CN109158733A - A kind of automatic welding optoelectronic contact type weld joint tracking detection system and method - Google Patents
A kind of automatic welding optoelectronic contact type weld joint tracking detection system and method Download PDFInfo
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- CN109158733A CN109158733A CN201811287631.0A CN201811287631A CN109158733A CN 109158733 A CN109158733 A CN 109158733A CN 201811287631 A CN201811287631 A CN 201811287631A CN 109158733 A CN109158733 A CN 109158733A
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- cell piece
- piece
- welding
- photocell
- guide rod
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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- Mechanical Engineering (AREA)
- Plasma & Fusion (AREA)
- Optics & Photonics (AREA)
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Abstract
The invention discloses a kind of automatic welding optoelectronic contact type weld joint tracking detection system and methods, detection system includes: that photocell piece by criss-cross partition is divided into the first cell piece, second cell piece, third cell piece, 4th cell piece, steel ball is fixed in the middle part of guide rod, steel ball is arranged in ball seat, ball seat is fixed on the bottom plate of seal box, the upper end of guide rod is fixed with reflecting plate, light source is equipped between reflecting plate and photocell piece, light source is connected by criss-cross support frame with the inner wall of seal box, spring is provided with cross-shaped by four groups between the top of guide rod and seal box inner wall to be connected, the lower end of guide rod is fixed with idler wheel, detection method includes: that signal pickup assembly acquires the first cell piece, second cell piece, third cell piece, voltage on 4th cell piece, control system is to u2, u4 is compared, and Output control signal, the present invention have the advantages that accuracy is good, precision is high, strong antijamming capability.
Description
Technical field
The invention belongs to automatic welding technique fields, and in particular to a kind of automatic welding optoelectronic contact type weld joint tracking inspection
Examining system and method.
Background technique
In the industrial robot in the existing whole world, there is 50 percent industrial robot to be applied to different welding fields, welding
There are electric welding and two kinds of basic modes of arc welding in robot.The main work taken up of welding robot is to replace in welding field
The industrial robot that worker is welded manually.A part in this kind of robots is exclusive robot, is in order to suitable
The special machine people to work under certain specific environment, most welding robot are by installing on conventional industrial robot
Soldering apparatus composition.It requires worker that can have enough proficiencys to weld task in welding processing this aspect, has a large amount of real
Experience is trampled, on the other hand, welding is that a kind of work situation is severe again, and flue dust is more, radiation and the high work of risk,
The invention of welding robot allows it is thought that going it that worker to be replaced to weld manually and mitigating the amount of labour of operator, and protect
Weld task quality is demonstrate,proved, welding efficiency is improved.
When robot is welded, the tracking and correction that carry out weld seam are generally required, avoids occurring welding partially, existing skill
Art mostly uses CCD camera to be tracked greatly, but the strong light that occurs, electric and magnetic fields can be to the figures of CCD camera when welding
It is interfered as acquiring, influences the accuracy of imaging.
Summary of the invention
It is an object of the invention to overcome above-mentioned the deficiencies in the prior art, a kind of automatic welding optoelectronic contact type weld seam is provided
Tracing detection system and method.
A kind of automatic tracking system of abnormal shape weld seam, including seal box, photocell piece, support frame, expelling plate, light source, lead
Bar, it is characterised in that: the middle and upper part of the seal box inner cavity is fixed with the photocell piece of horizontal direction, and the photocell piece is by ten
The partition of font is divided into the first cell piece, the second cell piece, third cell piece, the 4th cell piece, and the middle part of the guide rod is solid
Surely there is steel ball, the steel ball is arranged in ball seat, and the ball seat is fixed on the bottom plate of seal box, and the upper end of the guide rod is fixed
There is reflecting plate, light source is equipped between the reflecting plate and photocell piece, the light source passes through criss-cross support frame and seal box
Inner wall be connected, be provided with cross-shaped spring by four groups between the top and seal box inner wall of the guide rod and be connected,
The lower end of the guide rod is fixed with idler wheel.
Preferably, the seal box and welding gun are linked together by manipulator, and the welding gun and idler wheel are in be welded
On weld seam groove, idler wheel is matched with to welding line groove.
Preferably, for the idler wheel when not stressing, reflecting plate is parallel with photocell piece.
