CN115647692A - Automatic welding system and welding method - Google Patents
Automatic welding system and welding method Download PDFInfo
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Abstract
The invention relates to the technical field of welding, and discloses an automatic welding system and a welding method, which comprise a server and a plurality of magnetic-suction welding robots, wherein a main magnetic-suction welding robot is set in the magnetic-suction welding robots, the other magnetic-suction welding robots are subordinate magnetic-suction welding robots, the main magnetic-suction welding robot is suitable for acquiring a global image of a working area to be welded and sending the global image to the server, and the server is suitable for identifying the positions of all welding points according to the global image. In the invention, the body is turned over, so that the second inclined plane is in contact with a working area, the bottom of the front side is raised to be separated from the working area, an actual workpiece to be welded is configured in a welding scene, a binocular structured light three-dimensional scanner is adopted to shoot the actual workpiece to be welded from a plurality of angles and positions to collect an image of the actual workpiece to be welded, required image characteristics are obtained through image preprocessing, and binocular matching and three-dimensional reconstruction are carried out to obtain scene point cloud data of the actual workpiece to be welded.
Description
Technical Field
The invention relates to the technical field of welding, in particular to an automatic welding system and a welding method.
Background
The current workpiece welding detection methods comprise the following steps: firstly, welding defect detection is carried out by adopting a traditional image algorithm and a deep learning algorithm, the traditional image algorithm has the defect of insufficient robustness, the relevance of the traditional image algorithm to a product and an image is high, a deep learning detection method emphasizes defect standards, namely whether detection exists on various defects and defect positions exist or not and readjustment marking and training are required once the defect standards are changed; secondly, a destructive experiment is carried out on the welded structure, and the welding quality is judged according to the result of the destructive experiment, so that the detection method cannot reflect the welding quality in the welding process intuitively in real time, and is time-consuming, material-consuming and high in required labor cost; the third method is to detect the welded workpiece by manual detection, which determines whether the processed material is qualified or not through the experience of the detection engineer and performs destructive detection by performing spot inspection on the processed material, so as to detect the processed material. However, in the actual operation process, the requirement on the detection engineer is high, and the labor cost is increased; the detection automation degree of the method is low, the condition of missing detection exists, and the detection efficiency of the material is low
Therefore, an automatic welding system and a welding method are provided.
Disclosure of Invention
The invention mainly solves the technical problems in the prior art and provides an automatic welding system and a welding method.
In order to achieve the above object, the present invention adopts the following technical solution, an automatic welding system and a welding method, including a server and a plurality of magnetic-suction welding robots, wherein a main magnetic-suction welding robot is set in the plurality of magnetic-suction welding robots, the other magnetic-suction welding robots are slave magnetic-suction welding robots, the main magnetic-suction welding robot is adapted to collect a global image of a work area to be welded and transmit the global image to the server, the server is adapted to identify positions of each welding point according to the global image and distribute the position data to the corresponding magnetic-suction welding robots, each magnetic-suction welding robot goes to the corresponding welding point position to perform a welding operation, wherein the server can construct a coordinate system for the welding surface, the magnetic-suction welding robot further includes a control module located in the body, a quadrotor flying device located on the upper portion of the body, and a camera device located at the front end of the body and downward, wherein the camera device transmits the collected image data to the control module, the control module is adapted to be electrically connected with a wireless module to transmit the collected image data to the server, and receive a control signal transmitted by the magnetic-suction welding robot to perform a corresponding operation of the welding robot.
Preferably, confirm each welding point position that respectively obtains through image recognition technology through the coordinate system, then control magnetism type welding robot and remove corresponding welding point position and carry out welding work, make a plurality of magnetism type welding robots can cooperate and weld a plurality of welding points in an area, improve work efficiency.
Preferably, the control signal includes: position data, the operation of descending and taking off, control module can adopt embedded treater to realize, and wireless module can adopt the wiFi module, realizes the wireless control to magnetism formula welding robot through wireless module.
