CN106736059B - 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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- CN106736059B CN106736059B CN201611098104.6A CN201611098104A CN106736059B CN 106736059 B CN106736059 B CN 106736059B CN 201611098104 A CN201611098104 A CN 201611098104A CN 106736059 B CN106736059 B CN 106736059B
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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 systems based on Machine Vision Detection；The position to be welded of processed product has colour code on conveyer belt, and above-mentioned colour code is distinguished with conveyer belt color with color；Welding equipment welds processed product on conveyer belt according to the instruction action of control device；Image collecting device includes the image information of processed product for acquisition；Storage device is used to store the image information and pre-set image information of image acquisition device；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 color differentiation, to control device sending action signal, and the region that 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 action 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 machines based on Machine Vision Detection
Device people's system.
Background technology
It is several main that the application of welding robot at present 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 in production, welding quality is made to have obtained very big improvement,
The problem of effectively increasing the labor productivity of enterprise, but still having many aspects in the application to be worth us to go further
Research and improvement.
Largely there are 6 axis in existing robot.Wherein, end-of-arm tooling can be sent to different spatial positions by 3 axis, and
The different requirements of other 3 solutions tool posture；Workpiece welding needs lower welding displacement in production, so as to make commissure compared with
Good position welding, positioner, to reach the requirement of welding, need the cooperation of two machinery compartments, process with robot coordinated movement
It is complicated.
Based on the above 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 of acquisition, and then according to comparison and analysis result to production to be processed with machine vision
The position to be welded of product is welded, not only easy to operate, but also welding precision is higher.
Invention content
Technical problems based on background technology, the present invention propose a kind of Intelligent welding based on Machine Vision Detection
Robot system.
Intelligent welding robot system proposed by the present invention based on Machine Vision Detection, including：Transmission equipment, welding are set
Standby, image collecting device, storage device, analytical equipment, control device；
Transmission equipment includes conveyer belt, and for placing processed product, the position to be welded of processed product has conveyer belt
There is colour code, and above-mentioned colour code is distinguished with conveyer belt color with color；
Welding equipment is communicated to connect with control device, according to the instruction action of control device, to production to be processed on conveyer belt
Product are welded；
Image collecting device, for acquiring the image information for including processed product；
Storage device, for storing the image information of image acquisition device and pre-set image information；
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 color differentiation, analytical equipment to
Control device sending action signal, and the region that above-mentioned image information is different from color in pre-set image information is as target area
Domain is sent to control device；
Control device is communicated to connect with analytical equipment；After control device receives the action signal of analytical equipment transmission, refer to
Control welding equipment action is enabled, welding equipment is made to weld the target area.
Preferably, the color of the colour code of the position to be welded of the processed product and the color of the conveyer belt are mutual
Color and the color of the conveyer belt for contrastive colours or the colour code of the position to be welded of the processed product is mutual each other
Complementary color.
Preferably, further include detection device and warning device, detection device and warning device with control device communication link
It connects；
Detection device carries out the image information of above-mentioned welding product for acquiring the image information of welding product
Color analysis, when containing the color of colour code of position to be welded in the image information of above-mentioned welding product, detection dress
It puts to control device and sends confirmation signal；
Warning device is used to be alarmed according to the instruction of control device；Control device receives detection device and sends really
After recognizing signal, instruction control warning device is alarmed.
Preferably, the welding equipment includes driving mechanism, welding mechanism, and the driving mechanism is according to the finger of control device
Driving welding mechanism is enabled to weld processed product on conveyer belt.
Preferably, described image harvester uses CCD camera or CMOS cameras.
The position to be welded setting colour code of the present invention towards processed products, and using above-mentioned colour code as work control
Signal processed makes welding equipment weld the welding position with colour code, believes using color as the control of welding position
The accuracy of welding position number is improved, and the color of position to be welded setting colour code and the color of conveyer belt have color
It distinguishes, accuracy of the analytical equipment when analyzing color is further ensured, so as to improve welding equipment to be welded
Connect accuracy when position is welded；Specifically, analytical equipment schemes the image information of image acquisition device with default
As information progress color contrast, when image information has with pre-set image information to be distinguished, show that the product on conveyer belt has
Mark to be processed, analytical equipment is to control device sending action signal at this time, 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 as needs the area welded
Domain, the action signal instruction control welding equipment action that control device is sent according to analytical equipment at this time so that welding equipment pair
Above-mentioned target area is welded, and is so completed the detection and welding of position to be welded towards processed products, is realized to product
The intelligent control welded, and ensure that the precision of welding effect；Further, the present invention be additionally provided with to welding effect into
Row detection and the device of alarm, when detecting that there are still color marks with position to be welded in the image information of welding product
It is sensible with color when, show that the position to be welded of product is completed without fully welding, control device is sent out to warning device at this time
Send alarm signal so that relevant staff knows that product not weld sufficient situation there are certain positions in time, reminds phase
It closes staff to adopt remedial measures in time, is further ensured that the welding effect of this system towards processed products.
Description of the drawings
Fig. 1 is a kind of structure diagram of the Intelligent welding robot system based on Machine Vision Detection.
Specific embodiment
As shown in FIG. 1, FIG. 1 is a kind of Intelligent welding robot systems based on Machine Vision Detection proposed by the present invention.
Reference Fig. 1, the Intelligent welding robot system proposed by the present invention based on Machine Vision Detection, including：Transmission is set
Standby, welding equipment, image collecting device, storage device, analytical equipment, control device；
Transmission equipment includes conveyer belt, and for placing processed product, the position to be welded of processed product has conveyer belt
There is colour code, and above-mentioned colour code is distinguished with conveyer belt color with color；The position to be welded of the processed product
Colour code color and the conveyer belt the color position to be welded of contrastive colours or the processed product each other 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
The color for stating conveyer belt is distinguished with apparent color, and analytical equipment is facilitated to carry out color analysis, ensures the precision of analysis result
And accuracy.
Welding equipment is communicated to connect with control device, according to the instruction action of control device, to production to be processed on conveyer belt
Product are welded；The welding equipment includes driving mechanism, welding mechanism, and the driving mechanism is driven according to the instruction of control device
Dynamic welding mechanism welds processed product on conveyer belt.
Image collecting device, for acquiring the image information for including processed product；Described image harvester uses CCD
Camera or CMOS cameras are conducive to improve the clarity of the image information of image acquisition device, so as to improve analytical equipment
To the precision that the image information of image acquisition device is analyzed, and then improve the welding that welding equipment treats welding position
Efficiency and welding effect.
Storage device, for storing the image information of image acquisition device and pre-set image information；
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 has color differentiation with pre-set image information, shows above-mentioned figure
It as needing welding position in information, that is, needs to weld above-mentioned position to be welded, analytical equipment is sent out to control device at this time
Action signal is sent, and the region that above-mentioned image information is different from color in pre-set image information is sent to control as target area
Device processed；
Control device is communicated to connect with analytical equipment；After control device receives the action signal of analytical equipment transmission, refer to
Enable control welding equipment action, welding equipment is made to weld the target area, i.e., welding equipment treat welding position into
Row welding, completes the welding job for processed product.
Further, to ensure the welding effect of this system towards processed products, present embodiment further includes detection device
And warning device, detection device and warning device are communicated to connect with control device；
Detection device carries out the image information of above-mentioned welding product for acquiring the image information of welding product
Color analysis when containing the color of colour code of position to be welded in the image information of above-mentioned welding product, shows
The image information display of welding product is not welded completely there are some regions, to ensure the welding effect of product, is detected at this time
Device sends confirmation signal to control device；
Warning device is used to be alarmed according to the instruction of control device；Control device receives detection device and sends really
After recognizing signal, instruction control warning device is alarmed, for existing in product relevant staff being reminded to know welded
Some regions are not welded completely, relevant staff are reminded to adopt remedial measures in time, to ensure the welding effect of product.
