CN105945398A - Robot vision welding device for heat exchanger large-scale pipeline - Google Patents
Robot vision welding device for heat exchanger large-scale pipeline Download PDFInfo
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- CN105945398A CN105945398A CN201610360049.7A CN201610360049A CN105945398A CN 105945398 A CN105945398 A CN 105945398A CN 201610360049 A CN201610360049 A CN 201610360049A CN 105945398 A CN105945398 A CN 105945398A
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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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
Abstract
The invention discloses a robot vision welding device for a heat exchanger large-scale pipeline. A six-axle industrial robot is adopted to weld welded joints on two ends of the heat exchanger pipeline. The welded joints are photographed and positioned through the six-axle industrial robot and a CCD (Charge Coupled Device) stereo camera, and position information of the welded joints is collected and fedback to an external PC (Personal Computer) end, so that the effect of accurate welding can be achieved. The robot vision welding device for the heat exchanger large-scale pipeline is high in practicability and convenient to operate, and meanwhile, the welding quality and the welding efficiency of products are also improved to a great extent.
Description
Technical field
The present invention relates to welder technical field, be specially a kind of heat exchanger large-scale pipeline robot vision welder.
Background technology
The welding of heat exchanging pipe is that weldering, although the expense that its human weld once puts into is few, manpower comparing relatively motility are protected in artificial argon arc welding or artificial two, do not limited by place, but it is exactly that this situation causes there is a lot of problem, mainly: 1, weld appearance molding is unsightly, weld reinforcement disunity；2, weld penetration is uneven；3, manually disposably do not welded, caused welding line joint many；4, human weld is low to front road technological requirement, causes total quality poor, and final products easily leak gas leakage.
Summary of the invention
It is an object of the invention to provide a kind of heat exchanger large-scale pipeline robot vision welder, with the problem solving to propose in above-mentioned background technology.
For achieving the above object, the present invention provides following technical scheme: a kind of heat exchanger large-scale pipeline robot vision welder, including activity welding room, fixing welding room, material rail, longitudinal guide and horizontal positioning device, the side of described material rail is provided with fixing welding room and at least two longitudinal guide, the opposite side of described material rail is slidably fitted with activity welding room, it is mounted on fixing device and six-shaft industrial robot in described activity welding room and described fixing welding room, and the end of six-shaft industrial robot is fixed with CCD stereoscopic camera, and six-shaft industrial robot is two-way with extraneous PC end electrically connects, rectangular between activity welding room and fixing welding room four horizontal positioning devices are distributed；
The lower surface both sides of described activity welding room are installed with at least four wheel body and two fixing supporting legs, it is movably installed with ground moving track in the middle part of the lower surface of activity welding room, is evenly distributed with between wheel body and ground moving track no less than six L-shaped bracing frames.
Described fixing device includes supporting platform, support and be installed with electric pushrod in the middle part of the lower surface of platform, the upper surface middle part supporting platform is installed with tooling platform, the upper surface side supporting platform is provided with clamping cylinder, the upper surface opposite side supporting platform is provided with baffle plate, and the two ends supporting platform are respectively and fixedly provided with lowering or hoisting gear.
Horizontal positioning device group includes lift cylinder, horizontal positioning device body and proximity switch, and the outfan of lift cylinder is provided with horizontal positioning device body, and the upper end of horizontal positioning device body is provided with proximity switch.
Described material rail includes the first slide rail and the second slide rail, and the upper surface of the first slide rail and the second slide rail is slidably installed the first slide block and the second slide block respectively.
Roller all it is rotatablely equipped with between the first described slide rail and the first described slide block and between the second described slide rail and the second described slide block.
Described CCD stereoscopic camera includes weld image acquisition module, image pre-processing module, acnode filtration module and weld image characteristic extracting module, the outfan of weld image acquisition module is connected with the input of image pre-processing module, the outfan of image pre-processing module is connected with the input of weld image characteristic extracting module, the outfan of weld image characteristic extracting module is connected with the input of extraneous PC end, described image pre-processing module includes LoG filtration module, picture smooth treatment module and binary image module, the outfan of LoG filtration module is connected with the input of picture smooth treatment module, the outfan of picture smooth treatment module is connected with the input of binary image module.
