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WO2018105853A1 - Apparatus for inspecting welding tips of spot welding guns - Google Patents

Apparatus for inspecting welding tips of spot welding guns Download PDF

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Publication number
WO2018105853A1
WO2018105853A1 PCT/KR2017/009210 KR2017009210W WO2018105853A1 WO 2018105853 A1 WO2018105853 A1 WO 2018105853A1 KR 2017009210 W KR2017009210 W KR 2017009210W WO 2018105853 A1 WO2018105853 A1 WO 2018105853A1
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WO
WIPO (PCT)
Prior art keywords
welding tip
tip
welding
spot welding
camera module
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Application number
PCT/KR2017/009210
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French (fr)
Korean (ko)
Inventor
정명환
장주용
전현환
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오토아이티(주)
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Publication of WO2018105853A1 publication Critical patent/WO2018105853A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
    • 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
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/36—Auxiliary equipment
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
    • G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N2203/02—Details not specific for a particular testing method
    • G01N2203/026—Specifications of the specimen
    • G01N2203/0296—Welds

Definitions

  • the present invention is a welding tip inspection device of a spot welding gun, and more particularly, even if the welding tip conveyed by the welding tip transfer gun is inserted and pressed with an error of several millimeters at the reference insertion position, the parts are not damaged and the degree of contamination of the welding tip is
  • the present invention relates to a welding tip inspection apparatus for spot welding guns that can be inspected.
  • spot welding is a kind of resistance welding technique, in which two or three sheets of metal sheet for welding are placed between a pair of spot welding guns and pressurized with a pair of spot welding guns. The current is applied to the spot welding gun and the metal sheet is welded using the resistance heat generated therefrom.
  • spot welding also called spot welding, has a short welding time and is widely used for thin plate welding.
  • spot welding when joining metal, part of the base material is buried at the end of the spot welding gun after welding, which makes the spot welding gun unusable for a long time.
  • a spot welding gun is attached to the end of the spot welding gun to protect the spot welding gun.
  • the condition of the weld tip is important for good quality welding to be performed. However, when welding 100 to 200 times, the tip of the welding tip is contaminated and cannot be used. At this time, the tip of the welding tip is polished using an Auto Tip Dressor (ATD). Using a dresser (ATD), the tip of the contaminated welding tip is scraped off and inspected by the welding tip inspection device to see if there is any foreign material on the end of the welding tip. If the inspection is bad, polish the welding tip by transferring the welding tip to the dresser (ATD) with the welding tip transfer gun (GUN). Typically, the dresser (ATD) and the welding tip inspection device is installed in one package.
  • ATD Auto Tip Dressor
  • the welding tip inspection apparatus is known an inspection apparatus using a color sensor and an inspection apparatus using a camera.
  • the inspection apparatus using the color sensor determines whether the weld tip is contaminated by measuring the spectrum of the light reflected back to the tip of the weld tip after irradiating the white LED. Although the measurement speed was fast, there was a problem that the measurement was not performed properly depending on environmental parts such as the distance and angle of the welding tip.
  • the spot welding electrode inspection apparatus in the inspection apparatus using the camera disclosed in Korean Patent No. 10-1385922 (name of the invention: spot welding electrode inspection apparatus), as shown in FIG. Determine if the tip section is contaminated.
  • the spot welding electrode inspection apparatus according to Korean Patent No. 10-1385922 is attached to the mirror 8 in a state in which an electrode (welding tip) is fixed to a fixing hole 72a of the electrode fixing plate 72.
  • the cross section of the electrode (welding tip) reflected and projected is photographed by the CCD camera 91 supported by the bases 92 and 93 for the plate-shaped camera.
  • the conventional spot welding electrode inspection device is implemented to inspect the welding tip using a camera while the welding tip transfer gun conveys the welding tip and is inserted into the fixing hole 72a and pressurized.
  • the welding tip transfer gun inserts or pressurizes the welding tip in a state where the welding tip is not exactly aligned with the fixing hole 72a, the parts are damaged and the inspection is not made.
  • the present invention has been proposed in the background as described above, even if the welding tip conveyed by the welding tip transfer gun is inserted and pressed with an error of several millimeters at the reference insertion position, the spot is not damaged and the contamination of the welding tip can be inspected.
  • the present invention also relates to a welding tip inspection apparatus for a spot welding gun, which enables a user to quickly and conveniently handle replacement work of a camera module.
  • the spot welding gun welding tip inspection apparatus is a plurality of camera illumination light source, a camera module for photographing the tip of the welding tip, and reflects the light reflected from the welding tip to the camera module
  • a pressure plate having a first through portion through which a welding tip to be inspected passes;
  • a center guide part in which a mounting part on which the pressure plate is mounted is formed;
  • a protective case having an insertion portion for inserting a welding tip at a position corresponding to the first through hole of the pressing plate;
  • the housing is detachably coupled to the main circuit board, and includes a housing having a second through part connected to the first through part of the pressing plate, and a mounting part to which the pressing plate and the center guide part are seated.
  • the pressure plate of the welding tip inspection device of the spot welding gun according to the present invention is formed with a first light passing portion through which the light reflected from the welding tip passes, the housing is formed in the second penetrating portion and radiated from the light source for camera illumination welding tip The second light passing portion through which the light reflected from is passed is formed.
  • the main circuit board of the spot welding gun welding tip inspection apparatus is formed with a camera module connecting portion, the housing is an insertion portion inserted into the circuit board mounted with the camera module at a position corresponding to the camera module connecting portion of the main circuit board It is characterized by being formed.
  • the welding tip inspection apparatus of the spot welding gun according to the present invention is coupled to the housing so as to be attached to the top, it is characterized in that it further comprises a protective member to be rotated when moving forward by the air cylinder to protect the insertion portion of the protective case.
  • the present invention even if the welding tip conveyed by the welding tip transfer gun is inserted and pressed with an error of several millimeters at the reference insertion position, the parts are not damaged and the contamination of the welding tip can be inspected.
  • the user can quickly and conveniently handle the replacement of the camera module.
  • FIG. 1 is an exemplary view for explaining the welding tip inspection apparatus of the spot welding gun according to the present invention.
  • Figure 2a, Figure 2b is an exemplary view for explaining the protection member for the welding tip inspection device of the spot welding gun according to the present invention.
  • FIG. 3 is an exploded view illustrating components of a welding tip inspection apparatus for a spot welding gun according to the present invention.
  • Figure 4 is an embodiment showing a cross section of the welding tip inspection device of the spot welding gun according to the present invention.
  • 5A and 5B are exemplary views for explaining the position change of the pressure plate of the welding tip inspection device of the spot welding gun according to the present invention.
  • FIG. 6 is an exemplary view for explaining a process of replacing the camera module of the welding tip inspection device of the spot welding gun according to the present invention.
  • Figure 7 shows the process of photographing the weld tip cross section through the camera module and reflector used in the welding tip inspection device of the spot welding gun according to the present invention.
  • FIG 8 is an exemplary view for explaining a process of determining whether the weld tip cross-section through the image processing by photographing the weld tip cross-section with the camera module.
  • FIG. 9 is an exemplary view for explaining a welding tip inspection device of a conventional spot welding gun.
  • FIG. 1 is an exemplary view for explaining a welding tip inspection device of the spot welding gun according to the present invention
  • Figures 2a, 2b is an exemplary view for explaining a protective member for the welding tip inspection device of the spot welding gun according to the present invention
  • 3 is an exploded view illustrating components of a welding tip inspection device for a spot welding gun according to the present invention
  • FIG. 4 is an embodiment showing a cross section of the welding tip inspection device for a spot welding gun according to the present invention.
