CN104588837A - Intelligent coupling system of arc welding robot - Google Patents
Intelligent coupling system of arc welding robot Download PDFInfo
- Publication number
- CN104588837A CN104588837A CN201510027655.2A CN201510027655A CN104588837A CN 104588837 A CN104588837 A CN 104588837A CN 201510027655 A CN201510027655 A CN 201510027655A CN 104588837 A CN104588837 A CN 104588837A
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- Prior art keywords
- welding
- image processor
- control module
- welding gun
- definition camera
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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
- 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
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
-
- 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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Optics & Photonics (AREA)
- Geometry (AREA)
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Abstract
The invention discloses an intelligent coupling system of an arc welding robot. The intelligent coupling system comprises a welding equipment system and a tracking system, wherein the welding equipment system comprises a welding gun, an execution mechanism used for controlling the posture of the welding gun and the relative position of the welding gun to a welding seam and a control module used for receiving information data of an image processor and sending a command for controlling the posture of the welding gun and the relative position of the welding gun to the welding seam to the execution mechanism; the control module is in circuit connection with the execution mechanism through a servo driving control interface of a system bus; the execution mechanism and the welding gun are in harmonic transmission; the tracking system comprises a high-definition camera for collecting a light source signal for the posture of the welding gun and the relative position of the welding gun to the welding seam and the image processor for processing an image data signal transmitted by the high-definition camera, the high-definition camera is connected with the image processor, and the image processor is connected with the control module through an input/output interface of the system bus. The intelligent coupling system of the arc welding robot, disclosed by the invention, is quick in focusing speed, accurate in image judgment, reliable in performance, good in welding quality and wide in application range.
Description
Technical field
The present invention relates to a kind of automatic arc welding auxiliary equipment, particularly a kind of arc welding robot intelligence coupled system.
Background technology
Welding manufacture technology is widely used in the field such as automobile making, aerospace engineering, and welding fabrication has become technology very important in advanced manufacture field, the relative position between welding gun and weld seam, to ensureing that welding quality plays vital effect.In current arc welding robot operation process, often adopt the method for teaching to treat weld seam and follow the trail of, by record taught point, welding robot again pointwise repeats the action of teaching, carries out tracking weld seam; But due to the deviations of workpiece to be welded and the vibrations of welding machine, usually cause welding gun and weld seam to produce deviation, affect welding quality.
Summary of the invention
The object of the invention is to for the problems referred to above, a kind of arc welding robot intelligence coupled system is provided, makes it can catch the position namely adjusting welding gun and weld seam in real time in welding process, to overcome the above-mentioned deficiency existing for prior art.
For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of arc welding robot intelligence coupled system, comprises welding equipment system and tracing system;
Described welding equipment system comprises welding gun, executing agency and control module, and described control module is connected with actuating mechanism circuit by the servo drive control interface of system bus; Harmonic drive is adopted between described executing agency and welding gun;
The image processor that described tracing system comprises high-definition camera and is connected with its circuit, described high-definition camera is connected with image processor, and image processor to be connected with control module by the input/output interface of system bus and mutually to exchange data;
The information data that described control module transmits for receiving image processor, sends control, adjustment posture of welding torch and the instruction with weld seam relative position thereof to executing agency;
The instruction that described executing agency accepts control module controls, adjusts posture of welding torch and the relative position with weld seam thereof;
Described high-definition camera for gathering the light signal of posture of welding torch and the relative position with weld seam thereof, and converts light signal to viewdata signal and is input to image processor;
The viewdata signal that described image processor comes for the treatment of high-definition camera transmission, extract the edge feature of image, and obtain the positional information of marginal point and welding gun according to weld seam molten bath and welding gun picture edge characteristic, then the control module that information data feeds back to.
Its further technical scheme is: described high-definition camera front end connects filtration module by transmission device, described filtration module comprises insulating glass plate and optical filter, the flue dust that described insulating glass plate produces for filtering welding, the arc light produced when described optical filter is for receiving and filtering welding.
