CN107498181A - Improve the method and its automatic welding device of metal thermos cups smooth welding joint degree - Google Patents

Improve the method and its automatic welding device of metal thermos cups smooth welding joint degree Download PDF

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Publication number
CN107498181A
CN107498181A CN201710714758.5A CN201710714758A CN107498181A CN 107498181 A CN107498181 A CN 107498181A CN 201710714758 A CN201710714758 A CN 201710714758A CN 107498181 A CN107498181 A CN 107498181A
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CN
China
Prior art keywords
mrow
sliding seat
msubsup
msup
welding
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CN201710714758.5A
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Chinese (zh)
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CN107498181B (en
Inventor
翁文武
方灶军
欧阳波
张驰
李云森
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Zhejiang Haers Vacuum Containers Co Ltd
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Zhejiang Haers Vacuum Containers Co Ltd
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Priority to CN201710714758.5A priority Critical patent/CN107498181B/en
Publication of CN107498181A publication Critical patent/CN107498181A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/20—Bonding
    • B23K26/21—Bonding by welding
    • B23K26/24—Seam welding
    • B23K26/28—Seam welding of curved planar seams
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08—Devices involving relative movement between laser beam and workpiece
    • B23K26/083—Devices involving movement of the workpiece in at least one axial direction
    • B23K26/0853—Devices involving movement of the workpiece in at least in two axial directions, e.g. in a plane
    • B23K26/0861—Devices involving movement of the workpiece in at least in two axial directions, e.g. in a plane in at least in three axial directions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/70—Auxiliary operations or equipment
    • B23K26/702—Auxiliary equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/053—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/04—Tubular or hollow articles
    • B23K2101/12—Vessels

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Mechanical Engineering (AREA)
  • Plasma & Fusion (AREA)
  • Laser Beam Processing (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)

Abstract

The invention discloses a kind of method and its automatic welding device for improving metal thermos cups smooth welding joint degree, the described method comprises the following steps：Weld data acquisition step；Screen weld data step；Local polynomial fitting step；Control welding step.The automatic welding device using methods described, including data measurement unit, automatic welding device, the automatic welding device is laser soldering device, one-way circulation device is independently transmitted with for transporting and positioning four power of metal thermos cups to be welded, four power, which independently transmits one-way circulation device, includes base 200, transmits guide rail 201, one-way drive mechanism is provided with below transmission guide rail, the transition mechanism of sliding seat is provided with the convergence part of adjacent transmission guide rail 201.The present invention can lift the welding quality and speed of welding of metal thermos cups port, reduce labor intensity, and have a wide range of applications market and huge economic benefit.

Description

Improve the method and its automatic welding device of metal thermos cups smooth welding joint degree
Technical field
The present invention relates to a kind of method for improving metal thermos cups smooth welding joint degree, and the automatic welding using this method Equipment.
Background technology
Metal thermos cups (such as stainless steel thermos cup, titanium thermos cup) are thin wall cylinder-shaped, and its inner bag and shell pass through respectively Rolling, water are risen after shaping, and both need to weld together at port.Gap between the inner bag and shell at port I Be referred to as gap to be welded (also referred to as weld seam).
At present, the welding of metal thermos cups port weld seam, all also rests on manual level, and processor is rotated with hand Metal thermos cups to be welded, port weld seam is set to be rotated under the welding gun of laser welding apparatus or argon arc welding equipment, welding gun is not Dynamic weld seam moves, and completes the welding of weld seam.The thermos cup port of manual operations welding, welding quality vary with each individual, and are difficult to control, and Labor intensity is big, and efficiency is low.People attempt to weld metal thermos cups port weld seam using welding robot, but due to The weld seam is space irregular curve, and the smooth welding joint degree of welding is not ideal enough, or even zigzag occurs.
The content of the invention
It is an object of the invention to provide it is a kind of improve metal thermos cups smooth welding joint degree method and its automatic welding device, The welding quality and speed of welding of metal thermos cups port can be lifted, reduced labor intensity, have a wide range of applications market and Huge economic benefit.
To achieve the above object, the present invention adopts the following technical scheme that：
A kind of method for improving metal thermos cups smooth welding joint degree, comprises the following steps：
Step 1：Weld data gathers
The port gap that metal thermos cups to be welded below are pointed to using 3D cameras is scanned, then will scanning Weld data be transferred to control device；
Step 2：Screen weld data
The weld data that the control device gathers 3D cameras and the theoretical circular order of metal thermos cups port are carried out Compare, if the spatial distribution of the weld data of collection falls into the theoretical circular order, give and retain, deviate the theoretical circle Giving for all curves is rejected, and obtains weld data point set { P1(x1,y1,z1),P2(x2,y2,z2),...,Pn(xn,yn,zn)}；
Step 3：Local polynomial fitting
Weld data { the P obtained by step 21(x1,y1,z1),P2(x2,y2,z2),...,Pn(xn,yn,zn), if its is right The spatial parameter curve answered is,
Wherein k is natural number, and u is intermediate variable, and parameter X, Y, Z in formula 1-2 are obtained using Least Square Method, By fitting obtain the curve of space k time of weld data so that welding track uniform spatial distribution, smoothly；
Step 4：Control welding
Welding of the curve of space k times for the weld data that the control device obtains step 3 as automatic welding device Path, the initial weld position using first point of the curve of space k times of the weld data of storage as automatic welding device, control Automatic welding device processed is welded.
The k is 3, the parameter X in formula 1-20、Y0、Z0、Obtained using Least Square Method, the space cubic curve of weld data is obtained by fitting so that welding Trajectory range is evenly distributed, smoothly.
