CN206263418U - A kind of real-time seam tracking system of six degree of freedom welding robot line laser - Google Patents
A kind of real-time seam tracking system of six degree of freedom welding robot line laser Download PDFInfo
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- CN206263418U CN206263418U CN201621284920.1U CN201621284920U CN206263418U CN 206263418 U CN206263418 U CN 206263418U CN 201621284920 U CN201621284920 U CN 201621284920U CN 206263418 U CN206263418 U CN 206263418U
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Abstract
The utility model discloses a kind of real-time seam tracking system of six degree of freedom welding robot line laser, including sixdegree-of-freedom simulation, welding gun, laser vision sensor, workbench, automatic welder, wire feeder, built-in industrial controller, switch board, workpiece is placed on the table, the laser vision sensor is arranged on welding gun by mounting seat, welding gun is placed in mechanical arm tail end, welding wire is deposited in a reservoir, by conduit, welding gun is sent to via wire feeder, wire feeder is fixed on sixdegree-of-freedom simulation U axles, container is fixed on the S axles of sixdegree-of-freedom simulation；The built-in industrial controller is connected with automatic welder, laser vision sensor, sixdegree-of-freedom simulation, switch board signal.The utility model solves the problems, such as that laser stripe and welding pool, apart from excessive, have the advantages that full automation, welding precision are high, real-time is good, strong antijamming capability in current seam tracking system, and system architecture is simple, it is easy to safeguard.
Description
Technical field
The utility model is related to the real-time seam tracking system of robot line laser, more particularly to six degree of freedom welding robot
The real-time seam tracking system of line laser.
Background technology
Due to weld job there are problems that work under bad environment, labour intensity it is big, current welding robot
Progressively many fields such as automobile production, engineering machinery, shipbuilding and container production be applied welding robots
Generally using the mode of operation of teaching playback can implement to ensure this mode of operation in specific welding surroundings, preceding operation
Middle need complete the positioning of welding workpiece by artificial spot welding, and this can cause position error, actual path is deviateed teaching track, from
And cause teaching to program the track when robot welding track for obtaining deviate from reproduction.
With the development of machine vision technique, welding robot widely uses vision detection technology correcting reproducing track, real
Existing weld joint tracking.Vision system is generally arranged on arm end, when robot manipulating task, vision system by seam tracking system
Worked asynchronously with welding gun, the thermal deformation that real-time detection workpiece is caused in welding process by high temperature, and adjust between welding gun and weld seam
Position.
Weld seam real-time tracking system the key technical indexes is the distance between laser stripe 8 and welding pool 5 d, such as accompanying drawing
4.The smaller then tracking accuracies of d are higher, it is often desirable that d ＜ 30mm, but this can cause to be deposited in the image information that vision system is detected
In strong arc light and splashing, cause certainty of measurement reduction and produce a large amount of wrong data, after welding current is more than 300A, this
Phenomenon is more obvious.In order to reduce arc light splashing interference, at present major part seam tracking system d all in 70mm or so, this
Greatly reduce real-time performance of tracking and welding precision.Therefore how weld seam is identified from the image disturbed containing intense noise,
Quickly, it is important problem in real-time weld joint tracking accurately to obtain its position.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, provides a kind of six degree of freedom welding robot line and swashs
The real-time seam tracking system of light and method, it is intended to solve visual pattern difficult treatment and laser strip in current automatic welding technique
Line is with welding pool apart from excessive problem
Above-mentioned purpose is achieved through the following technical solutions：
A kind of real-time seam tracking system of six degree of freedom welding robot line laser, including sixdegree-of-freedom simulation, welding gun,
Laser vision sensor, workbench, automatic welder, wire feeder, built-in industrial controller, switch board, workpiece is placed on
On workbench, the position and angle of inclination of workpiece can be adjusted manually, and the laser vision sensor is pacified by mounting seat
On welding gun, welding gun is placed in mechanical arm tail end, the motion that laser vision sensor and welding gun pass through sixdegree-of-freedom simulation
And changing its position in space, welding wire is deposited in a reservoir, by conduit, welding gun, wire feeder is sent to via wire feeder
It is fixed on sixdegree-of-freedom simulation U axles, container is fixed on the S axles of sixdegree-of-freedom simulation；The switch board respectively with automatically
Welding machine, sixdegree-of-freedom simulation, the connection of built-in industrial controller signals, the built-in industrial controller are also regarded with line laser
Feel sensor signal connection, the image recognition for being obtained according to laser vision sensor tracks object and accurately determines its position
Put, resulting position deviation is transferred to sixdegree-of-freedom simulation, real-time tracking simultaneously corrects welding gun movement locus, realize accurate
On-line automatic welding.