  • the welding tip inspection apparatus 100 of the spot welding gun according to the present invention as shown in Figure 1, Figure 2a, Figure 2b, Figure 3, Figure 4, PLC cable port 110 and Ethernet port 120 and the protective case Including the protection member 160 to block the foreign matter through the 130, 170, the upper housing 140, the lower housing 150 and the insertion portion (131, 171) of the protective case (130, 170) Is implemented.
  • the protection member 160 is detachably coupled to the upper housing 140 and the lower housing 150.
  • the protection member 160 includes a cover part 162 that opens and closes the insertion parts 131 and 171 of the protection cases 130 and 170 when the hinge member is rotated by the air cylinder 161.
  • the welding tip inspection apparatus 100 of the spot welding gun according to the present invention is formed by protruding from the protective case (130, 170) to protect the camera module (reference numeral 330, 360 of Figure 3) and reflector (reference numeral 340, of Figure 3) Protrusions 135 and 175 to which the 370 is mounted are formed.
  • the reflectors 340 and 370 are shown in front of the lenses of the camera modules 330 and 360 in FIG. 3, they are actually mounted on the inner surfaces of the protrusions 135 and 175 as shown in FIG. 4.
  • the internal components of the welding tip inspection apparatus for the spot welding gun according to the present invention are welded with the main circuit board 350 and the first through parts 311 and 391 through which the welding tip to be inspected passes.
  • a lower housing 150 and center guide parts 320 and 380 are welded with the main circuit board 350 and the first through parts 311 and 391 through which the welding tip to be inspected passes.
  • a lower housing 150 and center guide parts 320 and 380 are welded with the main circuit board 350 and the first through parts 311 and 391 through which the welding tip to be inspected passes.
  • the center guide parts 320 and 380 are provided with mounting parts 321 and 381 to which the pressure plates 310 and 390 are mounted.
  • the center guide parts 320 and 380 are made of a material having elastic force (eg, rubber).
  • the center guides 320 and 380 prevent the parts from being damaged even if the welding tip conveyed by the welding tip transfer gun is inserted and pressed with an error of several millimeters at the reference insertion position.
  • the center guide parts 320 and 380 may be manufactured in a mold using, for example, urethane material.
  • the upper housing 140 and the lower housing 150 are detachably coupled.
  • the upper housing 140 has a seating portion 141 on which the pressing plate 310 and the center guide portion 320 are seated, and a second through portion 142 connected to the first through portion 311 of the pressing plate 310. And a second light passing portion 143 extending from the second through portion 142 and passing through the light emitted from the camera illumination light source (reference numeral 391 of FIG. 4) and reflected from the welding tip.
  • the lower housing 150 has a seating portion in which the center guide portion 380 is seated, and a second penetration portion 152 connected to the first penetration portion 391 of the pressing plate 390, similarly to the upper housing 140. And a second light passing portion 153 extending from the second through portion 152 and passing through the light emitted from the camera illumination light source (reference numeral 351 of FIG. 4) and reflected from the welding tip.
  • the main circuit board 350 is provided with a plurality of camera illumination light sources 351 around the inspection space, and receives and drives a display control signal corresponding to the welding tip contamination degree determination result from the main circuit module. 352).
  • the display device 352 is implemented as a three-color LED element, and if the pollution degree determination result is 'normal' green, 'caution' is displayed yellow, 'bad' is displayed red, so that the operator intuitively from outside The contamination level of the test can be confirmed.
  • the main circuit board 350 is provided with a camera module connection part 353 to which the circuit board on which the camera module including the lens module and the image sensor is mounted is detachably coupled.
  • the upper housing 140 and the lower housing 150 are formed with insertion portions 144 and 154 into which a circuit board on which the camera module is mounted is inserted at a position corresponding to the camera module connecting portion 353 of the main circuit board 350. . Accordingly, the user can quickly and conveniently handle the replacement of the camera module.
  • the welding tip includes the insertion parts 131 and 171 of the protective cases 130 and 170 ⁇ the first through parts 311 and 391 of the pressing plates 310 and 390 ⁇ the upper housing 140 and the lower housing ( Passes second through portions 142 and 152 of 150 sequentially.
  • the protrusions 135 and 175 protrude from the protective cases 130 and 170 to protect the camera modules 330 and 360.
  • Reflectors 340 and 370 are mounted on inner surfaces of the protrusions 135 and 175.
  • the center guide part 320 has a deformation distance of ⁇ 3 mm, and when the welding tip is inserted into the first through part 311 of the pressure plate 310 by mounting the center guide part 320 on the pressure plate 310. The position of the pressing plate 310 is not changed more than ⁇ 3mm.
  • FIG. 6 is an exemplary view for explaining a process of replacing the camera module of the welding tip inspection device of the spot welding gun according to the present invention.
  • the protrusion 135 is formed to protrude from the protective case 130 to protect the camera module 330.
  • the reflector 340 is mounted on the inner side surface of the protrusion 135.
  • the upper housing 140 is equipped with a pressing plate 310 and the center guide portion 320.
  • the protective case 130 and the upper housing 140 are detachably coupled by the coupling member 611.
  • the welding tip inspection apparatus of the spot welding gun according to the present invention as shown in Figure 7, the image of the cross-section of the pair of welding tips (11, 12) through the reflector (340, 370) and the camera module (330, 360) Can be obtained.
  • a pair of welding tips 11 and 12 are implemented, for example, 20 mm apart.
  • the process of determining whether the weld tip cross section is contaminated through the image processing by photographing the weld tip cross section according to the present invention is as shown in FIG. 8, the image acquisition step (S811), the channel division step (S812), ROI selection step (S813), projection conversion step (S814), automatic contrast enhancement step (S815), edge detection step (S816), pressure plate inner diameter detection step (S817), welding tip section detection step (S818) , And pollution degree detection step (S819).
  • Image acquisition step (S811) is a step of receiving an RGB image for the tip tip of the welding from the camera module.
  • the RGB image can be converted into YCbCr image including luminance information, blue information and red information to omit unnecessary color information review in the process of analyzing the contamination degree of the welding tip. Can be.
  • the RGB image is input and then converted into a YCbCr image.
  • the present disclosure is not necessarily limited thereto, and the YCbCr image may be directly input from the camera module.
  • the YCbCr image includes luminance information to detect a tip region based on each luminance information, blue information, and red information, and to detect a front end surface using only the Y image including the luminance information. It can be separated into a Y image, a Cb image including luminance information and blue information, and a Cr image including luminance information and red information.
  • a weld tip region may be detected by extracting an area corresponding to preset tip color information from the YCbCr image, and designate the detected weld tip region as the ROI.
  • the projection conversion step S814 is a step of projecting a point in the three-dimensional space onto the image plane.
  • the welding tip binarization data may be acquired by binarizing the welding tip image based on a preset reference value.
  • the welding tip binarization data may be acquired by mapping a region lower than the preset reference value to 0 in the welding tip image and mapping the region higher than the preset reference value to 255.
  • the edge detection step S816 may extract the weld tip edge based on the weld tip binarization data. For example, by detecting a boundary area between 0 and 255 based on the welding tip binarization data, an outer portion of the shape of the welding tip, that is, an edge of the welding tip may be extracted.
  • the pressing plate inner diameter detecting step S817 is a step of detecting a region corresponding to the first penetrating portion 311 of the pressing plate (reference numeral 310 of FIG. 3).
  • an ellipse detecting step of detecting an ellipse may be performed based on the edge information detected in the edge detecting step and the shape information of the welding tip region.
  • the ellipse may be detected using a known Hough based Ellipse detection Algorithm.
  • the ellipse detection step detects a plurality of ellipses, and compares the diameter of each detected ellipse with the height ratio of the detected tip area with a preset reference ratio to determine an ellipse included in the allowable range.
