CN210789609U - Underwater binocular vision welding seam track scanning device - Google Patents
Underwater binocular vision welding seam track scanning device Download PDFInfo
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- CN210789609U CN210789609U CN201920400900.3U CN201920400900U CN210789609U CN 210789609 U CN210789609 U CN 210789609U CN 201920400900 U CN201920400900 U CN 201920400900U CN 210789609 U CN210789609 U CN 210789609U
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- binocular vision
- transverse
- slideways
- movement module
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Abstract
The utility model provides a two mesh vision welding seam orbit scanning device under water, including rectangle support, device case, control system. A pair of longitudinal slideways are arranged on two sides of the rectangular support, transverse slideways are arranged on the longitudinal slideways, and the transverse slideways move on the transverse slideways through the longitudinal movement module. A transverse moving module is arranged on the transverse slide way, and the device box is detachably connected with the transverse moving module; the device incasement is equipped with binocular vision system, is equipped with ultrasonic ranging appearance including two cameras and two camera center line midpoints, and ultrasonic ranging appearance is located the positive below of binocular vision system. The ultrasonic ranging device comprises a longitudinal movement module, a transverse movement module and a binocular vision system, wherein the ultrasonic ranging device is connected with a control system through a data cable. The utility model discloses in, adopt two mesh vision systems and ultrasonic ranging appearance to realize the accurate measurement of welding seam orbit three-dimensional coordinate, improved the coordinate precision, guaranteed the accuracy of welding seam orbit scanning before the welding, be particularly useful for underwater welding's occasion.
Description
Technical Field
The utility model relates to a machine vision control field, concretely relates to two mesh vision welding seam orbit scanning device under water.
Background
The underwater welding method has two dry methods and wet methods in the construction of various ocean engineering structures such as an offshore oil production platform, a seabed oil and gas pipeline and the like. The dry welding is a method of covering a weldment by a large air chamber and welding in the air chamber by a welder, but has great use limitation and is not generally applied.
The wet welding has a large influence on the environment, a large amount of steam drums are generated due to high temperature of electric arcs during welding operation, interference factors such as arc light, smoke dust and metal splashing are accompanied, the welding process cannot be well tracked in real time, and errors can be generated on welding seam tracks in many times.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem, the utility model provides an underwater binocular vision welding seam track scanning device, the spatial position of welding seam obtains and is used for the follow-up coordinate of predetermineeing when welding by control system formation welding seam track's space curve through binocular vision system and ultrasonic distance meter before carrying out underwater welding operation.
The device comprises a rectangular support, a device box and a control system. A pair of longitudinal slideways are arranged on two opposite sides of the rectangular support, a transverse slideway is arranged on each longitudinal slideway, and each transverse slideway moves on each transverse slideway through a longitudinal movement module; the transverse sliding way is provided with a transverse movement module, and the device box is detachably connected with the transverse movement module; a binocular vision system is arranged in the device box, the binocular vision system comprises two cameras, an ultrasonic range finder is arranged in the middle of the center connecting line of the two cameras, the ultrasonic range finder is positioned below the center of the binocular vision system, can be observed by the binocular vision system and is used for positioning the position of a welding line, and two light sources are symmetrically distributed on two sides of the binocular vision system; the ultrasonic range finder is connected with the control system through a data cable, and the control system is internally provided with a controller, a display screen and an operation instrument.
Preferably, a motion motor and a roller are arranged in the longitudinal motion module, the transverse motion module and the base of the rectangular support.
Preferably, the light source is an underwater LED lamp.
Preferably, the longitudinal movement module, the transverse movement module, the device box and the light source are all provided with waterproof layers and are powered through data cables.
Preferably, the camera of the binocular vision system is a high-definition camera.
More preferably, the rectangular bracket is made of stainless steel.
Has the advantages that: the utility model discloses in, adopt two mesh vision systems and ultrasonic ranging appearance to realize the accurate measurement of welding seam orbit three-dimensional coordinate, improved the coordinate precision, guaranteed the accuracy of welding seam orbit scanning before the welding, be particularly useful for the occasion of space orbit welding seam under water.
Drawings
FIG. 1 is a top view of the apparatus;
FIG. 2 is a front view of the apparatus;
FIG. 3 is a side view of the apparatus;
1. rectangular support, 2, device case, 3, control system, 4, longitudinal slide, 5, transverse slide, 6, longitudinal movement module, 7, transverse movement module, 8, binocular vision system, 9, ultrasonic range finder, 10, light source, 11, welding seam.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings:
an underwater binocular vision welding seam track scanning device comprises a rectangular support 1, a device box 2 and a control system 3. A pair of longitudinal slideways 4 are arranged on two opposite sides of the rectangular support 1, transverse slideways 5 are arranged on the longitudinal slideways 4, and the transverse slideways 5 move on the transverse slideways 5 through a longitudinal movement module 6. The transverse slide way 5 is provided with a transverse movement module 7, and the device box 2 is detachably connected with the transverse movement module 7. Be equipped with binocular vision system 8 in the device case 2, binocular vision system 8 includes that two cameras and two camera center line midpoints are equipped with ultrasonic ranging appearance 9, and ultrasonic ranging appearance 9 is located the positive below of binocular vision system 8, can be observed by binocular vision system 8 for the position of positioning weld 11, still be equipped with two light sources 10 symmetric distribution in the both sides of binocular vision system 8 in the device case 2. Longitudinal movement module 6, transverse movement module 7, binocular vision system 8, ultrasonic ranging appearance 9 is connected with control system 3 through data cable, is equipped with controller, display screen and operation appearance in the control system 3.
