1247 results about "Robot welding" patented technology

A computer assisted method is disclosed for making an optimized layout of a manufacturing cell to be used, for example, to locate, hold and process workpieces, such as in robotic welding of an assembly of stamped sheet metal parts. The items to be processed and employed in the cell are identified by physical structure and kinematic characteristics and given an initial location to start the process. Further movements of the parts toward attraction points and away from repelling points are evaluated on the computer by an optimization program to arrive at an optimized cell layout.

The invention discloses a thick plate robot welding system and a multilayer multiple-pass weld real-time tracking and planning method. The thick plate robot welding system comprises a robot, a laser structure optical sensor, a welding system and a control system. The laser structure optical sensor comprises a main system, an optical system, a clamping system and a cooling system. In the welding process, images containing weld groove feature information can be obtained in real time and transmitted to the control system; the control system obtains the groove information from the images and controls the robot to constantly correct the position of a welding gun in the welding system; meanwhile, the control system adjusts a weld pass track and welding parameters so that multilayer multiple-pass real-time planning can be achieved, and labor efficiency and production quality can be improved.

The invention provides an arc welding robot welding monitoring system which is based on visual sensing in the arc welding robot technical field. The invention comprises a welding robot, a robot controller, a visual sensing system, an interface circuit device, a main control computer, and a dual inverter arc welding power source; wherein, the visual sensing system dynamically collects the images of a welding pool and transmits the images to the main control computer which receives the image information which is provided by the visual sensor and achieves the image processing; furthermore, the main control computer adjusts the dual inverter arc welding power source and controls the welding robot through the interface circuit device according to the processing results; the interface circuit device consists of a simulation signal output sub-module, a welding switch and process state detection sub-module and a robot controller general I/O sub-module; the welding robot receives a moving instruction signal which is emitted by the main control computer, and the welding is achieved by moving a welding gun. The invention improves the monitoring capability of the user to the welding process of the arc welding robot, and widens the application range of the robots in the welding automation field.

The invention relates to the technical field of production manufacturing of a cast middle groove by a heavy-duty scraper conveyor used on coal mines, and provides a robot automatic welding production line of a middle groove and a technological method thereof. The production line designs 8 stations according to the manufacturing process flow of the middle groove, comprises 6 parts of a primary assembly station, a middle plate preheating station, a backing welding station, a middle plate and bottom plate robot welding work station, a secondary assembly station and a bending rail rest robot welding work station, and forms an integrated production line layout of the middle groove. The invention integrates and uses multiple technologies of a welding robot, double-wire welding, digital double-pulse welding power source, computer control, high-efficiency flame preheating and the like, and establishes technical measures of preheating temperature, bevel form, welding sequence, welding parameters and the like; and the welding process is controlled by a computer, thereby realizing high-efficiency automatic robot welding of the middle groove in the overall process. Compared with the traditional manual gas shielded welding, the invention obviously improves the welding quality of the middle groove and increases the welding efficiency by 3-4 times.

The invention belongs to the technical field of robot welding, particularly an autonomous mobile double-sided double-arc welding robot system. The autonomous mobile double-sided double-arc welding robot system comprises robot bodies, a control system and a welding system; the robot bodies, the control system and the welding system are connected by cables; two robot bodies, two sets of robot body control boxes, two sets of sensing systems and two welding guns are provided; each two sets of corresponding equipment are symmetrically arranged; and the two robot bodies are respectively adsorbed at both sides of a workpiece to be welded. The autonomous mobile double-sided double-arc welding robot system has the advantages that a creeping device adopts a contact magnetic wheel adsorption and non-contact clearance adsorption composite mode and is of a three-wheel structure; all wheels are driving wheels; a redundancy control steering mode is adopted; the steering on a magnetic conducting wall surface is implemented by the differential velocity of two rear wheels and the controlled steering of the front wheel; the steering accuracy of a wall climbing robot is improved by accurately controlling the steering angle of the front wheel; the autonomous mobile double-sided double-arc welding robot system has good movement flexibility, can steer around the center of a vehicle body and has the minimum steering radius of 0; and a robot can be reliably adsorbed on the magnetic conducting wall surface and the free and flexible movement of the robot can be implemented.