Preferably, the welding robot generally adopts a permanent magnet to ensure the stable contact between the robot and a working area, and has many natural advantages because the permanent magnet has strong attraction force, does not need additional power supply and does not worry about power loss and slippage.
Preferably, since it is difficult to remove the magnetic-type welding robot, it is desirable to freely change the presence or absence of the magnetic force like an electro-permanent magnet, and many unlocking mechanisms are provided to allow the welding robot to be easily removed.
Preferably, the camera device sends the acquired image data to the control module, and the control module is suitable for being electrically connected with a wireless module to send the acquired image data to the server and receive a control signal sent by the server to control the magnetic type welding robot to execute corresponding operations.
Preferably, the magnetic field variation device includes: permanent magnet and permanent magnetism actuating mechanism, permanent magnet are suitable for and inhale formula welding robot and adsorb on work area, and the permanent magnet is located this internal middle part position and is close to the bottom.
Preferably, the front side and the rear side of the bottom are both provided with inclined planes, a permanent magnet driving mechanism for driving the permanent magnet to unlock is further arranged in the body, the front side and the rear side of the bottom are both provided with inclined planes, and a permanent magnet driving mechanism for driving the permanent magnet to unlock is further arranged in the body.
Preferably, the control module is suitable for controlling the permanent magnet driving mechanism to drive the permanent magnet to move towards the rear side of the body, so that the inclined plane on the rear side is attracted to be in contact with the working area through the magnetic field of the permanent magnet, the bottom of the front side of the body is tilted, the tilted inclined plane is sent to the server, the server is suitable for recognizing the positions of all welding points according to the global image, and all the position data are respectively distributed to the corresponding magnetic type welding robots.
Advantageous effects
The invention provides an automatic welding system and a welding method. The method has the following beneficial effects:
(1) When the automatic welding system and the welding method are used, the permanent magnet driving mechanism controls the driving shaft to extend, so that the permanent magnet moves towards the rear side of the body along the sliding rail, secondly, when the permanent magnet is located at the rear side of the body, a magnetic field is concentrated at the rear side of the body, the rear side of the body is an inclined plane, the magnetic field at the front side of the body is much smaller than that at the rear side, when the magnetic force at the rear side of the body is larger than the gravity and the attraction force at the front side, the body can turn over, the second inclined plane is in contact with a working area, so that the bottom of the front side is tilted to be separated from the working area, an actual workpiece to be welded is configured in a welding scene, a binocular structured light three-dimensional scanner is adopted to shoot the actual workpiece to be welded from multiple angles and positions, the image of the actual workpiece to be welded is collected, the required image characteristics are obtained through image preprocessing, binocular matching and three-dimensional reconstruction are carried out, and the point cloud scene data of the actual workpiece to be welded are obtained.
(2) The robot of the embodiment can be locally and sequentially separated from a working area through the change of a magnetic field, the robot can be conveniently detached from the working area through a separated part, a user can adjust the position of the permanent magnet 2 only through the wireless control of the server, so that a gap is formed between the front part and the working area, the front side adsorption force is greatly weakened, the welding robot is easy to detach and unlock and takes off, background point clouds and discrete points in scene point cloud data of an actual workpiece to be welded are removed in a point cloud segmentation mode, point cloud data of the actual workpiece to be welded are obtained, the obtained point cloud data of the actual workpiece to be welded are converted into a base coordinate system of a cooperative robot from a coordinate system of a reference camera of a binocular structured light three-dimensional scanner, and an actual workpiece to be welded coordinate system is established at the centroid of the point cloud data of the actual workpiece to be welded.
