CN110434512A - A kind of length of hull weld seam real-time tracking welding system based on gantry and robot - Google Patents
A kind of length of hull weld seam real-time tracking welding system based on gantry and robot Download PDFInfo
- Publication number
- CN110434512A CN110434512A CN201910674159.4A CN201910674159A CN110434512A CN 110434512 A CN110434512 A CN 110434512A CN 201910674159 A CN201910674159 A CN 201910674159A CN 110434512 A CN110434512 A CN 110434512A
- Authority
- CN
- China
- Prior art keywords
- welding
- gantry
- robot
- coordinate
- weld
- Prior art date
- 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.)
- Pending
Links
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
- 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
- B23K37/0258—Electric supply or control circuits therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The invention discloses a kind of length of hull weld seam real-time tracking welding system based on gantry and robot；It is made of welding robot, Weld joint tracker, three coordinate gantry, welding equipment and industrial control computer.System by welding robot it is flexible, convenient for demarcating the characteristics of combine with the advantages of three-dimensional gantry structure large span transfer, Weld joint tracker is mounted on robot end, realize that the comprehensive weld joint tracking of multi-C stereo compensates welding, while the speed and weld locations bias voltage tracking technical parameter of configurable tracing compensation.Tracking welding system has technology stability and configurability, makes to weld any type of workpiece to be welded of any materials arbitrarily put in the coverage of gantry, tracks the full-automatic adaptive equalization of welding process；Operation of the industrial control computer for communication, complicated gantry tracing control program between the motion control of robot and gantry structure, modules；Production efficiency is greatlyd improve, the intelligence of welding production is promoted.
Description
Technical field
The present invention relates to adaptive field of welding processing, specifically, being related to a kind of based on large span gantry and bonding machine
Long weld joint tracking welding system founds in the hull group of device people.
Background technique
In modern industrial production, welding procedure is important component part, especially in shipbuilding engineering, Welder
Skill is even more to have very important, indispensable status.It is shown according to related data, working hour shared by welding procedure accounts for Marine engineering
40% or more when building chief engineer, spent cost, which accounts for, builds 50% or more of totle drilling cost.Since the special construction of hull determines
Welding procedure being widely used in hull construction, for producing angle, the quality and efficiency for improving welding procedure can be right
Shipbuilding engineering has an important influence on.
It is stood in automatic welding production application in hull group, workpiece cutting stock precision is poor, assembly precision difference and welding
Workpiece bottom plate, the serious factor of vertical plate thermal deformation cause practical position while welding to be welded and theory three-dimensional model bias very big in the process,
The vertical large scale feature of hull group puts forward new requirements the accessibility of welding equipment.At present in engineering using upper,
Full-automatic welding equipment is mainly welding robot plus Weld joint tracker, in robot along in path of welding motion process,
Weld joint tracker identifies that position while welding, real-time compensation path of welding are final to realize the welding of real-time tracking weld seam.But this side
Formula is unable to human intervention, robots arm's length there are communicating complicated between robot system and Weld joint tracker system and closing
Spend limited, the problem of can not continuously welding large-sized workpiece.
Patent of invention CN108907455A " a kind of seam tracking system based on laser-visible light fusion vision technique with
Method ", by visible images collection device carry out image parameter, collection apparatus, image procossing, determine weld seam physical location with
The departure of predeterminated position, by, according to certain regular Compensating Robot interpolation path, realizing weldering in robot control system
Rifle is to position while welding real-time tracking.But since welding gun is mounted on robot end, and the arm coverage of robot has
Limit, by taking the KR16 welding robot of KUKA as an example, arm coverage is 2m, drives welding gun movement by robotic gripper merely
Can not sequential welding spreading weld seam, it is discontinuous or weld overlapping phenomenon to will cause welding.
