CN207205613U - A kind of welding system of the abnormal workpieces of view-based access control model extraction - Google Patents
A kind of welding system of the abnormal workpieces of view-based access control model extraction Download PDFInfo
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- CN207205613U CN207205613U CN201721040029.8U CN201721040029U CN207205613U CN 207205613 U CN207205613 U CN 207205613U CN 201721040029 U CN201721040029 U CN 201721040029U CN 207205613 U CN207205613 U CN 207205613U
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- industrial robot
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Abstract
A kind of welding system for the abnormal workpieces that the utility model extracts for disclosing view-based access control model, including：Industrial robot, laser sensor, motion controller, two axle positioners, the welding gun for being arranged on the industrial robot end, the work piece holder being arranged on the two axles positioner, described laser sensor are used to continuously scan weld seam；Described motion controller is used for the motion of the synchronized Coordinative Control industrial robot and positioner.The problems such as workload is big, efficiency is low when the utility model solves existing abnormal workpieces by teaching programming progress weld job.
Description
Technical field
Utility model is related to industrial robot application field, more particularly to a kind of weldering of the abnormal workpieces of view-based access control model extraction
Welding system.
Background technology
In robot automation's welding application field of abnormal workpieces, generally use teaching is much put using off-line programing
Method carries out industrial robot weld job, and the path accuracy so welded is poor, and usually because robotic gun is not at
Optimal welding posture influences the quality of welding.
Utility model content
The purpose of this utility model is overcome the deficiencies in the prior art, there is provided a kind of special-shaped work of view-based access control model extraction
The welding system of part, it is intended to solve the problem of existing automation weld joint recognition method efficiency is low, and accuracy is low, realize accurate
Abnormal workpieces weld.
Above-mentioned purpose is achieved through the following technical solutions：
A kind of welding system of the abnormal workpieces of view-based access control model extraction, including：Industrial robot, laser sensor, motion
Controller, two axle positioners, the welding gun for being arranged on the industrial robot end, the workpiece being arranged on the two axles positioner
Fixture, described laser sensor are used to continuously scan weld seam；Described motion controller is used for the synchronized Coordinative Control industrial machine
Device people and the motion of positioner.
Further, the artificial six-shaft industrial robot of described industrial machine.
Further, two described axle positioners include rotary shaft and sloping shaft.
Further, in addition to camera support, the laser sensor are fixed on camera support, and the camera support is consolidated
Due to being synchronized with the movement on two axle positioners with the sloping shaft of two axle positioners.Camera coordinates system and robot base can so be kept
Coordinate system relative position keeps constant, simplifies the calculating of Coordinate Conversion.
Compared with prior art, the utility model is used as the outside axle of six-shaft industrial robot by two axle positioners, with logical
The linkage for crossing outside axle and robot reaches optimal welding welding position and welding posture, solves existing abnormal workpieces and is compiled by teaching
The problems such as workload is big during Cheng Jinhang weld jobs, efficiency is low, the calculating of Coordinate Conversion is simplified, improve the track essence of welding
Degree and quality.
Brief description of the drawings
Fig. 1 is the welding system schematic diagram of the abnormal workpieces of view-based access control model extraction.
Shown in figure：1- industrial robots；2- camera supports；3- laser sensors；4- work piece holders；The axles of 5- two conjugate
Machine；6- welding guns.
Embodiment
The utility model is described further with specific embodiment below in conjunction with the accompanying drawings.
Embodiment one
As described in Figure 1, a kind of welding system of the abnormal workpieces of view-based access control model extraction, including：Industrial robot 1, camera
Support 2, laser sensor 3, motion controller, two axle positioners 5, the welding gun 6 for being arranged on the end of industrial robot 1, set
The work piece holder 4 on the two axles positioner 5 is put, described laser sensor 3 is used to continuously scan weld seam；Described motion
Controller is used for the motion of the synchronized Coordinative Control industrial robot 1 and positioner 5.Described industrial robot 1 is six-shaft industrial
Robot.Two described axle positioners 5 include rotary shaft and sloping shaft.The laser sensor 3 is fixed on camera support 2,
The camera support 2 is fixed on two axle positioners 5 to be synchronized with the movement with the sloping shaft of two axle positioners 5.Phase can so be kept
Machine coordinate system keeps constant with robot basis coordinates system relative position, simplifies the calculating of Coordinate Conversion.Abnormal workpieces pass through work
Part fixture 4 is fixed in positioner rotary shaft, with the rotation of two axle positioner rotary shafts and sloping shaft to reach optimal welding
Position and posture.
