CN105904126B - A kind of robot welding system of view-based access control model positioning and welding method - Google Patents
A kind of robot welding system of view-based access control model positioning and welding method Download PDFInfo
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- CN105904126B CN105904126B CN201610436333.8A CN201610436333A CN105904126B CN 105904126 B CN105904126 B CN 105904126B CN 201610436333 A CN201610436333 A CN 201610436333A CN 105904126 B CN105904126 B CN 105904126B
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Classifications
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
Abstract
A kind of robot welding system of view-based access control model positioning and welding method, wherein the welding system, including：Central control module, central control module can carry out data processing and instruction is issued；Image capture module, image capture module is connected with central control module, and image capture module sends the image information collected to central control module to carry out data analysis, and image capture module receives and performs the instruction of central control module；Welding module, welding module is connected with central control module, and welding module receives and performs the instruction of central control module.When welding system is applied to that aluminium is coiling welded to be connect, solder joint can be accurately positioned, and realizes pad localization and welding operation automation, welding efficiency and welding precision can be effectively improved.
Description
Technical field
The invention belongs to field of automatic welding, be specifically related to a kind of view-based access control model positioning robot welding system and
Welding method.
Background technology
Aluminium volume needs to carry out Ageing Treatment after heat treatment, and Ageing Treatment needs the volume header for rolling up aluminium and the end of reel to be welded
Connect, if necessary, in addition it is also necessary to increase some other position and welded, so that aluminium roll-shape is fixed.
With reference to Fig. 1, the head that aluminium generally is rolled up into 1 inner ring is referred to as volume header 3, and the head of outer ring is referred to as the end of reel 2.Aluminium volume 1 is theoretical
On be circle ring column, its side be annular.In order to ensure the shape that aluminium rolls up 1 can be fixed effectively, generally simple welding volume
First 3 and the end of reel 2 be inadequate, typically can also increase other solder joints, these general other solder joints be located across volume header 3 and/or
The end of reel 2 and the straight line and inner ring and the intersection point of outer ring in the center of circle 4.
There are the symmetrical solder joint 31 of two intersection points, i.e. volume header and the symmetrical solder joint of volume header by the straight line and outer ring in volume header 3 and the center of circle 4
33；In addition to volume header 3 itself, the straight line also has the symmetrical solder joint 32 of an intersection point, i.e. volume header with inner ring.Likewise, by the end of reel 2 with
The straight line in the center of circle 4 has the symmetrical solder joint 21 of two intersection points, the i.e. end of reel and the symmetrical solder joint 22 of the end of reel with inner ring；, should in addition to the end of reel 2 itself
Straight line also has the symmetrical solder joint 23 of an intersection point, the i.e. end of reel with outer ring.
General aluminium rolls up number of welds on 1 one sides at 8, i.e. the symmetrical solder joint 21 of the end of reel 2, the end of reel, end of reel balanced welding
Point 22 and the symmetrical solder joint 23 of the end of reel, volume header 3, the symmetrical solder joint 31 of volume header, the symmetrical solder joint 32 of volume header and the symmetrical solder joint 33 of volume header, also may be used
Suitably increase or reduce to carry out as the case may be.
In the prior art, the searching of solder joint, or by manually carrying out, or entered by traditional visual identity scheme
OK.But, manually rely primarily on experience and carry out solder joint searching, its accuracy cannot be controlled, and automatic chemical industry is also not suitable with addition
The demand of factory.
Traditional visual identity scheme recognizes the profile and image detail letter of aluminium volume often through Polaroid technology
Breath, this method small size aluminium volume and required precision it is not high in the case of have rapidly and efficiently the characteristics of, but for
Large-sized aluminium volume, such as when aluminium volume race diameter is 2.6m, Polaroid technical requirements video camera has big wide-angle, Huo Zheyuan
Shot from aluminium volume, but can so lose the detailed information of aluminium volume, such as aluminium volume volume header and the warpage of the end of reel, aluminium sheet is not
Regular trimming etc., causes solder joint to find failure and welding failure.
