CN112355439A - Special machine automatic welding process for container corrugated welding - Google Patents
Special machine automatic welding process for container corrugated welding Download PDFInfo
- Publication number
- CN112355439A CN112355439A CN202011088036.1A CN202011088036A CN112355439A CN 112355439 A CN112355439 A CN 112355439A CN 202011088036 A CN202011088036 A CN 202011088036A CN 112355439 A CN112355439 A CN 112355439A
- Authority
- CN
- China
- Prior art keywords
- welding
- track
- point
- laser sensor
- corrugation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam 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
- B23K9/133—Means for feeding electrodes, e.g. drums, rolls, motors
-
- 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
- B23K9/32—Accessories
Abstract
The application provides a special plane automatic weld process for container ripple welds, belongs to the welding technology field who is applicable to special product or special use. Fixing a wallboard, starting a PLC control cabinet, controlling the robot body to drive the laser sensor to move to the position near a welding seam, and starting the double-point laser sensor to scan; after receiving the welding seam track of the first ripple, the PLC control cabinet calculates the welding track position of a welding gun through a welding seam recognition algorithm, and controls the welding gun on the robot body to move and rotate to weld; while welding, the laser sensor scans the next ripple in real time and calculates the position of the next welding track; can carry out the wave welding to the container automatically, welding precision is high, and welding quality is good, and work efficiency promotes by a wide margin, has improved the economic benefits of enterprise.
Description
Technical Field
The application relates to a special automatic welding process for container corrugated welding, and belongs to the technical field of welding suitable for special products or special purposes.
Background
The container wall plate is generally formed by welding a frame and a corrugated plate, and referring to fig. 1, the welding at the junction of the frame 1a and the corrugated plate 2a is corrugated welding, and 3a is a welding track.
The connection of the corrugated plate and the frame can meet the matching use of irregular-shaped plates and regular plates, for example. However, the disadvantages are that: due to the introduction of irregular shapes, the requirement on welding precision is greatly improved, so that the welding equipment is required to have enough welding flux supply and accurate positioning, and phenomena such as welding missing, desoldering and the like are avoided. And the existing welding process obviously has not been researched and effectively developed.
Disclosure of Invention
In view of the above, the application provides a special machine automatic welding process for container corrugated welding, which not only realizes the automatic operation and accurate control of the welding process, but also meets the requirements of corrugated welding on feeding and track positioning.
Specifically, the method is realized through the following scheme:
a special automatic welding process for container corrugation welding, wherein the object to be welded is a wallboard to be welded (including regular structural plates such as frame and irregular structural plates such as corrugated plate), the adopted welding equipment comprises a PLC control cabinet and a robot body, the robot body is driven and controlled by the PLC control cabinet through a controller, a welding gun and a scanning identification unit are arranged on the robot body, the scanning identification unit comprises a double-point laser sensor, the double-point laser sensor is connected with the PLC control cabinet, a welding flux and a welding gun moving track are supplied by a wire feeder according to the scanning signal of the double-point laser sensor,
the welding process of the device comprises the following steps:
(1) fixing a wallboard, starting a PLC control cabinet, controlling a robot body by the PLC control cabinet through a controller, and driving a scanning identification unit to move by the robot body;
(2) the scanning identification unit moves to the position near the welding seam, starts the double-point laser sensor to scan, and transmits scanning information to the PLC control cabinet in real time;
(3) after receiving the welding seam track of the first ripple, the PLC control cabinet calculates the welding seam track position of the welding gun through a welding seam identification algorithm;
(4) the PLC control cabinet controls the welding gun on the robot body to move through the welding track information of the welding gun, meanwhile, a welding power supply is started, and the wire feeder works to supply welding wires to the welding gun for welding;
(5) and during welding, the double-point laser sensor scans the next corrugation in real time, and calculates the position of the next welding track, so that welding and scanning calculation are realized at the same time until the welding work of the whole corrugation is finished.
