CN205496812U - Unsmooth deformation angle welding self -adaptation tracking control device - Google Patents
Unsmooth deformation angle welding self -adaptation tracking control device Download PDFInfo
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- CN205496812U CN205496812U CN201620365700.5U CN201620365700U CN205496812U CN 205496812 U CN205496812 U CN 205496812U CN 201620365700 U CN201620365700 U CN 201620365700U CN 205496812 U CN205496812 U CN 205496812U
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Abstract
The utility model provides an unsmooth deformation angle welding self -adaptation tracking control device, the device comprises three degree of freedom robots, vision sensor and control system, the orthogonal x axle direction of base and moving direction that includes three degree of freedom robots removes the module, y axle direction removes the module and z axle direction removes the module, Y axle direction removes the y axle traversing guide of module and installs in work platform one side, and z axle direction removes the module and installs on y axle direction removes the y axle slip table of module, and x axle direction removes the module and installs on z axle direction removes the z axle slip table of module, the x axle slip table that x axle direction removed the module is used for installing welder, vision sensor is including the camera and a word line laser instrument of installing and can follow y axle simultaneous movement side by side, control system includes host computer, the next machine and motor drive, camera and upper computer connection among the vision sensor, the host computer is connected with the next machine, and the next machine still is connected with motor drive.
Description
Technical field
This utility model relates to a kind of concave-convex angle weld seam adaptive Gaussian filtering device, specifically a kind of for the weldering of concave-convex angle
Seam carries out visual identity and it is realized fast intelligent teaching and the device of real-time adaptive tracking.
Background technology
Along with current science and technology develops rapidly, modernization welding production is more and more higher to the requirement of product quality and production efficiency, welding
Manufacturing mode is progressively upgraded to the unmanned Type of Welding of automatization from traditional-handwork Type of Welding.How to ensure welding quality, improve weldering
Connect automatization level and become a pendulum key subjects in face of people.Instantly, China is extra large, land transportation Developing Logistics is rapid, thus
Result in China sea, Land containers demand strengthens rapidly.And the side plate of container, door-plate position are all made up of corrugated plating,
Between its with underbeam on container when welding, owing to the fusion length of corrugated plating is longer, processing corrugated plating during, warp
Cross the position meeting change at random of punch forming corrugated plating weld seam, which results in corrugated plating weld seam and there is not concordance.More than reply
The domestic welding robot of problem typically uses two ways: the mode of the most manual teaching, and the position of butt welded seam carries out manual teaching,
But its welding efficiency is the lowest, and percent defective is high；2. contact type mechanical metering system, design frame for movement controls welding gun and tackles
The change of position while welding.But this mode complicated in mechanical structure, precision are the highest, operating difficulties, and are difficulty with for weld seam
Effective welding gun in the case of the change at random of gap controls.Therefore, even if container demand continues to increase, but owing to above reason is led
Cause present inland container corrugated plating welding portion still to have been welded by traditional-handwork.But, structured light vision detection method has
There are the advantages such as wide range, noncontact, big visual field and system flexibility are good, in recent years obtain extensively at industrial environment especially welding field
Application.Utilize vision sensor that the three-dimensional position of concave-convex angle weld seam is carried out vision measurement, it is possible to achieve to target weld seam
Fast intelligent teaching, and then can by Three Degree Of Freedom robot control that welding gun completes target weld seam three-dimensional position the most adaptive
Should be accurately positioned.
Utility model content
The purpose of this utility model is: provide a set of Three Degree Of Freedom welding equipment with vision detection system as core.For packaging
Case corrugated plating is that the weld seam with concave-convex angle of representative carries out automatic welding, is accurately obtaining weld seam three dimensional local information
On the basis of, it is achieved welding gun is followed the tracks of and weave control for the high-accuracy self-adaptation of weld seam.
