CN110315172B - Robot welding seam tracking system for practical training - Google Patents
Robot welding seam tracking system for practical training Download PDFInfo
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- CN110315172B CN110315172B CN201910730181.6A CN201910730181A CN110315172B CN 110315172 B CN110315172 B CN 110315172B CN 201910730181 A CN201910730181 A CN 201910730181A CN 110315172 B CN110315172 B CN 110315172B
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- 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
- 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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- 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
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
Abstract
The invention provides a robot welding seam tracking system for practical training, which is used for automatically capturing a welding seam through the system after workpieces to be welded are assembled in place and controlling a welding gun to weld along the captured welding seam so as to realize intelligent welding. The welding robot comprises a workbench and a controller, wherein a welding workpiece positioning table and a six-axis robot are arranged on the workbench, a three-dimensional coordinate system of an area where the workpiece positioning table is arranged in the controller, a welding seam basic position unit is also preset in the controller, corresponding welding seam preset position information of a plurality of groups of workpiece assembly positions is arranged in the welding seam basic position unit, a welding gun is installed at the tail end of the six-axis robot, a welding seam capturing module is arranged right above the welding workpiece positioning table and specifically comprises two lenses, a laser generator and a CCD (charge coupled device) element, the two lenses respectively capture corresponding three-dimensional outlines of workpieces to be welded, and then the two three-dimensional outlines are transmitted into the controller.
Description
Technical Field
The invention relates to the technical field of robot practical training, in particular to a robot welding seam tracking system for practical training.
Background
The practical training industrial robot provides professional skill training for students to master practice, achieves win-win technical work of skill operation, cultivates stable high-quality first-line talents in manufacturing industry, and enables the students to have the ability of being competent in the automatic skill post of the robot. The practical training industrial robot is applied to professional skill identification practice and identification bases, changes courses from teaching instruction as a main course to practical training application as a main course and simultaneous speaking, improves core capacity and comprehensive capacity, automatically guides trainees until preset targets are reached, and is suitable for practical application of various colleges and training institutions to robot systems.
The weld seam tracking has the characteristic of multidisciplinary cross fusion as a comprehensive application technology, including the subjects of electronic technology, computer, welding, structure, material, fluid, optics, electromagnetism and the like, and a plurality of researchers at home and abroad are put into the field for research, from a teaching type welding robot to a program control welding system and then to a mobile automatic weld seam tracking technology, and each progress of welding automation obviously improves the production efficiency. Automation, flexibility and intelligence of welding technology are inevitable trends in future welding technology development.
However, in the field of practical training robots, the weld seam tracking system is still in a blank stage, so that students cannot complete corresponding training through practical training, and therefore the corresponding weld seam tracking system suitable for the practical training robot is urgently needed.
Disclosure of Invention
Aiming at the problems, the invention provides a robot welding seam tracking system for practical training, which automatically captures a welding seam through the system after a workpiece needing to be welded is assembled in place, and controls a welding gun to weld along the captured welding seam, so that intelligent welding is realized.
The utility model provides a robot welding seam tracker for instructing which characterized in that: the welding line capture module comprises two lenses, a laser generator and a CCD (charge coupled device) element, the two lenses capture the corresponding three-dimensional contours of the workpieces to be welded respectively, the two three-dimensional contours are transmitted to the controller, the controller analyzes the coordinates of the two three-dimensional contours, and a draft welding line form, a draft welding line form and a draft welding line form are calculated according to the set basic positions of the welding lines, The welding line drawing method comprises the steps of drawing a welding line, sending the obtained drawn welding line shape and the drawn welding line drawing position to a laser generator, enabling the laser generator to emit corresponding laser light to be arranged at the corresponding position of a spliced workpiece, capturing the laser light by a CCD (charge coupled device) element, feeding back corresponding data information to a controller, processing the data information fed back by the laser light by the controller to obtain a corresponding welding line confirmation position, comparing the welding line confirmation position with the welding line drawing position by the controller, and controlling a welding gun to weld along a coordinate corresponding to the welding line confirmation position by the controller after a consistent result is obtained.
