CN112692837A - Welding robot system and welding method for overhauling wagon body of railway wagon - Google Patents
Welding robot system and welding method for overhauling wagon body of railway wagon Download PDFInfo
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- CN112692837A CN112692837A CN202110033477.XA CN202110033477A CN112692837A CN 112692837 A CN112692837 A CN 112692837A CN 202110033477 A CN202110033477 A CN 202110033477A CN 112692837 A CN112692837 A CN 112692837A
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- 238000003466 welding Methods 0.000 title claims abstract description 151
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000000007 visual effect Effects 0.000 claims abstract description 34
- 238000012545 processing Methods 0.000 claims abstract description 19
- 230000008569 process Effects 0.000 claims description 10
- 229910000831 Steel Inorganic materials 0.000 claims description 9
- 239000010959 steel Substances 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 7
- 230000001502 supplementing effect Effects 0.000 claims description 7
- 238000007726 management method Methods 0.000 claims description 5
- 238000007689 inspection Methods 0.000 claims description 4
- 238000004148 unit process Methods 0.000 claims description 4
- 238000003915 air pollution Methods 0.000 abstract description 4
- 238000012423 maintenance Methods 0.000 description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- HSFWRNGVRCDJHI-UHFFFAOYSA-N alpha-acetylene Natural products C#C HSFWRNGVRCDJHI-UHFFFAOYSA-N 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 125000002534 ethynyl group Chemical group [H]C#C* 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The invention discloses a welding robot system and a welding method for overhauling a wagon body of a railway wagon, and the welding robot system comprises a robot body, a visual identification unit, an AGV trolley movement control unit, a welding control unit, a data processing unit, a position acquisition unit and a main control unit; a position acquisition unit acquires position information; the AGV trolley movement control unit controls the AGV trolley to move to a target position, the AGV trolley movement control unit controls the visual recognition unit to scan the area identification, and the visual recognition unit sends the area identification information to the main control unit; after receiving the information, the main control unit controls the visual recognition unit to scan the welding seam, and the visual recognition unit sends the welding seam information to the data processing unit; the data processing unit obtains welding track information and sends the welding track information to the welding control unit; the welding control unit controls the welding gun to weld. Welding is automatically carried out through the robot, so that the welding efficiency is improved, and meanwhile, the danger caused by operation of workers in light pollution, air pollution and high-temperature environments is avoided.
Description
Technical Field
The invention relates to the technical field of robot welding, in particular to a welding robot system and a welding method for overhauling a wagon body of a railway wagon.
Background
The open wagon body of the railway wagon is mainly used for railway freight, is supported by a bogie to run on a track and is an important component of the railway wagon. The overhaul and maintenance of the railway wagon is an important guarantee for the safety of railway transportation and the freight transportation operation capacity, and the overhaul and maintenance of a wagon body is an important link for the overhaul of the railway wagon. The truck body maintenance needs a series of procedures of decomposition, welding, correction, blanking, repair welding butt joint, welding and the like according to the maintenance process flow, and finally final drop inspection is carried out to ensure that the truck body maintenance meets the maintenance process requirements.
At present, corrosion, defect conditions and cutting areas of a truck body are drawn manually, and qualified vehicle fitters are inspected and calibrated one by adopting an iron hammer striking mode. And cutting the calibrated area by using oxygen and acetylene manually. And manually measuring the size of the cutting area, and cutting the steel plate needing to be supplemented. And manually spot-welding the butted and supplemented steel plates.
The welding environment is severe, the temperature is high, light pollution and air pollution exist, the welding quantity of the welding procedure is large, the number of operators is large, professional welders are needed, the working time is long, and the efficiency is low.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: at present, in the railway wagon body overhaul, when welding operation is carried out, manual welding is needed, the welding environment is severe, the temperature is high, light pollution and air pollution exist, workers are in the working environment for a long time, danger is easy to occur, meanwhile, professional welders are needed for manual welding, the working time is long, and the efficiency is low.
