CN113172372B - Intelligent cutting data and welding data processing system - Google Patents
Intelligent cutting data and welding data processing system Download PDFInfo
- Publication number
- CN113172372B CN113172372B CN202110449478.2A CN202110449478A CN113172372B CN 113172372 B CN113172372 B CN 113172372B CN 202110449478 A CN202110449478 A CN 202110449478A CN 113172372 B CN113172372 B CN 113172372B
- Authority
- CN
- China
- Prior art keywords
- welding
- cutting
- data
- equipment
- control terminal
- 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.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- 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
-
- 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
- B23K10/00—Welding or cutting by means of a plasma
-
- 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
- B23K28/00—Welding or cutting not covered by any of the preceding groups, e.g. electrolytic welding
- B23K28/02—Combined welding or cutting procedures or apparatus
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Arc Welding Control (AREA)
- Numerical Control (AREA)
Abstract
The invention provides an intelligent cutting data and welding data processing system, which comprises: a plurality of welding and cutting devices and a cutting and welding control terminal; when welding operation is required, the welding gun is mounted on the manipulator and is connected to welding equipment through a cable; when cutting operation is required, the cutting gun is mounted on the manipulator and is connected to the plasma cutting machine through a cable; and the cutting and welding control terminal is used for acquiring cutting and welding processing process data input by a user and operating according to the cutting and welding processing process data. The welding machine and the cutting machine are combined into a whole, the welding gun or the cutting gun can be replaced according to actual needs, and the actual needs are met. And the manipulator and the AGV transfer trolley can realize the adjustment of cutting or welding positions, and can realize automatic production. And, a plurality of welding cutting equipment of simultaneous control operate simultaneously, satisfy the mode of synchronous processing simultaneously, have promoted machining efficiency.
Description
Technical Field
The invention relates to the technical field of steel processing, in particular to an intelligent cutting data and welding data processing system.
Background
At present, in the process of processing steel plates, the steel plates are cut, butted, welded and reshaped according to the shape requirements of products. And finally forming the product shape required by the user.
Generally, in the process of machining a steel plate or a steel material, cutting and welding are two indispensable processes. Generally, steel plates or steel materials are purchased from steel mills, cut according to the actual required size, and welded in groups. And some tubes need to be reeled and made into a cylinder body for subsequent application.
At present, manual processing is mostly adopted in the welding and cutting processes, because a welding machine or a cutting machine needs to be moved in the manual control process, if the cutting machine or the welding volume is large, great inconvenience is brought to the operation, and the welding machine or the cutting machine can only be dragged in an auxiliary mode by means of mechanical equipment. If the welding is carried out in the steel pipe, the welding machine cannot be dragged by the aid of mechanical equipment, and great inconvenience is brought to welding operation. And manual alignment easily causes errors to exceed the range and influences the product quality.
In the prior art, a common steel structure processing plant adopts a continuous production process, and products with the same specification are continuously produced, so that the production efficiency can be improved. Namely, a plurality of welding machines and cutting machines are adopted for processing and manufacturing. Generally, a welding and cutting operator is required to sequentially configure each welding machine and each cutting machine so as to simultaneously operate a plurality of welding machines and cutting machines when processing the same workpiece to be processed. Due to the configuration mode, a welding and cutting operator may repeatedly perform the same configuration on a plurality of welding machines and cutting machines, and the repeated configuration of the same operation process causes a complicated flow, and errors are easily generated to affect the processing quality. It also extends the length of time to perform the same operational configuration for multiple welders and cutters, reducing machining efficiency. Therefore, the welding and cutting operators sequentially perform the same operation on a plurality of welding machines and cutting machines, so that the processing efficiency is low, and errors are easy to occur when repeated configuration is performed, so that the processing quality is influenced.
Moreover, because a plurality of welding machines and cutting machines are involved in simultaneous operation, the monitoring of the manufacturing process data of each welding machine and each cutting machine is also crucial, unqualified problems can be found in time from the monitoring of the process data, or the operation or the processing procedure of the production process requirements cannot be met, but because a plurality of welding machines and cutting machines are involved in simultaneous operation, monitoring personnel cannot effectively and timely monitor each welding machine and each cutting machine, so that the monitoring is not in place easily, workpieces of the same type and the same size are produced, after the manufacturing is finished, the error is large, pairing is carried out in a subsequent process, or the installation cannot meet the use requirements, and further the whole manufacturing and installation period is delayed.
Disclosure of Invention
The intelligent cutting data and welding data processing system provided by the invention can avoid the problems that welding and cutting operators repeatedly execute the same configuration on a plurality of welding and cutting devices, and further avoid the problems that the repeated configuration of the same operation process causes complicated flow, errors are easy to occur, the processing quality is influenced, and the processing efficiency is reduced.
The system comprises: a plurality of welding and cutting devices and a cutting and welding control terminal;
the welding cutting equipment is provided with an AGV transfer trolley, a plasma cutting machine and welding equipment;
the AGV transferring trolley is provided with a manipulator;
the plasma cutting machine and the welding equipment are respectively connected to the manipulator through cables; an image acquisition module is arranged at the end part of the manipulator;
when welding operation is needed, the welding gun is installed on the manipulator and is connected to welding equipment through a cable;
when cutting operation is required, the cutting gun is mounted on the manipulator and is connected to the plasma cutting machine through a cable;
each welding and cutting device is respectively connected with a cutting and welding control terminal; and the cutting and welding control terminal is used for acquiring cutting and welding processing process data input by a user and controlling corresponding welding and cutting equipment to weld or cut a processed workpiece according to the cutting and welding processing process data.
It should be further noted that the cutting and welding control terminal obtains cutting process data or welding process data preset by the welding and cutting operator; and the cutting and welding control terminal sends cutting process data or welding process data to the at least two welding and cutting devices, so that the at least two welding and cutting devices synchronously execute the cutting process data or the welding process data.