A probe for touch sensing to determine the position of a workpiece in a robot welding system using a robot driven welding gun for advancing a welding wire in a given direction toward a workpiece. The gun is movable by a robot controlled arm in a selected weld path and the probe comprises a rigid, elongated feeler with a touch tip which feeler is carried by a mechanism fixed with respect to the gun and movable by the mechanism between a retracted position and a known extended position wherein the feeler extends from the mechanism a fixed distance having an outermost contact point for the touch tip where the point has a known spatial relation to the gun. A detector detects when the contact point touches the workpiece to locate the workpiece. Several touches are used to determine the orientation of the workpiece for automatic welding.

A first embodiment of the present application is directed to a method and system used to weld a cylindrical workpiece. A substantially cylindrical workpiece is loaded into a workpiece support, and a robotic welding arm is positioned located at a start position. A value representing a size of the cylindrical workpiece is input into a robot controller via a system interface. Inputting of the size value to the robotic interface obtains a control program. Operation of the obtained control program is initiated by an operator, causing the robot arm to move a preprogrammed distance toward a work surface of the workpiece. Then a welding process is performed by the welder carried on the robot arm in accordance with the control program. The process includes initiating operation of the welder, and moving the welder in a pattern appropriate for the welding operation. The workpiece and welder are moved relative to each other so as to perform the welding process as determined by the control program.

The invention relates to a robot welding track autonomous programming system and method based on vision sensing. The system and the method can be widely applied to the field of automatic welding. According to the system and the method, at first, a vision scanning method is utilized for obtaining a three-dimensional model of the appearance of a workpiece to be welded; then by means of preprocessingand point could fitting of scanned data, the characteristic face is obtained; the equation of a path to be welded is obtained by means of the intersecting line of the characteristic face, the weldingtrack is generated automatically. According to the system and the method, welding teaching-free programming is achieved, the method has an obvious advantage compared with an existing online teachingmethod, the system and the method have high adaptability to workpieces of different shape characteristics, the flexible requirement of production practicality is met, man-machine combined operation isavoided, and the production efficiency and the safety are improved.

The invention relates to a robot welding line deviation compensation method based on arc oscillation welding line tracking, comprising the steps of: 1, detecting a welding current, sampling, filtering collected welding current data; 2, extracting deviation of the filtered current data, fitting a deviation direction, extracting according to an integral differential method, obtaining a compensation dosage and a transverse deviation value of a height deviation direction; 3, storing the transverse deviation value, adjusting the sensitivity; 4, computing a compensation dosage of the deviation by combining with the transverse deviation value and the sensitivity; 5, updating and accumulating deviation compensation dosages along the height direction and the transverse direction; 6, converting a three-dimensional compensation dosage into interpolation points of x axis, y axis and z axis; and 7, sending the compensated interpolation points to a control part of the robot. The invention can not generate jump change aiming at the compensation dosages, can ensure the stability of the system at a certain degree, and has better molding of a welding line subjected to the deviation compensation and tracking error of generally within +/-mm.

The invention discloses a three-dimensional morphology detection and welding seam inflection point identifying method for multilayer multiple welding seams of a robot. The three-dimensional detectionand welding seam inflection point identifying method comprises the following steps that 1, a camera, line structural light and the robot are calibrated; 2, a welding seam structure light image is obtained and processed; and 3, the three-dimensional spatial morphology of the multilayer multiple welding seams is obtained, and inflection point characteristics are identified, specifically, the processcomprises the following steps that 3.1, the eigenvector of a calculated hessian matrix during extraction of a center line is recorded; 3.2, according to the direction of the eigenvector, the threshold value of the eigenvector difference is set to identify inflection points of the multilayer multiple welding seams; and 3.3, according to model data calculated in the step 1, the sub-pixel coordinatevalue of the center line under a camera coordinate system is converted to be under a robot coordinate system and serves as the three-dimensional data of the welding seam surface for being used for robot welding. According to the three-dimensional detection and welding seam inflection point identifying method for the multilayer multiple welding seams of the robot, the precision is high, the reliability is high, and real-time performance is good.

The invention discloses a welding robot welding path planning method based on discrete particle swarm optimization. The method comprises the steps of: (1) building a mathematical model of a path of a welding robot; (2) building a model of particle swarm optimization; (3) analyzing behavior parameters solved by the particle swarm optimization; (4) planning the path of the welding robot by the particle swarm optimization; and (5) outputting optimal path. The method adopts the particle swarm optimization; and through setting of different inertia weight formulas, the self-adaption adjusting capacity of the particle swarm optimization is improved, so that the purpose of balancing local search capacity and global search capacity of the particle swarm optimization is achieved, and the optimal solution is searched quickly by the particle swarm optimization.

