CN106077902B - Automatic welding system based on double laser radar detection sensor - Google Patents
Automatic welding system based on double laser radar detection sensor Download PDFInfo
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- CN106077902B CN106077902B CN201610534425.XA CN201610534425A CN106077902B CN 106077902 B CN106077902 B CN 106077902B CN 201610534425 A CN201610534425 A CN 201610534425A CN 106077902 B CN106077902 B CN 106077902B
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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
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- Engineering & Computer Science (AREA)
- Optics & Photonics (AREA)
- Geometry (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention mainly includes double laser radar detection sensor for a kind of automatic welding system systems based on double laser radar detection sensor, radar detection controller, adaptive radian adjuster, welding system control cabinet, welding robot, the source of welding current and welding water-cooling system.Set in the double laser radar detection sensor of the welding system along the preposition probe of welding direction arrangement and identify weld seam signal with frequency oscillatory scanning with rearmounted probe, traversing of probe information is imported into radar detection controller and carries out signal transacting, calculation process monitors weld information in real time.For preposition probe by identifying that weld seam moves towards to the left-right deviation of central axis, adaptive radian adjuster realizes the real-time automatic welding of system according to the deflection angle of feedback signal automatic adjusument welding robot.On the premise of welding effect is ensured, weld seam recognition precision is improved.
Description
Technical field
The present invention relates to welding automatization technology field, and in particular to a kind of based on the accurate observing and controlling weld seam of double laser radar
System and method for.
Background technology
Although current THE WELD SEAM TRACKING TECHNOLOGY has tended to be ripe, the welding for complexity could be improved, the sky of development
Between it is still very big.In view of the development trend of made in China 2025, such as processing such as the cabin deck sheet material butt welding of large-scale important devices
The quality requirement connect is higher.Therefore, it is necessary to take into full account the complexity of welding surroundings, the precision of weld joint tracking, it just can guarantee that weldering
The quality connect, to realize that automatic welding establishes solid foundation.Current industrial metaplasia is produced to be increased to the demand of large flat,
To reduce production cost, welding equipment must adapt to the welding of complicated weld seam in order to expand the welding model of Automation of Welding equipment
Enclose.
The heavy difficult point of complexity welding is weld seam signal extraction and the identification of weld seam deviation.Open patent of invention：One kind is based on
Using binocular CCD in the complicated angle welding method for detecting position (Application No. 2014100428828) of Binocular stereo vision with laser
Imaging identification technology.CCD is easily disturbed by arc light, and general volume is not larger easy to install, limits the accessibility of welding gun.With it
Compare, arc sensor just has the advantage for being difficult to substitute.It is proposed is intended to apply to a kind of new sensor in welding
Come, to improve the extraction and deviation identification to weld seam.Radar sensor is in Aero-Space, precisely navigation, space since 21 century
The problems such as positioning, displacement monitoring, but the document and report for being applied to weld joint tracking field are still seldom seen so far.First adopt
Organically combined with Automation of Welding with double laser radar sensor, with radar accurate scan weld seam signal, welded
Situation in bad condition realizes accurate weld joint tracking.The present invention is by double laser radar detection sensor, radar detection controller, from
Adapt to radian adjuster three closely to connect, extend the application field of micro mechanical sensor, filled up micromechanics sensing
Device realizes the blank of weld joint automatized tracking.
The content of the invention
The invention aims to solve automatic welding and corner weld seam signal identification in welding, there is provided
A kind of automatic welding system based on double laser radar detection sensor.System mainly includes double laser radar detection sensing
Device, radar detection controller, adaptive radian adjuster, welding system control cabinet, welding robot, the source of welding current and welding water
Cooling system.To pass in and out cooling water pipe, radar detection controller, adaptive radian adjusts the order of connection welding system from top to bottom
Device, double laser radar detection sensor, ignition tip, welding wire.Double laser radar detection sensor is loaded into robot welding arm
Front end, double laser radar detection sensor scanning installing front optical code disk, the collection information of preposition probe and rearmounted probe is led
Enter the radar detection controller for being installed on welding arm, the adaptive radian adjuster of the another welded system of preposition probe signal is anti-
It is fed to welding robot.The sensing system feature is that reducing arc light disturbs, and realizes the precise acquisition of weld seam signal.
