CN114473306A - Intelligent welding system for hydraulic support structural part - Google Patents
Intelligent welding system for hydraulic support structural part Download PDFInfo
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- CN114473306A CN114473306A CN202210213285.1A CN202210213285A CN114473306A CN 114473306 A CN114473306 A CN 114473306A CN 202210213285 A CN202210213285 A CN 202210213285A CN 114473306 A CN114473306 A CN 114473306A
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- 238000003466 welding Methods 0.000 title claims abstract description 62
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 238000000034 method Methods 0.000 claims description 8
- 230000000007 visual effect Effects 0.000 claims description 8
- 238000013461 design Methods 0.000 claims description 5
- 230000004888 barrier function Effects 0.000 claims description 4
- 238000012790 confirmation Methods 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000011161 development Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 239000011324 bead Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- -1 carrier Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003153 chemical reaction reagent Substances 0.000 description 1
- 239000000306 component Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 239000004615 ingredient Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
-
- 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
-
- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an intelligent welding system for a hydraulic support structural part, which is characterized in that the following modules are added on the basis of the complete mechanism of the existing hydraulic support structural part welding robot to realize the functions of the intelligent welding system: a millimeter-scale scanning laser modeling module is added and used for self-generating a three-dimensional model; an ultrasonic obstacle avoidance radar module of the mechanical arm is added and used for preventing the mechanical arm from colliding during operation; a drawing AI identification module is added to realize the autonomous comparison of the scanning model and the CAD drawing; and adding an autonomous programming module, and realizing autonomous programming of the welding program by comparing the AI drawing with the generated model. On the basis of the welding robot for the existing hydraulic support structural member, more functional modules are further integrated, and automatic teaching, automatic obstacle avoidance and automatic programming of a welding support welding robot system are realized. The support welding robot has a development direction, is more prone to production practice, and realizes an intelligent and unmanned feasible solution.
Description
Technical Field
The invention relates to an intelligent welding technology, in particular to an intelligent welding system for a hydraulic support structural part.
Background
At present, the existing welding robot for hydraulic support structural members in the industry is mainly divided into a sitting type welding robot without a position changing machine mechanism and a welding robot with a position changing mechanism in structural form. An 6/7-axis robot body is adopted to match with an external axis form. The operation mode is teaching programming and off-line programming. The operator is required to manually program the welding sequence of each welding pass and the angle of the arm of the robot.
The welding robot of prior art, because assembly error is inevitable for structure itself, consequently, when welding the structure, need the artificial teaching operation, move into the box structure with the arm one by one, check coordinate information point by point, revise the welding bead size deviation that the assembly error brought to verify the arm space walking orbit simultaneously, prevent to interfere the emergence.
The prior art has the following disadvantages:
the manual programming means is adopted, the influence of the level of operators is great, the efficiency is not high, and the consistency degree is low; manual demonstration is adopted, so that the risk of arm collision exists, and the efficiency is low; the assembly error of the structural part is inevitable, the design blueprint has low effect on programming guidance, and the deviation needs to be corrected manually.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
The invention aims to provide an intelligent welding system for a structural part of a hydraulic support, which aims to solve the technical problems in the prior art.
The purpose of the invention is realized by the following technical scheme:
the intelligent welding system for the hydraulic support structural part is additionally provided with the following modules on the basis of the complete mechanism of the welding robot for the hydraulic support structural part, so that the functions of the intelligent welding system are realized:
a. a millimeter-scale scanning laser modeling module is added for self-generating a three-dimensional model:
a corresponding control module is arranged in a robot mechanism to realize that a program automatically controls a radar to scan the area of the workbench and generate a three-dimensional model, and the dimensional accuracy of the model is not lower than millimeter level;
b. increase arm supersound and keep away barrier radar module for prevent that the arm from sending out when moving and colliding:
the robot mechanism is provided with a corresponding control module for preventing the robot from collision and damage in the autonomous scanning model building and welding operation, and particularly a welding robot system with a deflection tire is used for preventing space collision;
c. and a drawing AI identification module is added to realize the autonomous comparison of the scanning model and the CAD drawing:
the three-dimensional graph generated by the modeling module is automatically matched with a drawing library through an AI algorithm, and a corresponding drawing is selected through manual assistance confirmation;
and further comparing the confirmed drawing with the modeling generation drawing to generate a deviation item for an operator to confirm whether the design requirement is met or not to carry out a subsequent welding procedure.
d. Adding an autonomous programming module:
and under the condition of providing basic welding parameters, the AI drawing comparison is associated with the generated model, so that the autonomous programming of the welding program is realized.
