CN118180738B - Automatic welding system for steering shaft - Google Patents
Automatic welding system for steering shaft Download PDFInfo
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- CN118180738B CN118180738B CN202410465994.8A CN202410465994A CN118180738B CN 118180738 B CN118180738 B CN 118180738B CN 202410465994 A CN202410465994 A CN 202410465994A CN 118180738 B CN118180738 B CN 118180738B
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- 238000003466 welding Methods 0.000 title claims abstract description 171
- 238000000034 method Methods 0.000 claims abstract description 30
- 238000012544 monitoring process Methods 0.000 claims abstract description 28
- 230000008569 process Effects 0.000 claims abstract description 21
- 238000005259 measurement Methods 0.000 claims description 22
- 238000004458 analytical method Methods 0.000 claims description 13
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- 230000009286 beneficial effect Effects 0.000 claims description 3
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- 238000010586 diagram Methods 0.000 description 2
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- 238000004519 manufacturing process Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- 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
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- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of steering shafts, in particular to an automatic welding system for a steering shaft, which comprises a sensor module, a machine vision module, a welding robot, a control module and a clamp clamping module, wherein the sensor module is used for detecting the position and the gesture of the steering shaft and providing the sensor module for the control module to adjust in real time; the machine vision module is used for monitoring and identifying the steering shaft in real time to realize welding path planning and weld tracking; the welding robot comprises a welding basic structure, and automatically controls the movement of a welding gun according to information provided by the machine vision module to finish welding operation; the control module comprises a controller, receives data of the sensor module and the machine vision module, and accurately controls and adjusts the welding robot to ensure welding quality; the clamp clamping module comprises a flexible clamp and is used for fixing the steering shaft and guaranteeing stability and accuracy in the welding process.
Description
Technical Field
The invention relates to the technical field of steering shafts, in particular to an automatic welding system for a steering shaft.
Background
Steering axles are important components of vehicles such as automobiles, motorcycles and the like, and the welding quality of the steering axles directly influences the safety and service life of the vehicles. The traditional steering shaft welding method is mostly dependent on manual operation, the welding efficiency is low, the welding quality is unstable, certain potential safety hazards exist, a large amount of manual operation is usually needed in the traditional steering shaft welding process, the problems of low efficiency, unstable welding quality and the like exist, and therefore an automatic welding system is urgently needed, high-quality welding of the steering shaft can be achieved, and the production efficiency is improved.
Therefore, developing an intelligent safety protection device that incorporates advanced device systems is critical to improving the safety of power grid overhaul.
In view of the technical defects, a solution of an automatic welding system for a steering shaft is now provided.
Disclosure of Invention
In order to solve the problems, the invention provides the following technical scheme:
The automatic steering shaft welding system comprises a sensor module, a machine vision module, a welding robot, a control module and a clamp clamping module, wherein the sensor module is used for detecting the position and the gesture of a steering shaft and providing the sensor module for the control module to adjust the angle and the position of the steering shaft in real time; the machine vision module is used for monitoring and identifying the angle and the position of the steering shaft in real time, so as to realize welding path planning and weld tracking; the welding robot is a six-axis industrial robot and comprises a basic structure welding gun, wherein the basic structure welding gun is used for automatically controlling the movement of the welding gun according to information provided by a machine vision module to finish welding operation; the control module comprises a controller and is used for receiving data of angles and positions sent by the sensor module and the machine vision module, accurately controlling and adjusting the welding robot and ensuring welding quality; the clamp clamping module comprises a flexible clamp and is used for fixing the steering shaft and guaranteeing stability and accuracy in the welding process.
Further, the sensor module comprises an angle measuring unit, an X-axis direction measuring unit, a Y-axis direction measuring unit and a Z-axis direction measuring unit, wherein the angle measuring unit, the X-axis direction measuring unit, the Y-axis direction measuring unit and the Z-axis direction measuring unit are used for detecting a plurality of angles of a steering shaft, so that the sensor module is beneficial to more accurate and efficient welding of the steering shaft;
The angle measuring unit is used for measuring the angle of the steering shaft in the clamping process, the steering shaft can rotate longitudinally around the circle center, the angle of rotation is changed, the welding angle is adjusted, the X-axis direction measuring unit accurately measures the distance of the outer surface measuring point of the steering shaft in the X-axis direction through the X-axis direction measuring unit, and the Y-axis direction measuring unit accurately measures the distance of the outer surface measuring point of the steering shaft in the Y-axis direction; and the Z-axis direction measuring unit is used for accurately measuring the Z-axis direction distance of the measuring point on the outer surface of the steering shaft.