Assembled good workpiece to be welded is hoisted to expect on the first slide block (33) and second slide block (34) of rail (3) by described workman, owing to Workpiece length to be welded is longer, when being placed on track support, workpiece end positions to be welded is it is difficult to ensure that flush, so by the longitudinal direction of the neat workpiece to be welded in longitudinal guide (4) school, and workpiece to be welded is promoted to slide to six-shaft industrial robot (7) direction by artificial；Workpiece to be welded by longitudinal guide (4) school neat after, it is pushed to horizontal positioning device (5), horizontal positioning device (5) has four, it is divided into two groups according to the engagement sequence of workpiece to be welded, action between two groups is interlocked relationship, one group when being in lifting position, another group is then in down position, vice versa, equipment initial operating state is, first group in lifting position, second group at down position, after the proximity switch (53) of second group of horizontal positioning device (5) encountered by workpiece, i.e. send induced signal to fixing device (6)；After fixing device (6) receives signal, two tooling platforms (62) are lifted, and are held up to the welding and assembling height set by workpiece to be welded, meanwhile, clamping cylinder (64) synchronizes workpiece is pushed to baffle plate (66) and clamps, and now, four horizontal positioning devices (5) reset；During six-shaft industrial robot (7) welding, CCD stereoscopic camera (71) first passes through weld image acquisition module and gathers whole welding plane, obtain the appearance profile scope of welding plane, then it is acquired obtaining the most accurate positional information and bead contour profile information by weld image acquisition module respectively to every one weld seam, pass through image pre-processing module, the image information that acnode filtration module and painting style image characteristics extraction resume module collect, and the PC end that image information is transferred to the external world processes, draw accurate space motion track, accomplish precisely to weld with this, the order of welding is one weld seam of shooting, i.e. weld one weld seam, until all weld seams all weld complete；After workpiece to be welded has welded, six-shaft industrial robot (7) runs and is back to original state, and workpiece is placed to expect, on rail (3), manually to be pushed and run to next station again, and whole welding process completes.
Compared with prior art, the invention has the beneficial effects as follows:, whole process realize automatic welding；, after CCD stereoscopic camera takes pictures, make six-shaft industrial robot can be correctly found position while welding, final weld appearance beautiful appearance, reinforcement is uniform, fusion penetration is consistent, improve quality, decreases waste of raw materials；, improve the requirement of workpiece front road technique, improve the welding quality of weld seam so that end product quality is higher than colleague；, alleviate the labor intensity of operator, avoid the harm of arc light dust.
Accompanying drawing explanation
Fig. 1 is present configuration schematic diagram；
Fig. 2 is the structural representation of activity welding room of the present invention；
Fig. 3 is the structural representation that the present invention fixes welding room；
Fig. 4 is the plan structure schematic diagram of the present invention；
Fig. 5 is the structural representation of six-shaft industrial robot of the present invention；
Fig. 6 is the structural representation of horizontal positioning device of the present invention；
Fig. 7 is the structural representation of fixing device of the present invention；
Fig. 8 is the structural representation of CCD stereoscopic camera of the present invention.
In figure: 1 activity welding room, 11 wheel bodys, 12 L-shaped bracing frames, 13 fixing supporting legs, 2 fix welding room, 3 material rails, 31 first slide rails, 32 second slide rails, 33 first slide blocks, 34 second slide blocks, 4 longitudinal guides, 5 horizontal positioning devices, 51 lift cylinders, 52 horizontal positioning device bodies, 53 proximity switches, 6 fixing devices, 61 support platforms, 62 electric pushrods, 63 tooling platforms, 64 clamping cylinders, 65 lowering or hoisting gears, 7 six-shaft industrial robots and 71 CCD stereoscopic cameras.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described further, but protection scope of the present invention is not limited to this.