The invention provides an intelligent robot welding system. The intelligent robot welding system comprises a welding, assembling and measuring part, a welding line path self-adaptation control part, a welding technology parameter detecting part, a welding line forming self-adaptation control part, a welding molten pool monitoring part and an equipment state detecting part. The welding, assembling and measuring part is used for online detecting and analyzing welding and assembling parameters or information in the welding environment with high precision. The welding line path self-adaptation control part is used for adjusting the welding path in real time and correcting the deviation of the welding path. The welding technology parameter detecting part is used for detecting and recording welding parameters in the welding process. The welding line forming self-adaptation control part is used for adjusting various assembling parameters during welding in real time. The welding molten pool monitoring part is used for collecting and processing images in the welding area during welding and displaying, recording and storing the images in real time. The equipment state detecting part is used for detecting the running parameters of the whole robot welding system in real time.

The invention discloses a task decoupling-based multi-robot collaboration welding path generation method. The method includes the following steps that: first step, based on a to-be-welded workpiece model, a chord tolerance and minimum step-combined method is adopted to perform discretization processing on welding seams through non-equidistant point sampling, so that space curve welding seam features can be extracted; second step, a multi-robot cooperative welding task planning model is established; third step, a multi-operator multi-chromosome structured improved genetic algorithm is adopted to distribute multi-robot welding tasks; and fourth step, a motion closed chain-based multi-robot master-slave type collaboration motion model is established, so that multi-robot cooperation paths under tight coupling and loose coupling are generated. According to the method of the invention, the unified multi-robot cooperation welding model is established according to the coupling relations of multiple master-slave robots, and therefore, task planning efficiency of multi-robot cooperation welding can be effectively improved.

The invention discloses a robot welding path autonomous planning method based on 3D point cloud data. The robot welding path autonomous planning method comprises the following steps of acquiring the original three-dimensional cloud data of a workpiece weld profile, and preprocessing the original three-dimensional cloud data; according to the workpiece weld characteristics, constructing ruler CAD models with the same characteristics, and converting characteristic surface information of ruler CAD models as three-dimensional point cloud data; performing local registration operation on the three-dimensional point cloud data of the ruler CAD models and the three-dimensional point cloud data generated after the workpiece weld profile is preprocessed; according to the local registration operation, performing continuous characteristic searching, thereby obtaining complete workpiece weld information; extracting weld position and posture information marked in the complete workpiece weld information; and processing the extracted weld position and posture information, and planning the robot welding path. The self-adaptability of robot welding can be improved, and the workload of scene teachingand off-line programming of operating staff can be remarkably reduced.

The invention provides a device and a method for visual detection of welding quality of a robot. The device and the method are characterized in that a visual gun is connected with a welding arm, moves along with a welding gun head, observes welding points and sends scanned picture information to a visual system. The visual system compares the received picture information with standard recipe data and detects and judges weldment splicing errors before welding, welding point quality after welding and a welding process in real time. The method includes: building splicing error detecting standard recipe data, building a welding point standard recipe after welding, building detecting standard recipe data during the welding process, obtaining tracks of the welding points before welding and weldment splicing error picture information, welding point picture information after welding and picture information during the welding process, and comparing the information with the standard recipe data. The device and the method have the advantage of achieving real-time detecting of the welding quality and closed loop feedback control, the detection device is matched with the robot directly to be installed, extra servo follow-up devices are not required to be designed and installed, and investment of a large amount of auxiliary devices is saved.

The invention belongs to the technical field of robot welding and particularly relates to a composite magnetic adsorption visual detection climbing robot which comprises a frame, a front wheel module and a back wheel module, wherein the front wheel module and the back wheel module are installed at two ends of the frame. A visual detection pan tilt is installed on the frame, the composite magnetic adsorption visual detection climbing robot is of a three-wheel structure, and three wheels are all driving wheels. The composite magnetic adsorption visual detection climbing robot has the advantages that the composite magnetic adsorption visual detection climbing robot adopts a wheel-type movement mechanism, all wheels are driving wheels, movement flexibility is good, the robot can swerve around the center of the robot body, and the minimum turning radius is 0. An adsorption device simultaneously adopts a magnet wheel and a permanent magnet interval adsorption device, a front wheel adopts the magnet wheel, compactness of the structure is improved while guaranteeing adsorption force, and simultaneously the permanent magnet interval adsorption device is installed on a chassis and around back wheels to guarantee that the robot has strong loading capability.

