CN106583974A - Laser quick locating welding system and laser quick locating welding method without programming structural part - Google Patents

Laser quick locating welding system and laser quick locating welding method without programming structural part Download PDF

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Publication number
CN106583974A
CN106583974A CN201611164477.9A CN201611164477A CN106583974A CN 106583974 A CN106583974 A CN 106583974A CN 201611164477 A CN201611164477 A CN 201611164477A CN 106583974 A CN106583974 A CN 106583974A
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China
Prior art keywords
welding
laser
track
robot
ethernet
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CN201611164477.9A
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Chinese (zh)
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CN106583974B (en
Inventor
周曙君
陈继炤
王伟建
马燕楠
郭训忠
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南京合信智能装备有限公司
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Publication of CN106583974A publication Critical patent/CN106583974A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups

Abstract

The invention discloses a laser quick locating welding system and a laser quick locating welding method without a programming structural part. The laser quick locating welding system comprises an industrial tablet computer, an embedded type numerical-control system, a welding robot and a laser visual sensor. The laser quick locating welding method comprises the following steps: introducing a three-dimensional geometric model into the industrial tablet computer; setting a needed sealing seam for the three-dimensional geometric model on a man-machine conversation interface of the industrial tablet computer, and generating a welding program through automatic conversion of the numerical-control system; adopting the laser visual sensor to carry out precision scanning locating on the welding seam on the structural part, thereby precisely correcting program coordinates in the welding program; and sending the corrected welding program to a robot to perform a welding process through a network communication protocol. The laser quick locating welding method without the programming structural part can realize an automatic welding process without a programming condition of the structural part, so that degree of automation of the welding process is greatly increased, and therefore, a complex manual programming process in a conventional laser welding process of the robot is avoided.

Description

One kind quickly seeks a welding system and welding method without the need for programming structure part laser

Technical field

Patent of the present invention belongs to robotic welding technology field, and more particularly to a kind of structural member laser quickly seeks position welding system System and welding method.

Background technology

At present, the programming mode of industrial welding robot mainly has two kinds:Traditional on-line teaching pattern and off-line programing skill Art.Traditional teaching pattern is needed in the case of periods of robot operation stop when a new workpiece is welded, and on-line teaching is carried out New procedures are write, and last welding robot welded according to new welding procedure.Teaching programming exist teaching precision it is low, compile The problems such as journey time length and inadequate safety.

Off-line programming technique ultimately generates robot program by robot is operated and controlled under virtual environment, from Line programming technique has advantages below:Robot idle time is reduced, the utilization rate and production efficiency of robot is improved;

Improve the safety of programmer work;The robot working procedure write before can be called repeatedly, significantly letter The programming step in production process is changed.Although industrial robot off-line programming technique can be greatly enhanced welding production effect Rate.But off-line programming technique is still needed to be set up the phantom of robot first on computers, builds simulated environment, so Attitude planning, last output device people are carried out to robot according to given weld task in simulated environment afterwards on computers Movement locus.Although which has great progress relative to traditional teaching pattern, there is still a need for more numerous and diverse artificial Programming process, reduces the work efficiency of structural member welding.

The content of the invention

The technical problem to be solved is that to overcome existing laser to seek the needs that welding technology field is present numerous The defect of miscellaneous artificial programming process, improves the welding efficiency of structural member welding process, reduces artificial programing work amount.

In order to solve above-mentioned technical problem, the present invention is employed the following technical solutions:

