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Robot remote control welding system and method used for remote welding

A remote welding and welding system technology, applied in welding equipment, auxiliary welding equipment, welding/cutting auxiliary equipment, etc., can solve the problems of high real-time requirements, poor visual feedback of remote welding, poor adaptability of remote welding, etc., to achieve Good adaptability, high real-time requirements, and the effect of reducing workload

Inactive Publication Date: 2012-06-06
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problems of high real-time requirements of the welding process in the current remote control welding, poor adaptability of remote control welding by autonomous control, poor visual feedback of remote control welding and low versatility of the system for welding tasks. A robot remote welding system and method for remote welding

Method used

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  • Robot remote control welding system and method used for remote welding
  • Robot remote control welding system and method used for remote welding
  • Robot remote control welding system and method used for remote welding

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specific Embodiment approach 1

[0011] Specific implementation mode 1: Combination figure 1 with figure 2 To explain this embodiment, the system of this embodiment consists of a macro vision display 1, a central monitoring man-machine interface 2, a spatial mouse 4, liquid crystal shutter glasses 5, a stereo vision display 6, an industrial Ethernet 7, a robot controller 8, and laser vision control. Consisting of the device 9, the robot 10, the working platform 11, the first controllable PTZ 12, the binocular camera 13, the second controllable PTZ 15, the macro zoom camera 16, the welding gun 17, the laser vision sensor working head 18 and the welding power source 19 , The spatial mouse 4 is connected to the central monitoring man-machine interface 2, and the central monitoring man-machine interface 2 is connected to the robot controller 8 through the industrial Ethernet 7, and the liquid crystal shutter glasses 5 are connected to the stereo vision display 6, and The visual display 6 is connected to the binoc...

specific Embodiment approach 2

[0013] Specific implementation manner two: combination figure 1 Describing this embodiment, the robot 10 of this embodiment has six degrees of freedom. The other components and steps are the same as in the first embodiment.

specific Embodiment approach 3

[0014] Specific implementation mode three: combination figure 1 To explain this embodiment, the method of this embodiment is completed by the following steps:

[0015] Step 1: The macro zoom camera 16 collects two-dimensional video images, and transmits the two-dimensional video images to the macro vision display 1 through the industrial Ethernet 7, and the operator 3 adjusts the field of view in the central monitoring man-machine interface 2 at the local end;

[0016] Step 2: The operator 3 operates the space mouse 4 and sends out control commands on the central monitoring man-machine interface 2, which are transmitted to the remote robot controller 8 through the industrial Ethernet 7 to control the movement of the remote robot 10, and the robot 10 guides the welding torch 17 The movement reaches 30-40mm above the weld, and the robot controller 8 transmits the pose matrix of the welding torch 17 to the local central monitoring man-machine interface 2 through the industrial Ethernet...

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Abstract

The invention relates to a robot remote control welding system and a method used for remote welding, which relate to a robot remote control welding system and a method. The invention has the goal of solving the problems that in the existing remote control welding process, the real-time requirement of the welding process is high, the adaptability of the autonomous control remote control welding is low, the visual feedback of the remote welding is poor, and the system universality on welding tasks is low. The system has the technical scheme that a center monitoring human-machine interface is connected with a robot controller, and the robot controller is respectively connected with a laser visual controller, a robot and a welding power supply. The method has the technical scheme that a binocular camera transmits a welding environment image to a three-dimensional visual display, operators obtain the deep information of the remote end environment and guide a welding gun to move to the welding seam starting position, and four work modes: the direct control work mode, the remote control teaching work mode, the laser visual display tracking work mode or the human-machine cooperation sharing control work mode can be respectively adopted for completing the remote control welding. The invention is used for robot remote control welding.

Description

Technical field [0001] The invention relates to a robot remote welding system and method. Background technique [0002] In the underwater construction of marine engineering, the installation and maintenance of nuclear power plants, the formation of future space stations, and the installation, maintenance and repair of equipment in extreme and dangerous environments, welding applications are essential. In these extreme environments, operators cannot directly weld directly on site, and must implement remote welding. Remote welding refers to the remote monitoring and control of welding equipment and welding process based on various sensor information on site in a safe environment far away from the site to complete the welding operation. There is a big difference between remote welding and grab assembly and other remote operations: the real-time requirements of the welding process are high, and the time delay seriously affects the welding quality; there are smoke and arcs in the wel...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23K37/00
Inventor 李海超高洪明张广军吴林
Owner HARBIN INST OF TECH
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