CN112894223A - Automatic welding robot of diversified type that turns to - Google Patents
Automatic welding robot of diversified type that turns to Download PDFInfo
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- CN112894223A CN112894223A CN202110058602.2A CN202110058602A CN112894223A CN 112894223 A CN112894223 A CN 112894223A CN 202110058602 A CN202110058602 A CN 202110058602A CN 112894223 A CN112894223 A CN 112894223A
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- 238000003466 welding Methods 0.000 title claims abstract description 91
- 238000000034 method Methods 0.000 claims abstract description 9
- 230000008569 process Effects 0.000 claims abstract description 9
- 238000004891 communication Methods 0.000 claims description 23
- 239000007787 solid Substances 0.000 claims description 10
- 239000000523 sample Substances 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 5
- 230000007547 defect Effects 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 claims description 3
- 230000001960 triggered effect Effects 0.000 claims description 2
- 238000005520 cutting process Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 238000007751 thermal spraying Methods 0.000 description 1
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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
- B23K37/02—Carriages for supporting the welding or cutting element
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Abstract
The invention relates to the technical field of welding equipment and discloses a multidirectional steering type automatic welding robot which comprises a base, a mechanical arm, a rotary table, a laser welding head and a camera set, wherein the mechanical arm is arranged on the base; the laser welding machine is characterized in that a servo motor is arranged inside the base, an output shaft of the servo motor is connected with the rotary table, the rotary table is arranged at the top end of the base, the mechanical arm is arranged on the rotary table, and the laser welding head and the camera set are respectively arranged on the mechanical arm. This automatic welding robot of diversified type that turns to laser welding tracker assists power sense sensing system, both compensate each other, for stability, the robustness of robot remote control welding process provides better guarantee, realize the on-the-spot panorama observation of robot work through zooming in being equipped with the vision system, provide global whole information for the operator, thereby improve welding efficiency and precision.
Description
Technical Field
The invention relates to the technical field of welding equipment, in particular to a multidirectional steering type automatic welding robot.
Background
The welding robot is an industrial robot engaged in welding. 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. The welding robot is that a welding clamp or a welding (cutting) gun is arranged on a tail shaft flange of an industrial robot, so that the welding robot can carry out welding, cutting or thermal spraying.
At present, the welding robot has low efficiency and low precision in the welding process, and therefore a multidirectional steering type automatic welding robot is provided.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a multidirectional steering type automatic welding robot.
The invention provides the following technical scheme: a multi-azimuth steering type automatic welding robot comprises a base, mechanical arms, a rotary table, a laser welding head and a camera set;
a servo motor is arranged in the base, an output shaft of the servo motor is connected with a rotary table, the rotary table is arranged at the top end of the base, the mechanical arm is arranged on the rotary table, and the laser welding head and the camera set are respectively arranged on the mechanical arm;
a processor, a mechanical arm controller, a relay, a vision system, a laser welding tracking system and a force sense sensing system are arranged in the base;
arm controller and servo motor all are connected with the treater communication for control laser welding head diversely turns to, makes laser welding head carry out multi-angle welding to the work piece:
the laser welding tracking system is in communication connection with the processor and is used for correcting a welding path in real time in the welding process and guiding the welding process;
the vision system is in communication connection with the processor, so that an operator can accurately perform remote control teaching and robot system macro guidance operation without being in a working site;
the force sensing system is in communication connection with the processor, is used for making up the defects of a non-contact sensing means of a laser welding seam tracking system, and is matched with the laser welding seam tracking system for use;
the relay is in communication connection with the processor and the laser welding head and used for controlling the laser welding head to be started.
Preferably, the revolving stage is including connecting platform, adapter sleeve, solid fixed ring and ball, the ball sets up a plurality ofly and inlays on solid fixed ring's top, gu fixed ring installs the top at the base, the adapter sleeve is installed on servo motor's output shaft, and the top of adapter sleeve is located solid fixed ring's inboard and is connected with the bottom of being connected the platform, the bottom of being connected the platform contacts with the ball on the solid fixed ring.
Preferably, the bottom of connecting the platform has seted up the ring channel, and the ball on the solid fixed ring all with the ring channel sliding connection of connecting the platform bottom.
Preferably, the base is provided with an access hole.
Preferably, the temperature acquisition module and the radiator are arranged inside the base 1, the temperature acquisition module is in communication connection with the processor, the radiator is in communication connection with the relay, the temperature inside the base 1 is detected through the temperature acquisition module, and after the high temperature reaches a set value, the electric appliance is switched on to enable the radiator to operate.