Further, the machine vision module comprises a camera, the camera is used for photographing the outer surface of the steering shaft and monitoring the steering shaft in real time, the purpose of monitoring the steering shaft in real time is achieved, the welding position of the steering shaft is convenient to timely adjust by workers, and the camera is used for photographing the welding process in real time.
Furthermore, the welding robot is a six-axis industrial robot and comprises a basic structure welding gun, has high precision, high stability and high flexibility, is provided with a special welding head and a welding power supply, and can automatically adjust welding parameters according to the material and thickness of a steering shaft to realize high-quality welding.
Further, the clamp clamping module comprises a clamping unit and an adjustable unit, the clamping unit is used for fixing the steering shaft, the position and the posture of the steering shaft are stable in the welding process, the clamp in the adjustable unit is of an adjustable design, belongs to a flexible clamp, clamps and fixes according to the size of the steering shaft, and accordingly can adapt to the steering shafts with different sizes and shapes, the clamping unit is controlled by the adjustable unit to clamp the steering shaft, and therefore the effect of clamping the steering shaft is achieved.
Further, the analysis process of the sensor module is specifically as follows:
The angle measuring unit, the X-axis direction measuring unit, the Y-axis direction measuring unit and the Z-axis direction measuring unit in the sensor module accurately measure the position relation of the measuring point space on the surface of the rotating shaft, and the position relation is utilized:
W is a function of the curve surface of the steering shaft, and utilizes The three-dimensional space graph of the steering shaft is represented, so that the control of the measurement welding point is facilitated;
wherein the method comprises the steps of Beta and c are influence factors in the x i、yi and z i directions respectively,C and d are influence factors in sin theta, cos theta and tan theta directions respectively, theta is an angle value measured by the angle measuring module, W is a value of a welding point for monitoring a steering shaft, x i、yi and z i are values of the welding point measured in x, y and z axis directions respectively, wherein i is 1, 2,3, 4, 5, … … and n are positive integers.
Further, the analysis process of the sensor module further includes the following steps:
The sensor module is used for accurately measuring the distance and the angle of the steering shaft, points on the outer surface of the steering shaft are x i、yi and z i respectively, and the rotation angle of the steering shaft is theta, wherein i is 1,2, 3, 4, 5, … … and n are positive integers; simultaneous recording of
Further, the machine vision module analysis process includes the following:
the position and the gesture of the steering shaft are identified by the camera in the machine vision module, and the camera can accurately aim at the welding position by shooting the position and the gesture of the steering shaft in the shooting mode and ensuring the welding robot to accurately aim at the welding position in real time.
Furthermore, the control module adopts a high-performance computer and professional welding control software, is responsible for controlling the action of the welding robot, transmitting signals of the sensor and adjusting welding parameters, has fault diagnosis and early warning functions, and can timely discover and treat potential problems;
the early warning function is used for comparing a steering shaft monitoring welding point measurement value at the moving position of the welding robot with an automatic steering shaft monitoring welding point standard value, and the comparison formula is as follows:
m= |w measure-W standard|;
Wherein M is an error value, W is a value for measuring a welding point for monitoring the steering shaft, W is an automatic standard value for monitoring the welding point for the steering shaft, and M are reused at the moment Comparing whenAt the time, the position and angle of the steering shaft are reproducibly adjusted until the current condition is satisfiedWhen M measurements satisfyThe device can be used and automatically welded when there is an error, otherwise the direction and angle of the steering shaft are readjusted so that the device can be adjusted.
The invention also provides an automatic welding method of the steering shaft, which comprises the following steps:
Step one: positioning and clamping a steering shaft to be automatically welded by using a flexible clamp in a clamp clamping module;
Step two: measuring and positioning the position of the steering shaft by utilizing an angle measuring unit, an X-axis direction measuring unit, a Y-axis direction measuring unit and a Z-axis direction measuring unit in the sensor module, recording the measured value and the standard measured value, and transmitting information to a control system;
step three: the machine vision module is used for monitoring and identifying the steering shaft in real time, judging whether the steering shaft is in an error range or not, and then realizing welding path planning and weld tracking according to error analysis;
Step four: the welding robot plans the route according to the analyzed later route, and the route is welded after planning;
step five: the control module comprises a controller, receives data of the sensor module and the machine vision module, and accurately controls and adjusts the welding robot to ensure welding quality.