Compared with the prior art, the intelligent welding system for the hydraulic support structural part, provided by the invention, is further integrated with more functional modules on the basis of the existing welding robot for the hydraulic support structural part, so that the automatic teaching, automatic obstacle avoidance and automatic programming of the welding robot system for the support are realized. The support welding robot has a development direction, is more prone to production practice, and realizes an intelligent and unmanned feasible solution.
Detailed Description
The technical scheme in the embodiment of the invention is clearly and completely described below by combining the embodiment of the invention; it is to be understood that the described embodiments are merely exemplary of the invention, and are not intended to limit the invention to the particular forms disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The terms that may be used herein are first described as follows:
the term "and/or" means that either or both can be achieved, for example, X and/or Y means that both cases include "X" or "Y" as well as three cases including "X and Y".
The terms "comprising," "including," "containing," "having," or other similar terms of meaning should be construed as non-exclusive inclusions. For example: including a feature (e.g., material, component, ingredient, carrier, formulation, material, dimension, part, component, mechanism, device, process, procedure, method, reaction condition, processing condition, parameter, algorithm, signal, data, product, or article of manufacture), is to be construed as including not only the particular feature explicitly listed but also other features not explicitly listed as such which are known in the art.
The term "consisting of … …" is meant to exclude any technical feature elements not explicitly listed. If used in a claim, the term shall render the claim closed except for the inclusion of the technical features that are expressly listed except for the conventional impurities associated therewith. If the term occurs in only one clause of the claims, it is defined only to the elements explicitly recited in that clause, and elements recited in other clauses are not excluded from the overall claims.
Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "secured," etc., are to be construed broadly, as for example: can be fixedly connected, can also be detachably connected or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms herein can be understood by those of ordinary skill in the art as appropriate.
The terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in an orientation or positional relationship that is indicated based on the orientation or positional relationship shown, merely for convenience of description and to simplify description, and are not intended to imply or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting herein.
Details which are not described in detail in the embodiments of the invention belong to the prior art which is known to the person skilled in the art. Those not specifically mentioned in the examples of the present invention were carried out according to the conventional conditions in the art or conditions suggested by the manufacturer. The reagents or instruments used in the examples of the present invention are not specified by manufacturers, and are all conventional products available by commercial purchase.
The intelligent welding system for the hydraulic support structural part is additionally provided with the following modules on the basis of the complete mechanism of the welding robot for the hydraulic support structural part, so that the functions of the intelligent welding system are realized:
a. a millimeter-scale scanning laser modeling module is added for self-generating a three-dimensional model:
a corresponding control module is arranged in a robot mechanism to realize that a program automatically controls a radar to scan the area of the workbench and generate a three-dimensional model, and the dimensional accuracy of the model is not lower than millimeter level;
b. increase arm supersound and keep away barrier radar module for prevent that the arm from sending out when moving and colliding:
the robot mechanism is provided with a corresponding control module for preventing the robot from collision and damage in the autonomous scanning model building and welding operation, and particularly a welding robot system with a deflection tire is used for preventing space collision;
c. and a drawing AI identification module is added to realize the autonomous comparison of the scanning model and the CAD drawing:
the three-dimensional graph generated by the modeling module is automatically matched with a drawing library through an AI algorithm, and a corresponding drawing is selected through manual assistance confirmation;
and further comparing the confirmed drawing with the modeling generation drawing to generate a deviation item for an operator to confirm whether the design requirement is met or not to carry out a subsequent welding procedure.
d. Adding an autonomous programming module:
and under the condition of providing basic welding parameters, the AI drawing comparison is associated with the generated model, so that the autonomous programming of the welding program is realized.
