WO2019184223A1 - 一种棒材标牌焊接方法 - Google Patents
一种棒材标牌焊接方法 Download PDFInfo
- Publication number
- WO2019184223A1 WO2019184223A1 PCT/CN2018/102429 CN2018102429W WO2019184223A1 WO 2019184223 A1 WO2019184223 A1 WO 2019184223A1 CN 2018102429 W CN2018102429 W CN 2018102429W WO 2019184223 A1 WO2019184223 A1 WO 2019184223A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- bar
- welding
- camera
- label
- robot
- Prior art date
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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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
-
- 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
- B23K1/00—Soldering, e.g. brazing, or unsoldering
- B23K1/0008—Soldering, e.g. brazing, or unsoldering specially adapted for particular articles or work
-
- 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
- B23K1/00—Soldering, e.g. brazing, or unsoldering
- B23K1/20—Preliminary treatment of work or areas to be soldered, e.g. in respect of a galvanic coating
-
- 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
-
- 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
Definitions
- the invention relates to the field of automation equipment, in particular to a bar label welding method.
- the present invention achieves the above objects by the following technical solutions, including the following steps:
- the laser range finder measures the distance between the robot and the bar, and combines with the plane coordinates obtained by the camera to determine the spatial coordinates of the end face of the bar, and the robot performs the welding sign.
- the computer vision analysis software notifies the computer that the welding fails, the computer selects other welding points, and the robot performs welding.
- step 2) since each bundle of bars has a plurality of bars, the bar in the middle of the field of view of the camera is selected to perform positioning plane coordinates, thereby avoiding excessive positioning error due to the change of the front end of the bar end face during the positioning process. , beyond the acceptable range of positioning errors.
- the utility model has the beneficial effects of the welding method of the bar signage: compared with the existing welding signage technology, the invention determines the welding position of the sign by visual positioning, reduces the labor and safety hazards, and the welding of the sign is regular, and the welding is more robust than the manual random welding. Fall off.
- the bar label welding method provided by the invention locates the bar in the bar bundle at the bar assembly line labeling position once, and includes the following steps:
- the laser range finder measures the distance between the robot and the bar, and determines the spatial coordinates of the end face of the bar in combination with the plane coordinates obtained by the camera, and the robot performs the welding sign;