nullAs shown in Figures 1 to 8，A kind of heat exchanger large-scale pipeline robot vision welder，Including activity welding room 1、Fixing welding room 2、Material rail 3、Longitudinal guide 4 and horizontal positioning device 5，The side of described material rail 3 is provided with fixing welding room 2 and at least two longitudinal guide 4，The opposite side of described material rail 3 is slidably fitted with activity welding room 1，It is mounted on fixing device 6 and six-shaft industrial robot 7 in described activity welding room 1 and described fixing welding room 2，And the end of six-shaft industrial robot 7 is fixed with CCD stereoscopic camera 71，And six-shaft industrial robot 7 is two-way with extraneous PC end electrically connects，During use, the welding gun in argon arc welding device 8 is fixed on six-shaft industrial robot 7，Rectangular between activity welding room 1 and fixing welding room 2 four horizontal positioning devices 5 are distributed，The present invention is equipped with fixing welding room 2 and mobile welding room 1，The argon arc welding power supply that can effectively protect six-shaft industrial robot 7 and argon arc welding device 8 avoids foreign object to collide，Fixing welding room 2 and mobile welding room 1 are provided with explosion-proof illuminating lamp，May further ensure that the requirement to ambient light when CCD stereoscopic camera 71 is taken pictures；
The lower surface both sides of described activity welding room 1 are installed with at least four wheel body 11 and two fixing supporting legs 13, ground moving track 14 it is movably installed with in the middle part of the lower surface of activity welding room 1, it is evenly distributed with no less than six L-shaped bracing frames 12 between wheel body 11 and ground moving track 14, so take into full account the factors such as heat exchanger large-scale pipeline length conversion, improve the versatility of this equipment.
Specifically, described fixing device 6 includes supporting platform 61, support and be installed with electric pushrod 62 in the middle part of the lower surface of platform 61, the upper surface middle part supporting platform 61 is installed with tooling platform 62, the upper surface side supporting platform 61 is provided with clamping cylinder 64, the upper surface opposite side supporting platform 61 is provided with baffle plate 66, and the two ends supporting platform 61 are respectively and fixedly provided with lowering or hoisting gear 65.
Specifically, described horizontal positioning device group 5 includes lift cylinder 51, horizontal positioning device body 52 and proximity switch 53, and the outfan of lift cylinder 51 is provided with horizontal positioning device body 52, and the upper end of horizontal positioning device body 52 is provided with proximity switch 53.
Specifically, described material rail 3 includes the first slide rail 31 and the second slide rail 32, and first the upper surface of slide rail 31 and the second slide rail 32 be slidably installed respectively the first slide block 33 and the second slide block 34, be all rotatablely equipped with roller between the first described slide rail 31 and the first described slide block 33 and between the second described slide rail 32 and the second described slide block 34.
Specifically, described CCD stereoscopic camera 71 includes weld image acquisition module, image pre-processing module, acnode filtration module and weld image characteristic extracting module, the outfan of weld image acquisition module is connected with the input of image pre-processing module, the outfan of image pre-processing module is connected with the input of weld image characteristic extracting module, the outfan of weld image characteristic extracting module is connected with the input of extraneous PC end, described image pre-processing module includes LoG filtration module, picture smooth treatment module and binary image module, the outfan of LoG filtration module is connected with the input of picture smooth treatment module, the outfan of picture smooth treatment module is connected with the input of binary image module.
Specifically, assembled good workpiece to be welded is hoisted to expect on the first slide block (33) and second slide block (34) of rail (3) by described workman, owing to Workpiece length to be welded is longer, when being placed on track support, workpiece end positions to be welded is it is difficult to ensure that flush, so by the longitudinal direction of the neat workpiece to be welded in longitudinal guide (4) school, and workpiece to be welded is promoted to slide to six-shaft industrial robot (7) direction by artificial；Workpiece to be welded by longitudinal guide (4) school neat after, it is pushed to horizontal positioning device (5), horizontal positioning device (5) has four, it is divided into two groups according to the engagement sequence of workpiece to be welded, action between two groups is interlocked relationship, one group when being in lifting position, another group is then in down position, vice versa, equipment initial operating state is, first group in lifting position, second group at down position, after the proximity switch (53) of second group of horizontal positioning device (5) encountered by workpiece, i.e. send induced signal to fixing device (6)；After fixing device (6) receives signal, two tooling platforms (62) are lifted, and are held up to the welding and assembling height set by workpiece to be welded, meanwhile, clamping cylinder (64) synchronizes workpiece is pushed to baffle plate (66) and clamps, and now, four horizontal positioning devices (5) reset；During six-shaft industrial robot (7) welding, CCD stereoscopic camera (71) first passes through weld image acquisition module and gathers whole welding plane, obtain the appearance profile scope of welding plane, then it is acquired obtaining the most accurate positional information and bead contour profile information by weld image acquisition module respectively to every one weld seam, pass through image pre-processing module, the image information that acnode filtration module and painting style image characteristics extraction resume module collect, and the PC end that image information is transferred to the external world processes, draw accurate space motion track, accomplish precisely to weld with this, the order of welding is one weld seam of shooting, i.e. weld one weld seam, until all weld seams all weld complete；After workpiece to be welded has welded, six-shaft industrial robot (7) runs and is back to original state, and workpiece is placed to expect, on rail (3), manually to be pushed and run to next station again, and whole welding process completes.
