CN107457513A - A kind of weld seam automatic localization device using two-dimensional laser displacement transducer - Google Patents
A kind of weld seam automatic localization device using two-dimensional laser displacement transducer Download PDFInfo
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- CN107457513A CN107457513A CN201710223776.3A CN201710223776A CN107457513A CN 107457513 A CN107457513 A CN 107457513A CN 201710223776 A CN201710223776 A CN 201710223776A CN 107457513 A CN107457513 A CN 107457513A
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- welding
- welding gun
- dimensional laser
- laser displacement
- displacement transducer
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- 238000006073 displacement reaction Methods 0.000 title claims abstract description 37
- 230000004807 localization Effects 0.000 title claims abstract description 11
- 238000003466 welding Methods 0.000 claims abstract description 124
- 238000009434 installation Methods 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 claims description 4
- 238000005259 measurement Methods 0.000 abstract description 5
- 238000013461 design Methods 0.000 abstract description 2
- 230000002708 enhancing effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000011161 development Methods 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004377 microelectronic Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- 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
- B23K37/02—Carriages for supporting the welding or cutting element
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Laser Beam Processing (AREA)
Abstract
The present invention discloses a kind of weld seam automatic localization device using two-dimensional laser displacement transducer, including two-dimensional laser displacement transducer, digital welding power source, welding robot human body, welding gun support, welding gun, robot control system, the welding robot human body, welding gun support connection, the two-dimensional laser displacement transducer, welding gun are connected in welding gun support, the digital welding power source is connected with welding gun, and the two-dimensional laser displacement transducer, welding robot human body are connected with robot control system respectively.The present invention is simple to operate, and single point-to-point is sought a time and was reduced to from original 3~6 seconds within 0.2 second；To the less demanding of fixture and workpiece accuracy, so as to improve the adaptability of robot welding system, and jig Design cost is reduced；Measurement accuracy is high, reduces the time for handling bad welding；It need not be contacted with workpiece, reliability and security enhancing.
Description
Technical field
The present invention discloses a kind of weld seam automatic localization device using two-dimensional laser displacement transducer.
Background technology
Modern manufacturing industry production in, welding is one of most important process, it be widely used in machine-building,
The numerous areas such as nuclear industry, petrochemical industry, Aero-Space, heavy construction.Welding production quantity and welding procedure, all in society
It is growing day by day in increase for the demand of welding manufacture product.In the state of labor cost increasingly increases, for more
Big production capacity, the higher quality of production, the Intelligent welding of greater flexibility have welcome unprecedented demand.
The rapid development of information technology, new revolution is brought to this traditional handicraft is welded, welding technique has been melted at present
Numerous forward position industrial technologies such as computer, robot, microelectronics, laser are entered, it is just towards mission planning, process control, matter
Automation, the intelligent direction development of the operation process such as amount monitoring.Particularly in recent years, robotic welding technology is in machine-building
Industry field is used widely, and the automatization level of welding is greatly facilitated, according to incompletely statistics in the industrial robot of practicality
Middle welding robot proportion has exceeded 50%, has become the mainstream development side of Automation of Welding using robot welding
To such as Japan, Germany, Switzerland, the U.S. of each industrially developed country of the world is all in this field expansion technique game.Nevertheless,
The technology of welding robot also has many substantial technologies urgently to break through.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of weld seam automatic seeking using two-dimensional laser displacement transducer
Position device, solve the problems, such as that caused by workpiece and fixture are inconsistent weld excursion is difficult to seek, improve welding quality and
Efficiency, reduce and handle bad weld interval.
The technical solution adopted for the present invention to solve the technical problems is：A kind of weldering using two-dimensional laser displacement transducer
Stitch automatic localization device, including two-dimensional laser displacement transducer, digital welding power source, welding robot human body, welding gun support,
Welding gun, robot control system, the welding robot human body, welding gun support connection, the two-dimensional laser displacement transducer, weldering
Rifle is connected in welding gun support, and the digital welding power source is connected with welding gun, the two-dimensional laser displacement transducer, weldering
Welding robot body is connected with robot control system respectively.
It is further that anti-collision sensor, the welding are provided between the welding robot human body, welding gun support
Robot body, anti-collision sensor, welding gun support are sequentially connected.
It is further that the welding gun support is L bracket.
It is further that welding gun grip block, sensor connector, sensor mount, biography are provided with the welding gun support
Sensor installing plate, described welding gun support one end are connected with anti-collision sensor, other end installation welding gun grip block, the welding gun peace
In welding gun grip block, the sensor connector is bolted in welding gun grip block upper end, the sensor mount
By being threadably mounted in sensor connector, the other end is connected with sensor installing plate for one end, the two-dimensional laser displacement sensing
Device is arranged on sensor installing plate.
