CN109175829A - Welding gun pose on-line tuning method and device - Google Patents
Welding gun pose on-line tuning method and device Download PDFInfo
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- CN109175829A CN109175829A CN201811045468.7A CN201811045468A CN109175829A CN 109175829 A CN109175829 A CN 109175829A CN 201811045468 A CN201811045468 A CN 201811045468A CN 109175829 A CN109175829 A CN 109175829A
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- welding
- welding gun
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- pose
- force feedback
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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
- 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
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Abstract
The present invention provides a kind of welding gun pose on-line tuning method and devices, including establish threedimensional model, and the threedimensional model includes welded piece, welding gun；The live video that the live video shooting at welding pool and welding gun position is taken on site is synthesized in a computer with threedimensional model, forms the augmented reality system of video perspective type, and allow operator to perceive welding scene by augmented reality glasses；Force feedback operating stick is established, realizes the operation control of long-range Butt welding gun posture；Operator wears augmented reality glasses, welding torch position posture is perceived, and adjust welding gun pose by force feedback operating stick, so that parameter keeps setting range.The present invention can accurately adjust welding torch position posture in real time, it is ensured that welding quality；The present invention can realize the motion control of welding gun by remote tele-operation technology, make operator far from severe site environment, such as the radiation of welding arc light, narrow space environment.Present invention can apply to most of welding procedures, the scope of application is wider.
Description
Technical field
The present invention relates to welding fields, and in particular, to a kind of progress of Butt welding gun pose in the welding process is online real-time
The method and device of adjustment.
Background technique
During automatic welding, the pose of welding gun and welded piece has great influence to weldquality, generally wants
It asks welding gun to remain unchanged (general requirement is vertical) with the angle of the plane where welded piece, while guaranteeing that welding gun is located in weld seam
The height of the heart and welding gun apart from molten bath remains unchanged.In actual welding process, due to by the machining accuracy of welding structure part
It is difficult to ensure, and the inevitably factors such as welding thermal deformation, needs to adjust posture of welding torch in real time in welding process, it is good to obtain
Good welding quality.
Due to being interfered by arc light, many-sided uncertain factor such as molten bath disturbance, pass through weld seam tracking sensor, arc length passes
The technologies such as sense adaptive adjustment posture of welding torch in the welding process, is still difficult to meet actual engineering application requirement.By people
Eye field monitoring welding gun pose, then by the means such as crosshead shoe adjustment welding gun is placed in the middle and height, it is not high that there is only precision,
And there is a problem of human weld's execute-in-place bad environments, artificial experience is relied on it is big.
Therefore, it is necessary to find one kind can clearly perceive welding gun present bit posture, and by human computer interaction it is real-time
Adjust the new method of posture of welding torch.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of welding gun pose on-line tuning method and dresses
It sets.
A kind of welding gun pose on-line tuning method provided according to the present invention, includes the following steps:
Modeling procedure: establishing threedimensional model, and the threedimensional model includes welded piece, welding gun；
It shoots step: the live video at welding pool and welding gun position is taken on site；
Synthesis step: the live video of shooting is synthesized in a computer with threedimensional model, forms video perspective type
Augmented reality system, and allow operator to perceive welding scene by augmented reality glasses；
Force feedback operating stick establishment step: establishing force feedback operating stick, realizes the operation control of long-range Butt welding gun posture；
Operating steps: operator wears augmented reality glasses, perceives welding torch position posture, and pass through force feedback operating stick tune
Whole welding gun pose, so that parameter keeps setting range.
Preferably, the welding method of the welding gun includes TIG weldering, MIG weldering, MAG weldering, plasma arc welding (PAW) or Laser Welding.
Preferably, force feedback operating stick realizes the long-range control of Butt welding gun by industrial personal computer.
Preferably, the parameter includes that the angle of welding gun and the plane where welded piece, welding gun are located at Weld pipe mill position
It sets and height of the welding gun apart from molten bath.
A kind of welding gun pose on-line tuning device provided according to the present invention, comprising: welding pool vision monitoring module increases
Strong reality processing system, augmented reality glasses, welding module and force feedback operating stick, in which:
Welding pool vision monitoring module is used to acquire the information of appearance of weld, robot pose；
Augmented reality processing system is for generating three-dimensional modeling；
Augmented reality glasses make welding gun adjustment decision for perceiving current welding gun position and posture；
Welding module is used for welding workpiece；
Force feedback operating stick is for executing adjustment movement.
