CN113021346A - Control method for automatic welding and polishing of ship crane, computer storage medium and terminal - Google Patents
Control method for automatic welding and polishing of ship crane, computer storage medium and terminal Download PDFInfo
- Publication number
- CN113021346A CN113021346A CN202110310009.2A CN202110310009A CN113021346A CN 113021346 A CN113021346 A CN 113021346A CN 202110310009 A CN202110310009 A CN 202110310009A CN 113021346 A CN113021346 A CN 113021346A
- Authority
- CN
- China
- Prior art keywords
- welding
- polishing
- workpiece
- grinding
- controlling
- 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
- 238000003466 welding Methods 0.000 title claims abstract description 218
- 238000005498 polishing Methods 0.000 title claims abstract description 93
- 238000000034 method Methods 0.000 title claims abstract description 60
- 238000003860 storage Methods 0.000 title claims abstract description 20
- 230000000007 visual effect Effects 0.000 claims abstract description 34
- 230000005484 gravity Effects 0.000 claims abstract description 5
- 239000002893 slag Substances 0.000 claims abstract description 5
- 239000012636 effector Substances 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 10
- 238000010276 construction Methods 0.000 abstract description 4
- 238000004904 shortening Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 238000011022 operating instruction Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000001902 propagating effect Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 241000239290 Araneae Species 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 238000003908 quality control method Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
Classifications
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- 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
-
- 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
- B23K37/0258—Electric supply or control circuits therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Automation & Control Theory (AREA)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
Abstract
The invention provides a control method for automatic welding and polishing of a ship crane, a computer storage medium and a terminal, wherein the control method comprises the following steps: acquiring contour information of each workpiece; matching the extracted contour information of the workpieces with a prestored workpiece model, and identifying the position information of each workpiece so as to calculate the gravity center of each workpiece and determine a grabbing position; controlling the carrying and polishing robot body to move so as to place the workpiece on the positioning surface; starting a laser visual tracking device to scan a workpiece so as to obtain welding track information of a welding gun; controlling the welding gun to move according to the welding track information to complete a welding task; and after the welding task is finished, controlling the carrying and polishing robot body to drive the polishing cutter to move so as to polish the welding slag. The invention can automatically complete the rest procedures completely by depending on the robot; not only saves the labor input, but also shortens the whole processing time and improves the quality of the finished products of the hoisting horses, thereby improving the construction quality and shortening the processing period.
Description
Technical Field
The invention belongs to the technical field of intelligent workshops, relates to a control method, and particularly relates to a control method for automatic welding and polishing of a ship crane, a computer storage medium and a terminal.
Background
The crane is a necessary component for carrying, turning over, assembling and carrying structures such as ship body sections, block sections and the like in the ship building process, and has wide application range in shipyards and huge use number. In the prior art, the welding of the hoisting bridge is realized by that an assembler firstly installs a web plate and a panel together, then welding is completely completed manually, and then a fillet welding machine is used for welding a membrane plate, a toggle plate and other components, so that the labor cost is high, the working strength is high, the welding efficiency is low, the welding quality consistency is poor, and the defective rate is high; meanwhile, due to the fact that the welding quality is out of control relatively, the defect of the welding quality can be made up through a large amount of polishing, time and labor are wasted, resources are wasted, and the processing cost is high.
Therefore, how to provide a control method, a computer storage medium and a terminal for automatic welding and grinding of a ship crane. The welding quality control method solves the problems that in the prior art, due to the fact that welding quality is relatively out of control, a large amount of grinding is caused to make up for the defects of welding quality, time and labor are wasted, resources are wasted, processing cost is high and the like, and the method becomes a technical problem to be solved urgently by technical staff in the field.
Disclosure of Invention
In view of the above drawbacks of the prior art, an object of the present invention is to provide a method, a computer storage medium, and a terminal for controlling automatic welding and polishing of a ship crane, which are used to solve the problems in the prior art that a large amount of polishing is caused to make up for the deficiency of welding quality due to relative runaway of welding quality, which wastes time and labor, wastes resources, and has a high processing cost.
