Real-time Inspection Robotic Welding Device and Application Method for Complex Structural Components

Abstract

This invention relates to a real-time inspection robotic welding device for complex structural components. The steel structural component is located between a first rotating platform and a second rotating platform. A welding robot is placed on the side of the steel structural component and is positioned on a ground rail, capable of moving left and right. The front end of the welding robot is a robotic arm, which includes a vision sensor and a welding torch. The vision sensor is located at the rear end of the welding torch. An industrial control computer controls the movements of the robotic arm. This invention's device can automatically plan the simplest welding path without requiring multiple teaching steps. It is applicable to welding steel structural components with different workpieces and different weld types. This invention also discloses a method for using this device.

Description

Technical Field

[0001] This invention relates to the field of robotic welding, and more specifically to a robotic welding device for real-time inspection of complex structural weldments, which can automatically plan welding paths and improve welding efficiency; this invention also relates to a method of using such welding device. Background Technology

[0002] Existing welding technology relies on trajectory repetition welding robots based on traditional teaching methods. These robots have a simple structure, can work efficiently and stably for extended periods, and represent the most widely used and technologically mature robot control method. However, existing welding robots lack the ability to efficiently perceive weld seam information, requiring extensive manual teaching.

[0003] Existing welding systems rely on pre-set welding paths and parameters for welding tasks. However, in actual welding production, differences in workpieces, fixture deviations, and weld types can lead to the robot needing to be re-taught. The root cause is that traditional welding robots lack the ability to recognize specific changes in weld position. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a robotic welding device and method for real-time inspection of complex structural components.

[0005] This invention uses a vision sensor to detect the position of the weld and identify its trajectory. The spatial coordinate information of the weld is then used to automate the welding process using a welding robot.

[0006] The first objective of this invention is achieved through the following measures: a robotic welding device for real-time detection of complex structural components, characterized in that: it includes a first rotating platform and a second rotating platform arranged at intervals; a steel structural component is located between the first rotating platform and the second rotating platform and placed in a placement hole in the first rotating platform and the second rotating platform; a welding robot is placed on the side of the steel structural component, the steel structural component has weld seams, the welding robot is located on a ground rail and can move left and right on the ground rail, the front end of the welding robot is a robotic arm, the robotic arm includes a vision sensor and a welding torch, the vision sensor is located at the rear end of the welding torch, and an industrial control computer is used to control the movement of the robotic arm.

[0007] In the above technical solution, the welding robot is fixed on the base slide.

[0008] In the above technical solution, the base slide is located on the ground rail.

[0009] The second objective of this invention is achieved through the following measures: a method for using a robotic welding device for real-time inspection of complex structural components, characterized in that the steel structural component is placed between a first rotating platform and a second rotating platform, and a visual sensor scanning path is planned from the welding start point A to the welding end point on the steel structural component through manual teaching. The visual sensor and the industrial control computer then automatically measure the specific spatial position of the weld from the welding end point B to the welding start point A, and convert the measured spatial coordinate data into robotic arm data. Finally, the robot is moved to welding point A' and automatically welds until welding point B' according to the converted robotic arm data, completing one welding cycle.

[0010] In the above technical solution, during the scanning process of the vision sensor, the first rotating platform and the second rotating platform drive the steel structure to rotate, while the welding robot moves left and right on the ground track until the vision sensor has scanned all the welds on the steel structure and converted the measured spatial coordinate data into robot data.

[0011] In the above technical solution, the welding point A' corresponds to the welding start point A, and the welding point B' corresponds to the welding end point B.

[0012] The present invention has the following advantages: (1) The real-time inspection robot welding technology for complex structural parts breaks through the limitations of the traditional welding mode, makes up for the increasing welding demand year by year, improves production efficiency, and perfects the new welding process. (2) The present invention only needs to determine the position from the welding start point A to the welding end point B, and let the vision sensor scan the steel structure between the two rotating platforms in all directions. After the scan is completed, the measured spatial coordinate data is converted into robot data, and the simplest welding path can be automatically planned without multiple teaching. (3) The present invention is applicable to the welding of steel structural parts with different workpieces and different weld types. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of the present invention.

[0014] In the figure: 1. Welding robot, 2. First rotating platform, 3. Ground rail, 4. Second rotating platform, 5. Vision sensor, 6. Industrial computer, 7. Robotic arm, 8. Steel structure component, 9. Placement hole, 10. Weld seam, 11. Welding torch, 12. Base slide. Detailed Implementation

[0015] The following detailed description of the implementation of the present invention is in conjunction with the accompanying drawings. However, these descriptions do not constitute a limitation of the present invention and are merely examples. The advantages of the present invention will become clearer and easier to understand by explaining them.

