CN112705886A - Robot self-adaptive welding system and method for online real-time guidance - Google Patents
Robot self-adaptive welding system and method for online real-time guidance Download PDFInfo
- Publication number
- CN112705886A CN112705886A CN202011479157.9A CN202011479157A CN112705886A CN 112705886 A CN112705886 A CN 112705886A CN 202011479157 A CN202011479157 A CN 202011479157A CN 112705886 A CN112705886 A CN 112705886A
- Authority
- CN
- China
- Prior art keywords
- welding
- welding seam
- workpiece
- welded
- axis robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000003466 welding Methods 0.000 title claims abstract description 206
- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000000007 visual effect Effects 0.000 claims abstract description 15
- 230000003044 adaptive effect Effects 0.000 claims description 24
- 230000001681 protective effect Effects 0.000 claims description 14
- 238000012545 processing Methods 0.000 claims description 5
- 238000007789 sealing Methods 0.000 claims description 4
- 230000000903 blocking effect Effects 0.000 claims 1
- 230000003287 optical effect Effects 0.000 description 16
- 238000010586 diagram Methods 0.000 description 5
- 230000017525 heat dissipation Effects 0.000 description 5
- 239000000428 dust Substances 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000003252 repetitive effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
- B23K37/02—Carriages for supporting the welding or cutting element
-
- 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 for a procedure covered by only one of the other main groups of this subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The invention provides an online real-time guided robot self-adaptive welding system which comprises a multi-axis robot, an industrial personal computer and a visual sensor, wherein a welding gun is fixedly arranged at one end of the multi-axis robot, the visual sensor is installed on the welding gun, and the visual sensor and the multi-axis robot are respectively connected with the industrial personal computer. According to the robot self-adaptive welding system with the online real-time guidance function, the current image information of the workpiece to be welded is acquired in real time through the vision sensor, the current actual welding seam position in the workpiece to be welded can be calculated according to the current image information and the pre-stored current position of the multi-axis robot, the real-time tracking of the welding seam position is achieved, the multi-axis robot welds the welding seam of the workpiece to be welded according to the current actual welding seam position, the welding efficiency of the workpiece to be welded is improved, the whole welding process is completely intelligent, and the labor cost is saved.
Description
Technical Field
The invention relates to the field of welding, in particular to a robot self-adaptive welding system and method guided in real time on line.
Background
With the rapid development of manufacturing industry in recent years, the welding requirement is continuously expanded and the welding process is continuously promoted, so that the welding technology is widely applied. The traditional welding work is mainly finished manually or the robot is controlled to weld a welding workpiece manually by moving the position of the robot. The traditional work piece welding process that needs artifical participation requires high to artifical operation experience, the promotion of cost of labor, and needs the manual work to constantly do repetitive work, leads to welding workpiece's welding efficiency lower.
Disclosure of Invention
In order to overcome the defects of the prior art, one of the purposes of the invention is to provide an online real-time guided robot adaptive welding system, which can solve the problem that the welding efficiency of the welding workpiece is low because the traditional workpiece welding process needing manual participation needs to be repeated manually.
The invention also aims to provide an online real-time guided robot self-adaptive welding method, which can solve the problem that the welding efficiency of the welding workpiece is low because the traditional workpiece welding process needing manual participation needs manual work to continuously do repetitive work.
One of the purposes of the invention is realized by adopting the following technical scheme:
a robot self-adaptive welding system with online real-time guidance comprises a multi-axis robot, an industrial personal computer and a visual sensor, wherein a welding gun is fixedly arranged at one end of the multi-axis robot, the visual sensor is installed on the welding gun, and the visual sensor and the multi-axis robot are respectively connected with the industrial personal computer;
the industrial personal computer sends position information of a workpiece to be welded, which is positioned on the working platform, to the multi-axis robot, the multi-axis robot controls the welding gun to move to a position corresponding to the position information of the workpiece to be welded according to the position information of the workpiece to be welded, the vision sensor collects current image information of the workpiece to be welded in real time, the vision sensor sends the current image information to the industrial personal computer, the industrial personal computer calculates the welding seam position information and the welding seam width information of the workpiece to be welded according to the current image information, the industrial personal computer calculates the welding seam position of the workpiece to be welded according to the welding seam position and the prestored current position of the multi-axis robot, the industrial personal computer sends the current actual welding seam position to the multi-axis robot according to a position request instruction sent by the multi-axis robot, and the multi-axis robot welds the weld of the workpiece to be welded according to the current actual weld position.