In summary, in the prior art, aluminium volume pad localization it is more difficult and inaccurate, welding operation can not automate into
OK.
The content of the invention
It is an object of the invention to the pad localization rolled up for aluminium in the prior art is more difficult and inaccurate, welding operation can not
Automation is carried out.
To achieve the above object, the present invention provides a kind of robot welding system of view-based access control model positioning, including：
Central control module, central control module can carry out data processing and instruction is issued；
Image capture module, image capture module is connected with central control module, and image capture module is by the figure collected
As information is sent to central control module to carry out data analysis, image capture module receives and performs the finger of central control module
Order；
Welding module, welding module is connected with central control module, and welding module receives and performs central control module
Instruction.
Further, image capture module includes：
Camera device；
Robot, the robot includes a mechanical arm, and the camera device is installed on the mechanical arm.
Further, camera device includes：
Camera, camera lens, light source and video processing board-card.
Further, welding module is installed on the mechanical arm.
Further, the artificial 6DOF robot of machine.
Further, in addition to：
Material transferring module, material transferring module is connected with the central control module, and material transferring module is received and held
The instruction of row central control module, and the positional information of material transferring module is sent to central control system.
Compared with prior art, the technical program has advantages below：
When the welding system that the present invention is provided is applied to that aluminium is coiling welded to be connect, solder joint can be accurately positioned, and realize pad localization
With welding operation automation, welding efficiency and welding precision can be effectively improved.
The present invention provides also a kind of robot welding method of view-based access control model positioning, including：
(1) web-like material to be welded and above-mentioned welding system are provided；
(2) image capture module gathers the image information of web-like material first side, and is determined by central control module
The volume header and end of reel coordinate of web-like material；
(3) welding module is welded to the volume header and the end of reel of first side.
Further, also include between step 1 and step 2：
Web-like material is placed in material transferring module, material transferring module drives roll material to be moved to first position,
And send the first position coordinate to central control module.
Further, also include after step 3：
Material transferring module drives roll material to be moved to the second place, and the second place is different from first position, and by the
Two positions are sent to central control module；
Repeat step 1-3 is to weld the volume header and the end of reel of web-like material second side.
Further, step 2 includes：
Image capture module gathers web-like material first side image information, and sends this information to central control module
With the boundary locus of the central coordinate of circle, outer ring and the inner ring that determine web-like material；
Image capture module is moved along web-like material inner ring boundary locus and gathers image information, and the image information is sent
To central control module to correct the boundary locus of inner ring, and determine the coordinate of volume header；
Image capture module is moved along web-like material outer ring boundary locus and gathers image information, and the image information is sent
To central control module to correct the boundary locus of outer ring, and determine the coordinate of the end of reel.
Further, determine web-like material central coordinate of circle, outer ring and inner ring boundary locus the step of include：
Image capture module moves along a straight line in the plane parallel to web-like material first side, and gathers on outer ring
At least one point on two points and inner ring；
Image capture module moves along a straight line in the plane parallel to web-like material first side, and gathers on outer ring
At least one other point；
Central control module carries out theoretical calculation by the coordinate of three points on outer ring, obtains central coordinate of circle and outer ring side
Boundary track；
Central control module carries out theoretical calculation by the coordinate and central coordinate of circle of a point on inner ring, obtains inner ring side
Boundary track.
Further, also include between step 2 and step 3：
Calculate volume header balanced welding point coordinates：Central control module calculates the center of circle by web-like material and the straight line of volume header,
And calculate in addition to volume header, the straight line and inner ring and the intersecting point coordinate of outer ring, the intersection point is the symmetrical solder joint of volume header, the intersecting point coordinate
For volume header balanced welding point coordinates；
Calculate end of reel balanced welding point coordinates：Central control module calculates the center of circle by web-like material and the straight line of the end of reel,
And calculate in addition to the end of reel, the straight line and inner ring and the intersecting point coordinate of outer ring, the intersection point is the symmetrical solder joint of the end of reel, the intersecting point coordinate
For end of reel balanced welding point coordinates.
