CN108044277A - A kind of Intelligent welding platform and welding method based on full visual angle three-dimensional measurement field - Google Patents
A kind of Intelligent welding platform and welding method based on full visual angle three-dimensional measurement field Download PDFInfo
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- CN108044277A CN108044277A CN201810088137.5A CN201810088137A CN108044277A CN 108044277 A CN108044277 A CN 108044277A CN 201810088137 A CN201810088137 A CN 201810088137A CN 108044277 A CN108044277 A CN 108044277A
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- 238000003466 welding Methods 0.000 title claims abstract description 82
- 238000005259 measurement Methods 0.000 title claims abstract description 16
- 230000000007 visual effect Effects 0.000 title claims abstract description 16
- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 8
- 238000004458 analytical method Methods 0.000 claims abstract description 7
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 5
- 238000000605 extraction Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 12
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011022 operating instruction Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000003908 quality control method Methods 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 for a procedure covered by only one of the other main groups of this subclass
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
-
- 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 for a procedure covered by only one of the other main groups of this subclass
-
- 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 for a procedure covered by only one of the other main groups of this subclass
- 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)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention provides a kind of Intelligent welding platform and welding method based on full visual angle three-dimensional measurement field：Including frame body, control system, motion, welding robot；The motion includes driving portion and moving portion；The moving portion is fixed on frame body；The welding robot is fixed in moving portion, and driving portion driving moving portion makees three-dimensional movement on frame body；The control system includes processor and welding position detection device；The welding position detection device sends that information to processor to obtain current welding robot and welding seam position information；The processor is analyzed according to the location information to receiving, and according to analysis result controlled motion mechanism kinematic.The advantage of the invention is that：Automatic welding quality and production efficiency are improved, improves the safety in utilization of Automation of Welding equipment, reduces welding production cost, realizes high quality intelligence welding production.
Description
Technical field
The present invention relates to radar component manufacture fields, are welded more particularly to a kind of intelligence based on full visual angle three-dimensional measurement field
Connect platform and welding method.
Background technology
Radar system is complicated, and weld assembly species is various, and different types of structure dimension scope is big, is typical more product
Kind, the modern times of small lot discrete manufacture type, it is necessary to improve the Volume Flexibility in welding process, that is, need it is functional,
The welding equipment that the range of work is extensive, processing quality is stable, production efficiency is high.Meanwhile the high performance requirements butt welding of radar arrangement
Quality control, production efficiency and operating condition of termination process etc. also proposed the requirement more increased.Traditional welding operation master
Manual operation is relied on, the quality of welding quality depends primarily upon manual operation experience, and welding quality and production efficiency are difficult to
It is guaranteed, it is desirable to provide meet the high quality requirement of welding product, possess automation and intelligentized welding equipment.
In view of the above problems, there is an urgent need for a kind of raising radar component manufacture is flexible, automation, intelligentized is regarded based on machine
The Intelligent welding platform of feel.
The content of the invention
Intelligent welding the technical problem to be solved by the present invention is to lack in the prior art for radar component welding is put down
Platform.
The present invention solves above-mentioned technical problem by the following technical programs：
A kind of Intelligent welding platform based on full visual angle three-dimensional measurement field, including frame body, control system, motion, weldering
Welding robot；
The motion includes driving portion and moving portion；The moving portion is fixed on frame body；The welding robot
It is fixed in moving portion, driving portion driving moving portion makees three-dimensional movement on frame body；
The control system includes processor and welding position detection device；The welding position detection device is obtaining
Current welding robot and welding seam position information, and send that information to processor；The processor is according to receiving
Location information is analyzed, and according to analysis result controlled motion mechanism kinematic.
Preferably, the moving portion includes the first track and the second track, and first track is horizontally fixed on frame body,
Second track is fixed on by connection sliding block on the first track, and connection sliding block moves horizontally along the first track, and column passes through
Two tracks move up and down on connection sliding block.
Preferably, the second track is fixed on a column；The welding robot is fixed in the bottom of column.
Preferably, second sliding block and the first sliding block are driven respectively by the second motor and the first motor.
Preferably, moving cart is provided on the frame body, the moving mechanism is fixed in moving cart, and described first
Motor is fixed in moving cart, and second motor is fixed on column；First motor and the second motor it is defeated
Shaft is fixed with connection sliding block.
Preferably, the welding position detection device includes camera, light source；The frame body includes side frames, to-be-welded pieces
And welding robot is between side frames；Camera and light source are respectively fixed in side frames.
