CN107931787A - A kind of vision closed loop welding system and implementation method - Google Patents
A kind of vision closed loop welding system and implementation method Download PDFInfo
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- CN107931787A CN107931787A CN201810038456.5A CN201810038456A CN107931787A CN 107931787 A CN107931787 A CN 107931787A CN 201810038456 A CN201810038456 A CN 201810038456A CN 107931787 A CN107931787 A CN 107931787A
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- welding
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- visual sensor
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- motion controller
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Classifications
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- 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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/02—Seam welding; Backing means; Inserts
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/095—Monitoring or automatic control of welding parameters
- B23K9/0956—Monitoring or automatic control of welding parameters using sensing means, e.g. optical
-
- 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
- B23K2103/00—Materials to be soldered, welded or cut
- B23K2103/02—Iron or ferrous alloys
- B23K2103/04—Steel or steel alloys
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Optics & Photonics (AREA)
- Geometry (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
A kind of vision closed loop welding system disclosed by the invention and implementation method, belong 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, are connected with the motion controller respectively, and the motion controller is connected with the drive module, and the drive module is connected with the welding machine and the visual sensor respectively.Not only the degree of automation is high for the system, welding precision is high, but also appearance of weld mass ratio is artificially welded, while solves the problems, such as that welding profession worker is deficient, and improves the working environment and safety work problem of worker.
Description
Technical field
The present invention relates to automation welding control system field, more particularly to a kind of vision closed loop welding system and implementation method.
Background technology
The material used more with heavy construction now, bridge, domes workshop is structural steel, it is big with supporting power,
The characteristics of saving steel, good appearance, 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, its welding production is labour intensive
Type industry needs substantial amounts 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, when being mostly tens meters, it is necessary to artificial welding, operation easy to remove, but the working environment of workers is poor, work 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 can be used during small articles, but the control system of its each functional component is independent, and communication mode is lengthy and jumbled, reliability
It is low.Automatic welding function is welded using the articulated robot of six degree of freedom more at present, and control cost is high, safeguards inconvenience, operates door
Sill are high.These problems are not resolved directly there are another for a long time in welding profession, constrain the system of China's metal welding profession
The progress of technology and the transformation of industry growth pattern are made, the new automatic welding technique for meeting industry requirement is developed and becomes particularly heavy
Will.
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 change that accurate detection obtains weld seam is to ensure the key of welding quality,
Sensor technology wherein 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 change
It is changed into guide rod change in location, and then is converted into electric signal, performance is stable, cost is low, but precision is not high；Arc sensor is with electricity
The parameter of arc in itself is tracking target, the change of real time reaction weld seam, but accuracy of detection droplet transfer shape easily in by welding process
Formula, the influence splashed, especially to thin plate weldment；Abundant information, precision be high, detection range to obtain for optical sensor in contrast
It is wide etc., and be used widely.
The content of the invention
It is an object of the invention to overcome above-mentioned problem of the prior art, there is provided a kind of vision closed loop welding system and reality
Existing method, detects welding track using visual sensor, ensures the high accuracy of track detection, using vision closed-loop control system,
Solve the problems, such as track on-line amending, electrical structure overcomes 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 weldering
Machine；The visual sensor, the human-computer interaction interface and the welding machine, are connected with the motion controller respectively, the fortune
Movement controller is connected with the drive module, and the drive module is connected with the welding machine and the visual sensor respectively.
Further, the drive module includes X-axis servo-driver and X-axis servomotor, the phase being connected with each other respectively
The Y-axis servo-driver and Y-axis servomotor that connect, the Z axis servo-driver being connected with each other and Z axis servomotor, mutually
The RZ axis servo-driver and RZ axis servomotors of connection；The X-axis servo-driver, the Y-axis servo-driver, the Z
Axis servo-driver and the RZ axis servo-driver are connected with the motion controller respectively；The X-axis servomotor and institute
Y-axis servomotor is stated to be connected with the visual sensor respectively；The welding machine includes welding gun, the X-axis servomotor, the Y
Axis servomotor, the Z axis servomotor and the RZ axis servomotor, are connected 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 connected with serial mode with the motion controller.