In the welding process, the data are subjected to multiple scanning by double-point laser scanning, then the ripple data are acquired by matching, the acquired data are converted into the moving track of the robot body, and then the welding gun is driven to move synchronously with the robot body, the welding gun is synchronously reappeared and matched with the ripple, the welding of irregular ripples is realized, the accurate control is also realized, and the welding fastness and the welding accuracy are effectively guaranteed.
Further, as preferable:
in the corrugated data identification process, a more central transfer technical point between scanning and data confirmation is a welding seam identification algorithm, and in the application, the welding seam identification algorithm comprises the following steps:
(1) in the acquisition of the ripple data, one point laser sensor acquires the height data of the ripple weld joint, the other point laser sensor acquires the contour data of the ripple weld joint, the complete ripple shape is pre-scanned, the height data of the ripple head and the ripple head are acquired once respectively, and 1 contour point is acquired every 1mm to obtain an initial scanning track point;
(2) according to the positions of the track points, the track points are divided into the following track point types: an upper bottom point, an upper left corner point, a left waist point, a lower left corner point, a lower bottom point, a lower right corner point, a right waist point and an upper right corner point;
(3) fitting the track points to respectively form an upper bottom straight line, a lower bottom straight line, a left waist line, a right waist line and a transition arc;
(4) determining five welding posture types of an upper bottom posture, a lower bottom posture, a left fillet posture, a left waist posture, a right fillet posture and a right waist posture according to the five shapes in the step (3), and obtaining initial position compensation values under various postures by a calibration method;
(5) adjusting the coordinates of the track points according to the types of the track points and the corresponding fitting shapes to obtain the final positions of the track points;
(6) selecting a welding attitude according to the type of the track point;
(7) after the positions and welding postures of all initial scanning track points of the corrugations are calculated, the welding track of the first corrugation is obtained;
(8) starting welding according to the welding track, continuously scanning and acquiring the profile data of the next ripple in real time by the scanning and identifying unit in the welding process, and acquiring the height data of the welding seam of the next ripple when the left waist of the previous ripple is welded;
(9) repeating the steps (3) to (7) after acquiring the trace point data of the next complete corrugation to obtain the welding trace of the next corrugation;
(10) adding the obtained track into the whole welding track, waiting for the robot to read, and repeating the steps to finally complete the whole welding work.
The PLC control cabinet is connected with and controls a welding power supply, the welding power supply is connected with a wire feeder, the wire feeder is connected with a welding gun, the PLC control cabinet calculates a welding route through an identification algorithm, the robot body is controlled to move according to the route information so as to drive the welding gun to move, the welding power supply is started, the wire feeder supplies welding wires to the welding gun, and welding work is carried out.
The bottom of the robot body is sleeved with a ferrule and moves along the guide rail.
The first laser sensor is horizontally arranged, and the second laser sensor is obliquely arranged.
The automatic cleaning device for the welding gun is characterized by further comprising a gun cleaning device, wherein the gun cleaning device is matched with the welding gun to clean the welding gun.
Still including wireless remote controller, wireless remote controller and PLC switch board wireless connection, wireless remote controller can carry out X, Y, Z three direction's removal control to the robot body.
The robot body is selected from ABB IRB1410, and the controller is selected from IRC 5.
The laser sensor adopts a high-precision Ginzhi laser displacement sensor IL-300, and the repetition precision is 30 um.
The automatic welding process has the beneficial effects that:
(1) the equipment adopted in the welding process mainly comprises a PLC control cabinet and a robot, wherein the PLC control cabinet controls the robot body to move through a controller, a laser sensor is used for collecting original information of a welding seam, the PLC control cabinet calculates a welding route through a recognition algorithm, the robot body is controlled to move according to the route information, a welding gun is driven, a welding power supply is started, and a wire feeder supplies welding wires to the welding gun to perform welding work; this design can carry out the wave soldering welding to the container automatically, and welding precision is high, and welding quality is good, and work efficiency promotes by a wide margin, has improved the economic benefits of enterprise.
