Programming-free welding system based on locator and teaching pen

Abstract

The programming-free welding system comprises the intelligent teaching pen, the high-precision positioning instrument, a welding robot and an automatic control system, the automatic control system is connected with the high-precision positioning instrument, and the automatic control system comprises a visual processing unit, a motion analysis unit and a control unit. An operator draws a welding route on a workpiece by using the intelligent teaching pen, the high-precision positioning instrument captures the motion route of the intelligent teaching pen in real time and records the position information of the workpiece, and the automatic control system analyzes the position information of the workpiece through the visual processing unit. And a welding path planning module in the motion analysis unit further generates a corresponding welding path and welding parameters by combining the captured motion path, and controls the welding robot to perform welding along the path.

Description

Technical Field

[0001] The invention relates to the technical field of welding, in particular to a programming-free welding system based on a locator and a teaching pen. Background Art

[0002] Automated welding technology refers to the use of advanced mechanical equipment and control systems to achieve automation and intelligence of the welding process. This technology has been widely used in modern manufacturing and can significantly improve production efficiency and welding quality.

[0003] Currently, automated welding technology is widely used in industrial manufacturing, usually relying on robot teaching pendants for programming. This method requires operators to have high programming skills, leading to the following problems: complexity, cumbersome programming process, especially when dealing with complex welding paths; low efficiency: long programming and debugging time, affecting production efficiency; high technical threshold: high requirements for the professional skills of operators, increasing training costs.

[0004] Therefore, a programming-free welding system based on a locator and a teaching pen is needed. The system simplifies the welding programming process through intuitive operation and optimizes the welding path through the automatic obstacle avoidance function to achieve high-quality welding. Summary of the invention

[0005] In order to solve the technical problems that the programming process of automated welding technology is cumbersome, especially when dealing with complex welding paths, the programming and debugging time is long, which affects production efficiency, and has high requirements on the professional skills of operators, increasing training costs, the present invention provides a programming-free welding system based on a positioner and a teaching pen.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a programming-free welding system based on a locator and a teaching pen, comprising an intelligent teaching pen, a high-precision locator, a welding robot and an automatic control system;

[0007] A probe is installed on the top of the intelligent teaching pen, and a plurality of groups of positioning balls are distributed on the probe;

[0008] The high-precision locator is a binocular camera composed of two eyes and is arranged on the welding robot to obtain three-dimensional information of the target object;

[0009] The automatic control system is connected to the high-precision locator and includes a visual processing unit, a motion analysis unit and a control unit;

[0010] The visual processing unit also includes a visual algorithm and an image processing module, the motion analysis unit also includes a welding path planning module and a welding parameter adjustment module, and the control unit also includes a weld tracking module, a welding drive module and an automatic obstacle avoidance module.

[0011] Preferably, the high-precision locator simulates the visual principle of human eyes, and the high-precision locator identifies the position of the probe on the smart teaching pen through a positioning ball, so as to capture the movement of the smart teaching pen in real time.

[0012] Preferably, the visual processing unit receives high-definition visual images taken by the binocular camera, calculates the differences between the images taken by the binocular camera through a visual algorithm, extracts image features through an image processing module and analyzes them to obtain depth information of the target object, performs three-dimensional positioning of the welding target object, and transmits its data information to the motion analysis unit in combination with the motion trajectory of the teaching pen.

[0013] Preferably, the motion analysis unit analyzes the received data information through the welding path planning module to generate a three-dimensional model of the weld, and further generates a welding path, the welding path corresponds to welding parameters, and the welding parameter adjustment module is used to manually adjust the welding parameters in real time during the welding process. The motion analysis unit transmits the generated welding path and welding parameters to the weld tracking module in the control unit.

[0014] Preferably, the weld tracking module locates and tracks the welding target object in real time through a high-precision locator, and transmits the three-dimensional information of the tracked target object to the welding drive module. The welding drive module receives the welding path and cooperates with the weld tracking module to control the welding robot to weld along the path.

[0015] Preferably, the welding robot is provided with a visual sensor, and the automatic obstacle avoidance module automatically avoids obstacles during the welding process through the built-in sensing technology and control algorithm of the visual sensor.

