CN104625510A - Robot welding monitoring system - Google Patents
Robot welding monitoring system Download PDFInfo
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- CN104625510A CN104625510A CN201510020716.2A CN201510020716A CN104625510A CN 104625510 A CN104625510 A CN 104625510A CN 201510020716 A CN201510020716 A CN 201510020716A CN 104625510 A CN104625510 A CN 104625510A
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Abstract
A robot welding monitoring system is composed of a monitoring system, a welding system, a security system and a control system which are electrically connected. An internal monitoring camera 10 is used for observing the working state of equipment in a welding room, and a welding monitoring camera 11 can observe the working environment of a welding head 7 and the condition of a weld pool. A clamp positioning and recognizing camera 12 has a recognition function and can judge whether a workpiece is installed in place according to the position change of the workpiece. The welding system, the monitoring system, the control system and the security system are integrated to form the robot laser welding monitoring system. The four systems can be organically combined into a whole to form a monitoring network without any dead corner, the condition in the welding safety room can be monitored in real time, the welding efficiency and welding effect of a whole work station are improved, and laser injuries are avoided due to the fact that people do not make direct contact with laser during demonstration and debugging.
Description
Technical field
The present invention relates to robotic welding technology field, specifically provide a kind of robot welding monitoring system.
Background technology
Along with China's industry fast development, welding robot should be widely applied to the numerous areas such as machinery, automobile, boats and ships, Aerospace manufacturing.The application of welding robot, mainly in order to adapt to the welding requirements of higher standard, meeting stricter index, providing solder technology solution more accurately.So in daily welding robot application aspect, a set of perfect monitoring system must be provided, welding process is monitored in real time, discovery goes wrong, shut-down operation immediately, while ensureing welding quality, effectively evades the security incident caused because of an operation and occurs.
Laser weld field domestic is at present be in the environment of sealing mostly, and piece installing puts in place main by manual confirmation.Therefore in such a case, the working environment in safe house can not be observed very intuitively, have following deficiency:
1, can not observe directly the working condition of plumb joint, after workpiece can only be with to weld, butt welded seam detects;
2, in the middle of welding process, the duty of safe house internal unit cannot be observed;
3, confirm whether workpiece is in place to rely on completely manually to determine, due to inadvertent operation error, the inaccurate situation that puts in place can be produced, cannot ensure that every subjob can be in place accurately, cannot welding quality be ensured, even produce discard;
4, the operating path of robot does not reach optimum state;
5, the working environment of plumb joint does not reach optimum state.
Therefore the art is badly in need of a kind of new technology appearance that can solve the problem.
Summary of the invention
The invention provides a kind of robotic welding technology, specifically provide a kind of robot welding monitoring system.
Robot welding monitoring system, is made up of monitoring system, welding system, safety-protection system and control system, mutually realizes electrical connection between four, wherein:
Safety-protection system comprises safe welding room 1, safety door 2, work station base 3, warning lamp 4 are formed; Safe welding room 1, safety door 2, work station base 3 three form airtight working space; Monitoring system, welding system are arranged in safe welding room 1, and it is peripheral that control system is arranged in safe welding room 1; Safety door 2 and warning lamp 4 are arranged on the sidewall in safe welding room 1, and work station base 3 is arranged in the bottom in safe welding room 1.
Welding system by robot 5, walk wire system 6, plumb joint 7, jig platform 8, fixture 9 form, robot 5 passes through to walk wire system 6 connecting welding head 7, fixture 9 is arranged between robot 5 and jig platform 8, and jig platform 8 is fixed on work station base 3 upper surface.
Monitoring system is made up of internal control camera 10, welding monitoring camera 11, fixture fixation and recognition camera 12, and aforementioned camera is high-definition camera.And above the madial wall that internal control camera 10 is arranged on safe welding room 1 or top.Welding monitoring camera 11 is arranged on the periphery of plumb joint 7.Fixture fixation and recognition camera 12 is fixed on above fixture 9, the inner sidewall upper portion in safe welding room 1.
