CN210818050U - Welding system - Google Patents
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- CN210818050U CN210818050U CN201921456721.8U CN201921456721U CN210818050U CN 210818050 U CN210818050 U CN 210818050U CN 201921456721 U CN201921456721 U CN 201921456721U CN 210818050 U CN210818050 U CN 210818050U
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Abstract
The utility model provides a welding system, which is characterized in that a workpiece to be welded is borne by a deflection module; acquiring station information and weld joint information of the workpiece to be welded through an information acquisition module; controlling and adjusting the angle of the deflection module through an adjusting module; welding the welding seam of the workpiece to be welded through a welding robot; a processing module; therefore, when the welding system welds the workpieces, the processing module can synchronously associate the welding parameters and classify the associated welding parameters according to different welding seams and different workpieces to be welded, and can directly call the welding parameters of the same type of workpieces or the same type of welding seams to weld when the same type of workpieces or the same type of welding seams are subsequently welded, so that the welding operation steps are simplified, the welding quality is improved, and the requirement on the skill level of operators is reduced.
Description
Technical Field
The utility model relates to a welding equipment technical field especially relates to a welding system.
Background
At present, robot welding mainly takes standard parts as main parts and is applied to industries such as automobile manufacturing, household appliances and the like. However, with the gradual maturity of the welding technology of robots in the automobile industry and the like, the current situations of severe working environment, difficult work recruitment and unstable quality of industries such as engineering machinery, metallurgical equipment, steel structures, special ships and the like are more and more prominent, and particularly, the robot welding field of medium plate welding also puts forward urgent demands on the robot welding. For example, the field of medium plates has the characteristics of single or small welding workpiece amount, high accurate clamping difficulty, low consistency of groove states and high filling amount, and the teaching programming method of the traditional robot has the problems of tedious teaching programming work, unstable welding quality, high requirement on the robot programming capability of an operator and the like during welding.
SUMMERY OF THE UTILITY MODEL
In view of the above prior art's shortcoming, the utility model aims to provide a welding system for teaching programming work is loaded down with trivial details, the unstable problem of welding quality when solving current welding robot and welding.
To achieve the above and other related objects, the present invention provides a welding system, comprising: the welding robot comprises a processing module, a welding robot, an information acquisition module for acquiring station information and welding seam information, a deflection module for bearing a workpiece to be welded, and an adjusting module for controlling and adjusting the angle of the deflection module; the welding robot is connected with the processing module and used for welding the workpiece to be welded according to the instruction of the processing module; the module that shifts with the output of adjustment module is connected, processing module's output respectively with adjustment module's input with welding robot connects, information acquisition module's input with the module that shifts is connected, information acquisition module's output with processing module's input is connected.
Optionally, the information collecting module includes: the image collector is used for collecting the welding seam image of the workpiece to be welded so as to obtain the welding seam information of the workpiece to be welded; or/and
the inertial sensor is used for arranging welding attitude and preset speed information at the starting point and the end point of each welding seam so as to obtain the welding seam information of the part to be welded; the image collector comprises a binocular vision camera module.
Optionally, the processing module includes a path planning unit and a first matching unit, configured to perform matching processing on the station information, the weld information, and the weld path information respectively corresponding to a weld to generate the weld-related information; the path planning unit is connected with the information acquisition module and used for planning paths according to the welding seam information to generate welding seam path information; the first matching unit is connected with the output end of the path planning unit.
Optionally, the processing module further includes a classifying unit configured to classify the welding seam related information corresponding to each welding seam of the workpieces to be welded in the same category, and a second matching unit configured to generate a plurality of sets of workpiece welding task information corresponding to each workpiece to be welded according to a plurality of different categories of workpieces to be welded; the classifying unit is connected with the first matching unit, and the input end of the second matching unit is connected with the output end of the classifying unit.
Optionally, the weld information at least includes one of the following: the number of welding seams, the position information of the welding seams, the types of the welding seams, the sizes of the welding seams and the welding seam process.
Optionally, the weld path information includes: a flag bit sequence and a path pose sequence; the flag bit sequence includes at least one of: the method comprises the following steps of (1) marking a welding serial number, a type mark, a welding completion mark, a total welding number mark of a plurality of layers of multi-channel welding seams, a welded number mark, a welding seam welding enabling mark and a welding seam tracking option mark of each welding seam; the path pose sequence includes each weld sequence number and a pose of the welding robot end approach point when welding for each weld.
Optionally, the welding system further includes a weld tracking module for detecting real-time welding state information of the weld, the weld tracking module is respectively connected with the processing module and the welding robot, and the weld tracking option mark is used for calling and generating deviation correction control information.