One kind quickly seeks a welding system, including built-in digital control system (2), welding robot without the need for programming structure part laser People (1), laser vision sensor (3), industrial panel computer (4), Ethernet (5);By extrapolation USB or the form of Ethernet The 3-D geometric model of required welding structural element is imported in industrial panel computer (4);By the people on industrial panel computer (4) It is straight line pattern or circular arc mode that machine dialog interface selects weld seam first, and subsequent system will be on 3-D geometric model automatically Generate the track of the weld seam;Welding welding procedure for the setting seam track is automatically generated by industrial panel computer (4), Including current sequence curve, welding gun rotation program curve, wire feed program curve, program curve of supplying gas;To be welded by Ethernet (5) The program of connecing is sent to built-in digital control system;Plane to be welded or curved surface are swept by laser vision sensor (3) Retouch, obtain the intersecting lens between plane or curved surface, namely the track of weld seam, and then realize being accurately positioned for position while welding;By laser The seam track that vision sensor (3) scanning determines sends to built-in digital control system (2), contrast scans the seam track for obtaining With the error amount between the seam track for automatically generating, if both trajector deviation distances are less than threshold value, welding journey is not corrected Sequence;If both exceed threshold value at trajector deviation distance, welding procedure is corrected;Will be without amendment by built-in digital control system (2) Welding procedure or revised welding procedure be converted into robot language;Robot language is sent by Ethernet (5) Perform to welding robot (1).

Described welding system, the built-in digital control system (2) and welding robot (1), laser vision sensor (3), interconnected by Ethernet (5) between industrial panel computer (4).

Described welding system, the threshold range are 0.5-2mm.

Described welding system, the industrial panel computer (4) are equipped with (5) two kinds of data cube computation shapes of USB and Ethernet Formula.

One kind quickly seeks a welding method without the need for programming structure part laser, comprises the following steps:By extrapolation USB or with The form netted very much imports the 3-D geometric model of required welding structural element in industrial panel computer (4);By industrial flat board electricity It is straight line pattern or circular arc mode that man-machine dialog interface on brain (4) selects weld seam first, and subsequent system will be several in three-dimensional The track of the weld seam is automatically generated on what model;Automatically generated for the setting seam track by industrial panel computer (4) Welding welding procedure, including current sequence curve, welding gun rotation program curve, wire feed program curve, program curve of supplying gas;Pass through Ethernet (5) sends welding procedure to built-in digital control system;By laser vision sensor (3) to wanted welding workpiece Plane or curved surface are scanned, and obtain the intersecting lens between plane or curved surface, namely the track of weld seam, and then realize position while welding It is accurately positioned;Laser vision sensor (3) is scanned the seam track for determining to send to built-in digital control system (2), contrast is swept Error amount between the seam track for retouching acquisition and the seam track for automatically generating, if both trajector deviation distances are less than threshold Value, then do not correct welding procedure;If both exceed threshold value at trajector deviation distance, welding procedure is corrected;By Embedded NC The welding procedure for not having to correct or revised welding procedure are converted into robot language by system (2);By Ethernet (5) Robot language is sent to welding robot (1) and is performed.

Beneficial effect:

1st, the present invention is welded for structural member and provides that a kind of laser quickly seeks a welding system and laser seeks an automatic welding Connect method;

2nd, present invention efficiently solves the numerous and diverse artificial programming of the needs of structural member robot welding field presence at present The defect of process, for improving, structural member welding efficiency, the artificial programing work measurer of reduction are significant;

3rd, the inventive method simple possible, production efficiency are high, have important engineer applied valency in structural member welding field Value and obvious economic benefit.

Description of the drawings

Fig. 1 quickly seeks a welding system schematic diagram for structural member laser.

Fig. 2 quickly seeks a welding method flow chart for structural member laser.

Fig. 3 is structural member example 1 and straight bead schematic diagram.

Fig. 4 is structural member example 2 and curved welding seam schematic diagram.

Fig. 5 is structural member example 3 and a plurality of straight bead schematic diagram.

In figure, 1 welding robot, 2 built-in digital control systems, 3 laser vision sensors, 4 industrial panel computers, 5 ether Net;11 straight beads one, 12 arch welded joints, 13 straight beads two, 14 straight beads three, 15 straight beads four.

Specific embodiment

Below in conjunction with specific embodiment, the present invention is described in detail.