(2) Wireless remote controller and PLC switch board wireless connection, wireless remote controller can carry out X, Y, Z three directions (indicate around, about, upper and lower direction) mobile control to the robot body, can avoid the maloperation that the workman probably takes place on the demonstrator, also make the operation simpler directly perceived, realized fast to the rifle, realize more directly perceived operation to the rifle through wireless remote controller.
(3) The double-point laser is adopted to realize scanning identification, compared with the line laser, the cost of the double-point laser is less than 1 ten thousand on the whole, and one line laser at least needs 2 to 3 ten thousand, so that the cost is low and is reduced by half at least; and the position of the contour and the height is collected by double-point laser, so that the welding seam is far away, the data has less noise points, is clean and convenient to output, and the data collected by the line laser is the welding seam position, has more noise points and is complex to process.
Drawings
FIG. 1 is a schematic view of a welding site of a wall panel of a container;
FIG. 2 is a schematic process flow diagram of the present application;
FIG. 3 is a schematic view of the configuration of a wave soldering track in the present application;
FIG. 4 is a schematic side view of a robot according to the present application;
FIG. 5 is a schematic front view of a robot according to the present application;
fig. 6 is a partially enlarged view of the welding torch part in the present application.
Reference numbers in the figures: 1a. a frame; 2a corrugated plate; 3a welding track; 1. a robot body; 2. a welding gun; 3. a scanning recognition unit; 31. a first laser sensor; 32. a second laser sensor; 4. a guide rail; 5, a PLC control cabinet; 6. a walking bracket.
Detailed Description
The embodiment is a special machine automatic welding process for container corrugation welding, the to-be-treated object is a wallboard to be welded (including a regular structure plate and an irregular structure plate, such as a frame 1a and a corrugated plate 2a shown in fig. 1), the adopted welding equipment comprises a PLC control cabinet 5 and a robot body 1, and by combining fig. 4 and fig. 5, the robot body 1 is driven and controlled by the PLC control cabinet 5 through a controller, a welding gun 2 and a scanning recognition unit 3 are arranged on the robot body 1, and by combining fig. 6, the scanning recognition unit 3 comprises a two-point laser sensor formed by a first laser sensor 31 and a second laser sensor 32, the two-point laser sensor is connected with the PLC control cabinet 5, and a welding flux supply and a welding gun moving track of a wire feeder are controlled according to a scanning signal of the two-point laser sensor.
With reference to fig. 2, the welding process of the above device includes the following steps:
(1) fixing wall plates, namely a frame 1a and a corrugated plate 2a, starting a PLC (programmable logic controller) control cabinet 5, controlling a robot body 1 by the PLC control cabinet 5 through a controller, and driving a scanning recognition unit 3 to move by the robot body 1;
(2) the scanning identification unit 3 moves to the vicinity of the welding seam, starts a double-point laser sensor (namely a first laser sensor 31 and a second laser sensor 32 in the figure 6) to scan, and transmits scanning information to the PLC control cabinet 5 in real time;
(3) after receiving the welding seam track of the first ripple, the PLC control cabinet 5 calculates the welding seam track position of the welding gun through a welding seam identification algorithm;
(4) the PLC control cabinet 5 controls the welding gun 2 on the robot body 1 to move through the welding track information of the welding gun 2, meanwhile, a welding power supply is started, and the wire feeder works to supply welding wires to the welding gun 2 for welding;
(5) and scanning the next corrugation in real time by the double-point laser sensor during welding, and calculating the position of the next welding track to realize welding and scanning calculation at the same time until the welding work of the whole corrugation is finished.
In the welding process, the data are subjected to multiple scanning by double-point laser scanning, then the ripple data are acquired by matching, the acquired data are converted into the moving track of the robot body, and then the welding gun 2 is driven to move synchronously with the robot body, the welding gun 2 is synchronously reappeared and matched with the ripple, the welding of irregular ripples (such as ripple welding) is realized, the accurate control is also realized, and the welding fastness and the welding accuracy are effectively ensured.