Optionally, the welding robot comprises a welding power supply and a control mechanism; the control mechanism is connected with the welding power supply.
Optionally, the welding robot further includes a welding executing mechanism for welding the to-be-welded workpiece according to the welding seam correlation information, the workpiece welding task information, and the deviation rectification control information.
Optionally, the welding system further includes a display module, and the display module is connected to the processing module and the welding robot, respectively.
As described above, the utility model provides a welding system, the welding system bears the weight of the work piece to be welded through the deflection module; acquiring station information and weld joint information of the workpiece to be welded through an information acquisition module; controlling and adjusting the angle of the deflection module through an adjusting module; welding the welding seam of the workpiece to be welded through a welding robot; a processing module; therefore, when the welding system welds the workpieces, the processing module can synchronously associate the welding parameters and classify the associated welding parameters according to different welding seams and different workpieces to be welded, and can directly call the welding parameters of the same type of workpieces or the same type of welding seams to weld when the same type of workpieces or the same type of welding seams are subsequently welded, so that the welding operation steps are simplified, the welding quality is improved, and the requirement on the skill level of operators is reduced.
Drawings
Fig. 1 is a block diagram of a welding system according to an embodiment of the present invention.
Fig. 2 is a block diagram of a welding system according to another embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a welding system according to an embodiment of the present invention.
Description of the element reference numerals
The device comprises a processing module 10, a path planning unit 11, a first matching unit 12, a classification unit 13, a second matching unit 14, an adjustment module 20, a welding robot 30, a displacement module 40, a workpiece 41 to be welded, an information acquisition module 50, a weld joint tracking module 60, a welding power supply 70 and a display module 80
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The present invention can also be implemented or applied through other different specific embodiments, and various details in the present specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic concept of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the form, amount and ratio of the components in actual implementation may be changed at will, and the layout of the components may be more complicated.
Referring to fig. 1-3, to achieve the above and other related objects, the present invention provides a welding system, comprising: the welding device comprises a processing module 10, a welding robot 30, an information acquisition module 50 for acquiring station information and welding seam information, a displacement module 40 for bearing a workpiece 41 to be welded, and an adjusting module 20 for controlling and adjusting the angle of the displacement module 40; the welding robot 30 is connected with the processing module 10 and is used for welding the workpiece 41 to be welded according to the instruction of the processing module 10;
the shift module 40 is connected with the output end of the adjustment module 20, the output end of the processing module 10 is respectively connected with the input end of the adjustment module 20 and the welding robot 30, the input end of the information acquisition module 50 is connected with the shift module 40, and the output end of the information acquisition module 50 is connected with the input end of the processing module 10.
In certain embodiments, the information collection module 50 comprises: an image collector for collecting the weld image of the workpiece 41 to be welded to obtain the weld information of the workpiece 41 to be welded; or/and an inertial sensor used for arranging the welding attitude and preset speed information at the starting point and the end point of each welding seam so as to obtain the welding seam information of the part to be welded; the image collector comprises a binocular vision camera module.
In certain embodiments, the information collection module 50 comprises: the image collector is used for collecting the weld image of the workpiece 41 to be welded so as to obtain the weld information of the workpiece 41 to be welded; or inertial sensors, configured to place welding attitude and preset speed information at the start point and the end point of each weld to obtain the weld information of the workpiece 41 to be welded. It is understood that the information collecting module 50 may be a teaching machine, and an operator may obtain the welding seam information through a manual teaching mode.
In some embodiments, the image collector may be a binocular vision camera module, wherein when the information of the weld joint is obtained based on the binocular vision camera module, the operator attaches the characteristic target point to the starting point and the end point of the weld joint, the processing module 10 triggers the binocular vision camera module to collect the image and returns the signal to the processing module 10, the processing module 10 calls a preset image processing algorithm and a coordinate calibration algorithm to obtain the position of the target point under the coordinate system of the welding robot 30, and combines manual input of the operator to set the posture of the starting point and the end point, so as to form the posture information required by path planning; it can be understood that when the weld information is obtained based on the inertial sensor, the weld information can be sequentially placed at the start point and the end point of the weld in a welding posture through the handheld sensor, the posture and the speed information of the inertial sensor are transmitted to the processing module 10, and the processing module 10 obtains the posture information of the start point and the end point through an integration algorithm.
In some embodiments, the processing module 10 includes a path planning unit 11 and a first matching unit 12, configured to perform matching processing on the station information, the weld information, and the weld path information corresponding to a weld respectively to generate the weld-related information; the path planning unit 11 is connected to the information acquisition module 50, and configured to perform path planning according to the weld information to generate weld path information; the first matching unit 12 is connected to an output of the path planning unit 11.
