CN114147397A - Automatic flexible spot welding system capable of recognizing 3D characteristics - Google Patents
Automatic flexible spot welding system capable of recognizing 3D characteristics Download PDFInfo
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- CN114147397A CN114147397A CN202210025492.4A CN202210025492A CN114147397A CN 114147397 A CN114147397 A CN 114147397A CN 202210025492 A CN202210025492 A CN 202210025492A CN 114147397 A CN114147397 A CN 114147397A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—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
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Abstract
The invention discloses an automatic flexible spot welding system for recognizing 3D characteristics, relates to the technical field of welding, and aims to solve the problems that in the prior art, a certain time is required for tool switching during product welding, and program programming teaching of robot welding is required to be carried out according to sizes of different welding products on the basis of tool switching, so that the production efficiency of product welding is influenced. A four-axis positioning mechanism is mounted above the tool main frame, an X-direction translation beam is arranged inside the tool main frame, and a positioning assembly is arranged above the X-direction translation beam; the system flow of the automatic flexible spot tailor-welding system for identifying the 3D characteristics comprises the following steps: the method comprises the following steps: importing product data into a system and analyzing the product data; step two: and judging the positioning point information of the product according to the positioning rule of the tool on the product, and generating a tool arrangement program.
Description
Technical Field
The invention relates to the technical field of welding, in particular to an automatic flexible spot welding system capable of identifying 3D characteristics.
Background
Welding is also called butt fusion, is a processing technology who joins the metal with heating, high temperature or high-pressure mode, under the continuous development in city, the demand of various equipment products constantly increases, and a lot of equipment products all need weld in process of production, and along with the continuous development of intelligent factory, the product small batch, the processing mode of many batches constantly increases, frame class welding still uses traditional special frock to weld, need be according to different product size, use different location frock clamp, there are two kinds of situations to appear: the utility model provides a condition, the frock is many, and area is great, can be more quick switching frock clamp, and the adjustment of frock clamp location need be carried out according to the product of difference to the flexible frock of use in another condition.
However, when products are welded, a certain time is needed for tool switching, and on the basis of tool switching, program programming teaching of robot welding needs to be carried out according to the sizes of different welded products, so that the welding production efficiency of the products is influenced; therefore, the market is urgently in need of developing an automatic flexible spot tailor-welding system for identifying 3D characteristics to help people to solve the existing problems.
Disclosure of Invention
The invention aims to provide an automatic flexible spot welding system for recognizing 3D characteristics, which aims to solve the problems that tooling switching needs to be carried out within a certain time when products are welded and program programming teaching of robot welding needs to be carried out according to sizes of different welded products on the basis of tooling switching, so that the welding production efficiency of the products is influenced.
In order to achieve the purpose, the invention provides the following technical scheme: an automatic flexible spot welding system for identifying 3D characteristics comprises a tool main frame, wherein a four-axis positioning mechanism is mounted above the tool main frame, an X-direction translation beam is arranged inside the tool main frame, and a positioning assembly is arranged above the X-direction translation beam;
the system flow of the automatic flexible spot tailor-welding system for identifying the 3D characteristics comprises the following steps:
the method comprises the following steps: importing product data into a system and analyzing the product data;
step two: judging the positioning point information of the product according to the positioning rule of the tool on the product, generating a layout program of the tool, driving different driving parts in the tool main frame under the action of a four-axis positioning mechanism, adjusting the positions of the X-direction translation beam and the positioning assembly, and fixing the product to be welded in the tool main frame;
step three: extracting product welding characteristics according to the matching of the product images, identifying point positions corresponding to welding seams of the product, and selecting a welding posture;
step four: the system verifies the interference of the generated robot track according to the second step and the third step, if no interference exists, the welding path track of the robot is generated, otherwise, the system returns to the second step and the third step to perform calculation optimization again;
step five: generating welding parameters by calling corresponding information of a welding parameter table or welding process library data;
step six: the robot executes the welding program.
Preferably, the process of extracting the welding characteristics of the product in the third step of the system process includes the following steps:
the method comprises the following steps: importing a 3D model and an STP file of the whole welding product;
step two: the internal algorithm program identifies the STP file;
step three: splitting the product to obtain a single part;
step four: identifying the volume, surface area, face number, holes, chamfers, length, width, height and wall thickness of each individual part;
step five: carrying out feature screening and classification on the single part by means of a welding knowledge base and completing matching detection of a product to be welded;
step six: finding a target surface for welding;
step seven: judging and identifying a welding line through the found welding target surface by combining vector contact;
step eight: and outputting point position information of the welding seam.
