CN106736059A - A kind of Intelligent welding robot system based on Machine Vision Detection - Google Patents
A kind of Intelligent welding robot system based on Machine Vision Detection Download PDFInfo
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- CN106736059A CN106736059A CN201611098104.6A CN201611098104A CN106736059A CN 106736059 A CN106736059 A CN 106736059A CN 201611098104 A CN201611098104 A CN 201611098104A CN 106736059 A CN106736059 A CN 106736059A
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N2021/8411—Application to online plant, process monitoring
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Abstract
The invention discloses a kind of Intelligent welding robot system based on Machine Vision Detection；The position to be welded of processed product has colour code on conveyer belt, and above-mentioned colour code with conveyer belt color there is color to distinguish；Welding equipment is welded according to the instruction action of control device to processed product on conveyer belt；Image collecting device is used to gather the image information comprising processed product；Storage device is used for the image information and pre-set image information of storage image harvester collection；Above-mentioned image information and pre-set image information are carried out color contrast by analytical equipment, when above-mentioned image information and pre-set image information have chromatic zones timesharing, region to control device sending action signal and above-mentioned image information is different from color in pre-set image information is sent to control device as target area；After control device receives the actuating signal of analytical equipment transmission, instruction control welding equipment action makes welding equipment weld the target area.
Description
Technical field
The present invention relates to intelligent robot technology field, more particularly to a kind of Intelligent welding machine based on Machine Vision Detection
Device people's system.
Background technology
It is several main that the application of current welding robot is concentrated mainly on automobile, motorcycle, engineering machinery, railway locomotive etc.
Industry, as important equipment and means irreplaceable in advanced manufacturing industry, plays in high-quality, efficient welding production
Extremely important effect；Although welding robot is used widely aborning, welding quality is set to have obtained very big improvement,
The labor productivity of enterprise is effectively increased, but very many problem values are still present in the application are obtained us and go further
Research and improvement.
Existing robot major part has 6 axles.Wherein, end-of-arm tooling can be sent to different locus by 3 axles, and
The different requirements of other 3 solutions instrument attitude；Workpiece welding aborning needs lower welding displacement, so as to make commissure compared with
Good position welding, positioner moves to reach the requirement of welding, it is necessary to two cooperations of machinery compartment, process with robot coordinated
It is complicated.
Based on above mentioned problem, the present invention proposes a kind of Intelligent welding robot system based on Machine Vision Detection, profit
Color comparison and analysis are carried out to the image information for gathering with machine vision, and then according to comparison and analysis result to product to be processed
The position to be welded of product is welded, not only simple to operate, and welding precision is higher.
The content of the invention
Based on the technical problem that background technology is present, the present invention proposes a kind of Intelligent welding based on Machine Vision Detection
Robot system.
Intelligent welding robot system based on Machine Vision Detection proposed by the present invention, including：Transmission equipment, welding set
Standby, image collecting device, storage device, analytical equipment, control device；
Transmission equipment includes conveyer belt, and conveyer belt is used to place processed product, the position to be welded tool of processed product
There is colour code, and above-mentioned colour code with conveyer belt color there is color to distinguish；
Welding equipment is communicated to connect with control device, according to the instruction action of control device, to product to be processed on conveyer belt
Product are welded；
Image collecting device, for gathering the image information comprising processed product；
Storage device, for the image information and pre-set image information of the collection of storage image harvester；
Analytical equipment, obtain storage device in image acquisition device image information, and by above-mentioned image information with
Pre-set image information carries out color contrast, when above-mentioned image information and pre-set image information have a chromatic zones timesharing, analytical equipment to
Control device sending action signal, and region that above-mentioned image information is different from color in pre-set image information is used as target area
Domain is sent to control device；
Control device, communicates to connect with analytical equipment；After control device receives the actuating signal of analytical equipment transmission, refer to
Order control welding equipment action, makes welding equipment weld the target area.
Preferably, the color of the colour code of the position to be welded of the processed product is mutual with the color of the conveyer belt
Be contrastive colours, or the processed product position to be welded colour code color it is mutual each other with the color of the conveyer belt
Complementary color.
Preferably, also including detection means and warning device, detection means and warning device with control device communication link
Connect；
Detection means is used to gather the image information of welding product, and carries out color analysis to above-mentioned image information, when
In above-mentioned image information during the color of the colour code containing position to be welded, detection means sends confirmation letter to control device
Number；
Warning device is used to be alarmed according to the instruction of control device；Control device receives detection means and sends really
After recognizing signal, instruction control warning device is alarmed.
Preferably, the welding equipment includes drive mechanism, welding mechanism, finger of the drive mechanism according to control device
Order drives welding mechanism to weld processed product on conveyer belt.
Preferably, described image acquisition module uses CCD camera or CMOS cameras.