In some embodiments, the processing module 10 further includes a classifying unit 13 for classifying the weld joint related information corresponding to each weld joint of the workpieces to be welded 41 of the same category, and a second matching unit 14 for generating a plurality of sets of workpiece welding task information corresponding to each of the workpieces to be welded 41 from a plurality of different categories of the workpieces to be welded 41; the classifying unit 13 is connected to the first matching unit 12, and the input end of the second matching unit 14 is connected to the output end of the classifying unit 13.
Therefore, when workpieces of the same type are welded, after one workpiece is welded, station information, the number of welding seams, the type of welding seams, welding seam information under various welding seams, welding seam path information and the like of the workpieces can be obtained, the station information, the number of welding seams, the type of welding seams, the welding seam information under various welding seams, the welding seam path information and the like do not need to be obtained again when each workpiece is welded, the subsequent processing module 10 can directly call stored information related to the welding seams and send the information to the welding robot 30, and the welding robot 30 carries out welding processing on the workpieces according to the information or instructions sent by the processing module 10, so that the workload of manual teaching is reduced, or the workload of the information acquisition module 50 is reduced, and the welding efficiency is improved; the information acquisition module 50 is applied to reduce the requirement on the workpiece clamping precision, so that the capital investment on a high-precision tool clamp can be greatly saved.
In some embodiments, path planning includes, but is not limited to: and planning the welding sequence among all the welding seams based on the manual configuration sequence of each welding seam, and planning the welding starting point and the end point of each layer of welding in the multilayer and multichannel welding seams with larger welding seam sizes, wherein the path planning of the multilayer and multichannel welding seams obtains the starting point and the end point poses of each layer of welding seams through offset calculation on the basis of the pose information of the starting point and the end point of the welding seams.
In some embodiments, the welding robot 30 includes at least a multi-layer multi-pass welding unit for multi-layer multi-pass welding the workpiece 41 to be welded or a fillet welding unit for fillet welding the workpiece 41 to be welded.
It is understood that the welding robot 30 includes a storage sub-unit and various functional units, such as, but not limited to, a main program unit, a multi-layer multi-pass welding unit, a fillet welding unit; in some embodiments, the weld tracking module 60 of the welding system may also be provided on the welding robot 30, and the welding robot 30 may invoke by receiving the weld tracking option flag information sent by the processing module 10. The information sent by the processing module 10 may be a flag bit sequence or a path pose sequence, which is not limited herein.
In some embodiments, the indexing module 40 may be a head-to-tail indexing module 40, which is not limited herein.
It can be understood that the welding system of the present invention further includes a storage module connected to the processing module 10 for storing various welding seam information, station information, welding seam related information, workpiece welding task information, etc.
The memory module may include a Random Access Memory (RAM) and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.
In some embodiments, the to-be-welded workpiece 41 is placed on the displacement module 40, generally, the displacement module 40 is angularly adjusted so that the weld joint of the to-be-welded workpiece 41 on the displacement module 40 is in an optimal welding state, it can be understood that the optimal welding state here may be a posture that more weld joints are in flat welding or ship-shaped welding, the station information of the displacement module 40 under such an angular condition is stored, and meanwhile, a user may name and label the station information under such a condition, and the naming may be for the purpose of distinguishing the workpiece type of the to-be-welded workpiece 41, so as to perform association matching and storage on the weld joint information, the weld joint path information, and the like under such a station information condition in the subsequent process.
In certain embodiments, the weld information includes at least one of: the number of welding seams, the position information of the welding seams, the size of the welding seams, the types of the welding seams and the welding seam process.
In certain embodiments, the weld path information comprises: a flag bit sequence and a path pose sequence; the flag bit sequence includes at least one of: the method comprises the following steps of (1) marking a welding serial number, a type mark, a welding completion mark, a total welding number mark of a plurality of layers of multi-channel welding seams, a welded number mark, a welding seam welding enabling mark and a welding seam tracking option mark of each welding seam; the path pose sequence includes each weld sequence number and a pose of the welding robot end approach point when welding for each weld.
It can be understood that the marker bit sequence and the path pose sequence of the same weld joint can be matched and corresponded by the processing module 10 through the weld joint sequence number. It is understood that in some embodiments, there may be a plurality of welds under one station information, and there may be a plurality of corresponding weld information, and each weld information may generate corresponding weld path information, and in some embodiments, each weld may be labeled or named through the processing module 10, and the weld information and the weld path information of each weld are associated, matched, and stored, that is, when the type of the weld is determined, the weld information and the weld path information of the weld may be adjusted.