Preferably, when the laser welding head 4 welds a workpiece, the camera set sends the received structured light pattern image to the laser welding tracking system, and after the image card converts the structured light pattern image into a digital image, the digital image processing technology is applied to extract weld characteristic parameters and give image coordinate values of characteristic points, and the conversion relation between an image coordinate system and an actuator base coordinate system is obtained through calibration, so that world coordinates of the characteristic points can be obtained, and the weld characteristic points are accurately positioned and tracked.
Preferably, the camera group 5 is divided into a left camera group and a right camera group, a video signal acquired from the left camera group is input to the video distributor, one video signal is directly input to the image acquisition card at the output end, the other video signal is selected as a trigger signal to trigger the right camera group, when the left camera group acquires one frame of image, the right camera group is triggered to acquire simultaneously, a high-quality visual effect is obtained, and the acquired image can be displayed on a computer screen after being processed by the visual system.
Preferably, the force sense sensing system is composed of a force sense sensor and a controller, the force sense sensing system is in contact with a groove of the welding seam, then the force sense sensor is collected in real time and transmitted to the controller, the controller judges the position of the probe in the groove according to some intelligent algorithms, and the probe is slowly guided to accurately reach the central position of the welding seam according to the position.
Compared with the prior art, the invention has the following beneficial effects:
this automatic welding robot of diversified type that turns to, through servo motor drive revolving stage, make the arm above that rotatory, the multi-angle of cooperation arm is adjusted, thereby realize diversified the purpose of turning to and carrying out the welding, with laser welding tracker auxiliary force sense sensing system, both compensate each other, stability for robot remote control welding process, the robustness provides better guarantee, be equipped with visual system and realize the on-the-spot panorama observation of robot work through zooming, provide global whole information for the operator, thereby welding efficiency and precision are improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of a turntable according to the present invention;
FIG. 3 is a schematic diagram of the system-in-base structure of the present invention.
In the figure: 1. a base; 2. a mechanical arm; 3. a turntable; 31. a connecting table; 32. connecting sleeves; 33. a fixing ring; 34. a ball bearing; 4. a laser welding head; 5. camera group.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present disclosure clearer, technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present disclosure, and in order to keep the following description of the embodiments of the present disclosure clear and concise, detailed descriptions of known functions and known parts of the disclosure are omitted to avoid unnecessarily obscuring the concepts of the present disclosure.
Referring to fig. 1-3, a multi-directional steering type automatic welding robot includes a base 1, a robot arm 2, a turntable 3, a laser welding head 4 and a camera set 5;
a servo motor is arranged in the base 1, an output shaft of the servo motor is connected with the rotary table 3, the rotary table 3 is arranged at the top end of the base 1, the mechanical arm 2 is arranged on the rotary table 3, and the laser welding head 4 and the camera group 5 are respectively arranged on the mechanical arm 2;
the turntable 3 comprises a connecting table 31, a connecting sleeve 32, a fixing ring 33 and balls 34, the balls 34 are arranged in a plurality and embedded at the top end of the fixing ring 33, the fixing ring 33 is installed at the top end of the base 1, the connecting sleeve 32 is installed on an output shaft of a servo motor, the top of the connecting sleeve 32 is located on the inner side of the fixing ring 33 and connected with the bottom end of the connecting table 31, the bottom end of the connecting table 31 is in contact with the balls 34 on the fixing ring 33, the servo motor drives the connecting sleeve 32 to rotate, the connecting table 31 and the balls 34 on the fixing ring 33 can roll, friction between the connecting table 31 and the fixing ring 33 is reduced, and rotation of the connecting.
An annular groove is formed in the bottom of the connecting table 31, and the balls 34 on the fixing ring 33 are slidably connected with the annular groove in the bottom of the connecting table 31.
The base 1 is provided with an access hole.
A processor, a mechanical arm controller, a relay, a vision system, a laser welding tracking system and a force sense sensing system are arranged in the base 1;
arm controller and servo motor all are connected with the treater communication for control laser welder head 4 diversely turns to, makes laser welder head 4 carry out multi-angle welding to the work piece:
the laser welding tracking system is in communication connection with the processor and is used for correcting a welding path in real time in the welding process and guiding the welding process;
the vision system is in communication connection with the processor, so that an operator can accurately perform remote control teaching and robot system macro guidance operation without being in a working site;
the force sensing system is in communication connection with the processor, is used for making up the defects of a non-contact sensing means of the laser welding seam tracking system, and is matched with the laser welding seam tracking system for use;
the relay is in communication connection with the processor, and the relay is in communication connection with the laser welding head 4 and used for controlling the opening of the laser welding head 4.