Further, the vision sensor includes a housing, a camera, and a line laser, both the camera and the line laser being placed within the housing.
Further, the shell includes the main casing body and protecting crust, main casing body one side is provided with first laser outlet and first camera lens light mouth, the protecting crust sets up on the side that the main casing body is equipped with first laser outlet and first camera lens light mouth and cover first laser outlet and first camera lens light mouth, the protecting crust sets up second laser outlet, sets up second camera lens light mouth with first camera lens light mouth corresponding position with first laser outlet corresponding position, camera one side with the coaxial correspondence of first camera lens light mouth, line laser one side corresponds with first laser outlet is coaxial respectively.
Furthermore, a front end baffle is arranged on the side wall structure of the protective shell.
Further, the main casing body comprises a casing body and a casing cover, the casing cover is connected with the casing body in a buckling mode, an annular wire groove is formed in the joint of the main casing body and the casing cover, and a sealing ring is arranged in the annular wire groove in a mode.
Further, still include the switch, the switch respectively with the industrial computer, the vision sensor and the multiaxis robot is connected, the switch is used for establishing the industrial computer, the vision sensor and the local area network between the multiaxis robot.
The second purpose of the invention is realized by adopting the following technical scheme:
an online real-time guided robot adaptive welding method is applied to an online real-time guided robot adaptive welding system, and comprises the following steps:
moving the position of a welding gun, and controlling the welding gun to move to a position corresponding to the position information of the workpiece to be welded by the multi-axis robot according to the position information of the workpiece to be welded sent by the industrial personal computer;
acquiring current image information, acquiring the current image information of a workpiece to be welded in real time by using a visual sensor, and sending the current image information to the industrial personal computer by using the visual sensor;
calculating the current actual welding seam position, and calculating the current actual welding seam position of the workpiece to be welded by the industrial personal computer according to the current image information and the current position of the pre-stored multi-axis robot;
and welding the welding seam in real time, sending the current actual welding seam position to the multi-axis robot by the industrial personal computer according to the position request instruction sent by the multi-axis robot, and welding the welding seam of the workpiece to be welded by the multi-axis robot according to the current actual welding seam position.
And further, a tracking judgment mode is further included before welding the welding seam in real time, the industrial personal computer judges whether the received tracking mode information is in real-time tracking, if so, the welding seam is welded in real time, if not, off-line tracking processing is executed, the off-line tracking processing collects the current actual welding seam positions corresponding to all the moments in a preset time period for the industrial personal computer, welding seam tracks are generated according to all the current actual welding seam positions, the welding seam tracks are sent to the multi-axis robot, and the multi-axis robot welds the welding seam of the workpiece to be welded according to the welding seam tracks.
Further, the calculating of the current actual weld position specifically includes: the industrial personal computer calculates the welding seam position information and the welding seam width information of the workpiece to be welded according to the current image information, calculates the welding seam position of the workpiece to be welded according to the welding seam position information and the welding seam width information, and calculates the current actual welding seam position of the workpiece to be welded according to the welding seam position and the pre-stored multi-axis robot current position.
Further, the method also comprises the step of judging the welding seam completion state before calculating the current actual welding seam position, the industrial personal computer judges whether the welding state of the welding seam in the workpiece to be welded is incomplete or not according to the current image information, if yes, the step of calculating the current actual welding seam position is executed, and if not, the operation is stopped.
