CN204965141U - Based on real -time online welding process adjustment system of 3D model - Google Patents
Based on real -time online welding process adjustment system of 3D model Download PDFInfo
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- CN204965141U CN204965141U CN201520625781.3U CN201520625781U CN204965141U CN 204965141 U CN204965141 U CN 204965141U CN 201520625781 U CN201520625781 U CN 201520625781U CN 204965141 U CN204965141 U CN 204965141U
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Abstract
The utility model discloses a based on real -time online welding process adjustment system of 3D model, it is not enough to solve current welding equipment adaptability, the unsatisfactory problem of welding quality. The utility model discloses a mass control system, the sensor that links to each other with mass control system, 3D scanning system, 3D scanning position control system, robot control system, welding control system, 3D scanning position control system link to each other with 3D scanning system. Adopt the utility model discloses a system carries out welding jobs, and its welding quality height, convenience, flexibility, adaptive are strong to can improve product quality, reduction in production cost widely.
Description
Technical field
The utility model belongs to technical field of robot control, is specifically related to a kind of 3D model real-time online welding technology adjustment System.
Background technology
Existing automatic welding device or Intelligent welding device, undertaken preset by product structure, operational method, process conditions before operation, and its welding gear (equipment) is run under Planning Model.In practical work process, welding object and mode shape have deviation, sprocket bit is equipped with the uncertain factors such as deviation, there is the instability of welding quality after causing welding processing operation; For solving the not enough problem of existing equipment adaptivity, the methods such as its relevant auxiliary equipment accuracy requirement is high, dedicated custom pattern, make its system supplymentary cost very high, existing welding gear (device) can only not taken no action to each ring and is carried out accurate positioning programming in operation before operation simultaneously, project portability is not high, the instant versatility of equipment is almost nil, and forms system and be dedicated system or customized production line, can not be satisfied with the multiple batches of need of production of the various a small amount of of current market.
Existing various automatic welding device is feedback mode control, namely performs heat transfer agent according to welding and carries out judging, regulating operating type, parameter etc., not enough for a lot of abnormal conditions process adaptive faculty, causes reliable welding quality undesirable.
Utility model content
The purpose of this utility model is to provide a kind of based on 3D model real-time online welding technology adjustment System, solves existing welding gear adaptive faculty not enough, the problem that welding quality is undesirable.
To achieve these goals, the technical solution adopted in the utility model is as follows:
A kind of based on 3D model real-time online welding technology adjustment System, comprise general control system, the sensor be connected with general control system, 3D scanning system, 3D scanning position control system, robot control system, welding control system, described 3D scanning system is connected with 3D scanning system;
Wherein, general control system is used for the data of receiving sensor transmission, and receive the data of 3D surface sweeping system transfers, and the data received are processed, and to the steering order that robot control system and welding control system, 3D scanning position control system send;
Sensor for detecting the various state of robot in weld job, and by information transmission to general control system;
3D scanning system for gathering image information, and carries out Image semantic classification, then by information transmission to general control system;
3D scanning position control system is for the scanning position of control 3D scanning system;
Robot control system is used for the action movement of control;
Welding control system is for controlling the weld job procedure parameter of welding machine.
What deserves to be explained is, above system can carry out oneself design according to actual conditions, certainly also can from buying on the market, so concrete composition does not repeat at this.
Based on an implementation method for 3D model real-time online welding technology adjustment System, comprise the following steps:
(1) weld job district is carried out online real time scan by 3D scanning system, and scan-data transfers to general control system, and general control system carries out position conversion to scan-data, reconstructs 3D model;
(2) the 3D model reconstructed is mated with pre-designed model, if identical, general control system calculates the controling parameters of output device people, welding machine, and by corresponding parameter transmission to welding control system and robot control system, welding control system controls welding machine and carries out operation, and robot control system control carries out operation;
If different, general control system carries out weld job Selecting parameter, optimization according to the fundamental characteristics of manipulating object, generate working control work data, and send data to welding control system and robot control system welding control system and control welding machine and carry out operation, robot control system control carries out operation.
Further, robot does not stop to change in position in operation, the attitude of 3D scanning system relative activity object also will synchronously change, now, general control system calculates region to be scanned according to operation area data, then director data is transferred to 3D scanning position control system, by 3D scanning position control system control 3D scanning system adjustment position and attitude.
Again further, when specifically welding: when welding machine and workpiece distance reach setting value, sensor sends welding enabling signal to general control system, and general control system sends instruction to welding control system, welding control system controls welding machine and carries out work.
