CN111360370A - Welding robot welding seam positioning method for processing shipyard parts - Google Patents
Welding robot welding seam positioning method for processing shipyard parts Download PDFInfo
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- CN111360370A CN111360370A CN202010138314.3A CN202010138314A CN111360370A CN 111360370 A CN111360370 A CN 111360370A CN 202010138314 A CN202010138314 A CN 202010138314A CN 111360370 A CN111360370 A CN 111360370A
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- welding
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- shipyard
- cross cursor
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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
- 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
-
- 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
- B23K9/1278—Using mechanical means
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- Engineering & Computer Science (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Geometry (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of welding robots, in particular to a welding robot welding seam positioning method for processing shipyard parts, which comprises the following operation steps: the cross cursor visual positioning system positions the workpiece, matches the position displayed by the cross cursor with the position of an encoder by moving a camera with the cross cursor and reading the value of the encoder on a servo motor, and displays the position in a video display frame on a control software interface; by the application of computer vision, a graphic measurement system is adopted to carry out non-contact distance measurement within a certain range, part names and plate thickness information are input into a welding database, welding parameters are obtained from the welding database, conditions are provided for robot welding, meanwhile, the reading value of an encoder is imported into the database, a program is called for automatic welding, a contact type locating and arc tracking mode is adopted to automatically correct a welding path in the welding process, real-time tracking of a welding line is realized, and design and optimization can be carried out according to different use working conditions.
Description
Technical Field
The invention relates to the technical field of welding robots, in particular to a welding robot welding seam positioning method for processing shipyard parts.
Background
In the application of robot welding in a shipyard component assembly and welding production line, the position of a target workpiece needs to be positioned before welding, the position of a welding seam of the workpiece needs to be positioned to eliminate the deviation between a theoretical position and an actual position, and the welding seam also needs to be tracked during welding to eliminate the deviation between the welding seam and a welding track of a robot in real time.
There are currently 2 positioning modes: one is to adopt a measuring device of a vision system to comprehensively scan a target workpiece on site, match the state of the workpiece on site with the drawing state, and the mode can directly acquire the shape, color and position state of the part and then identify the identity, position and other information of the part through a complex algorithm. The mode is in algorithm research in China, and the maturity of application is not reached, so that the condition of practical application is lacked.
Disclosure of Invention
The invention aims to provide a welding robot welding seam positioning method for processing parts in a shipyard, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a welding robot welding seam positioning method for processing shipyard components comprises the following operation steps:
s1: the cross cursor visual positioning system positions the workpiece, matches the position displayed by the cross cursor with the position of an encoder by moving a camera with the cross cursor and reading the value of the encoder on a servo motor, and displays the position in a video display frame on a control software interface; and meanwhile, the reading value of the encoder is imported into the SQL database, and the welding program calls the database to execute a welding command.
S2: by the application of computer vision, a graphic measurement system is adopted to carry out non-contact distance measurement in a certain range, the graphic measurement system comprises an image acquisition module and a distance measurement module, wherein:
the image acquisition module is responsible for acquiring the characteristic points and providing undistorted high-definition image information,
the distance measurement module is responsible for rapidly processing the acquired image and calculating the offset of the characteristic point relative to the original position point;
s3: the offset data is transmitted to a gantry system, and the gantry travels according to the calculated offset value to achieve accurate positioning; inputting part names and plate thickness information in a welding database, and obtaining welding parameters from the welding database so as to provide conditions for robot welding and call a program for automatic welding;
s4: for products which are not in the database, the positions of the initial point and the final point of the welding line are detected through manual operation, and the workpiece and the position of the welding line are positioned;
s5: the welding path is automatically corrected in the welding process by adopting a contact type locating and arc tracking mode, the real-time tracking of the welding line is realized, and the welding line can be designed and optimized according to different use working conditions so as to achieve the optimal tracking effect.
Preferably, the cross cursor vision positioning system is directly connected with a computer display or a projector through a manual operation portal frame and by utilizing a VGA interface industrial camera with storage and measurement functions to realize high-definition image preview, measurement and photographing functions, and has the characteristics of high frame rate, high image quality and intellectualization, and a USB flash disk storage function.