In the identification process of the corrugated data, a more central transfer technical point between scanning and data confirmation is a weld joint identification algorithm, and in the embodiment, the weld joint identification algorithm comprises the following steps:
(1) in the acquisition of the ripple data, one point laser sensor acquires the height data of the ripple weld joint, the other point laser sensor acquires the contour data of the ripple weld joint, the complete ripple shape is pre-scanned, the height data of the ripple head and the ripple head are acquired once respectively, and 1 contour point is acquired every 1mm to obtain an initial scanning track point;
(2) the track points are divided into the following track point types according to the positions of the track points: an upper bottom point, an upper left corner point, a left waist point, a lower left corner point, a lower bottom point, a lower right corner point, a right waist point and an upper right corner point;
(3) fitting the track points to respectively form an upper bottom straight line, a lower bottom straight line, a left waist line, a right waist line and a transition arc;
(4) determining five welding posture types of an upper bottom posture, a lower bottom posture, a left fillet posture, a left waist posture, a right fillet posture and a right waist posture according to the five shapes in the step (3), and obtaining initial position compensation values under various postures by a calibration method;
(5) adjusting the coordinates of the track points according to the types of the track points and the corresponding fitting shapes to obtain the final positions of the track points;
(6) selecting a welding attitude according to the type of the track point;
(7) after the positions and welding postures of all initial scanning track points of the corrugations are calculated, obtaining a welding track of a first corrugation, as shown in FIG. 3;
(8) starting welding according to the welding track, continuously scanning and acquiring the profile data of the next ripple in real time by the scanning and identifying unit 3 in the welding process, and acquiring the height data of the welding seam of the next ripple when the left waist of the previous ripple is welded;
(9) repeating the steps (3) to (7) after acquiring the trace point data of the next complete corrugation to obtain the welding trace of the next corrugation;
(10) adding the obtained track into the whole welding track, waiting for the robot to read, and repeating the steps to finally complete the whole welding work.
In the scheme, the PLC control cabinet 5 is connected with and controls the robot body 1 to move through the controller, the welding gun 2 and the scanning recognition unit 3 are installed on the robot body 1, and the robot body 1 drives the welding gun 2 and the scanning recognition unit 3 to move; the PLC control cabinet 5 is connected with a welding power supply, the welding power supply is connected with a wire feeder, and the wire feeder (not marked in the figure) is connected with the welding gun 2; scanning recognition unit 3 and 5 transmission connection of PLC switch board, scanning recognition unit 3 are used for the collection of welding seam original information, and PLC switch board 5 calculates the welding route through identification algorithm, controls the removal of robot body 1 in view of the above, drives welder 2 to start welding power, send the quick-witted work of silk to welder 2 supply welding wire, carry out welding work.
Above-mentioned scheme is still including clear rifle ware, clear rifle ware and welder 2 cooperation realize welder 2's cleanness.
In the scheme, the robot body 1 is installed on the walking support 6, the bottom of the walking support 6 is clamped and sleeved on the guide rail 4, the guide rail 4 is positioned on the side plate/upper side beam, and the robot body 1 moves along the guide rail 4.
In the above scheme, the first laser sensor 31 is horizontally arranged, and the second laser sensor 32 is obliquely arranged.
In the scheme, the robot body 1 is selected as the ABB IRB1410 model, and the controller is selected as the IRC5 model.
In the scheme, the laser sensor adopts a high-precision Ginzhi laser displacement sensor IL-300, and the repetition precision is 30 um.
