CN106271081B - Three coordinate rectangular robot line laser seam tracking systems and its tracking - Google Patents
Three coordinate rectangular robot line laser seam tracking systems and its tracking Download PDFInfo
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- CN106271081B CN106271081B CN201610881327.3A CN201610881327A CN106271081B CN 106271081 B CN106271081 B CN 106271081B CN 201610881327 A CN201610881327 A CN 201610881327A CN 106271081 B CN106271081 B CN 106271081B
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
- B23K26/24—Seam welding
- B23K26/30—Seam welding of three-dimensional seams
-
- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
- B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
- B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
-
- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
Abstract
The invention discloses a kind of three coordinate rectangular robot line laser seam tracking systems, including：Including：Three coordinate rectangular robots, workbench, line laser sensor, the source of welding current, welding gun, welding corollary equipment, welding gun holding device, built-in industrial controller and workpiece.The invention also discloses a kind of tracking for being applied to three coordinate rectangular robot line laser seam tracking systems, comprise the following steps：1st, three coordinate rectangular robot positions are adjusted；2nd, initial weld bead feature points and adjacent area are obtained；3rd, deviation is obtained；4th, gather each two field picture and send to built-in industrial controller；5th, uprise image degree of purity；6th, obtained image is subjected to Gaussian kernel related algorithm processing；7th, feature space is mapped to more higher dimensional space；8th, the position of weld bead feature points in a new frame is obtained；9th, deviation is sent to servo-driver；10th, soldering joint automatic tracking is completed.Have the advantages that to improve welding precision.
Description
Technical field
The present invention relates to robot line laser seam tracking system, more particularly to three coordinate rectangular robot line lasers
Seam tracking system and its tracking.
Background technology
Present welding robot is essentially all first to carry out teaching before welding, allows robot to walk one every time admittedly
Fixed track, it is exactly repeatable accuracy height that this mode, which has a benefit, and movement locus need not be corrected, and still, he has a cause
The defects of life is exactly to be not sufficiently random strain, underaction, and when needing, the Workpiece Machining Accuracy that welds is poor, or is needed real-time
During the workpiece that welding processing profile is still not clear, this welding robot will turn turtle, it is necessary to teaching ability again
Complete, so each teaching can all devote a tremendous amount of time, cumbersome and time consuming, it is impossible to meet modern factories for welding processing
Requirement.
Therefore, in order to meet for workpiece machining accuracy itself, reduce and carry out weight because each workpiece shapes change
The time that new teaching is spent, it should which butt welding machine device people installs vision system additional to meet that modern industry is wanted to welding technique
Ask.
Real-time seam tracking system and to be moved accordingly from the Coordinate Conversion that image procossing obtains into robot be to work as
Urgent problem to be solved in preceding welding robot welding process, it is many scholar's surrounding target track algorithms both domestic and external, corresponding
Image procossing, calibration algorithm and robot realtime communication system have conducted intensive studies.Early stage proposes some tracking
Method such as optical flow method, but it is exactly to track target to ensure without complete that the standard-track algorithm of this kind of early stage, which has a limitation,
Block or disappear, be more also that this method can only be tracked in short term, therefore, such algorithm, which is called, makees short-term tracker.
With the development of modern technologies, long-term follow becomes more and more important, and long-term follow requires that tracker being capable of detecting and tracking one
The video sequence of endless, therefore, tracker will possess certain detectability in itself, most important of which is that when target is complete
Complete to block or disappears when causing tracking unsuccessfully, tracker can detect again, can be looked for again when target object occurs
To target and it is tracked.
F.Henriques etc. proposed one kind in 2014 and is called KCF (Kernerlized Correlation
Filter, i.e.,：Gaussian kernel correlation tracking algorithm) cause tracking velocity to have very big lifting, in same test data set, put down
The equal speed of service reaches 172 frames/s (in the case of using HOG features).And shown according to the experimental result of article, accuracy rate ratio
Present track algorithm is all high.Why there can be so fast speed, have benefited from author and dexterously constructed by circulating skew
The training sample of grader, so that data matrix becomes a circular matrix.It is then based on the characteristic of circular matrix
The solution of problem has been transformed to Fourier transform domain, so as to avoid the process of matrix inversion, has greatly reduced answering for algorithm
Miscellaneous degree.
