CN208083634U - A kind of vision closed loop welding system - Google Patents
A kind of vision closed loop welding system Download PDFInfo
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- CN208083634U CN208083634U CN201820065383.4U CN201820065383U CN208083634U CN 208083634 U CN208083634 U CN 208083634U CN 201820065383 U CN201820065383 U CN 201820065383U CN 208083634 U CN208083634 U CN 208083634U
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- axis servo
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- visual sensor
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Abstract
A kind of vision closed loop welding system disclosed by the utility model, belongs to automation welding control system field, including visual sensor, human-computer interaction interface, motion controller, drive module and welding machine；The visual sensor, the human-computer interaction interface and the welding machine, connect with the motion controller respectively, and the motion controller is connect with the drive module, and the drive module is connect with the welding machine and the visual sensor respectively.This system not only high degree of automation, it is easy to promote large-scale, welding efficiency and quality can effectively be promoted, reduce production cost and equipment later maintenance cost, and appearance of weld mass ratio is artificially welded, it solves the problems, such as that welding profession worker is deficient simultaneously, and improves the working environment and safety work problem of worker.
Description
Technical field
The utility model is related to automation welding control system field more particularly to a kind of vision closed loop welding systems.
Background technology
It is structural steel with the material that heavy construction now, bridge, domes workshop use more, it is big with supporting power,
Saving steel, good appearance, the feature that span is big, widely used.But the production line of the steel board of Today, most welding, face
It is mostly human weld to large shape, smaller structural steel uses automatic welding.
Structural steel has preferable mechanical property, is largely used to large public building at present, and welding production is labour intensive
Type industry needs a large amount of welder, and the severe human cost of working environment is high, it is achieved that sheet metal Automation of Welding
The problem of being urgent need to resolve.Metallic plate welding at present is mainly based on manual welding, mechanical profiling semi-automatic welding.Work as welding
Part size is larger, at mostly tens meters, it is necessary to artificial welding, operation easy to remove, but the working environment of workers is poor, labour is strong
Degree is high, and welding efficiency is low and welding quality is difficult to control, and the appearance of weld of weldment is of low quality；When weldment size is several meters
Automatic welding may be used when small articles, but the control system of its each functional component is independent, communication mode is lengthy and jumbled, reliability
It is low.Automatic welding function mostly uses the articulated robot welding of six degree of freedom at present, and control cost is high, and it is inconvenient to safeguard, operates door
Sill are high.These problems exist for a long time in welding profession it is another be not resolved directly, constrain the system of China's metal welding profession
The transformation for making the progress and industry growth pattern of technology develops the new automatic welding technique for meeting industry requirement and becomes particularly heavy
It wants.
Welding track control technology is the emphasis of automatic welding industrial research, be concentrated mainly on trace information sensing technology and
Trajectory Tracking Control algorithm.In automatic Arc Welding, the variation that accurate detection obtains weld seam is the key that ensure welding quality,
The sensor technology for being wherein used for weld joint tracking is more and more important.In the research and development of welding track detection technique, occur
Various sensors, including touch sensor, arc sensor and optical sensor etc..Contact turns weld seam variation
Become guide rod change in location, and then be converted into electric signal, performance is stable, at low cost, but precision is not high；Arc sensor is with electricity
The parameter of arc itself is tracking target, the variation of real time reaction weld seam, but accuracy of detection droplet transfer shape easily in by welding process
Formula, splashing influence, especially to thin plate weldment；Optical sensor is to obtain abundant information, precision height, detection range in contrast
It is wide etc., and be used widely.
Utility model content
The purpose of the utility model is to overcome above-mentioned problem of the prior art, provide a kind of vision closed loop welding system
System detects welding track using visual sensor, ensures the high-precision of track detection, using vision closed-loop control system, solves
Track on-line amending problem, electrical structure overcome the continuous weld job problem of large scale weldment.
Above-mentioned purpose is to be achieved through the following technical solutions：
A kind of vision closed loop welding system, including visual sensor, human-computer interaction interface, motion controller, drive module
And welding machine；The visual sensor, the human-computer interaction interface and the welding machine, connect with the motion controller respectively, institute
It states motion controller to connect with the drive module, the drive module connects with the welding machine and the visual sensor respectively
It connects.
Further, the drive module respectively includes the X-axis servo-driver being connected with each other and X-axis servo motor, phase
The Z axis servo-driver and Z axis servo motor of the Y-axis servo-driver and Y-axis servo motor, interconnection that connect, mutually
The RZ axis servo-driver and RZ axis servo motors of connection；The X-axis servo-driver, the Y-axis servo-driver, the Z
Axis servo-driver and the RZ axis servo-driver are connect with the motion controller respectively；The X-axis servo motor and institute
Y-axis servo motor is stated to connect with the visual sensor respectively；The welding machine includes welding gun, the X-axis servo motor, the Y
Axis servo motor, the Z axis servo motor and the RZ axis servo motor, connect with the welding gun respectively.