Further technical scheme is: described control module comprises: operation keyboard, calibration box, display, CPU control centre and the memory be connected with its circuit;
Described operation keyboard is for inputting weldingvoltage, current parameters;
Described calibration box is used for the preliminary calibration of Butt welding gun, the welding wire of welding gun with treat that the initial point of welding line is aimed at;
Described display is used for showing welded condition in real time;
CPU control centre is central processing unit, is the data processing core of control module;
Described memory is for depositing pending view data.
Further: described image processor adopts Canon DIGIC II, DIGIC III, DIGIC 4 digital image processor, or Sony Bionz true picture processor.
Owing to taking technique scheme, the arc welding robot intelligence coupled system of the present invention has following beneficial effect:
1. the arc welding robot intelligence coupled system of the present invention can be monitored in real time and treat welding line in welding process, obtain weld seam physical location, next step running orbit of welding gun is judged according to this information, use image technique to treat welding line and carry out linear scan repeatedly at a certain distance, thus acquisition image, according to same image blurring and grey scale change difference clearly, determine that whether present image is clear, and then the distance of high-definition camera phase Butt welding gun in arc welding robot intelligence coupled system is adjusted according to optical principle and optimized algorithm, the real-time seam track obtained, then image information is sent to control module, the motion of welding gun is adjusted again in real time by the executing agency of welding equipment, thus guarantee welding quality,
2. speed of focusing is fast, image accuracy of judgement:
Tracing system in the arc welding robot intelligence coupled system of the present invention comprises high-definition camera, insulating glass plate, optical filter, image processor, after high-definition camera collects the picture signal through filtering, picture signal is sent to image processor by data conversion, and image processor extracts the edge feature of original image, then calculate the position of marginal point to welding gun central point according to picture edge characteristic, also analyze the position of Weld pipe mill simultaneously
,finally data message is outputted to the control system of welding equipment, regulate relative position and the attitude of welding gun, thus there is focusing speed fast, the advantage of image accuracy of judgement;
3. dependable performance:
Adopt high-definition camera as vision sensor in the present invention, obtaining information of taking pictures in real time adopts High Speed System processor technology, IMAQ can be completed fast, filtering, intensity slicing etc. process, complete Real-time Focusing task, and insulating glass plate can filter the flue dust that welding produces, and optical filter can, the arc light some light produced when filtering out welding, only allow the arc light wavelength light identical with optical filter peak wavelength enter high-definition camera, the image definition thus obtained is high, dependable performance;
4. produce arc light between welding gun and workpiece to be welded, so high-definition camera shooting original image information does not need by external light source;
5. due to welding equipment system of the present invention and tracing system relatively independent
,interchangeability is good, can adapt in the welding of all kinds of arc welding robot, and can be applied to the welding procedures such as MIG weldering, TIG weldering, the scope of application is wider.
Below, in conjunction with the accompanying drawings and embodiments the technical characteristic of the arc welding robot intelligence coupled system of the present invention is further described.
Accompanying drawing explanation
Fig. 1 is the arc welding robot intelligence coupled system structural representation of the present invention;
Fig. 2 is the arc welding robot intelligence coupled system tracing system theory diagram of the present invention;
Fig. 3 is the arc welding robot intelligence coupled system structured flowchart of the present invention;
Fig. 4 is image real time transfer flow chart;
Fig. 5 is arc welding robot intelligence coupled system fundamental diagram
;
In figure:
1-welding work pieces, 2-welding equipment system, 21-welding gun, 22-executing agency, 23-control module, 231-operation keyboard, 232-display, 233-calibrates box, 234-memory, 235-CPU control centre;
3-tracing system, 31-filtration module, 311-insulating glass plate, 312-optical filter, 32-high-definition camera, 33-image processor, 4-system bus, 41-input/output interface, 42-servo drive control interface.
Detailed description of the invention
A kind of arc welding robot intelligence coupled system, comprises welding equipment system 2 and tracing system 3;
Described welding equipment system 2 comprises welding gun 21, executing agency 22 and control module 23, and described control module 23 is connected with executing agency 22 circuit by the servo drive control interface 42 of system bus; Harmonic drive is adopted between described executing agency and welding gun;
The image processor 33 that described tracing system 3 comprises high-definition camera 32 and is connected with its circuit, described high-definition camera is connected with image processor, and image processor to be connected with control module 23 by the input/output interface 41 of system bus and mutually to exchange data;
The information data that described control module transmits for receiving image processor, sends control, adjustment posture of welding torch and the instruction with weld seam relative position thereof to executing agency;
The instruction that described executing agency accepts control module controls, adjusts posture of welding torch and the relative position with weld seam thereof;
Described high-definition camera for gathering the light signal of posture of welding torch and the relative position with weld seam thereof, and converts light signal to viewdata signal and is input to image processor;
The viewdata signal that described image processor comes for the treatment of high-definition camera transmission, extract the edge feature of image, and obtain the positional information of marginal point and welding gun according to weld seam molten bath and welding gun picture edge characteristic, then the control module that information data feeds back to.
