CN107498181B - 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 PDFInfo
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- CN107498181B CN107498181B CN201710714758.5A CN201710714758A CN107498181B CN 107498181 B CN107498181 B CN 107498181B CN 201710714758 A CN201710714758 A CN 201710714758A CN 107498181 B CN107498181 B CN 107498181B
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- sliding seat
- welding
- weld data
- guide rail
- thermos cups
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Classifications
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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)
- Butt Welding And Welding Of Specific Article (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention discloses a kind of methods 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 the method, including data measurement unit, automatic welding device, the automatic welding device is laser soldering device, one-way circulation device is independently transmitted with four power for transporting and positioning metal thermos cups to be welded, it includes pedestal 200 that four power, which independently transmits one-way circulation device, transmits guide rail 201, it transmits and is equipped with one-way drive mechanism below guide rail, be equipped with the transition mechanism of sliding seat in the convergence part of adjacent transmission guide rail 201.The present invention is able to ascend the welding quality and speed of welding of metal thermos cups port, reduces labor intensity, and has a wide range of applications market and huge economic benefit.
Description
Technical field
The present invention relates to a kind of methods for improving metal thermos cups smooth welding joint degree, and the automatic welding using this method
Equipment.
Background technique
Metal thermos cups (such as stainless steel vacuum cup, titanium vacuum cup) are thin wall cylinder-shaped, and liner and shell pass through respectively
Rolling, water are risen after molding, and the two needs to weld together at port.Gap between the liner and shell at port I
Be referred to as gap (also referred to as weld seam) to be welded.
Currently, the welding of metal thermos cups port weld seam, all also rests on manually operated level, processor is rotated with hand
Metal thermos cups to be welded rotate port weld seam under the welding gun of laser welding apparatus or argon arc welding equipment, and welding gun is not
Dynamic weld seam is dynamic, completes the welding of weld seam.The vacuum cup port of manual operations welding, welding quality vary with each individual, and are difficult to control, and
Large labor intensity, inefficiency.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.
Summary of the invention
The object of the present invention is to provide it is a kind of improve metal thermos cups smooth welding joint degree method and its automatic welding device,
Be able to ascend the welding quality and speed of welding of metal thermos cups port, reduce 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:
A method of improving metal thermos cups smooth welding joint degree, comprising the following steps:
Step 1: weld data acquisition
It is scanned using port gap of the 3D camera to the metal thermos cups to be welded being disposed below, it then will scanning
Weld data be transferred to control device；
Step 2: screening weld data
The theoretical circular order of weld data and metal thermos cups port that the control device acquires 3D camera carries out
Compare, if the spatial distribution of the weld data of acquisition falls into the theoretical circular order, gives and retain, deviate the theoretical circle
Giving for all curves is rejected, and weld data point set { P is obtained1(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
The curve of space k times for the weld data that the control device obtains step 3 is as the welding of automatic welding device
Path, using first point of the curve of space k times of the weld data of storage as the initial weld position of automatic welding device, control
Automatic welding device processed is welded.