The invention is realized by the following technical scheme:
a welding robot system for overhauling a wagon body of a railway wagon comprises a robot body, and is characterized by further comprising a visual identification unit, an AGV trolley movement control unit, a welding control unit, a data processing unit, a position acquisition unit and a main control unit;
the visual recognition unit comprises a camera and a laser sensor, the camera is used for scanning the regional identification, and the laser sensor is matched with the camera to scan the welding seam.
The position acquisition unit is used for acquiring self-position information and target position information of the robot body and sending the self-position information and the target position information to the AGV trolley movement control unit;
the AGV trolley movement control unit adjusts the direction of the AGV trolley based on the received self position information and the target position information and controls the AGV trolley to move to a target position, when the AGV trolley reaches the target position, the AGV trolley movement control unit controls the visual recognition unit to scan the area identification, and the visual recognition unit sends the area identification information to the main control unit;
after receiving the area identification information sent by the visual recognition unit, the main control unit controls the visual recognition unit to scan the welding seam, and the visual recognition unit sends the scanned welding seam information to the data processing unit;
the data processing unit processes the received welding seam information to obtain welding track information and sends the welding track information to the welding control unit;
and the welding control unit controls the welding gun to weld the area to be welded based on the received welding track information.
The invention provides a welding robot system for overhauling a wagon body of a railway wagon, which replaces manual welding, improves the welding efficiency and avoids the danger caused by manual work in a severe environment. After the robot body enters a boxcar, the vision recognition unit can directly acquire the target position information and the self position information of the robot body, the vision recognition unit sends the target position information and the self position information of the robot body to the AGV trolley mobile control unit, the AGV trolley mobile control unit adjusts the direction of the AGV trolley according to the target position information and the self position information of the robot body and controls the AGV trolley to move to the target position, after the AGV trolley moves to the target position, the AGV trolley mobile control unit controls the vision recognition unit to scan the area mark calibrated in advance, the vision recognition unit sends the scanned area mark information to the main control unit, after the main control unit receives the area mark information, the robot body is confirmed to reach the target position, the main control unit controls the vision recognition unit to scan the welding seam, and sending the welding seam information to a data processing unit, processing the received welding seam information by the data processing unit to obtain welding track information, sending the welding track information to a welding control unit, controlling a welding gun to weld by the welding control unit based on the received welding track information, and moving the AGV to the next area to be welded after the current welding operation is finished.
Preferably, the position acquisition unit includes a laser radar.
Preferably, the welding control unit sends the welding information to the process management database unit for storage after the welding control unit completes the welding.
Preferably, in order to avoid the collision of the AGV trolley with the carriage in the moving process, the system further comprises an alarm unit, and when the position acquisition unit detects that the moving direction of the AGV trolley has an obstacle, the alarm unit is started to give an alarm.
Preferably, the area to be overhauled is artificially determined, and the area identifier is placed at the corresponding position. Specifically, the position acquisition unit acquires the self-position information and the target position information of the robot body in the carriage by measuring the internal dimension of the wagon body and forming a three-dimensional image.
Based on the welding method of the welding robot system for the wagon body overhaul, the welding method specifically comprises the following steps:
step 1: manually matching and installing the material supplementing steel plate with the cutting position, and performing spot welding after the material supplementing steel plate is suitable;
step 2: the AGV trolley automatically moves to a target position, the visual recognition unit scans a welding seam, the welding gun automatically performs welding, and after the welding is completed, the AGV trolley automatically moves to the next area to be welded.
