CN108838527A - A kind of intelligent robot welding system and method - Google Patents

A kind of intelligent robot welding system and method Download PDF

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Publication number
CN108838527A
CN108838527A CN201810520931.2A CN201810520931A CN108838527A CN 108838527 A CN108838527 A CN 108838527A CN 201810520931 A CN201810520931 A CN 201810520931A CN 108838527 A CN108838527 A CN 108838527A
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China
Prior art keywords
module
mcu
welding
client
laser
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CN201810520931.2A
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Chinese (zh)
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CN108838527B (en
Inventor
刘玮
徐忠华
郭俊
厉冯鹏
陈勇
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盐城工学院
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/20Bonding
    • B23K26/21Bonding by welding
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/20Bonding
    • B23K26/21Bonding by welding
    • B23K26/24Seam welding
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/70Auxiliary operations or equipment
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/70Auxiliary operations or equipment
    • B23K26/702Auxiliary equipment
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Abstract

The invention discloses a kind of intelligent robot welding system and method, welding system includes client, remote monitoring center, the first MCU, the 2nd MCU, relay, laser scanning module, data processing module, track generation module, laser emitting module, laser tracking welding slit die block, display module, alarm module, voice broadcast module, fault information collection module, timing module and human-computer interaction module.Intelligent robot welding system provided by the invention and method, realize intelligent control laser emitting module according to welding track automatic welding by the first MCU and the 2nd MCU, the weldquality of formation is good, yields reaches 98% or more, can carry out alarm and fault information collection to bad weldment and be wirelessly transmitted to client and remote monitoring center, be convenient for fault diagnosis and amendment, intelligent diagnostics non-defective unit and defective products, can start by set date welding, man-machine interaction is good, has a extensive future.

Description

A kind of intelligent robot welding system and method

Technical field

The present invention relates to robotic welding technology fields, and in particular to a kind of intelligent robot welding system and method.

Background technique

Currently, laser welding technology is widely used in fields such as machine-building, aerospace, automobile preparations, But traditional laser welding apparatus can not achieve intelligent monitoring, and welding quality is poor, and working efficiency is low.

Summary of the invention

In order to solve the problems existing in the prior art, the present invention provides a kind of intelligent robot welding system and methods.

To achieve the above object, the technical solution adopted by the present invention is:

A kind of intelligent robot welding system, including:Client, the first MCU, the 2nd MCU, relay, swashs at remote monitoring center Optical scanning module, data processing module, track generation module, laser emitting module, laser tracking welding slit die block, display module, Alarm module, voice broadcast module, fault information collection module, timing module and human-computer interaction module;

First MCU, the 2nd MCU are wirelessly communicated with client and remote monitoring center, the first MCU input terminal and laser tracking welding Slit die block is connected, and the first MCU output end is connected with display module, alarm module and voice broadcast module, and the first MCU controls failure The opening and closing of information collection module simultaneously transmits fault message to the first MCU, and the 2nd MCU is connected with display module and laser scanning module And the opening and closing of laser scanning module is controlled by relay, laser scanning module is connected with data processing module is then connected to track Generation module, the 2nd MCU are connected with track generation module and control the weldering that laser emitting module is generated according to track generation module The mark that integrates with is welded, and human-computer interaction module is in communication with each other with the first MCU, the 2nd MCU, timing module and track generation module.

Further, the laser tracking welding slit die block includes camera, image processing module and ultrasonic inspection module, is taken the photograph Picture head is connected with image processing module, and camera is taken pictures to the weld seam of formation and is uploaded at image processing module Reason, ultrasonic inspection module are connected with the first MCU, detect weldquality by ultrasonic inspection module.

Further, the first MCU and the 2nd MCU is by WIFI, GPRS or ethernet network and client and remotely Monitoring center wireless communication.

Further, the human-computer interaction module is matrix keyboard, and client is Android mobile phone or iPhone.

Further, include the following steps:

The welding starting time is written to timing module by human-computer interaction module in step 1, system electrification, when reaching the starting time, First MCU transmits welding enabled instruction to client, and client receives and sends welding sign on, the 2nd MCU to the 2nd MCU It receives and passes through relay driving laser scanning module and start, figure is carried out to parent part to be welded, connector by laser scanning module As acquisition, the total content control image information of parent part and connector to be welded is obtained respectively and is transmitted to data processing module;

Step 2, data processing module receive laser scanning module upload image information simultaneously be analyzed and processed respectively, extract to The parameters such as cross sectional shape, size, the thickness of parent part and connector are welded, then are uploaded to track generation module, track generation module connects It receives and welding track is automatically generated according to the welding bead cross section parameter that human-computer interaction module is keyed in, be sent to the 2nd MCU;

