CN108057939A - A kind of binocular vision robot water down space seam tracking system - Google Patents
A kind of binocular vision robot water down space seam tracking system Download PDFInfo
- Publication number
- CN108057939A CN108057939A CN201610974198.2A CN201610974198A CN108057939A CN 108057939 A CN108057939 A CN 108057939A CN 201610974198 A CN201610974198 A CN 201610974198A CN 108057939 A CN108057939 A CN 108057939A
- Authority
- CN
- China
- Prior art keywords
- binocular vision
- robot
- electrically connected
- water
- down space
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1276—Using non-contact, electric or magnetic means, e.g. inductive means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Plasma & Fusion (AREA)
- Geometry (AREA)
- Multimedia (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of binocular vision robot water down space seam tracking system, the source of welding current being electrically connected including welding gun and with welding gun and the wire-feed motor being electrically connected with the source of welding current；Further include robot system, and the underwater binocular vision system being electrically connected with robot system, and the industrial personal computer being electrically connected with binocular vision system by image pick-up card, and it is positioned over the workpiece below underwater binocular vision system, the robot system includes robot and the robot control cabinet being electrically connected with robot；The underwater binocular vision system is made of underwater binocular vision sensor and water tank light source.The present invention binocular vision robot water down space seam tracking system, experiment is acquired to straight line butt weld and groove weld, gather weld seam it is high-visible, disturb it is less, can be completely used for underwater weld track.
Description
Technical field
The present invention relates to a kind of binocular vision robot water down space seam tracking systems, belong to vision robotics neck
Domain.
Background technology
Robot water down space weld joint tracking is carried out by binocular vision sensor, the acquisition of weld image is the first step,
Clearly weld image is only collected, just can obtain seam track, therefore, a set of suitable binocular vision system is designed, is
The key of robot space weld tracking, and for the design of underwater binocular vision system, it need to consider the factor of following several respects：
One）Due among welding process, generating a large amount of arc lights, arc light has almost all covered entire weld seam, therefore, then must mistake
Filter most arc light；Two）Water also has a certain impact to vision system, although water can absorb the arc light of a part, from
And the radiation of arc light can be mitigated, one side that this is favourable, but under relatively short distance, water is to have to the absorption of arc spectrum
Limit；Simultaneously as the presence of water, since the heat effect of electric arc makes water vapor during welding, thus can be generated in welding region
A large amount of steam bubbles influence the clarity of weld image；Substantial amounts of flue dust, various splatters are generated during Underwater Welding, by
It cannot arrange and be gathered in around welded seam area in time in the effect of water, also largely influence the clear of intake image
Degree；Three）Under water, light then can be darker, and with the increase of the depth of water, light further adds weak until without light；During welding,
Although can be appreciated that weld seam again under arc light irradiation, more fuzzyyer than land, contrast is then lower；Four）Camera itself
Waterproof is needed, because shooting process carries out under water, particularly in actual ocean mending course, depth under water reaches hundreds of
In the case of rice, it is desirable that camera will have special waterproof case.Therefore, a set of be suitble to urgently is designed in order to solve problem above
Underwater binocular vision system.
The content of the invention
To solve the above problems, the present invention proposes a kind of binocular vision robot water down space seam tracking system, it is right
Straight line butt weld and groove weld are acquired experiment, gather weld seam it is high-visible, interference it is less, can be completely used for water
Lower weld joint tracking.
The binocular vision robot water down space seam tracking system of the present invention, is electrically connected including welding gun and with welding gun
The source of welding current and the wire-feed motor being electrically connected with the source of welding current；Further include robot system and the water being electrically connected with robot system
Lower binocular vision system and the industrial personal computer being electrically connected by image pick-up card with binocular vision system and it is positioned over underwater binocular
Workpiece below vision system, the robot system include robot and the robot control cabinet being electrically connected with robot；Institute
Underwater binocular vision system is stated to be made of underwater binocular vision sensor and water tank light source.
