CN110524134A - Welding system, welding method and device - Google Patents
Welding system, welding method and device Download PDFInfo
- Publication number
- CN110524134A CN110524134A CN201910849584.2A CN201910849584A CN110524134A CN 110524134 A CN110524134 A CN 110524134A CN 201910849584 A CN201910849584 A CN 201910849584A CN 110524134 A CN110524134 A CN 110524134A
- Authority
- CN
- China
- Prior art keywords
- welding
- weld seam
- origin information
- welded
- industrial camera
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Classifications
-
- 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
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
-
- 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
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
-
- 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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of welding system, welding method and devices.Wherein, this method comprises: obtaining the weld seam origin information sent by industrial camera, wherein weld seam origin information is the information for describing the weld seam starting point of object to be welded；Welding object, which is treated, based on weld seam origin information control welding gun executes welding operation.The present invention solves lower for treating the mode reliability that welding object patrol a little in the related technology, the lower technical problem of caused welding efficiency.
Description
Technical field
The present invention relates to welding technology fields, in particular to a kind of welding system, welding method and device.
Background technique
Currently, control two axis of positioner using the external control cabinet of robot, configuration is complicated, and wiring is inconvenient,
Electric cabinet need to additionally be increased, volume is bigger, can not patrol automatically a little, and high to frock clamp required precision, pilot teaching point requires accurate.
For above-mentioned lower, the caused welding for treating the mode reliability that welding object patrol a little in the related technology
The lower problem of efficiency, currently no effective solution has been proposed.
Summary of the invention
The embodiment of the invention provides a kind of welding system, welding method and devices, at least to solve to use in the related technology
In treating, the mode reliability that welding object patrol a little is lower, the lower technical problem of caused welding efficiency.
According to an aspect of an embodiment of the present invention, a kind of welding system is provided, comprising: robot is connect with welding gun,
Welding object execution welding operation is treated for controlling the welding gun；Industrial camera is connect with the controller of the robot, is used
In the image of the object to be welded of acquisition, and after analyzing the image of acquisition, the weldering of the object to be welded is obtained
Origin information is stitched, the weld seam origin information is sent to the robot；The robot is also used to receiving the work
After the weld seam origin information that industry camera is sent, welding behaviour is executed to the object to be welded based on the weld seam origin information
Make.
Optionally, the welding system further include: labor and materials frame, for fixing the object to be welded.
Optionally, welding system further include: positioner, the axis of the positioner are configured as the outside of the robot
Axis is adjusted for the position to the object to be welded.
Optionally, it is connected between the industrial camera and the controller of the robot by ICP/IP protocol.
Optionally, the servo motor of the positioner is mounted on the labor and materials frame, and passes through industry ethernet and institute
State the controller connection of robot.
Another aspect according to an embodiment of the present invention, additionally provides a kind of welding method, is applied to any among the above
Welding system described in, comprising: obtain the weld seam origin information sent by industrial camera, wherein the weld seam origin information
For the information of the weld seam starting point for describing object to be welded；Based on weld seam origin information control welding gun to described to be welded
Object executes welding operation.
Optionally, before obtaining the weld seam origin information that is sent by industrial camera, the welding method further include: establish and
Communication connection between the industrial camera；Wherein, the communication connection established between the industrial camera includes: to pass through TCP/
IP agreement establishes the communication connection between the industrial camera.
Optionally, executing welding operation to the object to be welded based on weld seam origin information control welding gun includes:
Establish the connection between controller；Based on the controller control the welding gun be based on the weld seam origin information to it is described to
Welding object executes welding operation.
Another aspect according to an embodiment of the present invention, additionally provides a kind of welder, is applied to any among the above
Welding method described in, comprising: acquiring unit, for obtaining the weld seam origin information sent by industrial camera, wherein described
Weld seam origin information is the information for describing the weld seam starting point of object to be welded；Control unit, for being risen based on the weld seam
Point information control welding gun executes welding operation to the object to be welded.
Optionally, welder further include: unit is established, for obtaining the weld seam starting point letter sent by industrial camera
Before breath, the communication connection between the industrial camera is established；Wherein, the unit of establishing includes: to establish module, for leading to
Cross the communication connection that ICP/IP protocol is established between the industrial camera.
Optionally, described control unit includes: the connection established module, be also used to establish between controller；Control
Molding block is based on the weld seam origin information to the object execution to be welded for controlling the welding gun based on the controller
Welding operation.
