Container corrugated plate welding robot and its visual servo control system

Abstract

The invention discloses a container corrugated plate welding robot and a visual servo control system thereof. The visual servo control system comprises an industrial personal computer, a visual sampling mechanism and a motion control mechanism, wherein the visual sampling mechanism comprises a surface laser generator, a network camera, and an optical filter arranged in front of the network camera; the network camera is connected with the industrial personnel computer in a network communication manner; the motion control mechanism comprises a control card connected with the industrial personnel computer, five servo drivers in two-way communication connection with the control card, five servo motors correspondingly driven by the five servo drivers, and limit / zero-point sensors connected with the control card; the five servo motors respectively and correspondingly drive the motions of a welding gun and the visual sampling mechanism; the limit / zero-point sensors are respectively arranged in five motion directions controlled by the five servo motors; and the control card is further connection with the network camera. The visual servo control system controls based on visual servo, can accurately perform the tracking welding of welding lines, and is high in welding efficiency and excellent in welding quality.

Description

technical field [0001] The invention relates to the field of welding control, in particular to a visual servo control system for welding container corrugated plates and a container corrugated plate welding robot using the visual servo control system. Background technique [0002] Containers are modular transportation equipment that have appeared in recent years. Since their appearance, they have rapidly occupied the freight market. The standard dry cargo containers produced in China account for more than 95% of the world's output, and have always maintained the number one position in the world. Containers are used all over the world, and their size and shape are standard. Due to the large demand, their production is generally a mass industrial production line, and the various processes are connected with each other. The welding of the bottom of the box is the welding of the side wall corrugated plate. Since the container corrugated plate starts from blanking and stamping, t...

AI Technical Summary

Problems solved by technology

Since the container corrugated plate starts from blanking and stamping, through the butt welding between the corrugated plates, and the fillet welding between the bottom plate and the corrugated plate, there are certain errors in each link, which makes the assembly gap track have certain irregular fluctuations, and the gap The size is also changing. On the other hand, the thermal influence during the welding process causes a certain deformation in the assembly gap to be welded, which makes the assembly gap inconsistent. Therefore, real-time monitoring and tracking of the assembly weld seam is required.

The corrugated plate used in the container is easy to be welded and broken during welding, so high welding technology is required. When manual welding is performed, the toe needs to be moved after the weld is 500mm long, and the welded joint will be formed when the welding is continued, and the welded joint is prone to water leakage. , light leakage, weld bead joints protruding from the outer edge of the upper side beam, and manual grinding is required. These shortcomings of manual welding are generally insurmountable, and the labor intensity of manual welding workers is high, and the welding environment is relatively harsh. Especially in the high temperature stage in summer, it is easy to cause heatstroke. It is not easy for colleagues to train a group of senior skilled welders

In order to solve the above problems, scientific research institutes and enterprises at home and abroad have made many attempts and achieved certain results. However, the current production status of containers is that the production of containers has not been fully automated, especially the corrugated panels used as side walls and upper panels. , The welding of the lower side beam still uses ordinary electrode arc welding and profiling welding, which is not conducive to improving production efficiency and stabilizing product quality, and there are still manufacturing errors in the corrugated plate itself, and welding deformation during welding will also affect welding accuracy

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