Embodiment 1

The first step, by the form of extrapolation USB or Ethernet by the 3-D geometric model of welding structural element as shown in Figure 3 Import in industrial panel computer;

Second step, selects straight bead pattern, secondly three on the man-machine dialog interface first on industrial panel computer Two end points of the straight bead are selected on dimension geometric model, subsequent system will automatically generate the track of the straight bead;

3rd step, automatically generates welding current program curve for the straight bead, welding gun by industrial panel computer Rotation program curve, wire feed program curve, program curve of supplying gas;

4th step, by Ethernet, by more than, four kinds of welding procedure codes are sent to built-in digital control system;

Two planes to be welded are scanned by laser vision sensor, obtain the two planes by the 5th step Intersecting straight lines, namely the track of straight bead, and then realize being accurately positioned for position while welding;

6th step, laser vision sensor is scanned the straight bead coordinate for determining and is sent to built-in digital control system, right The straight bead track obtained than scanning and the error amount of the track automatically generated in step 2, if both trajector deviations distances are not More than 1mm, then welding procedure is not changed;If both trajector deviation distances change welding procedure more than 1mm;

7th step, (i.e. both trajector deviation distances are less than 1mm's will not to have the welding procedure corrected by digital control system Situation) or revised welding procedure (i.e. the situations of both trajector deviations distance more than 1mm) be converted into robot language;

8th step, is sent robot language to welding robot by Ethernet and is performed.

Embodiment 2

The first step, by the form of extrapolation USB or Ethernet by the 3-D geometric model of welding structural element as shown in Figure 4 Import in industrial panel computer;

Second step, selects arch welded joint pattern, secondly three on the man-machine dialog interface first on industrial panel computer Two end points of the arch welded joint are selected on dimension geometric model, subsequent system will automatically generate the track of the arch welded joint;

3rd step, automatically generates welding current program curve for the arch welded joint, welding gun by industrial panel computer Rotation program curve, wire feed program curve, program curve of supplying gas;

4th step, by Ethernet, by more than, four kinds of welding procedure codes are sent to built-in digital control system;

5th step, is scanned to a plane to be welded and a curved surface by laser vision sensor, is obtained The intersection curve of this plane and a curved surface, namely the track of arch welded joint, and then realize being accurately positioned for position while welding;

6th step, laser vision sensor is scanned the arch welded joint coordinate for determining and is sent to built-in digital control system, right The arch welded joint track obtained than scanning and the error amount of the track automatically generated in step 2, if both trajector deviations distances are not More than 1mm, then welding procedure is not changed;If both trajector deviation distances change welding procedure more than 1mm;

The welding procedure for not having to correct or revised welding procedure are converted into machine by digital control system by the 7th step People's language;

8th step, is sent robot language to welding robot by Ethernet and is performed.

Embodiment 3

The first step, by the form of extrapolation USB or Ethernet by the 3-D geometric model of welding structural element as shown in Figure 5 Import in industrial panel computer;

Second step, selects straight bead pattern, secondly three on the man-machine dialog interface first on industrial panel computer Totally four end points of three weld seams to be welded are selected on dimension geometric model, subsequent system will automatically generate three straight line welderings The track of seam;

3rd step, by industrial panel computer automatically generate welding current program curve for three straight beads, Welding gun rotation program curve, wire feed program curve, program curve of supplying gas;

4th step, by Ethernet, by more than, four kinds of welding procedure codes are sent to built-in digital control system;

Three intersecting planes to be welded are scanned by laser vision sensor, obtain these three by the 5th step The intersecting straight lines two-by-two of plane, namely the track of straight bead, and then realize being accurately positioned for position while welding;

6th step, laser vision sensor is scanned the straight bead coordinate for determining and is sent to built-in digital control system, right The straight bead track obtained than scanning and the error amount of the track automatically generated in step 2, if both trajector deviations distances are not More than 1mm, then welding procedure is not changed;If both trajector deviation distances change welding procedure more than 1mm;

The welding procedure for not having to correct or revised welding procedure are converted into machine by digital control system by the 7th step People's language;

8th step, is sent robot language to welding robot by Ethernet and is performed.

It should be appreciated that for those of ordinary skills, can be improved according to the above description or be converted, And all these modifications and variations should all belong to the protection domain of claims of the present invention.

