CN112743194B - Full-automatic welding process based on automatic path planning and slope point identification - Google Patents
Full-automatic welding process based on automatic path planning and slope point identification Download PDFInfo
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- CN112743194B CN112743194B CN202011604781.7A CN202011604781A CN112743194B CN 112743194 B CN112743194 B CN 112743194B CN 202011604781 A CN202011604781 A CN 202011604781A CN 112743194 B CN112743194 B CN 112743194B
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- 238000003466 welding Methods 0.000 title claims abstract description 172
- 238000000034 method Methods 0.000 title claims abstract description 38
- 239000011324 bead Substances 0.000 claims abstract description 52
- 230000000007 visual effect Effects 0.000 claims abstract description 18
- 238000002360 preparation method Methods 0.000 claims abstract description 4
- 239000002893 slag Substances 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000007405 data analysis Methods 0.000 claims description 3
- 238000010891 electric arc Methods 0.000 abstract description 6
- 239000000463 material Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000010438 heat treatment Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000037452 priming Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000945 filler Substances 0.000 description 1
- 238000005304 joining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
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
- B23K9/00—Arc welding or cutting
- B23K9/02—Seam welding; Backing means; Inserts
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of welding, and discloses a full-automatic welding process based on automatic path planning and slope point identification, which solves the technical problem caused by identifying a welding bead through an electric arc at present and comprises the following steps: s1, welding preparation work; s2, a calibration procedure; s3, identifying a welding initial position; s4, identifying a first visual weld bead; s5, visual weld bead recognition II; s6, simulating path welding; and S7, swing welding a cover surface. According to the technical scheme, the camera and the sensor are used for scanning and shooting, the robot automatically acquires the coordinate value of the welding bead, welding is automatically identified according to vision when the welding starting point is preset, compared with the prior art, the method can reduce one searching process of the welding end point, and welding process failure caused by too narrow electric arc or high and low electric arc can be avoided, so that the welding precision is high, and the product yield is improved.
Description
Technical Field
The invention relates to the technical field of welding, in particular to a full-automatic welding process based on automatic path planning and slope point identification.
Background
Welding technology, also known as joining engineering, is an important material processing technology. The definition of the weld is as follows: the process of welding the materials of the workpieces to be welded (of the same or different types) by heating or pressing or a combination of the heating and pressing and with or without a filler material to achieve the interatomic bonding of the materials of the workpieces to form a permanent connection is called welding.
A conventional automatic welding process is generally as follows: the robot recognizes the weld bead of the workpiece through the arc, and before the welding operation starts, an operator needs to preset a starting point and an end point of the welding path for the moving path of the robot welding, and the robot automatically searches the welding path through the starting point, the end point and the arc recognition mode.
However, in the conventional automatic welding process, when the arc is too narrow or the arc is high or low, the robot cannot easily recognize the characteristic point of the arc, and thus the welding process fails, and thus the welding defect rate is high.
Disclosure of Invention
Aiming at the technical problem caused by welding bead identification through electric arc in the background technology, the invention uses the camera to visually identify the welding bead, only needs to give the starting point of the welding path in advance, searches the welding path in real time, has one less end point locating process, automatically visually identifies the welding, has high precision and improves the product yield.
In order to achieve the purpose, the invention provides the following technical scheme:
a full-automatic welding process based on automatic path planning and slope point identification comprises the following steps:
s1, welding preparation work; arranging a gantry beam and a welding robot on a welding site, wherein the welding robot is arranged on the gantry beam, a welding tool is arranged on the welding robot, a welding platform is arranged at the bottom of the gantry beam, and two workpieces to be welded are fixedly arranged on the welding platform;
s2, a calibration procedure; setting a calibration point on a welding platform, unifying the position of the welding platform, the position of a workpiece and the initial position of a welding robot into a robot coordinate program by a standard calibration method, realizing space coordinate conversion and enabling the robot to identify the position of the workpiece;
s3, identifying a welding initial position; manually positioning the initial position of the welding robot and providing the robot with an initial welding point of a welding path;
s4, identifying a first visual weld bead; the robot takes a picture through the camera, analyzes welding bead data, automatically searches for a welding bead position and carries out backing welding;
s5, visual weld bead recognition II; the robot takes a picture through the camera, analyzes welding bead data, automatically searches for a welding bead position and carries out layer welding;
s6, simulating path welding; the robot cannot recognize the residual weld bead by photographing through a camera, and the last layer welding work is completed by combining the original path data with the welding allowance data;
s7, swing welding a cover surface; the robot can not shoot and recognize the weld bead of the cover surface through the camera, and the original path data is combined with the welding cover surface allowance data to simulate and complete the welding work of the cover surface.
Through the technical scheme, the camera and the sensor are used for scanning and shooting, the robot automatically acquires the coordinate value of the welding bead, welding is automatically identified according to vision when the welding starting point is preset, compared with the prior art, the method can reduce one searching process of the welding end point, and welding process failure caused by too narrow electric arc or high and low electric arc can be avoided, so that the welding precision is high, and the product yield is improved.