It should be further noted that the cutting and welding control terminal configures a unique device address of each welding and cutting device;
before processing workpieces to be processed with the same processing technology, the cutting and welding control terminal machine obtains the equipment address input by a welding and cutting operator, and the welding and cutting equipment corresponding to the selected equipment address is used as a welding and cutting processing group.
Further, it should be noted that the method further includes: a middle-end server;
the cutting and welding control terminal sends cutting process data or welding process data to the middle-end server;
and the middle-end server forwards the cutting process data or the welding process data to each welding and cutting device in the welding and cutting processing group.
It should be further noted that the welding and cutting processing group is configured as an equipment set;
the cutting and welding control terminal sends cutting process data or welding process data to welding and cutting equipment in a welding and cutting processing group of the equipment set;
and configuring the equipment addresses of the equipment sets into a cutting and welding local area processing network.
Further, the cutting and welding control terminal machine is configured with processing coordinates;
the welding and cutting device executes a processing task based on a cutting or welding operation path formed by the processing coordinates configured by the cutting and welding control terminal.
It should be further noted that the cutting and welding control terminal monitors the cutting or welding process of the welding and cutting equipment; the data monitored by the cutting and welding control terminal can reflect the execution process of the welding and cutting equipment on the preset operation process;
judging whether the execution process of the welding and cutting equipment meets a preset operation process or not based on the data of the cutting or welding process;
the welding and cutting equipment executes a preset operation process under the control of the cutting and welding control terminal, and a welding and cutting operator acquires whether the data of the cutting or welding process of the welding and cutting equipment meets the preset operation process in real time through the cutting and welding control terminal.
It should be further noted that the video data of the cutting or welding process is acquired through the image acquisition module at the end of the manipulator, and the image of the cutting or welding process can be obtained through screen capture;
the cutting or welding process video data shot by the image acquisition module reflects the cutting or welding process data of the welding and cutting equipment; the intercepted image includes one or more images;
and judging whether the cutting or welding process meets the preset operation process or not through the cutting or welding process video and the captured image.
It should be further noted that the welding and cutting operator intercepts the welding or cutting image from the video captured by the welding and cutting device, extracts the first welding or cutting feature for the welding or cutting pixel points included in the welding or cutting image frame, and intercepts the welding or cutting image as the second welding or cutting feature based on the time sequence;
comparing the first welding or cutting characteristic with a preset image characteristic, and judging whether the operation process requirement is met;
comparing the second welding or cutting characteristic with a preset image characteristic, and judging whether the operation process requirement is met;
and comparing the similarity between the first welding or cutting characteristic and the second welding or cutting characteristic to judge whether the similarity is smaller than a preset welding or cutting characteristic threshold value or not, and further judging whether the operation process requirement is met or not.
Further, the cutting and welding control terminal configures time information for each welding and cutting device in the welding and cutting processing group in a unified manner; image acquisition of welding and cutting equipment is realized, data in the cutting or welding process are uniformly acquired, and monitoring and comparison are performed uniformly;
the cutting and welding control terminal acquires the welding or cutting video data of each welding and cutting device and the corresponding welding or cutting time information;
the cutting and welding control terminal extracts the image state of each frame in the video data according to the welding or cutting video data and maps the image state to the welding or cutting state data of each pixel point;
configuring welding or cutting frames of each welding and cutting device based on the same time according to the synchronized system time, and storing the welding or cutting frames in a related manner;
meanwhile, welding or cutting frame comparison based on welding and cutting equipment in the welding and cutting processing group and comparison of each pixel point data are carried out, and whether the preset operation process is met or not is judged.
According to the technical scheme, the invention has the following advantages:
in the system provided by the invention, the cutting and welding control terminal can acquire the cutting process data or the welding process data which needs to be executed by the welding and cutting operator on the welding and cutting equipment. When welding operation is needed, the welding gun is installed on the manipulator and is connected to welding equipment through a cable; when the cutting operation is required, the cutting gun is mounted on the manipulator and is connected to the plasma cutting machine through a cable. Namely, the welding machine and the cutting machine are combined into a whole for use, and the welding gun or the cutting gun can be replaced according to actual needs to meet the actual needs. And the manipulator and the AGV transfer trolley can realize the adjustment of cutting or welding positions, and can realize automatic production.
The system provided by the invention solves the difficulty of positioning the components: the system solves the problem of coarse positioning after the components are placed by a vision and model positioning technology, and lays a foundation for accurate vision position finding;
the system provided by the invention meets the welding precision requirement: in the welding work, the precision of the tail end of a welding gun is required to be within 1 mm, a system uses C # language, develops a special algorithm, and accurately calculates the position of a welding seam through laser scanning, so that the quality of the welding seam is greatly improved;
the system provided by the invention solves the problems of complicated manual programming and low efficiency: the system is developed based on the bottom layer motion control of the robot, the track is optimized, all tracks of the robot are automatically generated according to the position of the welding line, the operation is simple and easy, and the efficiency is greatly improved;
the system provided by the invention solves the problems of welding parameter universality: the system is matched with an initial welding process, and process parameters are continuously optimized and stored in practical application, so that a system beginner can weld a high-quality welding line, and the experience and technical digital form of a master craftsman are inherited.
In the system provided by the invention, the welding and cutting equipment executes preset process operation, and the same process operation is executed on a plurality of welding and cutting equipment. Namely, when the same workpiece to be machined is machined, a plurality of welding and cutting devices can be operated simultaneously, and the cutting and welding control terminal machine can simultaneously control the plurality of welding and cutting devices to operate simultaneously, so that the mode of simultaneous and synchronous machining is met, and the machining efficiency is improved.
