CN108500420A - One kind founding part system based on networking intelligent recognition multirobot automatic welding ship group - Google Patents
One kind founding part system based on networking intelligent recognition multirobot automatic welding ship group Download PDFInfo
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- CN108500420A CN108500420A CN201810274207.6A CN201810274207A CN108500420A CN 108500420 A CN108500420 A CN 108500420A CN 201810274207 A CN201810274207 A CN 201810274207A CN 108500420 A CN108500420 A CN 108500420A
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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
-
- 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
- B23K26/36—Removing material
- B23K26/361—Removing material for deburring or mechanical trimming
-
- 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
-
- 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
-
- 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
-
- 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
- B23K9/32—Accessories
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
- Laser Beam Processing (AREA)
Abstract
The present invention discloses a kind of vertical part system of the multirobot automatic welding ship group based on networking intelligent recognition.The system includes computer, and N platform welding robot systems, the welding robot system includes robot body, switch board and the source of welding current, and corresponds to the robotic gun of welding robot system setting, and CCD camera further includes：Data collecting card, laser marking machine；The present invention realizes multirobot synchronized cooperative work by networking technology, promotes working efficiency and stability；The present invention is realized by special CCD camera and comparison data library treats welder's part welding portion intelligent recognition and weld and HAZ；The present invention is realized by special CCD camera and Quick Response Code identification module and is identified to Quick Response Code, and optimal welding parameter is read, and ensures that welding procedure optimizes.
Description
Technical field
The invention belongs to digital welding technology and equipment fields, especially a kind of to be based on networking intelligent recognition multirobot
Automatic welding ship group founds part system.
Background technology
With the continuous development of industrial technology, the concept of " digitlization " and " intelligence " more and more frequently appears in us
Scientific research and practical application in.Pursuing quality and efficiency becomes the theme of actual production, how to realize that welding intelligence becomes
The research hotspot of welding technology field.
During shipbuilding, the welding for middle group of vertical part improves welding and stablizes mainly for improving its working efficiency
Property and welding quality, reduce manufacturing cost, it is vertical by a kind of multirobot automatic welding ship group based on networking intelligent recognition
The method of part is fully able to achieve the goal.
Invention content
It is an object of the invention to propose it is a kind of can improve ship group stand part welding efficiency and quality based on networking intelligence
The system that the multirobot automatic welding ship group that can be identified founds part.
Realize that the technical solution of the object of the invention is：
A kind of vertical part system of the multirobot automatic welding ship group based on networking intelligent recognition, which includes calculating
Machine, N platform welding robot systems, welding robot system include robot body, switch board and the source of welding current, and corresponding
The robotic gun of welding robot system setting, CCD camera further include：Data collecting card, laser marking machine；
Laser marking machine is found all weld seams in each position of part for ship group and is numbered and is existed using laser marking machine
It stamps comprising the optimal welding parameter information of the weld seam each weld seam arcing point position；
CCD camera, which is arranged, in robotic gun end has welding workpiece position progress Image Acquisition and scanning position while welding
Quick Response Code；
CCD the image collected is compared computer with each position photo of workpiece has been deposited in image comparison data library,
For determining welding workpiece precise location；
Quick Response Code identification module in computer reads the optimal welding parameter information for including in Quick Response Code, with digital signal
Form robot control cabinet and the source of welding current are transferred to by cable, be used for welding parameters and welding gun pose adjustment；
Equipped with data collecting card for receiving image information and transmission digital signal information；
Robot control cabinet be used to receive to transmit in a manner of digital signal data collecting card come all welderings to be welded
Gap space location information carries out path planning to robot and welding procedure generates.
Further, robotic gun end integrates CCD camera.
Further, the optimal welding parameter information in Quick Response Code includes：Welding current, speed of welding, is sent weldingvoltage
Silk speed, arcing time, striking current, breath arc time and breath arc current.
Further, N platforms welding robot system, the ranging from 2-100 of wherein N.
Further, computer establishes picture comparison data library and Quick Response Code identification module by Matlab softwares, is used for
The optimal welding parameter information for including in positioning welding workpiece precise location and identification Quick Response Code.
Further, picture comparison data library includes that ship group founds each position picture of part, and including in each position picture should
All welding types in position and spatial positional information.
Further, N platforms welding robot system is that KUKA welding robot systems are controlled using KUKAKR C2 robots
Cabinet and the Fronius sources of welding current.
Further, data collecting card uses and grinds magnificent USB-4711 data collecting cards.
