CN108672926A - Vision welding tracking method and welding procedure - Google Patents
Vision welding tracking method and welding procedure Download PDFInfo
- Publication number
- CN108672926A CN108672926A CN201810394231.3A CN201810394231A CN108672926A CN 108672926 A CN108672926 A CN 108672926A CN 201810394231 A CN201810394231 A CN 201810394231A CN 108672926 A CN108672926 A CN 108672926A
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- welding
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Classifications
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
-
- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/60—Preliminary treatment
-
- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
Abstract
This application discloses a kind of vision welding tracking method and welding procedure, including seam tracking system, the seam tracking system includes：Rotary operating platform, the visual sensor above the rotary operating platform, vision processor, controller, the visual sensor are installed on a crossbeam by the movement of joint drive component, and the visual sensor includes laser generator and video camera.An advantage of the invention is that it provides with high degree of automation, weld strength higher, wedge-shaped net precision higher, structure be more reasonable, bodyguard and the better artificial vision's laser tracking correction welding robot of scale error variation effect caused by reply processing and assembly, and provide the processing technology that machine manufacture wedge shape is netted simultaneously.
Description
Technical field
This application involves centrifuge sieves, more particularly to a kind of vision welding tracking method and welding procedure.
Background technology
The boxing machine of wedge shape net is the Johnson Screen companies manufacture in the U.S. earliest, wedge shape net system high-end at present
Making machine all is monopolized by the Johnson and Belgian Trislot in the U.S..The processing technology of wedge shape net passes through wire drawing die
Tool, obtain triangle, water-drop-shaped, spur shape etc. stainless steel shaped filaments, then by these silks using resistance-welding process and with silk
It is welded above vertical rib, obtains wedge-shaped screen drum.This wedge-shaped net horn mouth design, it is not easy to which stifled, backwash effect is special
Not good, gas-liquid flows through the characteristics of especially small pressure drop, self-supporting mechanism, substantially increases filter efficiency and strainer intensity.This system
The machine of wedge shape net is made the disadvantage is that overall process galvanization can be huge, quality of welding spot is not good enough, there is sparking, rosin joint phenomenon, wedge shape
The filtering accuracy error of net is difficult to control.Tablet wedge shape sieve is cut by screen drum, and flattening obtains, and the flatness of sieve plate is due to gold
The stress reason of category, poor effect.If smooth require height, need sieve plate whole removing to be annealed, solution treatment, due at
This excessively high and technical difficulty, the producer of disposed of in its entirety not yet domestic at present.In addition, the reason of welding robot itself, causes greatly
Diameter, big rib wedge-shaped silk screen can not complete, let alone produce corresponding high quality of products.
Invention content
The purpose of the present invention is to provide a kind of vision welding tracking method and welding procedures, to overcome the prior art not
Foot.
To achieve the above object, the present invention provides the following technical solutions.
The embodiment of the present application discloses a kind of vision welding tracking method, including seam tracking system, the weld joint tracking
System includes：Rotary operating platform, the visual sensor above the rotary operating platform, vision processor, controller,
The visual sensor is installed on a crossbeam by the movement of joint drive component, the visual sensor include laser generator with
Video camera, vision welding tracking method include the following steps,
S1 laser generators carry laser stripe projection according to arrival welding initial position, laser generator is pre-set
The workpiece face of weld seam, has found solder joint；
Video camera described in S2 constantly observes the welding coordinate that one section of Welded Joint Curve is formed in front of solder joint, and feedback controller；
S3 is stored in after acquiring image in the storage unit of vision processor, and image processing software is fitted with straightway in light belt
Heart line confirms that endpoint, the feature point coordinates extracted are stored in memory, carries out next scan cycle；
S4 visual processes software is compared the image of acquisition with previously given a variety of welding types, determines type,
Weld signature is extracted, welding coordinate is obtained；
S5 controller controlling cycles are that 20ms starts to act incremental data to joint of robot driving part；Simultaneous camera
It is also that 20ms transmits grid deviation value to controller；
S6 visual sensors are exported by serial communication in feature point coordinates to controller, are converted by coordinate and are obtained weld seam
Coordinate of the feature point coordinates in controller coordinate system；
S7 controllers drive joint drive component to run tutorial program, while the weld signature sent out according to visual sensor
Coordinate obtains drift correction compared with teaching position.
Preferably, in above-mentioned vision welding tracking method, the wedge-shaped net of welding includes support rod and stainless steel wire,
The support rod is vertical, the round, sector structure for being provided with special-shaped slot, and the stainless steel wire is inserted into the special-shaped slot engagement
It is formed whole.
Preferably, in above-mentioned vision welding tracking method, the stainless steel wire cross sectional shape is triangle, water droplet
Shape, convex.
The embodiment of the present application also discloses a kind of welding procedure of vision welding tracking method, includes the following steps：
A utilizes wire cutting or high energy density laser beam cutting method, obtains the supporting rib for being provided with special-shaped notch；
B is vertical with supporting rib axis by stainless steel shaped filaments；
C fusion welds.
