CN107350624A - A kind of robotic laser arc composite heat source welding system for carrying weld seam recognition - Google Patents
A kind of robotic laser arc composite heat source welding system for carrying weld seam recognition Download PDFInfo
- Publication number
- CN107350624A CN107350624A CN201710787441.4A CN201710787441A CN107350624A CN 107350624 A CN107350624 A CN 107350624A CN 201710787441 A CN201710787441 A CN 201710787441A CN 107350624 A CN107350624 A CN 107350624A
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- Prior art keywords
- welding
- laser
- weld seam
- mig
- computer
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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
- B23K26/346—Working by laser beam, e.g. welding, cutting or boring in combination with welding or cutting covered by groups B23K5/00 - B23K25/00, e.g. in combination with resistance welding
- B23K26/348—Working by laser beam, e.g. welding, cutting or boring in combination with welding or cutting covered by groups B23K5/00 - B23K25/00, e.g. in combination with resistance welding in combination with arc heating, e.g. TIG [tungsten inert gas], MIG [metal inert gas] or plasma 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
- B23K26/044—Seam tracking
-
- 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
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
- Arc Welding In General (AREA)
Abstract
The present invention discloses a kind of robotic laser arc composite heat source welding system for carrying weld seam recognition.MIG welding guns, mini laser scanning instrument, laser, robot, robot control cabinet, welding gun water cooling plant, the source of welding current, data collecting card and computer；Mini laser scanning instrument is integrated on MIG welding guns, and MIG welding guns and laser protect gas by two pipelines respectively, and connect welding gun water cooling plant by two groups of pipelines respectively；Mini laser scanning instrument output end accesses computer；It is connected between data collecting card input and computer by data wire, capture card output end is connected with robot control cabinet；The present invention uses the compound MIG weldering devices of laser, adds auxiliary thermal source, improves the situation of the non-penetration of laser welding, ensures stability of the welding quality.The welding system of the present invention ensures welding quality and stability, truly realizes and improves intelligent welding degree.
Description
Technical field
The invention belongs to digital welding technology and equipment field, especially a kind of robot for carrying weld seam recognition swashs
Optical-electronic arc hybrid laser-arc welding system.
Background technology
With the continuous development of industrial technology, the concept of " digitlization " and " intellectuality " more and more frequently appears in us
Scientific research and practical application in.Pursuing quality and efficiency turns into the theme of actual production, how to realize that welding intellectuality turns into
The study hotspot of welding technology field.
The continuous development of industrial robot so that welding robot is increasingly becoming the production main force of welding shop.Robot
Need to fix workpiece, robot teaching in advance, set welding condition before laser welding, when in welding process due to work
Part, which fixes unstable or thermal stress influence, causes the influence factors such as workpiece deformation, may result in weld width and space bit
The change put, but robot automation's welding can not perceive the deviation of weld seam, cause incomplete fusion and the weldering being likely to occur
A series of defects such as inclined, so as to it cannot be guaranteed that the quality and stability of welding.
The content of the invention
It is an object of the invention to propose that a kind of improve welds intelligence degree, welding efficiency is improved, ensures welding product
The robotic laser for carrying weld seam recognition-arc composite heat source welding system of quality stability.
The technical solution for realizing the object of the invention is：
A kind of robotic laser-arc composite heat source welding system for carrying weld seam recognition, including：MIG welding guns, it is miniature swash
Photoscanner, laser, robot, robot control cabinet, welding gun water cooling plant, the source of welding current, data collecting card and computer；
Mini laser scanning instrument is integrated on MIG welding guns, and MIG welding guns and laser protect gas by two pipelines respectively, and divide
Welding gun water cooling plant is not connected by two groups of pipelines；Mini laser scanning instrument output end accesses computer；Data collecting card inputs
It is connected between end and computer by data wire, capture card output end is connected with robot control cabinet；Robot and the source of welding current
Between be connected by cable；
Need to create Point Cloud Processing modular unit in a computer first and parameter assigns modular unit；Then by micro-
Type laser scanner collection welding direction front region midpoint spatial position data；Then Point Cloud Processing modular unit is to micro-
The cloud data that type scanner collects is handled；And then identify the locus of weld seam；Then computer is by weld seam
Locus is transferred to robot control cabinet data collecting card in a manner of data signal；Then switch board control machine people
Butt welding gun position is adjusted；Finally realize automatic welding.
