CN112620989A - Automatic welding method based on three-dimensional visual guidance - Google Patents
Automatic welding method based on three-dimensional visual guidance Download PDFInfo
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- CN112620989A CN112620989A CN202011255193.7A CN202011255193A CN112620989A CN 112620989 A CN112620989 A CN 112620989A CN 202011255193 A CN202011255193 A CN 202011255193A CN 112620989 A CN112620989 A CN 112620989A
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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
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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- 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
- B25J9/1679—Programme controls characterised by the tasks executed
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- 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
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Abstract
The invention discloses an automatic welding method based on three-dimensional visual guidance, which is characterized in that a robot is combined with a three-dimensional scanner to obtain three-dimensional structure information of a workpiece to be machined, so that the position to be welded of the workpiece and the machining posture of the robot, namely the spatial three-dimensional position of a weld joint to be machined of the workpiece, are obtained, and the robot is directly guided to carry out welding work according to the obtained position to be welded.
Description
Technical Field
The invention relates to the technical field of intelligent manufacturing, in particular to an automatic welding method based on three-dimensional visual guidance.
Background
The welding work has high technical requirements on personnel, severe working environment, strong light, radiation, smoke dust and the like, and the health of the personnel is damaged. In the field of batch processing, robot welding is introduced to replace manual work. However, in the current automatic welding technology, a preset part is welded based on machine programming, and a small-range welding seam tracking and welding can be realized by matching a welding seam tracking system with a specific jig. In the related art, most of automatic welding technologies relate to robot programming, cannot flexibly adapt to workpiece change, and cannot be applied to small-batch production.
Disclosure of Invention
The invention aims to solve at least one of the problems in the prior related art to a certain extent, and therefore, the invention provides an automatic welding method based on three-dimensional visual guidance, which is simple and feasible, and guides a robot through a three-dimensional visual system so as to realize automation of processing different workpieces.
The above purpose is realized by the following technical scheme:
an automatic welding method based on three-dimensional visual guidance comprises at least one three-dimensional scanner and a data processor, wherein the three-dimensional scanner scans an external workpiece to feed back information obtained by scanning to the data processor, the data processor processes the received information and controls an external robot to work correspondingly according to the processing result, and the automatic welding method comprises the following steps:
after the workpiece to be processed is conveyed to a feeding station;
scanning the workpiece through the three-dimensional scanner to obtain three-dimensional information of the workpiece, and feeding back the scanned information to the data processor;
processing the received data through the data processor to generate welding information of the current workpiece, and sending the generated welding information to the robot;
and the robot performs welding work on the workpiece according to the issued welding information.
In some embodiments, when the number of the three-dimensional scanners is multiple, the step of scanning the workpiece by the three-dimensional scanner to obtain the three-dimensional information of the workpiece specifically includes:
and the three-dimensional scanners scan the workpiece to acquire the three-dimensional information of the workpiece under the current view angles of the three-dimensional scanners.
In some embodiments, the step of acquiring three-dimensional information of the workpiece at a current view angle of the plurality of three-dimensional scanners further comprises:
acquiring three-dimensional information of the workpieces under the current view angles of the three-dimensional scanners;
feeding back the acquired three-dimensional information of the workpieces to the data processor;
and splicing and processing the received data through the data processor to obtain complete three-dimensional structural information of the workpiece.
In some embodiments, the processing, by the data processor, the received data to generate welding information of the current workpiece, and the sending the generated welding information to the robot specifically includes:
acquiring three-dimensional structure information of the workpiece according to the three-dimensional information of the workpiece;
analyzing the acquired three-dimensional structure information to acquire the current position to be welded of the workpiece;
and automatically generating the welding information of the current workpiece according to the obtained position to be welded of the workpiece and the three-dimensional structure information of the workpiece, and sending the generated welding information to the robot.
In some embodiments, the step of conveying the workpiece to be processed to the loading station specifically includes:
and fixing the workpiece to be machined on the feeding station in a proper posture to finish feeding work.
In some embodiments, the fixture is used for bearing the workpiece to be processed.
Compared with the prior art, the invention at least comprises the following beneficial effects:
1. the automatic welding method based on the three-dimensional visual guidance is simple and feasible, and the robot is guided by the three-dimensional visual system, so that the automation of processing different workpieces is realized.