A kind of method for improving metal thermos cups smooth welding joint degree, it is characterised in that comprise the following steps：
Step 1：Weld data gathers
The port gap that metal thermos cups to be welded below are pointed to using 3D cameras is scanned, then will scanning Weld data be transferred to control device, obtain weld data point set { P1(x1,y1,z1),P2(x2,y2,z2),...,Pn(xn,yn, zn)}；
Step 2：Adaptive iteration screening is carried out to the weld data of step 1 using improved RANSAC algorithms
A. the weld data point set { P of selecting step one1(x1,y1,z1),P2(x2,y2,z2),...,Pn(xn,yn,zn), meter Calculate wherein any 3 points of { Pi,Pi+1,Pi+2|1<=i<=n-2 } form center of arc's point coordinates and arc radius value, according to suitable The weld data point set that sequence gathers without repeatedly traversal step one；
B. it is radius threshold scope to choose (1 ± 20%) r, and wherein r is the radial design of metal thermos cups port to be welded Value, will not be in the range of radius threshold by each arc radius value that step a is obtained compared with the radius threshold scope Corresponding point set reject, obtain intra-office point point set { NP1,NP2,....,NPm}；
C. the iterations k for setting RANSAC algorithms is a larger numerical value 2n, and wherein n is of weld data point Number；
D. a sample set is randomly selected, calculates center point coordinate and radius corresponding to the set；
E. whether the arc radius corresponding to the sample set midpoint is in the range of radius threshold again, if if Next step is performed, otherwise performs previous step；
F. point set { NP is traveled through1,NP2,....,NPm, judgement is fitted arc radius from its residual point-group after addition point successively Whether in the range of radius threshold, while the quantity of intra-office point is recorded, when intra-office points amount is more than or equal to 0.3n, according to RANSAC algorithms calculate next iterations k；
G. repeat step d~e iterative process, when intra-office point is more corresponding to the center of arc's point coordinates and radius newly calculated When, center of arc's point coordinates and radius that last computation obtains are replaced, while preserve intra-office point { NO1(x1,y1,z1),NO2(x2, y2,z2),...,NOm(xn,yn,zn)}；
H. repeat step d~f calculation procedures calculate completion until all data；
Step 3：Local polynomial fitting
Weld data { the NO obtained by step 21(x1,y1,z1),NO2(x2,y2,z2),...,NOm(xn,yn,zn), if Its corresponding spatial parameter curve is,
Wherein k is natural number, and u is intermediate variable, and parameter X, Y, Z in formula 1-2 are obtained using Least Square Method, By fitting obtain the curve of space k time of weld data so that welding track uniform spatial distribution, smoothly；
Step 4：Control welding
Welding of the curve of space k times for the weld data that the control device obtains step 3 as automatic welding device Path, the initial weld position using first point of the curve of space k times of the weld data of storage as automatic welding device, control Automatic welding device processed is welded.
The k is 3, the parameter X in formula 1-20、Y0、Z0、Obtained using Least Square Method, the space cubic curve of weld data is obtained by fitting so that welding Trajectory range is evenly distributed, smoothly.
A kind of automatic welding device of method using above-mentioned raising metal thermos cups smooth welding joint degree, including for measuring The data measurement unit of the metal thermos cups port gap space position data to be welded, for welding gold to be welded Belong to the automatic welding device in thermos cup port gap, the automatic welding device is laser soldering device, has and is used to transport Four power for sending and positioning metal thermos cups to be welded independently transmit one-way circulation device, and four power, which independently transmits, unidirectionally to follow Loop device, including base, the transmission guide rail being arranged on by support member on the base, the transmission guide rail have four, end to end It is connected square distribution, sliding seat of multiple cross sections for square, each sliding seat is equipped with every transmission guide rail Middle part be provided with and be used to place the thermos cup fixed seats of metal thermos cups to be processed, each transmit is equipped with below guide rail for pushing away The one-way drive mechanism of corresponding sliding seat is moved, multiple non-returns that the one-way drive mechanism includes being fixed on Mobile base push away Block, the bottom of the Mobile base are provided with line slideway, and the line slideway is slidably supported on sliding block and passes through connector It is connected with the piston rod of cylinder, the transition mechanism of sliding seat is equipped with the convergence part of each adjacent transmission guide rail.
The transmission guide rail is made up of two parallel slide rails, is equipped with and is used at four angles of the sliding seat bottom The roller rolled on the slide rail, the top of the non-return pushing block are less than the bottom of sliding seat, and the top of non-return pushing block is provided with bullet Property pressure tongue, under usual state, the elasticity pressure tongue front end is upspring, and gas is worked as in the front end of elasticity pressure tongue higher than the bottom of sliding seat When the piston rod of cylinder drives line slideway to left movement, the front end of elasticity pressure tongue promotes the sliding seat on the left side to be moved to the left, and works as gas When the piston rod driving line slideway of cylinder moves right, the inclined plane of elasticity pressure tongue is pressed on the sliding seat under the sliding seat on right side End bottom, with cylinder piston rod driving line slideway continue to move right, it is described elasticity pressure tongue move to corresponding slip The right of seat；The transition mechanism includes the steering cylinder being arranged in fixed plate, and the steering cylinder passes through vertical connecting rod band Move horizontal driving lever to move back and forth, when the sliding seat is moved to the linking right angle of adjacent two transmission guide rail, by corresponding Horizontal driving lever is dialled along perpendicular to blocking for the sliding seat original moving direction, and the sliding seat is changed to adjacent from original transmission guide rail Transmission guide rail, be provided with cylinder buffering limiter on the left side of the connector, magnetic limiter be provided with the right part of cylinder.