In some embodiments, the welding system further includes a seam tracking module 60 for detecting real-time welding state information of the seam, and the seam tracking module 60 is connected to the processing module 10 and the welding robot 30, respectively, and is invoked through the seam tracking option flag, and generates deviation correction control information.
In certain embodiments, the welding robot 30 includes a welding power supply 70 and a control mechanism; the control mechanism is coupled to the welding power supply 70.
Referring to fig. 3, it can be understood that the welding system of the present invention includes a welding power source 70, and in some embodiments, the welding seam tracking module 60 may be one of an arc tracker and a laser tracker, wherein the arc tracker may be installed on a ground wire between the robot and the welding power source 70, collect the current of the welding power source 70 and transmit the current to the welding robot 30 for performing the path deviation correction processing; the laser tracker can be installed on the welding gun of welding robot 30, and the transmission to welding robot 30 after gathering welding seam image information and handling by processing module 10 to carry out the route to welding robot 30 and rectify.
It can be understood that, after the welding seam under one station is welded, the shift module 40 may perform angle adjustment to add a new station to generate new station information, and acquire the welding seam information and generate welding seam path information corresponding to the new station information.
In some embodiments, the welding robot 30 further includes a welding actuator for welding the workpiece to be welded 41 according to the bead-related information, the workpiece welding task information, or the deviation control information.
In certain embodiments, the welding system further comprises a display module 80, wherein the display module 80 is connected to the processing module 10 and the welding robot 30, respectively. The display module 80 is configured to display at least one of the following information: the station information, the weld joint path information, the real-time welding state information or the deviation rectification control information. The display module 80 may display the weld information: the number of welding seams, the position information of the welding seams, the size of the welding seams, the type of the welding seams and the type of the welding seam process matched with the type of the welding seams, so that an operator or a user can observe and detect the welding seams conveniently.
Thus, based on the processing module 10 to perform welding configuration and path planning, the welding robot 30, the displacement module 40, the information acquisition module 50, the weld joint tracking module 60, the display module 80 and the like are controlled in a centralized manner, and when aiming at different non-standard welding pieces, the configuration steps are simple and convenient, complex programming work is avoided, and the requirement on the skill level of workers is low; meanwhile, a path planning algorithm aiming at the welding seam characteristics of the medium plate can plan a multilayer multi-path welding path according to a small number of teaching points, so that the teaching workload of workers is reduced, and the welding efficiency is improved; the utility model discloses a welding system uses information acquisition module 50, reduces the requirement to the work piece clamping precision, can save the fund input on high accuracy frock clamp greatly; through the displacement module 40 and the welding seam tracking module 60, the complexity of the welding process can be reduced, the consistency requirement of the incoming material state of the welding seam can be reduced, and the welding quality can be effectively guaranteed.
In some embodiments, the welding robot 30 includes a multi-layer multi-pass welding unit for multi-layer multi-pass welding the workpiece 41 to be welded and/or a fillet welding unit for fillet welding the workpiece 41 to be welded.
In some embodiments, the processing module 10 runs automated welding software and interfaces with the shift module 40, the information acquisition module 50, the welding robot 30, and the weld tracking module 60 and interacts with the transmission of information and instructions via a communication protocol.
As described above, the present invention provides a welding system, which carries a workpiece 41 to be welded through a displacement module 40; acquiring station information and weld joint information of the workpiece to be welded 41 through an information acquisition module 50; the angle of the displacement module 40 is controlled and adjusted through an adjusting module 20; welding the welding seam of the workpiece 41 to be welded by the welding robot 30; (ii) a Therefore, when the welding system is used for welding workpieces, the processing module 10 can synchronously associate welding parameters and classify the associated welding parameters according to different welding seams and different workpieces 41 to be welded, and can directly call the welding parameters of the same type of workpieces or the same type of welding seams for welding when the same type of workpieces or the same type of welding seams are subsequently welded, so that the welding operation steps are simplified, the welding quality is improved, and the requirement on the skill level of operators is lowered.
The Processing module may be implemented by a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a controller, a microcontroller, a microprocessor, or other electronic components.
The display module may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the display screen includes a touch panel, the display screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation.
The utility model discloses a welding system still includes the communication subassembly, and the communication subassembly is configured to be convenient for between terminal equipment and the other equipment communication of wired or wireless mode. The terminal device may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In one embodiment, a SIM card slot may be included in the welding system for insertion of a SIM card such that the terminal device may log onto a GPRS network to establish communication with a server via the internet.