  • a front end face determination step of determining the front end face may be performed. In this case, the diameter of each detected ellipse and the height ratio of the detected region of interest are compared with a preset reference ratio to determine an ellipse having the smallest error among the ellipses included within the allowable range of the reference ratio among the plurality of ellipses as the cross section. Can be.
  • the contamination level of the front end surface may be measured by comparing the color information of each pixel in the detected front end surface with preset reference color information.
  • the contamination level detecting step S819 may include a pixel counting step and a contamination level measuring step. The total number of pixels located inside the edge detected from the divided tip region detection image may be counted, and the black pixels having low luminance among the pixels located inside the edge may be detected as dirty pixels and then counted. By dividing the counted number of contamination pixels by the total number of pixels for the tip end surface, the contamination rate for the tip end surface of the welding tip can be calculated and the degree of contamination can be measured according to the level value of each contamination pixel.
  • the technique according to the present specification is available in a welding tip inspection device.

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Abstract

The present invention provides an apparatus for inspecting the welding tips of spot welding guns, the apparatus being capable of inspecting the contamination level of the welding tips, without damaging components, even if the welding tips transferred by the welding tip transfer guns are inserted and pressed at reference insertion positions with an error of some millimeters.

Description

스폿 용접건의 용접팁 검사장치Welding tip inspection device of spot welding gun
본 발명은 스폿 용접건의 용접팁 검사장치로서, 보다 상세하게는 용접팁 이송건에 의해 이송되는 용접팁이 기준 삽입 위치에서 수 ㎜의 오차를 가지고 삽입 및 가압되더라도 부품이 파손되지 않고 용접팁의 오염도 검사가 가능한 스폿 용접건의 용접팁 검사장치에 관한 것이다.The present invention is a welding tip inspection device of a spot welding gun, and more particularly, even if the welding tip conveyed by the welding tip transfer gun is inserted and pressed with an error of several millimeters at the reference insertion position, the parts are not damaged and the degree of contamination of the welding tip is The present invention relates to a welding tip inspection apparatus for spot welding guns that can be inspected.
일반적으로 스폿 용접(spot welding)은 저항용접기술의 일종으로, 용접하기 위한 금속판재를 두 장 또는 세 장을 포개어 한 쌍의 스폿 용접건 사이에 배치한 상태에서 한 쌍의 스폿 용접건으로 가압한 후 스폿 용접건에 전류를 인가하여 그로부터 발생되는 저항발열을 이용하여 금속판재를 용접하는 방식이다. 이러한 스폿 용접은 점 용접이라고도 하는데, 용접시간이 짧다는 이점이 있어 박판 용접(thine plate welding)에 널리 사용되고 있다.In general, spot welding is a kind of resistance welding technique, in which two or three sheets of metal sheet for welding are placed between a pair of spot welding guns and pressurized with a pair of spot welding guns. The current is applied to the spot welding gun and the metal sheet is welded using the resistance heat generated therefrom. Such spot welding, also called spot welding, has a short welding time and is widely used for thin plate welding.
스폿 용접에서 금속 접합시 용접 후 모재의 일부가 스폿 용접건 끝에 묻어 스폿 용접건을 장기간 사용할 수 없게 된다. 이를 방지하고자 스폿 용접건 끝에 구리 소재의 용접팁을 부착시켜 스폿 용접건을 보호하고 있다. In spot welding, when joining metal, part of the base material is buried at the end of the spot welding gun after welding, which makes the spot welding gun unusable for a long time. To prevent this, a spot welding gun is attached to the end of the spot welding gun to protect the spot welding gun.
좋은 품질의 용접이 수행되기 위해서는 용접팁의 상태가 중요하다. 그런데 100∼200회 용접시 용접팁 끝이 오염되어 사용할 수 없게 된다. 이때 드레서(ATD: Auto Tip Dressor)를 이용하여 용접팁 끝을 연마한다. 드레서(ATD)를 이용하여 오염된 용접팁 끝을 깍아낸 후 용접팁 검사장치를 통해 용접팁 단면에 이물질이 남지 않았는지를 검사한다. 검사결과 불량이면 용접팁 이송 건(GUN)으로 용접팁을 드레서(ATD)로 이송하여 용접팁을 연마한다. 통상적으로 드레서(ATD)와 용접팁 검사장치는 하나의 패키지로 결합되어 설치된다.The condition of the weld tip is important for good quality welding to be performed. However, when welding 100 to 200 times, the tip of the welding tip is contaminated and cannot be used. At this time, the tip of the welding tip is polished using an Auto Tip Dressor (ATD). Using a dresser (ATD), the tip of the contaminated welding tip is scraped off and inspected by the welding tip inspection device to see if there is any foreign material on the end of the welding tip. If the inspection is bad, polish the welding tip by transferring the welding tip to the dresser (ATD) with the welding tip transfer gun (GUN). Typically, the dresser (ATD) and the welding tip inspection device is installed in one package.
한편, 용접팁 검사장치는 컬러 센서를 이용하는 검사장치와 카메라를 이용하는 검사장치가 알려졌다. 컬러 센서를 이용하는 검사장치는 백색 LED를 조사한 후 용접팁 선단면에 반사되어 돌아오는 빛의 스펙트럼을 측정하여 용접팁의 오염 여부를 판단한다. 측정 속도는 빠르지만 용접팁의 거리 및 각도 등 환경적인 부분에 따라 제대로 측정이 안 되는 문제가 있었다. On the other hand, the welding tip inspection apparatus is known an inspection apparatus using a color sensor and an inspection apparatus using a camera. The inspection apparatus using the color sensor determines whether the weld tip is contaminated by measuring the spectrum of the light reflected back to the tip of the weld tip after irradiating the white LED. Although the measurement speed was fast, there was a problem that the measurement was not performed properly depending on environmental parts such as the distance and angle of the welding tip.
한국등록특허 제10-1385922호(발명의 명칭: 스폿용접용 전극검사장치)에 개시된 카메라를 이용하는 검사장치는 도 9에 도시한 바와 같이, 용접팁 단면을 2D 카메라로 촬영하여 영상 처리를 통하여 용접팁 단면의 오염여부를 판단한다. 도 9에서, 한국등록특허 제10-1385922호에 따른 스폿용접용 전극검사장치는 전극 고정플레이트(72)의 고정용 구멍(72a)에 전극(용접팁)을 고정한 상태에서, 미러(8)에 반사하여 투영된 전극(용접팁) 단면을 판상의 카메라용 기반(92, 93)에 의해 지지가 되는 CCD 카메라(91)로 촬영한다. In the inspection apparatus using the camera disclosed in Korean Patent No. 10-1385922 (name of the invention: spot welding electrode inspection apparatus), as shown in FIG. Determine if the tip section is contaminated. In FIG. 9, the spot welding electrode inspection apparatus according to Korean Patent No. 10-1385922 is attached to the mirror 8 in a state in which an electrode (welding tip) is fixed to a fixing hole 72a of the electrode fixing plate 72. The cross section of the electrode (welding tip) reflected and projected is photographed by the CCD camera 91 supported by the bases 92 and 93 for the plate-shaped camera.
그러나 종래 스폿용접용 전극검사장치는 용접팁 이송 건이 용접팁을 이송하고 고정용 구멍(72a)에 삽입한 후 가압을 한 상태에서 카메라를 이용하여 용접팁을 검사하도록 구현된다. 이에 용접팁 이송 건이 용접팁을 고정용 구멍(72a)과 정확히 정렬되지 않은 상태에서 용접팁을 삽입하거나 가압할 경우 부품이 손상되고 검사가 이루어지지 않는 문제가 발생한다.However, the conventional spot welding electrode inspection device is implemented to inspect the welding tip using a camera while the welding tip transfer gun conveys the welding tip and is inserted into the fixing hole 72a and pressurized. In this case, when the welding tip transfer gun inserts or pressurizes the welding tip in a state where the welding tip is not exactly aligned with the fixing hole 72a, the parts are damaged and the inspection is not made.