The utility model compared with prior art, has the following advantages and beneficial effect:
Adopt system of the present utility model to carry out weld job, its welding quality is high, convenient, flexible, adaptivity is strong, and can improve the quality of products widely, reduce production cost.
Accompanying drawing explanation
Fig. 1 is system chart of the present utility model.
Embodiment
Below in conjunction with drawings and Examples, the utility model is described in further detail, and embodiment of the present utility model includes but not limited to the following example.
Embodiment
As shown in Figure 1, a kind of based on 3D model real-time online welding technology adjustment System, a kind of based on 3D model real-time online welding technology adjustment System, comprise general control system, the sensor be connected with general control system, 3D scanning system, 3D scanning position control system, robot control system, welding control system, described 3D scanning position control system is connected with 3D scanning system;
Wherein, general control system is used for the data of receiving sensor transmission, and receive the data of 3D scanning system transmission, and the data received are processed, and to the steering order that robot control system and welding control system, 3D scanning position control system send;
Sensor for detecting the various state of robot in weld job, and by information transmission to general control system;
3D scanning system for gathering image information, and carries out Image semantic classification, then by information transmission to general control system;
3D scanning position control system is for the scanning position of control 3D scanning system;
Robot control system is used for the action movement of control;
Welding control system is for controlling the weld job procedure parameter of welding machine.
As a kind of optimal way, robot control system is containing Robot Motion Controller, driver, scrambler, Robot Motion Controller receives the various motion control instruction of general control system, calculating decomposes each axle motion control, perform simultaneously and send Motor execution instruction to driver, scrambler is connected with driver, after driver receives motion controller instruction, perform motor drive, and the position rreturn value of received code device, in real time to motor operation status adjustment, whole system is made to form closed-loop control.
3D scanning position control system contains annular location governor motion, robot end's job content, attitude, running orbit difference in operation process, robot end 3D scanning system is planned relatively, and the relative position and attitude of operation track is also different, the quality of data produced in data scanning process is also variant, this system calculates 3D scanning system optimum posture according to planning working path and current robot end state, makes the working path followed the tracks of by scanning area in planning.
3D scanning system comprises laser instrument, CCD camera, optical filter and image pick-up card; After CCD camera imaging, image pick-up card gathers corresponding image information, and carry out Image semantic classification, then by information transmission to general control system, general control system carries out weld seam recognition to after view data transfer reconstruction model, extract required weld information, after general control system process, weld information is transferred to driver and the welding machine of robot.CCD camera perpendicular alignmnet workpiece, laser deflection is arranged, the laser that laser instrument is got is mapped on workpiece through the illumination of post lens forming a slice, form the light belt of a narrower in width, after this light belt to be reflected by workpiece or reflects, the light of the specific wavelength that laser instrument sends is retained through optical filter, and the light of other wavelength of filtering, finally enter CCD camera imaging.The workpiece in the vertical direction degree of depth is different, therefore looks from the direction of vertical workpiece, and reflected light becomes a broken line, and broken line reflects each processed three-dimensional position relation.
General control system is calculated as the control system of hardware platform by industry, by system coordination controlling functions, the Point Cloud Processing function that 3D scanning system produces, 3D model reconstruction function, 3D rendering contrast recognition function, the module compositions such as the data-optimized function of welding parameter, the data that 3D Point Cloud Processing produces according to 3D scanning system are converted to cartesian coordinate system cloud data in conjunction with current robot attitude and 3D scanning system attitude, real-time 3D model is generated again by model reconstruction function, contrast according to the 3D aspect of model generated and weld job content characteristic, generate new job content and carry out welding parameter and path optimization by welding parameter optimizational function again, then robot and welding machine execution is transferred to.
The utility model adopts the said equipment to form distributed AC servo system pattern, has the advantage that system responses is quick, information processing capability is strong, easy to operate.Can adjust in real time it, the feedback processing of the weld pool resonance of butt welded seam, thus improve the dirigibility of welding robot, stability and accuracy.Laser instrument and sensor can ensure the high-precision motion of welding machine, improve the welding quality of weld seam.
The concrete methods of realizing of adjustment System of the present utility model is as follows:
Robot is planned path, operation area and operational feature by man-machine delivery system before operation, and setting manipulating object basic parameter characteristic is as material, welding condition, theoretical 3D model, welding feedback mode control etc.
Before robot performs welding, by the 3D scanning system be arranged in robot, weld job district is carried out prescan part, analyze region to be scanned relative position according to robot current end position, working space track, 3D scanning system current location, regulated by the position of 3D scanning position control system to 3D scanning system in scanning process, make scanning collection to point data have more specific aim.