The k is 3, the parameter X in formula 1-20、Y0、Z0、It is 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 method of improving metal thermos cups smooth welding joint degree, it is characterised in that the following steps are included:
Step 1: weld data acquisition
It is scanned using port gap of the 3D camera to the metal thermos cups to be welded being disposed below, it 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 using weld data of the improved RANSAC algorithm to step 1
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 } constitute center of arc's point coordinate and arc radius value, according to suitable
The weld data point set that sequence is acquired without repeatedly traversal step one；
B. choosing (1 ± 20%) r is radius threshold range, and wherein r is the radial design of metal thermos cups port to be welded
Value, each arc radius value that step a is obtained is compared with the radius threshold range, will not be within the scope of radius threshold
Correspondence point set reject, obtain intra-office point point set { NP1,NP2,....,NPm}；
C. the number of iterations k that RANSAC algorithm is arranged is a biggish numerical value 2n, and wherein n is of weld data point
Number；
D. a sample set is randomly selected, the corresponding center point coordinate of the set and radius are calculated；
E. whether arc radius corresponding to the sample set midpoint is within the scope of radius threshold again, if if
It performs the next step, otherwise executes previous step；
F. point set { NP is traversed1,NP2,....,NPm, judgement is successively from being fitted arc radius after addition point in its residual point-group
Whether within the scope of radius threshold, while recording the quantity of intra-office point, when intra-office points amount be greater than or equal to 0.3n, according to
RANSAC algorithm calculates next the number of iterations k；
G. step d~e iterative process is repeated, when the corresponding intra-office point of the center of arc's point coordinate and radius that newly calculate is more
When, the center of arc's point coordinate and radius that replacement last computation obtains, while saving intra-office point { NO1(x1,y1,z1),NO2(x2,
y2,z2),...,NOm(xn,yn,zn)}；
H. it repeats step d~f and calculates step until all data calculate completion；
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
The curve of space k times for the weld data that the control device obtains step 3 is as the welding of automatic welding device
Path, using first point of the curve of space k times of the weld data of storage as the initial weld position of automatic welding device, control
Automatic welding device processed is welded.
The k is 3, the parameter X in formula 1-20、Y0、Z0、It is 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 the 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 vacuum cup port gap, the automatic welding device is laser soldering device, is had for transporting
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 pedestal, by the transmission guide rail of supporting element setting on the base, the transmission guide rail has four, end to end
It is connected square distribution, the sliding seat that multiple cross sections are square, each sliding seat is equipped on every transmission guide rail
Middle part be equipped with vacuum cup fixing seat for placing 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, the one-way drive mechanism includes that the multiple non-returns being fixed on Mobile base push away
The bottom of block, the Mobile base is equipped with linear guide, and the linear guide is slidably supported on sliding block and passes through connector
It is connect with the piston rod of cylinder, is equipped with the transition mechanism of sliding seat in the convergence part of each adjacent transmission guide rail.
The transmission guide rail is made of two parallel sliding rails, be equipped at four angles of the sliding seat bottom for
The idler wheel rolled on the sliding rail, the top of the non-return pushing block are lower than the bottom end of sliding seat, and the top of non-return pushing block is equipped with bullet
Property pressure tongue, under usual state, elasticity pressure tongue front end is bounced, which presses the front end of tongue to work as gas higher than the bottom end of sliding seat
When the piston rod driving linear guide of cylinder moves downward, the front end of elasticity pressure tongue pushes the sliding seat on the left side to be moved to the left, and works as gas
When the piston rod driving linear guide of cylinder moves right, the inclined surface of elasticity pressure tongue is pressed on the sliding seat under the sliding seat on right side
End bottom, with cylinder piston rod driving linear guide continue to move right, it is described elasticity pressure tongue move to corresponding sliding
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
It moves 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 converted from original transmission guide rail to adjacent
Transmission guide rail, be equipped with cylinder buffering limiter on the left side of the connector, be equipped with magnetic limiter in the right part of cylinder.
It is equipped with V-shaped groove in the middle part of four sides of each sliding seat, in the side of the transmission guide rail of each sliding seat
It is equipped with corresponding sliding seat positioning component, the sliding seat positioning component includes matrix, acted on by contained spring and stretch out institute
The positioning roller stated the mandril of matrix, be set to the mandril extension end, 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 camera for scanning port gap, the 3D camera is set to vertical
To the lower end of sliding axle, the longitudinal sliding motion axis is set on Y-direction horizontal guide rail by sliding seat, and the Y-direction horizontal guide rail is logical
It crosses horizontal sliding seat and is set to 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 set on three-dimensional machinery arm.