The operation principle of automatic welding system based on double laser radar detection sensor, as described below：It is fixed on sky
The dual radars probe of the coaxial both sides of electrocardiograph, is swept in the swing of frequency conversion core motor by the optical code disk of sensing head front end
Weld seam signal A and the weld groove signal B of preposition probe collection that weld seam signal obtains rearmounted probe collection are retouched, with rearmounted probe
Signal on the basis of collection signal, is fed back to by the signal acquisition of front and rear probe and signal transacting is carried out in radar detection controller,
Eliminate phase difference post-compensation and identify that weld seam signal is (B-A).Single-chip microcomputer is set in radar detection controller, is easy to data to pass
It is defeated, program is write, improves algorithm of the controller to executing agency.
Machine zero before mechanical structure running so that the direction of motion coincides with central axis, comes in order in core motor
When backswing is moved, it is preposition probe thus the amplitudes such as the left and right sides of central axis through front end optical code disk scanning weld information obtain it is left
Deviator C and right avertence amount D, scanning signal contrast both sides signal through automatic radian adjuster, so calculation process filter out it is unrelated miscellaneous
It is (D-C)/2 that ripple, which can obtain weld rotation deflection angle, when tilt value is just, then right avertence；If tilt value is negative, left avertence.According to
The deflection angle angle value of feedback, adaptive radian adjuster automatic adjusument welding gun movement locus, ensure welding direction and central shaft
Line overlaps all the time, improves weld joint tracking precision.
Double laser radar detection sensor is popped one's head in by dual radars, optical code disk and core motor composition.By cross-section supporting plate pair
Claim fixed dual radars probe to be divided into preposition probe and rearmounted probe, be centrosymmetrically arranged by core motor in welding wire both sides,
Swung back and forth in the presence of core motor rotor with certain frequency on central axis so that probe is set through sensor front end
The optical code disk unthreaded hole scanning weld seam put, rearmounted probe gather signal on the basis of signal, contrast preposition probe signal analysis and draw weldering
Stitch information.Auxiliary double laser radar detection sensor high frequency swings back and forth, and what the heat of high-temperature rotor was bunched to circle formula enters water cooling
Water copper pipe is cooled down, and unnecessary heat is moved away, ensures the normal operation of motor.The light that double laser radar sensor front end is set
Code-disc, 60 deciles are divided into, point degree such as corner deflection are converted into corresponding light code holes number, are easy to the further collection of data
With analysis, the computing of data is simplified.
When program sets welding process progress, it is easy to the collection of energy-conservation and data, the initial left side for setting core motor rotor
The right amplitude of oscillation is 45 degree, when scanning signal spilling, i.e., when corner amount exceeds amplitude of fluctuation, feedback letter is realized by the closed loop of system
Number regulation in real time, the corresponding left and right amplitude of oscillation for increasing core motor rotor, realizes the complete collection of weld seam signal.When deflection is realized
Afterwards, system fading margin returns initial state value, continues to run with.
Double laser radar detector is responsible for gathering weld seam signal, radar detection controller and adaptive radian in welding process
Adjuster processing welding lines signal simultaneously feeds back to welding system, is easy to perform associative operation.Integral solder system controlled is in welding system
System control cabinet, ensure that welding process is carried out in order.
Embodiment
With reference to Figure of description and embodiment, the present invention is described further.
Shown in accompanying drawing 1 is double laser radar detection sensor of the present invention, radar detection controller, adaptive radian adjustment
The hardware composing figure such as device, possesses the 1 Inlet and outlet water cold water mouth of pipe, 2 cover plates, 3 radar detection controllers, 4 adaptive radian adjusters, and 5
Core motor shell, 6 core motor rotors, 7 double laser radars probe, 8 optical code disks, 9 ignition tips, 10 welding wires.