In order to achieve the above objects and other related objects, the present invention provides, in one aspect, a method for controlling automatic welding and polishing of a ship crane, which is applied to an automatic welding and polishing apparatus for a ship crane; the automatic welding and polishing equipment for the ship crane comprises a central control system, a visual identification and positioning device, a laser visual tracking device, a carrying and polishing robot body, a welding gun and a polishing cutter, wherein the visual identification and positioning device is connected with the central control system; the control method for automatic welding and grinding of the ship crane comprises the following steps: after the visual identification positioning device is started and moves to the position of the workpiece, acquiring the contour information of each workpiece; matching the extracted contour information of the workpieces with a prestored workpiece model, and identifying the position information of each workpiece so as to calculate the gravity center of each workpiece and determine a grabbing position; controlling the carrying and polishing robot body to move so as to place the workpiece on the positioning surface; starting the laser visual tracking device to scan the workpiece to obtain welding track information of a welding gun; controlling the welding gun to move according to the welding track information to complete a welding task; and after the welding task is finished, controlling the carrying and polishing robot body to drive the polishing cutter to move so as to polish the welding slag.
In an embodiment of the present invention, the automatic welding and polishing apparatus for a ship crane further includes; the carrying and polishing robot controller is connected with the central control system; the control method further comprises the following steps: the carrying and polishing robot body is controlled by the carrying and polishing robot controller to drive the visual identification positioning device to move, and outline information of each workpiece is collected.
In an embodiment of the present invention, the automatic welding and polishing apparatus for a ship crane further includes; the end effector, the PLC and the welding positioner are connected with the PLC on the carrying and polishing robot body; the control method further comprises the following steps: and controlling the end effector on the carrying and polishing robot to move so as to stop grabbing the end effector at the designated position of the workpiece, and driving the carrying and polishing robot body to move so as to move the workpiece to the welding positioner.
In an embodiment of the present invention, the automatic welding and polishing apparatus for a ship crane further includes; a welding robot controller connected to the central control system; the control method further comprises the following steps: and controlling the welding robot body through the welding robot controller, and then driving the laser visual tracking device to move.
In an embodiment of the present invention, the step of starting the laser vision tracking device to scan the workpiece to obtain the welding track information includes: after the laser visual tracking device is moved to the position near the welding seam, comparing the welding seam track obtained by scanning of the laser visual tracking device with the pre-stored welding seam information, and judging whether the welding seam track and the pre-stored welding seam information are consistent; if so, taking the welding seam track scanned and obtained by the laser vision tracking device as the welding track information of the welding gun; if not, correcting the acquired welding seam track according to the pre-stored welding seam information, and taking the corrected welding seam information as the welding track information of the welding gun.
In an embodiment of the present invention, the method for controlling automatic welding and polishing of a ship crane further includes: and when the welding gun executes a welding task, the laser visual tracking device is indicated to track the welding seam in real time.
In an embodiment of the present invention, the method for controlling automatic welding and polishing of a ship crane further includes: after polishing, the end effector on the carrying and polishing robot body is controlled by the carrying and polishing robot controller to move so as to grab polished finished products and carry the finished products to a finished product distributing hopper.
In an embodiment of the present invention, the automatic welding and polishing apparatus for a ship crane further includes; the welding power supply is connected with the central control system, and the wire feeder is connected with the welding power supply; the control method for automatic welding and grinding of the ship crane further comprises the steps of starting the welding power supply, and controlling the wire feeder to supply welding wires to the welding gun so as to enable the welding gun to execute a welding task.
Still another aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the method for controlling automatic welding and grinding of a vessel crane.
A final aspect of the present invention provides a terminal, including: a processor and a memory; the memory is used for storing a computer program, and the processor is used for executing the computer program stored in the memory so as to enable the terminal to execute the control method for the automatic welding and grinding of the ship crane; the terminal is arranged in automatic welding and polishing equipment for the ship crane.
As described above, the control method, the computer storage medium and the terminal for automatic welding and polishing of the ship crane according to the present invention have the following advantages:
according to the control method for automatic welding and polishing of the ship crane, the computer storage medium and the terminal, only after the automatic welding and polishing equipment for the ship crane finishes assembling the crane, manual participation is not needed, and the rest processes can be automatically finished completely by means of a robot; the method not only saves labor input, but also shortens the whole processing time, and the most important is to improve the quality of the finished product of the suspended horse, thereby realizing the purposes of reducing labor cost, improving construction quality and shortening processing period.
