CN115139001A - Automatic welding system and application thereof - Google Patents
Automatic welding system and application thereof Download PDFInfo
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- CN115139001A CN115139001A CN202210816442.8A CN202210816442A CN115139001A CN 115139001 A CN115139001 A CN 115139001A CN 202210816442 A CN202210816442 A CN 202210816442A CN 115139001 A CN115139001 A CN 115139001A
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- 238000003466 welding Methods 0.000 title claims abstract description 198
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 27
- 239000010959 steel Substances 0.000 claims abstract description 27
- 238000010276 construction Methods 0.000 claims abstract description 9
- 230000033001 locomotion Effects 0.000 claims description 15
- 238000000034 method Methods 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 6
- 229910001294 Reinforcing steel Inorganic materials 0.000 claims description 4
- 230000000977 initiatory effect Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 8
- 238000004590 computer program Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 238000003860 storage Methods 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001427 coherent effect Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005304 joining Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
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- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
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- 229910000679 solder Inorganic materials 0.000 description 1
- 239000012815 thermoplastic material Substances 0.000 description 1
- 239000002341 toxic gas Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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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
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0258—Electric supply or control circuits therefor
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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 relates to an automatic welding system and application thereof, wherein the system comprises a first moving body and a second moving body which are arranged in a group, a welding part is arranged by matching with the first moving body, and an identification part and a clamping part are arranged by matching with the second moving body; the first mechanical arm on the first moving body is connected with the welding part, and the second mechanical arm on the second moving body is connected with the identification part and the clamping part; directly or indirectly controlling the first moving body, the second moving body, the welding part, the identification part, the clamping part, the first mechanical arm and the second mechanical arm by using a control station; finally, the welding of the steel bars of the capping beam and the box girder top plate in construction is realized. The invention saves a great deal of manpower and ensures the promotion of safe production.
Description
Technical Field
The present invention relates to operations; the technical field of transportation, in particular to an automatic welding system and application thereof.
Background
Welding, also known as fusion welding, is a manufacturing process and technique for joining metals or other thermoplastic materials, such as plastics, by means of heat, high temperature or high pressure. In the welding process, the workpiece and the solder are melted to form a molten area, and the molten pool is cooled and solidified to form connection between materials; wherever welding can pose a risk to the operator, including burns, electric shock, vision damage, inhalation of toxic gases, excessive uv exposure, etc., proper safeguards must be taken while welding is being performed.
The steel bar welding is a common welding operation, and the steel bars are lengthened or cross-linked along the axial direction by using electric welding equipment; along with the development of construction, the requirement for manufacturing the reinforcement cage is higher and higher, and new requirements cannot be met manually, such as: the diameter of the adopted main rib is larger and larger, and the maximum diameter can reach 50mm; the stirrups adopt cold-drawn ribbed high-strength deformed steel bars, and the maximum diameter can reach 16mm; the weight of a cage with the length of 12 meters can reach 8 tons; two main ribs are used side by side in the radial direction or the circumferential direction; according to the bearing requirement, the main ribs with different diameters are used on the same circumference, so that materials and the like can be saved. The connection of the cages puts forward new requirements, and the practice is continuously required in the production construction so as to require low production cost, high construction speed and high construction quality. This presents a challenge for manual welding as is common in the prior art.
Disclosure of Invention
The invention solves the problems in the prior art and provides an optimized automatic welding system and application thereof.
The technical scheme adopted by the invention is that the automatic welding system comprises a first moving body and a second moving body which are arranged in a group, wherein a welding piece is arranged by matching with the first moving body, and an identification piece and a clamping piece are arranged by matching with the second moving body; a first mechanical arm is arranged on the first moving body matched with the welding piece, and a second mechanical arm is arranged on the second moving body matched with the identification piece and the clamping piece;
the system also comprises a control station which is used for directly or indirectly controlling the first moving body, the second moving body, the welding piece, the identification piece, the clamping piece, the first mechanical arm and the second mechanical arm.
