CN203791807U - Welding robot - Google Patents
Welding robot Download PDFInfo
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- CN203791807U CN203791807U CN201320700580.6U CN201320700580U CN203791807U CN 203791807 U CN203791807 U CN 203791807U CN 201320700580 U CN201320700580 U CN 201320700580U CN 203791807 U CN203791807 U CN 203791807U
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- welding
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- welding gun
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Abstract
The utility model relates to the field of robots and discloses a welding robot. The welding robot comprises a robot body and a weld joint tracking system. A welding gun is arranged on the robot body. The weld joint tracking system comprises an image acquisition and processing module, a control module and a display module. The image acquisition and processing module comprises a camera which is arranged on the side face of the welding gun. The control module is connected with the image acquisition and processing module, the display module and the robot body. The welding robot is simple in whole structure, convenient to use, high in measurement accuracy, high in motion adjustment speed, good in precision and capable of maintaining the good working state in the severe working environment and being widely applied to various welding operations.
Description
Technical field
The utility model relates to robot field, relates in particular to a kind of welding robot.
Background technology
Welding robot is to replace mankind welder to complete the industrial robot of weld task in welding production process, with respect to mankind welder, the workpiece quality that welding robot welds out is more stable, productivity ratio is high, improved to a great extent mankind welder's working condition and working environment, therefore welding robot is widely used in the industries such as automobile, engineering machinery, universal machine, metal structure and weapons manufacture and completes weld task.
According to statistics, in the in-service industrial robot in the whole world, nearly half is for various forms of field of welding processing, since First industrial robot in the world in nineteen fifty-nine since the U.S. is born, three phases has been experienced in application and the technical development of robot: the first generation is teaching-playback robot, robot manipulation is simple for this class, do not possess the feedback capability of external information, be difficult to adapt to the variation of working environment, in modernization industry is produced, the environment of application is very limited; The second generation is the robot with perception, there is certain perception in Zhe Lei robot to external world environment, possesses as functions such as the sense of hearing, vision, senses of touch the information obtaining by sensor when work, adjust flexibly duty, ensure to finish the work in the situation that conforming; The third generation is Intelligent robot, Zhe Lei robot not only has perceptibility, and has the ability of independent judgment, action, memory, reasoning and decision-making, can adapt to external object, environmental harmony and work, can complete more complicated action, also possess failure self-diagnosis and repair ability.The early stage welding robot lack of wisdom property adjusted, its path of welding and welding parameter must set in advance according to actual operating condition, have obvious defect when work.Along with the development of Computer Control Technology, artificial intelligence technology and network control technology, welding robot also by single unit teaching reproduction pattern to intelligentized many sensings, have more the future development of adjustment.
China Patent Publication No. is that the patent of CN203171164U discloses a kind of welding robot, comprise robot body, robot body has welding arm, on described robot body, also has assistant's arm, the front end of assistant's arm has temperature sensing device, temperature sensing device connects the control device of robot, and such welding robot has advantages of can measure temperature, meet precise part processing.
China Patent Publication No. is that the patent of CN103157900A discloses a kind of welding robot, and it has soldering turret, the welding motor being connected with the welding electrode of soldering turret, and for providing electric energy to welding electrode during resistance welded, and industrial robot.This industrial robot has robots arm and the robot controller for robots arm is moved, and it is upper that soldering turret is fixed on robots arm, and robot controller is connected with the clamp driver of welding motor and soldering turret.
Above-mentioned two kinds of welding robots do not have vision control function, all can not adjust according to the welding process of the real-time condition butt welding machine device people in welding process, in the time there is some fortuitous event in environment, path of welding is departed from and preset position, welding robot can not intelligence be adjusted, will cause the workpiece quality of welding defective, production is affected.
Utility model content
An object of the present utility model is, a kind of welding robot that has vision transmission and control function is provided, and can identify welding target, extraction and image processing.
Another object of the present utility model is, provides a kind of welding gun movement locus that can detect to depart from the distance of weld seam and carry out the welding robot of in good time adjusting.
Another object of the present utility model is, propose a kind of under severe working environment, can be for a long time, stable, the welding robot that accurately ensures workpiece welding quality.
