CN107790853A - Ship's ladder robot broken line angle welding intelligent identification device and method - Google Patents
Ship's ladder robot broken line angle welding intelligent identification device and method Download PDFInfo
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- CN107790853A CN107790853A CN201610755258.1A CN201610755258A CN107790853A CN 107790853 A CN107790853 A CN 107790853A CN 201610755258 A CN201610755258 A CN 201610755258A CN 107790853 A CN107790853 A CN 107790853A
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- 238000003466 welding Methods 0.000 title claims abstract description 115
- 238000000034 method Methods 0.000 title claims abstract description 23
- 239000004065 semiconductor Substances 0.000 claims abstract description 45
- 238000012545 processing Methods 0.000 claims abstract description 16
- 238000001914 filtration Methods 0.000 claims abstract description 9
- 230000003287 optical effect Effects 0.000 claims abstract description 9
- 238000010191 image analysis Methods 0.000 claims abstract description 7
- 238000004458 analytical method Methods 0.000 claims 1
- 239000004020 conductor Substances 0.000 claims 1
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- 229910000831 Steel Inorganic materials 0.000 description 4
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- 238000005516 engineering process Methods 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 238000012546 transfer Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- HSFWRNGVRCDJHI-UHFFFAOYSA-N Acetylene Chemical compound C#C HSFWRNGVRCDJHI-UHFFFAOYSA-N 0.000 description 1
- 206010054949 Metaplasia Diseases 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
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- 239000000463 material Substances 0.000 description 1
- 230000015689 metaplastic ossification Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
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Abstract
Disclosed herein is a kind of ship's ladder robot broken line angle welding intelligent identification device and method.The device includes the laser vision sensor component being arranged on ABB welding robot welding guns, and image pick-up card and computer, laser vision sensor component are connected by image pick-up card with computer；The laser vision sensor component includes semiconductor laser, ccd video camera, camera lens, narrow band pass filter；Method is：Semiconductor laser and ccd video camera are fixed on ABB robotic weld arms end, the laser of semiconductor laser is radiated on ship's ladder workpiece fillet welding joint, seam laser image is absorbed by ccd video camera；Image transmitting after narrow band pass filter optical filtering processing to computer, progress image analysis processing acquisition ship's ladder broken line angle welding track are fed back to the automatic welding that ABB welding robots realize ship's ladder robot broken line angle welding by image pick-up card.Present invention facilitate to ensure that shipyard ship's ladder weld job quality, improves ship's ladder operating efficiency.
Description
Technical field
The invention belongs to automatic welding technique field, particularly a kind of ship's ladder robot broken line angle welding Intelligent Recognition dress
Put and method.
Background technology
As the progress and extensive use of the scientific information technology such as computer, artificial intelligence, the concept of " intellectuality " are more next
More clearly it is presented in face of people.How modern production improves the intelligence of welding technique to high-quality, efficient active demand
Degree, which can be changed, has become the study hotspot of welding technique application field.Nowadays, automobile, pressure vessel and shipbuilding industry scene
The requirement of automation, intelligent level to welding technique constantly strengthens.
At present, the welding technique method that the welding of ship's ladder welding line joint uses, mainly conventional manual arc welding, manual arc
Following problem be present in weldering：Welding efficiency is low, and welding quality is difficult to ensure that and welded cost of labor height etc., can not meet existing
For the needs of metaplasia production.
The content of the invention
It is an object of the invention to provide one kind to ensure weld job quality, improves factory automation, intelligence degree
Ship's ladder robot broken line angle welding intelligent identification device and method.
The technical solution for realizing the object of the invention is：A kind of ship's ladder robot weld seams shaped zigzag line intelligent identification device, bag
Laser vision sensor component, image pick-up card and computer are included, wherein laser vision sensor component is arranged on ABB bonding machines
On the welding gun of device people, laser vision sensor component is connected by image pick-up card with computer；The laser vision sensor
Component includes semiconductor laser, ccd video camera, camera lens, narrow band pass filter, and the semiconductor laser is set with ccd video camera
It is placed in ABB robotic weld arms end；Narrow band pass filter is arranged at camera lens front end, and narrow band pass filter and camera lens are and CCD
Video camera is fixedly connected；Image pick-up card is arranged on computer motherboard；
Semiconductor laser and ccd video camera are fixed on ABB robotic weld arms end, and adjust semiconductor laser
The spatial relation of device, ccd video camera and welding gun three, the laser of semiconductor laser is set to be radiated at ship's ladder corner of workpiece
On welding line joint, seam laser image is absorbed by ccd video camera；Image pick-up card by narrow band pass filter optical filtering handle after figure
Carry out image analysis processing as transmitting to computer, computer and obtain ship's ladder broken line angle welding track；Computer is by seam track
ABB welding robots are fed back to, realize the automatic welding of ship's ladder robot broken line angle welding.