Preferably, the welding method of the welding gun includes TIG weldering, MIG weldering, MAG weldering, plasma arc welding (PAW) or Laser Welding.
It preferably, further include industrial personal computer, industrial personal computer attachment force feedback operation bar and access to LAN, force feedback operating stick is logical
Cross the long-range control that industrial personal computer realizes Butt welding gun.
Preferably, welding pool vision monitoring module, augmented reality processing system, augmented reality glasses, welding module with
And force feedback operating stick access to LAN.
Preferably, the welding module includes robot welding system, the source of welding current and robot control cabinet, in which:
Robot control cabinet access to LAN, robot control cabinet connect robot welding system；
The source of welding current is powered to robot welding system.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, the present invention can accurately adjust welding torch position posture in real time, it is ensured that welding quality；
2, the present invention can realize the motion control of welding gun by remote tele-operation technology, make operator far from severe
Site environment, such as the radiation of welding arc light, narrow space environment.
3, present invention can apply to most of welding procedures, the scope of application is wider.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the step flow chart of welding gun pose on-line tuning method and device in the present invention；
Fig. 2 is the structural schematic diagram of welding gun pose on-line tuning method and device in the present invention；
In figure:
1- welding pool vision monitoring module；
2- robot welding system；
3- welding workpiece；
The 4- source of welding current；
5- robot control cabinet；
6- local area network；
7- industrial personal computer；
8- force feedback operating stick；
9- augmented reality glasses；
10- augmented reality processing system.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection scope.
During automatic welding, the pose of welding gun and welded piece has great influence to weldquality, generally wants
It asks welding gun to remain unchanged (general requirement is vertical) with the angle of the plane where welded piece, while guaranteeing that welding gun is located in weld seam
The height of the heart and welding gun apart from molten bath remains unchanged.In actual welding process, due to by the machining accuracy of welding structure part
It is difficult to ensure, and the inevitably factors such as welding thermal deformation, needs to adjust posture of welding torch in real time in welding process, it is good to obtain
Good welding quality.
To solve the above problems, the present invention provides a kind of Butt welding gun poses in the welding process to carry out online adjustment in real time
Method, as shown in Figure 1, including the following steps:
Step 1: establishing the threedimensional models such as welded piece, welding gun；
Step 2: using camera live shooting welding pool and welding gun position；
Step 3: the welding scene video of shooting is synthesized in a computer with threedimensional model, forms video perspective type
Augmented reality system, and allow operator to perceive welding scene by augmented reality glasses；
Step 4: establishing force feedback operating stick, realize the operation control of long-range Butt welding gun posture；
Step 5: operator wears augmented reality glasses, perceives welding torch position posture, and pass through force feedback operating stick tune
Whole welding gun pose so that the angle of welding gun and the plane where welded piece, welding gun be located at Weld pipe mill position and welding gun away from
The parameters such as the height from molten bath keep setting range.
The Butt welding gun pose provided according to the present invention carries out the method adjusted in real time online, real by remote tele-operation technology
The motion control of existing welding gun makes operator far from severe site environment, such as the radiation of welding arc light, narrow space ring
Border.
The device adjusted in real time online is carried out the present invention also provides Butt welding gun pose in the welding process, as shown in Fig. 2,
Including welding pool vision monitoring module 1, robot welding system 2, welding workpiece 3, the source of welding current 4, robot control cabinet 5,
Local area network 6, industrial personal computer 7, force feedback operating stick 8, augmented reality glasses 9 and augmented reality processing system 10, welding pool view
Feel monitoring module 1, robot control cabinet 5, industrial personal computer 7,10 access to LAN 6 of augmented reality processing system, welding pool vision
Monitoring module 1 is used to acquire the information of appearance of weld, 2 pose of robot welding system；The source of welding current 4 is used to control robot
Other 2 power supplies, 9 link enhancement reality processing system 10 of augmented reality glasses, augmented reality glasses 9 are for perceiving current welding gun position
Appearance state, and make welding gun adjustment decision；Force feedback operating stick 8 realizes the behaviour to robot welding system 2 by industrial personal computer 7
Control.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (9)
1. a kind of welding gun pose on-line tuning method, which comprises the steps of:
Modeling procedure: establishing threedimensional model, and the threedimensional model includes welded piece, welding gun；
It shoots step: the live video at welding pool and welding gun position is taken on site；
Synthesis step: the live video of shooting is synthesized in a computer with threedimensional model, forms the enhancing of video perspective type
Reality system, and allow operator to perceive welding scene by augmented reality glasses；
Force feedback operating stick establishment step: establishing force feedback operating stick, realizes the operation control of long-range Butt welding gun posture；
Operating steps: operator wears augmented reality glasses, perceives welding torch position posture, and pass through the adjustment weldering of force feedback operating stick
Rifle position appearance, so that parameter keeps setting range.