In embodiments of the present invention, the weld seam origin information sent using acquisition by industrial camera, wherein weld seam starting point letter
Breath is the information for describing the weld seam starting point of object to be welded；Welding object is treated based on weld seam origin information control welding gun to hold
The mode of row welding operation is welded, the welding method provided through the embodiment of the present invention, can use robot, industrial phase
It is attached between machine and robot control, to find the weld seam starting point of object to be welded, realizes based on object to be welded
Weld seam origin information treats the purpose that welding object is welded, and improves welding efficiency, and then solve and use in the related technology
In treating, the mode reliability that welding object patrol a little is lower, the lower technical problem of caused welding efficiency.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the schematic diagram of welding system according to an embodiment of the present invention；
Fig. 2 is the architecture diagram of welding system according to an embodiment of the present invention；
Fig. 3 is the wiring diagram of welding system according to an embodiment of the present invention；
Fig. 4 is the flow chart of welding method according to an embodiment of the present invention；
Fig. 5 is the schematic diagram of welder according to an embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
Embodiment 1
According to an aspect of an embodiment of the present invention, a kind of welding system is provided, Fig. 1 is according to an embodiment of the present invention
The schematic diagram of welding system, as shown in Figure 1, the welding system includes: robot 11, welding gun 13, industrial camera 15 and machine
People 17.The welding system is described in detail below.
Robot 11 is connect with welding gun 13, treats welding object execution welding operation for controlling welding gun 13.
Industrial camera 15 is connect with the controller 131 of robot 13, the image of the object to be welded for acquisition, and right
After the image of acquisition is analyzed, the weld seam origin information of object to be welded is obtained, weld seam origin information is sent to robot.
Robot 17 is also used to after the weld seam origin information for receiving the transmission of industrial camera 15, is believed based on weld seam starting point
Breath treats welding object and executes welding operation.
It can be seen from the above, in embodiments of the present invention, can use the robot control welding gun connecting with welding gun to be welded
It connects object and executes welding operation；And the figure of the object to be welded using the industrial camera acquisition being connect with the controller of robot
Picture, and after analyzing the image of acquisition, the weld seam origin information of object to be welded is obtained, weld seam origin information is sent to
Robot；And using robot after the weld seam origin information for receiving industrial camera transmission, it is based on weld seam origin information pair
Object to be welded executes welding operation.The welding system provided in through the embodiment of the present invention can use robot, industry
It is attached between camera and robot control, to find the weld seam starting point of object to be welded, realizes and be based on object to be welded
Weld seam origin information treat the purpose that welding object is welded, improve welding efficiency, and then solve in the related technology
It is lower for treating the mode reliability that welding object patrol a little, the lower technical problem of caused welding efficiency.
Optionally, which can also include: labor and materials frame, for fixing object to be welded.
In addition, the welding system can also include: positioner, the axis of positioner is configured as the external axis of robot, uses
It is adjusted in the position for treating welding object.
In an alternative embodiment, it is connected between industrial camera and the controller of robot by ICP/IP protocol.
Optionally, the servo motor of positioner is mounted on labor and materials frame, and passes through the control of industry ethernet and robot
Device connection processed.
Fig. 2 is the architecture diagram of welding system according to an embodiment of the present invention, as shown in Fig. 2, robot controller is (that is, control
Device processed) be attached with robot after, configuration of robotic servo parameter, and robot links parameter is arranged carries out bracing wire calibration
Device calibration, makes precision reach 0.2mm, welding gun is assembled to the end of robot.
In addition, as shown in Fig. 2, positioner servo motor is mounted on labor and materials frame, and servo parameter is configured, then
Tuning PID parameters are connected on robot controller after normal operation by industry ethernet (that is, ethercat).
Furthermore in the embodiment of the present invention, industrial camera is connected by ICP/IP protocol with robot controller, it is also necessary to right
The industrial camera parameters such as focused, exposed refer to and are adjusted, and instruct weld image high-visible.
It should be noted that robot is arranged to client in embodiments of the present invention, industrial camera is arranged to take
It is engaged in device end, needing to input IP address and port numbers being attached test.After setting up transceiving format, it is also necessary to industrial camera
It is demarcated, setting is taken pictures a little, operation to a selection weld seam starting point image characteristic point of taking pictures.