V-shaped groove is equipped with the middle part of four sides of each sliding seat, in the sidepiece of the transmission guide rail of each sliding seat Corresponding sliding seat positioning component is equipped with, the sliding seat positioning component includes matrix, acted on by contained spring and stretch out institute State the push rod of matrix, be arranged at the positioning roller of the push rod external part, it is described when the sliding seat is moved to predeterminated position Positioning roller is caught in the V-shaped groove to realize positioning.
The data measurement unit, including the 3D cameras for scanning port gap, the 3D cameras are arranged at vertical To the lower end of sliding axle, the longitudinal sliding motion axle is arranged on Y-direction horizontal guide rail by sliding seat, and the Y-direction horizontal guide rail leads to Cross horizontal sliding seat and be arranged at X on horizontal guide rail；The laser soldering device, including the Laser Welding for weld port gap Rifle is connect, the laser welding rifle is arranged on three-dimensional machinery arm.
Also include control device, four power independently transmits one-way circulation device, data measurement unit, Laser Welding tipping Put and electrically connected by corresponding circuit with the control device, the 3D cameras are by circuit by the positional information in port gap Control device is transferred to, control device controls the laser soldering device to treat welding metal guarantor according to the positional information of 3D cameras Welded in the port gap of warm cup.
Sidepiece positioned at the transmission guide rail of two sliding seat stations of centre is equipped with corresponding photoelectric sensor, for visiting Whether in place to survey metal thermos cups to be welded, and spread out of information to control device, control device foundation by corresponding circuit The information of photoelectric sensor controls four power independently to transmit one-way circulation device, data measurement unit, laser soldering device successively Action.
Compared with prior art the beneficial effects of the invention are as follows：Using above-mentioned spatial parameter curve to weld data at Reason, especially above-mentioned 3 spatial parameter curves, substantially increases weld seam smoothness, it is ensured that the stabilization of weldquality and lifting.
Iterations k setting is problem in traditional RANSAC algorithms, sets the fixed iteration upper limit to cause to sample Calculating insufficient can not exclude substantial amounts of point not in the know.This programme proposes a kind of improved RANSAC algorithms, using weld data certainly Alternative manner is adapted to, k values are arranged to a larger value when starting to calculate, then in each iteration according to point not in the know Proportion recalculates k values, adaptive adjustment, in addition, the method that this programme proposes can overcome traditional RANSAC algorithms calculating office The spatial distribution unicity of interior point, repeatedly carry out RANSAC and calculate data point set, the point not in the know rejected every time is as new meter Calculate sample to recalculate, it can be deduced that optimal screening effect.
Using the automatic welding device of the method for the raising metal thermos cups smooth welding joint degree, employ with for transporting Four power for sending and positioning metal thermos cups to be welded independently transmit one-way circulation device, this structure, are arranged on sliding seat Thermos cup fixed seat can prevent the rollings of metal thermos cups to be processed, serve good positioning action, be advantageous to be added Work metal thermos cups are processed when stopping on transmission line to predeterminated position, the one-way drive mechanism, utilize non-return pushing block The structure, when the piston rod driving line slideway of cylinder travels forward, the front end of elasticity pressure tongue promotes sliding seat in front Move forward, when the piston rod driving line slideway of cylinder moves backward, the inclined plane of elasticity pressure tongue is by the sliding seat of rear side Under be pressed on the end bottom of the sliding seat, continue to move backward with the piston rod driving line slideway of cylinder, the elasticity pressure tongue fortune Move to the back of corresponding sliding seat, prepared for driving next time；Each non-return pushing block promotes a corresponding sliding seat, So that each sliding seat moves in the same direction as.When sliding seat is moved to the joining place of transmission guide rail, the transition mechanism Action, sliding seat is blocked to another transmission guide rail for being allocated to transmission guide rail joining place, because sliding seat is square, it is without rotation Turn, transition can be translated, unidirectional translation transition circulates, it is possible to achieve metal thermos cups to be processed are according to processing sequence to next Station steadily transmits, and places metal thermos cups to be processed from start bit, the metal thermos cups machined are removed to stop bits, sliding What dynamic seat went round and began again circulates slip on four transmission guide rails of the square distribution of end to end convergence, it is possible to achieve gold to be processed Belong to the uninterrupted transmission of thermos cup, the one-way circulation for both having realized metal thermos cups to be processed transports, and realizes gold to be processed again Belong to positioning of the thermos cup in station to be processed.Treating for corresponding station is transferred into so as to be measured successively for the data measurement unit Welding metal thermos cup port gap space position data, the number measured for the laser soldering device according to data measurement unit The gap of the metal thermos cups port to be welded of corresponding station is transferred into according to welding successively, there is provided transmission and positioning safeguards.
The one-way drive mechanism, using the structure of non-return pushing block, when the piston rod of cylinder drive line slideway to During left movement, elasticity pressure tongue front end promote the left side sliding seat be moved to the left, when cylinder piston rod drive line slideway to During right motion, the inclined plane of elasticity pressure tongue is pressed on the end bottom of the sliding seat under the sliding seat on right side, with the piston rod of cylinder Driving line slideway continues to move right, and the elasticity pressure tongue moves to the right of corresponding sliding seat, is done for driving next time Prepare.
V-shaped groove is equipped with the middle part of four sides of each sliding seat, in the sidepiece of the transmission guide rail of each sliding seat Corresponding sliding seat positioning component is equipped with, the sliding seat positioning component includes matrix, acted on by contained spring and stretch out institute State the push rod of matrix, be arranged at the positioning roller of the push rod external part, it is described when the sliding seat is moved to predeterminated position Positioning roller is caught in the V-shaped groove to realize positioning, this structure, when the metal thermos cups to be processed are positioned over thermos cup During fixed seat, the one-time positioning of metal thermos cups to be processed is realized, when the sliding seat is moved to predeterminated position, is arranged on phase The positioning roller for the sliding seat positioning component that should locate is caught in the V-shaped groove, realizes the secondary of metal thermos cups to be processed Precise positioning, metal thermos cups to be processed are made to be sent to from a station in the flowing water process of another station, both can be with One-time positioning is carried out to it by thermos cup fixed seat, prevents metal thermos cups to be processed from moving everywhere, and can is enough will be to be processed Metal thermos cups more accurately rest on some default station, substantially increase operating efficiency and positioning precision.When moving again During dynamic sliding seat, an inclined-plane of the positioning roller along V-shaped groove rolls out (now contained spring is compressed), and positioning automatically terminates.
The data measurement unit employs 3D cameras, and the 3D cameras are arranged at the lower end of longitudinal sliding motion axle, described vertical Be arranged to sliding axle by sliding seat on Y-direction horizontal guide rail, the Y-direction horizontal guide rail by horizontal sliding seat be arranged at X to On horizontal guide rail, this structure, used 3D cameras first and can treat welding metal thermos cup port gap carry out space it is complete The data acquisition in orientation, most perfect detailed weld information can be provided for laser soldering device；The laser soldering device, bag The laser welding rifle for weld port gap is included, the laser welding rifle is arranged on three-dimensional machinery arm, in addition to control dress Put, four power independently transmit one-way circulation device, data measurement unit, laser soldering device by corresponding circuit with The positional information in port gap is transferred to control device by circuit, controlled by the control device electrical connection, the 3D cameras Device controls the laser soldering device to treat the port gap of welding metal thermos cup and carried out according to the positional information of 3D cameras Weld, this structure, realize the comprehensive laser automatic welding in metal thermos cups port gap.
Brief description of the drawings
Fig. 1 is the structural representation of the automatic welding device of the present invention；
Fig. 2 is the structural representation of data measurement unit in Fig. 1；
Fig. 3 is the structural representation that four power independently transmit one-way circulation device in Fig. 1；
Fig. 4 is the structural representation of non-return component and its driving part in Fig. 3；
Fig. 5 is the structural representation of sliding seat in Fig. 3；
Fig. 6 is the structural representation of sliding seat positioning component in Fig. 3；
Fig. 7 is the structural representation of Fig. 3 transfer rail mechanisms.
Embodiment
In order that technical scheme becomes apparent from, below in conjunction with accompanying drawing 1 to 7, the present invention is described in detail. It should be appreciated that the embodiment described in this specification is not intended to limit just for the sake of explaining the present invention Protection scope of the present invention.
The present invention is a kind of method for improving metal thermos cups smooth welding joint degree, is comprised the following steps：
Step 1：Weld data gathers
The port gap that metal thermos cups to be welded 1 below are pointed to using 3D cameras 301 is scanned, and then will The weld data of scanning is transferred to control device；
Step 2：Screen weld data
The control device enters the weld data that 3D cameras 301 gather and the theoretical circular order of metal thermos cups port Row compares, if the spatial distribution of the weld data of collection falls into the theoretical circular order, gives and retains, deviates the theory Giving for circular order is rejected, and obtains weld data point set { P1(x1,y1,z1),P2(x2,y2,z2),...,Pn(xn,yn,zn)}；
Step 3：Local polynomial fitting
Weld data { the P obtained by step 21(x1,y1,z1),P2(x2,y2,z2),...,Pn(xn,yn,zn), if its is right The spatial parameter curve answered is,
Wherein k is natural number, and u is intermediate variable, and parameter X, Y, Z in formula 1-2 are obtained using Least Square Method, By fitting obtain the curve of space k time of weld data so that welding track uniform spatial distribution, smoothly；
Step 4：Control welding
Welding road of the curve of space k times for the weld data that control device obtains step 3 as automatic welding device Footpath, the initial weld position using first point of the curve of space k times of the weld data of storage as automatic welding device, control Automatic welding device is welded.
Preferably, the k is 3, the parameter X in formula 1-20、Y0、 Z0、Obtained using Least Square Method, the space cubic curve of weld data is obtained by fitting so that weldering The trace space that integrates with is evenly distributed, smoothly.
The method that another kind improves metal thermos cups smooth welding joint degree, comprises the following steps：
Step 1：Weld data gathers
The port gap that metal thermos cups to be welded 1 below are pointed to using 3D cameras 301 is scanned, and then will The weld data of scanning is transferred to control device, obtains weld data point set { P1(x1,y1,z1),P2(x2,y2,z2),...,Pn (xn,yn,zn)}；
Step 2：Adaptive iteration screening is carried out to the weld data of step 1 using improved RANSAC algorithms
A. the weld data point set { P of selecting step one1(x1,y1,z1),P2(x2,y2,z2),...,Pn(xn,yn,zn), meter Calculate wherein any 3 points of { Pi,Pi+1,Pi+2|1<=i<=n-2 } form center of arc's point coordinates and arc radius value, according to suitable The weld data point set that sequence gathers without repeatedly traversal step one；
B. it is radius threshold scope to choose (1 ± 20%) r, and wherein r is the radial design of the port of metal thermos cups 1 to be welded Value, will not be in the range of radius threshold by each arc radius value that step a is obtained compared with the radius threshold scope Corresponding point set reject, obtain intra-office point point set { NP1,NP2,....,NPm}；
C. the iterations k for setting RANSAC algorithms is a larger numerical value 2n, and wherein n is of weld data point Number；
D. a sample set is randomly selected, calculates center point coordinate and radius corresponding to the set；
E. whether the arc radius corresponding to the sample set midpoint is in the range of radius threshold again, if if Next step is performed, otherwise performs previous step；
F. point set { NP is traveled through1,NP2,....,NPm, judgement is fitted arc radius from its residual point-group after addition point successively Whether in the range of radius threshold, while the quantity of intra-office point is recorded, when intra-office points amount is more than or equal to 0.3n, according to RANSAC algorithms calculate next iterations k；
G. repeat step d~e iterative process, when intra-office point is more corresponding to the center of arc's point coordinates and radius newly calculated When, center of arc's point coordinates and radius that last computation obtains are replaced, while preserve intra-office point { NO1(x1,y1,z1),NO2(x2, y2,z2),...,NOm(xn,yn,zn)}；
H. repeat step d~f calculation procedures calculate completion until all data；
Step 3：Local polynomial fitting
Weld data { the NO obtained by step 21(x1,y1,z1),NO2(x2,y2,z2),...,NOm(xn,yn,zn), if Its corresponding spatial parameter curve is,
Wherein k is natural number, and u is intermediate variable, and parameter X, Y, Z in formula 1-2 are obtained using Least Square Method, By fitting obtain the curve of space k time of weld data so that welding track uniform spatial distribution, smoothly；
Step 4：Control welding
Welding road of the curve of space k times for the weld data that control device obtains step 3 as automatic welding device Footpath, the initial weld position using first point of the curve of space k times of the weld data of storage as automatic welding device, control Automatic welding device is welded.