Preferably, first cell piece, the second cell piece, third cell piece, the 4th cell piece pass through conducting wire and signal
Acquisition device is connected, and the signal pickup assembly is electrically connected to the control system, and the control system is connected with executing agency,
The executing agency is used to adjust the position of manipulator.
A kind of automatic welding optoelectronic contact type weld joint tracking detection method, which comprises the steps of:
S1, idler wheel are placed in in welding line groove, and manipulator is welded along the welding track of setting, and circular light occurs for light source,
Illumination is on reflecting plate, and in photocell on piece, photocell piece forms hot spot for the illumination of reflection；
S2, signal pickup assembly acquire the first cell piece, the second cell piece, third cell piece, the voltage u1 on the 4th cell piece,
U2, u3, u4, control system are compared u2, u4；
S3, as | u2-u4 |≤Δ u, | u2-k × u1 | when≤Δ u, control system does not export control signal, and manipulator continues by setting
Fixed welding track is mobile, and welding gun height remains unchanged；
S4, as | u2-u4 |≤Δ u, | u2-k × u1 | when > Δ u, compare the size of u2 and k × u1, if u2 > k × u1, control
System exports upper shifting signal to executing agency, and manipulator moves up, until | u2-k × u1 |≤Δ u；If u2 < k × u1, control system
It unites and exports lower shifting signal to executing agency, manipulator moves down, until | u2-k × u1 |≤Δ u；
S5, as | u2-u4 | when > Δ u, compare the size of u2 and u4, control system exports the letter for moving to left or moving to right to executing agency
Number, manipulator is moved to left or is moved to right, until | u2-u4 |≤Δ u, if | u2-k × u1 |≤Δ u, adjustment process terminate；If | u2-k ×
U1 | > Δ u is adjusted by step S4.
Compared with prior art, beneficial effects of the present invention:
The present invention realizes the tracking and correction of weld seam by photovoltaic principals, and strong light, magnetic field and the electric field when welding are to tracing process
Without influence, have the advantages that accuracy is good, precision is high, strong antijamming capability.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of automatic welding optoelectronic contact type weld joint tracking detection system of the present invention.
Fig. 2 is the schematic top plan view of Fig. 1.
Fig. 3 is the connection schematic diagram of support frame and light source in the present invention.
When Fig. 4 meets the requirements for welding torch position, the position view of idler wheel and groove.
When Fig. 5 is that welding torch position cannot be met the requirements, the position view of idler wheel and groove.
When Fig. 6 meets the requirements for welding torch position, schematic diagram of the spot projection in photocell on piece.
Fig. 7 is schematic diagram of the spot projection in photocell on piece under free state.
When Fig. 8 is that welding gun is too close apart from groove position, schematic diagram of the spot projection in photocell on piece.
When Fig. 9 is that welding gun is biased to along Y-axis, schematic diagram of the spot projection in photocell on piece.
Figure 10 is that welding gun is biased to along Y-axis, and when welding gun is too close apart from groove position, spot projection shows photocell on piece
It is intended to.
Figure 11 is control system flow chart of the present invention.
In figure, 1, welding gun, 2, manipulator, 3, seal box, 4, photocell piece, 5, support frame, 6, reflecting plate, 7, light source, 8,
Spring, 9, ball seat, 10, steel ball, 11, guide rod, 12, idler wheel, 13, signal pickup assembly, 14, control system, 15, executing agency,
401, the first cell piece, 402, partition, the 403, second cell piece, 404, third cell piece, the 405, the 4th cell piece.
X is welding machine robot welding direction, and Y is the direction that left and right shifts, and A is view direction.
Specific embodiment
Referring to Fig. 1 to Figure 11, a kind of automatic welding optoelectronic contact type weld joint tracking detection system, including seal box 3, photoelectricity
Pond piece 4, support frame 5, expelling plate 6, light source 7, guide rod 11, it is characterised in that: the middle and upper part of 3 inner cavity of seal box is fixed with water
Square to photocell piece 4, the photocell piece 4 is divided into the first cell piece 401, the second battery by criss-cross partition 402
Piece 403, third cell piece 404, the 4th cell piece 405, the middle part of the guide rod 11 are fixed with steel ball 10, and the steel ball 10 is arranged
In ball seat 9, the ball seat 9 is fixed on the bottom plate of seal box 3, and the upper end of the guide rod 11 is fixed with reflecting plate 6, described anti-
It penetrates and is equipped with light source 7 between plate 6 and photocell piece 4, the light source 7 is connected by criss-cross support frame 5 with the inner wall of seal box 3
It connects, is provided with cross-shaped spring 8 by four groups between the top and 3 inner wall of seal box of the guide rod 11 and is connected, it is described to lead
The lower end of bar 11 is fixed with idler wheel 12.