Preferably, the 3rd track and the 4th track are provided on the side frame, the 3rd track and the 4th track are horizontal
Set and vertical, be fixed with the 3rd sliding block on the 3rd track, the back side of the 3rd sliding block is fixed with Four-slider, Four-slider with
4th track is adapted to.
Preferably, the 3rd sliding block is driven the horizontal movement made perpendicular to the first orbital direction by the 3rd servomotor,
4th track is made the horizontal movement of parallel first orbital direction by the driving of the 4th servomotor.
The present invention also provides a kind of welding method of the Intelligent welding platform based on full visual angle three-dimensional measurement field, the platforms
For above-mentioned platform；Method comprises the following steps：
1) now to-be-welded pieces are placed on pedestal, and by position while welding towards robot direction；
2) start control system, and shown according to picture, camera is adjusted to suitable position；
3) camera constantly obtains current robot and position while welding image information, and sends information to processor；
4) processor is according to the image information being currently received, extraction image information, and is analyzed, and draws analysis knot
Structure, and moved according to output control motion, robot is sent to optimum position, until analysis result meets the requirements.
The advantage of the invention is that：
Automatic welding quality and production efficiency are improved, improves the safety in utilization of Automation of Welding equipment, is reduced
Welding production cost, realizes high quality intelligence welding production.
By setting camera, it can be achieved that being captured from different perspectives with robot location to position while welding in frame body both sides
Picture to be that judging result is more accurate, so as to be that robot is sent to optimum position by control system controlled motion mechanism, is realized
Accurate welding.
Product overall structure is simple, and each component retrieval approach is wide, and generalization is strong.
Description of the drawings
Fig. 1 is the main structure diagram of the present invention；
Fig. 2 is the left view structural representation of Fig. 1.
Specific embodiment
The effect of to make to structure feature of the invention and being reached, has a better understanding and awareness, to preferable
Embodiment and attached drawing cooperation detailed description, are described as follows：
As shown in Figure 1 and Figure 2, a kind of Intelligent welding platform based on full visual angle three-dimensional measurement field, including portal frame 1, pedestal
2nd, control system 3, motion 4, welding robot 5；Pedestal 2 is arranged on 1 lower section of portal frame, for placing to-be-welded pieces.
Portal frame 1 includes crossbeam 11 and side frames 12.Moving cart 13 is fixed on crossbeam 11, trolley 13 can be along crossbeam 11
It is moved on length direction.
Motion 4 is fixed on trolley 13, including moving portion and driving portion；Moving portion includes the first track 41 and second
Track 42, the first track 41 are horizontally fixed on trolley 13, and the first sliding block 43, the first sliding block 43 are fixed on the first track 41
Outside be fixed with the second sliding block 44, the second sliding block 44 coordinates with the second track 42, and the second track 42 is vertically arranged, with first
Track 41 is vertical.Second track 42 is fixed on a column 45, and welding robot 5 is fixed in the bottom of column 45.
Driving portion includes the first servomotor 46 and the second servomotor 47, and the first servomotor 46 is fixed on trolley 13
On, output terminal is connected with the first sliding block 43, and the first sliding block 43 of control moves horizontally, and the second servomotor 47 is fixed on column 45
On, output shaft is fixed with the second sliding block 44, and control column 45 moves up and down.
Control system 3 includes processor and welding position detection device；Welding position detection device includes camera 31, light source
32；Camera 31 and light source 32 are respectively fixed in the both sides of pedestal 2.The 3rd track is provided in the side frames 12 of portal frame 1
33 and the 4th track 34, the 3rd track 33 and the 4th track 34 is horizontally disposed and cross is fixed on the 3rd track 33
There is the 3rd sliding block 35, the back side of the 3rd sliding block 35 is fixed with Four-slider 36, and Four-slider 36 is adapted to the 4th track 34.Together
Sample, the 3rd sliding block 35 are driven the horizontal movement made perpendicular to 1 crossbeam of portal frame, 11 direction, the 4th track by the 3rd servomotor 37
34 are driven the horizontal movement made parallel to 1 crossbeam of portal frame, 11 direction by the 4th servomotor 38.In one end of the 4th track 34
A upright bar 39 is fixed, in the bottom fixed camera 31 of upright bar 39 and light source 32.Camera 31 is CCD camera 31, and light source 32 is LED light
Source 32.Camera 31 and light source 32 are fixed on 39 bottom of upright bar by adjustable mechanism, can adjust camera 31 and light source as needed
32 angle.Adjustable mechanism is conventional structure, such as gimbal coupling.