Step 3, the information of the 2nd MCU receiving locus generation module transmission simultaneously drive laser emitting module to start, and issue laser beam, 2nd MCU controls laser emitting module and realizes the welding between parent part and connector to be welded according to welding track, forms weld seam, together When, the 2nd MCU drives the section shape of display module real-time display welding track, welding bead cross section parameter, parent part to be welded and connector The parameter informations such as shape, size, thickness;

Step 4, the actual characteristic parameter that weld seam is detected by laser tracking welding slit die block and weldquality information are simultaneously uploaded to the One MCU, the first MCU receive and are transmitted to client and remote monitoring center, meanwhile, the first MCU carries out quality verification, if first Not within a preset range, the first MCU drives alarm module sounding report to the actual characteristic parameter and weldquality that MCU judges weld seam It is alert, prompt the current weldment of staff unqualified, meanwhile, the first MCU startup separator information collection module is to current weldment Information collection is carried out, then obtained data information will be collected feeds back to the first MCU and handle, driving display module carries out real-time It has been shown that, and it is uploaded to client and remote monitoring center, for checking fault message, return to operating procedure 1.

Further, in step 4, the camera of laser tracking welding slit die block takes pictures in real time to weld seam and is uploaded to figure As processing module is analyzed and processed, the characteristic parameters such as the width of weld seam are obtained, passes through ultrasonic inspection module and detects weldquality And it is uploaded to the first MCU, the first MCU receives and is transmitted to client and remote monitoring center, meanwhile, the first MCU carries out quality Verifying, if the first MCU judges that the actual characteristic parameter of weld seam and weldquality belong in preset range, alarm module and failure letter Breath collection module does not work, and the first MCU drives the casting of voice broadcast module sounding " welding is qualified ".

Compared with prior art, beneficial effects of the present invention are:

The invention discloses a kind of intelligent robot welding system and method, welding system include client, remote monitoring center, First MCU, the 2nd MCU, relay, laser scanning module, data processing module, track generation module, laser emitting module, swash Light tracking welding slit die block, display module, alarm module, voice broadcast module, fault information collection module, timing module and man-machine Interactive module, the first MCU, the 2nd MCU are wirelessly communicated with client and remote monitoring center, the first MCU input terminal and laser Tracking welding slit die block is connected, and the first MCU output end is connected with display module, alarm module and voice broadcast module, the first MCU control The opening and closing of fault information collection module processed simultaneously transmits fault message, the 2nd MCU and display module and laser scanning mould to the first MCU Block is connected and controls the opening and closing of laser scanning module by relay, and laser scanning module is connected reconnection with data processing module To track generation module, the 2nd MCU is connected with track generation module and controls laser emitting module according to the life of track generation module At welding track welded, human-computer interaction module and the first MCU, the 2nd MCU, timing module and track generation module are mutual Communication.Intelligent robot welding system provided by the invention and method realize that intelligent control swashs by the first MCU and the 2nd MCU Optical transmitter module is according to welding track automatic welding, and the weldquality of formation is good, and yields reaches 98% or more, to bad weldering Fitting can carry out alarm and fault information collection and be wirelessly transmitted to client and remote monitoring center, convenient for fault diagnosis and repair Just, intelligent diagnostics non-defective unit and defective products, can start by set date welding, man-machine interaction is good, has a extensive future.

Detailed description of the invention

Fig. 1 is hardware block diagram of the invention.

Specific embodiment

The present invention will be further explained combined with specific embodiments below.

As shown in Figure 1, a kind of intelligent robot welding system, including:Client, remote monitoring center, the first MCU, Two MCU, relay, laser scanning module, data processing module, track generation module, laser emitting module, laser track weld seam Module, display module, alarm module, voice broadcast module, fault information collection module, timing module and human-computer interaction module, Commercially available acquisition, access power module are powered operation.

First MCU, the 2nd MCU are wirelessly communicated with client and remote monitoring center, the first MCU input terminal and laser with Track weld seam module is connected, and the first MCU output end is connected with display module, alarm module and voice broadcast module, the first MCU control The opening and closing of fault information collection module simultaneously transmits fault message, the 2nd MCU and display module and laser scanning module to the first MCU It is connected and controls by relay the opening and closing of laser scanning module, laser scanning module is connected with data processing module to be then connected to Track generation module, the 2nd MCU is connected with track generation module and controls laser emitting module to be generated according to track generation module Welding track welded, human-computer interaction module and the first MCU, the 2nd MCU, timing module and track generation module phase intercommunication Letter keys in user's information needed by human-computer interaction module.