Compared with the prior art, the invention has the beneficial effects that:
1. the automatic welding system for the steering shaft realizes high-efficiency, accurate and automatic welding of the steering shaft by integrating advanced robot technology, sensor technology and welding technology, has the advantages of good welding quality, high production efficiency, low labor intensity of workers, high intellectualization and automation level and the like, places the steering shaft in a clamp and fixes the steering shaft through the clamp, the vision sensor recognizes the position and the gesture of the steering shaft, transmits information to a control system, calculates a welding path and welding parameters according to the received information, sends an instruction to the welding robot, the welding robot starts to weld according to the instruction, and in the welding process, the sensor monitors the welding force change in real time and feeds information back to the control system, and the control system adjusts the action and the welding parameters of the welding robot according to feedback information to ensure the welding quality and stability.
2. Through sensor module, machine vision module and welding robot, can carry out accurate measurement and location to automatic weld's steering spindle, be favorable to the device to carry out survey and location to the steering spindle.
Drawings
For the convenience of those skilled in the art, the present invention will be further described with reference to the accompanying drawings;
FIG. 1 is a schematic view of the overall structure of an automatic steering shaft welding system according to the present invention;
FIG. 2 is a view showing the contents of a sensor unit in a steering shaft automatic welding system according to the present invention;
FIG. 3 is a diagram illustrating the control of a controller in a steering shaft automatic welding system according to the present invention;
fig. 4 is a machine vision block diagram of an automatic steering shaft welding system according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
1-4, The automatic steering shaft welding system comprises a sensor module, a machine vision module, a welding robot, a control module and a clamp clamping module, wherein the sensor module is used for detecting the position and the gesture of a steering shaft and providing the sensor module for the control module to adjust the angle and the position of the steering shaft in real time; the machine vision module is used for monitoring and identifying the angle and the position of the steering shaft in real time, so as to realize welding path planning and weld tracking; the welding robot is a six-axis industrial robot and comprises a basic structure welding gun, wherein the basic structure welding gun is used for automatically controlling the movement of the welding gun according to information provided by a machine vision module to finish welding operation; the control module comprises a controller and is used for receiving data of angles and positions sent by the sensor module and the machine vision module, accurately controlling and adjusting the welding robot and ensuring welding quality; the clamp clamping module comprises a flexible clamp and is used for fixing the steering shaft and guaranteeing stability and accuracy in the welding process.
Specifically, the sensor module comprises an angle measuring unit, an X-axis direction measuring unit, a Y-axis direction measuring unit and a Z-axis direction measuring unit, wherein the angle measuring unit, the X-axis direction measuring unit, the Y-axis direction measuring unit and the Z-axis direction measuring unit are used for detecting a plurality of angles of a steering shaft, so that the sensor module is favorable for more accurate and efficient measurement of the angles of the steering shaft in the process of welding the steering shaft, the angle measuring unit is used for adjusting the welding angle under the condition that the steering shaft can rotate longitudinally around a circle center, and the X-axis direction measuring unit accurately measures the distance of an external surface measuring point of the steering shaft in the X-axis direction through the X-axis direction measuring unit, and accurately measures the distance of the external surface measuring point of the steering shaft in the Y-axis direction through the Y-axis direction measuring unit; and the Z-axis direction measuring unit is used for accurately measuring the Z-axis direction distance of the measuring point on the outer surface of the steering shaft.
The sensor module is utilized, and the angle measuring unit, the X-axis direction measuring unit, the Y-axis direction measuring unit and the Z-axis direction measuring unit can accurately position the space position where the steering shaft measuring spot welding position is located.
Specifically, the machine vision module comprises a camera, the camera is used for photographing the outer surface of the steering shaft and monitoring the outer surface in real time, the purpose of monitoring the steering shaft in real time is achieved, the welding position of the steering shaft is conveniently and timely adjusted by workers, and the camera is used for photographing the welding process in real time.
Specifically, the welding robot comprises a basic structure welding gun, has high precision, high stability and high flexibility, is provided with a special welding head and a welding power supply, and can automatically adjust welding parameters according to the material and thickness of the steering shaft to realize high-quality welding.
Specifically, the clamp clamping module comprises a clamping unit and an adjustable unit, wherein the clamping unit is used for fixing a steering shaft, the position and the gesture of the steering shaft are stable in the welding process, the clamp in the adjustable unit is of an adjustable design, and belongs to a flexible clamp, the clamp is clamped and fixed according to the size of the steering shaft, so that the clamp can adapt to the steering shafts with different sizes and shapes, the clamping unit is controlled by the adjustable unit to clamp the steering shaft, and the clamping effect on the steering shaft is achieved.
