CN116275740A - Welding system and method based on 3D vision technology - Google Patents

Welding system and method based on 3D vision technology Download PDF

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Publication number
CN116275740A
CN116275740A CN202310375316.8A CN202310375316A CN116275740A CN 116275740 A CN116275740 A CN 116275740A CN 202310375316 A CN202310375316 A CN 202310375316A CN 116275740 A CN116275740 A CN 116275740A
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China
Prior art keywords
welding
module
robot arm
vision
camera
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CN202310375316.8A
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Chinese (zh)
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甘元亮
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Sichuan Chuanneng Machinery Manufacturing Co ltd
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Sichuan Chuanneng Machinery Manufacturing Co ltd
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Priority to CN202310375316.8A priority Critical patent/CN116275740A/en
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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
    • 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
    • B23K37/0252—Steering means
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a welding system and a method based on a 3D vision technology, wherein the welding system comprises a control module, a power module, a transmission module, a 3D vision module and an execution module, the execution system comprises a driving module and a welding module, the welding module is driven by the driving module to weld a weld, the control module is in communication connection with an operation module, a display module, the driving module, the welding module and the transmission module, and the transmission module is in communication connection with the 3D vision module. According to the welding method, the welding port is scanned through the 3D camera when the welding machine is used, the position and the posture of the welding port are calculated, the position and the posture change of the welding port are automatically tracked, and therefore the robot arm is guided to the appointed position for welding, the welding quality and the welding efficiency of a product can be improved, meanwhile, the welded workpiece can be detected, whether the welding line is completely welded or not can be determined, the degree of automation is high, the welding precision is high, and the efficiency is high.

