CN107234341A - A kind of heavy compartment matts laser vision Intelligent welding system - Google Patents
A kind of heavy compartment matts laser vision Intelligent welding system Download PDFInfo
- Publication number
- CN107234341A CN107234341A CN201710489268.XA CN201710489268A CN107234341A CN 107234341 A CN107234341 A CN 107234341A CN 201710489268 A CN201710489268 A CN 201710489268A CN 107234341 A CN107234341 A CN 107234341A
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- CN
- China
- Prior art keywords
- welding
- matts
- laser
- robot
- weldment
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
- B23K26/24—Seam welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/006—Vehicles
Landscapes
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention discloses a kind of heavy compartment matts laser vision Intelligent welding system, including robot in addition to be arranged in robot, the welding gun for welding, in addition to the laser being arranged in robot includes the matts weldment of rule；The welding system specifically includes following steps：Step 1: calibration TCP, obtains standard value；Step 2: driving generating laser to scan matts weldment gathered data by joint of robot action；Step 3: the data that the standard value that the step one is obtained is obtained with step 2 are compared, position while welding is calculated；Step 4: the position of fixed welding gun and laser, the position while welding that the welding gun is obtained with step 3 is acted and welded.The present invention drives generating laser motion to calculate position of the weld seam with respect to welding gun using the profile feature of heavy compartment matts weldment, the combination of point-line-surface, joint of robot motion, realizes the tracking welding of weld seam；Weld seam precision is high, and accurate positioning is easy to operate.
Description
Technical field
The present invention relates to a kind of heavy compartment matts laser vision Intelligent welding system.
Background technology
Increasingly faster with industrial development, robot is generalized in industrial development, the bonding machine for industrial welding
Device people, in welding process, generally carries out welding jobs, automatically by controlling welding robot manually with a variety of different postures
Change degree is low, simultaneously as manual control accuracy is low, complex operation, operating efficiency excessive for weld seam processing degree-of-difficulty factor
It is low.
The content of the invention
It is an object of the invention to provide a kind of heavy compartment matts laser vision Intelligent welding system, heavy compartment is utilized
The profile feature of matts weldment, the combination of point-line-surface, joint of robot motion drives generating laser motion to calculate weldering
The position of the relative welding gun of seam, always realizes the tracking welding of weld seam；Weld seam precision is high, and accurate positioning is easy to operate.
The object of the present invention is achieved like this：A kind of heavy compartment matts laser vision Intelligent welding system, it is special
Levy and be：Including robot in addition to be arranged in robot, the welding gun for welding, in addition to be arranged in robot
Laser, includes the matts weldment of rule；The welding system specifically includes following steps：
Step 1: calibration TCP, obtains standard value；
Step 2: driving generating laser to scan matts weldment gathered data by joint of robot action；
Step 3: the data that the standard value that the step one is obtained is obtained with step 2 are compared, position while welding is calculated；
Step 4: the position of fixed welding gun and laser, the position while welding that the welding gun is obtained with step 3 is acted and welded
Connect.
Compared with prior art, the beneficial effects of the present invention are：In rational scanning range, when workpiece put it is askew or
Workpiece assembles not specification, and the welding system can accurately find weld seam and weld, and precision is high；Welded using heavy compartment matts
The profile feature of fitting, the combination of point-line-surface, joint of robot motion drives generating laser motion to calculate the relative weldering of weld seam
The position of rifle, always realizes the tracking welding of weld seam, and accurate positioning, convenient operation, operating efficiency are high.
As a further improvement on the present invention, the data that laser scans matts weldment is gathered in the step 2,
Specifically include following steps：
Step 1: obtaining weld seam Origin And Destination：The laser scans obtain line by the numerical value of acquisition, the line and line it
Between form intersection point；
Step 2: obtaining weld seam：The Origin And Destination obtained by step one obtains four weld seams of matts bottom, and
And the line intersected by face with face obtains vertical welded seam.
Embodiment
A kind of heavy compartment matts laser vision Intelligent welding system, it is characterised in that：Including robot in addition to set
Put in robot, the welding gun for welding, in addition to the laser being arranged in robot includes the matts weldering of rule
Fitting；The welding system specifically includes following steps：
Step 1: calibration TCP, obtains standard value；
Step 2: driving generating laser to scan matts weldment gathered data by joint of robot action；
Step 3: the data that the standard value that the step one is obtained is obtained with step 2 are compared, position while welding is calculated；
Step 4: the position of fixed welding gun and laser, the position while welding that the welding gun is obtained with step 3 is acted and welded
Connect.
The data that laser scans matts weldment is gathered in above-mentioned steps two, specifically include following steps：
Step 1: obtaining weld seam Origin And Destination：The laser scans obtain line by the numerical value of acquisition, the line and line it
Between form intersection point；
Step 2: obtaining weld seam：The Origin And Destination obtained by step one obtains four weld seams of matts bottom, and
And the line intersected by face with face obtains vertical welded seam.
