CN206105156U - Three -dimensional rectangular robot line laser welding seam automatic tracking system - Google Patents
Three -dimensional rectangular robot line laser welding seam automatic tracking system Download PDFInfo
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- CN206105156U CN206105156U CN201621099529.4U CN201621099529U CN206105156U CN 206105156 U CN206105156 U CN 206105156U CN 201621099529 U CN201621099529 U CN 201621099529U CN 206105156 U CN206105156 U CN 206105156U
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- laser sensor
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Abstract
The utility model discloses a three -dimensional rectangular robot line laser welding seam automatic tracking system, include: include: three -dimensional rectangular robot, workstation, line laser sensor, welding source, welder, welding corollary equipment, welder clamping device, embedded industrial controller and work piece, the work piece is placed on the workstation, and the position of work piece and inclination can the manual regulations, and line laser sensor fixed mounting is terminal at welder, welder pass through welder clamping device install at the Z of three -dimensional rectangular robot epaxial, the three -dimensional rectangular robot through its X axle fixed mounting on the workstation, embedded industrial controller passes through the ether net twine and links to each other with line laser sensor, welder and welding laser sensor 1 are connected with laser sensor 2 through the cable conductor. The utility model has the advantages of welding precision has been improved.
Description
Technical field
This utility model is related to robot line laser seam tracking system, more particularly to three coordinate rectangular robot lines
Laser welded seam automatic tracking system.
Background technology
Present welding robot is essentially all first to carry out teaching before welding, allows robot to walk one every time admittedly
Fixed track, it is exactly that repeatable accuracy is high that this mode has a benefit, and movement locus need not be corrected, but, he has a cause
The defect of life is exactly to be not sufficiently random strain, underaction, and when needing, the Workpiece Machining Accuracy of welding is poor, or is needed real-time
During the workpiece that welding processing profile is still not clear, this welding robot will turn turtle, and need teaching ability again
Complete, so each teaching all can be devoted a tremendous amount of time, cumbersome and time consuming, it is impossible to meet modern factories for welding processing
Requirement.
Therefore, in order to meet for workpiece machining accuracy itself, reduce carries out weight because each workpiece shapes change
The time that new teaching is spent, it should which butt welding machine device people is installed visual system additional and wanted to solder technology meeting modern industry
Ask.
It is to work as that real-time seam tracking system and the Coordinate Conversion obtained from image procossing are moved accordingly into robot
Problem demanding prompt solution in front welding robot welding process, it is many scholar's surrounding target track algorithms both domestic and external, corresponding
Image procossing, calibration algorithm and robot realtime communication system have conducted intensive studies.Early stage proposes some tracking
Method such as optical flow method, but it is exactly to track target to ensure without complete that the standard-track algorithm of this kind of early stage has a limitation
Block or disappear, be more also that the method can only carry out short-term tracking, therefore, such algorithm is called and makees short-term tracker.
With the development of modern technologies, long-term follow becomes more and more important, and long-term follow requires that tracker being capable of detecting and tracking one
The video sequence of endless, therefore, tracker itself will possess certain power of test, most important of which is that when target is complete
Block entirely or disappear cause tracking failure when, tracker can be detected again, can be looked for again when target object occurs
To target and it is tracked.
F.Henriques etc. proposed one kind in 2014 and is called KCF (Kernerlized Correlation
Filter, i.e.,：Gaussian kernel correlation tracking algorithm) cause tracking velocity to have very big lifting, in same test data set, put down
The speed of service reaches 172 frames/s (in the case of using HOG features).And the experimental result according to article shows, accuracy rate ratio
Present track algorithm is all high.Why there can be so fast speed, have benefited from author and dexterously constructed by circulating skew
The training sample of grader, so that data matrix becomes a circular matrix.It is then based on the characteristic of circular matrix
The solution of problem has been transformed to Fourier transform domain, so as to avoid the process of matrix inversion, answering for algorithm has been greatly reduced
Miscellaneous degree.