Preferably, the k is 3, the parameter X in formula 1-20、Y0、 Z0、Obtained using Least Square Method, the space cubic curve of weld data is obtained by fitting so that weldering The trace space that integrates with is evenly distributed, smoothly.
A kind of automatic welding device of method using above-mentioned raising metal thermos cups smooth welding joint degree, including for measuring The data measurement unit 3 of the port gap space position data of metal thermos cups to be welded 1, it is to be welded for welding The automatic welding device in the port gap of metal thermos cups 1, the automatic welding device are laser soldering device 4, have and use One-way circulation device 2 is independently transmitted in four power for transporting and positioning metal thermos cups 1 to be welded, four power independently transmits One-way circulation device 2, including base 200, the transmission guide rail 201 on the base 200, the transmission are arranged on by support member Guide rail 201 has four, the square distribution of end to end convergence, and multiple cross sections are equipped with every transmission guide rail 201 as square Sliding seat 202, the middle part of each sliding seat 202 is provided with the thermos cup fixed seat for being used for placing metal thermos cups 1 to be processed 2020, it is each to transmit the one-way drive mechanism 203 being equipped with below guide rail 201 for promoting corresponding sliding seat 202, the list The multiple non-return pushing blocks 2031 for including being fixed on Mobile base 2030 to drive mechanism 203, the bottom of the Mobile base 2030 is set There is line slideway 2032, the line slideway 2032 is slidably supported on sliding block 2034 and by connector 2035 and gas The piston rod connection of cylinder 2036, the transition mechanism 204 of sliding seat 202 is equipped with the convergence part of each adjacent transmission guide rail 201.
Preferably, the thermos cup fixed seat 2020, the middle part of sliding seat 202, the thermos cup are removably set in The middle part of fixed seat 2020 is provided with the vestibule being adapted with the periphery of metal thermos cups 1 to be processed；As further optimization, institute State thermos cup fixed seat 2020 to be made up of nylon engineering plastic, between the periphery of the vestibule and metal thermos cups to be processed 1 Gap is preferably 0.5 millimeter.The inwall of the vestibule of thermos cup fixed seat 2020 can also the flexible rubber layer of setting tool, When setting flexible rubber layer, can be adopted between the periphery of metal thermos cups 1 to be processed and flexible rubber layer With the interference fit of 0.5 millimeter.The thermos cup fixed seat 2020 can also be the cup of the other common structures in this area Fixture.
Preferably, the transmission guide rail 201 is made up of two parallel slide rails, four of the bottom of sliding seat 202 The roller 2021 for being rolled on the slide rail is equipped with angle, the top of the non-return pushing block 2031 is less than sliding seat 202 Bottom, the top of non-return pushing block 2031 is provided with elasticity pressure tongue 2032, under usual state, the elasticity pressure front end bullet of tongue 2032 Rise, the front end of elasticity pressure tongue 2032 is higher than the bottom of sliding seat 202, when the piston rod of cylinder 2036 drives line slideway 2032 During to left movement, the front end of elasticity pressure tongue 2032 promotes the sliding seat 202 on the left side to be moved to the left, when the piston rod of cylinder 2036 drives When dynamic line slideway 2032 moves right, the inclined plane of elasticity pressure tongue 2032 is pressed on the sliding seat under the sliding seat 202 on right side 202 end bottom, continue to move right with the piston rod driving line slideway 2032 of cylinder 2036, the elasticity pressure tongue 2032 is transported Move to the right of corresponding sliding seat 202；The transition mechanism 204 includes the steering cylinder being arranged in fixed plate 2041 2042, the steering cylinder 2042 is moved back and forth by the vertical horizontal driving lever 2044 of the drive of connecting rod 2043, when the sliding seat 202 When being moved to the linking right angle of adjacent two transmission guide rail 201, by corresponding horizontal driving lever 2044 along perpendicular to the sliding seat Blocking for 202 former moving directions is dialled, and the sliding seat 202 is changed to adjacent transmission guide rail 201 from original transmission guide rail 201, The buffer limiter 2037 of cylinder 2036 is provided with the left side of the connector 2035, is limited in the right part of cylinder 2036 provided with magnetic Position device 2038.
It is further to optimize, V-shaped groove 2022 is equipped with the middle part of four sides of each sliding seat 202, in each cunning The sidepiece of the transmission guide rail 201 of dynamic seat 202 is equipped with corresponding sliding seat positioning component 205, the sliding seat positioning component 205 Including matrix 2051, acted on by contained spring and stretch out the push rod 2052 of described matrix 2051, be arranged at the push rod 2052 and stretch Go out the positioning roller 2053 at end, when the sliding seat 202 is moved to predeterminated position, the positioning roller 2053 is caught in the V Positioned in shape groove 2022 with realizing.