It further include control device, four power independently transmits one-way circulation device, data measurement unit, Laser Welding tipping
It sets and is electrically connected with the control device by corresponding route, the 3D camera passes through route for the location information in port gap
It is transferred to control device, control device controls the laser soldering device according to the location information of 3D camera and treats welding metal guarantor
It is welded in the port gap of warm cup.
The side for being located in the middle the transmission guide rail of two sliding seat stations is equipped with corresponding photoelectric sensor, for visiting
It whether in place to survey metal thermos cups to be welded, and is spread out of information to control device, control device foundation by corresponding route
The information of photoelectric sensor controls four power and independently transmits one-way circulation device, data measurement unit, laser soldering device successively
Movement.
Compared with prior art the beneficial effects of the present invention are: using above-mentioned spatial parameter curve to weld data at
Reason, especially above-mentioned 3 spatial parameter curves substantially increase weld seam smoothness, it is ensured that the stabilization and promotion of weldquality.
The setting of the number of iterations k is problem in traditional RANSAC algorithm, and the fixed iteration upper limit, which is arranged, may cause sampling
It calculates and insufficient cannot exclude a large amount of point not in the know.This programme proposes a kind of improved RANSAC algorithm, certainly using weld data
Alternative manner is adapted to, a biggish value is set by k value when starting to calculate, then in each iteration according to point not in the know
Specific gravity recalculates k value, adaptive to adjust, in addition, the method that this programme proposes can overcome traditional RANSAC algorithm calculating office
The spatial distribution unicity of interior point repeatedly carries out RANSAC and calculates data point set, and the point not in the know rejected every time is as new meter
It calculates sample to recalculate, it can be deduced that optimal screening effect.
Using the automatic welding device of the method for improving metal thermos cups smooth welding joint degree, using with for transporting
Four power for sending and positioning metal thermos cups to be welded independently transmit one-way circulation device, and this structure is arranged on sliding seat
Vacuum cup fixing seat can prevent the rollings of metal thermos cups to be processed, play good positioning action, be conducive to be added
Work metal thermos cups are processed when stopping on transmission line to predeterminated position, and the one-way drive mechanism utilizes non-return pushing block
The structure, when the piston rod of cylinder driving linear guide travels forward, the front end of elasticity pressure tongue pushes sliding seat in front
It moves forward, when the piston rod of cylinder driving linear guide moves backward, the inclined surface of elasticity pressure tongue is by the sliding seat of rear side
Under be pressed on the end bottom of the sliding seat, as the piston rod driving linear guide continuation of cylinder moves backward, the elasticity pressure tongue fortune
It moves to the back of corresponding sliding seat, prepares for driving next time；Each non-return pushing block pushes 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
Sliding seat is blocked another transmission guide rail for being allocated to transmission guide rail joining place by movement, since sliding seat is square, without rotation
Turn, transition can be translated, unidirectional translation transition recycles, and metal thermos cups to be processed may be implemented according to processing sequence to next
Station steadily transmits, and places metal thermos cups to be processed from start bit, the metal thermos cups completed the process are removed to stop bits, sliding
The circulation sliding on four transmission guide rails of the square distribution of end to end convergence of dynamic seat in cycles, may be implemented gold to be processed
The uninterrupted transmission for belonging to vacuum cup, the one-way circulation for not only having realized metal thermos cups to be processed transports, but also realizes gold to be processed
Belong to vacuum cup in the positioning of station to be processed.To for the data measurement unit successively measure be transferred into corresponding station to
Welding metal vacuum cup port gap space position data, the number for the laser soldering device according to data measurement unit measurement
It is transferred into the gap of the metal thermos cups port to be welded of corresponding station according to successively welding, provides transmission and positioning safeguards.
The one-way drive mechanism, using the structure of non-return pushing block, when the piston rod of cylinder drive linear guide to
When left movement, elasticity pressure tongue front end push the left side sliding seat be moved to the left, when cylinder piston rod drive linear guide to
When right movement, the inclined surface 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 linear guide continues to move right, and the elasticity pressure tongue moves to the right of corresponding sliding seat, does for driving next time
Prepare.