The automatic welding process has the beneficial effects that:
(1) the equipment adopted in the welding process mainly comprises a PLC control cabinet 5 and a robot (mainly comprising a robot body 1, a welding gun 2 and a scanning identification unit 3 which are arranged on the robot body 1), wherein the PLC control cabinet 5 is used for displaying, controlling operation and parameter setting, the PLC control cabinet 5 controls the robot body to move through a controller, a laser sensor is used for collecting original welding seam information, the PLC control cabinet 5 calculates a welding route through an identification algorithm, controls the robot body to move according to the route information, drives the welding gun 2 and starts a welding power supply, and a wire feeder works to supply welding wires to the welding gun 2 to perform welding work; this design can carry out the wave soldering welding to the container automatically, and welding precision is high, and welding quality is good, and work efficiency promotes by a wide margin, has improved the economic benefits of enterprise.
(2) Wireless remote controller and PLC switch board 5 wireless connection, wireless remote controller can carry out X, Y, Z three directions (indicate around, about, upper and lower direction) mobile control to the robot body, can avoid the maloperation that the workman probably takes place on the demonstrator, also makes the operation simpler directly perceived, has realized fast to the rifle, realizes more directly perceived operation to the rifle through wireless remote controller.
The above welding process can also be briefly described as follows:
(1) fixing the wallboard, starting the PLC control cabinet 5, and controlling the robot body to drive the laser sensor to move by the PLC control cabinet 5 through the controller;
(2) after the laser beam moves to the position near the welding seam, starting a double-point laser sensor for scanning;
(3) after receiving the welding seam track of the first ripple, the PLC control cabinet 5 calculates the welding track position of the welding gun 2 through a welding seam recognition algorithm;
(4) the PLC control cabinet 5 controls the welding gun 2 on the robot body to move and rotate through the welding track information of the welding gun 2 to weld;
(5) during welding, the laser sensor can scan the next ripple in real time, and the position of the next welding track is calculated, so that welding and scanning calculation are realized at the same time; can carry out the wave welding to the container automatically, welding precision is high, and welding quality is good, and work efficiency promotes by a wide margin, has improved the economic benefits of enterprise.
Claims (8)
1. The utility model provides a special plane automatic weld technology for container ripple welds, pending object is the wallboard of being connected formation by regular structure panel and irregular panel, and the welding equipment of adoption includes PLC switch board and robot, and the robot is by PLC switch board drive and control, its characterized in that: the robot body is provided with a welding gun and a scanning recognition unit, the scanning recognition unit comprises a double-point laser sensor formed by a first laser sensor and a second laser sensor, the double-point laser sensor is connected with a PLC control cabinet,
the welding process comprises the following steps:
(1) fixing the wall plate, starting the PLC control cabinet, and controlling the robot body to drive the scanning recognition unit to move;
(2) the scanning identification unit moves to the position near a welding seam between the regular structural plate and the irregular plate, starts the double-point laser sensor to scan, and transmits scanning information to the PLC control cabinet in real time;
(3) after the PLC control cabinet receives the welding seam track of the first corrugation, the welding seam track position is calculated through a welding seam identification algorithm;
(4) the PLC control cabinet controls a welding gun on the robot body to move and rotate according to the welding track information, and simultaneously starts a welding power supply and supplies welding wires for welding;
(5) and during welding, the double-point laser sensor scans the next corrugation in real time, and calculates the position of the next welding track, so that welding and scanning calculation are realized at the same time until the welding work of the whole corrugation is finished.