Internal control camera 10 is arranged on suitable position, safe welding room 1, is generally arranged on the sidewall top corner near robot 5 side in safe welding room 1.This camera is for observing the duty of equipment in welding room.
Welding monitoring camera 11 is arranged on the top of laser welding system 7.This camera is new high-tech product, not only can observe the working environment of plumb joint 7, can also monitor clear molten bath situation in real time.
Fixture fixation and recognition camera 12 is fixed on the top of frock clamp.Whether this camera detects workpiece by Intelligent Recognition and is in place.This camera is combined with control system, can reach recognition function, judges whether workpiece is in place by the change in location of workpiece.
The image that these three cameras are formed all shows on a monitor, and display very clearly can observe the duty of each equipment by software control.
Control system is by PLC control cabinet 13, robot control cabinet 14, operating case 15, aqueous vapor unit 16, touch control screen 17, monitor 18; The all mechanisms of control system realize electrical connection each other, and it is peripheral to be arranged in safe welding room 1.
Monitor 18 is electrically connected on monitoring system; PLC control cabinet 13, robot control cabinet 14, operating case 15, aqueous vapor unit 16 are electrically connected on robot 5 and safety door 2 respectively; PLC control cabinet 13 is electrically connected on warning lamp 4.
Described monitor 18 is arranged on the lateral wall in safe welding room 1.
Welding, monitoring, control, security protection four systems gather by the present invention, constitute robotic laser and weld monitoring system.Four systems can organically be combined into as a whole, define a monitoring network without any dead angle, situation in welding safe house is monitored in real time, not only improve welding efficiency and the welding effect of whole work station, in the process of teaching with debugging, personnel directly do not contact laser simultaneously, avoid the injury of laser.
The present invention has following characteristics:
1, the working condition in safe welding room can be monitored in real time.Avoid the unnecessary injury that laser brings human body.Particularly in the middle of welding pilot teaching process and system optimisation process, can direct vision safe welding room inner workings, the moment understands the equipment working state in safe welding room, is optimized at any time to interior layout and work tempo.
2, can Real Time Observation plumb joint working environment and monitor clear molten bath situation.See the course of work of plumb joint clearly, be conducive to analyzing welding defects reasons, the working environment of laser head can be improved like this to protect working environment;
3, whether Intelligent Recognition detection workpiece is in place.Ensure that workpiece can be in place accurately; Eliminate manual confirmation link.
4, by Intelligent control, use the intellectualized operation system such as PLC, touch control screen, complete Engineering Control with minimum manual operation.
5, control system is arranged in outside safe welding room, avoids operating personnel to enter in safe house and manipulates, and reduces the chance that operating personnel contact with equipment, avoids occurring unnecessary personnel's injury.
Accompanying drawing explanation
Fig. 1 is robot welding monitoring system overall schematic;
Fig. 2 is robot welding monitoring system schematic rear view;
Fig. 3 is camera monitor area distribution schematic diagram.
Embodiment
In accompanying drawing, the implication of each Reference numeral is described as follows:
Wire system, 7 plumb joints, 8 jig platforms, 9 fixtures, 10 internal control cameras, 11 welding monitoring cameras, 12 fixture fixation and recognition cameras, 13PLC switch board, 14 robot control cabinets, 15 operating cases, 16 aqueous vapor unit, 17 touch control screens, 18 monitors are walked by 1 safe welding room, 2 safety doors, 3 work station bases, 4 warning lamps, 5 robots, 6;
19 welding monitoring camera overlay area (removable), 20 fixture fixation and recognition camera overlay areas, 21 internal control camera overlay areas.
Embodiment 1
The present embodiment provides a kind of robotic welding technology, specifically provides a kind of robot welding monitoring system.
Robot welding monitoring system, is made up of monitoring system, welding system, safety-protection system and control system, mutually realizes electrical connection between four, wherein:
Safety-protection system comprises safe welding room 1, safety door 2, work station base 3, warning lamp 4 are formed; Safe welding room 1, safety door 2, work station base 3 three form airtight working space; Monitoring system, welding system are arranged in safe welding room 1, and it is peripheral that control system is arranged in safe welding room 1; Safety door 2 and warning lamp 4 are arranged on the sidewall in safe welding room 1, and work station base 3 is arranged in the bottom in safe welding room 1.