Preferably, a first sub-control block is arranged in the first moving body, a second sub-control block is arranged in the second moving body, and the first sub-control block and the second sub-control block in a group are wirelessly connected with the control stations;
the first sub-control block controls the motion direction and speed of the first moving body, the posture of the first mechanical arm and the welding of a welding part;
the second sub-control block controls the motion direction and speed of the second moving body, the posture of the second mechanical arm, the recognition of the recognition piece and the clamping of the clamping piece.
Preferably, the control method of the system includes the steps of:
step 1: arranging a first mobile body and a second mobile body in a group at a control station;
and 2, step: initiating a welding instruction to a first sub-control block and a second sub-control block corresponding to each group of the first moving body and the second moving body, wherein the first sub-control block and the second sub-control block construct a follow-up relationship;
and step 3: the second moving body moves in place, the second mechanical arm drives the recognition piece to move, recognition scanning is started, the clamping point is determined to be the original point, a welding coordinate system is established, and the clamping piece is clamped at the clamping point;
and 4, step 4: after a terrestrial coordinate system of the second moving body and the established welding coordinate system are obtained, the first moving body moves in place, and the first mechanical arm drives the welding part to move to a welding preset position;
and 5: after the welding part finishes welding at least 1 welding point, if the second moving body does not have the next clamping position, the next step is carried out, otherwise, the clamping part loosens the clamping, the step 3 is repeated, and meanwhile, the welding part finishes the welding task at the current position;
step 6: and (3) rechecking all welding positions, checking the welding quality, finishing welding if the welding positions are qualified, returning the first moving body and the second moving body to the control station, finishing welding, and modifying the welding instruction if the welding positions are not qualified, and repeating the step (2).
Preferably, in step 2, after receiving the welding instruction, the first sub-control block and the second sub-control block confirm the movement direction and obtain the welding parameters, where the welding parameters include the operation surface, the initial welding position, the welding number, and the basic distance between the welding points.
Preferably, in step 3, after the second moving body is moved to the right position, based on the welding parameters, the recognition unit obtains an image of the reinforcing steel bar during the movement within a preset range, performs image recognition, obtains the intersection position, confirms the starting point and the end point of the intersection position, and determines the clamping point.
Preferably, the rebar image includes a front view and other views.
Preferably, after the image is preprocessed, a contour is obtained, a plurality of feature maps are obtained based on the contour, the plurality of feature maps are input into a classifier, and the intersection position is determined based on the output of the classifier.
An application of an automatic welding system is applied to welding of reinforcing steel bars of a cover beam and a box beam top plate in construction.
Preferably, when the steel bars of the cover beam are welded, the operation surface is a vertical surface, the welding positions are the crossing positions of the steel bar hoops, 1-2 welding points are arranged in the middle or at two ends of the crossing positions.
Preferably, when the steel bars of the box girder top plate are welded, the operation surface is a horizontal plane, the welding positions are the intersection positions of the steel bar hoops, the number of welding points is 2-3, and the welding points are arranged at two ends or two ends and the middle part of the intersection positions.
The invention relates to an optimized automatic welding system and application thereof, wherein the system comprises a first moving body and a second moving body which are arranged in a group, a welding part is arranged by matching with the first moving body, and an identification part and a clamping part are arranged by matching with the second moving body; the first mechanical arm on the first moving body is connected with the welding part, and the second mechanical arm on the second moving body is connected with the recognition part and the clamping part; directly or indirectly controlling the first moving body, the second moving body, the welding part, the identification part, the clamping part, the first mechanical arm and the second mechanical arm by using a control station; finally, the welding of the steel bars of the capping beam and the box girder top plate in construction is realized.
The welding robot directly completes welding operation through configuration, the two grouped robots respectively realize clamping and welding work, and the matching between the two robots is ensured through time sequence arrangement; finally, auditing all welding points is realized through rechecking, and a final batch welding result of the steel bars is ensured; save a large amount of manpowers, ensure the propulsion of safe production.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a flow chart of a method of the present invention;
FIG. 3 is a schematic view of a welding point of a steel bar of the bent cap according to the present invention, wherein the position of a circle in the diagram is the welding point;
FIG. 4 is a schematic view of a welding spot of a steel bar of a top plate of a box girder according to the present invention, wherein a circle is shown as the welding spot;
fig. 5 is a schematic structural view of a first mobile body and a second mobile body in the present invention.