The welding and cutting equipment can execute preset operation under the control of the cutting and welding control terminal. The welding and cutting operator only needs to execute preset operation on the welding and cutting control terminal machine, and does not need to execute preset operation on a plurality of welding and cutting devices in sequence. Thereby, it is possible to simplify the execution of the preset operation process for a plurality of welding and cutting apparatuses. Multiple preset operations of a plurality of welding and cutting devices are avoided. The efficiency of operation is predetermine in a plurality of welding cutting equipment execution that promote, has promoted machining efficiency, improves processingquality.
In the system provided by the invention, the welding and cutting processing group can be used as a device set. The cutting and welding control terminal sends cutting process data or welding process data to the welding and cutting equipment in the welding and cutting processing group of the equipment set, and the cutting and welding control terminal can send the cutting process data or the welding process data to the welding and cutting equipment in one divided equipment set. Therefore, the cutting and welding control terminal can avoid sending the cutting process data or the welding process data to the welding and cutting equipment which does not belong to the welding and cutting processing group in the process of sending the cutting process data or the welding process data to the welding and cutting equipment. Therefore, the accuracy of parameter configuration is improved, interference on welding and cutting equipment which does not need to participate in processing is avoided, and the whole processing process is also prevented from being influenced.
In the system provided by the invention, a welding and cutting operator can configure the welding or cutting process of the processing operation on the processing coordinate, and can configure the corresponding welding position coordinate or cutting position coordinate based on the processing coordinate. The accuracy of the operation of the welding and cutting equipment in the machining process under the control of the cutting and welding control terminal can be improved.
In the system provided by the invention, the synchronous operation, synchronous data acquisition and synchronous data transmission of the welding and cutting equipment are ensured by comparing and judging each welding or cutting frame. If overtime happens, the next welding or cutting frame can be guaranteed to be timely sent and completed by adjusting the sending interval or the sending time point, so that the fact that the cutting and welding control terminal machine simultaneously controls a plurality of welding and cutting devices to operate simultaneously is guaranteed, the mode of simultaneous synchronous processing is met, and the processing efficiency is improved.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description will be briefly introduced, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of an intelligent cutting data and welding data processing system;
fig. 2 is a schematic view of a welding and cutting apparatus.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The invention provides an intelligent cutting data and welding data processing system, as shown in fig. 1 to 2, comprising: a plurality of welding and cutting devices 2 and a cutting and welding control terminal 1;
the welding and cutting equipment 2 is provided with an AGV transfer trolley 3, a plasma cutting machine 4 and welding equipment 5;
a manipulator 6 is arranged on the AGV transferring trolley 3; the plasma cutting machine 4 and the welding device 5 are respectively connected to the manipulator 6 through cables; an image acquisition module is arranged at the end part of the manipulator 6;
when welding operation is required, the welding gun is mounted on the manipulator 6 and is connected to the welding equipment 5 through a cable; when cutting operation is required, the cutting gun is mounted on the mechanical arm 6 and is connected to the plasma cutting machine 4 through a cable;
each welding and cutting device 2 is respectively connected with a cutting and welding control terminal 1; the cutting and welding control terminal 1 is used for acquiring cutting and welding processing process data input by a user, and controlling the corresponding welding and cutting equipment 2 to weld or cut a processed workpiece according to the cutting and welding processing process data.
In the intelligent cutting data and welding data processing system provided by the present invention, the elements and algorithm steps of the various examples described in the disclosed embodiments can be implemented in electronic hardware, computer software, or combinations thereof, and in the foregoing description, the components and steps of the various examples have been described generally in terms of their functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The block diagrams shown in the figures of the intelligent cutting data and welding data processing system provided by the present invention are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.
While several embodiments of the intelligent cutting data and welding data processing system provided herein will be appreciated that the disclosed systems, devices, and methods may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one type of logical functional division, and other divisions may be realized in practice, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may also be an electric, mechanical or other form of connection.
The cutting and welding control terminal 1 obtains the configuration of the cutting process data or the welding process data by the welding and cutting operator. The cutting and welding control terminal 1 can obtain the cutting process data or the welding process data which the welding and cutting operator needs to execute to the welding and cutting equipment 2.
When welding operation is required, the welding gun is mounted on the manipulator 6 and is connected to the welding equipment 5 through a cable; at this time, the welding position, welding current, welding type, operation data of the robot 6, operation data of the AGV transfer cart 3, and the like of the welding equipment 5 are set.
When cutting operation is required, the cutting gun is mounted on the mechanical arm 6 and is connected to the plasma cutting machine 4 through a cable; at this time, the cutting position of the plasma cutting machine 4, the cutting parameter setting, the operation data of the manipulator 6, the operation data of the AGV transfer cart 3, and the like are set.
The cutting control terminal 1 may be a terminal that controls the welding and cutting equipment 2. The welding and cutting device 2 is controlled by a cutting and welding control terminal 1. The control process may be automated based on the welding and cutting operator configuring the overall process. Or the welding and cutting operators can operate step by step according to the processing technology.
The cutting process data or the welding process data according to the present invention may be data indicating that the welding operator performs the preset operation process on the butt welding control terminal 1. The cutting process data or the welding process data are used to control the welding and cutting device 2 to perform the preset operations described above.
The cutting and welding control terminal 1 sends cutting process data or welding process data to the welding and cutting equipment 2, so that the welding and cutting equipment 2 executes a preset operation process based on the cutting process data or the welding process data.
In the embodiment provided by the present invention, the cutting and welding control terminal 1 may send the cutting process data or the welding process data to the welding and cutting device 2. Further, the welding and cutting device 2 may perform the preset operation based on the cutting process data or the welding process data.
As an embodiment provided by the present invention, the method may further include: a middle-end server;
the cutting and welding control terminal 1 may forward the cutting process data or the welding process data to the welding and cutting device 2 through the middle server. In practice, after the welding operator performs the preset operation, the cutting and welding control terminal 1 may send the cutting process data or the welding process data of the preset operation to the middle-end server. Further, the middle server may forward the cutting process data or the welding process data to the welding and cutting device 2.