Drawings
Fig. 1 is a schematic diagram of the automatic welding and grinding equipment for the ship crane of the invention.
Fig. 2 is a schematic flow chart illustrating an embodiment of the method for controlling automatic welding and polishing of a ship crane according to the present invention.
Description of the element reference numerals
Automatic welding and polishing equipment for ship crane
11 human-computer interaction unit
12 central control system
13 carrying and polishing robot controller
14 carrying and polishing robot body
15 end pick-up
16 grinding cutter
17 visual identification positioner
18 laser visual tracking device
19 welding robot controller
20 welding robot body
21 welding power supply
22 wire feeder
23 welding gun
24 PLC
25 welding positioner
26 gun cleaning device
S21-S31
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
Example one
The embodiment provides a control method for automatic welding and polishing of a ship crane, which is applied to automatic welding and polishing equipment for the ship crane; the automatic welding and polishing equipment for the ship crane comprises a central control system, a visual identification and positioning device, a laser visual tracking device, a carrying and polishing robot body, a welding gun and a polishing cutter, wherein the visual identification and positioning device is connected with the central control system; the control method for automatic welding and grinding of the ship crane comprises the following steps:
after the visual identification positioning device is started and moves to the position of the workpiece, acquiring the contour information of each workpiece;
matching the extracted contour information of the workpieces with a prestored workpiece model, and identifying the position information of each workpiece so as to calculate the gravity center of each workpiece and determine a grabbing position;
controlling the carrying and polishing robot body to move so as to place the workpiece on the positioning surface;
starting the laser visual tracking device to scan the workpiece to obtain welding track information of a welding gun;
controlling the welding gun to move according to the welding track information to complete a welding task;
and after the welding task is finished, controlling the carrying and polishing robot body to drive the polishing cutter to move so as to polish the welding slag.
The method for controlling the automatic welding and grinding of the ship crane provided by the embodiment will be described in detail with reference to the drawings. The control method for automatic welding and grinding of the ship crane in the embodiment is applied to the automatic welding and grinding equipment 1 for the ship crane shown in fig. 1. The automatic welding and polishing equipment 1 for the ship crane comprises a group assembly (not shown), a man-machine interaction unit 11, a central control system 12, a conveying and polishing robot controller 13 connected with the central control system 12, a conveying robot body 14 connected with the conveying and polishing robot controller 13, an end effector 15 and a polishing cutter 16 connected with the conveying robot body 14, a visual identification and positioning device 17 connected with the central control system 12, a laser visual tracking device 18 connected with the central control system 12, a welding robot controller 19 connected with the central control system 12, a welding robot body 20 connected with the welding robot controller 19, a welding power supply 21 connected with the central control system 12, a wire feeder 22 connected with the welding power supply 21, a welding gun 23 connected with the welding robot body 20 and the wire feeder 22 respectively, a welding gun controller 23, A PLC24 connected with the central control system 12, a welding positioner 25 connected with the PLC24 and a gun cleaner 26.
In the present embodiment, the assembly 10 is assembled by assembling and electric welding a spider panel, a diaphragm, a web and a toggle plate. The assembly gap <1.5 mm.
Fig. 2 is a schematic flow chart illustrating an exemplary embodiment of a method for controlling automatic welding and polishing of a ship crane. As shown in fig. 2, the control method for automatic welding and grinding of the ship crane concretely comprises the following steps:
and S21, controlling the carrying and polishing robot body through the carrying and polishing robot controller to drive the visual identification positioning device to move.
And S22, acquiring the contour information of each workpiece after the visual identification positioning device is started and moved to the position of the workpiece.
And S23, matching the extracted contour information of the workpieces with a prestored workpiece model, and identifying the position information of each workpiece so as to calculate the gravity center of each workpiece and determine the grabbing position.
And S24, controlling the end effector on the carrying and polishing robot to move, stopping the end effector at the designated position of the workpiece to grab, and driving the carrying and polishing robot body to move so as to move the workpiece to the welding positioner.