The invention is further configured to: the gantry beam is used for the robot to slide on the gantry beam along the axial direction of the robot, and the welding robot slides on the gantry beam to enable the robot to adjust the welding angle.
The invention is further configured to: the welding tool can be replaced according to the types of the two workpieces to be welded, and is suitable for different scenes.
The invention is further configured to: the welding path is a circumferential weld, a splicing weld or the connection of a splicing seam and a circumferential weld.
The invention is further configured to: and slag removing processes of slag inclusion and splashing are arranged after the first visual welding bead identification and the second visual welding bead identification.
The invention is further configured to: by adjusting the incident angle of the sensor of the camera, the angle of the sensor is consistent with the angle of the weld bead groove as far as possible, weld bead characteristic points can be captured more clearly and accurately, and data analysis is facilitated.
The invention is further configured to: the welding allowance data is within 5 mm.
The invention is further configured to: welding robot is through the welding of swinging about following welding bead width direction in the welding capping sways for the welding line is more mellow and more smooth, level and smooth.
The invention is further configured to: and the calibration process, the identification of the welding initial position and the visual weld bead identification are all analyzed and controlled by a robot program.
In conclusion, the invention has the following beneficial effects:
the invention utilizes the camera and the sensor to scan and shoot, the robot automatically acquires the coordinate value of the welding bead, and the welding is automatically identified according to the vision when the welding starting point is preset.
Drawings
FIG. 1 is an image of a weld bead scanned visually by a camera;
FIG. 2 is a second image of a visual weld pass scanned by the camera;
FIG. 3 is an image of a first pass of a camera vision scan weld pass through a priming and seam weld;
fig. 4 is an image two of the weld pass of the camera vision scan pass through the priming and layer welding.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited to these examples.
A full-automatic welding process based on automatic path planning and slope point identification is shown in the combined drawings of fig. 1-4, and comprises the following steps:
s1, welding preparation work; arranging a gantry beam and a welding robot on a welding site, wherein the welding robot is arranged on the gantry beam, a welding tool is arranged on the welding robot, a welding platform is arranged at the bottom of the gantry beam, and two workpieces to be welded are fixedly arranged on the welding platform;
s2, a calibration procedure; setting a calibration point on a welding platform, unifying the position of the welding platform, the position of a workpiece and the initial position of a welding robot into a robot coordinate program by a standard calibration method, realizing space coordinate conversion and enabling the robot to identify the position of the workpiece;
s3, identifying a welding initial position; manually positioning the initial position of the welding robot and providing the robot with an initial welding point of a welding path;
s4, identifying a first visual weld bead; the robot takes a picture through the camera, analyzes welding bead data, automatically searches for a welding bead position and carries out backing welding;
s5, visual weld bead recognition II; the robot takes a picture through the camera, analyzes welding bead data, automatically searches for a welding bead position and carries out layer welding;
s6, simulating path welding; the robot cannot recognize the residual weld bead by photographing through a camera, and the last layer welding work is completed by combining the original path data with the welding allowance data;
s7, swing welding a cover surface; the robot can not shoot and recognize the weld bead of the cover surface through the camera, and the original path data is combined with the welding cover surface allowance data to simulate and complete the welding work of the cover surface.
The gantry beam is used for the robot to slide on the gantry beam along the axial direction of the robot, and the welding robot slides on the gantry beam to enable the robot to adjust the welding angle.
The welding tool can be replaced according to the types of the two workpieces to be welded, and is suitable for different scenes.
The welding path is a circumferential weld, a splicing weld or the connection of the splicing weld and the circumferential weld.
Slag removing processes of slag inclusion and splashing are arranged after the first visual welding bead identification and the second visual welding bead identification.
The incident angle of the sensor of the camera is adjusted to be consistent with the angle of the weld bead groove as far as possible, so that weld bead characteristic points can be captured more clearly and accurately, and data analysis is facilitated.
The welding allowance data is within 5 mm.
Welding robot is through the welding of rocking the horizontal hunting along welding bead width direction in the welding capping that sways for the welding line is more mellow and more smooth, level and smooth.
And the calibration process, the identification of the welding initial position and the visual weld bead identification are all analyzed and controlled by a robot program.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to those skilled in the art without departing from the principles of the present invention should also be considered as within the scope of the present invention.
Claims (8)
1. A full-automatic welding process based on automatic path planning and slope point identification is characterized by comprising the following steps:
s1, welding preparation work; arranging a gantry beam and a welding robot on a welding site, wherein the welding robot is arranged on the gantry beam, a welding tool is arranged on the welding robot, a welding platform is arranged at the bottom of the gantry beam, and two workpieces to be welded are fixedly arranged on the welding platform;
s2, a calibration procedure; setting a calibration point on a welding platform, unifying the position of the welding platform, the position of a workpiece and the initial position of a welding robot into a robot coordinate program by a standard calibration method, realizing space coordinate conversion and enabling the robot to identify the position of the workpiece;
s3, identifying a welding initial position; manually positioning the initial position of the welding robot and providing the robot with an initial welding point of a welding path;
s4, identifying a first visual weld bead; the robot takes a picture through the camera, analyzes welding bead data, automatically searches for a welding bead position and carries out backing welding;
s5, visual weld bead recognition II; the robot takes a picture through the camera, analyzes welding bead data, automatically searches for a welding bead position and carries out layer welding;
s6, simulating path welding; the robot cannot recognize the residual weld bead by photographing through a camera, and the last layer welding work is completed by combining the original path data with the welding allowance data;
s7, swing welding a cover surface; the robot can not shoot and recognize the weld bead of the cover surface through the camera, and the original path data is combined with the welding cover surface allowance data to simulate and complete the welding work of the cover surface.