Preferably, a driving part of the X-direction translation beam is arranged in the tool main frame.
Preferably, a driving part of the positioning assembly is arranged inside the X-direction translation beam.
Preferably, the four-axis positioning mechanism is internally provided with a clamp positioning monitoring module.
Preferably, a sliding vertical plate is arranged above the tool main frame, a translation transverse plate is installed on one side of the sliding vertical plate, and the sliding vertical plate is fixedly connected with the translation transverse plate through bolts.
Preferably, the acquisition camera is installed to the below of translation diaphragm, and translation diaphragm passes through bolt fixed connection with the acquisition camera.
Preferably, the product matching detection process in the step five of the process of extracting the welding characteristics of the product includes the following steps:
the method comprises the following steps: the method comprises the following steps of (1) carrying out image acquisition on a product to be welded through the action of an acquisition camera;
step two: through mathematical morphology, a nonlinear filtering processing method is carried out on the collected image, noise contained in the collected original image caused by the influence of other factors of machine vibration is inhibited, and the definition of the original image is increased;
step three: masking, shielding the part of the product which is not to be welded in the collected image, displaying the edge line characteristics of the product to be welded, and extracting the image of the part of the product to be welded;
step four: then, carrying out binarization processing on the image of the product to be welded, carrying out comparison matching detection on the image of the imported welding product file, observing whether the image of the product to be welded is the same as the imported product image, and carrying out defect detection on the image of the product to be welded;
step five; and then outputs a matching detection result.
Preferably, the acquisition camera is an area array CCD camera.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention relates to a welding system which automatically plans a welding path point of a robot by leading in and identifying 3D file characteristics and relying on a system internal algorithm, confirms product characteristics, welding seam positions, positioning points, interference verification and robot track feasibility analysis, cooperates with program programming of a servo tailor-welding tool to complete welding, wherein the internal algorithm can calculate positioning point information, welding points, welding postures and robot track interference verification of a product according to the led-in product data and through data analysis, welds product parts at lap joints, can identify electrophoresis holes related to the welding joints and carry out avoidance welding on the electrophoresis holes, so that the system can identify the welding seams at the lap joints and identify the data of the electrophoresis holes and the like according to the combination of different product part lengths and specifications in the product welding process and carry out avoidance of welding programs, the welding function of teaching programming is finally avoided, the welding flexibility and the practicability are improved, the welding efficiency is increased, meanwhile, due to the introduction of a four-axis positioning mechanism, the switching adjustment of a positioning fixture of the tool can be rapidly realized, and the switching of different products during welding can be better realized, so that the problems that the traditional special tool is single, the flexibility is insufficient, the occupied space is large, the production efficiency is low are solved, and the welding machine is more suitable for production and use of welding frames in small batches and multiple batches.
2. According to the invention, the image acquisition can be carried out on the welding product through the arranged acquisition camera, so that the acquired image is processed respectively through mathematical morphology, a mask and binarization, a product part image is extracted, the definition of the product image is increased, then the product image and the imported welding product image are subjected to contrast matching detection, whether the product image is the same as the imported product image or not is observed, the welding error caused by wrong taking of parts in the product is prevented, meanwhile, the defect detection is carried out on the product, the welding of the defective parts into the product is prevented, and the production quality of the product is improved.
Drawings
FIG. 1 is a flow chart of a product welding system of an automatic flexible spot tailor welding system of the present invention that recognizes 3D features;
FIG. 2 is a flow chart of weld feature extraction for an automated flexible spot tailor welding system for identifying 3D features according to the present invention;
FIG. 3 is a flow chart of product match detection for an automated flexible spot tailor welding system of the present invention that recognizes 3D features;
FIG. 4 is a top view of the welding tooling of the present invention;
FIG. 5 is a side view of the translating cross plate of the present invention.
In the figure: 1. a tool main frame; 2. the beam is translated in the X direction; 3. a positioning assembly; 4. a four-axis positioning mechanism; 5. sliding the vertical plate; 6. translating the transverse plate; 7. and collecting the camera.
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.