For achieving the above object, the utility model by the following technical solutions:
A kind of welding robot, comprises robot body and weld seam tracing system, on described robot body, is provided with welding gun, and described weld seam tracing system comprises image acquisition and processing module, control module and display module; Described image acquisition and processing module comprises video camera, and described video camera is arranged at the side of described welding gun; Described control module is connected with robot body with described image acquisition and processing module, display module respectively.
Further, the information that described control module provides according to described image acquisition and processing module, drives the mechanical arm on described robot body and then drives described welding gun motion.
Further, described image acquisition and processing module comprises two video cameras, and described two video cameras are arranged at respectively the left and right sides of described welding gun, and described video camera and described welding gun are rigidly connected; Between described welding gun and described video camera, be provided with protective baffle plate.
Further, in described video camera, be provided with vision sensor, described vision sensor is connected with programming device by digital signal processing device; Described programming device is connected with described control module by serial line interface.
Further, described control module comprises programmable logic controller (PLC), and described programmable logic controller (PLC) comprises CPU and stores the memory that presets control program; The input of described CPU is connected with described programming device by serial line interface, and the output of described CPU is connected with described robot body.
Further, described display module comprises for the welding effect of monitoring tracking in real time and the liquid crystal control panel that welding parameter is set; Described liquid crystal control panel is connected with described CPU.
Further, the output of described CPU is connected with stepper motor driver, and the other end of described stepper motor driver is connected with drive motors, and described drive motors is connected with described mechanical arm.
Preferably, described vision sensor is laser structure light vision sensor.
The beneficial effects of the utility model are as follows:
1, the utility model is by being equipped with image acquisition and processing module and display module, movement locus in can the Butt welding gun course of work carries out implementing monitoring, and the movement locus image collecting is processed and contrasted with default seam track, and comparative information is transferred to control module, can greatly improve the operability in the welding gun course of work;
2, by control module is set, the information that image acquisition and processing module is passed over is processed, and adjusts the telemechanical track of welding gun in good time, makes the welding gun that is offset default seam track be returned to gradually default track, ensure the welding quality of workpiece, and stability in welding process;
3, in control module of the present utility model, prestore the control method of characteristic statistics rule, even if exist in welding process in the situation that of interference, still can, according to statistical law, ensure accuracy and the security of welding, improve the reliability of welding robot work;
4, the utility model overall structure is simple, easy to use, and certainty of measurement is high, and motor adjustment speed is fast, and accuracy is good, can under the working environment of disliking summary, keep good working order, can be widely used in all kinds of welding jobs.
Brief description of the drawings
With detailed description of the invention, the utility model is described in further detail with reference to the accompanying drawings below.
Fig. 1 is camera position structural representation in the utility model;
Fig. 2 is the each module connection structure schematic diagram of the utility model.
In figure:
1, welding gun; 2, video camera; 3, robot body; 4, display module; 5, control module; 6, image acquisition and processing module.
Detailed description of the invention
As shown in Figure 1 and Figure 2, the utility model provides a kind of welding robot, comprise robot body 3 and weld seam tracing system, on described robot body 3, be provided with mechanical arm, on described mechanical arm, be provided with welding gun 1, described weld seam tracing system comprises image acquisition and processing module 6, control module 5 and display module 4; Described image acquisition and processing module 6 comprises video camera 2, and described video camera 2 is arranged at the side of described welding gun 1; Described control module 5 is connected with described image acquisition and processing module 6, display module 4 and robot body 3 respectively.
Wherein, described image acquisition and processing module 6 comprises two video cameras 2, and described two video cameras 2 are arranged at respectively the left and right sides of described welding gun 1, between described video camera 2 and described welding gun 1, is rigidly connected; Between described welding gun 1 and described video camera 2, be provided with protective baffle plate, described protective baffle plate can have the arc light that effectively prevents welding gun 1 and produce in welding process, splashes, impact and the damage on described video camera 2 such as smog, ensures that the image that described video camera 2 takes is more clear.
Wherein, in described video camera 2, be provided with vision sensor, described vision sensor is connected with programming device by digital signal processing device; Described programming device is connected with described control module by serial line interface.Described vision sensor is selected laser structure light vision sensor, directly gather the image information of welding gun 1, weld seam and welding pool, and the image information collecting is passed to digital signal processing device, digital signal processing device calculates the position relationship between welding gun 1 and weld seam according to image information, or obtains the position relationship between welding gun 1 and weld seam by the shape of welding pool.The anti-interference of laser structure light vision sensor is good, and measurement data is accurate.Digital signal processing device and programming device are used in conjunction with, obtain the movement locus of welding gun 1 in welding process and the weld seam that presets between deviate, and this deviate is passed to described control module 5.