[0016] See appendix Figure 1It is known that the robotic welding device for real-time detection of complex structural components is characterized by comprising a first rotating platform 2 and a second rotating platform 4 arranged at intervals, with a steel structural component 8 located between the first rotating platform 2 and the second rotating platform 4 and placed within a placement hole 9 in the first rotating platform 2 and the second rotating platform 4; a welding robot 1 is placed on the side of the steel structural component 8, the steel structural component 8 having a weld seam 10, the welding robot 1 being located on a ground rail 11 and capable of moving left and right on the ground rail 11, the front end of the welding robot 1 being a robotic arm 7, the robotic arm 7 including a vision sensor 5 and a welding torch 11, the vision sensor 5 being located at the rear end of the welding torch 11, and an industrial control computer 6 used to control the movement of the robotic arm 7. The welding robot 1 is fixed on a base slide 12. The base slide 12 is located on a ground rail 3.

[0017] Based on the usage method of the robotic welding device for real-time detection of complex structural components, the steel structural component 8 is placed between the first rotating platform 2 and the second rotating platform 4. Through manual teaching, the scanning path of the vision sensor 5 is planned from the welding start point A to the welding end point B on the steel structural component 8. The vision sensor 5 and the industrial control computer 6 then automatically measure the specific spatial position of the weld from the welding end point B to the welding start point A, and convert the measured spatial coordinate data into robot arm data. Finally, the robot 1 is moved to the welding point A' and automatically welds until the welding point B' according to the converted robot arm data, completing one welding cycle.

[0018] During the scanning process of the vision sensor 5, the first rotating platform 2 and the second rotating platform 4 will drive the steel structure 8 to rotate, while the welding robot 1 will move left and right on the ground rail 11 until the vision sensor 5 has completed scanning of all the welds 10 on the steel structure 8 and converts the measured spatial coordinate data into robot arm data.

[0019] The welding point A' corresponds to the welding start point A, and the welding point B' corresponds to the welding end point B.

[0020] The equipment used in the device of this invention includes: 1. Required equipment: welding robot 1, first rotating platform 2, ground rail 3, second rotating platform 4, vision sensor 5, industrial control computer 6, robotic arm 7, steel structural components 8.

[0021] 2. Placement of vision sensor 5: Place vision sensor 5 at the front end of welding robot 1, and ensure that there is no obstruction within the field of view of vision sensor 5. The working distance of vision sensor 5 should be appropriate.

[0022] 3. Welding steps: Place the steel structure component 8 between the first rotating platform 2 and the second rotating platform 4. Through manual instruction, plan the scanning path from the welding start point A to the welding end point B using the vision sensor 5. Then, the welding robot 1 automatically starts from B to A along the planned path to measure the specific spatial position, size, and depth of the weld, and converts the measured spatial coordinate data into data for the robotic arm 7. Finally, move the robot 1 to the welding point A' and automatically weld to the end point B' based on the converted robotic arm data, completing one welding cycle.

[0023] This invention adds an external vision sensor 5 to the welding system and controls the movement of the robotic arm 7 via an industrial control computer. By simply determining the position from the welding start point A to the welding end point B, the vision sensor 5 and the industrial control computer 6 can identify the welding trajectory of the workpiece, record the depth and size of the weld, and plan the welding path. This eliminates the need for secondary manual teaching when welding the same type of workpiece subsequently. This method improves work efficiency and allows for the welding of different types of complex structural components. When welding different types of complex structural components, only one re-teaching is required.

[0024] All other parts not specified are existing technologies.

Claims

1. A method for using a robotic welding device for real-time inspection of complex structural components, characterized in that: The robotic welding device for real-time inspection of complex structural components includes a first rotating platform and a second rotating platform arranged at intervals. A steel structural component is located between the first and second rotating platforms and is placed in a placement hole in the first and second rotating platforms. A welding robot is placed on the side of the steel structural component, which has weld seams. The welding robot is located on a ground rail and can move left and right on the ground rail. The front end of the welding robot is a robotic arm, which includes a vision sensor and a welding torch. The vision sensor is located at the rear end of the welding torch. An industrial control computer is used to control the movement of the robotic arm. The method of use is as follows: the steel structure is placed between the first rotating platform and the second rotating platform. The visual sensor scan path is planned from the welding start point A to the welding end point B on the steel structure through manual teaching. The visual sensor and the industrial control computer then automatically measure the specific spatial position of the weld from the welding end point B to the welding start point A, and convert the measured spatial coordinate data into robot data. Finally, the robot is moved to the welding point A' and automatically welds until the welding point B' according to the converted robot data, thus completing one welding cycle. The welding point A' corresponds to the welding start point A, and the welding point B' corresponds to the welding end point B; During the scanning process of the vision sensor, the first and second rotating platforms drive the steel structure to rotate, while the welding robot moves left and right on the ground track until the vision sensor has completed scanning of all the welds on the steel structure and converts the measured spatial coordinate data into robot data.

2. The method of using the robotic welding device for real-time inspection of complex structural components according to claim 1, characterized in that: The welding robot is fixed on the base slide.

3. The method of using the robotic welding device for real-time inspection of complex structural components according to claim 2, characterized in that: The base slide is located on the ground rail.

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