All be equipped with motion motor and gyro wheel in the base of longitudinal movement module 6, transverse movement module 7 and rectangular support 1 in this embodiment, the controller obtains the spatial position information of welding seam through the removal of the steerable binocular vision system 8 of each part.
In this embodiment, the light source 10 is an underwater LED lamp, and provides illumination for the binocular vision system 8.
In this embodiment, the longitudinal movement module 6, the transverse movement module 7, the device box 2 and the light source 10 are all provided with waterproof layers and are powered by data cables.
The camera of binocular vision system 8 in this embodiment is a high definition camera, and the position of the weld joint can be clearly determined in the underwater environment.
In the embodiment, the rectangular bracket 1 is made of stainless steel, so that the rectangular bracket is not easy to corrode in underwater work and the service life of the rectangular bracket is not influenced.
The device transmits the position of a welding seam 11 to a control system 3 through a data cable by a camera of a binocular vision system 8, the control system 3 displays the position of the welding seam 11 in the form of an image through a display screen, if the welding seam 11 is not positioned at the midpoint of the binocular vision system 8, namely the welding seam 11 is not positioned under an ultrasonic range finder 9, the position of the binocular vision system 8 can be moved by controlling a longitudinal movement module 6 and a transverse movement module 7 through an operator, the welding seam 11 is always kept at the midpoint of the binocular vision system 8, namely under the ultrasonic range finder 9, transverse and longitudinal coordinates are recorded, and the vertical height from the welding seam 11 measured by the ultrasonic range finder 9 at the position, transverse, longitudinal and vertical data generate a three-dimensional space coordinate, then a plurality of three-dimensional space coordinates are generated along the direction of the welding seam 11, and the measured data of the three-dimensional space coordinates are gathered, a scan trajectory of the weld 11 is generated in the control system for guiding a subsequent welding operation.
The scope of the invention should not be limited by the specific embodiments disclosed herein, but should be determined only by the appended claims.
Claims (6)
1. The utility model provides an underwater binocular vision welding seam track scanning device, includes rectangular support (1), device case (2), control system (3), its characterized in that: a pair of longitudinal slideways (4) are arranged on two opposite sides of the rectangular support (1), transverse slideways (5) are arranged on the longitudinal slideways (4), and the transverse slideways (5) move on the transverse slideways (5) through a longitudinal movement module (6); a transverse movement module (7) is mounted on the transverse slide way (5), and the device box (2) is detachably connected with the transverse movement module (7); a binocular vision system (8) is arranged in the device box (2), the binocular vision system (8) comprises two cameras, an ultrasonic range finder (9) is arranged at the midpoint of the central connecting line of the two cameras, the ultrasonic range finder (9) is positioned below the center of the binocular vision system (8), and two light sources (10) are arranged in the device box (2) and symmetrically distributed on two sides of the binocular vision system (8); longitudinal movement module (6), transverse movement module (7), binocular vision system (8), ultrasonic ranging appearance (9) are connected with control system (3) through data cable, be equipped with controller, display screen and operation appearance in control system (3).
2. The underwater binocular vision weld seam trajectory scanning device of claim 1, wherein: and a motion motor and a roller are arranged in the base of the longitudinal motion module (6), the transverse motion module (7) and the rectangular bracket (1).
3. The underwater binocular vision weld seam trajectory scanning device of claim 1, wherein: the light source (10) is an underwater LED lamp.
4. The underwater binocular vision weld seam trajectory scanning device of claim 1, wherein: the longitudinal movement module (6), the transverse movement module (7), the device box (2) and the light source (10) are all provided with waterproof layers and are powered through data cables.
5. The underwater binocular vision weld seam trajectory scanning device of claim 1, wherein: the camera of the binocular vision system (8) is a high-definition camera.
6. The underwater binocular vision weld seam trajectory scanning device of claim 1, wherein: the rectangular bracket (1) is made of stainless steel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920400900.3U CN210789609U (en) | 2019-03-27 | 2019-03-27 | Underwater binocular vision welding seam track scanning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920400900.3U CN210789609U (en) | 2019-03-27 | 2019-03-27 | Underwater binocular vision welding seam track scanning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210789609U true CN210789609U (en) | 2020-06-19 |
Family
ID=71225129
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920400900.3U Expired - Fee Related CN210789609U (en) | 2019-03-27 | 2019-03-27 | Underwater binocular vision welding seam track scanning device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210789609U (en) |
-
2019
- 2019-03-27 CN CN201920400900.3U patent/CN210789609U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210412 Address after: No.1, Dongji Avenue, Jiangning Economic and Technological Development Zone, Nanjing, Jiangsu Province, 210000 Patentee after: Nanjing Tianchen Zhiheng Information Technology Co.,Ltd. Address before: 309 Gezhi Road, Jiangning District, Nanjing City, Jiangsu Province Patentee before: JIANGSU MARITIME INSTITUTE |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200619 Termination date: 20210327 |