Therefore, in order to solve the problems, such as weld seam real-time tracking, gaussian kernel correlation tracking algorithm is studied and is improved, and design
Three coordinate rectangular robots carry out weld joint tracking experiment, and this utility model is proposed according to this.
Utility model content
Primary and foremost purpose of the present utility model is the shortcoming and deficiency for overcoming prior art, there is provided a kind of three coordinates right angle machine
Device people's line laser seam tracking system, solves and must first carry out before existing welding robot welding workpiece teaching behaviour
Make, and trivial operations, the not high problem of inefficiency and precision.
Another object of the present utility model is the shortcoming and deficiency for overcoming prior art, there is provided one kind is applied to three coordinates
The tracking of rectangular robot line laser seam tracking system.
Primary and foremost purpose of the present utility model is realized by following technical proposals：Three coordinate rectangular robot line laser weld seams
Automatic tracking system, wherein system include three coordinate rectangular robots, workbench, line laser sensor, the source of welding current, welding gun,
Welding corollary equipment, welding gun holding device, built-in industrial controller and workpiece, line laser sensor is arranged on welding gun, weldering
Rifle is arranged on the Z axis of three coordinate rectangular robots by clamping device, and three coordinate rectangular robots are by three linear module groups
Into interrelated by connecting plate between three modules, module and workbench phase that three coordinate rectangular robots pass through X-direction
It is connected, workpiece to be welded is also placed on workbench；Welding gun is moved to workpiece top to be welded by three coordinate rectangular robots, first
Striped formula laser is produced by the laser line generator in line laser sensor, present frame is caught by the industrial camera in sensor
Image, and send an image to built-in industrial controller, obtain Weld pipe mill point in image using gaussian kernel related algorithm
Position coordinateses, then industrial control unit (ICU) is by calculating the distance of source location and welding gun end, and by TwinCAT
Distance offsets are sent in real time software real-time kernel servo-driver, and servo driver drives servomotor causes three coordinates
Rectangular robot is moved, and carry out at position while welding welding job so as to welding gun end be moved to.
The three coordinates rectangular robot includes servosystem and motor system；The servosystem include servomotor and
Servo-driver；The motor system includes the linear module of X-direction, the linear module of Y direction, the linear module of Z-direction, X
Axle and the linear module connecting plate of Y direction, Y-axis and the linear module connecting plate of Z-direction and three yielding couplings.Described
Three coordinate rectangular robot line laser seam tracking systems, it is characterised in that the workbench include aluminium section bar support and
Gripper shoe, the workpiece is positioned in welding gripper shoe, and the welding gripper shoe is positioned on workbench lower supporting plate, described
The linear module of X-direction is fixed on workbench upper backup pad.Three described coordinate rectangular robot line laser weld seams automatically with
Track system, it is characterised in that the welding gun holding device includes holder for welding gun and welding gun connecting plate, holder for welding gun clamping weldering
Rifle simultaneously plays insulating effect, and welding gun connecting plate is fixed on holder for welding gun on z axis module, and such welding gun just can be fixed on
On the linear module of Z-direction, and z axis module is followed to move together.
