CN104148838B - The little unique point vision of steel sheet weld seam is followed the tracks of and real-time quality detection device - Google Patents
The little unique point vision of steel sheet weld seam is followed the tracks of and real-time quality detection device Download PDFInfo
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- CN104148838B CN104148838B CN201410393753.3A CN201410393753A CN104148838B CN 104148838 B CN104148838 B CN 104148838B CN 201410393753 A CN201410393753 A CN 201410393753A CN 104148838 B CN104148838 B CN 104148838B
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- 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- 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
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/12—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to investigating the properties, e.g. the weldability, of materials
- B23K31/125—Weld quality monitoring
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention is that a kind of little unique point vision of steel sheet weld seam is followed the tracks of and real-time quality detection device, and this device comprises master control computer, PLC, motor and transducing part; Described unique point vision-based detection sensor and visual quality detecting sensor are all connected on master control computer by USB, and master control computer is connected with PLC by wiring, and the motor that PLC is moved by wiring and control welding gun is connected, and motor and welding gun are rigidly connected. The device of the present invention can replace manpower carry out welding and weld rear quality detection work, the welding of production lines system relies on workman people's eye to carry out the enforcement welding of weld seam detection location, and easily there is deviation due to the impact of the factors such as fatigue in human eye detection, the intelligent detection device of the present invention has long-time continuous service without fatigability, it is to increase welding precision and efficiency.
Description
Technical field
The technical scheme of the present invention relates to vision welding field, specifically for camera replace people's eye welding position parameter is provided in welding process and control welding gun carry out real-time deviation correcting complete welding, and after welding completes, butt welding taps into the device of row real-time online quality examination.
Background technology
Along with welding production efficiency and the quality of production require harsh day by day, it is a very important application that welding field is introduced in intelligent vision welding, vision sensor can replace people's eye to identify in welding, and determine weld signature dot position information thus guide welding gun to weld, simultaneously, after weldering, quality examination can also be completed by vision sensor, tradition is all rely on workman to rely on eyes to detect, and manual detection has fatigability and nonuniformity, Detection task is made to complete to waste time and energy, introduce vision inspection apparatus manpower is conformed to the principle of simplicity to free in the multiple uninteresting work of substance, both improve production efficiency, also human input is reduced, can real-time online continuity detect, there is bigger economic benefit and social benefit.
CN102794566A discloses " the Laser Welding Quality on-Line Monitor Device based on paraxonic CCD ", vision sensor in device both can realize the detection of weld signature point position, Welding quality test can be realized again, but equipment cannot complete instant welding immediately detects integration.
CN101750416A discloses " a kind of visual welding seam surface quality detection sensor based on line-structured light ", weld seam upper and lower surface both sides it are placed in respectively by two sensing unit, collect the image of upper and lower surface respectively and then carry out quality examination, this equipment is used for inspection after welding, cannot complete the instant detection of instant welding.
CN102478390A reports " the welding pool surface shape based on binocular vision obtains and sensor-based system ", pass through binocular vision, gather both sides, molten bath image respectively and detect, obtain melting pool shape information, but binocular vision system setting accuracy requires high, be not suitable for the detection of complicated bead shape.
The present invention is directed to above deficiency, it is proposed that vision is followed the tracks of and real-time quality detection device, it is possible to the weld seam of adaptation different shapes is measured after welding in real time and welding, it is possible to replacing manually carrying out welding and inspection after welding completely, flexibility ratio height, real-time is good.
Summary of the invention
The object of the present invention is the deficiency for current techniques, a kind of little unique point vision of steel sheet weld seam is provided to follow the tracks of and real-time quality detection device, intelligence detection device is integrated with quality detection device after weldering, have higher intelligent, unique point vision-based detection sensor and visual quality detecting sensor it is integrated with by this device, unique point vision-based detection sensor can replace people's eye to complete feature point detection and guide welding gun to implement welding, welding effect is then carried out assessment detection by visual quality detecting sensor after welding has been completed in real time, and substandard product is reported to the police, workman only needs to be processed by the defective product of welding after reporting to the police, this device being integrated with two sensors is equivalent to reduce the labor capacity of two workmans. welding process obtains welding seam position information in real time by visual sensing system, and control welding gun carry out bias adjustment complete real-time follow-up welding, simultaneously, the weld seam of just welding is carried out visual quality detection, realization completes a weld seam production and namely completes a weld seam detection, has saved welding and detection time.