Wherein, described control module 5 comprises programmable logic controller (PLC), and described programmable logic controller (PLC) comprises CPU and stores the memory that presets control program; The input of described CPU is connected with described programming device by serial line interface, and the output of described CPU is connected with described robot body.Described programmable logic controller (PLC) and CPU are accepted the information that programming device transmits, after processing, the operating path of robot body 3 is regulated, robot body 3 drives the welding gun 1 arranging thereon to move, and is returned to gradually the seam track presetting from actual motion track.
Wherein, described display module 4 comprises for the welding effect of monitoring tracking in real time and the liquid crystal control panel that welding parameter is set; Described liquid crystal control panel is connected with described CPU.Described liquid crystal control panel can show in real time the working trajectory in the welding gun course of work and the seam track that presets between extent partially, and can be stored in parameter wherein as input in described control device 5.
Wherein, the output of described CPU drives the manipulator motion on described robot body 3 by stepper motor driver Driving Stepping Motor, and described mechanical arm drives described welding gun 1 to move.
Use the utility model to carry out in welding process, detailed process is:
First, under the original state of welding, carry out visual coordinate location, two video camera butt welded seam images that use is arranged at welding gun both sides gather, and because welding gun immobilizes relatively with respect to the position of video camera, therefore the image coordinate of welding gun rifle point in camera review remains unchanged.In collection weld image process, first extract weld edge, then utilize weld edge to determine the image coordinate of welding starting point, in the time that welding gun rifle point is not aimed at the starting point of weld seam, the coordinate difference of welding gun rifle point in two video cameras, can utilize accordingly predefined fuzzy control program to determine the direction of motion and the move distance of welding gun, driven machine human body drives welding gun motion to make welding gun rifle point arrive welding initial point position.In the time showing on liquid crystal control panel that the coordinate of welding gun rifle point is identical with the coordinate of welding starting point, show the starting point that welding gun rifle point has been aimed at weld seam, welding initial point has been located, and can carry out follow-up welding process.
In welding process, on liquid crystal control panel, follow the tracks of and show the position coordinates of welding gun rifle point and the position of weld seam, in the time occurring that the movement locus of welding gun rifle point departs from the situation of seam track, camera acquisition to image information calculate rapidly side-play amount through processing, and information is passed to control module, control module is crossed and is made welding gun revert to gradually seam track to the adjusting of robot body to get on according to the information exchange that passes over.
Below described in conjunction with specific embodiments know-why of the present utility model, these are described is in order to explain principle of the present utility model, and can not be interpreted as by any way the restriction to the utility model protection domain.Based on explanation herein, those skilled in the art does not need to pay performing creative labour can associate other detailed description of the invention of the present utility model, within these modes all will fall into protection domain of the present utility model.
Claims (5)
1. a welding robot, comprise robot body and weld seam tracing system, on described robot body, be provided with mechanical arm, on described mechanical arm, be provided with welding gun, it is characterized in that: described weld seam tracing system comprises image acquisition and processing module, control module and display module;
Described image acquisition and processing module comprises video camera, and described video camera is arranged at the side of described welding gun;
Described control module is connected with robot body with described image acquisition and processing module, display module respectively;
Described image acquisition and processing module comprises two video cameras, and described two video cameras are arranged at respectively the left and right sides of described welding gun, and described video camera and described welding gun are rigidly connected;
Between described welding gun and described video camera, be provided with protective baffle plate;
In described video camera, be provided with vision sensor, described vision sensor is connected with programming device by digital signal processing device;
Described programming device is connected with described control module by serial line interface;
Described control module comprises programmable logic controller (PLC), and described programmable logic controller (PLC) comprises CPU and stores the memory that presets control program;
The input of described CPU is connected with described programming device by serial line interface, and the output of described CPU is connected with described robot body.
2. a kind of welding robot according to claim 1, is characterized in that: the information that described control module provides according to described image acquisition and processing module, drives the mechanical arm on described robot body and then drive described welding gun motion.