2. The full-automatic welding process based on automatic path planning and hill point identification as claimed in claim 1, wherein: the gantry beam is used for the robot to slide on the gantry beam along the axial direction of the robot, and the welding robot slides on the gantry beam to enable the robot to adjust the welding angle.
3. The full-automatic welding process based on automatic path planning and hill point identification as claimed in claim 1, wherein: the welding tool can be replaced according to the types of the two workpieces to be welded, and is suitable for different scenes.
4. The full-automatic welding process based on automatic path planning and hill point identification as claimed in claim 1, wherein: and slag removing processes of slag inclusion and splashing are arranged after the first visual welding bead identification and the second visual welding bead identification.
5. The full-automatic welding process based on automatic path planning and hill point identification as claimed in claim 1, wherein: by adjusting the incident angle of the sensor of the camera, the angle of the sensor is consistent with the angle of the weld bead groove, weld bead characteristic points can be captured more clearly and accurately, and data analysis is facilitated.
6. The full-automatic welding process based on automatic path planning and hill point identification as claimed in claim 1, wherein: the welding allowance data is within 5 mm.
7. The full-automatic welding process based on automatic path planning and hill point identification as claimed in claim 1, wherein: welding robot is through the welding of swinging about following welding bead width direction in the welding capping sways for the welding line is more mellow and more smooth, level and smooth.
8. The full-automatic welding process based on automatic path planning and hill point identification as claimed in claim 1, wherein: and the calibration process, the identification of the welding initial position and the visual weld bead identification are all analyzed and controlled by a robot program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011604781.7A CN112743194B (en) | 2020-12-30 | 2020-12-30 | Full-automatic welding process based on automatic path planning and slope point identification |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011604781.7A CN112743194B (en) | 2020-12-30 | 2020-12-30 | Full-automatic welding process based on automatic path planning and slope point identification |
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| Publication Number | Publication Date |
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| CN112743194A CN112743194A (en) | 2021-05-04 |
| CN112743194B true CN112743194B (en) | 2022-08-09 |
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| CN202011604781.7A Expired - Fee Related CN112743194B (en) | 2020-12-30 | 2020-12-30 | Full-automatic welding process based on automatic path planning and slope point identification |
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| CN113579601B (en) * | 2021-08-16 | 2023-01-10 | 北京博清科技有限公司 | Welding bead positioning method and device, welding robot and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105499801A (en) * | 2016-02-03 | 2016-04-20 | 天津市沃丰机电设备有限公司 | Intelligent edge-tracing laser welding and marking all-in-one machine |
| CN105665970B (en) * | 2016-03-01 | 2018-06-22 | 中国科学院自动化研究所 | For the path point automatic creation system and method for welding robot |
| CN107186319B (en) * | 2017-07-03 | 2019-02-22 | 江苏科技大学 | An online tracking method for welding robot cover welding based on laser sensor |
| CN109719438B (en) * | 2017-10-31 | 2021-01-26 | 无锡威卓智能机器人有限公司 | Automatic tracking method for welding seam of industrial welding robot |
| CN109226967B (en) * | 2018-07-25 | 2021-03-09 | 同高先进制造科技（太仓）有限公司 | Active laser vision steady weld joint tracking system for laser-arc hybrid welding |
| CN110076420B (en) * | 2019-06-03 | 2020-10-09 | 山东大学 | Dynamic welding path planning method and system for thick plate robot considering angular deformation |
| CN110153534B (en) * | 2019-06-03 | 2020-03-31 | 山东大学 | A multi-layer multi-pass robot welding path planning method and system adapting to welding deformation |
| CN110524582B (en) * | 2019-09-16 | 2023-06-02 | 西安中科光电精密工程有限公司 | Flexible assembly welding robot workstation |
| CN111375945B (en) * | 2020-01-15 | 2023-07-21 | 吉林大学 | Gantry type three-axis welding device and welding method for automatic identification of welding seam track |
| CN111975200A (en) * | 2020-06-08 | 2020-11-24 | 杭州国辰机器人科技有限公司 | Intelligent welding method and intelligent welding system based on visual teaching technology |
| CN111774775B (en) * | 2020-06-30 | 2021-09-21 | 中国船舶重工集团公司第七一六研究所 | Three-dimensional vision system for gantry type robot welding of large-scale structural part and control method |
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