Described high-definition camera front end connects filtration module 31 by transmission device, described filtration module comprises insulating glass plate 311 and optical filter 312, the flue dust that described insulating glass plate produces for filtering welding, the arc light produced when described optical filter is for receiving and filtering welding, filter part light, only allows the arc light wavelength light identical with optical filter peak wavelength enter high-definition camera.
Described control module comprises: operation keyboard, calibration box, display, CPU control centre and the memory be connected with its circuit;
Described operation keyboard is for inputting weldingvoltage, current parameters;
Described calibration box is used for the preliminary calibration of welding robot welding gun, the welding wire of welding gun with treat that the initial point of welding line is aimed at;
Described display is used for showing welded condition in real time;
CPU control centre is central processing unit, is the data processing core of control module;
Described memory is for depositing pending view data.
Described image processor adopts Canon DIGIC II 4 digital image processor.
As conversion, described image processor also can adopt Canon DIGIC III, DIGIC 4 digital image processor, or Sony Bionz true picture processor.
operation principle
Tracing system can be monitored in real time and treat welding line in welding process, obtains weld seam physical location, judges next step running orbit of welding gun according to this information.
Tracing system utilization image technique is treated welding line and is carried out linear scan repeatedly at a certain distance, thus acquisition image, according to same image blurring and grey scale change difference clearly, determine that whether present image is clear, and then the distance of high-definition camera phase Butt welding gun in tracing system is adjusted according to optical principle and optimized algorithm, the real-time seam track obtained, image information is sent to the control module of welding equipment system, and adjusted the motion of welding gun in real time by executing agency, thus ensure welding quality.
First in acquisition welding gun and weld image, design of the present invention is: propose gradation of image evaluation function, the image of real-time high-definition camera collection judges, and adjust the focal length of high-definition camera in real time, make the Curve Point of image definition function in peak value, thus obtain clear weld seam; Secondly, after high-definition camera gets a distinct image, by processor process, information is sent to the control module of welding equipment, send instruction to executing agency by control module, executing agency adopts harmonic drive again, rapid to ensure the posture adjustment of welding gun, accurately.
Gradation of image evaluation function, adopts grey scale difference gradient function in the present invention, gray scale difference point-score is Image Definition, and amount of calculation is little and can be convenient to hardware and respond fast, and camera is focused on fast.
the course of work
The real time position of setting welding gun and weld seam is: S
t; Realtime graphic gray scale is H
t;
Executing agency starts, the weld seam of welding gun and workpiece to be welded is found accurately in advance and is had good positioning, this relative position can be set as an optimal position parameters S, tracing system is opened simultaneously, etc. image to be collected, the image collected is sent to image processor, is optimized image when image clarity values is set in H.
When after the welding gun starting the arc, high-definition camera starts to take pictures, thus collection image, the image transmitting that high-definition camera gathers is to image processor, through image procossing, calculate real-time gray value, relevant information parallel convey to the control module of welding equipment and high-definition camera, real time data is compared with setting value, makes instantaneous value constantly close to setting value by adjustment.