The operation principle of control system 3 is：Operating personnel observes display, if it find that be welded without showing on picture
The image information that part or camera 31 capture differs larger with actual welds position, such as only takes tape welding fitting or only
Photographed robot or the two all clap less than etc. invalid situations, then pass through the 3rd servomotor 37 of manual control and the 3rd servo
Motor 37 makes camera 31 be in more suitable position, robot and position to be welded is made to be in 31 capture range of camera.
Camera 31 carries out picture capture to current robot and position while welding, and image information is sent to processor, locates
Device extraction image information is managed, and judges the position moment accordingly, whether the relative position of welding robot 5 and weld seam properly welds
It connects.It, can be to the first servomotor 46 and second if 5 welding of welding robot cannot obtain the second best in quality weld seam under the position
Servomotor 47 sends operating instruction, the relative position of optimization welding robot 5 and weld seam, while camera 31 is constantly to place
It manages device and sends current picture information, processor judges again, and further according to contact output order is judged, which judges until processor
The relative position of welding robot 5 and weld seam is properly until welding, then controller is electric to the first servomotor 46 and the second servo
Machine 47 sends instruction out of service.
Basic principle, main feature and the advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, various changes and modifications of the present invention are possible without departing from the spirit and scope of the present invention, these variation and
Improvement is both fallen in the range of claimed invention.The present invention claims protection domain by appended claims and its
Equivalent defines.
Claims (9)
1. a kind of Intelligent welding platform based on full visual angle three-dimensional measurement field, it is characterised in that：Including frame body (1), control system
(3), motion (4), welding robot (5)；
The motion (4) includes driving portion and moving portion；The moving portion is fixed on frame body (1)；The welding robot
People (5) is fixed in moving portion, and driving portion driving moving portion makees three-dimensional movement on frame body (1)；
The control system (3) includes processor and welding position detection device；The welding position detection device is obtaining
Current welding robot (5) and welding seam position information, and send that information to processor；The processor is according to receiving
Location information analyzed, and according to analysis result controlled motion mechanism (4) move.
2. a kind of Intelligent welding platform based on full visual angle three-dimensional measurement field according to claim 1, it is characterised in that：Institute
Stating moving portion includes the first track (41) and the second track (42), and first track (41) is horizontally fixed on frame body (1), the
Two tracks (42) are fixed on by connection sliding block on the first track (41), and connection sliding block moves horizontally along the first track (41),
Column (45) is moved up and down by the second track (42) on connection sliding block.
3. a kind of Intelligent welding platform based on full visual angle three-dimensional measurement field according to claim 2, it is characterised in that：The
Two tracks (42) are fixed on a column (45)；The welding robot (5) is fixed in the bottom of column (45).
4. a kind of Intelligent welding platform based on full visual angle three-dimensional measurement field according to claim 2, it is characterised in that：Institute
The second sliding block (44) and the first sliding block (43) is stated to drive by the second motor (47) and the first motor (46) respectively.
5. a kind of Intelligent welding platform based on full visual angle three-dimensional measurement field according to claim 3, it is characterised in that：Institute
It states and moving cart (13) is provided on frame body (1), the moving mechanism is fixed in moving cart (13), first motor
(46) it is fixed in moving cart (13), second motor (47) is fixed on column (45)；First motor
(46) fixed with the output shaft of the second motor (47) with connection sliding block.
6. according to a kind of any Intelligent welding platform based on full visual angle three-dimensional measurement field of claim 2 to 5, feature
It is：The welding position detection device includes camera (31), light source (32)；The frame body (1) includes side frames (12), to be welded
Fitting and welding robot (5) are between side frames (12)；Camera (31) and light are respectively fixed in side frames (12)
Source (32).
7. a kind of Intelligent welding platform based on full visual angle three-dimensional measurement field according to claim 6, it is characterised in that：
The 3rd track (33) and the 4th track (34), the 3rd track (33) and the 4th track are provided on the side frame (12)
(34) it is horizontally disposed with and vertical, the 3rd sliding block (35) is fixed on the 3rd track (33), the back side of the 3rd sliding block (35) is fixed
There is Four-slider (36), Four-slider (36) is adapted to the 4th track (34).
8. a kind of Intelligent welding platform based on full visual angle three-dimensional measurement field according to claim 7, it is characterised in that：Institute
The 3rd sliding block (35) is stated by the 3rd servomotor (37) driving work perpendicular to the horizontal movement in the first track (41) direction, the 4th rail
Made the horizontal movement in parallel first track (41) direction by the driving of the 4th servomotor (38) in road (34).