Further, step 3 also includes welding the symmetrical solder joint of volume header and end of reel balanced welding point.
Further, also include before volume header balanced welding point coordinates and end of reel balanced welding point coordinates is calculated：
Image capture module carries out IMAQ to volume header and the end of reel, to correct the coordinate of volume header and the end of reel.
Further, also include after volume header balanced welding point coordinates and end of reel balanced welding point coordinates is calculated：
Image capture module carries out IMAQ to the symmetrical solder joint of volume header and end of reel balanced welding point, to correct its coordinate.
Further, also include after step 3：
Web-like material is transferred to welding job and completes area by material transferring module.
Compared with prior art, the technical program has advantages below：
Compared with prior art, the technical program has advantages below：
When the welding method that the present invention is provided is welded, solder joint can be accurately positioned, and realize pad localization and welding
Operation automation, can effectively improve welding efficiency and welding precision.
Brief description of the drawings
Fig. 1 is the schematic diagram that aluminium is rolled up；
Fig. 2 is the schematic diagram of welding system structure in first embodiment of the invention；
Fig. 3 is the flow chart of welding method in second embodiment of the invention；
Fig. 4 is placed in the schematic diagram of first position for web-like material in second embodiment of the invention；
Fig. 5 is the flow chart of the coordinate of determination volume header and the end of reel in second embodiment of the invention；
Fig. 6 is the boundary locus of central coordinate of circle, outer ring and the inner ring of determination web-like material in second embodiment of the invention
Flow chart；
Fig. 7 is the schematic diagram of web-like material in second embodiment of the invention；
Fig. 8 be second embodiment of the invention in determine solder joint when web-like material schematic diagram；
Fig. 9 is placed in the schematic diagram of the second place for web-like material in second embodiment of the invention；
Figure 10 is placed in the schematic diagram that welding job completes area for web-like material in second embodiment of the invention.
Embodiment
In the prior art, the pad localization of aluminium volume is more difficult and inaccurate, and welding operation can not automate progress.
It is understandable to enable the above objects, features and advantages of the present invention to become apparent, below in conjunction with the accompanying drawings to the present invention
Specific embodiment be described in detail.
First embodiment
With reference to Fig. 2, the present embodiment provides a kind of robot welding system of view-based access control model positioning, including center control mould
Block, image capture module and welding module.
Central control module can carry out data processing and instruction is issued, with the information to image capture module and welding module
Handled, and the instruction for needing to perform is sent to image capture module and welding module.
Image capture module is connected with central control module, and image capture module sends the image information collected into
Entreat control module to carry out data analysis, image capture module receives and performs the instruction of central control module.
Make image capture module be moved to the position specified and carry out image to adopt for example, central control module can send instruction
Collection.
In the present embodiment, described image acquisition module includes camera device and robot, and the robot includes a machine
Tool arm, the camera device is installed on the mechanical arm.
In the present embodiment, camera device includes camera, camera lens, light source and video processing board-card.
In the present embodiment, the artificial 6DOF robot of machine, with increase IMAQ flexibility ratio and welding it is flexible
Degree.
In a particular embodiment, in order to improve collection image definition, can use ten million Pixel-level camera and camera lens.
Welding module is connected with central control module, and welding module receives and performs the instruction of central control module.
In the present embodiment, the welding module is installed on the mechanical arm.The welding module is pacified with camera device
On the diverse location of same mechanical arm.
The welding system of the present embodiment also includes material transferring module, and material transferring module connects with the central control module
Connect, material transferring module receives and performs the instruction of central control module, and by the positional information of material transferring module send to
Central control system.
Material transferring module is used to be transferred to specified location to be welded by web-like material to be welded.
When the welding system of the present embodiment is applied to that aluminium is coiling welded to be connect, solder joint can be accurately positioned, and realize pad localization and
Welding operation is automated, and can effectively improve welding efficiency and welding precision.