In the invention, the preset operation process can comprise the processing parameters, the processing mode and the like of the current steel plate to be processed by welding and cutting operators. Such as: when the cutting process is performed on the inside of the steel pipe:
TABLE 1 configuration of main indicators for cutting inside steel pipes
Certainly, the plasma gas planer is selected as cutting equipment, and the plasma gas planer is selected from LGK-200 model, so that the requirement of cutting a steel pipe with the thickness of 20mm can be met. The air gouging speed is more than 1.2m/min, the backing welding speed is more than 1.2m/min, and the filling and the capping are carried out according to rated parameters of project welding process evaluation.
For example, when welding is performed in a steel pipe
TABLE 2 Main indices of welding in steel pipes
| Serial number | Content providing method and apparatus | Performance index |
| 1 | Speed of welding | 0-1200mm/min is continuously adjustable |
AGV moves and carries 3 automatic walking location configurations of dolly
TABLE 3 AGV transfer dolly 3 automatic walking positioning main index in steel pipe
| Serial number | Content providing method and apparatus | Performance index |
| 1 | Positioning accuracy | The working distance is +/-5 cm within 5m and +/-10 cm within 5-10m |
Intelligent visual identification weld joint configuration of image acquisition module of manipulator 6
TABLE 4 Intelligent visual identification of main indexes in steel pipe
| Serial number | Content providing method and apparatus | Performance index |
| 1 | Deviation of weld joint | ±1mm |
The intelligent visual identification of the image acquisition module of manipulator 6 adopts the 3D technique of shooing, and the welding seam position is fixed a position roughly, and through data model drive module, laser scanning fixes a position accurately fast, acquires the processing position. The cutting device parameter configuration in the welding cutting device 2 (see table 5).
Table 5 cutting equipment main parameters
| Serial number | Subentry | Parameter(s) | |
| 1 | Overall dimension | 750*380*810mm | |
| 2 | | 380V | |
| 3 | Input power | 33.3 |
|
| 4 | Working gas | Air (a) | |
| 5 | Pressure of working gas | 0.45-0.5 |
|
| 6 | Maximum cut thickness | 50mm |
Parameters for the welding device 5 in the welding and cutting device 2 (see table 6).
Table 6 main parameters of the welding apparatus 5
The AGV transferring trolley 3 provided by the invention is provided with a reserved mechanical arm mounting hole position and a power supply terminal of a mechanical arm, and a rectifier is arranged on a trolley body and used for supplying power to the AGV transferring trolley 3 and the mechanical arm 6. The AGV transferring trolley 3 is accurately positioned before operation, and operation is performed after positioning is completed.
In the present invention, the cutting process data or the welding process data may be data indicating that a welding operator performs a preset process on the welding control terminal 1. The welding and cutting device 2 may perform operations according to the received cutting process data or the number of welding processes. Therefore, the welding and cutting equipment 2 can process the workpiece to be processed under the control of the cutting and welding control terminal 1.
In the present invention, the welding and cutting device 2 performs a preset process operation in order to realize the same process operation to a plurality of welding and cutting devices 2. That is, when the same workpiece to be machined is machined, the plurality of welding and cutting devices 2 can be operated simultaneously, and here, the cutting and welding control terminal 1 controls the plurality of welding and cutting devices 2 to operate simultaneously, so that the mode of simultaneous and synchronous machining is met, and the machining efficiency is improved.
The cutting and welding control terminal 1 may be implemented in various forms. For example, the terminal described in the embodiments of the present invention may include a mobile terminal such as a mobile phone, a notebook computer, a Personal Digital Assistant (PDA), a tablet computer (PAD), and the like, and a fixed terminal such as a Digital TV, a desktop computer, and the like. In the following, it is assumed that the terminal is a mobile terminal. However, it will be understood by those skilled in the art that the configuration according to the embodiment of the present invention can be applied to a fixed type terminal in addition to elements particularly used for moving purposes.
The cut-weld control terminal 1 may include a wireless communication unit, an audio/video (a/V) input unit, a user input unit, a sensing unit, an output unit, a memory, an interface unit, a controller, and a power supply unit, and the like. It is to be understood that not all illustrated components are required to be implemented. More or fewer components may alternatively be implemented. Elements of the mobile terminal will be described in detail below.
The cutting and welding control terminal machine 1, the middle-end server and the welding and cutting equipment 2 can be accessed through a wireless internet. The Wireless internet Access technology may include Wireless Local Area network (Wi-Fi, WLAN), wireless broadband (Wibro), worldwide interoperability for microwave Access (Wimax), high Speed Downlink Packet Access (HSDPA), and so on.
In the embodiment provided by the invention, based on the repeated identical configuration of the welding and cutting operators mentioned in the prior art, the repeated identical configuration of the welding and cutting equipment 2 leads to a complicated flow, and errors are easy to occur, the processing quality is influenced, and the processing efficiency is reduced.
In the invention, the cutting and welding control terminal 1 can obtain the cutting process data or the welding process data preset by the welding and cutting operator. The cutting process data or the welding process data may be used to control a plurality of welding and cutting devices 2 to perform the above-mentioned predetermined operation process for machining a substitute workpiece. That is, the cutting and welding control terminal 1 may transmit the cutting process data or the welding process data to the welding and cutting device 2. The welding and cutting device 2 may perform the preset operation process based on the cutting process data or the welding process data.
Thus, the welding and cutting device 2 can perform a preset operation under the control of the cutting and welding control terminal 1. Here, the welding and cutting operator only needs to perform a preset operation on the welding and cutting control terminal 1, and does not need to perform a preset operation on the plurality of welding and cutting apparatuses 2 in sequence. Thereby, the execution of the preset operation process for the plurality of welding and cutting devices 2 can be simplified. Multiple presetting operations for a plurality of welding and cutting devices 2 are avoided. The efficiency of presetting the operation is carried out to a plurality of welding cutting equipment 2 to the promotion, has promoted machining efficiency, improves processingquality.