본 발명은 상기와 같은 배경에서 제안된 것으로, 용접팁 이송건에 의해 이송되는 용접팁이 기준 삽입 위치에서 수 ㎜의 오차를 가지고 삽입 및 가압되더라도 부품이 파손되지 않고 용접팁의 오염도 검사가 가능한 스폿 용접건의 용접팁 검사장치를 제공한다.The present invention has been proposed in the background as described above, even if the welding tip conveyed by the welding tip transfer gun is inserted and pressed with an error of several millimeters at the reference insertion position, the spot is not damaged and the contamination of the welding tip can be inspected. Provides a welding tip inspection device for the welding gun.
또한, 본 발명은 사용자가 카메라모듈의 교체 작업을 신속하고 편리하게 처리할 수 있는 스폿 용접건의 용접팁 검사장치 스폿 용접건의 용접팁 검사장치에 관한 것이다.The present invention also relates to a welding tip inspection apparatus for a spot welding gun, which enables a user to quickly and conveniently handle replacement work of a camera module.
본 발명의 다른 목적들은 이하의 실시예에 대한 설명을 통해 쉽게 이해될 수 있을 것이다.Other objects of the present invention will be readily understood through the following description of the embodiments.
상기 기술적 과제를 달성하기 위하여, 본 발명에 따른 스폿 용접건의 용접팁 검사장치는 복수의 카메라 조명용 광원과, 용접팁 선단부를 촬영하는 카메라모듈과, 용접팁에서 반사되는 광을 상기 카메라모듈로 반사시키는 반사경과, 상기 용접팁 선단부를 촬영한 영상을 통해 상기 용접팁의 오염도를 분석하는 메인회로모듈이 탑재되는 메인회로기판과;In order to achieve the above technical problem, the spot welding gun welding tip inspection apparatus according to the present invention is a plurality of camera illumination light source, a camera module for photographing the tip of the welding tip, and reflects the light reflected from the welding tip to the camera module A main circuit board on which a main circuit module for analyzing a contamination degree of the welding tip is mounted using a reflector and an image of the tip of the welding tip;
검사하고자 하는 용접팁이 통과하는 제1 관통부가 형성되는 가압 플레이트와; 가압 플레이트가 내부에 장착되는 장착부가 형성되는 센터 가이드부와; 상기 가압 플레이트의 제1 관통구와 대응하는 위치에 용접팁이 삽입되는 삽입부가 형성되는 보호케이스와;A pressure plate having a first through portion through which a welding tip to be inspected passes; A center guide part in which a mounting part on which the pressure plate is mounted is formed; A protective case having an insertion portion for inserting a welding tip at a position corresponding to the first through hole of the pressing plate;
상기 메인회로기판에 탈부착 가능하게 결합되며, 상기 가압 플레이트의 제1 관통부와 연결되는 제2 관통부와 상기 가압 플레이트와 센터 가이드부가 안착되는 안착부가 형성되는 하우징을 포함한다.The housing is detachably coupled to the main circuit board, and includes a housing having a second through part connected to the first through part of the pressing plate, and a mounting part to which the pressing plate and the center guide part are seated.
본 발명에 따른 스폿 용접건의 용접팁 검사장치의 가압 플레이트는 용접팁에서 반사되는 광이 통과하는 제1 광 통과부가 형성되고, 하우징은 제2 관통부에 연장형성되며 카메라 조명용 광원에서 방사되어 용접팁에서 반사되는 광이 통과하는 제2 광 통과부가 형성되는 것을 특징으로 한다. The pressure plate of the welding tip inspection device of the spot welding gun according to the present invention is formed with a first light passing portion through which the light reflected from the welding tip passes, the housing is formed in the second penetrating portion and radiated from the light source for camera illumination welding tip The second light passing portion through which the light reflected from is passed is formed.
본 발명에 따른 스폿 용접건의 용접팁 검사장치의 메인회로기판에는 카메라모듈 접속부가 형성되고, 하우징은 메인회로기판의 카메라모듈 접속부와 대응하는 위치에 상기 카메라모듈이 탑재된 회로기판이 삽입하는 삽입부가 형성되는 것을 특징으로 한다.The main circuit board of the spot welding gun welding tip inspection apparatus according to the present invention is formed with a camera module connecting portion, the housing is an insertion portion inserted into the circuit board mounted with the camera module at a position corresponding to the camera module connecting portion of the main circuit board It is characterized by being formed.
본 발명에 따른 스폿 용접건의 용접팁 검사장치는 하우징에 탑부착 가능하게 결합되며, 에어실린더에 의해 전진 시 회전되어 보호케이스의 삽입부를 보호하는 보호부재를 더 포함하는 것을 특징으로 한다. The welding tip inspection apparatus of the spot welding gun according to the present invention is coupled to the housing so as to be attached to the top, it is characterized in that it further comprises a protective member to be rotated when moving forward by the air cylinder to protect the insertion portion of the protective case.
본 발명에 따르면, 용접팁 이송건에 의해 이송되는 용접팁이 기준 삽입 위치에서 수 ㎜의 오차를 가지고 삽입 및 가압되더라도 부품이 파손되지 않고 용접팁의 오염도 검사가 가능하다.According to the present invention, even if the welding tip conveyed by the welding tip transfer gun is inserted and pressed with an error of several millimeters at the reference insertion position, the parts are not damaged and the contamination of the welding tip can be inspected.
또한, 본 발명에 따르면 사용자가 카메라모듈의 교체 작업을 신속하고 편리하게 처리할 수 있다.In addition, according to the present invention, the user can quickly and conveniently handle the replacement of the camera module.
도 1 은 본 발명에 따른 스폿 용접건의 용접팁 검사장치를 설명하기 위한 예시도이다. 1 is an exemplary view for explaining the welding tip inspection apparatus of the spot welding gun according to the present invention.
도 2a, 도 2b 는 본 발명에 따른 스폿 용접건의 용접팁 검사장치용 보호부재를 설명하기 위한 예시도이다. Figure 2a, Figure 2b is an exemplary view for explaining the protection member for the welding tip inspection device of the spot welding gun according to the present invention.
도 3 은 본 발명에 따른 스폿 용접건의 용접팁 검사장치의 구성부품을 분해한 예시도이다.3 is an exploded view illustrating components of a welding tip inspection apparatus for a spot welding gun according to the present invention.
도 4 는 본 발명에 따른 스폿 용접건의 용접팁 검사장치의 단면을 도시한 실시예이다.Figure 4 is an embodiment showing a cross section of the welding tip inspection device of the spot welding gun according to the present invention.
도 5a, 도 5b 는 본 발명에 따른 스폿 용접건의 용접팁 검사장치의 가압플레이트 위치변경에 대해 설명하기 위한 예시도이다.5A and 5B are exemplary views for explaining the position change of the pressure plate of the welding tip inspection device of the spot welding gun according to the present invention.
도 6은 본 발명에 따른 스폿 용접건의 용접팁 검사장치의 카메라모듈을 교체하는 과정을 설명하기 위한 예시도이다.6 is an exemplary view for explaining a process of replacing the camera module of the welding tip inspection device of the spot welding gun according to the present invention.
도 7 은 본 발명에 따른 스폿 용접건의 용접팁 검사장치에 사용되는 카메라모듈과 반사경을 통해 용접팁 단면을 촬영하는 과정을 도시한다.Figure 7 shows the process of photographing the weld tip cross section through the camera module and reflector used in the welding tip inspection device of the spot welding gun according to the present invention.