Another object of the present utility model is achieved through the following technical solutions：One kind is applied to three coordinate rectangular robot lines
The tracking of laser welded seam automatic tracking system, comprises the steps：
The position of S1, three coordinate rectangular robots of adjustment so that welding gun end (i.e. wire tip) position being fixed on Z axis
In the surface of workpiece position while welding to be welded so that the line laser sensor being fixed on welding gun is in best operational position, i.e.,
Clearly image can be captured in welding process, line laser sensor and workpiece to be welded will not be caused to interfere again；
The camera that S2, welding start in the laser sensor of front first gathers image and is sent to built-in industrial controller,
Built-in industrial controller is initialized by calling the built-in function of Halcon softwares, obtains initial weld bead feature points and phase
Neighbouring region；
The initial characteristicses for obtaining point pixel coordinate value is converted into three under camera coordinates system for S3, built-in industrial controller
Dimensional coordinate values, and be compared with the coordinate figure for obtaining later as benchmark using this coordinate figure, so as to obtain deviation；
S4, welding start each two field picture of camera continuous acquisition of rear line laser sensor, and send to built-in industrial
Controller carries out process calculating；
The image for obtaining is carried out threshold process, binaryzation and is multiplied with three width images by S5, built-in industrial controller first
Process so that splash in the welding image for obtaining and arc light noise is greatly reduced so that image degree of purity is uprised；
S6, the image for obtaining is carried out gaussian kernel related algorithm process, extracted just centered on initial characteristic point first
Sample, and negative sample is extracted around it carrying out sample training, and the conversion between sample is realized by circular matrix, one
The circular matrix of individual sample is as follows；
S7, introduce gaussian kernel function by feature space be mapped to more higher dimensional space obtain regression function and Fourier transformation it
Solution afterwards is changed into；
S8, the position that weld bead feature points in a new frame are obtained after inverse Fourier transform：
Converted it under camera coordinates system by built-in industrial controller, and with initialization
Coordinate figure be compared, deviation (Δ y, Δ z) will be obtained；
In real time by deviation, (Δ y, Δ z) is sent to servo-drive by TwinCAT softwares for S9, built-in industrial controller
Device；
S10, servo driver drives servomotor move through yielding coupling so that three coordinate rectangular robots fortune
It is dynamic, so that the welding wire of welding gun end is moved along the weld seam midpoint of workpiece, complete three coordinate rectangular robots
Soldering joint automatic tracking.
Operation principle of the present utility model is：Three coordinate rectangular robots drive welding gun to move to just going up for workpiece to be welded
Side, and make welding gun end moderate with the distance of weld seam, before welding starts, the camera in line laser sensor gathers first image
And send to built-in industrial controller, built-in industrial controller extracts the laser strip in image using Halcon softwares
Stricture of vagina, and obtain the intersection point (c of laser stripe0,r0), intersection point is the Weld pipe mill point of workpiece to be welded, is extracted centered on intersection point
One panel region of surrounding extracts a series of an equal amount of regions as negative sample as positive sample around positive sample, pass through
The pixel coordinate value of intersection point is converted into calibration algorithm the D coordinates value (x under camera coordinates system0,y0,z0), thus obtain
Initial coordinate figure and positive negative sample as reference, welding start after camera in line laser sensor continuously
Collection image is simultaneously sent to built-in industrial controller, and the image for obtaining is carried out threshold process, two-value by industrial control unit (ICU) first
Change the process that is multiplied with three width images, arc light and the interference splashed can be so reduced, then using gaussian kernel related algorithm, first
A series of positive negative samples are extracted around the characteristic point of beginning, the conversion between sample is realized by circular matrix, introduce gaussian kernel
Feature space is incorporated into function the space of more higher-dimension, and finally by inverse Fourier transform characteristic point in current frame image is obtained
Position coordinateses (c, r), the coordinate figure (x, y, the z) coordinate figure being converted into also by calibration algorithm under camera coordinates system, by this
Coordinate figure has obtained deviation between the two compared with initial coordinate values, just, and (Δ y, Δ z), built-in industrial controller leads to
Cross TwinCAT softwares and in real time deviation is sent to into servo-driver, servo driver drives servomotor is carried out accordingly
Motion, servomotor causes three coordinate rectangular robots to move by yielding coupling, so as to drive welding gun to move to workpiece weldering
Seam central point is welded, and completes the process of soldering joint automatic tracking.