It is further to be provided with optical filter on the two-dimensional laser displacement transducer.
Invention beneficial effect：The present invention by two-dimensional laser sensor, digital welding power source, welding robot human body and
Welding gun carries out position measurement to benchmark workpiece first, and then other workpiece are measured.Each measurement includes a plurality of relevant
The information of the location of workpiece.Current workpiece is calculated by algorithm and after benchmark workpiece relative position information, robot control basis is worked as
The preceding location of workpiece is adjusted to robot trajectory, and position is sought so as to complete weld seam.A method, present invention behaviour are sought than original contact
Make simple, single point-to-point is sought a time and was reduced to from original 3~6 seconds within 0.2 second；After the system, to fixture and work
Part precision it is less demanding, so as to improve the adaptability of robot welding system, and reduce jig Design cost；Measurement essence
Degree is high, reduces the time for handling bad welding；It need not be contacted with workpiece, reliability and security enhancing.It is non-than other
A method is sought in contact, and the present invention applies exclusive standardization, and system accuracy is brought up into 0.2mm so that it is more accurate to seek a result, welding
Better quality.The invention allows it to send over two-dimensional laser sensor by being improved to robot control system
Simple position signal, be filtered, the demarcation of feature recognition and yardstick, and by itself and robot in the position of test point, appearance data
With reference to new operation basis coordinates being calculated, so as to realize that contrast existing track using sensor gathered data enters to current track
Row amendment.On the basis of the control interface of welding robot, the human-computer interaction interface that position is sought specifically for laser is developed.
Brief description of the drawings
Fig. 1 is the mounting structure schematic diagram of the present invention；
Fig. 2 is the partial structural diagram of the present invention；
Fig. 3 is the structural representation of welding gun grip block in embodiments of the invention；
Fig. 4 is the structural representation of sensor connector in embodiments of the invention；
Fig. 5 is the structural representation of sensor mount in embodiments of the invention；
Fig. 6 is the structural representation of sensor installing plate in embodiments of the invention.
Shown in figure：1- two-dimensional laser displacement transducers, 2- anti-collision sensors, 3- welding gun supports, 4- welding guns, 5- welding
Robot body, 6- welding gun grip blocks, 7- sensor connectors, 8- sensor mounts, 9- sensor installing plates.
Embodiment
Further description is done to the present invention with reference to the accompanying drawings and examples.
A kind of weld seam automatic localization device using two-dimensional laser displacement transducer of the present invention, including two-dimensional laser displacement
Sensor 1, digital welding power source, welding robot human body 5, welding gun support 3, welding gun 4, robot control system, the weldering
Welding robot body 5, welding gun support 3 connect, and the two-dimensional laser displacement transducer 1, welding gun 4 are connected to welding gun support 3
On, the digital welding power source is connected with welding gun 4, and the two-dimensional laser displacement transducer 1, welding robot human body 5 distinguish
It is connected with robot control system.Two-dimensional laser displacement transducer 1 is fixed in welding gun support 3, and can be rotated with wrapping gun 4；
The arithmetic element of two-dimensional laser displacement transducer 1 employs DSP+FPGA frameworks, realizes the real-time processing to sampled signal；Adopt
With low-power chip, the overall caloric value of sensor is reduced, enables the sensor in running order for a long time, its is main
For scanning testee, luminous point is calculated the distance between to two-dimensional laser displacement transducer 1 according to the laser of transmitting, then
Robot control system is transmitted to after sampled signal is handled, robot control system is analyzed the signal of collection, and is controlled
Welding robot human body 5 moves, the final movement for controlling welding gun 4.
There is corresponding signal processing module, the letter sended over to two-dimensional laser sensor 1 in robot control system
Single position signalling, it is filtered, the demarcation of feature recognition and yardstick, and itself and robot is combined in the position of test point, appearance data,
Calculate new operation basis coordinates.Human-computer interaction interface is developed in robot control system, passes through instruction, menu, button etc.
Mode operates the system, and human-computer interaction interface should include：Sensor enables (not enabling), laser open (pass), sensor initializing,
Sensor is reset, starts to seek position, position is sought in termination, initial point seeks the functions such as position.
In order to avoid robot during automatically moving collision object, it is therefore preferable that embodiment is, the welding
Anti-collision sensor 2, the welding robot human body 5, anti-collision sensor are provided between robot body 5, welding gun support 3
2nd, welding gun support 3 is sequentially connected.Wherein the upper end of anti-collision sensor 2 is connected with welding robot human body 5, lower end and welding gun support
3 connections, it is mainly used in when robotic gun 4 and barrier collide, there is provided reliable automatic stoppage in transit function, protection welding
System is from mechanical damage.