It is equipped with V-shaped groove in the middle part of four sides of each sliding seat, in the side of the transmission guide rail of each sliding seat
It is equipped with corresponding sliding seat positioning component, the sliding seat positioning component includes matrix, acted on by contained spring and stretch out institute
The positioning roller stated the mandril of matrix, be set to the mandril extension end, 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 placed in vacuum cup
When fixing seat, the primary positioning of metal thermos cups to be processed is realized, when the sliding seat is moved to predeterminated position, be arranged in 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 makes metal thermos cups to be processed from the flowing water process that a station is transmitted to another station, both can be with
It is once positioned by vacuum cup fixing seat, prevents metal thermos cups to be processed from moving everywhere, and can will be to be processed
Metal thermos cups more accurately rest on some preset station, greatly improve work efficiency and positioning accuracy.When moving again
When dynamic sliding seat, positioning roller rolls out (contained spring is compressed at this time) along an inclined-plane of V-shaped groove, and positioning automatically terminates.
The data measurement unit uses 3D camera, and the 3D camera is set to the lower end of longitudinal sliding motion axis, described vertical
Be set on Y-direction horizontal guide rail to sliding axle by sliding seat, the Y-direction horizontal guide rail by horizontal sliding seat be set to X to
On horizontal guide rail, this structure, used 3D camera for the first time and can treat welding metal vacuum cup port gap carry out space it is complete
The data in orientation acquire, and most perfect detailed weld information can be provided for laser soldering device；The laser soldering device, packet
The laser welding rifle for weld port gap is included, the laser welding rifle is set on three-dimensional machinery arm, further includes control dress
Set, four power independently transmit one-way circulation device, data measurement unit, laser soldering device pass through corresponding route with
The location information in port gap is transferred to control device by route, controlled by the control device electrical connection, the 3D camera
Device controls the port gap progress that the laser soldering device treats welding metal vacuum cup according to the location information of 3D camera
Welding, this structure realize the comprehensive laser automatic welding in metal thermos cups port gap.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of automatic welding device of the invention；
Fig. 2 is the structural schematic diagram of data measurement unit in Fig. 1；
Fig. 3 is the structural schematic diagram that four power independently transmit one-way circulation device in Fig. 1；
Fig. 4 is the structural schematic diagram of non-return component and its driving part in Fig. 3；
Fig. 5 is the structural schematic diagram of sliding seat in Fig. 3；
Fig. 6 is the structural schematic diagram of sliding seat positioning component in Fig. 3；
Fig. 7 is the structural schematic diagram of Fig. 3 transfer rail mechanism.
Specific embodiment
In order to be more clear technical solution of the present invention, below in conjunction with attached drawing 1 to 7, the present invention is described in detail.
It should be understood that specific 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, comprising the following steps:
Step 1: weld data acquisition
It is scanned using port gap of the 3D camera 301 to the metal thermos cups to be welded 1 being disposed below, then will
The weld data of scanning is transferred to control device；
Step 2: screening weld data
Weld data that the control device acquires 3D camera 301 and the theoretical circular order of metal thermos cups port into
Row compares, if the spatial distribution of the weld data of acquisition falls into the theoretical circular order, gives and retains, deviate the theory
Giving for circular order is rejected, and weld data point set { P is obtained1(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
The curve of space k times for the weld data that control device obtains step 3 is as the welding road of automatic welding device
Diameter, using first point of the curve of space k times of the weld data of storage as the initial weld position of automatic welding device, control
Automatic welding device is welded.