Referring to fig. 1-5, an embodiment of the present invention is shown: an automatic flexible spot welding system capable of identifying 3D characteristics comprises a tool main frame 1, a four-axis positioning mechanism 4 is mounted above the tool main frame 1, an X-direction translation cross beam 2 is arranged inside the tool main frame 1, a plurality of X-direction translation cross beams 2 are arranged, the stability of a product to be welded is improved, a positioning assembly 3 is arranged above the X-direction translation cross beam 2, the positioning assembly 3 is arranged as a clamp, the positioning assembly 3 is movably arranged on the X-direction translation cross beam 2, a driving part of the X-direction translation cross beam 2 is arranged inside the tool main frame 1, the convenience that the X-direction translation cross beam 2 needs to be moved and adjusted is improved, a driving part of the positioning assembly 3 is arranged inside the X-direction translation cross beam 2, and the convenience that the positioning assembly 3 needs to be moved and adjusted is improved;
the system flow of the automatic flexible spot tailor-welding system for identifying the 3D characteristics comprises the following steps:
the method comprises the following steps: importing product data into a system and analyzing the product data;
step two: judging the positioning point information of the product according to the positioning rule of the tool on the product, generating a tool arrangement program, driving different driving parts in the tool main frame 1 under the action of the four-axis positioning mechanism 4, adjusting the positions of the X-direction translation beam 2 and the positioning assembly 3, and fixing the product to be welded in the tool main frame 1;
step three: extracting product welding characteristics according to the matching of the product images, identifying point positions corresponding to welding seams of the product, and selecting a welding posture;
step four: the system verifies the interference of the generated robot track according to the second step and the third step, if no interference exists, the welding path track of the robot is generated, otherwise, the system returns to the second step and the third step to perform calculation optimization again;
step five: generating welding parameters by calling corresponding information of a welding parameter table or welding process library data;
step six: the robot executes the welding program.
The data analysis is carried out according to the imported product data through an internal algorithm, the locating point information, the welding point, the welding posture and the robot track interference verification of the product are calculated, the part lap joint is welded, the electrophoresis hole related to the welding position can be identified, and the welding is avoided.
Further, the process of extracting the welding characteristics of the product in the third step of the system process comprises the following steps:
the method comprises the following steps: importing a 3D model and an STP file of the whole welding product;
step two: the internal algorithm program identifies the STP file;
step three: splitting the product to obtain a single part;
step four: identifying the volume, surface area, face number, holes, chamfers, length, width, height and wall thickness of each individual part;
step five: carrying out feature screening and classification on the single part by means of a welding knowledge base and completing matching detection of a product to be welded;
step six: finding a target surface for welding;
step seven: judging and identifying a welding line through the found welding target surface by combining vector contact;
step eight: and outputting point position information of the welding seam.
Through the STP file of leading-in product, welding products carries out identification process in can being automatic to the file, finds out the position of welding seam on the face of weld in the product and the face to can drive X in the frock body frame 1 and adjust to translation crossbeam 2 and locating component 3, make things convenient for the fixed welding jobs with welding robot of product, reduce the time that needs manual programming to consume, improve welding efficiency.
Further, the inside of the four-axis positioning mechanism 4 is provided with a clamp positioning monitoring module, the arrangement of the clamp positioning monitoring module can monitor and adjust the positions of the X-direction translation crossbeam 2 and the positioning component 3 on the tool main frame 1, the practicability and the flexibility of product welding are improved, a sliding vertical plate 5 is arranged above the tool main frame 1, one side of the sliding vertical plate 5 is provided with a translation transverse plate 6, the sliding vertical plate 5 is fixedly connected with the translation transverse plate 6 through bolts, a driving part for driving the sliding vertical plate 5 to move is arranged inside the tool main frame 1, so that the sliding vertical plate 5 can drive the translation transverse plate 6 to translate, the acquisition camera 7 can move to the position above a product to be welded, the convenience of acquiring the product image is improved, the acquisition camera 7 is arranged below the translation transverse plate 6, and the translation transverse plate 6 is fixedly connected with the acquisition camera 7 through bolts, the setting of gathering camera 7 can treat the welding product and carry out image acquisition to be convenient for treat the welding product and match the detection, improved the practicality.