Preferably, in above-mentioned vision welding tracking method, in step C, laser is focused on to the position to be welded,
Surrounding forms high-temperature field, and rapid cooling, stainless steel wire and support rod are welded as a whole after melting.
Compared with the prior art, the advantages of the present invention are as follows provide with high degree of automation, weld strength higher, wedge
Bodyguard and the better people of scale error variation effect caused by shape net precision higher, structure are more reasonable, reply is processed and assembly
Work vision laser tracking correction welding robot, and the processing technology of machine manufacture wedge shape net is provided simultaneously.The mesh of the present invention
Be that the energy consumption of previous welding robot is big, poor welding quality in order to solve, welding product type Single-issue and previous wedge-shaped net are not
It is smooth, filtering accuracy tolerance is big, quality of welding spot is poor, the production application problem of major diameter, big rib wedge shape net product.
Description of the drawings
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments described in application, for those of ordinary skill in the art, without creative efforts,
Other drawings may also be obtained based on these drawings.
Fig. 1 show vision welding tracking system schematic in the specific embodiment of the invention；
Fig. 2 show in the specific embodiment of the invention weld contour and characteristic point in laser scanning principle and image
Figure；
Fig. 3, which is shown in the specific embodiment of the invention, corrects tracking bead direction and speed schematic diagram；
Fig. 4 show robot coordinate system and weld image coordinate system schematic diagram in the specific embodiment of the invention；
Fig. 5 show the welding schematic diagram of stainless steel wire and support rod different structure in the specific embodiment of the invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out detailed retouch
It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, the every other implementation that those of ordinary skill in the art are obtained without making creative work
Example, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term "center", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for the description present invention and simplify description, do not indicate or imply the indicated device or element must have a particular orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for description purposes only, and is not understood to indicate or imply relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
Can also be electrical connection to be mechanical connection；It can be directly connected, can also indirectly connected through an intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
In conjunction with shown in Fig. 1-4, vision welding tracking method, including seam tracking system, seam tracking system include：Rotation
Operating platform, the visual sensor above rotary operating platform, vision processor, controller, visual sensor pass through pass
Section driving part movement is installed on a crossbeam, and visual sensor includes laser generator and video camera, vision welding tracking method
Include the following steps,
S1 laser generators carry laser stripe projection according to arrival welding initial position, laser generator is pre-set
The workpiece face of weld seam, has found solder joint；
S2 video cameras constantly observe the welding coordinate that one section of Welded Joint Curve is formed in front of solder joint, and feedback controller；
S3 is stored in after acquiring image in the storage unit of vision processor, and image processing software is fitted with straightway in light belt
Heart line confirms that endpoint, the feature point coordinates extracted are stored in memory, carries out next scan cycle；
S4 visual processes software is compared the image of acquisition with previously given a variety of welding types, determines type,
Weld signature is extracted, welding coordinate is obtained；
S5 controller controlling cycles are that 20ms starts to act incremental data to joint of robot driving part；Simultaneous camera
It is also that 20ms transmits grid deviation value to controller；
S6 visual sensors are exported by serial communication in feature point coordinates to controller, are converted by coordinate and are obtained weld seam
Coordinate of the feature point coordinates in controller coordinate system；
S7 controllers drive joint drive component to run tutorial program, while the weld signature sent out according to visual sensor
Coordinate obtains drift correction compared with teaching position.
In conjunction with shown in Fig. 5, the wedge-shaped net of welding includes support rod and stainless steel wire, and support rod is to be provided with special-shaped slot
Vertical, round, sector structure, stainless steel wire be inserted into special-shaped slot engaging it is integral.Stainless steel wire cross sectional shape be triangle,
Water-drop-shaped, convex.
The welding procedure of vision welding tracking method, includes the following steps：
A utilizes wire cutting or high energy density laser beam cutting method, obtains the supporting rib for being provided with special-shaped notch；
B is vertical with supporting rib axis by stainless steel shaped filaments；
Laser is focused on the position to be welded by C fusion welds, and surrounding forms high-temperature field, rapid cooling after melting,
Stainless steel wire and support rod are welded as a whole.
The technical program is provided with high degree of automation, weld strength higher, wedge-shaped net precision higher, structure more
Rationally, bodyguard caused by reply is processed and assembled and the better artificial vision's laser tracking correction welding of scale error variation effect
Machine, and the processing technology of machine manufacture wedge shape net is provided simultaneously.The purpose of the present invention is to solve previous bonding machines
Device energy consumption is big, poor welding quality, and welding product type Single-issue and previous wedge-shaped net out-of-flatness, filtering accuracy tolerance be big, weldering
Point mass is poor, major diameter, big rib wedge shape net product production application problem.
Video camera can filter out arc-welding light and external interference light by filter, light transmitting wavelength (350nm ± 10nm), to
Workpiece surface laser reflection figure is obtained, image processor uses high-speed dsp processor, and the speed of operation is more than the scan period
20ms, scanning speed of welding value are 3mm/s, maximum value 50mm/s.The whole process period is 100ms, each cycle machinery people
Control system transmits a weld seam coordinate value.