In the embodiment provided by the present invention, where a plurality of welding and cutting devices 2 are involved in the field, there may be some welding and cutting devices 2 involved in processing the pieces to be processed having the same processing technique. While some welding and cutting devices 2 are not available. In this way, in order to improve the control accuracy, it is ensured that the machining process parameters are accurately transmitted to the corresponding welding and cutting equipment 2.
The cutting and welding control terminal 1 configures a unique device address of each welding and cutting device 2. Before processing the workpiece to be processed with the same processing technology, acquiring the equipment address input by the welding and cutting operator, and taking the welding and cutting equipment 2 corresponding to the selected equipment address as a welding and cutting processing group.
The cutting and welding control terminal machine 1 is provided with at least two welding and cutting devices 2 as a welding and cutting processing group; and sending cutting process data or welding process data to the welding and cutting equipment 2 belonging to the welding and cutting processing group.
In the invention, the cutting and welding control terminal 1 can send cutting process data or welding process data to the middle-end server. The middle-end server may forward the cutting process data or the welding process data to each welding and cutting device 2 in the welding and cutting processing group. Therefore, the cutting and welding control terminal 1 sends the cutting process data or the welding process data to the welding and cutting equipment 2 in a welding and cutting processing group mode.
In the present invention, the cutting and welding control terminal 1 may transmit the cutting process data or the welding process data to some welding and cutting devices 2 that do not need to receive the cutting process data or the welding process data during the process of transmitting the cutting process data or the welding process data to the welding and cutting devices 2. Therefore, the welding and cutting equipment 2 which does not need to participate in the processing performs the processing, or the welding and cutting equipment 2 which does not need to participate in the processing interferes, and the whole processing process is affected.
Here, the weld-cut processing group may be a set of devices. The cutting and welding control terminal 1 sends cutting process data or welding process data to the welding and cutting equipment 2 in the welding and cutting processing group of the equipment set, and it can be understood that the cutting and welding control terminal 1 sends cutting process data or welding process data to the welding and cutting equipment 2 in one divided equipment set. Therefore, the cutting and welding control terminal 1 can avoid sending the cutting process data or the welding process data to the welding and cutting equipment 2 which does not belong to the welding and cutting processing group in the process of sending the cutting process data or the welding process data to the welding and cutting equipment 2. Therefore, the accuracy of parameter configuration is improved, interference on the welding and cutting equipment 2 which does not need to participate in processing is avoided, and the whole processing process is also prevented from being influenced.
In the embodiment provided by the invention, the equipment address of the equipment set is configured to the cutting and welding local processing network. The cut-and-weld local area processing network may be a communication network pre-configured in the processing area. The welding and cutting device 2 and the cutting and welding control terminal machine 1 are added into a cutting and welding local processing network.
The middle-end server can be used as a server in a cutting and welding local processing network. And the middle-end server binds the addresses of the welding and cutting equipment 2 and the cutting and welding control terminal. Or based on the configuration of the user and the equipment address of the welding and cutting processing group, the welding and cutting equipment 2 corresponding to the equipment address is formed into the welding and cutting processing group.
In the embodiment provided by the invention, when the cutting process data or the welding process data are configured, the configuration can be performed based on the touch screen of the cutting and welding control terminal 1 or 3D software, and the processing coordinates are configured.
That is, the welding and cutting operator may configure the welding or cutting process of the machining operation on the machining coordinates, and may configure the corresponding welding position coordinates, or cutting position coordinates, based on the machining coordinates. The accuracy of the operation of the welding and cutting equipment 2 in the machining process under the control of the cutting and welding control terminal 1 can be improved.
In the process of controlling cutting or welding, the welding operator can perform touch operation on the cutting process data or the welding process data on the machining coordinates.
In the embodiment provided by the invention, the welding and cutting device 2 can execute the processing task based on the cutting or welding operation path formed by the processing coordinate configured by the cutting and welding control terminal 1. The welding and cutting device 2 can also perform a machining task in a machining area formed based on the cutting process data or the welding process data.
In the embodiment provided by the invention, the welding and cutting operator can also obtain the cutting process data or the welding process data through the welding and cutting device 2. The cutting process data or the welding process data reflect a response process of the welding and cutting device 2 to a preset operation process.
That is, the welding and cutting device 2 may be responsive to a preset operation process. For example, the preset operation process is to weld a weld inside a steel pipe, respond to the weld inside the steel pipe, and obtain corresponding process parameters to execute the welding process based on the communication between the welding and cutting device 2 and the cutting and welding control terminal 1.
In the embodiment provided by the invention, the cutting or welding process of the welding and cutting equipment 2 can be monitored by using the cutting and welding control terminal 1. The data monitored by the welding and cutting control terminal 1 can reflect the execution process of the welding and cutting equipment 2 to the preset operation process.
Based on the cutting or welding process data, it is determined whether the execution process of the welding and cutting device 2 meets a preset operation process.
The welding and cutting equipment 2 executes a preset operation process under the control of the cutting and welding control terminal machine 1, and a welding and cutting operator acquires whether the data of the cutting or welding process of the welding and cutting equipment 2 meets the preset operation process in real time through the cutting and welding control terminal machine 1.
As an embodiment of the present invention, the video data of the cutting or welding process may be acquired by an image acquisition module at the end of the manipulator 6; and a screen shot can be taken to obtain an image of the cutting or welding process.
The cutting and welding control terminal 1, the middle-end server, and the welding and cutting device 2 may be configured with a display unit, which may be used as an input device and an output device. The Display unit may include at least one of a Liquid Crystal Display (LCD), a Thin Film Transistor LCD (TFT-LCD), an Organic Light-Emitting Diode (OLED) Display, a flexible Display, a three-dimensional (3D) Display, and the like. Some of these displays may be configured to be transparent to allow a user to see from the outside, which may be referred to as transparent displays, and a typical transparent display may be, for example, a Transparent Organic Light Emitting Diode (TOLED) display or the like. Depending on the particular desired implementation, the mobile terminal 100 may include two or more display units (or other display devices), for example, the mobile terminal may include an external display unit (not shown) and an internal display unit (not shown). The touch screen may be used to detect a touch input pressure as well as a touch input position and a touch input area.