Therefore, in order to solve the problems, such as weld seam real-time tracking, study and improve Gaussian kernel correlation tracking algorithm, and design
Three coordinate rectangular robots carry out weld joint tracking experiments, and the present invention proposes according to this.
The content of the invention
The shortcomings that primary and foremost purpose of the present invention is to overcome prior art and deficiency, there is provided a kind of three coordinate rectangular robots
Line laser seam tracking system, teaching operation must be first carried out before solving existing welding robot welding workpiece,
And trivial operations, the problem of efficiency is low and precision is not high.
The shortcomings that another object of the present invention is to overcome prior art and deficiency, there is provided one kind is applied to three coordinate right angles
The tracking of robot line laser seam tracking system.
The primary and foremost purpose of the present invention is realized by following technical proposals：Three coordinate rectangular robot line laser weld seams are automatic
Tracking system, wherein system include three coordinate rectangular robots, workbench, line laser sensor, the source of welding current, welding gun, welding
Corollary equipment, welding gun holding device, built-in industrial controller and workpiece, line laser sensor are arranged on welding gun, and welding gun leads to
Clamping device is crossed on the Z axis of three coordinate rectangular robots, three coordinate rectangular robots are made up of three linear modules, and three
Interrelated by connecting plate between individual module, three coordinate rectangular robots are connected by the module of X-direction with workbench
Fixed, workpiece to be welded is also placed on workbench；Welding gun is moved to above workpiece to be welded by three coordinate rectangular robots, first by line
Laser line generator in laser sensor produces striped formula laser, and the figure of present frame is caught by the industrial camera in sensor
Picture, and built-in industrial controller is sent an image to, obtain the position of Weld pipe mill point in image using Gaussian kernel related algorithm
Coordinate is put, then industrial control unit (ICU) is by being calculated the distance of source location and welding gun end, and passes through TwinCAT softwares
Distance offsets are sent to servo-driver by real-time kernel in real time, and servo driver drives servomotor causes three coordinate right angles
Robot motion, so as to which welding gun end is moved into progress welding job at position while welding.
The three coordinates rectangular robot includes servo-drive system and kinematic system；The servo-drive system include servomotor and
Servo-driver；The kinematic system includes the linear module of X-direction, the linear module of Y direction, the linear module of Z-direction, X
The axle and linear module connecting plate of Y direction, Y-axis and the linear module connecting plate of Z-direction and three yielding couplings.Described
Three coordinate rectangular robot line laser seam tracking systems, it is characterised in that the workbench include aluminium section bar support and
Supporting plate, the workpiece are positioned in welding supporting plate, and the welding supporting plate is positioned on workbench lower supporting plate, described
The linear module of X-direction is fixed on workbench upper backup pad.Three described coordinate rectangular robot line laser weld seams automatically with
Track system, it is characterised in that the welding gun holding device includes holder for welding gun and welding gun connecting plate, holder for welding gun clamping weldering
Rifle simultaneously plays insulating effect, and holder for welding gun is fixed on z axis module by welding gun connecting plate, and such welding gun is with regard to that can be fixed on
On the linear module of Z-direction, and z axis module is followed to move together.
