CN103231162A - Device and method for visual detection of welding quality of robot - Google Patents

Device and method for visual detection of welding quality of robot Download PDF

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Publication number
CN103231162A
CN103231162A CN2013101335099A CN201310133509A CN103231162A CN 103231162 A CN103231162 A CN 103231162A CN 2013101335099 A CN2013101335099 A CN 2013101335099A CN 201310133509 A CN201310133509 A CN 201310133509A CN 103231162 A CN103231162 A CN 103231162A
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China
Prior art keywords
welding
pictorial information
vision
solder joint
standard recipe
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CN2013101335099A
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Chinese (zh)
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刘文烽
邢印强
谭仲海
陶遇春
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LIUZHOU INSTITUTE OF AUTOMATION SCIENCE
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LIUZHOU INSTITUTE OF AUTOMATION SCIENCE
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Abstract

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.

Description

Robot welding quality vision inspection apparatus and detection method thereof
Technical field
The present invention relates to welding quality detection technique field, particularly relates to a kind of robot welding quality vision inspection apparatus and detection method thereof.
Background technology
Arc welding is industrial important process means, and it is the important process link of welding procedure that welding quality detects.The link quality detection method mainly contains at present: the destructive detection comprises that mechanical property detects, chemical analysis detects, metallographic detects; Non-destructive detects, and comprises outward appearance detection, radiographic inspection detection, ultrasonic examination detection, magnetic crack detection detection etc.These detection methods all are to detect after welding is finished.
Modern industry production has very high requirement to welding efficiency, and the automation welding is the important component part of current industrial automation, and the real-time quality testing in the welding process then is technology emphasis and difficult point with control.Weld online real-time detection and be exactly the side weld edge fit and detect, find defective in qualityly, can take corresponding measure immediately.Real-time online detects the sensor that adopts ultrasonic sensor, temperature field sensor, arc sensor and vision sensor etc., what wherein vision sensor obtained contains much information, latest technological achievements in conjunction with computer vision and image processing, strengthened automatic welding machine device people's outside adaptive capacity greatly, its research and development is the most noticeable.Vision sensor is directly measured welding pool, the digital picture presentation that obtains is directly perceived, abundant information, and digitized view data can be real-time transmitted in the computer high-speed internal memory, carrying out realtime graphic handles, extract the characteristic information of welding pool, and make online real-time judgement accordingly, thus the real-time detection of realization welding quality and closed loop feedback control.
But prior art normally is installed in vision sensor on the follower by servo control mechanism control when adopting robot to weld, and welding quality is detected, and needs a large amount of auxiliary equipment to drop into.
Summary of the invention
Purpose of the present invention just provides a kind of extra servo follow-up device of design and installation that do not need, and has saved robot welding quality vision inspection apparatus and detection method thereof that a large amount of auxiliary equipment drops into.
Solution of the present invention is such:
A kind of robot welding quality vision inspection apparatus, comprise the arc welding gun head, vision rifle and the vision system that are connected on the robot welding arm, described vision rifle is connected in and follows arc welding gun head motion on the welding arm, and pad is observed and the pictorial information of scanning is sent to vision system; Described vision system is compared the pictorial information and the standard recipe data that receive, and the quality of welding spot to weldment stitching error before welding, after welding and welding process detect in real time and judge.
Technical scheme also comprises more specifically: described vision rifle is to adopt adjustable support member to be connected in welding arm.
A kind of method of robot welding quality vision-based detection comprises step:
(1), set up stitching error examination criteria formulation data step: spliced exemplar according to the weldment designing requirement, the pictorial information of obtaining by the exemplar splicing is set at stitching error examination criteria formulation data;
(2), set up the solder joint standard recipe data after the welding: welded exemplar according to designing requirement, the pictorial information of obtaining by the solder joint that welds exemplar is set at the solder joint standard recipe data after the welding;
(3), set up welding process examination criteria formulation data: the pictorial information of the master body welding process being obtained according to designing requirement is set at welding process examination criteria formulation data;
(4), obtain three kinds of pictorial information steps of welding process: obtain solder joint pictorial information, welding process pictorial information after track and weldment stitching error pictorial information before each spot welding, the welding by the vision rifle;
(5), judge welding effect comparison step: the vision rifle is obtained: the solder joint pictorial information after track and weldment stitching error pictorial information are compared, welds with stitching error examination criteria formulation data before the spot welding with weld after solder joint standard recipe data compare, welding process pictorial information and welding process examination criteria formulation data compare, and carries out the welding effect judgement by vision system.
Method also comprises more specifically: stitching error examination criteria formulation data adopts the pattern of panorama or segmentation to set up pictorial information, and track and weldment stitching error pictorial information adopt panorama or segmented model to obtain before the Dui Ying spot welding with it.
Further: the solder joint standard recipe The data panorama after the welding or the pattern of segmentation are set up pictorial information, and the solder joint pictorial information after the Dui Ying welding adopts panorama or segmented model to obtain with it.
Further: welding process examination criteria formulation data adopts the pattern of panorama or segmentation to set up pictorial information, and corresponding with it welding process pictorial information adopts panorama or segmented model to obtain.
Advantage of the present invention is that the digital picture presentation that obtains is directly perceived, abundant information, and digitized view data can be real-time transmitted in the computer high-speed internal memory, carry out realtime graphic and handle, extract the characteristic information of welding pool, and make online real-time judgement accordingly, thereby realize real-time detection and the closed loop feedback control of welding quality, checkout gear directly cooperates robot to install, and does not need the extra servo follow-up device of design and installation, has saved a large amount of auxiliary equipment and has dropped into.
Description of drawings
Accompanying drawing is embodiments of the invention.
Fig. 1 is structural representation of the present invention.