The various embodiments of the system involved in the invention may be implemented using a computer readable medium, such as computer software, hardware or any combination thereof. For hardware implementation, the embodiments described herein may be implemented using at least one of an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a processor, a controller, a microcontroller, a microprocessor, and an electronic unit designed to perform the functions described herein, and in some cases, such embodiments may be implemented in a controller. For a software implementation, the implementation such as a process or a function may be implemented with a separate software module that allows performing at least one function or operation. The software codes may be implemented by software applications (or programs) written in any suitable programming language, which may be stored in memory and executed by the controller.
The cutting or welding process video data captured by the image capture module may reflect cutting or welding process data of the welding and cutting device 2. The intercepted image may include one or more images. The appearance quality of the weld seam, or the appearance quality of the cut seam, etc. can be displayed in the image. And determining whether the preset operation process is met or not through the cutting or welding process video and the captured image.
As an embodiment of the present invention, the welding and cutting device 2 may send a cutting or welding process video to the middle-end server. The middle-end server may determine whether the current operation of the welding and cutting device 2 satisfies a preset operation process based on the cutting or welding process video transmitted by the welding and cutting device 2.
The middle-end server can store the process data of the cutting and welding control terminal 1, including the cutting or welding process video.
The welding and cutting operator intercepts a welding or cutting image from a video shot by the welding and cutting device 2, extracts a first welding or cutting feature for a welding or cutting pixel point contained in a welding or cutting image frame, and intercepts the welding or cutting image as a second welding or cutting feature based on the time sequence. And comparing the first welding or cutting characteristic with a preset image characteristic, and judging whether the operation process requirement is met. And comparing the second welding or cutting characteristic with a preset image characteristic, and judging whether the operation process requirement is met.
And comparing the similarity between the first welding or cutting characteristic and the second welding or cutting characteristic to judge whether the similarity is smaller than a preset welding or cutting characteristic threshold value or not, and further judging whether the operation process requirement is met or not. That is, the similarity deviation between the latter welding or cutting characteristic and the former welding or cutting characteristic is very large, which may be caused by unstable welding or cutting parameters, and the acquisition operation is improper, thereby affecting the welding or cutting quality.
Certainly, a third welding or cutting characteristic and the like can be obtained after the second welding or cutting characteristic is obtained, and comparison is performed based on the above manner, so that parameter state judgment of the welding and cutting process is realized, and the welding or cutting process meets the process requirements.
As an embodiment of the present invention, the welding and cutting device 2 performs a preset process operation in order to perform the same process operation on a plurality of welding and cutting devices 2. That is, when the same workpiece to be machined is machined, the plurality of welding and cutting devices 2 can be operated simultaneously, and here, the cutting and welding control terminal 1 controls the plurality of welding and cutting devices 2 to operate simultaneously, so that the mode of simultaneous and synchronous machining is met, and the machining efficiency is improved.
That is, before the workpieces to be processed having the same processing technology are processed, the device address input by the welding and cutting operator is acquired, and the welding and cutting device 2 corresponding to the selected device address is used as a welding and cutting processing group.
In order to ensure that each welding and cutting device 2 controls to synchronously execute welding or cutting operation, the cutting and welding control terminal 1 uniformly configures time information for each welding and cutting device 2 in a welding and cutting processing group. The time information of the cutting and welding control terminal 1 and each welding and cutting device 2 can also be configured uniformly based on the middle-end and middle-end server. And image acquisition of all the welding and cutting equipment 2 is realized, and data in the cutting or welding process are uniformly acquired and uniformly monitored and compared. And comparing the data with each other to obtain whether the current welding or cutting process data meets the preset process requirements.
The cutting and welding control terminal 1 acquires the welding or cutting video data of each welding and cutting device 2 and the corresponding welding or cutting time information.
In this embodiment, the middle-end server may also obtain the welding or cutting video data of each welding and cutting device 2 and the corresponding welding or cutting time information. The cutting and welding control terminal machine 1 extracts data required by a user from the middle-end server, processes and compares the data, and judges whether the current operation or the past operation process meets the process requirements.
The cutting and welding control terminal 1 extracts the image state of each frame in the video data according to the welding or cutting video data, and maps the image state to the welding or cutting state data of each pixel point.
That is, after the cutting control terminal 1 acquires the welding or cutting video data, it can correspond to each pixel point data of the preset image. The welding or cutting video data comprises a number of welding or cutting frames. For each welding or cutting frame, corresponding pixel data may be mapped. It can be understood that the extracted pixel points are obtained by thinning the weld joints or the cut joints.
And configuring welding or cutting frames based on the same time for each welding and cutting device 2 according to the synchronized system time, and storing the welding or cutting frames in a correlation mode. Meanwhile, based on the comparison of welding or cutting frames between the welding and cutting devices 2 in the welding and cutting processing group and the comparison of each pixel point data, whether a preset operation process is met or not is judged.
And based on the associated storage, the operator can conveniently inquire and compare the previous switching or welding data.
The time synchronization of the system to the individual welding and cutting devices 2 can be GPS synchronized time or time synchronized via a network.
The welding and cutting device 2 collects and transmits a welding or cutting frame in the cutting or welding process according to a preset collection time point and a preset transmission time point. Each welding or cutting frame acquisition and transmission is synchronized, but a preset time interval is configured from frame to frame.
That is, each welding or cutting frame is transmitted with a preset transmission interval so that the welding control terminal 1 can effectively distinguish each welding or cutting frame when receiving data.