9. a kind of welding method of the Intelligent welding platform based on full visual angle three-dimensional measurement field, it is characterised in that：The platform is
Any platform of the claims 1 to 8；Method comprises the following steps：
1) now to-be-welded pieces are placed on pedestal, and by position while welding towards robot direction；
2) start control system, and shown according to picture, camera is adjusted to suitable position；
3) camera constantly obtains current robot and position while welding image information, and sends information to processor；
4) processor is according to the image information being currently received, extraction image information, and is analyzed, and draws analysis structure, and
It is moved according to output control motion, robot is sent to optimum position, until analysis result meets the requirements.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810088137.5A CN108044277A (en) | 2018-01-30 | 2018-01-30 | A kind of Intelligent welding platform and welding method based on full visual angle three-dimensional measurement field |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810088137.5A CN108044277A (en) | 2018-01-30 | 2018-01-30 | A kind of Intelligent welding platform and welding method based on full visual angle three-dimensional measurement field |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108044277A true CN108044277A (en) | 2018-05-18 |
Family
ID=62125097
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810088137.5A Withdrawn CN108044277A (en) | 2018-01-30 | 2018-01-30 | A kind of Intelligent welding platform and welding method based on full visual angle three-dimensional measurement field |
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| CN (1) | CN108044277A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110625313A (en) * | 2019-09-07 | 2019-12-31 | 深圳市东盈讯达电子有限公司 | Intelligent processing platform based on full-view three-dimensional measurement field |
| CN110732437A (en) * | 2019-12-04 | 2020-01-31 | 中国航空工业集团公司沈阳空气动力研究所 | pressure-sensitive paint intelligent automatic spraying system and spraying method |
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| JP2000196924A (en) * | 1998-12-24 | 2000-07-14 | Ishikawajima Harima Heavy Ind Co Ltd | Weld image pickup device using double laser illumination |
| CN102625739A (en) * | 2009-09-11 | 2012-08-01 | 弗罗纽斯国际有限公司 | Monitoring module for monitoring a process with an electric arc |
| CN202639328U (en) * | 2011-12-21 | 2013-01-02 | 西安铂力特激光成形技术有限公司 | A quality tracing device for metal parts formed through laser solid forming technology |
| CN104741795A (en) * | 2015-03-31 | 2015-07-01 | 武汉先河激光技术有限公司 | Efficient laser etching device for small OGS |
| CN205798760U (en) * | 2016-07-25 | 2016-12-14 | 宁波蓝鼎电子科技有限公司 | A kind of Biaxial full automatic weld seam apparatus for real time tracking of view-based access control model identification |
| CN208033977U (en) * | 2018-01-30 | 2018-11-02 | 中国电子科技集团公司第三十八研究所 | A kind of Intelligent welding platform based on full view three-dimensional measurement field |
-
2018
- 2018-01-30 CN CN201810088137.5A patent/CN108044277A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000196924A (en) * | 1998-12-24 | 2000-07-14 | Ishikawajima Harima Heavy Ind Co Ltd | Weld image pickup device using double laser illumination |
| CN102625739A (en) * | 2009-09-11 | 2012-08-01 | 弗罗纽斯国际有限公司 | Monitoring module for monitoring a process with an electric arc |
| US20120229632A1 (en) * | 2009-09-11 | 2012-09-13 | Fronius International Gmbh | Monitoring module for monitoring a process with an electric arc |
| CN202639328U (en) * | 2011-12-21 | 2013-01-02 | 西安铂力特激光成形技术有限公司 | A quality tracing device for metal parts formed through laser solid forming technology |
| CN104741795A (en) * | 2015-03-31 | 2015-07-01 | 武汉先河激光技术有限公司 | Efficient laser etching device for small OGS |
| CN205798760U (en) * | 2016-07-25 | 2016-12-14 | 宁波蓝鼎电子科技有限公司 | A kind of Biaxial full automatic weld seam apparatus for real time tracking of view-based access control model identification |
| CN208033977U (en) * | 2018-01-30 | 2018-11-02 | 中国电子科技集团公司第三十八研究所 | A kind of Intelligent welding platform based on full view three-dimensional measurement field |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110625313A (en) * | 2019-09-07 | 2019-12-31 | 深圳市东盈讯达电子有限公司 | Intelligent processing platform based on full-view three-dimensional measurement field |
| CN110732437A (en) * | 2019-12-04 | 2020-01-31 | 中国航空工业集团公司沈阳空气动力研究所 | pressure-sensitive paint intelligent automatic spraying system and spraying method |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180518 |
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