[0016] Preferably, when the visual sensor detects the presence of an obstacle, the obstacle is scanned and its influence on the welding path is analyzed in combination with the control algorithm, and the influence result is further fed back to the motion analysis unit.

[0017] Preferably, the motion analysis unit further analyzes and generates new welding paths and welding parameters according to the impact results, and controls the welding robot to continue the welding operation through the welding drive module, thereby realizing programming-free welding.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The operator of the present invention uses an intelligent teaching pen to draw a welding route on the workpiece, and the high-precision locator captures the movement route of the intelligent teaching pen in real time and records the position information of the workpiece. The automatic control system analyzes the position information of the workpiece through the visual processing unit, and further generates the corresponding welding path and welding parameters through the welding path planning module in the motion analysis unit in combination with the captured movement route, and controls the welding robot to weld along the path.

[0020] 2. The present invention uses the built-in sensing technology and control algorithm of the visual sensor through the automatic obstacle avoidance module during the welding process to automatically avoid obstacles during the welding process. When the visual sensor detects the existence of an obstacle, it scans the obstacle and analyzes its impact on the welding path in combination with the control algorithm, and then further feeds back the impact result to the motion analysis unit, which further analyzes and generates new welding paths and welding parameters based on the impact result, and controls the welding robot through the welding drive module to continue the welding operation, thereby realizing programming-free welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of the overall system flow provided by the present invention;

[0022] Figure 2 It is a schematic diagram of the structure of the intelligent teaching pen of the present invention;

[0023] Figure 3 It is a structural schematic diagram of the high-precision locator of the present invention;

[0024] Figure 4 It is a schematic diagram of the structure of the automation control system of the present invention;

[0025] Figure 5 It is a schematic diagram of the automatic obstacle avoidance function flow of the present invention. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] See also Figure 1 - Figure 5 , the present invention provides an embodiment: a programming-free welding system based on a locator and a teaching pen, including an intelligent teaching pen, a high-precision locator, a welding robot and an automatic control system;

[0028] A probe is installed on the top of the intelligent teaching pen, and a plurality of groups of positioning balls are distributed on the probe;

[0029] The high-precision locator is a binocular camera composed of two eyes and is arranged on the welding robot to obtain three-dimensional information of the target object;

[0030] The automatic control system is connected to the high-precision locator and includes a visual processing unit, a motion analysis unit and a control unit;

[0031] The visual processing unit also includes a visual algorithm and an image processing module, the motion analysis unit also includes a welding path planning module and a welding parameter adjustment module, and the control unit also includes a weld tracking module, a welding drive module and an automatic obstacle avoidance module.

[0032] Furthermore, the high-precision locator simulates the visual principle of human eyes, and the high-precision locator identifies the position of the probe on the smart teaching pen through a positioning ball, so as to capture the movement of the smart teaching pen in real time.

[0033] Furthermore, the visual processing unit receives high-definition visual images taken by the binocular camera, calculates the differences between the images taken by the binocular camera through a visual algorithm, extracts image features through an image processing module and analyzes them to obtain depth information of the target object, performs three-dimensional positioning of the welding target object, and transmits its data information to the motion analysis unit in combination with the motion trajectory of the teaching pen.

[0034] Furthermore, the motion analysis unit analyzes the received data information through the welding path planning module to generate a three-dimensional model of the weld, and further generates a welding path. The welding path corresponds to welding parameters. The welding parameter adjustment module is used to manually adjust the welding parameters in real time during the welding process. The motion analysis unit transmits the generated welding path and welding parameters to the weld tracking module in the control unit.

[0035] Furthermore, the weld tracking module locates and tracks the welding target object in real time through a high-precision locator, and transmits the three-dimensional information of the tracked target object to the welding drive module. The welding drive module receives the welding path and cooperates with the weld tracking module to control the welding robot to weld along the path.

[0036] Furthermore, the welding robot is provided with a visual sensor, and the automatic obstacle avoidance module automatically avoids obstacles during the welding process through the built-in sensing technology and control algorithm of the visual sensor.

[0037] Furthermore, when the visual sensor detects the presence of an obstacle, it scans the obstacle and analyzes its impact on the welding path in combination with the control algorithm, and then further feeds back the impact result to the motion analysis unit.