2. The special automatic welding process for the container corrugation welding as claimed in claim 1, wherein the weld recognition algorithm comprises the following steps:
(1) in data acquisition, one point laser sensor acquires height data of a corrugated welding seam, the other point laser sensor acquires contour data of the corrugated welding seam, complete corrugations are pre-scanned, height data are acquired at wave heads and wave heads respectively, and 1 contour point is acquired every 1mm to obtain an initial scanning track point;
(2) the track points are divided into the following track point types according to the positions of the track points: an upper bottom point, an upper left corner point, a left waist point, a lower left corner point, a lower bottom point, a lower right corner point, a right waist point and an upper right corner point;
(3) preprocessing the locus points and fitting an upper bottom straight line, a lower bottom straight line, a left waist line, a right waist line and a transition arc;
(4) determining five welding posture types of an upper bottom posture, a lower bottom posture, a left fillet posture, a left waist posture, a right fillet posture and a right waist posture according to the five shapes in the step (3), and obtaining initial position compensation values under various postures by a calibration method;
(5) adjusting the coordinates of the track points according to the types of the track points and the corresponding fitting shapes to obtain the final positions of the track points;
(6) selecting a welding attitude according to the type of the track point;
(7) after the positions and welding postures of all initial scanning track points of the corrugations are calculated, the welding track of the first corrugation is obtained;
(8) starting welding according to the welding track, continuously scanning and acquiring track points of the next ripple in real time by a scanning and identifying unit in the welding process, continuously acquiring contour data during welding, and acquiring weld height data during welding of the left waist;
(9) repeating the steps (3) to (7) after acquiring the trace point data of the next complete corrugation to obtain the welding trace of the next corrugation;
(10) adding the obtained track into the whole welding track, waiting for the robot to read, and repeating the steps to finally complete the whole welding work.
3. The special automatic welding process for the container corrugation welding according to the claim 1, characterized in that: the PLC control cabinet is connected with and controls a welding power supply, the welding power supply is connected with a wire feeder, the wire feeder is connected with a welding gun, the PLC control cabinet calculates a welding route through an identification algorithm, the robot body is controlled to move according to the route information so as to drive the welding gun to move, the welding power supply is started, the wire feeder supplies welding wires to the welding gun, and welding work is carried out.
4. The special automatic welding process for the container corrugation welding according to the claim 1, characterized in that: the welding gun is provided with a gun cleaning device in a matching way.
5. The special automatic welding process for the container corrugation welding according to the claim 1, characterized in that: the bottom of the robot body is clamped on the guide rail and moves along the guide rail.
6. The special automatic welding process for the container corrugation welding according to the claim 1, characterized in that: the first laser sensor is horizontally arranged, and the second laser sensor is obliquely arranged.
7. The special automatic welding process for the container corrugation welding according to any one of the claims 1-6, characterized in that: the robot body is selected from ABB IRB1410, and the controller is selected from IRC 5.
8. The special automatic welding process for the container corrugation welding according to any one of the claims 1-6, characterized in that: the laser sensor adopts a high-precision Ginzhi laser displacement sensor IL-300, and the repetition precision is 30 um.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011088036.1A CN112355439A (en) | 2020-10-13 | 2020-10-13 | Special machine automatic welding process for container corrugated welding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011088036.1A CN112355439A (en) | 2020-10-13 | 2020-10-13 | Special machine automatic welding process for container corrugated welding |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112355439A true CN112355439A (en) | 2021-02-12 |