7 double laser radar detection sensors point are front and rear to be symmetrically arranged in welding wire both sides, also referred to as preposition probe and rearmounted probe.
By the weld groove signal of preposition probe collection and the weld seam signal of rearmounted probe collection, double laser radar sensor installing and 6
Core motor rotor both sides, provide sensor by core motor and swing power in order back and forth, pass through the light of the optical code disk of fore device 8
Hole gathers weld information, and optical code disk is divided into 60 points, is easy to data acquisition, and front and rear probe gathered data, which collects, is transferred to 3 thunders
Up in controller for detection, data analysis is carried out.Identify that the left and right of weld seam is inclined by the scanning optical code disk that swings back and forth of preposition probe
Difference, angle adjustment is realized by 4 adaptive radian adjusters, ensure that central axis overlaps all the time with welding direction.Realize double excitation
What radar swung back and forth core motor results from the frictional heat of rubbing surface and is wrapped in core motor shell by 1 water cooling water inlet pipe
Circle formula water-cooled copper is cooled down.It is mutually located between component using round boss with circular pit, is easy to install.
Fig. 2 show double laser radar detection sensor schematic diagram of the present invention, and the water cooling tube one being symmetrically arranged enters one
Go out from 4 adaptive radian adjusters and stretch out, be then bound in circle dress on core motor shell and be easy to radiate.It is front and rear to be arranged symmetrically
Double laser radar detector fix two radar probes with cross-section supporting plate, front and rear probe difference is 180 degree, and front and rear weld seam is believed
Radar detection controller number is summarized in, phase difference is eliminated and determines weld seam signal.
Fig. 3 show double laser radar detection sensor schematic diagram of the present invention, when weld seam trend deflects, preposition spy
The scanning area left avertence amount Θ 1 of head is inconsistent with right avertence amount Θ 2, and angle signal is changed into unthreaded hole by the optical code disk that front end is set
It is left hole C and the right hole D to gather number, and wherein angle is between the adjacent unthreaded hole of each two
It is that a unthreaded hole is easy to signal acquisition to set 60, and overstocked unthreaded hole sets the manufacture for being unfavorable for original paper.Before initial setting up
The left and right amplitude of oscillation for putting probe is 45 degree, and when welding proceeds to corner, signal identification is overflowed, and system feedback signal is adaptive
Increase core motor rotor or so the amplitude of oscillation, be easy to signal transacting.
Fig. 4 show double laser radar detection sensor flow chart of the present invention, and when welding process starts, program sets welding
When process is carried out, it is easy to the collection of energy-conservation and data, the initial left and right amplitude of oscillation for setting core motor rotor is 45 degree, when scanning is believed
Number overflow, i.e., when corner amount exceed amplitude of fluctuation, realize that feedback signal is adjusted in real time by the closed loop of system, corresponding increase sky
The amplitude of oscillation of electrocardio machine rotor, the complete collection until realizing weld seam signal.When preposition radar probe scans corner weld seam signal,
The line on the basis of central axis, left-right deviation signal is scanned, when scanning signal is overflowed, then closed-loop path automatic adjusument is swung
Amplitude, until the complete collection of weld seam deviation signal, left avertence amount C and right avertence amount D, scanning signal contrasts through automatic radian adjuster
Both sides signal, so it is (D-C)/2 that calculation process, which filters out unrelated clutter to obtain weld rotation deflection angle, by adaptive radian
The deflection angle (D-C)/2 of controller regulation welding arm, after realization is deflected, system fading margin returns initial state value, continues to run with.
Brief description of the drawings
Fig. 1 is double laser radar detection sensor, radar detection controller, the original paper assembling figure such as adaptive radian adjuster
Fig. 2 is double laser radar detection sensor schematic diagram
Fig. 3 is double laser radar detection sensor schematic diagram
Fig. 4 is double laser radar detection sensor flow chart.