Description

Welding system and method based on 3D vision technology
Technical Field
The invention relates to the technical field of welding machine systems, in particular to a welding system and a welding method based on a 3D vision technology.
Background
Welding, also known as fusion welding, is a process and technique for joining metals or other thermoplastic materials, such as plastics, by means of heat, high temperature or high pressure.
The energy sources of modern welding are numerous and include gas flames, electric arcs, lasers, electron beams, friction and ultrasound. In addition to use in factories, welding can also be performed in a variety of environments, such as in the field, underwater, and in space. Wherever welding may present a hazard to the operator, appropriate safeguards must be taken when welding. The possible injuries to the human body caused by welding include burn, electric shock, vision damage, inhalation of toxic gas, excessive ultraviolet irradiation and the like. However, at present, the development of visual recognition and welding technology is not perfect, the existing welding machine aims at the welding position to weld according to a preset track, the position and posture change of the welding position cannot be automatically tracked, the problems of poor welding quality and low welding efficiency can occur, and the welded parts cannot be used.
Accordingly, one skilled in the art provides a welding system and method based on 3D vision technology to solve the above-mentioned problems.
Disclosure of Invention
In order to solve the technical problems, the invention provides a welding system and a method based on a 3D vision technology, the welding system comprises a control module, a power module, a transmission module, a 3D vision module and an execution module, the execution system comprises a driving module and a welding module, the welding module drives through the driving module to weld a welding seam, the control module is in communication connection with an operation module, a display module, the driving module, the welding module and the transmission module, the transmission module is in communication connection with the 3D vision module, the 3D vision module acquires welding seam data of a workpiece to be welded and transmits the welding seam data to the transmission module, the transmission module transmits data information to the control module for analysis processing, the control module sends a starting signal to a central processing unit, and the central processing unit guides the driving module and the welding module to weld through the 3D vision module.
Preferably: the three-dimensional (3D) vision modules are arranged in two groups, one group is arranged on the driving module and synchronously moves along with the welding module to acquire workpiece coordinate data, and the other group is fixedly arranged above the welding workbench to acquire the coordinate data of the workpiece on the workbench.
Preferably: preferably: the 3D vision module comprises a 3D camera and a data processing module, the image information acquired by the 3D camera is transmitted to the control module for analysis and processing through the transmission module after being processed by the data processing module, and the control module sends out corresponding control commands.
Preferably: the operation module comprises a keyboard and a switch module, and is used for inputting programs, setting equipment and starting/closing equipment.
Preferably: the driving module comprises a position shifter and a mechanical arm, the mechanical arm is connected with the position shifter, and the position shifter controls the direction conversion of the mechanical arm to carry out multidirectional adjustment.
A welding method of a welding system based on 3D vision technology, comprising the steps of:
step one, starting a welding system, and calibrating the relation between the coordinates of a 3D camera, the coordinates of a mechanical arm and the coordinates of a welding gun;
secondly, positioning a welding target of the welding piece;
step three, the starting position of a target is taken as a scanning starting position by a robot arm, a 3D camera on a welding gun is driven to scan the welding port, the track of the welding port is calculated, and a coordinate matrix for expressing the position of the welding port is obtained;
and fourthly, guiding the welding module to weld by the robot arm according to the track of the welding port.
Fifthly, the 3D camera acquires data of the whole welding process and sends the data to the control module, the control module analyzes the data and judges whether the welding is finished, and if the welding is finished, the control module enters a standby state; if not, the control module sends out an instruction, and the processes of the third step and the fourth step are repeated until all welding is completed.
Preferably: in the first step, the calibration method of the spatial conversion relation among the robot arm, the welding module and the 3D camera coordinate system is as follows,
a. guiding the robot arm to drive the gun head of the welding gun to point to a fixed space point for a plurality of times, changing the gesture of the tail end of the robot arm pointed each time, and not changing the position of the tail end to obtain the space conversion relation of the welding equipment coordinate system relative to the base of the robot arm;
b. and fixedly mounting the calibration plate at the tail end of the robot arm, shooting the calibration plate under different poses of the robot arm for a plurality of times by a 3D camera on the welding gun, and recording the position and the pose of the robot arm when shooting each time to obtain the space conversion relation between the robot arm and the 3D camera on the welding gun.
Preferably: and step two, the robot arm drives the welding gun to move to a welding port of the workpiece, the welding point of the welding gun is overlapped with the end point of the welding port, and the overlapped position of the end point of the welding port and the welding point is used as a target starting position of the robot arm.
The invention has the technical effects and advantages that:
according to the welding method, the welding port is scanned through the 3D camera when the welding machine is used, the position and the posture of the welding port are calculated, the position and the posture change of the welding port are automatically tracked, and therefore the robot arm is guided to the appointed position for welding, the welding quality and the welding efficiency of a product can be improved, meanwhile, the welded workpiece can be detected, whether the welding line is completely welded or not can be determined, the degree of automation is high, the welding precision is high, and the efficiency is high.
Drawings
FIG. 1 is a flow block diagram of a welding system based on 3D vision technology provided in an embodiment of the present application;
fig. 2 is a flow chart of a welding system based on 3D vision technology provided in an embodiment of the present application.
Description of the embodiments
The invention will be described in further detail with reference to the drawings and the detailed description. The embodiments of the invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Examples
Referring to fig. 1, in order to solve the above technical problems, the present invention provides a welding system based on a 3D vision technology, which includes a control module, a power module, a transmission module, a 3D vision module, and an execution module, wherein the execution system includes a driving module and a welding module, the welding module is driven by the driving module to weld a weld seam, the control module is communicatively connected with an operation module, a display module, the driving module, the welding module, and the transmission module, the transmission module is communicatively connected with the 3D vision module, the 3D vision module obtains weld seam data of a workpiece to be welded and transmits the weld seam data to the transmission module, the transmission module transmits the data information to the control module for analysis processing, the control module sends a start signal to a central processing unit, and the central processing unit guides the driving module and the welding module to weld through the 3D vision module.
The three-dimensional (3D) vision modules are arranged in two groups, one group is arranged on the driving module and synchronously moves along with the welding module to acquire workpiece coordinate data, and the other group is fixedly arranged above the welding workbench to acquire the coordinate data of the workpiece on the workbench.
The 3D vision module comprises a 3D camera and a data processing module, the image information acquired by the 3D camera is transmitted to the control module for analysis and processing through the transmission module after being processed by the data processing module, and the control module sends out corresponding control commands.
The operation module comprises a keyboard and a switch module, and is used for inputting programs, setting equipment and starting/closing equipment.
The driving module comprises a position shifter and a mechanical arm, the mechanical arm is connected with the position shifter, and the position shifter controls the direction conversion of the mechanical arm to carry out multidirectional adjustment.
A welding method of a welding system based on 3D vision technology, comprising the steps of:
step one, starting a welding system, and calibrating the relation between the coordinates of a 3D camera, the coordinates of a mechanical arm and the coordinates of a welding gun;
secondly, positioning a welding target of the welding piece;
step three, the starting position of a target is taken as a scanning starting position by a robot arm, a 3D camera on a welding gun is driven to scan the welding port, the track of the welding port is calculated, and a coordinate matrix for expressing the position of the welding port is obtained;
and fourthly, guiding the welding module to weld by the robot arm according to the track of the welding port.
Fifthly, the 3D camera acquires data of the whole welding process and sends the data to the control module, the control module analyzes the data and judges whether the welding is finished, and if the welding is finished, the control module enters a standby state; if not, the control module sends out an instruction, and the processes of the third step and the fourth step are repeated until all welding is completed.
In the first step, the calibration method of the spatial conversion relation among the robot arm, the welding module and the 3D camera coordinate system is as follows,
a. guiding the robot arm to drive the gun head of the welding gun to point to a fixed space point for a plurality of times, changing the gesture of the tail end of the robot arm pointed each time, and not changing the position of the tail end to obtain the space conversion relation of the welding equipment coordinate system relative to the base of the robot arm;
b. and fixedly mounting the calibration plate at the tail end of the robot arm, shooting the calibration plate under different poses of the robot arm for a plurality of times by a 3D camera on the welding gun, and recording the position and the pose of the robot arm when shooting each time to obtain the space conversion relation between the robot arm and the 3D camera on the welding gun.
And step two, the robot arm drives the welding gun to move to a welding port of the workpiece, the welding point of the welding gun is overlapped with the end point of the welding port, and the overlapped position of the end point of the welding port and the welding point is used as a target starting position of the robot arm.
In embodiment 1, the control device for operating the device is provided with a control system, a switch and a driving module by corresponding manufacturers, and in addition, the power supply module, the circuit, the electronic component and the control module are all in the prior art, so that the control device can be completely realized by those skilled in the art, and needless to say, the protection of the invention does not involve improvement of the internal structure and method.
It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art and which are included in the embodiments of the present invention without the inventive step, are intended to be within the scope of the present invention. Structures, devices and methods of operation not specifically described and illustrated herein, unless otherwise indicated and limited, are implemented according to conventional means in the art.