Detailed Description
The present invention is described in further detail with reference to the following examples, but the scope of the present invention is not limited thereto.
The invention relates to an automatic welding system, which comprises a first moving body and a second moving body which are arranged in a group, wherein a welding piece is arranged by matching with the first moving body, and an identification piece and a clamping piece are arranged by matching with the second moving body; a first mechanical arm is arranged on a first moving body matched with the welding part, and a second mechanical arm is arranged on a second moving body matched with the recognition part and the clamping part;
the system also comprises a control station which is used for directly or indirectly controlling the first moving body, the second moving body, the welding piece, the identification piece, the clamping piece, the first mechanical arm and the second mechanical arm.
In the invention, the second moving body for identification and clamping and the parts on the second moving body are taken as a robot A, the first moving body for welding and the parts on the first moving body are taken as a robot B, and one robot A and one robot B are taken as a group to work together.
In the invention, the first mechanical arm and the second mechanical arm are generally arranged in a three-section manner, and the first mechanical arm and the second mechanical arm can integrally realize six-axis motion, which can be understood by those skilled in the art and can be arranged by those skilled in the art according to requirements.
In the invention, the first moving body and the second moving body are two movable bases, and control blocks are generally arranged in the bases, so that the control blocks control the motion of the corresponding single robots and realize the interaction among a plurality of robots.
In the invention, the welding part is generally a welding head, and the welding operation can be realized by the control of a corresponding control block.
In the invention, the identification piece is a camera and is used for collecting images in the current sight range of the camera and sending the images to the control block for analysis.
In the invention, the clamping piece is generally a clamping head or a clamp piece with a clamping function, and the specified position is clamped through the control of the control block.
In the invention, the control station and the control block matched with the robot A and the robot B are arranged by a chip, a microprocessor and the like.
A first sub control block is arranged in the first moving body, a second sub control block is arranged in the second moving body, and the first sub control block and the second sub control block which are grouped are in wireless connection with the control stations;
the first sub-control block controls the motion direction and speed of the first moving body, the posture of the first mechanical arm and the welding of a welding part;
the second sub-control block controls the motion direction and speed of the second moving body, the posture of the second mechanical arm, the recognition of the recognition piece and the clamping of the clamping piece.
In the invention, the first sub-control block and the second sub-control block which are arranged in the robot A and the robot B are wirelessly connected, so that the follow-up and the mutual information transmission are conveniently realized, and meanwhile, the wireless butt joint between the first sub-control block and the control station and the wireless butt joint between the second sub-control block and the control station are realized, so that the purpose of receiving and sending signals is realized.
In the present invention, the signals transmitted between the first sub-control block, the second sub-control block and the control station include, but are not limited to, position data, commands, image data and positioning information.
In the present invention, the wireless connection includes but is not limited to Wifi, bluetooth, etc.
In the invention, after receiving the general control information of the control station, the first sub-control block controls the first moving body to move to the welding position, and at the moment, the movement direction and the speed of the first moving body need to be given, and the speed can be variable speed; after receiving the master control information of the control station and/or the follow-up information of the second sub-control block, the first sub-control block controls the posture of the first mechanical arm, namely, the first mechanical arm approximately moves the welding part to the position near the welding point; and after receiving the general control information of the control station and/or the control information of the second sub-control block, the first sub-control block controls the welding of the welding part at the specified position.
In the invention, after receiving the master control information of the control station, the second sub-control block controls the second moving body to move to the welding position, and at the moment, the motion direction and the speed of the second moving body need to be given, and the speed can be variable; after receiving the master control information of the control station, the second sub-control block controls the posture of the second mechanical arm, namely, the welding part is moved to the position near the welding point approximately; after the second sub-control block receives the master control information of the control station and/or the control information of the second sub-control block, the identification piece and the second mechanical arm are controlled to be matched to identify and scan nearby the welding point position, and the clamping point position is confirmed; and after the second sub-control block receives the master control information of the control station and/or the control information of the second sub-control block, the clamping piece is controlled to finish clamping at the clamping point.