Compared with the prior art, the invention has the beneficial effects that: the application discloses robot self-adaptation welding system of online real-time guide, current image information of waiting to weld the work piece is gathered in real time through visual sensor, current actual welding seam position in the welding work piece can be calculated according to current image information and the multiaxis robot current position that prestores, real-time tracking to the welding seam position has been realized, the multiaxis robot treats the welding seam of welding the work piece and welds according to current actual welding seam position, the welding efficiency of welding the work piece has been improved, whole welding process is intelligent completely, the cost of labor has been saved.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic diagram of a partial structure of an on-line real-time guided robotic adaptive welding system according to the present invention;
FIG. 2 is a schematic cross-sectional view of a housing of an on-line real-time guided robotic adaptive welding system of the present invention;
FIG. 3 is a schematic diagram illustrating an exploded structure of a housing of an online real-time guided robot adaptive welding system according to the present invention;
FIG. 4 is a schematic side view of a housing of an on-line real-time guided robotic adaptive welding system of the present invention;
FIG. 5 is a schematic structural diagram of a main housing of an online real-time guided robot adaptive welding system according to the present invention;
FIG. 6 is a schematic structural diagram of a protective shell in an online real-time guided robot adaptive welding system according to the present invention;
FIG. 7 is a schematic structural diagram of a fixing block in an online real-time guided robot adaptive welding system according to the present invention;
fig. 8 is a schematic flow chart of an online real-time guided robot adaptive welding method according to the present invention.
In the figure: 10. a vision sensor; 11. a main housing; 111. a housing body; 1111. a first camera lens optical port; 1112. a first laser outlet; 1113. a heat dissipation channel; 1114. an annular wire groove; 1115. an air inlet interface; 112. a housing cover; 12. a protective shell; 121. a second camera lens optical port; 122. a second laser outlet; 123. an air outlet channel; 1231. a first airflow outlet; 1232. a second gas flow outlet; 124. a groove; 125. a fixed block; 1251. a third camera lens optical port; 1252. a third laser outlet; 1253. a protective lens clamping groove; 126. a filter groove; 13. a front end baffle plate; 14. a seal ring; 15. a power interface; 16. a network interface; 20. a welding gun; 30. a multi-axis robot.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
As shown in fig. 1-7, an online real-time robot adaptive welding system who guides in this application, including multiaxis robot 30, industrial computer, vision sensor 10 and switch, the fixed welder 20 that is provided with of multiaxis robot 30 one end, vision sensor 10 installs on welder 20, vision sensor 10 with multiaxis robot 30 respectively with the industrial computer is connected, the switch respectively with the industrial computer vision sensor 10 and multiaxis robot 30 connects, the switch is used for establishing the industrial computer vision sensor 10 and the local area network between multiaxis robot 30.
The vision sensor 10 in this embodiment comprises a housing 1, a camera and a line laser, both of which are placed within the housing. The housing 1 comprises a main housing 11 and a protection housing 12, wherein a first laser outlet 1112 and a first camera lens optical port 1111 are disposed on one side of the main housing 11, the protection housing 12 is disposed on the side of the main housing 11 where the first laser outlet 1112 and the first camera lens optical port 1111 are disposed and covers the first laser outlet 1112 and the first camera lens optical port 1111, the protection housing 12 is disposed with a protection lens disposed between the main housing 11 and covers the first laser outlet 1112 and the first camera lens optical port 1111, the protection housing 12 sets a second laser outlet 122 at a position corresponding to the first laser outlet 1112 and sets a second camera lens optical port 121 at a position corresponding to the first camera lens optical port 1111, a heat dissipation channel 1113 is disposed inside the bottom wall of the main housing 11, the protection housing 12 is disposed with an air outlet channel 123, one end of the heat dissipation channel 1113 is communicated with an air inlet 1115 disposed outside the main housing 11, the other end of the heat dissipation channel 1113 is communicated with the air outlet channel 123, a first air outlet 1231 and a second air outlet 1232 are arranged on the air outlet channel 123, the first air outlet 1231 is communicated with the second camera lens optical port 121 on the protective shell 12, and the second air outlet 1232 is communicated with the second laser outlet 122 on the protective shell 12. In this embodiment, the protective shell 12 is provided with a groove 124, a fixed block 125 is fixed in the groove 124, the fixed block 125 is provided with a third laser outlet 1252 and a third camera lens optical port 1251, the third laser outlet 1252 corresponds to the second laser outlet 122, the third camera lens optical port 1251 corresponds to the second camera lens optical port 121, the first laser outlet 1112, the second laser outlet 122 and the third laser outlet 1252 are concentric and coaxial elliptical through holes, and the first camera lens optical port 1111, the second camera lens optical port 121 and the third camera lens optical port 1251 are concentric and coaxial circular through holes. The fixing block 125 is fixedly connected to the main housing 11, and a protective lens engaging groove 1253 for fixing the protective lens is disposed on the fixing block 125. In this embodiment, the side wall of the protective shell 12 located at the second camera lens light opening 121 is provided with a filter groove 126, and a filter is disposed in the filter groove 126. The protective lens clamping groove 1253 is configured as a single opening clamping groove for mounting or dismounting the protective lens.