Welding system by robot 5, walk wire system 6, plumb joint 7, jig platform 8, fixture 9 form, robot 5 passes through to walk wire system 6 connecting welding head 7, fixture 9 is arranged between robot 5 and jig platform 8, and jig platform 8 is fixed on work station base 3 upper surface.
Monitoring system is made up of internal control camera 10, welding monitoring camera 11, fixture fixation and recognition camera 12, and aforementioned camera is high-definition camera.And above the madial wall that internal control camera 10 is arranged on safe welding room 1 or top.Welding monitoring camera 11 is arranged on the periphery of plumb joint 7.Fixture fixation and recognition camera 12 is fixed on above fixture 9, the inner sidewall upper portion in safe welding room 1.
Internal control camera 10 is arranged on suitable position, safe welding room 1, is generally arranged on the sidewall top corner near robot 5 side in safe welding room 1.This camera is for observing the duty of equipment in welding room.
Welding monitoring camera 11 is arranged on the top of laser welding system 7.This camera is new high-tech product, not only can observe the working environment of plumb joint 7, can also monitor clear molten bath situation in real time.
Fixture fixation and recognition camera 12 is fixed on the top of frock clamp.Whether this camera detects workpiece by Intelligent Recognition and is in place.This camera is combined with control system, can reach recognition function, judges whether workpiece is in place by the change in location of workpiece.
The image that these three cameras are formed all shows on a monitor, and display very clearly can observe the duty of each equipment by software control.
Control system is by PLC control cabinet 13, robot control cabinet 14, operating case 15, aqueous vapor unit 16, touch control screen 17, monitor 18; The all mechanisms of control system realize electrical connection each other, and it is peripheral to be arranged in safe welding room 1.
Monitor 18 is electrically connected on monitoring system; PLC control cabinet 13, robot control cabinet 14, operating case 15, aqueous vapor unit 16 are electrically connected on robot 5 and safety door 2 respectively; PLC control cabinet 13 is electrically connected on warning lamp 4.
Described monitor 18 is arranged on the lateral wall in safe welding room 1.
Welding, monitoring, control, security protection four systems gather by the present embodiment, constitute robotic laser and weld monitoring system.Four systems can organically be combined into as a whole, define a monitoring network without any dead angle, situation in welding safe house is monitored in real time, not only improve welding efficiency and the welding effect of whole work station, in the process of teaching with debugging, personnel directly do not contact laser simultaneously, avoid the injury of laser.
The present embodiment has following characteristics:
1, the working condition in safe welding room can be monitored in real time.Avoid the unnecessary injury that laser brings human body.Particularly in the middle of welding pilot teaching process and system optimisation process, can direct vision safe welding room inner workings, the moment understands the equipment working state in safe welding room, is optimized at any time to interior layout and work tempo.
2, can Real Time Observation plumb joint working environment and monitor clear molten bath situation.See the course of work of plumb joint clearly, be conducive to analyzing welding defects reasons, the working environment of laser head can be improved like this to protect working environment;
3, whether Intelligent Recognition detection workpiece is in place.Ensure that workpiece can be in place accurately; Eliminate manual confirmation link.
4, by Intelligent control, use the intellectualized operation system such as PLC, touch control screen, complete Engineering Control with minimum manual operation.
5, control system is arranged in outside safe welding room, avoids operating personnel to enter in safe house and manipulates, and reduces the chance that operating personnel contact with equipment, avoids occurring unnecessary personnel's injury.
Embodiment 2
The present embodiment substitutes except safety door except using regular tap door, and all the other structures, function are identical with embodiment 1 with expection technique effect.