Second embodiment
With reference to Fig. 3, the present embodiment provides a kind of robot welding method of view-based access control model positioning, including：
Step S100：Web-like material to be welded and welding system are provided；
Step S200：Determine the volume header and end of reel coordinate of web-like material；
Step S300：Volume header and the end of reel are welded.
In the step s 100, welding system is the robot welding system of the view-based access control model positioning described in first embodiment
System.
In a particular embodiment, web-like material is rolled up for aluminium, or the metal material that other needs are welded.
With reference to Fig. 4, in the present embodiment, after step sloo, before step S200, in addition it is also necessary to by web-like material 400
It is placed on material transferring module (not shown), material transferring module drives roll material 400 to be moved to first position 501, and will
The coordinate of the first position 501 is sent to central control module 100.
First position 501 is suitable to the image information that image capture module gathers the first side 401 of web-like material 400, also fits
Welded in the solder joint to first side 401.
First position 501 is located in track 300, and material transferring module drives roll material 400 to be moved in track 300,
Simultaneously non-predetermined is accurately fixed for the position of first position 501, as long as can be adapted to associative operation, therefore, material transferring module
The accurate coordinates by actual first position 501 are needed to send to central control module 100.
In step S200, the image information of the first side 401 of image capture module collection web-like material 400, and in
Control module 100 is entreated to determine the volume header and end of reel coordinate of web-like material 400.
Described image acquisition module includes camera device 202 and robot 200, and the robot 200 includes a mechanical arm
201, the camera device 202 is installed on the mechanical arm 201.
With reference to Fig. 5, include in step S200, the step of the coordinate for determining volume header and the end of reel：
Step S210：Determine the boundary locus of central coordinate of circle, outer ring and the inner ring of web-like material；
Step S220：Determine the coordinate of volume header；
Step S230：Determine the coordinate of the end of reel.
In step S210, the image information of image capture module collection web-like material 400 first side 401, and by the information
Send to central control module 100 with the boundary locus of the central coordinate of circle, outer ring and the inner ring that determine web-like material 400.
With reference to Fig. 6, in the present embodiment, the boundary locus of central coordinate of circle, outer ring and the inner ring of web-like material 400 is determined
Step includes：
Step S211：Gather two points on outer ring and at least one point on inner ring；
Step S212：Gather at least one other point on outer ring；
Step S213：Calculate central coordinate of circle and outer ring boundary locus；
Step S214：Calculate inner ring boundary locus.
With reference to Fig. 7, in step S211, image capture module is in the flat of the first side 401 parallel to web-like material 400
Moved along a straight line in face, and gather at least one point on two points and inner ring 404 on outer ring 403.
Fig. 7 does not show web-like shape, simply schematically depicts outer ring and inner ring.
In the present embodiment, central control module 100 sends instruction, image capture module is moved along straight line L1, can be with
Collect the point B1 and point B2 on the point A1 and point A2 on outer ring 403, inner ring.
Because straight line L1 can have intersection point with inner ring, so image capture module can necessarily collect two on outer ring
Point, i.e. point A1 and point A2.
In other embodiments, straight line L1 can be tangent with inner ring, then image capture module is only capable of collecting one on inner ring
Individual point.
In order to effectively gather these points, the fortune of image capture module should be adjusted according to the size of web-like material 400
Dynamic straight line L1 position.
Gather after these reference points, the coordinate information of these points should be sent to central control module 100.
In step S212, image capture module is in the plane parallel to the first side 401 of web-like material 400 along straight line
Motion, and gather at least one other point on outer ring.
In the present embodiment, central control module 100 sends instruction, image capture module is moved along straight line L2, can be with
Collect the point A3 and point A4 on outer ring 403.
In other embodiments, straight line L2 can be tangent with outer ring 403, then image capture module is only capable of collecting outer ring 403
On a point.
Straight line L2 and straight line L1 are misaligned, and point A3 and point A4 are different from point A1 and point A2 coordinate.
In order to effectively gather these points, the fortune of image capture module should be adjusted according to the size of web-like material 400
Dynamic straight line L2 position.