In order to improve the communication efficiency of the cutting and welding process data, the welding and cutting device 2 may be configured with a cache to cache the cutting and welding process data and transmit the data based on a preset transmission time point. By caching the data of the cutting and welding processes, the time-consuming influence on the subsequent sending of the data of the cutting and welding processes can be reduced.
The cutting and welding control terminal 1 obtains the welding or cutting frame and the corresponding sending time, and judges whether the time is overtime.
And if the time is overtime, adjusting the preset sending interval or the sending time point of the welding and cutting equipment 2 according to the overtime duration.
When the judgment is overtime, the welding and cutting device 2 adjusts the preset transmission interval. Generally, the preset transmission interval is adjusted and decreased correspondingly according to the timeout time. And then, when the picture working data of the corresponding time frame of the next time is transmitted, the adjusted preset transmission interval is used.
By comparing and judging each welding or cutting frame, the synchronous operation, synchronous data acquisition and synchronous data transmission of the welding and cutting equipment 2 are ensured. If overtime happens, the next welding or cutting frame can be ensured to be timely sent and completed by adjusting the sending interval or the sending time point, so that the cutting and welding control terminal 1 is ensured to simultaneously control the plurality of welding and cutting devices 2 to operate simultaneously, the mode of simultaneous synchronous processing is met, and the processing efficiency is improved.
The system can be applied to manufacturing of H-shaped steel beams, bridge plate units and other members. The welding machine realizes the intellectualization of the welding of the non-standard steel components in the steel structure industry, has important significance for improving the production efficiency in the steel structure manufacturing industry, and has wide development and application prospects.
Meanwhile, the system can also be applied to the processes of assembly, coating and the like, the workload of the standard part manufacturing industry is simplified, and the system also has a larger application prospect in other manufacturing industries.
The intelligent cutting data and welding data processing system provided by the present invention is the elements and algorithmic steps of the examples described in connection with the embodiments disclosed herein, which may be embodied in electronic hardware, computer software, or combinations of both, the components and steps of the examples having been described generally in terms of their functionality in the foregoing description for clarity of explanation of interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The smart cutting data and welding data processing system provided by the present invention may be written with program code for performing the operations of the present disclosure in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (5)
1. The utility model provides an intelligence cutting data and welding data processing system which characterized in that includes: the system comprises a middle-end server, a plurality of welding and cutting devices and a cutting and welding control terminal;
the welding cutting equipment is provided with an AGV transfer trolley, a plasma cutting machine and welding equipment;
the AGV transferring trolley is provided with a manipulator;
the plasma cutting machine and the welding equipment are respectively connected to the manipulator through cables; an image acquisition module is arranged at the end part of the manipulator;
when welding operation is needed, the welding gun is installed on the manipulator and is connected to welding equipment through a cable;
when cutting operation is needed, the cutting gun is mounted on the manipulator and is connected to the plasma cutting machine through a cable;
each welding and cutting device is respectively connected with a cutting and welding control terminal; the cutting and welding control terminal is used for acquiring cutting and welding processing process data input by a user and controlling corresponding welding and cutting equipment to weld or cut a processed workpiece according to the cutting and welding processing process data;
the cutting and welding control terminal acquires cutting process data or welding process data preset by a welding and cutting operator; the cutting and welding control terminal sends cutting process data or welding process data to at least two welding and cutting devices, so that the at least two welding and cutting devices synchronously execute the cutting process data or the welding process data;
the cutting and welding control terminal machine is configured with a unique equipment address of each welding and cutting equipment;
before processing workpieces to be processed with the same processing technology, the cutting and welding control terminal machine obtains an equipment address input by a cutting and welding operator, and a welding and cutting device corresponding to the selected equipment address is used as a cutting and welding processing group;
acquiring video data of a cutting or welding process through an image acquisition module at the end part of the manipulator, and capturing a screen to acquire an image of the cutting or welding process;
the image acquisition module acquires cutting or welding process video data reflecting the cutting or welding process data of the welding and cutting equipment; the intercepted image comprises one or more images;
judging whether the cutting or welding process meets a preset operation process or not through the cutting or welding process video and the intercepted image;
a welding and cutting operator intercepts a welding or cutting image from a video shot by welding and cutting equipment, extracts a first welding or cutting characteristic from a welding or cutting pixel point contained in a welding or cutting image frame, and intercepts the welding or cutting image as a second welding or cutting characteristic based on the time sequence;
comparing the first welding or cutting characteristic with a preset image characteristic, and judging whether the operation process requirement is met;
comparing the second welding or cutting characteristic with a preset image characteristic, and judging whether the operation process requirement is met;
comparing the similarity between the first welding or cutting characteristic and the second welding or cutting characteristic to judge whether the similarity is smaller than a preset welding or cutting characteristic threshold value or not, and further judging whether the operation process requirement is met or not;
the cutting and welding control terminal uniformly configures time information for each welding and cutting device in the welding and cutting processing group; image acquisition of welding and cutting equipment is realized, data in the cutting or welding process are uniformly acquired, and monitoring and comparison are performed uniformly;
the cutting and welding control terminal acquires the welding or cutting video data of each welding and cutting device and the corresponding welding or cutting time information;
the cutting and welding control terminal extracts the image state of each frame in the video data according to the welding or cutting video data and maps the image state to the welding or cutting state data of each pixel point;
according to the synchronized system time, configuring welding or cutting frames of each welding and cutting device based on the same time, and storing the welding or cutting frames in a correlation manner;
meanwhile, welding or cutting frame comparison based on welding and cutting equipment in the welding and cutting processing group and comparison of each pixel point data are carried out, and whether the preset operation process is met or not is judged.
2. The intelligent cutting data and welding data processing system of claim 1,
the cutting and welding control terminal sends cutting process data or welding process data to the middle-end server;
and the middle-end server forwards the cutting process data or the welding process data to each welding and cutting device in the welding and cutting processing group.