[0038] Furthermore, the motion analysis unit further analyzes and generates new welding paths and welding parameters according to the impact results, and controls the welding robot to continue the welding operation through the welding drive module, thereby realizing programming-free welding.

[0039] Working principle: The operator uses the intelligent teaching pen to draw the welding route on the workpiece. The high-precision locator captures the movement route of the intelligent teaching pen in real time and records the position information of the workpiece. The automatic control system analyzes the position information of the workpiece through the visual processing unit, and combines the captured movement route to further generate the corresponding welding path and welding parameters through the welding path planning module in the motion analysis unit, and controls the welding robot to weld along the path.

[0040] During the welding process, the automatic obstacle avoidance module uses the built-in sensing technology and control algorithm of the visual sensor to automatically avoid obstacles during the welding process. When the visual sensor detects the existence of an obstacle, it scans the obstacle and analyzes its impact on the welding path in combination with the control algorithm. The impact result is further fed back to the motion analysis unit, which further analyzes the impact result to generate a new welding path and welding parameters, and controls the welding robot through the welding drive module to continue the welding operation, thereby realizing programming-free welding.

[0041] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-limiting from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any reference numerals in the claims should not be regarded as limiting the claims involved.

Claims

1. A programming-free welding system based on a locator and a teaching pen, characterized in that: Including intelligent teaching pen, high-precision locator, welding robot and automatic control system; A probe is installed on the top of the intelligent teaching pen, and a plurality of groups of positioning balls are distributed on the probe; The high-precision locator is a binocular camera composed of two eyes and is arranged on the welding robot to obtain three-dimensional information of the target object; The automatic control system is connected to the high-precision locator and includes a visual processing unit, a motion analysis unit and a control unit; The visual processing unit also includes a visual algorithm and an image processing module, the motion analysis unit also includes a welding path planning module and a welding parameter adjustment module, and the control unit also includes a weld tracking module, a welding drive module and an automatic obstacle avoidance module.

2. According to claim 1, a programming-free welding system based on a positioning instrument and a teaching pen is characterized in that: The high-precision locator simulates the visual principle of human eyes. The high-precision locator identifies the position of the probe on the intelligent teaching pen through a positioning ball, and is used to capture the movement of the intelligent teaching pen in real time.

3. According to claim 1, a programming-free welding system based on a positioning instrument and a teaching pen is characterized in that: The visual processing unit receives the high-definition visual images taken by the binocular camera, calculates the differences between the images taken by the binocular camera through a visual algorithm, extracts image features through an image processing module and analyzes them to obtain depth information of the target object, performs three-dimensional positioning of the welding target object, and transmits its data information to the motion analysis unit in combination with the motion trajectory of the teaching pen.

4. A programming-free welding system based on a positioning instrument and a teaching pen according to claim 1, characterized in that: The motion analysis unit analyzes the received data information through the welding path planning module, generates a three-dimensional model of the weld, and further generates a welding path. The welding path corresponds to welding parameters. The welding parameter adjustment module is used to manually adjust the welding parameters in real time during the welding process. The motion analysis unit transmits the generated welding path and welding parameters to the weld tracking module in the control unit.

5. According to claim 1, a programming-free welding system based on a positioning instrument and a teaching pen is characterized in that: The weld tracking module locates and tracks the welding target object in real time through a high-precision locator, and transmits the three-dimensional information of the tracked target object to the welding drive module. The welding drive module receives the welding path and cooperates with the weld tracking module to control the welding robot to weld along the path.

6. A programming-free welding system based on a positioning instrument and a teaching pen according to claim 1, characterized in that: The welding robot is provided with a visual sensor, and the automatic obstacle avoidance module automatically avoids obstacles during the welding process through the built-in sensing technology and control algorithm of the visual sensor.

7. A programming-free welding system based on a positioning instrument and a teaching pen according to claim 1, characterized in that: When the visual sensor detects the presence of an obstacle, it scans the obstacle and analyzes its impact on the welding path in combination with the control algorithm in the automatic obstacle avoidance module, and then further feeds back the impact result to the motion analysis unit.

8. The programming-free welding system based on a positioning instrument and a teaching pen according to claim 1, characterized in that: The motion analysis unit further analyzes and generates new welding paths and welding parameters according to the impact results, and controls the welding robot to continue the welding operation through the welding drive module, thereby realizing programming-free welding.

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