The control method of the system comprises the following steps:
step 1: arranging a first mobile body and a second mobile body in a group at a control station;
in the invention, the first moving body and the second moving body are used as bases of the robot A and the robot B, so that the ordered and effective control of the two grouped robots is realized.
Step 2: initiating a welding instruction to a first sub-control block and a second sub-control block corresponding to each group of the first moving body and the second moving body, wherein the first sub-control block and the second sub-control block construct a follow-up relationship;
in the step 2, after the first sub-control block and the second sub-control block receive the welding instruction, the movement direction is confirmed, and welding parameters are obtained, wherein the welding parameters comprise an operation surface, an initial welding position, the welding number and the basic distance between welding points.
In the invention, after the first sub control block and the second sub control block receive the welding command, the confirmed motion direction refers to the driving direction of the first moving body and the second moving body to the welding position and the operation direction of the welding operation; the obtained welding parameters include but are not limited to an operation surface, an initial welding position, the welding number and a basic distance between welding points, and the welding parameters are used for confirming the operation surface and a rough operation position in the welding operation process, so that the welding points and clamping points are conveniently found and positioned, and the subsequent welding operation is further completed.
In the invention, in fact, after the operation surface, the initial welding position, the welding number and the basic distance between the welding points are confirmed, a welding coordinate system can be established, the operation surface is taken as a welding plane, a certain position on the welding plane of the initial welding position is used, and the coordinates of the welding points can be confirmed one by one through the welding number and the basic distance between the welding points.
And step 3: the second moving body moves in place, the second mechanical arm drives the recognition piece to move, recognition scanning is started, the clamping point is determined to be the original point, a welding coordinate system is established, and the clamping piece is clamped at the clamping point;
in the step 3, after the second moving body moves in place, based on the welding parameters, the recognition part obtains the steel bar image in the process of moving within the preset range, performs image recognition, obtains the intersection position, confirms the starting point and the end point of the intersection position, and determines the clamping point.
The rebar image includes a front view and other views.
After the image is preprocessed, a contour is obtained, a plurality of feature maps are obtained based on the contour, the feature maps are input into a classifier, and the intersection position is determined based on the output of the classifier.
In the invention, as the welding position needs to be clamped firstly, for example, 2 steel bars to be welded are clamped and positioned, after the second moving body is moved to the position close to the specified position, the second mechanical arm drives the identification piece to move, and identification scanning is started; during the identification scan, the acquired image or scanned object may be front or side looking, where significant non-compliance with conventional data may be obtained by comparison of welding parameters.
In the invention, taking scanning at the intersection of the steel bars as an example, the identification part obtains the steel bar image in the process of moving in a preset range, carries out preprocessing including but not limited to binaryzation, denoising, connected domain processing and the like, obtains the outline by using a Canny algorithm or other available algorithms, and carries out image identification;
the contour is intercepted in a subarea mode or a plurality of overlapped selection frames are intercepted, a plurality of characteristic graphs can be obtained in sequence, and a classifier is used for classifying to obtain probability catastrophe points and coverage areas of cross positions; specifically, the results of the classifier on the obtained feature output include whether the edge of the steel bar is coherent, whether there is a sudden change, whether there is a sudden point, whether it is significantly thicker than a single steel bar, and the like.
According to the invention, after the starting point and the end point of the cross position are confirmed, the clamping point is further determined, the welding coordinate system is established by taking the clamping point as the origin, and the clamping piece is clamped at the clamping point, so that the confirmation of the next subsequent clamping position is facilitated.
And 4, step 4: after a terrestrial coordinate system of the second moving body and the established welding coordinate system are obtained, the first moving body moves in place, and the first mechanical arm drives the welding part to move to a welding preset position;
in the present invention, the positions of the first and second moving bodies are confirmed in the terrestrial coordinate system, and the positions of the welding points/clamping points are determined in the welding coordinate system.