Summary of the invention
In order to avoid the shortcomings of the prior art, the present invention proposes a kind of length of hull weld seam based on gantry and robot
Real-time tracking welding system；The system by robot it is flexible, convenient for being shifted the characteristics of calibration with three-dimensional gantry structure large span
The advantages of combine, there is process stabilizing and configurability, make to weld any materials arbitrarily put in the coverage of gantry and appoint
The workpiece to be welded for type of anticipating tracks the full-automatic adaptive equalization of welding process, greatlys improve production efficiency, promotes welding production
Intelligence.
The technical solution adopted by the present invention to solve the technical problems is: including welding robot, welding equipment, weld seam with
Track device, three coordinate gantry and industrial control computer, it is characterised in that: welding robot uses the industrial machine of six degree of freedom multi-joint
People；Welding equipment includes the motion control portion of equipment, real using method of the off-line programing in conjunction with machine vision SERVO CONTROL
Now clamping welding gun moves in the control range of rotational angle；Weld joint tracker is mounted on welding robot end, can be welded
Stitch dot position information；Three coordinate gantry move welding robot in three-dimensional space, realize long weld joint tracking welding；Industry control meter
Calculation machine controls communication between the movement of welding robot and three coordinate gantry structures, each module, three coordinate gantry tracing controls
The operation of program；Off-line programing generates the path of welding program at three coordinate gantry, in the welding process, by being mounted on robot
The Weld joint tracker of end acquires welding seam position information in real time, and compared with the workpiece position while welding to be welded in model, and obtaining needs
The compensation rate wanted inputs compensation rate in industrial control computer, and three coordinate gantry of control are compensated when running path of welding program
Movement compensates welding to the real-time tracking of weld seam；Specific step is as follows:
Step 1. demarcates the transformational relation between Weld joint tracker coordinate system and welding equipment coordinate system；
Workpiece threedimensional model to be welded is imported into off-line programming software by step 2., generates the path of welding at three coordinate gantry
Program；
The path of welding program that step 3. industrial control computer operating procedure 2 generates, starts to weld workpiece in real time；
For step 4. while executing step 3, welding robot drives Weld joint tracker real time scan weld seam, obtains weld seam
Coordinate value of the point based on Weld joint tracker coordinate system；
The welding point coordinate data that step 4 obtains is transformed into welding by the transformational relation that step 1 obtains and set by step 5.
In standby coordinate system；
Step 6. executes simultaneously in step 3, by the pad data result that step 5 obtains and the welding road that step 2 generates
Diameter program carries out real time contrast, calculates the compensation rate of three coordinate gantry needs；
After treatment, three coordinate gantry welding roads that step 2 generates are arrived in compensation to the compensation rate that step 7. obtains step 6
In diameter program, three coordinate gantry of control drive welding equipment to track long weld seam and weld in real time.
The Weld joint tracker is equipped with laser emitter and CCD industrial camera, and camera is located at camera support end, camera
Bracket is flexible adjustable.
Beneficial effect
A kind of length of hull weld seam real-time tracking welding system based on gantry and robot proposed by the present invention；By bonding machine
Device people, Weld joint tracker, three coordinate gantry, welding equipment and industrial control computer composition.System is flexible, just by welding robot
It combining in shifted with three-dimensional gantry structure large span the characteristics of calibration the advantages of, Weld joint tracker is mounted on robot end,
Realize that the comprehensive weld joint tracking of multi-C stereo compensates welding, while the speed of configurable tracing compensation and weld locations biasing
Tracking technique parameter.Tracking welding system has technology stability and configurability, makes to weld realization pair in the coverage of gantry
In any type of workpiece to be welded of any materials arbitrarily put in welding platform, tracks welding process and automatically adaptively mend
It repays；Industrial control computer is used for communication, complicated gantry tracking control between the motion control of robot and gantry structure, modules
The operation of processing procedure sequence；Production efficiency is greatlyd improve, the intelligence of welding production is promoted, welding tracking process is easy to operate.
Detailed description of the invention
With reference to the accompanying drawing with embodiment to a kind of length of hull weld seam based on gantry and robot of the present invention in real time with
Track welding system is described in further detail.
Fig. 1 is that the present invention is based on the length of hull weld seam real-time tracking welding system schematic diagrames at gantry and robot.