Further, the semiconductor laser is rigidly secured to ABB welding robots by fixture respectively with ccd video camera
Human arm end.
Further, the camera lens is fixedly connected by fixture with ccd video camera respectively with narrow band pass filter.
Further, the fixture of the fixed semiconductor laser and ccd video camera, can adjust semiconductor laser with
Angle between ccd video camera, the laser of semiconductor laser is radiated on ship's ladder workpiece fillet welding joint, and pass through
Ccd video camera absorbs seam laser image.
A kind of ship's ladder robot weld seams shaped zigzag line based on the ship's ladder robot weld seams shaped zigzag line intelligent identification device is intelligently known
Other method, comprises the following steps：
Step 1, semiconductor laser and ccd video camera are fixed on to ABB robotic weld arms end, and adjust and partly lead
The spatial relation of body laser, ccd video camera and welding gun three；
Step 2, the laser of semiconductor laser are radiated on ship's ladder workpiece fillet welding joint, pass through ccd video camera
Absorb seam laser image；
Image transmitting to computer, computer after narrow band pass filter optical filtering processing is carried out figure by step 3, image pick-up card
As analyzing and processing obtains ship's ladder broken line angle welding track；
Seam track is fed back to ABB welding robots by step 4, computer, realizes ship's ladder robot broken line angle welding
Automatic welding.
Further, the ship's ladder workpiece angle welding described in step 2 is interrupted broken line angle welding.
Compared with prior art, its remarkable advantage is the present invention：(1) weld seam intelligent identification technology is used, improves welding
Robot automtion degree；(2) welding product quality is advantageously ensured that；(3) be advantageous to improve weld job efficiency.
Brief description of the drawings
Fig. 1 is ship's ladder weld seams shaped zigzag line Intelligent Recognition schematic diagram of the present invention.
Fig. 2 is laser vision sensor component diagram of the present invention.
Fig. 3 is image capturing system schematic diagram of the present invention.
Fig. 4 is weld seam intelligent identifying system schematic diagram of the present invention.
Embodiment
With reference to Fig. 1~2, ship's ladder robot weld seams shaped zigzag line intelligent identification device of the present invention, including laser vision sensor group
Part, image pick-up card and computer, wherein laser vision sensor component are arranged on the welding gun of ABB welding robots, laser
Visual sensing device assembly is connected by image pick-up card with computer；The laser vision sensor component includes semiconductor laser
Device 4, ccd video camera 3, camera lens 2, narrow band pass filter 1, the semiconductor laser 4 are arranged at ABB bonding machines with ccd video camera 3
Device human arm end；Narrow band pass filter 1 is arranged at camera lens front end, and narrow band pass filter 1 and camera lens 2 are fixed with ccd video camera
Connection；Image pick-up card is arranged on computer motherboard；
Semiconductor laser and ccd video camera are fixed on ABB robotic weld arms end, and adjust semiconductor laser
The spatial relation of device, ccd video camera and welding gun three such as Fig. 2, the laser 5 of semiconductor laser is set to be radiated at ship's ladder
On the fillet welding joint of workpiece 6, seam laser image is absorbed by ccd video camera 3；Image pick-up card filters narrow band pass filter 1
Image transmitting to computer, computer after processing carries out image analysis processing and obtains ship's ladder broken line angle welding track；Computer
Seam track is fed back into ABB welding robots, realizes the automatic welding of ship's ladder robot broken line angle welding.
The ship's ladder weld seam is angle welding, and the single-shaft position changing machine of robot system can meet machine with robot work compound
Requirement of the device people welding gun up to each broken line angle welding of ship's ladder.