And 5: after the welding part finishes welding at least 1 welding point, if the second moving body does not have the next clamping position, the next step is carried out, otherwise, the clamping part loosens the clamping, the step 3 is repeated, and meanwhile, the welding part finishes the welding task at the current position;
in the invention, after the welding part is welded by at least 1 welding point, the clamping part has little significance in fact, so that the clamping part is loosened and clamped, and the second moving body moves to the next clamping position through the terrestrial coordinate system, namely the clamping position of the next welding position, so that a new round of operation is performed.
Step 6: and (3) rechecking all welding positions, checking the welding quality, finishing welding if the welding positions are qualified, returning the first moving body and the second moving body to the control station, finishing welding, and modifying the welding instruction if the welding positions are not qualified, and repeating the step (2).
The invention also relates to the application of the automatic welding system, which is applied to the welding of the reinforcing steel bars of the capping beam and the box beam top plate in construction.
When the steel bars of the cover beam are welded, the operation surface is a vertical surface, the welding position is the crossing position of the steel bar hoops, 1-2 welding points are arranged at the middle part or two ends of the crossing position.
When the steel bars of the box girder top plate are welded, the operation surface is a horizontal plane, the welding positions are the crossing positions of the steel bar hoops, the number of welding points is 2-3, and the welding points are arranged at two ends or two ends and the middle part of the crossing positions.
In the invention, for the bent cap, the side part is a non-main bearing part and is convenient to operate, so that a vertical surface is taken as an operation surface, and only one welding point is needed; for the box girder top plate, the top part is a non-main bearing part, and the welding surface is large and convenient to operate, so that the horizontal top surface is used as an operation surface, and 1 welding point is generally required to be respectively arranged at two ends and the center of the intersection, namely three welding points are required.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. An automatic welding system, characterized in that: the system comprises a first moving body and a second moving body which are arranged in a group, wherein a welding piece is arranged by matching with the first moving body, and an identification piece and a clamping piece are arranged by matching with the second moving body; a first mechanical arm is arranged on a first moving body matched with the welding part, and a second mechanical arm is arranged on a second moving body matched with the recognition part and the clamping part;
the system also comprises a control station which is used for directly or indirectly controlling the first moving body, the second moving body, the welding piece, the recognition piece, the clamping piece, the first mechanical arm and the second mechanical arm.
2. An automated welding system according to claim 1, wherein: a first sub-control block is arranged in the first moving body, a second sub-control block is arranged in the second moving body, and the grouped first sub-control block, the grouped second sub-control block and the control stations are in wireless connection in pairs;
the first sub-control block controls the motion direction and speed of the first moving body, the posture of the first mechanical arm and the welding of a welding part;
the second sub-control block controls the motion direction and speed of the second moving body, the posture of the second mechanical arm, the recognition of the recognition piece and the clamping of the clamping piece.
3. An automated welding system according to claim 2, wherein: the control method of the system comprises the following steps:
step 1: arranging a first mobile body and a second mobile body in a group at a control station;
step 2: initiating a welding instruction to a first sub-control block and a second sub-control block corresponding to each group of the first moving body and the second moving body, wherein the first sub-control block and the second sub-control block construct a follow-up relationship;
and step 3: the second moving body moves in place, the second mechanical arm drives the recognition piece to move, recognition scanning is started, the clamping point is determined to be the original point, a welding coordinate system is established, and the clamping piece is clamped at the clamping point;
and 4, step 4: after a terrestrial coordinate system of the second moving body and the established welding coordinate system are obtained, the first moving body moves in place, and the first mechanical arm drives the welding part to move to a welding preset position;
and 5: after the welding part finishes welding at least 1 welding point, if the second moving body does not have the next clamping position, the next step is carried out, otherwise, the clamping part loosens the clamping, the step 3 is repeated, and meanwhile, the welding part finishes the welding task at the current position;
step 6: and (3) rechecking all welding positions, checking the welding quality, finishing welding if the welding positions are qualified, returning the first moving body and the second moving body to the control station, finishing welding, and modifying the welding instruction if the welding positions are not qualified, and repeating the step (2).
