CN204524507U - Arc welding robot intelligence coupled system - Google Patents
Arc welding robot intelligence coupled system Download PDFInfo
- Publication number
- CN204524507U CN204524507U CN201520040197.1U CN201520040197U CN204524507U CN 204524507 U CN204524507 U CN 204524507U CN 201520040197 U CN201520040197 U CN 201520040197U CN 204524507 U CN204524507 U CN 204524507U
- Authority
- CN
- China
- Prior art keywords
- welding
- image processor
- definition camera
- control module
- executing agency
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
A kind of arc welding robot intelligence coupled system, comprises welding equipment system and tracing system; Welding equipment system comprise welding gun, for control posture of welding torch and with the executing agency of the relative position of weld seam and for receive image processor information data, send the control module controlling posture of welding torch and the instruction with weld seam relative position thereof to executing agency; Control module is connected with actuating mechanism circuit by the servo drive control interface of system bus; Harmonic drive is adopted between executing agency and welding gun; Described tracing system comprise for gather posture of welding torch and with the high-definition camera of the light signal of weld seam relative position and the image processor transmitting the viewdata signal come for the treatment of high-definition camera, high-definition camera is connected with image processor, and image processor is connected with control module by the input/output interface of system bus.This arc welding robot intelligence coupled system focusing speed is fast, and image accuracy of judgement, dependable performance, welding quality is good, applied widely.
Description
Technical field
The utility model 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 purpose of this utility model is for the problems referred to above, provides a kind of arc welding robot intelligence coupled system, 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 adopted in the utility model is: a kind of arc welding robot intelligence coupled system, comprises welding equipment system and tracing system;
Described welding equipment system comprise welding gun, for control posture of welding torch and with the executing agency of the relative position of weld seam and for receive image processor information data, send the control module controlling posture of welding torch and the instruction with weld seam relative position thereof to executing agency;
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;
Described tracing system comprise for gather posture of welding torch and with the high-definition camera of the light signal of weld seam relative position and the image processor transmitting the viewdata signal come for the treatment of high-definition camera, described high-definition camera is connected with image processor, and image processor is connected with control module by the input/output interface of system bus.
Its further technical scheme is: described high-definition camera front end connects filtration module by transmission device, the insulating glass plate of the flue dust produced when described filtration module comprises for filtering welding and for receiving and filtering welding time the optical filter of arc light that produces.
Further technical scheme is: described control module comprises: for input weldingvoltage, current parameters operation keyboard, carry out for Butt welding gun preliminary calibration calibration box, for show in real time welded condition display, for the CPU control centre of data processing and the memory for depositing pending view data that is connected with its circuit.
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 utility model has following beneficial effect:
1. the arc welding robot intelligence coupled system of the utility model 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 utility model 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 utility model, 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 the utility model welding equipment system 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 utility model is further described.
Accompanying drawing explanation
Fig. 1 is the arc welding robot intelligence coupled system structural representation of the utility model;
Fig. 2 is the arc welding robot intelligence coupled system tracing system theory diagram of the utility model;
Fig. 3 is the arc welding robot intelligence coupled system structured flowchart of the utility model;
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 utility model 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 utility model, 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) comprise welding gun (21), for control posture of welding torch and the relative position with weld seam thereof executing agency (22) and for receive image processor information data, send the control module (23) controlling posture of welding torch and the instruction with weld seam relative position thereof to executing agency;
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 the high-definition camera (32) for gathering posture of welding torch and the light signal with weld seam relative position thereof and transmits the image processor (33) of the viewdata signal come for the treatment of high-definition camera, described high-definition camera is connected with image processor, and image processor is connected with control module (23) by the input/output interface (41) of system bus.
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, the insulating glass plate (311) of the flue dust produced when described filtration module comprises for filtering welding and for receiving and filtering welding time the optical filter (312) of arc light that produces.