Another object of the present invention is achieved through the following technical solutions：One kind is applied to three coordinate rectangular robot line lasers
The tracking of seam tracking system, comprises the following steps：
S1, the position for adjusting three coordinate rectangular robots so that welding gun end (i.e. wire tip) position being fixed on Z axis
In the surface of workpiece position while welding to be welded so that the line laser sensor being fixed on welding gun is in best operational position, i.e.,
Clearly image can be captured in welding process, line laser sensor and workpiece to be welded will not be caused to interfere again；
The camera that S2, welding start in the laser sensor of front first gathers image and is sent to built-in industrial controller,
Built-in industrial controller obtains initial weld bead feature points and phase by calling the built-in function of Halcon softwares to be initialized
Neighbouring region；
Obtained initial characteristicses point pixel coordinate value is converted into three under camera coordinates system by S3, built-in industrial controller
Dimensional coordinate values, and using this coordinate value as benchmark compared with the coordinate value obtained later, so as to obtain deviation；
S4, welding start each two field picture of camera continuous acquisition of rear line laser sensor, and send to built-in industrial
Controller carries out processing calculating；
Obtained image is carried out threshold process by S5, built-in industrial controller first, binaryzation is multiplied with three width images
Processing so that splashed in obtained welding image and arc light noise greatly reduces so that image degree of purity uprises；
S6, by obtained image carry out Gaussian kernel related algorithm processing, extracted just centered on initial characteristic point first
Sample, and negative sample is extracted to carry out sample training around it, and the conversion between sample is realized by circular matrix, one
The circular matrix of individual sample is as follows；
S7, introduce gaussian kernel function by feature space be mapped to more higher dimensional space obtain regression function and Fourier transformation it
Solution afterwards is changed into；
S8, the position by can obtain weld bead feature points in a new frame after inverse Fourier transform：
Converted it to by built-in industrial controller under camera coordinates system, and with initialization
Coordinate value be compared, deviation (Δ y, Δ z) will be obtained；
By deviation, (Δ y, Δ z) are sent to servo-drive in real time by TwinCAT softwares for S9, built-in industrial controller
Device；
S10, servo driver drives servomotor move through yielding coupling and three coordinate rectangular robots are transported
It is dynamic, so that weld seam midpoint of the welding wire of welding gun end along workpiece is moved, so just complete three coordinate rectangular robots
Soldering joint automatic tracking.
The present invention operation principle be：Three coordinate rectangular robots drive welding gun moves to the surface of workpiece to be welded, and
Make the distance of welding gun end and weld seam moderate, before welding starts, it is concurrent that the camera in line laser sensor gathers image first
Built-in industrial controller is delivered to, built-in industrial controller extracts the laser stripe in image using Halcon softwares, and
Obtain the intersection point (c of laser stripe0,r0), intersection point is the Weld pipe mill point of workpiece to be welded, and surrounding is extracted centered on intersection point
A panel region as positive sample, extract a series of an equal amount of regions as negative sample around positive sample, pass through demarcation
The pixel coordinate value of intersection point is converted into the D coordinates value (x under camera coordinates system by algorithm0,y0,z0), thus obtain just
The coordinate value as reference and positive negative sample of beginning, camera in line laser sensor continuously gathers after welding starts
Image is simultaneously sent to built-in industrial controller, industrial control unit (ICU) first by obtained image carry out threshold process, binaryzation and
Three width image multiplications are handled, and arc light and the interference splashed can be so reduced, then using Gaussian kernel related algorithm, initial
Extract a series of positive negative samples around characteristic point, the conversion between sample is realized by circular matrix, introduces gaussian kernel function
Feature space is incorporated into the space of more higher-dimension, the position of characteristic point in current frame image is obtained finally by inverse Fourier transform
Coordinate (c, r), the coordinate value (x, y, the z) coordinate value being converted into also by calibration algorithm under camera coordinates system, by the coordinate
Value is compared with initial coordinate values, and (Δ y, Δ z), built-in industrial controller pass through the deviation for just having obtained between the two
Deviation is sent to servo-driver by TwinCAT softwares in real time, and servo driver drives servomotor is transported accordingly
Dynamic, servomotor is moved by the coordinate rectangular robot of yielding coupling three, so as to drive welding gun to move to workpiece weld seam
Central point is welded, and so just completes the process of soldering joint automatic tracking.