3. a kind of welding robot according to claim 2, is characterized in that: described display module comprises for monitoring in real time follows the tracks of welding effect and the liquid crystal control panel that welding parameter is set;
Described liquid crystal control panel is connected with described CPU.
4. a kind of welding robot according to claim 3, it is characterized in that: the output of described CPU is connected with stepper motor driver, the other end of described stepper motor driver is connected with drive motors, and described drive motors is connected with described mechanical arm.
5. a kind of welding robot according to claim 4, is characterized in that: described vision sensor is laser structure light vision sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320700580.6U CN203791807U (en) | 2013-11-06 | 2013-11-06 | Welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320700580.6U CN203791807U (en) | 2013-11-06 | 2013-11-06 | Welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203791807U true CN203791807U (en) | 2014-08-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201320700580.6U Expired - Fee Related CN203791807U (en) | 2013-11-06 | 2013-11-06 | Welding robot |
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| CN (1) | CN203791807U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105127551A (en) * | 2015-09-29 | 2015-12-09 | 北人机器人系统（苏州）有限公司 | Automatic welding system and method based on moveable thick plate |
| CN105302024A (en) * | 2015-11-13 | 2016-02-03 | 苏州扬佛自动化设备有限公司 | Intelligent wave-soldering control circuit |
| CN106270917A (en) * | 2016-09-26 | 2017-01-04 | 扬州大学 | Many ribs pipe inside weld follows the tracks of device |
| CN106670694A (en) * | 2016-11-23 | 2017-05-17 | 河池学院 | Welding robot with rail monitoring function |
| CN107457927A (en) * | 2017-09-18 | 2017-12-12 | 晶科能源有限公司 | A kind of polycrystalline shear |
| CN108000165A (en) * | 2018-01-18 | 2018-05-08 | 东莞市多米机械有限公司 | A kind of multistation all-in-one machine control system and multistation all-in-one machine |
| CN109048148A (en) * | 2018-08-20 | 2018-12-21 | 南京理工大学 | Based on binocular vision root face identification model and the adaptive welding method of robot |
| CN112191993A (en) * | 2020-09-14 | 2021-01-08 | 湖北文理学院 | Argon arc welding seam tracking system and method |
| CN113649692A (en) * | 2021-10-19 | 2021-11-16 | 武汉逸飞激光股份有限公司 | Welding control method, system, equipment and storage medium |
-
2013
- 2013-11-06 CN CN201320700580.6U patent/CN203791807U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105127551A (en) * | 2015-09-29 | 2015-12-09 | 北人机器人系统（苏州）有限公司 | Automatic welding system and method based on moveable thick plate |
| CN105302024A (en) * | 2015-11-13 | 2016-02-03 | 苏州扬佛自动化设备有限公司 | Intelligent wave-soldering control circuit |
| CN106270917A (en) * | 2016-09-26 | 2017-01-04 | 扬州大学 | Many ribs pipe inside weld follows the tracks of device |
| CN106270917B (en) * | 2016-09-26 | 2018-11-09 | 扬州大学 | More rib pipe inside weld tracks of device |
| CN106670694A (en) * | 2016-11-23 | 2017-05-17 | 河池学院 | Welding robot with rail monitoring function |
| CN107457927A (en) * | 2017-09-18 | 2017-12-12 | 晶科能源有限公司 | A kind of polycrystalline shear |
| CN108000165A (en) * | 2018-01-18 | 2018-05-08 | 东莞市多米机械有限公司 | A kind of multistation all-in-one machine control system and multistation all-in-one machine |
| CN109048148A (en) * | 2018-08-20 | 2018-12-21 | 南京理工大学 | Based on binocular vision root face identification model and the adaptive welding method of robot |
| CN112191993A (en) * | 2020-09-14 | 2021-01-08 | 湖北文理学院 | Argon arc welding seam tracking system and method |
| CN112191993B (en) * | 2020-09-14 | 2022-05-10 | 湖北文理学院 | Argon arc welding seam tracking system and method |
| CN113649692A (en) * | 2021-10-19 | 2021-11-16 | 武汉逸飞激光股份有限公司 | Welding control method, system, equipment and storage medium |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140827 Termination date: 20141106 |
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| EXPY | Termination of patent right or utility model |