Embodiment two
A kind of welding method of the welding system of the abnormal workpieces extracted based on described view-based access control model, including following step
Suddenly：
S1, using 5 standardizations of positioner, calibrate the basis coordinates system of two axle positioners 5 relative to industrial robot base
Relative pose transition matrix relation between 5 two axles of the transition matrix of coordinate system and two axle positioners；
S2,8 points are taken on the surface of the workpiece, by least square method, calibrate laser sensor coordinate system relative to work
The transition matrix of industry robot basis coordinates system；
S3, the position for adjusting industrial robot 1 and posture, make laser sensor 3 be in the default optimum bit of scanning weld seam
Put, both allowed weld seam to be in the efficient working range of laser sensor 3, ensure again during continuously scanning weld seam, it is special-shaped
The position that workpiece will not interfere with laser sensor 3；
S4, make laser sensor sweep 3 to retouch abnormal workpieces, the characteristic point of weld seam extracted from the scanning result of laser sensor 3,
And calculate the abnormal workpieces profile coordinate points under laser sensor coordinate system；
S5, by Coordinate Conversion, calculate position and posture of the abnormal workpieces profile point under robot basis coordinates system；
S6, using nurbs curve, fitting abnormal workpieces profile point obtains the parametric equation expression of abnormal workpieces contour curve
Formula；
S7, according to the speed of welding of welding process requirement, acceleration and acceleration requirement, use trapezoidal acceleration and deceleration curves
Planing method carries out the acceleration and deceleration motion planning and interpolation of whole welding process, obtains discrete interpolated point；
S8, according to the pose of discrete interpolated point, the two axle positioners 5 calibrated basis coordinates system relative to industrial machine
Relative pose transition matrix relation between 5 two axles of the transition matrix of people's basis coordinates system and two axle positioners, calculates two in real time
The sloping shaft of axle positioner 5 and the corner of rotary shaft；
S9, the synchronous synergetic motion for carrying out the axle positioner 5 of industrial robot 1 and two, complete the full mistake of abnormal workpieces welding
Journey.
Above-described embodiment of the present utility model is only intended to clearly illustrate the utility model example, and is not
Restriction to embodiment of the present utility model.For those of ordinary skill in the field, on the basis of described above
On can also make other changes in different forms.There is no necessity and possibility to exhaust all the enbodiments.
All made within spirit of the present utility model and principle all any modification, equivalent and improvement etc., should be included in this reality
Within new scope of the claims.
Claims (4)
- A kind of 1. welding system of the abnormal workpieces of view-based access control model extraction, it is characterised in that including：Industrial robot (1), laser Sensor (3), motion controller, two axle positioners (5), the welding gun (6) for being arranged on the industrial robot (1) end, setting Work piece holder (4) on the two axles positioner (5), described laser sensor (3) are used to continuously scan weld seam；Described Motion controller is used for the motion of the synchronized Coordinative Control industrial robot (1) and positioner (5).
- 2. the welding system of the abnormal workpieces of view-based access control model extraction according to claim 1, it is characterised in that described work Industry robot (1) is six-shaft industrial robot.
- 3. the welding system of the abnormal workpieces of view-based access control model extraction according to claim 1, it is characterised in that described two Axle positioner (5) includes rotary shaft and sloping shaft.
- 4. the welding system of the abnormal workpieces of view-based access control model extraction according to claim 3, it is characterised in that also including phase Machine support (2), the laser sensor (3) are fixed on camera support (2), and the camera support (2) is fixed on the displacement of two axles It is synchronized with the movement on machine (5) with the sloping shaft of two axle positioners (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721040029.8U CN207205613U (en) | 2017-08-18 | 2017-08-18 | A kind of welding system of the abnormal workpieces of view-based access control model extraction |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721040029.8U CN207205613U (en) | 2017-08-18 | 2017-08-18 | A kind of welding system of the abnormal workpieces of view-based access control model extraction |
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| CN207205613U true CN207205613U (en) | 2018-04-10 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107378324A (en) * | 2017-08-18 | 2017-11-24 | 华南理工大学 | A kind of welding system and method for the abnormal workpieces of view-based access control model extraction |
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2017
- 2017-08-18 CN CN201721040029.8U patent/CN207205613U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107378324A (en) * | 2017-08-18 | 2017-11-24 | 华南理工大学 | A kind of welding system and method for the abnormal workpieces of view-based access control model extraction |
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