The three coordinate rectangular robot line laser seam tracking systems of the present invention include：Three coordinate rectangular robots,
Workbench, line laser sensor, the source of welding current, welding gun, welding corollary equipment, welding gun holding device, built-in industrial controller
And workpiece, line laser sensor are arranged on welding gun, welding gun is arranged on the Z axis of three coordinate rectangular robots by clamping device
On, three coordinate rectangular robots are made up of three linear modules, and interrelated by connecting plate between three modules, three coordinates are straight
Angle robot is connected to a fixed by the module of X-direction with workbench, and workpiece to be welded is also placed on workbench；Three coordinate right angles
Welding gun is moved to above workpiece to be welded by robot, and producing striped formula by the laser line generator in line laser sensor first swashs
Light, the image of present frame is caught by the industrial camera in sensor, and sends an image to built-in industrial controller, is utilized
Gaussian kernel related algorithm obtains the position coordinates of Weld pipe mill point in image, and then industrial control unit (ICU) is by being calculated target position
The distance a little with welding gun end is put, and distance offsets are sent to by servo-driver by TwinCAT software real-time kernels, is watched
Taking driver driving servomotor causes three coordinate rectangular robots to move, so as to which welding gun end to be moved at position while welding
Row welding job.Solving needs the process of prior teaching during present welding robot welding, save the plenty of time, and carry
High welding precision.
The present invention is had the following advantages relative to prior art and effect：
(1) characteristic point of the invention by line laser sensor automatic identification weld seam, and pass through built-in industrial controller
Follow-up communication, calculating and processing are carried out, apparatus structure is simple, and system is easy to maintain, is realized by built-in industrial controller
The automatic data collection of data and processing, the efficiency of data processing can be effectively improved；
(2) automaticity of the present invention is higher, can realize that weld image gathers in real time automatically, automatic welding, weld seam
Automatic real-time track, substantially increase production efficiency.
Brief description of the drawings
Fig. 1 is three coordinate rectangular robot line laser seam tracking system general structure schematic diagrams of the invention.
Fig. 2 is three coordinate rectangular robots in three coordinate rectangular robot line laser seam tracking systems of the invention
Device part-structure schematic diagram.
Fig. 3 is that the workbench portion structure in three coordinate rectangular robot line laser seam tracking systems of the invention is shown
It is intended to.
Fig. 4 is that the welding gun in three coordinate rectangular robot line laser seam tracking systems of the invention accommodates device part
Structural representation.
Fig. 5 is three coordinate rectangular robot line laser seam tracking system method flow schematic diagrams.
Embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are unlimited
In this.
Embodiment
As shown in figure 1, a kind of three coordinate rectangular robot line laser seam tracking systems, including：Source of welding current 1-
1st, corollary apparatus 1-2, welding gun holding device 1-3, three coordinate rectangular robot 1-4, welding gun 1-5, line laser sensor 1- are welded
6th, built-in industrial controller 1-7, workbench 1-8 and workpiece 1-9.The workpiece 1-9 is placed on workbench 1-8, workpiece 1-9
Position and angle of inclination can adjust manually, line laser sensor 1-6 is fixedly mounted on welding gun 1-5 ends, and welding gun 1-5 passes through
For welding gun holding device 1-3 on three coordinate rectangular robot 1-4 Z axis, three coordinate rectangular robot 1-4 pass through its X-axis
It is fixedly mounted on workbench 1-8, built-in industrial controller 1-7 is connected by ethernet line with line laser sensor 1-6, weldering
Rifle 1-5 and welding corollary equipment 1-2 are connected by cable with source of welding current 1-1, line laser sensor 1-6 and welding gun 1-5
It is changed in the position in space by three coordinate rectangular robot 1-4 motion.