The above embodiments are merely illustrative of the principles and effects of the present invention, and are not to be construed as limiting the invention. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. A welding system, comprising: the welding robot comprises a processing module, a welding robot, an information acquisition module for acquiring station information and welding seam information, a deflection module for bearing a workpiece to be welded and an adjusting module for controlling and adjusting the angle of the deflection module; the welding robot is connected with the processing module and used for welding the workpiece to be welded according to the instruction of the processing module;
the module that shifts with the output of adjustment module is connected, processing module's output respectively with adjustment module's input with welding robot connects, information acquisition module's input with the module that shifts is connected, information acquisition module's output with processing module's input is connected.
2. The welding system of claim 1, wherein the information acquisition module comprises:
the image collector is used for collecting the welding seam image of the workpiece to be welded so as to obtain the welding seam information of the workpiece to be welded; or/and
the inertial sensor is used for arranging welding attitude and preset speed information at the starting point and the end point of each welding seam so as to obtain the welding seam information of the part to be welded;
the image collector comprises a binocular vision camera module.
3. The welding system of claim 2, wherein the processing module comprises a path planning unit and a first matching unit configured to perform matching processing on the station information, the weld information, and the weld path information corresponding to a weld, respectively, to generate weld-related information;
the path planning unit is connected with the information acquisition module and used for planning paths according to the welding seam information to generate welding seam path information; the first matching unit is connected with the output end of the path planning unit.
4. The welding system according to claim 3, wherein the processing module further comprises a classifying unit for classifying the weld-related information corresponding to each weld of the workpieces to be welded of the same category, and a second matching unit for generating a plurality of sets of workpiece welding task information corresponding to each workpiece to be welded from a plurality of different categories of the workpieces to be welded;
the classifying unit is connected with the first matching unit, and the input end of the second matching unit is connected with the output end of the classifying unit.
5. The welding system of claim 1, wherein the weld information comprises at least one of: the number of welding seams, the position information of the welding seams, the types of the welding seams, the sizes of the welding seams and the welding seam process.
6. The welding system of claim 3, wherein the weld path information comprises: a flag bit sequence and a path pose sequence;
the flag bit sequence includes: the method comprises the following steps of (1) marking a welding serial number, a type mark, a welding completion mark, a total welding number mark of a plurality of layers of multi-channel welding seams, a welded number mark, a welding seam welding enabling mark and a welding seam tracking option mark of each welding seam;
the path pose sequence includes each weld sequence number and a pose of the welding robot end approach point when welding for each weld.
7. The welding system of claim 6, further comprising a weld tracking module for detecting real-time welding status information of the weld, wherein the weld tracking module is connected to the processing module and the welding robot, respectively, and is invoked via the weld tracking option flag to generate deviation correction control information.
8. The welding system of claim 7, wherein the welding robot comprises a welding power supply and a control mechanism; the control mechanism is connected with the welding power supply.
9. The welding system of claim 8, wherein the welding robot further comprises a welding actuator configured to weld the to-be-welded workpieces based on the weld-related information, the workpiece welding task information, and the deviation control information.
10. The welding system of claim 9, further comprising a display module coupled to the processing module and the welding robot, respectively.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112692433A (en) * | 2020-12-17 | 2021-04-23 | 乐歌人体工学科技股份有限公司 | Laser welding method and device |
| CN113954068A (en) * | 2021-10-21 | 2022-01-21 | 南京工业大学 | Path planning system for vehicle body welding robot |
| CN113977049A (en) * | 2020-07-27 | 2022-01-28 | 配天机器人技术有限公司 | Intelligent welding device, welding method and computer readable storage medium |
| CN114799639A (en) * | 2022-05-16 | 2022-07-29 | 广州东焊智能装备有限公司 | Curve welding system based on industrial robot |
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2019
- 2019-09-04 CN CN201921456721.8U patent/CN210818050U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113977049A (en) * | 2020-07-27 | 2022-01-28 | 配天机器人技术有限公司 | Intelligent welding device, welding method and computer readable storage medium |
| CN112692433A (en) * | 2020-12-17 | 2021-04-23 | 乐歌人体工学科技股份有限公司 | Laser welding method and device |
| CN113954068A (en) * | 2021-10-21 | 2022-01-21 | 南京工业大学 | Path planning system for vehicle body welding robot |
| CN114799639A (en) * | 2022-05-16 | 2022-07-29 | 广州东焊智能装备有限公司 | Curve welding system based on industrial robot |
| CN114799639B (en) * | 2022-05-16 | 2023-03-14 | 广州东焊智能装备有限公司 | Curve welding system based on industrial robot |
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