Fig. 2 is that the present invention carries out the preceding track of each spot welding and the weldment stitching error detects schematic diagram.
Fig. 3 is the solder joint detection schematic diagram after the present invention carries out each means of spot welds.
Fig. 4 is that the present invention carries out detecting in real time in the each point welding process.
The specific embodiment
As shown in Figure 1, a kind of robot welding quality vision inspection apparatus of the present invention, comprise the arc welding gun head 6, vision rifle 4 and the vision system that are connected on robot 1 welding arm 2, described vision rifle 4 is connected in and follows arc welding gun head 6 motion on the welding arm 2, and pad is observed and the pictorial information of scanning is sent to vision system; Described vision system is compared the pictorial information and the standard recipe data that receive, and the quality of welding spot to weldment stitching error before welding, after welding and welding process detect in real time and judge.
Described vision rifle 4 is to adopt adjustable support member 13 to be connected in welding arm 2.
The method of a kind of robot welding quality vision-based detection of the present invention comprises step:
1, set up stitching error examination criteria formulation data step: spliced exemplar according to the weldment designing requirement, the pictorial information of obtaining by the exemplar splicing is set at stitching error examination criteria formulation data;
2, set up solder joint standard recipe data step after the welding: welded exemplar according to designing requirement, the pictorial information of obtaining by the solder joint that welds exemplar is set at the solder joint standard recipe data after the welding;
3, set up welding process examination criteria formulation data step: the pictorial information of the master body welding process being obtained according to designing requirement is set at welding process examination criteria formulation data;
4, the stitching error examination criteria formulation data of suggestion, solder joint standard recipe data, the welding process examination criteria formulation data after the welding are stored in system database, and generate prescription, only need before the welding automatically to select prescription to get final product.Before the weldering, in the weldering, postwelding carries out real-time vision scanning, scanning pictorial information and the standard recipe data of gained are compared, and judge whether to reach requirement, and scanning result is carried out data record and demonstration.
5, obtain three kinds of pictorial information steps of welding process: obtain solder joint pictorial information, welding process pictorial information after track and weldment stitching error pictorial information before each spot welding, the welding by the vision rifle;
6, judge welding effect comparison step: the vision rifle is obtained:
Track and weldment stitching error pictorial information and stitching error examination criteria formulation data are compared before the spot welding, the seam track of scanning each point weldment splicing, weld seam size, weldment defect level etc., scan-data and standard recipe database carry out the image algorithm comparison, and robot are sent welding adjust instruction;
Solder joint standard recipe data after solder joint pictorial information after the welding and the welding are compared, situations such as the solder joint starting the arc in the scanning each point welding process, receipts arc, melting pool shape, scan-data and standard recipe database carry out the image algorithm comparison, and robot are sent welding adjust instruction;
Welding process pictorial information and welding process examination criteria formulation data are compared, scan each means of spot welds and cross situations such as the shape of the solder joint after finishing, soldered, scan-data and standard recipe database carry out the image algorithm comparison, and robot is sent multiple weldering adjustment instruction.
Stitching error examination criteria formulation data adopts the pattern of panorama or segmentation to set up pictorial information, and track and weldment stitching error pictorial information adopt panorama or segmented model to obtain before the Dui Ying spot welding with it.
Solder joint standard recipe The data panorama after the welding or the pattern of segmentation are set up pictorial information, and the solder joint pictorial information after the Dui Ying welding adopts panorama or segmented model to obtain with it.
Welding process examination criteria formulation data adopts the pattern of panorama or segmentation to set up pictorial information, and corresponding with it welding process pictorial information adopts panorama or segmented model to obtain.
Specific embodiments of the invention are:
Main body of the present invention is welding robot system, and auxilliary body is vision detection system.Device mainly is made up of vision instrument 3, vision rifle 4, shade 5, adjustable support member 13.Vision detection system is installed on the welding robot robotic arm, and namely welding gun arm 2 combines with vision instrument 3 and vision rifle head 4, as Fig. 1.Position and the detection angles that can regulate vision rifle head 4 according to the difference that detect to require.This device can realize that three kinds are detected requirement:
(1), track and weldment stitching error detect before each spot welding, as Fig. 2, before welding, the seam track 9 that vision rifle head 4 is spliced to form the weldment 10 and 11 that will weld earlier carries out visual scanning, the scanning pictorial information of gained is compared with the existing standard recipe data that are stored in the vision system, judge whether stitching error reaches requirement, if track is longer, can the fractional scanning comparison.
(2), the solder joint after each means of spot welds detects, as Fig. 3, after welding is finished, machine arc welding gun head 7 is raised to certain altitude and angle, pad 8 is carried out visual scanning, the scanning pictorial information of gained is compared with the existing standard recipe data that are stored in the vision system, judges the quality of welding effect; If pad 8 is longer, can the fractional scanning comparison.
(3), detect in real time in the each point welding process, as Fig. 4, vision rifle head 4 is equipped with shade 5, filter jamming light source, in real time pad 8 is carried out visual scanning stage by stage, the scanning pictorial information of gained is compared with the existing standard recipe data that are stored in the vision system, judges the quality of welding effect.
More than Zhuan Zhi design feature is: checkout gear directly cooperates robot to install, and does not need the extra servo follow-up device of design and installation, has saved a large amount of auxiliary equipment and has dropped into.Shortcoming is for stretching the rifle less solder joint in space that circles round certain limitation to be arranged, and is unfavorable for the high-speed mobile of welding gun.
The vision rifle adjustable support member that adopts can be regulated scanning angle as required, the multiple complicated welding process requirement of convenient reply.
Robot welding system and vision system can work independently, also tunable work, when working alone, welding procedure work is pressed by robot, be not subjected to the restriction of vision system, and record and the backup automatically of vision system scanning and data comparing result only as the welding quality reference, do not exert an influence to welding process; During co-ordination, robot adjusts or multiple weldering automatically according to the data comparing result of vision system scanning, co-ordination each other.