Present invention position to be welded towards processed products sets colour code, and is controlled above-mentioned colour code as work
Signal processed, makes welding equipment weld the welding position with colour code, believes using color as the control of welding position
Number improve the accuracy of welding position, and the color of the position to be welded color and conveyer belt that set colour code has color
Distinguish, accuracy of the analytical equipment when being analyzed to color is further ensured, so as to improve welding equipment to be welded
Connect accuracy when position is welded；Specifically, analytical equipment is by the image information of image acquisition device and default figure
As information carries out color contrast, when image information and pre-set image information have to be distinguished, show that the product on conveyer belt has
Mark to be processed, now analytical equipment is to control device sending action signal, and analytical equipment is by image information and pre-set image
The different region of color is sent to control device as target area in information, and above-mentioned target area is the area for needing welding
Domain, the actuating signal instruction control welding equipment action that this timed unit sends according to analytical equipment so that welding equipment pair
Above-mentioned target area is welded, and so completes the detection of position to be welded towards processed products and welding, is realized to product
The Based Intelligent Control welded, and ensure that the precision of welding effect；Further, the present invention is additionally provided with and welding effect is entered
Row detection and the device of alarm, are still present the color mark with position to be welded in the image information of welding product is detected
When knowing identical color, show that the position to be welded of product completes without fully welding, this timed unit is sent out to warning device
Send alarm signal so that relevant staff knows that product does not weld sufficient situation in the presence of some positions in time, reminds phase
Close staff to adopt remedial measures in time, be further ensured that the system welding effect towards processed products.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the Intelligent welding robot system based on Machine Vision Detection.
Specific embodiment
As shown in figure 1, Fig. 1 is a kind of Intelligent welding robot system based on Machine Vision Detection proposed by the present invention.
Reference picture 1, the Intelligent welding robot system based on Machine Vision Detection proposed by the present invention, including：Transmission sets
Standby, welding equipment, image collecting device, storage device, analytical equipment, control device；
Transmission equipment includes conveyer belt, and conveyer belt is used to place processed product, the position to be welded tool of processed product
There is colour code, and above-mentioned colour code with conveyer belt color there is color to distinguish；The position to be welded of the processed product
Colour code color and the conveyer belt color contrastive colours each other, or the position to be welded of the processed product face
The color of color and the conveyer belt that colour code is known complementary colours each other, in this way, the color of the colour code of position to be welded and institute
There is obvious color to distinguish to state the color of conveyer belt, facilitate analytical equipment to carry out color analysis, it is ensured that the precision of analysis result
And the degree of accuracy.
Welding equipment is communicated to connect with control device, according to the instruction action of control device, to product to be processed on conveyer belt
Product are welded；The welding equipment includes drive mechanism, welding mechanism, and the drive mechanism is driven according to the instruction of control device
Dynamic welding mechanism is welded to processed product on conveyer belt.
Image collecting device, for gathering the image information comprising processed product；Described image acquisition module uses CCD
Camera or CMOS cameras, are conducive to the definition of the image information of raising image acquisition device, so as to improve analytical equipment
The precision being analyzed to the image information of image acquisition device, and then improve the welding that welding equipment treats welding position
Efficiency and welding effect.
Storage device, for the image information and pre-set image information of the collection of storage image harvester；
Analytical equipment, obtain storage device in image acquisition device image information, and by above-mentioned image information with
Pre-set image information carries out color contrast, when above-mentioned image information and pre-set image information have chromatic zones timesharing, shows above-mentioned figure
As needing welding position in information, that is, need to weld above-mentioned position to be welded, now analytical equipment is sent out to control device
Actuating signal, and the region that above-mentioned image information is different from color in pre-set image information is sent to be sent to control as target area
Device processed；
Control device, communicates to connect with analytical equipment；After control device receives the actuating signal of analytical equipment transmission, refer to
Order control welding equipment action, makes welding equipment weld the target area, i.e. welding equipment is treated welding position and entered
Row welding, completes the welding job for processed product.
Further, to ensure the system welding effect towards processed products, present embodiment also includes detection means
And warning device, detection means and warning device are communicated to connect with control device；
Detection means is used to gather the image information of welding product, and carries out color analysis to above-mentioned image information, when
In above-mentioned image information during the color of the colour code containing position to be welded, show that the image information display of welding product is deposited
Do not welded completely in some regions, to ensure the welding effect of product, now detection means sends confirmation letter to control device
Number；
Warning device is used to be alarmed according to the instruction of control device；Control device receives detection means and sends really
After recognizing signal, instruction control warning device is alarmed, for existing in the product reminding relevant staff to know to have welded
Some regions are not welded completely, remind relevant staff to adopt remedial measures in time, to ensure the welding effect of product.