Further, the product matching detection process in the fifth step of the process of extracting the welding characteristics of the product comprises the following steps:
the method comprises the following steps: the image acquisition is carried out on the product to be welded through the action of the acquisition camera 7;
step two: through mathematical morphology, a nonlinear filtering processing method is carried out on the collected image, noise contained in the collected original image caused by the influence of other factors of machine vibration is inhibited, and the definition of the original image is increased;
step three: masking, shielding the part of the product which is not to be welded in the collected image, displaying the edge line characteristics of the product to be welded, and extracting the image of the part of the product to be welded;
step four: then, carrying out binarization processing on the image of the product to be welded, carrying out comparison matching detection on the image of the imported welding product file, observing whether the image of the product to be welded is the same as the imported product image, and carrying out defect detection on the image of the product to be welded;
step five; and then outputs a matching detection result.
Through carrying out mathematical morphology respectively to gathering the image in proper order, mask and binarization are handled the image of gathering, product position image can be extracted, increase the definition of product image, then carry out contrast matching detection to product image and leading-in welding product image, it is the same with leading-in product image to observe the product image, prevent that the part in the product from taking by mistake, lead to welding mistake, carry out defect detection to the product simultaneously, prevent that defective part from welding into the product, product production quality has been improved, the external alarm module of detection module is convenient for the audible alarm suggestion.
Furthermore, the acquisition camera 7 adopts an area array CCD camera, and can acquire images with large information amount through the arrangement of an area array CCD sensor, so that the accuracy of matching detection of products to be welded is improved.
The working principle is as follows: when the welding tool is used, product data are imported into a system and analyzed, positioning point information of a product is judged according to positioning rules of the tool for the product, a layout program of the tool is generated, different driving parts on the tool main frame 1 are driven through the action of the four-axis positioning mechanism 4, the positions of the X-direction translation beam 2 and the positioning assembly 3 are adjusted, then the product to be welded is fixed in the tool main frame 1, the welding characteristics of the product are extracted according to the matching of the product image, the STP file of the whole welding product in the imported 3D model is identified through an internal algorithm program, the product is separated to obtain single parts, then the volume, the surface area, the surface number, the holes, the chamfer, the length, the width, the height and the wall thickness of each single part are identified, the characteristic screening and classification are carried out on the single parts by means of a welding knowledge base, and the image acquisition is carried out on the product to be welded through the action of the acquisition camera 7, through mathematical morphology, a nonlinear filtering processing method is carried out on the collected image, noise contained in the collected original image caused by other factors of machine vibration is inhibited, the definition of the original image is increased, masking processing is carried out, the part of a product to be welded which is not in the collected image is shielded, the edge line characteristics of the product to be welded are displayed, the part image of the product to be welded is extracted, binarization processing is carried out on the image of the product to be welded, comparison matching detection is carried out on the image of the product to be welded and the image of a imported welding product file, whether the image of the product to be welded is the same as the imported product image or not is observed, defect detection is carried out on the image of the product to be welded, if the image of the product to be welded is different or has a defect, sound alarm prompt is carried out through an external alarm module, a welded target surface is found according to the result of characteristic screening and classification, and point position information of a welding seam and electric power related to the welding position are judged and identified through vector contact of the found welding target surface in a combination method And (4) carrying out electrophoretic hole, selecting a welding posture according to the point position corresponding to the welding line of the identified product and the electrophoretic hole, carrying out avoidance welding on the electrophoretic hole, carrying out interference verification on the generated robot track according to the second step and the third step by the system, generating a welding path track of the robot if no interference exists, returning to the second step and the third step to carry out calculation optimization again if no interference exists, generating welding parameters by calling corresponding information of a welding parameter table or welding process library data, and carrying out welding on the product by the robot by executing a welding program.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (9)
1. The utility model provides an automatic flexible spot welding system of discernment 3D characteristic, includes frock body frame (1), its characterized in that: a four-axis positioning mechanism (4) is mounted above the tool main frame (1), an X-direction translation cross beam (2) is arranged inside the tool main frame (1), and a positioning assembly (3) is arranged above the X-direction translation cross beam (2);
the system flow of the automatic flexible spot tailor-welding system for identifying the 3D characteristics comprises the following steps:
the method comprises the following steps: importing product data into a system and analyzing the product data;
step two: judging the positioning point information of the product according to the positioning rule of the tool on the product, generating a tool arrangement program, driving different driving parts in the tool main frame (1) under the action of a four-axis positioning mechanism (4), adjusting the positions of an X-direction translation beam (2) and a positioning assembly (3), and fixing the product to be welded in the tool main frame (1);
step three: extracting product welding characteristics according to the matching of the product images, identifying point positions corresponding to welding seams of the product, and selecting a welding posture;
step four: the system verifies the interference of the generated robot track according to the second step and the third step, if no interference exists, the welding path track of the robot is generated, otherwise, the system returns to the second step and the third step to perform calculation optimization again;
step five: generating welding parameters by calling corresponding information of a welding parameter table or welding process library data;
step six: the robot executes the welding program.