Claims (6)

1. robot welding quality vision inspection apparatus, comprise the arc welding gun head (6), vision rifle (4) and the vision system that are connected on robot (1) welding arm (2), it is characterized in that: described vision rifle (4) is connected in and follows arc welding gun head (6) motion on the welding arm (2), and pad is observed and the pictorial information of scanning is sent to vision system; Described vision system is compared the pictorial information and the standard recipe data that receive, and the quality of welding spot to weldment stitching error before welding, after welding and welding process detect in real time and judge.
2. robot welding quality vision inspection apparatus according to claim 1 is characterized in that: described vision rifle (4) is to adopt adjustable support member (13) to be connected in welding arm (2).
3. be used for the detection method of the described checkout gear of claim 1, it is characterized in that: comprise step:
(1), set up stitching error examination criteria formulation data step: spliced exemplar according to the weldment designing requirement, the pictorial information of obtaining by the exemplar splicing is set at stitching error examination criteria formulation data;
(2), set up the solder joint standard recipe data after the welding: welded exemplar according to designing requirement, the pictorial information of obtaining by the solder joint that welds exemplar is set at the solder joint standard recipe data after the welding;
(3), set up welding process examination criteria formulation data: the pictorial information of the master body welding process being obtained according to designing requirement is set at welding process examination criteria formulation data;
(4), obtain three kinds of pictorial information steps of welding process: obtain solder joint pictorial information, welding process pictorial information after track and weldment stitching error pictorial information before each spot welding, the welding by the vision rifle;
(5), judge welding effect comparison step: the vision rifle is obtained: the solder joint pictorial information after track and weldment stitching error pictorial information are compared, welds with stitching error examination criteria formulation data before the spot welding with weld after solder joint standard recipe data compare, welding process pictorial information and welding process examination criteria formulation data compare, and carries out the welding effect judgement by vision system.
4. detection method according to claim 3, it is characterized in that: stitching error examination criteria formulation data adopts the pattern of panorama or segmentation to set up pictorial information, and track and weldment stitching error pictorial information adopt panorama or segmented model to obtain before the Dui Ying spot welding with it.
5. detection method according to claim 3, it is characterized in that: the solder joint standard recipe The data panorama after the welding or the pattern of segmentation are set up pictorial information, and the solder joint pictorial information after the Dui Ying welding adopts panorama or segmented model to obtain with it.
6. detection method according to claim 3 is characterized in that: welding process examination criteria formulation data adopts the pattern of panorama or segmentation to set up pictorial information, and corresponding with it welding process pictorial information adopts panorama or segmented model to obtain.
CN2013101335099A 2013-04-17 2013-04-17 Device and method for visual detection of welding quality of robot Pending CN103231162A (en)

