CN112894207A - Visual welding seam tracking system of welding robot - Google Patents
Visual welding seam tracking system of welding robot Download PDFInfo
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- CN112894207A CN112894207A CN202110058607.5A CN202110058607A CN112894207A CN 112894207 A CN112894207 A CN 112894207A CN 202110058607 A CN202110058607 A CN 202110058607A CN 112894207 A CN112894207 A CN 112894207A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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Abstract
The invention discloses a visual weld tracking system of a welding robot, which comprises an industrial personal computer, wherein the industrial personal computer is used for comprehensively processing data, is connected with a motion control card and is used for outputting high-frequency pulses and controlling the operation of a servo motor, and the motion control card is connected with a traveling mechanism and is used for controlling the motion direction of the traveling mechanism; the industrial personal computer is also connected with an image acquisition card for carrying out image processing on image data input by the image acquisition card, the image acquisition card is connected with an industrial camera for acquiring laser images through the industrial camera, and the industrial personal computer is also connected with a line laser for controlling projection of the laser. The invention solves the problems that the welding path of the welding robot is welded by walking according to the preset path, and workers have to edit different welding path functions aiming at different welding workpieces and input the functions into the welding robot.
Description
Technical Field
The invention relates to the technical field of welding robots, in particular to a visual welding seam tracking system of a welding robot.
Background
The welding robot is an industrial robot that engages in welding, including cutting and painting. According to the definition of the international standardization organization industrial robot, which belongs to the standard welding robot, the industrial robot is a multipurpose, reprogrammable automatic control manipulator with three or more programmable axes for the industrial automation field. To accommodate different applications, the mechanical interface of the last axis of the robot, usually a connecting flange, may be used to attach different tools or end effectors.
In the prior art, a welding path of a welding robot is welded by walking according to a preset path, and a worker needs to edit different welding path functions aiming at different welding workpieces and input the different welding path functions into the welding robot, so that the visual seam tracking system of the welding robot is invented.
Disclosure of Invention
The invention aims to solve the problems that a welding path of a welding robot is welded by walking according to a preset path, and a worker has to edit different welding path functions aiming at different welding workpieces and input the different welding path functions into the welding robot.
In order to achieve the purpose, the invention adopts the following technical scheme: a visual welding seam tracking system of a welding robot comprises an industrial personal computer, wherein the industrial personal computer is used for comprehensively processing data, is connected with a motion control card and is used for outputting high-frequency pulses and controlling the operation of a servo motor, and the motion control card is connected with a traveling mechanism and is used for controlling the motion direction of the traveling mechanism;
the industrial personal computer is also connected with an image acquisition card for carrying out image processing on image data input by the image acquisition card, the image acquisition card is connected with an industrial camera for acquiring laser images through the industrial camera, and the industrial personal computer is also connected with a line laser for controlling the projection of the laser;
the industrial personal computer is also connected with a welding machine for controlling the operation of the welding machine, and the welding machine is communicated with a welding gun for controlling the welding gun to perform welding work;
the industrial personal computer is further connected with a display screen for displaying a control software interface and control information and displaying image pictures, is further connected with a keyboard for editing and sending the control information, and is connected with an external hard disk for inputting a motion control card library function.
Preferably, the traveling mechanism comprises an X-axis driver connected with the motion control card for starting the X-axis driver, and the X-axis driver is connected with an X-axis motor for driving the X-axis motor to operate, so that the transmission end of the traveling mechanism moves in the X-axis direction.
Preferably, the traveling mechanism comprises a Y-axis driver connected with the motion control card for starting the Y-axis driver, and the Y-axis driver is connected with a Y-axis motor for driving the Y-axis motor to operate, so that the transmission end of the traveling mechanism moves in the Y-axis direction.
Preferably, the traveling mechanism comprises a Z-axis driver connected with the motion control card and used for starting the Z-axis driver, and the Z-axis driver is connected with a Z-axis motor and used for driving the Z-axis motor to operate, so that the transmission end of the traveling mechanism moves in the Z-axis direction.