It is further characterized in that:
when the welding seam confirmation coordinate is inconsistent with the welding seam draft coordinate, checking whether a clamp for clamping the workpiece has clamping falling or deformation, and after the overhaul is finished, capturing and welding the welding seam of the workpiece again;
the welding seam basic position unit is internally prefabricated with butt welding seam positions, lap welding seam positions, fillet welding seam positions, outer fillet welding positions, V groove welding seam positions and edge welding seam positions, and when the edge welding seam positions are carried out, because a workpiece is one, the end edge of the upper surface close to the surface area of the laser generator is arranged as the welding seam position;
clicking a welding seam basic position unit through a touch screen module on a workbench, selecting a corresponding workpiece assembly form to obtain a capture approximate position of a corresponding welding seam position, and when an edge welding seam position is selected, only starting one lens for capturing the outer contour of the workpiece;
and the controller outputs the welding seam confirmation position to the welding gun after coordinate conversion, the welding gun performs welding along the converted coordinate information to form an accurate welding seam, and the welding gun resets to the initial position again after the welding is completed to prepare for next welding.
After the technical scheme is adopted, because the clamp on the workpiece positioning table is loosened or deformed, the situation that the position of a welding seam is incorrect can be caused during actual welding, a weld seam tracking system for secondary confirmation is arranged, two lenses respectively capture the corresponding three-dimensional outlines of the workpieces to be welded, then the two three-dimensional outlines are transmitted into a controller, the controller analyzes coordinates of the two three-dimensional outlines, a sketched welding seam form and a sketched welding seam position are calculated according to a set basic position of the welding seam, then the obtained sketched welding seam form and the obtained sketched welding seam position are transmitted to a laser generator, the laser generator emits corresponding laser light rays to be arranged at the corresponding positions of the spliced workpieces, then a CCD element captures the laser light rays, then corresponding data information is fed back to the controller, and the data information fed back by the laser light rays is processed by the controller to obtain the corresponding confirmation position of the welding seam, the controller compares the welding seam confirmation position with the welding seam draft position, after a consistent result is obtained, the controller controls the welding gun to weld along the coordinate corresponding to the welding seam confirmation position, after the workpiece needing to be welded is assembled in place, the welding seam is automatically captured through the system, secondary confirmation is carried out, and finally the welding gun is controlled to weld along the captured welding seam, so that intelligent welding is achieved.
Drawings
FIG. 1 is a schematic diagram of the position information of the inventive basic position unit of the weld.
Detailed Description
A robot weld tracking system for practical training: the welding line capturing module specifically comprises two lenses, a laser generator and a CCD (charge coupled device) element, the two lenses capture the corresponding three-dimensional outlines of the workpieces to be welded respectively, the two three-dimensional outlines are transmitted into the controller, the controller analyzes the two three-dimensional outline coordinates, a simulated welding line form and a simulated welding line position are calculated according to the set basic position of the welding line, and the obtained simulated welding line form, the simulated welding line position, the welding line position and the welding line position are calculated according to the set basic position of the welding line, The welding line draft position is sent to a laser generator, the laser generator emits corresponding laser light and places the laser light at the corresponding position of the spliced workpiece, then the CCD element captures the laser light, corresponding data information is fed back to the controller, the data information fed back by the laser light is processed by the controller to obtain the corresponding welding line confirmation position, the controller compares the welding line confirmation position with the welding line draft position, and after a consistent result is obtained, the controller controls a welding gun to weld along the coordinate corresponding to the welding line confirmation position.
When the welding seam confirmation coordinate is inconsistent with the welding seam draft coordinate, checking whether a clamp for clamping the workpiece has clamping falling or deformation, and after the overhaul is finished, capturing and welding the welding seam of the workpiece again;
the basic position unit (shown in figure 1) of the welding seam is internally prefabricated with the positions of a butt welding seam position, an overlap welding seam position, a fillet welding seam position, an outer side fillet welding position, a V groove welding seam position and an edge welding seam position, when the edge welding seam position is carried out, because a workpiece is one, the end edge of the upper surface close to the surface area of the laser generator is arranged to be the welding seam position;
clicking a welding seam basic position unit through a touch screen module on a workbench, selecting a corresponding workpiece assembly form to obtain a capture approximate position of a corresponding welding seam position, and when an edge welding seam position is selected, only starting one lens for capturing the outer contour of the workpiece;
and the controller outputs the welding seam confirmation position to the welding gun after coordinate conversion, the welding gun performs welding along the converted coordinate information to form an accurate welding seam, and the welding gun resets to the initial position again after the welding is completed to prepare for next welding.