Specifically, the data measurement unit 3, including the 3D cameras 301 for scanning port gap, the 3D Camera 301 is arranged at the lower end of longitudinal sliding motion axle 302, and the longitudinal sliding motion axle 302 is arranged at Y-direction level by sliding seat 303 On guide rail 304, the Y-direction horizontal guide rail 304 is arranged at X on horizontal guide rail 306 by horizontal sliding seat 305；The laser Welder 4, including the laser welding rifle 401 for weld port gap, the laser welding rifle 401 are arranged at three-dimensional machinery On arm 402.Also include control device, four power independently transmits one-way circulation device 2, data measurement unit 3, laser welding Device 4 is electrically connected by corresponding circuit with the control device, and the 3D cameras 301 are by circuit by the position in port gap Confidence breath is transferred to control device, and control device controls the laser soldering device 4 to treat according to the positional information of 3D cameras 301 Welded in the port gap of welding metal thermos cup 1.Positioned at the transmission guide rail 201 of two stations of sliding seat 202 of centre Sidepiece is equipped with corresponding photoelectric sensor 206, for whether in place to detect metal thermos cups 1 to be welded, and by corresponding Circuit spreads out of information controls four power independently to transmit list to control device, control device according to the information of photoelectric sensor 206 Acted successively to EGR 2, data measurement unit 3, laser soldering device 4.
In above-mentioned each technical scheme, preferably the laser soldering device 4 is arranged at by four transmission guide rails The square centre that 201 end to end convergence surround；The data measurement unit 3 has two, is respectively arranged at relative two Bar transmits the outside of guide rail 201.This structure, welding efficiency highest, equipment occupation space is minimum, and relative cost is minimum.Two Data measurement unit 3 can start simultaneously at the corresponding port gap space positional number of metal thermos cups 1 to be welded of measurement in both sides According to laser soldering device 4 can be realized to each metal to be welded with most short three-dimensional machinery arm 402, most short displacement The welding in the port gap of thermos cup 1.

Claims (10)

  1. A kind of 1. method for improving metal thermos cups smooth welding joint degree, it is characterised in that comprise the following steps：
    Step 1：Weld data gathers
    The port gap that metal thermos cups to be welded (1) below are pointed to using 3D cameras (301) is scanned, and then will The weld data of scanning is transferred to control device；
    Step 2：Screen weld data
    The weld data that the control device gathers 3D cameras (301) and the theoretical circular order of metal thermos cups port are carried out Compare, if the spatial distribution of the weld data of collection falls into the theoretical circular order, give and retain, deviate the theoretical circle Giving for all curves is rejected, and obtains weld data point set { P1(x1,y1,z1),P2(x2,y2,z2),...,Pn(xn,yn,zn)}；
    Step 3：Local polynomial fitting
    Weld data { the P obtained by step 21(x1,y1,z1),P2(x2,y2,z2),...,Pn(xn,yn,zn), if corresponding to it Spatial parameter curve is,
    <mrow> <mtable> <mtr> <mtd> <mrow> <mi>x</mi> <mo>=</mo> <mi>x</mi> <mrow> <mo>(</mo> <mi>u</mi> <mo>)</mo> </mrow> <mo>=</mo> <msubsup> <mi>X</mi> <mi>k</mi> <mi>k</mi> </msubsup> <msup> <mi>u</mi> <mi>k</mi> </msup> <mo>+</mo> <msubsup> <mi>X</mi> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msubsup> <msup> <mi>u</mi> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msup> <mo>+</mo> <mn>...</mn> <mo>+</mo> <msub> <mi>X</mi> <mn>0</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>y</mi> <mo>=</mo> <mi>y</mi> <mrow> <mo>(</mo> <mi>u</mi> <mo>)</mo> </mrow> <mo>=</mo> <msubsup> <mi>Y</mi> <mi>k</mi> <mi>k</mi> </msubsup> <msup> <mi>u</mi> <mi>k</mi> </msup> <mo>+</mo> <msubsup> <mi>Y</mi> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msubsup> <msup> <mi>u</mi> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msup> <mo>+</mo> <mn>...</mn> <mo>+</mo> <msub> <mi>Y</mi> <mn>0</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>z</mi> <mo>=</mo> <mi>z</mi> <mrow> <mo>(</mo> <mi>u</mi> <mo>)</mo> </mrow> <mo>=</mo> <msubsup> <mi>Z</mi> <mi>k</mi> <mi>k</mi> </msubsup> <msup> <mi>u</mi> <mi>k</mi> </msup> <mo>+</mo> <msubsup> <mi>Z</mi> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msubsup> <msup> <mi>u</mi> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msup> <mo>+</mo> <mn>...</mn> <mo>+</mo> <msub> <mi>Z</mi> <mn>0</mn> </msub> </mrow> </mtd> </mtr> </mtable> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mn>1</mn> <mo>-</mo> <mn>2</mn> </mrow>
    Wherein k is natural number, and u is intermediate variable, and parameter X, Y, Z in formula 1-2 are obtained using Least Square Method, are passed through Fitting obtain the curve of space k time of weld data so that welding track uniform spatial distribution, smoothly；
    Step 4：Control welding
    Welding road of the curve of space k times for the weld data that the control device obtains step 3 as automatic welding device Footpath, the initial weld position using first point of the curve of space k times of the weld data of storage as automatic welding device, control Automatic welding device is welded.