The invention has the following advantages and beneficial effects:
1. the invention relates to a welding robot system and a welding method for overhauling a wagon body of a railway wagon, wherein the system is provided with a position acquisition unit for measuring the size of a carriage of the wagon body, generating a three-dimensional image, accurately giving self position information and target position information of a robot body in the carriage, detecting whether an obstacle exists in the moving direction of an AGV trolley or not, starting an alarm unit to give an alarm when the obstacle exists, and avoiding the collision of the AGV trolley with the carriage in the moving process;
2. according to the welding robot system and the welding method for overhauling the wagon body of the railway wagon, other work is automatically completed by the robot body except that the welding position needs manual calibration and spot welding of a material supplementing steel plate is needed, so that the welding efficiency is improved, and the danger easily caused by long-time operation of workers in a severe environment is avoided.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a system block diagram of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Example 1
At present in the railway freight car automobile body overhauls, when carrying out welding operation, need the manual work to weld, welding environment is abominable, the high and existence light pollution of temperature, air pollution, the staff is in this kind of operational environment for a long time, danger takes place easily, meanwhile, manual welding needs the professional welder, and operating time is long, and is inefficient, this embodiment has proposed the welding robot system who is used for railway freight car automobile body to overhaul who solves above-mentioned problem, the system architecture is specifically as shown in FIG. 1: the automatic control system comprises a robot body, a visual identification unit, an AGV trolley movement control unit, a welding control unit, a data processing unit, a position acquisition unit and a main control unit;
the visual recognition unit comprises a camera and a laser sensor, the camera is used for scanning the area identification, and the laser sensor is matched with the camera to scan the welding seam. The position acquisition unit is used for acquiring self-position information and target position information of the robot body and sending the self-position information and the target position information to the AGV trolley movement control unit; the AGV trolley movement control unit adjusts the direction of the AGV trolley based on the received self position information and the target position information and controls the AGV trolley to move to a target position, when the AGV trolley reaches the target position, the AGV trolley movement control unit controls the visual recognition unit to scan the area identification, and the visual recognition unit sends the area identification information to the main control unit; after receiving the area identification information sent by the visual recognition unit, the main control unit controls the visual recognition unit to scan the welding seam, and the visual recognition unit sends the scanned welding seam information to the data processing unit; the data processing unit processes the received welding seam information to obtain welding track information and sends the welding track information to the welding control unit; and the welding control unit controls the welding gun to weld the area to be welded based on the received welding track information.
The working principle of the embodiment is as follows:
after the robot body enters a boxcar, the vision recognition unit can directly acquire target position information and self position information of the robot body, the vision recognition unit sends the target position information and the self position information of the robot body to the AGV trolley movement control unit, the AGV trolley movement control unit adjusts the direction of the AGV trolley according to the target position information and the self position information of the robot and controls the AGV trolley to move to a target position, after the AGV trolley moves to the target position, the AGV trolley movement control unit controls the vision recognition unit to scan a pre-calibrated area identifier, the vision recognition unit sends the scanned area identifier information to the main control unit, after the main control unit receives the area identifier information, the robot body is confirmed to reach the target position, the main control unit controls the vision recognition unit to scan a welding seam, and the welding seam information is sent to the data processing unit, and the data processing unit processes the received welding seam information to obtain welding track information and sends the welding track information to the welding control unit, the welding control unit controls the welding gun to weld based on the received welding track information, and the AGV trolley moves to the next area to be welded after the current welding operation is finished.
And manually determining the area to be overhauled and placing an area identifier at the corresponding position. The position acquisition unit comprises a laser radar, and self position information and target position information of the robot body in the carriage are obtained by measuring the internal size of the wagon body and forming a three-dimensional image. In order to facilitate related personnel to acquire welding information at any time, the welding control unit further comprises a process management database unit, and after welding is completed, the welding control unit sends the welding information to the process management database unit for storage. In order to avoid collision of the AGV trolley with the carriage in the moving process, the automatic guided vehicle further comprises an alarm unit, and when the position acquisition unit detects that the moving direction of the AGV trolley has an obstacle, the alarm unit is started to give an alarm.
Based on the welding method of the welding robot system for the wagon body overhaul, the welding method specifically comprises the following steps:
step 1: manually matching and installing the material supplementing steel plate with the cutting position, and performing spot welding after the material supplementing steel plate is suitable;
step 2: the AGV trolley automatically moves to a target position, the visual recognition unit scans a welding seam, the welding gun automatically performs welding, and after the welding is completed, the AGV trolley automatically moves to the next area to be welded.