As shown in Fig. 2 three coordinate rectangular robots include servo-drive system and kinematic system；The servo-drive system includes Delta
Servomotor 2-1 and Delta servo-driver 2-2；It is linear that the kinematic system includes the linear module 2-3 of X-direction, Y direction
The linear module 2-5 of module 2-4, Z-direction, X-axis and the linear module connecting plate 2-6 of Y direction, Y-axis and the linear module of Z-direction
Connecting plate 2-7 and three yielding coupling 2-8；The built-in industrial controller works as built-in industrial to grind magnificent IPC-510
After controller sends deviation signal by TwinCAT softwares real-time kernel to servo-driver 2-2, servo-driver 2-2 will
Servomotor 2-1 is sent in the form of a pulse, and servomotor 2-1 makes corresponding rotation according to the size and number of pulse, watched
Take motor 2-1 and do straight line fortune by three reference axis 2-3,2-4 and 2-5 of the coordinate rectangular robot of yielding coupling three
Dynamic, the welding gun being fixed on z axis module will move to corresponding opening position, so as to complete welding process.
As shown in figure 3, the workbench includes aluminium section bar support and supporting plate, described its section chi of aluminium section bar support 3-1
Very little is 60*60mm, and the welding supporting plate is put 3-2 and is placed on workbench lower supporting plate 3-3, and lower supporting plate 3-3 materials are closed for aluminium
Gold, specification 1350*540*3, the linear module of X-direction described in 2 are fixed on workbench upper backup pad 3-4, upper branch
Fagging 3-4 materials are aluminium alloy, and specification 1350*300*8, the switch board 3-5 are fixedly mounted on the aluminium alloy post right side
Side, material are sheet iron, specification 800*350*900.
As shown in figure 4, the welding gun holding device includes holder for welding gun 4-1 and welding gun connecting plate 4-2, holder for welding gun
4-1 clamps welding gun 4-3 and plays insulating effect, and holder for welding gun 4-1 is fixed on z axis module by welding gun connecting plate 4-2,
So when z axis module moves, welding gun 4-3 and line laser sensor 4-4 can follow z axis module to move together.
Each parts of the present invention can type selecting it is as follows, but type selecting not limited to this：Built-in industrial controller：It can be selected
The built-in industrial controller of other same types；Wherein, workpiece：The same type workpiece of other shapes rule can be selected.
As shown in figure 5, the welding gun for controlling three coordinate rectangular robot ends by built-in industrial controller first moves
To the surface of weld seam, clearly image can be captured so in welding process, will not cause again line laser sensor and
Workpiece to be welded interferes.Then line laser sensor collects the image of weld seam and sends back built-in industrial controller, control
Device processed obtains initial weld bead feature points and adjacent area by calling the built-in function of Halcon softwares to be initialized.It is embedded
Obtained initial characteristicses point pixel coordinate value is converted into the D coordinates value under camera coordinates system by formula industrial control unit (ICU), and with this
Coordinate value as benchmark compared with the coordinate value obtained later, so as to obtain deviation.Line laser sensor is with per second 60
The speed of frame, which constantly gathers the image captured and is sent to industrial control unit (ICU), carries out processing calculating.Built-in industrial controller
Obtained image is carried out into threshold process, binaryzation first to be multiplied with three width images processing so that winged in obtained welding image
Splash and greatly reduced with arc light noise so that image degree of purity uprises.Obtained image is subjected to Gaussian kernel related algorithm processing, it is first
Positive sample is first extracted centered on initial characteristic point, and negative sample is extracted to carry out sample training, and by following around it
Ring matrix realizes the conversion between sample.Calculated to simplify, introduce gaussian kernel function and feature space is mapped to more higher-dimension
Space.The coordinate value of characteristic point in a new two field picture is calculated by inverse Fourier transform.Built-in industrial controller is incited somebody to action
To deviation servo starter is sent to by TwinCAT real-time kernels.Servo-driver sends a series of to servomotor
Pulse, servomotor by yielding coupling drive three coordinate rectangular robots move, be fixed on three coordinate rectangular robot Z
Welding gun on shaft end will move to Weld pipe mill point and complete whole automatic Arc Welding.