Further, the laser vision sensor include laser sensor body, camera, laser line generator, swash
Optical generator base, described camera is fixed in laser sensor body vertically, and the laser line generator is sent out by laser
Raw device base is fixed in laser sensor body and axis is in a certain angle with the axis of camera.
Further, the axis of the laser line generator and the angle of the axis of camera are 20 °.
Further, described camera uses CMOS cameras, and described CMOS cameras high speed acquisition carries weld information
Feature stripe pattern is simultaneously real-time transmitted to built-in industrial controller.
Further, the wire feeder is YWC-WFRPM42RD.
Further, to grind magnificent IPC-510, switch board is JZRCR-YTB21-F380 to the built-in industrial controller.
Further, the automatic welder is MOTOWELD-RD350.
Further, the sixdegree-of-freedom simulation is to be made up of six roots of sensation axle, and S axles are connected with robot pallet, and T axles are installed additional
Welding gun, is equipped with servomotor between axle and axle, it is allowed to mutually rotate.
Compared to existing technology, the utility model has the following advantages：
(1) weld bead feature points, high precision are detected by laser vision sensor.By built-in industrial controller butt welding
Seam image is processed, and controls wire feed and welder and servo-driver, and system architecture is simple, it is easy to safeguard；
(2) coordinate value of Weld pipe mill point can be being extracted in the environment of containing a large amount of arc lights and splashing, high precision resists
Interference performance is strong, and the distance of laser stripe and welding pool is contracted within 30mm, enhances the real-time of weld joint tracking.
Brief description of the drawings
Fig. 1 is that the real-time seam tracking system of six degree of freedom welding robot line laser of the utility model embodiment is totally tied
Structure schematic diagram；
Fig. 2 be the utility model embodiment the six degree of freedom real-time seam tracking system of welding robot line laser in machinery
Arm free degree schematic diagram；
Fig. 3 is that the sixdegree-of-freedom simulation of the utility model embodiment and welding gun, laser vision sensor install signal
Figure.
Fig. 4 be the utility model embodiment seam tracking system in laser stripe and welding pool apart from schematic diagram.
Fig. 5 is the real-time welding seam tracking method entirety work of six degree of freedom welding robot line laser of the utility model embodiment
Make flow chart.
Fig. 6 be the utility model embodiment the six degree of freedom real-time welding seam tracking method of welding robot line laser in feature
Point detection algorithm flow chart.
Shown in figure：1- sixdegree-of-freedom simulations；2- welding guns；3- laser vision sensors；4- mounting seats；5- is welded
Molten bath；6- cameras；7- laser line generators；8- laser stripes；9- workpiece；10- built-in industrial controllers；11- switch boards；
12- automatic welders；13- workbench；14- times of good fortune module.
Specific embodiment
The purpose of this utility model is described in further detail below by specific embodiment, embodiment can not be herein
Repeat one by one, but therefore implementation method of the present utility model is not defined in following examples.