(3) The point cloud data of an actual workpiece to be welded and the point cloud data of a reference workpiece to be welded in a matching template are roughly registered based on a fast point characteristic histogram descriptor algorithm to obtain a fifth coordinate transformation matrix between the coordinate system of the actual workpiece to be welded and the coordinate system of the reference workpiece to be welded, after the bottom of the front side of a body is tilted, a supporting foot located on the front side of the body is downwards unfolded to contact with a working area, a permanent magnet driving mechanism for driving the supporting foot to be unfolded can be independently arranged and can also be shared with a permanent magnet driving mechanism for driving a permanent magnet to move, furthermore, after the fifth coordinate transformation matrix is obtained through rough registration, the fifth coordinate transformation matrix obtained through rough registration is used as an iteration initial value, an ICP method is adopted for fine registration to correct and update the fifth coordinate transformation matrix, and based on the fifth coordinate transformation matrix and the tail end movement track and pose of a welding gun in the matching template, the tail end movement track and pose of the welding gun under the welding scene where the actual workpiece to be welded are configured are calculated.
(4) The permanent magnet driving mechanism drives the permanent magnet to move towards the front side of the body, and the supporting foot positioned on the rear side of the body is unfolded after the permanent magnet is positioned on the front side of the body, at the moment, the supporting foot positioned on the front side of the body is used as a supporting point, the rear side is supported by the supporting foot on the rear side, so that the permanent magnet is horizontally arranged, the robot is supported by the supporting foot, the distance between the permanent magnet and a working area is increased, magnetic fields on the front side and the rear side of the body are greatly weakened, the robot is easily disassembled, the welding track and the pose of the cooperative robot for the actual workpieces to be welded are obtained according to the tail end movement track and the pose of a welding gun under the welding scene of the actual workpieces to be welded, the cooperative robot is operated in a simulation mode for the welding track and the pose of the actual workpieces to be welded, and the feasibility and the smoothness of welding gun movement are evaluated based on the simulation result.
(5) According to the automatic welding system and the welding method, positions which cannot move, such as inaccessible points, collision points, singular points and the like, are optimized through adding transition points or adjusting the pose of a cooperative robot to optimize the tail end movement track of a welding gun, interpolation processing is performed on two sides of the positions which do not move stably based on the stability evaluation result, further the running stability is guaranteed, and the safe and stable running of the welding process is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
Fig. 1 is a schematic view of the welding method of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b): an automatic welding system and a welding method, as shown in fig. 1, including a server and a plurality of magnetic-type welding robots, wherein a main magnetic-type welding robot is set in the magnetic-type welding robots, the other magnetic-type welding robots are slave magnetic-type welding robots, the main magnetic-type welding robot is suitable for collecting a global image of a work area needing welding, and sends the global image to the server, the server is suitable for identifying positions of welding points according to the global image, and distributes position data to the corresponding magnetic-type welding robots respectively, each magnetic-type welding robot goes to corresponding welding point positions to execute welding operation, wherein, the server can establish a coordinate system to the welding surface, determine positions of the welding points obtained through image identification technology through the coordinate system, then control the magnetic-type welding robots to move to the corresponding welding point positions to execute the magnetic-type welding operation, so that the magnetic-type welding robots can cooperate to weld a plurality of welding points in one area, and improve work efficiency.
Magnetic type welding robot still includes, be located this internal control module, the upper portion that is located the body is equipped with four rotor flight devices, and the front end that is located the body is equipped with camera device downwards, camera device sends the image data who gathers to control module, control module is suitable for with a wireless module electric connection, in order to send the image data who gathers to the server, and receive the control signal that the server sent, carry out corresponding operation with control magnetic type welding robot, control signal includes, position data, landing and take-off operation, control module can adopt embedded treater to realize, wireless module can adopt the wiFi module, realize the wireless control to magnetic type welding robot through wireless module, in order to ensure welded stability, welding robot adopts permanent magnet guarantee robot and work area's stable contact usually, because permanent magnet suction is strong, do not need extra power supply, do not worry the slippage of losing power, consequently, have many natural advantages, but when magnetic force is very strong, it is also difficult when taking off magnetic type welding robot, therefore hope to change having of magnetic force like the electric permanent magnet at will have or not enough the existence of magnetic force, in order to make the welding robot can light and get down, but the mechanical unlocking mechanism has appeared, the laborsaving mechanism alone, and the setting has been troublesome, and the unlocking mechanism has been enough.