Preferably, the k is 3, the parameter X in formula 1-20、Y0、 Z0、It is 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, comprising the following steps:
Step 1: weld data acquisition
It is scanned using port gap of the 3D camera 301 to the metal thermos cups to be welded 1 being disposed below, 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 using weld data of the improved RANSAC algorithm to step 1
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 } constitute center of arc's point coordinate and arc radius value, according to suitable
The weld data point set that sequence is acquired without repeatedly traversal step one；
B. choosing (1 ± 20%) r is radius threshold range, and wherein r is the radial design of 1 port of metal thermos cups to be welded
Value, each arc radius value that step a is obtained is compared with the radius threshold range, will not be within the scope of radius threshold
Correspondence point set reject, obtain intra-office point point set { NP1,NP2,....,NPm}；
C. the number of iterations k that RANSAC algorithm is arranged is a biggish numerical value 2n, and wherein n is of weld data point
Number；
D. a sample set is randomly selected, the corresponding center point coordinate of the set and radius are calculated；
E. whether arc radius corresponding to the sample set midpoint is within the scope of radius threshold again, if if
It performs the next step, otherwise executes previous step；
F. point set { NP is traversed1,NP2,....,NPm, judgement is successively from being fitted arc radius after addition point in its residual point-group
Whether within the scope of radius threshold, while recording the quantity of intra-office point, when intra-office points amount be greater than or equal to 0.3n, according to
RANSAC algorithm calculates next the number of iterations k；
G. step d~e iterative process is repeated, when the corresponding intra-office point of the center of arc's point coordinate and radius that newly calculate is more
When, the center of arc's point coordinate and radius that replacement last computation obtains, while saving intra-office point { NO1(x1,y1,z1),NO2(x2,
y2,z2),...,NOm(xn,yn,zn)}；
H. it repeats step d~f and calculates step until all data calculate completion；
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
The curve of space k times for the weld data that control device obtains step 3 is as the welding road of automatic welding device
Diameter, using first point of the curve of space k times of the weld data of storage as the initial weld position of automatic welding device, control
Automatic welding device is welded.
Preferably, the k is 3, the parameter X in formula 1-20、Y0、 Z0、It is 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 the method using above-mentioned raising metal thermos cups smooth welding joint degree, including for measuring
The data measurement unit 3 of the 1 port gap space position data of metal thermos cups to be welded, it is to be welded for welding
The automatic welding device in 1 port gap of metal thermos cups, 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
The transmission guide rail 201 on the pedestal 200, the transmission is arranged in by supporting element in one-way circulation device 2, including pedestal 200
Guide rail 201 has four, the square distribution of end to end convergence, is equipped with multiple cross sections on every transmission guide rail 201 and is square
Sliding seat 202, the middle part of each sliding seat 202 is equipped with the vacuum cup fixing seat 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 pushing corresponding sliding seat 202, the list
It include the multiple non-return pushing blocks 2031 being fixed on Mobile base 2030 to driving mechanism 203, the bottom of the Mobile base 2030 is set
There is linear guide 2032, the linear guide 2032 is slidably supported on sliding block 2034 and by connector 2035 and gas
The piston rod of cylinder 2036 connects, and is equipped with the transition mechanism 204 of sliding seat 202 in the convergence part of each adjacent transmission guide rail 201.
Preferably, the vacuum cup fixing seat 2020, is removably set in the middle part of sliding seat 202, the vacuum cup
The middle part of fixing seat 2020 is equipped with vestibule compatible with the periphery of metal thermos cups 1 to be processed；As further optimization, institute
It states vacuum cup fixing seat 2020 to be made of nylon engineering plastic, between the vestibule and the periphery of metal thermos cups to be processed 1
Gap is preferably 0.5 millimeter or so.The inner wall of 2020 vestibule of vacuum cup fixing seat can also with the flexible rubber layer of setting tool,
When flexible rubber layer is arranged, can be adopted between the periphery and flexible rubber layer of metal thermos cups 1 to be processed
With 0.5 millimeter or so of interference fit.The vacuum cup fixing seat 2020 is also possible to the cup body of the other common structures in this field
Fixture.