Preferably, the seal box 3 and welding gun 1 are linked together by manipulator 2, and the welding gun 1 and idler wheel 12 are located
On to welding line groove, idler wheel 12 is matched with to welding line groove.
Preferably, for the idler wheel 12 when not stressing, reflecting plate 6 is parallel with photocell piece 4.
Preferably, first cell piece 401, the second cell piece 403, third cell piece 404, the 4th cell piece 405 are logical
It crosses conducting wire to be connected with signal pickup assembly 13, the signal pickup assembly 13 is electrically connected with control system 14, the control system
System 14 is connected with executing agency 15, and the executing agency 15 is used to adjust the position of manipulator 2.
A kind of automatic welding optoelectronic contact type weld joint tracking detection method, which comprises the steps of:
S1, idler wheel 12 are placed in in welding line groove, manipulator 2 is welded along the welding track of setting, and circle occurs for light source 7
Light, illumination is on reflecting plate 6, and on photocell piece 4, photocell piece 4 forms hot spot for the illumination of reflection；
S2, signal pickup assembly 13 acquire the first cell piece 401, the second cell piece 403, third cell piece 404, the 4th cell piece
Voltage u1, u2, u3, u4 on 405, control system 14 are compared u2, u4；
S3, as | u2-u4 |≤Δ u, | u2-k × u1 | when≤Δ u, control system 14 does not export control signal, and manipulator 2 continues
Mobile by the welding track of setting, 1 height of welding gun remains unchanged；
S4, as | u2-u4 |≤Δ u, | u2-k × u1 | when > Δ u, compare the size of u2 and k × u1, if u2 > k × u1, control
System 14 exports upper shifting signal to executing agency 15, and manipulator 2 moves up, until | u2-k × u1 |≤Δ u；If u2 < k × u1, control
System 14 processed exports lower shifting signal to executing agency 15, and manipulator 2 moves down, until | u2-k × u1 |≤Δ u；
S5, as | u2-u4 | when > Δ u, compare the size of u2 and u4, control system 14 is moved to left or moved to right to the output of executing agency 15
Signal, manipulator 2 moves to left or moves to right, until | u2-u4 |≤Δ u, if | u2-k × u1 |≤Δ u, adjustment process terminate；If |
U2-k × u1 | > Δ u is adjusted by step S4.
The working principle of the invention is:
In the use of the present invention, idler wheel 12 rolls in groove when welding, and need to keep to have one between idler wheel 12 and groove
Fixed pressure, welding gun 1 weld groove, if pressure, in the range of setting, guide rod 11 rotates certain angle along X/Y plane
Degree, therefore at accurate position, impinge upon light the second cell piece 402, the facula area on the 4th cell piece 405 be it is equal,
And the facula area fallen on the second cell piece 402 is k times for falling in facula area on the first cell piece 401, k value and Δ u root
It is selected according to permissible accuracy.The area and voltage direct proportionality of hot spot, in actual use, the second cell piece of light 402,
Facula area on 4th cell piece 405 can not be essentially equal, as long as in the range of welding precision can satisfy.
Technical solution of the present invention is exemplarily described invention above in conjunction with attached drawing, it is clear that present invention specific implementation
It is not subject to the restrictions described above, changes as long as using the various unsubstantialities that the inventive concept and technical scheme of the present invention carry out
Into, or it is not improved the conception and technical scheme of invention are directly applied into other occasions, in protection scope of the present invention
Within.
Claims (5)
1. a kind of automatic welding optoelectronic contact type weld joint tracking detection system, including seal box (3), photocell piece (4), support frame
(5), expelling plate (6), light source (7), guide rod (11), it is characterised in that: the middle and upper part of seal box (3) inner cavity is fixed with level
The photocell piece (4) in direction, the photocell piece (4) are divided into the first cell piece (401), by criss-cross partition (402)
Two cell pieces (403), third cell piece (404), the 4th cell piece (405) are fixed with steel ball in the middle part of the guide rod (11)
(10), steel ball (10) setting is in ball seat (9), and the ball seat (9) is fixed on the bottom plate of seal box (3), the guide rod
(11) upper end is fixed with reflecting plate (6), is equipped with light source (7) between the reflecting plate (6) and photocell piece (4), the light source
(7) it is connected by criss-cross support frame (5) with the inner wall of seal box (3), the top and seal box (3) of the guide rod (11)
It is provided with cross-shaped spring (8) by four groups between inner wall to be connected, the lower end of the guide rod (11) is fixed with idler wheel (12).