Specifically, the analysis process of the sensor module is specifically as follows:
The angle measuring unit, the X-axis direction measuring unit, the Y-axis direction measuring unit and the Z-axis direction measuring unit in the sensor module accurately measure the position relation of the measuring point space on the surface of the rotating shaft, and the position relation is utilized:
W is a function of the curve surface of the steering shaft, and utilizes The three-dimensional space graph of the steering shaft is represented, so that the control of the measurement welding point is facilitated;
wherein the method comprises the steps of Beta and c are influence factors in the x i、yi and z i directions respectively,C and d are the influencing factors in sin theta, cos theta and tan theta directions respectively, theta is the angle value measured by the angle measuring module, W is the value of the welding point for monitoring the steering shaft, X i、yi and Z i are the values of the welding point measured in the X, Y and Z axes respectively, i is 1,2, 3,4, 5, … … and n are positive integers, the welding point is measured from the three-dimensional direction by using the X-axis direction measuring unit, the Y-axis direction measuring unit and the Z-axis direction measuring unit respectively, and as each point meets the curve function of the steering shaft, X i、yi and Z i meet the following conditions As a function, when the angle of the steering shaft changes, i.e. the corresponding angles of inclination of x i、yi and z i also change, simultaneously Making corresponding revisions and adjustments, accurately measuring the positions of the measurement welding points, and storing the data;
Specifically, the analysis process of the sensor module further includes the following steps:
The sensor module is used for accurately measuring the distance and the angle of the steering shaft, points on the outer surface of the steering shaft are x i、yi and z i respectively, and the rotation angle of the steering shaft is theta, wherein i is 1,2, 3, 4, 5, … … and n are positive integers; simultaneous recording of
Specifically, the machine vision module analysis process includes the following:
The position and the gesture of the steering shaft are identified by the camera in the machine vision module, and the camera shoots the position and the gesture of the steering shaft, so that the shooting mode and real-time ensuring that the welding robot can accurately aim at the welding position
Specifically, the machine vision module analysis process includes the following:
the control module adopts a high-performance computer and professional welding control software, is responsible for controlling the action of the welding robot, transmitting signals of the sensor and adjusting welding parameters, has fault diagnosis and early warning functions, and can timely discover and treat potential problems;
the early warning function is used for comparing a steering shaft monitoring welding point measurement value at the moving position of the welding robot with an automatic steering shaft monitoring welding point standard value, and the comparison formula is as follows:
m= |W measurement-W standard|
Wherein M is an error value, W is a measurement value of a welding point monitored by the steering shaft, W is an automatic standard value of the welding point monitored by the steering shaft, and at the moment, M and M are reusedComparing whenAt the time, the position and angle of the steering shaft are reproducibly adjusted until the current condition is satisfiedWhen M measurements satisfyThe device can be used and automatically welded when in error, otherwise, the direction and angle of the steering shaft are readjusted so that the device can be adjusted, when the measured value is compared with the standard value, the mode of satisfying the linear programming is described when the measured value is in the error range, meanwhile, the position of the steering shaft and the welding position are indirectly described to be in accurate positions, the welding accuracy and the welding efficiency of the device are ensured,The formula obtains W measurement, and the W standard is a known value, and the W measurement is compared with the W standard to determine whether the W measurement accords with the W standardError, when the measured value meets the requirement, when M measurement meetsWhen in error, the device can be used and automatically welded, otherwise, the direction and the angle of the steering shaft are readjusted, so that the device can be adjusted to realize welding path planning and weld tracking, and early warning analysis is carried out, and the use effect and the working efficiency of the device are further improved.
The invention also provides an automatic welding method of the steering shaft, which comprises the following steps:
Step one: positioning and clamping a steering shaft to be automatically welded by using a flexible clamp in a clamp clamping module;
Step two: measuring and positioning the position of the steering shaft by utilizing an angle measuring unit, an X-axis direction measuring unit, a Y-axis direction measuring unit and a Z-axis direction measuring unit in the sensor module, recording the measured value and the standard measured value, and transmitting information to a control system;
step three: the machine vision module is used for monitoring and identifying the steering shaft in real time, judging whether the steering shaft is in an error range or not, and then realizing welding path planning and weld tracking according to error analysis;
Step four: the welding robot plans the route according to the analyzed later route, and the route is welded after planning;
step five: the control module comprises a controller, receives data of the sensor module and the machine vision module, and accurately controls and adjusts the welding robot to ensure welding quality.