The invention discloses a circular material conveying system of a robot welding device. The system sequentially comprises a lifting machine I, a double-layer conveying line and a lifting machine II; the lifting machine I comprises a lifting table body I and a motor for controlling the lifting table body I to ascend and descend; the double-layer conveying line comprises a horizontal upward layer conveying belt, a horizontal downward layer conveying belt and a motor for controlling the horizontal upward layer conveying belt and the horizontal downward layer conveying belt to transmit; the vertical distance between the upper layer conveying belt and the lower layer conveying belt is consistent with the distance of vertical movement of the lifting table body I and/or the lifting table body II; the lifting machine II comprises a lifting table body II and a motor for controlling the lifting table body II to ascend and descend; the lifting machine I corresponds to the feeding station, the lifting machine II corresponds to the discharging station, the double-layer conveying line corresponds to multiple stations, the robot welding device is located at the welding station corresponding to the double-layer conveying line, and a positioning gear stop is arranged at the welding station corresponding to the double-layer conveying line.

The invention relates to a multilayer and multipass welding method of a robot, which is used for groove welding seams of thick plates. Multilayer and multipass automatic MAG welding is performed on athick plate taking a T-shaped panel as an example by adopting a robot, the robot system is integrated with an arc welding robot, an arc welding power supply system, a robot welding gun system, a linelaser scanning system and a robot control system, groove information such as the groove top width, the groove bottom width, the groove central position and the like of a V-shaped groove welding seam can be obtained by the line laser scanning system, a groove bottom width matching process database is obtained through line laser scanning so as to complete one to two layers of multilayer and multipass welding, and the line laser scanning is performed for many times so as to complete the multilayer and multipass welding of the whole welding seam. According to the method, the problem of inaccuratepaths caused by excessive layers and passes in traditional multilayer and multipass automatic welding is effectively solved.

A multi-vehicle type co-production line flexible framing is disclosed, comprising a robot welding system, a high speed transport system, a floor panel intelligent flexible positioning system, and a side panel flexible positioning and switching system. The floor panel intelligent flexible positioning system is correspondingly connected to a transfer rail of the high speed transport system. The side panel flexible positioning and switching system comprises a side panel fixture consolidation system, a fixture storage system, and a fixture switching and rail system. The side panel fixture consolidation system corresponds to the side of the floor panel intelligent flexible positioning system. The fixture storage system is arranged on two sides of the side panel fixture consolidation system in the transfer direction of the high speed transport system. The fixture switching and rail system is connected between the side panel fixture consolidation system and the fixture storage system. The improved structure is relatively compact and practical, has a short switching time, a high production efficiency, and a small floor area, and may use a large number of welding robots, fully satisfying the capacity requirement of 60JPH of the automobile factory.

The invention relates to a path planning method for a complicated-shape workpiece of robot bead weld based on radial bias. In the method, a robot welding path is automatically planned based on a workpiece computer assisted drafting (CAD) model, contour lines on one side of the cross section of the workpiece are adopted as bias lines, contour lines on another side of the cross section are subjected to radial deflection successively, welding path lines of the cross section are automatically generated to ensure the appearance precision of the workpiece and distance between the path lines and solve the problems of self-cross of rings, straight line segment disappearance and the like. For the bias lines with excessively-changed curvature, subsection bias is performed according to curvature characteristics to adapt to complicated profile, a repair arithmetic is designed according to the requirement of a welding process and appearance characteristics of a workpiece model, the deflected path lines are adjusted to repair a dead area, and the workloads required by repairing welding and polishing are reduced. Due to the adoption of different appearances such as the complicated-shape workpiece of an arc welding robot in the method, the programming time of robot welding operation can be greatly shortened, and the service efficiency of the robot is obviously improved.

The invention discloses a transitional track planning method for a welding robot. The transitional track is used for fusing a straight segment welding line and an arc segment welding line, geometric constraint conditions of adjacent fused straight segment welding line and fused arc segment welding line of a workpiece to be welded are imported into a robot path planning module to generate a transitional segment arc welding line track, and by controlling the arc radius of the transitional segment track, welding constraint conditions and robot welding system dynamic constraint conditions are metwhen the robot welds the transitional segment. The track planning method is suitable for switching different segments of tracks and planning transitional tracks, and solves the problem of smoothness of transiting from the straight segment welding line to the arc segment welding line when the robot performs arc welding.