The technical scheme of the present invention is:
A kind of little unique point vision of steel sheet weld seam is followed the tracks of and real-time quality detection device, and this device comprises master control computer, PLC, motor and transducing part;
Described transducing part mainly comprises welding gun, and the unique point vision-based detection sensor of the welding gun left and right sides and visual quality detecting sensor, and wherein welding gun both sides are respectively connected block with one first and are rigidly connected; One first connects block and is connected block connection with the 2nd, and the 2nd connection block is connected with unique point vision-based detection sensor; Under 2nd connection block, rigid connecting is connected to first gear plate; Visual quality detecting sensor with another by the 3rd connection block first is connected block and connects, and first connects block and welding gun is rigidly connected, the 3rd connect block under rigid connecting be connected to second baffle;
Described unique point vision-based detection sensor composition comprises and is encapsulated in the first interior industrial camera and the first yi word pattern laser line generator, first industrial camera at right angle setting in sensor, first yi word pattern laser line generator and the first industrial camera are angularly installed, and angle of regulation range is 30 �㡫60;
The composition of visual quality detecting sensor comprises and is encapsulated in the 2nd interior industrial camera and the 2nd yi word pattern laser line generator, 2nd industrial camera at right angle setting in sensor, 2nd yi word pattern laser line generator and the 2nd industrial camera are angularly installed, and angle of regulation range is 30 �㡫60.
Described unique point vision-based detection sensor and visual quality detecting sensor are all connected on master control computer by USB, and master control computer is connected with PLC by wiring, and the motor that PLC is moved by wiring and control welding gun is connected, and motor and welding gun are rigidly connected.
The invention has the beneficial effects as follows: the little unique point vision of exploitation steel sheet weld seam is followed the tracks of and real-time quality detection device, this device can replace manpower carry out welding and weld rear quality detection work, the welding of production lines system relies on workman people's eye to carry out the enforcement welding of weld seam detection location, and easily there is deviation due to the impact of the factors such as fatigue in human eye detection, the intelligent detection device of the present invention has long-time continuous service without fatigability, improve welding precision and efficiency (as seen from Figure 6, the adjacent interframe error variation range of the weld bead feature points that unique point vision-based detection sensor detects three separate-blas estimation is all less than 5 pixels, for change of error amount is less than 0.5mm in welding plate), intelligence detection device is integrated with quality detection device after weldering, have higher intelligent, an integrating device can complete two production stages.Traditional is that welding needs workman's manual operations to complete, operate after weldering and also need a workman to detect, the unique point vision-based detection sensor of this device can replace people's eye to complete feature point detection and guide welding gun to implement welding, welding effect is then carried out assessment detection by the visual quality detecting sensor of this device after welding has been completed in real time, and substandard product is reported to the police, workman only needs to be processed by the defective product of welding after reporting to the police, this device is equivalent to reduce the labor capacity of two workmans, save manpower, also can effectively save weld interval and improve welding quality.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is device framework schematic diagram.
11 be the yi word pattern laser line generator 12 in visual quality detecting sensor be visual quality detecting sensor 13 be the industrial camera 14 in visual quality detecting sensor is the connection block 15 between visual quality detecting sensor and welding gun be that to connect block 16 be the connection block 17 between unique point vision-based detection sensor and welding gun be unique point vision-based detection sensor 18 be the yi word pattern laser line generator 19 in unique point vision-based detection sensor be the industrial camera 110 in unique point vision-based detection sensor be the baffle plate 111 between unique point vision-based detection sensor and welding gun be welding gun 112 is the baffle plate between visual quality detecting sensor and welding gun
Fig. 2 is feature of present invention point vision-based detection sensor process flow block diagram.
Fig. 3 is visual quality detecting sensor process flow block diagram of the present invention.
Fig. 4 is the industrial computer monitoring interface of unique point vision-based detection sensor.
41 for image display area 42 for welded condition monitoring 43 for welding speed display box 44 for lateral coordinates display box 45 for longitudinal coordinate display box 46 for vertical missing display box 47 for program exit button 48 is the lifting button of presser feet for starting to weld button 49 for starting point search button 410
Fig. 5 is the industrial computer monitoring interface of visual quality detecting sensor.