With reference to Fig. 2, the semiconductor laser is rigidly secured to ABB welding robots by fixture respectively with ccd video camera
Human arm end, camera lens are fixedly connected by fixture with ccd video camera respectively with narrow band pass filter.The fixed semiconductor laser
The fixture of device and ccd video camera, the angle between semiconductor laser and ccd video camera can be adjusted, makes semiconductor laser
The laser of transmitting is radiated on ship's ladder workpiece fillet welding joint, and absorbs seam laser image by ccd video camera, while can not
Interfere with the welding job of actual robot.It is the table for the tested ship's ladder workpiece of light beam projection that semiconductor laser is sent first
Face, the light after being reflected by workpiece surface are absorbed by CCD camera, by measuring the angle of the reflected beams and camera primary optical axis,
And the data such as distance of the angle and camera of projecting beam and scan mirror and scan mirror with reference to known to, try to achieve each
Shu Guang workpiece surface incident point and CCD minute surfaces distance, so as to obtain the section profile of weld seam.
With reference to Fig. 3, Fig. 4, the computer includes image capture module and weld seam intelligent identifying system, wherein, weld seam
Intelligent identifying system is based on Visual++ Development of Software Platform, mainly including image pre-processing module, fast algorithm matching module
And track Program Generating and delivery module, image processing module and weld seam intelligent identifying system, major function include：Image
Medium filtering, image flame detection, binaryzation, Image erosion and track Program Generating and transmission etc..
Ship's ladder robot weld seams shaped zigzag line intelligent identification Method of the present invention, comprises the following steps：
Step 1, by laser vision sensor fixture by semiconductor laser and ccd video camera be rigidly secured to ABB weldering
Welding robot arm end, and adjust the spatial relation of semiconductor laser, ccd video camera and welding gun three；
Step 2, the laser of semiconductor laser are radiated on ship's ladder workpiece fillet welding joint, pass through ccd video camera
Absorb seam laser image；
Step 3, image pick-up card into calculator memory, give the image transmitting after narrow band pass filter optical filtering processing to meter
Calculation machine weld seam recognition software carries out image analysis processing and obtains ship's ladder broken line angle welding track program；
Step 4, seam track program imported into ABB welding robots, under the synergy of single-shaft position changing machine, finally
Realize the automatic welding of ship's ladder robot broken line angle welding.
Ship's ladder workpiece angle welding described in step 2 is interrupted broken line angle welding.
With reference to Fig. 4, the ship's ladder broken line angle welding track and actual welds trace dimensions that step 3 weld seam recognition system obtains are inclined
Cha≤± 0.5mm.
Embodiment 1
The ship's ladder robot broken line angle welding intelligent identification device and method of the present embodiment are to be based on image procossing and weldering
Identification intelligent welding technique is stitched, hardware components include：Laser vision sensor component is a set of, image pick-up card one, calculate
One, machine and a set of composition of ABB welding robot systems；The laser vision sensor component include semiconductor laser,
Ccd video camera, camera lens, narrow band pass filter, laser vision sensor fixture；Software section includes image capture module and weld seam
Intelligent identifying system, wherein weld seam intelligent identifying system are developed based on Visual++.This method specifically includes following steps：
Step 1, by laser vision sensor fixture by semiconductor laser and ccd video camera be rigidly secured to ABB weldering
Welding robot arm end, and adjust the spatial relation of semiconductor laser, ccd video camera and welding gun three；
Step 2, the laser of semiconductor laser are radiated on ship's ladder workpiece fillet welding joint, pass through ccd video camera
Absorb seam laser image；
Step 3, image pick-up card into calculator memory, give the image transmitting after narrow band pass filter optical filtering processing to meter
Calculation machine weld seam recognition software carries out image analysis processing and obtains ship's ladder broken line angle welding track program；
Step 4, seam track program imported into ABB welding robots, under the synergy of single-shaft position changing machine, finally
Realize the automatic welding of ship's ladder robot broken line angle welding.