  2. 2. the method according to claim 1 for improving metal thermos cups smooth welding joint degree, it is characterised in that：The k is 3, Parameter X in formula 1-20、Y0、Z0、 Estimated using least square method Meter is obtained, and the space cubic curve of weld data is obtained by fitting so that welding track uniform spatial distribution, smooth.
  3. A kind of 3. method for improving metal thermos cups smooth welding joint degree, it is characterised in that comprise the following steps：
    Step 1：Weld data gathers
    The port gap that metal thermos cups to be welded (1) below are pointed to using 3D cameras (301) is scanned, and then will The weld data of scanning is transferred to control device, obtains weld data point set { P1(x1,y1,z1),P2(x2,y2,z2),...,Pn (xn,yn,zn)}；
    Step 2：Adaptive iteration screening is carried out to the weld data of step 1 using improved RANSAC algorithms
    A. the weld data point set { P of selecting step one1(x1,y1,z1),P2(x2,y2,z2),...,Pn(xn,yn,zn), calculate it In any 3 points of { Pi,Pi+1,Pi+2|1<=i<=n-2 } form center of arc's point coordinates and arc radius value, in sequence without The weld data point set that repeatedly traversal step one gathers；
    B. it is radius threshold scope to choose (1 ± 20%) r, and wherein r is the radial design of metal thermos cups to be welded (1) port Value, will not be in the range of radius threshold by each arc radius value that step a is obtained compared with the radius threshold scope Corresponding point set reject, obtain intra-office point point set { NP1,NP2,....,NPm}；
    C. the iterations k for setting RANSAC algorithms is a larger numerical value 2n, and wherein n is the number of weld data point；
    D. a sample set is randomly selected, calculates center point coordinate and radius corresponding to the set；
    E. whether the arc radius corresponding to the sample set midpoint is in the range of radius threshold again, if being performed if In next step, previous step is otherwise performed；
    F. point set { NP is traveled through1,NP2,....,NPm, judge whether be fitted arc radius after addition point from its residual point-group successively In the range of radius threshold, while the quantity of intra-office point is recorded, when intra-office points amount is more than or equal to 0.3n, calculated according to RANSAC Method calculates next iterations k；
    G. repeat step d~e iterative process, when intra-office point is more corresponding to the center of arc's point coordinates and radius newly calculated, Center of arc's point coordinates and radius that last computation obtains are replaced, while preserves intra-office point { NO1(x1,y1,z1),NO2(x2,y2, z2),...,NOm(xn,yn,zn)}；
    H. repeat step d~f calculation procedures calculate completion until all data；
    Step 3：Local polynomial fitting
    Weld data { the NO obtained by step 21(x1,y1,z1),NO2(x2,y2,z2),...,NOm(xn,yn,zn), if its is right The spatial parameter curve answered is,
    <mrow> <mtable> <mtr> <mtd> <mrow> <mi>x</mi> <mo>=</mo> <mi>x</mi> <mrow> <mo>(</mo> <mi>u</mi> <mo>)</mo> </mrow> <mo>=</mo> <msubsup> <mi>X</mi> <mi>k</mi> <mi>k</mi> </msubsup> <msup> <mi>u</mi> <mi>k</mi> </msup> <mo>+</mo> <msubsup> <mi>X</mi> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msubsup> <msup> <mi>u</mi> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msup> <mo>+</mo> <mn>...</mn> <mo>+</mo> <msub> <mi>X</mi> <mn>0</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>y</mi> <mo>=</mo> <mi>y</mi> <mrow> <mo>(</mo> <mi>u</mi> <mo>)</mo> </mrow> <mo>=</mo> <msubsup> <mi>Y</mi> <mi>k</mi> <mi>k</mi> </msubsup> <msup> <mi>u</mi> <mi>k</mi> </msup> <mo>+</mo> <msubsup> <mi>Y</mi> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msubsup> <msup> <mi>u</mi> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msup> <mo>+</mo> <mn>...</mn> <mo>+</mo> <msub> <mi>Y</mi> <mn>0</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>z</mi> <mo>=</mo> <mi>z</mi> <mrow> <mo>(</mo> <mi>u</mi> <mo>)</mo> </mrow> <mo>=</mo> <msubsup> <mi>Z</mi> <mi>k</mi> <mi>k</mi> </msubsup> <msup> <mi>u</mi> <mi>k</mi> </msup> <mo>+</mo> <msubsup> <mi>Z</mi> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msubsup> <msup> <mi>u</mi> <mrow> <mi>k</mi> <mo>-</mo> <mn>1</mn> </mrow> </msup> <mo>+</mo> <mn>...</mn> <mo>+</mo> <msub> <mi>Z</mi> <mn>0</mn> </msub> </mrow> </mtd> </mtr> </mtable> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mn>1</mn> <mo>-</mo> <mn>2</mn> </mrow>
    Wherein k is natural number, and u is intermediate variable, and parameter X, Y, Z in formula 1-2 are obtained using Least Square Method, are passed through Fitting obtain the curve of space k time of weld data so that welding track uniform spatial distribution, smoothly；
    Step 4：Control welding
    Welding road of the curve of space k times for the weld data that the control device obtains step 3 as automatic welding device Footpath, the initial weld position using first point of the curve of space k times of the weld data of storage as automatic welding device, control Automatic welding device is welded.
  4. 4. the method according to claim 3 for improving metal thermos cups smooth welding joint degree, it is characterised in that：The k is 3, Parameter X in formula 1-20、Y0、Z0、 Estimated using least square method Meter is obtained, and the space cubic curve of weld data is obtained by fitting so that welding track uniform spatial distribution, smooth.