Specific connected mode between welding gun support 3, welding gun 4, the three of two-dimensional laser displacement transducer 1 is, wherein described
Welding gun support 3 is L bracket.Welding gun grip block 6, sensor connector 7, sensor mount are provided with the welding gun support 3
8th, sensor installing plate 9, described one end of welding gun support 3 are connected with anti-collision sensor 2, other end installation welding gun grip block 6, institute
Welding gun 4 is stated in the welding gun grip block 6, the sensor connector 7 is bolted in the upper end of welding gun grip block 6, described
By being threadably mounted in sensor connector 7, the other end is connected the one end of sensor mount 8 with sensor installing plate 9, and described two
Laser displacement sensor 1 is tieed up to be arranged on sensor installing plate 9.Wherein welding gun grip block 6, sensor connector 7, sensor installation
Frame 8, the structure of sensor installing plate 9 are as shown in Fig. 3,4,5,6.
Because the present invention can run into arc light in the application of reality, influence to judge that precisely preferred embodiment is described two
Optical filter is provided with dimension laser displacement sensor 1.So relative to conventional two-dimensional laser displacement transducer 1, the sensor
Again plus match somebody with somebody optical filter, add the anti-arc light performance of sensor.
The operation principle of the present invention is as follows：Welding gun 4 is placed on above object to be welded, two-dimensional laser sensor 1 is to current
Workpiece to be welded is scanned, and then will send welding robot control system to after the sampled signal processing after scanning.Welding
Robot control system passes through the coordinate that current workpiece to be welded is calculated according to obtained signal, and then robot passes through ratio
To benchmark Work position information, the seam track of current workpiece to be welded is corrected, drives welding robot human body 5 to drive welding gun 4,
Implement to weld with revised seam track.Two-dimensional laser displacement transducer 1 can reflect weld seam upper and lower by distance measurement function
The change that (Z axis) direction occurs, and the welding robot control system changed is passed it to, two-dimensional laser is sensed
The simple position signal that device 1 sends over, be filtered, coordinate system conversion etc. a series of activities, and then drive welding gun 4 on move down
It is dynamic.So far the device can complete the adjust automatically on the direction of principal axis of X, Y, Z tri- and Z axis rotation direction, i.e., suitable for any joint
Weld seam seek position.Scan orientation, track correct, welding the automatic welding efficiency for being more so that robot and quality significantly
Lifting.
Claims (5)
1. a kind of weld seam automatic localization device using two-dimensional laser displacement transducer, it is characterised in that including two-dimensional laser position
Displacement sensor (1), digital welding power source, welding robot human body (5), welding gun support (3), welding gun (4), control system of robot
System, the welding robot human body (5), welding gun support (3) connection, the two-dimensional laser displacement transducer (1), welding gun (4) point
It is not connected in welding gun support (3), the digital welding power source is connected with welding gun (4), the two-dimensional laser displacement transducer
(1), welding robot human body (5) is connected with robot control system respectively.
2. a kind of weld seam automatic localization device using two-dimensional laser displacement transducer according to claim 1, its feature
It is, anti-collision sensor (2), the welding robot is provided between the welding robot human body (5), welding gun support (3)
Human body (5), anti-collision sensor (2), welding gun support (3) are sequentially connected.
3. a kind of weld seam automatic localization device using two-dimensional laser displacement transducer according to claim 2, its feature
It is, the welding gun support (3) is L bracket.
4. a kind of weld seam automatic localization device using two-dimensional laser displacement transducer according to claim 3, its feature
It is, welding gun grip block (6), sensor connector (7), sensor mount (8), sensing is provided with the welding gun support (3)
Device installing plate (9), described welding gun support (3) one end are connected with anti-collision sensor (2), other end installation welding gun grip block (6),
The welding gun (4) is arranged in welding gun grip block (6), and the sensor connector (7) is bolted in welding gun grip block (6)
Upper end, by being threadably mounted in sensor connector (7), the other end is installed with sensor for described sensor mount (8) one end
Plate (9) is connected, and the two-dimensional laser displacement transducer (1) is arranged on sensor installing plate (9).
