CN109332957A - Welding robot Automation of Welding control system - Google Patents
Welding robot Automation of Welding control system Download PDFInfo
- Publication number
- CN109332957A CN109332957A CN201811431955.7A CN201811431955A CN109332957A CN 109332957 A CN109332957 A CN 109332957A CN 201811431955 A CN201811431955 A CN 201811431955A CN 109332957 A CN109332957 A CN 109332957A
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- China
- Prior art keywords
- welding
- control computer
- output end
- control device
- main control
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses welding robot Automation of Welding control systems, it is characterized by: the signal input part of the welding pool measure and control device is connected with the output end of image processing system, the signal input part of described image processing system is connected with the signal output end of visual sensor, the visual sensor is used to acquire the image of part commissure, the signal output end of the welding pool measure and control device is connected with the source of welding current, the source of welding current is connected with welding gun, the welding pool measure and control device and main control computer communicate to connect, the main control computer is also communicated to connect with welding control computer, the welding control computer and positioner, operation machine is connected；The present invention carries out centralized control by main control computer, has the advantages that integrated level is high, can effectively ensure that welding quality.
Description
Technical field
The invention belongs to automatic welding technique fields, and in particular to welding robot Automation of Welding control system.
Background technique
In the industrial robot in the existing whole world, there is 50 percent industrial robot to be applied to different welding fields, welding
There are electric welding and two kinds of basic modes of arc welding in robot.The main work taken up of welding robot is to replace in welding field
The industrial robot that worker is welded manually.A part in this kind of robots is exclusive robot, is in order to suitable
The special machine people to work under certain specific environment, most welding robot are by installing on conventional industrial robot
Soldering apparatus composition.It requires worker that can have enough proficiencys to weld task in welding processing this aspect, has a large amount of real
Experience is trampled, on the other hand, welding is that a kind of work situation is severe again, and flue dust is more, radiation and the high work of risk,
The invention of welding robot allows it is thought that going it that worker to be replaced to weld manually and mitigating the amount of labour of operator, and protect
Weld task quality is demonstrate,proved, welding efficiency is improved.
When robot is welded, the tracking and correction that carry out weld seam are generally required, avoids occurring welding partially, and executed and chase after
Track and the core apparatus of correction are welding control systems, and existing welding control system often haves the defects that integrated level is not high.
Summary of the invention
It is an object of the invention to overcome above-mentioned the deficiencies in the prior art, welding robot Automation of Welding control system is provided
System.
Welding robot Automation of Welding control system, including welding pool measure and control device, main control computer, welding control
Computer, it is characterised in that: the signal input part of the welding pool measure and control device is connected with the output end of image processing system
It connects, the signal input part of described image processing system is connected with the signal output end of visual sensor, the visual sensor
For acquiring the image of part commissure, the signal output end of the welding pool measure and control device is connected with the source of welding current, institute
It states the source of welding current to be connected with welding gun, the welding pool measure and control device and main control computer communicate to connect, and the master control calculates
Machine is also communicated to connect with welding control computer, and the welding control computer is connected with positioner, operation machine.
Preferably, the welding gun is fixed on the end of operation machine.
Preferably, the part is fixed on the workbench of positioner.
Preferably, the visual sensor is CCD camera.
Compared with prior art, beneficial effects of the present invention:
The present invention carries out centralized control by main control computer, has the advantages that integrated level is high；It is adopted in real time by visual sensor
Collect weld pool image, welding process is monitored by welding pool measure and control device, it is inclined when occurring between welding gun and groove
When poor, main control computer control welding control computer, welding control computer realizes correction by adjusting operation machine, thus
Ensure welding quality.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of welding robot Automation of Welding control system of the present invention.
In figure, 1, the source of welding current, 2, image processing system, 3, visual sensor, 4, part, 5, positioner, 6, welding gun, 7,
Operation machine, 8, welding pool measure and control device, 9, main control computer, 10, welding control computer.
Specific embodiment
Referring to Fig. 1, welding robot Automation of Welding control system, including welding pool measure and control device 8, main control computer
9, welding control computer 10, it is characterised in that: the signal input part and image processing system of the welding pool measure and control device 8
2 output end is connected, and the signal input part of described image processing system 2 is connected with the signal output end of visual sensor 3,
The visual sensor 3 is used to acquire the image of 4 commissure of part, the signal output end of the welding pool measure and control device 8 with
The source of welding current 1 is connected, and the source of welding current 1 is connected with welding gun 6, the welding pool measure and control device 8 and main control computer 9
Communication connection, the main control computer 9 are also communicated to connect with welding control computer 10, and the welding controls computer 10 and becomes
Position machine 5, operation machine 7 are connected.
The welding gun 6 is fixed on the end of operation machine 7.
The part 4 is fixed on the workbench of positioner 5.
The visual sensor 3 is CCD camera.