Fig. 2 is that the present invention is based on the length of hull weld seam real-time tracking welding system flow charts at gantry and robot.
Fig. 3 is that the present invention is based on the length of hull weld seam real-time tracking welding system framework diagrams at gantry and robot.
In figure:
1. three coordinate gantry, 2. welding robot, 3. welding equipment 4., 5. Weld joint tracker of workpiece, 6. industry control meter to be welded
Calculation machine
Specific embodiment
The present embodiment is a kind of length of hull weld seam real-time tracking welding system based on gantry and robot.
Refering to fig. 1, Fig. 2, Fig. 3, length of hull weld seam real-time tracking welding system of the present embodiment based on gantry and robot,
It is made of welding robot 2, welding equipment 3, Weld joint tracker 5, three coordinate gantry 1 and industrial control computer 6；Wherein, bonding machine
Device people uses the industrial robot of six degree of freedom multi-joint, and welding equipment 3 includes the motion control portion of equipment, is compiled using offline
Method of the journey in conjunction with machine vision SERVO CONTROL realizes that clamping welding gun moves in the control range of rotational angle；Weld seam with
Track device 5 is mounted on 2 end of welding robot, and weld seam dot position information can be obtained；It three coordinate gantry 1 can be by robot in three-dimensional space
Long weld joint tracking welding is realized in interior movement；The motion control at 6 butt welding machine device people 2 of industrial control computer and three coordinate gantry 1,
The operation of communication, complicated gantry tracing control program between modules.Off-line programing generates the welding road at three coordinate gantry
Diameter program, in the welding process, the Weld joint tracker by being mounted on 2 end of welding robot acquire position while welding letter in real time
Breath, and compared with the workpiece position while welding to be welded in model, it obtains the compensation rate of needs, compensation rate is inputted into industrial control computer
In, compensation campaign is done at three coordinate gantry of control when running ideal path of welding program, is realized and is compensated the real-time tracking of weld seam
Welding.
In the present embodiment, three coordinate gantry 1 are the nonstandard mechanical structure of three coordinates, drive welding robot in three-dimensional space
It is a wide range of mobile, it is the main body that long weld joint tracking compensation is realized；Welding robot 2 selects the six degree of freedom multi-joint industry of KUKA
Robot KR16 completes small range flexible motion and three-dimensional coordinate staking-out work for clamping welding equipment and Weld joint tracker.
Welding equipment 3 adds the RM2 robotic gun of TBI using KempArc welding machine, and welding gun is mounted on KR16 robot end, achievable
Arc, high current weld job are received in the starting the arc.Weld joint tracker 5 is mounted on KR16 machine using the laser seam tracking device of IL-UIN
There are active laser emitter and CCD camera imaging device in people end, can calculate position while welding coordinate value.Industrial control computer 6
For the hardcore that whole system is realized, select C6930 industrial personal computer, control welding robot and three coordinate gantry cooperative motions,
Backoff algorithm operation, logic judgment processing, data processing, equipment condition monitoring function.
Length of hull weld seam real-time tracking welding system workflow of the present embodiment based on gantry and robot:
The first step, by Weld joint tracker demarcating steps, demarcate Weld joint tracker coordinate system and robot coordinate system it
Between positional relationship, then demarcate robot coordinate system and three coordinate gantry device coordinate system between relationship, can be obtained
Spot welds coordinate from Weld joint tracker coordinate system to the device coordinate system at three coordinate gantry transformational relation.
Workpiece threedimensional model to be welded is imported into off-line programming software DELMIA by second step, obtains three coordinate gantry
Path of welding G code program.
Third step, the path of welding that operating procedure two generates in the TwinCAT digital control system in industrial control computer C6930
G code program, the servo motor for controlling three coordinate gantry are moved according to the weld seam path provided in part model, servo motor band
The welding equipment clamped on dynamic welding robot welds weld seam.
4th step, while executing step 3, welding robot clamping Weld joint tracker in the front of motion path
A weld seam pad is identified every 500ms, calculates coordinate data of the spot welds based on Weld joint tracker coordinate system automatically.