Preferably, two X-axis limit switches connected with the motion control card are installed at two ends of an X axis of the travelling mechanism, two Y-axis limit switches connected with the motion control card are installed at two ends of a Y axis, two Z-axis limit switches connected with the motion control card are installed at two ends of a Z axis, and the travelling mechanism is used for performing safe travel limit in the X, Y, Z direction.
Preferably, the line laser, the industrial camera and the welding gun are all arranged at the transmission end of the walking mechanism.
Preferably, the industrial camera adopts a CCD camera, and a filter is mounted on a lens for filtering arc-welding light and external interference light.
Preferably, the line-of-sight laser emits a point-like laser source, a columnar mirror forms strip-shaped light to irradiate the surface of the welding part, the laser line is correspondingly deformed at the groove of the corner welding seam or the lap welding seam, and then the strip-shaped laser on the workpiece is diffusely reflected into the industrial camera, so that the shape of the laser on the surface of the workpiece can be clearly obtained.
Compared with the prior art, the invention has the following beneficial effects: the visual laser emits a point laser source, strip light is formed through a cylindrical mirror and is irradiated on the surface of a welding part, corresponding deformation of a laser strip at a groove of a corner joint welding line or a lap joint welding line can be generated, then strip laser on a workpiece is diffusely reflected into an industrial camera, the shape of the laser on the surface of the workpiece can be clearly obtained, an image data is transmitted to a motion control card through an image acquisition card, the motion control card carries out image filtering, binaryzation, contour extraction and central line extraction on the image, after a clear welding line image is obtained, an image coordinate is converted into a platform coordinate through coordinate conversion, a deviation value between the welding line central point and a welding gun central point is calculated, and finally the deviation value is transmitted to a walking mechanism, the position of a welding gun is adjusted, and real-.
Drawings
The invention is described in further detail below with reference to the following figures and detailed description:
fig. 1 is an overall structural schematic diagram of the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
Please refer to fig. 1. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
The invention provides a technical scheme that: a visual welding seam tracking system of a welding robot comprises an industrial personal computer, wherein the industrial personal computer is used for comprehensively processing data, is connected with a motion control card and is used for outputting high-frequency pulses and controlling the operation of a servo motor, and the motion control card is connected with a traveling mechanism and is used for controlling the motion direction of the traveling mechanism;
the industrial personal computer is also connected with an image acquisition card for carrying out image processing on image data input by the image acquisition card, the image acquisition card is connected with an industrial camera for acquiring laser images through the industrial camera, and the industrial personal computer is also connected with a line laser for controlling the projection of the laser;
the industrial personal computer is also connected with a welding machine for controlling the operation of the welding machine, and the welding machine is communicated with a welding gun for controlling the welding gun to perform welding work;
the industrial personal computer is further connected with a display screen for displaying a control software interface and control information and displaying image pictures, is further connected with a keyboard for editing and sending the control information, and is connected with an external hard disk for inputting a motion control card library function.
The traveling mechanism comprises an X-axis driver connected with the motion control card and used for starting the X-axis driver, and the X-axis driver is connected with an X-axis motor and used for driving the X-axis motor to run so that the transmission end of the traveling mechanism moves in the X-axis direction.
The traveling mechanism comprises a Y-axis driver connected with the motion control card and used for starting the Y-axis driver, and the Y-axis driver is connected with a Y-axis motor and used for driving the Y-axis motor to run so that the transmission end of the traveling mechanism moves in the Y-axis direction.
The walking mechanism comprises a Z-axis driver connected with the motion control card and used for starting the Z-axis driver, and the Z-axis driver is connected with a Z-axis motor and used for driving the Z-axis motor to run so that the transmission end of the walking mechanism moves in the Z-axis direction.