Embodiment
As shown in Figure 1 to Figure 3, a kind of real-time seam tracking system of six degree of freedom welding robot line laser, including six from
By degree mechanical arm 1, welding gun 2, laser vision sensor 3, workbench 13, automatic welder 12, wire feeder, built-in industrial control
Device processed 10, times good fortune module 14, switch board 11, workpiece 9 are placed on the table, and the position and angle of inclination of workpiece 9 can be manual
Regulation, the laser vision sensor 3 is arranged on welding gun 2 by mounting seat 4, and welding gun 2 is placed in mechanical arm tail end, and line swashs
Light vision sensor 3 and welding gun change its position in space by the motion of sixdegree-of-freedom simulation 1, and welding wire is stored in appearance
In device, by conduit, welding gun 2 is sent to via wire feeder, wire feeder is fixed on the U axles of sixdegree-of-freedom simulation 1, container
It is fixed on the S axles of sixdegree-of-freedom simulation 1；The switch board 11 respectively with automatic welder 12, sixdegree-of-freedom simulation 1, embedded
The signal of formula industrial control unit (ICU) 10 is connected, and wherein switch board 11 is connected with built-in industrial controller 10 by a times good fortune module 14；
The built-in industrial controller 10 is also connected by Ethernet with the signal of laser vision sensor 3, for according to line laser
The image recognition that vision sensor is obtained tracks object and accurately determines its position, and resulting position deviation is transferred into six certainly
By degree mechanical arm, real-time tracking simultaneously corrects welding gun movement locus, realizes accurate on-line automatic welding.
The laser vision sensor 2 includes that laser sensor body, camera 6, laser line generator 7, laser occur
Device base, described camera is fixed in laser sensor body vertically, and the laser line generator 7 passes through laser generator bottom
Seat is fixed in laser sensor body and axis is in a certain angle with the axis of camera 6.
The axis of the laser line generator 7 is 20 ° with the angle of the axis of camera.
Described camera 6 uses CMOS cameras, and described CMOS cameras high speed acquisition carries the feature striped of weld information
Image is simultaneously real-time transmitted to built-in industrial controller 10.
The wire feeder is YWC-WFRPM42RD.
To grind magnificent IPC-510, switch board 11 is JZRCR-YTB21-F380 to the built-in industrial controller 10.
The automatic welder 12 is MOTOWELD-RD350.
The sixdegree-of-freedom simulation 1 is to be made up of six roots of sensation axle, and S axles are connected with robot pallet, and T axles install welding gun, axle additional
Servomotor is housed between axle, it is allowed to mutually rotate.
As shown in figure 5, the present embodiment provide the six degree of freedom real-time seam tracking system of welding robot line laser with
Track method, including step：
(1) image for collecting camera 6 in laser vision sensor 3 when welding first carries out image preprocessing；
(2) using the feature point extraction algorithm based on weighting cosine similarity (WLCS), pretreated present frame is obtained
The pixel coordinate value of Weld pipe mill characteristic point in image；
(3) it is after the D coordinates value that the coordinate value is converted under camera coordinates system, the value is inclined with initial value
(Δ x, Δ y, Δ z) are sent to six-DOF robot to difference in real time by times good fortune module 14, so that it is automatic to drive welding gun to complete
Welding process.
Specifically, before step (1) is carried out, also including step：
The image of the camera collection in laser vision sensor obtains welding preceding initial weld bead feature points and phase
Neighbouring region.
Specifically, it is preceding initial that the image of the described collection of the camera in laser vision sensor obtains welding
The step of weld bead feature points and adjacent area, specifically includes：
(1) position of six degree of freedom welding robot mechanical arm is adjusted so that welding gun end (i.e. wire tip) is located at and treats
The surface of welder's part position while welding, and cause that the laser vision sensor being fixed on welding gun is in best operational position,
Clearly image can be captured i.e. in welding process, will not cause that laser vision sensor and workpiece to be welded occur again dry
Relate to；
(2) camera in laser vision sensor gathers image and is sent to built-in industrial controller, embedded work
Industry controller is initialized by calling the built-in function of Halcon softwares, obtains initial weld bead feature points and adjacent area；
(3) initial characteristicses point pixel coordinate value is converted into being sat based on camera before the welding that built-in industrial controller will be obtained
Mark the D coordinates value of system.