The operation principle of the present invention is described below, using the profile feature of heavy compartment matts weldment, point-line-surface
With reference to joint of robot motion drives generating laser motion to calculate position of the weld seam with respect to welding gun, always realizes weld seam
Tracking welding.
The invention is not limited in above-described embodiment, on the basis of technical scheme disclosed by the invention, the skill of this area
Art personnel are according to disclosed technology contents, it is not necessary to which performing creative labour just can make one to some of which technical characteristic
A little to replace and deform, these are replaced and deformed within the scope of the present invention.
Claims (2)
1. a kind of heavy compartment matts laser vision Intelligent welding system, it is characterised in that：Including robot in addition to setting
Welding gun in robot, for welding, in addition to the laser being arranged in robot, include the matts welding of rule
Part；The welding system specifically includes following steps：
Step 1: calibration TCP, obtains standard value；
Step 2: driving generating laser to scan matts weldment gathered data by joint of robot action；
Step 3: the data that the standard value that the step one is obtained is obtained with step 2 are compared, position while welding is calculated；
Step 4: the position of fixed welding gun and laser, the position while welding that the welding gun is obtained with step 3 is acted and welded
Connect.
2. a kind of heavy compartment matts laser vision Intelligent welding system according to claim 1, it is characterised in that：Institute
The data that laser scans matts weldment is gathered in step 2 are stated, following steps are specifically included：
Step 1: obtaining weld seam Origin And Destination：The laser scans obtain line by the numerical value of acquisition, the line and line it
Between form intersection point；
Step 2: obtaining weld seam：The Origin And Destination obtained by step one obtains four weld seams of matts bottom, and
And the line intersected by face with face obtains vertical welded seam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710489268.XA CN107234341A (en) | 2017-06-24 | 2017-06-24 | A kind of heavy compartment matts laser vision Intelligent welding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710489268.XA CN107234341A (en) | 2017-06-24 | 2017-06-24 | A kind of heavy compartment matts laser vision Intelligent welding system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107234341A true CN107234341A (en) | 2017-10-10 |
Family
ID=59987873
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710489268.XA Pending CN107234341A (en) | 2017-06-24 | 2017-06-24 | A kind of heavy compartment matts laser vision Intelligent welding system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107234341A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110560841A (en) * | 2019-09-29 | 2019-12-13 | 河南省昊搏自动化设备有限公司 | Welding system and welding method suitable for grid with different inclination degrees |
| CN111331223A (en) * | 2020-03-27 | 2020-06-26 | 陕西丝路机器人智能制造研究院有限公司 | Robot automatic welding method for field-shaped lattice type carriage plate |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103157909A (en) * | 2011-12-16 | 2013-06-19 | 财团法人工业技术研究院 | Laser processing error correction method and processor |
| CN203509386U (en) * | 2013-08-30 | 2014-04-02 | 中国石油天然气集团公司 | Pre-scanning type welding joint laser tracking device for pipeline multipoint synchronous and automatic welding |
| CN103737177A (en) * | 2013-10-06 | 2014-04-23 | 新疆雪峰科技(集团)股份有限公司 | Device and method for correcting electronic detonator leg wire laser welding |
| CN106624262A (en) * | 2016-12-31 | 2017-05-10 | 山东大学 | Method and device for intelligent welding of intersection curve of round pipes |
-
2017
- 2017-06-24 CN CN201710489268.XA patent/CN107234341A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103157909A (en) * | 2011-12-16 | 2013-06-19 | 财团法人工业技术研究院 | Laser processing error correction method and processor |
| CN203509386U (en) * | 2013-08-30 | 2014-04-02 | 中国石油天然气集团公司 | Pre-scanning type welding joint laser tracking device for pipeline multipoint synchronous and automatic welding |
| CN103737177A (en) * | 2013-10-06 | 2014-04-23 | 新疆雪峰科技(集团)股份有限公司 | Device and method for correcting electronic detonator leg wire laser welding |
| CN106624262A (en) * | 2016-12-31 | 2017-05-10 | 山东大学 | Method and device for intelligent welding of intersection curve of round pipes |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110560841A (en) * | 2019-09-29 | 2019-12-13 | 河南省昊搏自动化设备有限公司 | Welding system and welding method suitable for grid with different inclination degrees |
| CN110560841B (en) * | 2019-09-29 | 2023-10-27 | 河南省昊搏自动化设备有限公司 | Welding method suitable for field grid welding systems with different inclination degrees |
| CN111331223A (en) * | 2020-03-27 | 2020-06-26 | 陕西丝路机器人智能制造研究院有限公司 | Robot automatic welding method for field-shaped lattice type carriage plate |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180427 Address after: 225000 No. 100 Yang Yang Road, Yizheng dayai Town Industrial Zone, Yangzhou, Jiangsu Applicant after: Jiangsu County special intelligent Polytron Technologies Inc Address before: 225000 No. 100 Yang Yang Road, Yizheng dayai Town Industrial Zone, Yangzhou, Jiangsu Applicant before: Jiangsu County special visual Polytron Technologies Inc |
|
| TA01 | Transfer of patent application right | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171010 |
|
| WD01 | Invention patent application deemed withdrawn after publication |