Claims (4)
1. the present invention is a kind of automatic welding system based on double laser radar detection sensor；System mainly includes double excitation
Radar detection sensor, radar detection controller, adaptive radian adjuster, welding system control cabinet, welding robot, welding
Power supply and welding water-cooling system；The order of connection is to pass in and out cooling water pipe to the welding system from top to bottom, radar detection controller, from
Adapt to radian adjuster, double laser radar detection sensor, ignition tip, welding wire；Double laser radar detection sensor is loaded into machine
Device people welds arm front end, and double laser radar detection sensor passes through the optical code disk scanning weld seam of front installing, by preposition probe
Import the radar detection controller for being installed on welding arm with the collection information of rearmounted probe, the another welded system of preposition probe signal
The adaptive radian adjuster of system feeds back to welding robot.
2. the automatic welding system based on double laser radar detection sensor according to claims 1, double excitation thunder
Popped one's head in up to detection sensor by dual radars, optical code disk and core motor composition；The dual radars symmetrically fixed by cross-section supporting plate are visited
Head is divided into preposition probe and rearmounted probe, is centrosymmetrically arranged by core motor in welding wire both sides, in core motor rotor
Swung back and forth under effect with certain frequency on central axis so that the optical code disk unthreaded hole that probe is set through sensor front end is swept
Weld seam is retouched, rearmounted probe gathers signal on the basis of signal, contrasts preposition probe signal analysis and draws weld information.
3. the automatic welding system based on double laser radar detection sensor according to claims 1, system acquisition
The step of signal：When the system is operating, double laser radar detection sensor rearmounted probe collection weld seam signal with it is preposition
The weld groove signal of probe collection, after eliminating phase difference and filtering clutter, signal on the basis of rearmounted collection signal of popping one's head in, collect
Signal imports radar detection controller and carries out calculation process, after correction-compensation weld seam signal, feeds back to welding system control cabinet, real
The intelligent welding of existing system.
4. the automatic welding system based on double laser radar detection sensor according to claims 1, double excitation thunder
Preposition probe up to detection sensor is pre-adjusted the central axis of setting by scanning, is able to extract weld rotation signal, will
Signal feeds back to adaptive radian controller and carries out filtration operation, after signal compensation, is easy to system self-adaption to adjust deflection angle,
Realize that weld seam precisely tracks.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610534425.XA CN106077902B (en) | 2016-07-08 | 2016-07-08 | Automatic welding system based on double laser radar detection sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610534425.XA CN106077902B (en) | 2016-07-08 | 2016-07-08 | Automatic welding system based on double laser radar detection sensor |
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| CN106077902A CN106077902A (en) | 2016-11-09 |
| CN106077902B true CN106077902B (en) | 2018-02-27 |
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| CN201610534425.XA Active CN106077902B (en) | 2016-07-08 | 2016-07-08 | Automatic welding system based on double laser radar detection sensor |
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| CN112355438A (en) * | 2020-10-13 | 2021-02-12 | 绍兴汉立工业自动化科技有限公司 | Automatic robot welding process for container corrugated welding |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2904247B2 (en) * | 1993-02-26 | 1999-06-14 | 日立造船株式会社 | Welding robot for corrugated lap joints |
| JPH07104831A (en) * | 1993-10-08 | 1995-04-21 | Fanuc Ltd | Automatic position teaching method for robot using laser sensor |
| DE59907207D1 (en) * | 1998-07-08 | 2003-11-06 | Siegfried Hillenbrand | DEVICE FOR MONITORING WELDING POINTS |
| CN103192159B (en) * | 2013-04-23 | 2015-12-23 | 中国电子科技集团公司第三十八研究所 | A kind of welding robot workstation system for radar arrangement part |
| CN204053201U (en) * | 2014-07-29 | 2014-12-31 | 刘晓东 | Laser vision seam tracking system |
| CN104668738B (en) * | 2015-02-02 | 2017-01-11 | 南昌大学 | Cross type double-line laser vision sensing welding gun height real-time identification system and method |
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