도 8 은 용접팁 단면을 카메라모듈로 촬영하여 영상 처리를 통해 용접팁 단면의 오염여부를 판단하는 과정을 설명하기 위한 예시도이다.8 is an exemplary view for explaining a process of determining whether the weld tip cross-section through the image processing by photographing the weld tip cross-section with the camera module.
도 9 는 종래 스폿 용접건의 용접팁 검사장치를 설명하기 위한 예시도이다. 9 is an exemplary view for explaining a welding tip inspection device of a conventional spot welding gun.
이하, 첨부된 도면을 참조하여 본 명세서에 개시된 실시예를 상세히 설명하되, 도면 부호에 관계없이 동일하거나 유사한 구성요소는 동일한 참조 번호를 부여하고 이에 대한 중복되는 설명은 생략하기로 한다. 또한, 본 명세서에 개시된 실시예를 설명함에 있어서 관련된 공지 기술에 대한 구체적인 설명이 본 명세서에 개시된 실시 예의 요지를 흐릴 수 있다고 판단되는 경우 그 상세한 설명을 생략한다. DETAILED DESCRIPTION Hereinafter, exemplary embodiments disclosed herein will be described in detail with reference to the accompanying drawings, and the same or similar components will be given the same reference numerals regardless of the reference numerals, and redundant description thereof will be omitted. In addition, in describing the embodiments disclosed herein, when it is determined that the detailed description of the related known technology may obscure the gist of the embodiments disclosed herein, the detailed description thereof will be omitted.
또한, 첨부된 도면은 본 명세서에 개시된 실시예를 쉽게 이해할 수 있도록 하기 위한 것일 뿐, 첨부된 도면에 의해 본 명세서에 개시된 기술적 사상이 제한되지 않으며, 본 발명의 사상 및 기술 범위에 포함되는 모든 변경, 균등물 내지 대체물을 포함하는 것으로 이해되어야 한다. In addition, the accompanying drawings are only for easily understanding the embodiments disclosed herein, the technical spirit disclosed in the specification by the accompanying drawings are not limited, and all changes included in the spirit and scope of the present invention. It should be understood to include equivalents and substitutes.
제1, 제2 등과 같이 서수를 포함하는 용어는 다양한 구성요소들을 설명하는데 사용될 수 있지만, 상기 구성요소들은 상기 용어들에 의해 한정되지는 않는다. 상기 용어들은 하나의 구성요소를 다른 구성요소로부터 구별하는 목적으로만 사용된다.Terms including ordinal numbers such as first and second may be used to describe various components, but the components are not limited by the terms. The terms are used only for the purpose of distinguishing one component from another.
도 1 은 본 발명에 따른 스폿 용접건의 용접팁 검사장치를 설명하기 위한 예시도이고, 도 2a, 도 2b 는 본 발명에 따른 스폿 용접건의 용접팁 검사장치용 보호부재를 설명하기 위한 예시도이고, 도 3 은 본 발명에 따른 스폿 용접건의 용접팁 검사장치의 구성부품을 분해한 예시도이고, 도 4 는 본 발명에 따른 스폿 용접건의 용접팁 검사장치의 단면을 도시한 실시예이다.1 is an exemplary view for explaining a welding tip inspection device of the spot welding gun according to the present invention, Figures 2a, 2b is an exemplary view for explaining a protective member for the welding tip inspection device of the spot welding gun according to the present invention, 3 is an exploded view illustrating components of a welding tip inspection device for a spot welding gun according to the present invention, and FIG. 4 is an embodiment showing a cross section of the welding tip inspection device for a spot welding gun according to the present invention.
본 발명에 따른 스폿 용접건의 용접팁 검사장치(100)는 도 1, 도 2a, 도 2b, 도 3, 도 4에 도시한 바와 같이, PLC 케이블 포트(110)와 이더넷 포트(120)와 보호케이스(130, 170)와 상부 하우징(140)과 하부 하우징(150)과 보호케이스(130, 170)의 삽입부(131, 171)를 통해 이물질이 침투하는 것을 차단하는 보호부재(160)를 포함하여 구현된다. The welding tip inspection apparatus 100 of the spot welding gun according to the present invention, as shown in Figure 1, Figure 2a, Figure 2b, Figure 3, Figure 4, PLC cable port 110 and Ethernet port 120 and the protective case Including the protection member 160 to block the foreign matter through the 130, 170, the upper housing 140, the lower housing 150 and the insertion portion (131, 171) of the protective case (130, 170) Is implemented.
보호부재(160)는 도 2a, 도 2b에 도시한 바와 같이, 상부 하우징(140)과 하부 하우징(150)에 탈, 부착 가능하게 결합된다. 보호부재(160)는 에어실린더(161)에 의해 전진 시 힌지부재가 회전되어 보호케이스(130, 170)의 삽입부(131, 171)를 개폐하는 덮개부(162)를 포함한다. As shown in FIGS. 2A and 2B, the protection member 160 is detachably coupled to the upper housing 140 and the lower housing 150. The protection member 160 includes a cover part 162 that opens and closes the insertion parts 131 and 171 of the protection cases 130 and 170 when the hinge member is rotated by the air cylinder 161.
본 발명에 따른 스폿 용접건의 용접팁 검사장치(100)는 보호케이스(130, 170)에서 돌출 형성되어 카메라모듈(도 3의 참조부호 330, 360)을 보호하고 반사경(도 3의 참조부호 340, 370)이 장착되는 돌출부(135, 175)가 형성된다. 도 3에서 이해를 돕기 위해 카메라모듈(330, 360)의 렌즈 앞에 반사경(340, 370)을 도시하였지만, 실제로는 도 4와 같이 돌출부(135, 175)의 내측면에 장착된다. The welding tip inspection apparatus 100 of the spot welding gun according to the present invention is formed by protruding from the protective case (130, 170) to protect the camera module ( reference numeral 330, 360 of Figure 3) and reflector (reference numeral 340, of Figure 3) Protrusions 135 and 175 to which the 370 is mounted are formed. Although the reflectors 340 and 370 are shown in front of the lenses of the camera modules 330 and 360 in FIG. 3, they are actually mounted on the inner surfaces of the protrusions 135 and 175 as shown in FIG. 4.
본 발명에 따른 스폿 용접건의 용접팁 검사장치의 내부구성부품은 도 3에 도시한 바와 같이, 메인회로기판(350), 검사하고자 하는 용접팁이 통과하는 제1 관통부(311, 391)와 용접팁에서 반사되는 광이 통과하는 제1 광 통과부(312, 392)가 형성되는 가압 플레이트(310, 390), 카메라모듈(330, 360), 반사경(340, 370), 상부 하우징(140), 하부 하우징(150), 및 센터 가이드부(320, 380)를 포함한다.As shown in FIG. 3, the internal components of the welding tip inspection apparatus for the spot welding gun according to the present invention are welded with the main circuit board 350 and the first through parts 311 and 391 through which the welding tip to be inspected passes. Press plates 310 and 390, camera modules 330 and 360, reflectors 340 and 370, upper housing 140, and the first light passing portions 312 and 392 through which the light reflected from the tip passes. And a lower housing 150 and center guide parts 320 and 380.
센터 가이드부(320, 380)는 가압 플레이트(310, 390)가 내부에 장착되는 장착부(321, 381)가 형성된다. 센터 가이드부(320, 380)는 탄성력을 갖는 물질(에컨대, 고무)로 구현된다. 센터 가이드부(320, 380)는 용접팁 이송건에 의해 이송되는 용접팁이 기준 삽입 위치에서 수 ㎜의 오차를 가지고 삽입 및 가압되더라도 부품이 파손되지 않도록 해준다. 센터 가이드부(320, 380)는 예컨대 우레탄 재질을 사용하여 금형으로 제작될 수 있다. The center guide parts 320 and 380 are provided with mounting parts 321 and 381 to which the pressure plates 310 and 390 are mounted. The center guide parts 320 and 380 are made of a material having elastic force (eg, rubber). The center guides 320 and 380 prevent the parts from being damaged even if the welding tip conveyed by the welding tip transfer gun is inserted and pressed with an error of several millimeters at the reference insertion position. The center guide parts 320 and 380 may be manufactured in a mold using, for example, urethane material.