And S25, controlling the body of the carrying and grinding robot to move so as to place the workpiece on the positioning surface.
Specifically, the PLC is used for controlling the welding positioner to act, and the conveying polishing robot is matched to place and clamp a workpiece on a positioning surface.
S26, controlling the welding robot body by the welding robot controller, and further driving the laser vision tracking device to move.
And S27, starting the laser vision tracking device to scan the workpiece to acquire welding track information of the welding gun.
Specifically, after the laser visual tracking device is moved to the position near the welding seam, comparing the welding seam track obtained by scanning of the laser visual tracking device with the pre-stored welding seam information, and judging whether the welding seam track and the pre-stored welding seam information are consistent; if so, taking the welding seam track scanned and obtained by the laser vision tracking device as the welding track information of the welding gun; if not, correcting the acquired welding seam track according to the pre-stored welding seam information, and taking the corrected welding seam information as the welding track information of the welding gun.
And S28, controlling a welding gun on the welding gun robot body to move according to the welding track information to finish the movement of a welding task, starting the welding power supply, controlling the wire feeder to supply a welding wire to the welding gun to enable the welding gun to execute the welding task, and indicating the laser vision tracking device to track the welding wire in real time when the welding gun executes the welding task.
And S29, after the welding task is finished, controlling the conveying and polishing robot body through the conveying and polishing robot controller, and further driving the polishing tool to move.
And S30, after the grinding tool moves to the workpiece position, controlling the carrying and grinding robot body to drive the grinding tool to carry out slag cleaning and grinding on the finished workpiece according to the welding track information of the welding gun.
And S31, after polishing, controlling the end effector on the carrying and polishing robot body to move through the carrying and polishing robot controller so as to grab the polished finished product and carry the finished product to a finished product distributing hopper.
According to the control method for automatic welding and polishing of the ship crane, after the automatic welding and polishing equipment for the ship crane finishes assembling the crane, manual participation is not needed, and the rest processes can be automatically finished completely by a robot; the method not only saves labor input, but also shortens the whole processing time, and the most important is to improve the quality of the finished product of the suspended horse, thereby realizing the purposes of reducing labor cost, improving construction quality and shortening processing period.
The embodiment also provides a computer readable storage medium, on which a computer program is stored, and the program is executed by a processor to implement the control method for automatic welding and polishing of the ship crane.
The computer readable storage medium may be a tangible device that can hold and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but is not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.
The computer-readable programs described herein may be downloaded from a computer-readable storage medium to a variety of computing/processing devices, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device. The computer program instructions for carrying out operations of the present application may be assembly instructions, Instruction Set Architecture (ISA) instructions, machine related instructions, microcode, firmware instructions, state setting data, integrated circuit configuration data, or source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, the electronic circuitry can execute computer-readable program instructions to implement aspects of the present application by utilizing state information of the computer-readable program instructions to personalize the electronic circuitry, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA).
Example two
The present embodiment provides a terminal, including: a processor and a memory;
the memory is used for storing a computer program, and the processor is used for executing the computer program stored in the memory, so that the terminal executes the control method for automatic welding and grinding of the ship crane according to the embodiment. The terminal is arranged in automatic welding and polishing equipment for the ship crane.
In an embodiment of the present application, a processor in the terminal loads one or more instructions corresponding to the processes of the application program into a memory according to the steps shown in fig. 2, and the processor runs the application program stored in the memory, thereby implementing the method shown in fig. 2.
The Memory may include a Random Access Memory (RAM) or a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The memory stores an operating system and operating instructions, executable modules or data structures, or subsets thereof, or expanded sets thereof, wherein the operating instructions may include various operating instructions for performing various operations. The operating system may include various system programs for implementing various basic services and for handling hardware-based tasks.
The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
The protection scope of the control method for automatic welding and grinding of the ship crane is not limited to the execution sequence of the steps listed in the embodiment, and all the schemes of adding, subtracting and replacing the steps in the prior art according to the principle of the invention are included in the protection scope of the invention.