Preferably, the transmission guide rail 201 is made of two parallel sliding rails, four of 202 bottom of sliding seat
The idler wheel 2021 for rolling on the sliding rail is equipped at angle, the top of the non-return pushing block 2031 is lower than sliding seat 202
Bottom end, the top of non-return pushing block 2031 is equipped with elasticity pressure tongue 2033, under usual state, the elasticity pressure 2033 front end bullet of tongue
It rises, which presses the front end of tongue 2033 higher than the bottom end of sliding seat 202, when the piston rod of cylinder 2036 drives linear guide 2032
When moving downward, the front end of elasticity pressure tongue 2033 pushes the sliding seat 202 on the left side to be moved to the left, when the piston rod of cylinder 2036 drives
When dynamic linear guide 2032 moves right, the inclined surface of elasticity pressure tongue 2033 is pressed on the sliding seat under the sliding seat 202 on right side
202 end bottom, as the piston rod driving linear guide 2032 of cylinder 2036 continues to move right, the elasticity pressure tongue 2033 is transported
It moves 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 drives horizontal driving lever 2044 to move back and forth by vertical 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
202 blocking for former moving direction are dialled, and the sliding seat 202 is converted from original transmission guide rail 201 to adjacent transmission guide rail 201,
It is equipped with 2036 buffer limiter 2037 of cylinder on the left side of the connector 2035, is equipped with magnetic limit in the right part of cylinder 2036
Position device 2038.
It is further to optimize, it is equipped with V-shaped groove 2022 in the middle part of four sides of each sliding seat 202, in each cunning
The side 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, is acted on by contained spring and stretch out the mandril 2052 of described matrix 2051, is set to the mandril 2052 and stretch
The positioning roller 2053 of outlet, when the sliding seat 202 is moved to predeterminated position, the positioning roller 2053 is caught in the V
To realize positioning in shape slot 2022.
Specifically, the data measurement unit 3, including the 3D camera 301 for scanning port gap, the 3D
Camera 301 is set to the lower end of longitudinal sliding motion axis 302, and the longitudinal sliding motion axis 302 is set to Y-direction level by sliding seat 303
On guide rail 304, the Y-direction horizontal guide rail 304 is set to 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 is set to three-dimensional machinery
On arm 402.It further include control device, four power independently transmits one-way circulation device 2, data measurement unit 3, laser welding
Device 4 is electrically connected with the control device by corresponding route, and the 3D camera 301 passes through route for the position in port gap
Confidence breath is transferred to control device, and control device controls the laser soldering device 4 according to the location information of 3D camera 301 and treats
It is welded in the port gap of welding metal vacuum cup 1.It is located in the middle the transmission guide rail 201 of two 202 stations of sliding seat
Side is equipped with corresponding photoelectric sensor 206, for whether in place to detect metal thermos cups 1 to be welded, and by corresponding
Route spreads out of information to control device, and control device controls four power according to the information of photoelectric sensor 206 and independently transmits list
It is successively acted to circulator 2, data measurement unit 3, laser soldering device 4.
In above-mentioned each technical solution, preferably the laser soldering device 4 is set to by four transmission guide rails
The centre for the square that 201 end to end convergence surround；There are two the data measurement units 3, is respectively arranged at opposite two
The outside of item transmission 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 1 port gap space positional number of metal thermos cups to be welded of measurement in two sides
According to laser soldering device 4 can be realized with shortest three-dimensional machinery arm 402, shortest moving distance to each metal to be welded
The welding in 1 port gap of vacuum cup.