2. The automatic flexible spot welding system for identifying 3D features of claim 1, wherein: the process for extracting the welding characteristics of the product in the third step of the system process comprises the following steps:
the method comprises the following steps: importing a 3D model and an STP file of the whole welding product;
step two: the internal algorithm program identifies the STP file;
step three: splitting the product to obtain a single part;
step four: identifying the volume, surface area, face number, holes, chamfers, length, width, height and wall thickness of each individual part;
step five: carrying out feature screening and classification on the single part by means of a welding knowledge base and completing matching detection of a product to be welded;
step six: finding a target surface for welding;
step seven: judging and identifying a welding line through the found welding target surface by combining vector contact;
step eight: and outputting point position information of the welding seam.
3. The automatic flexible spot welding system for identifying 3D features of claim 1, wherein: the tool main frame (1) is internally provided with a driving part of the X-direction translation beam (2).
4. The automatic flexible spot welding system for identifying 3D features of claim 3, wherein: and a driving part of the positioning assembly (3) is arranged in the X-direction translation beam (2).
5. The automatic flexible spot welding system for identifying 3D features of claim 1, wherein: and a clamp positioning monitoring module is arranged in the four-axis positioning mechanism (4).
6. The automatic flexible spot welding system for identifying 3D features of claim 2, wherein: a sliding vertical plate (5) is arranged above the tool main frame (1), a translation transverse plate (6) is installed on one side of the sliding vertical plate (5), and the sliding vertical plate (5) is fixedly connected with the translation transverse plate (6) through bolts.
7. The automatic flexible spot welding system for identifying 3D features of claim 6, wherein: the acquisition camera (7) is installed to the below of translation diaphragm (6), and translation diaphragm (6) passes through bolt fixed connection with acquisition camera (7).
8. The automated flexible spot welding system for identifying 3D features of claim 7, wherein: the product matching detection process in the fifth step of the process for extracting the welding characteristics of the product comprises the following steps:
the method comprises the following steps: the image of the product to be welded is acquired through the action of the acquisition camera (7);
step two: through mathematical morphology, a nonlinear filtering processing method is carried out on the collected image, noise contained in the collected original image caused by the influence of other factors of machine vibration is inhibited, and the definition of the original image is increased;
step three: masking, shielding the part of the product which is not to be welded in the collected image, displaying the edge line characteristics of the product to be welded, and extracting the image of the part of the product to be welded;
step four: then, carrying out binarization processing on the image of the product to be welded, carrying out comparison matching detection on the image of the imported welding product file, observing whether the image of the product to be welded is the same as the imported product image, and carrying out defect detection on the image of the product to be welded;
step five; and then outputs a matching detection result.
9. The automated flexible spot welding system for identifying 3D features of claim 7, wherein: the acquisition camera (7) adopts an area array CCD camera.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114654078A (en) * | 2022-03-11 | 2022-06-24 | 上海柏楚电子科技股份有限公司 | Method, device and equipment for automatically compensating focus of laser equipment and storage medium |
| CN115674203A (en) * | 2022-11-02 | 2023-02-03 | 中联重科股份有限公司 | Tool control method and device, processor and storage medium |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114654078A (en) * | 2022-03-11 | 2022-06-24 | 上海柏楚电子科技股份有限公司 | Method, device and equipment for automatically compensating focus of laser equipment and storage medium |
| CN114654078B (en) * | 2022-03-11 | 2023-08-15 | 上海柏楚电子科技股份有限公司 | Method, device and equipment for automatically compensating focus of laser equipment and storage medium |
| CN115674203A (en) * | 2022-11-02 | 2023-02-03 | 中联重科股份有限公司 | Tool control method and device, processor and storage medium |
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