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Arc welding robot control platform with visual welding seam automatic tracing function

An automatic tracking and control platform technology, applied in the direction of arc welding equipment, manipulators, manufacturing tools, etc., can solve problems such as imperfection, lack of openness, and inability to meet the requirements of robot identification and problem handling, and achieve the goal of improving production efficiency Effect

Inactive Publication Date: 2004-07-14
INST OF AUTOMATION CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

There are still many imperfections in the existing visual control system of arc welding robots. They are not open and cannot meet the requirements of robots to identify and deal with problems in unknown environments.

Method used

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  • Arc welding robot control platform with visual welding seam automatic tracing function
  • Arc welding robot control platform with visual welding seam automatic tracing function
  • Arc welding robot control platform with visual welding seam automatic tracing function

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Embodiment

[0029] The control platform through image 3 The circuit shown implements the control of the robot's servo motor, adjustable laser. In the embodiment, an arc welding robot vision platform with visual welding seam automatic tracking function consisting of an industrial robot, an open industrial robot controller, two CCD cameras, a video acquisition card and a laser is built . The industrial computer can use ADVANTECH-610, and the Yaskawa YASKAWA MOTOMAN SK10 robot body can be used as the control object, and the servo package can use the Yaskawa YASKAWA CACR-SR15SZ1SD-Y214 single-axis drive servo package, which is used to drive the S, L, U of the robot. , R, B and T six joints, the camera adopts SONY Digital Hyper HAD color camera (additional filter can be added), the video acquisition card adopts PCI bus OK-C80 / M acquisition card, the laser adopts semiconductor laser (additional filter piece).

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Abstract

The arc welding robot control platform with automatic visual weld seam tracing function includes a controller to control the robot, a robot to weld with the movable welding torch, a computer to calculate the parameters of the robot and control the robot via the controller, a laser to send planar laser beam to the welded workpiece, a CCD camera fixed to end of the robot to obtain the image formed by the planar laser beam to light the welded workpiece and to feed the picked image via video wire to the computer for processing. The present invention has opened structure system and can control various industrial robots, servo controller and video device for different functions.

Description

technical field [0001] The invention relates to a general industrial robot control system, in particular to an arc welding robot control platform with the function of visual welding seam automatic tracking. Background technique [0002] The basic structure of the traditional industrial arc welding robot system is as follows: figure 1 As shown, A1 is the controller, R1 is the industrial robot, H1 is the welding torch, and G1 is the workpiece to be welded. The main working method of this system is teaching and reproduction, that is, before welding, the end welding torch of the robot is manually controlled to move along the weld seam, and the position of each motor track point is recorded during the movement, so as to calculate the weld seam position and Complete welding tasks. One of the disadvantages of this method of operation is that the teaching work is cumbersome and takes up more man-hours. This defect is particularly prominent when the weld seam is relatively irregula...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K9/00B25J11/00
Inventor 谭民徐德梁自泽景奉水顾农陈刚赵晓光涂志国
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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