Further, laser-electric arc is complex as laser and robot MIG welding gun is compound.
Further, MIG welding guns and laser are integral by fixture combination, and mini laser scanning instrument is as solder joint
Perception instrument, MIG welderings are used as auxiliary thermal source.
Further, mini laser scanning instrument is arranged on MIG torch handles, mini laser scanning instrument normal direction with
MIG welding guns are parallel.
Further, the signal wire of mini laser scanning instrument is integrated in inside MIG through magnet valve, and laser signal line cabling is hidden
Cover and shield interference signal.
Further, computer includes Point Cloud Processing modular unit and parameter assigns modular unit, wherein：
Point Cloud Processing modular unit is based on MATLAB softwares, for identifying weld seam locus；
Parameter assigns modular unit and is based on data collecting card, for weld seam locus to be transmitted in a manner of data signal
To switch board.
Compared with prior art, its remarkable advantage is the present invention：(1) mini laser scanning instrument is used, adds weld seam knowledge
Other technology, improve the intelligence degree of welding；(2) the compound MIG weldering devices of laser are used, auxiliary thermal source is added, changes
The situation of the kind non-penetration of laser welding, ensure stability of the welding quality.
Brief description of the drawings
Fig. 1 is automatic identification weld seam schematic diagram of the present invention；
Fig. 2 is module schematic flow diagram of the present invention；
Fig. 3 is the robotic laser-arc composite heat source welding gun structure schematic diagram for carrying weld seam recognition of the present invention.
Wherein, 1, MIG welding guns；2nd, laser processing head；3rd, mini laser scanning instrument；4th, fixture；5th, laser-electric arc is compound
Welding gun；6th, MIG torch handles.
Embodiment
With reference to Fig. 1~2, the robotic laser for carrying weld seam recognition-arc composite heat source welding system of the invention, including
MIG welding guns, mini laser scanning instrument, laser, robot, robot control cabinet, welding gun water cooling plant, the source of welding current, data
Capture card, computer；Mini laser scanning instrument is integrated on MIG welding guns, and MIG welding guns and laser are by fixture combination into one
Body, MIG welding guns and laser protect gas by two pipelines respectively, pass through two groups of pipeline recirculated cooling waters respectively；It is miniature
Laser scanner signal wire is integrated in MIG welding guns, mini laser scanning instrument output end access computer；Data collecting card inputs
It is connected between end and computer by data wire, capture card output end is connected with robot control cabinet；Robot and the source of welding current
Between be connected by cable.
Need to create Point Cloud Processing modular unit in a computer first and parameter assigns modular unit；Then by micro-
Type laser scanner collection welding direction front region midpoint spatial position data；Then Point Cloud Processing modular unit is to micro-
The cloud data that type scanner collects is handled；And then identify the locus of weld seam；Then computer is by weld seam
Locus is transferred to robot control cabinet data collecting card in a manner of data signal；Then switch board control machine people
Butt welding gun position is adjusted；Finally realize automatic welding.
With reference to Fig. 3, robotic laser-arc composite heat source welding gun 5 of automatic identification weld seam is the Laser Processing of laser
First 2 and robot MIG welding gun 1 combined by fixture 4, mini laser scanning instrument 3 is integrated on robot MIG torch handle 6, no
Take up space position, and the normal direction of mini laser scanning instrument 3 is parallel with robot MIG welding gun 1.