Example 2
The difference between this embodiment and embodiment 1 is that welding track information is input in a welding control unit in advance, after a robot body enters a boxcar, a visual recognition unit can directly acquire target position information and self position information of the robot body, the visual recognition unit sends the target position information and the self position information of the robot body to an AGV trolley movement control unit, the AGV trolley movement control unit adjusts the direction of an AGV trolley according to the target position information and the self position information of the robot and controls the AGV trolley to move to a target position, after the AGV trolley moves to the target position, the AGV trolley movement control unit controls the visual recognition unit to scan a pre-calibrated area identifier, the visual recognition unit sends the scanned area identifier information to a main control unit, and after the main control unit receives the area identifier information, the main control unit confirms that the robot body reaches the target position, the main control unit sends a starting signal to the welding control unit, and the welding control unit directly controls the welding gun to weld according to preset welding track information. Compared with the embodiment 1, the welding seam information is sent to the data processing unit without scanning the welding seam through the visual recognition unit, the welding seam information is processed by the data processing unit to obtain the welding track, and the welding efficiency is further improved.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. A welding robot system for overhauling a wagon body of a railway wagon is characterized by comprising a robot body, a visual identification unit, an AGV trolley movement control unit, a welding control unit, a data processing unit, a position acquisition unit and a main control unit;
the visual recognition unit comprises a camera and a laser sensor, the camera is used for scanning the area identification, and the laser sensor is matched with the camera to scan the welding line;
the position acquisition unit is used for acquiring self position information and target position information of the robot body and sending the self position information and the target position information to the AGV trolley movement control unit;
the AGV trolley movement control unit adjusts the direction of the AGV trolley based on the received self position information and the target position information and controls the AGV trolley to move to a target position, when the AGV trolley reaches the target position, the AGV trolley movement control unit controls the visual recognition unit to scan the area identification, and the visual recognition unit sends the area identification information to the main control unit;
after receiving the area identification information sent by the visual recognition unit, the main control unit controls the visual recognition unit to scan the welding seam, and the visual recognition unit sends the scanned welding seam information to the data processing unit;
the data processing unit processes the received welding seam information to obtain welding track information and sends the welding track information to the welding control unit;
and the welding control unit controls the welding gun to weld the area to be welded based on the received welding track information.
2. The welding robot system for railroad freight car body inspection according to claim 1, wherein the position acquisition unit includes a lidar.
3. The welding robot system for overhauling a body of a railway wagon as claimed in claim 1, further comprising a process management database unit, wherein the welding control unit sends the welding information to the process management database unit for storage after the welding is completed.
4. The welding robot system for overhauling the body of a railway wagon as claimed in claim 1, further comprising an alarm unit, wherein the position obtaining unit starts the alarm unit to give an alarm when detecting that the moving direction of the AGV car has an obstacle.
5. The welding robot system for railroad freight car body inspection according to claim 1, wherein the area to be inspected is artificially determined and the area identification is placed at the corresponding position.
6. The welding robot system for overhauling a body of a railway wagon as recited in claim 1, wherein the position acquiring unit acquires the self position information and the target position information of the robot body in the carriage by measuring the internal dimension of the wagon body and forming a three-dimensional image.
7. The welding method of the welding robot system for the body inspection of the railway wagon as claimed in any one of the claims 1 to 6, comprising the steps of:
step 1: manually matching and installing the material supplementing steel plate with the cutting position, and performing spot welding after the material supplementing steel plate is suitable;
step 2: the AGV trolley automatically moves to a target position, the visual recognition unit scans a welding seam, the welding gun automatically performs welding, and after the welding is completed, the AGV trolley automatically moves to the next area to be welded.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110033477.XA CN112692837A (en) | 2021-01-11 | 2021-01-11 | Welding robot system and welding method for overhauling wagon body of railway wagon |
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| CN202110033477.XA CN112692837A (en) | 2021-01-11 | 2021-01-11 | Welding robot system and welding method for overhauling wagon body of railway wagon |
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| CN114654138A (en) * | 2022-04-21 | 2022-06-24 | 中铁第四勘察设计院集团有限公司 | Automatic welding system for contact rail |
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Application publication date: 20210423 |
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