Embodiment 3
The present embodiment is not except using fixture fixation and recognition camera 12, and all the other 26S Proteasome Structure and Functions, expection technique effect are identical with embodiment 1.The Intelligent Recognition that do not possess the present embodiment detects the function whether workpiece is in place, and needs manually to confirm.
Embodiment 4
The present embodiment is not except arranging welding monitoring camera 11, and all the other 26S Proteasome Structure and Functions, expection technique effect are identical with embodiment 1.The present embodiment does not possess the working environment of Real Time Observation plumb joint and the technique effect of monitoring clear molten bath situation.
Embodiment 5
The present embodiment is not except arranging internal control camera 10, and all the other 26S Proteasome Structure and Functions, expection technique effect are identical with embodiment 1.The present embodiment does not possess the function of each machine operation in Real Time Observation safe welding room.
Above-described embodiment, only for technical conceive of the present invention and feature are described, its object is to person skilled in the art can be understood content of the present invention and implement according to this, can not limit the scope of the invention with this.All equivalences done according to Spirit Essence of the present invention change or modify, and all should be encompassed within protection scope of the present invention.
Claims (7)
1. robot welding monitoring system, is characterized in that: be made up of monitoring system, welding system, safety-protection system and control system, mutually realizes electrical connection between four, wherein:
Safety-protection system comprises safe welding room (1), safety door (2), work station base (3), warning lamp (4) formation; Safe welding room (1), safety door (2), work station base (3) three form airtight working space; Monitoring system, welding system are arranged in safe welding room (1), and it is peripheral that control system is arranged in safe welding room (1); Safety door (2) and warning lamp (4) are arranged on the sidewall of safe welding room (1), and work station base (3) is arranged in the bottom of safe welding room (1);
Welding system by robot (5), walk wire system (6), plumb joint (7), jig platform (8), fixture (9) form, robot (5) passes through to walk wire system (6) connecting welding head (7), fixture (9) is arranged between robot (5) and jig platform (8), and jig platform (8) is fixed on work station base (3) upper surface;
Monitoring system is made up of internal control camera (10), welding monitoring camera (11), fixture fixation and recognition camera (12);
Control system shields (17), monitor (18) by PLC control cabinet (13), robot control cabinet (14), operating case (15), aqueous vapor unit (16), touch control; The all mechanisms of control system realize electrical connection each other, and it is peripheral to be arranged in safe welding room (1).
2. according to robot welding monitoring system according to claim 1, it is characterized in that: described monitor (18) is electrically connected on monitoring system; PLC control cabinet (13), robot control cabinet (14), operating case (15), aqueous vapor unit (16) are electrically connected on robot (5) and safety door (2) respectively; PLC control cabinet (13) is electrically connected on warning lamp (4).
3. according to robot welding monitoring system according to claim 1, it is characterized in that: described internal control camera (10), welding monitoring camera (11), fixture fixation and recognition camera (12) are high-definition camera.
4. according to the robot welding monitoring system described in claim 1 or 3, it is characterized in that: above the madial wall that described internal control camera (10) is arranged on safe welding room (1) or top.
5. according to the robot welding monitoring system described in claim 1 or 3, it is characterized in that: described welding monitoring camera (11) is arranged on the periphery of plumb joint (7).
6. according to the robot welding monitoring system described in claim 1 or 3, it is characterized in that: described fixture fixation and recognition camera (12) is fixed on the inner sidewall upper portion of fixture (9) top, safe welding room (1).