In this embodiment, a side wall of the protective shell 12 is provided with a front end baffle 13, the front end baffle 13 is a metal baffle, the metal baffle is enclosed on three sides of the front end of the shell close to the welding gun, and only one side of the tracker and the welding gun in the welding advancing direction is open and not enclosed, so that the design is performed to reduce the entering of arc light, welding slag splashing, smoke dust and the like generated from the welding gun muzzle into the front end of the shell during welding. The main housing 11 includes a housing body 111 and a housing cover 112, the housing cover 112 is connected to the housing body 111 by a snap fit, the first laser light outlet 1112, the first camera lens light port 1111 and the heat dissipation channel 1113 are all disposed on the housing body 111, and the housing cover 112 is only a cover on a single side of the entire main housing. The main casing body 11 with the junction of casing lid 112 is provided with annular wire casing 1114, sealing washer 14 has been placed in the annular wire casing 1114, and sealing washer 14 strengthens the gas tightness of main casing body 11 inner space, prevents that dust, profit etc. from invading inside pollution erosion casing of laser welding seam tracker integrated circuit and photoelectric element, makes the tracker adapt to more abominable welding application environment. The other side of the main housing 11 is further provided with a power interface 15 and a network interface 16, and the power interface 15 is located on one side of the network interface 16. The main housing 11 has an indicator opening at a side for receiving and displaying an LED signal light for identifying the power supply and communication status of the camera.
The industrial personal computer sends position information of a workpiece to be welded, which is positioned on the working platform, to the multi-axis robot, the multi-axis robot controls the welding gun to move to a position corresponding to the position information of the workpiece to be welded according to the position information of the workpiece to be welded, the vision sensor collects current image information of the workpiece to be welded in real time, the vision sensor sends the current image information to the industrial personal computer, the industrial personal computer calculates the welding seam position information and the welding seam width information of the workpiece to be welded according to the current image information, the industrial personal computer calculates the welding seam position of the workpiece to be welded according to the welding seam position and the prestored current position of the multi-axis robot, the industrial personal computer sends the current actual welding seam position to the multi-axis robot according to a position request instruction sent by the multi-axis robot, and the multi-axis robot welds the weld of the workpiece to be welded according to the current actual weld position.
As shown in fig. 8, the present application further provides an online real-time guided robot adaptive welding method, which is applied to the above-mentioned online real-time guided robot adaptive welding system, and includes the following steps:
and moving the position of the welding gun, and controlling the welding gun to move to a position corresponding to the position information of the workpiece to be welded by the multi-axis robot according to the position information of the workpiece to be welded sent by the industrial personal computer.
The method comprises the steps of collecting current image information, collecting the current image information of a workpiece to be welded in real time by a vision sensor, and sending the current image information to the industrial personal computer by the vision sensor.