The temperature acquisition module and the radiator are arranged inside the base 1, the temperature acquisition module is in communication connection with the processor, the radiator is in communication connection with the relay, the temperature inside the base 1 is detected through the temperature acquisition module, and after the high temperature reaches a set value, the electric appliance is switched on to enable the radiator to operate.
When the laser welding head 4 welds a workpiece, the camera set sends the received structured light pattern image into the laser welding tracking system, and after the image card is converted into a digital image, the digital image processing technology is applied to extract the characteristic parameters of the weld joint, the image coordinate value of the characteristic point is given, the conversion relation between the image coordinate system and the actuator base coordinate system is obtained through calibration, and then the world coordinate of the characteristic point can be obtained, so that the weld joint characteristic point is accurately positioned and the weld joint is tracked.
The camera group 5 is divided into a left camera group and a right camera group, a video signal collected from the left camera group is input into the video distributor, one path of video signal is directly input into the image collection card at the output end, and one path of alternative video signal is used as a trigger signal to trigger the right camera group.
The force sense sensing system is composed of a force sense sensor and a controller, the force sense sensing system is in contact with a groove of the welding seam, then the force sense sensor is collected in real time and transmitted to the controller, the controller judges the position of the probe in the groove according to some intelligent algorithms, and the probe is slowly guided to accurately reach the central position of the welding seam according to the position.
The above embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and the scope of the present invention is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present invention, and such modifications and equivalents should also be considered as falling within the scope of the present invention.
Claims (8)
1. The utility model provides a diversified automatic welding robot that turns to type which characterized in that: the device comprises a base (1), a mechanical arm (2), a rotary table (3), a laser welding head (4) and a camera set (5);
a servo motor is arranged in the base (1), an output shaft of the servo motor is connected with the rotary table (3), the rotary table (3) is arranged at the top end of the base (1), the mechanical arm (2) is arranged on the rotary table (3), and the laser welding head (4) and the camera set (5) are respectively arranged on the mechanical arm (2);
a processor, a mechanical arm controller, a relay, a vision system, a laser welding tracking system and a force sense sensing system are arranged in the base (1);
arm controller and servo motor all are connected with the treater communication for control laser welder head (4) diversely turn to, make laser welder head (4) carry out multi-angle welding to the work piece:
the laser welding tracking system is in communication connection with the processor and is used for correcting a welding path in real time in the welding process and guiding the welding process;
the vision system is in communication connection with the processor, so that an operator can accurately perform remote control teaching and robot system macro guidance operation without being in a working site;
the force sensing system is in communication connection with the processor, is used for making up the defects of a non-contact sensing means of a laser welding seam tracking system, and is matched with the laser welding seam tracking system for use;
the relay is in communication connection with the processor and is in communication connection with the laser welding head (4) and used for controlling the laser welding head (4) to be started.
2. The multi-azimuth steering type automated welding robot of claim 1, wherein: revolving stage (3) are including connecting platform (31), adapter sleeve (32), solid fixed ring (33) and ball (34), ball (34) set up a plurality ofly and inlay the top at solid fixed ring (33), the top at base (1) is installed in solid fixed ring (33), adapter sleeve (32) are installed on servo motor's output shaft, and the top of adapter sleeve (32) is located the inboard of solid fixed ring (33) and is connected with the bottom of being connected platform (31), the bottom of being connected platform (31) contacts with ball (34) on solid fixed ring (33).
3. The multi-azimuth steering type automated welding robot of claim 2, wherein: the bottom of the connecting platform (31) is provided with an annular groove, and the balls (34) on the fixing ring (33) are in sliding connection with the annular groove at the bottom of the connecting platform (31).
4. The multi-azimuth steering type automated welding robot of claim 1, wherein: and the base (1) is provided with an access hole.
5. The multi-azimuth steering type automated welding robot of claim 1, wherein: the temperature acquisition module and the radiator are arranged inside the base (1), the temperature acquisition module is in communication connection with the processor, the radiator is in communication connection with the relay, the temperature inside the base (1) is detected through the temperature acquisition module, and after the large temperature reaches a set value, the electric appliance is switched on to enable the radiator to operate.