2. welding gun pose on-line tuning method according to claim 1, which is characterized in that the welding method packet of the welding gun
Include TIG weldering, MIG weldering, MAG weldering, plasma arc welding (PAW) or Laser Welding.
3. welding gun pose on-line tuning method according to claim 1, which is characterized in that force feedback operating stick passes through industry control
The long-range control of machine realization Butt welding gun.
4. welding gun pose on-line tuning method according to claim 1, which is characterized in that the parameter includes welding gun and quilt
The angle of plane where welder's part, welding gun are located at the height of Weld pipe mill position and welding gun apart from molten bath.
5. a kind of welding gun pose on-line tuning device characterized by comprising welding pool vision monitoring module, augmented reality
Processing system, augmented reality glasses, welding module and force feedback operating stick, in which:
Welding pool vision monitoring module is used to acquire the information of appearance of weld, robot pose；
Augmented reality processing system is for generating three-dimensional modeling；
Augmented reality glasses make welding gun adjustment decision for perceiving current welding gun position and posture；
Welding module is used for welding workpiece；
Force feedback operating stick is for executing adjustment movement.
6. welding gun pose on-line tuning device according to claim 5, which is characterized in that the welding method packet of the welding gun
Include TIG weldering, MIG weldering, MAG weldering, plasma arc welding (PAW) or Laser Welding.
7. welding gun pose on-line tuning device according to claim 5, which is characterized in that further include industrial personal computer, industrial personal computer
Attachment force feedback operation bar and access to LAN, force feedback operating stick realize the long-range control of Butt welding gun by industrial personal computer.
8. welding gun pose on-line tuning device according to claim 5, which is characterized in that welding pool vision monitoring mould
Block, augmented reality processing system, augmented reality glasses, welding module and force feedback operating stick access to LAN.
9. welding gun pose on-line tuning device according to claim 5, which is characterized in that the welding module includes machine
People's welding system, the source of welding current and robot control cabinet, in which:
Robot control cabinet access to LAN, robot control cabinet connect robot welding system；
The source of welding current is powered to robot welding system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811045468.7A CN109175829A (en) | 2018-09-07 | 2018-09-07 | Welding gun pose on-line tuning method and device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811045468.7A CN109175829A (en) | 2018-09-07 | 2018-09-07 | Welding gun pose on-line tuning method and device |
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| CN109175829A true CN109175829A (en) | 2019-01-11 |
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| CN201811045468.7A Pending CN109175829A (en) | 2018-09-07 | 2018-09-07 | Welding gun pose on-line tuning method and device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110722304A (en) * | 2019-10-31 | 2020-01-24 | 唐山松下产业机器有限公司 | Welding system, welding assistance method, and welding assistance device |
| CN114406402A (en) * | 2021-09-27 | 2022-04-29 | 南京江联焊接技术有限公司 | Robot welding gun pose detection and adjustment system for mold electric arc additive remanufacturing |
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| CN110722304A (en) * | 2019-10-31 | 2020-01-24 | 唐山松下产业机器有限公司 | Welding system, welding assistance method, and welding assistance device |
| CN110722304B (en) * | 2019-10-31 | 2022-02-18 | 唐山松下产业机器有限公司 | Welding system, welding assistance method, and welding assistance device |
| CN114406402A (en) * | 2021-09-27 | 2022-04-29 | 南京江联焊接技术有限公司 | Robot welding gun pose detection and adjustment system for mold electric arc additive remanufacturing |
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Application publication date: 20190111 |
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