And judging the welding seam completion state, judging whether the welding state of the welding seam in the workpiece to be welded is incomplete or not by the industrial personal computer according to the current image information, if so, executing the step to calculate the current actual welding seam position, and if not, stopping the operation.
And calculating the current actual welding seam position, and calculating the current actual welding seam position of the workpiece to be welded by the industrial personal computer according to the current image information and the current position of the pre-stored multi-axis robot.
And judging a tracking mode, judging whether the received tracking mode information is real-time tracking by the industrial personal computer, if so, executing the step of welding the welding seam in real time, otherwise, executing off-line tracking processing, summarizing the current actual welding seam positions corresponding to all the moments in a preset time period for the industrial personal computer, generating welding seam tracks according to all the current actual welding seam positions, sending the welding seam tracks to the multi-axis robot, and welding the welding seam of the workpiece to be welded by the multi-axis robot according to the welding seam tracks.
And welding the welding seam in real time, sending the current actual welding seam position to the multi-axis robot by the industrial personal computer according to the position request instruction sent by the multi-axis robot, and welding the welding seam of the workpiece to be welded by the multi-axis robot according to the current actual welding seam position. The method specifically comprises the following steps: the industrial personal computer calculates the welding seam position information and the welding seam width information of the workpiece to be welded according to the current image information, calculates the welding seam position of the workpiece to be welded according to the welding seam position information and the welding seam width information, and calculates the current actual welding seam position of the workpiece to be welded according to the welding seam position and the pre-stored multi-axis robot current position. According to the robot self-adaptive welding method capable of being guided in real time on line, real-time tracking of a welding process can be achieved through the current welding seam position at the current moment in real time, welding of the welding seam is enabled to be more accurate, and welding efficiency of the welding seam is improved.
The application discloses robot self-adaptation welding system of online real-time guide, current image information of waiting to weld the work piece is gathered in real time through visual sensor, current actual welding seam position in the welding work piece can be calculated according to current image information and the multiaxis robot current position that prestores, real-time tracking to the welding seam position has been realized, the multiaxis robot treats the welding seam of welding the work piece and welds according to current actual welding seam position, the welding efficiency of welding the work piece has been improved, whole welding process is intelligent completely, the cost of labor has been saved.
The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner; those skilled in the art can readily practice the invention as shown and described in the drawings and detailed description herein; however, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the scope of the invention as defined by the appended claims; meanwhile, any changes, modifications, and evolutions of the equivalent changes of the above embodiments according to the actual techniques of the present invention are still within the protection scope of the technical solution of the present invention.
Claims (10)
1. The utility model provides an online real-time robot self-adaptation welding system who guides which characterized in that: the welding gun type industrial personal computer comprises a multi-axis robot, an industrial personal computer and a visual sensor, wherein a welding gun is fixedly arranged at one end of the multi-axis robot, the visual sensor is installed on the welding gun, and the visual sensor and the multi-axis robot are respectively connected with the industrial personal computer;
the industrial personal computer sends position information of a workpiece to be welded, which is positioned on the working platform, to the multi-axis robot, the multi-axis robot controls the welding gun to move to a position corresponding to the position information of the workpiece to be welded according to the position information of the workpiece to be welded, the vision sensor collects current image information of the workpiece to be welded in real time, the vision sensor sends the current image information to the industrial personal computer, the industrial personal computer calculates the welding seam position information and the welding seam width information of the workpiece to be welded according to the current image information, the industrial personal computer calculates the welding seam position of the workpiece to be welded according to the welding seam position and the prestored current position of the multi-axis robot, the industrial personal computer sends the current actual welding seam position to the multi-axis robot according to a position request instruction sent by the multi-axis robot, and the multi-axis robot welds the weld of the workpiece to be welded according to the current actual weld position.
2. The on-line real-time guided robotic adaptive welding system of claim 1, wherein: the vision sensor includes a housing, a camera, and a line laser, both the camera and the line laser being placed within the housing.