This ship's ladder ABB welding robot systems use dual robot double, by Liang Tai robots, two single shaft displacements
Machine, for the ship's ladder of different length, flexible frock can be used, frock length may be configured as more than 6m, providing holes on tooling platform
And guide rail, can rapid mounting clamp, the ship's ladder of different length can clamp on this platform, and frock can be with 360 ° of rotations of positioner
Turn.Rotatable 90 ° of welding, ensure all broken line angle welding weld seam downhand weldings after the completion of horizontal clamping.Liang Tai robots are arranged on two
On the slide rail of individual 1.5m length.Two machine person cooperative works complete ship's ladder welding.Work station is mainly by arc welding robot, welding electricity
Source, single-shaft position changing machine, tooling platform, weld jig, clear rifle station, system integration switch board etc. form.Ship's ladder by ladder (band steel,
Angle steel, flat-bulb steel) and mark time (square steel) be spliced, material Q235-B, by each part clamping of ship's ladder to positioner before welding
In frock, clipped with quick-speed jigs, facilitate welding robot automatic welding.Welding procedure is as follows：
Welding method：MAG automatic welding special processes
Speed of welding：20-50cm/min
Gage of wire：Φ 1.0mm or Φ 1.2mm
Welding gas：80%Ar+20%CO2
With reference to Fig. 2, ccd video camera is using the industrial camera BASLER acA1300-30gm of German import, rigidity
Being fixed on the semiconductor laser of ABB robotic weld arms end and ccd video camera has certain angular compliance, center wire clamp
Angle is 30 °, apart from ship's ladder workpiece surface 30cm.
With reference to Fig. 3, image pick-up card using Beijing company of Daheng image pick-up card DH-CG41O video frequency collection cards,
It has the characteristics that flexible, integrated level is high, low in energy consumption.Due to not accounted for substantially using pci bus, acquired image data transfer
With CPU spaces, and image can be transferred directly to calculator memory or video memory.Video image is through multi-channel switcher, decoder, A/
D is changed, and digitized view data is sent into data buffer.Through reducing, after scale compression and Data Format Transform, by inside
The covering of control figure and data transfer, data transfer target location are determined by software, can are video memorys, can also are in computer
Deposit, the image pick-up card supports the video frequency output of multiple format, and what is used in the system is 8 bitmap formats.
Basic mechanical design feature and index:
1. supporting six road composite video inputs, at most form three road Y/C inputs or component inputs all the way, software exchange.
2. PAL is supported, NTSC colours/black and white video input.
3. image resolution ratio highest:PAL:768X576X24BITNTSC:640X480X24BIT
4. view data number range:1-253 or 16-235 are optional.
5. support computer content and image Display on the same screen, figure covering function.
6. support YUV422, RGB8888, RGB888, RGB565, RGB555 and Y8
7. support single game, single frames, continuous field, the acquisition mode of successive frame.
8. the level of hardware supported image, vertical mirror.
9. stable receive vcr signal.
10. video input bandwidth:>4MHz.
With reference to Fig. 4, the ship's ladder broken line angle welding track and actual welds trace dimensions that step 3 weld seam recognition system obtains are inclined
Cha≤± 0.5mm.
Specific welding process is as follows：First by laser vision sensor fixture by semiconductor laser and ccd video camera
ABB robotic weld arms end is rigidly secured to, and is adjusted the space bit between semiconductor laser and ccd video camera
Put relation；The laser of semiconductor laser is radiated on ship's ladder workpiece fillet welding joint, and weld seam is absorbed by ccd video camera
Laser image；Image pick-up card into calculator memory, gives the image transmitting after narrow band pass filter optical filtering processing to computer
Weld seam recognition system carries out image analysis processing and obtains ship's ladder broken line angle welding track；Then seam track program is imported into
ABB welding robots, under the synergy of single-shaft position changing machine, finally realize the automatic welding of ship's ladder robot broken line angle welding
Connect.
The present invention uses weld seam intelligent identification technology, improves welding robot intelligence degree, advantageously ensures that welding
Product quality, be advantageous to improve weld job efficiency.
Claims (6)
1. a kind of ship's ladder robot weld seams shaped zigzag line intelligent identification device, it is characterised in that including laser vision sensor component, figure
As capture card and computer, wherein laser vision sensor component is arranged on the welding gun of ABB welding robots, and laser vision passes
Sensor component is connected by image pick-up card with computer；The laser vision sensor component includes semiconductor laser, CCD
Video camera, camera lens, narrow band pass filter, the semiconductor laser are arranged at ABB robotic weld arms end with ccd video camera
End；Narrow band pass filter is arranged at camera lens front end, and narrow band pass filter and camera lens are fixedly connected with ccd video camera；IMAQ
Card is arranged on computer motherboard；
Semiconductor laser and ccd video camera are fixed on ABB robotic weld arms end, and adjust semiconductor laser,
Ccd video camera and the spatial relation of welding gun three, make the laser of semiconductor laser be radiated at ship's ladder workpiece fillet welding
Sew up on head, seam laser image is absorbed by ccd video camera；Image pick-up card by narrow band pass filter optical filtering handle after image
Transmit to computer, computer and carry out image analysis processing and obtain ship's ladder broken line angle welding track；Computer is anti-by seam track
ABB welding robots are fed to, realize the automatic welding of ship's ladder robot broken line angle welding.