The technical solution of the utility model is to provide a kind of concave-convex angle weld seam adaptive Gaussian filtering device, it is characterized in that institute
State device to be made up of Three Degree Of Freedom robot, vision sensor and control system；
Described Three Degree Of Freedom robot includes that module is moved in base and moving direction mutually perpendicular x-axis direction, y-axis direction is moved
Module is moved in module and z-axis direction, and described mobile module is the stepper motor driven ball screw type straight line module of employing, institute
Stating base upper surface is the work platforms for placing workpiece 1 to be welded, and y-axis and x-axis are parallel to the working face of work platforms；
Y-axis direction is moved the y-axis traversing guide of module and is arranged on work platforms side, and z-axis direction is moved module and is arranged on the shifting of y-axis direction
On the y-axis slide unit of dynamic model group, x-axis direction is moved module and is arranged on z-axis direction and moves on the z-axis slide unit of module, described x-axis side
X-axis slide unit to mobile module is used for installing welding gun；
Described vision sensor includes video camera and the word line laser device being mounted side by side and can being synchronized with the movement along y-axis, exists with welding gun
The initiating terminal of the movement locus in y-axis and end are respectively forward and backward side, before a word line laser device is positioned at welding gun in the y-axis direction
Side, is positioned at the laser rays that a word line laser device sends and can be radiated at the to be welded of workpiece to be welded being placed on work platforms and sew on
And shot by video camera；
Described control system includes host computer, slave computer and motor driver, the video camera in described vision sensor and host computer
Connecting, host computer is connected with slave computer, and slave computer is also connected with motor driver.
Described a kind of concave-convex angle weld seam adaptive Gaussian filtering device, it is characterized in that described in be placed on work platforms treat
Welding workpiece treat the concave-convex angle weld seam that weld seam is bottom surface and facade is crossed to form, bottom surface is put down with work platforms (x/y plane)
OK, facade is curved surface or the broken line face that relative yz plane has concavo-convex deformation.Described concave-convex angle is 100 °～120.
Described a kind of concave-convex angle weld seam adaptive Gaussian filtering device, it is characterized in that described host computer be industrial panel computer,
Slave computer is PLC, and host computer, slave computer and motor driver are installed in Integral control cabinet, Integral control cabinet and y
Axle slide unit is relatively fixed installation, and described video camera is industrial CCD camera, host computer and the industrial CCD phase in vision sensor
Machine connects with usb line.
This utility model additionally provides the control method of a kind of concave-convex angle weld seam adaptive Gaussian filtering device, it is characterised in that
Comprise the following steps
1) workpiece to be welded is fixed on work platforms, sets up robot tool coordinate system with x, y, z axle, and determine welding gun
Work origin；
2) laser rays is irradiated to be welded sewing on by the word line laser device in vision sensor, and is irradiated by camera acquisition laser rays
To the image sewing on formation to be welded, host computer the image gathered is processed, produce slave computer according to result and control letter
Number, slave computer controlling motor driver drive stepping motor, operation robot motion completes treat weld seam Scan orientation and treat weld seam
Implement adaptive tracing.
