CN106695101A - High-frequency induction welding system based on binocular vision and multi-axis manipulator - Google Patents
High-frequency induction welding system based on binocular vision and multi-axis manipulator Download PDFInfo
- Publication number
- CN106695101A CN106695101A CN201710058358.3A CN201710058358A CN106695101A CN 106695101 A CN106695101 A CN 106695101A CN 201710058358 A CN201710058358 A CN 201710058358A CN 106695101 A CN106695101 A CN 106695101A
- Authority
- CN
- China
- Prior art keywords
- binocular vision
- frequency induction
- manipulator
- system based
- welding system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- B23K13/00—Welding by high-frequency current heating
- B23K13/01—Welding by high-frequency current heating by induction heating
- B23K13/02—Seam welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
Abstract
The invention provides a high-frequency induction welding system based on binocular vision and a multi-axis manipulator. The structure of the high-frequency induction welding system comprises a scale division rotating disc, a binocular vision detecting device and the manipulator, wherein a plurality of to-be-machined workpieces are circumferentially and uniformly arranged on the scale division rotating disc, and a control device controls a power mechanism to drive the to-be-machined workpieces to rotate around a center shaft; the binocular vision detecting device comprises at least two vision collecting devices arranged in a certain angle mode; the vision collecting devices are used for collecting position information of the workpieces on the scale division rotating disc and transmitting the position information to the control device; the manipulator is erected on one side of the scale division rotating disc; and a high-frequency induction brazing part is arranged at one end of the manipulator and controlled to act through the control device. According to the high-frequency induction welding system based on binocular vision and the multi-axis manipulator, detecting is conducted through the binocular vision detecting device; the three-dimensional coordinate position of a welding seam is automatically worked out, and the information is sent to the manipulator so that welding can be conducted; and the defects that the positioning precision of existing equipment is poor, the requirement for the workpiece size is high, and positioning fixtures cannot be used confusedly are overcome.
Description
Technical field
The present invention relates to numerically controlled automatic technical field, a kind of height based on twin camera and multi-spindle machining hand is particularly related to
Frequency induction welding system.
Background technology
Common automatic welding equipment, is to carry out workpiece positioning using mechanical system.
Mechanical system positioning has that positioning precision is poor, and the product size coherence request to being welded is high, and positioning tool is not
The features such as can using with, limits the application of automation very much.
The content of the invention
The present invention proposes a kind of high frequency induction welding welding system based on binocular vision and multi-spindle machining hand, uses binocular vision
Detection means is detected, the three-dimensional coordinate position of weld seam is calculated automatically and manipulator is sent information to and is welded, solved
Existing equipment positioning precision of having determined is poor, high to workpiece size requirement, the shortcoming that positioning tool can not be used with.
The technical proposal of the invention is realized in this way：
A kind of high frequency induction welding welding system based on binocular vision and multi-spindle machining hand, its structure includes：
Indexing rotary table, circumferentially shape has been evenly arranged some workpieces to be processed thereon, and actuating unit is controlled by control device
It is driven to be rotated around central shaft；
Binocular vision detection device includes at least two vision collecting devices for mutually setting at an angle；The vision
Harvester is used to gather on indexing rotary table the positional information of workpiece and be transferred to control device；
Manipulator, is erected at indexing rotary table side, and its one end is provided with high-frequency induction brazing, controls it to move by control device
Make.
In above-mentioned technical proposal, communication device is respectively arranged with the binocular vision detection device and manipulator, such as adopted
Data transfer is realized with radio receiving transmitting module or wire communication mode etc..
In above-mentioned technical proposal, the vision collecting device is mutually set in 90 ° or 45 ° of angles.
In above-mentioned technical proposal, the vision collecting device is preferably video camera.
In above-mentioned technical proposal, the manipulator is multi-spindle machining hand, preferably three axle robert.
During work, indexing rotary table provides power and is rotated around central shaft under the manipulation of control device by actuating unit, waits to turn
After disk rotate in place, binocular vision detection device shoots the photo of workpiece on indexing rotary table in the visual field, and through control device according to
Photo carries out algorithm computing, calculate weld seam be based on robot coordinate XYZ three-dimensional coordinate position, after by this coordinate information pass
Manipulator is handed to, manipulator is automatically moved at position while welding after receiving the coordinate information, high-frequency induction brazing starts welding
Work, welding terminates rear robot movement and returns the origin of coordinates.
High frequency induction welding welding system based on binocular vision and multi-spindle machining hand of the invention, in first in household electrical appliances welding profession
The secondary mode for employing vision-based detection, the positioning solved caused by common automatic welding is inaccurate, consistent to workpiece size
Property require problem high, its accuracy of detection is determined by the specification of camera and camera lens, precision up to 0.1-1 microns so that significantly
Improve welding quality；And using after manipulator, the number of degrees of freedom, of motion is increased, makes equipment moving mode more flexible,
Limited space is solved the problems, such as, and simplifies operating procedure, simplified human resources, reduce production cost.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
Other accompanying drawings are obtained with according to these accompanying drawings.
Fig. 1 is the structural representation of high frequency induction welding welding system of the present invention based on binocular vision and multi-spindle machining hand.
Fig. 2 is that two video cameras of binocular vision detection device in Fig. 1 are in 45 ° of angle layout type schematic diagrames.
Fig. 3 is that two video cameras of binocular vision detection device in Fig. 1 are in 90 ° of angle layout type schematic diagrames.