4. An automated welding system according to claim 3, wherein: in the step 2, after receiving the welding instruction, the first sub-control block and the second sub-control block confirm the movement direction and obtain the welding parameters, wherein the welding parameters comprise an operation surface, an initial welding position, the welding number and the basic distance between welding points.
5. An automated welding system according to claim 4, wherein: in the step 3, after the second moving body moves in place, based on the welding parameters, the identification piece obtains the steel bar image in the process of moving within the preset range, performs image identification, obtains the crossing position, confirms the starting point and the end point of the crossing position, and determines the clamping point.
6. An automated welding system according to claim 5, wherein: the rebar image includes a front view and other views.
7. An automated welding system according to claim 5, wherein: after the image is preprocessed, a contour is obtained, a plurality of feature maps are obtained based on the contour, the feature maps are input into a classifier, and the intersection position is determined based on the output of the classifier.
8. Use of an automatic welding system according to any one of claims 1 to 7, characterized in that: the welding method is applied to welding of reinforcing steel bars of the capping beam and the box girder top plate in construction.
9. Use of an automatic welding system according to claim 8, characterized in that: when the steel bars of the cover beam are welded, the operation surface is a vertical surface, the welding position is the crossing position of the steel bar hoops, 1-2 welding points are arranged at the middle part or two ends of the crossing position.
10. Use of an automatic welding system according to claim 8, characterized in that: when the steel bars of the box girder top plate are welded, the operation surface is a horizontal plane, the welding positions are the crossing positions of the steel bar hoops, the number of welding points is 2-3, and the welding points are arranged at two ends or two ends and the middle part of the crossing positions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210816442.8A CN115139001B (en) | 2022-07-12 | 2022-07-12 | Automatic welding system and application thereof |
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| CN101941125A (en) * | 2010-08-23 | 2011-01-12 | 南昌三锐机电设备有限公司 | High-efficiency automatic welder for compressor shell |
| CN109496173A (en) * | 2018-08-01 | 2019-03-19 | 深圳配天智能技术研究院有限公司 | Automatic welding device, clamping device people and automatic soldering method |
| US20190170694A1 (en) * | 2017-12-01 | 2019-06-06 | Shanghai Evertec Robot Technology Co., Ltd. | Automatic car body welding spot inspection system and its control method |
| CN109967905A (en) * | 2017-12-27 | 2019-07-05 | 中集车辆（集团）有限公司 | A kind of trailer automatic butt welding system |
| CN110576278A (en) * | 2019-10-10 | 2019-12-17 | 宝鸡文理学院 | Method for positioning and welding metal device by ceramic metallization |
| CN114055032A (en) * | 2021-12-27 | 2022-02-18 | 中国核工业二四建设有限公司 | Welding device and method for welding embedded part in plug welding of through hole |
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| CN101941125A (en) * | 2010-08-23 | 2011-01-12 | 南昌三锐机电设备有限公司 | High-efficiency automatic welder for compressor shell |
| US20190170694A1 (en) * | 2017-12-01 | 2019-06-06 | Shanghai Evertec Robot Technology Co., Ltd. | Automatic car body welding spot inspection system and its control method |
| CN109967905A (en) * | 2017-12-27 | 2019-07-05 | 中集车辆（集团）有限公司 | A kind of trailer automatic butt welding system |
| CN109496173A (en) * | 2018-08-01 | 2019-03-19 | 深圳配天智能技术研究院有限公司 | Automatic welding device, clamping device people and automatic soldering method |
| CN110576278A (en) * | 2019-10-10 | 2019-12-17 | 宝鸡文理学院 | Method for positioning and welding metal device by ceramic metallization |
| CN114055032A (en) * | 2021-12-27 | 2022-02-18 | 中国核工业二四建设有限公司 | Welding device and method for welding embedded part in plug welding of through hole |
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