51 is that image display area 52 is for starting test button 53 for program exit button 54 for alarm message state shows
Fig. 6 is weld bead feature points three separate-blas estimation graphic representations that unique point vision-based detection sensor detects, wherein, Fig. 6 a is the weld bead feature points lateral coordinates that unique point vision-based detection sensor detects, Fig. 6 b is the weld bead feature points longitudinal coordinate that unique point vision-based detection sensor detects, Fig. 6 c is the weld bead feature points vertical missing amount that unique point vision-based detection sensor detects;
Embodiment
Do embodiments of the invention to illustrate in detail below, but the scope of the present invention can not be limited with this. Any mechanism to the present invention does the replacement of parts well know in the art, combination, discrete, and the invention process step is done equivalent change well know in the art or replaces the exposure and the protection domain that all do not exceed the present invention.
The little unique point vision of steel sheet weld seam is followed the tracks of and real-time quality detection device, and this device comprises master control computer, PLC, motor and transducing part;
Described transducing part mainly comprises welding gun 111, and the unique point vision-based detection sensor 17 of welding gun 111 left and right sides and visual quality detecting sensor 12, and wherein welding gun 111 both sides are respectively connected block 15 with one and are rigidly connected; Block 16 connects a connection block 15 with being connected, and connects block 16 and is connected with unique point vision-based detection sensor 17; Industrial camera 19 (Daheng industrial camera DH-HV1351UM) and yi word pattern laser line generator 18 (are well-known device, yi word pattern structural light stripes can be sent) it is encapsulated in unique point vision-based detection sensor 17, industrial camera 19 at right angle setting in sensor, yi word pattern laser line generator 18 and industrial camera 19 are angularly installed, angle of regulation range is 30 �㡫60, concrete angle be imaged on laser stripe be shown as in the middle part of camera suitable.Connect fast 16 times rigid connectings and it is connected to baffle plate 110; Industrial camera 13 and yi word pattern laser line generator 11 are encapsulated in visual quality detecting sensor 12, industrial camera 13 at right angle setting in sensor, yi word pattern laser line generator 11 and industrial camera 13 are angularly installed, angle of regulation range is 30 �㡫60, concrete angle be imaged on laser stripe be shown as in the middle part of camera suitable. Visual quality detecting sensor 12 is connected block 15 by connection block 14 with another and connects, and connects block 15 and is rigidly connected with welding gun 111, connects fast 14 times rigid connectings and be connected to baffle plate 112. Baffle plate 110,112 object reduces the interference that sensor is gathered image by arc light, splashing etc.
Being provided with spectral filter below camera lens, be respectively attenuator and spike filter, spike filter through the red light wave of wavelength 650nm, can reduce the interference of outside veiling glare.
Camera and individual laser package are in protective shell, and the supply lead of camera usb communication line and laser apparatus is drawn by the hole above protective shell respectively.
Described unique point vision-based detection sensor 17 and visual quality detecting sensor 12 are all connected on master control computer by USB, master control computer is by wiring and programmable logic controller (ProgrammableLogicController, PLC) connect, the motor that PLC is moved by wiring and control welding gun is connected, motor and welding gun 111 are rigidly connected, and drive welding gun to move together and carry out bias adjustment; Master control computer receives the view data that unique point vision-based detection sensor 17 collects, and after carrying out characteristic point position extraction, is delivered in PLC by position deviation information, and PLC controls welding gun and realizes bias adjustment; Master control computer receives visual quality detecting sensor 12 and transmits the image data information of coming, and carries out data storage and carries out Image Information Processing, obtain weldquality information, then carries out alarm if there is defective situation.
The methods such as the relevant data sink, transmission and the process that relate in the present invention are known technology, and the common personnel technician in this area completely can write dependent program realize according to the popular software VC that is described through of above-mentioned steps.
Fig. 2 is unique point vision-based detection operating sensor block diagram. The graphic information collected is delivered to master control computer by unique point vision-based detection sensor, obtains weld signature point deviation information by image procossing, and deviation information passes to PLC and carries out bias adjustment complete welding process to control welding gun 111. Fig. 4 is industrial computer monitoring interface, 41 can indicating characteristic point vision-based detection sensor image process information in real time, 42 is welded condition monitoring, between industrial computer and PLC can normal communication time, state frame is green display, otherwise it is grey display, at this time just needs to carry out trouble-locating. 43 is welding speed display box. Click " compression presser feet " 410 buttons, so that it may be closely pressed on above welding plate by presser feet to complete, prevent the disturbance occurred in welding process from causing welding plate position to offset. And then continue to click " starting point search " 49, now, welding gun can find welding starting point automatically. Press " starting welding " 48 buttons, now, welding starts, 44,45,46 respectively the lateral coordinates of the unique point that indicating characteristic point vision-based detection sensor identifies, longitudinal coordinate, vertical missing, and successively send these three values to PLC, control welding gun 111 carries out moving centering weld seam according to deviation numerical value in transverse direction, longitudinal direction, vertical direction, completes continuous welding. Namely button 47 can ensure that program safety exits.