5th step obtains the spot welds that step 4 obtains based on the coordinate data of Weld joint tracker coordinate system by step 1
To transformational relation be transformed into welding equipment coordinate system, determine the uniqueness of weld seam point coordinate data, and it is slow to be stored in program
It deposits in area, forms coordinate data sequence.
6th step, while step 3 executes, pad data coordinates sequence the first row coordinate that step 5 is obtained
The X-component coordinate of positional value and the X-component coordinate of three coordinate gantry servo motor real time positions compare, and judge current welding
Whether equipment terminal position reaches compensation position, if not reaching, then compensation wouldn't trigger, and only controls the operation of gantry servo motor
The path of welding program that DELMIA is generated is sat once current welding equipment terminal position reaches the welding point data that step 5 obtains
The first row coordinate position value for marking sequence then shows that current welding equipment terminal position reaches compensation position, trigger compensation
Mechanism is calculated when the welding point data that Y, Z component and the step 5 of first three coordinate gantry servo motor real time position obtain is sat
Mark the Y of sequence the first row coordinate position value, the deviation of Z coordinate component.
7th step, the deviation for obtaining step 6 are filtered, and exclude the wrong data for exceeding normal range (NR), then
Amplitude limiting processing is carried out, when the deviation of Y, Z coordinate component is greater than 1, deviation takes 1, when less than 1, is not processed；Due to weld seam
Point data 500ms identification calculates primary, three coordinate gantry positions control period 10ms, so a weld seam point data is needed 50
Compensation is completed in a period, and data need the planning of acceleration and deceleration position to handle thus, and the deviation of Y, Z coordinate component are planned for 50
Offset period offset is obtained in a period；In three coordinate gantry position control algolithms, position control bid value is step 3 G
The sum of the offset period offset of position command value and each period that program in machine code decodes.
8th step, when a weld seam point data is after the compensation deals in 50 10ms periods, coordinate that step 5 generates
Data sequence recursion one forward, i.e. the first row data are deleted, and data later move forward a line, and new spot welds acquire number
According to simultaneously can also be added in coordinate data sequence, while periodically execute step 4~step 7, realize three coordinates dragon
Door drive welding equipment real-time tracing position while welding.
9th step, during step 8 tracing compensation, when the Y of three coordinate gantry servo motor real time positions, Z component with
The Y for the pad data coordinates sequence the first row coordinate position value that step 5 obtains, the deviation of Z coordinate component are less than threshold value
When 0.2mm, control welding equipment starts to weld；When deviation is greater than 0.2mm, step 8 is continued to execute, until deviation is less than threshold
Value, it is final to realize that three coordinate gantry drive welding equipment precisely to track long weld seam and implement welding.
In the present embodiment, off-line programing computer is in system top layer, generates path of welding program by off-line programing,
Followed by the core industrial control computer of entire control system, and the control panel of operation man-machine interface, it mainly undertakes system and sets
Standby status display and human-computer interaction operation；Core control layer includes five main modulars in industrial control computer: vision data
Interface, real-time operation unit, motion control unit, I/O module, Logic control module, wherein vision data interface receives and locates
Manage the calculated position coordinate data of field welding tracker；Real-time operation unit calculates gantry servo motor each control week
Compensation rate required for phase, including acceleration and deceleration processing and transition point data processing；Motion control unit realizes gantry servo motor
Internal linkage INTERPOLATION CONTROL OF PULSE；I/O module is responsible for communication, gantry servo motor and welding robot between welding robot
Between linkage；Logic control module to equipment running status real-time monitoring, as servo motor temperature, torque, gantry limit and
Equipment emergency stop operation.Terminal device layer includes laser emitter and CCD industrial camera, servo motor, the welding of Weld joint tracker
Robot and auxiliary equipment refer to specific hardware execution level.Device drive layer refers to the drive control apparatus of bottom terminal device,
Including Weld joint tracker controller, servo driver of motor and welding robot controller.Firstly, Weld joint tracker passes through laser
Transmitter and CCD industrial camera, calculate position while welding coordinate, are input to vision data interface caching process, real-time operation list
Then data are loaded onto C++ real time execution core and calculate in real time by member, calculated result is imported into motion control unit compensation and is connect
It is final to drive gantry servo motor that end welding gun is driven to realize real-time tracking welding in mouthful.