The invention also provides automatic welding and grinding equipment for the ship crane, which can realize the automatic welding and grinding control method for the ship crane, but the realization device of the automatic welding and grinding control method for the ship crane comprises but is not limited to the structure of the automatic welding and grinding equipment for the ship crane listed in the embodiment, and all structural deformation and replacement in the prior art made according to the principle of the invention are included in the protection scope of the invention.
In conclusion, the control method for automatic welding and polishing of the ship crane, the computer storage medium and the terminal do not need manual participation as long as the ship crane automatic welding and polishing equipment finishes assembling the crane, and the rest processes can be automatically finished completely by a robot; the method not only saves labor input, but also shortens the whole processing time, and the most important is to improve the quality of the finished product of the suspended horse, thereby realizing the purposes of reducing labor cost, improving construction quality and shortening processing period. The invention effectively overcomes various defects in the prior art and has high industrial utilization value.
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 (10)
1. A control method for automatic welding and polishing of a ship crane is characterized by being applied to automatic welding and polishing equipment for the ship crane; the automatic welding and polishing equipment for the ship crane comprises a central control system, a visual identification and positioning device, a laser visual tracking device, a carrying and polishing robot body, a welding gun and a polishing cutter, wherein the visual identification and positioning device is connected with the central control system; the control method for automatic welding and grinding of the ship crane comprises the following steps:
after the visual identification positioning device is started and moves to the position of the workpiece, acquiring the contour information of each workpiece;
matching the extracted contour information of the workpieces with a prestored workpiece model, and identifying the position information of each workpiece so as to calculate the gravity center of each workpiece and determine a grabbing position;
controlling the carrying and polishing robot body to move so as to place the workpiece on the positioning surface;
starting the laser visual tracking device to scan the workpiece to obtain welding track information of a welding gun;
controlling the welding gun to move according to the welding track information to complete a welding task;
and after the welding task is finished, controlling the carrying and polishing robot body to drive the polishing cutter to move so as to polish the welding slag.
2. The method for controlling automatic welding and grinding of the marine crane according to claim 1,
the automatic welding and polishing equipment for the ship crane further comprises a grinding device; the carrying and polishing robot controller is connected with the central control system;
the control method further comprises the following steps: the carrying and polishing robot body is controlled by the carrying and polishing robot controller to drive the visual identification positioning device to move, and outline information of each workpiece is collected.
3. The method for controlling automatic welding and grinding of the marine crane according to claim 1,
the automatic welding and polishing equipment for the ship crane further comprises a grinding device; the end effector, the PLC and the welding positioner are connected with the PLC on the carrying and polishing robot body;
the control method further comprises the following steps: and controlling the end effector on the carrying and polishing robot to move so as to stop grabbing the end effector at the designated position of the workpiece, and driving the carrying and polishing robot body to move so as to move the workpiece to the welding positioner.
4. The method for controlling automatic welding and grinding of the marine crane according to claim 1,
the automatic welding and polishing equipment for the ship crane further comprises a grinding device; a welding robot controller connected to the central control system;
the control method further comprises the following steps: and controlling the welding robot body through the welding robot controller, and then driving the laser visual tracking device to move.
5. The method for controlling automatic welding and grinding of the ship crane according to claim 4, wherein the step of starting the laser vision tracking device to scan the workpiece to obtain welding track information comprises the following steps:
after the laser visual tracking device is moved to the position near the welding seam, comparing the welding seam track obtained by scanning of the laser visual tracking device with the pre-stored welding seam information, and judging whether the welding seam track and the pre-stored welding seam information are consistent; if so, taking the welding seam track scanned and obtained by the laser vision tracking device as the welding track information of the welding gun; if not, correcting the acquired welding seam track according to the pre-stored welding seam information, and taking the corrected welding seam information as the welding track information of the welding gun.
6. The control method for automatic welding and grinding of the ship crane according to claim 4, further comprising the following steps:
and when the welding gun executes a welding task, the laser visual tracking device is indicated to track the welding seam in real time.
7. The control method for automatic welding and grinding of the ship crane according to claim 2, further comprising:
after polishing, the end effector on the carrying and polishing robot body is controlled by the carrying and polishing robot controller to move so as to grab polished finished products and carry the finished products to a finished product distributing hopper.