It is tested using this process, test data is as follows：
1. gap compares：Grab sample tests 200 gap precision, examines tolerance
| Technique | Wedge shape net gap accuracy tolerance |
| Electric resistance welding | ±0.05mm |
| Laser Welding | ±0.04mm |
| The welding procedure of vision welding tracking method | ±0.01mm |
2. out-of-roundness compares：
(1) just in the case of screen drum, same diameter, the screen drum of 2000mm high is taken, examines tolerance
| Technique | Wedge-shaped screen drum roundness tolerance |
| Electric resistance welding | ±0.03mm |
| Laser Welding | ±0.05mm |
| The welding procedure of vision welding tracking method | ±0.02mm |
(2) warp screen drum in the case of same diameter, takes the screen drum of 2000mm high, examines tolerance
3. soldering reliability compares：Then grab sample carries out tension test using to 100 solder joints, checks whether to weld
Jail is welded, and qualification rate is as follows
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also include other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
The above is only the specific implementation mode of the application, it is noted that for the ordinary skill people of the art
For member, under the premise of not departing from the application principle, several improvements and modifications can also be made, these improvements and modifications are also answered
It is considered as the protection domain of the application.
Claims (5)
1. a kind of vision welding tracking method, which is characterized in that including seam tracking system, the seam tracking system includes：
Rotary operating platform, the visual sensor above the rotary operating platform, vision processor, controller, the vision
Sensor is installed on a crossbeam by the movement of joint drive component, and the visual sensor includes laser generator and video camera,
Vision welding tracking method includes the following steps,
S1 laser generators are according to arrival welding initial position is pre-set, and laser generator is by laser stripe projection with weldering
The workpiece face of seam, has found solder joint；
Video camera described in S2 constantly observes the welding coordinate that one section of Welded Joint Curve is formed in front of solder joint, and feedback controller；
S3 is stored in after acquiring image in the storage unit of vision processor, and image processing software is fitted light belt center with straightway
Line confirms that endpoint, the feature point coordinates extracted are stored in memory, carries out next scan cycle；
S4 visual processes software is compared the image of acquisition with previously given a variety of welding types, determines type, extraction
Weld signature obtains welding coordinate；
S5 controller controlling cycles are that 20ms starts to act incremental data to joint of robot driving part；Simultaneous camera
It is that 20ms transmits grid deviation value to controller；
S6 visual sensors are exported by serial communication in feature point coordinates to controller, are converted by coordinate and are obtained weld seam spy
Levy coordinate of the point coordinates in controller coordinate system；
S7 controllers drive joint drive component to run tutorial program, while being sat according to the weld signature that visual sensor is sent out
Mark obtains drift correction compared with teaching position.
2. vision welding tracking method according to claim 1, which is characterized in that the wedge-shaped net of welding includes support rod
With stainless steel wire, the support rod is vertical, the round, sector structure for being provided with special-shaped slot, and the stainless steel wire is inserted into institute
It is integral to state special-shaped slot engaging.
3. vision welding tracking method according to claim 2, which is characterized in that the stainless steel wire cross sectional shape is
Triangle, water-drop-shaped, convex.
4. the welding procedure of vision welding tracking method as described in claim 1, which is characterized in that include the following steps：
A utilizes wire cutting or high energy density laser beam cutting method, obtains the supporting rib for being provided with special-shaped notch；
B is vertical with supporting rib axis by stainless steel shaped filaments；
C fusion welds.
5. the welding procedure of vision welding tracking method according to claim 4, which is characterized in that in step C, by laser
Device focuses on the position to be welded, and surrounding forms high-temperature field, rapid cooling after melting, and stainless steel wire and support rod are welded
It is integrated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810394231.3A CN108672926A (en) | 2018-04-27 | 2018-04-27 | Vision welding tracking method and welding procedure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810394231.3A CN108672926A (en) | 2018-04-27 | 2018-04-27 | Vision welding tracking method and welding procedure |
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| CN108672926A true CN108672926A (en) | 2018-10-19 |
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| CN201810394231.3A Pending CN108672926A (en) | 2018-04-27 | 2018-04-27 | Vision welding tracking method and welding procedure |
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Cited By (3)
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| CN109352216A (en) * | 2018-10-22 | 2019-02-19 | 秦家燕 | A kind of industrial robot and its application method of new-type self-diagnosable |
| CN113333946A (en) * | 2021-05-20 | 2021-09-03 | 上海贝特威自动化科技有限公司 | Method for welding and positioning inner parts of automobile control unit |
| CN114043080A (en) * | 2021-11-22 | 2022-02-15 | 吉林大学 | A kind of stainless steel intelligent laser welding processing method |
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| CN113333946A (en) * | 2021-05-20 | 2021-09-03 | 上海贝特威自动化科技有限公司 | Method for welding and positioning inner parts of automobile control unit |
| CN114043080A (en) * | 2021-11-22 | 2022-02-15 | 吉林大学 | A kind of stainless steel intelligent laser welding processing method |
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