Scan-data is transferred to general control system by 3D scanning system, and general control system carries out position conversion to scan-data, reconstructs cartesian coordinate system 3D model.General control system mates with the model of pre-designed operation according to the 3D model of reconstruct, the degree of depth, angle, position deviation, material surface etc. for weld job in model contrast, weld job Selecting parameter, optimization is carried out according to the fundamental characteristics of manipulating object, production working control work data by system.
What deserves to be explained is, welding condition, motion planning and robot control track, speed, end welding machine attitude etc., by industrial bus communication modes, are performed data, are sent to each executive control system by general control system.
In addition, when welding machine and workpiece distance reach setting value, sensor sends welding enabling signal to general control system, general control system sends instruction to welding control system, welding control system controls welding machine and carries out work, after welding starts, sensor is according to the distance of welding wire distance workpiece, and the attitude of butt welding machine swings carries out auxiliary control; Simultaneously according to the feedback information such as electric current, voltage during welding, be transferred to general control system, carry out computing by general control system according to current information and execution parameter, calculate the Optimal Parameters made new advances and carry out closed-loop control, to ensure optimum welding quality.
According to above-described embodiment, just the utility model can be realized well.What deserves to be explained is; under prerequisite based on said structure design; for solving same technical matters; even if some making on the utility model are without substantial change or polishing; the essence of the technical scheme adopted is still the same with the utility model, therefore it also should in protection domain of the present utility model.
Claims (1)
1. one kind based on 3D model real-time online welding technology adjustment System, it is characterized in that, comprise general control system, the sensor be connected with general control system, 3D scanning system, 3D scanning position control system, robot control system, welding control system, described 3D scanning system is connected with 3D scanning system;
Wherein, general control system is used for the data of receiving sensor transmission, and receive the data of 3D scanning system collect and transmit, and the data received are processed, and to the steering order that robot control system and welding control system, 3D scanning position control system send;
Sensor for detecting the various state of robot in weld job, and by information transmission to general control system;
3D scanning system for gathering image information, and carries out Image semantic classification, then by information transmission to general control system;
3D scanning position control system is for the scanning position of control 3D scanning system;
Robot control system is used for the action movement of control;
Welding control system is for controlling the weld job procedure parameter of welding machine.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520625781.3U CN204965141U (en) | 2015-08-19 | 2015-08-19 | Based on real -time online welding process adjustment system of 3D model |
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| CN201520625781.3U CN204965141U (en) | 2015-08-19 | 2015-08-19 | Based on real -time online welding process adjustment system of 3D model |
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| CN204965141U true CN204965141U (en) | 2016-01-13 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105729001A (en) * | 2016-05-05 | 2016-07-06 | 深圳爱易瑞科技有限公司 | Welding machine control system operating machine |
| CN108568624A (en) * | 2018-03-29 | 2018-09-25 | 东风贝洱热***有限公司 | A kind of mechanical arm welding system and welding method based on image procossing |
| CN109154809A (en) * | 2016-03-16 | 2019-01-04 | 通快机床两合公司 | Production programming system and method |
| CN109849019A (en) * | 2019-04-04 | 2019-06-07 | 北京卫星制造厂有限公司 | A kind of multirobot processing method for turning round class formation part |
| CN114193046A (en) * | 2022-01-18 | 2022-03-18 | 太原科技大学 | Intelligent welding robot communication control method and system |
-
2015
- 2015-08-19 CN CN201520625781.3U patent/CN204965141U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109154809A (en) * | 2016-03-16 | 2019-01-04 | 通快机床两合公司 | Production programming system and method |
| CN105729001A (en) * | 2016-05-05 | 2016-07-06 | 深圳爱易瑞科技有限公司 | Welding machine control system operating machine |
| CN108568624A (en) * | 2018-03-29 | 2018-09-25 | 东风贝洱热***有限公司 | A kind of mechanical arm welding system and welding method based on image procossing |
| CN109849019A (en) * | 2019-04-04 | 2019-06-07 | 北京卫星制造厂有限公司 | A kind of multirobot processing method for turning round class formation part |
| CN109849019B (en) * | 2019-04-04 | 2021-02-05 | 北京卫星制造厂有限公司 | Multi-robot machining method for rotary structural member |
| CN114193046A (en) * | 2022-01-18 | 2022-03-18 | 太原科技大学 | Intelligent welding robot communication control method and system |
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| C14 | Grant of patent or utility model | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160113 Termination date: 20180819 |
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| CF01 | Termination of patent right due to non-payment of annual fee |