In figure：1- indexing rotary tables；2- workpiece；3- manipulators；4- high-frequency induction brazings；5- binocular vision detection devices；51-
Video camera A；52- video cameras B.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
As shown in Figures 1 to 3, the high frequency induction welding welding system based on binocular vision and multi-spindle machining hand of the invention, its bag
Include following structure：
Indexing rotary table 1, circumferentially shape has been evenly arranged some workpieces to be processed 2 thereon, and engine is controlled by control device
Structure drives it to be rotated around central shaft；
Binocular vision detection device 5 includes at least two vision collecting devices for mutually setting at an angle；It is described to regard
Feel that harvester is used to gather on indexing rotary table 1 positional information of workpiece 2 and be transferred to control device；
Manipulator 3, is erected at the side of indexing rotary table 1, and its one end is provided with high-frequency induction brazing 4, it is controlled by control device
Action.
In above-mentioned technical proposal, the control device can be external controller, control platform, preferably molded-in in binocular vision
Microprocessor chip with data processing function in feel detection means and/or manipulator etc..
In above-mentioned technical proposal, it is respectively arranged with the binocular vision detection device 5 and manipulator 3 wireless or wired
Deng communication device, to realize data transfer.
In above-mentioned technical proposal, as shown in Figures 2 and 3, the binocular vision detection device 5 is made up of two video cameras,
Mutually set in 45 ° of angles between video camera A51 and video camera B52 in Fig. 2, in Fig. 3 between video camera A51 and video camera B52
Mutually set in 90 ° of angles.Two kinds of layout type of not limited to this, are preferably provided on adjustable support between each video camera, with
Just its relative position angle is adjusted.
The information that the binocular vision detection device 5 is gathered is the photograph of the workpiece 2 on indexing rotary table 1 in camera coverage
Piece, and coordinate position of the workpiece 2 relative to manipulator 3 is calculated according to certain algorithm according to the shooting photo of different angles,
It is used to adjust the movement and welding running with control machinery hand 3.
During work, indexing rotary table 1 provides power and is rotated around central shaft under the manipulation of control device by actuating unit, treats point
After degree rotating disk 1 rotate in place, binocular vision detection device 5 shoots the photo of workpiece 2 on indexing rotary table 1 in the visual field, and through control
Device carries out algorithm computing according to photo, calculate weld seam be based on the coordinate of manipulator 3 XYZ three-dimensional coordinate position, after by this
Coordinate information is transferred to manipulator 3, and manipulator 3 is automatically moved at position while welding after receiving the coordinate information, high-frequency induction
Soldering 4 starts welding job, and welding terminates rear manipulator 3 and moves back the origin of coordinates.
High frequency induction welding welding system based on binocular vision and multi-spindle machining hand of the invention, in first in household electrical appliances welding profession
The secondary mode for employing vision-based detection, the positioning solved caused by common automatic welding is inaccurate, consistent to workpiece size
Property require problem high, its accuracy of detection is determined by the specification of camera and camera lens, precision up to 0.1-1 microns so that significantly
Improve welding quality；And using after manipulator, the number of degrees of freedom, of motion is increased, makes equipment moving mode more flexible,
Limited space is solved the problems, such as, and simplifies operating procedure, simplified human resources, reduce production cost.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (5)
1. a kind of high frequency induction welding welding system based on binocular vision and multi-spindle machining hand, it is characterised in that including：
Indexing rotary table, circumferentially shape has been evenly arranged some workpieces to be processed thereon, is driven by control device control actuating unit
It rotates around central shaft；
Binocular vision detection device includes at least two vision collecting devices for mutually setting at an angle；
The vision collecting device is used to gather on indexing rotary table the positional information of workpiece and be transferred to control device；
Manipulator, is erected at indexing rotary table side, and its one end is provided with high-frequency induction brazing, controls it to act by control device.
2. the high frequency induction welding welding system based on binocular vision and multi-spindle machining hand according to claim 1, its feature exists
In：
Communication device is respectively arranged with the binocular vision detection device and manipulator.
3. the high frequency induction welding welding system based on binocular vision and multi-spindle machining hand according to claim 2, its feature exists
In：
The vision collecting device is mutually set in 90 ° or 45 ° of angles.
4. the high frequency induction welding welding system based on binocular vision and multi-spindle machining hand according to claim 3, its feature exists
In：
The vision collecting device is video camera.
5. the high frequency induction welding welding system based on binocular vision and multi-spindle machining hand according to claim 4, its feature exists
In：
The manipulator is three axle robert.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710058358.3A CN106695101A (en) | 2017-01-23 | 2017-01-23 | High-frequency induction welding system based on binocular vision and multi-axis manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710058358.3A CN106695101A (en) | 2017-01-23 | 2017-01-23 | High-frequency induction welding system based on binocular vision and multi-axis manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106695101A true CN106695101A (en) | 2017-05-24 |
Family
ID=58909759
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710058358.3A Pending CN106695101A (en) | 2017-01-23 | 2017-01-23 | High-frequency induction welding system based on binocular vision and multi-axis manipulator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110449719A (en) * | 2019-08-14 | 2019-11-15 | 东莞珀韵电子有限公司 | Compile twisted wire automatic welding machine |
| CN113199103A (en) * | 2021-06-11 | 2021-08-03 | 哈尔滨工业大学 | Electromagnetic induction quick connection method suitable for high-power electronic device or assembly |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113199103A (en) * | 2021-06-11 | 2021-08-03 | 哈尔滨工业大学 | Electromagnetic induction quick connection method suitable for high-power electronic device or assembly |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170524 |