Claims (4)
1. an arc welding robot intelligence coupled system, is characterized in that: comprise welding equipment system (2) and tracing system (3);
Described welding equipment system (2) comprises welding gun (21), executing agency (22) and control module (23), and described control module (23) is connected with executing agency (22) circuit by the servo drive control interface (42) of system bus; Harmonic drive is adopted between described executing agency and welding gun;
Described tracing system (3) comprises high-definition camera (32) and image processor (33), described high-definition camera is connected with Image Processor Circuits, and image processor to be connected with control module (23) by the input/output interface (41) of system bus and mutually to exchange data;
The information data that described control module transmits for receiving image processor, sends control, adjustment posture of welding torch and the instruction with weld seam relative position thereof to executing agency;
The instruction that described executing agency accepts control module controls, adjusts posture of welding torch and the relative position with weld seam thereof;
Described high-definition camera for gathering the light signal of posture of welding torch and the relative position with weld seam thereof, and converts light signal to viewdata signal and is input to image processor;
The viewdata signal that described image processor comes for the treatment of high-definition camera transmission, extract the edge feature of image, and obtain the positional information of marginal point and welding gun according to weld seam molten bath and welding gun picture edge characteristic, then the control module that information data feeds back to.
2. arc welding robot intelligence coupled system as claimed in claim 1, it is characterized in that: described high-definition camera front end connects filtration module (31) by transmission device, described filtration module comprises insulating glass plate (311) and optical filter (312), the flue dust produced when described insulating glass plate is for filtering welding, the arc light produced when described optical filter is for receiving and filtering welding.
3. arc welding robot intelligence coupled system as claimed in claim 1 or 2, is characterized in that: described control module comprises: operation keyboard, calibration box, display, CPU control centre and the memory be connected with its circuit;
Described operation keyboard is for inputting weldingvoltage, current parameters;
Described calibration box is used for the preliminary calibration of Butt welding gun, the welding wire of welding gun with treat that the initial point of welding line is aimed at;
Described display is used for showing welded condition in real time;
CPU control centre is central processing unit, is the data processing core of control module;
Described memory is for depositing pending view data.
4. arc welding robot intelligence coupled system as claimed in claim 3, is characterized in that: described image processor adopts Canon DIGIC II, DIGIC III, DIGIC 4 digital image processor, or Sony Bionz true picture processor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510027655.2A CN104588837A (en) | 2015-01-20 | 2015-01-20 | Intelligent coupling system of arc welding robot |
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| CN201510027655.2A CN104588837A (en) | 2015-01-20 | 2015-01-20 | Intelligent coupling system of arc welding robot |
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| CN105149771A (en) * | 2015-10-15 | 2015-12-16 | 莱州市得利安数控机械有限公司 | Intelligent tracking controller for laser welding seam |
| CN105425721A (en) * | 2015-11-10 | 2016-03-23 | 佛山市新恒萃材料科技有限公司 | Intelligent teaching method of closed-loop control and device thereof |
| CN107962278A (en) * | 2016-10-19 | 2018-04-27 | 南京理工大学 | A kind of arc welding weld crater image harvester based on saturating infrared fileter |
| CN108226168A (en) * | 2018-01-14 | 2018-06-29 | 湘潭大学 | The multi-functional main passive vision sensing device of monocular and its method for sensing |
| WO2019148428A1 (en) * | 2018-02-01 | 2019-08-08 | Abb Schweiz Ag | Vision-based operation for robot |
| CN110871311A (en) * | 2018-09-03 | 2020-03-10 | 苏州睿牛机器人技术有限公司 | Crawling arc welding robot and production method and device thereof |
| CN111413355A (en) * | 2020-03-31 | 2020-07-14 | 无锡圆方软件科技有限公司 | Welding industry intelligent detection system based on high in clouds |
| CN111613099A (en) * | 2020-06-29 | 2020-09-01 | 广东卓瑞科技教育股份有限公司 | Arc welding track table for teaching of robot workstation and demonstration recording mechanism thereof |
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| CN105149771A (en) * | 2015-10-15 | 2015-12-16 | 莱州市得利安数控机械有限公司 | Intelligent tracking controller for laser welding seam |
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| CN110871311A (en) * | 2018-09-03 | 2020-03-10 | 苏州睿牛机器人技术有限公司 | Crawling arc welding robot and production method and device thereof |
| CN111413355A (en) * | 2020-03-31 | 2020-07-14 | 无锡圆方软件科技有限公司 | Welding industry intelligent detection system based on high in clouds |
| CN111613099A (en) * | 2020-06-29 | 2020-09-01 | 广东卓瑞科技教育股份有限公司 | Arc welding track table for teaching of robot workstation and demonstration recording mechanism thereof |
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Application publication date: 20150506 |