Further, the visual sensor includes smart camera and line laser.
Further, the human-computer interaction interface is touch screen, is connect with the motion controller with serial mode.
Operation principle：The operation plane that sheet metal is placed is parallel to the plane that X-axis and Y-axis are constituted before operation, it is described
Plane is located at immediately below the welding gun and the visual sensor, the visual sensor perpendicular to the operation plane, including
Following steps：
（1）Motor pattern, initial parameter and relevant position are set in the human-computer interaction interface, and data are passed through into serial ports
It is sent to the motion controller；
（2）The visual sensor shoots the light line that the line laser is radiated at metallic plate, and is carried out to image information
Enhancing processing is filtered, pretreated striation is refined and extracts seam track feature is sent to the motion controller, in turn
The drive module is controlled to move according to track；
（3）The drive module drives the welding gun to move and welded, while visual sensor being driven to move, to
Change shooting picture, track is corrected by image minor change real-time online, forms vision closed loop feedback system；
（4）Repeating said steps（2）With the step（3）, until welding gun welds complete strips weld seam, weld job terminates.
Advantageous effect
The utility model provides a kind of vision closed loop welding system, and seam track is detected in real time using visual sensor,
Ensure the high-precision of track detection；Using vision closed-loop control system, seam track on-line amending is solved the problems, such as；This system designs
Rationally, the continuous weld job problem for overcoming large scale weldment, extends welding stroke, make whole process it is more intelligent, from
Dynamicization；It is easy to promote large-scale, welding efficiency and quality can be effectively promoted, production cost and equipment later maintenance cost are reduced；
The equipment appearance of weld mass ratio is artificially welded, while solving the problems, such as that welding profession worker is deficient, and improves worker
Working environment and safety work problem.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of vision closed loop welding system described in the utility model；
Fig. 2 is a kind of stereogram of vision closed loop welding system described in the utility model；
Fig. 3 is a kind of partial perspective view of vision closed loop welding system described in the utility model.
Specific implementation mode
It should be pointed out that being only the explanation to specific embodiment to the description of concrete structure and description order in this part, no
It should be regarded as having any restrictions effect to the scope of protection of the utility model.In addition, in the case of not conflicting, the reality in this part
The feature applied in example and embodiment can be combined with each other.
It elaborates to the utility model embodiment below in conjunction with attached drawing.
As shown in Figure 1, a kind of vision closed loop welding system, including visual sensor 1, human-computer interaction interface 2, motion control
Device 3, drive module 4 and welding machine 5；The visual sensor 1, the human-computer interaction interface 2 and the welding machine 5, respectively with it is described
Motion controller 3 connects, and the motion controller 3 connect with the drive module 4, the drive module 4 respectively with the weldering
Machine 5 and the visual sensor 1 connect.
Specifically, the drive module 4 respectively includes the X-axis servo-driver 411 being connected with each other and X-axis servo motor
421, the Y-axis servo-driver 412 and Y-axis servo motor 422 that are connected with each other, the Z axis servo-driver 413 and Z that are connected with each other
Axis servo motor 423, the RZ axis servo-driver 414 being connected with each other and RZ axis servo motor 424；The X-axis servo-driver
411, the Y-axis servo-driver 412, the Z axis servo-driver 413 and the RZ axis servo-driver 414 respectively with institute
State the connection of motion controller 3；The X-axis servo motor 421 and the Y-axis servo motor 422 respectively with the visual sensor 1
Connection；The welding machine 5 includes welding gun 51, the X-axis servo motor 421, the Y-axis servo motor 422, Z axis servo electricity
Machine 423 and the RZ axis servo motor 424, connect with the welding gun 51 respectively.
The visual sensor 1 includes smart camera 11 and line laser 12, for capturing sheet metal weld information, and will
Picture processing obtains seam track and is sent to the motion controller 3, and then controls drive module 4, makes visual sensor 1 and weldering
Machine 5 moves.Human-computer interaction interface 2 described in this system is touch screen, is connect with the motion controller 3 with serial mode.
As shown in Figures 2 and 3, the motion controller 3, the X-axis servo-driver 411, the Y-axis servo-driver
412, the Z axis servo-driver 413 and the RZ axis servo-driver 414 are integrated in switch board 6, and the X-axis servo is driven
Motor 421 controls the welding machine 5, the switch board 6 and the visual sensor 1 in X direction by controlling the transmission of lead screw
Mobile, X-direction is 7 seam track direction of sheet metal to be welded, makes overall operation mechanism that seam track be followed to move, and is adapted to each
The track following welding of kind length；The Y-axis servo motor 422 is for controlling the welding gun 51 and the visual sensor 1 along Y
Direction is moved, and the Z axis servo motor 423 is moved for controlling the welding gun 51 along Z-direction, the RZ axis servo motor 424
It is swung for controlling the welding gun 51.
Specifically, the operation plane that sheet metal 7 is placed is parallel to the plane that X-axis and Y-axis are constituted, the plane is located at
1 lower section of the welding gun 51 and the visual sensor, the visual sensor 1 is perpendicular to the operation plane.The Y-axis servo
Motor 422 makes the welding gun 51, the visual sensor 1, the Z axis servo motor 423, the RZ axis watch by belt transmission
It taking motor 424 and vision micromatic setting 8 is moved along Y-direction, Y-direction is 7 seam track vertical fluctuation direction of sheet metal to be welded,
Make seam track on-line amending；The Z axis servo motor 423 is moved for the welding gun 51 along Z-direction, and Z-direction is the weldering
Rifle 51 is at a distance from the operation plane, for adjusting the height of the welding gun 51；The RZ axis servo motor 424 is for controlling
The angle of the welding gun 51 rotates, and so that the welding gun 51 is swung with seam track, adjusts welding posture in time；The visual sensing
Device 1 adjusts Z-direction distance by vision micromatic setting 8, it is ensured that commissure is in vision optimal imaging range.
Operation principle：The operation plane that sheet metal is placed is parallel to the plane that X-axis and Y-axis are constituted before operation, it is described
Plane is located at the underface of the welding gun 51 and the visual sensor 1, and the visual sensor 1 is perpendicular to the operation horizontal
Face includes the following steps：
（1）Motor pattern, initial parameter and relevant position are set in the human-computer interaction interface 2, and data are passed through into string
Mouth is sent to the motion controller 3；
（2）The visual sensor 1 shoots the light line that the line laser is radiated at metallic plate, and is carried out to image information
Enhancing processing is filtered, pretreated striation is refined and extracts seam track feature is sent to the motion controller 3, in turn
The drive module 4 is controlled to move according to track；
（3）The drive module 4 drives the welding gun 51 to move and is welded, while visual sensor 1 being driven to move,
To change shooting picture, track is corrected by image minor change real-time online, forms vision closed loop feedback system；
（4）Repeating said steps（2）With the step（3）, until welding gun 51 welds complete strips weld seam, weld job knot
Beam.
The preferable specific implementation mode of the above, only the utility model, but the scope of protection of the utility model is not
Be confined to this, any people for being familiar with the technology is in the technical scope disclosed by the utility model, it is contemplated that variation or replace
It changes all to cover and be within the protection scope of the utility model.Therefore, the scope of protection of the utility model should be protected with claim
Subject to the range of shield.
Claims (2)
1. a kind of vision closed loop welding system, which is characterized in that including visual sensor, human-computer interaction interface, motion controller,
Drive module and welding machine；The visual sensor, the human-computer interaction interface and the welding machine, respectively with the motion controller
Connection, the motion controller are connect with the drive module, and the drive module is passed with the welding machine and the vision respectively
Sensor connects；
The drive module respectively includes the X-axis servo-driver being connected with each other and the Y-axis of X-axis servo motor, interconnection is watched
Take driver and Y-axis servo motor, the Z axis servo-driver of interconnection and Z axis servo motor, interconnection RZ axis servos
Driver and RZ axis servo motors；The X-axis servo-driver, the Y-axis servo-driver, the Z axis servo-driver and
The RZ axis servo-driver is connect with the motion controller respectively；The X-axis servo motor and the Y-axis servo motor point
It is not connect with the visual sensor；
The welding machine includes welding gun, the X-axis servo motor, the Y-axis servo motor, the Z axis servo motor and the RZ
Axis servo motor is connect with the welding gun respectively；
The visual sensor includes smart camera and line laser.
2. a kind of vision closed loop welding system according to claim 1, which is characterized in that the human-computer interaction interface is tactile
Screen is touched, is connect with the motion controller with serial mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820065383.4U CN208083634U (en) | 2018-01-16 | 2018-01-16 | A kind of vision closed loop welding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201820065383.4U CN208083634U (en) | 2018-01-16 | 2018-01-16 | A kind of vision closed loop welding system |
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| CN208083634U true CN208083634U (en) | 2018-11-13 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107931787A (en) * | 2018-01-16 | 2018-04-20 | 无锡信捷电气股份有限公司 | A kind of vision closed loop welding system and implementation method |
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2018
- 2018-01-16 CN CN201820065383.4U patent/CN208083634U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107931787A (en) * | 2018-01-16 | 2018-04-20 | 无锡信捷电气股份有限公司 | A kind of vision closed loop welding system and implementation method |
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