The present invention uses six-shaft industrial robot 7 to weld, location of taking pictures is carried out by six-shaft industrial robot 7 and CCD stereoscopic camera 71 butt welded seam, gather the positional information of weld seam, information is fed back to the PC end in the external world, the effect of precisely welding is can reach with this present invention, have practical, easy to operate, also greatly enhance welding quality and the efficiency of product simultaneously.
The above; it is only the present invention preferably detailed description of the invention; but protection scope of the present invention is not limited thereto; any those familiar with the art is in the technical scope that the invention discloses; according to technical scheme and inventive concept equivalent or change in addition thereof, all should contain within protection scope of the present invention.
Claims (7)
- null1. a heat exchanger large-scale pipeline robot vision welder，It is characterized in that，Including activity welding room (1)、Fixing welding room (2)、Material rail (3)、Longitudinal guide (4) and horizontal positioning device (5)，The side of described material rail (3) is provided with fixing welding room (2) and at least two longitudinal guide (4)，The opposite side of described material rail (3) is slidably fitted with activity welding room (1)，It is mounted on fixing device (6) and six-shaft industrial robot (7) in described activity welding room (1) and described fixing welding room (2)，And the end of six-shaft industrial robot (7) is fixed with CCD stereoscopic camera (71)，And six-shaft industrial robot (7) is two-way with extraneous PC end electrically connects，Rectangular between activity welding room (1) and fixing welding room (2) four horizontal positioning devices (5) are distributed；The lower surface both sides of described activity welding room (1) are installed with at least four wheel body (11) and two fixing supporting legs (13), it is movably installed with ground moving track (14) in the middle part of the lower surface of activity welding room (1), is evenly distributed with between wheel body (11) and ground moving track (14) no less than six L-shaped bracing frames (12).
- A kind of heat exchanger large-scale pipeline robot vision welder the most according to claim 1, it is characterized in that, described fixing device (6) includes supporting platform (61), support and be installed with electric pushrod (62) in the middle part of the lower surface of platform (61), the upper surface middle part supporting platform (61) is installed with tooling platform (62), the upper surface side supporting platform (61) is provided with clamping cylinder (64), the upper surface opposite side supporting platform (61) is provided with baffle plate (66), and the two ends supporting platform (61) are respectively and fixedly provided with lowering or hoisting gear (65).
- A kind of heat exchanger large-scale pipeline robot vision welder the most according to claim 1, it is characterized in that, horizontal positioning device group (5) includes lift cylinder (51), horizontal positioning device body (52) and proximity switch (53), the outfan of lift cylinder (51) is provided with horizontal positioning device body (52), and the upper end of horizontal positioning device body (52) is provided with proximity switch (53).
- A kind of heat exchanger large-scale pipeline robot vision welder the most according to claim 1, it is characterized in that, described material rail (3) includes the first slide rail (31) and the second slide rail (32), and the upper surface of the first slide rail (31) and the second slide rail (32) is slidably installed the first slide block (33) and the second slide block (34) respectively.
- A kind of heat exchanger large-scale pipeline robot vision welder the most according to claim 4, it is characterized in that, between described the first slide rail (31) and described the first slide block (33) and between described the second slide rail (32) and described the second slide block (34), be all rotatablely equipped with roller.
- nullA kind of heat exchanger large-scale pipeline robot vision welder the most according to claim 1，It is characterized in that，Described CCD stereoscopic camera (71) includes weld image acquisition module、Image pre-processing module、Acnode filtration module and weld image characteristic extracting module，The outfan of weld image acquisition module is connected with the input of image pre-processing module，The outfan of image pre-processing module is connected with the input of weld image characteristic extracting module，The outfan of weld image characteristic extracting module is connected with the input of extraneous PC end，Described image pre-processing module includes LoG filtration module、Picture smooth treatment module and binary image module，The outfan of LoG filtration module is connected with the input of picture smooth treatment module，The outfan of picture smooth treatment module is connected with the input of binary image module.