Computer includes Point Cloud Processing modular unit, wherein：
Point Cloud Processing modular unit is based on MATLAB softwares, for identifying weld seam locus；
Parameter assigns modular unit and is based on data collecting card, for weld seam locus to be transmitted in a manner of data signal
To switch board.
Embodiment 1
The robotic laser for the carrying weld seam recognition-arc composite heat source welding system of the present embodiment is based on MATLAB
Digital welding technology, laser scanning is gathered spatial point cloud data and passes through MATLAB platform application to digital welding technology
Field, hardware components include that 3DLS-BODY laser scanners one, Fronius robotic guns be a set of, Precitec YC-30
One, laser, one, YLS-10000 lasers, the Fronius sources of welding current are a set of, one, KUKA robots, KUKA KR C2
Robot control cabinet one, welding gun fixture is a set of, grinds that magnificent USB-4711 data collecting cards are a set of and computer is a set of；Software portion
Dividing includes MATLAB.
With reference to Fig. 1 and 2, using laser normal and robot MIG welding marksmanship line intersection point as origin, robot MIG welding gun is in X
Rectangular coordinate system is established in axle positive direction, mini laser scanning instrument is relative to be welded with robotic laser-arc composite heat source welding gun
Position coordinates is (230mm, 0,450.3mm), and mini laser scanning instrument constantly welds in welding process in front of collection welding direction
Cloud data is stitched, in units of 0.1s, the cloud data gathered since collection in every 0.1s leads to as a junior unit data
LabVIEW softwares are crossed according to cloud data, contrast the coordinate of spatial point the 1st (i.e. X-direction coordinate), identical 1st set of coordinates first
Into a dot cloud data group, dot cloud data group is arranged in order from big to small according to the first coordinate, extracts each dot cloud successively
Data group is analyzed, and is contrasted this group the 3rd coordinate of point (i.e. Z-direction coordinate), is chosen the minimum point of the 3rd coordinate, the point is
Weld pipe mill location point under this X-coordinate, similarly, the Weld pipe mill locus cloud data of scanning, will be welded in extraction 0.1s
Center cloud data is stitched by matrix conversion, is transformed into welding robot task-oriented coordinates system, the work of generation robot
Robot welding routing instruction is transferred to robot control cabinet by path, i.e. path of welding, computer in a manner of data signal,
Switch board adjusts welding torch position in time.The process is constantly circulated in welding process in the form of feedback-negative-feedback, ensures welding gun
Position is directed at Weld pipe mill position all the time.
With reference to Fig. 3, the laser-electric arc composite heat source welding gun for carrying weld seam recognition is the compound welding gun of independent research, is had
The function of weld seam recognition.3DLS-BODY mini laser scannings instrument is arranged on Fronius robotic gun handle, at its lower end, and this set is micro-
Type laser scanner has the characteristics that：
1st, probe quantity：1
2nd, resolution ratio of camera head：300000 pixels
3rd, scanning range：50mm x 20mm x 80mm (height)
4th, scanning accuracy：Better than 0.5%
5th, scanning element away from：1~2.5mm can be set
6th, full body scan is counted：10~800,000 points
7th, sweep speed：10~80mm/s can adjust
8th, equipment size：
Specific welding process is as follows：Based on MATLAB software platforms, establish in a computer at a set of cloud data first
Modular unit is managed, in welding process, the starting the arc of MIG welding guns is that laser welding provides auxiliary thermal source, and mini laser scanning instrument, which gathers, to be welded
Weld seam spatial point cloud data in front of direction is connect, this group of cloud data is divided by computer point cloud data processing module
Analysis, identifies weld seam locus, by Coordinate Conversion, weld seam locus is navigated into robot working space's coordinate system
In, weld seam real-time spatial position is transferred to robot control cabinet by computer data collecting card in a manner of data signal,
Robot control cabinet is planned robot welding path, so as to adjust the position of welding gun, ensures welding gun alignment Weld pipe mill
Position, and then ensure robot automation's welding quality.