Described step 2) specifically include
2.1) image being irradiated on bottom surface and facade by the laser rays collected is as bottom surface streak line and facade streak line,
Bottom surface streak line is extracted centrage and hough conversion matching obtains straight line section as bottom surface straight line through adaptive thresholding,
Using bottom surface straight line close to treating that the distal point of weld seam is as fisrt feature point p1, its image coordinate isOpposite streak line warp
Adaptive thresholding extracts centrage and hough conversion matching obtains straight line section as facade straight line, connects with facade straight line
The distal point closely treating weld seam is second feature point p2, its image coordinateWith three-dimensional coordinate in camera review coordinate system it isSome p3For weld bead feature points, weld bead feature points p in the camera review coordinate system that will obtain3It is converted into machine
Position coordinates p under device people's instrument coordinate system4；
2.2) treat that weld seam Scan orientation, motor controller controls step motor drive y-axis slide unit forwards move with scanning speed H,
In moving process, vision sensor scanning treats weld seam and the image collected is carried out step 2.1) process obtain any weld seam
Characteristic point position coordinates under robot tool coordinate system；
2.3) treat that weld seam real-time adaptive is followed the tracks of:
Motor controller controls step motor drive y-axis slide unit forwards moves with welding speed V, owing to vision sensor is in robot
On y-axis direction, position relative with welding gun keeps constant, and the laser stripe that a word line laser device is formed on workpiece is in y direction
The upper distance to welding gun is D, treats weld seam when vision sensor scanning and enters the image collected in y-axis slide unit moving process
Row step 2.1) process, obtain initial weld bead feature points position coordinates under robot tool coordinate system, according to distance D
Calculate the position of now welding gun, and make welding gun overlapping to this coordinate points；When welding gun arrives after weld seam initial characteristics point, by welding gun
To the position coordinates overlap of the next weld bead feature points that vision sensor obtains；Carry out successively, until completing to treat weld seam to whole
Real-time adaptive follow the tracks of.
The beneficial effects of the utility model are:
A kind of concave-convex angle weld seam adaptive Gaussian filtering device that this utility model provides uses visible sensation method identification and measures recessed
Convex angle weld seam, contactless nondestructive measurement.Achieve two big functions.Function 1: by quickly scanning target weldment, can
Efficiently, accurate, stable acquisition target weld seam three-dimensional space position information under robot coordinate system.Can replace completely poor efficiency,
The manual teaching process that coarse, concordance is poor.Function 2: Three Degree Of Freedom robot can be in real time to target weld seam in motor process
Carry out adaptive tracing, significantly improve welding quality and welding efficiency.Include specifically following some
(1) this utility model design vision sensor butt welded seam carries out visual identity and measurement, it is achieved that to concave-convex angle weld seam
Three dimensional local information accurately obtain.
(2) this utility model devises Three Degree Of Freedom robot concave-convex angle weld seam is carried out fast intelligent scanning, it is achieved that
To the high accuracy of target weld seam, at high speed teaching, it is achieved that the quick obtaining of butt welded seam three dimensional local information, then confidence in place
Precision welding can be realized on the basis of breath.
(3) this utility model devises Three Degree Of Freedom robot and concave-convex angle weld seam achieves real-time adaptive three-dimensional position essence
Determine position, weld seam three-dimensional information can be completed in a walking process simultaneously and obtain and welding job, improve work efficiency.
(4) this utility model on the one hand avoid the manual teaching of general welding robot, the loaded down with trivial details time-consuming process of memory type study and
The contact measurement method that heavy frame for movement butt welded seam is inefficient, on the other hand enhance whole welding robot human reriability,
Stability, high efficiency.
To sum up, a kind of concave-convex angle weld seam adaptive Gaussian filtering device that this utility model provides, use visible sensation method identification
Concave-convex angle weld image positional information, contactless nondestructive measurement, it is achieved that the fast intelligent teaching to target weld seam,
And achieving the robot real-time adaptive tracking to target weld seam on this basis, equipment is simple to operate, and automaticity is high.
Save human resources, significantly improve welding quality and welding efficiency.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of this utility model concave-convex angle weld seam a kind of embodiment of adaptive Gaussian filtering device；
Fig. 2 is the ultimate principle structural representation of this utility model concave-convex angle weld seam a kind of embodiment of adaptive Gaussian filtering device
Figure；
In figure, 1, workpiece to be welded；2, Three Degree Of Freedom robot, 20, work platforms, 21, x-axis direction move module,
211, x-axis slide unit, 22, y-axis direction move module, 221, y-axis slide unit, 23, z-axis direction move module, 231, z-axis
Slide unit；3, welding gun fixture；5, welding gun；7, vision sensor, 71, video camera, 72, one word line laser device；8, integrally
Formula switch board, 81, host computer, 82, slave computer.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing thereof, this utility model is described in further details.Embodiment is with this utility model skill
Implement under premised on art scheme, give detailed embodiment and concrete operating process, but the application claim
Protection domain is not limited to following embodiment.