3. The intelligent cutting data and welding data processing system of claim 1,
the welding and cutting processing group is configured into an equipment set;
the cutting and welding control terminal sends cutting process data or welding process data to welding and cutting equipment in a welding and cutting processing group of the equipment set;
and configuring the equipment address of the equipment set into a cutting and welding local processing network.
4. The intelligent cutting data and welding data processing system of claim 1,
configuring a processing coordinate by a cutting and welding control terminal;
the welding and cutting device executes a processing task based on a cutting or welding operation path formed by the processing coordinates configured by the cutting and welding control terminal.
5. The intelligent cutting data and welding data processing system of claim 1,
the cutting and welding control terminal monitors the cutting or welding process of the welding and cutting equipment; the data monitored by the cutting and welding control terminal reflects the execution process of the welding and cutting equipment on the preset operation process;
judging whether the execution process of the welding and cutting equipment meets a preset operation process or not based on the data of the cutting or welding process;
the welding and cutting equipment executes a preset operation process under the control of the cutting and welding control terminal, and a welding and cutting operator acquires whether the data of the cutting or welding process of the welding and cutting equipment meets the preset operation process in real time through the cutting and welding control terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110449478.2A CN113172372B (en) | 2021-04-25 | 2021-04-25 | Intelligent cutting data and welding data processing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110449478.2A CN113172372B (en) | 2021-04-25 | 2021-04-25 | Intelligent cutting data and welding data processing system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113172372A CN113172372A (en) | 2021-07-27 |
| CN113172372B true CN113172372B (en) | 2023-04-14 |
Family
ID=76926276
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110449478.2A Active CN113172372B (en) | 2021-04-25 | 2021-04-25 | Intelligent cutting data and welding data processing system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113172372B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114054990B (en) * | 2021-10-14 | 2023-07-04 | 杭州聚冠机械制造有限公司 | Portable intelligent welding and cutting device based on machine vision and vital sign detection system |
| CN113823286A (en) * | 2021-11-25 | 2021-12-21 | 江西影创信息产业有限公司 | Terminal equipment control method and system based on intelligent glasses |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4380696A (en) * | 1980-11-12 | 1983-04-19 | Unimation, Inc. | Method and apparatus for manipulator welding apparatus with vision correction for workpiece sensing |
| CN204487159U (en) * | 2015-01-28 | 2015-07-22 | 柯昆（昆山）自动化有限公司 | A kind of robot for corrugated plating welding |
| CN105149754B (en) * | 2015-08-25 | 2018-04-20 | 嘉兴威斯柏自动化科技有限公司 | Plasma cut is welding integrated |
| CN106041258B (en) * | 2016-08-17 | 2018-02-06 | 江苏北人机器人系统股份有限公司 | A kind of intelligent robot's welding system |
| JP6514252B2 (en) * | 2017-03-02 | 2019-05-15 | ファナック株式会社 | Robot data setting system, data setting method and program |
| CN206966904U (en) * | 2017-03-13 | 2018-02-06 | 广州市惠民金属制品有限公司 | Welding robot system based on ROS frameworks |
| CN206825427U (en) * | 2017-04-10 | 2018-01-02 | 捷福装备（武汉）股份有限公司 | A kind of robot one drag two controls more welding equipments |
| CN108480823A (en) * | 2018-02-09 | 2018-09-04 | 中国东方电气集团有限公司 | A kind of long-range Quality Monitoring Control System for heating wire TIG automatic welding |
| CN110871313A (en) * | 2018-09-03 | 2020-03-10 | 苏州睿牛机器人技术有限公司 | Control method and device for crawling arc welding robot |
| CN212634638U (en) * | 2020-06-22 | 2021-03-02 | 武汉工程大学 | Welding robot |
-
2021
- 2021-04-25 CN CN202110449478.2A patent/CN113172372B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113172372A (en) | 2021-07-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113172372B (en) | Intelligent cutting data and welding data processing system | |
| CN110524582B (en) | Flexible assembly welding robot workstation | |
| CN204413359U (en) | Laser vision welded seam tracing system | |
| CN112163873A (en) | Product quality inspection system and method based on edge calculation | |
| CN103231162A (en) | Device and method for visual detection of welding quality of robot | |
| CN110989525B (en) | FPGA-based product intelligent assembly production line monitoring system and method | |
| CN101118430A (en) | On-line monitoring and optimizing method of processing parameter during process of aluminium alloy fusion welding | |
| CN109759750B (en) | Method for on-site welding construction inspection and remote monitoring | |
| US20180299944A1 (en) | Production Management Method and System Using Power Consumption Features | |
| CN210818050U (en) | Welding system | |
| CN102284769A (en) | System and method for initial welding position identification of robot based on monocular vision sensing | |
| CN206230142U (en) | A kind of spot-welded standard parameter automatic switchover system | |
| CN105618976A (en) | Intelligent welding seam welding system | |
| CN112828423A (en) | Intelligent welding real-time sensing and quality monitoring system based on 5G | |
| CN109834373A (en) | A kind of view-based access control model and the automation submerged arc soldering equipment of laser tracking | |
| CN103817406A (en) | Welding power source management system and management method thereof | |
| CN210413152U (en) | Informationized welding management control system | |
| CN112440018A (en) | Welding system and welding method | |
| CN106780655B (en) | Manual decision method and system for automatic welding path | |
| CN201116976Y (en) | On-line monitoring and technological parameter optimizing system for aluminum alloy fusion welding process | |
| CN106891076A (en) | The control system and method for electric welding machine robot | |
| CN207593022U (en) | A kind of view-based access control model and the automation submerged arc soldering equipment of laser tracking | |
| CN116197577A (en) | Swing method and device for parts, swing tower welding workstation and controller | |
| CN110488751B (en) | Graphite tray visual positioning system of automatic process line | |
| CN114924530A (en) | Remote workpiece polishing debugging operation and maintenance system and method based on digital twinning technology |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |