CN205869697U - Device of automatic projection welding accurate positioning of robot - Google Patents
Device of automatic projection welding accurate positioning of robot Download PDFInfo
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- CN205869697U CN205869697U CN201620752014.3U CN201620752014U CN205869697U CN 205869697 U CN205869697 U CN 205869697U CN 201620752014 U CN201620752014 U CN 201620752014U CN 205869697 U CN205869697 U CN 205869697U
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- robot
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- projection welding
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Abstract
The utility model relates to a device of automatic projection welding accurate positioning of robot, including visual system, control module and robot, the tongs of robot picks by the nut of projection welding, and control module's input is connected to the output of visual system, and machine people's input is connected to control module's output, the visual system includes camera, standard image, compares module and digital process module, and the pattern fabrication captured images of the nut that the tongs snatched is shot to the camera, deviation signal is compared through comparing in mesoporous position of captured images and the mesoporous position of standard image after the module is compared, compare deviation signal and form deviation data signal after the digital process module is handled, deviation data signal transmits to control module, control module sends deviation data signal to the robot, the robot is according to deviation digital signal control projection welding welder's welding position.
Description
Technical field
This utility model relates to auto parts and components and produces apparatus field, particularly to the automatic projection welding device of robot.
Background technology
Automobile industry the most all uses first punching at present, just goes up arc welding, because arc-welding has deformation after projection welding is complete, it is impossible to protect
The precision of card nut location.For ensureing nut location degree, use the technique removing punching project-welding nut after having welded.Go after having welded
Punching project-welding nut, owing to punching position has certain tolerance, robot gripper location cannot keep with the position location of punching
Unanimously, the gap with hole of projection welding alignment pin only has 0.2mm, directly results in robot and cannot be put into accurately by part every time
On projection welding alignment pin, thus nut is caused to be partially welded, it is impossible to ensure the axiality in hole.
Utility model content
The shortcoming existed for above-mentioned robot project-welding nut, applicant studies and improves, it is provided that a kind of raising is welded
Connect the robot pinpoint device of automatic projection welding of precision and quality.
In order to solve the problems referred to above, this utility model following scheme of employing:
A kind of robot pinpoint device of automatic projection welding, including visual system, control module and robot, robot
Handgrip capture by the nut of projection welding, the input of the outfan link control module of visual system, the outfan of control module
Connect the input of robot；Described visual system includes photographic head, standard picture, comparing module and digital signal processing module, takes the photograph
As the image formation shooting image of the nut that head shooting handgrip captures, the position of described shooting image mesopore and standard picture mesopore
Position by obtaining comparison deviation signal after comparison module, described comparison deviation signal processes through digital signal processing module
Rear formation deviation digital signal, deviation digital data transmission is to control module, and deviation digital signal is sent by described control module
To robot, described robot is according to the welding position of deviation Digital Signals projection welding welding gun.
Of the present utility model have the technical effect that
This utility model uses visual system, after robot picks up part, shoots the position in hole and enters with normal place
Row compares, and the deviation value comparing out is sent to robot by visual system, and X, Y, Z of the position compensating robot projection welding sit
Mark carries out projection welding, thus ensures the accuracy of projection welding, improves welding quality.
Accompanying drawing explanation
Fig. 1 is control principle block diagram of the present utility model.
In figure: 1, visual system；11, photographic head；12, standard picture；13, comparing module；14, digital signal processing module；15、
Shooting image；2, control module；3, robot；4, handgrip；5, nut；6, projection welding welding gun.
Detailed description of the invention
Below in conjunction with the accompanying drawings detailed description of the invention of the present utility model is described further.
As it is shown in figure 1, the pinpoint device of the automatic projection welding of the robot of the present embodiment, including visual system 1, control mould
Block 2 and robot 3, the handgrip 4 of robot 3 captures by the nut 5 of projection welding, the outfan link control module 2 of visual system 1
Input, the outfan of control module 2 connects the input of robot 3；Visual system 1 include photographic head 11, standard picture 12,
Comparing module 13 and digital signal processing module 14, photographic head 11 shoots the image of the nut 5 that handgrip 4 captures and forms shooting image 15,
The position of shooting image 15 mesopore and the position of standard picture 12 mesopore are believed by obtaining comparison deviation after comparing module 13 comparison
Number, comparison deviation signal forms deviation digital signal after digital signal processing module 14 processes, and deviation digital data transmission is to control
Molding block 2, deviation digital signal is sent to robot 3 by control module 2, and robot 3 is according to deviation Digital Signals projection welding
The welding position of welding gun 6.