The concave-convex angle weld seam adaptive Gaussian filtering device that this utility model provides, is characterized in that described device is by Three Degree Of Freedom
Robot 2, vision sensor 7 and control system composition
Described Three Degree Of Freedom robot includes that module 21 is moved in base and moving direction mutually perpendicular x-axis direction, y-axis direction is moved
Module 23 is moved in dynamic model group 22 and z-axis direction, and described mobile module is the stepper motor driven ball screw type straight line of employing
Module, described base upper surface is the work platforms 20 for placing workpiece 1 to be welded, and y-axis and x-axis are parallel to work platforms
Working face；Y-axis direction is moved the y-axis traversing guide of module and is arranged on work platforms side, and z-axis direction is moved module and installed
Move on the y-axis slide unit of module 221 in y-axis direction, x-axis direction is moved module and is arranged on z-axis direction to move the z-axis of module sliding
On platform 231, the x-axis slide unit 211 of module is moved for installing welding gun 5 in described x-axis direction；
Described vision sensor includes video camera 71 and the word line laser device 72 being mounted side by side and can being synchronized with the movement along y-axis, with
The initiating terminal of welding gun movement locus on the y axis and end are respectively forward and backward side, and a word line laser device is positioned in the y-axis direction
Welding gun front, is positioned at the laser rays that a word line laser device sends and can be radiated at treating of the workpiece to be welded that is placed on work platforms
Shoot on weld seam and by video camera；
Described control system includes host computer 81, slave computer 82 and motor driver, the video camera in described vision sensor with
Host computer connects, and host computer is connected with slave computer, and slave computer is also connected with motor driver.
The described workpiece to be welded being placed on work platforms treat the concave-convex angle weld seam that weld seam is bottom surface and facade is crossed to form,
Bottom surface is parallel with work platforms (x/y plane), and facade is curved surface or the broken line face that relative yz plane has concavo-convex deformation.
In the present embodiment
Welding gun is arranged on the end of x-axis slide unit by welding gun fixture 3, and video camera is industrial CCD camera,
Host computer is industrial panel computer, and slave computer is PLC, and host computer, slave computer and motor driver are installed in integral type
In switch board 8, Integral control cabinet and y-axis slide unit are relatively fixed installation,
Host computer is connected with usb line with the industrial CCD camera in vision sensor；
Described concave-convex angle is 100 °～120 °, and the concavo-convex degree of depth of facade is 15cm～35mm (the described i.e. concave surface of the concavo-convex degree of depth
Ultimate range between bottom and convex surface top).
Wherein the distance in the y-axis of a word line laser device and industrial CCD camera is 10cm～15cm, welding gun rifle head with treat weld seam
Angle is 45 °～50 °, and a word line laser device is positioned at the optical axis of welding gun front 15cm～25cm, a word line laser device and video camera
The angle of angle about 35 °, camera optical axis and x/y plane is at 10 °～30 °, and the video camera distance away from workpiece is at 30cm～50cm
Between.
In the present embodiment provide concave-convex angle weld seam adaptive Gaussian filtering device overall structure schematic diagram as it is shown in figure 1,
Ultimate principle structural representation is as shown in Figure 2.
The work process of the concave-convex angle weld seam adaptive Gaussian filtering device that this utility model provides is as follows
1) workpiece to be welded is fixed on work platforms, sets up robot tool coordinate system with x, y, z axle, and determine welding gun
Work origin.