The position to be welded setting colour code of present embodiment towards processed products, and using above-mentioned colour code as work
Make control signal, welding equipment is made to weld 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 and the color of conveyer belt have
Color is distinguished, and accuracy of the analytical equipment when analyzing 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 has with pre-set image information to be distinguished, show the product on conveyer belt
With mark to be processed, analytical equipment is to control device sending action signal at this time, and analytical equipment by image information and is preset
The different region of color is sent to control device as target area in image information, and above-mentioned target area is to need what is welded
Region, the action signal instruction control welding equipment action that control device is sent according to analytical equipment at this time so that welding equipment
Above-mentioned target area is welded, so completes the detection and welding of position to be welded towards processed products, is realized to production
The 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
It surveys and the device of alarm, when detecting that there are still colour code phases with position to be welded in the image information of welding product
With color when, show that the position to be welded of product is completed without fully welding, control device sends to warning device and reports at this time
Alert signal so that relevant staff knows product there are certain positions not welding sufficient situation in time, reminds related work
Make personnel to adopt remedial measures in time, be further ensured that the welding effect of this system towards processed products.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (5)
1. a kind of Intelligent welding robot system based on Machine Vision Detection, which is characterized in that including：Transmission equipment, welding
Equipment, image collecting device, storage device, analytical equipment, control device；
Transmission equipment includes conveyer belt, and for conveyer belt for placing processed product, the position to be welded of processed product has face
Colour code is known, and above-mentioned colour code is distinguished with conveyer belt color with color；
Welding equipment and control device communicate to connect, according to the instruction action of control device, to processed product on conveyer belt into
Row welding；
Image collecting device, for acquiring the image information for including processed product；
Storage device, for storing the image information of image acquisition device and pre-set image information；
Analytical equipment obtains the image information of image acquisition device in storage device, and by above-mentioned image information with presetting
Image information carries out color contrast, and when above-mentioned image information and pre-set image information have color differentiation, analytical equipment is to control
Device sending action signal, and the region that above-mentioned image information is different from color in pre-set image information is sent out as target area
It send to control device；
Control device is communicated to connect with analytical equipment；After control device receives the action signal of analytical equipment transmission, instruction control
Welding equipment action processed, makes welding equipment weld the target area.
2. the Intelligent welding robot system according to claim 1 based on Machine Vision Detection, which is characterized 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 or described to be added each other
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 according to claim 1 based on Machine Vision Detection, which is characterized in that also wrap
Detection device and warning device are included, detection device and warning device are communicated to connect with control device；
Detection device carries out color for acquiring the image information of welding product to the image information of above-mentioned welding product
Analysis, when in the image information of above-mentioned welding product contain position to be welded colour code color when, detection device to
Control device sends confirmation signal；
Warning device is used to be alarmed according to the instruction of control device；Control device receives the confirmation letter of detection device transmission
After number, instruction control warning device is alarmed.
4. the Intelligent welding robot system according to claim 1 based on Machine Vision Detection, which is characterized in that described
Welding equipment includes driving mechanism, welding mechanism, and the driving mechanism is according to the order-driven welding mechanism of control device to passing
It send and takes processed product and welded.
5. the Intelligent welding robot system according to claim 1 based on Machine Vision Detection, which is characterized in that described
Image collecting device 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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| 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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| CN106736059B true CN106736059B (en) | 2018-06-26 |
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| CN108747008B (en) * | 2018-06-14 | 2020-04-07 | 深圳市天圳自动化技术有限公司 | Sign 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 |
| CN111824740B (en) * | 2020-06-24 | 2023-04-18 | 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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| CN101791750A (en) * | 2009-12-31 | 2010-08-04 | 哈尔滨工业大学 | Robot remote control welding system and method used for remote welding |
| CN102539439A (en) * | 2011-12-23 | 2012-07-04 | 青岛华仁药业股份有限公司 | Online lamp inspection line for visible foreign matters |
| CN103240550A (en) * | 2013-05-08 | 2013-08-14 | 北京斯达峰控制技术有限公司 | Numerical control welding method, numerical control welding device and numerical control welding system |
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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 |
| KR101059868B1 (en) * | 2008-11-10 | 2011-08-29 | 삼성중공업 주식회사 | Horizontal control device of welding robot and its method |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101791750A (en) * | 2009-12-31 | 2010-08-04 | 哈尔滨工业大学 | Robot remote control welding system and method used for remote welding |
| CN102539439A (en) * | 2011-12-23 | 2012-07-04 | 青岛华仁药业股份有限公司 | Online lamp inspection line for visible foreign matters |
| CN103240550A (en) * | 2013-05-08 | 2013-08-14 | 北京斯达峰控制技术有限公司 | Numerical control welding method, numerical control welding device and numerical control welding system |
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