Three coordinates rectangular robot line laser seam tracking system of the present utility model includes：Three coordinate right angle machines
People, workbench, line laser sensor, the source of welding current, welding gun, welding corollary equipment, welding gun holding device, built-in industrial control
Device and workpiece, line laser sensor is arranged on welding gun, and welding gun is arranged on the Z axis of three coordinate rectangular robots by clamping device
On, three coordinate rectangular robots are made up of three linear modules, and interrelated by connecting plate between three modules, three coordinates are straight
Angle robot is connected to a fixed by the module of X-direction and workbench, and workpiece to be welded is also placed on workbench；Three coordinate right angles
Welding gun is moved to workpiece top to be welded by robot, is produced striped formula by the laser line generator in line laser sensor first and is swashed
Light, by the industrial camera in sensor the image of present frame is caught, and sends an image to built-in industrial controller, is utilized
Gaussian kernel related algorithm obtains the position coordinateses of Weld pipe mill point in image, and then industrial control unit (ICU) is by calculating target position
Put a little with the distance of welding gun end, and distance offsets are sent to by servo-driver by TwinCAT software real-time kernels, watch
Driver drives servomotor is taken so that the motion of three coordinate rectangular robots, enter at position while welding so as to welding gun end be moved to
Row welding job.Solving needs the process of prior teaching when present welding robot is welded, save the plenty of time, and carries
High welding precision.
This utility model has the following advantages and effect relative to prior art：
(1) characteristic point that this utility model passes through line laser sensor automatic identification weld seam, and by built-in industrial control
Device processed carries out follow-up communication, calculates and process, and apparatus structure is simple, and system is easy to maintain, by built-in industrial controller
Automatic data collection and the process of data are realized, the efficiency of data processing can be effectively improved.
(2) this utility model automaticity is higher, can realize the automatic Real-time Collection of weld image, automatic welding,
Weld seam automatic real-time track, substantially increases production efficiency.
Description of the drawings
Fig. 1 is the coordinate rectangular robot line laser seam tracking system general structure schematic diagram of this utility model three.
Fig. 2 is three coordinate right angle machines in the coordinate rectangular robot line laser seam tracking system of this utility model three
Device people's device part-structure schematic diagram.
Fig. 3 is the workbench portion knot in the coordinate rectangular robot line laser seam tracking system of this utility model three
Structure schematic diagram.
Fig. 4 is that the welding gun in the coordinate rectangular robot line laser seam tracking system of this utility model three accommodates device
Part-structure schematic diagram.
Fig. 5 is three coordinate rectangular robot line laser seam tracking system method flow schematic diagrams.
Specific embodiment
This utility model is described in further detail with reference to embodiment and accompanying drawing, but enforcement of the present utility model
Mode not limited to this.
Embodiment
As shown in figure 1, a kind of three coordinates rectangular robot line laser seam tracking system, including：Source of welding current 1-
1st, corollary apparatus 1-2, welding gun holding device 1-3, three coordinate rectangular robot 1-4, welding gun 1-5, line laser sensor 1- are welded
6th, built-in industrial controller 1-7, workbench 1-8 and workpiece 1-9.The workpiece 1-9 is placed on workbench 1-8, workpiece 1-9
Position and angle of inclination can adjust manually, line laser sensor 1-6 is fixedly mounted on welding gun 1-5 ends, and welding gun 1-5 passes through
Welding gun holding device 1-3 is arranged on the Z axis of three coordinate rectangular robot 1-4, and three coordinate rectangular robot 1-4 pass through its X-axis
It is fixedly mounted on workbench 1-8, built-in industrial controller 1-7 is connected by ethernet line with line laser sensor 1-6, welds
Rifle 1-5 and welding corollary equipment 1-2 are connected by cable with source of welding current 1-1, line laser sensor 1-6 and welding gun 1-5
Its position in space is changed by the motion of three coordinate rectangular robot 1-4.
As shown in Fig. 2 three coordinate rectangular robots include servosystem and motor system；The servosystem includes Delta
Servomotor 2-1 and Delta servo-driver 2-2；The motor system includes that the linear module 2-3 of X-direction, Y direction are linear
The linear module 2-5 of module 2-4, Z-direction, X-axis and the linear module connecting plate 2-6 of Y direction, Y-axis and the linear module of Z-direction
Connecting plate 2-7 and three yielding coupling 2-8；The built-in industrial controller works as built-in industrial to grind magnificent IPC-510
Controller is sent after deviation signal by TwinCAT softwares real-time kernel to servo-driver 2-2, and servo-driver 2-2 will
Servomotor 2-1 is sent in the form of a pulse, and servomotor 2-1 makes corresponding rotation, watches according to the size and number of pulse
Motor 2-1 is taken by yielding coupling so that three coordinate axess 2-3,2-4 and 2-5 of three coordinate rectangular robots do straight line fortune
Dynamic, the welding gun being fixed on z axis module will be moved at corresponding position, so as to complete welding process.