Preferably, 12 groups of cross lines are arranged in the camera of the cross cursor visual positioning system, and each group of cross lines can be randomly adjusted in position and can be randomly hidden or displayed; the accurate measurement function is realized, and various measurements such as lines, circles, angles, rectangles and the like can be supported.
Preferably, the cross-shaped cursor vision positioning system adopts wide dynamic image display and is suitable for detecting strong reflection or strong contrast objects such as metal or tin points and the like.
Preferably, the image acquisition system needs to be installed on the welding gantry to ensure synchronous displacement of the image and the gantry.
Compared with the prior art, the invention has the beneficial effects that: the invention carries out accurate measurement through the cross cursor vision positioning system, realizes the positioning of the workpiece, automatically corrects the welding path in the welding process by adopting a contact type locating and arc tracking mode, realizes the real-time tracking of the welding line, can be designed and optimized according to different working conditions, achieves the optimal tracking effect, realizes the real-time positioning and adjustment of the welding line and improves the welding effect.
Detailed Description
The invention provides a technical scheme that: a welding robot welding seam positioning method for processing shipyard components comprises the following operation steps:
s1: the cross cursor visual positioning system positions the workpiece, matches the position displayed by the cross cursor with the position of an encoder by moving a camera with the cross cursor and reading the value of the encoder on a servo motor, and displays the position in a video display frame on a control software interface;
s2: by the application of computer vision, a graphic measurement system is adopted to carry out non-contact distance measurement in a certain range, the graphic measurement system comprises an image acquisition module and a distance measurement module, wherein:
the image acquisition module is responsible for acquiring the characteristic points and providing undistorted high-definition image information,
the distance measurement module is responsible for rapidly processing the acquired image and calculating the offset of the characteristic point relative to the original position point;
s3: the offset data is transmitted to a gantry system, and the gantry travels according to the calculated offset value to achieve accurate positioning; inputting part names and plate thickness information in a welding database, and obtaining welding parameters from the welding database so as to provide conditions for robot welding; meanwhile, the reading value of the encoder is imported into a database, so that the program is called for automatic welding;
s4: for products which are not in the database, the positions of the initial point and the final point of the welding line are detected through manual operation, and the workpiece and the position of the welding line are positioned;
s5: the welding path is automatically corrected in the welding process by adopting a contact type locating and arc tracking mode, the real-time tracking of the welding line is realized, and the welding line can be designed and optimized according to different use working conditions so as to achieve the optimal tracking effect.
Furthermore, the cross cursor vision positioning system is directly connected with a computer display or a projector through a manual operation portal frame and a VGA interface industrial camera with storage and measurement functions to realize high-definition image preview, measurement and photographing functions, and has the characteristics of high frame rate, high image quality and intellectualization, and a USB flash disk storage function.
Furthermore, 12 groups of cross lines are arranged in a camera of the cross cursor visual positioning system, and the position of each group of cross lines can be adjusted at will and can be hidden or displayed at will; the accurate measurement function is realized, and various measurements such as lines, circles, angles, rectangles and the like can be supported.
Furthermore, the cross cursor vision positioning system adopts wide dynamic image display and is suitable for detecting strong reflection or strong contrast objects such as metal or tin points and the like.
Furthermore, the image acquisition system needs to be installed on the welding gantry to ensure the synchronous displacement of the image and the gantry.