Claims (2)
1. a kind of length of hull weld seam real-time tracking welding system based on gantry and robot, including welding robot, welding are set
Standby, Weld joint tracker, three coordinate gantry and industrial control computer, it is characterised in that: welding robot uses six degree of freedom multi-joint
Industrial robot；Welding equipment includes the motion control portion of equipment, using off-line programing and machine vision SERVO CONTROL knot
The method of conjunction realizes that clamping welding gun moves in the control range of rotational angle；Weld joint tracker is mounted on welding robot end
End, can be obtained weld seam dot position information；Three coordinate gantry move welding robot in three-dimensional space, realize long weld joint tracking
Welding；Industrial control computer controls communication between the movement of welding robot and three coordinate gantry structures, each module, three coordinates dragon
The operation of door tracing control program；The path of welding program that off-line programing generates three coordinate gantry passes through peace in the welding process
Acquire welding seam position information in real time mounted in the Weld joint tracker of robot end, and with the workpiece position while welding ratio to be welded in model
Compared with, obtain the compensation rate of needs, by compensation rate input industrial control computer in, control three coordinate gantry operation path of welding program
When do compensation campaign, welding is compensated to the real-time tracking of weld seam；Specific step is as follows:
Step 1. demarcates the transformational relation between Weld joint tracker coordinate system and welding equipment coordinate system；
Workpiece threedimensional model to be welded is imported into off-line programming software by step 2., generates the path of welding journey at three coordinate gantry
Sequence；
The path of welding program that step 3. industrial control computer operating procedure 2 generates, starts to weld workpiece in real time；
For step 4. while executing step 3, welding robot drives Weld joint tracker real time scan weld seam, obtains spot welds base
In the coordinate value of Weld joint tracker coordinate system；
The welding point coordinate data that step 4 obtains is transformed into welding equipment by the transformational relation that step 1 obtains and sat by step 5.
In mark system；
Step 6. executes simultaneously in step 3, by the pad data result that step 5 obtains and the path of welding journey that step 2 generates
Sequence carries out real time contrast, calculates the compensation rate of three coordinate gantry needs；
After treatment, three coordinate gantry path of welding journeys that step 2 generates are arrived in compensation to the compensation rate that step 7. obtains step 6
In sequence, three coordinate gantry of control drive welding equipment to track long weld seam and weld in real time.
2. the length of hull weld seam real-time tracking welding system according to claim 1 based on gantry and robot, feature
Be: the Weld joint tracker is equipped with laser emitter and CCD industrial camera, and camera is located at camera support end, camera branch
Frame is flexible adjustable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910674159.4A CN110434512A (en) | 2019-07-25 | 2019-07-25 | A kind of length of hull weld seam real-time tracking welding system based on gantry and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910674159.4A CN110434512A (en) | 2019-07-25 | 2019-07-25 | A kind of length of hull weld seam real-time tracking welding system based on gantry and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110434512A true CN110434512A (en) | 2019-11-12 |
Family
ID=68431237