도 3에서, 상부 하우징(140)과 하부 하우징(150)은 탈부착 가능하게 결합된다. 상부 하우징(140)은 가압 플레이트(310)와 센터 가이드부(320)가 안착되는 안착부(141)와, 가압 플레이트(310)의 제1 관통부(311)와 연결되는 제2 관통부(142)와, 제2 관통부(142)에 연장형성되며 카메라 조명용 광원(도4의 참조부호 391)에서 방사되어 용접팁에서 반사되는 광이 통과하는 제2 광 통과부(143)가 형성된다. In FIG. 3, the upper housing 140 and the lower housing 150 are detachably coupled. The upper housing 140 has a seating portion 141 on which the pressing plate 310 and the center guide portion 320 are seated, and a second through portion 142 connected to the first through portion 311 of the pressing plate 310. And a second light passing portion 143 extending from the second through portion 142 and passing through the light emitted from the camera illumination light source (reference numeral 391 of FIG. 4) and reflected from the welding tip.
하부 하우징(150)은 상부 하우징(140)과 동일하게 센터 가이드부(380)가 안착되는 안착부와, 가압 플레이트(390)의 제1 관통부(391)와 연결되는 제2 관통부(152)와, 제2 관통부(152)에 연장형성되며 카메라 조명용 광원(도4의 참조부호 351)에서 방사되어 용접팁에서 반사되는 광이 통과하는 제2 광 통과부(153)가 형성된다.The lower housing 150 has a seating portion in which the center guide portion 380 is seated, and a second penetration portion 152 connected to the first penetration portion 391 of the pressing plate 390, similarly to the upper housing 140. And a second light passing portion 153 extending from the second through portion 152 and passing through the light emitted from the camera illumination light source (reference numeral 351 of FIG. 4) and reflected from the welding tip.
도 3에서, 메인회로기판(350)은 검사공간 둘레에 복수의 카메라 조명용 광원(351)이 설치되고, 메인회로모듈로부터 용접팁 오염도 판정 결과에 대응하는 표시제어신호를 입력받아 구동하는 표시장치(352)를 포함한다. 표시장치(352)는 3색 LED 소자로 구현되며, 오염도 판정 결과가 ‘정상’인 경우 녹색, ‘주의’인 경우 황색, ‘불량’인 경우 적색이 표시됨으로써, 외부에서 작업자가 직관적으로 용접팁의 오염도 검사결과를 확인할 수 있도록 해준다. In FIG. 3, the main circuit board 350 is provided with a plurality of camera illumination light sources 351 around the inspection space, and receives and drives a display control signal corresponding to the welding tip contamination degree determination result from the main circuit module. 352). The display device 352 is implemented as a three-color LED element, and if the pollution degree determination result is 'normal' green, 'caution' is displayed yellow, 'bad' is displayed red, so that the operator intuitively from outside The contamination level of the test can be confirmed.
메인회로기판(350)에는 렌즈모듈과 이미지센서를 포함하는 카메라모듈이 탑재된 회로기판이 탈, 부착 가능하게 결합되는 카메라모듈 접속부(353)가 형성된다. 상부 하우징(140)과 하부 하우징(150)에는 메인회로기판(350)의 카메라모듈 접속부(353)와 대응하는 위치에 카메라모듈이 탑재된 회로기판이 삽입하는 삽입부(144, 154)가 형성된다. 이에 따라 사용자가 카메라모듈의 교체 작업을 신속하고 편리하게 처리할 수 있다.The main circuit board 350 is provided with a camera module connection part 353 to which the circuit board on which the camera module including the lens module and the image sensor is mounted is detachably coupled. The upper housing 140 and the lower housing 150 are formed with insertion portions 144 and 154 into which a circuit board on which the camera module is mounted is inserted at a position corresponding to the camera module connecting portion 353 of the main circuit board 350. . Accordingly, the user can quickly and conveniently handle the replacement of the camera module.
도 4에서, 용접팁은 보호케이스(130, 170)의 삽입부(131, 171) → 가압 플레이트(310, 390)의 제1 관통부(311, 391) → 상부 하우징(140)과 하부 하우징(150)의 제2 관통부(142, 152)를 순차적으로 통과한다.In FIG. 4, the welding tip includes the insertion parts 131 and 171 of the protective cases 130 and 170 → the first through parts 311 and 391 of the pressing plates 310 and 390 → the upper housing 140 and the lower housing ( Passes second through portions 142 and 152 of 150 sequentially.
돌출부(135, 175)는 보호케이스(130, 170)에서 돌출 형성되어 카메라모듈(330, 360)을 보호한다. 돌출부(135, 175)의 내측면에는 반사경(340, 370)이 장착된다. The protrusions 135 and 175 protrude from the protective cases 130 and 170 to protect the camera modules 330 and 360. Reflectors 340 and 370 are mounted on inner surfaces of the protrusions 135 and 175.
도 5a, 도 5b 는 본 발명에 따른 스폿 용접건의 용접팁 검사장치의 가압플레이트 위치변경에 대해 설명하기 위한 예시도이다. 센터 가이드부(320)는 변형거리 ±3㎜를 가지며, 가압 플레이트(310)에 센터 가이드부(320)가 장착됨으로써 가압 플레이트(310)의 제1 관통부(311)에 용접팁이 삽입되는 경우 가압 플레이트(310)의 위치가 ±3㎜ 이상 변경되지 않도록 해준다. 5A and 5B are exemplary views for explaining the position change of the pressure plate of the welding tip inspection device of the spot welding gun according to the present invention. The center guide part 320 has a deformation distance of ± 3 mm, and when the welding tip is inserted into the first through part 311 of the pressure plate 310 by mounting the center guide part 320 on the pressure plate 310. The position of the pressing plate 310 is not changed more than ± 3mm.
도 6은 본 발명에 따른 스폿 용접건의 용접팁 검사장치의 카메라모듈을 교체하는 과정을 설명하기 위한 예시도이다. 6 is an exemplary view for explaining a process of replacing the camera module of the welding tip inspection device of the spot welding gun according to the present invention.
돌출부(135)는 보호케이스(130)에서 돌출 형성되어 카메라모듈(330)을 보호한다. 돌출부(135)의 내측면에는 반사경(340)이 장착된다. 상부 하우징(140)에는 가압 플레이트(310)와 센터 가이드부(320)가 장착된다. 보호케이스(130)와 상부 하우징(140)은 결합부재(611)에 의해 탈, 부착 가능하게 결합된다.The protrusion 135 is formed to protrude from the protective case 130 to protect the camera module 330. The reflector 340 is mounted on the inner side surface of the protrusion 135. The upper housing 140 is equipped with a pressing plate 310 and the center guide portion 320. The protective case 130 and the upper housing 140 are detachably coupled by the coupling member 611.
본 발명에 따른 스폿 용접건의 용접팁 검사장치는 도 7에 도시한 바와 같이, 반사경(340, 370)과 카메라모듈(330, 360)을 통해 한 쌍의 용접팁(11, 12) 단면의 영상을 획득할 수 있다. 본 발명에 따른 스폿 용접건의 용접팁 검사장치는 한 쌍의 용접팁(11, 12)이 예컨대 20㎜ 이격되게 구현된다. The welding tip inspection apparatus of the spot welding gun according to the present invention, as shown in Figure 7, the image of the cross-section of the pair of welding tips (11, 12) through the reflector (340, 370) and the camera module (330, 360) Can be obtained. In the welding tip inspection device of the spot welding gun according to the present invention, a pair of welding tips 11 and 12 are implemented, for example, 20 mm apart.