7. according to the robot welding monitoring system described in claim 1 or 2, it is characterized in that: described monitor (18) is arranged on the lateral wall of safe welding room (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510020716.2A CN104625510A (en) | 2015-01-11 | 2015-01-11 | Robot welding monitoring system |
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| CN201510020716.2A CN104625510A (en) | 2015-01-11 | 2015-01-11 | Robot welding monitoring system |
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| CN201510020716.2A Pending CN104625510A (en) | 2015-01-11 | 2015-01-11 | Robot welding monitoring system |
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Cited By (9)
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| CN105397244A (en) * | 2015-11-27 | 2016-03-16 | 大连理工大学 | Multi-station robot intelligent welding system for pipe piling sheets |
| CN105945441A (en) * | 2016-06-14 | 2016-09-21 | 大连理工大学 | Multi-station robot welding system based on welding seam intelligent identification technology for ring-disc parts |
| CN106624500A (en) * | 2016-12-31 | 2017-05-10 | 天津市越创科技有限责任公司 | Novel workshop welding production line |
| CN108406221A (en) * | 2018-05-28 | 2018-08-17 | 陈冲锋 | A kind of automatic rotation auxiliary welding device of cylindrical shape part |
| CN109759671A (en) * | 2019-02-14 | 2019-05-17 | 广州松兴电气股份有限公司 | One kind controlling Control System of Welding Robot based on PLC |
| CN110160446A (en) * | 2019-06-17 | 2019-08-23 | 珠海格力智能装备有限公司 | Localization method, device, storage medium and the system of material assembly |
| IT201800006251A1 (en) * | 2018-06-12 | 2019-12-12 | EQUIPMENT FOR VISUAL PROCESSING OF STRUCTURAL STEEL PRODUCTS USING LASER FIBER | |
| CN110681993A (en) * | 2019-08-19 | 2020-01-14 | 柯马(上海)工程有限公司 | Intelligent flexible laser welding station |
| WO2020024169A1 (en) * | 2018-08-01 | 2020-02-06 | 深圳配天智能技术研究院有限公司 | Automatic welding device, clamping robot, and automatic welding method |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105397244A (en) * | 2015-11-27 | 2016-03-16 | 大连理工大学 | Multi-station robot intelligent welding system for pipe piling sheets |
| CN105397244B (en) * | 2015-11-27 | 2017-06-23 | 大连理工大学 | A kind of pile end board multistation robot Intelligent welding system |
| CN105945441A (en) * | 2016-06-14 | 2016-09-21 | 大连理工大学 | Multi-station robot welding system based on welding seam intelligent identification technology for ring-disc parts |
| CN106624500A (en) * | 2016-12-31 | 2017-05-10 | 天津市越创科技有限责任公司 | Novel workshop welding production line |
| CN108406221A (en) * | 2018-05-28 | 2018-08-17 | 陈冲锋 | A kind of automatic rotation auxiliary welding device of cylindrical shape part |
| IT201800006251A1 (en) * | 2018-06-12 | 2019-12-12 | EQUIPMENT FOR VISUAL PROCESSING OF STRUCTURAL STEEL PRODUCTS USING LASER FIBER | |
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| WO2020024169A1 (en) * | 2018-08-01 | 2020-02-06 | 深圳配天智能技术研究院有限公司 | Automatic welding device, clamping robot, and automatic welding method |
| CN109759671A (en) * | 2019-02-14 | 2019-05-17 | 广州松兴电气股份有限公司 | One kind controlling Control System of Welding Robot based on PLC |
| CN110160446A (en) * | 2019-06-17 | 2019-08-23 | 珠海格力智能装备有限公司 | Localization method, device, storage medium and the system of material assembly |
| CN110681993A (en) * | 2019-08-19 | 2020-01-14 | 柯马(上海)工程有限公司 | Intelligent flexible laser welding station |
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Effective date of registration: 20181012 Address after: 223800 B building, two phase of laser Industrial Park, Sucheng District, Suqian, Jiangsu Applicant after: Jiangsu Huineng Laser Technology Co. Ltd. Address before: 110000 40 Hun River twenty economic and Technological Development Zone, Shenyang, Liaoning Applicant before: Shenyang Hui Neng robot automation Co., Ltd |
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Effective date of registration: 20190531 Address after: Room B1-2372, Building 20, Yongan Road, Shilong Economic Development Zone, Mentougou District, Beijing 102300 Applicant after: Guorong Emerging Investment Co., Ltd. Address before: 223800 B building, two phase of laser Industrial Park, Sucheng District, Suqian, Jiangsu Applicant before: Jiangsu Huineng Laser Technology Co. Ltd. |
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Application publication date: 20150520 |