A kind of 5. weld seam automatic localization using two-dimensional laser displacement transducer according to any one of claim 1 to 4
Device, it is characterised in that be provided with optical filter on the two-dimensional laser displacement transducer (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710223776.3A CN107457513A (en) | 2017-04-07 | 2017-04-07 | A kind of weld seam automatic localization device using two-dimensional laser displacement transducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710223776.3A CN107457513A (en) | 2017-04-07 | 2017-04-07 | A kind of weld seam automatic localization device using two-dimensional laser displacement transducer |
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| CN107457513A true CN107457513A (en) | 2017-12-12 |
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| CN201710223776.3A Pending CN107457513A (en) | 2017-04-07 | 2017-04-07 | A kind of weld seam automatic localization device using two-dimensional laser displacement transducer |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108971840A (en) * | 2018-09-03 | 2018-12-11 | 广州创研自动化设备有限公司 | A kind of laser that seeking position for robot welding seeks a device and robot welding position-finding system |
| CN109352211A (en) * | 2018-06-29 | 2019-02-19 | 湖南蓝天智能装备科技有限公司 | A kind of workpiece material automatic identifying method based on dot laser distance measuring sensor |
| CN110202302A (en) * | 2019-07-24 | 2019-09-06 | 江苏天鹏机电制造有限公司 | A kind of frid automatic welding machine people |
| CN110355763A (en) * | 2019-07-22 | 2019-10-22 | 株洲天一自动焊接装备有限公司 | Position sensing component with collision warning function and with the mechanical arm of the component |
| CN111266773A (en) * | 2020-03-03 | 2020-06-12 | 开异智能技术(上海)有限公司 | Flexible robot welding system and welding method thereof |
| CN112139720A (en) * | 2020-10-19 | 2020-12-29 | 青岛智研自动化设备有限公司 | Robot jig capable of accurately welding small circular weld |
| CN112605493A (en) * | 2020-12-23 | 2021-04-06 | 盐城清新环境技术有限公司 | Turbulator welding robot system |
| CN113523495A (en) * | 2021-07-21 | 2021-10-22 | 中汽（天津）汽车装备有限公司 | Robot with laser locating function |
| CN113635349A (en) * | 2021-07-01 | 2021-11-12 | 东风柳州汽车有限公司 | Calibration device and welding robot |
| CN114559157A (en) * | 2022-04-29 | 2022-05-31 | 中国航空制造技术研究院 | Welding seam track autonomous locating device, system and method based on machine vision |
| CN116890167A (en) * | 2023-08-25 | 2023-10-17 | 常州泰翔自动化设备科技有限公司 | Intelligent welding equipment for trial production of sample pieces and experimental development |
-
2017
- 2017-04-07 CN CN201710223776.3A patent/CN107457513A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109352211A (en) * | 2018-06-29 | 2019-02-19 | 湖南蓝天智能装备科技有限公司 | A kind of workpiece material automatic identifying method based on dot laser distance measuring sensor |
| CN108971840B (en) * | 2018-09-03 | 2024-04-19 | 广州创研自动化设备有限公司 | Laser locating device for locating robot welding and locating system for robot welding |
| CN108971840A (en) * | 2018-09-03 | 2018-12-11 | 广州创研自动化设备有限公司 | A kind of laser that seeking position for robot welding seeks a device and robot welding position-finding system |
| CN110355763A (en) * | 2019-07-22 | 2019-10-22 | 株洲天一自动焊接装备有限公司 | Position sensing component with collision warning function and with the mechanical arm of the component |
| CN110202302A (en) * | 2019-07-24 | 2019-09-06 | 江苏天鹏机电制造有限公司 | A kind of frid automatic welding machine people |
| CN111266773A (en) * | 2020-03-03 | 2020-06-12 | 开异智能技术(上海)有限公司 | Flexible robot welding system and welding method thereof |
| CN112139720A (en) * | 2020-10-19 | 2020-12-29 | 青岛智研自动化设备有限公司 | Robot jig capable of accurately welding small circular weld |
| CN112605493A (en) * | 2020-12-23 | 2021-04-06 | 盐城清新环境技术有限公司 | Turbulator welding robot system |
| CN113635349A (en) * | 2021-07-01 | 2021-11-12 | 东风柳州汽车有限公司 | Calibration device and welding robot |
| CN113635349B (en) * | 2021-07-01 | 2023-06-20 | 东风柳州汽车有限公司 | Calibrating device and welding robot |
| CN113523495A (en) * | 2021-07-21 | 2021-10-22 | 中汽（天津）汽车装备有限公司 | Robot with laser locating function |
| CN114559157A (en) * | 2022-04-29 | 2022-05-31 | 中国航空制造技术研究院 | Welding seam track autonomous locating device, system and method based on machine vision |
| CN116890167A (en) * | 2023-08-25 | 2023-10-17 | 常州泰翔自动化设备科技有限公司 | Intelligent welding equipment for trial production of sample pieces and experimental development |
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Application publication date: 20171212 |
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