Family
ID=74508320
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011088036.1A Pending CN112355439A (en) | 2020-10-13 | 2020-10-13 | Special machine automatic welding process for container corrugated welding |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112355439A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113909720A (en) * | 2021-09-24 | 2022-01-11 | 深圳前海瑞集科技有限公司 | Welding device and welding method for deep wave steep slope corrugated plate container |
| CN114682884A (en) * | 2022-04-13 | 2022-07-01 | 江南造船(集团)有限责任公司 | Welding method for MARK III liquid dome corrugated corner piece |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR19990018846A (en) * | 1997-08-28 | 1999-03-15 | 김징완 | Welding line position detection method using laser vision sensor and sensor camera |
| CN105397244A (en) * | 2015-11-27 | 2016-03-16 | 大连理工大学 | Multi-station robot intelligent welding system for pipe piling sheets |
| CN105598600A (en) * | 2016-02-02 | 2016-05-25 | 上海理工大学 | Method for independently locating welding lines of box-type parts and automatically generating tracks |
| CN207205619U (en) * | 2017-09-05 | 2018-04-10 | 唐山英莱科技有限公司 | Ripple seam tracking system based on 3 D laser scanning |
| CN107963472A (en) * | 2017-12-22 | 2018-04-27 | 长沙长泰机器人有限公司 | Robot automatic loading system and method based on laser vision |
| CN108151649A (en) * | 2017-12-29 | 2018-06-12 | 上海华太信息技术有限公司 | A kind of method measured using dot laser to workpiece specific position parameter |
| CN108627104A (en) * | 2017-03-15 | 2018-10-09 | 上海华太数控技术有限公司 | A kind of dot laser measurement method of parts height dimension |
| CN109226967A (en) * | 2018-07-25 | 2019-01-18 | 同高先进制造科技（太仓）有限公司 | A kind of steady seam tracking system of active laser vision for Laser-Arc Hybrid Welding |
| CN109530865A (en) * | 2019-01-16 | 2019-03-29 | 绍兴汉立工业自动化科技有限公司 | A kind of chassis of container welding procedure of band three-dimensional weld seam recognition |
| CN110508906A (en) * | 2019-08-30 | 2019-11-29 | 上海发那科机器人有限公司 | A kind of method that robotic laser displacement sensor seeks position |
| CN111086000A (en) * | 2019-12-25 | 2020-05-01 | 上海新时达机器人有限公司 | Welding seam locating method and device, computer equipment and storage medium |
| CN111112885A (en) * | 2019-11-26 | 2020-05-08 | 福尼斯智能装备(珠海)有限公司 | Welding system with vision system for feeding and discharging workpieces and self-adaptive positioning of welding seams |
| DE102020002826A1 (en) * | 2020-05-11 | 2020-06-25 | Daimler Ag | Method for monitoring a laser welding process using optical coherence tomography |
| CN111390335A (en) * | 2020-03-31 | 2020-07-10 | 绍兴汉立工业自动化科技有限公司 | Automatic welding process for plate splicing welding of container |
| CN111390418A (en) * | 2020-03-31 | 2020-07-10 | 绍兴汉立工业自动化科技有限公司 | Automatic welding process for container corrugated welding |
| CN111745267A (en) * | 2020-08-14 | 2020-10-09 | 湘潭大学 | System and method for tracking groove weld in real time based on laser displacement sensor |
-
2020
- 2020-10-13 CN CN202011088036.1A patent/CN112355439A/en active Pending
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR19990018846A (en) * | 1997-08-28 | 1999-03-15 | 김징완 | Welding line position detection method using laser vision sensor and sensor camera |
| CN105397244A (en) * | 2015-11-27 | 2016-03-16 | 大连理工大学 | Multi-station robot intelligent welding system for pipe piling sheets |
| CN105598600A (en) * | 2016-02-02 | 2016-05-25 | 上海理工大学 | Method for independently locating welding lines of box-type parts and automatically generating tracks |
| CN108627104A (en) * | 2017-03-15 | 2018-10-09 | 上海华太数控技术有限公司 | A kind of dot laser measurement method of parts height dimension |
| CN207205619U (en) * | 2017-09-05 | 2018-04-10 | 唐山英莱科技有限公司 | Ripple seam tracking system based on 3 D laser scanning |
| CN107963472A (en) * | 2017-12-22 | 2018-04-27 | 长沙长泰机器人有限公司 | Robot automatic loading system and method based on laser vision |
| CN108151649A (en) * | 2017-12-29 | 2018-06-12 | 上海华太信息技术有限公司 | A kind of method measured using dot laser to workpiece specific position parameter |