The present invention improves the digitlization automaticity of robotic laser weldering, is advantageous to improve welding stability, improves
Welding product quality.
Claims (6)
- A kind of 1. robotic laser-arc composite heat source welding system for carrying weld seam recognition, it is characterised in that including：MIG is welded Rifle, mini laser scanning instrument, laser, robot, robot control cabinet, welding gun water cooling plant, the source of welding current, data collecting card And computer；Described mini laser scanning instrument is integrated on MIG welding guns, and MIG welding guns and laser pass through two pipelines respectively Conveying protection gas, and connect welding gun water cooling plant by two groups of pipelines respectively；Mini laser scanning instrument output end accesses computer； It is connected between data collecting card input and computer by data wire, capture card output end is connected with robot control cabinet；Machine It is connected between device people and the source of welding current by cable；Need to create Point Cloud Processing modular unit in a computer first and parameter assigns modular unit；Then swashed by miniature Photoscanner collection welding direction front region midpoint spatial position data；Then Point Cloud Processing modular unit is swept to miniature The cloud data that instrument collects is retouched to be handled；And then identify the locus of weld seam；Then computer is by the space of weld seam Position is transferred to robot control cabinet data collecting card in a manner of data signal；Then switch board control machine people butt welding Rifle position, which is put, to be adjusted；Finally realize automatic welding.
- 2. robotic laser-arc composite heat source the welding system according to claim 1 for carrying weld seam recognition, its feature It is, described laser-electric arc is complex as laser and robot MIG welding gun is compound.
- 3. robotic laser-arc composite heat source the welding system according to claim 1 for carrying weld seam recognition, its feature It is, described MIG welding guns and laser are integral by fixture combination, and mini laser scanning instrument perceives work as solder joint Tool, MIG welderings are used as auxiliary thermal source.
- 4. robotic laser-arc composite heat source the welding system according to claim 1 for carrying weld seam recognition, its feature It is, described mini laser scanning instrument is arranged on MIG torch handles, mini laser scanning instrument normal direction and MIG welding guns It is parallel.
- 5. robotic laser-arc composite heat source the welding system according to claim 1 for carrying weld seam recognition, its feature It is, the signal wire of described mini laser scanning instrument is integrated in inside MIG through magnet valve, and laser signal line cabling is hidden and shields Cover interference signal.
- 6. robotic laser-arc composite heat source the welding system according to claim 1 for carrying weld seam recognition, its feature It is, described computer includes Point Cloud Processing modular unit and parameter assigns modular unit, wherein：Point Cloud Processing modular unit is based on MATLAB softwares, for identifying weld seam locus；Parameter assigns modular unit and is based on data collecting card, for weld seam locus to be transferred into control in a manner of data signal Cabinet processed.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108145314A (en) * | 2017-12-29 | 2018-06-12 | 南京理工大学 | One kind be welded plant machinery people at a high speed identification weld seam Intelligent welding system and method |
| CN108500420A (en) * | 2018-03-29 | 2018-09-07 | 江苏新时代造船有限公司 | One kind founding part system based on networking intelligent recognition multirobot automatic welding ship group |
| CN109570760A (en) * | 2018-12-06 | 2019-04-05 | 浙江雷拉激光科技有限公司 | A kind of beam shaping welding system and method |
| CN109746602A (en) * | 2019-03-28 | 2019-05-14 | 北部湾大学 | A kind of welding robot of ship group Vertical board support structure |
| CN109967845A (en) * | 2019-04-21 | 2019-07-05 | 天津大学 | A kind of robot arc welding process arc spectrum synchronous acquisition device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109746602A (en) * | 2019-03-28 | 2019-05-14 | 北部湾大学 | A kind of welding robot of ship group Vertical board support structure |
| CN109967845A (en) * | 2019-04-21 | 2019-07-05 | 天津大学 | A kind of robot arc welding process arc spectrum synchronous acquisition device and method |
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Application publication date: 20171117 |