Working principle: when the line detection is required to be carried out on the electric power grid line, positioning and clamping the steering shaft which is required to be automatically welded by utilizing a flexible clamp in a clamp clamping module; then the angle measuring unit, the X-axis direction measuring unit, the Y-axis direction measuring unit and the Z-axis direction measuring unit in the sensor module are utilized to measure and position the position of the steering shaft, the measured value is recorded with the standard measured value,
Wherein the method comprises the steps ofBeta and delta are influence factors of the directions of x i、yi and z i respectively,C and d are the influencing factors of sin theta, cos theta and tan theta directions respectively, wherein the angle readings measured by the theta angle measurement module are W is a planned route function for monitoring movement of the steering shaft, and the values measured in each direction of x i、yi and z i are values, i is 1,2,3,4,5, … … and n are positive integers, and information is transmitted to a control system; and then the machine vision module is used for monitoring and identifying the steering shaft in real time, judging whether the steering shaft is in the error range or not, and then according to the error analysis,Wherein M is the value of the error,For a set constant error value, when M measurement satisfiesWhen in error, the device can be used and automatically welded, otherwise, the direction and the angle of the steering shaft are readjusted, so that the device can be adjusted to realize welding path planning and weld tracking, and early warning analysis is carried out, and the use effect and the working efficiency of the device are further improved.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (5)
1. The automatic welding system for the steering shaft is characterized by comprising a sensor module, a machine vision module, a welding robot, a control module and a clamp clamping module, wherein the sensor module is used for detecting the position and the gesture of the steering shaft and providing the sensor module for the control module to adjust the angle and the position of the steering shaft in real time; the machine vision module is used for monitoring and identifying the angle and the position of the steering shaft in real time, so as to realize welding path planning and weld tracking; the welding robot is a six-axis industrial robot and comprises a basic structure welding gun, wherein the basic structure welding gun is used for automatically controlling the movement of the welding gun according to information provided by a machine vision module to finish welding operation; the control module comprises a controller and is used for receiving data of angles and positions sent by the sensor module and the machine vision module, accurately controlling and adjusting the welding robot and ensuring welding quality; the clamp clamping module comprises a flexible clamp for fixing the steering shaft;
the sensor module comprises an angle measuring unit, an X-axis direction measuring unit, a Y-axis direction measuring unit and a Z-axis direction measuring unit, wherein the angle measuring unit, the X-axis direction measuring unit, the Y-axis direction measuring unit and the Z-axis direction measuring unit are used for detecting a plurality of angles and positions of a steering shaft, and are beneficial to more accurate and efficient welding of the steering shaft;
The angle measuring unit is used for measuring the angle of the steering shaft in the clamping process, the steering shaft can rotate longitudinally around the circle center and rotate to move, so that the welded angle is adjusted, the X-axis direction measuring unit accurately measures the distance of the outer surface measuring point of the steering shaft in the X-axis direction through the X-axis direction measuring unit, and the Y-axis direction measuring unit accurately measures the distance of the outer surface measuring point of the steering shaft in the Y-axis direction; the Z-axis direction measuring unit is used for accurately measuring the Z-axis direction distance of the measuring point on the outer surface of the steering shaft;
The angle measuring unit, the X-axis direction measuring unit, the Y-axis direction measuring unit and the Z-axis direction measuring unit in the sensor module accurately measure the spatial position relation of the measuring points on the surface of the rotating shaft, and the method comprises the following steps:
w is a function of the curve surface of the steering shaft, and utilizes The three-dimensional space graph of the steering shaft is represented, so that the control of the measurement welding point is facilitated;
wherein the method comprises the steps of Beta and c are influence factors in the x i、yi and z i directions respectively,C and d are influence factors in sin theta, cos theta and tan theta directions respectively, theta is an angle value measured by an angle measuring module, W is a value of a welding point for monitoring a steering shaft, x i、yi and z i are values of the welding point measured in x, y and z axis directions respectively, wherein i is 1, 2,3, 4, 5, … … and n are positive integers;
The sensor module is used for measuring the distance and the angle of the steering shaft, points on the outer surface of the steering shaft are x i、yi and z i respectively, and the rotation angle of the steering shaft is theta, wherein i is 1,2, 3, 4, 5, … … and n are positive integers; simultaneous recording of
The machine vision module is characterized in that the position and the gesture of the steering shaft are identified by using a camera, and the camera can accurately aim at the welding position through shooting the position and the gesture of the steering shaft in the shooting mode and in real time;
the control module adopts a high-performance computer and professional welding control software, is responsible for controlling the action of the welding robot, transmitting signals of the sensor and adjusting welding parameters, has fault diagnosis and early warning functions, and can timely discover and treat potential problems;
the early warning function is used for comparing a steering shaft monitoring welding point measurement value at the moving position of the welding robot with an automatic steering shaft monitoring welding point standard value, and the comparison formula is as follows:
M＝∣W Measurement of -W standard of ∣；
Wherein M is an error value, W Measurement of is a measurement value of a welding point for monitoring the steering shaft, W standard of is an automatic standard value of the welding point for monitoring the steering shaft, and at the moment, M and M are reused Comparing whenAt the time, the position and angle of the steering shaft are reproducibly adjusted until the current condition is satisfiedWhen M Measurement of satisfiesWhen the error occurs, the device is used and automatic welding is performed, otherwise, the direction and the angle of the steering shaft are readjusted so that the device can be adjusted.