The module a comprises a laser radar added on the mechanical arm, and the module b comprises an ultrasonic radar added on the mechanical arm.
In the module a: the scanning means comprises laser, ultrasonic and visual identification, and the modeling scanning module is arranged on the robot body;
in the module b: the obstacle avoidance radar means comprises laser, ultrasonic and visual identification, and the obstacle avoidance radar module is arranged on the robot body;
in the module c: the recognizable drawings comprise various two-dimensional and three-dimensional drawing files.
In summary, the intelligent welding system for the hydraulic support structural member provided by the embodiment of the invention further integrates more functional modules on the basis of the existing welding robot for the hydraulic support structural member, so as to realize automatic teaching, automatic obstacle avoidance and automatic programming of the welding robot system for the support. The support welding robot has a development direction, is more prone to production practice, and realizes an intelligent and unmanned feasible solution.
In order to more clearly show the technical solutions and the technical effects provided by the present invention, the following detailed description is provided for the embodiments of the present invention with specific embodiments.
Example 1
The invention is based on the complete mechanism of the welding robot of the structural member of the existing hydraulic support. The following modules are added to realize the functions of the intelligent welding system:
a. and a millimeter-scale scanning laser modeling module is added for self-generating a three-dimensional model. Should increase laser radar in the robot mechanism, like the arm to be equipped with corresponding control module, realize that procedure automatic control radar scans in the workstation region, and the three-dimensional model of formation, model size precision is not less than the millimeter level.
b. And an ultrasonic obstacle avoidance radar module of the mechanical arm is added for preventing collision when the mechanical arm runs. Should increase ultrasonic radar in robot mechanism, like the arm to be equipped with corresponding control module, be used for guaranteeing to prevent the robot collision damage in autonomous scanning construction model and welding operation, especially have the welding robot system of child that shifts to prevent the space collision.
c. And the drawing AI identification module is used for realizing the autonomous comparison of the scanning model and the CAD drawing. The three-dimensional graph generated by the modeling module is matched with the drawing library automatically through an AI algorithm, and the corresponding drawing is selected through manual assistance confirmation. And further comparing the confirmed drawing with the modeling generation drawing to generate a deviation item for an operator to confirm whether the design requirement is met or not to carry out a subsequent welding procedure.
d. An autonomous programming module. And under the condition of providing basic welding parameters, the automatic programming of the welding program is realized by comparing an AI drawing and associating with a generated model.
The technical scheme of the invention has the following beneficial effects:
on the premise of retaining all basic functions of the existing welding robot, the core function of automatic programming is finally realized through functions of automatic modeling, automatic evasion, AI comparison and the like. Thereby very big improvement production efficiency, with hydraulic support structure welding robot system by artifical operation as mainly changing into intelligent operation. The problem that the production efficiency, the welding sequence and the welding quality are restricted due to the level of operators is solved.
In the specific implementation:
a. millimeter-scale scanning laser modeling module: the scanning means is not limited to other scanning means such as laser, ultrasonic wave, visual recognition and the like; the precision level is not lower than the millimeter level; the arrangement position of the modeled scan module is not limited to the robot body.
b. Keep away barrier ultrasonic radar module: the obstacle avoidance radar means is not limited to laser, ultrasonic, visual identification and other scanning means; the arrangement position of the obstacle avoidance radar module is not limited on the robot body.
c. Drawing AI identification module: the recognizable drawings are not limited to CAD drawings and comprise various two-dimensional and three-dimensional drawing files.