The working principle is as follows: because the clamp on the workpiece positioning table is loosened or deformed, the condition that the position of a welding seam is incorrect during actual welding is caused, a welding seam tracking system for secondary confirmation is arranged, two lenses capture the corresponding three-dimensional outlines of the workpieces to be welded respectively, then the two three-dimensional outlines are transmitted into a controller, the controller analyzes the coordinates of the two three-dimensional outlines, a sketched welding seam form and a sketched welding seam position are calculated according to the set basic position of the welding seam, then the obtained sketched welding seam form and the sketched welding seam position are transmitted to a laser generator, the laser generator emits corresponding laser light to be arranged at the corresponding position of the spliced workpieces, then a CCD element captures the laser light, corresponding data information is fed back to the controller, and the data information fed back by the laser light is processed by the controller to obtain the corresponding confirmed position of the welding seam, the controller compares the welding seam confirmation position with the welding seam draft position, after a consistent result is obtained, the controller controls the welding gun to weld along the coordinate corresponding to the welding seam confirmation position, after the workpiece needing to be welded is assembled in place, the welding seam is automatically captured through the system, secondary confirmation is carried out, and finally the welding gun is controlled to weld along the captured welding seam, so that intelligent welding is achieved.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (5)
1. The utility model provides a robot welding seam tracker for instructing which characterized in that: the welding line capture module comprises two lenses, a laser generator and a CCD (charge coupled device) element, the two lenses capture the corresponding three-dimensional contours of the workpieces to be welded respectively, the two three-dimensional contours are transmitted to the controller, the controller analyzes the coordinates of the two three-dimensional contours, and a draft welding line form, a draft welding line form and a draft welding line form are calculated according to the set basic positions of the welding lines, The welding line drawing method comprises the steps of drawing a welding line, sending the obtained drawn welding line shape and the drawn welding line drawing position to a laser generator, enabling the laser generator to emit corresponding laser light to be arranged at the corresponding position of a spliced workpiece, capturing the laser light by a CCD (charge coupled device) element, feeding back corresponding data information to a controller, processing the data information fed back by the laser light by the controller to obtain a corresponding welding line confirmation position, comparing the welding line confirmation position with the welding line drawing position by the controller, and controlling a welding gun to weld along a coordinate corresponding to the welding line confirmation position by the controller after a consistent result is obtained.
2. The robotic weld tracking system for practical training of claim 1, wherein: and when the welding seam confirmation coordinate is inconsistent with the welding seam draft coordinate, checking whether the clamp for clamping the workpiece has clamping falling or deformation, and after the overhaul is finished, capturing and welding the welding seam of the workpiece again.
3. A robotic weld tracking system for practical training according to claim 1 or 2, wherein: the welding seam basic position unit is internally prefabricated with the positions of a butt welding seam position, an overlap welding seam position, a fillet welding seam position, a V groove welding seam position and an edge welding seam position, and when the edge welding seam position is carried out, because a workpiece is one, the end edge of the upper surface close to the surface area of the laser generator is set to be the welding seam position.
4. The robotic weld tracking system for practical training of claim 3, wherein: and clicking a welding seam basic position unit through a touch screen module on the workbench, selecting a corresponding workpiece assembly form to obtain a capture approximate position of a corresponding welding seam position, and when the edge welding seam position is selected, only starting one lens for capturing the outer contour of the workpiece.
5. The robotic weld tracking system for practical training of claim 1, wherein: and the controller outputs the welding seam confirmation position to the welding gun after coordinate conversion, the welding gun performs welding along the converted coordinate information to form an accurate welding seam, and the welding gun resets to the initial position again after the welding is completed to prepare for next welding.
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| JPS58157588A (en) * | 1982-03-12 | 1983-09-19 | Mitsui Eng & Shipbuild Co Ltd | Detection of change in position of weld line |
| EP0336174A2 (en) * | 1988-04-08 | 1989-10-11 | Abb Robotics Inc. | A method and apparatus for controlling a manipulator |
| CN2740335Y (en) * | 2004-12-02 | 2005-11-16 | 中国科学院自动化研究所 | Weld tracking visual sensor based on laser structural light |
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