8. The method for controlling automatic welding and grinding of the marine crane according to claim 1,
the automatic welding and polishing equipment for the ship crane further comprises a grinding device; the welding power supply is connected with the central control system, and the wire feeder is connected with the welding power supply;
the control method for automatic welding and grinding of the ship crane further comprises the steps of starting the welding power supply, and controlling the wire feeder to supply welding wires to the welding gun so as to enable the welding gun to execute a welding task.
9. A computer-readable storage medium having stored thereon a computer program, wherein the program, when executed by a processor, implements a method for controlling automatic welding and grinding of a vessel crane according to any one of claims 1 to 8.
10. A terminal, comprising: a processor and a memory;
the memory is used for storing a computer program, and the processor is used for executing the computer program stored by the memory so as to enable the terminal to execute the control method for the automatic welding and grinding of the ship crane according to any one of claims 1 to 8; the terminal is arranged in automatic welding and polishing equipment for the ship crane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110310009.2A CN113021346A (en) | 2021-03-23 | 2021-03-23 | Control method for automatic welding and polishing of ship crane, computer storage medium and terminal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110310009.2A CN113021346A (en) | 2021-03-23 | 2021-03-23 | Control method for automatic welding and polishing of ship crane, computer storage medium and terminal |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113021346A true CN113021346A (en) | 2021-06-25 |
Family
ID=76473014
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110310009.2A Pending CN113021346A (en) | 2021-03-23 | 2021-03-23 | Control method for automatic welding and polishing of ship crane, computer storage medium and terminal |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113021346A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113522786A (en) * | 2021-07-12 | 2021-10-22 | 江南造船(集团)有限责任公司 | Visual detection method, system and device for grabbing and sorting ship parts |
| CN113580139A (en) * | 2021-08-17 | 2021-11-02 | 天津大学 | Multi-robot data interaction system and multi-robot control method |
| CN114012295A (en) * | 2021-10-29 | 2022-02-08 | 上海中船临港船舶装备有限公司 | Robot welding system and method for ship curved surface structure |
| CN118305482A (en) * | 2024-05-15 | 2024-07-09 | 广州中益机械有限公司 | Spot welding flow machining method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05127722A (en) * | 1991-10-30 | 1993-05-25 | Nippondenso Co Ltd | High-speed picking device for stacked component |
| CN106001855A (en) * | 2016-06-21 | 2016-10-12 | 中国科学院自动化研究所 | Welding method and robot welding system |
| CN107414248A (en) * | 2017-08-30 | 2017-12-01 | 广州航海学院 | Towards the automatic welding system and method for the medium-and-large-sized bend pipe girth joint of ship |
| US20180001422A1 (en) * | 2016-07-01 | 2018-01-04 | Crc-Evans Pipeline International Inc. | Systems and methods for use in welding pipe segments of a pipeline |
| CN108466066A (en) * | 2018-03-16 | 2018-08-31 | 东莞亿体智能科技有限公司 | A kind of conllinear integrated system of robot weldering grinding and polishing |
| CN108555908A (en) * | 2018-04-12 | 2018-09-21 | 同济大学 | A kind of identification of stacking workpiece posture and pick-up method based on RGBD cameras |
| CN108941918A (en) * | 2018-03-29 | 2018-12-07 | 江苏新时代造船有限公司 | One kind founding part method based on networking intelligent recognition multirobot automatic welding ship group |
| CN109434255A (en) * | 2018-12-29 | 2019-03-08 | 成都焊研科技有限责任公司 | Assembly of hydraulic torque converter welding equipment and its welding method |
-
2021
- 2021-03-23 CN CN202110310009.2A patent/CN113021346A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05127722A (en) * | 1991-10-30 | 1993-05-25 | Nippondenso Co Ltd | High-speed picking device for stacked component |
| CN106001855A (en) * | 2016-06-21 | 2016-10-12 | 中国科学院自动化研究所 | Welding method and robot welding system |