3. The on-line real-time guided robotic adaptive welding system of claim 2, wherein: the shell includes the main casing body and protecting crust, main casing body one side is provided with first laser outlet and first camera lens light port, the protecting crust sets up on the side that the main casing body is equipped with first laser outlet and first camera lens light port and cover first laser outlet and first camera lens light port, the protecting crust sets up second laser outlet, sets up second camera lens light port corresponding to the position with first laser outlet at the position that corresponds with first camera lens light port, camera one side with the coaxial correspondence of first camera lens light port, line laser ware one side corresponds with first laser outlet is coaxial respectively.
4. The on-line real-time guided robotic adaptive welding system of claim 3, wherein: a front end blocking piece is arranged on the side wall structure of the protective shell.
5. The on-line real-time guided robotic adaptive welding system of claim 3, wherein: the main casing body includes casing body and casing lid, casing lid with casing body buckle is connected, the main casing body with casing lid's junction is provided with annular wire casing, there is the sealing washer annular wire casing internal mode.
6. The on-line real-time guided robotic adaptive welding system of claim 3, wherein: still include the switch, the switch respectively with the industrial computer, the vision sensor and the multiaxis robot is connected, the switch is used for establishing the industrial computer, the vision sensor and local area network between the multiaxis robot.
7. An online real-time guided robot adaptive welding method applied to the online real-time guided robot adaptive welding system of any one of claims 1 to 6, characterized in that: the method comprises the following steps:
moving the position of a welding gun, and controlling the welding gun to move to a position corresponding to the position information of the workpiece to be welded by the multi-axis robot according to the position information of the workpiece to be welded sent by the industrial personal computer;
acquiring current image information, acquiring the current image information of a workpiece to be welded in real time by using a visual sensor, and sending the current image information to the industrial personal computer by using the visual sensor;
calculating the current actual welding seam position, and calculating the current actual welding seam position of the workpiece to be welded by the industrial personal computer according to the current image information and the current position of the pre-stored multi-axis robot;
and welding the welding seam in real time, sending the current actual welding seam position to the multi-axis robot by the industrial personal computer according to the position request instruction sent by the multi-axis robot, and welding the welding seam of the workpiece to be welded by the multi-axis robot according to the current actual welding seam position.
8. The on-line real-time guided robot adaptive welding method according to claim 7, characterized in that: the method comprises the steps that a tracking mode is judged before welding a welding seam in real time, an industrial personal computer judges whether received tracking mode information is tracking in real time, if yes, the welding seam is welded in real time in the step of executing, if not, off-line tracking processing is executed, the off-line tracking processing is that the industrial personal computer collects current actual welding seam positions corresponding to all moments in a preset time period, welding seam tracks are generated according to all the current actual welding seam positions, the welding seam tracks are sent to a multi-axis robot, and the multi-axis robot welds the welding seam of a workpiece to be welded according to the welding seam tracks.
9. The on-line real-time guided robot adaptive welding method according to claim 7, characterized in that: the calculation of the current actual weld joint position specifically comprises the following steps: the industrial personal computer calculates the welding seam position information and the welding seam width information of the workpiece to be welded according to the current image information, calculates the welding seam position of the workpiece to be welded according to the welding seam position information and the welding seam width information, and calculates the current actual welding seam position of the workpiece to be welded according to the welding seam position and the pre-stored multi-axis robot current position.