Specifically, as shown in fig. 6, described step (1) is specifically included：
(11) each two field picture of camera continuous acquisition of laser vision sensor when welding, and send to built-in industrial
Controller carries out treatment calculating；
(12) image that built-in industrial controller will be obtained carry out for reduce splash in welding image and arc light noise,
So that the pretreatment that image degree of purity is uprised, described pretreatment includes that threshold process, binaryzation are multiplied treatment with three width images.
Specifically, the step (2) specifically includes：
(21) tracker is initialized, built-in industrial controller is carried out initially by calling the built-in function of Halcon softwares
Change, obtain initial weld bead feature points and adjacent area；
(22) using motion model p (xt|xt-1) candidate state of a large amount of targets, x are gathered in the picturetIt is expressed as object
The state variable of body, subscript t is present image frame number；
(23) using measurement model p (yt|xt) candidate state variable is assessed, find out with candidate state variable similarity most
Observation vector high, ytIt is correspondence xtObservation vector, herein observation model using weighting cosine similarity (WLCS) mensuration；
(4) by the application particle filter method under Fourier's framework, optimal candidate state position is calculated as in the image
The actual position coordinate of weld bead feature points, computational methods are：
p(xt|y1:t-1)=∫ p (xt|xt-1)p(xt-1|y1:t-1)dxt-1
p(xt|y1:t)=p (yt|xt)p(xt|y1:t-1)/p(yt|xt)p(xt|y1:t-1)
Y in formula1:tAll observation vectors of the t from the moment 1 to the moment are represented, first formula is predictor formula, by the moment
The observation vector y of 1 to moment t-11:t-1The state variable x of prediction time tt；Second formula is more new formula, in first public affairs
The observation vector y at moment t is added in formulatCorrigendum state variable xt。
Specifically, weighting cosine similarity (WLCS) mensuration of the step (23) be specially：
(231) cosine similarity is calculated：
Y is observation vector in formula, and t is object module, and subscript j is j-th subregion vector, and w is corresponding sub-region vector
Weight；
(232) calculate and enter online updating after cosine similarity, including weight and object module renewal；Module updates
Formula is：
ε is threshold value set in advance in formula, and η is turnover rate；
(233) after completing the renewal of object module t, the positive sample and negative sample of the image module are gathered, and by solving
Following optimization problem updates weight：
WhereinΩ+With
Ω-The positive sample and negative sample of weld bead feature points are represented respectively, and w ' is equal to the weighted value of last moment, i.e. w '=wt-1。
Specifically, the step (3) specifically includes：
(31) pixel coordinate value of Weld pipe mill characteristic point in the image of acquisition is converted into the three-dimensional under camera coordinates system
It is compared with current welding torch position three-dimensional coordinate after coordinate value, obtains deviation (Δ x, Δ y, Δ z)；
(32) by times good fortune module 14, by the deviation, (Δ x, Δ y, Δ z) send built-in industrial controller in real time
To servo-driver, servo driver drives servomotor simultaneously drives sixdegree-of-freedom simulation to move, so that welding gun end
Welding wire moved along the weld seam midpoint of workpiece, complete six-DOF robot real-time weld joint tracking process.
Each parts described in the present embodiment can type selecting it is as follows, but type selecting not limited to this：Built-in industrial controller：Grind China
IPC-510, can select the built-in industrial controller of other same types；Workpiece：Angle steel, can select the similar of other shapes rule
Type workpiece.
Above-described embodiment of the present utility model is only intended to clearly illustrate the utility model example, and is not
Restriction to implementation method of the present utility model.For those of ordinary skill in the field, on the basis of described above
On can also make other changes in different forms.There is no need and unable to be exhaustive to all of implementation method.
All any modification, equivalent and improvement made within spirit of the present utility model and principle etc., should be included in this reality
Within new scope of the claims.