2) laser rays is irradiated to be welded sewing on by the word line laser device in vision sensor, and is irradiated by camera acquisition laser rays
To the image sewing on formation to be welded, host computer the image gathered is processed, produce slave computer according to result and control letter
Number, slave computer controlling motor driver drive stepping motor, operation robot motion completes treat weld seam scanning and treat that weld seam is implemented
Adaptive tracing, specifically includes
2.1) image being irradiated on bottom surface and facade by the laser rays collected is as bottom surface streak line and facade streak line,
Bottom surface streak line is extracted centrage and hough conversion matching obtains straight line section as bottom surface straight line through adaptive thresholding,
Using bottom surface straight line close to treating that the distal point of weld seam is as fisrt feature point p1, its image coordinate isOpposite streak line warp
Adaptive thresholding extracts centrage and hough conversion matching obtains straight line section as facade straight line, connects with facade straight line
The distal point closely treating weld seam is second feature point p2, its image coordinateWith three-dimensional coordinate in camera review coordinate system it isSome p3For weld bead feature points.The scaling method of the line structure optical sensor according to mechanical movement is (as China is special
Shown in profit document CN105043251A).Weld bead feature points p in the camera review coordinate system that will obtain3It is converted into robot
Position coordinates p under tool coordinates system4。
2.2) treat that weld seam Scan orientation, motor controller controls step motor drive y-axis slide unit forwards move with scanning speed H,
In moving process, vision sensor scanning treats weld seam and the image collected is carried out step 2.1) process obtain any weld seam
Characteristic point position coordinates under robot tool coordinate system.Complete Three Degree Of Freedom robot (hereinafter referred to as machine after weld seam scans
Device people) reset, then motor controller controls step motor drive y-axis slide unit is along forwards moving with welding speed V, according to
Weld bead feature points position coordinates under robot tool coordinate system, uses absolute position control mode to control welding gun from work origin
Start along treating that weld seam is walked.
2.3): treat that weld seam real-time adaptive is followed the tracks of:
Motor controller controls step motor drive y-axis slide unit forwards moves with welding speed V, owing to vision sensor is at machine
On device people's y-axis direction, position relative with welding gun keeps constant, and the laser stripe that a word line laser device is formed on workpiece is at y
On direction, the distance to welding gun is D, treats weld seam and to the figure collected when vision sensor scanning in y-axis slide unit moving process
As carrying out step 2.1) process, obtain initial weld bead feature points position coordinates under robot tool coordinate system), according to away from
Calculate the position of now welding gun from D, and make welding gun overlapping to this coordinate points.Weld seam initial characteristics point, and warp is treated when welding gun arrives
Cross encoder feedback errorless after, the position coordinates of the next weld bead feature points obtained to vision sensor by welding gun is overlapping.Successively
Carry out, until completing the whole real-time adaptive treating weld seam is followed the tracks of.
Error analysis result shows, uses this utility model to provide concave-convex angle weld seam adaptive Gaussian filtering device treating
During weld seam Scan orientation, the axial positioning precision of x, y, z all can be controlled in ± 0.2mm within, and treat that weld seam is real carrying out
Time adaptive tracing time, the precision of welding gun real-time tracking also is able to control at ± 0.3mm.
Claims (4)
1. a concave-convex angle weld seam adaptive Gaussian filtering device, it is characterized in that described device by Three Degree Of Freedom robot, regard
Sense sensor and control system composition；
Described Three Degree Of Freedom robot includes that module is moved in base and moving direction mutually perpendicular x-axis direction, y-axis direction is moved
Module is moved in module and z-axis direction, and described base upper surface is the work platforms for placing workpiece to be welded, y-axis and x-axis
It is parallel to the working face of work platforms；Y-axis direction is moved the y-axis traversing guide of module and is arranged on work platforms side, z-axis side
Being arranged on y-axis direction to mobile module and move on the y-axis slide unit of module, x-axis direction is moved module and is arranged on z-axis direction and moves
On the z-axis slide unit of module, the x-axis slide unit of module is moved for installing welding gun in described x-axis direction；
Described vision sensor includes video camera and the word line laser device being mounted side by side and can being synchronized with the movement along y-axis, exists with welding gun
The initiating terminal of the movement locus in y-axis and end are respectively forward and backward side, before a word line laser device is positioned at welding gun in the y-axis direction
Side, is positioned at the laser rays that a word line laser device sends and can be radiated at the to be welded of workpiece to be welded being placed on work platforms and sew on
And shot by video camera；
Described control system includes host computer, slave computer and motor driver, the video camera in described vision sensor and host computer
Connecting, host computer is connected with slave computer, and slave computer is also connected with motor driver.