| US20180001422A1 (en) * | 2016-07-01 | 2018-01-04 | Crc-Evans Pipeline International Inc. | Systems and methods for use in welding pipe segments of a pipeline |
| CN107414248A (en) * | 2017-08-30 | 2017-12-01 | 广州航海学院 | Towards the automatic welding system and method for the medium-and-large-sized bend pipe girth joint of ship |
| CN108466066A (en) * | 2018-03-16 | 2018-08-31 | 东莞亿体智能科技有限公司 | A kind of conllinear integrated system of robot weldering grinding and polishing |
| CN108941918A (en) * | 2018-03-29 | 2018-12-07 | 江苏新时代造船有限公司 | One kind founding part method based on networking intelligent recognition multirobot automatic welding ship group |
| CN108555908A (en) * | 2018-04-12 | 2018-09-21 | 同济大学 | A kind of identification of stacking workpiece posture and pick-up method based on RGBD cameras |
| CN109434255A (en) * | 2018-12-29 | 2019-03-08 | 成都焊研科技有限责任公司 | Assembly of hydraulic torque converter welding equipment and its welding method |
Non-Patent Citations (1)
| Title |
|---|
| 陈玉华等: "《焊接技术与工程专业实验教程》", 30 September 2016 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113522786A (en) * | 2021-07-12 | 2021-10-22 | 江南造船(集团)有限责任公司 | Visual detection method, system and device for grabbing and sorting ship parts |
| CN113580139A (en) * | 2021-08-17 | 2021-11-02 | 天津大学 | Multi-robot data interaction system and multi-robot control method |
| CN113580139B (en) * | 2021-08-17 | 2024-02-13 | 天津大学 | Multi-robot data interaction system and multi-robot control method |
| CN114012295A (en) * | 2021-10-29 | 2022-02-08 | 上海中船临港船舶装备有限公司 | Robot welding system and method for ship curved surface structure |
| CN118305482A (en) * | 2024-05-15 | 2024-07-09 | 广州中益机械有限公司 | Spot welding flow machining method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113021346A (en) | Control method for automatic welding and polishing of ship crane, computer storage medium and terminal | |
| Wang et al. | Intelligent welding system technologies: State-of-the-art review and perspectives | |
| US10782668B2 (en) | Development of control applications in augmented reality environment | |
| CN104722926B (en) | A kind of robot three-dimensional laser automatic cutting system method | |
| CN104700705B (en) | industrial robot teaching system | |
| CN103350421A (en) | Automatic glaze spraying controlling method and controlling device for simulating skilled worker operation | |
| CN103707299A (en) | Method of implementing real-time bending follow of bending robot | |
| RU2008141940A (en) | AUTOMATION OF MANAGEMENT SYSTEM OF TECHNOLOGICAL PROCESSES OF REPAIR WITH APPLICATION OF MOBILE REPAIR AND DIAGNOSTIC COMPLEX | |
| CN113001263A (en) | Robot-based high point polishing method and equipment | |
| Ogbemhe et al. | Application of robotics in rail car manufacturing learning factory: A case of welding complex joints | |
| CN110076767A (en) | A kind of Intelligent welding control system and method based on image recognition technology | |
| CN111615437B (en) | Method and device for robotic machining | |
| CN111435400A (en) | Part repairing method and device and 3D printer | |
| JP2022009322A (en) | Information collection device, information collection method and program for production system | |
| JP6573504B2 (en) | Work support system and work support method for work device | |
| CN105415375A (en) | Off-line programming device | |
| CN105415376A (en) | Off-line programming device | |
| CN115488864A (en) | Robot teaching track optimization method and device, electronic equipment and storage medium | |
| CN115096902A (en) | Motion control method and detection system for middle frame defects | |
| CN109055930A (en) | A kind of quick-restoring device and its restorative procedure of workpiece surface damage | |
| CN111571603B (en) | Workpiece processing system, method, computer equipment and storage medium | |
| CN108544508B (en) | Robot automatic programming method and system based on autonomous learning | |
| CN204366234U (en) | Robot flexible welding equipment between a kind of hull grid | |
| Brown et al. | Automated full matrix capture for industrial processes | |
| Santos et al. | ROBBE–Robot-aided processing of assemblies during the dismantling of nuclear power plants |
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: 20210625 |
|
| RJ01 | Rejection of invention patent application after publication |