- the computer vision analysis software notifies the computer that the welding fails, the computer selects other welding points, and the robot performs welding.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Laser Beam Processing (AREA)
Abstract
一种棒材标牌焊接方法,包括以下步骤:对棒材捆中棒材采用倾斜光打光的方式将未对齐的棒材从图像中滤除;采用相机确定棒材的平面坐标,采用激光测距仪测量棒材的深度,然后得到棒材的空间坐标;计算机确定棒材上的标牌焊接点,机器人移动到相应位置;激光测距仪测量出机器人和棒材之间的距离,与相机得到的平面坐标结合确定棒材端面的空间坐标,机器人进行焊接标牌。本焊接方法通过视觉定位,确定标牌焊接位置,减少人工和安全隐患,标牌焊接规整,更加坚固难脱落。
Description
本发明涉及自动化设备领域,具体是一种棒材标牌焊接方法。
随着经济和科技的发展,在工业生产中自动化设备的运用越来越广泛,如何完成一些需要定位的自动化项目,需要检测装备将位置信息测量出来传给***。
发明内容
本发明的目的是提供一种棒材标牌焊接方法。
本发明通过如下技术方案实现上述目的,包括以下步骤:
1)在棒材流水线焊标牌处,在棒材端部定位过程中要克服棒材捆位置前后变化带来的定位精度下降的影响,同时为克服棒材捆对齐过程中的部分棒材未对齐收缩在整捆棒材当中,对棒材捆中棒材采用倾斜光打光的方式将未对齐的棒材从图像中滤除;
2)采用相机确定棒材的平面坐标,采用激光测距仪测量棒材的深度,然后得到棒材的空间坐标;所给定的坐标要进行检测,防止坐标之间位置过近,造成焊标牌过程中在焊完一个标牌后,标牌挡住别的坐标,无法焊接别的标牌;
3)计算机确定棒材上的标牌焊接点,机器人移动到相应位置;
4)激光测距仪测量出机器人和棒材之间的距离,与相机得到的平面坐标结合确定棒材端面的空间坐标,机器人进行焊接标牌。
作为改进,还包括以下步骤:
5)采用计算机视觉分析软件通过相机拍照判断标牌是否焊上;
6)对于焊接失败的,计算机视觉分析软件通知计算机焊接失败,计算机选择其他标牌焊接点,机器人进行焊接。
作为改进,在步骤2)中,由于每捆棒材有多根棒材,选定相机视野中间的棒材进行定位平面坐标,避免定位过程中因为棒材端面前后变化总成的定位误差过大,超出定位误差可以接受的范围。
本发明棒材标牌焊接方法有益效果是:与现有焊标牌技术相比,本发明通过视觉定位,确定标牌焊接位置,减少人工和安全隐患,标牌焊接规整,焊接后比人工随意焊接更加坚固难脱落。
本发明提供的棒材标牌焊接方法,在棒材流水线焊标牌处对棒材捆中棒材进行定位一次定位8根,包括以下步骤:
1)对棒材捆中棒材采用倾斜光打光的方式将未对齐的棒材从图像中滤除;
2)选定相机视野中间的棒材进行定位平面坐标,采用激光测距仪测量棒材的深度,然后得到棒材的空间坐标;
3)计算机确定棒材上的标牌焊接点,机器人移动到相应位置;
4)激光测距仪测量出机器人和棒材之间的距离,与相机得到的平面坐标结合确定棒材端面的空间坐标,机器人进行焊接标牌;
5)采用计算机视觉分析软件通过相机拍照判断标牌是否焊上;
6)对于焊接失败的,计算机视觉分析软件通知计算机焊接失败,计算机选择其他标牌焊接点,机器人进行焊接。
以上所述的仅是本发明的一些实施方式。对于本领域的普通技术人员来说,在不脱离本发明创造构思的前提下,还可以做出若干变形和改进,这些都属于本发明的保护范围。
Claims (3)
- 一种棒材标牌焊接方法,其特征在于包括以下步骤:1)在棒材流水线焊标牌处,对棒材捆中棒材采用倾斜光打光的方式将未对齐的棒材从图像中滤除;2)采用相机确定棒材的平面坐标,采用激光测距仪测量棒材的深度,然后得到棒材的空间坐标;3)计算机确定棒材上的标牌焊接点,机器人移动到相应位置;4)激光测距仪测量出机器人和棒材之间的距离,与相机得到的平面坐标结合确定棒材端面的空间坐标,机器人进行焊接标牌。
- 根据权利要求1所述的棒材标牌焊接方法,其特征在于还包括以下步骤:5)采用计算机视觉分析软件通过相机拍照判断标牌是否焊上;6)对于焊接失败的,计算机视觉分析软件通知计算机焊接失败,计算机选择其他标牌焊接点,机器人进行焊接。
- 根据权利要求1或2所述的棒材标牌焊接方法,其特征在于:在步骤2)中,选定相机视野中间的棒材进行定位平面坐标。
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CN201810278201.6A CN108515299A (zh) | 2018-03-30 | 2018-03-30 | 一种棒材标牌焊接方法 |
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Cited By (1)
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CN109677727A (zh) * | 2018-09-30 | 2019-04-26 | 武汉鹏源激光技术有限公司 | 棒、线材贴标方法 |
CN109175805B (zh) * | 2018-10-10 | 2021-07-16 | 上海易清智觉自动化科技有限公司 | 金属线棒材吊牌自动焊接*** |
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CN111055039A (zh) * | 2019-12-31 | 2020-04-24 | 东北大学 | 一种基于机器视觉的成捆棒材标牌焊接*** |
CN111105463B (zh) * | 2019-12-31 | 2024-04-16 | 东北大学 | 一种成捆棒材端面的标牌焊接定位方法 |
CN111618855B (zh) * | 2020-05-27 | 2021-10-08 | 江苏金恒信息科技股份有限公司 | 一种自动挂牌***及方法 |
CN111558791B (zh) * | 2020-05-27 | 2020-10-09 | 江苏金恒信息科技股份有限公司 | 一种自动焊接标牌的方法及装置 |
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