2. concave-convex angle weld seam adaptive Gaussian filtering device as claimed in claim 1 a kind of, it is characterized in that described in be placed on
Workpiece to be welded on work platforms treat the concave-convex angle weld seam that weld seam is bottom surface and facade is crossed to form, bottom surface and x/y plane
Parallel, facade is curved surface or the broken line face that relative yz plane has concavo-convex deformation.
3. a kind of concave-convex angle weld seam adaptive Gaussian filtering device as claimed in claim 2, is characterized in that described concave-convex
Angle is 100 °～120.
4. a kind of concave-convex angle weld seam adaptive Gaussian filtering device as described in claims 1 to 3 is arbitrary, is characterized in that described
Host computer be industrial panel computer, slave computer be PLC, host computer, slave computer and motor driver are installed in integral type control
In cabinet, Integral control cabinet and y-axis slide unit are relatively fixed installation, and the video camera in vision sensor is industrial CCD camera, on
Position machine is connected with usb line with industrial CCD camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620365700.5U CN205496812U (en) | 2016-04-26 | 2016-04-26 | Unsmooth deformation angle welding self -adaptation tracking control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620365700.5U CN205496812U (en) | 2016-04-26 | 2016-04-26 | Unsmooth deformation angle welding self -adaptation tracking control device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105728972A (en) * | 2016-04-26 | 2016-07-06 | 河北工业大学 | Concave-convex angle-variable welding joint self-adaptive tracking control device and method |
| CN107649802A (en) * | 2017-09-28 | 2018-02-02 | 中国东方电气集团有限公司 | A kind of laser vision welded seam tracing system and scaling method |
| CN107748203A (en) * | 2017-11-16 | 2018-03-02 | 西安石油大学 | It is a kind of intelligent from tracking seam inspection robot |
| CN110043560A (en) * | 2019-03-25 | 2019-07-23 | 南京捷诺环境技术有限公司 | 3 d-line rolling guide |
| CN110202234A (en) * | 2019-06-12 | 2019-09-06 | 长春师范大学 | A kind of Piezoelectric Driving automatic spray printing system |
-
2016
- 2016-04-26 CN CN201620365700.5U patent/CN205496812U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105728972A (en) * | 2016-04-26 | 2016-07-06 | 河北工业大学 | Concave-convex angle-variable welding joint self-adaptive tracking control device and method |
| CN107649802A (en) * | 2017-09-28 | 2018-02-02 | 中国东方电气集团有限公司 | A kind of laser vision welded seam tracing system and scaling method |
| CN107649802B (en) * | 2017-09-28 | 2019-08-23 | 中国东方电气集团有限公司 | A kind of laser vision welded seam tracing system and scaling method |
| CN107748203A (en) * | 2017-11-16 | 2018-03-02 | 西安石油大学 | It is a kind of intelligent from tracking seam inspection robot |
| CN107748203B (en) * | 2017-11-16 | 2024-01-26 | 西安石油大学 | Intelligent self-tracking weld joint flaw detection robot |
| CN110043560A (en) * | 2019-03-25 | 2019-07-23 | 南京捷诺环境技术有限公司 | 3 d-line rolling guide |
| CN110202234A (en) * | 2019-06-12 | 2019-09-06 | 长春师范大学 | A kind of Piezoelectric Driving automatic spray printing system |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160824 |