Furthermore it should be noted that in embodiments of the present invention, configuring the axis of two positioners to the outside of robot
Axis, and carry out positive and negative limit, reduction ratio, the setting of encoder line number, ethercat network configuration.Association is synchronized after normal connection
After reaching normal position control, relative program and point is arranged in regulation system, and debugging welding carries out weld job.
Wherein, above-mentioned pid parameter adjusting is mainly automatically performed by servo control software, suitable to obtain
Followability and rigidity.
Fig. 3 is the wiring diagram of welding system according to an embodiment of the present invention, as shown in figure 3, robot is assisted by TCP/IP
View is connect with industrial camera, and by the servo axis connection of ethercat and robot, and by the axis of positioner 1 and positioner
Axis 2 by bus connect, and with robot servo axis connection.
It should be noted that the robot in Fig. 2 and Fig. 3 can be six-shaft industrial robot.
Two that bus directly controls robot and positioner can be used in the welding system provided through the embodiment of the present invention
Axis, facilitates debugging volume production, and fused controlling system reduces control system volume；And it is risen using visual sensor Automatic-searching weld seam
Initial point, summary programming, improves frock clamp precision.
Embodiment 2
According to embodiments of the present invention, a kind of embodiment of the method for welding method is provided, it should be noted that the welding side
Method is applied to any one of above-mentioned welding system, and step shown in the flowchart of the accompanying drawings can be such as one group of computer can
It is executed in the computer system executed instruction, although also, logical order is shown in flow charts, in certain situations
Under, it can be with the steps shown or described are performed in an order that is different from the one herein.
Fig. 4 is the flow chart of welding method according to an embodiment of the present invention, as shown in figure 4, the welding method includes as follows
Step:
Step S402 obtains the weld seam origin information sent by industrial camera, wherein weld seam origin information is for describing
The information of the weld seam starting point of object to be welded.
Step S404 treats welding object based on weld seam origin information control welding gun and executes welding operation.
Through the above steps, it may be implemented to obtain the weld seam origin information sent by industrial camera, wherein weld seam starting point letter
Breath is the information for describing the weld seam starting point of object to be welded；Welding object is treated based on weld seam origin information control welding gun to hold
Row welding operation.The welding method provided in through the embodiment of the present invention can use robot, industrial camera and machine
It is attached between people's control, to find the weld seam starting point of object to be welded, realizes the weld seam starting point letter based on object to be welded
Breath treats the purpose that welding object is welded, and improves welding efficiency, and then solves in the related technology for to be welded
The mode reliability that object patrol a little is lower, the lower technical problem of caused welding efficiency.
In an alternative embodiment, before obtaining the weld seam origin information sent by industrial camera, the welding side
Method further include: establish the communication connection between industrial camera；Wherein, the communication connection between foundation and industrial camera includes:
The communication connection between industrial camera is established by ICP/IP protocol.
In an alternative embodiment, welding object is treated based on weld seam origin information control welding gun and executes welding operation
It include: the connection between foundation and controller；Welding object is treated based on weld seam origin information based on controller control welding gun to hold
Row welding operation.
Embodiment 3
Another aspect according to an embodiment of the present invention, additionally provides a kind of welder, is applied to any among the above
Welding method, Fig. 5 is the schematic diagram of welder according to an embodiment of the present invention, as shown in figure 5, the welder can be with
It include: acquiring unit 51, control unit 53.The welder is described in detail below.
Acquiring unit 51, for obtaining the weld seam origin information sent by industrial camera, wherein weld seam origin information is to use
In the information for the weld seam starting point for describing object to be welded.
Control unit 53 executes welding operation for treating welding object based on weld seam origin information control welding gun.
Herein it should be noted that above-mentioned acquiring unit 51, control unit 53 correspond to the step S402 in embodiment 1 extremely
S404, above-mentioned module is identical as example and application scenarios that corresponding step is realized, but is not limited to the above embodiments disclosed in 1
Content.It should be noted that above-mentioned module can be in such as a group of computer-executable instructions as a part of of device
It is executed in computer system.
From the foregoing, it will be observed that can use acquiring unit in the above embodiment of the present invention and obtain the weldering sent by industrial camera
Stitch origin information, wherein weld seam origin information is the information for describing the weld seam starting point of object to be welded；And it is single using control
Member treats welding object based on weld seam origin information control welding gun and executes welding operation.The weldering provided in through the embodiment of the present invention
Connection device, which can use, to be attached between the control of robot, industrial camera and robot, to find object to be welded
Weld seam starting point realizes that the weld seam origin information based on object to be welded treats the purpose that welding object is welded, improves weldering
Efficiency is connect, and then solves lower for treating the mode reliability that welding object patrol a little in the related technology, caused weldering
Connect the lower technical problem of efficiency.