The invention introduces the functions of automatic laser/ultrasonic/visual modeling, automatic laser/ultrasonic/visual obstacle avoidance, AI identification comparison, automatic programming and the like into the welding robot system of the hydraulic support structural member, thereby realizing the intellectualization of professional equipment.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims. The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Claims (3)
1. The utility model provides a hydraulic support structure intelligence welding system which characterized in that, on the basis of the complete mechanism of current hydraulic support structure welding robot, increases following several modules, realizes intelligent welding system function:
a. a millimeter-scale scanning laser modeling module is added for self-generating a three-dimensional model:
a corresponding control module is arranged in a robot mechanism to realize that a program automatically controls a radar to scan the area of the workbench and generate a three-dimensional model, and the dimensional accuracy of the model is not lower than millimeter level;
b. increase arm supersound and keep away barrier radar module for prevent that the arm from sending out when moving and colliding:
the robot mechanism is provided with a corresponding control module for preventing the robot from collision and damage in the autonomous scanning model building and welding operation, and particularly a welding robot system with a deflection tire is used for preventing space collision;
c. and a drawing AI identification module is added to realize the autonomous comparison of the scanning model and the CAD drawing:
the three-dimensional graph generated by the modeling module is automatically matched with a drawing library through an AI algorithm, and a corresponding drawing is selected through manual assistance confirmation;
and further comparing the confirmed drawing with the modeling generation drawing to generate a deviation item for an operator to confirm whether the design requirement is met or not to carry out a subsequent welding procedure.
d. Adding an autonomous programming module:
and under the condition of providing basic welding parameters, the AI drawing comparison is associated with the generated model, so that the autonomous programming of the welding program is realized.
2. The intelligent welding system for hydraulic support structures as claimed in claim 1, wherein the module a comprises a laser radar added on a mechanical arm, and the module b comprises an ultrasonic radar added on the mechanical arm.
3. The intelligent welding system of hydraulic support structure of claim 2, characterized in that:
in the module a: the scanning means comprises laser, ultrasonic and visual identification, and the modeling scanning module is arranged on the robot body;
in the module b: the obstacle avoidance radar means comprises laser, ultrasonic and visual identification, and the obstacle avoidance radar module is arranged on the robot body;
in the module c: the recognizable drawings comprise various two-dimensional and three-dimensional drawing files.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210213285.1A CN114473306A (en) | 2022-03-04 | 2022-03-04 | Intelligent welding system for hydraulic support structural part |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210213285.1A CN114473306A (en) | 2022-03-04 | 2022-03-04 | Intelligent welding system for hydraulic support structural part |
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| CN114473306A true CN114473306A (en) | 2022-05-13 |
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| CN202210213285.1A Pending CN114473306A (en) | 2022-03-04 | 2022-03-04 | Intelligent welding system for hydraulic support structural part |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114952059A (en) * | 2022-06-08 | 2022-08-30 | 深圳市大族机器人有限公司 | Automatic welding method and system based on cooperative robot |
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| CN112570906A (en) * | 2020-12-10 | 2021-03-30 | 苏州阿甘机器人有限公司 | Efficient intelligent cutting robot and working method thereof |
| CN113172374A (en) * | 2021-04-25 | 2021-07-27 | 中铁十四局集团有限公司 | Intelligent walking control system and method for steel pipe cutting and welding |
| CN113172307A (en) * | 2021-03-24 | 2021-07-27 | 苏州奥天智能科技有限公司 | Industrial robot system of visual module based on laser and visible light fusion |
-
2022
- 2022-03-04 CN CN202210213285.1A patent/CN114473306A/en active Pending
Patent Citations (7)
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|---|---|---|---|---|
| KR20000008590A (en) * | 1998-07-14 | 2000-02-07 | 윤종용 | Welding method using robot |
| CN106625689A (en) * | 2015-11-02 | 2017-05-10 | 发那科株式会社 | Offline robot programming device |
| CN108274092A (en) * | 2017-12-12 | 2018-07-13 | 北京石油化工学院 | Groove automatic cutting system and cutting method based on 3D vision and Model Matching |
| CN110102886A (en) * | 2019-04-03 | 2019-08-09 | 安徽工布智造工业科技有限公司 | A kind of Intelligent welding system applied to metal structure |
| CN112570906A (en) * | 2020-12-10 | 2021-03-30 | 苏州阿甘机器人有限公司 | Efficient intelligent cutting robot and working method thereof |
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| CN114952059A (en) * | 2022-06-08 | 2022-08-30 | 深圳市大族机器人有限公司 | Automatic welding method and system based on cooperative robot |
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Application publication date: 20220513 |