6. The multi-azimuth steering type automated welding robot of claim 1, wherein: when the laser welding head (4) welds a workpiece, the camera set sends the received structured light pattern image into the laser welding tracking system, the image card converts the structured light pattern image into a digital image, a digital image processing technology is applied to extract the characteristic parameters of the weld joint, the image coordinate value of the characteristic point is given, the conversion relation between the image coordinate system and the actuator base coordinate system is obtained through calibration, and then the world coordinate of the characteristic point can be obtained, so that the weld joint characteristic point is accurately positioned and the weld joint is tracked.
7. The multi-azimuth steering type automated welding robot of claim 1, wherein: the camera set (5) is divided into a left camera set and a right camera set, video signals collected from the left camera set are input to the video distributor, one path of video signals are directly input to the image collection card at the output end, the other path of alternative video signals are used as trigger signals to trigger the right camera set, when the left camera set collects one frame of image, the right camera set is triggered to collect the image simultaneously, a high-quality visual effect is obtained, and the collected image can be displayed on a computer screen after being processed by the visual system.
8. The multi-azimuth steering type automated welding robot of claim 1, wherein: the force sensing system is composed of a force sensor and a controller, the force sensing system is in contact with a groove of the welding seam, then the force sensor is collected in real time and transmitted to the controller, the controller judges the position of the probe in the groove according to some intelligent algorithms, and the probe is slowly guided to accurately reach the central position of the welding seam according to the position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110058602.2A CN112894223A (en) | 2021-01-16 | 2021-01-16 | Automatic welding robot of diversified type that turns to |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110058602.2A CN112894223A (en) | 2021-01-16 | 2021-01-16 | Automatic welding robot of diversified type that turns to |
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| CN112894223A true CN112894223A (en) | 2021-06-04 |
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| CN202110058602.2A Pending CN112894223A (en) | 2021-01-16 | 2021-01-16 | Automatic welding robot of diversified type that turns to |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113634954A (en) * | 2021-08-25 | 2021-11-12 | 武汉理工大学 | Multi-sensor fusion welding seam track tracking method and system |
| CN114643447A (en) * | 2022-05-10 | 2022-06-21 | 安徽理工大学 | Robot fixed point welding auxiliary device |
| CN116149327A (en) * | 2023-02-08 | 2023-05-23 | 广州番禺职业技术学院 | Real-time tracking prospective path planning system, method and device |
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| CN101791750A (en) * | 2009-12-31 | 2010-08-04 | 哈尔滨工业大学 | Robot remote control welding system and method used for remote welding |
| CN208729841U (en) * | 2018-09-27 | 2019-04-12 | 杭州职业技术学院 | A kind of support base for industrial robot |
| CN109604830A (en) * | 2018-07-25 | 2019-04-12 | 同高先进制造科技（太仓）有限公司 | A kind of accurate seam tracking system of active laser vision guide robotic laser welding |
| CN210732186U (en) * | 2019-09-20 | 2020-06-12 | 苏州友维机械有限公司 | Rotary suspension device for sand blasting machine |
| US20200269340A1 (en) * | 2018-07-25 | 2020-08-27 | Tonggao Advanced Manufacturing Technology Co., Ltd. | Active Laser Vision Robust Weld Tracking System and Weld Position Detection Method |
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2021
- 2021-01-16 CN CN202110058602.2A patent/CN112894223A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101791750A (en) * | 2009-12-31 | 2010-08-04 | 哈尔滨工业大学 | Robot remote control welding system and method used for remote welding |
| CN109604830A (en) * | 2018-07-25 | 2019-04-12 | 同高先进制造科技（太仓）有限公司 | A kind of accurate seam tracking system of active laser vision guide robotic laser welding |
| US20200269340A1 (en) * | 2018-07-25 | 2020-08-27 | Tonggao Advanced Manufacturing Technology Co., Ltd. | Active Laser Vision Robust Weld Tracking System and Weld Position Detection Method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113634954A (en) * | 2021-08-25 | 2021-11-12 | 武汉理工大学 | Multi-sensor fusion welding seam track tracking method and system |
| CN113634954B (en) * | 2021-08-25 | 2022-07-05 | 武汉理工大学 | Multi-sensor fusion welding seam track tracking method and system |
| CN114643447A (en) * | 2022-05-10 | 2022-06-21 | 安徽理工大学 | Robot fixed point welding auxiliary device |
| CN116149327A (en) * | 2023-02-08 | 2023-05-23 | 广州番禺职业技术学院 | Real-time tracking prospective path planning system, method and device |
| CN116149327B (en) * | 2023-02-08 | 2023-10-20 | 广州番禺职业技术学院 | Real-time tracking prospective path planning system, method and device |
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Application publication date: 20210604 |