Claims (10)
1. a kind of method for improving metal thermos cups smooth welding joint degree, it is characterised in that the following steps are included:
Step 1: weld data acquisition
It is scanned using port gap of the 3D camera (301) to the metal thermos cups to be welded (1) being disposed below, then will
The weld data of scanning is transferred to control device；
Step 2: screening weld data
The theoretical circular order of weld data and metal thermos cups port that the control device acquires 3D camera (301) carries out
Compare, if the spatial distribution of the weld data of acquisition falls into the theoretical circular order, gives and retain, deviate the theoretical circle
Giving for all curves is rejected, and weld data point set { P is obtained1(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 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, is 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
The curve of space k times for the weld data that the control device obtains step 3 is as the welding road of automatic welding device
Diameter, using first point of the curve of space k times of the weld data of storage as the initial weld position of automatic welding device, control
Automatic welding device is welded.
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、Y1 1、Z0、 Estimated using least square method
Meter obtains, and obtains the space cubic curve of weld data by fitting, so that welding track uniform spatial distribution, smooth.
3. a kind of method for improving metal thermos cups smooth welding joint degree, it is characterised in that the following steps are included:
Step 1: weld data acquisition
It is scanned using port gap of the 3D camera (301) to the metal thermos cups to be welded (1) being disposed below, 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 using weld data of the improved RANSAC algorithm to step 1
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 } constitute center of arc's point coordinate and arc radius value, in sequence without
The repeatedly weld data point set that traversal step one acquires；
B. choosing (1 ± 20%) r is radius threshold range, and wherein r is the radial design of metal thermos cups to be welded (1) port
Value, each arc radius value that step a is obtained is compared with the radius threshold range, will not be within the scope of radius threshold
Correspondence point set reject, obtain intra-office point point set { NP1,NP2,....,NPm}；
C. the number of iterations k that RANSAC algorithm is arranged is a biggish numerical value 2n, and wherein n is the number of weld data point；
D. a sample set is randomly selected, the corresponding center point coordinate of the set and radius are calculated；
E. whether arc radius corresponding to the sample set midpoint is within the scope of radius threshold again, if executing if
In next step, previous step is otherwise executed；
F. point set { NP is traversed1,NP2,....,NPm, whether judgement is successively fitted arc radius after addition point in its residual point-group
Within the scope of radius threshold, while recording the quantity of intra-office point, when intra-office points amount be greater than or equal to 0.3n, calculated according to RANSAC
Method calculates next the number of iterations k；
G. step d~e iterative process is repeated, when the corresponding intra-office point of the center of arc's point coordinate and radius that newly calculate is more,
The center of arc's point coordinate and radius that replacement last computation obtains, while saving intra-office point { NO1(x1,y1,z1),NO2(x2,y2,
z2),...,NOm(xn,yn,zn)}；
H. it repeats step d~f and calculates step until all data calculate completion；
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,
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, is 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
The curve of space k times for the weld data that the control device obtains step 3 is as the welding road of automatic welding device
Diameter, using first point of the curve of space k times of the weld data of storage as the initial weld position of automatic welding device, control
Automatic welding device is welded.
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、Y1 1、Z0、 Estimated using least square method
Meter obtains, and obtains the space cubic curve of weld data by fitting, so that welding track uniform spatial distribution, smooth.
5. a kind of automatic welding using the method for improving metal thermos cups smooth welding joint degree described in claim 1,2,3 or 4
Equipment, including the data measurement unit for measuring metal thermos cups to be welded (1) port gap space position data
(3), for welding the automatic welding device in metal thermos cups to be welded (1) port gap, the automatic welding device is
Laser soldering device (4), it is characterised in that: have four power for transporting and positioning metal thermos cups to be welded (1) independent
It transmits one-way circulation device (2),
Four power independently transmits one-way circulation device (2), including pedestal (200), is arranged by supporting element in the pedestal
(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
The sliding seat (202) that multiple cross sections are square is equipped on guide rail (201), the middle part of each sliding seat (202) is equipped with
For placing the vacuum cup fixing seat (2020) of metal thermos cups to be processed (1), respectively it is all provided with below transmission guide rail (201) useful
In the one-way drive mechanism (203) for pushing corresponding sliding seat (202), the one-way drive mechanism (203) includes being fixed in shifting
The bottom of multiple non-return pushing blocks (2031) on dynamic seat (2030), the Mobile base (2030) is equipped with linear guide (2032), institute
It states linear guide (2032) and is slidably supported in the work on sliding block (2034) and passing through connector (2035) and cylinder (2036)
Stopper rod connection, is equipped with the transition mechanism (204) of sliding seat (202) in the convergence part of each adjacent transmission guide rail (201).