A kind of implementation method of vision closed loop welding system, the operation plane for placing sheet metal before operation is parallel to X
The plane that axis and Y-axis are formed, the plane are located at immediately below the welding gun and the visual sensor, and the visual sensor is hung down
Directly in the operation plane, include the following steps：
（1）Motor pattern, initial parameter and relevant position are set in the human-computer interaction interface, and data are sent by serial ports
To the motion controller；
（2）The visual sensor shoots the line laser and is radiated at the light line of metallic plate, and image information is filtered
Enhancing is handled, and is refined and is extracted seam track feature pretreated striation and be sent to the motion controller, and then is controlled
The drive module is moved according to track；
（3）The drive module drives the welding gun to move and welded, while drives visual sensor to move, so as to change
Shooting picture, corrects track by image minor variations 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.
Beneficial effect
The present invention provides a kind of vision closed loop welding system and implementation method, weld seam rail is detected in real time using visual sensor
Mark, ensures the high accuracy of track detection；Using vision closed-loop control system, seam track on-line amending is solved the problems, such as；Electrically knot
Structure overcomes the continuous weld job problem of large scale weldment, extends welding stroke, makes whole process more intelligent, automatic
Change；The equipment appearance of weld mass ratio is artificially welded, while solves the problems, such as that welding profession worker is deficient, and improves work
The working environment and safety work problem of people.
Brief description of the drawings
Fig. 1 is a kind of structure diagram of vision closed loop welding system of the present invention；
Fig. 2 is a kind of stereogram of vision closed loop welding system of the present invention；
Fig. 3 is a kind of partial perspective view of vision closed loop welding system of the present invention.
Embodiment
It should be pointed out that the description and description order in this part to concrete structure are only the explanations to specific embodiment, no
It should be regarded as having any restrictions effect to protection scope of the present invention.In addition, in the case of not conflicting, the embodiment in this part
And the feature in embodiment can be mutually combined.
Elaborate below in conjunction with attached drawing to the embodiment of the present invention.
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 is connected 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 includes the X-axis servo-driver 411 and X-axis servomotor being connected with each other respectively
421st, the Y-axis servo-driver 412 and Y-axis servomotor 422 that are connected with each other, the Z axis servo-driver 413 and Z that are connected with each other
Axis servomotor 423, the RZ axis servo-driver 414 and RZ axis servomotor 424 being connected with each other；The X-axis servo-driver
411st, the Y-axis servo-driver 412, the Z axis servo-driver 413 and the RZ axis servo-driver 414 respectively with institute
Motion controller 3 is stated to connect；The X-axis servomotor 421 and the Y-axis servomotor 422 respectively with the visual sensor 1
Connection；The welding machine 5 includes welding gun 51, the X-axis servomotor 421, the Y-axis servomotor 422, Z axis servo electricity
Machine 423 and the RZ axis servomotor 424, are connected 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 the system is touch-screen, is connected with serial mode with the motion controller 3.
As shown in Figures 2 and 3, the motion controller 3, the X-axis servo-driver 411, the Y-axis servo-driver
412nd, 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 by controlling the transmission of screw in X direction
Mobile, X-direction is 7 seam track direction of sheet metal to be welded, makes overall operation mechanism follow seam track to move, and is adapted to each
The track following welding of kind length；The Y-axis servomotor 422 is used to control the welding gun 51 and the visual sensor 1 along Y
Direction is moved, and the Z axis servomotor 423 is used to control the welding gun 51 to move along Z-direction, the RZ axis servomotor 424
For controlling the welding gun 51 to swing.
Specifically, the plane that the operation plane that sheet metal 7 is placed is formed parallel to X-axis and Y-axis, the plane are located at
The welding gun 51 and the lower section of the visual sensor 1, the visual sensor 1 is perpendicular to the operation plane.The Y-axis servo
Motor 422 watches the welding gun 51, the visual sensor 1, the Z axis servomotor 423, the RZ axis by belt transmission
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 servomotor 423 is moved for the welding gun 51 along Z-direction, and Z-direction is the weldering
Rifle 51 and the distance of the operation plane, for adjusting the height of the welding gun 51；The RZ axis servomotor 424 is used to control
The angle rotation of the welding gun 51, makes the welding gun 51 be 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 scope.