2. It can make welding speed promote by a wide margin, effectively reduces welding workman's work load simultaneously.
Drawings
Fig. 1 is a schematic flow chart of an automatic welding method according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of the claims of the present invention.
The first embodiment is as follows:
as shown in fig. 1, the present embodiment provides an automatic welding method based on three-dimensional visual guidance, in which a robot is combined with a three-dimensional scanner to obtain three-dimensional structure information of a workpiece to be machined, so as to obtain a position to be welded of the workpiece and a machining posture of the robot, that is, a spatial three-dimensional position of a weld to be machined of the workpiece, and further directly guide the robot to perform welding according to the obtained position to be welded, so that other auxiliary welding devices are not required.
In this embodiment, the automatic welding system includes at least one three-dimensional scanner and a data processor, where the three-dimensional scanner scans an external workpiece to feed back information obtained by scanning to the data processor, the data processor processes the received information and controls an external robot to perform corresponding work according to a processing result, the number of the three-dimensional scanners in this embodiment is one or more, and preferably, the number of the three-dimensional scanners is multiple, so as to expand a scanning range of the workpiece, facilitate processing of multiple positions of the workpiece at a time after the workpiece is fixed, after the multiple three-dimensional scanners start working according to an instruction, scan and identify the workpiece to be processed to obtain three-dimensional information of the workpiece at a current view angle of each three-dimensional scanner, then collect the obtained multiple three-dimensional information of the workpiece on the data processor, and splice and process the multiple three-dimensional information through the data processor to obtain a complete three-dimensional structure information of the workpiece The welding position of the current workpiece is obtained according to the three-dimensional structure information, the external robot is controlled to weld the workpiece according to the obtained position to be welded of the workpiece and the three-dimensional structure information of the workpiece, the complete three-dimensional structure information is relatively complete in the embodiment, namely the position of all the characteristics to be machined is included, in addition, the welding position control device further comprises a jig used for bearing the workpiece to be machined, the jig can be a general jig and can also be a specific jig, of course, in order to further improve the production cost of products, the jig is preferably a general jig, so that the same jig can bear different workpieces, the welding operation can be completed without the specific jig and without accurately fixing or aligning the workpiece, and the dependence of the feeding operation on the jig and the professional level is greatly reduced. In this embodiment, the robot is an eye-to-hand robot vision structure, and of course, other more suitable robots may be selected according to actual requirements. The automatic welding system can acquire the welding seam position of the workpiece in real time, does not need special jig equipment, does not need to perform welding related programming on the robot, and supports any number of workpieces to be processed, so that low-cost processing production is realized.
In this embodiment, the automatic welding method specifically includes the following steps:
and S101, conveying the workpiece to be processed to a feeding station.
In this embodiment, the workpiece to be machined is fixed on the feeding station in a proper posture so as to complete feeding work, and in addition, the jig for bearing the workpiece to be machined is a general jig, even if the same jig bears different workpieces.
And step S102, scanning the workpiece through the three-dimensional scanner to obtain three-dimensional information of the workpiece, and feeding back the scanned information to the data processor.
In this embodiment, the three-dimensional scanner is started according to the issued work instruction, the workpiece is scanned by the three-dimensional scanner to obtain the three-dimensional information of the workpiece, and preferably, when the number of the three-dimensional scanners is multiple, the multiple three-dimensional scanners scan the workpiece to obtain the three-dimensional information of the workpiece at the current viewing angles of the multiple three-dimensional scanners, and the three-dimensional information of the respective viewing angles is fed back to the data processor.
And step S103, processing the received data through the data processor to generate welding information of the current workpiece, and sending the generated welding information to the robot.
In this embodiment, the data processor acquires three-dimensional structure information of a workpiece according to the three-dimensional information of the workpiece, analyzes and processes the acquired three-dimensional structure information to acquire a to-be-welded position of the current workpiece, automatically generates welding information of the current workpiece according to the acquired to-be-welded position of the workpiece and the three-dimensional structure information of the workpiece, and issues the generated welding information to the robot, where the welding information includes the to-be-welded position of the workpiece, a processing posture of the robot, and other related information in this embodiment.
In this embodiment, when the number of the three-dimensional scanners is multiple, the multiple three-dimensional scanners feed back three-dimensional information of respective viewing angles to the data processor, the data processor splices and processes the received data to obtain complete three-dimensional structure information of the workpiece, so as to obtain the three-dimensional structure information of the workpiece to be processed in real time, then the data processor performs analysis processing according to the three-dimensional structure information of the workpiece to be processed to obtain a position to be welded of the current workpiece, and accurate welding position information of the current workpiece is automatically obtained, so that the method does not depend on the precision of a jig, the professional operation level of a worker, or other equipment.