In an alternative embodiment, welder further include: unit is established, for being sent out in acquisition by industrial camera
Before the weld seam origin information sent, the communication connection between industrial camera is established；Wherein, establishing unit includes: to establish module,
For establishing the communication connection between industrial camera by ICP/IP protocol.
In an alternative embodiment, control unit includes: to establish module, is also used to the company established between controller
It connects；Control module treats welding object execution welding operation for being based on weld seam origin information based on controller control welding gun.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, Ke Yiwei
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can for personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes: that USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. be various to can store program code
Medium.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (11)
1. a kind of welding system characterized by comprising
Robot is connect with welding gun, treats welding object execution welding operation for controlling the welding gun；
Industrial camera is connect with the controller of the robot, the image of the object to be welded for acquisition, and to acquisition
Image analyzed after, obtain the weld seam origin information of the object to be welded, the weld seam origin information be sent to institute
State robot；
The robot is also used to after receiving the weld seam origin information that the industrial camera is sent, and is based on the weldering
It stitches origin information and welding operation is executed to the object to be welded.
2. welding system according to claim 1, which is characterized in that further include: labor and materials frame, it is described to be welded for fixing
Object.
3. welding system according to claim 2, which is characterized in that further include: the axis of positioner, the positioner is matched
It is set to the external axis of the robot, is adjusted for the position to the object to be welded.
4. welding system according to claim 2, which is characterized in that the controller of the industrial camera and the robot
Between pass through ICP/IP protocol connect.
5. welding system according to claim 3, which is characterized in that the servo motor of the positioner is mounted to described
On labor and materials frame, and it is connect by industry ethernet with the controller of the robot.
6. a kind of welding method, which is characterized in that applied to welding system described in any one of the claims 1 to 5, packet
It includes:
Obtain the weld seam origin information sent by industrial camera, wherein the weld seam origin information is to be welded right for describing
The information of the weld seam starting point of elephant；
Welding operation is executed to the object to be welded based on weld seam origin information control welding gun.
7. according to the method described in claim 6, it is characterized in that, obtain the weld seam origin information that is sent by industrial camera it
Before, further includes: establish the communication connection between the industrial camera；
Wherein, establishing with the communication connection between the industrial camera includes: to be established and the industrial phase by ICP/IP protocol
Communication connection between machine.
8. according to the method described in claim 6, it is characterized in that, based on the weld seam origin information control welding gun to it is described to
Welding object executes welding operation
Establish the connection between controller；
The welding gun, which is controlled, based on the controller is based on the weld seam origin information to the object execution welding behaviour to be welded
Make.
9. a kind of welder, which is characterized in that applied to welding method described in any one of the claims 6 to 8, packet
It includes:
Acquiring unit, for obtain by industrial camera send weld seam origin information, wherein the weld seam origin information be for
The information of the weld seam starting point of object to be welded is described；
Control unit, for executing welding operation to the object to be welded based on weld seam origin information control welding gun.
10. device according to claim 9, which is characterized in that further include: unit is established, for obtaining by industrial phase
Before the weld seam origin information that machine is sent, the communication connection between the industrial camera is established；
Wherein, the unit of establishing includes: to establish module, for being established between the industrial camera by ICP/IP protocol
Communication connection.
11. device according to claim 9, which is characterized in that described control unit includes:
It is described to establish module, it is also used to the connection established between controller；
Control module is based on the weld seam origin information to described to be welded right for controlling the welding gun based on the controller
As executing welding operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910849584.2A CN110524134A (en) | 2019-09-09 | 2019-09-09 | Welding system, welding method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910849584.2A CN110524134A (en) | 2019-09-09 | 2019-09-09 | Welding system, welding method and device |
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| Publication Number | Publication Date |
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| CN110524134A true CN110524134A (en) | 2019-12-03 |
Family
ID=68667862
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910849584.2A Pending CN110524134A (en) | 2019-09-09 | 2019-09-09 | Welding system, welding method and device |
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| CN (1) | CN110524134A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111451605A (en) * | 2020-03-31 | 2020-07-28 | 北京博清科技有限公司 | Welding control method and device and welding system |
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Application publication date: 20191203 |