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910674159.4A Pending CN110434512A (en) | 2019-07-25 | 2019-07-25 | A kind of length of hull weld seam real-time tracking welding system based on gantry and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110434512A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111318782A (en) * | 2020-03-27 | 2020-06-23 | 陕西丝路机器人智能制造研究院有限公司 | Method for calibrating robot welding gun and laser weld tracking sensor of marine pipe welding machine |
| CN111545872A (en) * | 2020-05-14 | 2020-08-18 | 广东美的智能机器人有限公司 | Welding system, welding control method, and computer-readable storage medium |
| CN113385869A (en) * | 2021-07-26 | 2021-09-14 | 武汉理工大学 | Robot welding equipment for large square lattice component based on machine vision and welding seam positioning method |
| CN113634964A (en) * | 2021-08-25 | 2021-11-12 | 武汉理工大学 | Gantry type robot welding equipment and welding process for large-sized component |
| CN114273757A (en) * | 2022-02-14 | 2022-04-05 | 山东汉华工业设备有限公司 | Automatic welding seam tracking device for heat exchanger |
| CN114670215A (en) * | 2022-03-30 | 2022-06-28 | 江南造船(集团)有限责任公司 | Method and device for robot automatic welding ship assembly based on visual identification |
| CN115988866A (en) * | 2023-03-21 | 2023-04-18 | 深圳市利和兴股份有限公司 | NFC LAMI processing control method and system based on machine vision |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101690989A (en) * | 2009-09-28 | 2010-04-07 | 昆山华恒工程技术中心有限公司 | Welding seam tracking method of arc oscillation welding seam tracking robot |
| CN102430841A (en) * | 2011-08-26 | 2012-05-02 | 昆山工研院工业机器人研究所有限公司 | Arc welding robot laser vision seam tracking control method based on offline planning |
| CN102699489A (en) * | 2012-06-28 | 2012-10-03 | 昆山工研院工业机器人研究所有限公司 | Method and system allowing robot to be self-adaptive to width of groove weld |
| CN105618898A (en) * | 2016-03-21 | 2016-06-01 | 江门健维自动化设备有限公司 | Intelligent line welding method |
| CN105834557A (en) * | 2016-05-27 | 2016-08-10 | 廊坊智通机器人***有限公司 | Straight-line welding seam off-line tracking method for arc welding robot welding |
| CN106216927A (en) * | 2016-08-31 | 2016-12-14 | 斯图加特航空自动化（青岛）有限公司 | Across gantry tank body robot welding system |
| CN108453356A (en) * | 2018-03-29 | 2018-08-28 | 江苏新时代造船有限公司 | A kind of complexity Zhong Zuli robots compression arc MAG welding methods |
| CN109277668A (en) * | 2018-11-06 | 2019-01-29 | 高建路 | A kind of thin plate curved arc part overlap joint continuous welding device and implementation |
| CN109719438A (en) * | 2017-10-31 | 2019-05-07 | 无锡威卓智能机器人有限公司 | A kind of industrial welding robot welding line automatic tracking method |
-
2019
- 2019-07-25 CN CN201910674159.4A patent/CN110434512A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101690989A (en) * | 2009-09-28 | 2010-04-07 | 昆山华恒工程技术中心有限公司 | Welding seam tracking method of arc oscillation welding seam tracking robot |
| CN102430841A (en) * | 2011-08-26 | 2012-05-02 | 昆山工研院工业机器人研究所有限公司 | Arc welding robot laser vision seam tracking control method based on offline planning |
| CN102699489A (en) * | 2012-06-28 | 2012-10-03 | 昆山工研院工业机器人研究所有限公司 | Method and system allowing robot to be self-adaptive to width of groove weld |
| CN102699489B (en) * | 2012-06-28 | 2014-12-31 | 昆山工研院工业机器人研究所有限公司 | Method and system allowing robot to be self-adaptive to width of groove weld |
| CN105618898A (en) * | 2016-03-21 | 2016-06-01 | 江门健维自动化设备有限公司 | Intelligent line welding method |
| CN105834557A (en) * | 2016-05-27 | 2016-08-10 | 廊坊智通机器人***有限公司 | Straight-line welding seam off-line tracking method for arc welding robot welding |
| CN106216927A (en) * | 2016-08-31 | 2016-12-14 | 斯图加特航空自动化（青岛）有限公司 | Across gantry tank body robot welding system |
| CN109719438A (en) * | 2017-10-31 | 2019-05-07 | 无锡威卓智能机器人有限公司 | A kind of industrial welding robot welding line automatic tracking method |
| CN108453356A (en) * | 2018-03-29 | 2018-08-28 | 江苏新时代造船有限公司 | A kind of complexity Zhong Zuli robots compression arc MAG welding methods |