As shown in figure 3, the workbench includes aluminium section bar support and gripper shoe, described its section chi of aluminium section bar support 3-1
Very little the welding gripper shoe is put 3-2 and is placed on workbench lower supporting plate 3-3 for 60*60mm, and lower supporting plate 3-3 materials are that aluminum is closed
Gold, specification is 1350*540*3, and the linear module of the X-direction described in 2 is fixed on workbench upper backup pad 3-4, upper
Fagging 3-4 materials are aluminium alloy, and specification is 1350*300*8, and it is right that the switch board 3-5 is fixedly mounted on aluminium alloy post
Side, material is sheet iron, and specification is 800*350*900.
As shown in figure 4, the welding gun holding device includes holder for welding gun 4-1 and welding gun connecting plate 4-2, holder for welding gun
4-1 clamps welding gun 4-3 and plays insulating effect, and welding gun connecting plate 4-2 is fixed on holder for welding gun 4-1 on z axis module,
So when z axis module is moved, welding gun 4-3 and line laser sensor 4-4 can follow z axis module to move together.
Each parts described in the utility model can type selecting it is as follows, but type selecting not limited to this：Built-in industrial controller：Can
From the built-in industrial controller of other same types；Wherein, workpiece：The same type workpiece of optional other shapes rule.
As shown in figure 5, controlling the welding gun motion of three coordinate rectangular robot ends by built-in industrial controller first
To the surface of weld seam, clearly image can be captured so in welding process, will not cause again line laser sensor and
Workpiece to be welded is interfered.Then line laser sensor acquisition to weld seam image and send back built-in industrial controller, control
Device processed is initialized by calling the built-in function of Halcon softwares, obtains initial weld bead feature points and adjacent area.It is embedded
The initial characteristicses for obtaining point pixel coordinate value is converted into formula industrial control unit (ICU) the D coordinates value under camera coordinates system, and with this
Coordinate figure is compared as benchmark with the coordinate figure for obtaining later, so as to obtain deviation.Line laser sensor is with per second 60
The speed of frame constantly gathers the image that captures and is sent to industrial control unit (ICU) carries out process calculating.Built-in industrial controller
First the image for obtaining is carried out into threshold process, binaryzation to be multiplied with three width images process so that fly in the welding image for obtaining
Splash and greatly reduced with arc light noise so that image degree of purity is uprised.The image for obtaining is carried out into gaussian kernel related algorithm process, it is first
Positive sample is first extracted centered on initial characteristic point, and negative sample is extracted around it carrying out sample training, and by following
Ring matrix is realizing the conversion between sample.In order to simplify calculating, introduce gaussian kernel function and feature space is mapped to into more higher-dimension
Space.The coordinate figure of characteristic point in a new two field picture is calculated by inverse Fourier transform.Built-in industrial controller is incited somebody to action
To deviation servo trigger is sent to by TwinCAT real-time kernels.Servo-driver sends a series of to servomotor
Pulse, servomotor by yielding coupling drive three coordinate rectangular robots motion, be fixed on three coordinate rectangular robot Z
Welding gun on shaft end will move to Weld pipe mill point and complete whole automatic Arc Welding.
Above-described embodiment is this utility model preferably embodiment, but the bright embodiment of we does not receive above-mentioned enforcement
The restriction of example, it is other it is any away from spirit of the present utility model and the change, modification, replacement made under principle, combine,
Simplify, should be equivalent substitute mode, be included within protection domain of the present utility model.