The working principle is as follows:
s1: the cross cursor visual positioning system positions the workpiece, matches the position displayed by the cross cursor with the position of an encoder by moving a camera with the cross cursor and reading the value of the encoder on a servo motor, and displays the position in a video display frame on a control software interface; in the application of the cross cursor, in order to improve the measurement precision, 12 groups of cross lines are arranged in the camera; the position of each group of cross lines can be adjusted at will and can be hidden or displayed at will; the accurate measurement function can support various measurements such as line, circle, angle, rectangle and the like; the wide dynamic image display is adopted, so that the method is very suitable for detecting strong reflection or strong contrast objects such as metal or tin points and the like; the VGA interface industrial camera with the storage and measurement functions can realize the functions of previewing, measuring and photographing high-definition images by being directly connected with a computer display or a projector, has the characteristics of high frame rate, high image quality and intellectualization, and has the storage function of a USB flash disk, so that the VGA interface industrial camera and a PC can conveniently exchange the acquired images;
s2: by the application of computer vision, a graphic measurement system is adopted to carry out non-contact distance measurement in a certain range, the graphic measurement system comprises an image acquisition module and a distance measurement module, wherein:
the image acquisition module is responsible for acquiring the characteristic points and providing undistorted high-definition image information,
the distance measurement module is responsible for rapidly processing the acquired image and calculating the offset of the characteristic point relative to the original position point;
s3: the offset data is transmitted to a gantry system, and the gantry travels according to the calculated offset value to achieve accurate positioning; inputting part names and plate thickness information in a welding database, obtaining welding parameters from the welding database so as to provide conditions for robot welding, and simultaneously importing the reading value of an encoder into the database so as to call a program for automatic welding;
s4: for products which are not in the database, the positions of the initial point and the final point of the welding line are detected through manual operation, and the workpiece and the position of the welding line are positioned;
s5: the welding path is automatically corrected in the welding process by adopting a contact type locating and arc tracking mode, the real-time tracking of the welding line is realized, and the welding line can be designed and optimized according to different use working conditions so as to achieve the optimal tracking effect.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. A welding robot welding seam positioning method for processing shipyard parts is characterized in that: the method comprises the following operation steps:
s1: the cross cursor visual positioning system positions the workpiece, matches the position displayed by the cross cursor with the position of an encoder by moving a camera with the cross cursor and reading the value of the encoder on a servo motor, and displays the position in a video display frame on a control software interface;
s2: by the application of computer vision, a graphic measurement system is adopted to carry out non-contact distance measurement in a certain range, the graphic measurement system comprises an image acquisition module and a distance measurement module, wherein:
the image acquisition module is responsible for acquiring the characteristic points and providing undistorted high-definition image information,
the distance measurement module is responsible for rapidly processing the acquired image and calculating the offset of the characteristic point relative to the original position point;
s3: the offset data is transmitted to a gantry system, and the gantry travels according to the calculated offset value to achieve accurate positioning; inputting part names and plate thickness information in a welding database, obtaining welding parameters from the welding database so as to provide conditions for robot welding, and simultaneously importing the reading value of an encoder into the database so as to call a program for automatic welding;
s4: for products which are not in the database, the positions of the initial point and the final point of the welding line are detected through manual operation, and the workpiece and the position of the welding line are positioned;
s5: the welding path is automatically corrected in the welding process by adopting a contact type locating and arc tracking mode, the real-time tracking of the welding line is realized, and the welding line can be designed and optimized according to different use working conditions so as to achieve the optimal tracking effect.
2. The welding robot welding seam positioning method for processing the shipyard parts as claimed in claim 1, wherein: the cross cursor vision positioning system is directly connected with a computer display or a projector through a manually operated portal frame and a VGA interface industrial camera with storage and measurement functions to realize high-definition image preview, measurement and photographing functions, and has the characteristics of high frame rate, high image quality and intellectualization, and a USB flash disk storage function.
3. The welding robot welding seam positioning method for processing the shipyard parts as claimed in claim 1, wherein: 12 groups of cross lines are arranged in a camera of the cross cursor visual positioning system, and the position of each group of cross lines can be adjusted at will and can be hidden or displayed at will; the accurate measurement function is realized, and various measurements such as lines, circles, angles, rectangles and the like can be supported.
4. The welding robot welding seam positioning method for processing the shipyard parts as claimed in claim 1, wherein: the cross cursor vision positioning system adopts wide dynamic image display and is suitable for detecting strong reflection or strong contrast objects such as metal or tin points and the like.
5. The welding robot welding seam positioning method for processing the shipyard parts as claimed in claim 1, wherein: the image acquisition system needs to be installed on the welding gantry to ensure synchronous displacement of the image and the gantry.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010138314.3A CN111360370A (en) | 2020-03-02 | 2020-03-02 | Welding robot welding seam positioning method for processing shipyard parts |
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| CN202010138314.3A CN111360370A (en) | 2020-03-02 | 2020-03-02 | Welding robot welding seam positioning method for processing shipyard parts |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113427103A (en) * | 2021-04-08 | 2021-09-24 | 南通佳宝机械有限公司 | Self-adaptive welding method for packer manufacturing |
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| CN113427103A (en) * | 2021-04-08 | 2021-09-24 | 南通佳宝机械有限公司 | Self-adaptive welding method for packer manufacturing |
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