  5. A kind of 5. automatic welding of the method for the raising metal thermos cups smooth welding joint degree described in usage right requirement 1,2,3 or 4 Equipment, including for measuring the data measurement unit of metal thermos cups to be welded (1) port gap space position data (3), for welding the automatic welding device in metal thermos cups (1) port gap to be welded, the automatic welding Equipment is laser soldering device (4), it is characterised in that：It is dynamic with four for transporting and positioning metal thermos cups to be welded (1) Power independently transmits one-way circulation device (2),
    Four power independently transmits one-way circulation device (2), including base (200), and the base is arranged on by support member (200) the transmission guide rail (201) on, the transmission guide rail (201) have four, and the square distribution of end to end convergence, every is transmitted Sliding seat (202) of multiple cross sections for square is equipped with guide rail (201), the middle part of each sliding seat (202) is provided with For placing the thermos cup fixed seat (2020) of metal thermos cups to be processed (1), respectively transmit below guide rail (201) and be equipped with use In the one-way drive mechanism (203) for promoting corresponding sliding seat (202), the one-way drive mechanism (203) includes being fixed in shifting Multiple non-return pushing blocks (2031) on dynamic seat (2030), the bottom of the Mobile base (2030) is provided with line slideway (2032), institute Line slideway (2032) is stated slidably to be supported on sliding block (2034) and by the work of connector (2035) and cylinder (2036) Stopper rod is connected, and the transition mechanism (204) of sliding seat (202) is equipped with the convergence part of each adjacent transmission guide rail (201).
  6. 6. automatic welding device according to claim 5, it is characterised in that：The transmission guide rail (201) is parallel by two Slide rail form, the roller for being rolled on the slide rail is equipped with four angles of sliding seat (202) bottom (2021), the top of the non-return pushing block (2031) is less than the bottom of sliding seat (202), and the top of non-return pushing block (2031) is provided with Elasticity pressure tongue (2032), under usual state, described elasticity pressure tongue (2032) front end is upspring, the front end height of elasticity pressure tongue (2032) In the bottom of sliding seat (202), when the piston rod driving line slideway (2032) of cylinder (2036) is to left movement, elasticity pressure tongue (2032) front end promotes the sliding seat (202) on the left side to be moved to the left, when the piston rod of cylinder (2036) drives line slideway (2032) when moving right, the inclined plane of elasticity pressure tongue (2032) is pressed on the sliding seat (202) under the sliding seat (202) on right side End bottom, with cylinder (2036) piston rod drive line slideway (2032) continue to move right, it is described elasticity pressure tongue (2032) the right of corresponding sliding seat (202) is moved to；The transition mechanism (204) includes being arranged in fixed plate (2041) Steering cylinder (2042), the steering cylinder (2042) passes through vertical connecting rod (2043) and drives horizontal driving lever (2044) back and forth to move It is dynamic, when the sliding seat (202) is moved to the linking right angle of adjacent two transmission guide rail (201), pass through corresponding horizontal group Bar (2044) is dialled along perpendicular to blocking for sliding seat (202) the former moving direction, and the sliding seat (202) is from original transmission guide rail (201) conversion is provided with cylinder (2036) buffer limit to adjacent transmission guide rail (201) on the left side of the connector (2035) Device (2037), magnetic limiter (2038) is provided with the right part of cylinder (2036).
  7. 7. automatic welding device according to claim 6, it is characterised in that：Four sides of each sliding seat (202) Middle part be equipped with V-shaped groove (2022), be equipped with corresponding cunning in the sidepiece of the transmission guide rail (201) of each sliding seat (202) Dynamic seat positioning component (205), the sliding seat positioning component (205) include matrix (2051), are acted on by contained spring and stretched out The push rod (2052) of described matrix (2051), the positioning roller (2053) for being arranged at the push rod (2052) external part, when described When sliding seat (202) is moved to predeterminated position, the positioning roller (2053) is caught in the V-shaped groove (2022) fixed to realize Position.
  8. 8. automatic welding device according to claim 7, it is characterised in that：
    The data measurement unit (3), including the 3D cameras (301) for scanning port gap, the 3D cameras (301) The lower end of longitudinal sliding motion axle (302) is arranged at, the longitudinal sliding motion axle (302) is arranged at Y-direction level by sliding seat (303) and led On rail (304), the Y-direction horizontal guide rail (304) is arranged at X on horizontal guide rail (306) by horizontal sliding seat (305)；
    The laser soldering device (4), including the laser welding rifle (401) for weld port gap, the laser welding rifle (401) it is arranged on three-dimensional machinery arm (402).
  9. 9. automatic welding device according to claim 8, it is characterised in that：Also include control device, four power is only Write a biography and send one-way circulation device (2), data measurement unit (3), laser soldering device (4) by corresponding circuit and the control The positional information in port gap is transferred to control device, control dress by device electrical connection processed, the 3D cameras (301) by circuit Put the port for controlling the laser soldering device (4) to treat welding metal thermos cup (1) according to the positional information of 3D cameras (301) Welded in gap.
  10. 10. automatic welding device according to claim 9, it is characterised in that：Two sliding seat (202) works positioned at centre The sidepiece of the transmission guide rail (201) of position is equipped with corresponding photoelectric sensor (206), for detecting metal thermos cups to be welded (1) whether in place, and by corresponding circuit by information spread out of to control device, control device is according to photoelectric sensor (206) Information control four power independently to transmit one-way circulation device (2), data measurement unit (3), laser soldering device (4) and move successively Make.
CN201710714758.5A 2017-08-19 2017-08-19 Improve the method and its automatic welding device of metal thermos cups smooth welding joint degree Active CN107498181B (en)

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JP2013068580A (en) * 2011-09-26 2013-04-18 Toyota Motor Corp Apparatus and method for detecting weld bead defect
CN106096125A (en) * 2016-06-08 2016-11-09 湖南大学 One not uniform thickness tailor welded weld line optimization method
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