- A kind of heat exchanger large-scale pipeline robot vision welder the most according to claim 1, it is characterized in that, assembled good workpiece to be welded is hoisted to expect on the first slide block (33) and second slide block (34) of rail (3) by described workman, owing to Workpiece length to be welded is longer, when being placed on track support, workpiece end positions to be welded is it is difficult to ensure that flush, so by the longitudinal direction of the neat workpiece to be welded in longitudinal guide (4) school, and workpiece to be welded is promoted to slide to six-shaft industrial robot (7) direction by artificial；Workpiece to be welded by longitudinal guide (4) school neat after, it is pushed to horizontal positioning device (5), horizontal positioning device (5) has four, it is divided into two groups according to the engagement sequence of workpiece to be welded, action between two groups is interlocked relationship, one group when being in lifting position, another group is then in down position, vice versa, equipment initial operating state is, first group in lifting position, second group at down position, after the proximity switch (53) of second group of horizontal positioning device (5) encountered by workpiece, i.e. send induced signal to fixing device (6)；After fixing device (6) receives signal, two tooling platforms (62) are lifted, and are held up to the welding and assembling height set by workpiece to be welded, meanwhile, clamping cylinder (64) synchronizes workpiece is pushed to baffle plate (66) and clamps, and now, four horizontal positioning devices (5) reset；During six-shaft industrial robot (7) welding, CCD stereoscopic camera (71) first passes through weld image acquisition module and gathers whole welding plane, obtain the appearance profile scope of welding plane, then it is acquired obtaining the most accurate positional information and bead contour profile information by weld image acquisition module respectively to every one weld seam, pass through image pre-processing module, the image information that acnode filtration module and painting style image characteristics extraction resume module collect, and the PC end that image information is transferred to the external world processes, draw accurate space motion track, accomplish precisely to weld with this, the order of welding is one weld seam of shooting, i.e. weld one weld seam, until all weld seams all weld complete；After workpiece to be welded has welded, six-shaft industrial robot (7) runs and is back to original state, and workpiece is placed to expect, on rail (3), manually to be pushed and run to next station again, and whole welding process completes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610360049.7A CN105945398A (en) | 2016-05-27 | 2016-05-27 | Robot vision welding device for heat exchanger large-scale pipeline |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610360049.7A CN105945398A (en) | 2016-05-27 | 2016-05-27 | Robot vision welding device for heat exchanger large-scale pipeline |
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| CN105945398A true CN105945398A (en) | 2016-09-21 |
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| CN201610360049.7A Pending CN105945398A (en) | 2016-05-27 | 2016-05-27 | Robot vision welding device for heat exchanger large-scale pipeline |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107562006A (en) * | 2017-08-13 | 2018-01-09 | 郑州职业技术学院 | A kind of mesh plate former based on PLC controls |
| CN107695497A (en) * | 2017-09-30 | 2018-02-16 | 惠州市德力焊接设备有限公司 | A kind of radiator welding production line |
| CN110449690A (en) * | 2019-09-06 | 2019-11-15 | 昆山荣仕杰智能装备科技有限公司 | Band Visual intelligent welding system |
| CN114619183A (en) * | 2022-04-21 | 2022-06-14 | 恩纳基智能科技无锡有限公司 | Bonding head wire welding mechanism |
-
2016
- 2016-05-27 CN CN201610360049.7A patent/CN105945398A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107562006A (en) * | 2017-08-13 | 2018-01-09 | 郑州职业技术学院 | A kind of mesh plate former based on PLC controls |
| CN107695497A (en) * | 2017-09-30 | 2018-02-16 | 惠州市德力焊接设备有限公司 | A kind of radiator welding production line |
| CN110449690A (en) * | 2019-09-06 | 2019-11-15 | 昆山荣仕杰智能装备科技有限公司 | Band Visual intelligent welding system |
| CN114619183A (en) * | 2022-04-21 | 2022-06-14 | 恩纳基智能科技无锡有限公司 | Bonding head wire welding mechanism |
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