본 발명에 따른 용접팁 단면을 카메라모듈로 촬영하여 영상 처리를 통해 용접팁 단면의 오염여부를 판단하는 과정은 도 8 에 도시한 바와 같이, 영상 획득단계(S811), 채널 분할단계(S812), 관심영역(ROI) 선정단계(S813), 투영 변환단계(S814), 자동 대조 향상단계(S815), 에지 검출단계(S816), 가압 플레이트 내경 검출단계(S817), 용접팁 단면 검출단계(S818), 및 오염도 검출단계(S819)를 포함할 수 있다.The process of determining whether the weld tip cross section is contaminated through the image processing by photographing the weld tip cross section according to the present invention is as shown in FIG. 8, the image acquisition step (S811), the channel division step (S812), ROI selection step (S813), projection conversion step (S814), automatic contrast enhancement step (S815), edge detection step (S816), pressure plate inner diameter detection step (S817), welding tip section detection step (S818) , And pollution degree detection step (S819).
영상 획득단계(S811)는 카메라모듈로부터 용접팁 선단면에 대한 RGB영상을 입력 받는 단계이다. 이때 입렵된 RGB영상은 다양한 색상정보가 포함되어 있는 바 용접팁의 오염도를 분석하는 과정에서 불필요한 색상정보 검토를 생략하기 위해 RGB영상을 휘도정보, 블루정보 및 레드정보를 포함하는 YCbCr영상으로 변환할 수 있다.Image acquisition step (S811) is a step of receiving an RGB image for the tip tip of the welding from the camera module. At this time, the RGB image can be converted into YCbCr image including luminance information, blue information and red information to omit unnecessary color information review in the process of analyzing the contamination degree of the welding tip. Can be.
한편, 본 명세서에서는 RGB영상을 입력받은 후 이를 YCbCr영상으로 변환되는 것으로서 설명하고 있으나, 본 명세서가 반드시 이에 한정되는 것은 아니며, 카메라모듈로부터 YCbCr영상을 직접 입력 받을 수 있다.Meanwhile, in the present specification, the RGB image is input and then converted into a YCbCr image. However, the present disclosure is not necessarily limited thereto, and the YCbCr image may be directly input from the camera module.
채널 분할단계(S812)에서는 각 휘도정보, 블루정보 및 레드정보에 근거하여 팁 영역을 검출함과 아울러 휘도정보를 포함하는 Y영상만을 이용하여 선단면을 검출하기 위해 YCbCr영상을 휘도정보를 포함하는 Y영상, 휘도정보 및 블루정보를 포함하는 Cb영상, 휘도정보 및 레드정보를 포함하는 Cr영상으로 분리할 수 있다.In the channel segmentation step (S812), the YCbCr image includes luminance information to detect a tip region based on each luminance information, blue information, and red information, and to detect a front end surface using only the Y image including the luminance information. It can be separated into a Y image, a Cb image including luminance information and blue information, and a Cr image including luminance information and red information.
관심영역(ROI) 선정단계(S813)는 상기 YCbCr영상으로부터 미리 설정된 팁 색상정보에 상응하는 영역을 추출하여 용접팁 영역을 검출하고, 검출된 용접팁 영역을 관심영역으로 지정할 수 있다. In the ROI selection step S813, a weld tip region may be detected by extracting an area corresponding to preset tip color information from the YCbCr image, and designate the detected weld tip region as the ROI.
투영 변환단계(S814)는 3차원 공간에 있는 점을 이미지 평면에 투영시키는 단계이다. 자동 대조 향상단계(S815)는 미리 설정된 기준값에 기초하여 용접팁 영상을 이진화하여 용접팁 이진화데이터를 획득할 수 있다. 일 예로, 용접팁 영상에서 미리 설정된 기준값보다 낮은 영역은 0으로 수치화하고, 미리 설정된 기준값보다 높은 영역은 255로 매핑하여 용접팁 이진화데이터를 획득할 수 있다.The projection conversion step S814 is a step of projecting a point in the three-dimensional space onto the image plane. In the automatic contrast enhancement step (S815), the welding tip binarization data may be acquired by binarizing the welding tip image based on a preset reference value. For example, the welding tip binarization data may be acquired by mapping a region lower than the preset reference value to 0 in the welding tip image and mapping the region higher than the preset reference value to 255.
에지 검출단계(S816)는 용접팁 이진화데이터에 기초하여 용접팁 에지를 추출할 수 있다. 일 예로, 용접팁 이진화데이터에 기초하여 0과 255의 경계영역을 검출함으로써 용접팁의 형상 중 외곽부분, 즉 용접팁의 에지를 추출할 수 있다. The edge detection step S816 may extract the weld tip edge based on the weld tip binarization data. For example, by detecting a boundary area between 0 and 255 based on the welding tip binarization data, an outer portion of the shape of the welding tip, that is, an edge of the welding tip may be extracted.
가압 플레이트 내경 검출단계(S817)는 가압 플레이트(도 3의 참조부호 310)의 제1 관통부(311)에 해당하는 영역을 검출하는 단계이다. 가압 플레이트 내경 검출단계(S817)는 에지 검출단계에서 검출된 에지정보와 용접팁 영역의 형태정보에 근거하여 타원을 검출하는 타원 검출단계를 수행할 수 있다. 에지 영상에서 각 에지 픽셀 좌표를 검출하고, 검출된 픽셀 좌표와 추출된 형태정보에 근거하여 타원을 검출할 경우, 공지의 Hough based Ellipse detection Algorithm을 이용하여 타원을 검출할 수 있다.The pressing plate inner diameter detecting step S817 is a step of detecting a region corresponding to the first penetrating portion 311 of the pressing plate (reference numeral 310 of FIG. 3). In the pressing plate inner diameter detecting step S 817, an ellipse detecting step of detecting an ellipse may be performed based on the edge information detected in the edge detecting step and the shape information of the welding tip region. When detecting each edge pixel coordinate in the edge image and detecting an ellipse based on the detected pixel coordinates and the extracted shape information, the ellipse may be detected using a known Hough based Ellipse detection Algorithm.
용접팁 단면 검출단계(S818)는 타원 검출단계에서 복수개의 타원을 검출하고, 검출된 각 타원의 직경과, 검출된 팁 영역의 높이 비율을 미리 설정된 기준 비율과 비교하여 허용범위 내에 포함되는 타원을 선단면으로 결정하는 선단면 결정단계를 수행할 수 있다. 이 경우, 검출된 각 타원의 직경과, 검출된 관심영역의 높이 비율을 미리 설정된 기준 비율과 비교하여 복수개의 타원 중 기준 비율의 허용범위 내에 포함되는 타원 중 최소 오차를 갖는 타원을 선단면으로 결정할 수 있다.In the welding tip cross-section detection step (S818), the ellipse detection step detects a plurality of ellipses, and compares the diameter of each detected ellipse with the height ratio of the detected tip area with a preset reference ratio to determine an ellipse included in the allowable range. A front end face determination step of determining the front end face may be performed. In this case, the diameter of each detected ellipse and the height ratio of the detected region of interest are compared with a preset reference ratio to determine an ellipse having the smallest error among the ellipses included within the allowable range of the reference ratio among the plurality of ellipses as the cross section. Can be.