| CN109277668A (en) * | 2018-11-06 | 2019-01-29 | 高建路 | A kind of thin plate curved arc part overlap joint continuous welding device and implementation |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111318782A (en) * | 2020-03-27 | 2020-06-23 | 陕西丝路机器人智能制造研究院有限公司 | Method for calibrating robot welding gun and laser weld tracking sensor of marine pipe welding machine |
| CN111318782B (en) * | 2020-03-27 | 2021-11-05 | 陕西丝路机器人智能制造研究院有限公司 | Method for calibrating robot welding gun and laser weld tracking sensor of marine pipe welding machine |
| CN111545872A (en) * | 2020-05-14 | 2020-08-18 | 广东美的智能机器人有限公司 | Welding system, welding control method, and computer-readable storage medium |
| CN113385869A (en) * | 2021-07-26 | 2021-09-14 | 武汉理工大学 | Robot welding equipment for large square lattice component based on machine vision and welding seam positioning method |
| CN113634964A (en) * | 2021-08-25 | 2021-11-12 | 武汉理工大学 | Gantry type robot welding equipment and welding process for large-sized component |
| CN114273757A (en) * | 2022-02-14 | 2022-04-05 | 山东汉华工业设备有限公司 | Automatic welding seam tracking device for heat exchanger |
| CN114670215A (en) * | 2022-03-30 | 2022-06-28 | 江南造船(集团)有限责任公司 | Method and device for robot automatic welding ship assembly based on visual identification |
| CN115988866A (en) * | 2023-03-21 | 2023-04-18 | 深圳市利和兴股份有限公司 | NFC LAMI processing control method and system based on machine vision |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110434512A (en) | A kind of length of hull weld seam real-time tracking welding system based on gantry and robot | |
| CN101791750B (en) | Robot remote control welding system and method used for remote welding | |
| CN102009275B (en) | Automatic welding system for rack and base of marine diesel engine | |
| CN202607049U (en) | Wheeled autonomously-moving welding robot control system with function of image monitoring | |
| CN101770710A (en) | Laser-vision sensing assisted remote teaching method for remote welding | |
| CN106238969A (en) | Non-standard automatic welding system of processing based on structure light vision | |
| CN101745765A (en) | Man-machine collaboration shared control remote welding method | |
| CN103192165A (en) | Visual-tracking based six-degree-of-freedom welding robot | |
| CN104785958B (en) | A kind of cryogenic tank outer member robot welding workstation | |
| JP2004174709A (en) | Method and device for machining workpiece | |
| CN205650975U (en) | Non - tender automation of welding system of processing based on structured light vision | |
| CN106671079A (en) | Motion control method for welding robot in coordination with positioner | |
| CN203791807U (en) | Welding robot | |
| CN214721334U (en) | Box girder multilayer multichannel vision imaging automatic welding system | |
| CN110076569B (en) | Welding and welding pre-and-post-treatment integrated equipment and treatment method | |
| CN109834373A (en) | A kind of view-based access control model and the automation submerged arc soldering equipment of laser tracking | |
| CN115070294A (en) | Gantry double-arm welding robot trajectory planning research method | |
| CN213033858U (en) | Multilayer multichannel welding set based on vision characterization | |
| CN113664431A (en) | Steel structural part welding arm capable of adjusting posture in real time and adjusting method | |
| CN108817614A (en) | A kind of arc welding robot weld joint tracking attitude adjusting method | |
| CN206366785U (en) | Railway frog intelligence welding robot | |
| CN214291574U (en) | Automatic tracking welding device for corrugated plate of robot carriage plate | |
| CN207593022U (en) | A kind of view-based access control model and the automation submerged arc soldering equipment of laser tracking | |
| CN111590165B (en) | Ship assemblage plate welding robot based on remote correction and welding method | |
| CN212218498U (en) | Ship assembling plate frame structure welding robot based on remote correction |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| 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: 20191112 |
|
| WD01 | Invention patent application deemed withdrawn after publication |