| CN109226967A (en) * | 2018-07-25 | 2019-01-18 | 同高先进制造科技（太仓）有限公司 | A kind of steady seam tracking system of active laser vision for Laser-Arc Hybrid Welding |
| CN109530865A (en) * | 2019-01-16 | 2019-03-29 | 绍兴汉立工业自动化科技有限公司 | A kind of chassis of container welding procedure of band three-dimensional weld seam recognition |
| CN110508906A (en) * | 2019-08-30 | 2019-11-29 | 上海发那科机器人有限公司 | A kind of method that robotic laser displacement sensor seeks position |
| CN111112885A (en) * | 2019-11-26 | 2020-05-08 | 福尼斯智能装备(珠海)有限公司 | Welding system with vision system for feeding and discharging workpieces and self-adaptive positioning of welding seams |
| CN111086000A (en) * | 2019-12-25 | 2020-05-01 | 上海新时达机器人有限公司 | Welding seam locating method and device, computer equipment and storage medium |
| CN111390335A (en) * | 2020-03-31 | 2020-07-10 | 绍兴汉立工业自动化科技有限公司 | Automatic welding process for plate splicing welding of container |
| CN111390418A (en) * | 2020-03-31 | 2020-07-10 | 绍兴汉立工业自动化科技有限公司 | Automatic welding process for container corrugated welding |
| DE102020002826A1 (en) * | 2020-05-11 | 2020-06-25 | Daimler Ag | Method for monitoring a laser welding process using optical coherence tomography |
| CN111745267A (en) * | 2020-08-14 | 2020-10-09 | 湘潭大学 | System and method for tracking groove weld in real time based on laser displacement sensor |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113909720A (en) * | 2021-09-24 | 2022-01-11 | 深圳前海瑞集科技有限公司 | Welding device and welding method for deep wave steep slope corrugated plate container |
| CN113909720B (en) * | 2021-09-24 | 2024-01-26 | 深圳前海瑞集科技有限公司 | Welding device and welding method for deep wave steep slope corrugated plate container |
| CN114682884A (en) * | 2022-04-13 | 2022-07-01 | 江南造船(集团)有限责任公司 | Welding method for MARK III liquid dome corrugated corner piece |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111390418B (en) | Automatic welding process for container corrugated welding | |
| CN105195868B (en) | A kind of robot welding system and its welding method | |
| CN112355439A (en) | Special machine automatic welding process for container corrugated welding | |
| CN102009275B (en) | Automatic welding system for rack and base of marine diesel engine | |
| CN110524582A (en) | A kind of flexibility welding robot workstation | |
| CN105618976B (en) | A kind of intelligent weld seam system | |
| CN207205619U (en) | Ripple seam tracking system based on 3 D laser scanning | |
| CN112743206A (en) | Robot welding process for assembling in ship | |
| CN112355438A (en) | Automatic robot welding process for container corrugated welding | |
| CN205342175U (en) | Robot welding system | |
| CN112453703A (en) | Complex special-shaped structure remote laser welding method based on visual sensing | |
| CN107498152A (en) | A kind of large area metal plate tool structure automatic soldering device for being classified positioning | |
| CN109530865A (en) | A kind of chassis of container welding procedure of band three-dimensional weld seam recognition | |
| CN106493579A (en) | A kind of panel beating system and its workflow | |
| CN109834373A (en) | A kind of view-based access control model and the automation submerged arc soldering equipment of laser tracking | |
| CN112427777A (en) | Robot self-adaptive intelligent welding system and welding method for assembly in ship | |
| CN110340492B (en) | Double-laser visual tracking welding device and method for deep wave steep welding seam | |
| CN114789448A (en) | Steel member welding device and welding method thereof | |
| CN112719702B (en) | Intelligent assembling and welding integrated device and method for complex pipeline | |
| CN113664431A (en) | Steel structural part welding arm capable of adjusting posture in real time and adjusting method | |
| CN201776566U (en) | Automatic welding machine | |
| CN214291384U (en) | Double-point laser automatic welding device for container corrugated welding | |
| CN105618888A (en) | High-frequency induction automatic welding system for refrigerating pipelines | |
| CN208214544U (en) | A kind of robot workstation for automatic welding | |
| CN207593022U (en) | A kind of view-based access control model and the automation submerged arc soldering equipment of laser tracking |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210212 |
|
| RJ01 | Rejection of invention patent application after publication |