10. The on-line real-time guided robot adaptive welding method according to claim 7, characterized in that: and judging the welding seam completion state before calculating the current actual welding seam position, judging whether the welding state of the welding seam in the workpiece to be welded is incomplete or not by the industrial personal computer according to the current image information, if so, executing the step to calculate the current actual welding seam position, and if not, stopping the operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011479157.9A CN112705886A (en) | 2020-12-15 | 2020-12-15 | Robot self-adaptive welding system and method for online real-time guidance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011479157.9A CN112705886A (en) | 2020-12-15 | 2020-12-15 | Robot self-adaptive welding system and method for online real-time guidance |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112705886A true CN112705886A (en) | 2021-04-27 |
Family
ID=75543249
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011479157.9A Pending CN112705886A (en) | 2020-12-15 | 2020-12-15 | Robot self-adaptive welding system and method for online real-time guidance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112705886A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116748742A (en) * | 2023-05-16 | 2023-09-15 | 湖北纽睿德防务科技有限公司 | An adaptive welding system |
| CN119387846A (en) * | 2025-01-02 | 2025-02-07 | 温岭誉翔机械零部件有限公司 | A laser welding device for automobile parts production |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102430841A (en) * | 2011-08-26 | 2012-05-02 | 昆山工研院工业机器人研究所有限公司 | Arc welding robot laser vision weld joint tracking control method based on off-line planning |
| CN106312397A (en) * | 2016-10-12 | 2017-01-11 | 华南理工大学 | Laser vision guided automatic welding track tracking system and method |
| CN107030352A (en) * | 2017-04-24 | 2017-08-11 | 中国科学院自动化研究所 | Weld joint tracking vision sensor based on laser structure light |
| CN107442900A (en) * | 2017-08-04 | 2017-12-08 | 淮安信息职业技术学院 | A kind of laser vision welding seam tracking method |
| CN108817613A (en) * | 2018-06-11 | 2018-11-16 | 华南理工大学 | A kind of arc welding robot weld seam deviation-rectifying system and method |
| CN109175608A (en) * | 2018-09-30 | 2019-01-11 | 华南理工大学 | Weld bead feature points position On-line Measuring Method and seam track automatic measurement system |
| CN109623817A (en) * | 2018-12-19 | 2019-04-16 | 上海振华重工(集团)股份有限公司 | A kind of welding box body robot parametric programming system and its programmed method |
| CN209288500U (en) * | 2018-11-20 | 2019-08-23 | 上海交通大学 | CMOS-Based Compact Laser Vision Sensor for Robot Seam Tracking |
| CN110524583A (en) * | 2019-09-16 | 2019-12-03 | 西安中科光电精密工程有限公司 | Weld seam based on embedded platform seeks position tracking 3D visual sensor and tracking |
| CN110587073A (en) * | 2019-09-10 | 2019-12-20 | 上海交通大学 | Robot welding binocular vision sensing device based on micro stepping motor lead screw transmission |
| WO2020020113A1 (en) * | 2018-07-25 | 2020-01-30 | 同高先进制造科技（太仓）有限公司 | Active laser vision weld tracking system and weld position detecting method |
| CN111299760A (en) * | 2019-12-10 | 2020-06-19 | 上海交通大学 | Robot welding seam tracking and molten pool monitoring sensor based on active and passive vision |
| CN111299761A (en) * | 2020-02-28 | 2020-06-19 | 华南理工大学 | Real-time attitude estimation method of welding seam tracking system |
| CN215091566U (en) * | 2020-12-15 | 2021-12-10 | 广州瑞松智能科技股份有限公司 | Robot self-adaptive welding system capable of being guided in real time on line |
-
2020
- 2020-12-15 CN CN202011479157.9A patent/CN112705886A/en active Pending
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102430841A (en) * | 2011-08-26 | 2012-05-02 | 昆山工研院工业机器人研究所有限公司 | Arc welding robot laser vision weld joint tracking control method based on off-line planning |
| CN106312397A (en) * | 2016-10-12 | 2017-01-11 | 华南理工大学 | Laser vision guided automatic welding track tracking system and method |
| CN107030352A (en) * | 2017-04-24 | 2017-08-11 | 中国科学院自动化研究所 | Weld joint tracking vision sensor based on laser structure light |