2. a kind of automatic welding optoelectronic contact type weld joint tracking detection system as described in claim 1, it is characterised in that: described
Seal box (3) and welding gun (1) are linked together by manipulator (2), and the welding gun (1) and idler wheel (12) are in welding line
On groove, idler wheel (12) is matched with to welding line groove.
3. a kind of automatic welding optoelectronic contact type weld joint tracking detection system as described in claim 1, it is characterised in that: described
For idler wheel (12) when not stressing, reflecting plate (6) is parallel with photocell piece (4).
4. a kind of automatic welding optoelectronic contact type weld joint tracking detection system as described in claim 1, it is characterised in that: described
First cell piece (401), the second cell piece (403), third cell piece (404), the 4th cell piece (405) pass through conducting wire and signal
Acquisition device (13) is connected, and the signal pickup assembly (13) is electrically connected with control system (14), the control system (14)
It is connected with executing agency (15), the executing agency (15) is used to adjust the position of manipulator (2).
5. a kind of a kind of automatic welding optoelectronic contact type weld joint tracking detection method as described in claim 1, which is characterized in that
Include the following steps:
S1, idler wheel (12) are placed in which in welding line groove, the welding track of manipulator (2) edge setting is welded, and light source (7) is sent out
Raw circular light, illumination is on reflecting plate (6), and on photocell piece (4), photocell piece (4) forms hot spot for the illumination of reflection；
S2, signal pickup assembly (13) acquisition the first cell piece (401), the second cell piece (403), third cell piece (404), the
Voltage u1, u2, u3, u4 on four cell pieces (405), control system (14) are compared u2, u4；
S3, as | u2-u4 |≤Δ u, | u2-k × u1 | when≤Δ u, control system (14) does not export control signal, manipulator (2)
Continue highly to remain unchanged by the welding track movement of setting, welding gun (1)；
S4, as | u2-u4 |≤Δ u, | u2-k × u1 | when > Δ u, compare the size of u2 and k × u1, if u2 > k × u1, control
System (14) shifting signal, manipulator (2) in executing agency (15) output move up, until | u2-k × u1 |≤Δ u；If u2 < k
× u1, control system (14) export lower shifting signal to executing agency (15), and manipulator (2) moves down, until | u2-k × u1 |≤Δ
u；
S5, as | u2-u4 | when > Δ u, compare the size of u2 and u4, control system (14) moved to left to executing agency (15) output or
The signal moved to right, manipulator (2) are moved to left or are moved to right, until | u2-u4 |≤Δ u, if | u2-k × u1 |≤Δ u adjusts process knot
Beam；If | u2-k × u1 | > Δ u is adjusted by step S4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811287631.0A CN109158733A (en) | 2018-10-31 | 2018-10-31 | A kind of automatic welding optoelectronic contact type weld joint tracking detection system and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811287631.0A CN109158733A (en) | 2018-10-31 | 2018-10-31 | A kind of automatic welding optoelectronic contact type weld joint tracking detection system and method |
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| CN109158733A true CN109158733A (en) | 2019-01-08 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111515595A (en) * | 2020-07-06 | 2020-08-11 | 湖南翰坤实业有限公司 | Butt-joint robot |
| CN111716054A (en) * | 2020-07-06 | 2020-09-29 | 湖南翰坤实业有限公司 | Intelligent butt-welding machine |
| CN113751874A (en) * | 2021-11-09 | 2021-12-07 | 杭州圣久机械有限公司 | High-adaptation synergistic laser welding device |
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Cited By (3)
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|---|---|---|---|---|
| CN111515595A (en) * | 2020-07-06 | 2020-08-11 | 湖南翰坤实业有限公司 | Butt-joint robot |
| CN111716054A (en) * | 2020-07-06 | 2020-09-29 | 湖南翰坤实业有限公司 | Intelligent butt-welding machine |
| CN113751874A (en) * | 2021-11-09 | 2021-12-07 | 杭州圣久机械有限公司 | High-adaptation synergistic laser welding device |
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Application publication date: 20190108 |