Laser tracking welding slit die block includes camera, image processing module and ultrasonic inspection module, at camera and image It manages module to be connected, camera takes pictures to the weld seam of formation and is uploaded to image processing module and handles, ultrasonic inspection mould Block is connected with the first MCU, detects weldquality by ultrasonic inspection module.

First MCU and the 2nd MCU is wireless by WIFI, GPRS or ethernet network and client and remote monitoring center Communication, human-computer interaction module is matrix keyboard, includes 0-9 number, 26 English alphabets, confirmation key, delete button, mathematics symbol Number etc., client is Android mobile phone or iPhone.

A kind of intelligent robot welding method, includes the following steps:

The welding starting time is written to timing module by human-computer interaction module in step 1, system electrification, when reaching the starting time, First MCU transmits welding enabled instruction to client, and client receives and sends welding sign on, the 2nd MCU to the 2nd MCU It receives and passes through relay driving laser scanning module and start, figure is carried out to parent part to be welded, connector by laser scanning module As acquisition, the total content control image information of parent part and connector to be welded is obtained respectively and is transmitted to data processing module;

Step 2, data processing module receive laser scanning module upload image information simultaneously be analyzed and processed respectively, extract to The parameters such as cross sectional shape, size, the thickness of parent part and connector are welded, then are uploaded to track generation module, track generation module connects It receives and welding track is automatically generated according to the welding bead cross section parameter that human-computer interaction module is keyed in, be sent to the 2nd MCU;

Step 3, the information of the 2nd MCU receiving locus generation module transmission simultaneously drive laser emitting module to start, and issue laser beam, 2nd MCU controls laser emitting module and realizes the welding between parent part and connector to be welded according to welding track, forms weld seam, together When, the 2nd MCU drives the section shape of display module real-time display welding track, welding bead cross section parameter, parent part to be welded and connector The parameter informations such as shape, size, thickness;

Step 4, the actual characteristic parameter that weld seam is detected by laser tracking welding slit die block and weldquality information are simultaneously uploaded to the One MCU, the first MCU receive and are transmitted to client and remote monitoring center, meanwhile, the first MCU carries out quality verification, if first Not within a preset range, the first MCU drives alarm module sounding report to the actual characteristic parameter and weldquality that MCU judges weld seam It is alert, prompt the current weldment of staff unqualified, meanwhile, the first MCU startup separator information collection module is to current weldment Information collection is carried out, then obtained data information will be collected feeds back to the first MCU and handle, driving display module carries out real-time It has been shown that, and it is uploaded to client and remote monitoring center, for checking fault message, return to operating procedure 1.

In step 4, the camera of laser tracking welding slit die block takes pictures in real time to weld seam and is uploaded to image procossing mould Block is analyzed and processed, and obtains the characteristic parameters such as the width of weld seam, is detected weldquality by ultrasonic inspection module and is uploaded to First MCU, the first MCU receive and are transmitted to client and remote monitoring center, meanwhile, the first MCU carries out quality verification, if the One MCU judges that the actual characteristic parameter of weld seam and weldquality belong in default weld seam parameter area, presets weld seam parameter area It is keyed in by human-computer interaction module, the end value including presetting weld seam parameter, alarm module and fault information collection module do not work, First MCU drives the casting of voice broadcast module sounding " welding is qualified ".

The above embodiments do not limit the invention in any form, all to be obtained by the way of equivalent substitution or equivalent transformation Technical solution, all fall within protection scope of the present invention.

Claims (6)

1. a kind of intelligent robot welding system, which is characterized in that including:Client, remote monitoring center, the first MCU, second MCU, relay, laser scanning module, data processing module, track generation module, laser emitting module, laser tracking welding slit die Block, display module, alarm module, voice broadcast module, fault information collection module, timing module and human-computer interaction module;
First MCU, the 2nd MCU are wirelessly communicated with client and remote monitoring center, the first MCU input terminal and laser with Track weld seam module is connected, and the first MCU output end is connected with display module, alarm module and voice broadcast module, the first MCU control The opening and closing of fault information collection module simultaneously transmits fault message, the 2nd MCU and display module and laser scanning module to the first MCU It is connected and controls by relay the opening and closing of laser scanning module, laser scanning module is connected with data processing module to be then connected to Track generation module, the 2nd MCU is connected with track generation module and controls laser emitting module to be generated according to track generation module Welding track welded, human-computer interaction module and the first MCU, the 2nd MCU, timing module and track generation module phase intercommunication Letter.
2. a kind of intelligent robot welding system according to claim 1, which is characterized in that the laser tracking welding slit die Block includes that camera, image processing module and ultrasonic inspection module, camera are connected with image processing module, and camera is to formation Weld seam taken pictures and be uploaded to image processing module and handled, ultrasonic inspection module is connected with the first MCU, passes through ultrasound Module of detecting a flaw detects weldquality.
3. a kind of intelligent robot welding system according to claim 1, which is characterized in that the first MCU and second MCU is wirelessly communicated by WIFI, GPRS or ethernet network and client and remote monitoring center.
4. a kind of intelligent robot welding system according to claim 1, which is characterized in that the human-computer interaction module is Matrix keyboard, client are Android mobile phone or iPhone.
5. using a kind of any intelligent robot welding method of claim 1-4, which is characterized in that including following step Suddenly:
The welding starting time is written to timing module by human-computer interaction module in step 1, system electrification, when reaching the starting time, First MCU transmits welding enabled instruction to client, and client receives and sends welding sign on, the 2nd MCU to the 2nd MCU It receives and passes through relay driving laser scanning module and start, figure is carried out to parent part to be welded, connector by laser scanning module As acquisition, the total content control image information of parent part and connector to be welded is obtained respectively and is transmitted to data processing module;
Step 2, data processing module receive laser scanning module upload image information simultaneously be analyzed and processed respectively, extract to The parameters such as cross sectional shape, size, the thickness of parent part and connector are welded, then are uploaded to track generation module, track generation module connects It receives and welding track is automatically generated according to the welding bead cross section parameter that human-computer interaction module is keyed in, be sent to the 2nd MCU;
Step 3, the information of the 2nd MCU receiving locus generation module transmission simultaneously drive laser emitting module to start, and issue laser beam, 2nd MCU controls laser emitting module and realizes the welding between parent part and connector to be welded according to welding track, forms weld seam, together When, the 2nd MCU drives the section shape of display module real-time display welding track, welding bead cross section parameter, parent part to be welded and connector The parameter informations such as shape, size, thickness;
Step 4, the actual characteristic parameter that weld seam is detected by laser tracking welding slit die block and weldquality information are simultaneously uploaded to the One MCU, the first MCU receive and are transmitted to client and remote monitoring center, meanwhile, the first MCU carries out quality verification, if first Not within a preset range, the first MCU drives alarm module sounding report to the actual characteristic parameter and weldquality that MCU judges weld seam It is alert, prompt the current weldment of staff unqualified, meanwhile, the first MCU startup separator information collection module is to current weldment Information collection is carried out, then obtained data information will be collected feeds back to the first MCU and handle, driving display module carries out real-time It has been shown that, and it is uploaded to client and remote monitoring center, for checking fault message, return to operating procedure 1.
6. a kind of intelligent robot welding method according to claim 5, which is characterized in that in step 4, laser tracking welding The camera of slit die block takes pictures in real time to weld seam and is uploaded to image processing module and is analyzed and processed, and the width of weld seam is obtained The characteristic parameters such as degree detect weldquality by ultrasonic inspection module and are uploaded to the first MCU, and the first MCU is received and is transmitted to Client and remote monitoring center, meanwhile, the first MCU carries out quality verification, if the first MCU judges the actual characteristic parameter of weld seam Belong in preset range with weldquality, alarm module and fault information collection module do not work, and the first MCU drives voice broadcast Module sound casting " welding is qualified ".
CN201810520931.2A 2018-05-28 2018-05-28 Robot intelligent welding system and method CN108838527B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110238556A (en) * 2019-05-07 2019-09-17 上海展湾信息科技有限公司 Welding track real-time detection method in welding robot welding process
CN110340577A (en) * 2019-07-18 2019-10-18 江苏环宇建设工程有限公司 A kind of monitoring method of pipeline welding quality monitoring system

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103753015A (en) * 2013-12-27 2014-04-30 深圳市光大激光科技股份有限公司 Welding seam tracking system and method of laser welding machine
CN103934571A (en) * 2014-04-11 2014-07-23 上海交通大学 Thick plate robot welding system and multilayer multiple-pass weld real-time tracking and planning method
CN105149771A (en) * 2015-10-15 2015-12-16 莱州市得利安数控机械有限公司 Intelligent tracking controller for laser welding seam

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103753015A (en) * 2013-12-27 2014-04-30 深圳市光大激光科技股份有限公司 Welding seam tracking system and method of laser welding machine
CN103934571A (en) * 2014-04-11 2014-07-23 上海交通大学 Thick plate robot welding system and multilayer multiple-pass weld real-time tracking and planning method
CN105149771A (en) * 2015-10-15 2015-12-16 莱州市得利安数控机械有限公司 Intelligent tracking controller for laser welding seam

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110238556A (en) * 2019-05-07 2019-09-17 上海展湾信息科技有限公司 Welding track real-time detection method in welding robot welding process
CN110340577A (en) * 2019-07-18 2019-10-18 江苏环宇建设工程有限公司 A kind of monitoring method of pipeline welding quality monitoring system

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