Gather after these reference points, the coordinate information of these points should be sent to central control module 100.
In other embodiments, the collection that other linear positions carry out the point of outer ring 403 and inner ring 404 can also be defined,
Gather on outer ring 403 at 1 points as long as ensure that, and at least one is gathered on inner ring 404 and put.
Step S11 and step S12 order can be exchanged.
In step s 13, central control module 100 carries out theoretical calculation by the coordinate of three points on outer ring 403, obtains
To central coordinate of circle and the boundary locus of outer ring 403.
In the present embodiment, central control module 100 can be by any three in point A1, point A2, point A3 and point A4
Point is calculated.Because in same plane, three points determine a circle, so the boundary locus and circle of outer ring 403 can be obtained
The coordinate of the heart 405.
In step S114, central control module 100 is carried out by the coordinate and central coordinate of circle of a point on inner ring 404
Theoretical calculation, obtains the boundary locus of inner ring 404.
In the present embodiment, central control module 100 can by the point B1 on the coordinate and inner ring 404 in the center of circle 405 or
Person's point B2 carries out theoretical calculation, because in the same plane, a center of circle and a point can determine a circle, so can obtain
To the boundary locus of inner ring 404.
In step S220, image capture module moves along the boundary locus of 400 inner ring of web-like material 404 and gathers image letter
Breath, the image information is sent to central control module to correct the boundary locus of inner ring 404, and determine the coordinate of volume header.
Central control module 100 sends instruction, image capture module is transported along the boundary locus of 400 inner ring of web-like material 404
Move and gather image information.Due to having volume header on inner ring 404, the cliff of displacement is had at volume header, image capture module collects this and broken
Precipice simultaneously sends image to central control module 100, and central control module 100 is according to image recognition algorithm, it can be found that herein
Size mutation, record the point for volume header.
Likewise, because the boundary locus of inner ring 404 is drawn by theoretical calculation, in practice may shape not
It is the circle of rule, therefore, image capture module can also be by the boundary locus of the Information revision inner ring 404 collected so that it is accorded with
Actual conditions are closed, this is conducive to improving the precision that solder joint is found.
In step S230, image capture module moves along the boundary locus of 400 outer ring of web-like material 403 and gathers image letter
Breath, the image information is sent to central control module to correct the boundary locus of outer ring 403, and determine the coordinate of the end of reel.
Central control module 100 sends instruction, image capture module is transported along the boundary locus of 400 outer ring of web-like material 403
Move and gather image information.Due to having the end of reel on outer ring 403, the cliff of displacement is had at the end of reel, image capture module collects this and broken
Precipice simultaneously sends image to central control module 100, and central control module 100 is according to image recognition algorithm, it can be found that herein
Size mutation, record the point for the end of reel.
Likewise, because the boundary locus of outer ring 403 is drawn by theoretical calculation, in practice may shape not
It is the circle of rule, therefore, image capture module can also be by the boundary locus of the Information revision outer ring 403 collected so that it is accorded with
Actual conditions are closed, this is conducive to improving the precision that solder joint is found.
Step S220 and step S230 order can be exchanged.
In the present embodiment, also include calculating volume header balanced welding point coordinates after step S230 and the symmetrical solder joint of the end of reel is sat
Mark.
In a particular embodiment, image is also included before volume header balanced welding point coordinates and end of reel balanced welding point coordinates is calculated
Acquisition module carries out IMAQ to volume header and the end of reel, to correct the coordinate of volume header and the end of reel.Determination volume header can so be improved
With the precision of end of reel coordinate, it is also possible to improve the precision for determining the symmetrical solder joint of volume header and the symmetrical solder joint of the end of reel.
With reference to Fig. 8, central control module 100 calculates the center of circle 405 by web-like material 400 and the straight line L3 of volume header 420,
And calculate in addition to volume header 420, straight line L3 and inner ring 404 and the intersecting point coordinate of outer ring 403, the intersection point is volume header balanced welding
Point, the intersecting point coordinate is volume header balanced welding point coordinates.