Above-described embodiment is the preferable embodiment of the present invention, but our bright embodiment is not by above-described embodiment
Limitation, other any Spirit Essences away from the present invention with made under principle change, modification, replacement, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (4)
- A kind of 1. three coordinate rectangular robot line laser seam tracking systems, it is characterised in that including：Three coordinate right angle machines Device people, workbench, line laser sensor, the source of welding current, welding gun, welding corollary equipment, welding gun holding device, built-in industrial control Device and workpiece processed；The workpiece is placed on the table, and the position and angle of inclination of workpiece can be adjusted manually, and line laser sensor is fixed Installed in welding gun end, welding gun is arranged on by welding gun holding device on the Z axis of three coordinate rectangular robots, three coordinate right angle machines Device people is fixedly mounted on the table by its X-axis, and built-in industrial controller passes through ethernet line and line laser sensor phase Even, welding gun and welding corollary equipment are connected by cable with the source of welding current, and line laser sensor and welding gun pass through three coordinates The motion of rectangular robot and change locus；The three coordinates rectangular robot includes：Servo-drive system and kinematic system；The servo-drive system includes：Servomotor and watch Take driver；The kinematic system：Including the linear module of X-direction, the linear module of Y direction, the linear module of Z-direction, X-axis Module connecting plate linear with Y direction, Y-axis and the linear module connecting plate of Z-direction and three yielding couplings；After the image that camera collects in line laser sensor is first passed through into pretreatment, using Gaussian kernel correlation tracking algorithm, obtain The pixel coordinate value of Weld pipe mill characteristic point into current frame image, the three-dimensional seat coordinate value being converted under camera coordinates system After scale value, the value and the deviation of initial value are sent to three coordinate rectangular robots in real time by TwinCAT softwares, so as to Welding gun is driven to complete automatic welding；Line laser sensor collects the image of weld seam and sends back built-in industrial controller, and controller is by calling Halcon The built-in function of software is initialized, and obtains initial weld bead feature points and adjacent area；Built-in industrial controller will obtain Initial characteristicses point pixel coordinate value be converted into D coordinates value under camera coordinates system, and using this coordinate value as benchmark with The coordinate value obtained afterwards is compared, so as to obtain deviation；Line laser sensor is constantly gathered with the speed of 60 frame per second The image that captures simultaneously is sent to industrial control unit (ICU) and carries out processing calculating；Built-in industrial controller first enters obtained image Row threshold process, binaryzation and three width images are multiplied processing so that are splashed in obtained welding image and arc light noise subtracts significantly It is small so that image degree of purity uprises；By obtained image carry out Gaussian kernel related algorithm processing, first using initial characteristic point as Center extraction positive sample, and negative sample is extracted to carry out sample training around it, and by circular matrix come realize sample it Between conversion；Calculated to simplify, introduce gaussian kernel function and feature space is mapped to more higher dimensional space；Pass through Fourier's inversion Change the coordinate value for calculating characteristic point in a new two field picture；Built-in industrial controller passes through obtained deviation TwinCAT real-time kernels are sent to servo starter；Servo-driver sends a series of pulse, servomotor to servomotor Three coordinate rectangular robots are driven to move by yielding coupling, the welding gun being fixed on three coordinate rectangular robot Z axis ends Weld pipe mill point will be moved to and complete whole automatic Arc Welding.
- 2. three coordinates rectangular robot line laser seam tracking system according to claim 1, it is characterised in that institute Stating workbench includes aluminium section bar support and supporting plate, and the workpiece is positioned in welding supporting plate, and the welding supporting plate is placed In on workbench lower supporting plate, the linear module of described X-direction is fixed on workbench upper backup pad.