By good for robot projection welding position adjustment, then robot 3 is moved to photographic head 11 position of visual system 1, by zero
The hole alignment camera lens of part nut 5, shoots, and is set as standard picture 12 in visual system 1；Automatically during projection welding, machine
People 3 captures part nut 5 and is first moved to, at visual system 1, take pictures position, hole, the normal place of contrast standard image 12, meter
Calculate deviation value；Deviation value is sent to robot 3 by visual system 1, forms instruction and stores；Robot 3 is entering projection welding
During place, adjust the position of projection welding welding gun 6, out code after projection welding according to the instruction of deviation value.
In this utility model, control module 2, comparing module 13, digital signal processing module 14 are prior art, therefore it is concrete
Structure and principle describe in detail.
Embodiment provided above is better embodiment of the present utility model, is only used for convenient explanation this utility model, and
Non-this utility model is made any pro forma restriction, any art has usually intellectual, if without departing from
In the range of the carried technical characteristic of this utility model, the done local of this utility model disclosed technology content is utilized to change or repair
The Equivalent embodiments of decorations, and without departing from technical characteristic content of the present utility model, all still fall within this utility model technical characteristic
In the range of.
Claims (1)
1. the robot pinpoint device of automatic projection welding, it is characterised in that: include visual system (1), control module (2)
And robot (3), the handgrip (4) of robot (3) captures by the nut (5) of projection welding, and the outfan of visual system (1) connects control
The input of module (2), the outfan of control module (2) connects the input of robot (3)；Described visual system (1) includes
Photographic head (11), standard picture (12), comparing module (13) and digital signal processing module (14), photographic head (11) shooting handgrip (4)
The image of the nut (5) captured forms shooting image (15), the position of described shooting image (15) mesopore and standard picture (12)
The position of mesopore obtains comparison deviation signal by after comparing module (13) comparison, and described comparison deviation signal is through digital processing
Module (14) forms deviation digital signal, deviation digital data transmission to control module (2), described control module (2) after processing
Sending deviation digital signal to robot (3), described robot (3) is according to deviation Digital Signals projection welding welding gun (6)
Welding position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620752014.3U CN205869697U (en) | 2016-07-18 | 2016-07-18 | Device of automatic projection welding accurate positioning of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620752014.3U CN205869697U (en) | 2016-07-18 | 2016-07-18 | Device of automatic projection welding accurate positioning of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205869697U true CN205869697U (en) | 2017-01-11 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620752014.3U Expired - Fee Related CN205869697U (en) | 2016-07-18 | 2016-07-18 | Device of automatic projection welding accurate positioning of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205869697U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129457A (en) * | 2017-06-15 | 2019-01-04 | 天津玛斯特车身装备技术有限公司 | Robot automation's visual identity and welding system |
| CN112620908A (en) * | 2020-12-28 | 2021-04-09 | 武汉智艾德科技有限公司 | Automatic projection welding system and method based on robot and vision matching |
| CN113118604A (en) * | 2021-04-23 | 2021-07-16 | 上海交通大学 | High-precision projection welding error compensation system based on robot hand-eye visual feedback |
-
2016
- 2016-07-18 CN CN201620752014.3U patent/CN205869697U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129457A (en) * | 2017-06-15 | 2019-01-04 | 天津玛斯特车身装备技术有限公司 | Robot automation's visual identity and welding system |
| CN112620908A (en) * | 2020-12-28 | 2021-04-09 | 武汉智艾德科技有限公司 | Automatic projection welding system and method based on robot and vision matching |
| CN113118604A (en) * | 2021-04-23 | 2021-07-16 | 上海交通大学 | High-precision projection welding error compensation system based on robot hand-eye visual feedback |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170111 Termination date: 20210718 |