The working principle of the invention is as follows:
when the device is used, the permanent magnet driving mechanism controls the driving shaft to extend, so that the permanent magnet moves towards the rear side of the body along the sliding rail, secondly, when the permanent magnet is positioned at the rear side of the body, the magnetic field is concentrated at the rear side of the body, the rear side of the body is an inclined plane, the magnetic field at the front side of the body is much smaller than that at the rear side, when the magnetic force at the rear side of the body is larger than the gravity and the attraction force at the front side, the body is overturned, the second inclined plane is in contact with a working area, so that the bottom of the front side is lifted up to be separated from the working area, the actual workpieces to be welded are configured in a welding scene, a binocular structured light three-dimensional scanner is adopted to shoot the actual workpieces to be welded from multiple angles and positions to acquire images of the actual workpieces to be welded, required image characteristics are obtained through image preprocessing, and binocular matching and three-dimensional reconstruction are carried out, and scene point cloud data of the actual workpieces to be welded are obtained.
Because the robot of this embodiment passes through the change of magnetic field for local and the work area separation in proper order in body both sides, can make the robot conveniently pull down from the work area through the position of separation. The position of the permanent magnet 2 can be adjusted by a user through wireless control of the server, so that a gap is formed between the front side part and the working area, the adsorption force of the front side is greatly weakened, the welding robot is easy to disassemble and unlock and take off, background point clouds and discrete points in scene point cloud data of an actual workpiece to be welded are removed in a point cloud segmentation mode, the point cloud data of the actual workpiece to be welded are obtained, the obtained point cloud data of the actual workpiece to be welded are converted into a base coordinate system of the cooperative robot from a coordinate system of a reference camera of the binocular structured light three-dimensional scanner, and an actual coordinate system of the workpiece to be welded is established at the centroid of the point cloud data of the actual workpiece to be welded.
The method comprises the steps of roughly registering point cloud data of an actual workpiece to be welded and point cloud data of a reference workpiece to be welded in a matching template based on a fast point characteristic histogram descriptor algorithm to obtain a fifth coordinate conversion matrix between the coordinate system of the actual workpiece to be welded and the coordinate system of the reference workpiece to be welded, expanding a contact working area downwards by a supporting leg positioned on the front side of a body after the bottom of the front side of the body is tilted, driving a permanent magnet driving mechanism for expanding the supporting leg, wherein the permanent magnet driving mechanism can be independently arranged and can also be shared with a permanent magnet driving mechanism for driving a permanent magnet to move, further, after the fifth coordinate conversion matrix is obtained through rough registration, taking the fifth coordinate conversion matrix obtained through rough registration as an iteration initial value, carrying out fine registration by adopting a method to correct and update the fifth coordinate conversion matrix, and calculating to obtain the tail end movement track and pose of a welding gun under a welding scene for configuring the actual workpiece to be welded based on the fifth coordinate conversion matrix and the tail end movement track and pose of the welding gun in the matching template.
Then, the permanent magnet driving mechanism drives the permanent magnet to move towards the front side of the body, and after the permanent magnet is located at the front side of the body, a supporting foot located at the rear side of the body is unfolded, at the moment, the supporting foot at the front side of the body serves as a supporting point, the supporting foot at the rear side supports the rear side, so that the permanent magnet is horizontally arranged, the supporting foot supports the robot, the distance between the permanent magnet and a working area is increased, and the magnetic fields of the front side and the rear side of the body are greatly weakened, so that the robot can be easily disassembled.