Fig. 8 does not show web-like shape, simply schematically depict outer ring and inner ring, and mark volume header
With the position of the end of reel.
In the present embodiment, including the symmetrical solder joint 421 of volume header, the symmetrical solder joint 422 of volume header and the symmetrical solder joint 423 of volume header.
Then, central control module 100 calculates the center of circle 405 by web-like material 400 and the straight line L4 of the end of reel 410, and
Calculate 410 in addition to the end of reel, straight line L4 and inner ring 404 and the intersecting point coordinate of outer ring 403, the intersection point is the symmetrical solder joint of the end of reel,
The intersecting point coordinate is end of reel balanced welding point coordinates.
In the present embodiment, including the symmetrical solder joint 411 of the end of reel, the symmetrical solder joint 412 of the end of reel and the symmetrical solder joint 413 of the end of reel.
The order of the above-mentioned symmetrical solder joint of determination volume header and the symmetrical solder joint of the end of reel can be exchanged.
In a particular embodiment, also adopted after calculating volume header balanced welding point coordinates and end of reel balanced welding point coordinates including image
Collect module and IMAQ is carried out to the symmetrical solder joint of volume header and end of reel balanced welding point, to correct its coordinate.So contribute to further
Improve the precision for determining the symmetrical solder joint of volume header and the symmetrical solder joint of the end of reel.
When only welding volume header and the end of reel, if the shape of web-like material 400 can not effectively be kept, then volume can be welded again
The symmetrical solder joint of head and the symmetrical solder joint of the end of reel, so that the shape of web-like material 400 is positively maintained.
In the present embodiment, step S300 is welded including welding module to the volume header and the end of reel of first side 401,
Including being welded to the symmetrical solder joint of volume header and end of reel balanced welding point.
If these solder joints are also not enough to keep the shape of web-like material 400, then can also increase other solder joints and enter
Row welding.
The step S300 central control module 100 that concretely comprises the following steps sends a command to welding mould according to the coordinate information of solder joint
Block, welding module is moved to corresponding position and is subjected to according to instruction.
With reference to Fig. 9, in the present embodiment, also include after step S300：
Material transferring module drives roll material 400 to be moved to the second place 502, and the second place 502 is different from first
501 are put, and the second place 502 is sent to central control module 100；
Repeat step S100-S300 is to weld the volume header and the end of reel of the second side 402 of web-like material 400.
Related operating process is identical with step S100-S300.
With reference to Figure 10 in a particular embodiment, also web-like material 400 is moved including material transferring module after step S300
Deliver to welding job and complete area 503.
In the present embodiment, the step is carried out after the welding of second side 402 is completed.
When welding method in this present embodiment is welded, solder joint can be accurately positioned, and realize pad localization and weldering
Operation automation is connect, welding efficiency and welding precision can be effectively improved.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the scope of the present invention, it is all
Any modifications, equivalent substitutions and improvements made within the spirit and principles in the present invention etc., should be included in the protection of the present invention
Within the scope of.
Claims (9)
1. a kind of robot welding method of view-based access control model positioning, it is characterised in that including：
（1）Web-like material to be welded and welding system are provided；
The welding system includes：
Central control module, central control module can carry out data processing and instruction is issued；
Image capture module, image capture module is connected with central control module, and image capture module believes the image collected
Breath is sent to central control module to carry out data analysis, and image capture module receives and performs the instruction of central control module；
Welding module, welding module is connected with central control module, and welding module receives and performs the instruction of central control module；
（2）Image capture module gathers the image information of web-like material first side, and determines web-like by central control module
The volume header and end of reel coordinate of material；Specifically include：
Image capture module gathers web-like material first side image information, and sends this information to central control module with true
Determine the boundary locus of central coordinate of circle, outer ring and the inner ring of web-like material；
Image capture module is moved along web-like material inner ring boundary locus and gathers image information, and the image information is sent into
Control module is entreated to correct the boundary locus of inner ring, and determines the coordinate of volume header；
Image capture module is moved along web-like material outer ring boundary locus and gathers image information, and the image information is sent into
Control module is entreated to correct the boundary locus of outer ring, and determines the coordinate of the end of reel；
（3）Welding module is welded to the volume header and the end of reel of first side.