2. The automatic steering shaft welding system according to claim 1, wherein the machine vision module comprises a camera, the camera is used for photographing and monitoring the outer surface of the steering shaft in real time, the purpose of monitoring the steering shaft in real time is achieved, a worker can conveniently adjust the welding position in time, and the camera is used for photographing the welding process in real time.
3. The automatic steering shaft welding system according to claim 1, wherein the welding robot is a six-axis industrial robot including a basic structure welding gun, the welding robot being equipped with a dedicated welding head and a welding power source, and welding parameters being automatically adjusted according to the material and thickness of the steering shaft.
4. The automatic steering shaft welding system according to claim 1, wherein the clamp clamping module comprises a clamping unit and an adjustable unit, the clamping unit is used for fixing the steering shaft, the position and the posture of the steering shaft are stable in the welding process, the clamp in the adjustable unit is of an adjustable design and belongs to a flexible clamp, the clamp is clamped and fixed according to the size of the steering shaft, therefore steering shafts of different sizes and shapes can be adapted, the adjustable unit is used for controlling the clamping unit to clamp the steering shaft, and the effect of clamping the steering shaft is achieved.
5. An automatic steering shaft welding method, employing the automatic steering shaft welding system according to any one of claims 1 to 4, comprising the steps of:
Step one: positioning and clamping a steering shaft to be automatically welded by using a flexible clamp in a clamp clamping module;
Step two: measuring and positioning the position of the steering shaft by utilizing an angle measuring unit, an X-axis direction measuring unit, a Y-axis direction measuring unit and a Z-axis direction measuring unit in the sensor module, recording the measured value and the standard measured value, and transmitting information to a control system;
step three: the machine vision module is used for monitoring and identifying the steering shaft in real time, judging whether the steering shaft is in an error range or not, and then realizing welding path planning and weld tracking according to error analysis;
Step four: the welding robot plans the route according to the analyzed later route, and the route is welded after planning;
step five: the control module comprises a controller, receives data of the sensor module and the machine vision module, and accurately controls and adjusts the welding robot to ensure welding quality.
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| CN202410465994.8A CN118180738B (en) | 2024-04-18 | 2024-04-18 | Automatic welding system for steering shaft |
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| CN202410465994.8A CN118180738B (en) | 2024-04-18 | 2024-04-18 | Automatic welding system for steering shaft |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105728972A (en) * | 2016-04-26 | 2016-07-06 | 河北工业大学 | Concave-convex angle-variable welding joint self-adaptive tracking control device and method |
| CN106238969A (en) * | 2016-02-23 | 2016-12-21 | 南京中建化工设备制造有限公司 | Non-standard part automatic welding processing system based on structured light vision |
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| KR102591350B1 (en) * | 2018-12-13 | 2023-10-19 | 주식회사 성우하이텍 | Dynamic seam tracking device and laser welding system comprising same |
| CN112959329B (en) * | 2021-04-06 | 2022-03-11 | 南京航空航天大学 | Intelligent control welding system based on vision measurement |
| JP2023010001A (en) * | 2021-07-08 | 2023-01-20 | オークマ株式会社 | Five-axes control machine tool error identification method, error identification program, and five-axes control machine tool |
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| CN106238969A (en) * | 2016-02-23 | 2016-12-21 | 南京中建化工设备制造有限公司 | Non-standard part automatic welding processing system based on structured light vision |
| CN105728972A (en) * | 2016-04-26 | 2016-07-06 | 河北工业大学 | Concave-convex angle-variable welding joint self-adaptive tracking control device and method |
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