2. ship's ladder robot weld seams shaped zigzag line intelligent identification device according to claim 1, it is characterised in that the semiconductor
Laser is rigidly secured to ABB robotic weld arms end by fixture respectively with ccd video camera.
3. ship's ladder robot weld seams shaped zigzag line intelligent identification device according to claim 1, it is characterised in that the camera lens with
Narrow band pass filter is fixedly connected by fixture with ccd video camera respectively.
4. ship's ladder robot weld seams shaped zigzag line intelligent identification device according to claim 2, it is characterised in that the fixation half
The fixture of conductor laser and ccd video camera, the angle between semiconductor laser and ccd video camera can be adjusted, make partly to lead
The laser of body laser transmitting is radiated on ship's ladder workpiece fillet welding joint, and absorbs seam laser image by ccd video camera.
A kind of 5. ship's ladder robot weld seams shaped zigzag line based on ship's ladder robot weld seams shaped zigzag line intelligent identification device described in claim 1
Intelligent identification Method, it is characterised in that comprise the following steps：
Step 1, semiconductor laser and ccd video camera are fixed on to ABB robotic weld arms end, and adjust semiconductor and swash
The spatial relation of light device, ccd video camera and welding gun three；
Step 2, the laser of semiconductor laser are radiated on ship's ladder workpiece fillet welding joint, are absorbed by ccd video camera
Seam laser image；
Image transmitting to computer, computer after step 3, image pick-up card handle narrow band pass filter optical filtering carries out image point
Analysis processing obtains ship's ladder broken line angle welding track；
Seam track is fed back to ABB welding robots by step 4, computer, realizes the automatic of ship's ladder robot broken line angle welding
Welding.
6. ship's ladder robot weld seams shaped zigzag line intelligent identification Method according to claim 5, it is characterised in that institute in step 2
The ship's ladder workpiece angle welding stated is interrupted broken line angle welding.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610755258.1A CN107790853A (en) | 2016-08-29 | 2016-08-29 | Ship's ladder robot broken line angle welding intelligent identification device and method |
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| CN201610755258.1A CN107790853A (en) | 2016-08-29 | 2016-08-29 | Ship's ladder robot broken line angle welding intelligent identification device and method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108500420A (en) * | 2018-03-29 | 2018-09-07 | 江苏新时代造船有限公司 | One kind founding part system based on networking intelligent recognition multirobot automatic welding ship group |
| CN108941918A (en) * | 2018-03-29 | 2018-12-07 | 江苏新时代造船有限公司 | One kind founding part method based on networking intelligent recognition multirobot automatic welding ship group |
| CN109702298A (en) * | 2019-01-26 | 2019-05-03 | 南昌大学 | A method of 90 ° of broken line fillet weld crosspoints are identified based on stem elongation variation characteristic |
| CN109702297A (en) * | 2019-01-26 | 2019-05-03 | 南昌大学 | A method of 90 ° of broken line fillet weld crosspoints are identified based on welding deviation variation characteristic |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108500420A (en) * | 2018-03-29 | 2018-09-07 | 江苏新时代造船有限公司 | One kind founding part system based on networking intelligent recognition multirobot automatic welding ship group |
| CN108941918A (en) * | 2018-03-29 | 2018-12-07 | 江苏新时代造船有限公司 | One kind founding part method based on networking intelligent recognition multirobot automatic welding ship group |
| CN109702298A (en) * | 2019-01-26 | 2019-05-03 | 南昌大学 | A method of 90 ° of broken line fillet weld crosspoints are identified based on stem elongation variation characteristic |
| CN109702297A (en) * | 2019-01-26 | 2019-05-03 | 南昌大学 | A method of 90 ° of broken line fillet weld crosspoints are identified based on welding deviation variation characteristic |
| CN109702297B (en) * | 2019-01-26 | 2020-04-24 | 南昌大学 | Method for identifying 90-degree fold line fillet weld intersection point based on welding deviation change characteristics |
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Application publication date: 20180313 |