| CN107442900A (en) * | 2017-08-04 | 2017-12-08 | 淮安信息职业技术学院 | A kind of laser vision welding seam tracking method |
| CN108817613A (en) * | 2018-06-11 | 2018-11-16 | 华南理工大学 | A kind of arc welding robot weld seam deviation-rectifying system and method |
| WO2020020113A1 (en) * | 2018-07-25 | 2020-01-30 | 同高先进制造科技（太仓）有限公司 | Active laser vision weld tracking system and weld position detecting method |
| CN109175608A (en) * | 2018-09-30 | 2019-01-11 | 华南理工大学 | Weld bead feature points position On-line Measuring Method and seam track automatic measurement system |
| CN209288500U (en) * | 2018-11-20 | 2019-08-23 | 上海交通大学 | CMOS-Based Compact Laser Vision Sensor for Robot Seam Tracking |
| CN109623817A (en) * | 2018-12-19 | 2019-04-16 | 上海振华重工(集团)股份有限公司 | A kind of welding box body robot parametric programming system and its programmed method |
| CN110587073A (en) * | 2019-09-10 | 2019-12-20 | 上海交通大学 | Robot welding binocular vision sensing device based on micro stepping motor lead screw transmission |
| CN110524583A (en) * | 2019-09-16 | 2019-12-03 | 西安中科光电精密工程有限公司 | Weld seam based on embedded platform seeks position tracking 3D visual sensor and tracking |
| CN111299760A (en) * | 2019-12-10 | 2020-06-19 | 上海交通大学 | Robot welding seam tracking and molten pool monitoring sensor based on active and passive vision |
| CN111299761A (en) * | 2020-02-28 | 2020-06-19 | 华南理工大学 | Real-time attitude estimation method of welding seam tracking system |
| CN215091566U (en) * | 2020-12-15 | 2021-12-10 | 广州瑞松智能科技股份有限公司 | Robot self-adaptive welding system capable of being guided in real time on line |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116748742A (en) * | 2023-05-16 | 2023-09-15 | 湖北纽睿德防务科技有限公司 | An adaptive welding system |
| CN116748742B (en) * | 2023-05-16 | 2024-05-17 | 湖北纽睿德防务科技有限公司 | An adaptive welding system |
| CN119387846A (en) * | 2025-01-02 | 2025-02-07 | 温岭誉翔机械零部件有限公司 | A laser welding device for automobile parts production |
| CN119387846B (en) * | 2025-01-02 | 2025-04-15 | 温岭誉翔机械零部件有限公司 | A laser welding device for automobile parts production |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112705886A (en) | Robot self-adaptive welding system and method for online real-time guidance | |
| CN107030352A (en) | Weld joint tracking vision sensor based on laser structure light | |
| CN215091566U (en) | Robot self-adaptive welding system capable of being guided in real time on line | |
| CN214392800U (en) | Laser-beam welding machine camera lens protection device | |
| CN113245674A (en) | Robot welding smoke purifies collection device | |
| CN112045341A (en) | Robot welding smoke purifies collection device | |
| KR102387984B1 (en) | Electric furnace dust collecting system | |
| CN209565659U (en) | A kind of robot welding workstation | |
| CN211661386U (en) | Intelligent welding workstation | |
| CN208289187U (en) | Vehicle window frame welding assembly work station | |
| CN110560968A (en) | Intelligent robot welding system | |
| CN109175651A (en) | A kind of welding gun electrode arm cooling water pipe fixed structure | |
| CN215091487U (en) | Laser welding seam tracker shell | |
| CN111069740A (en) | Flexible control method and system for robot welding process | |
| CN217433311U (en) | Welding equipment | |
| CN212144916U (en) | Integral type weldment work station | |
| JP2019166534A (en) | Shield box, welding device and welding method | |
| CN208004957U (en) | A kind of welding robot | |
| CN214489192U (en) | Environment-friendly efficient manual double-wire welding equipment | |
| KR100453082B1 (en) | Vision sensor equipped with shielding apparatus of air convection and removable spatter shield | |
| CN213257828U (en) | Welding flue gas processing apparatus suitable for automatic welding of robot | |
| CN218426169U (en) | Resistance spot welding device for exhaust pipe heat shield | |
| CN218253542U (en) | Safe type automatic welding robot | |
| CN204843298U (en) | Smoke and dust direct vent environment -friendly welding auxiliary device | |
| CN216830980U (en) | Robot tool support integrated with vision and protection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |