CN108838527B - Robot intelligent welding system and method - Google Patents
Robot intelligent welding system and method Download PDFInfo
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- CN108838527B CN108838527B CN201810520931.2A CN201810520931A CN108838527B CN 108838527 B CN108838527 B CN 108838527B CN 201810520931 A CN201810520931 A CN 201810520931A CN 108838527 B CN108838527 B CN 108838527B
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
- B23K26/24—Seam welding
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention discloses an intelligent robot welding system and method, wherein the welding system comprises a client, a remote monitoring center, a first MCU, a second MCU, a relay, a laser scanning module, a data processing module, a track generating module, a laser emitting module, a laser tracking welding line module, a display module, an alarm module, a voice broadcasting module, a fault information collecting module, a timing module and a human-computer interaction module. According to the robot intelligent welding system and method provided by the invention, the intelligent control laser emission module is automatically welded according to the welding track through the first MCU and the second MCU, the formed welding seam has good quality, the yield reaches more than 98%, the defective welding part can be subjected to alarming and fault information collection and is wirelessly transmitted to the client and the remote monitoring center, the fault diagnosis and correction are convenient, the defective welding part and the defective welding part are intelligently diagnosed, the welding can be started at regular time, the man-machine interaction is good, and the application prospect is wide.
Description
Technical Field
The invention relates to the technical field of robot welding, in particular to an intelligent robot welding system and method.
Background
At present, the laser welding technology is widely applied to the fields of mechanical manufacturing, aerospace, automobile manufacturing and the like, but the traditional laser welding equipment cannot realize intelligent monitoring, the welding quality is poor, and the working efficiency is low.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a robot intelligent welding system and a robot intelligent welding method.
In order to achieve the purpose, the invention adopts the technical scheme that:
a robotic smart welding system, comprising: the system comprises a client, a remote monitoring center, a first MCU, a second MCU, a relay, a laser scanning module, a data processing module, a track generating module, a laser emitting module, a laser tracking welding line module, a display module, an alarm module, a voice broadcasting module, a fault information collecting module, a timing module and a human-computer interaction module;
the system comprises a first MCU, a second MCU, a client and a remote monitoring center, wherein the second MCU is in wireless communication with the client and the remote monitoring center, the input end of the first MCU is connected with a laser tracking welding seam module, the output end of the first MCU is connected with a display module, an alarm module and a voice broadcast module are connected, the first MCU controls the start and stop of a fault information collection module and transmits fault information to the first MCU, the second MCU is connected with the display module and a laser scanning module and controls the start and stop of the laser scanning module through a relay, the laser scanning module is connected with a data processing module and then connected to a track generation module, the second MCU is connected with the track generation module and controls a laser emission module to weld according to a welding track generated by the track generation module, a human-computer interaction module is communicated with the first MCU, the.
Further, laser tracking welding seam module includes camera, image processing module and ultrasonic inspection module, and the camera links to each other with image processing module, and the camera shoots the welding seam that forms and uploads to image processing module and handles, and ultrasonic inspection module links to each other with first MCU, detects the welding seam quality through ultrasonic inspection module.
Further, the first MCU and the second MCU are in wireless communication with the client and the remote monitoring center through WIFI, GPRS or an Ethernet network.
Further, the human-computer interaction module is a matrix keyboard, and the client is an android mobile phone or an apple mobile phone.
Further, the method comprises the following steps:
step 1, powering on a system, writing welding starting time into a timing module through a human-computer interaction module, when the starting time is reached, transmitting a welding starting instruction to a client by a first MCU, receiving and sending a welding starting instruction to a second MCU by the client, receiving and driving a laser scanning module to start by the second MCU through a relay, carrying out image acquisition on a mother piece to be welded and a connecting piece through the laser scanning module, respectively acquiring appearance characteristic image information of the mother piece to be welded and the connecting piece and transmitting the appearance characteristic image information to a data processing module;
step 2, the data processing module receives the image information uploaded by the laser scanning module, analyzes and processes the image information respectively, extracts parameters such as the section shapes, the sizes and the thicknesses of the mother piece to be welded and the connecting piece, uploads the parameters to the track generation module, the track generation module receives the parameters, automatically generates a welding track according to the welding bead section parameters input by the human-computer interaction module, and transmits the welding track to a second MCU;
step 3, the second MCU receives the information transmitted by the track generation module and drives the laser emission module to start to emit laser beams, the second MCU controls the laser emission module to realize welding between the female part to be welded and the connecting piece according to the welding track to form a welding seam, and meanwhile, the second MCU drives the display module to display parameter information such as the welding track, welding bead section parameters, the section shapes, the sizes, the thicknesses and the like of the female part to be welded and the connecting piece in real time;
and 4, detecting actual characteristic parameters and welding seam quality information of the welding seam through the laser tracking welding seam module and uploading the actual characteristic parameters and the welding seam quality information to a first MCU, receiving and transmitting the actual characteristic parameters and the welding seam quality information to a client and a remote monitoring center by the first MCU, simultaneously, verifying the quality by the first MCU, if the actual characteristic parameters and the welding seam quality of the welding seam are judged to be out of a preset range by the first MCU, driving an alarm module to give out an alarm by the first MCU to prompt a worker that the current welding part is unqualified, starting a fault information collection module by the first MCU to collect information of the current welding part, feeding collected data information back to the first MCU to be processed, driving a display module to display in real time, uploading the data information to the client and the remote monitoring center for checking fault information, and returning to.
Further, in step 4, the camera of laser tracking welding seam module shoots the welding seam in real time and uploads to image processing module and carries out analysis processing, obtain characteristic parameters such as width of welding seam, detect welding seam quality and upload to first MCU through the ultrasonic inspection module, first MCU receives and transmits to customer end and remote monitoring center, and simultaneously, first MCU carries out quality verification, if first MCU judges that the actual characteristic parameter and the welding seam quality of welding seam belong to and predetermine the within range, alarm module and fault information collection module are out of work, first MCU drive voice broadcast module sound production report "welding is qualified".
Compared with the prior art, the invention has the beneficial effects that:
the invention discloses a robot intelligent welding system and a method, the welding system comprises a client, a remote monitoring center, a first MCU, a second MCU, a relay, a laser scanning module, a data processing module, a track generating module, a laser emitting module, a laser tracking welding module, a display module, an alarm module, a voice broadcasting module, a fault information collecting module, a timing module and a human-computer interaction module, wherein the first MCU and the second MCU are both in wireless communication with the client and the remote monitoring center, the input end of the first MCU is connected with the laser tracking welding module, the output end of the first MCU is connected with the display module, the alarm module and the voice broadcasting module, the first MCU controls the on-off of the fault information collecting module and transmits fault information to the first MCU, the second MCU is connected with the display module and the laser scanning module and controls the on-off of the laser scanning module through the relay, the laser scanning module is connected with the data processing module and then is connected with the track generating module, the second MCU is connected with the track generation module and controls the laser emission module to weld according to the welding track generated by the track generation module, and the human-computer interaction module is communicated with the first MCU, the second MCU, the timing module and the track generation module. According to the robot intelligent welding system and method provided by the invention, the intelligent control laser emission module is automatically welded according to the welding track through the first MCU and the second MCU, the formed welding seam has good quality, the yield reaches more than 98%, the defective welding part can be subjected to alarming and fault information collection and is wirelessly transmitted to the client and the remote monitoring center, the fault diagnosis and correction are convenient, the defective welding part and the defective welding part are intelligently diagnosed, the welding can be started at regular time, the man-machine interaction is good, and the application prospect is wide.
Drawings
Fig. 1 is a block diagram of the hardware configuration of the present invention.
Detailed Description
The present invention will be further described with reference to the following examples.
As shown in fig. 1, a robotic intelligent welding system includes: the system comprises a client, a remote monitoring center, a first MCU, a second MCU, a relay, a laser scanning module, a data processing module, a track generating module, a laser emitting module, a laser tracking welding line module, a display module, an alarm module, a voice broadcasting module, a fault information collecting module, a timing module and a human-computer interaction module, which are all commercially available and are all connected to a power supply module for power supply operation.
The system comprises a first MCU, a second MCU, a client and a remote monitoring center, wherein the second MCU is in wireless communication with the client and the remote monitoring center, the input end of the first MCU is connected with a laser tracking welding seam module, the output end of the first MCU is connected with a display module, an alarm module and a voice broadcast module, the first MCU controls the start and stop of a fault information collection module and transmits fault information to the first MCU, the second MCU is connected with the display module and the laser scanning module and controls the start and stop of the laser scanning module through a relay, the laser scanning module is connected with a data processing module and then connected to a track generation module, the second MCU is connected with the track generation module and controls a laser emission module to weld according to a welding track generated by the track generation module, a human-computer interaction module is communicated with the first MCU, the second MCU, a timing module and the track generation module.
The laser tracking welding seam module comprises a camera, an image processing module and an ultrasonic flaw detection module, the camera is connected with the image processing module, the camera shoots a formed welding seam and uploads the formed welding seam to the image processing module for processing, the ultrasonic flaw detection module is connected with the first MCU, and the quality of the welding seam is detected through the ultrasonic flaw detection module.
The first MCU and the second MCU are in wireless communication with the client and the remote monitoring center through a WIFI, GPRS or Ethernet network, the human-computer interaction module is a matrix keyboard and comprises 0-9 numbers, 26 English letters, confirmation keys, deletion keys, mathematical symbols and the like, and the client is an android mobile phone or an apple mobile phone.
A robot intelligent welding method comprises the following steps:
step 1, powering on a system, writing welding starting time into a timing module through a human-computer interaction module, when the starting time is reached, transmitting a welding starting instruction to a client by a first MCU, receiving and sending a welding starting instruction to a second MCU by the client, receiving and driving a laser scanning module to start by the second MCU through a relay, carrying out image acquisition on a mother piece to be welded and a connecting piece through the laser scanning module, respectively acquiring appearance characteristic image information of the mother piece to be welded and the connecting piece and transmitting the appearance characteristic image information to a data processing module;
step 2, the data processing module receives the image information uploaded by the laser scanning module, analyzes and processes the image information respectively, extracts parameters such as the section shapes, the sizes and the thicknesses of the mother piece to be welded and the connecting piece, uploads the parameters to the track generation module, the track generation module receives the parameters, automatically generates a welding track according to the welding bead section parameters input by the human-computer interaction module, and transmits the welding track to a second MCU;
step 3, the second MCU receives the information transmitted by the track generation module and drives the laser emission module to start to emit laser beams, the second MCU controls the laser emission module to realize welding between the female part to be welded and the connecting piece according to the welding track to form a welding seam, and meanwhile, the second MCU drives the display module to display parameter information such as the welding track, welding bead section parameters, the section shapes, the sizes, the thicknesses and the like of the female part to be welded and the connecting piece in real time;
and 4, detecting actual characteristic parameters and welding seam quality information of the welding seam through the laser tracking welding seam module and uploading the actual characteristic parameters and the welding seam quality information to a first MCU, receiving and transmitting the actual characteristic parameters and the welding seam quality information to a client and a remote monitoring center by the first MCU, simultaneously, verifying the quality by the first MCU, if the actual characteristic parameters and the welding seam quality of the welding seam are judged to be out of a preset range by the first MCU, driving an alarm module to give out an alarm by the first MCU to prompt a worker that the current welding part is unqualified, starting a fault information collection module by the first MCU to collect information of the current welding part, feeding collected data information back to the first MCU to be processed, driving a display module to display in real time, uploading the data information to the client and the remote monitoring center for checking fault information, and returning to.
Step 4, a camera of the laser tracking welding seam module shoots a welding seam in real time and uploads the welding seam to the image processing module for analysis processing, characteristic parameters such as the width of the welding seam are obtained, the quality of the welding seam is detected through the ultrasonic flaw detection module and uploaded to the first MCU, the first MCU receives and transmits the welding seam quality to the client and the remote monitoring center, meanwhile, the first MCU conducts quality verification, if the first MCU judges that the actual characteristic parameters and the welding seam quality of the welding seam belong to a preset welding seam parameter range, the preset welding seam parameter range is input through the human-computer interaction module and comprises end values of preset welding seam parameters, the alarm module and the fault information collection module do not work, and the first MCU drives the voice broadcast module to send out sound to broadcast to be qualified in welding.
The above embodiments do not limit the present invention in any way, and all technical solutions obtained by means of equivalent substitution or equivalent transformation fall within the scope of the present invention.
Claims (5)
1. A robotic intelligent welding system, comprising: the system comprises a client, a remote monitoring center, a first MCU, a second MCU, a relay, a laser scanning module, a data processing module, a track generating module, a laser emitting module, a laser tracking welding line module, a display module, an alarm module, a voice broadcasting module, a fault information collecting module, a timing module and a human-computer interaction module;
the system comprises a client and a remote monitoring center, wherein the client and the remote monitoring center are in wireless communication, the input end of the first MCU is connected with a laser tracking welding seam module, the output end of the first MCU is connected with a display module, an alarm module and a voice broadcast module, the first MCU controls the start and stop of a fault information collection module, the fault information collection module transmits fault information to the first MCU, the second MCU is connected with the display module and the laser scanning module and controls the start and stop of the laser scanning module through a relay, the laser scanning module is connected with a data processing module and then connected with a track generation module, the second MCU is connected with the track generation module and controls a laser emission module to weld according to a welding track generated by the track generation module, and a human-computer interaction module is communicated with the first MCU, the second MCU, a timing module and the track generation module;
the laser tracking welding line module comprises a camera, an image processing module and an ultrasonic flaw detection module, the camera is connected with the image processing module, the camera shoots a formed welding line and uploads the formed welding line to the image processing module for processing, the ultrasonic flaw detection module is connected with the first MCU, and the quality of the welding line is detected through the ultrasonic flaw detection module.
2. The robotic smart welding system of claim 1, wherein the first MCU and the second MCU wirelessly communicate with the client and the remote monitoring center via WIFI, GPRS, or ethernet networks.
3. The robotic smart welding system of claim 1, wherein the human-machine interaction module is a matrix keyboard and the client is an android phone or an apple phone.
4. A robotic intelligent welding method implemented using a robotic intelligent welding system as claimed in any one of claims 1 to 3, comprising the steps of:
step 1, powering on a system, writing welding starting time into a timing module through a human-computer interaction module, when the starting time is reached, transmitting a welding starting instruction to a client by a first MCU, receiving and sending a welding starting instruction to a second MCU by the client, receiving and driving a laser scanning module to start by the second MCU through a relay, carrying out image acquisition on a mother piece to be welded and a connecting piece through the laser scanning module, respectively acquiring appearance characteristic image information of the mother piece to be welded and the connecting piece and transmitting the appearance characteristic image information to a data processing module;
step 2, the data processing module receives the image information uploaded by the laser scanning module, analyzes and processes the image information respectively, extracts the sectional shape, size and thickness parameters of the mother piece to be welded and the connecting piece, uploads the sectional shape, size and thickness parameters to the track generation module, and the track generation module receives the sectional parameters of the weld bead, automatically generates a welding track according to the sectional parameters of the weld bead input by the human-computer interaction module, and transmits the welding track to a second MCU;
step 3, the second MCU receives the information transmitted by the track generation module and drives the laser emission module to start to emit laser beams, the second MCU controls the laser emission module to realize welding between the female part to be welded and the connecting piece according to the welding track to form a welding seam, and meanwhile, the second MCU drives the display module to display the welding track, welding bead section parameters, and section shapes, sizes and thickness parameter information of the female part to be welded and the connecting piece in real time;
and 4, detecting actual characteristic parameters and welding seam quality information of the welding seam through the laser tracking welding seam module and uploading the actual characteristic parameters and the welding seam quality information to a first MCU, receiving and transmitting the actual characteristic parameters and the welding seam quality information to a client and a remote monitoring center by the first MCU, simultaneously, verifying the quality by the first MCU, if the actual characteristic parameters and the welding seam quality of the welding seam are judged to be out of a preset range by the first MCU, driving an alarm module to give out an alarm by the first MCU to prompt a worker that the current welding part is unqualified, starting a fault information collection module by the first MCU to collect information of the current welding part, feeding collected data information back to the first MCU to be processed, driving a display module to display in real time, uploading the data information to the client and the remote monitoring center for checking fault information, and returning to.
5. The robot intelligent welding method according to claim 4, characterized in that in step 4, a camera of the laser tracking weld module takes a picture of the weld in real time and uploads the picture to the image processing module for analysis processing to obtain width characteristic parameters of the weld, the weld quality is detected by the ultrasonic flaw detection module and uploaded to the first MCU, the first MCU receives and transmits the weld quality to the client and the remote monitoring center, meanwhile, the first MCU performs quality verification, if the first MCU judges that the actual characteristic parameters and the weld quality of the weld belong to a preset range, the alarm module and the fault information collection module do not work, and the first MCU drives the voice broadcast module to sound and broadcast that the weld is qualified.
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| CN110238556B (en) * | 2019-05-07 | 2021-02-23 | 上海展湾信息科技有限公司 | Real-time detection method for welding track in welding process of welding robot |
| 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 |
| CN113125013A (en) * | 2019-12-31 | 2021-07-16 | 中国石油天然气集团有限公司 | Welding monitoring device and welding monitoring system |
| CN111203654A (en) * | 2020-01-15 | 2020-05-29 | 苏州德创测控技术咨询有限公司 | Laser welding track tracking and monitoring system |
| CN113172307A (en) * | 2021-03-24 | 2021-07-27 | 苏州奥天智能科技有限公司 | Industrial robot system of visual module based on laser and visible light fusion |
| CN113118617B (en) * | 2021-04-02 | 2023-03-17 | 奔腾楚天激光（武汉）有限公司 | Laser processing control system and operation method |
| CN113523609A (en) * | 2021-08-13 | 2021-10-22 | 彭晓静 | Voice intelligent robot for 3D modeling laser cutting |
| CN114515923A (en) * | 2022-03-11 | 2022-05-20 | 上海隧道工程智造海盐有限公司 | Visual positioning system applied to tunnel steel bar welding |
| CN116754781B (en) * | 2023-08-18 | 2023-10-20 | 北京大学 | X-ray welding seam detection device based on automation and CR technology |
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| CN103753015B (en) * | 2013-12-27 | 2015-09-23 | 深圳市光大激光科技股份有限公司 | A kind of laser-beam welding machine seam tracking system and welding seam tracking method |
| CN103934571B (en) * | 2014-04-11 | 2016-03-23 | 上海交通大学 | Slab robot welding system and multi-pass welding seam real-time tracking, planing 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 |
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