Claims (5)

1. one kind quickly seeks a welding system without the need for programming structure part laser, it is characterised in that:Including built-in digital control system (2), welding robot (1), laser vision sensor (3), industrial panel computer (4), Ethernet (5);By extrapolation USB or The form of Ethernet imports the 3-D geometric model of required welding structural element in industrial panel computer (4);By industrial flat board It is straight line pattern or circular arc mode that man-machine dialog interface on computer (4) selects weld seam first, and subsequent system will be in three-dimensional The track of the weld seam is automatically generated on geometric model;Automatically generated for the setting seam track by industrial panel computer (4) Welding welding procedure, including current sequence curve, welding gun rotation program curve, wire feed program curve, program curve of supplying gas;It is logical Cross Ethernet (5) welding procedure to be sent to built-in digital control system;By laser vision sensor (3) to work to be welded Part plane or curved surface are scanned, and obtain the intersecting lens between plane or curved surface, namely the track of weld seam, and then realize position while welding Be accurately positioned;Laser vision sensor (3) is scanned the seam track for determining to send to built-in digital control system (2), contrast The error amount between the seam track for obtaining and the seam track for automatically generating is scanned, if both trajector deviations distances are less than threshold Value, then do not correct welding procedure;If both exceed threshold value at trajector deviation distance, welding procedure is corrected;By Embedded NC The welding procedure for not having to correct or revised welding procedure are converted into robot language by system (2);By Ethernet (5) Robot language is sent to welding robot (1) and is performed.
2. welding system according to claim 1, it is characterised in that:The built-in digital control system (2) and welding robot Interconnected by Ethernet (5) between people (1), laser vision sensor (3), industrial panel computer (4).
3. welding system according to claim 1, it is characterised in that:The threshold range is 0.5-2mm.
4. welding system according to claim 1, it is characterised in that:The industrial panel computer (4) be equipped with USB and with Too (5) two kinds of data cube computation forms of net.
5. one kind quickly seeks a welding method without the need for programming structure part laser, it is characterised in that comprise the following steps:By extrapolation The form of USB or Ethernet imports the 3-D geometric model of required welding structural element in industrial panel computer (4);By work It is straight line pattern or circular arc mode that man-machine dialog interface on industry panel computer (4) selects weld seam first, and subsequent system will The track of the weld seam is automatically generated on 3-D geometric model;Automatically generated by industrial panel computer (4) and welded for the setting The welding welding procedure of seam track, including current sequence curve, welding gun rotation program curve, wire feed program curve, program of supplying gas Curve;Welding procedure is sent to built-in digital control system by Ethernet (5);By laser vision sensor (3) to wanted The workpiece planarization or curved surface of welding is scanned, and obtains the intersecting lens between plane or curved surface, namely the track of weld seam, and then realizes Position while welding is accurately positioned;Laser vision sensor (3) is scanned the seam track for determining to send to built-in digital control system (2) error amount between seam track that, contrast scans are obtained and the seam track that automatically generates, if both trajector deviation distances Less than threshold value, then welding procedure is not corrected;If both exceed threshold value at trajector deviation distance, welding procedure is corrected;By embedding Enter formula digital control system (2) and the welding procedure for not having to correct or revised welding procedure are converted into into robot language;Pass through Ethernet (5) sends robot language to welding robot (1) and performs.
CN201611164477.9A 2016-12-16 2016-12-16 One kind quickly seeks a welding system and welding method without programming structure part laser CN106583974B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108453439A (en) * 2018-03-14 2018-08-28 清华大学天津高端装备研究院洛阳先进制造产业研发基地 The robot welding track self-programming system and method for view-based access control model sensing
CN109128439A (en) * 2018-08-01 2019-01-04 肖依林 CAD diagram paper technology guided robot automatic soldering method

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CN101559512A (en) * 2009-05-21 2009-10-21 山东大学 Welding track detection and control method of plate butt weld based on laser ranging
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CN108453439A (en) * 2018-03-14 2018-08-28 清华大学天津高端装备研究院洛阳先进制造产业研发基地 The robot welding track self-programming system and method for view-based access control model sensing
CN109128439A (en) * 2018-08-01 2019-01-04 肖依林 CAD diagram paper technology guided robot automatic soldering method

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