Two X-axis limit switches connected with the motion control card are installed at the two ends of the X axis of the travelling mechanism, two Y-axis limit switches connected with the motion control card are installed at the two ends of the Y axis, two Z-axis limit switches connected with the motion control card are installed at the two ends of the Z axis, and the travelling mechanism is limited in safety stroke in the X, Y, Z direction.
The line laser, the industrial camera and the welding gun are all installed at the transmission end of the walking mechanism.
The industrial camera adopts a CCD camera, and a filter is arranged on a lens and used for filtering arc welding light and external interference light.
The visual laser emits a point-shaped laser source, strip light is formed through a cylindrical mirror and is irradiated to the surface of the welding part, the laser line is correspondingly deformed at the groove of the corner joint welding line or the lap joint welding line, and then the strip laser on the workpiece is diffusely reflected into an industrial camera, so that the shape of the laser on the surface of the workpiece can be clearly obtained.
When the laser welding device is used, the visual laser emits a dotted laser source, the laser source forms strip light through the cylindrical mirror and irradiates the surface of a welding part, the laser line can be correspondingly deformed at the groove of a corner joint welding line or a lap joint welding line, then the strip laser on the workpiece is diffusely reflected into the industrial camera, the shape of the laser on the surface of the workpiece can be clearly obtained, the image data is transmitted to the motion control card through the image acquisition card, the motion control card carries out image filtering, binaryzation, contour extraction and central line extraction on the image, after a clear welding line image is obtained, the image coordinate is converted into a platform coordinate through coordinate conversion, a deviation value of the welding line central point and the welding gun central point is calculated, and finally the deviation value is transmitted to the walking mechanism, the position of the welding gun is adjusted.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (8)
1. The utility model provides a welding robot's vision seam tracking system, including the industrial computer, its characterized in that: the industrial personal computer is used for comprehensively processing data, is connected with a motion control card and is used for outputting high-frequency pulses and controlling the operation of the servo motor, and the motion control card is connected with a traveling mechanism and is used for controlling the movement direction of the traveling mechanism;
the industrial personal computer is also connected with an image acquisition card for carrying out image processing on image data input by the image acquisition card, the image acquisition card is connected with an industrial camera for acquiring laser images through the industrial camera, and the industrial personal computer is also connected with a line laser for controlling the projection of the laser;
the industrial personal computer is also connected with a welding machine for controlling the operation of the welding machine, and the welding machine is communicated with a welding gun for controlling the welding gun to perform welding work;
the industrial personal computer is further connected with a display screen for displaying a control software interface and control information and displaying image pictures, is further connected with a keyboard for editing and sending the control information, and is connected with an external hard disk for inputting a motion control card library function.
2. The visual seam tracking system of a welding robot of claim 1, wherein: the traveling mechanism comprises an X-axis driver connected with the motion control card and used for starting the X-axis driver, and the X-axis driver is connected with an X-axis motor and used for driving the X-axis motor to run so that the transmission end of the traveling mechanism moves in the X-axis direction.
3. The visual seam tracking system of a welding robot of claim 1, wherein: the traveling mechanism comprises a Y-axis driver connected with the motion control card and used for starting the Y-axis driver, and the Y-axis driver is connected with a Y-axis motor and used for driving the Y-axis motor to run so that the transmission end of the traveling mechanism moves in the Y-axis direction.
4. The visual seam tracking system of a welding robot of claim 1, wherein: the walking mechanism comprises a Z-axis driver connected with the motion control card and used for starting the Z-axis driver, and the Z-axis driver is connected with a Z-axis motor and used for driving the Z-axis motor to run so that the transmission end of the walking mechanism moves in the Z-axis direction.
5. The visual seam tracking system of a welding robot of claim 1, wherein: two X-axis limit switches connected with the motion control card are installed at the two ends of the X axis of the travelling mechanism, two Y-axis limit switches connected with the motion control card are installed at the two ends of the Y axis, two Z-axis limit switches connected with the motion control card are installed at the two ends of the Z axis, and the travelling mechanism is limited in safety stroke in the X, Y, Z direction.