Further, the underwater binocular vision system, welding gun and workpiece are positioned in water tank.
As preferred embodiment, the underwater binocular vision sensor is installed on the end arm of robot, and
It is parallel with plane where welding gun.
Further, the underwater binocular vision sensor passes through image pick-up card and industry control mechatronics.
Further, the industrial personal computer is electrically connected by serial ports with robot control cabinet.
Further, described image capture card is made of left image card and right image card.
Compared with prior art, binocular vision robot water down space seam tracking system of the invention is right by the present invention
Straight line butt weld and groove weld are acquired experiment, gather weld seam it is high-visible, interference it is less, can be completely used for water
Lower weld joint tracking.
Description of the drawings
Fig. 1 is the overall structure schematic block diagram of the present invention.
Specific embodiment
As shown in Figure 1, the present invention binocular vision robot water down space seam tracking system, including welding gun and with weldering
The source of welding current of rifle electrical connection and the wire-feed motor being electrically connected with the source of welding current；Further include robot system and and robot system
The underwater binocular vision system of electrical connection and industrial personal computer be electrically connected with binocular vision system by image pick-up card and placement
Workpiece below underwater binocular vision system, the robot system include robot and the machine being electrically connected with robot
People's switch board；The underwater binocular vision system is made of underwater binocular vision sensor and water tank light source.
The underwater binocular vision system, welding gun and workpiece are positioned in water tank.
The underwater binocular vision sensor is installed on the end arm of robot, and parallel with plane where welding gun.
The underwater binocular vision sensor passes through image pick-up card and industry control mechatronics.
The industrial personal computer is electrically connected by serial ports with robot control cabinet.
Described image capture card is made of left image card and right image card.
The binocular vision robot water down space seam tracking system of the present invention, during tracking, binocular vision system is mounted on
It is on the end arm of robot and parallel with plane where welding gun, image is gathered in real time by two image pick-up cards, is adopted
Collection image carries out the control algolithms such as image procossing, Stereo matching, coordinate conversion in industrial personal computer, will be controlled and believed by serial communication
Number robot control cabinet is sent to, robot control cabinet controls robotic device to be moved again, while switch board is also real-time
Robot end position and posture information are transmitted to industrial personal computer by ground in real time；In pilot system, robot uses ABB6
Degree of freedom arc welding robot, entire artificial one open structure of machine are suitable for flexible control, and can with external equipment into
Row communication；In tracking system, the quality of tracing figure picture is directly determined by vision system.
Above-described embodiment is only the better embodiment of the present invention, therefore all structures described according to present patent application scope
It makes, the equivalent change or modification that feature and principle are done, is included in the range of present patent application.
Claims (6)
1. a kind of binocular vision robot water down space seam tracking system, the welding electricity being electrically connected including welding gun and with welding gun
Source and the wire-feed motor being electrically connected with the source of welding current；It is characterized in that：It further includes robot system and is electrically connected with robot system
The underwater binocular vision system that connects and the industrial personal computer being electrically connected by image pick-up card with binocular vision system and it is positioned over water
Workpiece below lower binocular vision system, the robot system include robot and the robot control being electrically connected with robot
Cabinet processed；The underwater binocular vision system is made of underwater binocular vision sensor and water tank light source.
2. binocular vision robot water down space seam tracking system according to claim 1, it is characterised in that：The water
Lower binocular vision system, welding gun and workpiece are positioned in water tank.
3. binocular vision robot water down space seam tracking system according to claim 1, it is characterised in that：The water
Lower binocular vision sensor is installed on the end arm of robot, and parallel with plane where welding gun.
4. binocular vision robot water down space seam tracking system according to claim 1, it is characterised in that：The water
Lower binocular vision sensor passes through image pick-up card and industry control mechatronics.
5. binocular vision robot water down space seam tracking system according to claim 1, it is characterised in that：The work
Control machine is electrically connected by serial ports with robot control cabinet.