The method has the advantages that positions which cannot be achieved by movement, such as unreachable points, collision points, singular points and the like, are optimized by adding transition points or adjusting the pose of a cooperative robot to the movement track of the tail end of the welding gun, interpolation processing is carried out on two sides of the positions which cannot be achieved by movement based on the stability evaluation result, the stability of operation is guaranteed, and the safe and stable operation of the welding process is guaranteed.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation that the first and second features are not in direct contact, but are in contact via another feature between them. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Claims (9)
1. The utility model provides an automatic change welding system and welding method, includes server and a plurality of magnetism type welding robot, its characterized in that: wherein set for a main magnetism and inhale formula welding robot among a plurality of magnetism type welding robot, all the other magnetism type welding robot are for following magnetism type welding robot, and main magnetism type welding robot is suitable for the global image of gathering the work area that needs the welding, and send for the server, and the server is suitable for each welding point position according to global image identification, and distribute each position data respectively to corresponding magnetism type welding robot, and each magnetism type welding robot goes to corresponding welding point position and carries out welding operation, wherein, the server can construct the coordinate system to the face of weld, magnetism type welding robot still includes, is located this internal control module, is located the upper portion of body and is equipped with four rotor flight device to and be located the front end of body and be equipped with camera device downwards, wherein camera device with the image data transmission who gathers to control module, control module be suitable for with a wireless module electric connection, with the image data transmission to the server with gathering, and receive the control signal that the server sent, carry out corresponding operation with control magnetism type welding robot.
2. The automated welding system and method of claim 1, wherein: confirm each welding point position that respectively obtains through image recognition technology through the coordinate system, then control magnetism and inhale formula welding robot and remove and carry out welding work to corresponding welding point position, make a plurality of magnetism inhale formula welding robot can weld a plurality of welding points in an area in coordination, improve work efficiency.
3. The automated welding system and method of claim 1, wherein: the control signal includes: position data, descending and take-off operation, control module can adopt embedded treater to realize, wireless module can adopt the wiFi module, realizes the wireless control to magnetism type welding robot through wireless module.
4. The automated welding system and method of claim 1, wherein: the welding robot generally adopts the permanent magnet to ensure the stable contact between the robot and a working area, and has a plurality of natural advantages because the permanent magnet has strong suction force, does not need additional power supply and does not worry about power loss slippage.
5. The automated welding system and method of claim 4, wherein: since it is difficult to remove the magnetic welding robot, it is desirable to change the presence or absence of the magnetic force as desired, like an electropermanent magnet. In order to allow easy removal of the welding robot, a number of unlocking mechanisms have been developed.
6. The automated welding system and method of claim 5, wherein: the camera device sends the acquired image data to the control module, the control module is suitable for being electrically connected with a wireless module to send the acquired image data to the server and receive a control signal sent by the server to control the magnetic type welding robot to execute corresponding operation.
7. The automated welding system and method of claim 6, wherein: the magnetic field variation device includes: permanent magnet and permanent magnetism actuating mechanism, permanent magnet are suitable for and inhale formula welding robot and adsorb on work area, and the permanent magnet is located this internal middle part position and is close to the bottom.
8. The automated welding system and method of claim 7, wherein: the front side and the rear side of bottom all are equipped with the inclined plane, still are equipped with the permanent magnet actuating mechanism of drive permanent magnet unblock in this body, the front side and the rear side of bottom all are equipped with the inclined plane, still are equipped with the permanent magnet actuating mechanism of drive permanent magnet unblock in this body.
9. The automated welding system and method of claim 8, wherein: the control module is suitable for controlling the permanent magnet driving mechanism to drive the permanent magnet to move towards the rear side of the body, so that the inclined plane of the rear side is attracted to be in contact with the working area through the magnetic field of the permanent magnet, the bottom of the front side of the body is tilted, the tilted front side of the body is sent to the server, the server is suitable for recognizing the positions of all welding points according to the global image, and all position data are respectively distributed to the corresponding magnetic type welding robots.
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| CN202211372158.2A CN115647692A (en) | 2022-11-03 | 2022-11-03 | Automatic welding system and welding method |
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