오염도 검출단계(S819)는 검출된 선단면 내의 각 픽셀의 색정보를 미리 설정된 기준 색정보와 비교하여 선단면의 오염도를 측정할 수 있다. 오염도 검출단계(S819)는 픽셀 카운팅 단계 및 오염도 측정단계를 포함할 수 있다. 이분화된 팁 영역 검출영상으로부터 검출된 에지 내측에 위치하는 전체 픽셀의 개수를 카운팅함과 아울러 에지 내측에 위치하는 픽셀 중 휘도가 낮은 검은색 픽셀을 오염픽셀로 검출한 후 이를 카운팅할 수 있다. 카운팅된 오염픽셀 수를 선단면에 대한 전체 픽셀수로 나누어 용접팁 선단면에 대한 오염비율을 산출함과 아울러 각 오염픽셀의 레벨값에 따라 오염도를 측정할 수 있다.In the contamination level detecting step S819, the contamination level of the front end surface may be measured by comparing the color information of each pixel in the detected front end surface with preset reference color information. The contamination level detecting step S819 may include a pixel counting step and a contamination level measuring step. The total number of pixels located inside the edge detected from the divided tip region detection image may be counted, and the black pixels having low luminance among the pixels located inside the edge may be detected as dirty pixels and then counted. By dividing the counted number of contamination pixels by the total number of pixels for the tip end surface, the contamination rate for the tip end surface of the welding tip can be calculated and the degree of contamination can be measured according to the level value of each contamination pixel.
<부호의 설명><Description of the code>
11, 12 : 용접팁11, 12: welding tip
100 : 스폿 용접건의 용접팁 검사장치100: welding tip inspection device of spot welding gun
110 : PLC 케이블 포트110: PLC cable port
120 : 이더넷 포트120: Ethernet port
130, 170 : 보호케이스130, 170: Protective case
131, 171 : 삽입부131, 171: insertion portion
135, 175 : 돌출부135, 175: protrusions
140 : 상부 하우징140: upper housing
141 : 안착부141: seating part
142 : 제2 관통부142: second through portion
143 : 제2 광 통과부143: second light passing portion
144 : 삽입부144: insertion unit
150 : 하부 하우징150: lower housing
151 : 안착부151: seating part
152 : 제2 관통부152: second through part
153 : 제2 광 통과부153: second light passing portion
154 : 삽입부154: insertion unit
160 : 보호부재160: protective member
161 : 에어실린더161: air cylinder
162 : 덮개부162: cover
310, 390 : 가압 플레이트310, 390: pressure plate
311, 391 : 제1 관통부311, 391: first through portion
312, 392 : 제1 광 통과부312 and 392: first light passing portion
320, 380 : 센터 가이드부320, 380: Center guide part
330, 360 : 카메라모듈330, 360: Camera module
340, 370 : 반사경340, 370: reflector
350 : 메인회로기판350: main circuit board
351 : 카메라 조명용 광원351: light source for camera illumination
352 : 표시장치352: display device
353 : 카메라모듈 접속부353 camera module connection
발명의 실시를 위한 형태는 전술한 바와 같이, 발명의 실시를 위한 최선의 형태로 상술되었다.Embodiments for carrying out the invention have been described above as best mode for carrying out the invention, as described above.
본 명세서에 따른 기술은 용접팁 검사장치에서 이용 가능하다.The technique according to the present specification is available in a welding tip inspection device.

Claims (5)

  1. 검사공간 둘레에 설치되는 복수의 카메라 조명용 광원과, 검사공간에 삽입된 용접팁의 선단부를 촬영하는 카메라모듈과, 상기 용접팁에서 반사되는 광을 상기 카메라모듈로 반사시키는 반사경과, 상기 용접팁 선단부를 촬영한 영상을 통해 상기 용접팁의 오염도를 분석하는 메인회로모듈이 탑재되는 메인회로기판을 포함하는 스폿 용접건의 용접팁 검사장치에 있어서,A plurality of camera illumination light sources installed around the inspection space, a camera module for photographing the tip of the welding tip inserted into the inspection space, a reflector reflecting the light reflected from the welding tip to the camera module, and the tip of the welding tip In the spot welding gun welding tip inspection apparatus including a main circuit board is mounted on the main circuit module for analyzing the contamination degree of the welding tip through the image taken,
    검사하고자 하는 용접팁이 통과하는 제1 관통부가 형성되는 가압 플레이트와;A pressure plate having a first through portion through which a welding tip to be inspected passes;
    상기 가압 플레이트가 내부에 장착되는 장착부가 형성되는 센터 가이드부와;A center guide part in which a mounting part to which the pressure plate is mounted is formed;
    상기 가압 플레이트의 제1 관통구와 대응하는 위치에 용접팁이 삽입되는 삽입부가 형성되는 보호케이스와;A protective case having an insertion portion for inserting a welding tip at a position corresponding to the first through hole of the pressing plate;
    상기 메인회로기판이 장착되며, 상기 가압 플레이트의 제1 관통부와 연결되는 제2 관통부와 상기 가압 플레이트와 센터 가이드부가 안착되는 안착부가 형성되며, 서로 탈, 부착 가능하게 결합되는 상부 하우징 및 하부 하우징;The main circuit board is mounted, and a second through part connected to the first through part of the pressing plate, and a seating part for mounting the pressing plate and the center guide part are formed, and an upper housing and a lower part which are detachably coupled to each other. housing;
    을 포함하는 것을 특징으로 하는 스폿 용접건의 용접팁 검사장치.Spot welding gun welding tip inspection apparatus comprising a.
  2. 청구항 1 에 있어서,The method according to claim 1,
    상기 센터 가이드부는 탄성력을 갖는 물질로 구현되는 것을 특징으로 하는 스폿 용접건의 용접팁 검사장치.The center guide portion of the welding tip inspection device of the spot welding gun, characterized in that the material is implemented with an elastic force.
  3. 청구항 1 에 있어서,The method according to claim 1,
    상기 가압 플레이트는,The pressure plate,
    상기 용접팁에서 반사되는 광이 통과하는 제1 광 통과부가 형성되고, A first light passing portion through which the light reflected from the welding tip passes is formed,
    상기 하우징은,The housing,
    상기 제2 관통부에 연장형성되며 상기 카메라 조명용 광원에서 방사되어 용접팁에서 반사되는 광이 통과하는 제2 광 통과부가 형성되는 것,A second light passing portion extending from the second through portion and passing through the light reflected from the welding tip by the light source for the camera illumination is formed;
    을 특징으로 하는 스폿 용접건의 용접팁 검사장치.Welding tip inspection device of the spot welding gun, characterized in that.
  4. 청구항 3 에 있어서, The method according to claim 3,
    상기 메인회로기판에는 카메라모듈 접속부가 형성되고,The main circuit board is formed with a camera module connection,
    상기 하우징은, The housing,
    상기 메인회로기판의 카메라모듈 접속부와 대응하는 위치에 상기 카메라모듈이 탑재된 회로기판이 삽입하는 삽입부가 형성되는 것,An insertion part for inserting the circuit board on which the camera module is mounted is formed at a position corresponding to the camera module connection part of the main circuit board,
    을 특징으로 하는 스폿 용접건의 용접팁 검사장치.Welding tip inspection device of the spot welding gun, characterized in that.
  5. 청구항 1 에 있어서, The method according to claim 1,
    상기 하우징에 탑부착 가능하게 결합되며, 에어실린더에 의해 전진 시 회전되어 상기 보호케이스의 삽입부를 통해 이물질이 침투하는 것을 차단하는 보호부재;A protective member coupled to the housing so as to be attached to the housing and preventing the foreign matter from penetrating through the insertion part of the protective case by rotating when the air cylinder moves forward;
    를 더 포함하는 것을 특징으로 하는 스폿 용접건의 용접팁 검사장치.Spot welding gun welding tip inspection device characterized in that it further comprises.
PCT/KR2017/009210 2016-12-05 2017-08-23 Apparatus for inspecting welding tips of spot welding guns WO2018105853A1 (en)

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KR102199505B1 (en) 2019-06-13 2021-01-06 아진산업(주) Apparatus and method for inspecting contamination of welding tip based on fisheye camera
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