Claims (8)
1. a kind of real-time seam tracking system of six degree of freedom welding robot line laser, it is characterised in that：Including six degree of freedom machine
Tool arm, welding gun, laser vision sensor, workbench, automatic welder, wire feeder, built-in industrial controller, switch board,
Workpiece is placed on the table, and the position and angle of inclination of workpiece can be adjusted manually, and the laser vision sensor passes through
Mounting seat is arranged on welding gun, and welding gun is placed in mechanical arm tail end, and laser vision sensor and welding gun pass through six degree of freedom machine
The motion of tool arm and change its position in space, welding wire deposit in a reservoir, by conduit, weldering is sent to via wire feeder
Rifle, wire feeder is fixed on sixdegree-of-freedom simulation U axles, and container is fixed on the S axles of sixdegree-of-freedom simulation；The switch board
It is connected with automatic welder, sixdegree-of-freedom simulation, built-in industrial controller signals respectively, the built-in industrial controller is also
It is connected with laser vision sensor signal, for the image recognition tracking object and standard that are obtained according to laser vision sensor
Determine its position, resulting position deviation is transferred to sixdegree-of-freedom simulation, real-time tracking simultaneously corrects welding gun motion rail
Mark, realizes accurate on-line automatic welding.
2. the real-time seam tracking system of six degree of freedom welding robot line laser according to claim 1, it is characterised in that：
The laser vision sensor includes laser sensor body, camera, laser line generator, laser generator base, described
Camera be fixed on vertically in laser sensor body, the laser line generator is fixed on laser by laser generator base
Sensor body is interior and axis is in a certain angle with the axis of camera.
3. the real-time seam tracking system of six degree of freedom welding robot line laser according to claim 2, it is characterised in that：
The axis of the laser line generator is 20 with the angle of the axis of camerao。
4. the real-time seam tracking system of six degree of freedom welding robot line laser according to claim 2, it is characterised in that：
Described camera uses CMOS cameras, and the feature stripe pattern that described CMOS cameras high speed acquisition carries weld information is simultaneously real-time
It is transferred to built-in industrial controller.
5. the real-time seam tracking system of six degree of freedom welding robot line laser according to claim 1, it is characterised in that：
The wire feeder is YWC-WFRPM42RD.
6. the real-time seam tracking system of six degree of freedom welding robot line laser according to claim 1, it is characterised in that：
To grind magnificent IPC-510, switch board is JZRCR-YTB21-F380 to the built-in industrial controller.
7. the real-time seam tracking system of six degree of freedom welding robot line laser according to claim 1, it is characterised in that：
The automatic welder is MOTOWELD-RD350.
8. the real-time seam tracking system of six degree of freedom welding robot line laser according to claim 1, it is characterised in that：
The sixdegree-of-freedom simulation is to be made up of six roots of sensation axle, and S axles are connected with robot pallet, and T axles install welding gun additional, is filled between axle and axle
There is servomotor, it is allowed to mutually rotate.
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| CN107813085B (en) * | 2017-10-31 | 2019-05-07 | 湘潭大学 | A kind of pipe pipe welding welding-gun rotation axial rake self-adaption regulation system |
| CN109986255A (en) * | 2017-12-29 | 2019-07-09 | 深圳中集智能科技有限公司 | Mix visual servo parallel robot and operational method |
| CN109986255B (en) * | 2017-12-29 | 2021-11-30 | 深圳中集智能科技有限公司 | Hybrid vision servo parallel robot and operation method |
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| CN109530906A (en) * | 2018-12-28 | 2019-03-29 | 北京工业大学 | A kind of friction stir welding machine device people configuration and motion algorithm |
| CN109822194A (en) * | 2019-01-24 | 2019-05-31 | 江苏理工学院 | A kind of weld tracker and welding method |
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| CN116748742A (en) * | 2023-05-16 | 2023-09-15 | 湖北纽睿德防务科技有限公司 | Self-adaptive welding system |
| CN116748742B (en) * | 2023-05-16 | 2024-05-17 | 湖北纽睿德防务科技有限公司 | Self-adaptive welding system |
| CN118162830A (en) * | 2024-05-15 | 2024-06-11 | 中油（新疆）石油工程有限公司 | Welding system and control method for automatic seam-seeking welding in sealed cabin of storage tank buoyancy cabin |
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