2. the robot welding method of view-based access control model positioning according to claim 1, it is characterised in that the welding system
Also include material transferring module, material transferring module is connected with the central control module, and material transferring module is received and performed
The instruction of central control module, and the positional information of material transferring module is sent to central control system；Step 1 and step 2
Between also include：
Web-like material is placed in material transferring module, material transferring module drives roll material to be moved to first position, and will
The first position coordinate is sent to central control module.
3. the robot welding method of view-based access control model positioning according to claim 2, it is characterised in that after step 3 also
Including：
Material transferring module drives roll material to be moved to the second place, and the second place is different from first position, and by second
Transmission is put to central control module；
Repeat step 1-3 is to weld the volume header and the end of reel of web-like material second side.
4. the robot welding method of view-based access control model positioning according to claim 1, it is characterised in that determine web-like material
Central coordinate of circle, the boundary locus of outer ring and inner ring the step of include：
Image capture module moves along a straight line in the plane parallel to web-like material first side, and gathers two on outer ring
At least one point on point and inner ring；
Image capture module moves along a straight line in the plane parallel to web-like material first side, and gathers on outer ring in addition
At least one point；
Central control module carries out theoretical calculation by the coordinate of three points on outer ring, obtains central coordinate of circle and outer ring border rail
Mark；
Central control module carries out theoretical calculation by the coordinate and central coordinate of circle of a point on inner ring, obtains inner ring border rail
Mark.
5. the robot welding method of view-based access control model positioning according to claim 1, it is characterised in that in step 2 and step
Also include between rapid 3：
Calculate volume header balanced welding point coordinates：Central control module calculates the center of circle by web-like material and the straight line of volume header, and counts
Calculate in addition to volume header, the straight line and inner ring and the intersecting point coordinate of outer ring, the intersection point are the symmetrical solder joint of volume header, the intersecting point coordinate is volume
Head balanced welding point coordinates；
Calculate end of reel balanced welding point coordinates：Central control module calculates the center of circle by web-like material and the straight line of the end of reel, and counts
Calculate in addition to the end of reel, the straight line and inner ring and the intersecting point coordinate of outer ring, the intersection point are the symmetrical solder joint of the end of reel, the intersecting point coordinate is volume
Tail balanced welding point coordinates.
6. the robot welding method of view-based access control model positioning according to claim 5, it is characterised in that step 3 also includes
The symmetrical solder joint of volume header and end of reel balanced welding point are welded.
7. the robot welding method of view-based access control model positioning according to claim 5, it is characterised in that calculating volume header pair
Claim also to include before solder joint coordinate and end of reel balanced welding point coordinates：
Image capture module carries out IMAQ to volume header and the end of reel, to correct the coordinate of volume header and the end of reel.
8. the robot welding method of view-based access control model positioning according to claim 5, it is characterised in that calculating volume header pair
Claim also to include after solder joint coordinate and end of reel balanced welding point coordinates：
Image capture module carries out IMAQ to the symmetrical solder joint of volume header and end of reel balanced welding point, to correct its coordinate.
9. the robot welding method of view-based access control model positioning according to claim 2, it is characterised in that after step 3 also
Including：
Web-like material is transferred to welding job and completes area by material transferring module.
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| CN108544153A (en) * | 2018-04-23 | 2018-09-18 | 哈尔滨阿尔特机器人技术有限公司 | A kind of vision robot's system for Tube-sheet Welding |
| CN108857191B (en) * | 2018-09-14 | 2020-08-11 | 高密鼎泰锅炉配件有限公司 | Welding machine based on visual positioning and automatic welding method |
| CN109623151B (en) * | 2019-02-20 | 2021-06-22 | 中铝瑞闽股份有限公司 | Aluminum coil end face welding system based on point-line laser |
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