The working principle of the invention is:
The present invention carries out centralized control by main control computer 9, has the advantages that integrated level is high；It is real-time by visual sensor 3
Weld pool image is acquired, welding process is monitored by welding pool measure and control device 8, is sent out when between welding gun 6 and groove
When raw deviation, the control welding control computer 10 of main control computer 9, welding control computer 10 is realized by adjusting operation machine 7
Correction, so that it is guaranteed that welding quality.
Technical solution of the present invention is exemplarily described invention above in conjunction with attached drawing, it is clear that present invention specific implementation
It is not subject to the restrictions described above, changes as long as using the various unsubstantialities that the inventive concept and technical scheme of the present invention carry out
Into, or it is not improved the conception and technical scheme of invention are directly applied into other occasions, in protection scope of the present invention
Within.
Claims (4)
1. welding robot Automation of Welding control system, including welding pool measure and control device (8), main control computer (9), welding
It controls computer (10), it is characterised in that: the signal input part and image processing system of the welding pool measure and control device (8)
(2) output end is connected, the signal input part of described image processing system (2) and the signal output end of visual sensor (3)
It is connected, the visual sensor (3) is used to acquire the image of part (4) commissure, the welding pool measure and control device (8)
Signal output end is connected with the source of welding current (1), and the source of welding current (1) is connected with welding gun (6), the welding pool observing and controlling
Device (8) and main control computer (9) communicate to connect, and the main control computer (9) also controls computer (10) communication link with welding
It connects, welding control computer (10) is connected with positioner (5), operation machine (7).
2. welding robot Automation of Welding control system as described in claim 1, it is characterised in that: the welding gun (6) is solid
It is scheduled on the end of operation machine (7).
3. welding robot Automation of Welding control system as described in claim 1, it is characterised in that: the part (4) is solid
It is scheduled on the workbench of positioner (5).
4. welding robot Automation of Welding control system as described in claim 1, it is characterised in that: the visual sensor
It (3) is CCD camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811431955.7A CN109332957A (en) | 2018-11-28 | 2018-11-28 | Welding robot Automation of Welding control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811431955.7A CN109332957A (en) | 2018-11-28 | 2018-11-28 | Welding robot Automation of Welding control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109332957A true CN109332957A (en) | 2019-02-15 |
Family
ID=65318879
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811431955.7A Pending CN109332957A (en) | 2018-11-28 | 2018-11-28 | Welding robot Automation of Welding control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109332957A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002283053A (en) * | 2001-03-21 | 2002-10-02 | Babcock Hitachi Kk | Method for controlling arc length in non-consumable electrode arc welding |
| JP2011045898A (en) * | 2009-08-26 | 2011-03-10 | Amada Co Ltd | Welding robot |
| CN103170767A (en) * | 2011-12-20 | 2013-06-26 | 徐州工程学院 | Welding robot control method |
| CN104708239A (en) * | 2015-02-12 | 2015-06-17 | 南京航空航天大学 | Large-scale marine pipeline initial point recognition and location method and system based on CCD |
| CN105499772A (en) * | 2016-01-26 | 2016-04-20 | 清华大学 | Control system for micro-beam plasma welding formation of thin-wall slit circular longitudinal seam |
| CN107498221A (en) * | 2016-06-16 | 2017-12-22 | 嘉兴职业技术学院 | Seam tracking system based on segregation reasons |
| CN107552932A (en) * | 2017-10-20 | 2018-01-09 | 北京工业大学 | It is a kind of based on the variable-polarity plasma welding method of quality control controlled keyhole profile and device |
| CN108856978A (en) * | 2018-08-20 | 2018-11-23 | 南京理工大学 | Corner joint penetration control method based near infrared binocular visual identity |
-
2018
- 2018-11-28 CN CN201811431955.7A patent/CN109332957A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002283053A (en) * | 2001-03-21 | 2002-10-02 | Babcock Hitachi Kk | Method for controlling arc length in non-consumable electrode arc welding |
| JP2011045898A (en) * | 2009-08-26 | 2011-03-10 | Amada Co Ltd | Welding robot |
| CN103170767A (en) * | 2011-12-20 | 2013-06-26 | 徐州工程学院 | Welding robot control method |
| CN104708239A (en) * | 2015-02-12 | 2015-06-17 | 南京航空航天大学 | Large-scale marine pipeline initial point recognition and location method and system based on CCD |
| CN105499772A (en) * | 2016-01-26 | 2016-04-20 | 清华大学 | Control system for micro-beam plasma welding formation of thin-wall slit circular longitudinal seam |
| CN107498221A (en) * | 2016-06-16 | 2017-12-22 | 嘉兴职业技术学院 | Seam tracking system based on segregation reasons |
| CN107552932A (en) * | 2017-10-20 | 2018-01-09 | 北京工业大学 | It is a kind of based on the variable-polarity plasma welding method of quality control controlled keyhole profile and device |
| CN108856978A (en) * | 2018-08-20 | 2018-11-23 | 南京理工大学 | Corner joint penetration control method based near infrared binocular visual identity |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190215 |
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