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Cited By (25)

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Publication number Priority date Publication date Assignee Title
CN104384763A (en) * 2014-09-24 2015-03-04 江南大学 Welding method for tube plate of robot
CN106383166A (en) * 2016-09-14 2017-02-08 北京汽车股份有限公司 Welding quality detection device
CN107202705A (en) * 2017-06-02 2017-09-26 成都福莫斯智能系统集成服务有限公司 The method for testing reliability of welding robot
CN107229079A (en) * 2017-05-23 2017-10-03 成都福莫斯智能系统集成服务有限公司 Suitable for the stacking handgrip of logistics transportation
CN107755847A (en) * 2017-09-29 2018-03-06 深圳市阿拉玎光电自动化有限公司 A kind of selective Wave-soldering device and welding method
CN107843644A (en) * 2017-12-07 2018-03-27 上海超具机器人科技有限公司 A kind of vehicle body solder joint automatic checkout system and its control method
CN107876904A (en) * 2017-12-18 2018-04-06 华北理工大学 Chamfering grinding machine hand and its polishing process are carried out to gear face
CN108213775A (en) * 2016-12-13 2018-06-29 宁德时代新能源科技股份有限公司 Battery module scanning system and method
CN108262580A (en) * 2017-12-25 2018-07-10 重庆达德机械制造有限公司 A kind of Multifunctional tube maker
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CN109752384A (en) * 2019-01-18 2019-05-14 深海弈智京山智能科技有限公司 A kind of welding guidance of soldering tin box and weld defects detection system and application method
CN109839382A (en) * 2017-11-28 2019-06-04 宝成工业股份有限公司 Vamp beats thick vision inspection apparatus
CN109865968A (en) * 2019-03-27 2019-06-11 热魔美国公司 A kind of welding operation detection method and system
CN110090956A (en) * 2019-05-21 2019-08-06 北京易加三维科技有限公司 The quick joining method of the more laser of SLM device
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CN111707207A (en) * 2020-06-22 2020-09-25 福州云睿自动化设备有限公司 High-precision robot three-coordinate electronic gauge rapid measurement system and method
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Publication number Priority date Publication date Assignee Title
CN104384763A (en) * 2014-09-24 2015-03-04 江南大学 Welding method for tube plate of robot
CN106383166A (en) * 2016-09-14 2017-02-08 北京汽车股份有限公司 Welding quality detection device
CN108213775A (en) * 2016-12-13 2018-06-29 宁德时代新能源科技股份有限公司 Battery module scanning system and method
CN107229079A (en) * 2017-05-23 2017-10-03 成都福莫斯智能系统集成服务有限公司 Suitable for the stacking handgrip of logistics transportation
CN107202705A (en) * 2017-06-02 2017-09-26 成都福莫斯智能系统集成服务有限公司 The method for testing reliability of welding robot
CN107755847A (en) * 2017-09-29 2018-03-06 深圳市阿拉玎光电自动化有限公司 A kind of selective Wave-soldering device and welding method
CN109839382A (en) * 2017-11-28 2019-06-04 宝成工业股份有限公司 Vamp beats thick vision inspection apparatus
CN107843644A (en) * 2017-12-07 2018-03-27 上海超具机器人科技有限公司 A kind of vehicle body solder joint automatic checkout system and its control method
CN107876904A (en) * 2017-12-18 2018-04-06 华北理工大学 Chamfering grinding machine hand and its polishing process are carried out to gear face
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CN108262580A (en) * 2017-12-25 2018-07-10 重庆达德机械制造有限公司 A kind of Multifunctional tube maker
CN108515290B (en) * 2018-03-30 2019-12-03 宁波高新区神台德机械设备有限公司 Industrial robot action detection device
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CN110090956A (en) * 2019-05-21 2019-08-06 北京易加三维科技有限公司 The quick joining method of the more laser of SLM device
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CN112958959A (en) * 2021-02-08 2021-06-15 西安知象光电科技有限公司 Automatic welding and detection method based on three-dimensional vision
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CN113695707A (en) * 2021-09-29 2021-11-26 天津七所高科技有限公司 Automatic position-finding arc welding system and method for balance sheet
CN113927217A (en) * 2021-09-30 2022-01-14 广州佳帆计算机有限公司 Intelligent welding system
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Application publication date: 20130807