司 | Double-gun welding device for transformer |
| CN104625386A (en) * | 2015-02-10 | 2015-05-20 | 姜利 | Automatic photovoltaic module bus bar welding device based on machine vision |
| CN104858575A (en) * | 2015-05-04 | 2015-08-26 | 绍兴汉立工业自动化科技有限公司 | Container top reinforced plate automatic welding device with three dimensional weld recognition |
| CN104889615A (en) * | 2015-05-15 | 2015-09-09 | 无锡阳工机械制造有限公司 | Intelligent welding method with safety protection |
| CN104889537A (en) * | 2015-05-15 | 2015-09-09 | 无锡阳工机械制造有限公司 | Argon arc welding intelligent welding method |
| CN104889615B (en) * | 2015-05-15 | 2017-01-04 | 江苏海新船务重工有限公司 | There is the Intelligent welding method of security protection |
| CN109202228A (en) * | 2018-11-08 | 2019-01-15 | 深圳市力辉电机有限公司 | A kind of induction soldering machine and its welding method |
| CN110497121A (en) * | 2019-08-05 | 2019-11-26 | 苏州热工研究院有限公司 | The image processing mode of welding bead center tracking in a kind of welding process |
| CN113070620A (en) * | 2021-04-09 | 2021-07-06 | 南京南化建设有限公司 | Box type welding equipment and control method thereof |
| CN117260086A (en) * | 2023-10-31 | 2023-12-22 | 新蔚来智能科技(山东)有限公司 | Multilayer multi-pass welding device and welding method for medium plate based on visual characterization |
| CN117260086B (en) * | 2023-10-31 | 2024-04-30 | 新蔚来智能科技(山东)有限公司 | Multilayer multi-pass welding device and welding method for medium plate based on visual characterization |
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Application publication date: 20130904 |