Claims (4)
1. a kind of three coordinates rectangular robot line laser seam tracking system, it is characterised in that include：Three coordinate right angle machines
Device people, workbench, line laser sensor, the source of welding current, welding gun, welding corollary equipment, welding gun holding device, built-in industrial control
Device processed and workpiece；
The workpiece is placed on the table, and the position and angle of inclination of workpiece can be adjusted manually, and line laser sensor is fixed
Installed in welding gun end, welding gun is arranged on the Z axis of three coordinate rectangular robots by welding gun holding device, three coordinate right angle machines
Device people is fixedly mounted on the table by its X-axis, and built-in industrial controller is by ethernet line and line laser sensor phase
Even, welding gun and welding corollary equipment are connected by cable with the source of welding current.
2. three coordinates rectangular robot line laser seam tracking system according to claim 1, it is characterised in that institute
Stating three coordinate rectangular robots includes：Servosystem and motor system；The servosystem includes：Servomotor and servo-drive
Device；The motor system：Including the linear module of X-direction, the linear module of Y direction, the linear module of Z-direction, X-axis and Y-axis
The linear module connecting plate of dimension linear module connecting plate, Y-axis and Z-direction and three yielding couplings.
3. three coordinates rectangular robot line laser seam tracking system according to claim 1, it is characterised in that institute
Workbench is stated including aluminium section bar support and gripper shoe, the workpiece is positioned in welding gripper shoe, the welding gripper shoe is placed
On workbench lower supporting plate, the linear module of described X-direction is fixed in gripper shoe on the table.
4. three coordinates rectangular robot line laser seam tracking system according to claim 1, it is characterised in that institute
State welding gun and accommodate device including holder for welding gun and welding gun connecting plate, holder for welding gun is fixed on z axis by welding gun connecting plate
On module, welding gun is fixed on the linear module of Z-direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621099529.4U CN206105156U (en) | 2016-09-30 | 2016-09-30 | Three -dimensional rectangular robot line laser welding seam automatic tracking system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621099529.4U CN206105156U (en) | 2016-09-30 | 2016-09-30 | Three -dimensional rectangular robot line laser welding seam automatic tracking system |
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| CN206105156U true CN206105156U (en) | 2017-04-19 |
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| CN201621099529.4U Expired - Fee Related CN206105156U (en) | 2016-09-30 | 2016-09-30 | Three -dimensional rectangular robot line laser welding seam automatic tracking system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106271081A (en) * | 2016-09-30 | 2017-01-04 | 华南理工大学 | Three coordinate rectangular robot line laser seam tracking system and trackings thereof |
| CN107052650A (en) * | 2017-05-19 | 2017-08-18 | 成都福莫斯智能系统集成服务有限公司 | A kind of new side shield robot welding method |
| CN109693018A (en) * | 2019-01-30 | 2019-04-30 | 湖北文理学院 | Autonomous mobile robot welding seam traking system and tracking |
| CN116833560A (en) * | 2023-06-06 | 2023-10-03 | 上海昱品通信科技股份有限公司 | Intelligent identification's ocean communication light unit is automatic follows laser welding system |
-
2016
- 2016-09-30 CN CN201621099529.4U patent/CN206105156U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106271081A (en) * | 2016-09-30 | 2017-01-04 | 华南理工大学 | Three coordinate rectangular robot line laser seam tracking system and trackings thereof |
| CN107052650A (en) * | 2017-05-19 | 2017-08-18 | 成都福莫斯智能系统集成服务有限公司 | A kind of new side shield robot welding method |
| CN109693018A (en) * | 2019-01-30 | 2019-04-30 | 湖北文理学院 | Autonomous mobile robot welding seam traking system and tracking |
| CN109693018B (en) * | 2019-01-30 | 2021-04-27 | 湖北文理学院 | Autonomous mobile robot welding line visual tracking system and tracking method |
| CN116833560A (en) * | 2023-06-06 | 2023-10-03 | 上海昱品通信科技股份有限公司 | Intelligent identification's ocean communication light unit is automatic follows laser welding system |
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