3. arc welding robot intelligence coupled system as claimed in claim 1 or 2, is characterized in that: described control module comprises: for input weldingvoltage, current parameters operation keyboard, carry out for Butt welding gun preliminary calibration calibration box, for show in real time welded condition display, for the CPU control centre of data processing and the memory for depositing pending view data that is connected with its circuit.
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520040197.1U CN204524507U (en) | 2015-01-20 | 2015-01-20 | Arc welding robot intelligence coupled system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520040197.1U CN204524507U (en) | 2015-01-20 | 2015-01-20 | Arc welding robot intelligence coupled system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204524507U true CN204524507U (en) | 2015-08-05 |
Family
ID=53738560
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520040197.1U Expired - Fee Related CN204524507U (en) | 2015-01-20 | 2015-01-20 | Arc welding robot intelligence coupled system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204524507U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104588837A (en) * | 2015-01-20 | 2015-05-06 | 柳州铁道职业技术学院 | Intelligent coupling system of arc welding robot |
| CN108705539A (en) * | 2018-04-10 | 2018-10-26 | 柳州铁道职业技术学院 | Weld seam grinding and polishing robot control system and its method |
-
2015
- 2015-01-20 CN CN201520040197.1U patent/CN204524507U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104588837A (en) * | 2015-01-20 | 2015-05-06 | 柳州铁道职业技术学院 | Intelligent coupling system of arc welding robot |
| CN108705539A (en) * | 2018-04-10 | 2018-10-26 | 柳州铁道职业技术学院 | Weld seam grinding and polishing robot control system and its method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104588837A (en) | Intelligent coupling system of arc welding robot | |
| CN104588838B (en) | A kind of automatic tracing control of welding gun on-line amending system and control method thereof | |
| CN206263418U (en) | A kind of real-time seam tracking system of six degree of freedom welding robot line laser | |
| CN104493336B (en) | Welded joint detecting and tracking method based on video analysis | |
| CN102029463B (en) | Device for controlling deflection correction of MIG/MAG backing weld joint of pipe based on visual sensor | |
| CN104057202B (en) | Based on the autonomous welding system of remote monitoring mobile robot and the method for FPGA | |
| CN203791807U (en) | Welding robot | |
| Ma et al. | Robot welding seam tracking method based on passive vision for thin plate closed-gap butt welding | |
| CN109676135A (en) | A kind of laser gain material manufacture vision grey value difference on-line monitoring and bug repairing apparatus | |
| CN109664008B (en) | Repair welding system and intelligent repair welding method | |
| CN104741778B (en) | A kind of Combined Welding Weld Seam Tracking Control system | |
| CN112191993B (en) | Argon arc welding seam tracking system and method | |
| CN106392267A (en) | Line laser real-time welding seam tracking method for six-freedom-degree welding robot | |
| CN114633021B (en) | Real-time vision acquisition laser welding method and device thereof | |
| CN205254348U (en) | Laser welding real time on line monitoring system to complicated curved surface component | |
| CN104014905A (en) | Observation device and method of three-dimensional shape of molten pool in GTAW welding process | |
| CN101118430A (en) | On-line monitoring and optimizing method of processing parameter during process of aluminium alloy fusion welding | |
| CN108489986A (en) | A kind of increasing material manufacturing on-line checking and restorative procedure | |
| CN107688028B (en) | Laser additive manufacturing lap joint rate online monitoring method | |
| CN102284769A (en) | System and method for initial welding position identification of robot based on monocular vision sensing | |
| CN107649804A (en) | A kind of increasing material manufacturing fusion penetration on-line checking and control system | |
| CN108788467A (en) | A kind of Intelligent Laser welding system towards aerospace structural component | |
| CN204524507U (en) | Arc welding robot intelligence coupled system | |
| CN116586719A (en) | Automatic welding monitoring system, method, equipment and readable storage medium | |
| CN109014502A (en) | A kind of weld seam tracing system and method based on laser sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150805 Termination date: 20180120 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |