CN103737591A - Robot welding system - Google Patents
Robot welding system Download PDFInfo
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- CN103737591A CN103737591A CN201310715682.XA CN201310715682A CN103737591A CN 103737591 A CN103737591 A CN 103737591A CN 201310715682 A CN201310715682 A CN 201310715682A CN 103737591 A CN103737591 A CN 103737591A
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Abstract
The invention provides a robot welding system which comprises a control system, a coordination system, an execution system and an execution mechanism. The control system is connected with the coordination system, the coordination system is connected with the execution system, and the execution system is connected with the execution mechanism. The execution mechanism comprises an arc welding robot, a positioner and a laser scanning drive. A tracking sensor and a penetration sensor are arranged on the positioner, one end of the tracking sensor is connected with a signal interface, the other end of the tracking sensor is connected with the laser scanning drive, and the penetration sensor is connected with an image interface. The system can achieve automatic real-time tracking of a welding gap and further achieve online adjustment of welding parameters and real-time control of the welding gap quality, improves productivity, improves labor condition, stabilizes and ensures welding quality and achieves welding automation of small-batch products.
Description
Technical field
The present invention relates to robot technical field, relate in particular to a kind of robot welding system.
Background technology
Development along with advanced manufacturing technology, the automation, flexibility and the intellectuality that realize welding product manufacture have become inexorable trend, adopt robot welding to become the modern outstanding feature of welding automatization technology, welding robot, owing to having advantages of highly versatile, reliable operation, is subject to people and more and more payes attention to.
But at present, the welding of domestic arc welding robot is because path of welding and welding parameter set in advance according to practical business part, in welding, be to lack external information sensing and adjust in real time that to control this class arc welding robot of function strict to the stability requirement of welding operating condition, during welding, lack " flexibility ", show obvious shortcoming, therefore, in solution robot welding process, the impact of various uncertain factor welding qualities is particularly important.
Summary of the invention
The invention provides a kind of robot welding system, to overcome the impact of various uncertain factor welding qualities in robot welding process, improve the intelligent level of robot manipulating task and the reliability of work.
In order to address the above problem, the invention provides a kind of robot welding system, comprise control system, coherent system, executive system, executing agency, described control system is connected with coherent system, described coherent system is connected with executive system, described executive system is connected with executing agency, described executing agency comprises arc-welding robot, deflection machine, laser scanning drives, on described deflection machine, be provided with tracking sensing and melt transparent transmission sense, one end of described tracking sensing is connected with signaling interface, the other end connects laser scanning and drives, describedly melt transparent transmission sense and be connected with image interface.
Further improve and be: described executive system comprises welding machine, robot controller, melts control computer, follows the tracks of and control computer, described welding machine and robot controller are connected on arc welding robot, described melting is provided with intelligent controller on control computer and is connected with deflection machine, being provided with feature extraction is connected with image interface, described tracking is controlled on computer and is provided with tracking control unit and feature extraction, described tracking control unit drives and is connected with laser scanning, and feature extraction is connected with signaling interface.
Further improve and be: described coherent system be center-control coordinate computer with welding machine, robot controller, melt control computer, follow the tracks of control computer and be connected.
Further improve and be: described control system is that human-computer interaction interface and mission planning CAD system are connected on center-control coordination computer.
The invention has the beneficial effects as follows: the present invention can not only realize the automatic real-time track of weld seam, can also realize the online adjustment of welding parameter and the real-time control of weldquality, improve productivity ratio, improve working conditions, stable and guarantee welding quality, realize the Automation of Welding of be pilot.
Accompanying drawing explanation
Fig. 1 is schematic diagram of the present invention.
Fig. 2 is robot welding of the present invention path and parametric joint planning chart.
The specific embodiment
In order to deepen the understanding of the present invention, below in conjunction with embodiment, the invention will be further described, and the present embodiment only, for explaining the present invention, does not form limiting the scope of the present invention.
The present embodiment provides a kind of robot welding system, comprise control system, coherent system, executive system, executing agency, described control system is connected with coherent system, described coherent system is connected with executive system, described executive system is connected with executing agency, described executing agency comprises that arc-welding robot, deflection machine, laser scanning drive, on described deflection machine, be provided with tracking sensing and melt transparent transmission sense, one end of described tracking sensing is connected with signaling interface, the other end connects laser scanning and drives, described in melt transparent transmission sense and be connected with image interface.
Described executive system comprises welding machine, robot controller, melts control computer, follows the tracks of and control computer, described welding machine and robot controller are connected on arc welding robot, described melting is provided with intelligent controller on control computer and is connected with deflection machine, being provided with feature extraction is connected with image interface, described tracking is controlled on computer and is provided with tracking control unit and feature extraction, described tracking control unit drives and is connected with laser scanning, and feature extraction is connected with signaling interface.
Described coherent system be center-control coordinate computer with welding machine, robot controller, melt control computer, follow the tracks of control computer and be connected.
Described control system is that human-computer interaction interface and mission planning CAD system are connected on center-control coordination computer.
The present invention can not only realize the automatic real-time track of weld seam, can also realize the online adjustment of welding parameter and the real-time control of weldquality, has improved productivity ratio, improves working conditions, stable and guarantee welding quality, realize the Automation of Welding of be pilot.
Claims (4)
1. a robot welding system, it is characterized in that: comprise control system, coherent system, executive system, executing agency, described control system is connected with coherent system, described coherent system is connected with executive system, described executive system is connected with executing agency, described executing agency comprises that arc-welding robot, deflection machine, laser scanning drive, on described deflection machine, be provided with tracking sensing and melt transparent transmission sense, one end of described tracking sensing is connected with signaling interface, the other end connects laser scanning and drives, described in melt transparent transmission sense and be connected with image interface.
2. a kind of robot welding system as claimed in claim 1, it is characterized in that: described executive system comprises welding machine, robot controller, melt control computer, follow the tracks of and control computer, described welding machine and robot controller are connected on arc welding robot, described melting is provided with intelligent controller on control computer and is connected with deflection machine, being provided with feature extraction is connected with image interface, described tracking is controlled on computer and is provided with tracking control unit and feature extraction, described tracking control unit drives and is connected with laser scanning, feature extraction is connected with signaling interface.
3. a kind of robot welding system as claimed in claim 1, is characterized in that: described coherent system be center-control coordinate computer with welding machine, robot controller, melt control computer, follow the tracks of control computer and be connected.
4. a kind of robot welding system as claimed in claim 1, is characterized in that: described control system is that human-computer interaction interface and mission planning CAD system are connected on center-control coordination computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310715682.XA CN103737591A (en) | 2013-12-23 | 2013-12-23 | Robot welding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310715682.XA CN103737591A (en) | 2013-12-23 | 2013-12-23 | Robot welding system |
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| Publication Number | Publication Date |
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| CN103737591A true CN103737591A (en) | 2014-04-23 |
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| CN201310715682.XA Pending CN103737591A (en) | 2013-12-23 | 2013-12-23 | Robot welding system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105034000A (en) * | 2015-07-13 | 2015-11-11 | 浙江大学 | Industrial robot imaging control system based on CAD import |
| CN105479029A (en) * | 2015-12-30 | 2016-04-13 | 中北大学 | Automatic tracking and monitoring system of direct welding machine |
| CN105562929A (en) * | 2016-02-23 | 2016-05-11 | 江苏拓平密封科技有限公司 | Brush type seal robot welding system based on ultrasonic detection technology |
| CN106041258A (en) * | 2016-08-17 | 2016-10-26 | 江苏北人机器人系统股份有限公司 | Intelligent robot welding system |
| CN106180965A (en) * | 2016-07-18 | 2016-12-07 | 上海发那科机器人有限公司 | The laser scanning welder of a kind of robot and method |
| CN107081504A (en) * | 2017-06-19 | 2017-08-22 | 江西洪都航空工业集团有限责任公司 | The human-computer interface control system of the autonomous special welding machine of circular weld |
| CN107812639A (en) * | 2017-11-27 | 2018-03-20 | 上海卫星装备研究所 | One kind is applied to spacecraft small-lot components thermal control coating mechanical arm finishing system |
| CN110524155A (en) * | 2019-08-27 | 2019-12-03 | 南京涵曦月自动化科技有限公司 | A kind of remote real-time monitoring system for welding robot system |
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| JPH07104831A (en) * | 1993-10-08 | 1995-04-21 | Fanuc Ltd | Automatic position teaching method for robot using laser sensor |
| CN201300288Y (en) * | 2008-10-31 | 2009-09-02 | 鞍山荣邦电力电子有限公司 | Automatic seam tracking system |
| CN101745765A (en) * | 2009-12-15 | 2010-06-23 | 哈尔滨工业大学 | Man-machine collaboration shared control remote welding method |
| CN201979219U (en) * | 2010-12-30 | 2011-09-21 | 杭州中科新松光电有限公司 | Laser welding machine tool |
| CN202438792U (en) * | 2011-12-20 | 2012-09-19 | 徐州工程学院 | Control system for welding robot |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH07104831A (en) * | 1993-10-08 | 1995-04-21 | Fanuc Ltd | Automatic position teaching method for robot using laser sensor |
| CN201300288Y (en) * | 2008-10-31 | 2009-09-02 | 鞍山荣邦电力电子有限公司 | Automatic seam tracking system |
| CN101745765A (en) * | 2009-12-15 | 2010-06-23 | 哈尔滨工业大学 | Man-machine collaboration shared control remote welding method |
| CN201979219U (en) * | 2010-12-30 | 2011-09-21 | 杭州中科新松光电有限公司 | Laser welding machine tool |
| CN202438792U (en) * | 2011-12-20 | 2012-09-19 | 徐州工程学院 | Control system for welding robot |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105034000A (en) * | 2015-07-13 | 2015-11-11 | 浙江大学 | Industrial robot imaging control system based on CAD import |
| CN105479029A (en) * | 2015-12-30 | 2016-04-13 | 中北大学 | Automatic tracking and monitoring system of direct welding machine |
| CN105562929A (en) * | 2016-02-23 | 2016-05-11 | 江苏拓平密封科技有限公司 | Brush type seal robot welding system based on ultrasonic detection technology |
| CN106180965A (en) * | 2016-07-18 | 2016-12-07 | 上海发那科机器人有限公司 | The laser scanning welder of a kind of robot and method |
| CN106041258A (en) * | 2016-08-17 | 2016-10-26 | 江苏北人机器人系统股份有限公司 | Intelligent robot welding system |
| CN106041258B (en) * | 2016-08-17 | 2018-02-06 | 江苏北人机器人系统股份有限公司 | A kind of intelligent robot's welding system |
| CN107081504A (en) * | 2017-06-19 | 2017-08-22 | 江西洪都航空工业集团有限责任公司 | The human-computer interface control system of the autonomous special welding machine of circular weld |
| CN107812639A (en) * | 2017-11-27 | 2018-03-20 | 上海卫星装备研究所 | One kind is applied to spacecraft small-lot components thermal control coating mechanical arm finishing system |
| CN110524155A (en) * | 2019-08-27 | 2019-12-03 | 南京涵曦月自动化科技有限公司 | A kind of remote real-time monitoring system for welding robot system |
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Application publication date: 20140423 |