6. binocular vision robot water down space seam tracking system according to claim 1, it is characterised in that：The figure
As capture card is made of left image card and right image card.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610974198.2A CN108057939A (en) | 2016-11-07 | 2016-11-07 | A kind of binocular vision robot water down space seam tracking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610974198.2A CN108057939A (en) | 2016-11-07 | 2016-11-07 | A kind of binocular vision robot water down space seam tracking system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108057939A true CN108057939A (en) | 2018-05-22 |
Family
ID=62136609
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610974198.2A Pending CN108057939A (en) | 2016-11-07 | 2016-11-07 | A kind of binocular vision robot water down space seam tracking system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108057939A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129477A (en) * | 2018-08-21 | 2019-01-04 | 上海理工大学 | A kind of 3 D positioning system based on binocular welding manipulator |
| CN109129480A (en) * | 2018-08-24 | 2019-01-04 | 上海理工大学 | A kind of mechanical arm system of processing based on binocular 3D positioning |
| CN112589231A (en) * | 2020-12-04 | 2021-04-02 | 江苏科技大学 | Device and method for detecting underwater arc cutting state based on vision |
-
2016
- 2016-11-07 CN CN201610974198.2A patent/CN108057939A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129477A (en) * | 2018-08-21 | 2019-01-04 | 上海理工大学 | A kind of 3 D positioning system based on binocular welding manipulator |
| CN109129480A (en) * | 2018-08-24 | 2019-01-04 | 上海理工大学 | A kind of mechanical arm system of processing based on binocular 3D positioning |
| CN112589231A (en) * | 2020-12-04 | 2021-04-02 | 江苏科技大学 | Device and method for detecting underwater arc cutting state based on vision |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112959329B (en) | Intelligent control welding system based on vision measurement | |
| CN108057939A (en) | A kind of binocular vision robot water down space seam tracking system | |
| CN108747132A (en) | Autonomous welding robot vision control system | |
| CN110524580A (en) | A kind of welding robot visual component and its measurement method | |
| CN105033419B (en) | Movable welding robot device based on weld pool image weld seam tracking | |
| CN105195868B (en) | A kind of robot welding system and its welding method | |
| CN110245599A (en) | A kind of intelligent three-dimensional weld seam Auto-searching track method | |
| CN108480823A (en) | A kind of long-range Quality Monitoring Control System for heating wire TIG automatic welding | |
| CN113102880A (en) | Automatic line laser welding seam tracking system and method based on visual teaching | |
| CN106392267A (en) | Line laser real-time welding seam tracking method for six-freedom-degree welding robot | |
| CN201357275Y (en) | Device for tracking seams by adopting manner of multi-structured light and binocular complex vision | |
| CN107718046A (en) | For the robot of Underwater Welding, robot system and operational method | |
| WO2020037803A1 (en) | Fillet joint penetration control method employing near-infrared binocular vision recognition | |
| CN107053188A (en) | A kind of hot line robot branch connects gage lap method | |
| CN104014905A (en) | Observation device and method of three-dimensional shape of molten pool in GTAW welding process | |
| CN108145314A (en) | One kind be welded plant machinery people at a high speed identification weld seam Intelligent welding system and method | |
| CN104002021A (en) | Device for automatically identifying and tracking multi-layer and multi-pass welding beads | |
| CN107639319A (en) | Nuclear power station Underwater Welding robot, welding system and welding method | |
| CN107350624A (en) | A kind of robotic laser arc composite heat source welding system for carrying weld seam recognition | |
| CN206153729U (en) | Weld identifying and tracking sensors device suitable for high hot welding connects environment | |
| CN108788467A (en) | A kind of Intelligent Laser welding system towards aerospace structural component | |
| CN108127238A (en) | The method that non-burnishing surface autonomous classification robot increases material forming | |
| CN110153602B (en) | Multi-direction laser visual tracking device and tracking and control method thereof | |
| CN108032011A (en) | Initial point guiding device and method are stitched based on laser structure flush weld | |
| CN108098134A (en) | A kind of new pattern laser vision weld joint tracking system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180522 |