6. The visual seam tracking system of a welding robot of claim 1, wherein: the line laser, the industrial camera and the welding gun are all installed at the transmission end of the walking mechanism.
7. The visual seam tracking system of a welding robot of claim 1, wherein: the industrial camera adopts a CCD camera, and a filter is arranged on a lens and used for filtering arc welding light and external interference light.
8. The visual seam tracking system of a welding robot of claim 1, wherein: the visual laser emits a point-shaped laser source, strip light is formed through a cylindrical mirror and is irradiated to the surface of the welding part, the laser line is correspondingly deformed at the groove of the corner joint welding line or the lap joint welding line, and then the strip laser on the workpiece is diffusely reflected into an industrial camera, so that the shape of the laser on the surface of the workpiece can be clearly obtained.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110058607.5A CN112894207A (en) | 2021-01-16 | 2021-01-16 | Visual welding seam tracking system of welding robot |
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| CN202110058607.5A CN112894207A (en) | 2021-01-16 | 2021-01-16 | Visual welding seam tracking system of welding robot |
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Citations (8)
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| US5572102A (en) * | 1995-02-28 | 1996-11-05 | Budd Canada Inc. | Method and apparatus for vision control of welding robots |
| CN1511669A (en) * | 2002-12-27 | 2004-07-14 | 中国科学院自动化研究所 | Arc welding robot control platform with visual welding seam automatic tracing function |
| CN102059435A (en) * | 2010-12-14 | 2011-05-18 | 东南大学 | Longitudinal seam welding special machine with linear structure light type vision sensor and control method thereof |
| CN103008881A (en) * | 2012-12-05 | 2013-04-03 | 中国电子科技集团公司第四十五研究所 | Seam tracking method based on template matching |
| CN103480991A (en) * | 2013-09-16 | 2014-01-01 | 河北工业大学 | Thin steel plate narrow welding joint online visual inspection and control device |
| CN104759736A (en) * | 2014-01-07 | 2015-07-08 | 中国国际海运集装箱(集团)股份有限公司 | Container corrugated plate welding robot and visual servo control system thereof |
| CN108132017A (en) * | 2018-01-12 | 2018-06-08 | 中国计量大学 | A kind of plane welded seam Feature Points Extraction based on laser vision system |
| CN108907455A (en) * | 2018-08-04 | 2018-11-30 | 苏州佩恩机器人有限公司 | A kind of seam tracking system and method merging vision technique based on laser-visible light |
-
2021
- 2021-01-16 CN CN202110058607.5A patent/CN112894207A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5572102A (en) * | 1995-02-28 | 1996-11-05 | Budd Canada Inc. | Method and apparatus for vision control of welding robots |
| CN1511669A (en) * | 2002-12-27 | 2004-07-14 | 中国科学院自动化研究所 | Arc welding robot control platform with visual welding seam automatic tracing function |
| CN102059435A (en) * | 2010-12-14 | 2011-05-18 | 东南大学 | Longitudinal seam welding special machine with linear structure light type vision sensor and control method thereof |
| CN103008881A (en) * | 2012-12-05 | 2013-04-03 | 中国电子科技集团公司第四十五研究所 | Seam tracking method based on template matching |
| CN103480991A (en) * | 2013-09-16 | 2014-01-01 | 河北工业大学 | Thin steel plate narrow welding joint online visual inspection and control device |
| CN104759736A (en) * | 2014-01-07 | 2015-07-08 | 中国国际海运集装箱(集团)股份有限公司 | Container corrugated plate welding robot and visual servo control system thereof |
| CN108132017A (en) * | 2018-01-12 | 2018-06-08 | 中国计量大学 | A kind of plane welded seam Feature Points Extraction based on laser vision system |
| CN108907455A (en) * | 2018-08-04 | 2018-11-30 | 苏州佩恩机器人有限公司 | A kind of seam tracking system and method merging vision technique based on laser-visible light |
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