Claims (8)

1. The utility model provides a welding system based on 3D vision technique, includes control module, power module, transmission module, 3D vision module and execution module, its characterized in that, execution system includes drive module and welding module, welding module passes through drive module and drives, welds the seam, control module communication connection operation module, display module, drive module, welding module and transmission module, transmission module communication connection 3D vision module, and 3D vision module acquires the welding seam data of waiting to weld the work piece to transmit to transmission module, transmission module transmits data information to control module for analysis processing, and control module sends start signal to central processing unit, and central processing unit passes through 3D vision module guide drive module and welding module and welds.
2. The welding system based on the 3D vision technology according to claim 1, wherein the 3D vision modules are two groups, one group is arranged on the driving module and moves synchronously with the welding module to obtain the coordinate data of the workpiece, and the other group is fixedly arranged above the welding workbench to obtain the coordinate data of the workpiece on the workbench.
3. The welding system based on the 3D vision technology according to claim 1, wherein the 3D vision module comprises a 3D camera and a data processing module, the image information obtained by the 3D camera is processed by the data processing module and then transmitted to the control module for analysis and processing by the transmission module, and the control module sends out a corresponding control command.
4. The welding system of claim 1, wherein the operating module comprises a keyboard and switch module for entering a program, setting a device, and activating/deactivating the device.
5. The welding system of claim 1, wherein the drive module comprises a positioner and a manipulator, the manipulator is connected to the positioner, and the positioner controls the direction change of the manipulator to perform multi-directional adjustment.
6. A welding method of a welding system based on 3D vision techniques according to any of claims 1-5, comprising the steps of:
step one, starting a welding system, and calibrating the relation between the coordinates of a 3D camera, the coordinates of a mechanical arm and the coordinates of a welding gun;
secondly, positioning a welding target of the welding piece;
step three, the starting position of a target is taken as a scanning starting position by a robot arm, a 3D camera on a welding gun is driven to scan the welding port, the track of the welding port is calculated, and a coordinate matrix for expressing the position of the welding port is obtained;
step four, the robot arm guides the welding module to weld according to the track of the welding port;
fifthly, the 3D camera acquires data of the whole welding process and sends the data to the control module, the control module analyzes the data and judges whether the welding is finished, and if the welding is finished, the control module enters a standby state; if not, the control module sends out an instruction, and the processes of the third step and the fourth step are repeated until all welding is completed.
7. The welding method of a welding system according to claim 6, wherein in the first step, the spatial transformation relation calibration method of the robot arm, the welding module and the 3D camera coordinate system is as follows,
a. guiding the robot arm to drive the gun head of the welding gun to point to a fixed space point for a plurality of times, changing the gesture of the tail end of the robot arm pointed each time, and not changing the position of the tail end to obtain the space conversion relation of the welding equipment coordinate system relative to the base of the robot arm;
b. and fixedly mounting the calibration plate at the tail end of the robot arm, shooting the calibration plate under different poses of the robot arm for a plurality of times by a 3D camera on the welding gun, and recording the position and the pose of the robot arm when shooting each time to obtain the space conversion relation between the robot arm and the 3D camera on the welding gun.
8. The welding method of a welding system based on 3D vision technology according to claim 6, wherein in the second step, the robot arm drives the welding gun to move to the welding port of the workpiece, the welding point of the welding gun coincides with the welding port end point, and the position where the welding port end point coincides with the welding point is used as the target starting position of the robot arm.
CN202310375316.8A 2023-04-10 2023-04-10 Welding system and method based on 3D vision technology Pending CN116275740A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310375316.8A CN116275740A (en) 2023-04-10 2023-04-10 Welding system and method based on 3D vision technology

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310375316.8A CN116275740A (en) 2023-04-10 2023-04-10 Welding system and method based on 3D vision technology

Publications (1)

Publication Number Publication Date
CN116275740A true CN116275740A (en) 2023-06-23

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Application Number Title Priority Date Filing Date
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Country Status (1)

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CN (1) CN116275740A (en)

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