A kind of implementation method of vision closed loop welding system, the operation plane for placing sheet metal before operation is parallel to X
The plane that axis and Y-axis are formed, the plane are located at the underface of the welding gun 51 and the visual sensor 1, and the vision passes
Sensor 1 includes the following steps perpendicular to the operation plane：
（1）Motor pattern, initial parameter and relevant position are set in the human-computer interaction interface 2, and data are sent out by serial ports
Give the motion controller 3；
（2）The visual sensor 1 shoots the light line that the line laser is radiated at metallic plate, and image information is filtered
Enhancing is handled, and is refined and is extracted seam track feature pretreated striation and be sent to the motion controller 3, and then is controlled
The drive module 4 is moved according to track；
（3）The drive module 4 drives the welding gun 51 to move and welded, while drives visual sensor 1 to move, so that
Change shooting picture, track is corrected by image minor variations 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 terminates.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any people for being familiar with the technology disclosed herein technical scope in, it is contemplated that change or replacement all cover in this hair
Within bright protection domain.Therefore, protection scope of the present invention should be subject to protective scope of the claims.
Claims (5)
- A kind of 1. vision closed loop welding system, it is characterised 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 connected with the drive module, and the drive module is passed with the welding machine and the vision respectively Sensor connects.
- 2. a kind of vision closed loop welding system according to claim 1, it is characterised in that the drive module includes respectively The X-axis servo-driver and X-axis servomotor of interconnection, the Y-axis servo-driver being connected with each other and Y-axis servomotor, phase The Z axis servo-driver and Z axis servomotor that connect, the RZ axis servo-driver and RZ axis servomotors that are connected with each other；Institute State X-axis servo-driver, the Y-axis servo-driver, the Z axis servo-driver and the RZ axis servo-driver respectively with The motion controller connection；The X-axis servomotor and the Y-axis servomotor are connected with the visual sensor respectively；The welding machine includes welding gun, the X-axis servomotor, the Y-axis servomotor, the Z axis servomotor and the RZ Axis servomotor, is connected with the welding gun respectively.
- A kind of 3. vision closed loop welding system according to claim 1 or 2, it is characterised in that the visual sensor bag Include smart camera and line laser.
- 4. a kind of vision closed loop welding system according to claim 1, it is characterised in that the human-computer interaction interface is tactile Screen is touched, is connected with serial mode with the motion controller.
- A kind of 5. implementation method of vision closed loop welding system, it is characterised in that the operation horizontal for placing sheet metal before operation The plane that face is formed parallel to X-axis and Y-axis, the plane is located at immediately below the welding gun and the visual sensor, described to regard Feel that sensor vertical in the operation plane, includes the following steps：（1）Motor pattern, initial parameter and relevant position are set in the human-computer interaction interface, and data are sent by serial ports To the motion controller；（2）The visual sensor shoots the line laser and is radiated at the light line of metallic plate, and image information is filtered Enhancing is handled, and is refined and is extracted seam track feature pretreated striation and be sent to the motion controller, and then is controlled The drive module is moved according to track；（3）The drive module drives the welding gun to move and welded, while drives visual sensor to move, so as to change Shooting picture, corrects track by image minor variations 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.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810038456.5A CN107931787A (en) | 2018-01-16 | 2018-01-16 | A kind of vision closed loop welding system and implementation method |
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| CN201810038456.5A CN107931787A (en) | 2018-01-16 | 2018-01-16 | A kind of vision closed loop welding system and implementation method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544113A (en) * | 2018-04-27 | 2018-09-18 | 钱立文 | A kind of Seal welding machine welding gun control system |
| CN109623151A (en) * | 2019-02-20 | 2019-04-16 | 中铝瑞闽股份有限公司 | A kind of aluminium volume end face welding system based on line laser |
| CN112171017A (en) * | 2019-07-01 | 2021-01-05 | 江苏卡邦电气科技股份有限公司 | Argon arc welds automatic weld special plane |
| CN116372323A (en) * | 2023-06-05 | 2023-07-04 | 四川吉埃智能科技有限公司 | Industrial intelligent welding robot and driving and controlling method |
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| CN108544113A (en) * | 2018-04-27 | 2018-09-18 | 钱立文 | A kind of Seal welding machine welding gun control system |
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| CN116372323B (en) * | 2023-06-05 | 2023-08-18 | 四川吉埃智能科技有限公司 | Industrial intelligent welding robot and driving and controlling method |
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