6. automatic welding device according to claim 5, it is characterised in that: the transmission guide rail (201) is parallel by two
Sliding rail constitute, the idler wheel for rolling on the sliding rail is equipped at four angles of sliding seat (202) bottom
(2021), the top of the non-return pushing block (2031) is lower than the bottom end of sliding seat (202), and the top of non-return pushing block (2031) is equipped with
Elasticity presses tongue (2033), and under usual state, elasticity pressure tongue (2033) front end is bounced, which presses the front end of tongue (2033) high
In the bottom end of sliding seat (202), when the piston rod of cylinder (2036) driving linear guide (2032) moves downward, elasticity pressure tongue
(2033) front end pushes the sliding seat (202) on the left side to be moved to the left, when the piston rod of cylinder (2036) drives linear guide
(2032) when moving right, the inclined surface of elasticity pressure tongue (2033) is pressed on the sliding seat (202) under the sliding seat (202) on right side
End bottom, with cylinder (2036) piston rod driving linear guide (2032) continue to move right, it is described elasticity pressure tongue
(2033) the right of corresponding sliding seat (202) is moved to；The transition mechanism (204) includes being arranged on fixed plate (2041)
Steering cylinder (2042), the steering cylinder (2042) drives horizontal driving lever (2044) back and forth to move by vertical connecting rod (2043)
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 the former moving direction of the sliding seat (202), and the sliding seat (202) is from original transmission guide rail
(201) conversion is equipped with cylinder (2036) buffer limit on the left side of the connector (2035) to adjacent transmission guide rail (201)
Device (2037) is equipped with magnetic limiter (2038) in the right part of cylinder (2036).
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 side 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 mandril (2052) of described matrix (2051), the positioning roller (2053) for being set to the mandril (2052) extension end, 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. automatic welding device according to claim 7, it is characterised in that:
The data measurement unit (3), including the 3D camera (301) for scanning port gap, the 3D camera (301)
It is set to the lower end of longitudinal sliding motion axis (302), the longitudinal sliding motion axis (302) is set to Y-direction level by sliding seat (303) and leads
On rail (304), the Y-direction horizontal guide rail (304) is set to 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 set on three-dimensional machinery arm (402).
9. automatic welding device according to claim 8, it is characterised in that: further include control device, four power is only
It writes a biography and send one-way circulation device (2), data measurement unit (3), laser soldering device (4) by corresponding route and the control
The location information in port gap is transferred to control device, control dress by route by device electrical connection processed, the 3D camera (301)
It sets and controls the port that the laser soldering device (4) treats welding metal vacuum cup (1) according to the location information of 3D camera (301)
It is welded in gap.
10. automatic welding device according to claim 9, it is characterised in that: be located in the middle two sliding seat (202) works
The side 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, it and by corresponding route by information spreads out of to control device, control device is according to photoelectric sensor (206)
Information control four power and independently transmit one-way circulation device (2), data measurement unit (3), laser soldering device (4) and successively move
Make.
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| CN101559513A (en) * | 2009-05-21 | 2009-10-21 | 山东大学 | Welding track detection and control method of container corrugated plate based on laser ranging |
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| CN106964923A (en) * | 2017-04-13 | 2017-07-21 | 江门健维自动化设备有限公司 | A kind of automatic welding device and method that weld seam is tracked based on intelligent vision |
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| CN101559513A (en) * | 2009-05-21 | 2009-10-21 | 山东大学 | Welding track detection and control method of container corrugated plate based on laser ranging |
| 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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