A method of the multirobot automatic welding ship group based on networking intelligent recognition founds part, including specific steps are such as
Under：
Step 1, ship group all weld seams in each position of part are found to be numbered and using laser marking machine in each weld seam
Stamp the Quick Response Code for including the optimal welding parameter information of the weld seam in arcing point position；
Step 2, image comparison data library and Quick Response Code identification module are established on computers, by N platform welding robots point
1-N robots are established collaborative work relationship by not number 1-N by networking；
Step 3, computer compares CCD camera the image collected information and image comparison data library, confirms ship
Oceangoing ship group founds the location of workpiece；
Step 4, computer identifies the collected 2 D code information of CCD camera by Quick Response Code identification module, obtains ship
The vertical optimal weld information of part of group；
Step 5, welding robot confirms that ship group founds the location of workpiece and founds the optimal weld information of part according to ship group in step 3
It is welded；Other N-1 platforms robots are done in the same fashion other position weldings, complete the vertical workpiece of ship group and integrally weld
It connects.
Further, in step 3, the CCD camera of robotic gun end carries out Image Acquisition, number to welding workpiece position
The image collected information is transferred to computer according to capture card；Computer is by CCD the image collected and image comparison data
Each position photo of workpiece has been deposited in library to be compared, has been determined welding workpiece precise location, waits for welding line sky by the position is all
Between location information robot control cabinet is transferred in a manner of digital signal data collecting card, to robot carry out path rule
It draws and welding procedure generates.
Further, computer will deposit each position photo of workpiece in CCD the image collected and image comparison data library
Be compared specifically according to：Acquisition picture is established into rectangular coordinate system with center, computer software is in space coordinates
The gray scale of each point is determined gray value and is recorded, by whole pictures each point gray value record finish, then with picture ratio
It is compared to having deposited picture in database, by each point gray value one-to-one relationship, degree of fitting reaches 99.9% or more, i.e.,
Assert that the ship group in CCD camera acquisition picture stands the workpiece position that part position is recorded by picture in picture comparison data library.
Further, in step 4, when welding gun is moved to weld seam arcing point position, it is existing that CCD camera scans position while welding
Quick Response Code；
Collected 2 D code information is transferred to computer by data collecting card；
By in computer, reading the optimal welding parameter information for including in Quick Response Code,
Robot control cabinet and the source of welding current are transferred to by cable in the form of digital signal, realize welding parameters
With the adjustment of welding gun pose.
Further, the optimal welding parameter information in Quick Response Code includes：Welding current, speed of welding, is sent weldingvoltage
Silk speed, arcing time, striking current, breath the arc time, breath arc current,
Angle of welding gun.
Further, N platforms welding robot system, the ranging from 2-100 of wherein N.
Further, computer establishes picture comparison data library and Quick Response Code identification module by Matlab softwares, is used for
The optimal welding parameter information for including in positioning welding workpiece precise location and identification Quick Response Code.
Further, picture comparison data library includes that ship group founds each position picture of part, and including in each position picture should
All welding types in position and spatial positional information.
Compared with prior art, the present invention its remarkable advantage is：(1) realize that multirobot is synchronous synergetic by networking technology
Work promotes working efficiency and stability；(2) it is realized by special CCD camera and comparison data library and treats welder's part welding portion
Position intelligent recognition and weld and HAZ；(3) it is realized by special CCD camera and Quick Response Code identification module and Quick Response Code is identified, read
Optimal welding parameter ensures that welding procedure optimizes.
Description of the drawings
Fig. 1 is the automatic identification tack weld flow chart of the present invention；
Fig. 2 is the automatic identification Quick Response Code flow chart of the present invention；
Fig. 3 is the hardware system schematic diagram of the present invention；
Fig. 4 is the robotic gun structural schematic diagram of the present invention.
Fig. 5 is the schematic diagram for the vertical part of group for being equipped with Quick Response Code in embodiment at solder joint.
Wherein 1 is robotic gun ontology, and 2 be CCD camera.
Specific implementation mode
In conjunction with Fig. 1-3, a kind of multirobot automatic welding ship group based on networking intelligent recognition of the invention founds part
System, the system include 1 computer, N platforms welding robot system (including robot body, switch board and welding electricity
Source), the N platform sources of welding current, N is robotic gun, the special CCD camera of N platforms, 1 data collecting card, 1 laser marking machine.Method
For：Image comparison data library and Quick Response Code identification module are established on computers before welding, and N platform welding robots are distinguished
1-N robots are established the independent of one another and relationship that mutually cooperates by networking technology, ship group are stood by number 1-N
All weld seams in each position of part are numbered and are stamped comprising the weld seam in each weld seam arcing point position using laser marking machine
Optimal welding parameter information, when welding starts, the CCD camera of robotic gun end carries out image to welding workpiece position and adopts
CCD the image collected is compared with each position photo of workpiece has been deposited in image comparison data library for collection, computer, and determining will
Welding workpiece precise location waits for welding line spatial positional information by data collecting card with the side of digital signal by the position is all
Formula is transferred to robot control cabinet, carries out path planning to robot and welding procedure generates, and is risen when welding gun is moved to weld seam
Acnode position, CCD camera scan the existing Quick Response Code of position while welding, by Quick Response Code identification module in computer, read two dimension
The optimal welding parameter information for including in code, robot control cabinet and welding are transferred in the form of digital signal by cable
Power supply realizes that the adjustment of welding parameters and welding gun pose, other N-1 platforms robots are done in the same fashion other positions and apply
It welds, N platforms robot stands each position all standing of part to ship group and works, final to realize the multirobot based on networking intelligent recognition certainly
Dynamic welding ship group founds part.