And step S104, the robot performs welding work on the workpiece according to the issued welding information.
In the embodiment, the welding information of the current workpiece is automatically generated according to the obtained position to be welded of the workpiece and the three-dimensional structure information of the workpiece, the generated welding information is issued to the robot, the robot executes the received welding information to complete the welding work of the workpiece, so that the robot is not required to be manually programmed, and small-batch, large-batch and different-model workpieces are supported to be operated in a crossed manner, so that the welding speed is greatly increased, the dependence on programming technicians and welding workers is reduced, then the robot performs the welding work on the workpiece according to the issued welding information, and the welding information such as the processing posture is dynamically generated by the data processor, so that different programming works are not required for different workpieces.
What has been described above are merely some embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept thereof, and these changes and modifications can be made without departing from the spirit and scope of the invention.
Claims (6)
1. An automatic welding method based on three-dimensional visual guidance is characterized by comprising at least one three-dimensional scanner and a data processor, wherein the three-dimensional scanner scans an external workpiece to feed back information obtained by scanning to the data processor, the data processor processes the received information and controls an external robot to work correspondingly according to the processing result, and the automatic welding method comprises the following steps:
after the workpiece to be processed is conveyed to a feeding station;
scanning the workpiece through the three-dimensional scanner to obtain three-dimensional information of the workpiece, and feeding back the scanned information to the data processor;
processing the received data through the data processor to generate welding information of the current workpiece, and sending the generated welding information to the robot;
and the robot performs welding work on the workpiece according to the issued welding information.
2. The automatic welding method based on three-dimensional visual guidance according to claim 1, wherein when the number of the three-dimensional scanners is plural, the step of scanning the workpiece by the three-dimensional scanner to obtain the three-dimensional information of the workpiece specifically comprises:
and the three-dimensional scanners scan the workpiece to acquire the three-dimensional information of the workpiece under the current view angles of the three-dimensional scanners.
3. The method according to claim 2, wherein the step of acquiring three-dimensional information of the workpieces from a plurality of current perspectives of the three-dimensional scanner further comprises:
acquiring three-dimensional information of the workpieces under the current view angles of the three-dimensional scanners;
feeding back the acquired three-dimensional information of the workpieces to the data processor;
and splicing and processing the received data through the data processor to obtain complete three-dimensional structural information of the workpiece.
4. The automatic welding method based on the three-dimensional visual guidance according to claim 1, wherein the step of processing the received data by the data processor to generate the welding information of the current workpiece and sending the generated welding information to the robot specifically comprises:
acquiring three-dimensional structure information of the workpiece according to the three-dimensional information of the workpiece;
analyzing the acquired three-dimensional structure information to acquire the current position to be welded of the workpiece;
and automatically generating the welding information of the current workpiece according to the obtained position to be welded of the workpiece and the three-dimensional structure information of the workpiece, and sending the generated welding information to the robot.
5. The automatic welding method based on the three-dimensional visual guidance according to claim 1, wherein the step of conveying the workpiece to be machined to the loading station specifically comprises:
and fixing the workpiece to be machined on the feeding station in a proper posture to finish feeding work.
6. The automatic welding method based on the three-dimensional visual guidance according to any one of claims 1 to 5, characterized by further comprising a jig for carrying the workpiece to be machined.
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| CN202011255193.7A CN112620989A (en) | 2020-11-11 | 2020-11-11 | Automatic welding method based on three-dimensional visual guidance |
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| CN202011255193.7A CN112620989A (en) | 2020-11-11 | 2020-11-11 | Automatic welding method based on three-dimensional visual guidance |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113276107A (en) * | 2021-04-12 | 2021-08-20 | 郑智宏 | Online programming method based on three-dimensional vision |
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| CN102837103A (en) * | 2012-09-14 | 2012-12-26 | 长沙长泰机器人有限公司 | Automatic assembling and welding system based on three-dimensional laser vision |
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| CN113276107A (en) * | 2021-04-12 | 2021-08-20 | 郑智宏 | Online programming method based on three-dimensional vision |
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Application publication date: 20210409 |