- 3. three coordinates rectangular robot line laser seam tracking system according to claim 1, it is characterised in that institute Stating welding gun holding device includes holder for welding gun and welding gun connecting plate, and holder for welding gun clamping welding gun simultaneously plays insulating effect, welded Holder for welding gun is fixed on z axis module by rifle connecting plate, and welding gun is fixed on the linear module of Z-direction, and follows Z Axis module moves together.
- A kind of 4. track side of three coordinate rectangular robot line laser seam tracking systems applied to described in claim 1 Method, it is characterised in that comprise the following steps：S1, the position for adjusting three coordinate rectangular robots；Before S2, welding start, the camera in line laser sensor first gathers image and is sent to built-in industrial controller, embedded Formula industrial control unit (ICU) obtains initial weld bead feature points and adjacent region by calling the built-in function of Halcon softwares to be initialized Domain；Obtained initial characteristicses point pixel coordinate value is converted into the three-dimensional seat under camera coordinates system by S3, built-in industrial controller Scale value, and using this coordinate value as benchmark compared with the coordinate value obtained later, so as to obtain deviation；After S4, welding start, each two field picture of camera continuous acquisition of line laser sensor, and send to built-in industrial and control Device carries out processing calculating；Processing that obtained image is carried out threshold process by S5, built-in industrial controller first, binaryzation is multiplied with three width images, So that splashing and arc light noise greatly reduce in obtained welding image so that image degree of purity uprises；S6, by obtained image carry out Gaussian kernel related algorithm processing, extract positive sample centered on initial characteristic point first, And negative sample is extracted around it to carry out sample training, and the conversion between sample, a sample are realized by circular matrix This circular matrix is as follows；In above formula, x=[x1 x2 x3 … xn] be matrix the 1st row vector, represent the positive sample for training, X is x by following Ring offsets obtained circular matrix, represents all negative samples extracted around positive sample；S7, introduce gaussian kernel function feature space is mapped to after more higher dimensional space obtains regression function and Fourier transformation Solution is changed into；In above formula, z represents initial object module,Z Fourier transformation is represented,Represent training sample sample x and z The kernel function of product,For parameter matrix to be asked, column vector y represents to return value matrix, and λ is that the regularization for preventing over-fitting is joined Number；S8, the position by can obtain weld bead feature points in a new frame after inverse Fourier transform：In above formula, (ci,ri) represent present frame characteristic point row coordinate and row coordinate value, (ci-1,ri-1) represent previous frame characteristic point Row coordinate and row coordinate value, (Δ c, Δ r) represent the variable quantity of characteristic point row coordinate and row coordinate value；Converted it under camera coordinates system by built-in industrial controller, and compared with the coordinate value of initialization, obtained To deviation (Δ y, Δ z)；By deviation, (Δ y, Δ z) are sent to servo-driver in real time by TwinCAT softwares for S9, built-in industrial controller；S10, servo driver drives servomotor move through yielding coupling and three coordinate rectangular robots are moved, and make Weld seam midpoint of the welding wire of welding gun end along workpiece is moved, and completes the soldering joint automatic tracking of three coordinate rectangular robots.
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| CN201300288Y (en) * | 2008-10-31 | 2009-09-02 | 鞍山荣邦电力电子有限公司 | Automatic seam tracking system |
| CN103203526A (en) * | 2012-01-16 | 2013-07-17 | 成都熊谷加世电器有限公司 | Laser visual tracking system |
| CN103111777B (en) * | 2013-02-04 | 2015-08-19 | 张家港市永发机器人科技有限公司 | Rectangular coordinate system welding robot device |
| CN103273171B (en) * | 2013-05-24 | 2015-06-03 | 华南理工大学 | Visual tracking monitoring system and method in automatic corrugated thin plate fillet weld welding |
| CN105728972A (en) * | 2016-04-26 | 2016-07-06 | 河北工业大学 | Concave-convex angle-variable welding joint self-adaptive tracking control device and method |
| CN206105156U (en) * | 2016-09-30 | 2017-04-19 | 华南理工大学 | Three -dimensional rectangular robot line laser welding seam automatic tracking system |
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