In conjunction with Fig. 4, so-called robotic gun 1 integrates special CCD camera 2 in 1 end of robotic gun, saves space bit
It sets, realizes automatic identification function.
Robotic gun end integrates special CCD camera.
CCD is also equipped with other than acquiring photo and scans the two-dimensional code function, identifies what Quick Response Code included by computer
Information.
Based on the N platforms robot of networking technology contact, the ranging from 2-100 of wherein N.
Calculating includes picture comparison data library and Quick Response Code identification module, Matlab softwares is based on, for positioning welding
The optimal welding parameter information for including in workpiece precise location and identification Quick Response Code.
Embodiment
The method that a kind of multirobot automatic welding oceangoing ship group based on networking intelligent recognition of the present embodiment founds part is to be based on
Matlab software platforms, hardware components include KGK laser marking machines, and special robotic gun (is integrated with special XSJ-CCD by N
Camera), N platform KUKA welding robot systems (including KUKA KR C2 robot control cabinets, the Fronius sources of welding current), 1 set
Grind magnificent USB-4711 data collecting cards, 1 set of computer.
In conjunction with Fig. 1-3, part is stood to the ship group of blanking with KGK laser marking machines and is stamped comprising welding ginseng in specific position
Several Quick Response Codes establishes picture comparison data library and Quick Response Code identification module using Matlab softwares on computers.
Before welding starts, robotic gun end CCD camera acquires ship group and founds any position picture of part, by grinding China
USB-4711 data collecting cards confirm ship by collected picture transfer to computer, by picture comparison data library in computer
Oceangoing ship group stands the position of part.
Picture comparison data library positions the method that ship group founds part welding position：Acquisition picture is established with center
Rectangular coordinate system is a point per the regions 0.1mmX0.1mm, since origin, to whole pictures using 0.1mm as base unit
1-K is numbered in all areas, and each area grayscale value interval is 0-255, ash of the computer to each point in all areas
Degree be determined gray value and recorded, by whole pictures each point gray value record finish, then with picture comparison data library
In deposited picture and be compared, by each point gray value one-to-one relationship, compare degree of fitting successively and reach 99.5% or more, i.e.,
Assert that the ship group in CCD camera acquisition picture stands the workpiece position that part position is recorded by picture in picture comparison data library.
Include the type for founding all weld seams in the part position in the picture comprising ship group under each picture in picture comparison data library
And these weld seam spatial informations are compiled the path of welding program that robot can identify by spatial position coordinate, computer,
It is transferred to robot control cabinet in a manner of digital signal data collecting card, welding gun is moved to control robotic gun
Starting point.
The Quick Response Code that CCD camera acquisition position while welding has been accomplished fluently, computer is transmitted to by data collecting card by Quick Response Code,
Computer reads welding current 183A in Quick Response Code, weldingvoltage 16.5V, speed of welding by Quick Response Code identification module
10mm/s, wire feed rate 7.8m/min, arcing time 0.2s, striking current 190A, breath arc time 0.1s, breath arc current 138A,
45 ° of angle of welding gun,
Computer by welding parameter information by capture card be transmitted further to the source of welding current to welding current, weldingvoltage, give
Silk speed, arcing time, striking current, breath arc time, breath arc current；Robot control cabinet to speed of welding and posture of welding torch into
Row adjustment.
Other N-1 platforms robot working methods are identical, cooperate, and realize and found the comprehensive complete solder of part to ship group.
In conjunction with Fig. 4, this feature robotic gun is independent research welding gun, has initiative recognition function.XSJ-CCD camera collection
At in robotic gun handle end, this set XSJ-CCD cameras have the characteristics that：
Camera quantity：1
Resolution ratio of camera head：250000 pixels
Scanning range：N00mm X N00mm X 800mm (height)
Scanning accuracy：Due to 0.4%
Camera speed：N-50mm/s is adjustable
CCD sizes：
The present invention improves ship group and founds part Automation of Welding digitized degree, improves working efficiency and stability, is promoted
Product quality.