Fig. 3 is that visual quality detecting sensor runs block diagram. The graphic information collected is delivered to master control computer by visual quality detecting sensor, obtains weld seam weld information by image procossing and carries out information judgement and store, if welding quality is defective, produces alarm message. Fig. 5 is industrial computer monitoring interface, 51 can show visual quality detecting sensor image processing data in real time, 52 for starting test button, 53 for exiting program pushbutton, 54 is alarm message button, and when the defects such as weld seam generation solder skip being detected, status bar is red display alarm message, when weld seam welding quality is qualified, it it is green display.
The invention process is convenient, the monitoring that can realize welding is with from motion tracking, replace people's eye to carry out on-line checkingi characteristic point position and carry out Intelligent welding, workman is freed from the severe environment welding surroundings such as full noise, flue dust, and have without tired characteristic, welding job can be carried out continuously for a long time, reduce work production cost; After having welded, need workman one by one weld seam carry out welding quality inspection, this device integration can complete welding and the rear quality examination of weldering, workman only needs to be done by the substandard product detected to process further, save manpower, and avoiding the metrical error owing to people's visual fatigue causes, welding and detection speed reach 1��5m/s, it is possible to meet the needs of production line. Carrying out welding test for the overlap joint welding plate of thickness 2 millimeters, welding speed is 1m/s, can see that adjacent interframe feature point detection worst error is lower than 5 pixels by Fig. 6, namely in corresponding welding process welding gun adjusting deviation scope error within 0.5mm.
Unaccomplished matter of the present invention is known technology.
Claims (1)
1. the little unique point vision of steel sheet weld seam is followed the tracks of and a real-time quality detection device, it is characterized by this device and comprises master control computer, PLC, motor and transducing part;
Described transducing part mainly comprises welding gun, and the unique point vision-based detection sensor of the welding gun left and right sides and visual quality detecting sensor, and wherein welding gun both sides are respectively connected block with one first and are rigidly connected; One first connects block and is connected block connection with the 2nd, and the 2nd connection block is connected with unique point vision-based detection sensor; Under 2nd connection block, rigid connecting is connected to first gear plate; Visual quality detecting sensor first is connected block connection by the 3rd connection block with another, and the 3rd connects rigid connecting under block is connected to second baffle;
Described unique point vision-based detection sensor and visual quality detecting sensor are all connected on master control computer by USB, and master control computer is connected with PLC by wiring, and the motor that PLC is moved by wiring and control welding gun is connected, and motor and welding gun are rigidly connected;
The composition of described unique point vision-based detection sensor comprises and is encapsulated in the first interior industrial camera and the first yi word pattern laser line generator, first industrial camera at right angle setting in sensor, first yi word pattern laser line generator and the first industrial camera are angularly installed, and angle of regulation range is 30 �� ~ 60 ��;
The composition of visual quality detecting sensor comprises and is encapsulated in the 2nd interior industrial camera and the 2nd yi word pattern laser line generator, 2nd industrial camera at right angle setting in sensor, 2nd yi word pattern laser line generator and the 2nd industrial camera are angularly installed, and angle of regulation range is 30 �� ~ 60 ��.
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| CN104977305A (en) * | 2015-06-29 | 2015-10-14 | 华中科技大学 | Welding quality analysis device based on infrared vision and analysis method thereof |
| CN106238946B (en) * | 2016-08-31 | 2019-04-19 | 武汉法利莱切焊系统工程有限公司 | Wire filling laser welding quality on-line checking and dimension feedback system and method |
| CN107096728A (en) * | 2017-06-22 | 2017-08-29 | 山东明佳科技有限公司 | A kind of carton encapsulation and coding vision detection system and method |
| CN109623190B (en) * | 2019-01-04 | 2021-03-19 | 博众精工科技股份有限公司 | Shaver welding control system and method |
| CN111208061B (en) * | 2020-02-16 | 2022-09-13 | 常熟理工学院 | Workpiece welding seam automatic visual detection device based on memristor neural network technology |
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