Present embodiment position to be welded towards processed products sets colour code, and using above-mentioned colour code as work
Make control signal, welding equipment is welded the welding position with colour code, using color as the control of welding position
Signal processed improves the accuracy of welding position, and the color of position to be welded setting colour code has with the color of conveyer belt
Color is distinguished, and accuracy of the analytical equipment when being analyzed to color is further ensured, so as to improve welding equipment pair
Accuracy when position to be welded is welded；Specifically, analytical equipment by the image information of image acquisition device with it is pre-
If image information carries out color contrast, when image information and pre-set image information have to be distinguished, show the product on conveyer belt
With mark to be processed, now analytical equipment is to control device sending action signal, and analytical equipment by image information with it is default
The different region of color is sent to control device as target area in image information, and above-mentioned target area is needs welding
Region, the actuating signal instruction control welding equipment action that this timed unit sends according to analytical equipment so that welding equipment
Above-mentioned target area is welded, the detection of position to be welded towards processed products and welding is so completed, realized to producing
The Based Intelligent Control that product are welded, and ensure that the precision of welding effect；Further, it is additionally provided with and welding effect is examined
The device surveyed and alarm, is still present the colour code phase with position to be welded in the image information of welding product is detected
With color when, show that the position to be welded of product completes without fully welding, this timed unit sends to warning device and reports
Alert signal so that relevant staff knows that product does not weld sufficient situation in the presence of some positions in time, reminds related work
Make personnel to adopt remedial measures in time, be further ensured that the system welding effect towards processed products.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technology according to the present invention scheme and its
Inventive concept is subject to equivalent or change, should all be included within the scope of the present invention.
Claims (5)
1. a kind of Intelligent welding robot system based on Machine Vision Detection, it is characterised in that including：Transmission equipment, welding
Equipment, image collecting device, storage device, analytical equipment, control device；
Transmission equipment includes conveyer belt, and conveyer belt is used to place processed product, and the position to be welded of processed product has face
Colour code is known, and above-mentioned colour code with conveyer belt color there is color to distinguish；
Welding equipment is communicated to connect with control device, according to the instruction action of control device, processed product on conveyer belt is entered
Row welding；
Image collecting device, for gathering the image information comprising processed product；
Storage device, for the image information and pre-set image information of the collection of storage image harvester；
Analytical equipment, obtains the image information of image acquisition device in storage device, and by above-mentioned image information with it is default
Image information carries out color contrast, and when above-mentioned image information and pre-set image information have chromatic zones timesharing, analytical equipment is to control
Device sending action signal, and region that above-mentioned image information is different from color in pre-set image information sends out as target area
Deliver to control device；
Control device, communicates to connect with analytical equipment；After control device receives the actuating signal of analytical equipment transmission, instruction control
Welding equipment action processed, makes welding equipment weld the target area.
2. the Intelligent welding robot system based on Machine Vision Detection according to claim 1, it is characterised in that described
The color of the colour code of the position to be welded of processed product and the color of the conveyer belt contrastive colours each other, or it is described to be added
The color of the colour code of the position to be welded of chemical product and the color of the conveyer belt complementary colours each other.
3. the Intelligent welding robot system based on Machine Vision Detection according to claim 1, it is characterised in that also wrap
Detection means and warning device are included, detection means and warning device are communicated to connect with control device；
Detection means is used to gather the image information of welding product, and carries out color analysis to above-mentioned image information, when above-mentioned
In image information during the color of the colour code containing position to be welded, detection means sends confirmation signal to control device；
Warning device is used to be alarmed according to the instruction of control device；Control device receives the confirmation letter of detection means transmission
After number, instruction control warning device is alarmed.
4. the Intelligent welding robot system based on Machine Vision Detection according to claim 1, it is characterised in that described
Welding equipment includes drive mechanism, welding mechanism, and the drive mechanism is according to the order-driven welding mechanism of control device to passing
Send and take processed product and welded.
5. the Intelligent welding robot system based on Machine Vision Detection according to claim 1, it is characterised in that described
Image capture module uses CCD camera or CMOS cameras.
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| CN201611098104.6A CN106736059B (en) | 2016-12-03 | 2016-12-03 | A kind of Intelligent welding robot system based on Machine Vision Detection |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611098104.6A CN106736059B (en) | 2016-12-03 | 2016-12-03 | A kind of Intelligent welding robot system based on Machine Vision Detection |
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| CN106736059A true CN106736059A (en) | 2017-05-31 |
| CN106736059B CN106736059B (en) | 2018-06-26 |
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| CN201611098104.6A Expired - Fee Related CN106736059B (en) | 2016-12-03 | 2016-12-03 | A kind of Intelligent welding robot system based on Machine Vision Detection |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108747008A (en) * | 2018-06-14 | 2018-11-06 | 深圳市天圳自动化技术有限公司 | A kind of mark welding system |
| CN110871313A (en) * | 2018-09-03 | 2020-03-10 | 苏州睿牛机器人技术有限公司 | Control method and device for crawling arc welding robot |
| CN111824740A (en) * | 2020-06-24 | 2020-10-27 | 苏宁云计算有限公司 | Document distribution method, device and system of document production line and computer equipment |
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Patent Citations (5)
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| JPH0579990A (en) * | 1991-09-18 | 1993-03-30 | Hitachi Ltd | Welding strength inspecting method and connection state monitoring device for laser beam welding |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108747008A (en) * | 2018-06-14 | 2018-11-06 | 深圳市天圳自动化技术有限公司 | A kind of mark welding system |
| CN110871313A (en) * | 2018-09-03 | 2020-03-10 | 苏州睿牛机器人技术有限公司 | Control method and device for crawling arc welding robot |
| CN111824740A (en) * | 2020-06-24 | 2020-10-27 | 苏宁云计算有限公司 | Document distribution method, device and system of document production line and computer equipment |
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| CN106736059B (en) | 2018-06-26 |
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