Claims (8)
1. a kind of multirobot automatic welding ship group based on networking intelligent recognition founds part system, which is characterized in that the system
Including computer, N platform welding robot systems, the welding robot system includes robot body, switch board and welding
Power supply, and the robotic gun of welding robot system setting is corresponded to, CCD camera further includes：Data collecting card, laser are beaten
Mark machine；
The laser marking machine founds all weld seams in each position of part for ship group and is numbered and uses laser marking machine
It is stamped comprising the optimal welding parameter information of the weld seam in each weld seam arcing point position；
The robotic gun end setting CCD camera has carried out Image Acquisition and scanning position while welding to welding workpiece position
Some Quick Response Codes；
CCD the image collected is compared computer with each position photo of workpiece has been deposited in image comparison data library, is used for
It determines welding workpiece precise location；
Quick Response Code identification module in computer reads the optimal welding parameter information for including in Quick Response Code, with the shape of digital signal
Formula is transferred to robot control cabinet and the source of welding current by cable, is used for the adjustment of welding parameters and welding gun pose；
Equipped with data collecting card for receiving image information and transmission digital signal information；
Robot control cabinet be used to receive to transmit in a manner of digital signal data collecting card come all wait for that welding line is empty
Between location information, path planning and welding procedure are carried out to robot and generated.
2. the multirobot automatic welding ship group according to claim 1 based on networking intelligent recognition founds part system,
It is characterized in that, the robotic gun end integrates CCD camera.
3. the multirobot automatic welding ship group according to claim 1 based on networking intelligent recognition founds part system,
It is characterized in that, the optimal welding parameter information in the Quick Response Code includes：Welding current, weldingvoltage, speed of welding, wire feed
Speed, arcing time, striking current, breath arc time and breath arc current.
4. the multirobot automatic welding ship group according to claim 1 based on networking intelligent recognition founds part system, institute
The N platform welding robot systems stated, the ranging from 2-100 of wherein N.
5. the system that the multirobot automatic welding ship group according to claim 1 based on networking intelligent recognition founds part,
It is characterized in that, the computer establishes picture comparison data library and Quick Response Code identification module by Matlab softwares, it is used for
The optimal welding parameter information for including in positioning welding workpiece precise location and identification Quick Response Code.
6. the system that the multirobot automatic welding ship group according to claim 1 based on networking intelligent recognition founds part,
Each position picture of part is found it is characterized in that, picture comparison data library includes ship group, includes the position institute in each position picture
There are welding type and spatial positional information.
7. the system that the multirobot automatic welding ship group according to claim 1 based on networking intelligent recognition founds part,
It is characterized in that, N platform welding robot systems be KUKA welding robot systems using KUKA KR C2 robot control cabinets and
The Fronius sources of welding current.
8. the system that the multirobot automatic welding ship group according to claim 1 based on networking intelligent recognition founds part,
It is characterized in that, data collecting card, which uses, grinds magnificent USB-4711 data collecting cards.
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Cited By (11)
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| CN109128540A (en) * | 2018-09-29 | 2019-01-04 | 中国航空制造技术研究院 | A kind of T connector laser welding focal track determines method |
| CN109649017A (en) * | 2018-12-29 | 2019-04-19 | 华讯方舟科技有限公司 | A kind of label printing system, method, control equipment and storage medium |
| CN110625302A (en) * | 2019-07-29 | 2019-12-31 | 宁波赛亦软件科技有限公司 | Robot-based method and system for welding high-speed rail electric cabinet |
| CN111451659A (en) * | 2020-03-02 | 2020-07-28 | 中船第九设计研究院工程有限公司 | Boats and ships welding management and control system |
| CN111723592A (en) * | 2020-06-18 | 2020-09-29 | 深圳泰德激光科技有限公司 | Method and system for storing welding information and computer readable storage medium |
| CN112496582A (en) * | 2020-11-23 | 2021-03-16 | 博迈科海洋工程股份有限公司 | Ocean engineering complex node multi-robot welding cooperative control method |
| CN112561017A (en) * | 2020-12-25 | 2021-03-26 | 东方电气集团科学技术研究院有限公司 | Snake-shaped pipe weld joint mark tracing system |
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| CN116408575B (en) * | 2021-12-31 | 2024-06-04 | 广东美的白色家电技术创新中心有限公司 | Method, device and system for locally scanning and eliminating workpiece reflection interference |
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| CN112496582A (en) * | 2020-11-23 | 2021-03-16 | 博迈科海洋工程股份有限公司 | Ocean engineering complex node multi-robot welding cooperative control method |
| CN112561017A (en) * | 2020-12-25 | 2021-03-26 | 东方电气集团科学技术研究院有限公司 | Snake-shaped pipe weld joint mark tracing system |
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Application publication date: 20180907 |